+ python -m lidar_slam --no-model /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 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 0.026502481 Adjusted end_distance from 9.223372036854776e+18 to 208.076502481 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026502481 meters Centerline goodness : 0.161815 Centerline is valid? [0, False] SLAMing on 0.056502481 meters Centerline goodness : 0.160509 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 9.99985887e-01 5.23330207e-03 -9.15693983e-04 4.56586799e-02] [-5.26312130e-03 9.99325733e-01 -3.63370305e-02 1.29531627e-02] [ 7.24913903e-04 3.63413371e-02 9.99339173e-01 -1.41108859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08650248099999999 meters Centerline goodness : 0.158045 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.999994 0.00271546 0.00215202 0.05805278] [-0.00259498 0.99853023 -0.05413538 0.01675132] [-0.00229586 0.05412947 0.99853129 -0.00528895] [ 0. 0. 0. 1. ]] SLAMing on 0.11650248099999999 meters Centerline goodness : 0.157177 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.01 [[ 0.99997081 -0.00361761 -0.00672978 0.10979747] [ 0.00304285 0.9964999 -0.08353854 0.0200814 ] [ 0.00700844 0.08351562 0.99648182 -0.00740396] [ 0. 0. 0. 1. ]] SLAMing on 0.146502481 meters Centerline goodness : 0.157801 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.01 [[ 0.99990604 -0.00895301 -0.01038035 0.12612625] [ 0.00806075 0.99651495 -0.08302393 0.02228142] [ 0.01108749 0.08293246 0.99649349 -0.00984623] [ 0. 0. 0. 1. ]] SLAMing on 0.176502481 meters Centerline goodness : 0.156269 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.01 [[ 0.99985253 -0.01202685 -0.01225893 0.1461082 ] [ 0.01107331 0.99711552 -0.07508674 0.02411733] [ 0.01312663 0.07493992 0.99710165 -0.01029882] [ 0. 0. 0. 1. ]] SLAMing on 0.206502481 meters Centerline goodness : 0.154239 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.01 [[ 0.99987761 -0.00595568 -0.0144673 0.18789575] [ 0.00502776 0.99797871 -0.06334992 0.02656068] [ 0.01481535 0.06326943 0.99788651 -0.01110471] [ 0. 0. 0. 1. ]] SLAMing on 0.236502481 meters Centerline goodness : 0.153098 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.01 [[ 0.99985824 -0.00339396 -0.01649171 0.19672933] [ 0.00239238 0.99817279 -0.06037674 0.02750687] [ 0.0166665 0.06032873 0.99803941 -0.01486202] [ 0. 0. 0. 1. ]] SLAMing on 0.266502481 meters Centerline goodness : 0.152222 Centerline is valid? [False, False] Translation: X:0.24, Y:0.03, Z:-0.02 [[ 0.9996884 0.00306199 -0.02477362 0.24369219] [-0.00493744 0.99709557 -0.07600036 0.02657442] [ 0.02446895 0.07609899 0.99679999 -0.01818745] [ 0. 0. 0. 1. ]] SLAMing on 0.29650248100000004 meters Centerline goodness : 0.153261 Centerline is valid? [False, False] Translation: X:0.29, Y:0.02, Z:-0.02 [[ 0.99927749 0.0026397 -0.0379149 0.28934219] [-0.00602432 0.99597451 -0.08943423 0.02433966] [ 0.0375262 0.08959803 0.99527081 -0.021063 ] [ 0. 0. 0. 1. ]] SLAMing on 0.326502481 meters Centerline goodness : 0.151976 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:-0.03 [[ 0.99916989 -0.00242508 -0.04066506 0.30083671] [-0.00139019 0.99561531 -0.09353191 0.02573606] [ 0.04071358 0.0935108 0.99478547 -0.02629189] [ 0. 0. 0. 1. ]] SLAMing on 0.356502481 meters Centerline goodness : 0.156847 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:-0.03 [[ 0.99895704 -0.00760373 -0.04502244 0.31749728] [ 0.0034011 0.99568867 -0.0926958 0.02531655] [ 0.04553317 0.092446 0.99467606 -0.02750711] [ 0. 0. 0. 1. ]] SLAMing on 0.386502481 meters Centerline goodness : 0.160981 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.03 [[ 0.99904343 -0.01480968 -0.04114478 0.35274483] [ 0.01140642 0.9965875 -0.08175119 0.02328344] [ 0.04221509 0.08120368 0.99580312 -0.02990067] [ 0. 0. 0. 1. ]] SLAMing on 0.41650248100000004 meters Centerline goodness : 0.175144 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.03 [[ 0.99922465 -0.01577732 -0.03607191 0.3914559 ] [ 0.01317676 0.99737302 -0.07122807 0.02103449] [ 0.03710093 0.07069753 0.99680759 -0.02580014] [ 0. 0. 0. 1. ]] SLAMing on 0.446502481 meters Centerline goodness : 0.166667 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.02 [[ 0.99927491 -0.01662147 -0.03425462 0.4046494 ] [ 0.01451305 0.99803795 -0.06090667 0.01950275] [ 0.03519977 0.06036537 0.99755551 -0.02386503] [ 0. 0. 0. 1. ]] SLAMing on 0.476502481 meters Centerline goodness : 0.417461 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.02 [[ 0.99940763 -0.01660383 -0.03014457 0.4154264 ] [ 0.01501597 0.99852596 -0.05215773 0.01753274] [ 0.03096615 0.05167418 0.99818379 -0.0243224 ] [ 0. 0. 0. 1. ]] SLAMing on 0.506502481 meters Centerline goodness : 0.576894 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:-0.02 [[ 0.99953769 -0.01200855 -0.0279322 0.44336651] [ 0.01072105 0.99889332 -0.04579522 0.01374476] [ 0.02845122 0.04547459 0.99856026 -0.02088111] [ 0. 0. 0. 1. ]] SLAMing on 0.536502481 meters Centerline goodness : 0.552153 Centerline is valid? [False, False] Translation: X:0.46, Y:0.01, Z:-0.02 [[ 0.99973046 -0.00582523 -0.02247388 0.45987443] [ 0.004842 0.99903912 -0.04355897 0.01273886] [ 0.02270602 0.04343841 0.99879805 -0.019811 ] [ 0. 0. 0. 1. ]] SLAMing on 0.566502481 meters Centerline goodness : 0.182278 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.03 [[ 0.99980174 -0.00374046 -0.01955757 0.48221178] [ 0.00310538 0.99947007 -0.03240263 0.01073224] [ 0.01966841 0.03233547 0.99928353 -0.0251994 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5965024809999999 meters Centerline goodness : 0.150650 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:-0.03 [[ 0.99973583 -0.0030531 -0.02278047 0.49279166] [ 0.00241066 0.99960009 -0.0281754 0.01022761] [ 0.02285738 0.02811304 0.99934338 -0.02541222] [ 0. 0. 0. 1. ]] SLAMing on 0.6265024809999999 meters Centerline goodness : 0.155188 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:-0.03 [[ 0.99978663 -0.0085513 -0.01880344 0.51453487] [ 0.00810503 0.99968666 -0.0236833 0.0058763 ] [ 0.01900007 0.02352584 0.99954266 -0.03111505] [ 0. 0. 0. 1. ]] SLAMing on 0.656502481 meters Centerline goodness : 0.163202 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.00, Z:-0.03 [[ 9.99830710e-01 -1.25935479e-02 -1.34146960e-02 5.27090366e-01] [ 1.23380164e-02 9.99744037e-01 -1.89640266e-02 -1.03970499e-04] [ 1.36500867e-02 1.87953054e-02 9.99730169e-01 -3.46302404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6865024809999999 meters Centerline goodness : 0.159528 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.00, Z:-0.03 [[ 0.99967668 -0.01966776 -0.01611539 0.53989869] [ 0.01935879 0.99962997 -0.01910929 -0.00453094] [ 0.01648526 0.01879114 0.99968752 -0.03412532] [ 0. 0. 0. 1. ]] SLAMing on 0.7165024809999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.7465024809999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.776502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.806502481 meters Centerline goodness : 0.129773 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.03 [[ 0.99371102 -0.10692675 -0.03324269 0.6700337 ] [ 0.10672019 0.99425745 -0.00793222 -0.12855679] [ 0.03389995 0.00433467 0.99941583 -0.03394541] [ 0. 0. 0. 1. ]] SLAMing on 0.8365024809999999 meters Centerline goodness : 0.654465 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.03 [[ 9.93517787e-01 -1.07940867e-01 -3.56535507e-02 7.16970139e-01] [ 1.07863842e-01 9.94157294e-01 -4.08246928e-03 -1.79746743e-01] [ 3.58859027e-02 2.10276876e-04 9.99355871e-01 -3.14732761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8665024809999999 meters Centerline goodness : 0.177347 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.03 [[ 9.94021982e-01 -1.04342145e-01 -3.21405555e-02 7.36227719e-01] [ 1.04393209e-01 9.94536098e-01 -8.97813724e-05 -2.04914744e-01] [ 3.19743106e-02 -3.26601106e-03 9.99483355e-01 -2.88185967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.896502481 meters Centerline goodness : 0.087808 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.24, Z:-0.02 [[ 9.95602464e-01 -8.80582662e-02 -3.19605191e-02 7.71298054e-01] [ 8.80795897e-02 9.96113163e-01 -7.42839541e-04 -2.41247958e-01] [ 3.19017070e-02 -2.07549654e-03 9.99488856e-01 -2.42267149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9265024809999999 meters Centerline goodness : 0.617944 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.26, Z:-0.02 [[ 9.97615717e-01 -6.21180524e-02 -3.00704034e-02 7.98058066e-01] [ 6.20717527e-02 9.98068629e-01 -2.47164288e-03 -2.57266993e-01] [ 3.01658599e-02 5.99227141e-04 9.99544727e-01 -1.86495802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9565024809999999 meters Centerline goodness : 0.438971 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.26, Z:-0.02 [[ 0.99840258 -0.0503071 -0.02571915 0.8042866 ] [ 0.05016247 0.99872159 -0.00623822 -0.25757464] [ 0.0260001 0.00493812 0.99964974 -0.02057491] [ 0. 0. 0. 1. ]] SLAMing on 0.9865024809999999 meters Centerline goodness : 0.099120 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.26, Z:-0.02 [[ 0.99902943 -0.03989841 -0.01866303 0.80974987] [ 0.0397396 0.99917128 -0.00880431 -0.25703994] [ 0.01899884 0.0080541 0.99978707 -0.02277549] [ 0. 0. 0. 1. ]] SLAMing on 1.016502481 meters Centerline goodness : 0.122513 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.26, Z:-0.02 [[ 0.99933121 -0.03415846 -0.01305085 0.8260321 ] [ 0.03403445 0.99937446 -0.00960929 -0.25516864] [ 0.01337092 0.00915868 0.99986866 -0.02316685] [ 0. 0. 0. 1. ]] SLAMing on 1.046502481 meters Centerline goodness : 0.115039 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.25, Z:-0.02 [[ 0.99919575 -0.03688097 -0.01573685 0.83449972] [ 0.03672724 0.99927581 -0.00994838 -0.2537213 ] [ 0.01609236 0.00936241 0.99982668 -0.02258344] [ 0. 0. 0. 1. ]] SLAMing on 1.0765024810000001 meters Centerline goodness : 0.112975 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.02 [[ 0.99909632 -0.03904562 -0.01679243 0.86938731] [ 0.03893865 0.99921947 -0.00665075 -0.25800712] [ 0.01703901 0.00599087 0.99983688 -0.01805415] [ 0. 0. 0. 1. ]] SLAMing on 1.1065024810000001 meters Centerline goodness : 0.115036 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.26, Z:-0.02 [[ 0.99933298 -0.03424688 -0.01267882 0.88770558] [ 0.03418839 0.99940387 -0.00480157 -0.26272513] [ 0.0128357 0.0043649 0.99990809 -0.01658095] [ 0. 0. 0. 1. ]] SLAMing on 1.136502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.166502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.196502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.226502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.256502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.286502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.3165024810000001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.346502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.376502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.406502481 meters Centerline goodness : 0.611461 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.27, Z:0.00 [[ 0.99909741 -0.03869572 -0.01752159 1.02903408] [ 0.03895941 0.99912871 0.01496638 -0.26817087] [ 0.01692718 -0.01563551 0.99973447 0.00242788] [ 0. 0. 0. 1. ]] SLAMing on 1.436502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.466502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.496502481 meters Centerline goodness : 0.508663 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.28, Z:0.00 [[ 0.99861015 -0.05043342 -0.01530476 1.10418991] [ 0.0506022 0.99865997 0.01084845 -0.282027 ] [ 0.01473712 -0.01160783 0.99982402 0.00473322] [ 0. 0. 0. 1. ]] SLAMing on 1.526502481 meters Centerline goodness : 0.117527 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.29, Z:0.00 [[ 0.99875623 -0.04614316 -0.01888901 1.12677476] [ 0.04629322 0.99889909 0.00758523 -0.28589272] [ 0.01851821 -0.00845023 0.99979281 0.00395752] [ 0. 0. 0. 1. ]] SLAMing on 1.556502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.5865024810000001 meters Centerline goodness : 0.482704 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.29, Z:0.01 [[ 0.99893896 -0.04165959 -0.01963227 1.17269669] [ 0.04173836 0.99912202 0.00361942 -0.29083738] [ 0.01946425 -0.004435 0.99980072 0.00565455] [ 0. 0. 0. 1. ]] SLAMing on 1.616502481 meters Centerline goodness : 0.448908 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.29, Z:0.00 [[ 9.99301548e-01 -3.25534969e-02 -1.83489986e-02 1.18526065e+00] [ 3.25397469e-02 9.99469893e-01 -1.04750017e-03 -2.93140067e-01] [ 1.83733714e-02 4.49696771e-04 9.99831094e-01 2.04078494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.646502481 meters Centerline goodness : 0.276258 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.29, Z:-0.00 [[ 9.99572390e-01 -2.66556048e-02 -1.20214896e-02 1.20067288e+00] [ 2.66265148e-02 9.99642139e-01 -2.57345429e-03 -2.94257351e-01] [ 1.20857845e-02 2.25226348e-03 9.99924428e-01 -5.44450980e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.676502481 meters Centerline goodness : 0.286659 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.29, Z:-0.00 [[ 9.99518581e-01 -2.77492124e-02 -1.38776061e-02 1.20575907e+00] [ 2.77085961e-02 9.99611204e-01 -3.11055130e-03 -2.92959923e-01] [ 1.39585259e-02 2.72452484e-03 9.99898863e-01 -8.77113581e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.706502481 meters Centerline goodness : 0.269819 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.30, Z:-0.00 [[ 0.99972365 -0.02163426 -0.00919701 1.22514829] [ 0.02160663 0.99976176 -0.00309363 -0.29507874] [ 0.00926175 0.00289406 0.99995292 -0.00482009] [ 0. 0. 0. 1. ]] SLAMing on 1.736502481 meters Centerline goodness : 0.296936 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.29, Z:-0.01 [[ 0.99968244 -0.02267133 -0.0110018 1.23001923] [ 0.02263113 0.99973679 -0.00376495 -0.29327689] [ 0.01108426 0.00351477 0.99993239 -0.00520226] [ 0. 0. 0. 1. ]] SLAMing on 1.766502481 meters Centerline goodness : 0.364072 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.30, Z:-0.01 [[ 0.99984594 -0.01685211 -0.0049088 1.24661404] [ 0.01682854 0.99984684 -0.0048054 -0.29510792] [ 0.00498903 0.00472205 0.99997641 -0.00837418] [ 0. 0. 0. 1. ]] SLAMing on 1.796502481 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.826502481 meters Centerline goodness : 0.454458 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.30, Z:-0.00 [[ 0.99980169 -0.01595331 -0.01191903 1.28267908] [ 0.01591809 0.99986867 -0.00304333 -0.2966806 ] [ 0.01196602 0.002853 0.99992433 -0.00478323] [ 0. 0. 0. 1. ]] SLAMing on 1.856502481 meters Centerline goodness : 0.619407 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.30, Z:-0.01 [[ 0.99993934 -0.01045122 -0.00347783 1.29342075] [ 0.01043153 0.99992973 -0.00563236 -0.29831062] [ 0.00353645 0.00559574 0.99997809 -0.00884497] [ 0. 0. 0. 1. ]] SLAMing on 1.886502481 meters Centerline goodness : 0.622693 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:0.00 [[ 9.99846867e-01 -1.02804092e-02 -1.41617849e-02 1.31317924e+00] [ 1.01883200e-02 9.99926583e-01 -6.55953021e-03 -2.95561557e-01] [ 1.42281798e-02 6.41424093e-03 9.99878201e-01 1.08701532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.916502481 meters Centerline goodness : 0.628003 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.29, Z:0.00 [[ 0.99979531 -0.01164271 -0.0165466 1.31836848] [ 0.01152893 0.99990935 -0.00695532 -0.29397276] [ 0.01662608 0.00676313 0.9998389 0.00285426] [ 0. 0. 0. 1. ]] SLAMing on 1.946502481 meters Centerline goodness : 0.636395 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.30, Z:0.01 [[ 0.99987982 -0.01042487 -0.01147434 1.33698794] [ 0.01031202 0.99989831 -0.0098508 -0.2958204 ] [ 0.01157587 0.00973129 0.99988564 0.00538974] [ 0. 0. 0. 1. ]] SLAMing on 1.976502481 meters Centerline goodness : 0.629939 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.30, Z:0.00 [[ 0.99997454 -0.0063385 -0.00327838 1.34755848] [ 0.00629714 0.99990233 -0.01247707 -0.29770346] [ 0.00335715 0.0124561 0.99991678 0.00499709] [ 0. 0. 0. 1. ]] SLAMing on 2.006502481 meters Centerline goodness : 0.638239 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.30, Z:0.01 [[ 9.99956689e-01 -9.21887719e-03 1.27781419e-03 1.36328601e+00] [ 9.22573751e-03 9.99942475e-01 -5.47111141e-03 -2.99832570e-01] [-1.22730318e-03 5.48266322e-03 9.99984217e-01 1.01385278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.036502481 meters Centerline goodness : 0.634813 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.30, Z:0.01 [[ 9.99950885e-01 -9.85559704e-03 -1.04595614e-03 1.36678339e+00] [ 9.84980516e-03 9.99936881e-01 -5.40517106e-03 -2.97672644e-01] [ 1.09916131e-03 5.39460312e-03 9.99984845e-01 1.36365004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.066502481 meters Centerline goodness : 0.633912 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.30, Z:0.02 [[ 9.99953262e-01 -8.39672901e-03 -4.79259548e-03 1.37507144e+00] [ 8.40015587e-03 9.99964476e-01 6.95350313e-04 -2.98165387e-01] [ 4.78658656e-03 -7.35576362e-04 9.99988274e-01 2.18648022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.096502481 meters Centerline goodness : 0.650461 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.30, Z:0.02 [[ 9.99927603e-01 -9.61222481e-03 -7.23840577e-03 1.38026662e+00] [ 9.61548177e-03 9.99953684e-01 4.15287870e-04 -2.95876365e-01] [ 7.23407867e-03 -4.84858563e-04 9.99973716e-01 2.37880669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.126502481 meters Centerline goodness : 0.640530 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.30, Z:0.02 [[ 0.99998116 -0.0058668 -0.00180466 1.39832805] [ 0.00586382 0.99998144 -0.00165558 -0.29581733] [ 0.00181434 0.00164497 0.999997 0.02316334] [ 0. 0. 0. 1. ]] SLAMing on 2.156502481 meters Centerline goodness : 0.657249 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.29, Z:0.02 [[ 0.99996698 -0.00696683 -0.00418339 1.40353708] [ 0.00695798 0.99997353 -0.00212633 -0.29349943] [ 0.00419809 0.00209715 0.99998899 0.02439693] [ 0. 0. 0. 1. ]] SLAMing on 2.186502481 meters Centerline goodness : 0.659494 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.29, Z:0.02 [[ 9.99996736e-01 -2.50888101e-03 4.82575025e-04 1.42156746e+00] [ 2.51084620e-03 9.99988378e-01 -4.11574294e-03 -2.92694552e-01] [-4.72243508e-04 4.11694118e-03 9.99991414e-01 2.35006140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.216502481 meters Centerline goodness : 0.662330 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.29, Z:0.03 [[ 0.99999396 -0.00309956 -0.00157474 1.42503049] [ 0.00309284 0.99998618 -0.00425175 -0.29107606] [ 0.00158789 0.00424685 0.99998972 0.02578527] [ 0. 0. 0. 1. ]] SLAMing on 2.246502481 meters Centerline goodness : 0.663371 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.29, Z:0.03 [[ 9.99995442e-01 4.28659819e-05 3.01903266e-03 1.44282508e+00] [-2.51461955e-05 9.99982776e-01 -5.86915239e-03 -2.91824633e-01] [-3.01923225e-03 5.86904972e-03 9.99978219e-01 2.83916617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.276502481 meters Centerline goodness : 0.662885 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.29, Z:0.03 [[ 0.99997074 0.002467 0.00724114 1.46326506] [-0.0024179 0.99997408 -0.00678123 -0.292242 ] [-0.00725768 0.00676352 0.99995079 0.031059 ] [ 0. 0. 0. 1. ]] SLAMing on 2.306502481 meters Centerline goodness : 0.663815 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.29, Z:0.03 [[ 0.99998486 0.00161693 0.00525918 1.46699031] [-0.00158172 0.99997636 -0.00669145 -0.29149813] [-0.00526987 0.00668303 0.99996378 0.03323903] [ 0. 0. 0. 1. ]] SLAMing on 2.336502481 meters Centerline goodness : 0.668293 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.29, Z:0.04 [[ 9.99997235e-01 2.34105748e-03 2.24160955e-04 1.49647163e+00] [-2.33934838e-03 9.99970303e-01 -7.34312839e-03 -2.93827855e-01] [-2.41344983e-04 7.34258369e-03 9.99973014e-01 3.87748728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.366502481 meters Centerline goodness : 0.146869 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.29, Z:0.04 [[ 0.99999724 0.00174663 -0.00156979 1.49928811] [-0.00175812 0.99997147 -0.00734573 -0.29292513] [ 0.00155691 0.00734847 0.99997179 0.04112008] [ 0. 0. 0. 1. ]] SLAMing on 2.396502481 meters Centerline goodness : 0.665242 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.29, Z:0.04 [[ 9.99993676e-01 9.47079824e-04 -3.42793179e-03 1.50258187e+00] [-9.72840403e-04 9.99971243e-01 -7.52105454e-03 -2.91092087e-01] [ 3.42071017e-03 7.52434180e-03 9.99965841e-01 4.32309318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.426502481 meters Centerline goodness : 0.668731 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:0.05 [[ 9.99995912e-01 -2.78273502e-03 -6.57261608e-04 1.51750317e+00] [ 2.78175651e-03 9.99995028e-01 -1.48501414e-03 -2.90142840e-01] [ 6.61390741e-04 1.48317973e-03 9.99998681e-01 4.60447375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.456502481 meters Centerline goodness : 0.248167 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:0.05 [[ 0.99999251 -0.00325385 -0.00209787 1.5200515 ] [ 0.00325005 0.99999307 -0.00181407 -0.28847291] [ 0.00210376 0.00180723 0.99999615 0.04727648] [ 0. 0. 0. 1. ]] SLAMing on 2.486502481 meters Centerline goodness : 0.353106 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:0.05 [[ 9.99987332e-01 -3.80766539e-03 -3.29213706e-03 1.52232404e+00] [ 3.80383340e-03 9.99992082e-01 -1.16946240e-03 -2.85704962e-01] [ 3.29656391e-03 1.15692484e-03 9.99993897e-01 5.08054710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.516502481 meters Centerline goodness : 0.318242 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.28, Z:0.05 [[ 9.99977803e-01 -4.54911668e-03 -4.86806917e-03 1.52588952e+00] [ 4.54174689e-03 9.99988525e-01 -1.52388905e-03 -2.82655224e-01] [ 4.87494565e-03 1.50174569e-03 9.99986990e-01 5.16684152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.546502481 meters Centerline goodness : 0.668757 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.28, Z:0.05 [[ 0.99996882 -0.00505828 -0.00606444 1.52804675] [ 0.00504791 0.99998577 -0.00172333 -0.28220692] [ 0.00607307 0.00169267 0.99998013 0.05259594] [ 0. 0. 0. 1. ]] SLAMing on 2.576502481 meters Centerline goodness : 0.246567 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.29, Z:0.06 [[ 9.99953339e-01 -6.28771578e-03 -7.33376359e-03 1.52971709e+00] [ 6.28086520e-03 9.99979817e-01 -9.56774111e-04 -2.85170157e-01] [ 7.33963150e-03 9.10667087e-04 9.99972650e-01 5.68529460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.606502481 meters Centerline goodness : 0.669378 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.29, Z:0.06 [[ 9.99958758e-01 -9.76400628e-04 -9.02928613e-03 1.53952689e+00] [ 9.05056499e-04 9.99968368e-01 -7.90212745e-03 -2.88123343e-01] [ 9.03671616e-03 7.89362954e-03 9.99928012e-01 5.75549036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.636502481 meters Centerline goodness : 0.666112 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.29, Z:0.06 [[ 9.99945641e-01 -1.51642870e-03 -1.03157771e-02 1.54160848e+00] [ 1.43772147e-03 9.99969835e-01 -7.63293337e-03 -2.89168447e-01] [ 1.03270407e-02 7.61768724e-03 9.99917658e-01 5.92229237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6665024809999998 meters Centerline goodness : 0.519001 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.29, Z:0.06 [[ 0.99995699 -0.00595555 -0.00710943 1.5516776 ] [ 0.00593147 0.99997661 -0.00340399 -0.28995009] [ 0.00712954 0.00336167 0.99996893 0.06144327] [ 0. 0. 0. 1. ]] SLAMing on 2.696502481 meters Centerline goodness : 0.664227 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.29, Z:0.06 [[ 0.99997118 -0.00167732 -0.00740469 1.57347784] [ 0.00163092 0.99997903 -0.00626758 -0.29030622] [ 0.00741505 0.00625532 0.99995294 0.05910412] [ 0. 0. 0. 1. ]] SLAMing on 2.726502481 meters Centerline goodness : 0.669721 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.29, Z:0.06 [[ 0.9999742 0.00253737 -0.00671989 1.59329876] [-0.00259923 0.99995419 -0.00921215 -0.29162807] [ 0.0066962 0.00922938 0.99993499 0.05717123] [ 0. 0. 0. 1. ]] SLAMing on 2.756502481 meters Centerline goodness : 0.661216 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.29, Z:0.06 [[ 0.99997004 0.0070052 -0.00329398 1.6108133 ] [-0.00704334 0.99990657 -0.01171482 -0.2931685 ] [ 0.0032116 0.01173767 0.99992595 0.05602703] [ 0. 0. 0. 1. ]] SLAMing on 2.786502481 meters Centerline goodness : 0.646916 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.29, Z:0.05 [[ 0.99993436 0.01125688 -0.00213565 1.63015229] [-0.01128791 0.99982189 -0.01512502 -0.2946448 ] [ 0.00196501 0.01514813 0.99988333 0.05388672] [ 0. 0. 0. 1. ]] SLAMing on 2.816502481 meters Centerline goodness : 0.658957 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.30, Z:0.05 [[ 9.99860357e-01 1.66984226e-02 6.54775946e-04 1.64725808e+00] [-1.66842308e-02 9.99704286e-01 -1.76911702e-02 -2.95185775e-01] [-9.49996955e-04 1.76777753e-02 9.99843285e-01 5.34458379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.846502481 meters Centerline goodness : 0.630198 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.29, Z:0.05 [[ 9.99854331e-01 1.70675562e-02 1.21304333e-04 1.64731674e+00] [-1.70627635e-02 9.99698898e-01 -1.76345100e-02 -2.93295964e-01] [-4.22245800e-04 1.76298714e-02 9.99844493e-01 5.49993157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.876502481 meters Centerline goodness : 0.629882 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.29, Z:0.06 [[ 9.99903093e-01 1.38975055e-02 8.14326953e-04 1.66142826e+00] [-1.38862863e-02 9.99825952e-01 -1.24593906e-02 -2.93449123e-01] [-9.87339670e-04 1.24468752e-02 9.99922047e-01 5.68319481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.906502481 meters Centerline goodness : 0.641756 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.30, Z:0.06 [[ 0.99996387 0.0075939 0.00382016 1.67398036] [-0.00755815 0.9999283 -0.00928806 -0.29613171] [-0.00389042 0.00925886 0.99994957 0.05719009] [ 0. 0. 0. 1. ]] SLAMing on 2.9365024809999998 meters Centerline goodness : 0.638556 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.30, Z:0.06 [[ 0.99996899 0.00722741 0.00312891 1.67487599] [-0.00720011 0.99993667 -0.00864954 -0.29894463] [-0.00319123 0.00862674 0.9999577 0.05880355] [ 0. 0. 0. 1. ]] SLAMing on 2.966502481 meters Centerline goodness : 0.607160 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.30, Z:0.06 [[ 0.99997253 0.00699999 0.00243568 1.67528182] [-0.00698091 0.99994556 -0.00775476 -0.30217619] [-0.00248983 0.00773754 0.99996697 0.06135707] [ 0. 0. 0. 1. ]] SLAMing on 2.996502481 meters Centerline goodness : 0.658223 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.31, Z:0.07 [[ 0.99997171 0.00538922 0.00524648 1.66871421] [-0.00534322 0.9999475 -0.00874349 -0.3059286 ] [-0.00529332 0.00871521 0.99994801 0.06648584] [ 0. 0. 0. 1. ]] SLAMing on 3.026502481 meters Centerline goodness : 0.516317 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.31, Z:0.07 [[ 0.99991798 0.00999434 0.00800947 1.68512972] [-0.00990118 0.99988385 -0.01158718 -0.31014003] [-0.00812434 0.01150693 0.99990079 0.06612524] [ 0. 0. 0. 1. ]] SLAMing on 3.056502481 meters Centerline goodness : 0.653542 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.32, Z:0.06 [[ 0.99983709 0.01451533 0.01072806 1.70260701] [-0.01436751 0.99980251 -0.0137299 -0.31861519] [-0.01092524 0.01357353 0.99984819 0.06485864] [ 0. 0. 0. 1. ]] SLAMing on 3.086502481 meters Centerline goodness : 0.604856 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.33, Z:0.06 [[ 0.99989235 0.00706429 0.01286032 1.71507263] [-0.00689753 0.99989215 -0.01296552 -0.33007095] [-0.01295052 0.01287542 0.99983324 0.06374763] [ 0. 0. 0. 1. ]] SLAMing on 3.116502481 meters Centerline goodness : 0.567204 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.34, Z:0.06 [[ 0.9999097 0.0037118 0.01291547 1.71482156] [-0.00351388 0.99987657 -0.01531329 -0.33624949] [-0.01297072 0.01526652 0.99979933 0.06443644] [ 0. 0. 0. 1. ]] SLAMing on 3.146502481 meters Centerline goodness : 0.567204 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.34, Z:0.06 [[ 0.9999097 0.0037118 0.01291547 1.71482156] [-0.00351388 0.99987657 -0.01531329 -0.33624949] [-0.01297072 0.01526652 0.99979933 0.06443644] [ 0. 0. 0. 1. ]] SLAMing on 3.176502481 meters Centerline goodness : 0.643697 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.35, Z:0.07 [[ 0.99989201 -0.00226402 0.01452047 1.71075128] [ 0.0025513 0.99980078 -0.0197962 -0.350221 ] [-0.01447275 0.01983111 0.99969859 0.06707584] [ 0. 0. 0. 1. ]] SLAMing on 3.206502481 meters Centerline goodness : 0.639562 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.36, Z:0.07 [[ 0.99987674 -0.00555929 0.01468359 1.70995194] [ 0.00588939 0.99972873 -0.02253422 -0.35522418] [-0.01455433 0.02261792 0.99963824 0.06800297] [ 0. 0. 0. 1. ]] SLAMing on 3.236502481 meters Centerline goodness : 0.638841 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.37, Z:0.07 [[ 0.99992312 -0.00233308 0.01217857 1.73173065] [ 0.00261281 0.99973197 -0.02300372 -0.3655571 ] [-0.01212164 0.02303378 0.9996612 0.0694841 ] [ 0. 0. 0. 1. ]] SLAMing on 3.266502481 meters Centerline goodness : 0.638845 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.38, Z:0.07 [[ 0.99994551 0.00219104 0.01020668 1.75497498] [-0.00198119 0.99978739 -0.02052461 -0.37771433] [-0.01024948 0.02050327 0.99973725 0.07147248] [ 0. 0. 0. 1. ]] SLAMing on 3.296502481 meters Centerline goodness : 0.634350 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.38, Z:0.07 [[ 0.99988599 0.00767918 0.01300128 1.77098279] [-0.00737284 0.99969787 -0.02344801 -0.38242078] [-0.01317742 0.02334948 0.99964051 0.06922769] [ 0. 0. 0. 1. ]] SLAMing on 3.326502481 meters Centerline goodness : 0.630691 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.39, Z:0.07 [[ 0.99978483 0.01158554 0.01720652 1.78572638] [-0.01111636 0.99957045 -0.02711723 -0.38936017] [-0.0175133 0.02692012 0.99948416 0.06810183] [ 0. 0. 0. 1. ]] SLAMing on 3.356502481 meters Centerline goodness : 0.627679 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.40, Z:0.07 [[ 0.99967954 0.00867737 0.02378047 1.794973 ] [-0.00814165 0.99971296 -0.02253265 -0.39745145] [-0.02396917 0.02233182 0.99946324 0.06907589] [ 0. 0. 0. 1. ]] SLAMing on 3.386502481 meters Centerline goodness : 0.629239 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.40, Z:0.07 [[ 0.9995198 0.01395271 0.02766766 1.80971769] [-0.01326202 0.99959967 -0.02499231 -0.40080394] [-0.02800529 0.02461338 0.9993047 0.06869841] [ 0. 0. 0. 1. ]] SLAMing on 3.4165024809999998 meters Centerline goodness : 0.631179 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.41, Z:0.07 [[ 0.99945547 0.00654873 0.03234003 1.81963433] [-0.00583877 0.99974094 -0.02199893 -0.40616217] [-0.03247571 0.02179812 0.99923479 0.0714952 ] [ 0. 0. 0. 1. ]] SLAMing on 3.446502481 meters Centerline goodness : 0.631016 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.41, Z:0.07 [[ 0.99944165 0.00521446 0.03300306 1.81994862] [-0.00450491 0.99975789 -0.02153746 -0.4122155 ] [-0.03310738 0.02137676 0.99922317 0.07139659] [ 0. 0. 0. 1. ]] SLAMing on 3.476502481 meters Centerline goodness : 0.635308 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.42, Z:0.07 [[ 0.99929879 -0.00511715 0.03709102 1.83453793] [ 0.00578822 0.99982109 -0.01800785 -0.42466079] [-0.03699224 0.01820991 0.99914963 0.07320353] [ 0. 0. 0. 1. ]] SLAMing on 3.506502481 meters Centerline goodness : 0.636205 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.43, Z:0.07 [[ 0.99926168 -0.00640845 0.03788166 1.83441109] [ 0.00706891 0.99982489 -0.01732665 -0.43138839] [-0.03776399 0.01758164 0.99913201 0.07372973] [ 0. 0. 0. 1. ]] SLAMing on 3.536502481 meters Centerline goodness : 0.639233 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.44, Z:0.08 [[ 0.99915566 -0.00969604 0.03992429 1.83155797] [ 0.01043092 0.99977923 -0.01823972 -0.43833586] [-0.03973863 0.01864076 0.99903622 0.07661062] [ 0. 0. 0. 1. ]] SLAMing on 3.566502481 meters Centerline goodness : 0.646398 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.44, Z:0.08 [[ 0.99915661 -0.0091562 0.04002793 1.83051516] [ 0.00985202 0.99980317 -0.01722076 -0.44017239] [-0.03986237 0.01760059 0.99905015 0.07849644] [ 0. 0. 0. 1. ]] SLAMing on 3.596502481 meters Centerline goodness : 0.653284 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 9.99028139e-01 -8.01652330e-04 4.40696626e-02 1.84310061e+00] [ 1.65044114e-03 9.99813779e-01 -1.92271519e-02 -4.41013762e-01] [-4.40460424e-02 1.92812002e-02 9.98843422e-01 7.69690528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6265024809999997 meters Centerline goodness : 0.656896 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 0.99905217 0.0028496 0.04343558 1.84364492] [-0.00219497 0.9998834 -0.01511158 -0.44159563] [-0.04347358 0.01500192 0.99894194 0.07839977] [ 0. 0. 0. 1. ]] SLAMing on 3.656502481 meters Centerline goodness : 0.660834 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 0.99904611 0.00302328 0.04356287 1.84341368] [-0.00234944 0.99987694 -0.015511 -0.43989517] [-0.0436044 0.01539386 0.99893027 0.0780781 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6865024809999998 meters Centerline goodness : 0.670054 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 0.99903295 0.0061362 0.04353758 1.84368925] [-0.00564303 0.99991862 -0.01144136 -0.44165496] [-0.04360424 0.01118461 0.99898627 0.07939367] [ 0. 0. 0. 1. ]] SLAMing on 3.716502481 meters Centerline goodness : 0.671034 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 0.99899951 0.00631358 0.04427331 1.84255533] [-0.00580025 0.99991457 -0.01171357 -0.43956682] [-0.04434349 0.01144505 0.99895078 0.07943518] [ 0. 0. 0. 1. ]] SLAMing on 3.746502481 meters Centerline goodness : 0.674420 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 0.99899055 0.00638901 0.04446416 1.84225294] [-0.005859 0.99991035 -0.01204014 -0.43771817] [-0.0445371 0.01176747 0.99893842 0.07926935] [ 0. 0. 0. 1. ]] SLAMing on 3.776502481 meters Centerline goodness : 0.677862 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.44, Z:0.08 [[ 0.9987966 0.0121669 0.04751118 1.85933302] [-0.01146372 0.9998211 -0.01504491 -0.43943547] [-0.04768573 0.01448215 0.9987574 0.07579167] [ 0. 0. 0. 1. ]] SLAMing on 3.806502481 meters Centerline goodness : 0.677412 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.44, Z:0.08 [[ 0.99880875 0.01195609 0.047309 1.85997255] [-0.01124719 0.99982087 -0.01522238 -0.43877786] [-0.04748253 0.01467215 0.99876431 0.07563737] [ 0. 0. 0. 1. ]] SLAMing on 3.836502481 meters Centerline goodness : 0.681013 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.44, Z:0.08 [[ 0.99879727 0.01197484 0.04754593 1.85974594] [-0.01127749 0.99982527 -0.01490817 -0.43897639] [-0.04771614 0.01435404 0.99875779 0.07609087] [ 0. 0. 0. 1. ]] SLAMing on 3.866502481 meters Centerline goodness : 0.680666 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.44, Z:0.08 [[ 0.99881552 0.01175063 0.04721732 1.86051836] [-0.01106191 0.99982897 -0.01482112 -0.43916748] [-0.04738341 0.01428125 0.99877468 0.0763328 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8965024809999997 meters Centerline goodness : 0.680860 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.44, Z:0.08 [[ 0.99883258 0.01482399 0.04597517 1.86310861] [-0.01433373 0.99983703 -0.01097499 -0.44019901] [-0.04613037 0.01030318 0.99888229 0.07663661] [ 0. 0. 0. 1. ]] SLAMing on 3.926502481 meters Centerline goodness : 0.681950 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.44, Z:0.08 [[ 0.9988272 0.01804991 0.0449269 1.86547377] [-0.0177494 0.99981741 -0.00707886 -0.44141411] [-0.04504647 0.00627313 0.9989652 0.07653705] [ 0. 0. 0. 1. ]] SLAMing on 3.956502481 meters Centerline goodness : 0.684201 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.44, Z:0.08 [[ 0.99885181 0.01782428 0.04446746 1.86677438] [-0.01750824 0.99981869 -0.00748668 -0.44060449] [-0.04459284 0.00669953 0.99898278 0.07575791] [ 0. 0. 0. 1. ]] SLAMing on 3.986502481 meters Centerline goodness : 0.682762 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.44, Z:0.08 [[ 0.99888161 0.01748536 0.04392941 1.868083 ] [-0.01716255 0.99982295 -0.00771486 -0.44029638] [-0.04405653 0.00695229 0.99900485 0.07553073] [ 0. 0. 0. 1. ]] SLAMing on 4.016502481 meters Centerline goodness : 0.688029 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.44, Z:0.08 [[ 0.99890767 0.01849165 0.04291298 1.89952689] [-0.01822243 0.9998118 -0.0066564 -0.4420994 ] [-0.04302799 0.00586715 0.99905664 0.07505584] [ 0. 0. 0. 1. ]] SLAMing on 4.046502480999999 meters Centerline goodness : 0.686880 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.44, Z:0.07 [[ 0.99893903 0.01802856 0.04237675 1.90128405] [-0.01775579 0.9998192 -0.00680437 -0.44238226] [-0.04249176 0.00604472 0.99907853 0.07427095] [ 0. 0. 0. 1. ]] SLAMing on 4.0765024809999995 meters Centerline goodness : 0.689476 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.44, Z:0.07 [[ 0.99897346 0.01754401 0.04176404 1.90362247] [-0.01727841 0.99982819 -0.00671211 -0.4427323 ] [-0.04187462 0.0059836 0.99910496 0.07314137] [ 0. 0. 0. 1. ]] SLAMing on 4.106502481 meters Centerline goodness : 0.689649 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.44, Z:0.07 [[ 0.99898256 0.01730899 0.04164424 1.90460203] [-0.01703505 0.99983092 -0.00692415 -0.44210649] [-0.04175705 0.00620769 0.99910851 0.07226513] [ 0. 0. 0. 1. ]] SLAMing on 4.136502480999999 meters Centerline goodness : 0.690304 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.44, Z:0.07 [[ 0.99896832 0.01771971 0.0418128 1.90445758] [-0.0174406 0.99982318 -0.00703058 -0.43997962] [-0.04192999 0.00629408 0.99910073 0.0719479 ] [ 0. 0. 0. 1. ]] SLAMing on 4.166502480999999 meters Centerline goodness : 0.689649 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.44, Z:0.07 [[ 0.99873093 0.02370629 0.04443574 1.92124846] [-0.02328279 0.99967866 -0.01002408 -0.44126693] [-0.04465909 0.00897677 0.99896195 0.06845682] [ 0. 0. 0. 1. ]] SLAMing on 4.196502481 meters Centerline goodness : 0.693226 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.44, Z:0.06 [[ 0.99834221 0.03537992 0.04539926 1.95453085] [-0.03464842 0.99925835 -0.0168 -0.44059768] [-0.04595997 0.01519913 0.99882765 0.06430152] [ 0. 0. 0. 1. ]] SLAMing on 4.226502481 meters Centerline goodness : 0.692622 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.44, Z:0.06 [[ 0.99797604 0.04132669 0.04833152 1.97067466] [-0.0403717 0.99897294 -0.02057166 -0.44054504] [-0.04913204 0.0185788 0.99861948 0.06106845] [ 0. 0. 0. 1. ]] SLAMing on 4.256502480999999 meters Centerline goodness : 0.695849 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.44, Z:0.06 [[ 0.99799717 0.04281696 0.04656572 1.97371958] [-0.04180136 0.99887099 -0.02256977 -0.43728992] [-0.04747951 0.02057805 0.99866022 0.06179231] [ 0. 0. 0. 1. ]] SLAMing on 4.286502480999999 meters Centerline goodness : 0.696145 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.06 [[ 0.99802634 0.04384537 0.04495568 1.97662995] [-0.04281021 0.99880121 -0.02373662 -0.43495307] [-0.04594253 0.02176521 0.99870694 0.06213058] [ 0. 0. 0. 1. ]] SLAMing on 4.316502481 meters Centerline goodness : 0.696862 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.06 [[ 0.99807865 0.04379858 0.04382576 1.97837527] [-0.04273104 0.99877362 -0.02500638 -0.43330974] [-0.04486725 0.02308562 0.99872618 0.06279404] [ 0. 0. 0. 1. ]] SLAMing on 4.346502481 meters Centerline goodness : 0.697075 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.06 [[ 0.99812459 0.04365867 0.04290959 1.97946586] [-0.04257414 0.99875827 -0.02587205 -0.43205404] [-0.04398584 0.02399669 0.99874391 0.06405612] [ 0. 0. 0. 1. ]] SLAMing on 4.376502480999999 meters Centerline goodness : 0.699520 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.06 [[ 0.99818422 0.04301023 0.04217079 1.98062478] [-0.041886 0.99875235 -0.02719012 -0.42984249] [-0.04328763 0.02537438 0.99874037 0.06458853] [ 0. 0. 0. 1. ]] SLAMing on 4.4065024809999995 meters Centerline goodness : 0.698833 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.07 [[ 0.99820825 0.0428034 0.04181105 1.98116283] [-0.04167759 0.99875432 -0.027437 -0.42856589] [-0.04293337 0.02564526 0.99874874 0.06506676] [ 0. 0. 0. 1. ]] SLAMing on 4.436502481 meters Centerline goodness : 0.699055 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.07 [[ 0.9982901 0.04214662 0.04050352 1.98281701] [-0.04104906 0.99877701 -0.02755814 -0.42930658] [-0.04161547 0.02584838 0.99879929 0.06623109] [ 0. 0. 0. 1. ]] SLAMing on 4.466502480999999 meters Centerline goodness : 0.696784 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.07 [[ 0.99833916 0.04183121 0.03961144 1.98408098] [-0.04074609 0.99878226 -0.02781659 -0.42923224] [-0.0407268 0.02615638 0.9988279 0.06695434] [ 0. 0. 0. 1. ]] SLAMing on 4.496502480999999 meters Centerline goodness : 0.699087 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99838659 0.04186327 0.0383625 1.98656749] [-0.04084716 0.99880326 -0.02689903 -0.42997559] [-0.03944267 0.02528863 0.99890178 0.06654792] [ 0. 0. 0. 1. ]] SLAMing on 4.526502481 meters Centerline goodness : 0.697822 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99849197 0.0401232 0.03746875 1.98838938] [-0.03920028 0.99891733 -0.02505005 -0.43282639] [-0.03843327 0.02354349 0.99898378 0.06591173] [ 0. 0. 0. 1. ]] SLAMing on 4.556502481 meters Centerline goodness : 0.699938 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99850289 0.03961573 0.03771698 1.98810799] [-0.03873241 0.99896449 -0.02386944 -0.43325901] [-0.03862353 0.02237283 0.99900334 0.06576728] [ 0. 0. 0. 1. ]] SLAMing on 4.586502480999999 meters Centerline goodness : 0.701241 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99854096 0.03934379 0.03698676 1.9893871 ] [-0.03845647 0.99896225 -0.02440348 -0.4316047 ] [-0.0379085 0.0229455 0.99901774 0.06604379] [ 0. 0. 0. 1. ]] SLAMing on 4.6165024809999995 meters Centerline goodness : 0.699141 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99853558 0.03976063 0.03668497 1.99049356] [-0.03886574 0.99893681 -0.02479313 -0.42918599] [-0.03763176 0.02333104 0.99901928 0.06534896] [ 0. 0. 0. 1. ]] SLAMing on 4.646502481 meters Centerline goodness : 0.701237 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99855402 0.04008438 0.03582057 1.9922562 ] [-0.03920792 0.99892216 -0.02484471 -0.42879671] [-0.03677784 0.02340433 0.99904936 0.06530835] [ 0. 0. 0. 1. ]] SLAMing on 4.676502480999999 meters Centerline goodness : 0.703600 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99855623 0.04055427 0.03522502 1.99315208] [-0.03962705 0.99885951 -0.02663409 -0.4257434 ] [-0.03626498 0.02519977 0.99902444 0.06615643] [ 0. 0. 0. 1. ]] SLAMing on 4.706502480999999 meters Centerline goodness : 0.701854 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:0.07 [[ 0.99856769 0.04082663 0.03457975 1.99389006] [-0.03982346 0.99877944 -0.02921864 -0.42246099] [-0.03573044 0.02779971 0.99897473 0.06740316] [ 0. 0. 0. 1. ]] SLAMing on 4.736502481 meters Centerline goodness : 0.701882 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:0.07 [[ 0.99859535 0.04075552 0.03385733 1.99499579] [-0.03974864 0.99876231 -0.02989815 -0.4220365 ] [-0.03503394 0.02851037 0.99897937 0.06795023] [ 0. 0. 0. 1. ]] SLAMing on 4.766502481 meters Centerline goodness : 0.701810 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.42, Z:0.07 [[ 0.99863876 0.04015093 0.03329467 1.9959016 ] [-0.03914781 0.99877538 -0.03025218 -0.42146684] [-0.03446855 0.02890758 0.99898762 0.06836326] [ 0. 0. 0. 1. ]] SLAMing on 4.796502480999999 meters Centerline goodness : 0.699529 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.42, Z:0.07 [[ 0.99867891 0.03925423 0.03315933 1.99581043] [-0.03823097 0.99878954 -0.03094902 -0.42123805] [-0.03433407 0.02964042 0.99897078 0.06906702] [ 0. 0. 0. 1. ]] SLAMing on 4.8265024809999995 meters Centerline goodness : 0.699323 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.42, Z:0.07 [[ 0.99880721 0.03561268 0.03340508 1.99500578] [-0.03444631 0.99879823 -0.03486461 -0.42044771] [-0.03460656 0.03367235 0.9988336 0.06956756] [ 0. 0. 0. 1. ]] SLAMing on 4.856502481 meters Centerline goodness : 0.698864 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.42, Z:0.07 [[ 0.99885354 0.0349638 0.03269753 1.99654464] [-0.03385081 0.99884858 -0.03399464 -0.4215131 ] [-0.03384847 0.03284883 0.998887 0.06923208] [ 0. 0. 0. 1. ]] SLAMing on 4.886502480999999 meters Centerline goodness : 0.700293 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.42, Z:0.07 [[ 0.99887047 0.03400383 0.03318936 1.99592716] [-0.03297115 0.99896978 -0.03118156 -0.42442954] [-0.03421546 0.03005205 0.99896255 0.06881569] [ 0. 0. 0. 1. ]] SLAMing on 4.916502480999999 meters Centerline goodness : 0.699209 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99891603 0.03313521 0.03269272 1.99663511] [-0.03213259 0.99901106 -0.0307311 -0.42608256] [-0.03367867 0.02964728 0.99899289 0.06919034] [ 0. 0. 0. 1. ]] SLAMing on 4.946502481 meters Centerline goodness : 0.699179 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99892539 0.0333082 0.03222763 1.99751415] [-0.03235409 0.99903547 -0.02968738 -0.42673283] [-0.03318538 0.02861278 0.99903956 0.0693821 ] [ 0. 0. 0. 1. ]] SLAMing on 4.976502481 meters Centerline goodness : 0.700479 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99894211 0.03336663 0.03164378 1.99911472] [-0.03245236 0.99905308 -0.02897897 -0.42707346] [-0.03258075 0.0279214 0.99907902 0.06867806] [ 0. 0. 0. 1. ]] SLAMing on 5.006502480999999 meters Centerline goodness : 0.701822 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99896591 0.03314745 0.03111854 2.00074055] [-0.03228654 0.99909273 -0.02777213 -0.4291032 ] [-0.03201088 0.0267387 0.99912979 0.06760885] [ 0. 0. 0. 1. ]] SLAMing on 5.036502480999999 meters Centerline goodness : 0.690584 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99898947 0.03282372 0.03070238 2.00109783] [-0.03198411 0.99911138 -0.02744936 -0.42945095] [-0.03157609 0.02643964 0.99915159 0.06846301] [ 0. 0. 0. 1. ]] SLAMing on 5.066502481 meters Centerline goodness : 0.690584 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99898947 0.03282372 0.03070238 2.00109783] [-0.03198411 0.99911138 -0.02744936 -0.42945095] [-0.03157609 0.02643964 0.99915159 0.06846301] [ 0. 0. 0. 1. ]] SLAMing on 5.096502480999999 meters Centerline goodness : 0.693952 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99898962 0.03346157 0.030001 2.00288465] [-0.0326248 0.9990765 -0.02796006 -0.42737648] [-0.03090889 0.02695303 0.99915873 0.06789561] [ 0. 0. 0. 1. ]] SLAMing on 5.126502480999999 meters Centerline goodness : 0.695844 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.43, Z:0.07 [[ 0.9989069 0.03730383 0.02816793 2.0075305 ] [-0.03662022 0.99903115 -0.02440719 -0.42850119] [-0.02905112 0.023349 0.99930519 0.06634757] [ 0. 0. 0. 1. ]] SLAMing on 5.1565024809999995 meters Centerline goodness : 0.699057 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.43, Z:0.07 [[ 0.99892281 0.03792273 0.02674124 2.01082828] [-0.03724761 0.99898554 -0.02530834 -0.42729482] [-0.02767387 0.02428503 0.99932197 0.0655627 ] [ 0. 0. 0. 1. ]] SLAMing on 5.186502481 meters Centerline goodness : 0.699386 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.42, Z:0.07 [[ 0.99890221 0.03883011 0.02620309 2.01169275] [-0.038114 0.9989005 -0.02729673 -0.42364789] [-0.02723422 0.02626805 0.99928389 0.06630509] [ 0. 0. 0. 1. ]] SLAMing on 5.216502480999999 meters Centerline goodness : 0.700325 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.42, Z:0.07 [[ 0.99888457 0.03974715 0.0254909 2.01285834] [-0.03893667 0.9987438 -0.03153974 -0.41694547] [-0.0267125 0.03051203 0.99917739 0.06736599] [ 0. 0. 0. 1. ]] SLAMing on 5.246502480999999 meters Centerline goodness : 0.701767 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.42, Z:0.07 [[ 0.99888214 0.04047396 0.02442002 2.01510249] [-0.03966845 0.99868048 -0.03261456 -0.41515632] [-0.02570784 0.0316094 0.99916963 0.06738292] [ 0. 0. 0. 1. ]] SLAMing on 5.276502481 meters Centerline goodness : 0.702990 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.07 [[ 0.99874446 0.04435669 0.02328066 2.0179699 ] [-0.0436369 0.99857977 -0.03056558 -0.41331076] [-0.02460338 0.0295113 0.99926161 0.06696715] [ 0. 0. 0. 1. ]] SLAMing on 5.306502480999999 meters Centerline goodness : 0.703504 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.07 [[ 0.9987135 0.04556677 0.02224869 2.02005549] [-0.04482663 0.99845934 -0.03270346 -0.40931644] [-0.0237046 0.03166405 0.99921743 0.06736452] [ 0. 0. 0. 1. ]] SLAMing on 5.336502480999999 meters Centerline goodness : 0.705802 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.07 [[ 0.99871917 0.04563789 0.02184519 2.02100535] [-0.04488846 0.99842518 -0.03364801 -0.40711723] [-0.02334642 0.03262431 0.99919498 0.06735472] [ 0. 0. 0. 1. ]] SLAMing on 5.3665024809999995 meters Centerline goodness : 0.703410 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.07 [[ 0.99873242 0.04524594 0.02205342 2.02106586] [-0.04450741 0.99846711 -0.03290164 -0.40677836] [-0.02350828 0.0318784 0.99921526 0.06656268] [ 0. 0. 0. 1. ]] SLAMing on 5.396502481 meters Centerline goodness : 0.703357 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.07 [[ 0.99874054 0.04523041 0.02171505 2.02216749] [-0.04452185 0.9984934 -0.03207392 -0.40738962] [-0.02313305 0.03106673 0.99924958 0.06582767] [ 0. 0. 0. 1. ]] SLAMing on 5.426502480999999 meters Centerline goodness : 0.706502 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.06 [[ 0.99874195 0.04536754 0.02136115 2.02380584] [-0.04469292 0.99851763 -0.0310658 -0.40745567] [-0.02273886 0.03007203 0.99928906 0.06427353] [ 0. 0. 0. 1. ]] SLAMing on 5.456502480999999 meters Centerline goodness : 0.709124 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:0.06 [[ 0.9986161 0.04814644 0.02116125 2.02536609] [-0.04758395 0.99852025 -0.02632642 -0.40948455] [-0.02239746 0.02528305 0.9994294 0.06253341] [ 0. 0. 0. 1. ]] SLAMing on 5.486502481 meters Centerline goodness : 0.710456 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:0.06 [[ 0.99860571 0.04896321 0.01972925 2.02828478] [-0.04842069 0.99845941 -0.02709703 -0.40871138] [-0.02102561 0.02610395 0.9994381 0.06244025] [ 0. 0. 0. 1. ]] SLAMing on 5.516502481 meters Centerline goodness : 0.710145 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:0.06 [[ 0.99858149 0.04980292 0.01883304 2.03011567] [-0.04928057 0.99841314 -0.02725113 -0.40809657] [-0.02016034 0.02628437 0.9994512 0.06243538] [ 0. 0. 0. 1. ]] SLAMing on 5.546502480999999 meters Centerline goodness : 0.710741 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:0.06 [[ 0.99857396 0.05031346 0.0178493 2.03237452] [-0.04980837 0.99837473 -0.02769528 -0.4069494 ] [-0.01921373 0.02676674 0.99945704 0.06197534] [ 0. 0. 0. 1. ]] SLAMing on 5.5765024809999995 meters Centerline goodness : 0.711363 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.06 [[ 0.99850744 0.0519537 0.01684377 2.0351038 ] [-0.05149547 0.99831933 -0.02658426 -0.40791522] [-0.01819662 0.02567721 0.99950466 0.06073773] [ 0. 0. 0. 1. ]] SLAMing on 5.606502481 meters Centerline goodness : 0.712243 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.06 [[ 0.99852149 0.05212229 0.01543079 2.03792991] [-0.05169907 0.99830677 -0.02666098 -0.40949227] [-0.01679429 0.0258238 0.99952543 0.06045587] [ 0. 0. 0. 1. ]] SLAMing on 5.636502480999999 meters Centerline goodness : 0.710936 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.06 [[ 0.99855554 0.05165755 0.01477607 2.0391131 ] [-0.05127361 0.99836465 -0.02527929 -0.41231572] [-0.01605777 0.02448516 0.99957122 0.06034382] [ 0. 0. 0. 1. ]] SLAMing on 5.666502480999999 meters Centerline goodness : 0.712947 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.06 [[ 0.99859419 0.05101035 0.01440791 2.03967949] [-0.05064366 0.99840976 -0.02476209 -0.41363943] [-0.01564813 0.02399761 0.99958954 0.06039301] [ 0. 0. 0. 1. ]] SLAMing on 5.696502481 meters Centerline goodness : 0.709484 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.06 [[ 0.99864087 0.05021303 0.01396659 2.04034402] [-0.0498656 0.99846268 -0.02420124 -0.41521067] [-0.01516034 0.0234719 0.99960954 0.0603665 ] [ 0. 0. 0. 1. ]] SLAMing on 5.726502481 meters Centerline goodness : 0.710522 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.06 [[ 0.99870396 0.04913701 0.01326455 2.04159843] [-0.0488259 0.99854614 -0.02283941 -0.41804651] [-0.01436752 0.02216216 0.99965115 0.06012188] [ 0. 0. 0. 1. ]] SLAMing on 5.756502480999999 meters Centerline goodness : 0.707907 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.06 [[ 0.99874219 0.04845281 0.01289854 2.04160799] [-0.04815061 0.99858005 -0.0227905 -0.41894342] [-0.01398449 0.02214076 0.99965705 0.06119021] [ 0. 0. 0. 1. ]] SLAMing on 5.786502480999999 meters Centerline goodness : 0.709598 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.06 [[ 0.9988969 0.04551315 0.01155546 2.04234921] [-0.04516308 0.99856045 -0.02893665 -0.41739384] [-0.01285582 0.02838285 0.99951445 0.06408555] [ 0. 0. 0. 1. ]] SLAMing on 5.816502481 meters Centerline goodness : 0.711329 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 0.99891017 0.04537293 0.01094378 2.04270085] [-0.04502877 0.9985389 -0.02987442 -0.41698191] [-0.01228328 0.02934908 0.99949375 0.06551652] [ 0. 0. 0. 1. ]] SLAMing on 5.846502480999999 meters Centerline goodness : 0.709723 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 0.99892097 0.04538676 0.0098454 2.04366434] [-0.04506415 0.99850827 -0.03082946 -0.4172343 ] [-0.01122996 0.03035252 0.99947617 0.06742327] [ 0. 0. 0. 1. ]] SLAMing on 5.876502480999999 meters Centerline goodness : 0.709501 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 0.99893483 0.04517496 0.00940334 2.04433748] [-0.04486611 0.99851789 -0.03080659 -0.4172059 ] [-0.01078109 0.03035188 0.99948113 0.06790105] [ 0. 0. 0. 1. ]] SLAMing on 5.9065024809999995 meters Centerline goodness : 0.712714 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99876462 0.04872885 0.00973309 2.04513201] [-0.04847551 0.99851747 -0.02475858 -0.41919553] [-0.01092512 0.02425618 0.99964608 0.06603616] [ 0. 0. 0. 1. ]] SLAMing on 5.936502481 meters Centerline goodness : 0.711262 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.06 [[ 0.99876454 0.04879283 0.00941603 2.04644624] [-0.04854571 0.99851064 -0.02489623 -0.41809918] [-0.01061676 0.02440836 0.9996457 0.06496926] [ 0. 0. 0. 1. ]] SLAMing on 5.966502480999999 meters Centerline goodness : 0.712399 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99891308 0.04570514 0.0091487 2.04632323] [-0.04544079 0.99859466 -0.0272734 -0.41635958] [-0.01038238 0.02682803 0.99958615 0.06586556] [ 0. 0. 0. 1. ]] SLAMing on 5.996502480999999 meters Centerline goodness : 0.712915 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.07 [[ 0.99908486 0.04175599 0.00926763 2.0445834 ] [-0.04143868 0.99862424 -0.03213207 -0.41475951] [-0.01059659 0.03171863 0.99944066 0.06824157] [ 0. 0. 0. 1. ]] SLAMing on 6.026502481 meters Centerline goodness : 0.710799 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 0.99909766 0.04147162 0.00916305 2.04448908] [-0.0411617 0.99864771 -0.03175622 -0.41539502] [-0.01046764 0.03135039 0.99945364 0.06878659] [ 0. 0. 0. 1. ]] SLAMing on 6.056502480999999 meters Centerline goodness : 0.713250 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99908913 0.04180021 0.00858204 2.04570503] [-0.04151047 0.99864003 -0.03154332 -0.41606488] [-0.00988888 0.03115835 0.99946554 0.06874805] [ 0. 0. 0. 1. ]] SLAMing on 6.086502480999999 meters Centerline goodness : 0.712981 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99908487 0.04206249 0.00775659 2.04739494] [-0.04179793 0.99862651 -0.03159155 -0.41573166] [-0.00907475 0.03123843 0.99947076 0.06871284] [ 0. 0. 0. 1. ]] SLAMing on 6.1165024809999995 meters Centerline goodness : 0.713749 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99907562 0.04243653 0.00685859 2.04891659] [-0.04219752 0.99860063 -0.03187706 -0.41530718] [-0.00820174 0.03155817 0.99946827 0.06925231] [ 0. 0. 0. 1. ]] SLAMing on 6.146502481 meters Centerline goodness : 0.714802 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99905488 0.04309105 0.00570095 2.05141449] [-0.04289143 0.99858514 -0.03143313 -0.41642859] [-0.00704737 0.0311589 0.9994896 0.06879765] [ 0. 0. 0. 1. ]] SLAMing on 6.176502480999999 meters Centerline goodness : 0.713872 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99895825 0.04527393 0.0057167 2.05228452] [-0.04510622 0.99862599 -0.02667504 -0.41817835] [-0.00691653 0.02638939 0.99962781 0.06762388] [ 0. 0. 0. 1. ]] SLAMing on 6.206502480999999 meters Centerline goodness : 0.716178 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99897111 0.04501124 0.00554173 2.05262279] [-0.0448492 0.99864139 -0.0265317 -0.41857569] [-0.00672842 0.02625586 0.99963261 0.06772014] [ 0. 0. 0. 1. ]] SLAMing on 6.236502481 meters Centerline goodness : 0.715009 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99896834 0.045111 0.00522132 2.05216037] [-0.04494883 0.99860091 -0.02785375 -0.4168019 ] [-0.00647053 0.02759032 0.99959837 0.06985295] [ 0. 0. 0. 1. ]] SLAMing on 6.266502481 meters Centerline goodness : 0.715627 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99896776 0.04519868 0.00452741 2.05359376] [-0.04505086 0.99857303 -0.02867604 -0.4150902 ] [-0.00581707 0.02844247 0.9995785 0.06988776] [ 0. 0. 0. 1. ]] SLAMing on 6.296502480999999 meters Centerline goodness : 0.714220 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99891674 0.04635588 0.00406033 2.05433981] [-0.04622327 0.99853207 -0.02823316 -0.41616042] [-0.00536314 0.02801489 0.99959312 0.07036032] [ 0. 0. 0. 1. ]] SLAMing on 6.3265024809999995 meters Centerline goodness : 0.713960 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.42, Z:0.08 [[ 0.999129 0.04163579 0.00277502 2.03499661] [-0.04155559 0.99883619 -0.02448251 -0.41551249] [-0.00379114 0.02434586 0.99969641 0.07558891] [ 0. 0. 0. 1. ]] SLAMing on 6.356502481 meters Centerline goodness : 0.711690 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.08 [[ 9.99113056e-01 4.20630730e-02 1.94917873e-03 2.03601196e+00] [-4.20013944e-02 9.98805351e-01 -2.49750429e-02 -4.14851935e-01] [-2.99737719e-03 2.48710232e-02 9.99686175e-01 7.66494164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.386502480999999 meters Centerline goodness : 0.714060 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.08 [[ 9.98965436e-01 4.54636179e-02 1.05710912e-03 2.03868098e+00] [-4.54327283e-02 9.98759998e-01 -2.03551730e-02 -4.16303598e-01] [-1.98121811e-03 2.02860869e-02 9.99792253e-01 7.52968035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.416502480999999 meters Centerline goodness : 0.715183 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 9.98804234e-01 4.88741405e-02 1.19227653e-03 2.03904313e+00] [-4.88494030e-02 9.98682337e-01 -1.57265580e-02 -4.16808147e-01] [-1.95932752e-03 1.56495107e-02 9.99875619e-01 7.48655727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.446502481 meters Centerline goodness : 0.715889 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 9.98806973e-01 4.88325445e-02 1.14253112e-04 2.04147836e+00] [-4.88239977e-02 9.98670805e-01 -1.65178998e-02 -4.16518559e-01] [-9.20712325e-04 1.64926152e-02 9.99863564e-01 7.42881986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.476502481 meters Centerline goodness : 0.715039 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.07 [[ 9.98960292e-01 4.55745900e-02 -1.13678865e-03 2.04394154e+00] [-4.55886061e-02 9.98712134e-01 -2.22654879e-02 -4.13507338e-01] [ 1.20584135e-04 2.22941629e-02 9.99751447e-01 7.40128628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.506502480999999 meters Centerline goodness : 0.715015 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.07 [[ 9.98952989e-01 4.57289697e-02 -1.33653395e-03 2.04402922e+00] [-4.57476873e-02 9.98682750e-01 -2.32360508e-02 -4.11537998e-01] [ 2.72212731e-04 2.32728658e-02 9.99729113e-01 7.48246170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.536502480999999 meters Centerline goodness : 0.717620 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 9.98770870e-01 4.95285117e-02 -1.91745351e-03 2.04581021e+00] [-4.95577023e-02 9.98555109e-01 -2.07780742e-02 -4.09952123e-01] [ 8.85575911e-04 2.08475598e-02 9.99782274e-01 7.46035879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.566502481 meters Centerline goodness : 0.719283 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.08 [[ 9.98584747e-01 5.31215783e-02 -2.56936630e-03 2.04719904e+00] [-5.31608351e-02 9.98406146e-01 -1.89497502e-02 -4.07822190e-01] [ 1.55863046e-03 1.90595212e-02 9.99817136e-01 7.52596049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.596502480999999 meters Centerline goodness : 0.720615 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.08 [[ 0.99858929 0.05299559 -0.00329994 2.04866564] [-0.05305106 0.99839265 -0.01994239 -0.40706497] [ 0.00223777 0.02008932 0.99979568 0.07523937] [ 0. 0. 0. 1. ]] SLAMing on 6.626502480999999 meters Centerline goodness : 0.722761 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99866458 0.05156217 -0.00322327 2.04860225] [-0.05161628 0.99846883 -0.01989352 -0.40743491] [ 0.00219259 0.02003333 0.99979691 0.07491355] [ 0. 0. 0. 1. ]] SLAMing on 6.6565024809999995 meters Centerline goodness : 0.718459 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.08 [[ 0.99872063 0.05047014 -0.00314073 2.04828214] [-0.0505236 0.99851718 -0.02026831 -0.4075709 ] [ 0.00211312 0.02040106 0.99978964 0.07504046] [ 0. 0. 0. 1. ]] SLAMing on 6.686502481 meters Centerline goodness : 0.719937 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99879473 0.04897865 -0.00319077 2.04836316] [-0.04903272 0.99859803 -0.01994422 -0.40867643] [ 0.00220945 0.02007663 0.999796 0.07479787] [ 0. 0. 0. 1. ]] SLAMing on 6.716502480999999 meters Centerline goodness : 0.719781 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99881103 0.04862796 -0.00344311 2.04951346] [-0.04868506 0.99863156 -0.01909898 -0.40839957] [ 0.00250966 0.0192439 0.99981167 0.07373439] [ 0. 0. 0. 1. ]] SLAMing on 6.746502480999999 meters Centerline goodness : 0.721893 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99884543 0.04791495 -0.00345949 2.05113055] [-0.04796435 0.99872114 -0.01598432 -0.40853041] [ 0.00268917 0.0161318 0.99986626 0.07122156] [ 0. 0. 0. 1. ]] SLAMing on 6.776502481 meters Centerline goodness : 0.721362 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99886045 0.04752516 -0.00437716 2.05316247] [-0.04758957 0.99873845 -0.01602331 -0.409233 ] [ 0.00361013 0.01621336 0.99986204 0.07058187] [ 0. 0. 0. 1. ]] SLAMing on 6.806502480999999 meters Centerline goodness : 0.722232 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99888652 0.04692431 -0.00488215 2.05468792] [-0.04699206 0.99878508 -0.01483625 -0.41020013] [ 0.00418004 0.01504915 0.99987802 0.06957392] [ 0. 0. 0. 1. ]] SLAMing on 6.836502480999999 meters Centerline goodness : 0.721552 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.41, Z:0.07 [[ 0.99888116 0.04699256 -0.00530268 2.05581977] [-0.04706697 0.99878046 -0.01490965 -0.40859067] [ 0.00459557 0.01514255 0.99987478 0.06922111] [ 0. 0. 0. 1. ]] SLAMing on 6.8665024809999995 meters Centerline goodness : 0.723272 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.41, Z:0.07 [[ 0.99881864 0.04806213 -0.00716568 2.05982033] [-0.04816956 0.99871638 -0.0156615 -0.40836012] [ 0.00640376 0.01598817 0.99985167 0.06872727] [ 0. 0. 0. 1. ]] SLAMing on 6.896502481 meters Centerline goodness : 0.723098 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.07 [[ 0.99890248 0.04606611 -0.00847061 2.06168331] [-0.04623916 0.99869865 -0.0215162 -0.40483092] [ 0.00746842 0.02188426 0.99973262 0.06989034] [ 0. 0. 0. 1. ]] SLAMing on 6.926502480999999 meters Centerline goodness : 0.721302 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.07 [[ 0.9988643 0.04672419 -0.00932537 2.06222394] [-0.04692834 0.99863279 -0.02302795 -0.40397459] [ 0.00823666 0.02343942 0.99969133 0.07192031] [ 0. 0. 0. 1. ]] SLAMing on 6.956502480999999 meters Centerline goodness : 0.721302 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.07 [[ 0.9988643 0.04672419 -0.00932537 2.06222394] [-0.04692834 0.99863279 -0.02302795 -0.40397459] [ 0.00823666 0.02343942 0.99969133 0.07192031] [ 0. 0. 0. 1. ]] SLAMing on 6.986502481 meters Centerline goodness : 0.721797 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.07 [[ 0.99885881 0.04669013 -0.01005502 2.0632504 ] [-0.04692306 0.99860215 -0.02433064 -0.40292943] [ 0.00890496 0.02477469 0.9996534 0.07275018] [ 0. 0. 0. 1. ]] SLAMing on 7.016502480999999 meters Centerline goodness : 0.719907 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.40, Z:0.08 [[ 0.99921215 0.03871861 -0.0087153 2.05212079] [-0.03888215 0.99905447 -0.01945105 -0.39961948] [ 0.00795394 0.01977459 0.99977282 0.07609946] [ 0. 0. 0. 1. ]] SLAMing on 7.046502480999999 meters Centerline goodness : 0.719512 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.40, Z:0.08 [[ 0.9991851 0.03921303 -0.00956384 2.05299474] [-0.0393965 0.99902714 -0.01981642 -0.39923883] [ 0.00877748 0.02017705 0.99975789 0.07735587] [ 0. 0. 0. 1. ]] SLAMing on 7.0765024809999995 meters Centerline goodness : 0.721157 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99913962 0.040169 -0.01031811 2.05517983] [-0.0403682 0.99898701 -0.01988356 -0.3974805 ] [ 0.00950895 0.02028298 0.99974906 0.07632966] [ 0. 0. 0. 1. ]] SLAMing on 7.106502481 meters Centerline goodness : 0.721340 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99910912 0.04073887 -0.01101441 2.05642475] [-0.04095239 0.99896271 -0.01990977 -0.39691974] [ 0.01019189 0.0203431 0.99974111 0.07661162] [ 0. 0. 0. 1. ]] SLAMing on 7.136502480999999 meters Centerline goodness : 0.717918 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99907055 0.04131379 -0.01229649 2.05871631] [-0.04156215 0.99892193 -0.0206778 -0.39697175] [ 0.01142895 0.02116965 0.99971057 0.07695132] [ 0. 0. 0. 1. ]] SLAMing on 7.166502480999999 meters Centerline goodness : 0.719198 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99907339 0.04125086 -0.01227699 2.05848967] [-0.04149802 0.99892602 -0.02060888 -0.39637316] [ 0.01141367 0.02109925 0.99971223 0.0773492 ] [ 0. 0. 0. 1. ]] SLAMing on 7.196502481 meters Centerline goodness : 0.719713 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99908711 0.04098401 -0.01205221 2.05789606] [-0.04121862 0.99895178 -0.01990885 -0.39652539] [ 0.01122363 0.02038745 0.99972915 0.077625 ] [ 0. 0. 0. 1. ]] SLAMing on 7.226502480999999 meters Centerline goodness : 0.720899 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99909731 0.04056854 -0.01260002 2.05894904] [-0.04082771 0.99894462 -0.02104147 -0.39527917] [ 0.0117331 0.02153691 0.9996992 0.07770643] [ 0. 0. 0. 1. ]] SLAMing on 7.256502480999999 meters Centerline goodness : 0.718503 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.39, Z:0.08 [[ 0.99922582 0.03702965 -0.01328809 2.05913337] [-0.0373671 0.9989603 -0.02611547 -0.39376177] [ 0.01230723 0.02659179 0.99957061 0.07930442] [ 0. 0. 0. 1. ]] SLAMing on 7.286502480999999 meters Centerline goodness : 0.720803 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99925646 0.03619628 -0.01328023 2.05836916] [-0.03652518 0.99900934 -0.02542156 -0.39532781] [ 0.01234691 0.02588772 0.99958861 0.08023513] [ 0. 0. 0. 1. ]] SLAMing on 7.316502481 meters Centerline goodness : 0.722280 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99938724 0.03257914 -0.01279638 2.05681125] [-0.03289012 0.99914891 -0.02489388 -0.39746437] [ 0.01197447 0.0252995 0.9996082 0.08073694] [ 0. 0. 0. 1. ]] SLAMing on 7.346502480999999 meters Centerline goodness : 0.719912 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99941028 0.03163115 -0.01336273 2.05751258] [-0.03195278 0.999187 -0.02458355 -0.39832218] [ 0.01257426 0.02499603 0.99960847 0.08112575] [ 0. 0. 0. 1. ]] SLAMing on 7.376502480999999 meters Centerline goodness : 0.715759 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99942558 0.0312216 -0.01318013 2.05750564] [-0.03151164 0.99925226 -0.02240396 -0.40103869] [ 0.01247079 0.02280642 0.99966212 0.08030394] [ 0. 0. 0. 1. ]] SLAMing on 7.4065024809999995 meters Centerline goodness : 0.715498 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99941898 0.03113231 -0.01387343 2.05876312] [-0.03141996 0.99928517 -0.02102215 -0.40310978] [ 0.01320905 0.02144584 0.99968275 0.08021873] [ 0. 0. 0. 1. ]] SLAMing on 7.436502481 meters Centerline goodness : 0.714318 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99941981 0.03095722 -0.01420205 2.05911811] [-0.03125914 0.99927891 -0.02155304 -0.40177814] [ 0.01352459 0.02198448 0.99966683 0.08079727] [ 0. 0. 0. 1. ]] SLAMing on 7.466502480999999 meters Centerline goodness : 0.716416 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99941112 0.031322 -0.01401203 2.05847784] [-0.03161527 0.99927478 -0.02122222 -0.40179977] [ 0.01333715 0.02165272 0.99967659 0.0815307 ] [ 0. 0. 0. 1. ]] SLAMing on 7.496502480999999 meters Centerline goodness : 0.715189 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99940281 0.03144387 -0.0143283 2.05897091] [-0.03174526 0.99926866 -0.02131618 -0.40112695] [ 0.01364756 0.0217583 0.99967011 0.081763 ] [ 0. 0. 0. 1. ]] SLAMing on 7.526502481 meters Centerline goodness : 0.716985 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99937876 0.03195734 -0.01486006 2.05982599] [-0.03227727 0.99924091 -0.02181242 -0.40031765] [ 0.01415171 0.02227851 0.99965164 0.08221065] [ 0. 0. 0. 1. ]] SLAMing on 7.556502480999999 meters Centerline goodness : 0.718119 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99936171 0.03234538 -0.01516382 2.06009581] [-0.03268605 0.99920595 -0.0227834 -0.39791283] [ 0.01441484 0.02326451 0.99962542 0.0829345 ] [ 0. 0. 0. 1. ]] SLAMing on 7.586502480999999 meters Centerline goodness : 0.716583 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99933771 0.03264309 -0.01608022 2.06207368] [-0.03300635 0.99919348 -0.02286841 -0.39819144] [ 0.01532076 0.02338401 0.99960915 0.08275727] [ 0. 0. 0. 1. ]] SLAMing on 7.6165024809999995 meters Centerline goodness : 0.718489 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99921308 0.03630395 -0.0159766 2.061716 ] [-0.03661112 0.99914178 -0.01937345 -0.39836306] [ 0.01525956 0.01994312 0.99968466 0.08351685] [ 0. 0. 0. 1. ]] SLAMing on 7.646502481 meters Centerline goodness : 0.715823 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.09 [[ 0.99916864 0.03703354 -0.01704518 2.0626669 ] [-0.03740153 0.99906247 -0.02180156 -0.39553911] [ 0.01622181 0.02242095 0.999617 0.08564866] [ 0. 0. 0. 1. ]] SLAMing on 7.676502480999999 meters Centerline goodness : 0.715674 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.39, Z:0.09 [[ 0.99917251 0.03662898 -0.01768061 2.06321053] [-0.03703387 0.99904598 -0.02314365 -0.39475608] [ 0.01681601 0.02377928 0.99957579 0.08687167] [ 0. 0. 0. 1. ]] SLAMing on 7.706502480999999 meters Centerline goodness : 0.713801 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.09 [[ 0.99917358 0.03621103 -0.01846396 2.0642835 ] [-0.0366388 0.99905501 -0.02338123 -0.39572654] [ 0.01759985 0.0240384 0.9995561 0.0874738 ] [ 0. 0. 0. 1. ]] SLAMing on 7.736502481 meters Centerline goodness : 0.710044 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.09 [[ 0.99917066 0.03619016 -0.01866201 2.06463472] [-0.03662068 0.99905831 -0.02326829 -0.39554417] [ 0.01780236 0.02393241 0.99955506 0.08754349] [ 0. 0. 0. 1. ]] SLAMing on 7.766502480999999 meters Centerline goodness : 0.711430 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.39, Z:0.09 [[ 0.99912952 0.03693797 -0.0193854 2.06598913] [-0.03739694 0.99901528 -0.0238732 -0.39352707] [ 0.01848448 0.02457737 0.99952703 0.0877275 ] [ 0. 0. 0. 1. ]] SLAMing on 7.796502480999999 meters Centerline goodness : 0.711907 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.39, Z:0.09 [[ 0.99909221 0.03757249 -0.02007642 2.06776474] [-0.03802846 0.99901574 -0.02283402 -0.39495387] [ 0.01919873 0.02357676 0.99953767 0.0869942 ] [ 0. 0. 0. 1. ]] SLAMing on 7.8265024809999995 meters Centerline goodness : 0.711789 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99897771 0.04069223 -0.01968948 2.06758526] [-0.04102767 0.99901435 -0.01694299 -0.39632788] [ 0.01898062 0.01773349 0.99966257 0.08634091] [ 0. 0. 0. 1. ]] SLAMing on 7.856502481 meters Centerline goodness : 0.711529 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99897121 0.04045145 -0.02049866 2.06950934] [-0.0407951 0.99902908 -0.0166332 -0.39759703] [ 0.01980592 0.01745234 0.99965151 0.08563885] [ 0. 0. 0. 1. ]] SLAMing on 7.886502480999999 meters Centerline goodness : 0.706970 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99899327 0.03957265 -0.02112928 2.07010395] [-0.03994169 0.99905156 -0.01733897 -0.39730573] [ 0.02042309 0.01816545 0.99962639 0.08650279] [ 0. 0. 0. 1. ]] SLAMing on 7.916502480999999 meters Centerline goodness : 0.706817 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99899752 0.03907667 -0.02183963 2.07156554] [-0.03945085 0.99907735 -0.01697302 -0.39978491] [ 0.02115623 0.0178176 0.9996174 0.08615708] [ 0. 0. 0. 1. ]] SLAMing on 7.946502481 meters Centerline goodness : 0.705095 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99904687 0.0376721 -0.0220493 2.07154953] [-0.03803625 0.99914283 -0.01633548 -0.40057434] [ 0.021415 0.01715859 0.99962342 0.08669859] [ 0. 0. 0. 1. ]] SLAMing on 7.976502480999999 meters Centerline goodness : 0.708349 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99906861 0.03717229 -0.02191189 2.07148374] [-0.03752637 0.99916793 -0.01597566 -0.40127277] [ 0.02129981 0.01678305 0.99963226 0.08638338] [ 0. 0. 0. 1. ]] SLAMing on 8.006502481 meters Centerline goodness : 0.709602 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99911062 0.03600281 -0.02194903 2.07070706] [-0.03640613 0.99917022 -0.01826093 -0.39765128] [ 0.02127337 0.01904377 0.99959231 0.08787845] [ 0. 0. 0. 1. ]] SLAMing on 8.036502481 meters Centerline goodness : 0.711965 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99910422 0.03603037 -0.02219371 2.07070345] [-0.03643064 0.99917581 -0.01790295 -0.39930642] [ 0.02153036 0.01869545 0.99959338 0.08860561] [ 0. 0. 0. 1. ]] SLAMing on 8.066502480999999 meters Centerline goodness : 0.712824 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99915071 0.03353365 -0.02394478 2.07284864] [-0.03410406 0.99913428 -0.02382448 -0.39740235] [ 0.02312513 0.02462086 0.99942936 0.0904941 ] [ 0. 0. 0. 1. ]] SLAMing on 8.096502481 meters Centerline goodness : 0.709705 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99912801 0.03385466 -0.02443517 2.07340265] [-0.03442363 0.9991368 -0.02325242 -0.3990897 ] [ 0.02362688 0.02407329 0.99943096 0.09105629] [ 0. 0. 0. 1. ]] SLAMing on 8.126502481 meters Centerline goodness : 0.707869 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99911158 0.03396605 -0.024947 2.07449675] [-0.03453719 0.99914258 -0.02283189 -0.40061242] [ 0.0241501 0.0236732 0.99942801 0.09081539] [ 0. 0. 0. 1. ]] SLAMing on 8.156502480999999 meters Centerline goodness : 0.709323 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99900936 0.03718295 -0.02444862 2.07407803] [-0.03760657 0.99914628 -0.01710165 -0.40299614] [ 0.02379185 0.01800413 0.9995548 0.09023826] [ 0. 0. 0. 1. ]] SLAMing on 8.186502481 meters Centerline goodness : 0.710432 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.09 [[ 0.99905486 0.03527521 -0.02539756 2.05664016] [-0.03550819 0.9993308 -0.00878143 -0.40196665] [ 0.0250708 0.00967495 0.99963886 0.09318455] [ 0. 0. 0. 1. ]] SLAMing on 8.216502481 meters Centerline goodness : 0.712511 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.09 [[ 0.99914964 0.032123 -0.02584776 2.05672288] [-0.03247753 0.99938243 -0.01341532 -0.40131077] [ 0.02540086 0.01424339 0.99957587 0.09433935] [ 0. 0. 0. 1. ]] SLAMing on 8.246502480999998 meters Centerline goodness : 0.712441 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.40, Z:0.10 [[ 0.99935387 0.02433216 -0.02645357 2.03775043] [-0.02464919 0.9996274 -0.01172521 -0.40075298] [ 0.02615841 0.01236969 0.99958128 0.09913706] [ 0. 0. 0. 1. ]] SLAMing on 8.276502481 meters Centerline goodness : 0.712728 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.40, Z:0.10 [[ 0.99937184 0.02417916 -0.02590936 2.03638414] [-0.02448594 0.99963299 -0.01158957 -0.39979992] [ 0.02561963 0.01221671 0.99959711 0.09969053] [ 0. 0. 0. 1. ]] SLAMing on 8.306502480999999 meters Centerline goodness : 0.717309 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.40, Z:0.10 [[ 0.99939251 0.02411582 -0.02516027 2.03518508] [-0.02443056 0.99962613 -0.01227755 -0.39756574] [ 0.02485478 0.01288477 0.99960803 0.09943907] [ 0. 0. 0. 1. ]] SLAMing on 8.336502481 meters Centerline goodness : 0.716559 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.40, Z:0.10 [[ 0.99934897 0.02543244 -0.02558977 2.03662753] [-0.02576132 0.99958864 -0.01260538 -0.39687749] [ 0.02525866 0.0132564 0.99959305 0.09867536] [ 0. 0. 0. 1. ]] SLAMing on 8.366502481 meters Centerline goodness : 0.715323 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.39, Z:0.10 [[ 0.99931167 0.02628291 -0.02617986 2.03786178] [-0.02666046 0.999544 -0.01417816 -0.39397149] [ 0.02579528 0.01486637 0.9995567 0.09885713] [ 0. 0. 0. 1. ]] SLAMing on 8.396502480999999 meters Centerline goodness : 0.715882 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.39, Z:0.10 [[ 0.999258 0.02757532 -0.02688946 2.03956995] [-0.02798367 0.99949687 -0.01493032 -0.39338489] [ 0.02646422 0.01567171 0.99952691 0.0986386 ] [ 0. 0. 0. 1. ]] SLAMing on 8.426502481 meters Centerline goodness : 0.718074 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.39, Z:0.10 [[ 0.9991441 0.03040554 -0.02804598 2.04184865] [-0.03088231 0.99938308 -0.01672576 -0.39199282] [ 0.02752012 0.01757757 0.99946669 0.0991545 ] [ 0. 0. 0. 1. ]] SLAMing on 8.456502481 meters Centerline goodness : 0.719457 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.39, Z:0.10 [[ 0.99909655 0.03159299 -0.02842467 2.04264905] [-0.03209444 0.99933404 -0.01736139 -0.39086901] [ 0.02785724 0.01825798 0.99944516 0.09938423] [ 0. 0. 0. 1. ]] SLAMing on 8.486502480999999 meters Centerline goodness : 0.720801 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.39, Z:0.10 [[ 0.99904033 0.03293246 -0.02887673 2.04356686] [-0.03347617 0.99926732 -0.01855176 -0.38865054] [ 0.02824461 0.01950064 0.99941081 0.09964545] [ 0. 0. 0. 1. ]] SLAMing on 8.516502481 meters Centerline goodness : 0.721288 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.38, Z:0.10 [[ 0.99923304 0.02821937 -0.02714769 2.00160303] [-0.02864538 0.99947049 -0.0154333 -0.38456922] [ 0.02669779 0.01619912 0.99951229 0.09835404] [ 0. 0. 0. 1. ]] SLAMing on 8.546502481 meters Centerline goodness : 0.719976 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.39, Z:0.10 [[ 0.99927126 0.02772883 -0.02623101 1.99995249] [-0.02812318 0.9994951 -0.0147861 -0.38515233] [ 0.02580777 0.01551302 0.99954655 0.09815632] [ 0. 0. 0. 1. ]] SLAMing on 8.576502480999999 meters Centerline goodness : 0.718398 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.38, Z:0.10 [[ 0.99932131 0.02374773 -0.02815962 1.98233038] [-0.02400757 0.99967193 -0.00892577 -0.3845412 ] [ 0.02793842 0.00959576 0.99956359 0.10198517] [ 0. 0. 0. 1. ]] SLAMing on 8.606502481 meters Centerline goodness : 0.714826 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.38, Z:0.10 [[ 0.9995034 0.01615167 -0.02705686 1.97101096] [-0.01625939 0.99986071 -0.00376627 -0.38091185] [ 0.02699226 0.00420433 0.9996268 0.10428976] [ 0. 0. 0. 1. ]] SLAMing on 8.636502480999999 meters Centerline goodness : 0.715077 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.38, Z:0.11 [[ 9.99651541e-01 1.07767416e-02 -2.40968541e-02 1.95462906e+00] [-1.07604510e-02 9.99941780e-01 8.05613280e-04 -3.76706337e-01] [ 2.41041330e-02 -5.46039539e-04 9.99709304e-01 1.05747464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.666502481 meters Centerline goodness : 0.718366 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.37, Z:0.11 [[ 0.99965269 0.00787418 -0.0251494 1.93411711] [-0.0077342 0.99995408 0.00565836 -0.37361745] [ 0.0251928 -0.00546189 0.99966769 0.10805079] [ 0. 0. 0. 1. ]] SLAMing on 8.696502481 meters Centerline goodness : 0.715830 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.37, Z:0.11 [[ 0.99966676 0.00340768 -0.02558837 1.91658748] [-0.00314542 0.99994219 0.01028247 -0.37118812] [ 0.02562193 -0.01019856 0.99961968 0.1100945 ] [ 0. 0. 0. 1. ]] SLAMing on 8.726502480999999 meters Centerline goodness : 0.716862 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.37, Z:0.11 [[ 0.99966222 0.00314201 -0.02579875 1.91703532] [-0.00288058 0.99994419 0.01016442 -0.37146667] [ 0.02582924 -0.01008667 0.99961548 0.11012746] [ 0. 0. 0. 1. ]] SLAMing on 8.756502481 meters Centerline goodness : 0.714216 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.37, Z:0.11 [[ 9.99649314e-01 -3.27935726e-04 -2.64790843e-02 1.89544436e+00] [ 6.76506220e-04 9.99913226e-01 1.31561086e-02 -3.68788006e-01] [ 2.64724722e-02 -1.31694082e-02 9.99562792e-01 1.11949739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.786502481 meters Centerline goodness : 0.713335 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.11 [[ 0.99959295 -0.00387876 -0.02826471 1.87612058] [ 0.00436625 0.99984243 0.01720589 -0.36596676] [ 0.02819352 -0.01732229 0.99945238 0.11398012] [ 0. 0. 0. 1. ]] SLAMing on 8.816502480999999 meters Centerline goodness : 0.709393 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.37, Z:0.11 [[ 0.99947429 -0.00185381 -0.03236834 1.84546118] [ 0.00246498 0.99981925 0.01885194 -0.36665742] [ 0.03232754 -0.01892181 0.9992982 0.11321403] [ 0. 0. 0. 1. ]] SLAMing on 8.846502481 meters Centerline goodness : 0.707850 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.36, Z:0.11 [[ 0.99934467 -0.00530986 -0.03580555 1.82864101] [ 0.00613779 0.99971541 0.02305273 -0.36448364] [ 0.03567295 -0.02325739 0.99909286 0.114158 ] [ 0. 0. 0. 1. ]] SLAMing on 8.876502481 meters Centerline goodness : 0.707850 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.36, Z:0.11 [[ 0.99934396 -0.00536078 -0.03581785 1.82864711] [ 0.00618915 0.999715 0.02305655 -0.36430486] [ 0.03568404 -0.02326311 0.99909233 0.11418173] [ 0. 0. 0. 1. ]] SLAMing on 8.906502480999999 meters Centerline goodness : 0.707321 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.999206 -0.00884937 -0.0388466 1.81097484] [ 0.00990948 0.99958137 0.02718246 -0.36206507] [ 0.03858979 -0.02754583 0.9988754 0.11555743] [ 0. 0. 0. 1. ]] SLAMing on 8.936502481 meters Centerline goodness : 0.706477 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.99919523 -0.0095341 -0.03896142 1.81083315] [ 0.01056994 0.9995938 0.02646724 -0.36194491] [ 0.03869325 -0.02685776 0.99889013 0.11611661] [ 0. 0. 0. 1. ]] SLAMing on 8.966502481 meters Centerline goodness : 0.705260 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.99914641 -0.01201747 -0.03952242 1.81126077] [ 0.01287561 0.99968528 0.02153056 -0.35984973] [ 0.03925124 -0.02202106 0.99898669 0.11744297] [ 0. 0. 0. 1. ]] SLAMing on 8.996502480999998 meters Centerline goodness : 0.703040 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.99910681 -0.01192127 -0.04053976 1.81248547] [ 0.01274213 0.99971777 0.02005041 -0.35939464] [ 0.04028929 -0.02054906 0.99897673 0.11891294] [ 0. 0. 0. 1. ]] SLAMing on 9.026502481 meters Centerline goodness : 0.701094 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.99911318 -0.0115501 -0.04049008 1.81204243] [ 0.01232796 0.9997432 0.0190145 -0.3577643 ] [ 0.04026006 -0.01949679 0.998999 0.11958797] [ 0. 0. 0. 1. ]] SLAMing on 9.056502480999999 meters Centerline goodness : 0.700104 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.999093 -0.0109154 -0.04115872 1.81384497] [ 0.0116819 0.99976193 0.01842873 -0.35735472] [ 0.04094776 -0.01889283 0.99898265 0.11902697] [ 0. 0. 0. 1. ]] SLAMing on 9.086502481 meters Centerline goodness : 0.697721 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.36, Z:0.12 [[ 0.99923824 -0.00540282 -0.03864907 1.83049776] [ 0.00593935 0.9998874 0.01378085 -0.35677821] [ 0.03857026 -0.01399991 0.99915781 0.11523791] [ 0. 0. 0. 1. ]] SLAMing on 9.116502481 meters Centerline goodness : 0.699666 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.36, Z:0.11 [[ 0.99939699 -0.00209578 -0.03465912 1.84467322] [ 0.00233624 0.99997347 0.00689896 -0.35613249] [ 0.03464374 -0.00697577 0.99937538 0.11195033] [ 0. 0. 0. 1. ]] SLAMing on 9.146502480999999 meters Centerline goodness : 0.699493 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.36, Z:0.11 [[ 9.99501922e-01 1.25714382e-03 -3.15329629e-02 1.86219134e+00] [-1.21005452e-03 9.99998124e-01 1.51237437e-03 -3.57236704e-01] [ 3.15348051e-02 -1.47346448e-03 9.99501568e-01 1.08792336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.176502481 meters Centerline goodness : 0.698347 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.36, Z:0.10 [[ 0.99959567 0.0034542 -0.02822333 1.87820795] [-0.00361884 0.99997672 -0.00578464 -0.35724467] [ 0.02820269 0.00588444 0.9995849 0.10475719] [ 0. 0. 0. 1. ]] SLAMing on 9.206502481 meters Centerline goodness : 0.697204 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.36, Z:0.10 [[ 0.9997011 0.00462658 -0.02400631 1.89362381] [-0.00494804 0.99989866 -0.01334835 -0.35955577] [ 0.02394212 0.01346315 0.99962269 0.10173169] [ 0. 0. 0. 1. ]] SLAMing on 9.236502480999999 meters Centerline goodness : 0.700058 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.10 [[ 0.9997814 0.00575334 -0.02010108 1.91113818] [-0.00614286 0.99979351 -0.01937033 -0.36256499] [ 0.01998549 0.01948957 0.99961029 0.0993895 ] [ 0. 0. 0. 1. ]] SLAMing on 9.266502481 meters Centerline goodness : 0.698885 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.10 [[ 0.99977008 0.00538776 -0.02075458 1.91260025] [-0.0057813 0.99980374 -0.01894862 -0.3645956 ] [ 0.02064841 0.01906425 0.99960502 0.09971247] [ 0. 0. 0. 1. ]] SLAMing on 9.296502481 meters Centerline goodness : 0.700270 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.10 [[ 0.99976956 0.00530898 -0.02079992 1.9130089 ] [-0.00569709 0.99980995 -0.01864435 -0.36498837] [ 0.02069699 0.01875856 0.9996098 0.09977576] [ 0. 0. 0. 1. ]] SLAMing on 9.326502480999999 meters Centerline goodness : 0.699197 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.37, Z:0.10 [[ 0.99975505 0.00502543 -0.02155415 1.91440786] [-0.00541515 0.99982222 -0.01806087 -0.36798258] [ 0.02145955 0.01817317 0.99960453 0.10039848] [ 0. 0. 0. 1. ]] SLAMing on 9.356502481 meters Centerline goodness : 0.705614 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.37, Z:0.10 [[ 0.99975147 0.00849339 -0.02061193 1.91221484] [-0.0087627 0.99987696 -0.01301076 -0.3696925 ] [ 0.02049888 0.01318815 0.99970289 0.10112177] [ 0. 0. 0. 1. ]] SLAMing on 9.386502480999999 meters Centerline goodness : 0.701096 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.37, Z:0.10 [[ 0.99972266 0.00957412 -0.0215162 1.91493904] [-0.00984676 0.99987212 -0.01260133 -0.37081179] [ 0.0213928 0.0128097 0.99968908 0.09961087] [ 0. 0. 0. 1. ]] SLAMing on 9.416502480999998 meters Centerline goodness : 0.704219 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.37, Z:0.10 [[ 0.99970242 0.01051167 -0.0220133 1.91566866] [-0.01080367 0.99985467 -0.01318782 -0.37076046] [ 0.02187147 0.01342172 0.99967069 0.10020711] [ 0. 0. 0. 1. ]] SLAMing on 9.446502481 meters Centerline goodness : 0.705296 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.37, Z:0.10 [[ 0.99970756 0.01073287 -0.02167004 1.91458198] [-0.01103582 0.99984236 -0.01390948 -0.36961673] [ 0.02151733 0.01414456 0.99966841 0.10106906] [ 0. 0. 0. 1. ]] SLAMing on 9.476502480999999 meters Centerline goodness : 0.705831 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.37, Z:0.11 [[ 0.99970786 0.00825382 -0.02271708 1.89292669] [-0.00844861 0.99992825 -0.00849227 -0.36950549] [ 0.02264536 0.00868171 0.99970586 0.10577544] [ 0. 0. 0. 1. ]] SLAMing on 9.506502481 meters Centerline goodness : 0.706951 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.37, Z:0.11 [[ 0.99963966 0.00888276 -0.02533093 1.85736262] [-0.00909949 0.99992287 -0.00845358 -0.36950603] [ 0.02525389 0.00868103 0.99964338 0.10688992] [ 0. 0. 0. 1. ]] SLAMing on 9.536502481 meters Centerline goodness : 0.706814 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.37, Z:0.11 [[ 0.99965567 0.01149219 -0.02358955 1.85451921] [-0.01154916 0.99993071 -0.00227991 -0.37240783] [ 0.02356171 0.00255157 0.99971913 0.10619181] [ 0. 0. 0. 1. ]] SLAMing on 9.566502480999999 meters Centerline goodness : 0.705198 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.37, Z:0.11 [[ 9.99659689e-01 1.19032789e-02 -2.32124440e-02 1.85362385e+00] [-1.19443048e-02 9.99927336e-01 -1.62955764e-03 -3.72873250e-01] [ 2.31913602e-02 1.90625959e-03 9.99729227e-01 1.06656935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.596502481 meters Centerline goodness : 0.706717 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.37, Z:0.11 [[ 0.99965999 0.00902251 -0.02446434 1.83363162] [-0.00892453 0.99995172 0.00411146 -0.37265679] [ 0.02450025 -0.00389172 0.99969225 0.10996988] [ 0. 0. 0. 1. ]] SLAMing on 9.626502481 meters Centerline goodness : 0.702113 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.37, Z:0.11 [[ 0.99965774 0.00928126 -0.02445947 1.83430864] [-0.00917681 0.9999483 0.00437905 -0.37307554] [ 0.02449885 -0.00415309 0.99969123 0.10895161] [ 0. 0. 0. 1. ]] SLAMing on 9.656502480999999 meters Centerline goodness : 0.700701 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.37, Z:0.11 [[ 0.99959085 0.0073024 -0.02765512 1.81859145] [-0.00701716 0.99992133 0.01039722 -0.37084832] [ 0.02772887 -0.01019891 0.99956345 0.10909702] [ 0. 0. 0. 1. ]] SLAMing on 9.686502481 meters Centerline goodness : 0.699532 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.37, Z:0.11 [[ 0.99959429 0.00750225 -0.0274766 1.81828365] [-0.00721531 0.99991855 0.0105273 -0.37033375] [ 0.02755334 -0.01032478 0.99956701 0.10897631] [ 0. 0. 0. 1. ]] SLAMing on 9.716502481 meters Centerline goodness : 0.700936 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.37, Z:0.11 [[ 0.99961052 0.00823453 -0.02666447 1.81570594] [-0.00795486 0.99991241 0.01057758 -0.36897977] [ 0.02674923 -0.01036135 0.99958848 0.10972383] [ 0. 0. 0. 1. ]] SLAMing on 9.746502480999998 meters Centerline goodness : 0.704306 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.36, Z:0.11 [[ 0.99970627 0.00765416 -0.02299556 1.78957782] [-0.00733476 0.99987591 0.01394178 -0.36497769] [ 0.02309942 -0.01376902 0.99963835 0.10905999] [ 0. 0. 0. 1. ]] SLAMing on 9.776502481 meters Centerline goodness : 0.703977 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.36, Z:0.11 [[ 0.99978363 0.00649364 -0.01976175 1.76488804] [-0.00614583 0.99982604 0.01761032 -0.36265728] [ 0.01987266 -0.01748506 0.99964961 0.10873578] [ 0. 0. 0. 1. ]] SLAMing on 9.806502480999999 meters Centerline goodness : 0.702032 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.36, Z:0.11 [[ 0.99984739 0.00480731 -0.0167956 1.72197782] [-0.00444573 0.99975897 0.0214998 -0.35970583] [ 0.01689491 -0.02142185 0.99962776 0.10672628] [ 0. 0. 0. 1. ]] SLAMing on 9.836502481 meters Centerline goodness : 0.702855 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.36, Z:0.11 [[ 0.99982326 0.00411264 -0.01834506 1.694384 ] [-0.00369617 0.99973598 0.0226783 -0.35863062] [ 0.01843348 -0.02260648 0.99957449 0.10577841] [ 0. 0. 0. 1. ]] SLAMing on 9.866502481 meters Centerline goodness : 0.703130 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.36, Z:0.11 [[ 0.99978709 0.00539074 -0.01991768 1.66119865] [-0.00491588 0.99970433 0.02381372 -0.35739342] [ 0.02004016 -0.02371074 0.99951798 0.10537519] [ 0. 0. 0. 1. ]] SLAMing on 9.896502480999999 meters Centerline goodness : 0.698656 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.36, Z:0.11 [[ 9.99764055e-01 1.92620238e-03 -2.16361799e-02 1.64120828e+00] [-1.34397908e-03 9.99637439e-01 2.68920874e-02 -3.56176242e-01] [ 2.16801351e-02 -2.68566638e-02 9.99404168e-01 1.05302428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.926502481 meters Centerline goodness : 0.700491 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.35, Z:0.10 [[ 9.99834983e-01 -4.33377343e-04 -1.81609197e-02 1.59616478e+00] [ 9.82808752e-04 9.99541714e-01 3.02555074e-02 -3.54958627e-01] [ 1.81394847e-02 -3.02683634e-02 9.99377199e-01 1.02783917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.956502481 meters Centerline goodness : 0.699529 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.35, Z:0.10 [[ 0.99986773 -0.00276238 -0.01602757 1.56824799] [ 0.0032476 0.99953475 0.03032732 -0.35288312] [ 0.01593633 -0.03037536 0.99941151 0.10092994] [ 0. 0. 0. 1. ]] SLAMing on 9.986502480999999 meters Centerline goodness : 0.698497 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.35, Z:0.10 [[ 9.99843394e-01 3.45127170e-04 -1.76937510e-02 1.53068727e+00] [ 2.24908950e-04 9.99481269e-01 3.22046959e-02 -3.52052494e-01] [ 1.76956874e-02 -3.22036319e-02 9.99324666e-01 1.01969425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.016502481 meters Centerline goodness : 0.699524 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.35, Z:0.10 [[ 9.99863284e-01 -8.48207589e-04 -1.65134656e-02 1.50696617e+00] [ 1.44752148e-03 9.99339367e-01 3.63143851e-02 -3.50336164e-01] [ 1.64717541e-02 -3.63333240e-02 9.99203969e-01 1.01249977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.046502481 meters Centerline goodness : 0.701501 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.35, Z:0.10 [[ 9.99839970e-01 9.35734951e-04 -1.78650361e-02 1.47097827e+00] [-2.66640428e-04 9.99299649e-01 3.74184440e-02 -3.50558120e-01] [ 1.78875380e-02 -3.74076924e-02 9.99139980e-01 1.01849560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.076502480999999 meters Centerline goodness : 0.701501 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.35, Z:0.10 [[ 0.9998811 0.00309233 -0.01510722 1.43760382] [-0.00248453 0.99919311 0.04008692 -0.34922883] [ 0.01521899 -0.04004462 0.99908198 0.1009139 ] [ 0. 0. 0. 1. ]] SLAMing on 10.106502481 meters Centerline goodness : 0.700881 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.35, Z:0.10 [[ 9.99906713e-01 1.86632671e-03 -1.35307993e-02 1.38802670e+00] [-1.24711695e-03 9.98957730e-01 4.56278207e-02 -3.47578512e-01] [ 1.36018530e-02 -4.56066897e-02 9.98866868e-01 1.01049394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.136502480999999 meters Centerline goodness : 0.700758 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.35, Z:0.10 [[ 9.99889726e-01 -5.39303132e-04 -1.48406237e-02 1.36762473e+00] [ 1.27935414e-03 9.98753281e-01 4.99023698e-02 -3.45531970e-01] [ 1.47952091e-02 -4.99158533e-02 9.98643835e-01 1.02024716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166502480999998 meters Centerline goodness : 0.706170 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.34, Z:0.10 [[ 9.99875544e-01 6.39945085e-04 -1.57634708e-02 1.33214445e+00] [ 1.53300619e-04 9.98735691e-01 5.02692298e-02 -3.42789371e-01] [ 1.57757105e-02 -5.02653901e-02 9.98611295e-01 1.02510906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.196502481 meters Centerline goodness : 0.705593 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.34, Z:0.10 [[ 0.99985205 -0.00331829 -0.01687784 1.31399077] [ 0.00424522 0.99846717 0.05518419 -0.33995869] [ 0.01666886 -0.05524767 0.99833353 0.10456126] [ 0. 0. 0. 1. ]] SLAMing on 10.226502480999999 meters Centerline goodness : 0.705766 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.34, Z:0.11 [[ 0.99984269 -0.00374297 -0.01733717 1.31485879] [ 0.00469896 0.99845137 0.05543264 -0.34029634] [ 0.01710284 -0.05550539 0.9983119 0.10514664] [ 0. 0. 0. 1. ]] SLAMing on 10.256502481 meters Centerline goodness : 0.707854 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.34, Z:0.11 [[ 0.99986605 -0.0051292 -0.01554285 1.25962229] [ 0.00605256 0.99818272 0.05995515 -0.33943911] [ 0.01520708 -0.06004119 0.99808006 0.10735609] [ 0. 0. 0. 1. ]] SLAMing on 10.286502481 meters Centerline goodness : 0.704838 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.34, Z:0.11 [[ 0.9998329 -0.00365313 -0.0179114 1.22415356] [ 0.00472958 0.99816125 0.0604297 -0.33936748] [ 0.01765771 -0.06050432 0.99801174 0.10855087] [ 0. 0. 0. 1. ]] SLAMing on 10.316502480999999 meters Centerline goodness : 0.706618 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.34, Z:0.11 [[ 0.99977666 -0.00313004 -0.02090039 1.18991006] [ 0.00438558 0.99817069 0.06029952 -0.33930364] [ 0.02067341 -0.06037771 0.99796149 0.10915929] [ 0. 0. 0. 1. ]] SLAMing on 10.346502481 meters Centerline goodness : 0.705961 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.34, Z:0.11 [[ 0.99971363 -0.00297267 -0.02374491 1.15686292] [ 0.00439727 0.9981784 0.06017091 -0.3382099 ] [ 0.02352279 -0.06025809 0.99790563 0.10897967] [ 0. 0. 0. 1. ]] SLAMing on 10.376502481 meters Centerline goodness : 0.703421 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.34, Z:0.11 [[ 0.99961645 -0.00368274 -0.0274479 1.12601559] [ 0.00531387 0.99820864 0.05959256 -0.33737682] [ 0.02717926 -0.05971556 0.99784535 0.10845116] [ 0. 0. 0. 1. ]] SLAMing on 10.406502480999999 meters Centerline goodness : 0.703206 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.33, Z:0.11 [[ 0.99961662 -0.00376882 -0.02743014 1.12679964] [ 0.0053833 0.99824203 0.05902431 -0.33461546] [ 0.02715947 -0.05914935 0.99787961 0.10699643] [ 0. 0. 0. 1. ]] SLAMing on 10.436502481 meters Centerline goodness : 0.702768 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.33, Z:0.11 [[ 0.99960699 -0.00423831 -0.02771088 1.12836159] [ 0.00584632 0.99828742 0.05820702 -0.33269129] [ 0.02741672 -0.05834615 0.99791986 0.10542802] [ 0. 0. 0. 1. ]] SLAMing on 10.466502481 meters Centerline goodness : 0.702663 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.33, Z:0.10 [[ 0.99960918 -0.00423956 -0.02763192 1.12865538] [ 0.0058234 0.99832891 0.05749324 -0.3300058 ] [ 0.027342 -0.05763168 0.99796343 0.10419664] [ 0. 0. 0. 1. ]] SLAMing on 10.496502480999998 meters Centerline goodness : 0.706049 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.33, Z:0.10 [[ 0.99961459 -0.00431301 -0.02742376 1.1279909 ] [ 0.00587634 0.99834637 0.05718395 -0.32827864] [ 0.02713178 -0.05732306 0.99798694 0.10445273] [ 0. 0. 0. 1. ]] SLAMing on 10.526502481 meters Centerline goodness : 0.703544 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.33, Z:0.10 [[ 0.99961489 -0.00718483 -0.02680393 1.12632658] [ 0.00861897 0.99851568 0.05377873 -0.32510449] [ 0.02637776 -0.05398905 0.99819307 0.1043418 ] [ 0. 0. 0. 1. ]] SLAMing on 10.556502480999999 meters Centerline goodness : 0.701975 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.32, Z:0.10 [[ 0.99959235 -0.01095725 -0.02636429 1.12556782] [ 0.01220288 0.99879387 0.04755931 -0.32120982] [ 0.02581137 -0.04786164 0.99852042 0.10448384] [ 0. 0. 0. 1. ]] SLAMing on 10.586502480999998 meters Centerline goodness : 0.701561 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.32, Z:0.10 [[ 0.99953734 -0.01511556 -0.02639362 1.12553614] [ 0.0162274 0.99896756 0.04243212 -0.31973037] [ 0.02572498 -0.04284079 0.99875067 0.10484136] [ 0. 0. 0. 1. ]] SLAMing on 10.616502481 meters Centerline goodness : 0.700820 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.32, Z:0.10 [[ 0.9994766 -0.01859112 -0.02647443 1.12601495] [ 0.01957157 0.99911359 0.03726916 -0.31819336] [ 0.02575808 -0.0377678 0.99895451 0.10469001] [ 0. 0. 0. 1. ]] SLAMing on 10.646502480999999 meters Centerline goodness : 0.701811 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99940674 -0.02177087 -0.02668713 1.1268657 ] [ 0.02261832 0.99923589 0.03187552 -0.31485283] [ 0.02597278 -0.03246022 0.9991355 0.10420648] [ 0. 0. 0. 1. ]] SLAMing on 10.676502481 meters Centerline goodness : 0.701751 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99941008 -0.02134791 -0.02690276 1.1277274 ] [ 0.02218987 0.99926066 0.03139645 -0.31295242] [ 0.02621262 -0.03197489 0.99914489 0.10348763] [ 0. 0. 0. 1. ]] SLAMing on 10.706502481 meters Centerline goodness : 0.702720 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99942675 -0.02136462 -0.02626245 1.12749298] [ 0.02217804 0.99927076 0.03108174 -0.31159049] [ 0.02557925 -0.03164637 0.99917176 0.10185843] [ 0. 0. 0. 1. ]] SLAMing on 10.736502480999999 meters Centerline goodness : 0.700745 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99942475 -0.02203819 -0.02577781 1.12701509] [ 0.02281693 0.99927991 0.03031591 -0.30993828] [ 0.02509114 -0.03088664 0.99920791 0.10108085] [ 0. 0. 0. 1. ]] SLAMing on 10.766502481 meters Centerline goodness : 0.700745 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99942475 -0.02203819 -0.02577781 1.12701509] [ 0.02281693 0.99927991 0.03031591 -0.30993828] [ 0.02509114 -0.03088664 0.99920791 0.10108085] [ 0. 0. 0. 1. ]] SLAMing on 10.796502481 meters Centerline goodness : 0.701897 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99941732 -0.02189543 -0.02618402 1.12805445] [ 0.02265815 0.99931686 0.02919626 -0.30971586] [ 0.02552687 -0.02977253 0.99923069 0.10093965] [ 0. 0. 0. 1. ]] SLAMing on 10.826502480999999 meters Centerline goodness : 0.703646 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99942345 -0.02196606 -0.02588947 1.12696838] [ 0.02268261 0.99935844 0.02771642 -0.30778309] [ 0.02526404 -0.02828768 0.99928051 0.1019841 ] [ 0. 0. 0. 1. ]] SLAMing on 10.856502481 meters Centerline goodness : 0.700982 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99935504 -0.02470068 -0.02606504 1.12726325] [ 0.025266 0.99944767 0.02158672 -0.30477199] [ 0.02551743 -0.02223135 0.99942715 0.10279598] [ 0. 0. 0. 1. ]] SLAMing on 10.886502480999999 meters Centerline goodness : 0.703206 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99937243 -0.02420502 -0.02586225 1.12726448] [ 0.02476344 0.99946223 0.02149454 -0.30366417] [ 0.02532806 -0.02212149 0.9994344 0.10216547] [ 0. 0. 0. 1. ]] SLAMing on 10.916502480999998 meters Centerline goodness : 0.702295 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99936264 -0.02442116 -0.02603697 1.12796503] [ 0.0249599 0.99947678 0.02057117 -0.30191997] [ 0.02552098 -0.02120794 0.9994493 0.10159144] [ 0. 0. 0. 1. ]] SLAMing on 10.946502481 meters Centerline goodness : 0.703494 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99937489 -0.02412332 -0.02584378 1.1276331 ] [ 0.02467837 0.99946684 0.02137766 -0.30270932] [ 0.0253143 -0.02200208 0.99943739 0.1015527 ] [ 0. 0. 0. 1. ]] SLAMing on 10.976502480999999 meters Centerline goodness : 0.703968 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99937155 -0.02404004 -0.0260495 1.1283087 ] [ 0.02460524 0.99946391 0.02159805 -0.30303669] [ 0.02551631 -0.02222543 0.99942731 0.10110583] [ 0. 0. 0. 1. ]] SLAMing on 11.006502481 meters Centerline goodness : 0.703089 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99936664 -0.02403769 -0.02623931 1.12961025] [ 0.02460203 0.99946823 0.0214007 -0.30216591] [ 0.02571093 -0.02203268 0.99942659 0.09959429] [ 0. 0. 0. 1. ]] SLAMing on 11.036502481 meters Centerline goodness : 0.703295 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99937773 -0.02359435 -0.02621956 1.13006936] [ 0.02415961 0.99947785 0.02145543 -0.30134246] [ 0.02569964 -0.02207553 0.99942593 0.09880224] [ 0. 0. 0. 1. ]] SLAMing on 11.066502480999999 meters Centerline goodness : 0.706436 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99944276 -0.01951947 -0.027077 1.13224531] [ 0.02021342 0.99946798 0.02559619 -0.30192368] [ 0.02656297 -0.02612924 0.99930559 0.09755343] [ 0. 0. 0. 1. ]] SLAMing on 11.096502481 meters Centerline goodness : 0.706721 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.9994408 -0.01944619 -0.02720181 1.1327598 ] [ 0.02010859 0.99950261 0.02429374 -0.29974291] [ 0.02671586 -0.02482715 0.99933472 0.09721295] [ 0. 0. 0. 1. ]] SLAMing on 11.126502481 meters Centerline goodness : 0.708083 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99942132 -0.01852776 -0.02852621 1.13567995] [ 0.01920118 0.99953903 0.02351668 -0.30241684] [ 0.02807734 -0.0240508 0.99931638 0.09702583] [ 0. 0. 0. 1. ]] SLAMing on 11.156502480999999 meters Centerline goodness : 0.708601 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99940881 -0.01859622 -0.02891733 1.13624567] [ 0.0192681 0.99954672 0.02313216 -0.30289819] [ 0.02847405 -0.02367566 0.99931411 0.09742292] [ 0. 0. 0. 1. ]] SLAMing on 11.186502481 meters Centerline goodness : 0.708456 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.9993227 -0.02179602 -0.02964931 1.13763467] [ 0.02232726 0.99959392 0.01770566 -0.30132611] [ 0.02925135 -0.01835565 0.99940354 0.09787993] [ 0. 0. 0. 1. ]] SLAMing on 11.216502481 meters Centerline goodness : 0.707696 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99932752 -0.02232692 -0.0290863 1.13629337] [ 0.02281762 0.999601 0.01664929 -0.29973944] [ 0.02870296 -0.01730177 0.99943824 0.09838055] [ 0. 0. 0. 1. ]] SLAMing on 11.246502480999998 meters Centerline goodness : 0.708069 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99940938 -0.0191787 -0.02851426 1.13515217] [ 0.01981247 0.99955916 0.02211228 -0.30189124] [ 0.02807761 -0.02266416 0.99934878 0.09799689] [ 0. 0. 0. 1. ]] SLAMing on 11.276502481 meters Centerline goodness : 0.709201 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99946838 -0.01577825 -0.02853074 1.13600324] [ 0.01656254 0.99948554 0.02746509 -0.30344369] [ 0.02808271 -0.02792303 0.99921553 0.09627802] [ 0. 0. 0. 1. ]] SLAMing on 11.306502480999999 meters Centerline goodness : 0.709417 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99946625 -0.01554674 -0.02873164 1.13686253] [ 0.0163127 0.99951252 0.02661979 -0.30227831] [ 0.02830378 -0.02707427 0.99923265 0.09565826] [ 0. 0. 0. 1. ]] SLAMing on 11.336502480999998 meters Centerline goodness : 0.711073 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99946001 -0.015225 -0.02911862 1.13807624] [ 0.01598205 0.9995356 0.02594533 -0.30153768] [ 0.02871008 -0.02639669 0.99923918 0.09511848] [ 0. 0. 0. 1. ]] SLAMing on 11.366502481 meters Centerline goodness : 0.710831 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.09 [[ 0.99946782 -0.01506393 -0.02893364 1.13830693] [ 0.01579492 0.99955754 0.02520408 -0.30020171] [ 0.02854116 -0.02564767 0.99926353 0.09431786] [ 0. 0. 0. 1. ]] SLAMing on 11.396502480999999 meters Centerline goodness : 0.709875 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.09 [[ 0.99946199 -0.01576055 -0.02876332 1.13775307] [ 0.01645539 0.99957453 0.0240826 -0.29872025] [ 0.02837153 -0.02454296 0.9992961 0.09474379] [ 0. 0. 0. 1. ]] SLAMing on 11.426502481 meters Centerline goodness : 0.707425 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99946776 -0.01564568 -0.02862539 1.13672172] [ 0.01627185 0.99963049 0.0217741 -0.29635612] [ 0.02827414 -0.0222283 0.99935303 0.09644134] [ 0. 0. 0. 1. ]] SLAMing on 11.456502481 meters Centerline goodness : 0.707321 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99947236 -0.01483548 -0.02889481 1.13706396] [ 0.01543426 0.99966843 0.02061106 -0.29504537] [ 0.02857945 -0.02104615 0.99936994 0.09699016] [ 0. 0. 0. 1. ]] SLAMing on 11.486502480999999 meters Centerline goodness : 0.708643 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.99947891 -0.01356344 -0.02929073 1.13790058] [ 0.01413735 0.99971037 0.01947592 -0.29244822] [ 0.02901809 -0.01987986 0.99938118 0.09713053] [ 0. 0. 0. 1. ]] SLAMing on 11.516502481 meters Centerline goodness : 0.707301 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.99948265 -0.0134224 -0.02922793 1.13815269] [ 0.01397543 0.99972559 0.01879999 -0.29085278] [ 0.02896757 -0.01919874 0.99939596 0.09661121] [ 0. 0. 0. 1. ]] SLAMing on 11.546502481 meters Centerline goodness : 0.707859 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.99948859 -0.01356822 -0.02895632 1.13825656] [ 0.01413252 0.99971244 0.0193731 -0.29164069] [ 0.02868514 -0.01977241 0.99939292 0.09556582] [ 0. 0. 0. 1. ]] SLAMing on 11.576502480999999 meters Centerline goodness : 0.707891 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.9994983 -0.01360178 -0.02860323 1.13760242] [ 0.01414934 0.99971881 0.01902875 -0.29059748] [ 0.02833636 -0.01942392 0.99940971 0.09553004] [ 0. 0. 0. 1. ]] SLAMing on 11.606502481 meters Centerline goodness : 0.706397 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.99950653 -0.01362756 -0.02830154 1.1370756 ] [ 0.01411363 0.99975508 0.01704637 -0.28673096] [ 0.02806231 -0.01743739 0.99945407 0.09554937] [ 0. 0. 0. 1. ]] SLAMing on 11.636502480999999 meters Centerline goodness : 0.708064 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.09 [[ 0.99951612 -0.01391417 -0.02781928 1.13671655] [ 0.01437821 0.99975964 0.01655058 -0.28598377] [ 0.02758231 -0.01694257 0.99947595 0.09473737] [ 0. 0. 0. 1. ]] SLAMing on 11.666502480999998 meters Centerline goodness : 0.708892 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.28, Z:0.09 [[ 0.9995154 -0.01412734 -0.02773786 1.13672899] [ 0.01456986 0.99976874 0.01581697 -0.28498476] [ 0.02750799 -0.01621345 0.99949009 0.09446206] [ 0. 0. 0. 1. ]] SLAMing on 11.696502481 meters Centerline goodness : 0.709769 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.28, Z:0.09 [[ 0.99963266 -0.01096406 -0.02478589 1.15333842] [ 0.01119488 0.99989508 0.00919285 -0.28382914] [ 0.0246825 -0.00946695 0.99965051 0.09056675] [ 0. 0. 0. 1. ]] SLAMing on 11.726502480999999 meters Centerline goodness : 0.709614 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.28, Z:0.09 [[ 0.99971585 -0.00855439 -0.02224955 1.17021381] [ 0.00859902 0.9999612 0.00191081 -0.28261596] [ 0.02223234 -0.00210159 0.99975062 0.08640162] [ 0. 0. 0. 1. ]] SLAMing on 11.756502481 meters Centerline goodness : 0.712129 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.28, Z:0.08 [[ 0.9997493 -0.00496989 -0.02183184 1.19044056] [ 0.00490579 0.9999835 -0.00298838 -0.28156809] [ 0.02184634 0.00288053 0.99975719 0.08271474] [ 0. 0. 0. 1. ]] SLAMing on 11.786502481 meters Centerline goodness : 0.712278 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.28, Z:0.08 [[ 0.99979663 -0.00201161 -0.02006599 1.20697981] [ 0.0018076 0.99994655 -0.01017978 -0.28205974] [ 0.02008539 0.01014144 0.99974683 0.07879313] [ 0. 0. 0. 1. ]] SLAMing on 11.816502480999999 meters Centerline goodness : 0.713015 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.28, Z:0.07 [[ 9.99847797e-01 7.85154484e-04 -1.74289173e-02 1.22449983e+00] [-1.07503859e-03 9.99861147e-01 -1.66292314e-02 -2.81910748e-01] [ 1.74134408e-02 1.66454372e-02 9.99709809e-01 7.45872994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.846502481 meters Centerline goodness : 0.712805 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.28, Z:0.07 [[ 9.99909978e-01 -1.19188207e-04 -1.34172477e-02 1.25199120e+00] [-1.44656083e-04 9.99806676e-01 -1.96618733e-02 -2.81352762e-01] [ 1.34169973e-02 1.96620442e-02 9.99716654e-01 7.26729450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.876502481 meters Centerline goodness : 0.713099 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.28, Z:0.07 [[ 9.99902613e-01 -3.18286899e-04 -1.39521826e-02 1.25256695e+00] [ 4.67575628e-05 9.99810685e-01 -1.94574312e-02 -2.81508164e-01] [ 1.39557343e-02 1.94548839e-02 9.99713331e-01 7.37659575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.906502480999999 meters Centerline goodness : 0.713719 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.28, Z:0.07 [[ 0.99994061 -0.00246767 -0.01061535 1.28371952] [ 0.00224341 0.99977514 -0.02108631 -0.28089916] [ 0.010665 0.02106124 0.9997213 0.07322832] [ 0. 0. 0. 1. ]] SLAMing on 11.936502481 meters Centerline goodness : 0.713458 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.28, Z:0.07 [[ 0.99996114 -0.00420297 -0.00774958 1.31518396] [ 0.00401885 0.99971286 -0.02362304 -0.28025606] [ 0.00784664 0.02359098 0.9996909 0.07049569] [ 0. 0. 0. 1. ]] SLAMing on 11.966502481 meters Centerline goodness : 0.714893 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.28, Z:0.07 [[ 0.99994903 -0.00518856 -0.00866064 1.31785682] [ 0.00498008 0.99970141 -0.02392271 -0.28174676] [ 0.00878218 0.02387836 0.9996763 0.069855 ] [ 0. 0. 0. 1. ]] SLAMing on 11.996502480999998 meters Centerline goodness : 0.713256 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:0.07 [[ 0.99997006 -0.00246745 -0.00733415 1.33698074] [ 0.00225419 0.99957847 -0.02894489 -0.2839629 ] [ 0.00740248 0.02892749 0.9995541 0.06764485] [ 0. 0. 0. 1. ]] SLAMing on 12.026502481 meters Centerline goodness : 0.714619 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.28, Z:0.07 [[ 9.99992406e-01 -7.55228607e-04 -3.82341813e-03 1.36581506e+00] [ 6.49783928e-04 9.99621450e-01 -2.75051586e-02 -2.84576739e-01] [ 3.84274346e-03 2.75024653e-02 9.99614349e-01 6.79352359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.056502480999999 meters Centerline goodness : 0.716677 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.29, Z:0.07 [[ 9.99999150e-01 -9.97057952e-04 -8.39889900e-04 1.39687030e+00] [ 9.73464889e-04 9.99617534e-01 -2.76376113e-02 -2.85182499e-01] [ 8.67124971e-04 2.76367702e-02 9.99617655e-01 6.69818355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.086502480999998 meters Centerline goodness : 0.716365 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.29, Z:0.06 [[ 9.99990654e-01 4.18237804e-03 1.09572207e-03 1.41523917e+00] [-4.14658098e-03 9.99515270e-01 -3.08549897e-02 -2.86607358e-01] [-1.22423817e-03 3.08501578e-02 9.99523271e-01 6.43781897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.116502481 meters Centerline goodness : 0.715299 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.29, Z:0.06 [[ 0.99994939 0.00953553 0.00320913 1.43336906] [-0.00942337 0.99940042 -0.03331674 -0.28766851] [-0.0035249 0.03328482 0.99943969 0.06213682] [ 0. 0. 0. 1. ]] SLAMing on 12.146502480999999 meters Centerline goodness : 0.716096 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.29, Z:0.06 [[ 0.99993773 0.00925289 0.00623935 1.46487444] [-0.00903772 0.99939199 -0.03367438 -0.28808236] [-0.00654714 0.03361589 0.99941338 0.06117427] [ 0. 0. 0. 1. ]] SLAMing on 12.176502481 meters Centerline goodness : 0.715104 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.29, Z:0.07 [[ 0.99997036 0.00640126 0.00427809 1.44626902] [-0.00628133 0.99960257 -0.02748173 -0.28894885] [-0.00445231 0.02745404 0.99961315 0.06603113] [ 0. 0. 0. 1. ]] SLAMing on 12.206502481 meters Centerline goodness : 0.715105 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.29, Z:0.07 [[ 0.99999558 0.00244139 0.00169516 1.42714976] [-0.0024013 0.99972654 -0.0232612 -0.2891509 ] [-0.00175149 0.02325702 0.99972798 0.07055111] [ 0. 0. 0. 1. ]] SLAMing on 12.236502480999999 meters Centerline goodness : 0.715390 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.29, Z:0.07 [[ 9.99996195e-01 -9.40639303e-04 2.59326445e-03 1.38186632e+00] [ 9.88229644e-04 9.99830001e-01 -1.84117311e-02 -2.87552158e-01] [-2.57550480e-03 1.84142238e-02 9.99827127e-01 7.17379200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.266502481 meters Centerline goodness : 0.715475 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.29, Z:0.07 [[ 0.99999622 0.00143997 0.00234209 1.38202446] [-0.00140848 0.99990933 -0.01339179 -0.29037438] [-0.00236116 0.01338844 0.99990758 0.07196136] [ 0. 0. 0. 1. ]] SLAMing on 12.296502481 meters Centerline goodness : 0.715945 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.29, Z:0.08 [[ 9.99999126e-01 3.05226568e-04 -1.28678462e-03 1.36612930e+00] [-3.11511117e-04 9.99988012e-01 -4.88654893e-03 -2.90705325e-01] [ 1.28527769e-03 4.88694551e-03 9.99987233e-01 7.56167439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.326502480999999 meters Centerline goodness : 0.717788 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.29, Z:0.08 [[ 0.99998921 -0.00180298 -0.00428165 1.35046705] [ 0.00181499 0.99999443 0.00280174 -0.29106989] [ 0.00427657 -0.00280948 0.99998691 0.07909053] [ 0. 0. 0. 1. ]] SLAMing on 12.356502481 meters Centerline goodness : 0.716852 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.29, Z:0.08 [[ 0.99997416 0.00204483 -0.00689215 1.31602312] [-0.00199906 0.99997595 0.0066407 -0.29365999] [ 0.00690556 -0.00662675 0.9999542 0.08193146] [ 0. 0. 0. 1. ]] SLAMing on 12.386502480999999 meters Centerline goodness : 0.719517 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.29, Z:0.09 [[ 9.99951030e-01 -8.22237748e-04 -9.86211894e-03 1.29712158e+00] [ 9.37050088e-04 9.99931781e-01 1.16427864e-02 -2.93276047e-01] [ 9.85187302e-03 -1.16514576e-02 9.99883585e-01 8.55897907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.416502480999998 meters Centerline goodness : 0.716368 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.29, Z:0.09 [[ 0.99992371 -0.00422864 -0.01160599 1.27786987] [ 0.00442141 0.99985186 0.01663448 -0.29261623] [ 0.01153393 -0.01668452 0.99979428 0.08921568] [ 0. 0. 0. 1. ]] SLAMing on 12.446502481 meters Centerline goodness : 0.716391 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.29, Z:0.09 [[ 0.99985788 -0.00821859 -0.01471959 1.26089471] [ 0.00853405 0.99973246 0.02149829 -0.29240709] [ 0.01453897 -0.02162085 0.99966052 0.09228087] [ 0. 0. 0. 1. ]] SLAMing on 12.476502480999999 meters Centerline goodness : 0.716129 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.30, Z:0.10 [[ 0.99982813 -0.00532439 -0.01775819 1.22799652] [ 0.00577561 0.99965927 0.02545566 -0.29521065] [ 0.0176166 -0.02555384 0.99951821 0.09512901] [ 0. 0. 0. 1. ]] SLAMing on 12.506502481 meters Centerline goodness : 0.717282 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.30, Z:0.10 [[ 0.99978241 -0.00463474 -0.02033859 1.19375039] [ 0.00518131 0.9996246 0.02690362 -0.29570772] [ 0.02020626 -0.02700315 0.99943111 0.09782232] [ 0. 0. 0. 1. ]] SLAMing on 12.536502481 meters Centerline goodness : 0.714821 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.29, Z:0.10 [[ 0.99973369 -0.00691744 -0.02201603 1.17454928] [ 0.00762553 0.99945097 0.03224296 -0.29322301] [ 0.02178091 -0.03240226 0.99923755 0.0995396 ] [ 0. 0. 0. 1. ]] SLAMing on 12.566502480999999 meters Centerline goodness : 0.716546 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.99970346 -0.00309521 -0.02415403 1.14205376] [ 0.00396425 0.99934341 0.03601445 -0.29351501] [ 0.0240267 -0.03609952 0.99905933 0.10011169] [ 0. 0. 0. 1. ]] SLAMing on 12.596502481 meters Centerline goodness : 0.716723 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.29, Z:0.10 [[ 0.99961618 -0.0042705 -0.0273727 1.12394881] [ 0.00539263 0.99914243 0.04105267 -0.2901818 ] [ 0.02717391 -0.04118452 0.99878196 0.1005561 ] [ 0. 0. 0. 1. ]] SLAMing on 12.626502481 meters Centerline goodness : 0.716983 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.29, Z:0.10 [[ 0.99956681 -0.0020212 -0.02936152 1.09222765] [ 0.00328067 0.99907353 0.04291053 -0.28872989] [ 0.02924759 -0.04298827 0.99864738 0.10001849] [ 0. 0. 0. 1. ]] SLAMing on 12.656502480999999 meters Centerline goodness : 0.719738 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.29, Z:0.10 [[ 9.99522278e-01 1.92484675e-03 -3.08465655e-02 1.05456057e+00] [-5.64746386e-04 9.99029581e-01 4.40406324e-02 -2.87025270e-01] [ 3.09014029e-02 -4.40021727e-02 9.98553410e-01 9.98357725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.686502481 meters Centerline goodness : 0.719738 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.28, Z:0.10 [[ 0.99942777 -0.00303148 -0.03368883 1.03916911] [ 0.00462517 0.99886862 0.04732962 -0.28425561] [ 0.03350723 -0.04745835 0.99831106 0.10071627] [ 0. 0. 0. 1. ]] SLAMing on 12.716502481 meters Centerline goodness : 0.718682 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.28, Z:0.10 [[ 9.99347658e-01 -6.54560224e-04 -3.61085931e-02 1.00566026e+00] [ 2.41322328e-03 9.98811375e-01 4.86827840e-02 -2.82910508e-01] [ 3.60338077e-02 -4.87381642e-02 9.98161388e-01 9.97899696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.746502480999998 meters Centerline goodness : 0.720164 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.28, Z:0.10 [[ 9.99212501e-01 3.14206435e-04 -3.96771823e-02 9.74354236e-01] [ 1.62486555e-03 9.98805807e-01 4.88295053e-02 -2.80799836e-01] [ 3.96451426e-02 -4.88555222e-02 9.98018738e-01 9.80569480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.776502481 meters Centerline goodness : 0.720122 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.28, Z:0.09 [[ 9.99317488e-01 -6.84568749e-04 -3.69335727e-02 9.27681800e-01] [ 2.52638208e-03 9.98753786e-01 4.98446813e-02 -2.78063197e-01] [ 3.68534235e-02 -4.99039700e-02 9.98073854e-01 9.35031152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806502480999999 meters Centerline goodness : 0.719993 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:0.09 [[ 0.99931596 -0.00135066 -0.0369566 0.92751531] [ 0.00310817 0.9988645 0.04754006 -0.27471503] [ 0.03685043 -0.04762241 0.99818543 0.09387954] [ 0. 0. 0. 1. ]] SLAMing on 12.836502480999998 meters Centerline goodness : 0.720387 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:0.09 [[ 0.99926722 0.00547213 -0.03788247 0.95794944] [-0.00395917 0.99919589 0.03989862 -0.277282 ] [ 0.03807033 -0.0397194 0.99848536 0.09410286] [ 0. 0. 0. 1. ]] SLAMing on 12.866502481 meters Centerline goodness : 0.721137 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.27, Z:0.09 [[ 0.99925007 0.0061258 -0.03823317 0.95853375] [-0.00469107 0.99928549 0.03750329 -0.27404364] [ 0.03843559 -0.03729581 0.99856483 0.09450045] [ 0. 0. 0. 1. ]] SLAMing on 12.896502480999999 meters Centerline goodness : 0.720761 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.27, Z:0.10 [[ 0.99922954 0.00594925 -0.03879337 0.9592782 ] [-0.00455219 0.99934134 0.03600222 -0.27218115] [ 0.038982 -0.03579789 0.99859848 0.09510927] [ 0. 0. 0. 1. ]] SLAMing on 12.926502481 meters Centerline goodness : 0.719970 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.10 [[ 0.9991406 0.01125671 -0.03989158 0.99720078] [-0.01003714 0.99948004 0.03064168 -0.27383026] [ 0.04021576 -0.03021495 0.99873407 0.09659232] [ 0. 0. 0. 1. ]] SLAMing on 12.956502481 meters Centerline goodness : 0.720990 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.10 [[ 0.99911626 0.01186552 -0.04032247 0.99861039] [-0.01068891 0.99951435 0.02927143 -0.27113272] [ 0.04065021 -0.02881456 0.99875787 0.09585378] [ 0. 0. 0. 1. ]] SLAMing on 12.986502480999999 meters Centerline goodness : 0.722064 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.10 [[ 0.99909939 0.01147999 -0.04084862 0.99965343] [-0.01033192 0.99954872 0.0282064 -0.26961074] [ 0.04115399 -0.02775895 0.99876713 0.09587578] [ 0. 0. 0. 1. ]] SLAMing on 13.016502481 meters Centerline goodness : 0.721056 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.09 [[ 0.9991143 0.01086405 -0.04065211 0.99994583] [-0.0097473 0.99957238 0.02756913 -0.26791984] [ 0.04093424 -0.02714847 0.99879295 0.09479113] [ 0. 0. 0. 1. ]] SLAMing on 13.046502481 meters Centerline goodness : 0.721634 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.09 [[ 0.99910524 0.01049999 -0.04096907 1.00132761] [-0.009396 0.99959 0.02704713 -0.26690859] [ 0.04123627 -0.02663798 0.99879427 0.09361823] [ 0. 0. 0. 1. ]] SLAMing on 13.076502480999999 meters Centerline goodness : 0.723244 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.09 [[ 0.99911601 0.01009169 -0.04080877 1.00201006] [-0.00897066 0.99957988 0.02756074 -0.26704558] [ 0.04106976 -0.0271703 0.99878679 0.09199171] [ 0. 0. 0. 1. ]] SLAMing on 13.106502481 meters Centerline goodness : 0.723542 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.27, Z:0.09 [[ 0.99917348 0.01233153 -0.03873354 1.02051799] [-0.01148418 0.9996915 0.02202323 -0.26773758] [ 0.03899317 -0.02156021 0.99900685 0.0897838 ] [ 0. 0. 0. 1. ]] SLAMing on 13.136502480999999 meters Centerline goodness : 0.723637 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.27, Z:0.09 [[ 0.99917011 0.009542 -0.03959858 1.02182445] [-0.00890991 0.99983055 0.0161084 -0.26585847] [ 0.03974558 -0.01574221 0.99908582 0.09077969] [ 0. 0. 0. 1. ]] SLAMing on 13.166502480999998 meters Centerline goodness : 0.723982 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.27, Z:0.09 [[ 0.99913923 0.00976128 -0.04031774 1.02324784] [-0.00913091 0.99983364 0.01578977 -0.26660828] [ 0.04046517 -0.01540804 0.99906214 0.09086634] [ 0. 0. 0. 1. ]] SLAMing on 13.196502481 meters Centerline goodness : 0.724111 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.27, Z:0.09 [[ 0.99911357 0.00976105 -0.04094866 1.02460153] [-0.0091607 0.99984817 0.01482322 -0.26520258] [ 0.04108713 -0.01443496 0.99905129 0.0907859 ] [ 0. 0. 0. 1. ]] SLAMing on 13.226502480999999 meters Centerline goodness : 0.726945 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.26, Z:0.09 [[ 0.99909582 0.01062136 -0.04116701 1.02549188] [-0.01002005 0.99984048 0.01478556 -0.26495259] [ 0.04131748 -0.01435969 0.99904287 0.09020762] [ 0. 0. 0. 1. ]] SLAMing on 13.256502480999998 meters Centerline goodness : 0.727109 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.26, Z:0.09 [[ 0.99908521 0.01086148 -0.04136141 1.02605964] [-0.01028089 0.99984598 0.01422394 -0.26424868] [ 0.04150954 -0.01378569 0.999043 0.09006135] [ 0. 0. 0. 1. ]] SLAMing on 13.286502481 meters Centerline goodness : 0.727892 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.26, Z:0.09 [[ 0.99905582 0.01021302 -0.04222763 1.02740336] [-0.00984093 0.99991098 0.00901006 -0.26256956] [ 0.04231589 -0.00858599 0.99906739 0.09111597] [ 0. 0. 0. 1. ]] SLAMing on 13.316502480999999 meters Centerline goodness : 0.726133 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.26, Z:0.09 [[ 0.99902782 0.01018996 -0.04289033 1.02813206] [-0.0098373 0.99991612 0.00842539 -0.26283281] [ 0.04297258 -0.00799527 0.99904426 0.09208431] [ 0. 0. 0. 1. ]] SLAMing on 13.346502481 meters Centerline goodness : 0.727212 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.26, Z:0.09 [[ 0.99904053 0.00639527 -0.04332571 1.00766439] [-0.00591388 0.99991945 0.01123011 -0.26144656] [ 0.04339404 -0.01096311 0.99899788 0.09282947] [ 0. 0. 0. 1. ]] SLAMing on 13.376502481 meters Centerline goodness : 0.727680 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.26, Z:0.09 [[ 0.99904266 0.00924595 -0.04275825 1.00758808] [-0.0085168 0.99981573 0.01720361 -0.26287196] [ 0.04290944 -0.01682298 0.99893732 0.0909245 ] [ 0. 0. 0. 1. ]] SLAMing on 13.406502480999999 meters Centerline goodness : 0.728646 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.26, Z:0.09 [[ 0.99904268 0.00888342 -0.04283459 1.00875157] [-0.00815655 0.99982027 0.01711416 -0.26224002] [ 0.04297892 -0.01674839 0.99893559 0.08932794] [ 0. 0. 0. 1. ]] SLAMing on 13.436502481 meters Centerline goodness : 0.729671 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.26, Z:0.09 [[ 0.99911785 0.00276698 -0.04190308 0.96740621] [-0.00188416 0.99977574 0.02109313 -0.25887918] [ 0.04195205 -0.02099557 0.998899 0.08807454] [ 0. 0. 0. 1. ]] SLAMing on 13.466502481 meters Centerline goodness : 0.727897 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.26, Z:0.09 [[ 0.99914241 -0.00130496 -0.04138537 0.96583491] [ 0.00195521 0.99987522 0.01567546 -0.25670302] [ 0.04135975 -0.01574294 0.99902029 0.08919697] [ 0. 0. 0. 1. ]] SLAMing on 13.496502480999998 meters Centerline goodness : 0.728878 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.26, Z:0.09 [[ 9.99268220e-01 1.59563469e-04 -3.82491678e-02 9.82311040e-01] [ 1.61431546e-04 9.99964799e-01 8.38897378e-03 -2.56162939e-01] [ 3.82491600e-02 -8.38900952e-03 9.99233019e-01 8.68582619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.526502481 meters Centerline goodness : 0.727441 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:0.09 [[ 9.99287947e-01 3.42748022e-04 -3.77290490e-02 9.80838006e-01] [-5.37736347e-05 9.99970661e-01 7.65994981e-03 -2.54616743e-01] [ 3.77305675e-02 -7.65246669e-03 9.99258647e-01 8.76721448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.556502480999999 meters Centerline goodness : 0.728274 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:0.09 [[ 9.99295407e-01 4.48651807e-04 -3.75298356e-02 9.80766778e-01] [-1.82855173e-04 9.99974881e-01 7.08540815e-03 -2.53332751e-01] [ 3.75320718e-02 -7.07355329e-03 9.99270388e-01 8.73331686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.586502480999998 meters Centerline goodness : 0.727029 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.09 [[ 0.99921847 -0.00181951 -0.0394859 0.96201082] [ 0.00229251 0.99992612 0.01193717 -0.25103509] [ 0.03946126 -0.01201837 0.99914882 0.08848801] [ 0. 0. 0. 1. ]] SLAMing on 13.616502481 meters Centerline goodness : 0.728249 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.09 [[ 0.99907017 -0.00130155 -0.04309421 0.93595702] [ 0.00188518 0.99990702 0.01350525 -0.25183468] [ 0.04307262 -0.01357394 0.99897973 0.08705563] [ 0. 0. 0. 1. ]] SLAMing on 13.646502480999999 meters Centerline goodness : 0.729531 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:0.09 [[ 0.9991246 -0.00256173 -0.04175484 0.88887356] [ 0.00333356 0.99982468 0.0184256 -0.2498978 ] [ 0.04170032 -0.01854866 0.99895797 0.08515967] [ 0. 0. 0. 1. ]] SLAMing on 13.676502481 meters Centerline goodness : 0.729403 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:0.09 [[ 0.99913233 -0.00332277 -0.04151571 0.88806972] [ 0.00402812 0.99984877 0.01691783 -0.24767012] [ 0.04145322 -0.01707038 0.99899461 0.0857635 ] [ 0. 0. 0. 1. ]] SLAMing on 13.706502481 meters Centerline goodness : 0.728855 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.25, Z:0.09 [[ 0.99909862 -0.00578282 -0.04205367 0.83503205] [ 0.0065628 0.99980856 0.01843288 -0.24678153] [ 0.04193903 -0.01869226 0.9989453 0.08531884] [ 0. 0. 0. 1. ]] SLAMing on 13.736502480999999 meters Centerline goodness : 0.729852 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.24, Z:0.09 [[ 0.99910119 -0.00864513 -0.04149777 0.78905133] [ 0.00962597 0.99967762 0.0234946 -0.24416869] [ 0.04128128 -0.02387294 0.99886232 0.08556842] [ 0. 0. 0. 1. ]] SLAMing on 13.766502481 meters Centerline goodness : 0.728012 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.24, Z:0.09 [[ 0.99910869 -0.00865901 -0.04131411 0.78871761] [ 0.00960574 0.99969453 0.02277222 -0.24304623] [ 0.04110431 -0.02314877 0.99888667 0.08566523] [ 0. 0. 0. 1. ]] SLAMing on 13.796502481 meters Centerline goodness : 0.728786 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.24, Z:0.09 [[ 0.99910224 -0.00841697 -0.04151956 0.78903386] [ 0.0093259 0.99972001 0.02174682 -0.24204433] [ 0.04132489 -0.0221145 0.998901 0.08604589] [ 0. 0. 0. 1. ]] SLAMing on 13.826502480999999 meters Centerline goodness : 0.728229 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.24, Z:0.09 [[ 0.99898618 -0.00515803 -0.04472154 0.75650931] [ 0.00622669 0.99969759 0.02378966 -0.24308698] [ 0.04458531 -0.02404401 0.99871619 0.08508313] [ 0. 0. 0. 1. ]] SLAMing on 13.856502481 meters Centerline goodness : 0.730583 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:0.08 [[ 0.99902508 -0.00482337 -0.04388198 0.71402532] [ 0.00618278 0.99950348 0.03089595 -0.23980885] [ 0.04371117 -0.03113714 0.99855887 0.08132539] [ 0. 0. 0. 1. ]] SLAMing on 13.886502480999999 meters Centerline goodness : 0.729940 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:0.08 [[ 0.99903304 -0.00485412 -0.04369685 0.71422712] [ 0.00614 0.99955059 0.02934135 -0.23648355] [ 0.04353478 -0.02958127 0.99861387 0.08061335] [ 0. 0. 0. 1. ]] SLAMing on 13.916502480999998 meters Centerline goodness : 0.731267 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.23, Z:0.08 [[ 0.99911387 -0.00485134 -0.04180834 0.74825177] [ 0.00609578 0.99954058 0.02968946 -0.23449902] [ 0.0416451 -0.02991801 0.99868443 0.07931313] [ 0. 0. 0. 1. ]] SLAMing on 13.946502481 meters Centerline goodness : 0.731479 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.24, Z:0.08 [[ 0.99918875 -0.00177664 -0.04023281 0.76760831] [ 0.00282158 0.99965977 0.02593037 -0.23518774] [ 0.04017305 -0.02602285 0.99885381 0.07824627] [ 0. 0. 0. 1. ]] SLAMing on 13.976502480999999 meters Centerline goodness : 0.729957 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.24, Z:0.08 [[ 9.99164355e-01 1.56281801e-03 -4.08429891e-02 7.99507885e-01] [-9.02469808e-04 9.99868665e-01 1.61814085e-02 -2.37798215e-01] [ 4.08629136e-02 -1.61310271e-02 9.99034540e-01 7.91931961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.006502480999998 meters Centerline goodness : 0.731129 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.24, Z:0.08 [[ 0.9993005 0.00246143 -0.03731567 0.81524365] [-0.00215684 0.99996405 0.00820043 -0.23715362] [ 0.03733451 -0.00811421 0.99926988 0.07699858] [ 0. 0. 0. 1. ]] SLAMing on 14.036502481 meters Centerline goodness : 0.730359 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:0.08 [[ 0.99925725 0.00612219 -0.0380456 0.84960927] [-0.0062336 0.99997662 -0.00281029 -0.23991442] [ 0.03802751 0.00304536 0.99927205 0.07736311] [ 0. 0. 0. 1. ]] SLAMing on 14.066502480999999 meters Centerline goodness : 0.730170 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:0.08 [[ 0.99925645 0.00636509 -0.03802673 0.84929032] [-0.00649384 0.99997359 -0.00326317 -0.23979433] [ 0.03800496 0.00350768 0.99927139 0.07795258] [ 0. 0. 0. 1. ]] SLAMing on 14.096502481 meters Centerline goodness : 0.729701 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:0.08 [[ 0.99924097 0.00663114 -0.03838624 0.85017489] [-0.0067512 0.99997271 -0.00299884 -0.24001614] [ 0.0383653 0.00325572 0.99925848 0.07764544] [ 0. 0. 0. 1. ]] SLAMing on 14.126502481 meters Centerline goodness : 0.727685 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:0.08 [[ 0.99923727 0.00680862 -0.03845163 0.85072151] [-0.00690216 0.99997353 -0.00230043 -0.24059862] [ 0.03843495 0.00256408 0.99925781 0.07691257] [ 0. 0. 0. 1. ]] SLAMing on 14.156502480999999 meters Centerline goodness : 0.728639 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.24, Z:0.08 [[ 0.99924644 0.00440395 -0.03856368 0.88809167] [-0.00446157 0.99998906 -0.00140804 -0.24343104] [ 0.03855706 0.00157903 0.99925515 0.0764471 ] [ 0. 0. 0. 1. ]] SLAMing on 14.186502481 meters Centerline goodness : 0.731349 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:0.07 [[ 0.99932654 0.01079488 -0.03507033 0.90664929] [-0.01086131 0.99993956 -0.00170428 -0.2443986 ] [ 0.03504981 0.00208404 0.99938339 0.07483729] [ 0. 0. 0. 1. ]] SLAMing on 14.216502481 meters Centerline goodness : 0.732029 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:0.07 [[ 0.99938426 0.01468166 -0.03186779 0.92305522] [-0.01490044 0.99986694 -0.00663857 -0.2441535 ] [ 0.03176608 0.00710933 0.99947005 0.07222861] [ 0. 0. 0. 1. ]] SLAMing on 14.246502480999998 meters Centerline goodness : 0.729812 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.07 [[ 0.99938385 0.01829978 -0.0299507 0.94100556] [-0.0186295 0.99976848 -0.01076721 -0.24565282] [ 0.02974673 0.01131855 0.99949338 0.07093988] [ 0. 0. 0. 1. ]] SLAMing on 14.276502481 meters Centerline goodness : 0.730684 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.07 [[ 0.99937855 0.018744 -0.02985241 0.94103673] [-0.01905559 0.99976652 -0.01018776 -0.24595968] [ 0.02965448 0.01075028 0.9995024 0.07077415] [ 0. 0. 0. 1. ]] SLAMing on 14.306502480999999 meters Centerline goodness : 0.732086 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.07 [[ 0.99940558 0.01832801 -0.02919884 0.93953882] [-0.01863327 0.99977418 -0.01021692 -0.24579845] [ 0.02900499 0.01075492 0.99952141 0.07109352] [ 0. 0. 0. 1. ]] SLAMing on 14.336502480999998 meters Centerline goodness : 0.732459 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.07 [[ 0.99940881 0.01806105 -0.02925454 0.93984814] [-0.01834069 0.99978836 -0.0093191 -0.24805061] [ 0.02908004 0.00985014 0.99952855 0.07064022] [ 0. 0. 0. 1. ]] SLAMing on 14.366502481 meters Centerline goodness : 0.729073 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.07 [[ 0.99943609 0.01666885 -0.02914893 0.94009188] [-0.01686438 0.99983682 -0.00647471 -0.25360024] [ 0.02903625 0.00696264 0.99955411 0.06933259] [ 0. 0. 0. 1. ]] SLAMing on 14.396502480999999 meters Centerline goodness : 0.730820 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.26, Z:0.07 [[ 0.99945836 0.01573329 -0.0289042 0.939656 ] [-0.01589813 0.99985859 -0.00548203 -0.25564914] [ 0.02881386 0.00593858 0.99956715 0.06901274] [ 0. 0. 0. 1. ]] SLAMing on 14.426502480999998 meters Centerline goodness : 0.731292 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.26, Z:0.07 [[ 0.99951402 0.01424841 -0.0277257 0.93728 ] [-0.0143775 0.99988668 -0.00446187 -0.25758698] [ 0.02765899 0.00485833 0.99960561 0.06883926] [ 0. 0. 0. 1. ]] SLAMing on 14.456502481 meters Centerline goodness : 0.731203 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.26, Z:0.07 [[ 0.99951424 0.01423134 -0.02772623 0.93674685] [-0.01435759 0.99988742 -0.00435958 -0.25624406] [ 0.02766107 0.00475554 0.99960605 0.06995043] [ 0. 0. 0. 1. ]] SLAMing on 14.486502480999999 meters Centerline goodness : 0.733171 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.26, Z:0.07 [[ 0.99953623 0.0178111 -0.02469996 0.95359377] [-0.01803875 0.99979656 -0.00902499 -0.25672377] [ 0.02453419 0.00946636 0.99965417 0.06759106] [ 0. 0. 0. 1. ]] SLAMing on 14.516502481 meters Centerline goodness : 0.733473 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:0.07 [[ 0.99953542 0.01780816 -0.02473472 0.95364117] [-0.01804293 0.99979395 -0.00930079 -0.25477062] [ 0.02456399 0.00974275 0.99965078 0.06768501] [ 0. 0. 0. 1. ]] SLAMing on 14.546502481 meters Centerline goodness : 0.732745 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:0.07 [[ 0.99953164 0.01751547 -0.02509384 0.95479833] [-0.01776221 0.99979573 -0.00964388 -0.25379031] [ 0.0249198 0.01008508 0.99963858 0.06718228] [ 0. 0. 0. 1. ]] SLAMing on 14.576502480999999 meters Centerline goodness : 0.732745 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:0.07 [[ 0.99953164 0.01751547 -0.02509384 0.95479833] [-0.01776221 0.99979573 -0.00964388 -0.25379031] [ 0.0249198 0.01008508 0.99963858 0.06718228] [ 0. 0. 0. 1. ]] SLAMing on 14.606502481 meters Centerline goodness : 0.732115 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.07 [[ 0.99952631 0.01730342 -0.02545077 0.95626583] [-0.01756189 0.99979609 -0.00996747 -0.25279382] [ 0.02527311 0.01040971 0.99962638 0.06618516] [ 0. 0. 0. 1. ]] SLAMing on 14.636502480999999 meters Centerline goodness : 0.732672 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.07 [[ 0.99952105 0.01697879 -0.02587261 0.95725082] [-0.017249 0.99979862 -0.01025676 -0.25207968] [ 0.02569325 0.01069813 0.99961263 0.06608523] [ 0. 0. 0. 1. ]] SLAMing on 14.666502480999998 meters Centerline goodness : 0.736059 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.07 [[ 0.99951844 0.01618295 -0.02647639 0.95882401] [-0.01648206 0.99980235 -0.01111804 -0.2508427 ] [ 0.02629123 0.01154907 0.99958761 0.06562652] [ 0. 0. 0. 1. ]] SLAMing on 14.696502481 meters Centerline goodness : 0.735704 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.06 [[ 0.99951562 0.01577103 -0.02682896 0.96000966] [-0.01608805 0.9998028 -0.01164181 -0.25010492] [ 0.02664007 0.01206779 0.99957225 0.06495128] [ 0. 0. 0. 1. ]] SLAMing on 14.726502480999999 meters Centerline goodness : 0.736540 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.06 [[ 0.99950667 0.01517715 -0.02749672 0.96202069] [-0.01552386 0.99980211 -0.01244008 -0.24784512] [ 0.02730248 0.0128608 0.99954448 0.06407026] [ 0. 0. 0. 1. ]] SLAMing on 14.756502480999998 meters Centerline goodness : 0.735994 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.06 [[ 0.99949943 0.01456709 -0.02808359 0.96384401] [-0.01494133 0.99980173 -0.01316249 -0.24603649] [ 0.02788628 0.01357551 0.99951891 0.06329706] [ 0. 0. 0. 1. ]] SLAMing on 14.786502481 meters Centerline goodness : 0.737449 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.06 [[ 0.99949211 0.01422845 -0.02851449 0.96473108] [-0.01461601 0.99980299 -0.01342983 -0.24535406] [ 0.02831778 0.01383978 0.99950316 0.06341766] [ 0. 0. 0. 1. ]] SLAMing on 14.816502480999999 meters Centerline goodness : 0.735997 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:0.06 [[ 0.99951427 0.01777313 -0.02559957 0.98227616] [-0.01823188 0.99967533 -0.01779964 -0.24554411] [ 0.0252749 0.01825772 0.9995138 0.06170044] [ 0. 0. 0. 1. ]] SLAMing on 14.846502481 meters Centerline goodness : 0.737784 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.24, Z:0.06 [[ 0.99950885 0.01755968 -0.02595592 0.98309158] [-0.01803112 0.99967463 -0.01804209 -0.24461941] [ 0.02563066 0.01850124 0.99950026 0.06165677] [ 0. 0. 0. 1. ]] SLAMing on 14.876502481 meters Centerline goodness : 0.737955 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:0.06 [[ 0.99942838 0.02095828 -0.02652648 0.98452379] [-0.02134157 0.99967069 -0.01424969 -0.2450505 ] [ 0.0262191 0.01480767 0.99954654 0.06183615] [ 0. 0. 0. 1. ]] SLAMing on 14.906502480999999 meters Centerline goodness : 0.736202 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99941849 0.02073428 -0.0270696 0.98597055] [-0.02113443 0.99967031 -0.01458094 -0.24418398] [ 0.02675835 0.01514456 0.9995272 0.06129645] [ 0. 0. 0. 1. ]] SLAMing on 14.936502481 meters Centerline goodness : 0.738786 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.25, Z:0.06 [[ 0.99934487 0.02400342 -0.02708637 0.98655637] [-0.02428182 0.99965517 -0.00999657 -0.24624481] [ 0.02683708 0.01064773 0.99958311 0.06047791] [ 0. 0. 0. 1. ]] SLAMing on 14.966502481 meters Centerline goodness : 0.738652 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.25, Z:0.06 [[ 0.99934946 0.02404229 -0.02688181 0.98632955] [-0.02432276 0.99965257 -0.01015549 -0.24517612] [ 0.0266283 0.01080272 0.99958703 0.06027108] [ 0. 0. 0. 1. ]] SLAMing on 14.996502480999998 meters Centerline goodness : 0.736179 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.9993392 0.02440211 -0.02693893 0.98674572] [-0.02468094 0.99964469 -0.01006662 -0.24486949] [ 0.02668371 0.01072484 0.99958639 0.05999437] [ 0. 0. 0. 1. ]] SLAMing on 15.026502481 meters Centerline goodness : 0.737095 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99932028 0.02461792 -0.02743969 0.98777033] [-0.02491437 0.99963429 -0.01051461 -0.24496375] [ 0.02717081 0.01119111 0.99956816 0.06002105] [ 0. 0. 0. 1. ]] SLAMing on 15.056502480999999 meters Centerline goodness : 0.735649 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99931758 0.02461668 -0.02753881 0.98801743] [-0.02494366 0.99962163 -0.01159388 -0.24268949] [ 0.02724298 0.01227289 0.9995535 0.06013749] [ 0. 0. 0. 1. ]] SLAMing on 15.086502480999998 meters Centerline goodness : 0.735680 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99931373 0.02484244 -0.02747567 0.98806314] [-0.02517062 0.99961512 -0.0116637 -0.24170875] [ 0.02717534 0.01234728 0.99955442 0.06004315] [ 0. 0. 0. 1. ]] SLAMing on 15.116502481 meters Centerline goodness : 0.737894 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99931726 0.02509145 -0.02711904 0.9877231 ] [-0.02543743 0.9995984 -0.01248874 -0.23974844] [ 0.02679479 0.01317005 0.9995542 0.05978879] [ 0. 0. 0. 1. ]] SLAMing on 15.146502480999999 meters Centerline goodness : 0.737811 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99929492 0.02559273 -0.02747119 0.98801116] [-0.02595958 0.9995774 -0.01308127 -0.23893275] [ 0.02712479 0.01378519 0.999537 0.06057573] [ 0. 0. 0. 1. ]] SLAMing on 15.176502480999998 meters Centerline goodness : 0.739805 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99930263 0.02561007 -0.02717327 0.98706021] [-0.02599849 0.9995634 -0.01403844 -0.23694413] [ 0.02680188 0.01473511 0.99953216 0.06144752] [ 0. 0. 0. 1. ]] SLAMing on 15.206502481 meters Centerline goodness : 0.739607 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99931394 0.02538829 -0.02696451 0.98647737] [-0.0257827 0.99956412 -0.01438162 -0.23606087] [ 0.02658763 0.01506697 0.99953293 0.06181094] [ 0. 0. 0. 1. ]] SLAMing on 15.236502480999999 meters Centerline goodness : 0.738232 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:0.06 [[ 0.99936471 0.02422925 -0.02613654 0.98494153] [-0.02461431 0.99959167 -0.01451299 -0.23446617] [ 0.02577422 0.0151471 0.99955303 0.06157262] [ 0. 0. 0. 1. ]] SLAMing on 15.266502481 meters Centerline goodness : 0.738216 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:0.06 [[ 0.99936195 0.02381122 -0.02662173 0.98626954] [-0.02421113 0.99959728 -0.0148018 -0.23413308] [ 0.02625856 0.0154369 0.99953599 0.06116738] [ 0. 0. 0. 1. ]] SLAMing on 15.296502481 meters Centerline goodness : 0.738946 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:0.06 [[ 0.99935961 0.02310788 -0.02732031 0.98788669] [-0.02352778 0.99960839 -0.01514932 -0.23397525] [ 0.02695954 0.01578241 0.99951193 0.06112624] [ 0. 0. 0. 1. ]] SLAMing on 15.326502480999999 meters Centerline goodness : 0.737525 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:0.06 [[ 0.99934925 0.02268203 -0.02804626 0.98943066] [-0.02312127 0.99961347 -0.01543743 -0.233613 ] [ 0.02768527 0.01607585 0.99948742 0.06102736] [ 0. 0. 0. 1. ]] SLAMing on 15.356502481 meters Centerline goodness : 0.736238 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:0.06 [[ 0.99934371 0.0220344 -0.02875119 0.99116722] [-0.02249273 0.99962346 -0.01571651 -0.23396247] [ 0.02839406 0.01635289 0.99946304 0.06074477] [ 0. 0. 0. 1. ]] SLAMing on 15.386502480999999 meters Centerline goodness : 0.735202 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99934557 0.02045477 -0.02983358 0.99362111] [-0.02096151 0.99963958 -0.01677276 -0.2364669 ] [ 0.02947974 0.01738714 0.99941414 0.0603801 ] [ 0. 0. 0. 1. ]] SLAMing on 15.416502480999998 meters Centerline goodness : 0.735060 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99933489 0.02009714 -0.03042824 0.99501907] [-0.0206146 0.99964652 -0.01678899 -0.23712219] [ 0.03008008 0.01740509 0.99939594 0.06015817] [ 0. 0. 0. 1. ]] SLAMing on 15.446502481 meters Centerline goodness : 0.738027 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99933266 0.02051616 -0.03022115 0.99547646] [-0.02100882 0.99965004 -0.0160757 -0.23759046] [ 0.02988076 0.01669989 0.99941396 0.0594023 ] [ 0. 0. 0. 1. ]] SLAMing on 15.476502480999999 meters Centerline goodness : 0.736176 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99932339 0.0204227 -0.03058887 0.99627007] [-0.02091715 0.99965426 -0.01593243 -0.23841477] [ 0.03025291 0.01656149 0.99940506 0.05941702] [ 0. 0. 0. 1. ]] SLAMing on 15.506502480999998 meters Centerline goodness : 0.735508 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.9993047 0.02033957 -0.03124774 0.9967815 ] [-0.02083154 0.99966284 -0.01550016 -0.24127769] [ 0.03092194 0.01614032 0.99939148 0.06048067] [ 0. 0. 0. 1. ]] SLAMing on 15.536502481 meters Centerline goodness : 0.736914 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99930047 0.0206153 -0.03120221 0.99647913] [-0.02109562 0.99966276 -0.01514384 -0.24185212] [ 0.0308795 0.01579147 0.99939836 0.0607978 ] [ 0. 0. 0. 1. ]] SLAMing on 15.566502480999999 meters Centerline goodness : 0.737111 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99929142 0.02114752 -0.03113569 0.99584078] [-0.02161121 0.99965937 -0.01463226 -0.24225117] [ 0.03081564 0.01529477 0.99940806 0.06160141] [ 0. 0. 0. 1. ]] SLAMing on 15.596502481 meters Centerline goodness : 0.737126 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99927012 0.02125591 -0.03173964 0.99675613] [-0.02173553 0.99965356 -0.01484328 -0.24190931] [ 0.03141314 0.01552232 0.99938595 0.06166596] [ 0. 0. 0. 1. ]] SLAMing on 15.626502481 meters Centerline goodness : 0.736140 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99925489 0.02114893 -0.0322859 0.99787637] [-0.02164557 0.9996515 -0.01511139 -0.24120206] [ 0.03195506 0.01579897 0.99936443 0.06149735] [ 0. 0. 0. 1. ]] SLAMing on 15.656502480999999 meters Centerline goodness : 0.736692 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.9992396 0.0209271 -0.03289806 0.99898277] [-0.0214379 0.99965384 -0.01525172 -0.24110343] [ 0.0325675 0.01594539 0.99934234 0.06170208] [ 0. 0. 0. 1. ]] SLAMing on 15.686502481 meters Centerline goodness : 0.737249 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99922841 0.02057507 -0.03345529 1.00004869] [-0.02109903 0.99965902 -0.0153844 -0.2414559 ] [ 0.03312735 0.0160784 0.9993218 0.06182153] [ 0. 0. 0. 1. ]] SLAMing on 15.716502481 meters Centerline goodness : 0.734833 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99921693 0.02014576 -0.03405413 1.00124796] [-0.02068495 0.99966502 -0.01555587 -0.24165779] [ 0.03372934 0.0162481 0.99929892 0.06198931] [ 0. 0. 0. 1. ]] SLAMing on 15.746502480999998 meters Centerline goodness : 0.735281 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99920927 0.01980868 -0.0344738 1.00233352] [-0.02036439 0.99966708 -0.01584387 -0.24134949] [ 0.03414848 0.01653338 0.99928001 0.06170845] [ 0. 0. 0. 1. ]] SLAMing on 15.776502481 meters Centerline goodness : 0.735617 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99919361 0.01958881 -0.03504876 1.00355897] [-0.02015937 0.99966874 -0.01600016 -0.24076697] [ 0.03472373 0.01669382 0.99925751 0.06166452] [ 0. 0. 0. 1. ]] SLAMing on 15.806502480999999 meters Centerline goodness : 0.734728 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99918253 0.01927171 -0.03553702 1.00465291] [-0.01986281 0.99966892 -0.01635612 -0.23991548] [ 0.03521004 0.01704862 0.99923451 0.06152667] [ 0. 0. 0. 1. ]] SLAMing on 15.836502480999998 meters Centerline goodness : 0.733100 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.24, Z:0.06 [[ 0.99916095 0.01896804 -0.03629885 1.00661992] [-0.01958137 0.99967018 -0.01661638 -0.23907682] [ 0.0359717 0.01731322 0.99920283 0.06099529] [ 0. 0. 0. 1. ]] SLAMing on 15.866502481 meters Centerline goodness : 0.730639 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.24, Z:0.06 [[ 0.99914472 0.01844787 -0.03700688 1.00864062] [-0.0190917 0.99967115 -0.01712031 -0.23859654] [ 0.03667887 0.01781219 0.99916835 0.06015562] [ 0. 0. 0. 1. ]] SLAMing on 15.896502480999999 meters Centerline goodness : 0.728457 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.24, Z:0.06 [[ 0.99910803 0.01748076 -0.03843927 1.0124989 ] [-0.01817916 0.99967459 -0.01789523 -0.23854827] [ 0.03811394 0.01857806 0.99910069 0.05871382] [ 0. 0. 0. 1. ]] SLAMing on 15.926502480999998 meters Centerline goodness : 0.723765 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.24, Z:0.06 [[ 0.99908416 0.01692824 -0.03929725 1.01455794] [-0.01765686 0.99967719 -0.0182689 -0.23884452] [ 0.03897531 0.01894603 0.99906055 0.05821528] [ 0. 0. 0. 1. ]] SLAMing on 15.956502481 meters Centerline goodness : 0.723487 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.24, Z:0.06 [[ 0.99906427 0.01655445 -0.03995658 1.01606215] [-0.01730581 0.99967848 -0.01853241 -0.23875664] [ 0.03963694 0.01920655 0.99902954 0.05799256] [ 0. 0. 0. 1. ]] SLAMing on 15.986502480999999 meters Centerline goodness : 0.726479 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.24, Z:0.06 [[ 0.99904897 0.0163762 -0.04041018 1.01712432] [-0.01713872 0.99968018 -0.01859594 -0.23837922] [ 0.04009272 0.01927083 0.99901011 0.05789688] [ 0. 0. 0. 1. ]] SLAMing on 16.016502481 meters Centerline goodness : 0.724941 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.24, Z:0.06 [[ 0.99902958 0.01647486 -0.0408469 1.01807813] [-0.01724495 0.99967877 -0.01857316 -0.237851 ] [ 0.04052779 0.01925953 0.99899278 0.05777781] [ 0. 0. 0. 1. ]] SLAMing on 16.046502481 meters Centerline goodness : 0.724433 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.24, Z:0.06 [[ 0.99900547 0.01635624 -0.04147946 1.0192542 ] [-0.01714114 0.99967935 -0.01863797 -0.23752135] [ 0.04116131 0.01933044 0.99896551 0.05790582] [ 0. 0. 0. 1. ]] SLAMing on 16.076502481000002 meters Centerline goodness : 0.720568 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99915512 0.0167919 -0.03751109 1.0453965 ] [-0.01757446 0.99963269 -0.02063079 -0.23913643] [ 0.03715088 0.02127259 0.99908322 0.05688812] [ 0. 0. 0. 1. ]] SLAMing on 16.106502481 meters Centerline goodness : 0.722290 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99913333 0.01655663 -0.03818979 1.04636469] [-0.01734979 0.99963865 -0.02053183 -0.23999318] [ 0.03783606 0.02117662 0.99905955 0.05755346] [ 0. 0. 0. 1. ]] SLAMing on 16.136502481 meters Centerline goodness : 0.719501 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99910822 0.01621544 -0.03898494 1.04804138] [-0.01702699 0.99964329 -0.02057597 -0.24065364] [ 0.03863738 0.02122142 0.99902793 0.05753923] [ 0. 0. 0. 1. ]] SLAMing on 16.166502481000002 meters Centerline goodness : 0.719485 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99908756 0.01617489 -0.03952749 1.04951683] [-0.01699508 0.99964534 -0.02050252 -0.24045702] [ 0.03918185 0.02115558 0.99900812 0.05710628] [ 0. 0. 0. 1. ]] SLAMing on 16.196502481 meters Centerline goodness : 0.718561 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99906566 0.01604675 -0.04012873 1.05103852] [-0.01687426 0.99965013 -0.02036834 -0.24094117] [ 0.03978785 0.02102645 0.99898689 0.05690709] [ 0. 0. 0. 1. ]] SLAMing on 16.226502481 meters Centerline goodness : 0.715240 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99904595 0.01599962 -0.04063495 1.05156712] [-0.01682882 0.99965539 -0.0201467 -0.24184787] [ 0.0402986 0.02081132 0.99897093 0.05765375] [ 0. 0. 0. 1. ]] SLAMing on 16.256502481000002 meters Centerline goodness : 0.718300 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.06 [[ 0.99907319 0.019384 -0.03843194 1.06932777] [-0.02031453 0.99950622 -0.02397151 -0.24447648] [ 0.0379483 0.02473002 0.99897365 0.05742551] [ 0. 0. 0. 1. ]] SLAMing on 16.286502481 meters Centerline goodness : 0.720094 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.06 [[ 0.99904547 0.01938175 -0.03914704 1.07074913] [-0.02032546 0.9995088 -0.0238544 -0.24462679] [ 0.03866548 0.02462731 0.99894869 0.05753858] [ 0. 0. 0. 1. ]] SLAMing on 16.316502481 meters Centerline goodness : 0.717976 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.06 [[ 0.99903426 0.01948052 -0.03938345 1.07163315] [-0.02042951 0.99950705 -0.02383905 -0.24427592] [ 0.03889964 0.02462061 0.99893976 0.05703105] [ 0. 0. 0. 1. ]] SLAMing on 16.346502481 meters Centerline goodness : 0.719548 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.06 [[ 0.99893269 0.02301476 -0.04004756 1.0730701 ] [-0.02381242 0.99952515 -0.01955619 -0.246023 ] [ 0.03957846 0.02048895 0.99900638 0.05766262] [ 0. 0. 0. 1. ]] SLAMing on 16.376502481 meters Centerline goodness : 0.716511 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.06 [[ 0.99891693 0.02282131 -0.04054829 1.07398883] [-0.02362655 0.99953081 -0.01949196 -0.24633996] [ 0.04008444 0.02042886 0.99898744 0.05795167] [ 0. 0. 0. 1. ]] SLAMing on 16.406502481 meters Centerline goodness : 0.719721 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.06 [[ 0.99889732 0.02223524 -0.0413489 1.07498606] [-0.02305125 0.99954674 -0.01936377 -0.24841153] [ 0.0408996 0.02029556 0.99895711 0.05904012] [ 0. 0. 0. 1. ]] SLAMing on 16.436502481 meters Centerline goodness : 0.716670 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99887371 0.02190597 -0.04208849 1.07606194] [-0.02273047 0.99955701 -0.019212 -0.24925208] [ 0.04164899 0.02014706 0.99892916 0.05982558] [ 0. 0. 0. 1. ]] SLAMing on 16.466502481 meters Centerline goodness : 0.719247 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99885988 0.02160067 -0.04257172 1.07680759] [-0.02242866 0.99956658 -0.01906864 -0.2498247 ] [ 0.04214138 0.02000173 0.99891143 0.06045594] [ 0. 0. 0. 1. ]] SLAMing on 16.496502481 meters Centerline goodness : 0.719247 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99885988 0.02160067 -0.04257172 1.07680759] [-0.02242866 0.99956658 -0.01906864 -0.2498247 ] [ 0.04214138 0.02000173 0.99891143 0.06045594] [ 0. 0. 0. 1. ]] SLAMing on 16.526502481 meters Centerline goodness : 0.718874 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99883389 0.02194722 -0.04300209 1.07736893] [-0.02278641 0.99955745 -0.0191231 -0.24947994] [ 0.04256336 0.02008066 0.99889195 0.06087533] [ 0. 0. 0. 1. ]] SLAMing on 16.556502481000003 meters Centerline goodness : 0.714092 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99872864 0.02560943 -0.04341966 1.07844046] [-0.02624326 0.99955627 -0.0140911 -0.2513568 ] [ 0.04303953 0.01521265 0.99895754 0.06038141] [ 0. 0. 0. 1. ]] SLAMing on 16.586502481 meters Centerline goodness : 0.710823 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99868009 0.02633206 -0.04409878 1.08034799] [-0.02697917 0.99953593 -0.01414362 -0.25098158] [ 0.04370589 0.0153147 0.99892705 0.05970261] [ 0. 0. 0. 1. ]] SLAMing on 16.616502481 meters Centerline goodness : 0.707154 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99852286 0.03074846 -0.04479544 1.08192723] [-0.03118651 0.99947204 -0.00911296 -0.25382436] [ 0.04449158 0.01049651 0.99895461 0.05945611] [ 0. 0. 0. 1. ]] SLAMing on 16.646502481000002 meters Centerline goodness : 0.712294 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99849782 0.03093568 -0.04522261 1.08248916] [-0.03143162 0.99945287 -0.01029675 -0.25281879] [ 0.04487933 0.0117027 0.99892387 0.06005409] [ 0. 0. 0. 1. ]] SLAMing on 16.676502481 meters Centerline goodness : 0.708779 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99841752 0.03213364 -0.04615073 1.08245682] [-0.03270975 0.99939544 -0.0117825 -0.25250019] [ 0.04574421 0.01327343 0.998865 0.06320615] [ 0. 0. 0. 1. ]] SLAMing on 16.706502481 meters Centerline goodness : 0.711045 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99832026 0.03564168 -0.0456763 1.08030407] [-0.0360561 0.99931545 -0.00828127 -0.25216331] [ 0.04534987 0.00991427 0.99892197 0.06535144] [ 0. 0. 0. 1. ]] SLAMing on 16.736502481000002 meters Centerline goodness : 0.708690 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.9982019 0.03894674 -0.0455645 1.07983712] [-0.03918442 0.99922259 -0.00433452 -0.25213372] [ 0.04536026 0.00611214 0.998952 0.06588021] [ 0. 0. 0. 1. ]] SLAMing on 16.766502481 meters Centerline goodness : 0.706820 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99810025 0.04016862 -0.04671589 1.08149081] [-0.04050697 0.99915928 -0.00631827 -0.24998754] [ 0.04642282 0.00819858 0.99888823 0.0672929 ] [ 0. 0. 0. 1. ]] SLAMing on 16.796502481 meters Centerline goodness : 0.710346 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99803387 0.04039432 -0.04792375 1.08330164] [-0.04079389 0.99914026 -0.00738871 -0.24989011] [ 0.04758408 0.00932918 0.99882367 0.06821791] [ 0. 0. 0. 1. ]] SLAMing on 16.826502481000002 meters Centerline goodness : 0.707399 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99796132 0.041057 -0.04886234 1.08537758] [-0.04143972 0.99911756 -0.00684508 -0.25054159] [ 0.04853819 0.00885597 0.99878207 0.06777526] [ 0. 0. 0. 1. ]] SLAMing on 16.856502481 meters Centerline goodness : 0.701371 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99794929 0.0412823 -0.0489182 1.08576909] [-0.04163275 0.99911395 -0.00616651 -0.25144538] [ 0.04862029 0.00819046 0.99878375 0.0672922 ] [ 0. 0. 0. 1. ]] SLAMing on 16.886502481 meters Centerline goodness : 0.704134 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99791457 0.0412357 -0.04966004 1.08699984] [-0.04156925 0.99911935 -0.0057023 -0.25320017] [ 0.04938117 0.00775474 0.9987499 0.06742619] [ 0. 0. 0. 1. ]] SLAMing on 16.916502481000002 meters Centerline goodness : 0.700164 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99791985 0.04110668 -0.04966094 1.08621099] [-0.04145964 0.99912157 -0.00609794 -0.25358525] [ 0.04936665 0.00814418 0.99874752 0.06856141] [ 0. 0. 0. 1. ]] SLAMing on 16.946502481 meters Centerline goodness : 0.705070 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99793131 0.04115577 -0.04938923 1.08411273] [-0.04156926 0.99910841 -0.00737388 -0.25099041] [ 0.04904172 0.0094117 0.99875239 0.07109856] [ 0. 0. 0. 1. ]] SLAMing on 16.976502481 meters Centerline goodness : 0.703388 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99782948 0.04402767 -0.04896834 1.08360106] [-0.04423358 0.99901632 -0.00312864 -0.2509471 ] [ 0.04878243 0.0052879 0.99879543 0.07073905] [ 0. 0. 0. 1. ]] SLAMing on 17.006502481000002 meters Centerline goodness : 0.702315 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99780323 0.04496786 -0.04864775 1.08324827] [-0.04509021 0.99898191 -0.00142005 -0.24927383] [ 0.04853437 0.00361047 0.99881499 0.07052958] [ 0. 0. 0. 1. ]] SLAMing on 17.036502481 meters Centerline goodness : 0.701779 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99776658 0.04509215 -0.04928039 1.08467266] [-0.0452187 0.99897605 -0.00145555 -0.25001047] [ 0.04916429 0.0036807 0.99878392 0.07024645] [ 0. 0. 0. 1. ]] SLAMing on 17.066502481 meters Centerline goodness : 0.697856 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99776229 0.04324618 -0.05099198 1.08773658] [-0.04355861 0.9990382 -0.00503123 -0.25219021] [ 0.05072536 0.00724111 0.99868639 0.07039932] [ 0. 0. 0. 1. ]] SLAMing on 17.096502481 meters Centerline goodness : 0.696741 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99773966 0.04361962 -0.05111644 1.08800211] [-0.04390192 0.9990261 -0.00441238 -0.25402932] [ 0.05087419 0.00664652 0.99868295 0.07029906] [ 0. 0. 0. 1. ]] SLAMing on 17.126502481 meters Centerline goodness : 0.695831 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.9977149 0.04395774 -0.05130988 1.08834256] [-0.04425038 0.99900997 -0.00458075 -0.25369316] [ 0.05105772 0.00684076 0.99867228 0.07042069] [ 0. 0. 0. 1. ]] SLAMing on 17.156502481 meters Centerline goodness : 0.697513 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99775493 0.04432253 -0.05020579 1.08612181] [-0.04467287 0.99898438 -0.00587699 -0.25135155] [ 0.04989432 0.00810663 0.9987216 0.07110114] [ 0. 0. 0. 1. ]] SLAMing on 17.186502481 meters Centerline goodness : 0.699173 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.9977542 0.04425249 -0.05028193 1.08574663] [-0.04468417 0.99897306 -0.00749309 -0.24973834] [ 0.04989871 0.00972307 0.99870695 0.07222091] [ 0. 0. 0. 1. ]] SLAMing on 17.216502481 meters Centerline goodness : 0.698637 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99767854 0.04587697 -0.05032723 1.08495804] [-0.04639176 0.9988818 -0.00910825 -0.24747908] [ 0.0498531 0.01142188 0.99869125 0.07422148] [ 0. 0. 0. 1. ]] SLAMing on 17.246502481 meters Centerline goodness : 0.698282 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99763475 0.04664269 -0.05049133 1.08521263] [-0.04719509 0.99883758 -0.00980338 -0.2465179 ] [ 0.04997539 0.01216313 0.99867638 0.07465761] [ 0. 0. 0. 1. ]] SLAMing on 17.276502481 meters Centerline goodness : 0.696302 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99762641 0.04663456 -0.05066333 1.08483903] [-0.04726832 0.99881736 -0.01138341 -0.24488485] [ 0.05007256 0.01375116 0.99865091 0.07606363] [ 0. 0. 0. 1. ]] SLAMing on 17.306502481000003 meters Centerline goodness : 0.695031 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99766647 0.04641385 -0.05007372 1.08350118] [-0.04708165 0.99881605 -0.01223976 -0.24325874] [ 0.04944634 0.01456875 0.99867052 0.07653738] [ 0. 0. 0. 1. ]] SLAMing on 17.336502481 meters Centerline goodness : 0.695483 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99778551 0.04578342 -0.04824884 1.07985818] [-0.04645269 0.99883794 -0.01284201 -0.24078754] [ 0.04760482 0.01505486 0.99875279 0.07697692] [ 0. 0. 0. 1. ]] SLAMing on 17.366502481 meters Centerline goodness : 0.693973 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99778899 0.04578985 -0.04817067 1.07938433] [-0.04645995 0.99883706 -0.01288398 -0.24087643] [ 0.0475247 0.0150935 0.99875602 0.07748237] [ 0. 0. 0. 1. ]] SLAMing on 17.396502481000002 meters Centerline goodness : 0.695023 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99784453 0.04528466 -0.0474931 1.07833119] [-0.04592008 0.99886848 -0.0123739 -0.24180908] [ 0.04687901 0.01452812 0.99879492 0.0770422 ] [ 0. 0. 0. 1. ]] SLAMing on 17.426502481 meters Centerline goodness : 0.692582 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99791387 0.04408231 -0.04716628 1.07812051] [-0.04472731 0.99891841 -0.01270767 -0.24157753] [ 0.04655508 0.01479078 0.99880622 0.07627508] [ 0. 0. 0. 1. ]] SLAMing on 17.456502481 meters Centerline goodness : 0.692389 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.07 [[ 0.99801861 0.04245918 -0.04643357 1.07785122] [-0.04300018 0.99901761 -0.01071454 -0.24419546] [ 0.04593302 0.01268996 0.99886392 0.07396608] [ 0. 0. 0. 1. ]] SLAMing on 17.486502481000002 meters Centerline goodness : 0.691319 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99814781 0.04050426 -0.04539115 1.07618574] [-0.04093494 0.99912481 -0.00859871 -0.24703118] [ 0.04500314 0.01044087 0.99893228 0.07264742] [ 0. 0. 0. 1. ]] SLAMing on 17.516502481 meters Centerline goodness : 0.690234 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.07 [[ 0.9982202 0.03928668 -0.0448663 1.07488377] [-0.0397016 0.99917632 -0.00839424 -0.24754797] [ 0.04449957 0.01016056 0.99895773 0.07282493] [ 0. 0. 0. 1. ]] SLAMing on 17.546502481 meters Centerline goodness : 0.692987 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.07 [[ 0.99827744 0.03828732 -0.04445491 1.07380012] [-0.0386977 0.99921559 -0.00840741 -0.24781345] [ 0.04409815 0.01011323 0.99897601 0.0731036 ] [ 0. 0. 0. 1. ]] SLAMing on 17.576502481000002 meters Centerline goodness : 0.690703 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.07 [[ 0.99829931 0.03780762 -0.04437417 1.07250319] [-0.03824085 0.99922843 -0.00895491 -0.24793501] [ 0.04400137 0.01063659 0.99897485 0.07487227] [ 0. 0. 0. 1. ]] SLAMing on 17.606502481 meters Centerline goodness : 0.689241 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.08 [[ 0.99819405 0.04091184 -0.04398705 1.07178016] [-0.04119537 0.99913565 -0.00555817 -0.24698796] [ 0.04372163 0.00736019 0.99901664 0.07526224] [ 0. 0. 0. 1. ]] SLAMing on 17.636502481 meters Centerline goodness : 0.688779 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.08 [[ 0.99816039 0.04138766 -0.04430454 1.07255793] [-0.04171179 0.99910908 -0.00641647 -0.24522883] [ 0.0439995 0.00825269 0.99899747 0.0752513 ] [ 0. 0. 0. 1. ]] SLAMing on 17.666502481000002 meters Centerline goodness : 0.690725 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99813868 0.04204232 -0.04417716 1.0726421 ] [-0.0423866 0.99907756 -0.00688509 -0.24424426] [ 0.04384694 0.0087448 0.99899999 0.07514685] [ 0. 0. 0. 1. ]] SLAMing on 17.696502481 meters Centerline goodness : 0.689537 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99814045 0.0419635 -0.04421202 1.07258925] [-0.04235794 0.99907029 -0.00802252 -0.24272186] [ 0.04383427 0.00988033 0.99898996 0.07554376] [ 0. 0. 0. 1. ]] SLAMing on 17.726502481 meters Centerline goodness : 0.693400 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99817152 0.04205626 -0.04341523 1.07057961] [-0.04247003 0.99906028 -0.00865218 -0.24052566] [ 0.04301056 0.0104802 0.99901965 0.07652194] [ 0. 0. 0. 1. ]] SLAMing on 17.756502481000002 meters Centerline goodness : 0.695036 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99818731 0.04181294 -0.04328711 1.07001215] [-0.04225142 0.99906406 -0.00926423 -0.24035867] [ 0.04285923 0.01107638 0.99901972 0.07721778] [ 0. 0. 0. 1. ]] SLAMing on 17.786502481 meters Centerline goodness : 0.695059 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99818168 0.04153287 -0.04368482 1.06976663] [-0.04205209 0.99905449 -0.01103415 -0.23958896] [ 0.04318523 0.01285112 0.99898443 0.07903192] [ 0. 0. 0. 1. ]] SLAMing on 17.816502481 meters Centerline goodness : 0.697385 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99817164 0.04241367 -0.04306339 1.06816054] [-0.04299865 0.99899378 -0.01274945 -0.23596862] [ 0.04247931 0.01457781 0.99899099 0.08044564] [ 0. 0. 0. 1. ]] SLAMing on 17.846502481 meters Centerline goodness : 0.698935 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.23, Z:0.08 [[ 0.99815525 0.04312438 -0.04273611 1.0674055 ] [-0.04375032 0.99894689 -0.01382078 -0.23376184] [ 0.04209509 0.01566501 0.9989908 0.08112902] [ 0. 0. 0. 1. ]] SLAMing on 17.876502481 meters Centerline goodness : 0.696705 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.23, Z:0.08 [[ 0.99808284 0.04442936 -0.04308916 1.06821836] [-0.04515938 0.99884975 -0.01611882 -0.22973136] [ 0.04232345 0.0180338 0.99894119 0.08184662] [ 0. 0. 0. 1. ]] SLAMing on 17.906502481 meters Centerline goodness : 0.696587 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.23, Z:0.08 [[ 0.99803317 0.04536823 -0.04326093 1.06913501] [-0.0461176 0.9988 -0.01648391 -0.22869751] [ 0.04246117 0.01844658 0.99892781 0.08133998] [ 0. 0. 0. 1. ]] SLAMing on 17.936502481 meters Centerline goodness : 0.697181 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.23, Z:0.08 [[ 0.99795629 0.0465128 -0.04381562 1.07133784] [-0.04721338 0.99877081 -0.01509198 -0.23075647] [ 0.0430598 0.01712982 0.99892563 0.07963286] [ 0. 0. 0. 1. ]] SLAMing on 17.966502481 meters Centerline goodness : 0.696708 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.23, Z:0.08 [[ 0.99796033 0.04650459 -0.04373217 1.07159025] [-0.04716384 0.99878672 -0.0141652 -0.23278989] [ 0.04302037 0.01619888 0.99894286 0.07888212] [ 0. 0. 0. 1. ]] SLAMing on 17.996502481 meters Centerline goodness : 0.696856 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99802351 0.04524997 -0.04360645 1.072101 ] [-0.04581189 0.99887832 -0.01197366 -0.2364865 ] [ 0.04301573 0.01394769 0.99897703 0.07708116] [ 0. 0. 0. 1. ]] SLAMing on 18.026502481 meters Centerline goodness : 0.693469 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99802733 0.04476303 -0.04401948 1.07322928] [-0.04528486 0.99891433 -0.0109293 -0.23852218] [ 0.04348246 0.01290116 0.99897089 0.0761816 ] [ 0. 0. 0. 1. ]] SLAMing on 18.056502481 meters Centerline goodness : 0.690600 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99800895 0.04464251 -0.04455546 1.07502452] [-0.04504007 0.99895348 -0.00795867 -0.24512864] [ 0.04415354 0.0099496 0.99897521 0.07436702] [ 0. 0. 0. 1. ]] SLAMing on 18.086502481 meters Centerline goodness : 0.690248 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99809165 0.04150901 -0.04571725 1.07716386] [-0.04211623 0.99903577 -0.0123996 -0.24507795] [ 0.04515847 0.01430137 0.99887746 0.07429032] [ 0. 0. 0. 1. ]] SLAMing on 18.116502481 meters Centerline goodness : 0.689115 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.08 [[ 0.99821345 0.03795772 -0.04614235 1.0770228 ] [-0.03873026 0.99912216 -0.01596512 -0.24728967] [ 0.04549584 0.0177237 0.99880729 0.07530334] [ 0. 0. 0. 1. ]] SLAMing on 18.146502481000002 meters Centerline goodness : 0.694048 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.08 [[ 0.99822923 0.03798207 -0.04577946 1.07560958] [-0.03869926 0.99914006 -0.01488285 -0.2497132 ] [ 0.04517481 0.01662813 0.9988407 0.07620192] [ 0. 0. 0. 1. ]] SLAMing on 18.176502481 meters Centerline goodness : 0.696036 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.08 [[ 0.9982539 0.03757888 -0.04557392 1.07390688] [-0.0382599 0.99916744 -0.01416368 -0.25221678] [ 0.04500372 0.01588261 0.99886055 0.07811482] [ 0. 0. 0. 1. ]] SLAMing on 18.206502481 meters Centerline goodness : 0.692712 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.08 [[ 0.99829123 0.03709472 -0.04515096 1.07224356] [-0.03773165 0.9991989 -0.01333699 -0.25394655] [ 0.04462006 0.01501782 0.99889114 0.07921987] [ 0. 0. 0. 1. ]] SLAMing on 18.236502481000002 meters Centerline goodness : 0.697548 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99831802 0.03697888 -0.04465073 1.07129028] [-0.03758208 0.99921225 -0.01274597 -0.25517563] [ 0.04414423 0.0144026 0.99892134 0.07912821] [ 0. 0. 0. 1. ]] SLAMing on 18.266502481 meters Centerline goodness : 0.697313 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99831959 0.0357318 -0.0456205 1.07334151] [-0.03646086 0.99921872 -0.01524972 -0.25740524] [ 0.04503996 0.01688746 0.99884244 0.07866925] [ 0. 0. 0. 1. ]] SLAMing on 18.296502481 meters Centerline goodness : 0.695265 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99828858 0.03625441 -0.04588609 1.07414391] [-0.0369483 0.99921393 -0.01436499 -0.25918495] [ 0.04532922 0.01603582 0.99884339 0.07819144] [ 0. 0. 0. 1. ]] SLAMing on 18.326502481000002 meters Centerline goodness : 0.699162 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99829783 0.03650109 -0.04548742 1.07330685] [-0.03716176 0.99921447 -0.01376379 -0.2609501 ] [ 0.04494929 0.01543075 0.99887009 0.07833268] [ 0. 0. 0. 1. ]] SLAMing on 18.356502481 meters Centerline goodness : 0.698491 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99832874 0.03636127 -0.04491754 1.07218595] [-0.03701682 0.99921867 -0.01384968 -0.26120195] [ 0.04437885 0.01548924 0.99889469 0.07852045] [ 0. 0. 0. 1. ]] SLAMing on 18.386502481 meters Centerline goodness : 0.698491 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99832874 0.03636127 -0.04491754 1.07218595] [-0.03701682 0.99921867 -0.01384968 -0.26120195] [ 0.04437885 0.01548924 0.99889469 0.07852045] [ 0. 0. 0. 1. ]] SLAMing on 18.416502481000002 meters Centerline goodness : 0.704231 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99833574 0.03627978 -0.04482784 1.07145629] [-0.03693681 0.9992207 -0.01391621 -0.26286391] [ 0.04428802 0.01554885 0.99889779 0.07943661] [ 0. 0. 0. 1. ]] SLAMing on 18.446502481 meters Centerline goodness : 0.705145 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.9983264 0.03626078 -0.04505058 1.07143394] [-0.03693785 0.99921541 -0.01428845 -0.26351463] [ 0.04449712 0.01592861 0.99888252 0.08021308] [ 0. 0. 0. 1. ]] SLAMing on 18.476502481 meters Centerline goodness : 0.705039 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.27, Z:0.08 [[ 0.99826533 0.03773188 -0.04519545 1.07148703] [-0.03838103 0.99917087 -0.01358209 -0.26552984] [ 0.0446455 0.01529318 0.99888583 0.08073326] [ 0. 0. 0. 1. ]] SLAMing on 18.506502481000002 meters Centerline goodness : 0.705892 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.27, Z:0.08 [[ 0.99815115 0.03940235 -0.04627884 1.07437949] [-0.04003615 0.99911562 -0.01284875 -0.26632464] [ 0.04573164 0.01467782 0.99884592 0.07964426] [ 0. 0. 0. 1. ]] SLAMing on 18.536502481 meters Centerline goodness : 0.705501 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.27, Z:0.08 [[ 0.99808423 0.04018933 -0.04703913 1.07645428] [-0.04081831 0.99908855 -0.0124877 -0.26705747] [ 0.04649439 0.01438383 0.99881499 0.07882844] [ 0. 0. 0. 1. ]] SLAMing on 18.566502481 meters Centerline goodness : 0.702863 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.27, Z:0.08 [[ 0.99801025 0.04100607 -0.04789625 1.07896552] [-0.04154849 0.99908252 -0.01038427 -0.27117051] [ 0.04742649 0.01235362 0.99879834 0.07736405] [ 0. 0. 0. 1. ]] SLAMing on 18.596502481 meters Centerline goodness : 0.702323 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.27, Z:0.08 [[ 0.99802359 0.04080462 -0.04779016 1.07886053] [-0.04131698 0.9990982 -0.00978227 -0.27259316] [ 0.0473479 0.01173748 0.9988095 0.07712516] [ 0. 0. 0. 1. ]] SLAMing on 18.626502481 meters Centerline goodness : 0.704299 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.27, Z:0.08 [[ 0.99813172 0.03747827 -0.04825405 1.07929957] [-0.03817934 0.99917713 -0.01368964 -0.27346873] [ 0.04770128 0.01550637 0.99874128 0.07749951] [ 0. 0. 0. 1. ]] SLAMing on 18.656502481 meters Centerline goodness : 0.702764 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.28, Z:0.08 [[ 0.99815118 0.03672831 -0.04842777 1.07914878] [-0.03740455 0.99921392 -0.01313207 -0.27543545] [ 0.04790738 0.01491921 0.99874036 0.0779729 ] [ 0. 0. 0. 1. ]] SLAMing on 18.686502481 meters Centerline goodness : 0.701073 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.28, Z:0.08 [[ 0.99820948 0.03527017 -0.04830992 1.07852631] [-0.03587408 0.99928793 -0.01169086 -0.27841468] [ 0.04786318 0.013403 0.99876397 0.07806657] [ 0. 0. 0. 1. ]] SLAMing on 18.716502481 meters Centerline goodness : 0.703006 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.28, Z:0.08 [[ 0.99822986 0.03524027 -0.04790891 1.07761386] [-0.0358087 0.99929748 -0.01105851 -0.27953212] [ 0.04748555 0.01275449 0.99879049 0.07820995] [ 0. 0. 0. 1. ]] SLAMing on 18.746502481 meters Centerline goodness : 0.705064 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.28, Z:0.08 [[ 0.99832082 0.03177012 -0.04843764 1.05937936] [-0.03208404 0.99946882 -0.00571698 -0.27795449] [ 0.04823029 0.00726146 0.99880985 0.08075911] [ 0. 0. 0. 1. ]] SLAMing on 18.776502481 meters Centerline goodness : 0.703569 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.28, Z:0.08 [[ 0.99831518 0.03218003 -0.04828298 1.05917994] [-0.03247808 0.99945785 -0.00540109 -0.27805471] [ 0.048083 0.00696012 0.99881909 0.08058914] [ 0. 0. 0. 1. ]] SLAMing on 18.806502481 meters Centerline goodness : 0.707078 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:0.08 [[ 0.99803255 0.0358165 -0.05146076 1.026079 ] [-0.03598841 0.99934928 -0.00241759 -0.27709814] [ 0.05134068 0.00426482 0.99867209 0.08036693] [ 0. 0. 0. 1. ]] SLAMing on 18.836502481 meters Centerline goodness : 0.704882 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.27, Z:0.08 [[ 9.98202759e-01 3.22186161e-02 -5.05293209e-02 9.85369195e-01] [-3.21686825e-02 9.99480831e-01 1.80135963e-03 -2.72723141e-01] [ 5.05611249e-02 -1.72660474e-04 9.98720953e-01 7.87724434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.866502481 meters Centerline goodness : 0.706206 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.27, Z:0.08 [[ 0.99801053 0.03303783 -0.05369811 0.95299686] [-0.0329325 0.99945353 0.00284551 -0.27184317] [ 0.05376277 -0.00107143 0.99855316 0.07888693] [ 0. 0. 0. 1. ]] SLAMing on 18.896502481000002 meters Centerline goodness : 0.706357 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:0.08 [[ 0.99800698 0.02940203 -0.05583529 0.93455283] [-0.02908455 0.99955588 0.00649028 -0.27036106] [ 0.05600132 -0.0048534 0.9984189 0.07978195] [ 0. 0. 0. 1. ]] SLAMing on 18.926502481 meters Centerline goodness : 0.706082 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.27, Z:0.08 [[ 0.99812096 0.02620541 -0.05538793 0.89079269] [-0.02556747 0.99959871 0.01219524 -0.26808522] [ 0.05568528 -0.01075619 0.99839043 0.07953293] [ 0. 0. 0. 1. ]] SLAMing on 18.956502481 meters Centerline goodness : 0.706371 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.27, Z:0.08 [[ 0.99794345 0.0278626 -0.05772815 0.85598433] [-0.02706924 0.99952868 0.01447984 -0.26872879] [ 0.05810438 -0.0128874 0.99822733 0.08123289] [ 0. 0. 0. 1. ]] SLAMing on 18.986502481000002 meters Centerline goodness : 0.708733 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:0.08 [[ 0.99794677 0.02438634 -0.05922456 0.83785589] [-0.02328114 0.99954303 0.01928005 -0.2672576 ] [ 0.05966767 -0.01786165 0.99805848 0.08285368] [ 0. 0. 0. 1. ]] SLAMing on 19.016502481 meters Centerline goodness : 0.707542 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.27, Z:0.08 [[ 0.99809197 0.02229624 -0.05757857 0.79558641] [-0.02076894 0.99941995 0.02698899 -0.26646811] [ 0.05814693 -0.02574165 0.9979761 0.08278729] [ 0. 0. 0. 1. ]] SLAMing on 19.046502481 meters Centerline goodness : 0.708817 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.26, Z:0.08 [[ 0.99821319 0.02035864 -0.05617792 0.75113364] [-0.01851201 0.99927734 0.03319804 -0.26470225] [ 0.05681319 -0.03209875 0.99786869 0.08265054] [ 0. 0. 0. 1. ]] SLAMing on 19.076502481000002 meters Centerline goodness : 0.709041 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.26, Z:0.08 [[ 0.9983536 0.01654988 -0.05491979 0.70711735] [-0.01451871 0.99920313 0.03717933 -0.26380711] [ 0.05549134 -0.03632075 0.99779833 0.08305854] [ 0. 0. 0. 1. ]] SLAMing on 19.106502481 meters Centerline goodness : 0.709743 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.26, Z:0.08 [[ 0.99836054 0.01453952 -0.05536088 0.65453236] [-0.0122541 0.99906749 0.04140026 -0.26194166] [ 0.05591119 -0.04065398 0.99760773 0.08314933] [ 0. 0. 0. 1. ]] SLAMing on 19.136502481 meters Centerline goodness : 0.708752 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.26, Z:0.08 [[ 0.99830459 0.01151495 -0.05705563 0.59902754] [-0.0089367 0.9989362 0.04523935 -0.26088868] [ 0.05751586 -0.04465277 0.9973455 0.0836493 ] [ 0. 0. 0. 1. ]] SLAMing on 19.166502481000002 meters Centerline goodness : 0.708225 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.26, Z:0.08 [[ 0.99825294 0.00637746 -0.05874001 0.54634234] [-0.00364375 0.99891028 0.04652932 -0.25998287] [ 0.05897274 -0.046234 0.99718836 0.08198588] [ 0. 0. 0. 1. ]] SLAMing on 19.196502481 meters Centerline goodness : 0.707923 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:0.08 [[ 9.98113919e-01 1.76615162e-04 -6.13887060e-02 5.28900562e-01] [ 2.77548825e-03 9.98843474e-01 4.80001054e-02 -2.58885099e-01] [ 6.13261859e-02 -4.80799569e-02 9.96959085e-01 8.24298666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.226502481 meters Centerline goodness : 0.707695 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:0.08 [[ 0.9980208 -0.00215736 -0.06284768 0.49477467] [ 0.00497984 0.99898411 0.04478791 -0.25874222] [ 0.06268721 -0.04501224 0.99701766 0.07977921] [ 0. 0. 0. 1. ]] SLAMing on 19.256502481000002 meters Centerline goodness : 0.710542 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.26, Z:0.08 [[ 0.99786993 -0.00659594 -0.06490073 0.47711389] [ 0.00974979 0.9987805 0.04839893 -0.25764567] [ 0.06450235 -0.04892861 0.99671733 0.08081985] [ 0. 0. 0. 1. ]] SLAMing on 19.286502481 meters Centerline goodness : 0.709234 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.26, Z:0.08 [[ 0.99775915 -0.00967286 -0.06620514 0.45743529] [ 0.01311691 0.99857208 0.0517856 -0.2564043 ] [ 0.06560969 -0.05253797 0.9964613 0.08052544] [ 0. 0. 0. 1. ]] SLAMing on 19.316502481 meters Centerline goodness : 0.709412 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.26, Z:0.08 [[ 0.99775975 -0.00956035 -0.06621246 0.45738901] [ 0.01301305 0.99856686 0.05191233 -0.25605472] [ 0.06562127 -0.05265766 0.99645422 0.08056971] [ 0. 0. 0. 1. ]] SLAMing on 19.346502481 meters Centerline goodness : 0.709712 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.26, Z:0.08 [[ 0.99777231 -0.00893424 -0.06611053 0.45705116] [ 0.01241496 0.99854753 0.05242794 -0.25614208] [ 0.0655461 -0.05313191 0.996434 0.08059329] [ 0. 0. 0. 1. ]] SLAMing on 19.376502481 meters Centerline goodness : 0.709271 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.26, Z:0.08 [[ 0.9975621 -0.0049468 -0.06960875 0.41519159] [ 0.00853229 0.9986465 0.05130664 -0.25820208] [ 0.06926074 -0.05177548 0.99625411 0.07810177] [ 0. 0. 0. 1. ]] SLAMing on 19.406502481 meters Centerline goodness : 0.709227 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.26, Z:0.08 [[ 0.99740303 -0.00897286 -0.07146113 0.39729567] [ 0.01295684 0.99837553 0.05548344 -0.25723095] [ 0.0708472 -0.05626526 0.99589904 0.07887754] [ 0. 0. 0. 1. ]] SLAMing on 19.436502481 meters Centerline goodness : 0.711626 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.26, Z:0.08 [[ 0.99743069 -0.00866389 -0.07111222 0.39629584] [ 0.01267324 0.99834334 0.05612461 -0.2581514 ] [ 0.07050815 -0.05688163 0.99588809 0.07949061] [ 0. 0. 0. 1. ]] SLAMing on 19.466502481 meters Centerline goodness : 0.712689 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.26, Z:0.08 [[ 0.99735192 -0.0079021 -0.07229592 0.36020768] [ 0.01206502 0.99828252 0.05732753 -0.25981744] [ 0.07171875 -0.05804797 0.99573433 0.07981308] [ 0. 0. 0. 1. ]] SLAMing on 19.496502481 meters Centerline goodness : 0.712954 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.26, Z:0.08 [[ 0.99734211 -0.0079906 -0.07242148 0.36056535] [ 0.01219186 0.99825627 0.05775627 -0.26062314] [ 0.07183369 -0.05848571 0.99570043 0.08011986] [ 0. 0. 0. 1. ]] SLAMing on 19.526502481 meters Centerline goodness : 0.709992 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.26, Z:0.08 [[ 0.99710438 -0.00752866 -0.07567154 0.32545668] [ 0.01189116 0.99828237 0.05736639 -0.26160327] [ 0.07510967 -0.0581001 0.99548125 0.07918328] [ 0. 0. 0. 1. ]] SLAMing on 19.556502481 meters Centerline goodness : 0.705948 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.26, Z:0.08 [[ 0.99695435 -0.00941671 -0.07741669 0.29734606] [ 0.01380385 0.99831673 0.05633077 -0.26135069] [ 0.07675593 -0.05722786 0.9954062 0.07502335] [ 0. 0. 0. 1. ]] SLAMing on 19.586502481 meters Centerline goodness : 0.708289 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.26, Z:0.07 [[ 0.99694778 -0.00950056 -0.07749106 0.29817737] [ 0.01390762 0.99830392 0.05653199 -0.26191196] [ 0.07682254 -0.05743716 0.995389 0.07440595] [ 0. 0. 0. 1. ]] SLAMing on 19.616502481 meters Centerline goodness : 0.711914 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.26, Z:0.07 [[ 0.99671199 -0.0069679 -0.08072581 0.25436685] [ 0.01143204 0.99842253 0.05497046 -0.26235162] [ 0.08021544 -0.05571258 0.99521937 0.07294257] [ 0. 0. 0. 1. ]] SLAMing on 19.646502481000002 meters Centerline goodness : 0.711087 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.26, Z:0.07 [[ 0.99674512 -0.00838748 -0.08017988 0.22340058] [ 0.01272014 0.99847719 0.05367968 -0.26008783] [ 0.07960755 -0.05452486 0.99533395 0.0686963 ] [ 0. 0. 0. 1. ]] SLAMing on 19.676502481 meters Centerline goodness : 0.713227 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.26, Z:0.07 [[ 0.99678346 -0.01164687 -0.07929116 0.22159135] [ 0.01562137 0.99864247 0.04969101 -0.25808387] [ 0.07860477 -0.05076982 0.99561223 0.06786585] [ 0. 0. 0. 1. ]] SLAMing on 19.706502481 meters Centerline goodness : 0.713035 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.26, Z:0.07 [[ 0.99679325 -0.01143574 -0.0791987 0.22073556] [ 0.01542283 0.99863436 0.04991553 -0.25806568] [ 0.07851972 -0.05097693 0.99560836 0.06863601] [ 0. 0. 0. 1. ]] SLAMing on 19.736502481000002 meters Centerline goodness : 0.712663 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.26, Z:0.07 [[ 0.99680538 -0.01147711 -0.0790399 0.21984412] [ 0.01544522 0.99864092 0.04977699 -0.2571817 ] [ 0.07836118 -0.05083876 0.99562792 0.06922837] [ 0. 0. 0. 1. ]] SLAMing on 19.766502481 meters Centerline goodness : 0.714762 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.26, Z:0.07 [[ 0.99680407 -0.01147628 -0.07905661 0.22008722] [ 0.0154545 0.99863491 0.04989458 -0.25648762] [ 0.07837609 -0.0509569 0.9956207 0.06912717] [ 0. 0. 0. 1. ]] SLAMing on 19.796502481 meters Centerline goodness : 0.714601 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99665587 -0.0121477 -0.08080533 0.19294081] [ 0.01623832 0.99860917 0.05016024 -0.2547861 ] [ 0.08008362 -0.05130464 0.99546695 0.06453016] [ 0. 0. 0. 1. ]] SLAMing on 19.826502481000002 meters Centerline goodness : 0.714678 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99663315 -0.01165571 -0.08115731 0.19385375] [ 0.0157561 0.99862151 0.05006828 -0.25441509] [ 0.08046185 -0.05117843 0.99544295 0.06419669] [ 0. 0. 0. 1. ]] SLAMing on 19.856502481 meters Centerline goodness : 0.715496 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.25, Z:0.06 [[ 0.99662502 -0.01144709 -0.0812867 0.19507022] [ 0.01554727 0.99862877 0.04998856 -0.25390594] [ 0.08060302 -0.05108363 0.99543639 0.06282045] [ 0. 0. 0. 1. ]] SLAMing on 19.886502481 meters Centerline goodness : 0.715232 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.25, Z:0.06 [[ 0.99660057 -0.01191748 -0.08151857 0.19561613] [ 0.0160377 0.9986166 0.05007681 -0.2545126 ] [ 0.08080901 -0.05121395 0.995413 0.06274005] [ 0. 0. 0. 1. ]] SLAMing on 19.916502481000002 meters Centerline goodness : 0.715945 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99660364 -0.01614504 -0.08074978 0.194656 ] [ 0.01989988 0.9987472 0.04591315 -0.2542482 ] [ 0.07990735 -0.04736412 0.99567638 0.0622327 ] [ 0. 0. 0. 1. ]] SLAMing on 19.946502481 meters Centerline goodness : 0.714003 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99656759 -0.02004438 -0.0803197 0.1942595 ] [ 0.02334917 0.99890994 0.0404196 -0.25160703] [ 0.07942196 -0.04215626 0.9959493 0.06184036] [ 0. 0. 0. 1. ]] SLAMing on 19.976502481 meters Centerline goodness : 0.718890 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99664297 -0.02069301 -0.07921229 0.19261421] [ 0.02403385 0.99885117 0.04145743 -0.25249261] [ 0.0782634 -0.04322203 0.99599533 0.06102579] [ 0. 0. 0. 1. ]] SLAMing on 20.006502481000002 meters Centerline goodness : 0.716861 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99668923 -0.02084313 -0.07858838 0.19190354] [ 0.02412613 0.9988654 0.04105912 -0.2513533 ] [ 0.07764341 -0.04281921 0.99606125 0.06027593] [ 0. 0. 0. 1. ]] SLAMing on 20.036502481 meters Centerline goodness : 0.717986 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:0.06 [[ 0.99709199 -0.01488009 -0.07474058 0.20844921] [ 0.01783434 0.99907942 0.03901609 -0.2526552 ] [ 0.07409122 -0.04023558 0.99643946 0.0590066 ] [ 0. 0. 0. 1. ]] SLAMing on 20.066502481 meters Centerline goodness : 0.720136 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:0.06 [[ 0.99711603 -0.01433583 -0.07452594 0.20804534] [ 0.0171008 0.99918382 0.03659595 -0.24923347] [ 0.07394048 -0.03776486 0.99654735 0.0592439 ] [ 0. 0. 0. 1. ]] SLAMing on 20.096502481 meters Centerline goodness : 0.718947 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:0.06 [[ 0.99706328 -0.01386949 -0.07531572 0.2098728 ] [ 0.01655079 0.99924695 0.03509419 -0.24751479] [ 0.07477227 -0.03623766 0.99654199 0.05914608] [ 0. 0. 0. 1. ]] SLAMing on 20.126502481 meters Centerline goodness : 0.719397 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:0.06 [[ 0.99703925 -0.00915765 -0.07634699 0.21252076] [ 0.01188398 0.99930496 0.03533226 -0.247651 ] [ 0.07597037 -0.03613496 0.9964551 0.05874352] [ 0. 0. 0. 1. ]] SLAMing on 20.156502481 meters Centerline goodness : 0.718941 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:0.06 [[ 0.9970534 -0.00886205 -0.07619694 0.2128064 ] [ 0.01147391 0.99935907 0.03390861 -0.24515376] [ 0.0758476 -0.03468298 0.99651605 0.05807219] [ 0. 0. 0. 1. ]] SLAMing on 20.186502481 meters Centerline goodness : 0.720021 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.24, Z:0.06 [[ 0.99710163 -0.00530701 -0.07589579 0.21260313] [ 0.00808448 0.99930694 0.03633557 -0.2427222 ] [ 0.07565035 -0.03684384 0.99645349 0.05750183] [ 0. 0. 0. 1. ]] SLAMing on 20.216502481 meters Centerline goodness : 0.719448 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.24, Z:0.05 [[ 0.99713919 -0.00413313 -0.07547413 0.18056823] [ 0.00686477 0.99932931 0.03596953 -0.23974599] [ 0.07527484 -0.03638474 0.9964988 0.05287764] [ 0. 0. 0. 1. ]] SLAMing on 20.246502481 meters Centerline goodness : 0.719776 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:0.05 [[ 0.99708053 -0.00267697 -0.07631027 0.14771633] [ 0.00537237 0.99936802 0.03513822 -0.23665344] [ 0.07616798 -0.0354456 0.99646478 0.04853539] [ 0. 0. 0. 1. ]] SLAMing on 20.276502481 meters Centerline goodness : 0.719288 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:0.04 [[ 0.99703347 -0.00378303 -0.07687615 0.09418527] [ 0.00666292 0.99928415 0.03723956 -0.23387726] [ 0.07668024 -0.0376413 0.99634496 0.04454803] [ 0. 0. 0. 1. ]] SLAMing on 20.306502481 meters Centerline goodness : 0.719288 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:0.04 [[ 0.99722781 -0.01047691 -0.07366772 0.0890949 ] [ 0.01356141 0.99904664 0.04149568 -0.23119907] [ 0.07316274 -0.04237969 0.99641918 0.04146827] [ 0. 0. 0. 1. ]] SLAMing on 20.336502481 meters Centerline goodness : 0.718821 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.04 [[ 0.99710849 -0.00725061 -0.07564453 0.11154048] [ 0.01016759 0.99921654 0.03824812 -0.23341847] [ 0.07530795 -0.03890665 0.99640102 0.04074074] [ 0. 0. 0. 1. ]] SLAMing on 20.366502481 meters Centerline goodness : 0.718461 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.23, Z:0.04 [[ 0.99730857 -0.00417849 -0.07319943 0.1278046 ] [ 0.00650961 0.99947824 0.03163651 -0.23397699] [ 0.07302904 -0.03202786 0.99681542 0.03722835] [ 0. 0. 0. 1. ]] SLAMing on 20.396502481000002 meters Centerline goodness : 0.720093 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:0.03 [[ 0.99741195 -0.00265518 -0.07184952 0.14620613] [ 0.00444512 0.99968344 0.02476397 -0.23606965] [ 0.07176103 -0.02501926 0.99710801 0.03434502] [ 0. 0. 0. 1. ]] SLAMing on 20.426502481 meters Centerline goodness : 0.718449 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.24, Z:0.03 [[ 0.99764702 -0.00322017 -0.068484 0.16195638] [ 0.00425673 0.99987851 0.01499518 -0.23843639] [ 0.0684274 -0.01525141 0.99753952 0.03071044] [ 0. 0. 0. 1. ]] SLAMing on 20.456502481 meters Centerline goodness : 0.718195 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.24, Z:0.03 [[ 9.97904162e-01 -8.19841159e-04 -6.47040314e-02 1.76058542e-01] [ 1.32989576e-03 9.99968381e-01 7.84021129e-03 -2.40088917e-01] [ 6.46955577e-02 -7.90982910e-03 9.97873699e-01 2.78150661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.486502481000002 meters Centerline goodness : 0.717516 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:0.03 [[ 0.99809998 -0.00183793 -0.06158772 0.20172005] [ 0.00205598 0.99999184 0.00347729 -0.24206027] [ 0.06158082 -0.00359731 0.99809562 0.02649949] [ 0. 0. 0. 1. ]] SLAMing on 20.516502481 meters Centerline goodness : 0.718094 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.24, Z:0.02 [[ 0.99824701 0.00138944 -0.0591691 0.21887035] [-0.00151132 0.99999683 -0.00201506 -0.24296935] [ 0.05916612 0.00210095 0.99824594 0.02347192] [ 0. 0. 0. 1. ]] SLAMing on 20.546502481 meters Centerline goodness : 0.715134 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:0.02 [[ 0.9980112 -0.0013348 -0.06302271 0.20360345] [ 0.00156471 0.9999923 0.00359875 -0.24196085] [ 0.06301742 -0.0036902 0.9980056 0.02401409] [ 0. 0. 0. 1. ]] SLAMing on 20.576502481000002 meters Centerline goodness : 0.713035 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.24, Z:0.02 [[ 0.99779728 -0.00510119 -0.06614053 0.18679037] [ 0.00560887 0.9999562 0.00749236 -0.24058504] [ 0.06609942 -0.00784683 0.99778219 0.02463596] [ 0. 0. 0. 1. ]] SLAMing on 20.606502481 meters Centerline goodness : 0.712727 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.24, Z:0.02 [[ 0.99780989 -0.00201263 -0.06611636 0.20626358] [ 0.00212073 0.99999653 0.00156487 -0.24260477] [ 0.06611298 -0.00170166 0.99781069 0.02156555] [ 0. 0. 0. 1. ]] SLAMing on 20.636502481 meters Centerline goodness : 0.710732 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.24, Z:0.02 [[ 0.99782731 -0.00235652 -0.06584145 0.20607733] [ 0.0024596 0.99999587 0.00148467 -0.2421532 ] [ 0.06583768 -0.00164339 0.99782899 0.02102524] [ 0. 0. 0. 1. ]] SLAMing on 20.666502481000002 meters Centerline goodness : 0.711430 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.24, Z:0.02 [[ 0.99770645 -0.00228655 -0.06765062 0.17195662] [ 0.00248236 0.99999297 0.00281054 -0.24015037] [ 0.06764372 -0.00297203 0.99770511 0.02212678] [ 0. 0. 0. 1. ]] SLAMing on 20.696502481 meters Centerline goodness : 0.712338 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:0.02 [[ 0.99770702 -0.00740285 -0.06727485 0.14937773] [ 0.00763668 0.99996566 0.00321926 -0.23509085] [ 0.0672487 -0.00372564 0.99772929 0.02246488] [ 0. 0. 0. 1. ]] SLAMing on 20.726502481 meters Centerline goodness : 0.713067 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.23, Z:0.02 [[ 0.99768284 -0.00760354 -0.06761013 0.14947562] [ 0.00775758 0.99996788 0.00201604 -0.23399862] [ 0.06759262 -0.00253586 0.99770978 0.02345854] [ 0. 0. 0. 1. ]] SLAMing on 20.756502481000002 meters Centerline goodness : 0.717504 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.23, Z:0.02 [[ 0.99792911 -0.01057344 -0.06344835 0.12543779] [ 0.01070748 0.9999411 0.00177289 -0.22853804] [ 0.06342587 -0.00244859 0.99798355 0.02215498] [ 0. 0. 0. 1. ]] SLAMing on 20.786502481 meters Centerline goodness : 0.713793 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.23, Z:0.02 [[ 0.99792708 -0.01060903 -0.06347432 0.12515309] [ 0.01074014 0.99994084 0.00172466 -0.22725298] [ 0.06345227 -0.00240281 0.99798198 0.02268002] [ 0. 0. 0. 1. ]] SLAMing on 20.816502481 meters Centerline goodness : 0.717751 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.02 [[ 0.99793072 -0.01075649 -0.06339218 0.12527531] [ 0.01086418 0.99994007 0.00135431 -0.22435403] [ 0.06337382 -0.00204021 0.99798777 0.02237454] [ 0. 0. 0. 1. ]] SLAMing on 20.846502481 meters Centerline goodness : 0.718779 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.23, Z:0.02 [[ 0.99800763 -0.00821966 -0.06255562 0.1234405 ] [ 0.00865212 0.99994049 0.00664545 -0.22594958] [ 0.06249727 -0.00717344 0.99801935 0.022143 ] [ 0. 0. 0. 1. ]] SLAMing on 20.876502481 meters Centerline goodness : 0.717856 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.22, Z:0.02 [[ 0.9980429 -0.00908575 -0.06186935 0.12227071] [ 0.00950518 0.99993377 0.00648825 -0.22473643] [ 0.0618063 -0.00706363 0.99806317 0.02174445] [ 0. 0. 0. 1. ]] SLAMing on 20.906502481 meters Centerline goodness : 0.717759 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.22, Z:0.02 [[ 0.99808692 -0.0104955 -0.06092899 0.12070219] [ 0.01097548 0.99991128 0.00754844 -0.22482641] [ 0.06084436 -0.00820272 0.99811356 0.02098762] [ 0. 0. 0. 1. ]] SLAMing on 20.936502481 meters Centerline goodness : 0.716607 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.23, Z:0.02 [[ 0.99819799 -0.00742313 -0.05954558 0.13856781] [ 0.00753724 0.99997016 0.00169205 -0.22562498] [ 0.05953125 -0.00213781 0.99822415 0.01745939] [ 0. 0. 0. 1. ]] SLAMing on 20.966502481 meters Centerline goodness : 0.716615 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.23, Z:0.01 [[ 0.99838861 -0.00337628 -0.05664606 0.1543424 ] [ 0.00315456 0.99998701 -0.00400319 -0.22570508] [ 0.05665884 0.00381805 0.9983863 0.01365968] [ 0. 0. 0. 1. ]] SLAMing on 20.996502481 meters Centerline goodness : 0.714249 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.22, Z:0.01 [[ 9.98486218e-01 -1.52656247e-04 -5.50022641e-02 1.73244603e-01] [-3.88465813e-04 9.99951635e-01 -9.82735226e-03 -2.24630338e-01] [ 5.50011041e-02 9.83384229e-03 9.98437867e-01 9.66855371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.026502481 meters Centerline goodness : 0.714782 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.23, Z:0.01 [[ 0.99864631 0.0040299 -0.05185849 0.18824887] [-0.00483651 0.99986913 -0.01543803 -0.2250613 ] [ 0.05178949 0.01566795 0.99853511 0.00649962] [ 0. 0. 0. 1. ]] SLAMing on 21.056502481 meters Centerline goodness : 0.714245 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.22, Z:0.00 [[ 0.99878422 0.00818304 -0.04861186 0.20317081] [-0.00923477 0.99972727 -0.02145023 -0.22380835] [ 0.04842308 0.02187307 0.99858739 0.00360984] [ 0. 0. 0. 1. ]] SLAMing on 21.086502481 meters Centerline goodness : 0.715701 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.22, Z:0.00 [[ 0.99883492 0.01382033 -0.04623635 0.22003614] [-0.01500532 0.99956523 -0.02538081 -0.22306991] [ 0.04586548 0.02604503 0.99860804 0.00137369] [ 0. 0. 0. 1. ]] SLAMing on 21.116502481 meters Centerline goodness : 0.712344 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.22, Z:0.00 [[ 0.998748 0.01768759 -0.04679288 0.22125267] [-0.01869861 0.99959916 -0.02125757 -0.22327399] [ 0.04639813 0.02210592 0.9986784 0.00177277] [ 0. 0. 0. 1. ]] SLAMing on 21.146502481 meters Centerline goodness : 0.714071 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.22, Z:0.00 [[ 0.99865022 0.02149343 -0.047284 0.22254514] [-0.02233184 0.99960135 -0.01727507 -0.22313852] [ 0.04689385 0.01830769 0.99873209 0.00190298] [ 0. 0. 0. 1. ]] SLAMing on 21.176502481 meters Centerline goodness : 0.712899 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.22, Z:0.00 [[ 0.99852708 0.02495067 -0.04817818 0.22504534] [-0.02565717 0.99957133 -0.01410189 -0.22117629] [ 0.04780568 0.01531723 0.99873921 0.00129823] [ 0. 0. 0. 1. ]] SLAMing on 21.206502481 meters Centerline goodness : 0.711103 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.22, Z:0.00 [[ 0.99838844 0.02833457 -0.0491699 0.22729761] [-0.02887005 0.99953098 -0.01021437 -0.22181331] [ 0.04885742 0.01161744 0.9987382 0.00168873] [ 0. 0. 0. 1. ]] SLAMing on 21.236502481000002 meters Centerline goodness : 0.712492 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.22, Z:0.00 [[ 0.99824312 0.03138623 -0.05025509 0.22976449] [-0.03178502 0.99946911 -0.0071556 -0.2200495 ] [ 0.05000382 0.00874039 0.99871078 0.0018662 ] [ 0. 0. 0. 1. ]] SLAMing on 21.266502481 meters Centerline goodness : 0.710689 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.22, Z:0.00 [[ 0.99821976 0.03074564 -0.05110784 0.23164739] [-0.03119716 0.99948075 -0.00806016 -0.21809974] [ 0.05083349 0.00964023 0.99866061 0.00150753] [ 0. 0. 0. 1. ]] SLAMing on 21.296502481 meters Centerline goodness : 0.709784 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.21, Z:0.00 [[ 9.98192983e-01 2.95634882e-02 -5.23141279e-02 2.34642801e-01] [-3.01303625e-02 9.99495145e-01 -1.00805172e-02 -2.13300049e-01] [ 5.19897016e-02 1.16385451e-02 9.98579799e-01 3.56382471e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326502481000002 meters Centerline goodness : 0.707548 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.21, Z:-0.00 [[ 9.98193672e-01 2.90261863e-02 -5.26010741e-02 2.35645834e-01] [-2.96717066e-02 9.99493164e-01 -1.15327487e-02 -2.08519063e-01] [ 5.22396622e-02 1.30726804e-02 9.98549009e-01 -5.47302027e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.356502481 meters Centerline goodness : 0.707447 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.21, Z:-0.00 [[ 0.99819011 0.02860549 -0.05289831 0.2369127 ] [-0.029308 0.99949161 -0.0125527 -0.20529911] [ 0.05251234 0.01408032 0.99852101 -0.00159676] [ 0. 0. 0. 1. ]] SLAMing on 21.386502481 meters Centerline goodness : 0.710728 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:-0.00 [[ 0.998068 0.03170738 -0.05343139 0.23835987] [-0.03225293 0.99943573 -0.009379 -0.2030324 ] [ 0.05310386 0.0110842 0.99852748 -0.00123006] [ 0. 0. 0. 1. ]] SLAMing on 21.416502481000002 meters Centerline goodness : 0.709870 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:-0.00 [[ 0.99805525 0.03126459 -0.05392808 0.23939944] [-0.03184749 0.99944288 -0.00998332 -0.20144149] [ 0.05358591 0.01168138 0.99849492 -0.00129367] [ 0. 0. 0. 1. ]] SLAMing on 21.446502481 meters Centerline goodness : 0.708692 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:-0.00 [[ 0.99804216 0.03031634 -0.0547062 0.24179033] [-0.03098174 0.99945544 -0.01135623 -0.19755939] [ 0.05433213 0.01302889 0.99843791 -0.00236197] [ 0. 0. 0. 1. ]] SLAMing on 21.476502481 meters Centerline goodness : 0.711628 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:-0.00 [[ 0.99803712 0.02973357 -0.05511636 0.24313847] [-0.03044516 0.999463 -0.01211612 -0.19554761] [ 0.05472651 0.01377037 0.99840642 -0.00297353] [ 0. 0. 0. 1. ]] SLAMing on 21.506502481000002 meters Centerline goodness : 0.710163 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.19, Z:-0.00 [[ 0.99803044 0.02866521 -0.05579922 0.24484517] [-0.0294379 0.99948109 -0.01307518 -0.19314073] [ 0.05539546 0.01469204 0.99835639 -0.00309922] [ 0. 0. 0. 1. ]] SLAMing on 21.536502481 meters Centerline goodness : 0.709380 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.19, Z:-0.00 [[ 0.99802211 0.02740294 -0.05657689 0.2474119 ] [-0.02825788 0.99949742 -0.01436673 -0.18991883] [ 0.05615476 0.01593706 0.99829487 -0.0041335 ] [ 0. 0. 0. 1. ]] SLAMing on 21.566502481 meters Centerline goodness : 0.709685 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.19, Z:-0.00 [[ 0.99801795 0.02678212 -0.05694629 0.24872859] [-0.02768554 0.9995021 -0.01513505 -0.18818156] [ 0.05651259 0.01668164 0.99826252 -0.00482359] [ 0. 0. 0. 1. ]] SLAMing on 21.596502481 meters Centerline goodness : 0.712130 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:-0.00 [[ 0.99811402 0.02402898 -0.0564891 0.24690966] [-0.02508627 0.99952173 -0.01808272 -0.18392225] [ 0.05602757 0.01946572 0.99823945 -0.00346213] [ 0. 0. 0. 1. ]] SLAMing on 21.626502481 meters Centerline goodness : 0.711201 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:-0.00 [[ 0.99809553 0.02371296 -0.05694739 0.24686307] [-0.02478906 0.99952584 -0.01826485 -0.18328128] [ 0.05648727 0.01964174 0.99821009 -0.00208666] [ 0. 0. 0. 1. ]] SLAMing on 21.656502481 meters Centerline goodness : 0.711410 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:-0.00 [[ 0.99810287 0.02347843 -0.05691593 0.24642184] [-0.02459455 0.99951714 -0.01898942 -0.17967997] [ 0.05644261 0.02035322 0.99819837 -0.00154024] [ 0. 0. 0. 1. ]] SLAMing on 21.686502481 meters Centerline goodness : 0.712145 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:-0.00 [[ 0.99809665 0.02318227 -0.05714599 0.24727963] [-0.02433826 0.99951131 -0.01961632 -0.1774657 ] [ 0.05666331 0.02096982 0.9981731 -0.00204425] [ 0. 0. 0. 1. ]] SLAMing on 21.716502481 meters Centerline goodness : 0.711504 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:-0.00 [[ 0.99798583 0.02667173 -0.0575578 0.24862206] [-0.02764168 0.99948788 -0.01612183 -0.17593924] [ 0.05709832 0.01768035 0.99821199 -0.0021282 ] [ 0. 0. 0. 1. ]] SLAMing on 21.746502481 meters Centerline goodness : 0.712127 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:-0.00 [[ 0.99797003 0.02621012 -0.05804176 0.24999059] [-0.02722945 0.99948733 -0.0168412 -0.17394972] [ 0.0575706 0.01838746 0.99817209 -0.0026713 ] [ 0. 0. 0. 1. ]] SLAMing on 21.776502481 meters Centerline goodness : 0.709143 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:-0.00 [[ 0.99794069 0.02508939 -0.05903303 0.2534168 ] [-0.02621738 0.9994867 -0.01841137 -0.17094778] [ 0.05854079 0.01992115 0.99808623 -0.00474832] [ 0. 0. 0. 1. ]] SLAMing on 21.806502481 meters Centerline goodness : 0.707082 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.17, Z:-0.01 [[ 0.99790931 0.02391324 -0.06004304 0.25588808] [-0.02513407 0.99949075 -0.0196602 -0.16878981] [ 0.05954232 0.02112823 0.99800216 -0.00530134] [ 0. 0. 0. 1. ]] SLAMing on 21.836502481 meters Centerline goodness : 0.709659 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.17, Z:-0.00 [[ 0.99790332 0.02366841 -0.06023922 0.25594385] [-0.02491298 0.99948967 -0.01999383 -0.16764921] [ 0.05973525 0.02145265 0.99798371 -0.00482093] [ 0. 0. 0. 1. ]] SLAMing on 21.866502481 meters Centerline goodness : 0.710580 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:-0.00 [[ 0.99793472 0.02344058 -0.05980659 0.25449228] [-0.02471616 0.99948062 -0.02067846 -0.1638674 ] [ 0.05929081 0.02211395 0.99799578 -0.00385374] [ 0. 0. 0. 1. ]] SLAMing on 21.896502481 meters Centerline goodness : 0.713859 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:-0.00 [[ 0.99793579 0.02320369 -0.05988105 0.25469079] [-0.02451872 0.999472 -0.02132012 -0.16125268] [ 0.05935473 0.02274432 0.99797781 -0.00389056] [ 0. 0. 0. 1. ]] SLAMing on 21.926502481 meters Centerline goodness : 0.711052 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.16, Z:-0.00 [[ 0.99782729 0.02668307 -0.06023881 0.25506716] [-0.02783054 0.9994453 -0.01829059 -0.1585071 ] [ 0.05971735 0.01992733 0.9980164 -0.00304114] [ 0. 0. 0. 1. ]] SLAMing on 21.956502481 meters Centerline goodness : 0.712515 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.15, Z:-0.00 [[ 0.99779221 0.02770591 -0.06035801 0.25479171] [-0.02885747 0.99941617 -0.01829126 -0.15249977] [ 0.05981599 0.01999266 0.99800919 -0.00253175] [ 0. 0. 0. 1. ]] SLAMing on 21.986502481000002 meters Centerline goodness : 0.711637 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.15, Z:-0.00 [[ 0.99778304 0.02742361 -0.06063791 0.2557108 ] [-0.02864399 0.9994024 -0.01934868 -0.14918353] [ 0.06007107 0.0210427 0.99797228 -0.00316395] [ 0. 0. 0. 1. ]] SLAMing on 22.016502481 meters Centerline goodness : 0.618033 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.15, Z:-0.00 [[ 0.99776667 0.02710882 -0.0610474 0.25679167] [-0.02839588 0.99939031 -0.0203148 -0.14639214] [ 0.06045947 0.02200293 0.99792812 -0.00370092] [ 0. 0. 0. 1. ]] SLAMing on 22.046502481 meters Centerline goodness : 0.710404 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:-0.00 [[ 0.99763362 0.0305227 -0.06160776 0.25774644] [-0.03164812 0.99934804 -0.01737499 -0.14407091] [ 0.06103727 0.01928365 0.99794919 -0.00323578] [ 0. 0. 0. 1. ]] SLAMing on 22.076502481000002 meters Centerline goodness : 0.653426 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:-0.00 [[ 0.99763811 0.03047517 -0.0615587 0.25783054] [-0.03163833 0.99933712 -0.01800947 -0.14157368] [ 0.06096905 0.01991455 0.99794097 -0.00354349] [ 0. 0. 0. 1. ]] SLAMing on 22.106502481 meters Centerline goodness : 0.713972 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:-0.00 [[ 0.99762134 0.03073214 -0.06170255 0.25726053] [-0.03192647 0.99931965 -0.01846445 -0.13725593] [ 0.06109312 0.02039047 0.99792377 -0.00250181] [ 0. 0. 0. 1. ]] SLAMing on 22.136502481 meters Centerline goodness : 0.606938 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:-0.00 [[ 0.99759729 0.03038614 -0.06226016 0.25813894] [-0.03163213 0.99931658 -0.01912553 -0.13529262] [ 0.06163646 0.021049 0.99787669 -0.00226064] [ 0. 0. 0. 1. ]] SLAMing on 22.166502481000002 meters Centerline goodness : 0.714237 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.00 [[ 0.99758129 0.03003871 -0.06268372 0.25909459] [-0.03133667 0.99931222 -0.01982698 -0.13316455] [ 0.06204503 0.02174332 0.99783648 -0.00243898] [ 0. 0. 0. 1. ]] SLAMing on 22.196502481 meters Centerline goodness : 0.714237 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.00 [[ 0.99758129 0.03003871 -0.06268372 0.25909459] [-0.03133667 0.99931222 -0.01982698 -0.13316455] [ 0.06204503 0.02174332 0.99783648 -0.00243898] [ 0. 0. 0. 1. ]] SLAMing on 22.226502481 meters Centerline goodness : 0.546979 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.00 [[ 0.99757396 0.02966773 -0.0629763 0.26027259] [-0.03103105 0.99930236 -0.02078133 -0.12918514] [ 0.06231584 0.02268513 0.99779864 -0.00309815] [ 0. 0. 0. 1. ]] SLAMing on 22.256502481000002 meters Centerline goodness : 0.712108 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.00 [[ 0.99755209 0.02892804 -0.06366309 0.26194084] [-0.03037722 0.99929825 -0.02191407 -0.12615461] [ 0.06298448 0.02379433 0.99773082 -0.00342461] [ 0. 0. 0. 1. ]] SLAMing on 22.286502481 meters Centerline goodness : 0.709992 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.00 [[ 0.99753285 0.0284952 -0.06415787 0.26307554] [-0.02999532 0.99929584 -0.02254105 -0.12467184] [ 0.06347038 0.02440987 0.99768516 -0.00362225] [ 0. 0. 0. 1. ]] SLAMing on 22.316502481 meters Centerline goodness : 0.563524 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.00 [[ 0.99749819 0.02759752 -0.06508257 0.26571279] [-0.02919859 0.99929075 -0.02377901 -0.12193431] [ 0.06438017 0.02561984 0.99759652 -0.0046916 ] [ 0. 0. 0. 1. ]] SLAMing on 22.346502481 meters Centerline goodness : 0.579433 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 0.99748301 0.02705314 -0.06554216 0.26739901] [-0.02871068 0.99928793 -0.02448101 -0.12061386] [ 0.0648332 0.02630115 0.99754945 -0.00566676] [ 0. 0. 0. 1. ]] SLAMing on 22.376502481 meters Centerline goodness : 0.590677 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 0.99747342 0.02639559 -0.06595496 0.26942191] [-0.02812849 0.99927939 -0.02548488 -0.11831394] [ 0.06523475 0.0272757 0.9974971 -0.00715829] [ 0. 0. 0. 1. ]] SLAMing on 22.406502481 meters Centerline goodness : 0.558517 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 0.99746933 0.02638732 -0.0660201 0.26936364] [-0.02816767 0.99926025 -0.02618282 -0.11545406] [ 0.06528037 0.0279762 0.99747471 -0.0070258 ] [ 0. 0. 0. 1. ]] SLAMing on 22.436502481 meters Centerline goodness : 0.713499 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.01 [[ 0.99748178 0.02677663 -0.06567431 0.26830761] [-0.02855808 0.99924508 -0.02633832 -0.11336927] [ 0.06491948 0.02814753 0.99749345 -0.00654937] [ 0. 0. 0. 1. ]] SLAMing on 22.466502481 meters Centerline goodness : 0.591130 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.01 [[ 0.99737112 0.03056521 -0.0657009 0.26754299] [-0.03210365 0.99923151 -0.02248873 -0.11350367] [ 0.06496304 0.02453885 0.99758591 -0.00504508] [ 0. 0. 0. 1. ]] SLAMing on 22.496502481 meters Centerline goodness : 0.581131 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.00 [[ 0.99734092 0.03093633 -0.0659851 0.26685953] [-0.03252001 0.99920496 -0.02306283 -0.11035248] [ 0.06521916 0.02514734 0.99755405 -0.00369231] [ 0. 0. 0. 1. ]] SLAMing on 22.526502481 meters Centerline goodness : 0.586890 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.00 [[ 0.99732943 0.03092247 -0.06616499 0.26717435] [-0.03254914 0.99919029 -0.02364976 -0.10813346] [ 0.06538011 0.02574022 0.99752839 -0.00368958] [ 0. 0. 0. 1. ]] SLAMing on 22.556502481 meters Centerline goodness : 0.716443 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.00 [[ 0.99718896 0.03458714 -0.06646731 0.26804116] [-0.03602557 0.99913924 -0.02056548 -0.10522736] [ 0.0656988 0.02290219 0.99757664 -0.00356437] [ 0. 0. 0. 1. ]] SLAMing on 22.586502481 meters Centerline goodness : 0.705941 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.00 [[ 0.99718898 0.03427596 -0.06662809 0.26873476] [-0.0357659 0.9991332 -0.02129893 -0.10294339] [ 0.0658403 0.02362207 0.99755053 -0.00401112] [ 0. 0. 0. 1. ]] SLAMing on 22.616502481 meters Centerline goodness : 0.579399 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.00 [[ 0.99717894 0.0336837 -0.06707889 0.26955488] [-0.03525113 0.99912917 -0.02232171 -0.10001661] [ 0.06626859 0.02462334 0.99749795 -0.00389309] [ 0. 0. 0. 1. ]] SLAMing on 22.646502481 meters Centerline goodness : 0.570676 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.00 [[ 0.99718422 0.03313375 -0.06727396 0.27015877] [-0.0347573 0.9991286 -0.02310783 -0.0978562 ] [ 0.06644969 0.02538103 0.99746691 -0.00405577] [ 0. 0. 0. 1. ]] SLAMing on 22.676502481 meters Centerline goodness : 0.707755 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.00 [[ 0.99717497 0.03276565 -0.06759057 0.27119818] [-0.03442819 0.99912895 -0.02358051 -0.09678531] [ 0.06675906 0.02584092 0.99743445 -0.00456071] [ 0. 0. 0. 1. ]] SLAMing on 22.706502481 meters Centerline goodness : 0.721336 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99716115 0.03214502 -0.06809072 0.27240472] [-0.03387796 0.99912685 -0.02445026 -0.09461136] [ 0.06724531 0.02668763 0.99737949 -0.00476255] [ 0. 0. 0. 1. ]] SLAMing on 22.736502481000002 meters Centerline goodness : 0.590256 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99714825 0.0318548 -0.06841525 0.27273208] [-0.03361566 0.99912852 -0.02474247 -0.09408793] [ 0.06756747 0.02697173 0.99735007 -0.00433811] [ 0. 0. 0. 1. ]] SLAMing on 22.766502481 meters Centerline goodness : 0.720265 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99714338 0.03145126 -0.06867242 0.27274446] [-0.03325588 0.99912672 -0.02529525 -0.09259766] [ 0.06781688 0.02750675 0.99731853 -0.00367191] [ 0. 0. 0. 1. ]] SLAMing on 22.796502481 meters Centerline goodness : 0.574046 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.9971333 0.0312031 -0.06893151 0.2730413 ] [-0.03304427 0.99912256 -0.02573296 -0.09121938] [ 0.06806808 0.02793698 0.99728946 -0.00335526] [ 0. 0. 0. 1. ]] SLAMing on 22.826502481000002 meters Centerline goodness : 0.610650 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99711612 0.03092894 -0.06930248 0.27357145] [-0.03282054 0.99911453 -0.02632427 -0.08906155] [ 0.06842694 0.02852289 0.99724831 -0.00304254] [ 0. 0. 0. 1. ]] SLAMing on 22.856502481 meters Centerline goodness : 0.721201 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99710136 0.03089668 -0.06952888 0.27423339] [-0.0328172 0.99910598 -0.02665096 -0.08768543] [ 0.06864329 0.02885545 0.99722388 -0.00332901] [ 0. 0. 0. 1. ]] SLAMing on 22.886502481 meters Centerline goodness : 0.232587 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99707614 0.03276769 -0.06903227 0.27350408] [-0.03455559 0.99909338 -0.02486614 -0.08580877] [ 0.06815487 0.02717889 0.99730448 -0.00317302] [ 0. 0. 0. 1. ]] SLAMing on 22.916502481000002 meters Centerline goodness : 0.427001 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:-0.00 [[ 0.99705908 0.03255599 -0.06937791 0.27426874] [-0.03437865 0.99909009 -0.02524104 -0.08490561] [ 0.06849303 0.02755193 0.99727107 -0.00328379] [ 0. 0. 0. 1. ]] SLAMing on 22.946502481 meters Centerline goodness : 0.680173 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.00 [[ 0.99691644 0.0359662 -0.06974273 0.27530918] [-0.03758018 0.99905209 -0.02196912 -0.08347937] [ 0.06888647 0.02452232 0.99732307 -0.00312583] [ 0. 0. 0. 1. ]] SLAMing on 22.976502481 meters Centerline goodness : 0.240069 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.00 [[ 0.99691246 0.03560934 -0.0699823 0.27624237] [-0.03728653 0.99904432 -0.02280715 -0.0807412 ] [ 0.06910327 0.02534613 0.99728748 -0.00366153] [ 0. 0. 0. 1. ]] SLAMing on 23.006502481000002 meters Centerline goodness : 0.461579 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.00 [[ 0.99691726 0.03505186 -0.07019508 0.27692054] [-0.03682722 0.99902958 -0.02415908 -0.07683214] [ 0.06928014 0.0266697 0.99724069 -0.00396123] [ 0. 0. 0. 1. ]] SLAMing on 23.036502481 meters Centerline goodness : 0.434912 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.00 [[ 0.99690798 0.03459306 -0.07055359 0.27739649] [-0.03642747 0.99902651 -0.02488113 -0.07522729] [ 0.06962419 0.02737429 0.99719763 -0.00368543] [ 0. 0. 0. 1. ]] SLAMing on 23.066502481 meters Centerline goodness : 0.565058 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.00 [[ 0.99692623 0.0345042 -0.0703389 0.2760747 ] [-0.03638467 0.99900913 -0.02563039 -0.06990696] [ 0.06938485 0.02811087 0.99719382 -0.00232988] [ 0. 0. 0. 1. ]] SLAMing on 23.096502481 meters Centerline goodness : 0.694434 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.00 [[ 0.99693742 0.03437827 -0.07024184 0.27569377] [-0.03631288 0.99899029 -0.02645316 -0.06675631] [ 0.0692615 0.02892283 0.99717918 -0.00207102] [ 0. 0. 0. 1. ]] SLAMing on 23.126502481 meters Centerline goodness : 0.205955 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.00 [[ 9.96931992e-01 3.50967751e-02 -6.99629844e-02 2.73394356e-01] [-3.70219297e-02 9.98965348e-01 -2.64123083e-02 -6.25348199e-02] [ 6.89636102e-02 2.89214399e-02 9.97199865e-01 2.17974887e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.156502481 meters Centerline goodness : 0.649218 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.00 [[ 9.96927330e-01 3.49868371e-02 -7.00843810e-02 2.73071901e-01] [-3.69482535e-02 9.98955383e-01 -2.68880801e-02 -6.07135039e-02] [ 6.90704408e-02 2.93949574e-02 9.97178625e-01 9.13019385e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.186502481 meters Centerline goodness : 0.442341 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.00 [[ 0.99678306 0.03863926 -0.07021783 0.27310232] [-0.04037039 0.99891066 -0.02340359 -0.05864072] [ 0.06923705 0.02616302 0.9972571 0.00184606] [ 0. 0. 0. 1. ]] SLAMing on 23.216502481 meters Centerline goodness : 0.660452 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.00 [[ 0.99676767 0.03822388 -0.07066215 0.27454065] [-0.04001641 0.99890767 -0.02412801 -0.05670721] [ 0.0696627 0.02687767 0.99720845 0.00112173] [ 0. 0. 0. 1. ]] SLAMing on 23.246502481 meters Centerline goodness : 0.727482 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.00 [[ 9.96713495e-01 3.75267737e-02 -7.17910163e-02 2.77973853e-01] [-3.94300420e-02 9.98902498e-01 -2.52798618e-02 -5.49361929e-02] [ 7.07635538e-02 2.80275022e-02 9.97099282e-01 -7.36485891e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.276502481 meters Centerline goodness : 0.727271 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.00 [[ 0.99668501 0.03686879 -0.07252364 0.28078494] [-0.03885588 0.99890177 -0.0261814 -0.05339556] [ 0.07147872 0.02891258 0.997023 -0.00250266] [ 0. 0. 0. 1. ]] SLAMing on 23.306502481 meters Centerline goodness : 0.675559 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.00 [[ 0.99651084 0.03968523 -0.07342503 0.28475484] [-0.04150865 0.9988623 -0.02347625 -0.05138705] [ 0.07240983 0.02644211 0.99702439 -0.0047074 ] [ 0. 0. 0. 1. ]] SLAMing on 23.336502481 meters Centerline goodness : 0.725388 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.00 [[ 0.99651255 0.03955292 -0.07347317 0.28501082] [-0.0413999 0.99885946 -0.02378701 -0.05014636] [ 0.07244853 0.02674584 0.99701348 -0.00486041] [ 0. 0. 0. 1. ]] SLAMing on 23.366502481 meters Centerline goodness : 0.725610 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.00 [[ 0.99650525 0.0393573 -0.07367695 0.28505289] [-0.04122834 0.9988603 -0.02404835 -0.04966902] [ 0.0726465 0.02700189 0.99699217 -0.00438063] [ 0. 0. 0. 1. ]] SLAMing on 23.396502481 meters Centerline goodness : 0.678124 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.00 [[ 0.99653595 0.03769596 -0.07412898 0.28359201] [-0.03971692 0.99887317 -0.02597982 -0.04827714] [ 0.07306612 0.028834 0.9969102 -0.00195814] [ 0. 0. 0. 1. ]] SLAMing on 23.426502481 meters Centerline goodness : 0.686732 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.00 [[ 9.96509757e-01 3.82334035e-02 -7.42058682e-02 2.82604643e-01] [-4.02730576e-02 9.98845493e-01 -2.61870400e-02 -4.60836315e-02] [ 7.31189773e-02 2.90841381e-02 9.96899056e-01 -5.91143192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.456502481 meters Centerline goodness : 0.687272 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:-0.00 [[ 9.96481761e-01 3.83684418e-02 -7.45114946e-02 2.83369939e-01] [-4.04469052e-02 9.98827868e-01 -2.65883055e-02 -4.43755625e-02] [ 7.34040054e-02 2.95085208e-02 9.96865637e-01 -8.80751308e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.486502481000002 meters Centerline goodness : 0.705673 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.00 [[ 0.99626455 0.04235092 -0.07525517 0.28582071] [-0.04418311 0.9987621 -0.02284996 -0.04507301] [ 0.07419429 0.02608962 0.99690247 -0.00181703] [ 0. 0. 0. 1. ]] SLAMing on 23.516502481 meters Centerline goodness : 0.725275 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.00 [[ 0.99623057 0.0424114 -0.07566984 0.28664474] [-0.04425592 0.99875848 -0.02286717 -0.0453418 ] [ 0.07460607 0.02612981 0.99687069 -0.00188912] [ 0. 0. 0. 1. ]] SLAMing on 23.546502481 meters Centerline goodness : 0.725302 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.00 [[ 0.99620831 0.04251783 -0.07590282 0.28663584] [-0.04435307 0.99875893 -0.02265834 -0.046165 ] [ 0.07484523 0.02593895 0.99685774 -0.00132285] [ 0. 0. 0. 1. ]] SLAMing on 23.576502481000002 meters Centerline goodness : 0.722646 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:0.00 [[ 9.96165129e-01 4.31214424e-02 -7.61286810e-02 2.85506177e-01] [-4.48851059e-02 9.98758416e-01 -2.16091211e-02 -4.90649922e-02] [ 7.51023444e-02 2.49432968e-02 9.96863817e-01 6.09662346e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.606502481 meters Centerline goodness : 0.695411 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.00 [[ 0.99614874 0.04346913 -0.07614544 0.2840681 ] [-0.04517329 0.99876256 -0.02080201 -0.05115236] [ 0.07514697 0.02416164 0.99687971 0.00251578] [ 0. 0. 0. 1. ]] SLAMing on 23.636502481 meters Centerline goodness : 0.688294 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.00 [[ 0.9961252 0.04334166 -0.0765251 0.28491634] [-0.04504707 0.99877036 -0.02070108 -0.05160204] [ 0.07553378 0.0240681 0.99685273 0.0024156 ] [ 0. 0. 0. 1. ]] SLAMing on 23.666502481000002 meters Centerline goodness : 0.689628 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:0.00 [[ 9.96093332e-01 4.25783035e-02 -7.73638323e-02 2.88138211e-01] [-4.43083167e-02 9.98801679e-01 -2.07841023e-02 -5.29356195e-02] [ 7.63861738e-02 2.41307669e-02 9.96786265e-01 6.34184723e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.696502481 meters Centerline goodness : 0.475755 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:0.00 [[ 9.96059882e-01 4.20612360e-02 -7.80740896e-02 2.89821446e-01] [-4.37969472e-02 9.98826947e-01 -2.06532807e-02 -5.46968010e-02] [ 7.71138020e-02 2.39913111e-02 9.96733605e-01 3.46035798e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.726502481 meters Centerline goodness : 0.692658 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.00 [[ 0.99622155 0.03750467 -0.07833272 0.28923671] [-0.03948811 0.99893353 -0.02392661 -0.05868836] [ 0.07735182 0.02692942 0.99664011 0.00141906] [ 0. 0. 0. 1. ]] SLAMing on 23.756502481000002 meters Centerline goodness : 0.186531 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.00 [[ 0.99633908 0.03323115 -0.07876625 0.28937971] [-0.0355075 0.99898607 -0.02767755 -0.06011764] [ 0.07776663 0.03037302 0.99650882 0.00189627] [ 0. 0. 0. 1. ]] SLAMing on 23.786502481 meters Centerline goodness : 0.623751 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.00 [[ 0.99646538 0.02918903 -0.0787702 0.28869849] [-0.03169781 0.99902317 -0.03078889 -0.06270597] [ 0.07779456 0.03317691 0.99641723 0.0025909 ] [ 0. 0. 0. 1. ]] SLAMing on 23.816502481 meters Centerline goodness : 0.561606 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.00 [[ 0.99646272 0.02931526 -0.07875693 0.28855086] [-0.03179124 0.99903301 -0.03037034 -0.06347435] [ 0.07779046 0.03276669 0.99643113 0.0028613 ] [ 0. 0. 0. 1. ]] SLAMing on 23.846502481 meters Centerline goodness : 0.709056 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99633512 0.03344699 -0.07872495 0.28886231] [-0.03557309 0.99903501 -0.02576066 -0.06513239] [ 0.07778736 0.02846674 0.99656348 0.00304265] [ 0. 0. 0. 1. ]] SLAMing on 23.876502481 meters Centerline goodness : 0.716586 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.00 [[ 0.99630813 0.03369 -0.07896265 0.28970454] [-0.03581974 0.99902745 -0.02571171 -0.06446322] [ 0.07801963 0.02844521 0.99654594 0.0025571 ] [ 0. 0. 0. 1. ]] SLAMing on 23.906502481 meters Centerline goodness : 0.152777 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99627907 0.03403933 -0.0791791 0.29018649] [-0.03615753 0.99902139 -0.02547348 -0.06514244] [ 0.07823451 0.02824161 0.99653488 0.00243416] [ 0. 0. 0. 1. ]] SLAMing on 23.936502481 meters Centerline goodness : 0.141765 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99625653 0.03399419 -0.07948164 0.29032123] [-0.03610623 0.99902796 -0.02528795 -0.06647358] [ 0.07854474 0.02806306 0.99651552 0.00296799] [ 0. 0. 0. 1. ]] SLAMing on 23.966502481 meters Centerline goodness : 0.714129 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99638512 0.0304516 -0.07930567 0.28914767] [-0.03282037 0.99904801 -0.02873835 -0.06711332] [ 0.07835505 0.0312373 0.99643601 0.00362622] [ 0. 0. 0. 1. ]] SLAMing on 23.996502481 meters Centerline goodness : 0.532725 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99638689 0.03020758 -0.07937679 0.28988705] [-0.03254313 0.9990697 -0.02829627 -0.06919358] [ 0.07844818 0.0307772 0.996443 0.00314477] [ 0. 0. 0. 1. ]] SLAMing on 24.026502481 meters Centerline goodness : 0.708208 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99636097 0.03013835 -0.07972766 0.29076384] [-0.03246504 0.99907921 -0.02804921 -0.0704539 ] [ 0.07880889 0.0305355 0.99642197 0.0029609 ] [ 0. 0. 0. 1. ]] SLAMing on 24.056502481 meters Centerline goodness : 0.658576 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99632966 0.03047411 -0.07999086 0.29112174] [-0.03274851 0.99909135 -0.02727668 -0.07331006] [ 0.07908695 0.02979614 0.99642232 0.00317644] [ 0. 0. 0. 1. ]] SLAMing on 24.086502481 meters Centerline goodness : 0.711449 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99630646 0.03057219 -0.08024205 0.29156184] [-0.03283695 0.9990944 -0.02705776 -0.07419535] [ 0.07934216 0.02959272 0.99640809 0.00329309] [ 0. 0. 0. 1. ]] SLAMing on 24.116502481 meters Centerline goodness : 0.711449 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99630646 0.03057219 -0.08024205 0.29156184] [-0.03283695 0.9990944 -0.02705776 -0.07419535] [ 0.07934216 0.02959272 0.99640809 0.00329309] [ 0. 0. 0. 1. ]] SLAMing on 24.146502481 meters Centerline goodness : 0.712266 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99628057 0.03076068 -0.08049099 0.29196327] [-0.0330149 0.99909477 -0.02682626 -0.07486674] [ 0.07959293 0.02938388 0.99639428 0.00338607] [ 0. 0. 0. 1. ]] SLAMing on 24.176502481 meters Centerline goodness : 0.710484 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.08, Z:0.00 [[ 0.9961368 0.03296811 -0.0813915 0.29398235] [-0.03510405 0.99907211 -0.0249525 -0.07673398] [ 0.08049334 0.02771328 0.99636981 0.00283754] [ 0. 0. 0. 1. ]] SLAMing on 24.206502481 meters Centerline goodness : 0.588097 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.08, Z:0.00 [[ 0.99611121 0.03328631 -0.08157499 0.29430422] [-0.03542442 0.999062 -0.02490439 -0.0763112 ] [ 0.0806695 0.02769729 0.99635601 0.00281323] [ 0. 0. 0. 1. ]] SLAMing on 24.236502481000002 meters Centerline goodness : 0.371552 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.08, Z:0.00 [[ 0.99609342 0.03424987 -0.08139318 0.29324585] [-0.03633292 0.99904547 -0.02425025 -0.07681918] [ 0.08048492 0.02711277 0.99638701 0.00360781] [ 0. 0. 0. 1. ]] SLAMing on 24.266502481 meters Centerline goodness : 0.197986 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.08, Z:0.00 [[ 0.99605526 0.03433174 -0.08182447 0.2941073 ] [-0.03639806 0.99905163 -0.02389615 -0.07883263] [ 0.08092647 0.02678014 0.99636024 0.00356373] [ 0. 0. 0. 1. ]] SLAMing on 24.296502481 meters Centerline goodness : 0.594909 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.08, Z:0.00 [[ 0.99601826 0.03415673 -0.08234654 0.29535257] [-0.03621406 0.99906487 -0.02362054 -0.08081494] [ 0.08146274 0.02650859 0.9963238 0.00330019] [ 0. 0. 0. 1. ]] SLAMing on 24.326502481000002 meters Centerline goodness : 0.592830 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.08, Z:0.00 [[ 0.99597231 0.03386404 -0.08302034 0.29681813] [-0.03590848 0.99908442 -0.02325719 -0.08325649] [ 0.08215674 0.02614465 0.99627643 0.00315349] [ 0. 0. 0. 1. ]] SLAMing on 24.356502481 meters Centerline goodness : 0.589397 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99609732 0.03010589 -0.08296848 0.29707107] [-0.03238464 0.99913051 -0.02625739 -0.08545957] [ 0.08210584 0.02884182 0.99620619 0.00258303] [ 0. 0. 0. 1. ]] SLAMing on 24.386502481 meters Centerline goodness : 0.147056 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99613369 0.03020736 -0.08249352 0.29515927] [-0.03238052 0.99915955 -0.02513357 -0.08832371] [ 0.08166497 0.02770758 0.99627462 0.00438012] [ 0. 0. 0. 1. ]] SLAMing on 24.416502481000002 meters Centerline goodness : 0.571691 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:0.01 [[ 0.99612659 0.03040151 -0.08250803 0.29430156] [-0.03253561 0.99916668 -0.02464509 -0.08965658] [ 0.08169003 0.02723407 0.99628562 0.00553726] [ 0. 0. 0. 1. ]] SLAMing on 24.446502481 meters Centerline goodness : 0.558462 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:0.01 [[ 0.99610292 0.03027214 -0.08284057 0.29476874] [-0.03241363 0.99917105 -0.02462876 -0.09036087] [ 0.08202634 0.02721794 0.99625843 0.00571214] [ 0. 0. 0. 1. ]] SLAMing on 24.476502481 meters Centerline goodness : 0.214370 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.01 [[ 0.99607961 0.03010424 -0.08318135 0.29596485] [-0.03227914 0.99916803 -0.02492618 -0.08971372] [ 0.08236176 0.02751348 0.99622264 0.00506326] [ 0. 0. 0. 1. ]] SLAMing on 24.506502481000002 meters Centerline goodness : 0.177145 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99606176 0.03003579 -0.08341953 0.29673407] [-0.03223418 0.99916431 -0.02513249 -0.08936433] [ 0.08259495 0.02772247 0.99619754 0.00469618] [ 0. 0. 0. 1. ]] SLAMing on 24.536502481 meters Centerline goodness : 0.592351 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99597871 0.02991065 -0.08444982 0.29994089] [-0.03217377 0.99915527 -0.02556565 -0.08892929] [ 0.0836138 0.02817991 0.99609971 0.00301671] [ 0. 0. 0. 1. ]] SLAMing on 24.566502481 meters Centerline goodness : 0.706804 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99596766 0.0299131 -0.08457914 0.30075177] [-0.03220101 0.99914793 -0.02581675 -0.08822673] [ 0.08373481 0.02843618 0.99608226 0.00229482] [ 0. 0. 0. 1. ]] SLAMing on 24.596502481 meters Centerline goodness : 0.601266 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99594215 0.0302502 -0.08475939 0.30072318] [-0.03254907 0.99913521 -0.02587275 -0.0873987 ] [ 0.08390344 0.0285266 0.99606548 0.00268049] [ 0. 0. 0. 1. ]] SLAMing on 24.626502481 meters Centerline goodness : 0.572425 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99595673 0.03082318 -0.08438087 0.29878374] [-0.03309313 0.99912345 -0.02563564 -0.08645232] [ 0.08351673 0.02832442 0.99610375 0.00422948] [ 0. 0. 0. 1. ]] SLAMing on 24.656502481 meters Centerline goodness : 0.597604 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.9959523 0.03067989 -0.08448531 0.299034 ] [-0.03296854 0.9991226 -0.02582837 -0.085824 ] [ 0.08361877 0.02850918 0.99608992 0.00423417] [ 0. 0. 0. 1. ]] SLAMing on 24.686502481 meters Centerline goodness : 0.610376 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.9959157 0.03016055 -0.08510147 0.30110651] [-0.03246171 0.99914026 -0.02578701 -0.08652701] [ 0.08425055 0.02844423 0.99603854 0.0034373 ] [ 0. 0. 0. 1. ]] SLAMing on 24.716502481 meters Centerline goodness : 0.709799 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99587849 0.02969373 -0.08569901 0.30283144] [-0.0320078 0.99915572 -0.02575549 -0.08757687] [ 0.08486188 0.02839238 0.99598812 0.00288283] [ 0. 0. 0. 1. ]] SLAMing on 24.746502481 meters Centerline goodness : 0.252633 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99596061 0.02506892 -0.08622077 0.3046615 ] [-0.02771563 0.99917638 -0.02963793 -0.08863476] [ 0.08540677 0.03190788 0.99583511 0.00179554] [ 0. 0. 0. 1. ]] SLAMing on 24.776502481 meters Centerline goodness : 0.703523 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.00 [[ 0.99592808 0.02464168 -0.08671825 0.30536578] [-0.02728282 0.9991952 -0.02940412 -0.0903696 ] [ 0.08592389 0.0316503 0.99579885 0.00231217] [ 0. 0. 0. 1. ]] SLAMing on 24.806502481 meters Centerline goodness : 0.553119 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.00 [[ 0.99592693 0.02410118 -0.08688319 0.30552223] [-0.02672757 0.99921638 -0.02919338 -0.09152802] [ 0.08611151 0.03139665 0.99579067 0.00294786] [ 0. 0. 0. 1. ]] SLAMing on 24.836502481 meters Centerline goodness : 0.706682 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.00 [[ 0.99591946 0.02392569 -0.08701714 0.30568576] [-0.02657127 0.9992153 -0.02937266 -0.09084642] [ 0.08624609 0.03156496 0.9957737 0.00318254] [ 0. 0. 0. 1. ]] SLAMing on 24.866502481 meters Centerline goodness : 0.143058 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99592437 0.0244061 -0.08682738 0.30452835] [-0.02706203 0.99919707 -0.02954409 -0.088585 ] [ 0.08603661 0.0317734 0.99578519 0.00406257] [ 0. 0. 0. 1. ]] SLAMing on 24.896502481 meters Centerline goodness : 0.211062 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.00 [[ 0.99588867 0.02439896 -0.08723793 0.3052124 ] [-0.02710796 0.99918212 -0.03000418 -0.08706829] [ 0.08643451 0.03224567 0.99573555 0.00411488] [ 0. 0. 0. 1. ]] SLAMing on 24.926502481 meters Centerline goodness : 0.143111 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.00 [[ 0.99575501 0.02813851 -0.08763669 0.30570936] [-0.03059147 0.99917332 -0.02677381 -0.08590304] [ 0.08681087 0.02934109 0.99579264 0.00466742] [ 0. 0. 0. 1. ]] SLAMing on 24.956502481 meters Centerline goodness : 0.259548 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.08, Z:0.00 [[ 0.99573789 0.02820408 -0.0878099 0.30619172] [-0.03068387 0.99916387 -0.0270196 -0.08477695] [ 0.08697442 0.02959879 0.99577074 0.00444865] [ 0. 0. 0. 1. ]] SLAMing on 24.986502481000002 meters Centerline goodness : 0.712322 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.08, Z:0.00 [[ 0.99573365 0.02822281 -0.08785195 0.30620754] [-0.03071945 0.99915795 -0.02719741 -0.08381244] [ 0.08701039 0.02978014 0.99576219 0.00453962] [ 0. 0. 0. 1. ]] SLAMing on 25.016502481 meters Centerline goodness : 0.467257 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.08, Z:0.01 [[ 0.99576327 0.02840737 -0.08745584 0.30481605] [-0.03087432 0.99915893 -0.02698547 -0.08314042] [ 0.0866157 0.02957128 0.99580282 0.0054859 ] [ 0. 0. 0. 1. ]] SLAMing on 25.046502481 meters Centerline goodness : 0.556285 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.08, Z:0.01 [[ 0.99575387 0.0281717 -0.08763896 0.30488977] [-0.03061877 0.99917435 -0.02670406 -0.08375992] [ 0.0868143 0.02927407 0.99579431 0.0061003 ] [ 0. 0. 0. 1. ]] SLAMing on 25.076502481000002 meters Centerline goodness : 0.518940 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.08, Z:0.01 [[ 0.9957303 0.02776768 -0.0880348 0.30567819] [-0.03021903 0.99918835 -0.02663553 -0.08471922] [ 0.08722374 0.02918213 0.99576123 0.00621931] [ 0. 0. 0. 1. ]] SLAMing on 25.106502481 meters Centerline goodness : 0.237124 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.99578638 0.02266618 -0.08885796 0.30729411] [-0.0254835 0.99920371 -0.03070064 -0.08619673] [ 0.08809134 0.03283569 0.99557106 0.00610566] [ 0. 0. 0. 1. ]] SLAMing on 25.136502481 meters Centerline goodness : 0.707472 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.99574175 0.02180273 -0.08957119 0.30884916] [-0.02464851 0.99922195 -0.03078877 -0.08806418] [ 0.08883022 0.03286546 0.99550442 0.00607526] [ 0. 0. 0. 1. ]] SLAMing on 25.166502481000002 meters Centerline goodness : 0.259876 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.99573081 0.02078988 -0.08993295 0.30948196] [-0.02364952 0.99924422 -0.03084949 -0.08901448] [ 0.08922363 0.03284466 0.99546993 0.00663673] [ 0. 0. 0. 1. ]] SLAMing on 25.196502481 meters Centerline goodness : 0.225894 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.9957165 0.02050567 -0.09015632 0.31021144] [-0.02339287 0.99924296 -0.03108514 -0.0882756 ] [ 0.08945065 0.033061 0.99544239 0.00640947] [ 0. 0. 0. 1. ]] SLAMing on 25.226502481 meters Centerline goodness : 0.418233 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.99558634 0.02398281 -0.09073398 0.311431 ] [-0.02657129 0.99927055 -0.02742853 -0.08806946] [ 0.09000998 0.02971839 0.99549737 0.00687214] [ 0. 0. 0. 1. ]] SLAMing on 25.256502481000002 meters Centerline goodness : 0.604117 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.99544072 0.02779826 -0.09124162 0.31259138] [-0.03010233 0.99925928 -0.02397388 -0.08698401] [ 0.0905076 0.02661116 0.99554017 0.00706478] [ 0. 0. 0. 1. ]] SLAMing on 25.286502481 meters Centerline goodness : 0.711389 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:0.01 [[ 0.99528959 0.0299788 -0.09219497 0.31550228] [-0.03214067 0.99924001 -0.02205396 -0.08688469] [ 0.09146375 0.02491329 0.99549672 0.00608757] [ 0. 0. 0. 1. ]] SLAMing on 25.316502481 meters Centerline goodness : 0.153485 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:0.01 [[ 0.99512387 0.03373741 -0.09268371 0.31679314] [-0.03560056 0.99919443 -0.01852261 -0.0864133 ] [ 0.09198414 0.02173188 0.9955233 0.00609154] [ 0. 0. 0. 1. ]] SLAMing on 25.346502481 meters Centerline goodness : 0.153339 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.08, Z:0.01 [[ 0.99496112 0.03761427 -0.09293832 0.31782146] [-0.03923607 0.99910686 -0.01568456 -0.08294155] [ 0.09226535 0.01925206 0.99554832 0.00583888] [ 0. 0. 0. 1. ]] SLAMing on 25.376502481 meters Centerline goodness : 0.366086 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.08, Z:0.01 [[ 0.99494841 0.03739657 -0.09316199 0.31835521] [-0.0390896 0.99910088 -0.01641433 -0.0808614 ] [ 0.09246439 0.01997307 0.99551565 0.00569419] [ 0. 0. 0. 1. ]] SLAMing on 25.406502481 meters Centerline goodness : 0.430575 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.08, Z:0.01 [[ 0.99493135 0.03704504 -0.09348413 0.31921669] [-0.0388329 0.99909459 -0.01737808 -0.07793173] [ 0.09275572 0.02092025 0.9954691 0.0053811 ] [ 0. 0. 0. 1. ]] SLAMing on 25.436502481 meters Centerline goodness : 0.685795 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.07, Z:0.00 [[ 0.99490226 0.03609235 -0.09416384 0.32187168] [-0.03801477 0.99910216 -0.01870184 -0.07438288] [ 0.0934043 0.02218612 0.99538104 0.00398613] [ 0. 0. 0. 1. ]] SLAMing on 25.466502481 meters Centerline goodness : 0.686487 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.07, Z:0.00 [[ 0.99489918 0.03560162 -0.09438297 0.32283841] [-0.03760136 0.99910266 -0.01949386 -0.0724293 ] [ 0.09360426 0.02294335 0.99534509 0.00340731] [ 0. 0. 0. 1. ]] SLAMing on 25.496502481 meters Centerline goodness : 0.542315 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.07, Z:0.00 [[ 0.99488853 0.0352329 -0.09463331 0.32377778] [-0.03734119 0.99909022 -0.0206003 -0.06895585] [ 0.09382141 0.02402872 0.99529903 0.00286501] [ 0. 0. 0. 1. ]] SLAMing on 25.526502481 meters Centerline goodness : 0.485793 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.00 [[ 0.99485499 0.03467664 -0.09518972 0.32533692] [-0.03689414 0.99908496 -0.02163474 -0.06650854] [ 0.0943524 0.02503537 0.99522402 0.00225215] [ 0. 0. 0. 1. ]] SLAMing on 25.556502481 meters Centerline goodness : 0.163263 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 0.99482666 0.03416314 -0.09567024 0.32662787] [-0.03647202 0.99908159 -0.02248946 -0.06459272] [ 0.09481407 0.0258624 0.995159 0.00183644] [ 0. 0. 0. 1. ]] SLAMing on 25.586502481 meters Centerline goodness : 0.720444 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 0.99478188 0.03338478 -0.09640785 0.32860935] [-0.03581895 0.99907891 -0.023629 -0.06217665] [ 0.09553021 0.02695893 0.9950614 0.00119379] [ 0. 0. 0. 1. ]] SLAMing on 25.616502481 meters Centerline goodness : 0.718259 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 0.9947957 0.0333568 -0.09627485 0.32861493] [-0.0358242 0.99906953 -0.02401456 -0.05982893] [ 0.09538422 0.02733855 0.99506505 0.00100716] [ 0. 0. 0. 1. ]] SLAMing on 25.646502481 meters Centerline goodness : 0.573695 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 9.94780467e-01 3.33250733e-02 -9.64430464e-02 3.29056120e-01] [-3.58343133e-02 9.99059747e-01 -2.44033732e-02 -5.79336786e-02] [ 9.55391213e-02 2.77319693e-02 9.95039303e-01 8.87523056e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.676502481 meters Centerline goodness : 0.682965 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 0.9946323 0.03736672 -0.09648996 0.32875921] [-0.03952062 0.99900828 -0.02050805 -0.05724993] [ 0.09562795 0.02421131 0.99512266 0.00198798] [ 0. 0. 0. 1. ]] SLAMing on 25.706502481 meters Centerline goodness : 0.725939 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 0.99461953 0.03726258 -0.09666177 0.32887792] [-0.03945827 0.99900255 -0.02090327 -0.05592769] [ 0.09578645 0.0246049 0.99509776 0.00228006] [ 0. 0. 0. 1. ]] SLAMing on 25.736502481 meters Centerline goodness : 0.723267 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:0.00 [[ 0.99459367 0.03711235 -0.0969851 0.32938283] [-0.03938767 0.9989894 -0.02165165 -0.05309534] [ 0.09608355 0.02535462 0.9950503 0.00245726] [ 0. 0. 0. 1. ]] SLAMing on 25.766502481 meters Centerline goodness : 0.674657 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:0.00 [[ 0.99457371 0.03678748 -0.09731298 0.33006242] [-0.03913086 0.99898562 -0.02228237 -0.05129636] [ 0.09639455 0.0259694 0.99500436 0.00244904] [ 0. 0. 0. 1. ]] SLAMing on 25.796502481 meters Centerline goodness : 0.153861 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:0.00 [[ 0.99456307 0.03652343 -0.09752092 0.33009944] [-0.03895331 0.99897331 -0.02312935 -0.04833595] [ 0.09657604 0.02680236 0.99496467 0.00300703] [ 0. 0. 0. 1. ]] SLAMing on 25.826502481000002 meters Centerline goodness : 0.716237 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:0.00 [[ 0.99453837 0.03622953 -0.09788178 0.33028883] [-0.03870424 0.99897428 -0.02350269 -0.0476261 ] [ 0.09692989 0.02716277 0.99492049 0.00364536] [ 0. 0. 0. 1. ]] SLAMing on 25.856502481 meters Centerline goodness : 0.528833 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:0.01 [[ 0.99464167 0.03354021 -0.09779059 0.32854192] [-0.0362599 0.99899974 -0.02616765 -0.04500517] [ 0.0968151 0.02957331 0.99486293 0.0054376 ] [ 0. 0. 0. 1. ]] SLAMing on 25.886502481 meters Centerline goodness : 0.731950 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.04, Z:0.01 [[ 0.9946474 0.03340567 -0.09777841 0.32828361] [-0.03613556 0.99900123 -0.02628228 -0.04455163] [ 0.09680278 0.02967488 0.99486111 0.00578346] [ 0. 0. 0. 1. ]] SLAMing on 25.916502481000002 meters Centerline goodness : 0.199891 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.04, Z:0.00 [[ 0.99462786 0.03299412 -0.09811626 0.32978179] [-0.03576295 0.99900634 -0.02659587 -0.04413212] [ 0.09714126 0.02996193 0.99481951 0.00488198] [ 0. 0. 0. 1. ]] SLAMing on 25.946502481 meters Centerline goodness : 0.140401 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.04, Z:0.00 [[ 0.99458884 0.03253518 -0.09866357 0.331919 ] [-0.03535227 0.99901175 -0.02693949 -0.04416131] [ 0.09768959 0.0302817 0.99475613 0.00367868] [ 0. 0. 0. 1. ]] SLAMing on 25.976502481 meters Centerline goodness : 0.642049 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 0.9945293 0.03209936 -0.0994037 0.33525627] [-0.03494167 0.99902496 -0.02698549 -0.04546179] [ 0.09844056 0.0303112 0.9946812 0.00148382] [ 0. 0. 0. 1. ]] SLAMing on 26.006502481000002 meters Centerline goodness : 0.142634 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 0.99451242 0.03217763 -0.09954722 0.33590842] [-0.03499591 0.99903086 -0.02669513 -0.04651167] [ 0.09859176 0.03003238 0.99467468 0.00107182] [ 0. 0. 0. 1. ]] SLAMing on 26.036502481 meters Centerline goodness : 0.142634 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 0.99451242 0.03217763 -0.09954722 0.33590842] [-0.03499591 0.99903086 -0.02669513 -0.04651167] [ 0.09859176 0.03003238 0.99467468 0.00107182] [ 0. 0. 0. 1. ]] SLAMing on 26.066502481 meters Centerline goodness : 0.136199 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 9.94461051e-01 3.21916707e-02 -1.00054556e-01 3.37515881e-01] [-3.49833390e-02 9.99042493e-01 -2.62728777e-02 -4.82959561e-02] [ 9.91129849e-02 2.96275961e-02 9.94635019e-01 4.22309174e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.096502481 meters Centerline goodness : 0.187819 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:-0.00 [[ 0.9943729 0.03216182 -0.1009364 0.34071906] [-0.03497784 0.99904318 -0.02625387 -0.04870731] [ 0.09999545 0.02963667 0.99454642 -0.00133761] [ 0. 0. 0. 1. ]] SLAMing on 26.126502481 meters Centerline goodness : 0.514647 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:-0.00 [[ 0.99432585 0.03178646 -0.10151713 0.34304277] [-0.03466705 0.99904118 -0.02673806 -0.04802731] [ 0.10056988 0.03010564 0.99447441 -0.00271882] [ 0. 0. 0. 1. ]] SLAMing on 26.156502481 meters Centerline goodness : 0.160968 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:-0.00 [[ 0.99426541 0.0320404 -0.10202795 0.34480449] [-0.03495049 0.99902794 -0.02686331 -0.04699872] [ 0.10106806 0.03027519 0.99441875 -0.00368586] [ 0. 0. 0. 1. ]] SLAMing on 26.186502481 meters Centerline goodness : 0.133051 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.00 [[ 0.99423745 0.03191966 -0.1023378 0.34522805] [-0.03485203 0.99902784 -0.02699461 -0.04713125] [ 0.10137665 0.03040574 0.99438336 -0.0034433 ] [ 0. 0. 0. 1. ]] SLAMing on 26.216502481 meters Centerline goodness : 0.140056 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.00 [[ 0.99415431 0.03162152 -0.10323412 0.34522297] [-0.03459822 0.99903186 -0.0271719 -0.04889338] [ 0.10227496 0.03058478 0.99428588 -0.00164651] [ 0. 0. 0. 1. ]] SLAMing on 26.246502481 meters Centerline goodness : 0.571834 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.00 [[ 0.994109 0.03152127 -0.10370012 0.34568935] [-0.03450612 0.99903656 -0.02711615 -0.04985668] [ 0.10274547 0.0305347 0.9942389 -0.00117583] [ 0. 0. 0. 1. ]] SLAMing on 26.276502481 meters Centerline goodness : 0.453314 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 9.94089188e-01 3.20858287e-02 -1.03716857e-01 3.44502000e-01] [-3.50228646e-02 9.99031882e-01 -2.66213738e-02 -5.00022766e-02] [ 1.02762278e-01 3.00964813e-02 9.94250530e-01 2.90081303e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.306502481 meters Centerline goodness : 0.712756 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 9.94082079e-01 3.22790875e-02 -1.03725020e-01 3.44039672e-01] [-3.52002155e-02 9.99030048e-01 -2.64557678e-02 -4.98445219e-02] [ 1.02770444e-01 2.99503477e-02 9.94254099e-01 9.12126808e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.336502481 meters Centerline goodness : 0.714561 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 0.99405612 0.03247183 -0.10391347 0.34376912] [-0.03535432 0.9990361 -0.02601828 -0.0509225 ] [ 0.10296845 0.02953742 0.99424597 0.00172733] [ 0. 0. 0. 1. ]] SLAMing on 26.366502481 meters Centerline goodness : 0.713290 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:0.00 [[ 0.99401149 0.03092485 -0.10480844 0.34570819] [-0.03394718 0.99905408 -0.02717614 -0.05423617] [ 0.10386888 0.03057135 0.99412104 0.001338 ] [ 0. 0. 0. 1. ]] SLAMing on 26.396502481 meters Centerline goodness : 0.725340 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.00 [[ 9.93994863e-01 2.92609130e-02 -1.05441985e-01 3.48719915e-01] [-3.24095501e-02 9.99074721e-01 -2.82723040e-02 -5.65803116e-02] [ 1.04517149e-01 3.15198522e-02 9.94023473e-01 -5.35902769e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426502481 meters Centerline goodness : 0.569814 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.00 [[ 0.99393377 0.02877825 -0.1061484 0.350804 ] [-0.0319546 0.99908732 -0.02834495 -0.05766779] [ 0.1052358 0.03156493 0.99394622 -0.00127088] [ 0. 0. 0. 1. ]] SLAMing on 26.456502481 meters Centerline goodness : 0.581351 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.00 [[ 0.99386409 0.02806071 -0.10698959 0.35332584] [-0.03124115 0.99911491 -0.02816703 -0.05974737] [ 0.10610451 0.03133668 0.99386108 -0.00206965] [ 0. 0. 0. 1. ]] SLAMing on 26.486502481 meters Centerline goodness : 0.481739 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.00 [[ 0.99388015 0.02787059 -0.10689006 0.35321232] [-0.03103454 0.9991246 -0.02805144 -0.06022689] [ 0.10601468 0.03119705 0.99387506 -0.00199431] [ 0. 0. 0. 1. ]] SLAMing on 26.516502481 meters Centerline goodness : 0.498907 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.00 [[ 9.93939347e-01 2.80119821e-02 -1.06301006e-01 3.51098591e-01] [-3.11007838e-02 9.99137565e-01 -2.75112085e-02 -6.04540224e-02] [ 1.05438685e-01 3.06505172e-02 9.93953334e-01 -3.91454017e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546502481 meters Centerline goodness : 0.506823 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:0.00 [[ 9.93924974e-01 2.79396847e-02 -1.06454309e-01 3.50597953e-01] [-3.10377813e-02 9.99138248e-01 -2.75575353e-02 -6.02345201e-02] [ 1.05592623e-01 3.06942281e-02 9.93935643e-01 6.17900497e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.576502481000002 meters Centerline goodness : 0.536538 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:0.00 [[ 0.99391212 0.02770906 -0.10663447 0.35016095] [-0.03086498 0.99912962 -0.02805976 -0.05966093] [ 0.10576415 0.0311802 0.99390228 0.00157279] [ 0. 0. 0. 1. ]] SLAMing on 26.606502481 meters Centerline goodness : 0.541553 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:0.00 [[ 0.99387304 0.02761447 -0.10702256 0.3513823 ] [-0.0308115 0.99912351 -0.02833474 -0.05911674] [ 0.10614631 0.03145866 0.99385276 0.00101221] [ 0. 0. 0. 1. ]] SLAMing on 26.636502481 meters Centerline goodness : 0.549810 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.99372105 0.02923508 -0.10799897 0.35576542] [-0.0323259 0.99911318 -0.02697957 -0.05954435] [ 0.10711444 0.03030133 0.99378485 -0.00163004] [ 0. 0. 0. 1. ]] SLAMing on 26.666502481000002 meters Centerline goodness : 0.532891 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.9937115 0.02940121 -0.10804179 0.35649961] [-0.03247018 0.9991145 -0.02675651 -0.05976888] [ 0.10715944 0.03009639 0.99378623 -0.00235988] [ 0. 0. 0. 1. ]] SLAMing on 26.696502481 meters Centerline goodness : 0.704993 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.99372446 0.02956542 -0.10787762 0.35712542] [-0.03254863 0.99913197 -0.02599807 -0.06139546] [ 0.10701534 0.02934619 0.99382419 -0.00314478] [ 0. 0. 0. 1. ]] SLAMing on 26.726502481 meters Centerline goodness : 0.502083 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.99373267 0.02962819 -0.10778472 0.35684658] [-0.03254868 0.99914639 -0.02543761 -0.06317488] [ 0.10693904 0.02878643 0.99384877 -0.00289427] [ 0. 0. 0. 1. ]] SLAMing on 26.756502481000002 meters Centerline goodness : 0.571640 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 0.99383578 0.02567439 -0.10784836 0.35646613] [-0.02891391 0.99917319 -0.02858196 -0.06534018] [ 0.10702536 0.03152409 0.99375641 -0.0024409 ] [ 0. 0. 0. 1. ]] SLAMing on 26.786502481 meters Centerline goodness : 0.547025 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 0.9937991 0.02549482 -0.10822829 0.3564618 ] [-0.02870295 0.99919045 -0.0281884 -0.06768258] [ 0.10742202 0.03112008 0.99372635 -0.00153512] [ 0. 0. 0. 1. ]] SLAMing on 26.816502481 meters Centerline goodness : 0.154876 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93834170e-01 2.13775558e-02 -1.08796337e-01 3.56704184e-01] [-2.49653068e-02 9.99184890e-01 -3.17220620e-02 -6.93453346e-02] [ 1.08029516e-01 3.42426031e-02 9.93557783e-01 -8.09010063e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.846502481 meters Centerline goodness : 0.475146 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93820326e-01 2.16524010e-02 -1.08868422e-01 3.56960834e-01] [-2.51993154e-02 9.99192008e-01 -3.13101424e-02 -6.97556088e-02] [ 1.08102518e-01 3.38600656e-02 9.93562953e-01 -8.16954866e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.876502481 meters Centerline goodness : 0.710321 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93727526e-01 2.57427132e-02 -1.08825163e-01 3.57099696e-01] [-2.88476076e-02 9.99217659e-01 -2.70533761e-02 -7.09136804e-02] [ 1.08043597e-01 3.00230301e-02 9.93692708e-01 -6.00833379e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.906502481 meters Centerline goodness : 0.579127 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 0.99369372 0.02576402 -0.10912842 0.35819703] [-0.02889047 0.99921338 -0.02716546 -0.07026783] [ 0.10834268 0.03014692 0.99365639 -0.00114091] [ 0. 0. 0. 1. ]] SLAMing on 26.936502481 meters Centerline goodness : 0.496075 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93637237e-01 2.56621741e-02 -1.09665371e-01 3.59004188e-01] [-2.88089789e-02 9.99214605e-01 -2.72069029e-02 -7.14955184e-02] [ 1.08881052e-01 3.01931392e-02 9.93596141e-01 -9.40759244e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.966502481 meters Centerline goodness : 0.707443 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93597942e-01 2.56133625e-02 -1.10032202e-01 3.59541864e-01] [-2.87728802e-02 9.99215205e-01 -2.72230612e-02 -7.19551238e-02] [ 1.09248575e-01 3.02147209e-02 9.93555142e-01 -7.23453048e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.996502481 meters Centerline goodness : 0.516352 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93590272e-01 2.54096425e-02 -1.10148637e-01 3.59552924e-01] [-2.86134632e-02 9.99209341e-01 -2.76036691e-02 -7.09425082e-02] [ 1.09360148e-01 3.05784711e-02 9.93531738e-01 -4.10836551e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.026502481 meters Centerline goodness : 0.137964 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93584207e-01 2.53243769e-02 -1.10222949e-01 3.59461542e-01] [-2.85389919e-02 9.99209216e-01 -2.76851680e-02 -7.04808562e-02] [ 1.09434677e-01 3.06531976e-02 9.93521229e-01 -4.88531070e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.056502481 meters Centerline goodness : 0.708633 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:0.00 [[ 9.93571546e-01 2.48475600e-02 -1.10445379e-01 3.59781251e-01] [-2.81200396e-02 9.99207503e-01 -2.81714176e-02 -6.86494425e-02] [ 1.09657860e-01 3.10960474e-02 9.93482858e-01 3.18371467e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.086502481 meters Centerline goodness : 0.587888 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:0.00 [[ 9.93530269e-01 2.43440033e-02 -1.10927789e-01 3.61051066e-01] [-2.76936185e-02 9.99202757e-01 -2.87561214e-02 -6.71158167e-02] [ 1.10139313e-01 3.16420689e-02 9.93412357e-01 6.68472030e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.116502481 meters Centerline goodness : 0.163534 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93489118e-01 2.36696811e-02 -1.11441097e-01 3.62834233e-01] [-2.71248238e-02 9.99193994e-01 -2.95906464e-02 -6.53792486e-02] [ 1.10650873e-01 3.24208053e-02 9.93330396e-01 -7.55955872e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.146502481 meters Centerline goodness : 0.634128 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.9934624 0.02344306 -0.11172687 0.36385619] [-0.02694835 0.99918754 -0.02996732 -0.06453564] [ 0.11093357 0.03278226 0.993287 -0.00131651] [ 0. 0. 0. 1. ]] SLAMing on 27.176502481 meters Centerline goodness : 0.422719 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.99340021 0.0269934 -0.11147812 0.36352691] [-0.03017992 0.99917985 -0.02699615 -0.06202157] [ 0.11065797 0.03018238 0.99340014 -0.00102135] [ 0. 0. 0. 1. ]] SLAMing on 27.206502481 meters Centerline goodness : 0.158526 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:0.00 [[ 9.93435916e-01 2.93531703e-02 -1.10559812e-01 3.61151553e-01] [-3.23010346e-02 9.99166307e-01 -2.49666583e-02 -5.93546675e-02] [ 1.09734789e-01 2.83739713e-02 9.93555833e-01 9.79669154e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.236502481 meters Centerline goodness : 0.156131 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 0.99344965 0.03058444 -0.11010171 0.35930733] [-0.03345958 0.99914314 -0.02436087 -0.05487573] [ 0.1092623 0.02788525 0.99362174 0.00148931] [ 0. 0. 0. 1. ]] SLAMing on 27.266502481 meters Centerline goodness : 0.656721 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 0.99343817 0.03016882 -0.11031977 0.35899263] [-0.03313212 0.99913508 -0.02512681 -0.05326592] [ 0.1094663 0.02861706 0.99357848 0.00237019] [ 0. 0. 0. 1. ]] SLAMing on 27.296502481 meters Centerline goodness : 0.504404 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 0.99342759 0.02991961 -0.11048279 0.35929515] [-0.03293194 0.99913119 -0.02554136 -0.05254029] [ 0.10962262 0.0290119 0.99354979 0.00238619] [ 0. 0. 0. 1. ]] SLAMing on 27.326502481000002 meters Centerline goodness : 0.527385 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 0.99340197 0.02997098 -0.11069898 0.36043449] [-0.03302225 0.9991207 -0.02583346 -0.05048789] [ 0.10982739 0.02931854 0.99351818 0.00166171] [ 0. 0. 0. 1. ]] SLAMing on 27.356502481 meters Centerline goodness : 0.651334 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 0.99338779 0.03023269 -0.11075508 0.36111394] [-0.03328222 0.99911322 -0.02578904 -0.0493817 ] [ 0.1098772 0.0293047 0.99351308 0.00110119] [ 0. 0. 0. 1. ]] SLAMing on 27.386502481 meters Centerline goodness : 0.654878 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 9.93345772e-01 3.03440158e-02 -1.11100939e-01 3.62166624e-01] [-3.33658827e-02 9.99119338e-01 -2.54414184e-02 -5.08244009e-02] [ 1.10231102e-01 2.89791063e-02 9.93483425e-01 7.08916499e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.416502481000002 meters Centerline goodness : 0.515774 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 9.93273184e-01 3.00513164e-02 -1.11827101e-01 3.63638057e-01] [-3.30867359e-02 9.99129996e-01 -2.53873695e-02 -5.27550603e-02] [ 1.10966887e-01 2.89165871e-02 9.93403332e-01 5.78320528e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.446502481 meters Centerline goodness : 0.714040 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 9.93295148e-01 2.63712045e-02 -1.12558027e-01 3.64746531e-01] [-2.98020533e-02 9.99137726e-01 -2.89074857e-02 -5.39685188e-02] [ 1.11698646e-01 3.20681256e-02 9.93224571e-01 4.69205429e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.476502481 meters Centerline goodness : 0.461993 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 9.93290168e-01 2.67020898e-02 -1.12523959e-01 3.64612515e-01] [-3.00927552e-02 9.99139503e-01 -2.85425886e-02 -5.45935387e-02] [ 1.11664986e-01 3.17372285e-02 9.93238984e-01 5.47690985e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.506502481000002 meters Centerline goodness : 0.701173 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:0.00 [[ 9.93165166e-01 3.13902395e-02 -1.12417105e-01 3.64441328e-01] [-3.42775830e-02 9.99127883e-01 -2.38436832e-02 -5.59381043e-02] [ 1.11570605e-01 2.75341022e-02 9.93374991e-01 9.63569703e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.536502481 meters Centerline goodness : 0.483691 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:0.00 [[ 0.99317262 0.03207995 -0.11215627 0.36377066] [-0.03491422 0.99911637 -0.02339813 -0.05547333] [ 0.11130656 0.02715423 0.99341507 0.00120436] [ 0. 0. 0. 1. ]] SLAMing on 27.566502481 meters Centerline goodness : 0.161404 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:0.00 [[ 0.99308388 0.03314736 -0.11263067 0.36430697] [-0.03595458 0.99908908 -0.02298438 -0.05550005] [ 0.1117662 0.02687501 0.99337105 0.00146996] [ 0. 0. 0. 1. ]] SLAMing on 27.596502481 meters Centerline goodness : 0.713203 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99302079 0.03321793 -0.11316486 0.36501594] [-0.03605587 0.99908222 -0.02312359 -0.05599767] [ 0.11229288 0.02704246 0.99330711 0.00177556] [ 0. 0. 0. 1. ]] SLAMing on 27.626502481 meters Centerline goodness : 0.710743 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99295953 0.03341797 -0.1136425 0.36529165] [-0.03628886 0.99906997 -0.02328775 -0.05659928] [ 0.11275858 0.02724775 0.99324874 0.00231193] [ 0. 0. 0. 1. ]] SLAMing on 27.656502481 meters Centerline goodness : 0.711232 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99295446 0.0335139 -0.11365855 0.3655139 ] [-0.03636399 0.9990717 -0.02309545 -0.05728179] [ 0.11277902 0.02706581 0.9932514 0.00213626] [ 0. 0. 0. 1. ]] SLAMing on 27.686502481 meters Centerline goodness : 0.157843 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99295059 0.03355709 -0.11367959 0.36583388] [-0.03636716 0.99907984 -0.02273563 -0.05851816] [ 0.11281204 0.02670956 0.99325729 0.00190577] [ 0. 0. 0. 1. ]] SLAMing on 27.716502481 meters Centerline goodness : 0.160286 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99295976 0.03367241 -0.11356529 0.36570828] [-0.03641893 0.99909007 -0.02219658 -0.06017408] [ 0.11271454 0.02617624 0.99328256 0.00186565] [ 0. 0. 0. 1. ]] SLAMing on 27.746502481 meters Centerline goodness : 0.257054 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99308247 0.02975607 -0.11358606 0.36569088] [-0.0328316 0.99914057 -0.02530238 -0.06229917] [ 0.11273555 0.02885656 0.99320592 0.00174495] [ 0. 0. 0. 1. ]] SLAMing on 27.776502481 meters Centerline goodness : 0.711984 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99305689 0.02941235 -0.11389874 0.36583948] [-0.03246529 0.9991591 -0.02504209 -0.06457445] [ 0.11306642 0.02856598 0.99317671 0.00234576] [ 0. 0. 0. 1. ]] SLAMing on 27.806502481 meters Centerline goodness : 0.554191 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:0.00 [[ 0.993025 0.02867439 -0.11436403 0.36793631] [-0.03175664 0.99917738 -0.02522068 -0.06566337] [ 0.11354676 0.02867658 0.99311872 0.00116172] [ 0. 0. 0. 1. ]] SLAMing on 27.836502481 meters Centerline goodness : 0.274594 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.00 [[ 0.99285468 0.03051412 -0.11536236 0.37332471] [-0.03341125 0.99917091 -0.0232632 -0.06555258] [ 0.11455686 0.02695138 0.99305103 -0.00205595] [ 0. 0. 0. 1. ]] SLAMing on 27.866502481 meters Centerline goodness : 0.717071 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.00 [[ 0.99285334 0.03059998 -0.11535118 0.37315596] [-0.03348298 0.99917141 -0.02313857 -0.06593758] [ 0.11454756 0.02683551 0.99305524 -0.00184816] [ 0. 0. 0. 1. ]] SLAMing on 27.896502481 meters Centerline goodness : 0.304269 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.00 [[ 9.92845987e-01 3.03607364e-02 -1.15477582e-01 3.72512879e-01] [-3.32683676e-02 9.99173998e-01 -2.33353250e-02 -6.61548106e-02] [ 1.14673720e-01 2.70101344e-02 9.93035946e-01 -7.73671460e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.926502481 meters Centerline goodness : 0.304269 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.00 [[ 9.92845987e-01 3.03607364e-02 -1.15477582e-01 3.72512879e-01] [-3.32683676e-02 9.99173998e-01 -2.33353250e-02 -6.61548106e-02] [ 1.14673720e-01 2.70101344e-02 9.93035946e-01 -7.73671460e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.956502481 meters Centerline goodness : 0.310961 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.00 [[ 9.93526736e-01 3.36879045e-02 -1.08488478e-01 3.79625831e-01] [-3.70667026e-02 9.98883770e-01 -2.92792295e-02 -6.70933692e-02] [ 1.07381024e-01 3.31110075e-02 9.93666431e-01 -1.30228635e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.986502481 meters Centerline goodness : 0.387117 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:0.00 [[ 9.93496051e-01 3.37737721e-02 -1.08742490e-01 3.79466916e-01] [-3.71616594e-02 9.98880212e-01 -2.92802674e-02 -6.72338501e-02] [ 1.07631817e-01 3.31308814e-02 9.93638635e-01 6.13500939e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.016502481 meters Centerline goodness : 0.618691 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:0.00 [[ 9.93315779e-01 3.81936202e-02 -1.08926633e-01 3.80357701e-01] [-4.11592825e-02 9.98837067e-01 -2.51082869e-02 -6.81961275e-02] [ 1.07840982e-01 2.94237996e-02 9.93732641e-01 3.44859660e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.046502481 meters Centerline goodness : 0.392910 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.00 [[ 0.9930967 0.04046098 -0.11009933 0.38443931] [-0.04322595 0.99880415 -0.02284264 -0.07061739] [ 0.10904343 0.0274441 0.99365807 -0.00150269] [ 0. 0. 0. 1. ]] SLAMing on 28.076502481000002 meters Centerline goodness : 0.426869 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.00 [[ 0.99304707 0.04037364 -0.11057794 0.38555602] [-0.04312972 0.99881279 -0.02264585 -0.07249227] [ 0.10953236 0.02725759 0.99360942 -0.00173357] [ 0. 0. 0. 1. ]] SLAMing on 28.106502481 meters Centerline goodness : 0.551763 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.00 [[ 0.99300655 0.03721118 -0.11204164 0.3894076 ] [-0.04026774 0.99887257 -0.02514161 -0.07616992] [ 0.11097977 0.02947745 0.99338541 -0.00328216] [ 0. 0. 0. 1. ]] SLAMing on 28.136502481 meters Centerline goodness : 0.361363 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.00 [[ 0.9929493 0.03700337 -0.1126163 0.390871 ] [-0.04004902 0.99888735 -0.02490271 -0.07778012] [ 0.11156952 0.0292373 0.99332644 -0.00363241] [ 0. 0. 0. 1. ]] SLAMing on 28.166502481000002 meters Centerline goodness : 0.584718 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.00 [[ 0.99290318 0.03702274 -0.11301592 0.39103667] [-0.03996572 0.99891551 -0.02388608 -0.08094169] [ 0.11200903 0.02823333 0.99330602 -0.00264692] [ 0. 0. 0. 1. ]] SLAMing on 28.196502481 meters Centerline goodness : 0.523196 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.00 [[ 0.99286369 0.03679722 -0.11343573 0.39115683] [-0.03969913 0.99893696 -0.02342936 -0.08366219] [ 0.11245301 0.02776546 0.99326905 -0.00176777] [ 0. 0. 0. 1. ]] SLAMing on 28.226502481 meters Centerline goodness : 0.395023 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:0.00 [[ 9.92944727e-01 3.25534684e-02 -1.14022109e-01 3.90356904e-01] [-3.57847945e-02 9.99010551e-01 -2.64077265e-02 -8.81869983e-02] [ 1.13049627e-01 3.03016705e-02 9.93127177e-01 8.91758373e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.256502481000002 meters Centerline goodness : 0.508707 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:0.00 [[ 0.99305593 0.02877362 -0.11407011 0.38842542] [-0.03229281 0.99905404 -0.02912393 -0.09156501] [ 0.1131242 0.03260534 0.99304572 0.00222576] [ 0. 0. 0. 1. ]] SLAMing on 28.286502481 meters Centerline goodness : 0.302117 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:0.00 [[ 0.9930213 0.02874465 -0.11437851 0.38865978] [-0.03221564 0.99907125 -0.02861433 -0.09366717] [ 0.11344977 0.03209942 0.99302506 0.00276522] [ 0. 0. 0. 1. ]] SLAMing on 28.316502481 meters Centerline goodness : 0.670844 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:0.00 [[ 0.99297252 0.02893328 -0.11475383 0.39033126] [-0.03233507 0.99908777 -0.0278941 -0.09505405] [ 0.11384208 0.03140864 0.99300226 0.00200519] [ 0. 0. 0. 1. ]] SLAMing on 28.346502481 meters Centerline goodness : 0.407883 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:0.00 [[ 0.99296504 0.02926418 -0.11473463 0.39121329] [-0.03261724 0.99909071 -0.02745654 -0.09531504] [ 0.11382681 0.03100571 0.99301667 0.0011282 ] [ 0. 0. 0. 1. ]] SLAMing on 28.376502481 meters Centerline goodness : 0.708711 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:0.00 [[ 9.92925095e-01 2.91715560e-02 -1.15103330e-01 3.92308333e-01] [-3.25251146e-02 9.99096226e-01 -2.73650725e-02 -9.57032617e-02] [ 1.14201021e-01 3.09152162e-02 9.92976523e-01 8.68315341e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.406502481 meters Centerline goodness : 0.243699 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.00 [[ 9.93643941e-01 2.61896012e-02 -1.09479786e-01 4.01671967e-01] [-2.91566017e-02 9.99247285e-01 -2.55882194e-02 -1.00161104e-01] [ 1.08727234e-01 2.86176376e-02 9.93659609e-01 -2.30765954e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.436502481 meters Centerline goodness : 0.470574 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.10, Z:-0.00 [[ 9.93795343e-01 3.13058834e-02 -1.06727490e-01 4.10500979e-01] [-3.50114877e-02 9.98841109e-01 -3.30247635e-02 -1.02861599e-01] [ 1.05569935e-01 3.65565444e-02 9.93739708e-01 -9.29611139e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.466502481 meters Centerline goodness : 0.442580 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.10, Z:-0.00 [[ 9.93741578e-01 3.17066395e-02 -1.07109130e-01 4.11252993e-01] [-3.54158587e-02 9.98830738e-01 -3.29070471e-02 -1.02161014e-01] [ 1.05940519e-01 3.64944627e-02 9.93702551e-01 -9.74673972e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.496502481 meters Centerline goodness : 0.441205 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.10, Z:-0.00 [[ 0.99336319 0.03896671 -0.10821818 0.41569032] [-0.04202912 0.99877379 -0.02616238 -0.10285999] [ 0.10706602 0.03053706 0.99378285 -0.00273704] [ 0. 0. 0. 1. ]] SLAMing on 28.526502481 meters Centerline goodness : 0.705920 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.10, Z:-0.00 [[ 0.99310942 0.0427514 -0.10911461 0.41843938] [-0.04546189 0.99871324 -0.02247401 -0.1041534 ] [ 0.10801341 0.02727971 0.99377509 -0.00345353] [ 0. 0. 0. 1. ]] SLAMing on 28.556502481 meters Centerline goodness : 0.244233 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.00 [[ 0.99297024 0.04238687 -0.11051451 0.42185357] [-0.04520845 0.99870929 -0.02315068 -0.1062139 ] [ 0.10939058 0.02798412 0.99360485 -0.00462949] [ 0. 0. 0. 1. ]] SLAMing on 28.586502481 meters Centerline goodness : 0.317938 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.00 [[ 0.9929166 0.04218978 -0.11107051 0.42306669] [-0.04502238 0.99871844 -0.02311828 -0.10797057] [ 0.10995281 0.02795518 0.9935436 -0.00483141] [ 0. 0. 0. 1. ]] SLAMing on 28.616502481 meters Centerline goodness : 0.260745 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.01 [[ 0.99288568 0.0423036 -0.11130337 0.42395519] [-0.04509951 0.99872406 -0.02272199 -0.1096895 ] [ 0.11020013 0.02758006 0.99352668 -0.00525566] [ 0. 0. 0. 1. ]] SLAMing on 28.646502481 meters Centerline goodness : 0.462778 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.11, Z:-0.01 [[ 0.99285028 0.04223342 -0.11164526 0.42520462] [-0.04502313 0.99873063 -0.02258417 -0.11030597] [ 0.11054974 0.02744931 0.99349147 -0.00579584] [ 0. 0. 0. 1. ]] SLAMing on 28.676502481 meters Centerline goodness : 0.406087 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.11, Z:-0.01 [[ 0.99277906 0.04233728 -0.11223767 0.42679166] [-0.04504424 0.99874946 -0.0216919 -0.1130471 ] [ 0.11117894 0.02659092 0.9934446 -0.00596934] [ 0. 0. 0. 1. ]] SLAMing on 28.706502481 meters Centerline goodness : 0.703830 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.01 [[ 0.99272691 0.04218651 -0.11275455 0.4276775 ] [-0.04485667 0.99876742 -0.02124894 -0.11532913] [ 0.11171915 0.02615219 0.99339564 -0.00569076] [ 0. 0. 0. 1. ]] SLAMing on 28.736502481 meters Centerline goodness : 0.701820 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.01 [[ 0.992845 0.03834049 -0.11308766 0.4277986 ] [-0.04131782 0.99885532 -0.02410157 -0.11854304] [ 0.11203414 0.02860166 0.99329265 -0.00526259] [ 0. 0. 0. 1. ]] SLAMing on 28.766502481 meters Centerline goodness : 0.531353 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.00 [[ 0.99281921 0.03807966 -0.11340178 0.42820045] [-0.04102012 0.99887698 -0.02370919 -0.1210089 ] [ 0.11237159 0.02819069 0.99326628 -0.00491035] [ 0. 0. 0. 1. ]] SLAMing on 28.796502481 meters Centerline goodness : 0.700672 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.01 [[ 0.99294054 0.03393549 -0.11365504 0.42915165] [-0.03721717 0.99894569 -0.0268772 -0.12299114] [ 0.11262312 0.03091738 0.99315666 -0.00543078] [ 0. 0. 0. 1. ]] SLAMing on 28.826502481 meters Centerline goodness : 0.701141 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.01 [[ 0.99287846 0.03337031 -0.11436251 0.43081432] [-0.03667655 0.99896431 -0.02692849 -0.12434413] [ 0.11334545 0.03093114 0.99307405 -0.00562193] [ 0. 0. 0. 1. ]] SLAMing on 28.856502481 meters Centerline goodness : 0.701829 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.13, Z:-0.01 [[ 0.9929749 0.02903131 -0.11470845 0.43184891] [-0.03275429 0.99899166 -0.03070522 -0.1251565 ] [ 0.11370137 0.03424671 0.99292455 -0.00621462] [ 0. 0. 0. 1. ]] SLAMing on 28.886502481 meters Centerline goodness : 0.701418 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.13, Z:-0.01 [[ 0.99292528 0.02858178 -0.11524958 0.43292615] [-0.03231981 0.99900608 -0.03069676 -0.12653642] [ 0.11425766 0.03420443 0.99286215 -0.00613097] [ 0. 0. 0. 1. ]] SLAMing on 28.916502481000002 meters Centerline goodness : 0.700382 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.01 [[ 0.99291291 0.02760542 -0.11559367 0.43505536] [-0.03138276 0.99902702 -0.03098601 -0.12811073] [ 0.11462581 0.03439406 0.99281316 -0.00737709] [ 0. 0. 0. 1. ]] SLAMing on 28.946502481 meters Centerline goodness : 0.699254 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.01 [[ 0.99288298 0.02749683 -0.11587625 0.43711954] [-0.03126271 0.9990363 -0.03080769 -0.12857174] [ 0.11491747 0.03421104 0.99278577 -0.00879759] [ 0. 0. 0. 1. ]] SLAMing on 28.976502481 meters Centerline goodness : 0.698321 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.01 [[ 0.99283533 0.02727895 -0.11633512 0.4385778 ] [-0.03107052 0.99903934 -0.03090353 -0.1287372 ] [ 0.11538035 0.03429671 0.99272912 -0.0093122 ] [ 0. 0. 0. 1. ]] SLAMing on 29.006502481000002 meters Centerline goodness : 0.696809 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.01 [[ 0.99277349 0.02692892 -0.11694288 0.44034642] [-0.03075302 0.99904555 -0.03101997 -0.12940153] [ 0.11599593 0.03439215 0.99265408 -0.00983763] [ 0. 0. 0. 1. ]] SLAMing on 29.036502481 meters Centerline goodness : 0.699797 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.01 [[ 0.99275546 0.02710273 -0.11705573 0.44025496] [-0.03088672 0.99905334 -0.03063396 -0.13040595] [ 0.11611466 0.0340275 0.99265277 -0.00939392] [ 0. 0. 0. 1. ]] SLAMing on 29.066502481 meters Centerline goodness : 0.699750 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.13, Z:-0.01 [[ 0.99344503 0.02396531 -0.11177043 0.45028283] [-0.02723596 0.99924163 -0.02782754 -0.13481935] [ 0.11101877 0.03068931 0.99334435 -0.00982746] [ 0. 0. 0. 1. ]] SLAMing on 29.096502481 meters Centerline goodness : 0.700647 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.01 [[ 0.99339725 0.02383802 -0.11222143 0.45113475] [-0.02709468 0.9992522 -0.02758459 -0.13615115] [ 0.11147995 0.03044306 0.99330028 -0.00969421] [ 0. 0. 0. 1. ]] SLAMing on 29.126502481 meters Centerline goodness : 0.699551 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.01 [[ 0.99329387 0.02356842 -0.11318933 0.45353105] [-0.02679069 0.99927552 -0.02703151 -0.13914233] [ 0.11247023 0.02988265 0.99320566 -0.01002504] [ 0. 0. 0. 1. ]] SLAMing on 29.156502481 meters Centerline goodness : 0.696391 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.14, Z:-0.01 [[ 0.99319212 0.02375073 -0.11404082 0.45568753] [-0.02692065 0.99929057 -0.02633702 -0.14161462] [ 0.11333439 0.02922777 0.99312691 -0.01042495] [ 0. 0. 0. 1. ]] SLAMing on 29.186502481 meters Centerline goodness : 0.697737 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.14, Z:-0.01 [[ 0.99312659 0.02375843 -0.11460856 0.45678116] [-0.02693942 0.99929139 -0.02628648 -0.14205308] [ 0.11390282 0.02919329 0.99306289 -0.01039144] [ 0. 0. 0. 1. ]] SLAMing on 29.216502481 meters Centerline goodness : 0.697692 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.14, Z:-0.01 [[ 0.9930654 0.02441353 -0.11500044 0.45723432] [-0.02755949 0.99928598 -0.02584587 -0.14270842] [ 0.11428734 0.02883599 0.99302915 -0.01019074] [ 0. 0. 0. 1. ]] SLAMing on 29.246502481 meters Centerline goodness : 0.696312 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.01 [[ 0.99318683 0.02854551 -0.11298266 0.47537663] [-0.0319564 0.99908302 -0.02849411 -0.14528552] [ 0.11206567 0.0319105 0.9931883 -0.01038987] [ 0. 0. 0. 1. ]] SLAMing on 29.276502481 meters Centerline goodness : 0.698741 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.01 [[ 0.993133 0.02914305 -0.11330285 0.4767404 ] [-0.03250846 0.99908004 -0.02796912 -0.14648002] [ 0.11238351 0.03146036 0.99316675 -0.01135717] [ 0. 0. 0. 1. ]] SLAMing on 29.306502481 meters Centerline goodness : 0.700528 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.01 [[ 0.9930924 0.02907968 -0.11367435 0.47760179] [-0.03244938 0.99908373 -0.02790598 -0.14721066] [ 0.1127587 0.03140188 0.99312607 -0.0114254 ] [ 0. 0. 0. 1. ]] SLAMing on 29.336502481 meters Centerline goodness : 0.705497 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.01 [[ 0.99389073 0.02682118 -0.10706003 0.48644455] [-0.02967214 0.99924384 -0.02512576 -0.15084314] [ 0.10630518 0.02814896 0.99393503 -0.01195251] [ 0. 0. 0. 1. ]] SLAMing on 29.366502481 meters Centerline goodness : 0.704017 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.01 [[ 0.99386988 0.0268061 -0.10725718 0.48618399] [-0.02964291 0.99924931 -0.02494215 -0.15140077] [ 0.10650807 0.02796867 0.9939184 -0.01104021] [ 0. 0. 0. 1. ]] SLAMing on 29.396502481 meters Centerline goodness : 0.706389 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.01 [[ 0.99385928 0.02666021 -0.10739166 0.48632897] [-0.02946026 0.9992639 -0.02457148 -0.15236398] [ 0.10665753 0.02758438 0.99391311 -0.01046886] [ 0. 0. 0. 1. ]] SLAMing on 29.426502481 meters Centerline goodness : 0.706189 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.01 [[ 0.99380052 0.02613835 -0.10806159 0.4884118 ] [-0.02897399 0.9992736 -0.02475442 -0.15293358] [ 0.10733606 0.02773193 0.99383596 -0.01118073] [ 0. 0. 0. 1. ]] SLAMing on 29.456502481 meters Centerline goodness : 0.704951 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.01 [[ 0.99368163 0.0247262 -0.10947796 0.49326882] [-0.027671 0.99929277 -0.02546132 -0.15566615] [ 0.10877097 0.02832981 0.99366307 -0.01334615] [ 0. 0. 0. 1. ]] SLAMing on 29.486502481 meters Centerline goodness : 0.702560 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.01 [[ 0.99358837 0.02418354 -0.11044142 0.49557639] [-0.02714347 0.9993094 -0.02537626 -0.15783635] [ 0.10975146 0.02821132 0.99355862 -0.01359617] [ 0. 0. 0. 1. ]] SLAMing on 29.516502481 meters Centerline goodness : 0.706389 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.02 [[ 0.99350357 0.02368499 -0.11130895 0.49853554] [-0.0266756 0.99931998 -0.0254555 -0.16123536] [ 0.11063035 0.02825937 0.99345978 -0.01514146] [ 0. 0. 0. 1. ]] SLAMing on 29.546502481 meters Centerline goodness : 0.705328 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.02 [[ 0.99344212 0.02371041 -0.1118507 0.50014933] [-0.02669808 0.9993236 -0.02528926 -0.16190932] [ 0.11117542 0.02810961 0.99340318 -0.01572306] [ 0. 0. 0. 1. ]] SLAMing on 29.576502481 meters Centerline goodness : 0.709177 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.01 [[ 0.99330733 0.02792065 -0.11207582 0.50027182] [-0.03042776 0.99932215 -0.02072169 -0.16440353] [ 0.11142129 0.02399322 0.99348358 -0.01464049] [ 0. 0. 0. 1. ]] SLAMing on 29.606502481 meters Centerline goodness : 0.709982 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.01 [[ 0.99324848 0.02869764 -0.11240064 0.50027263] [-0.03117317 0.99930725 -0.02032853 -0.16463859] [ 0.11173939 0.02369516 0.99345501 -0.01412402] [ 0. 0. 0. 1. ]] SLAMing on 29.636502481 meters Centerline goodness : 0.707559 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.01 [[ 0.99319206 0.02868892 -0.11290032 0.5006845 ] [-0.03117448 0.99930756 -0.02031161 -0.16520934] [ 0.11223942 0.02369294 0.99339869 -0.01348383] [ 0. 0. 0. 1. ]] SLAMing on 29.666502481000002 meters Centerline goodness : 0.710567 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.01 [[ 0.99349777 0.03200438 -0.10926066 0.51379561] [-0.03503196 0.99905044 -0.02590313 -0.16789539] [ 0.1083279 0.02956231 0.99367557 -0.0131951 ] [ 0. 0. 0. 1. ]] SLAMing on 29.696502481 meters Centerline goodness : 0.711231 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.01 [[ 0.99336108 0.03314996 -0.11015831 0.51488956] [-0.03621633 0.99900694 -0.02595215 -0.16850584] [ 0.10918861 0.02976938 0.99357518 -0.01208609] [ 0. 0. 0. 1. ]] SLAMing on 29.726502481 meters Centerline goodness : 0.709173 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99310639 0.03785266 -0.11093638 0.51627168] [-0.0405584 0.99892974 -0.0222349 -0.16875439] [ 0.109976 0.02658103 0.99357875 -0.0113898 ] [ 0. 0. 0. 1. ]] SLAMing on 29.756502481000002 meters Centerline goodness : 0.707349 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99296685 0.03874414 -0.11187369 0.51812186] [-0.04155867 0.99887278 -0.02293578 -0.1677257 ] [ 0.11085895 0.02742379 0.99345771 -0.01103501] [ 0. 0. 0. 1. ]] SLAMing on 29.786502481 meters Centerline goodness : 0.709580 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99269943 0.04111266 -0.11339132 0.52012155] [-0.04395658 0.99877564 -0.02269445 -0.1701507 ] [ 0.11231946 0.02751306 0.99329118 -0.00926422] [ 0. 0. 0. 1. ]] SLAMing on 29.816502481 meters Centerline goodness : 0.709580 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99269943 0.04111266 -0.11339132 0.52012155] [-0.04395658 0.99877564 -0.02269445 -0.1701507 ] [ 0.11231946 0.02751306 0.99329118 -0.00926422] [ 0. 0. 0. 1. ]] SLAMing on 29.846502481 meters Centerline goodness : 0.710588 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99252603 0.04103564 -0.11492677 0.52252257] [-0.04425663 0.99869174 -0.02561546 -0.17214565] [ 0.11372527 0.03051028 0.99304365 -0.00816191] [ 0. 0. 0. 1. ]] SLAMing on 29.876502481 meters Centerline goodness : 0.709491 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99243963 0.04153887 -0.1154907 0.52377715] [-0.04466665 0.99869836 -0.0246267 -0.17402125] [ 0.11431741 0.02959909 0.99300323 -0.00851335] [ 0. 0. 0. 1. ]] SLAMing on 29.906502481 meters Centerline goodness : 0.708741 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.01 [[ 0.99237047 0.04182432 -0.11598095 0.52577902] [-0.044669 0.99875877 -0.02203638 -0.17744475] [ 0.11491533 0.027049 0.99300696 -0.01035314] [ 0. 0. 0. 1. ]] SLAMing on 29.936502481 meters Centerline goodness : 0.705551 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.01 [[ 0.99237545 0.04182452 -0.11593826 0.52564964] [-0.04450627 0.9987959 -0.02063828 -0.1791044 ] [ 0.11493547 0.02564091 0.99304198 -0.01060668] [ 0. 0. 0. 1. ]] SLAMing on 29.966502481 meters Centerline goodness : 0.707587 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.01 [[ 0.99320335 0.04282926 -0.10822552 0.53417493] [-0.04498281 0.99883385 -0.01753525 -0.18710584] [ 0.10734829 0.02228436 0.99397171 -0.01151676] [ 0. 0. 0. 1. ]] SLAMing on 29.996502481 meters Centerline goodness : 0.708715 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.01 [[ 0.99327762 0.03914182 -0.10893801 0.53439915] [-0.04179768 0.99887936 -0.02220294 -0.18678681] [ 0.10794687 0.02660704 0.99380055 -0.01016013] [ 0. 0. 0. 1. ]] SLAMing on 30.026502481 meters Centerline goodness : 0.706450 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.01 [[ 0.99395035 0.03949793 -0.10248226 0.54400588] [-0.04195335 0.9988792 -0.02191488 -0.19232682] [ 0.1015018 0.02608177 0.9944934 -0.00965345] [ 0. 0. 0. 1. ]] SLAMing on 30.056502481 meters Centerline goodness : 0.705705 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.01 [[ 0.99392497 0.03962775 -0.10267807 0.54373462] [-0.04207419 0.99887728 -0.02177026 -0.19235282] [ 0.10170009 0.02595811 0.99447638 -0.00884616] [ 0. 0. 0. 1. ]] SLAMing on 30.086502481 meters Centerline goodness : 0.703416 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.01 [[ 0.99380799 0.04215423 -0.10280422 0.54451871] [-0.04415994 0.99887447 -0.01731165 -0.19342296] [ 0.10195875 0.02174429 0.99455095 -0.00964665] [ 0. 0. 0. 1. ]] SLAMing on 30.116502481 meters Centerline goodness : 0.703863 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.01 [[ 0.99377176 0.04245717 -0.10302951 0.54574663] [-0.04446217 0.99886228 -0.01724148 -0.19282988] [ 0.10218027 0.02171501 0.99452886 -0.01059229] [ 0. 0. 0. 1. ]] SLAMing on 30.146502481 meters Centerline goodness : 0.703389 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.01 [[ 0.99367402 0.04240297 -0.10399001 0.54881432] [-0.04454032 0.99883965 -0.01831706 -0.19161038] [ 0.10309265 0.02283293 0.99440966 -0.01191833] [ 0. 0. 0. 1. ]] SLAMing on 30.176502481 meters Centerline goodness : 0.703134 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.01 [[ 0.99363219 0.0424658 -0.10436343 0.54921566] [-0.04467386 0.99882262 -0.01891072 -0.19120694] [ 0.10343749 0.02345262 0.99435942 -0.01125933] [ 0. 0. 0. 1. ]] SLAMing on 30.206502481 meters Centerline goodness : 0.706229 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.01 [[ 0.99364674 0.04214577 -0.1043546 0.54885879] [-0.04460764 0.99877599 -0.02136996 -0.18668404] [ 0.10332622 0.02588921 0.99431054 -0.01028559] [ 0. 0. 0. 1. ]] SLAMing on 30.236502481 meters Centerline goodness : 0.709266 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.01 [[ 0.99363814 0.04501271 -0.10323321 0.54680339] [-0.04703579 0.99874431 -0.01724616 -0.18629345] [ 0.10232728 0.0219921 0.99450765 -0.01033479] [ 0. 0. 0. 1. ]] SLAMing on 30.266502481 meters Centerline goodness : 0.707355 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.01 [[ 0.99373996 0.04692399 -0.10138558 0.54408484] [-0.04850431 0.99873605 -0.01317732 -0.1848937 ] [ 0.1006391 0.01801247 0.99475993 -0.01137371] [ 0. 0. 0. 1. ]] SLAMing on 30.296502481 meters Centerline goodness : 0.704604 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.01 [[ 0.99382825 0.04605832 -0.10091598 0.54334652] [-0.04765276 0.99877347 -0.0134451 -0.1832089 ] [ 0.10017294 0.01817105 0.9948041 -0.01167461] [ 0. 0. 0. 1. ]] SLAMing on 30.326502481 meters Centerline goodness : 0.707003 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.01 [[ 0.99385592 0.04529647 -0.10098829 0.5437534 ] [-0.04691289 0.9988052 -0.01368782 -0.18283734] [ 0.10024762 0.01834138 0.99479345 -0.01208392] [ 0. 0. 0. 1. ]] SLAMing on 30.356502481 meters Centerline goodness : 0.707978 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.01 [[ 0.99386405 0.0444413 -0.1012878 0.54465419] [-0.0460315 0.9988499 -0.01341594 -0.1827756 ] [ 0.10057509 0.01799605 0.9947667 -0.01278776] [ 0. 0. 0. 1. ]] SLAMing on 30.386502481 meters Centerline goodness : 0.702933 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.01 [[ 0.99385478 0.04443553 -0.10138126 0.54534533] [-0.04602834 0.99884992 -0.01342522 -0.18196576] [ 0.10066811 0.01800913 0.99475706 -0.01346277] [ 0. 0. 0. 1. ]] SLAMing on 30.416502481000002 meters Centerline goodness : 0.704596 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.02 [[ 0.99385907 0.04665688 -0.10033584 0.54436005] [-0.04775715 0.99882203 -0.0085907 -0.18150325] [ 0.09981683 0.0133297 0.99491654 -0.01502196] [ 0. 0. 0. 1. ]] SLAMing on 30.446502481 meters Centerline goodness : 0.704680 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.02 [[ 0.99385614 0.04657143 -0.1004046 0.54490645] [-0.0476696 0.99882644 -0.00856491 -0.18111522] [ 0.09988789 0.01329854 0.99490982 -0.01559753] [ 0. 0. 0. 1. ]] SLAMing on 30.476502481 meters Centerline goodness : 0.703998 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.02 [[ 0.99380855 0.04620065 -0.10104489 0.54646691] [-0.04726997 0.99884839 -0.00821278 -0.18216969] [ 0.10054909 0.01293832 0.99484797 -0.01629607] [ 0. 0. 0. 1. ]] SLAMing on 30.506502481000002 meters Centerline goodness : 0.704572 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.02 [[ 0.99392911 0.04470885 -0.10052883 0.54477116] [-0.04587127 0.99890425 -0.00928025 -0.18090767] [ 0.10000377 0.0138353 0.99489086 -0.01546564] [ 0. 0. 0. 1. ]] SLAMing on 30.536502481 meters Centerline goodness : 0.703792 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.01 [[ 0.99399337 0.04342544 -0.10045601 0.54417937] [-0.04475373 0.99893742 -0.01100603 -0.1781699 ] [ 0.09987133 0.0154357 0.99488062 -0.01482022] [ 0. 0. 0. 1. ]] SLAMing on 30.566502481 meters Centerline goodness : 0.707277 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.02 [[ 0.99471977 0.04795962 -0.09073292 0.54994077] [-0.04856674 0.99880983 -0.004494 -0.17874079] [ 0.09040941 0.00887687 0.99586512 -0.01658787] [ 0. 0. 0. 1. ]] SLAMing on 30.596502481 meters Centerline goodness : 0.707296 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.02 [[ 9.94650064e-01 5.10585297e-02 -8.98013148e-02 5.48422288e-01] [-5.13242059e-02 9.98681833e-01 -6.50309779e-04 -1.78283851e-01] [ 8.96497378e-02 5.25581183e-03 9.95959488e-01 -1.66931858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.626502481 meters Centerline goodness : 0.709156 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.02 [[ 0.99446656 0.05154161 -0.09154085 0.55150579] [-0.05201111 0.99864272 -0.00274917 -0.17708321] [ 0.09127491 0.0074951 0.99579753 -0.0158502 ] [ 0. 0. 0. 1. ]] SLAMing on 30.656502481 meters Centerline goodness : 0.710306 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.02 [[ 0.9943138 0.05187325 -0.09300125 0.55402756] [-0.05248474 0.99861315 -0.00413964 -0.17700061] [ 0.09265754 0.00899724 0.99565739 -0.01508451] [ 0. 0. 0. 1. ]] SLAMing on 30.686502481 meters Centerline goodness : 0.708064 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.01 [[ 0.99404712 0.05598325 -0.09346766 0.55523516] [-0.05643134 0.99840415 -0.00215589 -0.1748634 ] [ 0.09319781 0.00741756 0.99561998 -0.01453991] [ 0. 0. 0. 1. ]] SLAMing on 30.716502481 meters Centerline goodness : 0.708801 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.01 [[ 9.93901077e-01 5.90835476e-02 -9.31116747e-02 5.54984290e-01] [-5.93218684e-02 9.98238885e-01 2.08628602e-04 -1.72173547e-01] [ 9.29600209e-02 5.31620232e-03 9.95655650e-01 -1.44474610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.746502481 meters Centerline goodness : 0.708848 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.02 [[ 0.99391399 0.06629353 -0.08797815 0.56685617] [-0.0664127 0.997791 0.00157518 -0.16861122] [ 0.08788824 0.00427727 0.99612116 -0.01611193] [ 0. 0. 0. 1. ]] SLAMing on 30.776502481 meters Centerline goodness : 0.707631 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.02 [[ 0.99354904 0.07115203 -0.0883046 0.56879603] [-0.07100992 0.99746428 0.00475366 -0.16714333] [ 0.08841892 0.00154751 0.99608218 -0.01682002] [ 0. 0. 0. 1. ]] SLAMing on 30.806502481 meters Centerline goodness : 0.707176 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.02 [[ 0.99339966 0.071556 -0.08964854 0.5719813 ] [-0.0714927 0.99743342 0.00392106 -0.16705877] [ 0.08969902 0.00251404 0.99596574 -0.01724338] [ 0. 0. 0. 1. ]] SLAMing on 30.836502481 meters Centerline goodness : 0.707145 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.02 [[ 0.99320508 0.07217723 -0.09129137 0.57558438] [-0.07214937 0.99738731 0.00360965 -0.16842606] [ 0.09131339 0.00300149 0.99581768 -0.01752791] [ 0. 0. 0. 1. ]] SLAMing on 30.866502481 meters Centerline goodness : 0.702884 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.02 [[ 0.99295467 0.07380271 -0.09270481 0.57873628] [-0.07372817 0.99726939 0.00423344 -0.17021309] [ 0.09276411 0.00263134 0.99568464 -0.01787338] [ 0. 0. 0. 1. ]] SLAMing on 30.896502481 meters Centerline goodness : 0.701604 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.02 [[ 0.99287523 0.07443562 -0.09304901 0.57991261] [-0.07446548 0.9972186 0.0031559 -0.16701516] [ 0.09302512 0.00379552 0.99565653 -0.01800093] [ 0. 0. 0. 1. ]] SLAMing on 30.926502481 meters Centerline goodness : 0.702216 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.02 [[ 0.99287942 0.07449701 -0.09295513 0.57939506] [-0.07457707 0.99721182 0.00261692 -0.16575025] [ 0.0928909 0.00433403 0.99566686 -0.01746893] [ 0. 0. 0. 1. ]] SLAMing on 30.956502481 meters Centerline goodness : 0.702096 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.02 [[ 0.99304671 0.07141549 -0.09358451 0.57968457] [-0.07202079 0.99739831 -0.00310222 -0.1630923 ] [ 0.09311949 0.00982068 0.99560651 -0.01623203] [ 0. 0. 0. 1. ]] SLAMing on 30.986502481 meters Centerline goodness : 0.703094 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.01 [[ 0.99310621 0.0686346 -0.09502282 0.5802307 ] [-0.06980216 0.99752013 -0.00901427 -0.16207352] [ 0.09416849 0.01558492 0.99543428 -0.01317569] [ 0. 0. 0. 1. ]] SLAMing on 31.016502481 meters Centerline goodness : 0.703700 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.01 [[ 0.993103 0.06893959 -0.09483542 0.57856333] [-0.07016924 0.99748805 -0.009689 -0.16250648] [ 0.09392925 0.0162767 0.99544581 -0.01124912] [ 0. 0. 0. 1. ]] SLAMing on 31.046502481 meters Centerline goodness : 0.705769 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.01 [[ 0.99303609 0.06933409 -0.09524763 0.57932949] [-0.07061502 0.9974521 -0.01014024 -0.16196898] [ 0.09430188 0.01679553 0.99540196 -0.01098656] [ 0. 0. 0. 1. ]] SLAMing on 31.076502481 meters Centerline goodness : 0.704422 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.01 [[ 0.99279695 0.07128027 -0.09629819 0.58262559] [-0.07247689 0.99732965 -0.00898159 -0.16347585] [ 0.09540083 0.01589629 0.99531201 -0.01235893] [ 0. 0. 0. 1. ]] SLAMing on 31.106502481 meters Centerline goodness : 0.701273 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.01 [[ 0.99269966 0.07154213 -0.09710362 0.58506579] [-0.07273094 0.99731318 -0.00875431 -0.16459293] [ 0.09621642 0.01575283 0.99523578 -0.0133881 ] [ 0. 0. 0. 1. ]] SLAMing on 31.136502481 meters Centerline goodness : 0.701929 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99277899 0.06887151 -0.09821708 0.58666044] [-0.07035112 0.99745393 -0.01167775 -0.16751412] [ 0.09716275 0.0185031 0.9950965 -0.01320564] [ 0. 0. 0. 1. ]] SLAMing on 31.166502481000002 meters Centerline goodness : 0.703666 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99347383 0.07025357 -0.08985652 0.59407711] [-0.07134162 0.99741178 -0.00895084 -0.17327566] [ 0.08899512 0.01530293 0.9959145 -0.0143985 ] [ 0. 0. 0. 1. ]] SLAMing on 31.196502481 meters Centerline goodness : 0.703445 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99353081 0.06991279 -0.08949154 0.59286024] [-0.07103768 0.99742893 -0.00944315 -0.17267801] [ 0.08860125 0.01573933 0.99594282 -0.01367512] [ 0. 0. 0. 1. ]] SLAMing on 31.226502481 meters Centerline goodness : 0.705059 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99350716 0.07046643 -0.08931967 0.59263596] [-0.07161634 0.99738478 -0.00973132 -0.17177718] [ 0.08840035 0.01606488 0.99595547 -0.013484 ] [ 0. 0. 0. 1. ]] SLAMing on 31.256502481000002 meters Centerline goodness : 0.706241 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99337139 0.07150248 -0.09000373 0.59452661] [-0.07267258 0.99730783 -0.00978704 -0.17157053] [ 0.08906163 0.01626297 0.99589334 -0.01384198] [ 0. 0. 0. 1. ]] SLAMing on 31.286502481 meters Centerline goodness : 0.703527 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99304505 0.07392278 -0.0916349 0.59891622] [-0.07510425 0.99713036 -0.00950789 -0.1734317 ] [ 0.09066909 0.01632394 0.99574728 -0.01486979] [ 0. 0. 0. 1. ]] SLAMing on 31.316502481 meters Centerline goodness : 0.702604 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99285968 0.07499573 -0.09276473 0.60136104] [-0.07621652 0.99704427 -0.00968309 -0.17432967] [ 0.09176435 0.01668416 0.99564097 -0.01489118] [ 0. 0. 0. 1. ]] SLAMing on 31.346502481 meters Centerline goodness : 0.700697 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99264952 0.07662941 -0.09367429 0.60329979] [-0.07791498 0.99690845 -0.01013903 -0.17357798] [ 0.09260775 0.01736313 0.99555127 -0.01456907] [ 0. 0. 0. 1. ]] SLAMing on 31.376502481 meters Centerline goodness : 0.700062 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99262521 0.0769132 -0.09369924 0.60321595] [-0.07826934 0.99687288 -0.01087987 -0.1717066 ] [ 0.09256943 0.01813341 0.9955411 -0.01408152] [ 0. 0. 0. 1. ]] SLAMing on 31.406502481 meters Centerline goodness : 0.706382 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99264511 0.07641893 -0.09389262 0.6025217 ] [-0.07791911 0.99688242 -0.01241145 -0.17005249] [ 0.09265143 0.01963619 0.99550496 -0.01249712] [ 0. 0. 0. 1. ]] SLAMing on 31.436502481 meters Centerline goodness : 0.702547 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.9927865 0.07313823 -0.09500406 0.603079 ] [-0.07513136 0.99701885 -0.01756985 -0.17033794] [ 0.09343581 0.02458089 0.99532182 -0.01079125] [ 0. 0. 0. 1. ]] SLAMing on 31.466502481 meters Centerline goodness : 0.699100 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99272873 0.07331528 -0.09547009 0.6038304 ] [-0.07529736 0.99701066 -0.01732195 -0.17164562] [ 0.09391473 0.02438464 0.99528157 -0.01066497] [ 0. 0. 0. 1. ]] SLAMing on 31.496502481 meters Centerline goodness : 0.699838 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99268694 0.07304525 -0.09610949 0.60493537] [-0.07498791 0.99704369 -0.01675393 -0.17272926] [ 0.09460157 0.02383846 0.99522976 -0.01068882] [ 0. 0. 0. 1. ]] SLAMing on 31.526502481 meters Centerline goodness : 0.701690 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99272896 0.07275024 -0.09589902 0.60389869] [-0.07466451 0.99707184 -0.01652166 -0.1721513 ] [ 0.09441626 0.02356179 0.99525394 -0.00996181] [ 0. 0. 0. 1. ]] SLAMing on 31.556502481 meters Centerline goodness : 0.700351 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99299119 0.07115769 -0.09436673 0.60005183] [-0.07287201 0.99723085 -0.0148423 -0.17049013] [ 0.09304928 0.02161496 0.99542686 -0.00928049] [ 0. 0. 0. 1. ]] SLAMing on 31.586502481 meters Centerline goodness : 0.701436 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99313561 0.06984104 -0.09382904 0.59826476] [-0.07153126 0.99732901 -0.01476886 -0.17105467] [ 0.09254695 0.02137919 0.99547878 -0.00859639] [ 0. 0. 0. 1. ]] SLAMing on 31.616502481 meters Centerline goodness : 0.700656 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99323723 0.0687756 -0.09353993 0.59687362] [-0.07039322 0.99741965 -0.01410122 -0.17342528] [ 0.09232875 0.02059044 0.99551566 -0.00797112] [ 0. 0. 0. 1. ]] SLAMing on 31.646502481 meters Centerline goodness : 0.701328 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99351297 0.06434075 -0.09376699 0.59667355] [-0.0663234 0.99763254 -0.01818052 -0.17413912] [ 0.09237525 0.02428153 0.99542816 -0.00769337] [ 0. 0. 0. 1. ]] SLAMing on 31.676502481 meters Centerline goodness : 0.701506 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99350242 0.06373421 -0.09429149 0.59815141] [-0.06585395 0.99763795 -0.01953935 -0.17245088] [ 0.09282344 0.02562186 0.99535287 -0.00809254] [ 0. 0. 0. 1. ]] SLAMing on 31.706502481 meters Centerline goodness : 0.700369 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99340001 0.0668151 -0.09323177 0.59636183] [-0.06852744 0.99753215 -0.01528396 -0.17293844] [ 0.09198049 0.02157202 0.99552712 -0.00805631] [ 0. 0. 0. 1. ]] SLAMing on 31.736502481 meters Centerline goodness : 0.700369 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99340001 0.0668151 -0.09323177 0.59636183] [-0.06852744 0.99753215 -0.01528396 -0.17293844] [ 0.09198049 0.02157202 0.99552712 -0.00805631] [ 0. 0. 0. 1. ]] SLAMing on 31.766502481 meters Centerline goodness : 0.699744 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99328341 0.06984657 -0.09224706 0.59528187] [-0.07132428 0.99737084 -0.01281658 -0.16937336] [ 0.09110934 0.01930995 0.99565366 -0.0082405 ] [ 0. 0. 0. 1. ]] SLAMing on 31.796502481 meters Centerline goodness : 0.697509 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99308215 0.07337546 -0.09167271 0.59462297] [-0.07448432 0.99718398 -0.00872901 -0.16978795] [ 0.09077406 0.0154968 0.99575093 -0.00831944] [ 0. 0. 0. 1. ]] SLAMing on 31.826502481 meters Centerline goodness : 0.698392 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99287968 0.07421426 -0.09317824 0.59716162] [-0.07554798 0.99708298 -0.0108639 -0.1677303 ] [ 0.09210018 0.01782598 0.99559017 -0.00726864] [ 0. 0. 0. 1. ]] SLAMing on 31.856502481 meters Centerline goodness : 0.693087 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99283668 0.07443581 -0.09345931 0.59732747] [-0.07594515 0.9970312 -0.01269335 -0.16526427] [ 0.092237 0.0197002 0.99554218 -0.00616585] [ 0. 0. 0. 1. ]] SLAMing on 31.886502481 meters Centerline goodness : 0.694880 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.01 [[ 0.99283621 0.07549448 -0.09261128 0.59638397] [-0.07674605 0.99700029 -0.01002293 -0.16408339] [ 0.09157679 0.01705868 0.99565189 -0.00687436] [ 0. 0. 0. 1. ]] SLAMing on 31.916502481000002 meters Centerline goodness : 0.694074 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.01 [[ 0.99287363 0.07514475 -0.09249444 0.59686943] [-0.07643858 0.99701878 -0.01052088 -0.16173208] [ 0.09142811 0.01751605 0.99565762 -0.00766962] [ 0. 0. 0. 1. ]] SLAMing on 31.946502481 meters Centerline goodness : 0.693765 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.01 [[ 0.99296069 0.07626817 -0.09062143 0.59510463] [-0.07706849 0.99701139 -0.00536016 -0.16190495] [ 0.08994179 0.01230649 0.99587099 -0.01015874] [ 0. 0. 0. 1. ]] SLAMing on 31.976502481 meters Centerline goodness : 0.694147 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.01 [[ 0.9931217 0.07493367 -0.08996793 0.59380687] [-0.07575908 0.99710934 -0.00579011 -0.16085614] [ 0.08927399 0.01256617 0.99592783 -0.01031972] [ 0. 0. 0. 1. ]] SLAMing on 32.006502481 meters Centerline goodness : 0.692770 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.01 [[ 0.99360334 0.07103862 -0.0877833 0.58861562] [-0.07202341 0.99737006 -0.00809838 -0.15738114] [ 0.08697714 0.01436903 0.99610668 -0.00925727] [ 0. 0. 0. 1. ]] SLAMing on 32.036502481 meters Centerline goodness : 0.693552 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.01 [[ 0.99373347 0.07007089 -0.08708541 0.58705168] [-0.07115127 0.99742161 -0.00936067 -0.15485188] [ 0.08620496 0.01549825 0.99615687 -0.00877743] [ 0. 0. 0. 1. ]] SLAMing on 32.066502481 meters Centerline goodness : 0.693023 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.01 [[ 0.9937191 0.0723917 -0.08533344 0.58468096] [-0.0732986 0.99728155 -0.00753885 -0.1500104 ] [ 0.08455571 0.01374632 0.99632393 -0.00907812] [ 0. 0. 0. 1. ]] SLAMing on 32.096502481 meters Centerline goodness : 0.692903 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.01 [[ 0.99348176 0.07591806 -0.085032 0.58567686] [-0.07656932 0.99705447 -0.0044193 -0.14823575] [ 0.08444604 0.01090134 0.99636842 -0.01031022] [ 0. 0. 0. 1. ]] SLAMing on 32.126502481 meters Centerline goodness : 0.693704 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.01 [[ 0.99296162 0.08178139 -0.08566809 0.58963706] [-0.08231683 0.99660247 -0.00273045 -0.14500311] [ 0.08515373 0.00976316 0.99631999 -0.01210597] [ 0. 0. 0. 1. ]] SLAMing on 32.156502481 meters Centerline goodness : 0.692133 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.01 [[ 0.99273765 0.08332854 -0.08676585 0.5921615 ] [-0.08405358 0.99645001 -0.00473035 -0.14234586] [ 0.08606366 0.01198898 0.9962175 -0.01155783] [ 0. 0. 0. 1. ]] SLAMing on 32.186502481 meters Centerline goodness : 0.693222 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.01 [[ 0.99219363 0.08943411 -0.08690995 0.59333695] [-0.0901229 0.99592251 -0.00402633 -0.13710755] [ 0.08619548 0.01182748 0.99620804 -0.01021497] [ 0. 0. 0. 1. ]] SLAMing on 32.216502481 meters Centerline goodness : 0.693917 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.13, Z:-0.01 [[ 0.99205047 0.09082982 -0.08709652 0.5941746 ] [-0.09174371 0.99576118 -0.00653971 -0.13219948] [ 0.08613333 0.01447828 0.99617841 -0.00947296] [ 0. 0. 0. 1. ]] SLAMing on 32.246502481 meters Centerline goodness : 0.694800 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.13, Z:-0.01 [[ 0.99145501 0.09716225 -0.08704281 0.59496809] [-0.09802766 0.99516729 -0.00571357 -0.12682429] [ 0.08606702 0.01419735 0.99618819 -0.00796169] [ 0. 0. 0. 1. ]] SLAMing on 32.276502481 meters Centerline goodness : 0.694638 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.01 [[ 0.9906399 0.10403956 -0.08836486 0.59870477] [-0.10486738 0.9944748 -0.00476533 -0.12306734] [ 0.08738085 0.01398732 0.99607678 -0.00675852] [ 0. 0. 0. 1. ]] SLAMing on 32.306502481 meters Centerline goodness : 0.695708 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.01 [[ 0.99038174 0.10532233 -0.08972857 0.60182447] [-0.10637228 0.99430182 -0.0069875 -0.12040274] [ 0.08848134 0.01646493 0.99594174 -0.00628698] [ 0. 0. 0. 1. ]] SLAMing on 32.336502481000004 meters Centerline goodness : 0.693161 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.98994834 0.10816651 -0.09111687 0.60532424] [-0.10950116 0.99393872 -0.00976335 -0.11655759] [ 0.08950852 0.01964262 0.99579234 -0.00552327] [ 0. 0. 0. 1. ]] SLAMing on 32.366502481 meters Centerline goodness : 0.693622 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.01 [[ 0.98987551 0.10836461 -0.09167103 0.60679085] [-0.10987303 0.99387845 -0.01155619 -0.11368422] [ 0.08985758 0.02151136 0.99572229 -0.00529491] [ 0. 0. 0. 1. ]] SLAMing on 32.396502481 meters Centerline goodness : 0.697679 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.01 [[ 0.98989574 0.10846434 -0.09133409 0.60660195] [-0.11009278 0.9938367 -0.01296915 -0.11053858] [ 0.08936448 0.02289333 0.99573585 -0.00503305] [ 0. 0. 0. 1. ]] SLAMing on 32.426502481 meters Centerline goodness : 0.698118 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.9899184 0.10811878 -0.09149799 0.60686739] [-0.10978752 0.99386487 -0.01339086 -0.11030399] [ 0.08948884 0.02330119 0.99571522 -0.00495088] [ 0. 0. 0. 1. ]] SLAMing on 32.456502481 meters Centerline goodness : 0.697534 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.99032469 0.10405322 -0.09181465 0.60691639] [-0.10610392 0.99419695 -0.01773067 -0.10956613] [ 0.08943691 0.02730101 0.99561825 -0.00489977] [ 0. 0. 0. 1. ]] SLAMing on 32.486502481 meters Centerline goodness : 0.700058 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.01 [[ 0.99086169 0.09933848 -0.0912413 0.60521404] [-0.10166858 0.99459148 -0.02124359 -0.10999107] [ 0.08863751 0.03032583 0.9956022 -0.00505597] [ 0. 0. 0. 1. ]] SLAMing on 32.516502481 meters Centerline goodness : 0.701135 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.99120416 0.09545138 -0.09166977 0.60529148] [-0.098182 0.99483542 -0.02574447 -0.10900822] [ 0.08873899 0.03451835 0.99545662 -0.00463991] [ 0. 0. 0. 1. ]] SLAMing on 32.546502481 meters Centerline goodness : 0.699634 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99159542 0.09134672 -0.09162042 0.60401567] [-0.09442468 0.9950849 -0.02983328 -0.10886833] [ 0.08844492 0.03823377 0.99534701 -0.00371016] [ 0. 0. 0. 1. ]] SLAMing on 32.576502481 meters Centerline goodness : 0.703111 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99164202 0.09110043 -0.09136095 0.60325064] [-0.09413139 0.99512483 -0.02942549 -0.10913323] [ 0.08823488 0.03777949 0.995383 -0.0035027 ] [ 0. 0. 0. 1. ]] SLAMing on 32.606502481 meters Centerline goodness : 0.703838 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99173401 0.09078918 -0.09066965 0.60242892] [-0.09372354 0.99518627 -0.02863888 -0.10909858] [ 0.08763309 0.03690003 0.99546915 -0.00430041] [ 0. 0. 0. 1. ]] SLAMing on 32.636502481 meters Centerline goodness : 0.704450 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99171402 0.09085056 -0.09082665 0.60244586] [-0.09379869 0.99517667 -0.02872642 -0.10972484] [ 0.08777875 0.03700781 0.99545232 -0.00386406] [ 0. 0. 0. 1. ]] SLAMing on 32.666502481 meters Centerline goodness : 0.707697 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99172776 0.08895513 -0.09253668 0.60427059] [-0.09249075 0.99511083 -0.03463959 -0.10867432] [ 0.08900288 0.04291183 0.99510656 -0.00128436] [ 0. 0. 0. 1. ]] SLAMing on 32.696502481 meters Centerline goodness : 0.708618 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99140302 0.09274064 -0.09229967 0.60402563] [-0.09588759 0.99493224 -0.03025569 -0.11042157] [ 0.08902599 0.03884598 0.9952715 -0.00106429] [ 0. 0. 0. 1. ]] SLAMing on 32.726502481 meters Centerline goodness : 0.706817 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.99115159 0.09431853 -0.0933945 0.60717337] [-0.09752197 0.99477075 -0.03034157 -0.11057284] [ 0.09004435 0.03918111 0.99516675 -0.00187849] [ 0. 0. 0. 1. ]] SLAMing on 32.756502481 meters Centerline goodness : 0.704934 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.99097496 0.09547597 -0.09409021 0.60937738] [-0.09863695 0.99468533 -0.02952697 -0.11245788] [ 0.09077103 0.03854126 0.99512572 -0.00293245] [ 0. 0. 0. 1. ]] SLAMing on 32.786502481 meters Centerline goodness : 0.701091 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.9909184 0.09578847 -0.09436783 0.61018233] [-0.09895383 0.99465632 -0.02944391 -0.11272214] [ 0.09104317 0.03851457 0.99510189 -0.00320212] [ 0. 0. 0. 1. ]] SLAMing on 32.816502481 meters Centerline goodness : 0.704236 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.99090118 0.09594305 -0.09439162 0.61028346] [-0.09907427 0.99465578 -0.02905449 -0.11383836] [ 0.0910996 0.03814191 0.99511108 -0.00333021] [ 0. 0. 0. 1. ]] SLAMing on 32.846502481 meters Centerline goodness : 0.706652 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.00 [[ 0.9911693 0.09273798 -0.09477916 0.6107036 ] [-0.09615172 0.99484897 -0.03209941 -0.11590242] [ 0.09131411 0.04092913 0.99498067 -0.0037417 ] [ 0. 0. 0. 1. ]] SLAMing on 32.876502481 meters Centerline goodness : 0.705468 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.00 [[ 0.99127348 0.0918498 -0.09455419 0.61051308] [-0.09510964 0.99499769 -0.03055743 -0.11926622] [ 0.0912745 0.03928378 0.99505063 -0.00481619] [ 0. 0. 0. 1. ]] SLAMing on 32.906502481 meters Centerline goodness : 0.706841 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.99131732 0.09153324 -0.09440142 0.61013786] [-0.09467492 0.99507558 -0.02934704 -0.12194471] [ 0.09125032 0.03802968 0.99510156 -0.00522256] [ 0. 0. 0. 1. ]] SLAMing on 32.936502481 meters Centerline goodness : 0.706206 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.99135953 0.09121946 -0.09426183 0.60977536] [-0.09423766 0.99515391 -0.02807067 -0.12495947] [ 0.09124444 0.03671114 0.99515162 -0.00566014] [ 0. 0. 0. 1. ]] SLAMing on 32.966502481 meters Centerline goodness : 0.706389 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99162377 0.08800953 -0.09453372 0.60970652] [-0.09122573 0.99537073 -0.03024842 -0.12772322] [ 0.09143394 0.03861896 0.99506201 -0.00583826] [ 0. 0. 0. 1. ]] SLAMing on 32.996502481 meters Centerline goodness : 0.701905 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99164519 0.0882281 -0.09410432 0.60918128] [-0.09124166 0.99542918 -0.02820842 -0.13032928] [ 0.09118541 0.03655898 0.99516263 -0.00661354] [ 0. 0. 0. 1. ]] SLAMing on 33.026502481 meters Centerline goodness : 0.703777 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99164728 0.08833607 -0.09398094 0.60908449] [-0.09126243 0.99545257 -0.02730093 -0.13235789] [ 0.09114191 0.03564982 0.9951996 -0.00702264] [ 0. 0. 0. 1. ]] SLAMing on 33.056502481 meters Centerline goodness : 0.699863 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99183238 0.08500229 -0.09509545 0.60996302] [-0.08830195 0.99561006 -0.03103828 -0.13537863] [ 0.09203966 0.03918189 0.99498416 -0.00619839] [ 0. 0. 0. 1. ]] SLAMing on 33.086502481000004 meters Centerline goodness : 0.702419 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99188821 0.08470244 -0.09478013 0.60867959] [-0.08791565 0.99566856 -0.03024841 -0.13753325] [ 0.09180748 0.0383357 0.99503857 -0.00566096] [ 0. 0. 0. 1. ]] SLAMing on 33.116502481 meters Centerline goodness : 0.703506 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99216399 0.08245635 -0.09386991 0.606529 ] [-0.08559374 0.99588151 -0.02989538 -0.13952671] [ 0.09101824 0.03769579 0.99513552 -0.00581885] [ 0. 0. 0. 1. ]] SLAMing on 33.146502481 meters Centerline goodness : 0.700632 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99231699 0.08141876 -0.09315571 0.60598429] [-0.08423606 0.99608765 -0.02671489 -0.14361318] [ 0.09061616 0.03435671 0.99529309 -0.00795232] [ 0. 0. 0. 1. ]] SLAMing on 33.176502481 meters Centerline goodness : 0.699847 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.01 [[ 0.99233336 0.08097297 -0.09336963 0.60705756] [-0.08362224 0.99618855 -0.02481316 -0.14706218] [ 0.09100457 0.0324307 0.99532227 -0.00947567] [ 0. 0. 0. 1. ]] SLAMing on 33.206502481 meters Centerline goodness : 0.698078 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.01 [[ 0.99232765 0.08032589 -0.09398712 0.60824179] [-0.0828485 0.99629098 -0.02324678 -0.15168222] [ 0.09177121 0.03085512 0.99530197 -0.01026966] [ 0. 0. 0. 1. ]] SLAMing on 33.236502481 meters Centerline goodness : 0.695808 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99265325 0.07296786 -0.09651538 0.61062528] [-0.07615523 0.99665179 -0.02975884 -0.15666571] [ 0.09402078 0.03689036 0.99488652 -0.00889283] [ 0. 0. 0. 1. ]] SLAMing on 33.266502481 meters Centerline goodness : 0.698293 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.01 [[ 0.9932279 0.07446682 -0.08917976 0.61895431] [-0.0771124 0.99666771 -0.02659249 -0.16390604] [ 0.08690233 0.03328927 0.99566049 -0.01005188] [ 0. 0. 0. 1. ]] SLAMing on 33.296502481 meters Centerline goodness : 0.695470 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99335125 0.07386223 -0.08830437 0.6162595 ] [-0.07633492 0.99676987 -0.02495625 -0.16629998] [ 0.08617581 0.03153103 0.99578086 -0.0090719 ] [ 0. 0. 0. 1. ]] SLAMing on 33.326502481 meters Centerline goodness : 0.694113 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99328905 0.07454635 -0.08842905 0.61605232] [-0.07697829 0.99673384 -0.02441312 -0.16706857] [ 0.08632032 0.0310564 0.99578326 -0.00838633] [ 0. 0. 0. 1. ]] SLAMing on 33.356502481 meters Centerline goodness : 0.692485 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99309894 0.07626323 -0.08909776 0.61735204] [-0.07874287 0.99659015 -0.02465021 -0.16703402] [ 0.08691404 0.03149591 0.99571781 -0.00790278] [ 0. 0. 0. 1. ]] SLAMing on 33.386502481 meters Centerline goodness : 0.692016 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99288713 0.07793625 -0.09000601 0.61909094] [-0.08043321 0.99646006 -0.02445104 -0.16765461] [ 0.08778177 0.03151659 0.99564103 -0.00752502] [ 0. 0. 0. 1. ]] SLAMing on 33.416502481 meters Centerline goodness : 0.694798 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99259609 0.08034112 -0.091095 0.62120107] [-0.08290611 0.99625058 -0.02472582 -0.16780915] [ 0.08876695 0.03209508 0.9955352 -0.0068712 ] [ 0. 0. 0. 1. ]] SLAMing on 33.446502481 meters Centerline goodness : 0.695152 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.9924825 0.08102352 -0.09172605 0.62239225] [-0.08363299 0.99618385 -0.02496511 -0.16750315] [ 0.08935324 0.03244875 0.99547128 -0.0066093 ] [ 0. 0. 0. 1. ]] SLAMing on 33.476502481 meters Centerline goodness : 0.695132 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99249319 0.08121272 -0.09144267 0.62200991] [-0.08375237 0.99619074 -0.02428082 -0.16723911] [ 0.08912243 0.03175709 0.99551428 -0.00678963] [ 0. 0. 0. 1. ]] SLAMing on 33.506502481 meters Centerline goodness : 0.697186 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99257655 0.08068697 -0.09100219 0.62072966] [-0.08316579 0.996252 -0.02377809 -0.16835676] [ 0.08874254 0.03116984 0.99556677 -0.00637734] [ 0. 0. 0. 1. ]] SLAMing on 33.536502481 meters Centerline goodness : 0.700863 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.00 [[ 0.99297504 0.07601768 -0.09067462 0.618299 ] [-0.07878567 0.99651652 -0.02734314 -0.17072686] [ 0.08828019 0.03429491 0.99550513 -0.00485608] [ 0. 0. 0. 1. ]] SLAMing on 33.566502481 meters Centerline goodness : 0.701277 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.9930855 0.07484818 -0.09043745 0.61852329] [-0.07752107 0.9966409 -0.02640819 -0.17218439] [ 0.08815706 0.0332364 0.99555194 -0.00627358] [ 0. 0. 0. 1. ]] SLAMing on 33.596502481 meters Centerline goodness : 0.698610 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99294545 0.07742393 -0.08980459 0.61888786] [-0.07962816 0.99659871 -0.02122198 -0.1736892 ] [ 0.08785605 0.02822324 0.99573328 -0.00825313] [ 0. 0. 0. 1. ]] SLAMing on 33.626502481 meters Centerline goodness : 0.702755 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99285186 0.08047633 -0.08814051 0.61825498] [-0.08208997 0.99651454 -0.01483248 -0.17494344] [ 0.08663964 0.02196191 0.99599761 -0.01136728] [ 0. 0. 0. 1. ]] SLAMing on 33.656502481 meters Centerline goodness : 0.702755 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99285186 0.08047633 -0.08814051 0.61825498] [-0.08208997 0.99651454 -0.01483248 -0.17494344] [ 0.08663964 0.02196191 0.99599761 -0.01136728] [ 0. 0. 0. 1. ]] SLAMing on 33.686502481 meters Centerline goodness : 0.701847 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99289164 0.08032196 -0.08783268 0.61823065] [-0.08194445 0.99652372 -0.01501971 -0.17451514] [ 0.08632094 0.02211034 0.996022 -0.01210324] [ 0. 0. 0. 1. ]] SLAMing on 33.716502481 meters Centerline goodness : 0.703168 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.01 [[ 0.99294561 0.07972219 -0.08776899 0.61763147] [-0.08135635 0.99656923 -0.01519608 -0.17571864] [ 0.08625641 0.02222944 0.99602494 -0.01158214] [ 0. 0. 0. 1. ]] SLAMing on 33.746502481 meters Centerline goodness : 0.701496 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99306137 0.07926455 -0.08686914 0.61577181] [-0.0809721 0.99658297 -0.0163068 -0.17285324] [ 0.08527976 0.02322763 0.99608626 -0.01099733] [ 0. 0. 0. 1. ]] SLAMing on 33.776502481 meters Centerline goodness : 0.704265 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.01 [[ 0.99290049 0.08207438 -0.08609542 0.61464349] [-0.08344723 0.99643425 -0.01246381 -0.17267289] [ 0.08476547 0.01955975 0.99620893 -0.01099385] [ 0. 0. 0. 1. ]] SLAMing on 33.806502481 meters Centerline goodness : 0.703635 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.01 [[ 0.99288712 0.08237545 -0.08596193 0.61439401] [-0.08384516 0.99638567 -0.01362303 -0.17020504] [ 0.08452903 0.02073363 0.99620528 -0.01049813] [ 0. 0. 0. 1. ]] SLAMing on 33.836502481000004 meters Centerline goodness : 0.705090 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.01 [[ 0.99286988 0.08242864 -0.08610994 0.61483552] [-0.08396009 0.99636635 -0.0143111 -0.16930858] [ 0.08461741 0.02143886 0.99618285 -0.0105142 ] [ 0. 0. 0. 1. ]] SLAMing on 33.866502481 meters Centerline goodness : 0.706422 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99282282 0.08274364 -0.08635007 0.61604569] [-0.08432528 0.99632797 -0.01482635 -0.1682085 ] [ 0.08480621 0.02200143 0.99615453 -0.01126465] [ 0. 0. 0. 1. ]] SLAMing on 33.896502481 meters Centerline goodness : 0.705924 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.9927948 0.08282715 -0.08659187 0.61682834] [-0.08442786 0.99631693 -0.01498347 -0.1678002 ] [ 0.08503191 0.02218628 0.99613119 -0.0115981 ] [ 0. 0. 0. 1. ]] SLAMing on 33.926502481 meters Centerline goodness : 0.706719 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99293729 0.08158317 -0.08613783 0.61613974] [-0.08324926 0.99640151 -0.01592446 -0.16563379] [ 0.0845287 0.0229829 0.99615595 -0.01188793] [ 0. 0. 0. 1. ]] SLAMing on 33.956502481 meters Centerline goodness : 0.708468 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99304075 0.0810173 -0.08547673 0.61460995] [-0.08268491 0.99644492 -0.01614723 -0.16451788] [ 0.08386464 0.0231025 0.99620931 -0.01155468] [ 0. 0. 0. 1. ]] SLAMing on 33.986502481 meters Centerline goodness : 0.709076 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99338741 0.07876313 -0.08353331 0.60984307] [-0.08040414 0.99662641 -0.01646107 -0.16291184] [ 0.08195498 0.02306864 0.99636902 -0.01042469] [ 0. 0. 0. 1. ]] SLAMing on 34.016502481 meters Centerline goodness : 0.709123 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99357255 0.07739592 -0.08260424 0.60731995] [-0.07907712 0.99671883 -0.01727376 -0.16148576] [ 0.08099628 0.02369484 0.99643272 -0.00947344] [ 0. 0. 0. 1. ]] SLAMing on 34.046502481 meters Centerline goodness : 0.709145 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99359215 0.07738007 -0.08238305 0.60717116] [-0.07907169 0.99671588 -0.01746793 -0.16059712] [ 0.08076082 0.02387016 0.99644764 -0.00974828] [ 0. 0. 0. 1. ]] SLAMing on 34.076502481 meters Centerline goodness : 0.710643 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99344519 0.08018539 -0.0814675 0.60715236] [-0.08149614 0.99659032 -0.01288822 -0.16133289] [ 0.08015627 0.01944303 0.99659267 -0.01179868] [ 0. 0. 0. 1. ]] SLAMing on 34.106502481 meters Centerline goodness : 0.709485 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99342961 0.08043661 -0.08140979 0.60805429] [-0.08177516 0.99656288 -0.0132382 -0.15979996] [ 0.08006514 0.01980852 0.99659279 -0.01286472] [ 0. 0. 0. 1. ]] SLAMing on 34.136502481 meters Centerline goodness : 0.710177 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99334145 0.08298508 -0.07991393 0.60631371] [-0.08410518 0.99639892 -0.01074793 -0.1568729 ] [ 0.07873424 0.01739754 0.99674382 -0.01351063] [ 0. 0. 0. 1. ]] SLAMing on 34.166502481 meters Centerline goodness : 0.711854 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.01 [[ 0.99335276 0.08288247 -0.07987986 0.60555887] [-0.08413152 0.99637758 -0.01239411 -0.15487772] [ 0.07856324 0.01903214 0.99672744 -0.01216846] [ 0. 0. 0. 1. ]] SLAMing on 34.196502481 meters Centerline goodness : 0.713438 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.01 [[ 0.99331639 0.08343634 -0.07975536 0.60393055] [-0.08496794 0.9962552 -0.01600093 -0.15087386] [ 0.07812163 0.02267064 0.99668604 -0.00908123] [ 0. 0. 0. 1. ]] SLAMing on 34.226502481 meters Centerline goodness : 0.713015 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.01 [[ 0.99320586 0.08434982 -0.08017003 0.60475455] [-0.08603762 0.99613232 -0.01783075 -0.14808451] [ 0.07835594 0.02460724 0.99662171 -0.00825041] [ 0. 0. 0. 1. ]] SLAMing on 34.256502481 meters Centerline goodness : 0.714378 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.01 [[ 0.99255718 0.09247563 -0.07923702 0.60598179] [-0.09363008 0.99554659 -0.01097226 -0.14535935] [ 0.07786948 0.01830956 0.99679542 -0.01009516] [ 0. 0. 0. 1. ]] SLAMing on 34.286502481 meters Centerline goodness : 0.715193 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99205397 0.09790332 -0.07901808 0.60950051] [-0.09873136 0.99509202 -0.00663179 -0.14232033] [ 0.07798098 0.01438066 0.99685112 -0.01358553] [ 0. 0. 0. 1. ]] SLAMing on 34.316502481 meters Centerline goodness : 0.715612 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99193163 0.09852413 -0.07977866 0.61158333] [-0.09943283 0.99501609 -0.00748924 -0.14119502] [ 0.07864318 0.01536143 0.99678447 -0.01395611] [ 0. 0. 0. 1. ]] SLAMing on 34.346502481 meters Centerline goodness : 0.715523 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99210428 0.09579494 -0.08094703 0.61254734] [-0.09724908 0.99515866 -0.01420765 -0.13752954] [ 0.07919412 0.02196749 0.99661714 -0.01198933] [ 0. 0. 0. 1. ]] SLAMing on 34.376502481 meters Centerline goodness : 0.714609 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99218419 0.09489102 -0.08103228 0.61191857] [-0.09646453 0.99521227 -0.01572062 -0.13587898] [ 0.07915257 0.02341449 0.99658749 -0.01086936] [ 0. 0. 0. 1. ]] SLAMing on 34.406502481 meters Centerline goodness : 0.713003 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99228927 0.09377041 -0.08105012 0.61144847] [-0.09545727 0.99528516 -0.01718602 -0.13391536] [ 0.07905644 0.02479033 0.99656185 -0.0101673 ] [ 0. 0. 0. 1. ]] SLAMing on 34.436502481 meters Centerline goodness : 0.713270 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99231768 0.09501734 -0.07922962 0.60872321] [-0.09637184 0.99525463 -0.01344237 -0.13247231] [ 0.07757639 0.02097461 0.99676575 -0.01077481] [ 0. 0. 0. 1. ]] SLAMing on 34.466502481 meters Centerline goodness : 0.712211 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99241686 0.09416682 -0.07900247 0.60999145] [-0.09556137 0.99532434 -0.01405256 -0.13011238] [ 0.0773098 0.02149558 0.99677537 -0.01284823] [ 0. 0. 0. 1. ]] SLAMing on 34.496502481 meters Centerline goodness : 0.712666 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99241095 0.09390512 -0.07938718 0.61116211] [-0.09532272 0.9953444 -0.01425128 -0.13045147] [ 0.07767932 0.02171053 0.99674198 -0.01347419] [ 0. 0. 0. 1. ]] SLAMing on 34.526502481 meters Centerline goodness : 0.710925 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.9924269 0.09350046 -0.07966502 0.61208529] [-0.09496915 0.99536956 -0.0148425 -0.12947392] [ 0.07790836 0.02229581 0.99671118 -0.01392511] [ 0. 0. 0. 1. ]] SLAMing on 34.556502481 meters Centerline goodness : 0.709705 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99249578 0.09301743 -0.07937183 0.61174936] [-0.09453222 0.99540055 -0.01553738 -0.12758923] [ 0.07756152 0.02292398 0.99672399 -0.0140596 ] [ 0. 0. 0. 1. ]] SLAMing on 34.586502481000004 meters Centerline goodness : 0.710855 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.99269941 0.09156319 -0.07851154 0.61012176] [-0.09313398 0.99551558 -0.01657667 -0.12457193] [ 0.07664165 0.02376774 0.99677538 -0.01385379] [ 0. 0. 0. 1. ]] SLAMing on 34.616502481 meters Centerline goodness : 0.709730 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.99285402 0.09046343 -0.07782842 0.60847605] [-0.09207118 0.99560186 -0.01731602 -0.12284677] [ 0.07591965 0.02435803 0.99681638 -0.01346595] [ 0. 0. 0. 1. ]] SLAMing on 34.646502481 meters Centerline goodness : 0.711988 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.9932049 0.08786694 -0.0763114 0.6050958 ] [-0.08952757 0.9958104 -0.01861337 -0.11999295] [ 0.07435618 0.02531886 0.99691028 -0.0128953 ] [ 0. 0. 0. 1. ]] SLAMing on 34.676502481 meters Centerline goodness : 0.708948 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.01 [[ 0.9934046 0.08594959 -0.07589447 0.60399278] [-0.08768198 0.9959519 -0.01979093 -0.11887155] [ 0.07388622 0.02631498 0.99691943 -0.0127796 ] [ 0. 0. 0. 1. ]] SLAMing on 34.706502481 meters Centerline goodness : 0.710144 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.01 [[ 0.99363318 0.08344112 -0.07570134 0.60319624] [-0.08521973 0.99614979 -0.02057162 -0.11882354] [ 0.07369335 0.0268919 0.99691831 -0.0127874 ] [ 0. 0. 0. 1. ]] SLAMing on 34.736502481 meters Centerline goodness : 0.707390 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.01 [[ 0.99369343 0.08282768 -0.07558397 0.60345507] [-0.08463075 0.99619176 -0.02096704 -0.11753937] [ 0.07355948 0.02723154 0.99691898 -0.01344675] [ 0. 0. 0. 1. ]] SLAMing on 34.766502481 meters Centerline goodness : 0.708224 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.02 [[ 0.99350522 0.08550011 -0.07508075 0.60441575] [-0.08704037 0.99605138 -0.01748205 -0.11476492] [ 0.07328957 0.02390356 0.9970242 -0.01519844] [ 0. 0. 0. 1. ]] SLAMing on 34.796502481 meters Centerline goodness : 0.706784 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.02 [[ 0.99324311 0.08835263 -0.07524581 0.60581293] [-0.08974846 0.99584588 -0.01536875 -0.11203681] [ 0.07357536 0.0220181 0.99704657 -0.01561486] [ 0. 0. 0. 1. ]] SLAMing on 34.826502481 meters Centerline goodness : 0.708378 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.02 [[ 0.99324682 0.08822378 -0.07534803 0.60607234] [-0.08973491 0.99582222 -0.01690442 -0.10946521] [ 0.07354187 0.02355161 0.997014 -0.01516517] [ 0. 0. 0. 1. ]] SLAMing on 34.856502481 meters Centerline goodness : 0.705927 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.01 [[ 0.9933238 0.08771303 -0.07492836 0.60542825] [-0.08940486 0.99580397 -0.01952518 -0.10449559] [ 0.07290134 0.02609379 0.99699775 -0.01443508] [ 0. 0. 0. 1. ]] SLAMing on 34.886502481 meters Centerline goodness : 0.708412 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.10, Z:-0.01 [[ 0.99321067 0.0895993 -0.0741925 0.60418586] [-0.09112183 0.99568789 -0.01739046 -0.10186729] [ 0.0723144 0.02403295 0.9970923 -0.01391379] [ 0. 0. 0. 1. ]] SLAMing on 34.916502481 meters Centerline goodness : 0.710445 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.10, Z:-0.01 [[ 0.99320068 0.0896961 -0.07420924 0.60428635] [-0.0912732 0.99566076 -0.01813415 -0.0998825 ] [ 0.07226066 0.02478417 0.9970778 -0.01364955] [ 0. 0. 0. 1. ]] SLAMing on 34.946502481 meters Centerline goodness : 0.708026 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.10, Z:-0.01 [[ 0.99321971 0.08953427 -0.07414999 0.60440558] [-0.09118141 0.99565058 -0.01912775 -0.09720444] [ 0.07211489 0.02575916 0.99706364 -0.01360397] [ 0. 0. 0. 1. ]] SLAMing on 34.976502481 meters Centerline goodness : 0.706704 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.09, Z:-0.01 [[ 0.99307769 0.09150699 -0.07364213 0.60465803] [-0.09298145 0.99552539 -0.01684196 -0.09374762] [ 0.07177145 0.02357273 0.99714251 -0.01438867] [ 0. 0. 0. 1. ]] SLAMing on 35.006502481 meters Centerline goodness : 0.705077 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.09, Z:-0.01 [[ 0.99290473 0.09365102 -0.07327807 0.60489252] [-0.09499575 0.99536347 -0.01507854 -0.09075322] [ 0.07152619 0.02193266 0.99719755 -0.01465704] [ 0. 0. 0. 1. ]] SLAMing on 35.036502481 meters Centerline goodness : 0.218300 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.01 [[ 0.99286271 0.09380988 -0.07364333 0.60579229] [-0.09528316 0.99530934 -0.01674611 -0.08767647] [ 0.07172694 0.02364355 0.99714404 -0.01414504] [ 0. 0. 0. 1. ]] SLAMing on 35.066502481 meters Centerline goodness : 0.265941 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.01 [[ 0.99257965 0.09696496 -0.07337196 0.60604214] [-0.0983357 0.99503571 -0.01529773 -0.08372922] [ 0.07152437 0.0223993 0.99718731 -0.01365529] [ 0. 0. 0. 1. ]] SLAMing on 35.096502481 meters Centerline goodness : 0.261875 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.01 [[ 0.99249469 0.09753964 -0.07375843 0.60732825] [-0.09900771 0.99494973 -0.01650776 -0.08131791] [ 0.07177577 0.02368652 0.9971395 -0.01356424] [ 0. 0. 0. 1. ]] SLAMing on 35.126502481 meters Centerline goodness : 0.386479 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.01 [[ 0.99244656 0.09778786 -0.07407677 0.60842229] [-0.09936544 0.99488981 -0.01791043 -0.07835153] [ 0.0719468 0.02513582 0.9970917 -0.01344244] [ 0. 0. 0. 1. ]] SLAMing on 35.156502481 meters Centerline goodness : 0.443741 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.01 [[ 0.99232961 0.10032415 -0.07222882 0.60666029] [-0.10165053 0.9947083 -0.01491883 -0.07165834] [ 0.07034989 0.0221465 0.9972765 -0.01430931] [ 0. 0. 0. 1. ]] SLAMing on 35.186502481 meters Centerline goodness : 0.492937 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.02 [[ 0.99211517 0.10289441 -0.07155574 0.60689236] [-0.10406092 0.99448907 -0.01275996 -0.06796604] [ 0.06984847 0.02010551 0.99735498 -0.01502491] [ 0. 0. 0. 1. ]] SLAMing on 35.216502481 meters Centerline goodness : 0.640300 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.01 [[ 0.99209389 0.10270074 -0.07212675 0.60818641] [-0.10398842 0.9944754 -0.01432093 -0.06633322] [ 0.07025751 0.02170805 0.99729266 -0.01479749] [ 0. 0. 0. 1. ]] SLAMing on 35.246502481 meters Centerline goodness : 0.437700 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.06, Z:-0.01 [[ 0.992105 0.10281941 -0.07180411 0.60828669] [-0.10426151 0.99441099 -0.01662318 -0.06078807] [ 0.06969361 0.02397834 0.99728022 -0.01432176] [ 0. 0. 0. 1. ]] SLAMing on 35.276502481 meters Centerline goodness : 0.533688 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.06, Z:-0.01 [[ 0.99207847 0.10298749 -0.07192977 0.60906624] [-0.10455689 0.99434877 -0.01839513 -0.05696479] [ 0.06962881 0.02577016 0.99724005 -0.0140316 ] [ 0. 0. 0. 1. ]] SLAMing on 35.306502481 meters Centerline goodness : 0.598235 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.01 [[ 0.99192898 0.10417625 -0.07227874 0.61085662] [-0.10591401 0.99416124 -0.02063113 -0.05178675] [ 0.06970744 0.02811994 0.99717107 -0.01385776] [ 0. 0. 0. 1. ]] SLAMing on 35.336502481 meters Centerline goodness : 0.450145 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.01 [[ 0.99185728 0.10456766 -0.07269621 0.61199807] [-0.10639653 0.99408593 -0.02174715 -0.04992202] [ 0.06999223 0.0293047 0.99711701 -0.01359321] [ 0. 0. 0. 1. ]] SLAMing on 35.366502481 meters Centerline goodness : 0.723989 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.01 [[ 0.991697 0.10544558 -0.07360899 0.61430935] [-0.1074461 0.99392702 -0.0237576 -0.04756948] [ 0.07065683 0.03146934 0.99700416 -0.01313441] [ 0. 0. 0. 1. ]] SLAMing on 35.396502481 meters Centerline goodness : 0.609719 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.01 [[ 0.99151177 0.10652566 -0.07454324 0.61669469] [-0.10868242 0.99374968 -0.02548927 -0.04577193] [ 0.07136206 0.03337445 0.99689197 -0.01272574] [ 0. 0. 0. 1. ]] SLAMing on 35.426502481 meters Centerline goodness : 0.710993 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.9914811 0.10650511 -0.07497932 0.61771992] [-0.1087626 0.99370948 -0.02668643 -0.0439515 ] [ 0.07166542 0.03461403 0.99682794 -0.01248914] [ 0. 0. 0. 1. ]] SLAMing on 35.456502481 meters Centerline goodness : 0.725314 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.99148207 0.10657313 -0.07486969 0.61803821] [-0.10888468 0.99367418 -0.02749104 -0.04136798] [ 0.07146627 0.03540904 0.99681431 -0.01252574] [ 0. 0. 0. 1. ]] SLAMing on 35.486502481 meters Centerline goodness : 0.505751 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.99150288 0.10622676 -0.07508604 0.61882042] [-0.10858289 0.99369258 -0.02801456 -0.04063122] [ 0.07163654 0.03592958 0.99678346 -0.01290608] [ 0. 0. 0. 1. ]] SLAMing on 35.516502481 meters Centerline goodness : 0.713478 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.99171316 0.10462205 -0.07456028 0.61822167] [-0.10697947 0.99385704 -0.02834735 -0.04023686] [ 0.07113651 0.03608886 0.99681352 -0.01381212] [ 0. 0. 0. 1. ]] SLAMing on 35.546502481 meters Centerline goodness : 0.713478 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.99171316 0.10462205 -0.07456028 0.61822167] [-0.10697947 0.99385704 -0.02834735 -0.04023686] [ 0.07113651 0.03608886 0.99681352 -0.01381212] [ 0. 0. 0. 1. ]] SLAMing on 35.576502481 meters Centerline goodness : 0.288710 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.9918168 0.10377625 -0.07436344 0.61805037] [-0.10611907 0.99395154 -0.02826806 -0.04085329] [ 0.0709801 0.03592811 0.99683047 -0.01443757] [ 0. 0. 0. 1. ]] SLAMing on 35.606502481 meters Centerline goodness : 0.725624 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.02 [[ 0.99217008 0.10006042 -0.07474255 0.61888452] [-0.10259318 0.99424511 -0.03084313 -0.04257576] [ 0.07122624 0.03826971 0.99672577 -0.01578319] [ 0. 0. 0. 1. ]] SLAMing on 35.636502481 meters Centerline goodness : 0.295228 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.02 [[ 0.99226694 0.09923393 -0.07455828 0.61907167] [-0.10171673 0.99435289 -0.03026623 -0.04372251] [ 0.0711338 0.037616 0.99675725 -0.017058 ] [ 0. 0. 0. 1. ]] SLAMing on 35.666502481 meters Centerline goodness : 0.720486 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99245771 0.09795219 -0.07370937 0.61751307] [-0.10026069 0.99455892 -0.02829042 -0.04655533] [ 0.0705372 0.0354672 0.99687842 -0.01833937] [ 0. 0. 0. 1. ]] SLAMing on 35.696502481 meters Centerline goodness : 0.260566 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99275898 0.09447183 -0.07419361 0.61832897] [-0.09705315 0.99476511 -0.03198535 -0.04597877] [ 0.0707835 0.03895447 0.99673078 -0.01873404] [ 0. 0. 0. 1. ]] SLAMing on 35.726502481 meters Centerline goodness : 0.478729 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99291423 0.09330753 -0.07358697 0.61688877] [-0.09576985 0.99493099 -0.03066705 -0.04845848] [ 0.07035249 0.03749717 0.99681718 -0.01929422] [ 0. 0. 0. 1. ]] SLAMing on 35.756502481 meters Centerline goodness : 0.543274 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99296962 0.0929513 -0.07328978 0.61623542] [-0.09536278 0.99498699 -0.03011348 -0.04980853] [ 0.07012329 0.03689089 0.99685595 -0.01949313] [ 0. 0. 0. 1. ]] SLAMing on 35.786502481 meters Centerline goodness : 0.531663 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99299014 0.09263321 -0.07341434 0.61652349] [-0.09504905 0.99501685 -0.03011892 -0.0510119 ] [ 0.07025849 0.03688576 0.99684662 -0.01962245] [ 0. 0. 0. 1. ]] SLAMing on 35.816502481 meters Centerline goodness : 0.727452 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99298714 0.09214593 -0.07406525 0.61861292] [-0.09462471 0.9950402 -0.03067855 -0.05064094] [ 0.070871 0.03747181 0.9967814 -0.02074648] [ 0. 0. 0. 1. ]] SLAMing on 35.846502481 meters Centerline goodness : 0.659895 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99297474 0.09182965 -0.0746222 0.62005047] [-0.09435887 0.9950524 -0.03109876 -0.05046567] [ 0.07139721 0.03792155 0.99672684 -0.02130583] [ 0. 0. 0. 1. ]] SLAMing on 35.876502481 meters Centerline goodness : 0.161531 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.9929613 0.09139283 -0.07533394 0.62213265] [-0.09398811 0.99507012 -0.03164945 -0.0504496 ] [ 0.07207002 0.03850717 0.99665596 -0.02242872] [ 0. 0. 0. 1. ]] SLAMing on 35.906502481 meters Centerline goodness : 0.553290 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99296189 0.09117279 -0.07559243 0.62298562] [-0.09379343 0.99508153 -0.03186754 -0.05017034] [ 0.07231518 0.03873332 0.99662944 -0.02281928] [ 0. 0. 0. 1. ]] SLAMing on 35.936502481 meters Centerline goodness : 0.431261 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99296211 0.09118548 -0.07557419 0.62288964] [-0.09380284 0.99508179 -0.03183163 -0.04956591] [ 0.07229992 0.03869667 0.99663197 -0.02246445] [ 0. 0. 0. 1. ]] SLAMing on 35.966502481 meters Centerline goodness : 0.498375 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99296539 0.09101788 -0.07573293 0.62307916] [-0.09365444 0.99508986 -0.03201572 -0.04933441] [ 0.07244706 0.03888323 0.99661403 -0.02223546] [ 0. 0. 0. 1. ]] SLAMing on 35.996502481 meters Centerline goodness : 0.722709 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99323011 0.0875471 -0.0763509 0.62300315] [-0.09047436 0.99525669 -0.03575617 -0.04812927] [ 0.0728584 0.04242191 0.99643968 -0.02146245] [ 0. 0. 0. 1. ]] SLAMing on 36.026502481 meters Centerline goodness : 0.720999 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99323206 0.08721186 -0.07670831 0.62379657] [-0.09017406 0.99527394 -0.03603365 -0.04820487] [ 0.07320322 0.04270687 0.99640223 -0.02159445] [ 0. 0. 0. 1. ]] SLAMing on 36.056502481 meters Centerline goodness : 0.441063 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.02 [[ 0.99321955 0.08680315 -0.07733142 0.62564295] [-0.08982364 0.99528971 -0.03647055 -0.04776922] [ 0.07380141 0.04316945 0.99633817 -0.02242178] [ 0. 0. 0. 1. ]] SLAMing on 36.086502481 meters Centerline goodness : 0.529219 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.02 [[ 0.99322833 0.08601495 -0.07809557 0.62846601] [-0.08912348 0.9953247 -0.03722571 -0.04744905] [ 0.07452848 0.04393378 0.99625064 -0.02418277] [ 0. 0. 0. 1. ]] SLAMing on 36.116502481 meters Centerline goodness : 0.720851 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.03 [[ 0.99323752 0.08531198 -0.07874698 0.63038988] [-0.08849777 0.99535554 -0.03788787 -0.04712118] [ 0.07514896 0.04460058 0.99617439 -0.02505666] [ 0. 0. 0. 1. ]] SLAMing on 36.146502481 meters Centerline goodness : 0.719548 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.03 [[ 0.99324856 0.0845449 -0.07943208 0.63221674] [-0.08781178 0.99539006 -0.03857093 -0.04666707] [ 0.07580492 0.04528559 0.99609379 -0.02571646] [ 0. 0. 0. 1. ]] SLAMing on 36.176502481 meters Centerline goodness : 0.704538 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.03 [[ 0.99325691 0.08405298 -0.0798487 0.63343244] [-0.08737528 0.99540936 -0.0390611 -0.04590227] [ 0.07619894 0.04577451 0.99604137 -0.0261695 ] [ 0. 0. 0. 1. ]] SLAMing on 36.206502481 meters Centerline goodness : 0.712790 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99327466 0.08343462 -0.08027529 0.63513255] [-0.08682569 0.99543149 -0.03971722 -0.04430978] [ 0.07659476 0.04642006 0.99598113 -0.02707864] [ 0. 0. 0. 1. ]] SLAMing on 36.236502481 meters Centerline goodness : 0.332083 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99326804 0.08291743 -0.08089064 0.63691814] [-0.08637696 0.99544936 -0.04024413 -0.04346885] [ 0.07718559 0.0469603 0.99591019 -0.02778233] [ 0. 0. 0. 1. ]] SLAMing on 36.266502481 meters Centerline goodness : 0.712465 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99327609 0.08218453 -0.08153719 0.63942516] [-0.08573125 0.99547476 -0.04098962 -0.04221991] [ 0.0777995 0.0477043 0.99582706 -0.02922816] [ 0. 0. 0. 1. ]] SLAMing on 36.296502481 meters Centerline goodness : 0.707315 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99327296 0.08170944 -0.08205115 0.64049279] [-0.0853207 0.99548847 -0.04150997 -0.04137173] [ 0.07828922 0.0482314 0.99576329 -0.02930026] [ 0. 0. 0. 1. ]] SLAMing on 36.326502481 meters Centerline goodness : 0.535254 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99327859 0.08106553 -0.08261972 0.64140933] [-0.08476015 0.99550597 -0.04223236 -0.04024165] [ 0.07882483 0.04895135 0.9956859 -0.02902191] [ 0. 0. 0. 1. ]] SLAMing on 36.356502481 meters Centerline goodness : 0.556161 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99328382 0.08006648 -0.08352613 0.64371857] [-0.08389427 0.99553058 -0.043366 -0.03816967] [ 0.07968066 0.05008211 0.99556154 -0.02966424] [ 0. 0. 0. 1. ]] SLAMing on 36.386502481 meters Centerline goodness : 0.717014 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.03 [[ 0.99328358 0.07956585 -0.084006 0.64508659] [-0.08345975 0.99554367 -0.04390075 -0.0370425 ] [ 0.08013864 0.05061702 0.99549772 -0.03009981] [ 0. 0. 0. 1. ]] SLAMing on 36.416502481 meters Centerline goodness : 0.706124 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.03 [[ 0.99328439 0.07913377 -0.08440366 0.64577404] [-0.08308575 0.99555369 -0.04438034 -0.03603033] [ 0.08051639 0.05109504 0.99544282 -0.02992615] [ 0. 0. 0. 1. ]] SLAMing on 36.446502481 meters Centerline goodness : 0.680415 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.03 [[ 0.99400645 0.07322703 -0.08117253 0.65237071] [-0.07688114 0.99611946 -0.04284057 -0.03363571] [ 0.07772045 0.04882444 0.99577894 -0.02621944] [ 0. 0. 0. 1. ]] SLAMing on 36.476502481 meters Centerline goodness : 0.157052 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.03 [[ 0.99404411 0.07287533 -0.08102769 0.65163177] [-0.07658526 0.99610675 -0.04365815 -0.03056627] [ 0.07753062 0.04960365 0.99575523 -0.02514027] [ 0. 0. 0. 1. ]] SLAMing on 36.506502481 meters Centerline goodness : 0.716097 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.03 [[ 0.99402851 0.07255513 -0.08150501 0.65277219] [-0.07632877 0.99610362 -0.0441758 -0.02925178] [ 0.07798225 0.05013318 0.99569344 -0.02536369] [ 0. 0. 0. 1. ]] SLAMing on 36.536502481 meters Centerline goodness : 0.706550 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.03 [[ 0.99376346 0.07556582 -0.08199997 0.65494506] [-0.07915828 0.9959988 -0.04147725 -0.02791686] [ 0.07853761 0.04770955 0.99576887 -0.02610036] [ 0. 0. 0. 1. ]] SLAMing on 36.566502481 meters Centerline goodness : 0.158604 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:-0.03 [[ 0.9934743 0.07894698 -0.08231756 0.65681833] [-0.08230715 0.99587259 -0.0382532 -0.0273751 ] [ 0.07895783 0.0447789 0.99587173 -0.02685651] [ 0. 0. 0. 1. ]] SLAMing on 36.596502481 meters Centerline goodness : 0.715116 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.03 [[ 0.99314018 0.08268009 -0.08268359 0.65932749] [-0.08582562 0.99568691 -0.03523541 -0.02434743] [ 0.07941371 0.04209008 0.99595275 -0.02808891] [ 0. 0. 0. 1. ]] SLAMing on 36.626502481 meters Centerline goodness : 0.707721 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.03 [[ 0.99311433 0.08236337 -0.08330787 0.66116288] [-0.08559322 0.99568081 -0.03596572 -0.02225633] [ 0.07998579 0.04284866 0.99587462 -0.02877719] [ 0. 0. 0. 1. ]] SLAMing on 36.656502481 meters Centerline goodness : 0.547648 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.03 [[ 0.9930617 0.08198032 -0.08430715 0.66290213] [-0.08534194 0.99566193 -0.03706841 -0.02035233] [ 0.08090254 0.04400615 0.99575009 -0.02869891] [ 0. 0. 0. 1. ]] SLAMing on 36.686502481 meters Centerline goodness : 0.547044 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.03 [[ 0.99303263 0.08176424 -0.08485751 0.66364203] [-0.08519331 0.99565466 -0.03760174 -0.01957898] [ 0.0814143 0.04456905 0.99568334 -0.02836225] [ 0. 0. 0. 1. ]] SLAMing on 36.716502481 meters Centerline goodness : 0.650363 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.03 [[ 0.99293561 0.08266241 -0.08512224 0.66290946] [-0.08612866 0.99556359 -0.03788119 -0.01650573] [ 0.08161326 0.04494505 0.99565015 -0.02670648] [ 0. 0. 0. 1. ]] SLAMing on 36.746502481 meters Centerline goodness : 0.531697 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:-0.03 [[ 0.99253669 0.08746299 -0.08497731 0.66313675] [-0.09063748 0.9952952 -0.03423893 -0.01337425] [ 0.08158287 0.04168552 0.99579443 -0.02622205] [ 0. 0. 0. 1. ]] SLAMing on 36.776502481 meters Centerline goodness : 0.674634 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:-0.03 [[ 0.9921616 0.09154481 -0.08505824 0.66423229] [-0.09442179 0.99506706 -0.03043153 -0.01301436] [ 0.08185281 0.03822435 0.99591115 -0.02646803] [ 0. 0. 0. 1. ]] SLAMing on 36.806502481 meters Centerline goodness : 0.680614 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99173127 0.09474352 -0.08656073 0.66834705] [-0.09767136 0.9947595 -0.03022995 -0.01297177] [ 0.08324302 0.03843449 0.99578782 -0.02669508] [ 0. 0. 0. 1. ]] SLAMing on 36.836502481 meters Centerline goodness : 0.707352 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99156887 0.09562796 -0.08744404 0.67032458] [-0.09859567 0.99466728 -0.03026385 -0.01404036] [ 0.08408365 0.03863029 0.99570962 -0.02673277] [ 0. 0. 0. 1. ]] SLAMing on 36.866502481 meters Centerline goodness : 0.704299 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99138486 0.09667002 -0.08837973 0.67190875] [-0.09972035 0.99453975 -0.03076575 -0.01477294] [ 0.08492303 0.03931395 0.99561162 -0.02593869] [ 0. 0. 0. 1. ]] SLAMing on 36.896502481 meters Centerline goodness : 0.705423 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99137873 0.09656578 -0.08856217 0.6724246 ] [-0.09969338 0.99451664 -0.03158936 -0.01280249] [ 0.0850261 0.04014608 0.99556961 -0.02576431] [ 0. 0. 0. 1. ]] SLAMing on 36.926502481 meters Centerline goodness : 0.703726 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99140258 0.09694477 -0.08787856 0.67176804] [-0.09994741 0.99452738 -0.0304271 -0.01045892] [ 0.08444788 0.03894874 0.99566639 -0.02632259] [ 0. 0. 0. 1. ]] SLAMing on 36.956502481 meters Centerline goodness : 0.680820 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99149476 0.09588106 -0.08800544 0.67129811] [-0.09888247 0.99463485 -0.03039371 -0.01209979] [ 0.0846191 0.0388374 0.9956562 -0.026041 ] [ 0. 0. 0. 1. ]] SLAMing on 36.986502481 meters Centerline goodness : 0.683303 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99156801 0.095059 -0.08807192 0.67071261] [-0.09807366 0.99471015 -0.03054952 -0.01310824] [ 0.08470203 0.03892947 0.99564555 -0.02560251] [ 0. 0. 0. 1. ]] SLAMing on 37.016502481 meters Centerline goodness : 0.145418 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99194445 0.09067182 -0.08845807 0.67090006] [-0.09405467 0.99495701 -0.0348464 -0.01202766] [ 0.08485239 0.04288559 0.99547019 -0.02565486] [ 0. 0. 0. 1. ]] SLAMing on 37.046502481 meters Centerline goodness : 0.703968 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99230791 0.08616478 -0.08888551 0.67110604] [-0.08990485 0.99518797 -0.03896178 -0.01210752] [ 0.08510066 0.04665332 0.99527953 -0.02567567] [ 0. 0. 0. 1. ]] SLAMing on 37.076502481 meters Centerline goodness : 0.141871 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99230659 0.08575077 -0.08929971 0.67221348] [-0.08952872 0.99521291 -0.03919017 -0.01235013] [ 0.08551164 0.04688355 0.99523349 -0.02608168] [ 0. 0. 0. 1. ]] SLAMing on 37.106502481 meters Centerline goodness : 0.143239 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99232609 0.08511428 -0.08969112 0.67425133] [-0.08894425 0.99524909 -0.03960025 -0.01220062] [ 0.08589445 0.04727387 0.99518206 -0.02750731] [ 0. 0. 0. 1. ]] SLAMing on 37.136502481 meters Centerline goodness : 0.701904 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.99231849 0.08478684 -0.09008439 0.67518786] [-0.08863834 0.99527465 -0.03964369 -0.01284391] [ 0.08629745 0.0473241 0.9951448 -0.02777338] [ 0. 0. 0. 1. ]] SLAMing on 37.166502481 meters Centerline goodness : 0.504911 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99264925 0.08076645 -0.09013458 0.67463856] [-0.08491629 0.99545153 -0.0431911 -0.01365956] [ 0.08623622 0.0505275 0.99499261 -0.02773781] [ 0. 0. 0. 1. ]] SLAMing on 37.196502481 meters Centerline goodness : 0.155857 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99297574 0.07632853 -0.0904054 0.67453259] [-0.08081352 0.9956191 -0.04702957 -0.01416023] [ 0.08641965 0.05400521 0.99479399 -0.0275983 ] [ 0. 0. 0. 1. ]] SLAMing on 37.226502481 meters Centerline goodness : 0.686961 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.03 [[ 0.99296381 0.07603725 -0.09078106 0.67524724] [-0.08053504 0.99564538 -0.0469508 -0.01500682] [ 0.08681573 0.0539315 0.9947635 -0.027644 ] [ 0. 0. 0. 1. ]] SLAMing on 37.256502481 meters Centerline goodness : 0.694542 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.99296523 0.07538865 -0.09130504 0.67698568] [-0.07995152 0.99567172 -0.04738762 -0.01473321] [ 0.08733736 0.05435424 0.99469483 -0.02850569] [ 0. 0. 0. 1. ]] SLAMing on 37.286502481 meters Centerline goodness : 0.704705 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.99296508 0.07447639 -0.09205225 0.68040123] [-0.07913881 0.99570356 -0.04807769 -0.0133438 ] [ 0.0880761 0.05502438 0.99459284 -0.0306311 ] [ 0. 0. 0. 1. ]] SLAMing on 37.316502481 meters Centerline goodness : 0.193477 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.99298628 0.07381133 -0.09235871 0.68168399] [-0.07855136 0.99571589 -0.04878057 -0.01194219] [ 0.08836247 0.05569334 0.9945302 -0.03131696] [ 0. 0. 0. 1. ]] SLAMing on 37.346502481 meters Centerline goodness : 0.554953 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.9930618 0.07268729 -0.09243823 0.68165208] [-0.07753002 0.99573948 -0.04991978 -0.01012549] [ 0.08841587 0.05674017 0.99446628 -0.03079456] [ 0. 0. 0. 1. ]] SLAMing on 37.376502481 meters Centerline goodness : 0.187201 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.99312824 0.0717167 -0.09248255 0.68113727] [-0.07668821 0.99573098 -0.05136852 -0.00629492] [ 0.08840376 0.05810785 0.99438838 -0.02964203] [ 0. 0. 0. 1. ]] SLAMing on 37.406502481 meters Centerline goodness : 0.711685 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.03 [[ 0.99315358 0.07128451 -0.0925445 0.68131353] [-0.07633309 0.99571468 -0.05220675 -0.00374352] [ 0.08842638 0.05891353 0.99433896 -0.02944461] [ 0. 0. 0. 1. ]] SLAMing on 37.436502481 meters Centerline goodness : 0.711685 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.03 [[ 0.99315358 0.07128451 -0.0925445 0.68131353] [-0.07633309 0.99571468 -0.05220675 -0.00374352] [ 0.08842638 0.05891353 0.99433896 -0.02944461] [ 0. 0. 0. 1. ]] SLAMing on 37.466502481 meters Centerline goodness : 0.707508 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.03 [[ 9.93035396e-01 7.36118020e-02 -9.19891512e-02 6.80366794e-01] [-7.84699003e-02 9.95643862e-01 -5.03564792e-02 -2.79216901e-05] [ 8.78816025e-02 5.72241458e-02 9.94485908e-01 -2.84762365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.496502481 meters Centerline goodness : 0.706318 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.03 [[ 9.92788495e-01 7.68933659e-02 -9.19696378e-02 6.81182545e-01] [-8.14746080e-02 9.95560188e-01 -4.71359874e-02 8.46913726e-04] [ 8.79368651e-02 5.42892562e-02 9.94645557e-01 -2.86431451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.526502481 meters Centerline goodness : 0.704729 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.03 [[ 0.992544 0.07999794 -0.09196047 0.68241585] [-0.0843652 0.99543531 -0.04462127 0.00430355] [ 0.08797109 0.05204683 0.99476239 -0.02899257] [ 0. 0. 0. 1. ]] SLAMing on 37.556502481 meters Centerline goodness : 0.707521 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.03 [[ 0.99237164 0.08302094 -0.09113759 0.68110814] [-0.08703318 0.99536286 -0.04096341 0.00435089] [ 0.08731415 0.04858292 0.99499545 -0.0289647 ] [ 0. 0. 0. 1. ]] SLAMing on 37.586502481 meters Centerline goodness : 0.706793 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.03 [[ 0.99231408 0.08333829 -0.09147403 0.68227179] [-0.08749904 0.99525962 -0.04245248 0.00740167] [ 0.08750249 0.05013008 0.99490215 -0.02871538] [ 0. 0. 0. 1. ]] SLAMing on 37.616502481 meters Centerline goodness : 0.707024 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.03 [[ 0.99207328 0.08650686 -0.09114366 0.6841854 ] [-0.09039679 0.99512437 -0.03944497 0.00956193] [ 0.08728702 0.0473714 0.99505624 -0.03092199] [ 0. 0. 0. 1. ]] SLAMing on 37.646502481 meters Centerline goodness : 0.706666 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.03 [[ 0.99193436 0.08731629 -0.0918808 0.68618787] [-0.09129766 0.99501787 -0.04005204 0.01090804] [ 0.08792584 0.0481175 0.9949642 -0.03097003] [ 0. 0. 0. 1. ]] SLAMing on 37.676502481 meters Centerline goodness : 0.705921 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.03 [[ 0.99160192 0.09108453 -0.09181092 0.68666639] [-0.09477649 0.9948226 -0.03667975 0.01091667] [ 0.08799462 0.04507322 0.99510067 -0.03092305] [ 0. 0. 0. 1. ]] SLAMing on 37.706502481 meters Centerline goodness : 0.706951 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.03 [[ 0.99114444 0.09538877 -0.09237791 0.68800316] [-0.09898012 0.99447024 -0.03509825 0.01380123] [ 0.0885191 0.04393102 0.99510524 -0.02933066] [ 0. 0. 0. 1. ]] SLAMing on 37.736502481 meters Centerline goodness : 0.705432 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99104096 0.09606899 -0.0927823 0.68877513] [-0.09977879 0.99435098 -0.03619848 0.01597202] [ 0.08878062 0.04513188 0.9950282 -0.02840786] [ 0. 0. 0. 1. ]] SLAMing on 37.766502481 meters Centerline goodness : 0.708047 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99059144 0.10034801 -0.09305307 0.69013099] [-0.10381498 0.99404284 -0.03318547 0.01665562] [ 0.08916864 0.04253354 0.99510796 -0.02813137] [ 0. 0. 0. 1. ]] SLAMing on 37.796502481 meters Centerline goodness : 0.705257 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99011587 0.10466355 -0.09336011 0.69286289] [-0.10782941 0.99373098 -0.02952226 0.01721717] [ 0.08968493 0.03929743 0.99519462 -0.02960049] [ 0. 0. 0. 1. ]] SLAMing on 37.826502481 meters Centerline goodness : 0.704819 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99003322 0.105062 -0.09378805 0.69431605] [-0.10829291 0.99366514 -0.03003719 0.01832229] [ 0.09003815 0.03989439 0.99513897 -0.02989903] [ 0. 0. 0. 1. ]] SLAMing on 37.856502481 meters Centerline goodness : 0.708911 Centerline is valid? [False, False] Translation: X:0.70, Y:0.02, Z:-0.03 [[ 0.98999513 0.10498449 -0.09427567 0.69532106] [-0.10830504 0.99364015 -0.03081028 0.01895433] [ 0.09044149 0.04071255 0.99506926 -0.02968939] [ 0. 0. 0. 1. ]] SLAMing on 37.886502481 meters Centerline goodness : 0.708515 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99016354 0.10412272 -0.09345917 0.69252902] [-0.10743828 0.9937233 -0.03116118 0.01872151] [ 0.08962797 0.04089575 0.99513535 -0.02833588] [ 0. 0. 0. 1. ]] SLAMing on 37.916502481 meters Centerline goodness : 0.711204 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99031546 0.10310027 -0.09298179 0.69141078] [-0.10641213 0.99382682 -0.03137997 0.01920478] [ 0.08917252 0.04097046 0.99517319 -0.02844989] [ 0. 0. 0. 1. ]] SLAMing on 37.946502481 meters Centerline goodness : 0.711444 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99061545 0.10122612 -0.09183847 0.68923742] [-0.10435815 0.99408855 -0.02995554 0.01728743] [ 0.08826329 0.03925852 0.99532324 -0.02989674] [ 0. 0. 0. 1. ]] SLAMing on 37.976502481 meters Centerline goodness : 0.709524 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.9910171 0.09658005 -0.09250625 0.6899593 ] [-0.10000841 0.99443385 -0.03316074 0.01596811] [ 0.08878868 0.04211427 0.99515977 -0.03075876] [ 0. 0. 0. 1. ]] SLAMing on 38.006502481 meters Centerline goodness : 0.708321 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99113204 0.09571695 -0.09217132 0.68938366] [-0.09915324 0.99451003 -0.03344304 0.01627315] [ 0.08846424 0.04228555 0.9951814 -0.03109404] [ 0. 0. 0. 1. ]] SLAMing on 38.036502481 meters Centerline goodness : 0.704457 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99125343 0.09481933 -0.09179291 0.68822825] [-0.0983459 0.99454784 -0.03467974 0.018563 ] [ 0.08800413 0.04340387 0.99517404 -0.0303058 ] [ 0. 0. 0. 1. ]] SLAMing on 38.066502481 meters Centerline goodness : 0.703440 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.9912582 0.09467945 -0.09188574 0.68819539] [-0.098272 0.99453031 -0.03538461 0.01946814] [ 0.08803296 0.04410508 0.99514066 -0.0297871 ] [ 0. 0. 0. 1. ]] SLAMing on 38.096502481 meters Centerline goodness : 0.703753 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99118178 0.09520695 -0.09216463 0.68856855] [-0.09884418 0.99446131 -0.03572864 0.01954268] [ 0.08825255 0.04452352 0.99510258 -0.02916392] [ 0. 0. 0. 1. ]] SLAMing on 38.126502481 meters Centerline goodness : 0.704029 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99104588 0.09617386 -0.09262103 0.68948853] [-0.09982832 0.99436562 -0.03565567 0.01915857] [ 0.08867003 0.0445826 0.99506282 -0.02881086] [ 0. 0. 0. 1. ]] SLAMing on 38.156502481 meters Centerline goodness : 0.421939 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99073632 0.09822819 -0.09376973 0.69157776] [-0.10199054 0.99412649 -0.03620024 0.01926145] [ 0.08966309 0.04542852 0.99493557 -0.02753418] [ 0. 0. 0. 1. ]] SLAMing on 38.186502481 meters Centerline goodness : 0.707856 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99060322 0.09917922 -0.09417401 0.69196815] [-0.10299335 0.99401098 -0.03653138 0.01939864] [ 0.08998685 0.0458874 0.99488528 -0.02643688] [ 0. 0. 0. 1. ]] SLAMing on 38.216502481 meters Centerline goodness : 0.708278 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.02 [[ 0.99040043 0.10097138 -0.09440212 0.69182707] [-0.10480758 0.99381917 -0.03659007 0.01921244] [ 0.09012409 0.04613287 0.9948615 -0.02473231] [ 0. 0. 0. 1. ]] SLAMing on 38.246502481 meters Centerline goodness : 0.702350 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.02 [[ 0.99027957 0.10173059 -0.09485391 0.69315235] [-0.10557069 0.99374638 -0.03637264 0.0189098 ] [ 0.09056052 0.04603288 0.9948265 -0.02499191] [ 0. 0. 0. 1. ]] SLAMing on 38.276502481 meters Centerline goodness : 0.638375 Centerline is valid? [False, False] Translation: X:0.70, Y:0.02, Z:-0.03 [[ 0.98992728 0.10417814 -0.0958692 0.69648534] [-0.10786448 0.99358081 -0.03409429 0.0158069 ] [ 0.09170192 0.04409175 0.99480987 -0.02657525] [ 0. 0. 0. 1. ]] SLAMing on 38.306502481 meters Centerline goodness : 0.601956 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.03 [[ 0.98980479 0.10462086 -0.09664864 0.69818186] [-0.10831905 0.99354038 -0.0338304 0.01427606] [ 0.09248496 0.04395438 0.99474346 -0.02683434] [ 0. 0. 0. 1. ]] SLAMing on 38.336502481 meters Centerline goodness : 0.652704 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.03 [[ 0.98969983 0.10527604 -0.09701134 0.69778537] [-0.10893778 0.99349263 -0.03324075 0.01061378] [ 0.0928806 0.04346657 0.99472803 -0.02567898] [ 0. 0. 0. 1. ]] SLAMing on 38.366502481 meters Centerline goodness : 0.629551 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.02 [[ 0.98991679 0.10290296 -0.09734333 0.69714109] [-0.10689633 0.99359168 -0.03672521 0.01046578] [ 0.09294039 0.04676055 0.99457304 -0.02431317] [ 0. 0. 0. 1. ]] SLAMing on 38.396502481 meters Centerline goodness : 0.706119 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.02 [[ 0.99019765 0.09978758 -0.09772949 0.6966884 ] [-0.10401384 0.99380554 -0.03913668 0.007225 ] [ 0.09321875 0.04891827 0.99444319 -0.02390908] [ 0. 0. 0. 1. ]] SLAMing on 38.426502481 meters Centerline goodness : 0.701420 Centerline is valid? [False, False] Translation: X:0.70, Y:0.00, Z:-0.03 [[ 9.90236033e-01 9.95460000e-02 -9.75868518e-02 6.96691474e-01] [-1.03447453e-01 9.93991961e-01 -3.57576025e-02 5.88987949e-04] [ 9.34410198e-02 4.55035777e-02 9.94584436e-01 -2.60101188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.456502481 meters Centerline goodness : 0.151757 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.00, Z:-0.03 [[ 0.99027933 0.09933104 -0.09736629 0.69655548] [-0.10308065 0.99408296 -0.03425565 -0.00199252] [ 0.09338752 0.04395924 0.99465891 -0.02717728] [ 0. 0. 0. 1. ]] SLAMing on 38.486502481 meters Centerline goodness : 0.447581 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.01, Z:-0.03 [[ 0.99041702 0.09858776 -0.0967191 0.695909 ] [-0.10203192 0.99428786 -0.03132302 -0.00722036] [ 0.09307856 0.04089129 0.99481872 -0.02955561] [ 0. 0. 0. 1. ]] SLAMing on 38.516502481 meters Centerline goodness : 0.554077 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.03 [[ 0.99050926 0.09815192 -0.09621644 0.69486987] [-0.10141726 0.99440221 -0.02964413 -0.01044927] [ 0.09276821 0.03912079 0.9949189 -0.03040543] [ 0. 0. 0. 1. ]] SLAMing on 38.546502481 meters Centerline goodness : 0.419889 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.03 [[ 0.99089418 0.09431255 -0.09609303 0.69328377] [-0.0977219 0.99471818 -0.03140344 -0.01485103] [ 0.09262375 0.04050788 0.99487685 -0.03034956] [ 0. 0. 0. 1. ]] SLAMing on 38.576502481 meters Centerline goodness : 0.708791 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.03 [[ 0.99097459 0.09392363 -0.09564363 0.69198119] [-0.09720426 0.99480527 -0.03022911 -0.01739133] [ 0.09230756 0.03925325 0.99495653 -0.03052244] [ 0. 0. 0. 1. ]] SLAMing on 38.606502481 meters Centerline goodness : 0.357513 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.03 [[ 0.99102953 0.09343125 -0.0955566 0.69105259] [-0.09651081 0.99493463 -0.02812022 -0.02250853] [ 0.09244526 0.03709022 0.99502673 -0.03083671] [ 0. 0. 0. 1. ]] SLAMing on 38.636502481 meters Centerline goodness : 0.499848 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.03 [[ 0.99105362 0.09322304 -0.09551015 0.6910304 ] [-0.09625094 0.9949746 -0.02759172 -0.02406768] [ 0.09245799 0.03653781 0.99504598 -0.03129029] [ 0. 0. 0. 1. ]] SLAMing on 38.666502481 meters Centerline goodness : 0.340320 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.03 [[ 0.99100003 0.09388337 -0.09541939 0.69078769] [-0.0967804 0.99496111 -0.02619051 -0.02648162] [ 0.09247973 0.03518952 0.99509256 -0.0314442 ] [ 0. 0. 0. 1. ]] SLAMing on 38.696502481 meters Centerline goodness : 0.354308 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.03 [[ 0.99094603 0.09450195 -0.09536951 0.69052059] [-0.09725605 0.99495421 -0.0246451 -0.03001978] [ 0.09255929 0.03369723 0.99513681 -0.03155679] [ 0. 0. 0. 1. ]] SLAMing on 38.726502481 meters Centerline goodness : 0.142036 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.03 [[ 0.99087068 0.09505285 -0.09560461 0.69065491] [-0.09774726 0.99492436 -0.0238953 -0.03210814] [ 0.09284804 0.03302224 0.99513254 -0.03130756] [ 0. 0. 0. 1. ]] SLAMing on 38.756502481 meters Centerline goodness : 0.159130 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.03 [[ 0.99087116 0.0953798 -0.09527354 0.68979576] [-0.09798168 0.9949223 -0.0230046 -0.03420772] [ 0.09259559 0.03212965 0.99518528 -0.03112542] [ 0. 0. 0. 1. ]] SLAMing on 38.786502481 meters Centerline goodness : 0.698359 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.03 [[ 0.99080211 0.09608925 -0.09527867 0.6898323 ] [-0.09862919 0.99487423 -0.02230602 -0.03520259] [ 0.09264692 0.03149811 0.99520069 -0.03108788] [ 0. 0. 0. 1. ]] SLAMing on 38.816502481 meters Centerline goodness : 0.699540 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.03 [[ 0.99060755 0.09766986 -0.09569372 0.69118165] [-0.10015298 0.99474001 -0.02148712 -0.03630338] [ 0.09309172 0.03086931 0.99517889 -0.0313593 ] [ 0. 0. 0. 1. ]] SLAMing on 38.846502481 meters Centerline goodness : 0.397886 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.03 [[ 0.99057042 0.09761975 -0.09612823 0.69234474] [-0.10012308 0.99474144 -0.02156029 -0.03648082] [ 0.09351803 0.03098164 0.99513543 -0.03177865] [ 0. 0. 0. 1. ]] SLAMing on 38.876502481 meters Centerline goodness : 0.708413 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.03 [[ 0.99027501 0.09963145 -0.09710292 0.69474896] [-0.10209016 0.99456022 -0.02067766 -0.03855193] [ 0.09451456 0.03038983 0.99505952 -0.03195031] [ 0. 0. 0. 1. ]] SLAMing on 38.906502481 meters Centerline goodness : 0.671494 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.99009345 0.10069752 -0.09785174 0.69668722] [-0.10317372 0.99445061 -0.02057109 -0.03874366] [ 0.09523727 0.03046303 0.99498838 -0.03215835] [ 0. 0. 0. 1. ]] SLAMing on 38.936502481 meters Centerline goodness : 0.634484 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.98990782 0.10210689 -0.09826844 0.69811877] [-0.10460186 0.99430147 -0.02056784 -0.03801079] [ 0.09560834 0.03063933 0.99494737 -0.03228052] [ 0. 0. 0. 1. ]] SLAMing on 38.966502481 meters Centerline goodness : 0.337295 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.98985685 0.10241285 -0.09846332 0.69823339] [-0.1049525 0.99425643 -0.02095518 -0.0375352 ] [ 0.09575171 0.0310766 0.99492002 -0.03169719] [ 0. 0. 0. 1. ]] SLAMing on 38.996502481 meters Centerline goodness : 0.438093 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.98975892 0.10263383 -0.09921477 0.69908247] [-0.10533531 0.9941851 -0.02237109 -0.03708532] [ 0.09634181 0.0325928 0.99481454 -0.03035494] [ 0. 0. 0. 1. ]] SLAMing on 39.026502481 meters Centerline goodness : 0.714110 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.9896869 0.10292059 -0.09963527 0.6991668 ] [-0.10567573 0.99413998 -0.02276713 -0.03776367] [ 0.0967082 0.03306136 0.99476353 -0.02927172] [ 0. 0. 0. 1. ]] SLAMing on 39.056502481 meters Centerline goodness : 0.716908 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.9896925 0.10266026 -0.09984798 0.69910693] [-0.10552381 0.99413146 -0.02381945 -0.03722936] [ 0.0968167 0.03411027 0.99471756 -0.02838127] [ 0. 0. 0. 1. ]] SLAMing on 39.086502481 meters Centerline goodness : 0.714930 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.98982723 0.10210541 -0.09907846 0.69888286] [-0.10488667 0.99421197 -0.02326698 -0.03494658] [ 0.09612931 0.0334223 0.99480757 -0.0299616 ] [ 0. 0. 0. 1. ]] SLAMing on 39.116502481 meters Centerline goodness : 0.263805 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.98990364 0.10165817 -0.09877447 0.69850429] [-0.10441454 0.99426473 -0.02313556 -0.03429192] [ 0.09585605 0.03321546 0.99484087 -0.03041259] [ 0. 0. 0. 1. ]] SLAMing on 39.146502481 meters Centerline goodness : 0.471005 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99018107 0.10001936 -0.09766053 0.69679567] [-0.10266942 0.99446136 -0.02248523 -0.0345972 ] [ 0.09487066 0.0322912 0.99496575 -0.03178183] [ 0. 0. 0. 1. ]] SLAMing on 39.176502481 meters Centerline goodness : 0.680416 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.99064262 0.09529549 -0.09770348 0.69636887] [-0.09827491 0.99481597 -0.02613867 -0.03516256] [ 0.09470609 0.03549588 0.99487225 -0.03233728] [ 0. 0. 0. 1. ]] SLAMing on 39.206502481 meters Centerline goodness : 0.662055 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99102939 0.0906262 -0.09822244 0.69692771] [-0.09404127 0.99509466 -0.03070589 -0.03405721] [ 0.09495786 0.03966741 0.99469066 -0.03265865] [ 0. 0. 0. 1. ]] SLAMing on 39.236502481 meters Centerline goodness : 0.710573 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99138024 0.08669465 -0.09823062 0.69640003] [-0.09047427 0.99529441 -0.03469076 -0.0318924 ] [ 0.09476089 0.04327908 0.99455884 -0.0324793 ] [ 0. 0. 0. 1. ]] SLAMing on 39.266502481 meters Centerline goodness : 0.710297 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99138392 0.0865108 -0.09835552 0.69701878] [-0.09031535 0.99530143 -0.0349026 -0.03094845] [ 0.09487394 0.04348489 0.99453909 -0.03278787] [ 0. 0. 0. 1. ]] SLAMing on 39.296502481 meters Centerline goodness : 0.510886 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99138069 0.08657659 -0.09833017 0.69723461] [-0.09037716 0.99529698 -0.03486975 -0.03105875] [ 0.09484882 0.04345599 0.99454275 -0.03304518] [ 0. 0. 0. 1. ]] SLAMing on 39.326502481 meters Centerline goodness : 0.715547 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99137747 0.08634754 -0.09856376 0.69759688] [-0.09016893 0.99531165 -0.0349899 -0.03176295] [ 0.09508037 0.04357559 0.99451541 -0.03304296] [ 0. 0. 0. 1. ]] SLAMing on 39.356502481 meters Centerline goodness : 0.715547 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99137747 0.08634754 -0.09856376 0.69759688] [-0.09016893 0.99531165 -0.0349899 -0.03176295] [ 0.09508037 0.04357559 0.99451541 -0.03304296] [ 0. 0. 0. 1. ]] SLAMing on 39.386502481 meters Centerline goodness : 0.593666 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99134924 0.08640644 -0.0987958 0.69795723] [-0.09022339 0.99531216 -0.03483456 -0.03272953] [ 0.09532273 0.0434469 0.99449783 -0.03301405] [ 0. 0. 0. 1. ]] SLAMing on 39.416502481 meters Centerline goodness : 0.716439 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99131924 0.08641194 -0.09909154 0.6989534 ] [-0.09024417 0.99530944 -0.03485839 -0.03263961] [ 0.09561457 0.04349823 0.99446758 -0.0335339 ] [ 0. 0. 0. 1. ]] SLAMing on 39.446502481 meters Centerline goodness : 0.157133 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99124732 0.08702157 -0.09927737 0.69982308] [-0.09080166 0.99528135 -0.03420675 -0.03370147] [ 0.09583219 0.04292189 0.99447167 -0.03408749] [ 0. 0. 0. 1. ]] SLAMing on 39.476502481 meters Centerline goodness : 0.516818 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99120989 0.08702746 -0.09964529 0.7006122 ] [-0.0908053 0.99528747 -0.03401841 -0.03493531] [ 0.09621518 0.0427677 0.99444133 -0.0343211 ] [ 0. 0. 0. 1. ]] SLAMing on 39.506502481 meters Centerline goodness : 0.696860 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.99141339 0.08380014 -0.10038436 0.70117128] [-0.08789675 0.99543852 -0.03709864 -0.03699898] [ 0.09681759 0.04560355 0.99425684 -0.0344487 ] [ 0. 0. 0. 1. ]] SLAMing on 39.536502481 meters Centerline goodness : 0.715651 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.99138074 0.08372412 -0.10076952 0.70197471] [-0.0878229 0.99545085 -0.03694256 -0.03835401] [ 0.09721812 0.04547402 0.99422369 -0.03463035] [ 0. 0. 0. 1. ]] SLAMing on 39.566502481 meters Centerline goodness : 0.520338 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.04 [[ 0.99132475 0.08387088 -0.1011974 0.70331252] [-0.08796481 0.99544777 -0.03668694 -0.03938623] [ 0.09765976 0.04527048 0.9941897 -0.03538293] [ 0. 0. 0. 1. ]] SLAMing on 39.596502481 meters Centerline goodness : 0.716331 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.04 [[ 0.99128778 0.08379499 -0.10162157 0.70475198] [-0.08791596 0.99544911 -0.03676748 -0.03928157] [ 0.09807817 0.04538131 0.99414346 -0.03614556] [ 0. 0. 0. 1. ]] SLAMing on 39.626502481 meters Centerline goodness : 0.142631 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.9912367 0.08366094 -0.10222841 0.70690793] [-0.0878083 0.99545894 -0.03675863 -0.04006215] [ 0.09868892 0.04541301 0.99408156 -0.03742716] [ 0. 0. 0. 1. ]] SLAMing on 39.656502481 meters Centerline goodness : 0.562802 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.99151827 0.07941166 -0.1028849 0.70791591] [-0.08395418 0.99564242 -0.04059386 -0.04084381] [ 0.09921294 0.04888717 0.9938646 -0.03800224] [ 0. 0. 0. 1. ]] SLAMing on 39.686502481 meters Centerline goodness : 0.505185 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.99179384 0.07517281 -0.10341196 0.70837847] [-0.08013478 0.99578172 -0.04468982 -0.04013772] [ 0.09961627 0.05260999 0.99363413 -0.03804263] [ 0. 0. 0. 1. ]] SLAMing on 39.716502481 meters Centerline goodness : 0.718630 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.992085 0.0710515 -0.10353277 0.70766562] [-0.07637395 0.99590481 -0.04838 -0.04026899] [ 0.09967131 0.05590428 0.99344871 -0.03752312] [ 0. 0. 0. 1. ]] SLAMing on 39.746502481 meters Centerline goodness : 0.568348 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.9920699 0.07086625 -0.10380409 0.70825505] [-0.07619137 0.99592455 -0.04826139 -0.04082832] [ 0.09996094 0.05578765 0.99342617 -0.03759071] [ 0. 0. 0. 1. ]] SLAMing on 39.776502481 meters Centerline goodness : 0.485738 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.99205515 0.07064898 -0.10409273 0.70915019] [-0.07595165 0.99596098 -0.04788614 -0.04216157] [ 0.10028919 0.05541171 0.99341412 -0.03791163] [ 0. 0. 0. 1. ]] SLAMing on 39.806502481 meters Centerline goodness : 0.605023 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.99202594 0.07039765 -0.10454044 0.71034419] [-0.0757254 0.99597773 -0.04789597 -0.04286899] [ 0.10074819 0.05543041 0.99336664 -0.03834019] [ 0. 0. 0. 1. ]] SLAMing on 39.836502481 meters Centerline goodness : 0.718517 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.99201177 0.07007135 -0.10489351 0.71142403] [-0.07541051 0.99600495 -0.04782669 -0.04444584] [ 0.10112317 0.05535471 0.99333275 -0.03889844] [ 0. 0. 0. 1. ]] SLAMing on 39.866502481 meters Centerline goodness : 0.688056 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.04 [[ 0.99200475 0.06989797 -0.10507547 0.71204373] [-0.07523322 0.99602466 -0.04769532 -0.0459952 ] [ 0.10132395 0.05521915 0.99331984 -0.03932446] [ 0. 0. 0. 1. ]] SLAMing on 39.896502481 meters Centerline goodness : 0.722342 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.04 [[ 0.99196474 0.07012748 -0.10530003 0.71250867] [-0.07544627 0.99602252 -0.04740255 -0.04627288] [ 0.10155698 0.05496615 0.99331007 -0.03933991] [ 0. 0. 0. 1. ]] SLAMing on 39.926502481 meters Centerline goodness : 0.719324 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.04 [[ 0.99189147 0.07071981 -0.10559361 0.71348725] [-0.07600299 0.99600529 -0.04687229 -0.04634318] [ 0.101857 0.05451765 0.99330407 -0.03978354] [ 0. 0. 0. 1. ]] SLAMing on 39.956502481 meters Centerline goodness : 0.718572 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.04 [[ 0.99185242 0.07074155 -0.10594528 0.71453835] [-0.07604749 0.99600039 -0.04690413 -0.0459938 ] [ 0.10220347 0.05457885 0.99326512 -0.04018029] [ 0. 0. 0. 1. ]] SLAMing on 39.986502481 meters Centerline goodness : 0.602915 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.04 [[ 0.99178422 0.07087098 -0.1064958 0.71586686] [-0.07619552 0.99599469 -0.04678484 -0.04614412] [ 0.10275357 0.05451497 0.99321187 -0.04052426] [ 0. 0. 0. 1. ]] SLAMing on 40.016502481 meters Centerline goodness : 0.691355 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.04 [[ 0.99175062 0.0706887 -0.106929 0.71668795] [-0.07605507 0.99599694 -0.04696519 -0.04620299] [ 0.10318105 0.05471025 0.99315681 -0.04057675] [ 0. 0. 0. 1. ]] SLAMing on 40.046502481 meters Centerline goodness : 0.713759 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.04 [[ 0.99171354 0.07060512 -0.10732741 0.71715254] [-0.07601969 0.99598762 -0.04721936 -0.04613433] [ 0.10356284 0.05498708 0.99310179 -0.04038842] [ 0. 0. 0. 1. ]] SLAMing on 40.076502481 meters Centerline goodness : 0.722223 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.04 [[ 0.99167867 0.07057481 -0.10766895 0.71789095] [-0.07602989 0.99597701 -0.0474262 -0.04514888] [ 0.1038887 0.05521761 0.99305496 -0.04042036] [ 0. 0. 0. 1. ]] SLAMing on 40.106502481 meters Centerline goodness : 0.719458 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99166602 0.07050915 -0.10782843 0.71839899] [-0.07598842 0.99597309 -0.04757481 -0.0443703 ] [ 0.10403976 0.05537204 0.99303055 -0.0405564 ] [ 0. 0. 0. 1. ]] SLAMing on 40.136502481 meters Centerline goodness : 0.718523 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99162106 0.07071386 -0.10810746 0.71907596] [-0.0762131 0.99595436 -0.04760757 -0.04280079] [ 0.10430358 0.05544788 0.99299864 -0.04051617] [ 0. 0. 0. 1. ]] SLAMing on 40.166502481 meters Centerline goodness : 0.663260 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99159237 0.07050658 -0.10850528 0.71986434] [-0.07606761 0.99594709 -0.04799067 -0.04173199] [ 0.10468186 0.05584092 0.99293681 -0.04048387] [ 0. 0. 0. 1. ]] SLAMing on 40.196502481 meters Centerline goodness : 0.715252 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99157896 0.07022721 -0.10880856 0.7202167 ] [-0.07587488 0.99592933 -0.04865977 -0.0396754 ] [ 0.10494839 0.05650585 0.99287105 -0.04007911] [ 0. 0. 0. 1. ]] SLAMing on 40.226502481 meters Centerline goodness : 0.715609 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99156525 0.0700583 -0.10904212 0.72100895] [-0.07578221 0.99590686 -0.04926042 -0.03734749] [ 0.10514469 0.05710838 0.99281581 -0.04029758] [ 0. 0. 0. 1. ]] SLAMing on 40.256502481 meters Centerline goodness : 0.713408 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99155393 0.0697973 -0.10931213 0.72181999] [-0.07559218 0.99589483 -0.04979272 -0.03585095] [ 0.10538799 0.05763531 0.99275956 -0.04053602] [ 0. 0. 0. 1. ]] SLAMing on 40.286502481 meters Centerline goodness : 0.712815 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:-0.04 [[ 0.99151793 0.06997 -0.10952802 0.72220521] [-0.07582585 0.99585457 -0.05024057 -0.03332493] [ 0.10555865 0.05811948 0.9927132 -0.04035017] [ 0. 0. 0. 1. ]] SLAMing on 40.316502481 meters Centerline goodness : 0.563754 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:-0.04 [[ 0.99149567 0.07002365 -0.10969513 0.722537 ] [-0.07592642 0.99582939 -0.05058656 -0.03140791] [ 0.10569538 0.05848512 0.99267718 -0.04024892] [ 0. 0. 0. 1. ]] SLAMing on 40.346502481 meters Centerline goodness : 0.716547 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:-0.04 [[ 0.99118595 0.07358048 -0.11016498 0.72443074] [-0.07919519 0.99572758 -0.04748374 -0.03004696] [ 0.10620044 0.05578975 0.99277841 -0.04069484] [ 0. 0. 0. 1. ]] SLAMing on 40.376502481 meters Centerline goodness : 0.712776 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99111807 0.07312525 -0.11107508 0.72704957] [-0.07887566 0.99571442 -0.04828473 -0.02912723] [ 0.10706822 0.05661699 0.99263836 -0.04179967] [ 0. 0. 0. 1. ]] SLAMing on 40.406502481 meters Centerline goodness : 0.713288 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99107451 0.07292357 -0.11159509 0.72823573] [-0.07873088 0.99571331 -0.04854338 -0.02911524] [ 0.10757676 0.05689609 0.99256742 -0.04210329] [ 0. 0. 0. 1. ]] SLAMing on 40.436502481 meters Centerline goodness : 0.716378 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.9910431 0.07299235 -0.11182887 0.7286614 ] [-0.07881291 0.99570706 -0.04853842 -0.02909695] [ 0.10780586 0.05691722 0.99254135 -0.04210612] [ 0. 0. 0. 1. ]] SLAMing on 40.466502481 meters Centerline goodness : 0.716888 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99075763 0.07738929 -0.11140112 0.72784918] [-0.08275311 0.99558267 -0.04435176 -0.02971518] [ 0.10747667 0.05316064 0.99278533 -0.04133479] [ 0. 0. 0. 1. ]] SLAMing on 40.496502481 meters Centerline goodness : 0.717124 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99069799 0.07760292 -0.11178229 0.72885543] [-0.08300389 0.99555539 -0.04449524 -0.02857508] [ 0.1078325 0.05335971 0.99273606 -0.04159738] [ 0. 0. 0. 1. ]] SLAMing on 40.526502481 meters Centerline goodness : 0.714771 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99031146 0.08112276 -0.11270448 0.73200594] [-0.08626935 0.99540479 -0.04155596 -0.02822905] [ 0.10881545 0.05087628 0.99275919 -0.04266468] [ 0. 0. 0. 1. ]] SLAMing on 40.556502481 meters Centerline goodness : 0.454526 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99025886 0.08081399 -0.11338645 0.73369272] [-0.08605697 0.99539922 -0.04212582 -0.02751801] [ 0.10946043 0.05147316 0.99265751 -0.04317173] [ 0. 0. 0. 1. ]] SLAMing on 40.586502481 meters Centerline goodness : 0.354276 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99016452 0.08050475 -0.11442552 0.73574724] [-0.08587627 0.99538571 -0.04280829 -0.02692777] [ 0.11045126 0.05221368 0.99250907 -0.04348385] [ 0. 0. 0. 1. ]] SLAMing on 40.616502481 meters Centerline goodness : 0.666127 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99014187 0.08031431 -0.11475492 0.73635342] [-0.08572062 0.99539203 -0.04297294 -0.02697859] [ 0.11077479 0.05238617 0.99246392 -0.04349947] [ 0. 0. 0. 1. ]] SLAMing on 40.646502481 meters Centerline goodness : 0.689577 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99013055 0.08047538 -0.11473973 0.73616135] [-0.08584702 0.99539453 -0.04266175 -0.02633099] [ 0.11077808 0.05209077 0.9924791 -0.04302345] [ 0. 0. 0. 1. ]] SLAMing on 40.676502481 meters Centerline goodness : 0.706091 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99011075 0.08015731 -0.11513255 0.73706068] [-0.08557984 0.9954053 -0.04294628 -0.02542163] [ 0.1111611 0.0523746 0.99242134 -0.04302861] [ 0. 0. 0. 1. ]] SLAMing on 40.706502481 meters Centerline goodness : 0.396977 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99039336 0.07600745 -0.11551562 0.73699476] [-0.08187193 0.995539 -0.04689437 -0.02474791] [ 0.11143599 0.05590136 0.99219809 -0.04273594] [ 0. 0. 0. 1. ]] SLAMing on 40.736502481 meters Centerline goodness : 0.543406 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99065032 0.07188105 -0.11595286 0.73692675] [-0.07818951 0.99564332 -0.05080144 -0.02432886] [ 0.11179603 0.05939276 0.99195471 -0.04233678] [ 0. 0. 0. 1. ]] SLAMing on 40.766502481 meters Centerline goodness : 0.690318 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99096944 0.06766961 -0.1157601 0.73584673] [-0.07434324 0.9957514 -0.05433452 -0.02460294] [ 0.11159148 0.06244983 0.99178998 -0.04196493] [ 0. 0. 0. 1. ]] SLAMing on 40.796502481 meters Centerline goodness : 0.442579 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99147165 0.06043389 -0.11546305 0.73735719] [-0.06598505 0.99681112 -0.04487267 -0.02555472] [ 0.11238302 0.05210882 0.9922977 -0.04216195] [ 0. 0. 0. 1. ]] SLAMing on 40.826502481 meters Centerline goodness : 0.703696 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99147116 0.06010936 -0.11563656 0.73782469] [-0.06566519 0.99683333 -0.04484853 -0.02609795] [ 0.11257456 0.05205932 0.99227859 -0.04220577] [ 0. 0. 0. 1. ]] SLAMing on 40.856502481 meters Centerline goodness : 0.704447 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99170427 0.05620099 -0.11560313 0.73607476] [-0.06213633 0.99689374 -0.04839366 -0.02677993] [ 0.11252427 0.05517535 0.99211591 -0.04078246] [ 0. 0. 0. 1. ]] SLAMing on 40.886502481 meters Centerline goodness : 0.157314 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99164862 0.05592913 -0.11621082 0.73650113] [-0.06191252 0.99690106 -0.04852955 -0.02775769] [ 0.11313647 0.05531916 0.99203827 -0.04003298] [ 0. 0. 0. 1. ]] SLAMing on 40.916502481 meters Centerline goodness : 0.559417 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99138492 0.05974403 -0.11656157 0.7375091 ] [-0.06540267 0.99682844 -0.04533809 -0.02722258] [ 0.11348321 0.05257093 0.9921481 -0.04005126] [ 0. 0. 0. 1. ]] SLAMing on 40.946502481 meters Centerline goodness : 0.517187 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99108404 0.06362801 -0.11706369 0.73941848] [-0.06895719 0.99673312 -0.04204742 -0.02595057] [ 0.11400587 0.04974491 0.9922339 -0.04049167] [ 0. 0. 0. 1. ]] SLAMing on 40.976502481 meters Centerline goodness : 0.707907 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99078468 0.06781996 -0.11724406 0.74070293] [-0.07277292 0.99660561 -0.03848849 -0.02503088] [ 0.1142358 0.046666 0.99235703 -0.04092355] [ 0. 0. 0. 1. ]] SLAMing on 41.006502481 meters Centerline goodness : 0.713253 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99040944 0.07241655 -0.11766469 0.74240169] [-0.07702249 0.99641221 -0.03507483 -0.02355277] [ 0.11470254 0.04380127 0.99243376 -0.04141341] [ 0. 0. 0. 1. ]] SLAMing on 41.036502481 meters Centerline goodness : 0.156201 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99035437 0.07248323 -0.11808642 0.74355417] [-0.07715448 0.99638791 -0.0354729 -0.02230925] [ 0.11508869 0.04424164 0.99236952 -0.04179292] [ 0. 0. 0. 1. ]] SLAMing on 41.066502481 meters Centerline goodness : 0.538206 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99002258 0.07667382 -0.11822191 0.74391997] [-0.08094273 0.99621345 -0.03173389 -0.02252563] [ 0.1153411 0.04098647 0.99247999 -0.04128916] [ 0. 0. 0. 1. ]] SLAMing on 41.096502481 meters Centerline goodness : 0.717396 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.98997101 0.07689466 -0.11850996 0.74409609] [-0.08117985 0.99619336 -0.03175887 -0.02220017] [ 0.11561675 0.04106098 0.99244484 -0.04087322] [ 0. 0. 0. 1. ]] SLAMing on 41.126502481 meters Centerline goodness : 0.650043 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.98993667 0.07680921 -0.11885173 0.74459066] [-0.08110896 0.9961989 -0.03176625 -0.02243236] [ 0.11596002 0.04108652 0.99240373 -0.04067546] [ 0. 0. 0. 1. ]] SLAMing on 41.156502481 meters Centerline goodness : 0.495615 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.98990575 0.07649807 -0.11930909 0.74481886] [-0.08078804 0.99623224 -0.03153743 -0.02421899] [ 0.11644701 0.04085783 0.99235615 -0.03996562] [ 0. 0. 0. 1. ]] SLAMing on 41.186502481 meters Centerline goodness : 0.569868 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.9898912 0.07620474 -0.11961713 0.74536324] [-0.08049058 0.99626035 -0.03140985 -0.02547084] [ 0.11677623 0.04072039 0.99232311 -0.03992588] [ 0. 0. 0. 1. ]] SLAMing on 41.216502481 meters Centerline goodness : 0.717940 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99016217 0.07241492 -0.11972871 0.74511188] [-0.07705966 0.9964251 -0.03462418 -0.02619825] [ 0.11679339 0.04350981 0.9922027 -0.03992387] [ 0. 0. 0. 1. ]] SLAMing on 41.246502481 meters Centerline goodness : 0.717940 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99016217 0.07241492 -0.11972871 0.74511188] [-0.07705966 0.9964251 -0.03462418 -0.02619825] [ 0.11679339 0.04350981 0.9922027 -0.03992387] [ 0. 0. 0. 1. ]] SLAMing on 41.276502481 meters Centerline goodness : 0.481496 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99014563 0.07209711 -0.12005681 0.74567005] [-0.07675069 0.99645 -0.03459362 -0.02721865] [ 0.1171365 0.04346717 0.99216412 -0.03987337] [ 0. 0. 0. 1. ]] SLAMing on 41.306502481 meters Centerline goodness : 0.314373 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99039075 0.06771118 -0.12058755 0.74647687] [-0.07281494 0.99660487 -0.03842812 -0.02792629] [ 0.11757612 0.04683943 0.99195863 -0.04026956] [ 0. 0. 0. 1. ]] SLAMing on 41.336502481 meters Centerline goodness : 0.726676 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99038424 0.0673126 -0.12086387 0.74700531] [-0.07243018 0.99663187 -0.03845501 -0.02887961] [ 0.11786828 0.04683943 0.99192396 -0.04029283] [ 0. 0. 0. 1. ]] SLAMing on 41.366502481 meters Centerline goodness : 0.453865 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99039253 0.06688697 -0.1210321 0.74798562] [-0.07203482 0.9966524 -0.03866486 -0.02845223] [ 0.11804076 0.04701192 0.99189529 -0.04088068] [ 0. 0. 0. 1. ]] SLAMing on 41.396502481 meters Centerline goodness : 0.364802 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99036123 0.06668067 -0.12140147 0.74928624] [-0.07188704 0.9966493 -0.0390184 -0.02722963] [ 0.11839292 0.04736951 0.9918363 -0.04141806] [ 0. 0. 0. 1. ]] SLAMing on 41.426502481 meters Centerline goodness : 0.408304 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.02, Z:-0.04 [[ 0.99027315 0.06645714 -0.12223969 0.75079327] [-0.07182324 0.99661402 -0.0400239 -0.02446866] [ 0.11916592 0.04841425 0.99169327 -0.04131206] [ 0. 0. 0. 1. ]] SLAMing on 41.456502481 meters Centerline goodness : 0.321503 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.02, Z:-0.04 [[ 0.99022434 0.06624918 -0.12274688 0.75106635] [-0.0717107 0.99659804 -0.04061919 -0.02333516] [ 0.11963832 0.04902437 0.99160642 -0.04053349] [ 0. 0. 0. 1. ]] SLAMing on 41.486502481 meters Centerline goodness : 0.600778 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.02, Z:-0.04 [[ 0.99019943 0.06643944 -0.12284498 0.74973219] [-0.07202187 0.99653638 -0.04157027 -0.0198115 ] [ 0.11965759 0.05001039 0.99155485 -0.03867857] [ 0. 0. 0. 1. ]] SLAMing on 41.516502481 meters Centerline goodness : 0.142521 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.02, Z:-0.04 [[ 0.99016429 0.06650513 -0.1230924 0.75017895] [-0.07216518 0.99650357 -0.04210483 -0.01733025] [ 0.11986183 0.05057369 0.99150161 -0.03849912] [ 0. 0. 0. 1. ]] SLAMing on 41.546502481 meters Centerline goodness : 0.722850 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.01, Z:-0.04 [[ 0.98982274 0.07046662 -0.12363416 0.75205227] [-0.07580922 0.99635745 -0.03904867 -0.01477235] [ 0.12043219 0.04802387 0.99155927 -0.03871698] [ 0. 0. 0. 1. ]] SLAMing on 41.576502481 meters Centerline goodness : 0.554627 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.01, Z:-0.04 [[ 0.98976641 0.070234 -0.12421612 0.75389173] [-0.07568349 0.99634108 -0.03970465 -0.01273853] [ 0.120973 0.04869944 0.99146049 -0.03940389] [ 0. 0. 0. 1. ]] SLAMing on 41.606502481 meters Centerline goodness : 0.242948 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.04 [[ 0.98950034 0.07178619 -0.1254425 0.75862482] [-0.07714991 0.99627857 -0.03843049 -0.01233167] [ 0.1222169 0.04770486 0.99135628 -0.04156978] [ 0. 0. 0. 1. ]] SLAMing on 41.636502481 meters Centerline goodness : 0.134365 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.04 [[ 0.98949159 0.07091347 -0.12600662 0.7605328 ] [-0.07638192 0.99631154 -0.039104 -0.0117042 ] [ 0.12276885 0.0483177 0.9912584 -0.04238895] [ 0. 0. 0. 1. ]] SLAMing on 41.666502481 meters Centerline goodness : 0.145936 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.04 [[ 0.98947601 0.07056925 -0.12632185 0.76121074] [-0.07606375 0.99633178 -0.03920835 -0.01166714] [ 0.12309157 0.04840424 0.99121415 -0.04237637] [ 0. 0. 0. 1. ]] SLAMing on 41.696502481 meters Centerline goodness : 0.711901 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.04 [[ 0.98945571 0.07013651 -0.12672122 0.76219876] [-0.07567178 0.99635398 -0.0394021 -0.01162759] [ 0.12349567 0.04857586 0.99115549 -0.04256498] [ 0. 0. 0. 1. ]] SLAMing on 41.726502481 meters Centerline goodness : 0.586223 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98949872 0.06732634 -0.12790402 0.76569616] [-0.07316467 0.99645586 -0.04150478 -0.01233081] [ 0.12465635 0.05042698 0.99091771 -0.04385192] [ 0. 0. 0. 1. ]] SLAMing on 41.756502481 meters Centerline goodness : 0.469371 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98949242 0.06673843 -0.12826039 0.76642313] [-0.07260885 0.99649057 -0.04164722 -0.01335901] [ 0.1250308 0.05052245 0.99086567 -0.04392746] [ 0. 0. 0. 1. ]] SLAMing on 41.786502481 meters Centerline goodness : 0.497223 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98970233 0.06204882 -0.12899319 0.76748529] [-0.06844546 0.99660495 -0.04575797 -0.01253871] [ 0.12571602 0.05411577 0.9905892 -0.04394063] [ 0. 0. 0. 1. ]] SLAMing on 41.816502481 meters Centerline goodness : 0.328264 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98977072 0.06136809 -0.12879392 0.76658258] [-0.06781295 0.99662491 -0.04626232 -0.01159944] [ 0.1255202 0.05452298 0.9905917 -0.04313525] [ 0. 0. 0. 1. ]] SLAMing on 41.846502481 meters Centerline goodness : 0.552539 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98975144 0.06102241 -0.129106 0.76693303] [-0.06754072 0.99662189 -0.04672324 -0.01017414] [ 0.1258187 0.0549643 0.99052944 -0.04268796] [ 0. 0. 0. 1. ]] SLAMing on 41.876502481 meters Centerline goodness : 0.516424 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98949147 0.06464054 -0.12933768 0.76759795] [-0.07080837 0.99653367 -0.04366705 -0.00732603] [ 0.12606669 0.05236636 0.99063866 -0.04202438] [ 0. 0. 0. 1. ]] SLAMing on 41.906502481 meters Centerline goodness : 0.707784 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.00, Z:-0.04 [[ 0.98946082 0.06466423 -0.12956011 0.76815285] [-0.07090303 0.99650657 -0.04412963 -0.0049933 ] [ 0.12625389 0.05285074 0.99058909 -0.04197168] [ 0. 0. 0. 1. ]] SLAMing on 41.936502481 meters Centerline goodness : 0.706700 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.00, Z:-0.04 [[ 0.98946475 0.06445475 -0.12963444 0.76745224] [-0.07081952 0.99646915 -0.04509794 -0.00123933] [ 0.12626994 0.05380347 0.99053576 -0.04068696] [ 0. 0. 0. 1. ]] SLAMing on 41.966502481 meters Centerline goodness : 0.173550 Centerline is valid? [False, False] Translation: X:0.77, Y:0.00, Z:-0.04 [[ 0.98946501 0.06409929 -0.12980864 0.76763621] [-0.07056795 0.99645236 -0.04585695 0.00100371] [ 0.12640872 0.05453418 0.9904781 -0.04033233] [ 0. 0. 0. 1. ]] SLAMing on 41.996502481 meters Centerline goodness : 0.505348 Centerline is valid? [False, False] Translation: X:0.77, Y:0.00, Z:-0.04 [[ 0.98938976 0.06393764 -0.13046029 0.76914837] [-0.07058169 0.99640041 -0.04695157 0.00459798] [ 0.12698871 0.05566151 0.99034119 -0.04046118] [ 0. 0. 0. 1. ]] SLAMing on 42.026502481 meters Centerline goodness : 0.612846 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.04 [[ 0.98909249 0.06754105 -0.1308979 0.77080623] [-0.07385074 0.99630002 -0.04395836 0.0060079 ] [ 0.12744459 0.05314579 0.99042082 -0.04070363] [ 0. 0. 0. 1. ]] SLAMing on 42.056502481 meters Centerline goodness : 0.526160 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.04 [[ 0.98905067 0.06742457 -0.1312734 0.77171551] [-0.07380596 0.99628539 -0.04436334 0.0077092 ] [ 0.12779459 0.05356635 0.99035306 -0.04075221] [ 0. 0. 0. 1. ]] SLAMing on 42.086502481 meters Centerline goodness : 0.514054 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.04 [[ 0.9889816 0.06743102 -0.13178942 0.77310496] [-0.07389664 0.99625931 -0.04479598 0.00999011] [ 0.1282758 0.05404119 0.99026505 -0.04097048] [ 0. 0. 0. 1. ]] SLAMing on 42.116502481 meters Centerline goodness : 0.691837 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.04 [[ 0.98895714 0.066974 -0.13220535 0.77449751] [-0.07352448 0.9962641 -0.045299 0.01072035] [ 0.12867759 0.0545191 0.99018672 -0.04154858] [ 0. 0. 0. 1. ]] SLAMing on 42.146502481 meters Centerline goodness : 0.631759 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.04 [[ 0.98897346 0.06653541 -0.13230469 0.7749076 ] [-0.07311576 0.9962845 -0.04551129 0.01009018] [ 0.128785 0.05468302 0.99016372 -0.04177484] [ 0. 0. 0. 1. ]] SLAMing on 42.176502481 meters Centerline goodness : 0.644198 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98892689 0.06626303 -0.13278861 0.77582876] [-0.07286213 0.99630524 -0.04546413 0.00908624] [ 0.1292854 0.05463596 0.9901011 -0.04179926] [ 0. 0. 0. 1. ]] SLAMing on 42.206502481 meters Centerline goodness : 0.700768 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98890694 0.06572131 -0.13320577 0.77694021] [-0.07235607 0.99633635 -0.04559032 0.0083325 ] [ 0.12972149 0.05472283 0.99003926 -0.04206379] [ 0. 0. 0. 1. ]] SLAMing on 42.236502481 meters Centerline goodness : 0.709164 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98888586 0.06562061 -0.13341172 0.77752049] [-0.07227252 0.99634017 -0.04563941 0.0086571 ] [ 0.12992857 0.05477417 0.99000927 -0.04217115] [ 0. 0. 0. 1. ]] SLAMing on 42.266502480999996 meters Centerline goodness : 0.520435 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.9888773 0.06577179 -0.13340077 0.7773528 ] [-0.07240664 0.99633656 -0.04550528 0.00908857] [ 0.1299191 0.05465824 0.99001692 -0.04186457] [ 0. 0. 0. 1. ]] SLAMing on 42.296502481 meters Centerline goodness : 0.611094 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98884148 0.06551413 -0.13379246 0.77793152] [-0.07218753 0.99634596 -0.0456475 0.00895113] [ 0.13031302 0.05479628 0.98995752 -0.04167314] [ 0. 0. 0. 1. ]] SLAMing on 42.326502481 meters Centerline goodness : 0.670773 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98883169 0.06494296 -0.13414282 0.77862741] [-0.07169056 0.99636126 -0.04609455 0.00955574] [ 0.13066119 0.05519653 0.98988939 -0.04155703] [ 0. 0. 0. 1. ]] SLAMing on 42.356502481 meters Centerline goodness : 0.691181 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98881463 0.06448891 -0.1344872 0.77947796] [-0.07129427 0.99637501 -0.04641095 0.00966658] [ 0.13100669 0.05548 0.98982787 -0.04169005] [ 0. 0. 0. 1. ]] SLAMing on 42.386502481 meters Centerline goodness : 0.627405 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98905919 0.05972526 -0.13488815 0.78013905] [-0.06707158 0.99646491 -0.05058736 0.0097376 ] [ 0.13138996 0.05908106 0.98956865 -0.0420104 ] [ 0. 0. 0. 1. ]] SLAMing on 42.416502481 meters Centerline goodness : 0.548720 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98920479 0.05862522 -0.13430176 0.77942744] [-0.06596523 0.99652448 -0.05086788 0.00864779] [ 0.13085285 0.059178 0.98963402 -0.0422298 ] [ 0. 0. 0. 1. ]] SLAMing on 42.446502481 meters Centerline goodness : 0.714412 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98921137 0.0581789 -0.13444729 0.7801779 ] [-0.06555932 0.99653776 -0.05113193 0.00914888] [ 0.131007 0.05939456 0.98960065 -0.04256959] [ 0. 0. 0. 1. ]] SLAMing on 42.476502481 meters Centerline goodness : 0.719075 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98905217 0.06107071 -0.13433608 0.78122806] [-0.06809071 0.99650955 -0.04829468 0.01030848] [ 0.13091779 0.056913 0.98975827 -0.04304878] [ 0. 0. 0. 1. ]] SLAMing on 42.506502481 meters Centerline goodness : 0.717764 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98900576 0.06065444 -0.13486529 0.78273067] [-0.06779594 0.9964951 -0.04900234 0.01197738] [ 0.13142039 0.05760692 0.98965152 -0.04346986] [ 0. 0. 0. 1. ]] SLAMing on 42.536502481 meters Centerline goodness : 0.717515 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98895258 0.06038514 -0.13537515 0.78402892] [-0.06768538 0.99645384 -0.04998428 0.01483153] [ 0.13187678 0.058595 0.98953279 -0.04371117] [ 0. 0. 0. 1. ]] SLAMing on 42.566502481 meters Centerline goodness : 0.191926 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:-0.04 [[ 0.98891965 0.06023456 -0.1356824 0.78461246] [-0.0676117 0.99643632 -0.05043129 0.0162875 ] [ 0.13216117 0.05904621 0.98946802 -0.04359623] [ 0. 0. 0. 1. ]] SLAMing on 42.596502481 meters Centerline goodness : 0.175558 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:-0.04 [[ 0.98874128 0.06377267 -0.13536514 0.78370524] [-0.07075381 0.996367 -0.0473994 0.01799612] [ 0.13185057 0.05644335 0.98966134 -0.04245899] [ 0. 0. 0. 1. ]] SLAMing on 42.626502481 meters Centerline goodness : 0.181311 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:-0.04 [[ 0.98871419 0.06364343 -0.1356236 0.78420164] [-0.07069226 0.9963521 -0.04780273 0.01949952] [ 0.13208653 0.05685077 0.98960656 -0.04231742] [ 0. 0. 0. 1. ]] SLAMing on 42.656502481 meters Centerline goodness : 0.545346 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:-0.04 [[ 0.98867312 0.06361962 -0.13593385 0.78481496] [-0.07074979 0.99632511 -0.04827777 0.0212341 ] [ 0.1323629 0.05734822 0.98954093 -0.04220206] [ 0. 0. 0. 1. ]] SLAMing on 42.686502481 meters Centerline goodness : 0.699809 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.04 [[ 0.98862479 0.06330063 -0.13643336 0.78601992] [-0.07051279 0.99632187 -0.04868956 0.0219157 ] [ 0.13284946 0.057756 0.989452 -0.04242746] [ 0. 0. 0. 1. ]] SLAMing on 42.716502481 meters Centerline goodness : 0.530042 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.04 [[ 0.98852389 0.06345385 -0.13709169 0.78772756] [-0.07074501 0.99629122 -0.04897906 0.02356196] [ 0.13347534 0.05811553 0.98934671 -0.04290145] [ 0. 0. 0. 1. ]] SLAMing on 42.746502481 meters Centerline goodness : 0.712645 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.04 [[ 0.98829209 0.06570584 -0.13770071 0.79054028] [-0.07276823 0.99624591 -0.04689223 0.02361601] [ 0.13410268 0.05636346 0.98936325 -0.04405876] [ 0. 0. 0. 1. ]] SLAMing on 42.776502481 meters Centerline goodness : 0.653278 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.05 [[ 0.98799037 0.06891606 -0.13829537 0.79337293] [-0.07564935 0.99616186 -0.04403093 0.02397387] [ 0.13473014 0.05396409 0.98941178 -0.04520927] [ 0. 0. 0. 1. ]] SLAMing on 42.806502481 meters Centerline goodness : 0.648596 Centerline is valid? [False, False] Translation: X:0.80, Y:0.02, Z:-0.05 [[ 0.98794271 0.06805651 -0.13905935 0.79534153] [-0.07493667 0.99617924 -0.0448489 0.02361975] [ 0.13547578 0.05472879 0.98926795 -0.04579957] [ 0. 0. 0. 1. ]] SLAMing on 42.836502481 meters Centerline goodness : 0.687807 Centerline is valid? [False, False] Translation: X:0.80, Y:0.02, Z:-0.05 [[ 0.9879078 0.06783664 -0.13941438 0.7958827 ] [-0.07476228 0.9961833 -0.04504926 0.02359503] [ 0.13582629 0.05492746 0.98920887 -0.0456725 ] [ 0. 0. 0. 1. ]] SLAMing on 42.866502481 meters Centerline goodness : 0.682717 Centerline is valid? [False, False] Translation: X:0.80, Y:0.02, Z:-0.05 [[ 0.98789078 0.06770262 -0.1396 0.79633564] [-0.07467883 0.99617593 -0.04534962 0.02455373] [ 0.13599587 0.05522564 0.98916897 -0.04568224] [ 0. 0. 0. 1. ]] SLAMing on 42.896502481 meters Centerline goodness : 0.718909 Centerline is valid? [False, False] Translation: X:0.80, Y:0.02, Z:-0.04 [[ 0.98738642 0.06987099 -0.14207784 0.80091938] [-0.07643956 0.99621826 -0.04130575 0.0249715 ] [ 0.13865446 0.0516451 0.98899329 -0.04308161] [ 0. 0. 0. 1. ]] SLAMing on 42.926502481 meters Centerline goodness : 0.719102 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.04 [[ 0.98735174 0.06962743 -0.14243796 0.80195861] [-0.07626269 0.99621704 -0.04166072 0.02588199] [ 0.13899839 0.05199649 0.9889266 -0.04334123] [ 0. 0. 0. 1. ]] SLAMing on 42.956502481 meters Centerline goodness : 0.608177 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.04 [[ 0.98735944 0.06792675 -0.1432037 0.80448841] [-0.07479683 0.99626506 -0.04314345 0.02503971] [ 0.13973825 0.05330928 0.98875242 -0.0445695 ] [ 0. 0. 0. 1. ]] SLAMing on 42.986502481 meters Centerline goodness : 0.615340 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.05 [[ 0.98734175 0.06643251 -0.14402425 0.8069241 ] [-0.07349846 0.99631081 -0.0443028 0.02383071] [ 0.14054977 0.05432756 0.98858195 -0.04555259] [ 0. 0. 0. 1. ]] SLAMing on 43.016502480999996 meters Centerline goodness : 0.540718 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.05 [[ 0.98754517 0.06245805 -0.14440753 0.80728023] [-0.07001515 0.99639758 -0.04785121 0.02330604] [ 0.14089862 0.05736594 0.98836063 -0.04570815] [ 0. 0. 0. 1. ]] SLAMing on 43.046502481 meters Centerline goodness : 0.651367 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.05 [[ 0.98751334 0.06254453 -0.14458763 0.80728997] [-0.07007871 0.9964046 -0.04761132 0.02303458] [ 0.14108995 0.05714933 0.98834588 -0.04530086] [ 0. 0. 0. 1. ]] SLAMing on 43.076502481 meters Centerline goodness : 0.697494 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98729795 0.06684009 -0.14413592 0.80644699] [-0.07374816 0.99634409 -0.04312378 0.02150043] [ 0.14072658 0.05320578 0.98861781 -0.04449977] [ 0. 0. 0. 1. ]] SLAMing on 43.106502481 meters Centerline goodness : 0.721683 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98723883 0.06738216 -0.14428837 0.80600659] [-0.07423612 0.99632821 -0.04265094 0.02072564] [ 0.14088466 0.05281807 0.98861609 -0.04368678] [ 0. 0. 0. 1. ]] SLAMing on 43.136502481 meters Centerline goodness : 0.720230 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98719056 0.06718025 -0.14471216 0.8065518 ] [-0.0740714 0.99633561 -0.04276427 0.020064 ] [ 0.14130896 0.05293552 0.98854924 -0.04339246] [ 0. 0. 0. 1. ]] SLAMing on 43.166502481 meters Centerline goodness : 0.630705 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98715176 0.0672442 -0.14494698 0.80672944] [-0.07414623 0.99633076 -0.04274749 0.01956601] [ 0.14154061 0.05294553 0.98851557 -0.04313154] [ 0. 0. 0. 1. ]] SLAMing on 43.196502481 meters Centerline goodness : 0.630705 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98715176 0.0672442 -0.14494698 0.80672944] [-0.07414623 0.99633076 -0.04274749 0.01956601] [ 0.14154061 0.05294553 0.98851557 -0.04313154] [ 0. 0. 0. 1. ]] SLAMing on 43.226502481 meters Centerline goodness : 0.526883 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98710587 0.06709167 -0.14532964 0.80786495] [-0.07404328 0.99632934 -0.0429586 0.02002802] [ 0.14191402 0.05316537 0.98845023 -0.0434812 ] [ 0. 0. 0. 1. ]] SLAMing on 43.256502481 meters Centerline goodness : 0.577113 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98705079 0.06709867 -0.14570008 0.80906318] [-0.07403386 0.99634097 -0.04270432 0.01906931] [ 0.14230156 0.05293807 0.98840671 -0.04397 ] [ 0. 0. 0. 1. ]] SLAMing on 43.286502481 meters Centerline goodness : 0.715717 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.986964 0.06680866 -0.14641951 0.81074821] [-0.07377981 0.99635987 -0.04270298 0.01813917] [ 0.1430336 0.0529491 0.98830045 -0.04429423] [ 0. 0. 0. 1. ]] SLAMing on 43.316502481 meters Centerline goodness : 0.624336 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98691299 0.06682833 -0.14675395 0.81123114] [-0.07374247 0.99638474 -0.04218403 0.01582756] [ 0.14340431 0.05245397 0.98827313 -0.04421729] [ 0. 0. 0. 1. ]] SLAMing on 43.346502481 meters Centerline goodness : 0.221405 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.04 [[ 0.98684801 0.06683956 -0.14718521 0.81186421] [-0.07375036 0.99639187 -0.04200155 0.01491211] [ 0.14384679 0.05230411 0.98821677 -0.04402494] [ 0. 0. 0. 1. ]] SLAMing on 43.376502481 meters Centerline goodness : 0.218859 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.04 [[ 0.98675178 0.06673575 -0.14787582 0.81316669] [-0.07365004 0.99640861 -0.04177983 0.01341678] [ 0.14455653 0.05211738 0.98812306 -0.04401637] [ 0. 0. 0. 1. ]] SLAMing on 43.406502481 meters Centerline goodness : 0.611733 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.04 [[ 0.98666713 0.06651018 -0.14854078 0.81448375] [-0.07345266 0.99642461 -0.04174578 0.01243252] [ 0.14523317 0.0520999 0.98802476 -0.04406841] [ 0. 0. 0. 1. ]] SLAMing on 43.436502481 meters Centerline goodness : 0.710038 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98663069 0.06649173 -0.14879088 0.8151399 ] [-0.07338544 0.99644708 -0.04132535 0.01067959] [ 0.14551444 0.05169195 0.9880048 -0.04426612] [ 0. 0. 0. 1. ]] SLAMing on 43.466502481 meters Centerline goodness : 0.708930 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98657478 0.06647676 -0.14916786 0.8157304 ] [-0.07336366 0.99645614 -0.04114531 0.01045367] [ 0.14590402 0.05153643 0.98795547 -0.04402441] [ 0. 0. 0. 1. ]] SLAMing on 43.496502481 meters Centerline goodness : 0.708828 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98654045 0.06635098 -0.14945062 0.8158198 ] [-0.07317644 0.99649072 -0.04063804 0.00911483] [ 0.14622978 0.05102733 0.98793373 -0.04338444] [ 0. 0. 0. 1. ]] SLAMing on 43.526502481 meters Centerline goodness : 0.707958 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98648216 0.06603662 -0.14997373 0.81647808] [-0.07285513 0.99652276 -0.04042907 0.00749649] [ 0.14678244 0.05080891 0.98786303 -0.0430192 ] [ 0. 0. 0. 1. ]] SLAMing on 43.556502481 meters Centerline goodness : 0.706165 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98667516 0.0612224 -0.15074462 0.81777624] [-0.06859672 0.9966644 -0.0442105 0.00611786] [ 0.14753512 0.05396199 0.98758366 -0.04336468] [ 0. 0. 0. 1. ]] SLAMing on 43.586502481 meters Centerline goodness : 0.468431 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98658696 0.06042566 -0.1516407 0.82027623] [-0.06788288 0.99670096 -0.04448711 0.00522498] [ 0.14845227 0.05418421 0.98743405 -0.04417395] [ 0. 0. 0. 1. ]] SLAMing on 43.616502481 meters Centerline goodness : 0.380947 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.05 [[ 0.98656592 0.06004954 -0.15192674 0.82197287] [-0.06752279 0.99672423 -0.04451392 0.00489771] [ 0.14875602 0.05417444 0.98738887 -0.04529459] [ 0. 0. 0. 1. ]] SLAMing on 43.646502481 meters Centerline goodness : 0.704716 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.04 [[ 0.98653077 0.05986776 -0.15222643 0.82221999] [-0.06736076 0.99673371 -0.04454715 0.00495946] [ 0.14906228 0.05420122 0.98734121 -0.04484144] [ 0. 0. 0. 1. ]] SLAMing on 43.676502481 meters Centerline goodness : 0.160344 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.04 [[ 0.98653997 0.05996576 -0.15212821 0.82061213] [-0.06742335 0.99673863 -0.0443418 0.00495546] [ 0.14897308 0.05400195 0.98736559 -0.04309022] [ 0. 0. 0. 1. ]] SLAMing on 43.706502481 meters Centerline goodness : 0.204224 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98652536 0.06003894 -0.1521941 0.82049175] [-0.06750534 0.99673178 -0.04437102 0.00551834] [ 0.14903271 0.05404705 0.98735413 -0.04274327] [ 0. 0. 0. 1. ]] SLAMing on 43.736502481 meters Centerline goodness : 0.214377 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98650923 0.06017368 -0.15224544 0.82093249] [-0.06768005 0.99670937 -0.04460775 0.00708577] [ 0.14906024 0.05430994 0.98733554 -0.0429464 ] [ 0. 0. 0. 1. ]] SLAMing on 43.766502480999996 meters Centerline goodness : 0.672833 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98642567 0.06002637 -0.15284383 0.82249109] [-0.06765969 0.99668244 -0.04523586 0.00873455] [ 0.14962141 0.05496318 0.98721451 -0.04332787] [ 0. 0. 0. 1. ]] SLAMing on 43.796502481 meters Centerline goodness : 0.681687 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98640608 0.0601251 -0.15293145 0.82267173] [-0.06779368 0.99666454 -0.04542917 0.00971632] [ 0.14968992 0.05517939 0.98719206 -0.04325508] [ 0. 0. 0. 1. ]] SLAMing on 43.826502481 meters Centerline goodness : 0.673375 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98634412 0.06059755 -0.15314439 0.82258363] [-0.06830657 0.99662246 -0.04558382 0.01154215] [ 0.14986487 0.0554221 0.98715192 -0.04258643] [ 0. 0. 0. 1. ]] SLAMing on 43.856502481 meters Centerline goodness : 0.682226 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98629394 0.06076726 -0.15340013 0.82294507] [-0.06851962 0.99659968 -0.04576173 0.01284254] [ 0.15009771 0.05564543 0.98710398 -0.04232829] [ 0. 0. 0. 1. ]] SLAMing on 43.886502481 meters Centerline goodness : 0.675990 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98596088 0.06514067 -0.15374601 0.82382702] [-0.07242312 0.99647891 -0.0422454 0.0143577 ] [ 0.15045276 0.05278707 0.98720691 -0.04189923] [ 0. 0. 0. 1. ]] SLAMing on 43.916502481 meters Centerline goodness : 0.143141 Centerline is valid? [False, False] Translation: X:0.82, Y:0.02, Z:-0.04 [[ 0.98589582 0.06515375 -0.15415715 0.82471042] [-0.07250859 0.99645876 -0.04257276 0.01571601] [ 0.15083747 0.05315003 0.98712873 -0.04187544] [ 0. 0. 0. 1. ]] SLAMing on 43.946502481 meters Centerline goodness : 0.622415 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98582533 0.06525586 -0.1545642 0.82520513] [-0.07267712 0.99643441 -0.04285439 0.01645849] [ 0.15121659 0.05348023 0.98705289 -0.04157866] [ 0. 0. 0. 1. ]] SLAMing on 43.976502481 meters Centerline goodness : 0.692757 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98575132 0.06486039 -0.15520139 0.82700165] [-0.07237363 0.99643927 -0.04325322 0.01654755] [ 0.15184334 0.05386941 0.9869355 -0.04216434] [ 0. 0. 0. 1. ]] SLAMing on 44.006502481 meters Centerline goodness : 0.142456 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.9857182 0.06438535 -0.15560899 0.82949365] [-0.07200952 0.99643912 -0.04386002 0.01763607] [ 0.15223095 0.05443895 0.98684454 -0.0438664 ] [ 0. 0. 0. 1. ]] SLAMing on 44.036502481 meters Centerline goodness : 0.480309 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98568297 0.06402787 -0.15597922 0.83073813] [-0.07173365 0.99644047 -0.04427945 0.01872481] [ 0.15258889 0.05483446 0.98676735 -0.04429138] [ 0. 0. 0. 1. ]] SLAMing on 44.066502481 meters Centerline goodness : 0.153088 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98565841 0.06380034 -0.15622748 0.83076458] [-0.07155473 0.99644265 -0.0445193 0.02010676] [ 0.15283137 0.05505964 0.98671729 -0.04355753] [ 0. 0. 0. 1. ]] SLAMing on 44.096502481 meters Centerline goodness : 0.571151 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98564583 0.06328552 -0.15651592 0.83129944] [-0.07111223 0.99645648 -0.04491688 0.02061814] [ 0.15311871 0.05540233 0.98665356 -0.04342349] [ 0. 0. 0. 1. ]] SLAMing on 44.126502481 meters Centerline goodness : 0.160200 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98567065 0.0622321 -0.15678178 0.83188906] [-0.07016769 0.99649266 -0.04559459 0.02152974] [ 0.15339445 0.05594226 0.98658026 -0.04324625] [ 0. 0. 0. 1. ]] SLAMing on 44.156502481 meters Centerline goodness : 0.220856 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98590975 0.05740167 -0.15712099 0.83225964] [-0.06597247 0.99657371 -0.04988451 0.0233139 ] [ 0.15371919 0.05954729 0.98631868 -0.04314703] [ 0. 0. 0. 1. ]] SLAMing on 44.186502481 meters Centerline goodness : 0.151807 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98588528 0.05656456 -0.1575775 0.83324807] [-0.06523818 0.99659499 -0.05042224 0.0235591 ] [ 0.15418884 0.05999062 0.9862185 -0.04315282] [ 0. 0. 0. 1. ]] SLAMing on 44.216502481 meters Centerline goodness : 0.151974 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98584014 0.05572809 -0.15815691 0.83462764] [-0.06453022 0.99660799 -0.05107223 0.02413807] [ 0.15477428 0.06055495 0.9860923 -0.04332479] [ 0. 0. 0. 1. ]] SLAMing on 44.246502481 meters Centerline goodness : 0.331486 Centerline is valid? [False, False] Translation: X:0.84, Y:0.03, Z:-0.04 [[ 0.98581742 0.05439482 -0.15876151 0.83647793] [-0.06342485 0.99661144 -0.05237303 0.02649545] [ 0.15537472 0.06169967 0.9859269 -0.04374497] [ 0. 0. 0. 1. ]] SLAMing on 44.276502481 meters Centerline goodness : 0.535959 Centerline is valid? [False, False] Translation: X:0.84, Y:0.03, Z:-0.04 [[ 0.98563643 0.05754218 -0.15877573 0.83757738] [-0.06618816 0.99656812 -0.04971015 0.02915859] [ 0.1553704 0.05950521 0.98606246 -0.04400603] [ 0. 0. 0. 1. ]] SLAMing on 44.306502481 meters Centerline goodness : 0.643169 Centerline is valid? [False, False] Translation: X:0.84, Y:0.03, Z:-0.04 [[ 0.98560213 0.05744355 -0.15902417 0.8384458 ] [-0.06616664 0.99654955 -0.05010962 0.03132308] [ 0.15559699 0.05991025 0.9860022 -0.04417871] [ 0. 0. 0. 1. ]] SLAMing on 44.336502481 meters Centerline goodness : 0.506758 Centerline is valid? [False, False] Translation: X:0.84, Y:0.03, Z:-0.04 [[ 0.98553745 0.05710347 -0.15954666 0.83993145] [-0.06594849 0.99653411 -0.0507008 0.03341496] [ 0.1560985 0.0604894 0.98588757 -0.04446392] [ 0. 0. 0. 1. ]] SLAMing on 44.366502481 meters Centerline goodness : 0.415907 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.04 [[ 0.98552402 0.05642065 -0.15987218 0.84068156] [-0.06545756 0.99650833 -0.05183109 0.03649045] [ 0.15638961 0.06154562 0.98577605 -0.04430696] [ 0. 0. 0. 1. ]] SLAMing on 44.396502481 meters Centerline goodness : 0.710724 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.04 [[ 0.9855055 0.05594326 -0.16015386 0.84082169] [-0.06506551 0.99651005 -0.05228966 0.03721715] [ 0.15666968 0.06195224 0.98570611 -0.04376298] [ 0. 0. 0. 1. ]] SLAMing on 44.426502481 meters Centerline goodness : 0.434734 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.04 [[ 0.98549091 0.05508714 -0.16053997 0.84138105] [-0.0643613 0.9965103 -0.05314918 0.03877398] [ 0.1570519 0.0627106 0.98559732 -0.04339212] [ 0. 0. 0. 1. ]] SLAMing on 44.456502481 meters Centerline goodness : 0.619097 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.04 [[ 0.98544972 0.05469633 -0.16092598 0.84313149] [-0.06407825 0.99649924 -0.05369577 0.04056367] [ 0.15742565 0.06322633 0.98550474 -0.04420012] [ 0. 0. 0. 1. ]] SLAMing on 44.486502481 meters Centerline goodness : 0.709032 Centerline is valid? [False, False] Translation: X:0.85, Y:0.04, Z:-0.05 [[ 0.98515396 0.05722762 -0.16185389 0.84756109] [-0.06633957 0.99646919 -0.05146077 0.04291598] [ 0.15833744 0.0614341 0.98547202 -0.04607487] [ 0. 0. 0. 1. ]] SLAMing on 44.516502480999996 meters Centerline goodness : 0.525750 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.05 [[ 0.98510927 0.05647479 -0.16238944 0.84902088] [-0.06578595 0.99644954 -0.05254076 0.045457 ] [ 0.15884566 0.06244134 0.98532692 -0.04628958] [ 0. 0. 0. 1. ]] SLAMing on 44.546502481 meters Centerline goodness : 0.526411 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.05 [[ 0.98509058 0.05594997 -0.16268421 0.84934483] [-0.06537474 0.99644351 -0.05316469 0.04641642] [ 0.15913106 0.06300747 0.98524482 -0.04594403] [ 0. 0. 0. 1. ]] SLAMing on 44.576502481 meters Centerline goodness : 0.706128 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.05 [[ 0.98508577 0.05548294 -0.16287315 0.84957375] [-0.06509265 0.9964026 -0.05426611 0.05011053] [ 0.15927639 0.06405861 0.98515355 -0.04545695] [ 0. 0. 0. 1. ]] SLAMing on 44.606502481 meters Centerline goodness : 0.707426 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.05 [[ 0.98483267 0.05906647 -0.16314341 0.85098403] [-0.06822348 0.99636036 -0.05110364 0.05147759] [ 0.15953112 0.06145875 0.98527795 -0.04569656] [ 0. 0. 0. 1. ]] SLAMing on 44.636502481 meters Centerline goodness : 0.706384 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.05 [[ 0.98456082 0.06274188 -0.1634119 0.852502 ] [-0.0714305 0.99629752 -0.04784288 0.05281387] [ 0.15980512 0.05877682 0.98539718 -0.04599389] [ 0. 0. 0. 1. ]] SLAMing on 44.666502481 meters Centerline goodness : 0.706502 Centerline is valid? [False, False] Translation: X:0.85, Y:0.06, Z:-0.05 [[ 0.98430871 0.06601366 -0.16364159 0.85389901] [-0.07435328 0.99619952 -0.04536629 0.05641804] [ 0.16002488 0.05682172 0.98547619 -0.04608736] [ 0. 0. 0. 1. ]] SLAMing on 44.696502481 meters Centerline goodness : 0.705627 Centerline is valid? [False, False] Translation: X:0.85, Y:0.06, Z:-0.05 [[ 0.98432737 0.06494292 -0.16395745 0.85427716] [-0.07356673 0.99617843 -0.04707936 0.06075737] [ 0.1602734 0.05840332 0.98534334 -0.04546857] [ 0. 0. 0. 1. ]] SLAMing on 44.726502481 meters Centerline goodness : 0.706081 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.05 [[ 0.98431471 0.06402449 -0.16439406 0.85505197] [-0.07283164 0.99618317 -0.04811082 0.06285512] [ 0.16068633 0.05932928 0.98522076 -0.04516374] [ 0. 0. 0. 1. ]] SLAMing on 44.756502481 meters Centerline goodness : 0.603230 Centerline is valid? [False, False] Translation: X:0.86, Y:0.07, Z:-0.04 [[ 0.9843396 0.06251131 -0.16482681 0.85574984] [-0.07163362 0.99617758 -0.0499885 0.06750503] [ 0.16107193 0.0610128 0.98505496 -0.0445527 ] [ 0. 0. 0. 1. ]] SLAMing on 44.786502481 meters Centerline goodness : 0.701342 Centerline is valid? [False, False] Translation: X:0.86, Y:0.07, Z:-0.04 [[ 0.98430915 0.06200209 -0.16520063 0.85638793] [-0.07127077 0.99616378 -0.05077608 0.07027369] [ 0.16141866 0.06175333 0.98495205 -0.0441366 ] [ 0. 0. 0. 1. ]] SLAMing on 44.816502481 meters Centerline goodness : 0.707123 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:-0.04 [[ 0.98447251 0.05879942 -0.16539803 0.86768719] [-0.06725021 0.99667695 -0.04596165 0.07539461] [ 0.16214589 0.05637103 0.98515533 -0.03926693] [ 0. 0. 0. 1. ]] SLAMing on 44.846502481 meters Centerline goodness : 0.708712 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:-0.04 [[ 0.98444342 0.05826209 -0.16576093 0.86854903] [-0.06686172 0.99666515 -0.04677696 0.07789294] [ 0.16248282 0.05713234 0.98505595 -0.03913822] [ 0. 0. 0. 1. ]] SLAMing on 44.876502481 meters Centerline goodness : 0.708782 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:-0.04 [[ 0.98437434 0.05671586 -0.16670474 0.87136851] [-0.06566913 0.99665278 -0.0486908 0.08194102] [ 0.16338521 0.05887733 0.98480391 -0.03983255] [ 0. 0. 0. 1. ]] SLAMing on 44.906502481 meters Centerline goodness : 0.709548 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:-0.04 [[ 0.98434337 0.0560801 -0.16710224 0.87248253] [-0.06518117 0.99664582 -0.04948259 0.08396639] [ 0.16376676 0.05959978 0.98469707 -0.03993374] [ 0. 0. 0. 1. ]] SLAMing on 44.936502481 meters Centerline goodness : 0.703584 Centerline is valid? [False, False] Translation: X:0.87, Y:0.09, Z:-0.04 [[ 0.98429191 0.05513496 -0.16771871 0.87377534] [-0.06448382 0.99662431 -0.05081161 0.08807069] [ 0.16435105 0.0608286 0.98452456 -0.03961303] [ 0. 0. 0. 1. ]] SLAMing on 44.966502481 meters Centerline goodness : 0.703547 Centerline is valid? [False, False] Translation: X:0.88, Y:0.09, Z:-0.04 [[ 0.98423358 0.05462602 -0.16822678 0.87507832] [-0.06411846 0.99661165 -0.05151747 0.09012118] [ 0.16484258 0.06149166 0.98440119 -0.03968712] [ 0. 0. 0. 1. ]] SLAMing on 44.996502481 meters Centerline goodness : 0.702907 Centerline is valid? [False, False] Translation: X:0.88, Y:0.09, Z:-0.04 [[ 0.98400453 0.05682488 -0.16883725 0.87806403] [-0.06607626 0.99657671 -0.04968682 0.09241654] [ 0.16543582 0.06004819 0.98439078 -0.0406896 ] [ 0. 0. 0. 1. ]] SLAMing on 45.026502481 meters Centerline goodness : 0.701955 Centerline is valid? [False, False] Translation: X:0.88, Y:0.09, Z:-0.04 [[ 0.98392498 0.05634527 -0.16946044 0.87971577] [-0.06574507 0.99656408 -0.05037484 0.09431217] [ 0.1660398 0.06070625 0.98424872 -0.04093588] [ 0. 0. 0. 1. ]] SLAMing on 45.056502481 meters Centerline goodness : 0.698946 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.04 [[ 0.9836721 0.05982921 -0.16973412 0.88039968] [-0.06881439 0.99649553 -0.04755238 0.09627381] [ 0.16629428 0.0584561 0.98434196 -0.04039814] [ 0. 0. 0. 1. ]] SLAMing on 45.086502481 meters Centerline goodness : 0.698946 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.04 [[ 0.9836721 0.05982921 -0.16973412 0.88039968] [-0.06881439 0.99649553 -0.04755238 0.09627381] [ 0.16629428 0.0584561 0.98434196 -0.04039814] [ 0. 0. 0. 1. ]] SLAMing on 45.116502481 meters Centerline goodness : 0.698955 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.04 [[ 0.98363355 0.05961981 -0.17003096 0.88088635] [-0.06872919 0.99647045 -0.04819688 0.09863696] [ 0.16655734 0.05909416 0.98425938 -0.04004233] [ 0. 0. 0. 1. ]] SLAMing on 45.146502481 meters Centerline goodness : 0.699981 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.04 [[ 0.98341305 0.06299621 -0.17008896 0.88144817] [-0.07182849 0.99634285 -0.04627728 0.10210148] [ 0.16655163 0.05772691 0.98434148 -0.03941223] [ 0. 0. 0. 1. ]] SLAMing on 45.176502481 meters Centerline goodness : 0.698894 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.04 [[ 0.9831423 0.06622674 -0.17042663 0.88371605] [-0.07480004 0.99621057 -0.04437863 0.10541987] [ 0.16684175 0.05637843 0.98437051 -0.03998426] [ 0. 0. 0. 1. ]] SLAMing on 45.206502481 meters Centerline goodness : 0.696543 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.04 [[ 0.98291671 0.06988048 -0.1702688 0.88394567] [-0.0779789 0.99609752 -0.04134044 0.10679958] [ 0.16671544 0.05391159 0.98453009 -0.03994449] [ 0. 0. 0. 1. ]] SLAMing on 45.236502481 meters Centerline goodness : 0.696563 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.04 [[ 0.98275656 0.07261167 -0.17005024 0.88377104] [-0.08052922 0.99594425 -0.04012602 0.11198509] [ 0.16644694 0.05312812 0.98461811 -0.03900886] [ 0. 0. 0. 1. ]] SLAMing on 45.266502480999996 meters Centerline goodness : 0.695474 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.04 [[ 0.98279362 0.07212052 -0.17004506 0.88333821] [-0.08025867 0.99591095 -0.04147191 0.11478179] [ 0.16635876 0.05440592 0.98456323 -0.03801242] [ 0. 0. 0. 1. ]] SLAMing on 45.296502481 meters Centerline goodness : 0.697815 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:-0.04 [[ 0.98287675 0.07139616 -0.16987021 0.88235048] [-0.07976221 0.99588873 -0.04293745 0.11762289] [ 0.16610626 0.05575144 0.98453059 -0.03683157] [ 0. 0. 0. 1. ]] SLAMing on 45.326502481 meters Centerline goodness : 0.696683 Centerline is valid? [False, False] Translation: X:0.90, Y:0.12, Z:-0.03 [[ 0.98357927 0.07048077 -0.16614534 0.89737582] [-0.07889798 0.99588406 -0.04460999 0.12147876] [ 0.16231735 0.05698599 0.98509171 -0.03380588] [ 0. 0. 0. 1. ]] SLAMing on 45.356502481 meters Centerline goodness : 0.695798 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:-0.03 [[ 0.98365121 0.07242383 -0.16487902 0.8960784 ] [-0.08048531 0.99583903 -0.0427404 0.12679353] [ 0.16109754 0.05531198 0.98538732 -0.03455124] [ 0. 0. 0. 1. ]] SLAMing on 45.386502481 meters Centerline goodness : 0.695677 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:-0.04 [[ 0.98355759 0.07515661 -0.16421311 0.89570545] [-0.08272428 0.9957801 -0.0397327 0.12847113] [ 0.16053397 0.05266381 0.98562435 -0.03535391] [ 0. 0. 0. 1. ]] SLAMing on 45.416502481 meters Centerline goodness : 0.694341 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:-0.04 [[ 0.9836805 0.07342739 -0.16425919 0.89733127] [-0.08131201 0.99581201 -0.04179468 0.13347605] [ 0.16050241 0.05446885 0.98553139 -0.03653448] [ 0. 0. 0. 1. ]] SLAMing on 45.446502481 meters Centerline goodness : 0.695941 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.04 [[ 0.98374146 0.07256961 -0.16427533 0.8977233 ] [-0.08064099 0.99581523 -0.04300072 0.13609438] [ 0.16046733 0.05554891 0.98547682 -0.0366316 ] [ 0. 0. 0. 1. ]] SLAMing on 45.476502481 meters Centerline goodness : 0.693430 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.04 [[ 0.9838995 0.07078111 -0.16410912 0.89752644] [-0.07925015 0.9958095 -0.04563839 0.1414612 ] [ 0.16019109 0.05790926 0.98538588 -0.03610853] [ 0. 0. 0. 1. ]] SLAMing on 45.506502481 meters Centerline goodness : 0.695779 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.04 [[ 0.98378846 0.07373144 -0.1634746 0.89648808] [-0.08175976 0.99572706 -0.04292975 0.14346754] [ 0.15961081 0.05559944 0.98561305 -0.03590193] [ 0. 0. 0. 1. ]] SLAMing on 45.536502481 meters Centerline goodness : 0.692844 Centerline is valid? [False, False] Translation: X:0.90, Y:0.15, Z:-0.04 [[ 0.98352941 0.07978501 -0.16218585 0.89511647] [-0.08702198 0.99548111 -0.03800704 0.14983159] [ 0.15842056 0.05149477 0.986028 -0.03563125] [ 0. 0. 0. 1. ]] SLAMing on 45.566502481 meters Centerline goodness : 0.691257 Centerline is valid? [False, False] Translation: X:0.89, Y:0.15, Z:-0.04 [[ 0.98337027 0.08319063 -0.16143803 0.89453953] [-0.08996503 0.99532608 -0.03510405 0.15269421] [ 0.15776315 0.04904405 0.98625832 -0.03574422] [ 0. 0. 0. 1. ]] SLAMing on 45.596502481 meters Centerline goodness : 0.694063 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.04 [[ 0.98321013 0.08615385 -0.16085817 0.89385952] [-0.09263588 0.99514548 -0.03322758 0.1564459 ] [ 0.1572146 0.04757093 0.98641805 -0.03511827] [ 0. 0. 0. 1. ]] SLAMing on 45.626502481 meters Centerline goodness : 0.693028 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.03 [[ 0.98316507 0.08588156 -0.16127868 0.89439204] [-0.09251418 0.99512858 -0.03406221 0.15738052] [ 0.1575677 0.04840934 0.98632092 -0.03445136] [ 0. 0. 0. 1. ]] SLAMing on 45.656502481 meters Centerline goodness : 0.692336 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.03 [[ 0.98305653 0.08792318 -0.16083961 0.89469937] [-0.09429471 0.9950168 -0.03240489 0.16033013] [ 0.15718897 0.04702216 0.98644845 -0.03491832] [ 0. 0. 0. 1. ]] SLAMing on 45.686502481 meters Centerline goodness : 0.693347 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.04 [[ 0.98282711 0.09147799 -0.1602581 0.89476744] [-0.09731567 0.99483247 -0.02894835 0.16169584] [ 0.15678182 0.04404685 0.98665056 -0.03561893] [ 0. 0. 0. 1. ]] SLAMing on 45.716502481 meters Centerline goodness : 0.691118 Centerline is valid? [False, False] Translation: X:0.90, Y:0.16, Z:-0.04 [[ 0.98259312 0.09383839 -0.16032817 0.89725077] [-0.09939629 0.9946819 -0.02698694 0.1648685 ] [ 0.15694312 0.0424532 0.98669478 -0.03711441] [ 0. 0. 0. 1. ]] SLAMing on 45.746502481 meters Centerline goodness : 0.693524 Centerline is valid? [False, False] Translation: X:0.90, Y:0.17, Z:-0.04 [[ 0.98260046 0.09325757 -0.16062182 0.89775082] [-0.09909368 0.9946642 -0.02869805 0.16882282] [ 0.15708846 0.04411532 0.98659873 -0.03623318] [ 0. 0. 0. 1. ]] SLAMing on 45.776502481 meters Centerline goodness : 0.693627 Centerline is valid? [False, False] Translation: X:0.90, Y:0.17, Z:-0.04 [[ 0.98242028 0.09643864 -0.1598436 0.89681674] [-0.10183355 0.99446447 -0.02589118 0.17114902] [ 0.15646187 0.04171346 0.98680275 -0.03612015] [ 0. 0. 0. 1. ]] SLAMing on 45.806502481 meters Centerline goodness : 0.694476 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.04 [[ 0.98242049 0.09631789 -0.15991513 0.89747636] [-0.10189246 0.99442856 -0.02701418 0.17511196] [ 0.15642222 0.04283343 0.98676106 -0.03583733] [ 0. 0. 0. 1. ]] SLAMing on 45.836502481 meters Centerline goodness : 0.697551 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.03 [[ 0.98218907 0.09901242 -0.15969088 0.89741541] [-0.10445916 0.99418766 -0.02606105 0.18033659] [ 0.15618234 0.04227805 0.98682301 -0.03462696] [ 0. 0. 0. 1. ]] SLAMing on 45.866502481 meters Centerline goodness : 0.697392 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.03 [[ 0.98225708 0.09827784 -0.15972634 0.89692777] [-0.10414697 0.99414547 -0.02877819 0.18581373] [ 0.15596296 0.04490259 0.98674177 -0.03270834] [ 0. 0. 0. 1. ]] SLAMing on 45.896502481 meters Centerline goodness : 0.697982 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.03 [[ 0.98226335 0.09802894 -0.15984069 0.89740664] [-0.10408659 0.994117 -0.02995613 0.18878956] [ 0.15596378 0.04606208 0.98668819 -0.03225124] [ 0. 0. 0. 1. ]] SLAMing on 45.926502481 meters Centerline goodness : 0.696139 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.03 [[ 0.98224732 0.09777796 -0.16009269 0.89799963] [-0.10403562 0.99408522 -0.03116369 0.1918794 ] [ 0.15609865 0.04726579 0.98660993 -0.03158875] [ 0. 0. 0. 1. ]] SLAMing on 45.956502481 meters Centerline goodness : 0.699021 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:-0.03 [[ 0.98191155 0.10098297 -0.16016289 0.89926708] [-0.10703786 0.99381375 -0.02961638 0.19683823] [ 0.15618133 0.04622416 0.9866462 -0.0310831 ] [ 0. 0. 0. 1. ]] SLAMing on 45.986502481 meters Centerline goodness : 0.693720 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:-0.03 [[ 0.9814923 0.10414217 -0.16070865 0.90173717] [-0.11002823 0.99352983 -0.02814724 0.20113501] [ 0.15673752 0.04530878 0.98660046 -0.03082462] [ 0. 0. 0. 1. ]] SLAMing on 46.016502480999996 meters Centerline goodness : 0.698042 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:-0.03 [[ 0.98136333 0.10417956 -0.16147023 0.90339301] [-0.11025898 0.99347581 -0.02913383 0.20331192] [ 0.15738161 0.04639442 0.98644746 -0.03024907] [ 0. 0. 0. 1. ]] SLAMing on 46.046502481 meters Centerline goodness : 0.696014 Centerline is valid? [False, False] Translation: X:0.91, Y:0.21, Z:-0.03 [[ 0.98128326 0.10405171 -0.16203828 0.90516627] [-0.11042303 0.99340737 -0.03079853 0.20784084] [ 0.15776538 0.04811484 0.98630373 -0.02963325] [ 0. 0. 0. 1. ]] SLAMing on 46.076502481 meters Centerline goodness : 0.695832 Centerline is valid? [False, False] Translation: X:0.91, Y:0.21, Z:-0.03 [[ 0.98128072 0.10392285 -0.16213633 0.90545836] [-0.11041979 0.99338373 -0.03156316 0.21016504] [ 0.15778346 0.04887537 0.98626344 -0.02919614] [ 0. 0. 0. 1. ]] SLAMing on 46.106502481 meters Centerline goodness : 0.692401 Centerline is valid? [False, False] Translation: X:0.91, Y:0.21, Z:-0.03 [[ 0.98137014 0.10323345 -0.16203551 0.90541411] [-0.10994241 0.99339084 -0.03297446 0.21430745] [ 0.15756052 0.05017473 0.98623384 -0.02864606] [ 0. 0. 0. 1. ]] SLAMing on 46.136502481 meters Centerline goodness : 0.694771 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.03 [[ 0.98139922 0.10261183 -0.16225409 0.90607952] [-0.10941908 0.9934288 -0.03356617 0.21536075] [ 0.1577436 0.05069551 0.98617794 -0.0287958 ] [ 0. 0. 0. 1. ]] SLAMing on 46.166502481 meters Centerline goodness : 0.692484 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.03 [[ 0.98161541 0.09849089 -0.16349538 0.90831467] [-0.10595009 0.99366308 -0.0375269 0.21606073] [ 0.15876327 0.05415934 0.9858301 -0.02897932] [ 0. 0. 0. 1. ]] SLAMing on 46.196502481 meters Centerline goodness : 0.688288 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.03 [[ 0.98171883 0.09686501 -0.16384539 0.90898822] [-0.10457012 0.99375041 -0.03905396 0.2193707 ] [ 0.15903846 0.05547334 0.98571267 -0.02872172] [ 0. 0. 0. 1. ]] SLAMing on 46.226502481 meters Centerline goodness : 0.688039 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.03 [[ 0.98178142 0.09620512 -0.16385916 0.90929331] [-0.10400521 0.99378458 -0.03968786 0.22168981] [ 0.15902254 0.05600701 0.98568507 -0.02877571] [ 0. 0. 0. 1. ]] SLAMing on 46.256502481 meters Centerline goodness : 0.687940 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.03 [[ 0.98182335 0.09546053 -0.16404327 0.90978776] [-0.10340416 0.99381178 -0.04056748 0.22414351] [ 0.15915554 0.05679286 0.98561863 -0.02859364] [ 0. 0. 0. 1. ]] SLAMing on 46.286502481 meters Centerline goodness : 0.687056 Centerline is valid? [False, False] Translation: X:0.91, Y:0.23, Z:-0.03 [[ 0.98208757 0.09300624 -0.16387142 0.9090281 ] [-0.10132307 0.99391829 -0.04312845 0.22824079] [ 0.15886359 0.05895987 0.98553848 -0.02783533] [ 0. 0. 0. 1. ]] SLAMing on 46.316502481 meters Centerline goodness : 0.685086 Centerline is valid? [False, False] Translation: X:0.91, Y:0.23, Z:-0.03 [[ 0.98220008 0.09186517 -0.16384079 0.90881103] [-0.10036809 0.9939601 -0.0443799 0.23006432] [ 0.15877424 0.06003433 0.98548801 -0.02742965] [ 0. 0. 0. 1. ]] SLAMing on 46.346502481 meters Centerline goodness : 0.686165 Centerline is valid? [False, False] Translation: X:0.91, Y:0.24, Z:-0.03 [[ 0.98327714 0.08423209 -0.16146525 0.90927129] [-0.09168267 0.99501448 -0.03924882 0.23535537] [ 0.15735425 0.05339604 0.98609761 -0.02562699] [ 0. 0. 0. 1. ]] SLAMing on 46.376502481 meters Centerline goodness : 0.682587 Centerline is valid? [False, False] Translation: X:0.91, Y:0.24, Z:-0.02 [[ 0.98321211 0.08610646 -0.16087148 0.90866287] [-0.09336918 0.99490109 -0.03813165 0.24259909] [ 0.15676783 0.05251194 0.98623848 -0.02478703] [ 0. 0. 0. 1. ]] SLAMing on 46.406502481 meters Centerline goodness : 0.681671 Centerline is valid? [False, False] Translation: X:0.91, Y:0.24, Z:-0.02 [[ 0.98298066 0.08927231 -0.16055986 0.90873528] [-0.09613609 0.99473545 -0.03548575 0.24486027] [ 0.15654669 0.0503174 0.986388 -0.02458418] [ 0. 0. 0. 1. ]] SLAMing on 46.436502481 meters Centerline goodness : 0.680516 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.03 [[ 0.9827646 0.09163908 -0.16054909 0.91056641] [-0.09833042 0.99456516 -0.03422396 0.25124733] [ 0.15654028 0.04942095 0.98643434 -0.02507713] [ 0. 0. 0. 1. ]] SLAMing on 46.466502481 meters Centerline goodness : 0.680631 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.03 [[ 0.98274731 0.09113734 -0.16094008 0.91194199] [-0.09800458 0.99456173 -0.03524304 0.25492638] [ 0.15685289 0.05040787 0.98633474 -0.02516175] [ 0. 0. 0. 1. ]] SLAMing on 46.496502481 meters Centerline goodness : 0.679354 Centerline is valid? [False, False] Translation: X:0.91, Y:0.26, Z:-0.03 [[ 0.98274121 0.09070248 -0.16122277 0.91295132] [-0.09773524 0.99455301 -0.03622336 0.25829035] [ 0.15705905 0.05135534 0.98625305 -0.02515728] [ 0. 0. 0. 1. ]] SLAMing on 46.526502481 meters Centerline goodness : 0.682820 Centerline is valid? [False, False] Translation: X:0.91, Y:0.26, Z:-0.02 [[ 0.9825297 0.09373342 -0.1607776 0.91320978] [-0.10051701 0.99433447 -0.03457312 0.26444273] [ 0.15662605 0.05013 0.98638495 -0.02493753] [ 0. 0. 0. 1. ]] SLAMing on 46.556502481 meters Centerline goodness : 0.683401 Centerline is valid? [False, False] Translation: X:0.91, Y:0.27, Z:-0.02 [[ 0.98219606 0.09758354 -0.16052525 0.91386227] [-0.1039244 0.994084 -0.03157073 0.26754605] [ 0.1564948 0.04769114 0.9865267 -0.02494888] [ 0. 0. 0. 1. ]] SLAMing on 46.586502481 meters Centerline goodness : 0.685097 Centerline is valid? [False, False] Translation: X:0.92, Y:0.27, Z:-0.02 [[ 0.98148342 0.10522295 -0.16005755 0.91542545] [-0.11075606 0.99350681 -0.02602516 0.27459931] [ 0.15627982 0.04327061 0.98676455 -0.02499685] [ 0. 0. 0. 1. ]] SLAMing on 46.616502481 meters Centerline goodness : 0.686594 Centerline is valid? [False, False] Translation: X:0.91, Y:0.28, Z:-0.02 [[ 0.98097408 0.11105411 -0.1592383 0.91489691] [-0.11606259 0.99298757 -0.02247599 0.28212473] [ 0.1556256 0.04052998 0.98698429 -0.02386227] [ 0. 0. 0. 1. ]] SLAMing on 46.646502481 meters Centerline goodness : 0.686310 Centerline is valid? [False, False] Translation: X:0.91, Y:0.29, Z:-0.02 [[ 0.98066436 0.11409323 -0.15899729 0.9147198 ] [-0.11879762 0.99270947 -0.02037241 0.28529927] [ 0.15551376 0.038867 0.98706881 -0.02311401] [ 0. 0. 0. 1. ]] SLAMing on 46.676502481 meters Centerline goodness : 0.688684 Centerline is valid? [False, False] Translation: X:0.92, Y:0.29, Z:-0.02 [[ 0.98034919 0.11706749 -0.15877869 0.91546194] [-0.12160506 0.99239409 -0.01913567 0.29169147] [ 0.15533087 0.03806793 0.98712874 -0.02272322] [ 0. 0. 0. 1. ]] SLAMing on 46.706502481 meters Centerline goodness : 0.687319 Centerline is valid? [False, False] Translation: X:0.92, Y:0.29, Z:-0.02 [[ 0.97995596 0.12076611 -0.15843565 0.91594865] [-0.12486073 0.99204344 -0.01611249 0.2935333 ] [ 0.1552292 0.03557192 0.98723783 -0.02283463] [ 0. 0. 0. 1. ]] SLAMing on 46.736502481 meters Centerline goodness : 0.690283 Centerline is valid? [False, False] Translation: X:0.92, Y:0.30, Z:-0.02 [[ 0.97943131 0.12539762 -0.15808143 0.91798743] [-0.12897645 0.99156829 -0.0125459 0.29957691] [ 0.1551753 0.03267663 0.98734637 -0.02348031] [ 0. 0. 0. 1. ]] SLAMing on 46.766502480999996 meters Centerline goodness : 0.692296 Centerline is valid? [False, False] Translation: X:0.92, Y:0.30, Z:-0.02 [[ 0.97901524 0.12901374 -0.15774858 0.91834793] [-0.13213365 0.99118726 -0.0094079 0.30098835] [ 0.15514463 0.03005437 0.98743449 -0.02342744] [ 0. 0. 0. 1. ]] SLAMing on 46.796502481 meters Centerline goodness : 0.692672 Centerline is valid? [False, False] Translation: X:0.92, Y:0.30, Z:-0.02 [[ 0.9786883 0.1318231 -0.15745439 0.91913517] [-0.13466516 0.99086298 -0.00747258 0.30490887] [ 0.15503067 0.02851695 0.98749799 -0.02345896] [ 0. 0. 0. 1. ]] SLAMing on 46.826502481 meters Centerline goodness : 0.428544 Centerline is valid? [False, False] Translation: X:0.92, Y:0.31, Z:-0.02 [[ 0.97869903 0.13145046 -0.15769904 0.91986457] [-0.13441432 0.99089103 -0.00823143 0.3076938 ] [ 0.15518054 0.0292531 0.98745291 -0.02329818] [ 0. 0. 0. 1. ]] SLAMing on 46.856502481 meters Centerline goodness : 0.374564 Centerline is valid? [False, False] Translation: X:0.92, Y:0.31, Z:-0.02 [[ 0.9788458 0.13040742 -0.15765409 0.91992022] [-0.1336102 0.99098507 -0.00984419 0.31300761] [ 0.15494909 0.03070014 0.98744533 -0.02269981] [ 0. 0. 0. 1. ]] SLAMing on 46.886502481 meters Centerline goodness : 0.281034 Centerline is valid? [False, False] Translation: X:0.92, Y:0.32, Z:-0.02 [[ 0.97889382 0.12967299 -0.15796143 0.92033241] [-0.13301763 0.99105544 -0.01074319 0.31545097] [ 0.15515543 0.0315281 0.98738684 -0.02220157] [ 0. 0. 0. 1. ]] SLAMing on 46.916502481 meters Centerline goodness : 0.293764 Centerline is valid? [False, False] Translation: X:0.92, Y:0.32, Z:-0.02 [[ 0.97902421 0.12825435 -0.15831116 0.9206754 ] [-0.1318894 0.99118399 -0.01262861 0.32038424] [ 0.15529581 0.03324328 0.98730851 -0.02131674] [ 0. 0. 0. 1. ]] SLAMing on 46.946502481 meters Centerline goodness : 0.298969 Centerline is valid? [False, False] Translation: X:0.92, Y:0.32, Z:-0.02 [[ 0.97902787 0.12778924 -0.15866422 0.92153348] [-0.13153732 0.99122191 -0.01330611 0.32303741] [ 0.15557107 0.03389731 0.98724294 -0.02105706] [ 0. 0. 0. 1. ]] SLAMing on 46.976502481 meters Centerline goodness : 0.298969 Centerline is valid? [False, False] Translation: X:0.92, Y:0.32, Z:-0.02 [[ 0.97902542 0.12778497 -0.15868279 0.92154234] [-0.13153055 0.99122307 -0.01328655 0.32304468] [ 0.15559222 0.03387951 0.98724021 -0.02103186] [ 0. 0. 0. 1. ]] SLAMing on 47.006502481 meters Centerline goodness : 0.696194 Centerline is valid? [False, False] Translation: X:0.92, Y:0.33, Z:-0.02 [[ 0.97867956 0.13052039 -0.15858985 0.92317076] [-0.1340042 0.99091485 -0.01142936 0.32819746] [ 0.15565728 0.03243739 0.98727839 -0.02128416] [ 0. 0. 0. 1. ]] SLAMing on 47.036502481 meters Centerline goodness : 0.312534 Centerline is valid? [False, False] Translation: X:0.93, Y:0.33, Z:-0.02 [[ 0.9784487 0.13204423 -0.15875285 0.92569181] [-0.13544747 0.99072606 -0.01076355 0.33372425] [ 0.15585932 0.03203425 0.98725968 -0.02194375] [ 0. 0. 0. 1. ]] SLAMing on 47.066502481 meters Centerline goodness : 0.257951 Centerline is valid? [False, False] Translation: X:0.93, Y:0.34, Z:-0.02 [[ 0.97846461 0.13157564 -0.15904358 0.9268251 ] [-0.13511762 0.99076145 -0.01161782 0.33666307] [ 0.15604563 0.03285722 0.9872032 -0.02202573] [ 0. 0. 0. 1. ]] SLAMing on 47.096502481 meters Centerline goodness : 0.702471 Centerline is valid? [False, False] Translation: X:0.93, Y:0.34, Z:-0.02 [[ 0.97823812 0.13365513 -0.15870252 0.927789 ] [-0.13705436 0.99050659 -0.01062059 0.34207193] [ 0.15577639 0.03214034 0.98726932 -0.02211645] [ 0. 0. 0. 1. ]] SLAMing on 47.126502481 meters Centerline goodness : 0.701539 Centerline is valid? [False, False] Translation: X:0.93, Y:0.34, Z:-0.02 [[ 0.97783979 0.13706087 -0.15825192 0.92764484] [-0.14006639 0.99011025 -0.00794377 0.34463554] [ 0.15559807 0.02993351 0.98736681 -0.02160081] [ 0. 0. 0. 1. ]] SLAMing on 47.156502481 meters Centerline goodness : 0.701373 Centerline is valid? [False, False] Translation: X:0.93, Y:0.35, Z:-0.02 [[ 0.9770351 0.14385188 -0.15719112 0.9274453 ] [-0.14612605 0.98926159 -0.00294636 0.35150509] [ 0.15507929 0.02584842 0.98756381 -0.02066541] [ 0. 0. 0. 1. ]] SLAMing on 47.186502481 meters Centerline goodness : 0.703816 Centerline is valid? [False, False] Translation: X:0.93, Y:0.35, Z:-0.02 [[ 9.76560063e-01 1.47465356e-01 -1.56794172e-01 9.27881058e-01] [-1.49319645e-01 9.88788977e-01 -4.77276924e-05 3.53917454e-01] [ 1.55029311e-01 2.34590592e-02 9.87631300e-01 -2.04552708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.216502481 meters Centerline goodness : 0.703926 Centerline is valid? [False, False] Translation: X:0.93, Y:0.36, Z:-0.02 [[ 0.97618162 0.15031029 -0.15644893 0.92831904] [-0.15192666 0.9883904 0.00164425 0.35915483] [ 0.15487976 0.02216368 0.98768468 -0.01979917] [ 0. 0. 0. 1. ]] SLAMing on 47.246502481 meters Centerline goodness : 0.704899 Centerline is valid? [False, False] Translation: X:0.93, Y:0.36, Z:-0.02 [[ 0.97597065 0.15179934 -0.15632741 0.92846717] [-0.15324216 0.98818455 0.0028524 0.36204059] [ 0.15491332 0.02117209 0.98770117 -0.019245 ] [ 0. 0. 0. 1. ]] SLAMing on 47.276502481 meters Centerline goodness : 0.706714 Centerline is valid? [False, False] Translation: X:0.93, Y:0.37, Z:-0.02 [[ 0.97558867 0.15454668 -0.15601946 0.92898531] [-0.15571781 0.9877901 0.0047632 0.36716291] [ 0.15485061 0.01964808 0.9877425 -0.01871752] [ 0. 0. 0. 1. ]] SLAMing on 47.306502481 meters Centerline goodness : 0.705769 Centerline is valid? [False, False] Translation: X:0.90, Y:0.38, Z:-0.02 [[ 0.97598286 0.1517219 -0.15632631 0.90014176] [-0.15257466 0.9882699 0.0066011 0.37754571] [ 0.15549412 0.01740887 0.98768341 -0.02369333] [ 0. 0. 0. 1. ]] SLAMing on 47.336502481 meters Centerline goodness : 0.706504 Centerline is valid? [False, False] Translation: X:0.90, Y:0.38, Z:-0.02 [[ 0.97620114 0.15014626 -0.1564846 0.9007579 ] [-0.15130564 0.98847658 0.00454563 0.38371591] [ 0.15536387 0.01923955 0.98766994 -0.02320376] [ 0. 0. 0. 1. ]] SLAMing on 47.366502481 meters Centerline goodness : 0.706537 Centerline is valid? [False, False] Translation: X:0.90, Y:0.39, Z:-0.02 [[ 0.97640454 0.14988478 -0.15546295 0.89931887] [-0.15108343 0.98851232 0.00414511 0.38763691] [ 0.15429833 0.01944057 0.98783303 -0.02307751] [ 0. 0. 0. 1. ]] SLAMing on 47.396502481 meters Centerline goodness : 0.706754 Centerline is valid? [False, False] Translation: X:0.90, Y:0.40, Z:-0.02 [[ 0.97663378 0.15015032 -0.15375739 0.89723797] [-0.15131959 0.98847623 0.00413771 0.39537838] [ 0.1526068 0.01922548 0.98809997 -0.0231773 ] [ 0. 0. 0. 1. ]] SLAMing on 47.426502481 meters Centerline goodness : 0.708695 Centerline is valid? [False, False] Translation: X:0.90, Y:0.40, Z:-0.02 [[ 0.97672337 0.14939829 -0.15392078 0.89781884] [-0.15070081 0.98857412 0.00323724 0.39927515] [ 0.15264574 0.0200341 0.98807789 -0.02272716] [ 0. 0. 0. 1. ]] SLAMing on 47.456502481 meters Centerline goodness : 0.706495 Centerline is valid? [False, False] Translation: X:0.90, Y:0.41, Z:-0.02 [[ 0.97693036 0.14777044 -0.15417839 0.89861446] [-0.14936617 0.98878116 0.00124714 0.40672777] [ 0.15263298 0.02181067 0.98804224 -0.02198661] [ 0. 0. 0. 1. ]] SLAMing on 47.486502481 meters Centerline goodness : 0.709570 Centerline is valid? [False, False] Translation: X:0.87, Y:0.42, Z:-0.03 [[ 0.97716664 0.14492317 -0.15537899 0.87213331] [-0.14634098 0.98923145 0.00233646 0.42133538] [ 0.15404439 0.0204552 0.98785217 -0.0274927 ] [ 0. 0. 0. 1. ]] SLAMing on 47.516502480999996 meters Centerline goodness : 0.709302 Centerline is valid? [False, False] Translation: X:0.85, Y:0.43, Z:-0.03 [[ 0.97751521 0.14262927 -0.15530904 0.84559323] [-0.14385328 0.98959323 0.00338805 0.4319565 ] [ 0.15417601 0.01902985 0.98786012 -0.03345129] [ 0. 0. 0. 1. ]] SLAMing on 47.546502481 meters Centerline goodness : 0.711433 Centerline is valid? [False, False] Translation: X:0.85, Y:0.44, Z:-0.03 [[ 0.97762525 0.14106052 -0.15604742 0.84833219] [-0.14259941 0.98977957 0.00134595 0.43981362] [ 0.15464241 0.02093644 0.98774865 -0.03362058] [ 0. 0. 0. 1. ]] SLAMing on 47.576502481 meters Centerline goodness : 0.711154 Centerline is valid? [False, False] Translation: X:0.85, Y:0.44, Z:-0.03 [[ 9.77651707e-01 1.40467575e-01 -1.56416114e-01 8.49834796e-01] [-1.42138862e-01 9.89846599e-01 5.05387361e-04 4.43812533e-01] [ 1.54898949e-01 2.17387156e-02 9.87691118e-01 -3.36926766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.606502481 meters Centerline goodness : 0.713681 Centerline is valid? [False, False] Translation: X:0.85, Y:0.45, Z:-0.03 [[ 0.97781423 0.13891241 -0.15678861 0.85140312] [-0.14090612 0.99002164 -0.00161824 0.45133608] [ 0.15499932 0.02367481 0.98763086 -0.03346587] [ 0. 0. 0. 1. ]] SLAMing on 47.636502481 meters Centerline goodness : 0.713792 Centerline is valid? [False, False] Translation: X:0.85, Y:0.46, Z:-0.03 [[ 0.97790044 0.13815054 -0.15692408 0.85200428] [-0.14038427 0.99009197 -0.0031869 0.45788229] [ 0.154929 0.02514615 0.98760553 -0.03274127] [ 0. 0. 0. 1. ]] SLAMing on 47.666502481 meters Centerline goodness : 0.713659 Centerline is valid? [False, False] Translation: X:0.85, Y:0.46, Z:-0.03 [[ 9.77558384e-01 1.40996571e-01 -1.56523394e-01 8.51865400e-01] [-1.42865733e-01 9.89741832e-01 -6.98877138e-04 4.60345550e-01] [ 1.54819211e-01 2.30450225e-02 9.87674004e-01 -3.21670377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.696502481 meters Centerline goodness : 0.714171 Centerline is valid? [False, False] Translation: X:0.85, Y:0.46, Z:-0.03 [[ 0.97713769 0.14429308 -0.1561456 0.85245837] [-0.14572837 0.98932202 0.00227763 0.46246506] [ 0.15480693 0.02052929 0.98773142 -0.0321968 ] [ 0. 0. 0. 1. ]] SLAMing on 47.726502481 meters Centerline goodness : 0.719202 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.03 [[ 0.97679242 0.14604457 -0.15667662 0.85614954] [-0.14730474 0.9890846 0.00360151 0.46748726] [ 0.15549241 0.01956128 0.98764339 -0.03324004] [ 0. 0. 0. 1. ]] SLAMing on 47.756502481 meters Centerline goodness : 0.718146 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.03 [[ 0.97678157 0.14585826 -0.15691758 0.85745713] [-0.14715986 0.98910703 0.00335454 0.4698541 ] [ 0.15569757 0.01981532 0.98760601 -0.03349576] [ 0. 0. 0. 1. ]] SLAMing on 47.786502481 meters Centerline goodness : 0.716902 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.03 [[ 0.97684448 0.14517676 -0.15715778 0.85827911] [-0.14669059 0.98918043 0.00198603 0.47486192] [ 0.15574572 0.02111353 0.98757151 -0.03297595] [ 0. 0. 0. 1. ]] SLAMing on 47.816502481 meters Centerline goodness : 0.719415 Centerline is valid? [False, False] Translation: X:0.86, Y:0.48, Z:-0.03 [[ 0.97645172 0.14852066 -0.15647255 0.85803112] [-0.14960364 0.98873391 0.0048998 0.47673576] [ 0.15543744 0.01862444 0.98767015 -0.03275926] [ 0. 0. 0. 1. ]] SLAMing on 47.846502481 meters Centerline goodness : 0.720062 Centerline is valid? [False, False] Translation: X:0.86, Y:0.48, Z:-0.03 [[ 0.97594958 0.15220766 -0.15606165 0.85871403] [-0.15294176 0.98820776 0.00736467 0.48190553] [ 0.15534229 0.0166808 0.98771986 -0.03227106] [ 0. 0. 0. 1. ]] SLAMing on 47.876502481 meters Centerline goodness : 0.719856 Centerline is valid? [False, False] Translation: X:0.86, Y:0.48, Z:-0.03 [[ 0.97590745 0.15230008 -0.15623486 0.85970478] [-0.15306967 0.98818942 0.00716547 0.4844335 ] [ 0.15548093 0.01692198 0.98769394 -0.03222794] [ 0. 0. 0. 1. ]] SLAMing on 47.906502481 meters Centerline goodness : 0.720327 Centerline is valid? [False, False] Translation: X:0.86, Y:0.49, Z:-0.03 [[ 0.9759485 0.15181318 -0.15645216 0.86084861] [-0.1527871 0.98824179 0.00585345 0.48873107] [ 0.1555012 0.01819121 0.98766819 -0.03224881] [ 0. 0. 0. 1. ]] SLAMing on 47.936502481 meters Centerline goodness : 0.721858 Centerline is valid? [False, False] Translation: X:0.87, Y:0.49, Z:-0.03 [[ 0.97561167 0.15302855 -0.15736626 0.86544993] [-0.15391214 0.9880623 0.00662955 0.49236625] [ 0.15650218 0.01775271 0.98751806 -0.03374567] [ 0. 0. 0. 1. ]] SLAMing on 47.966502481 meters Centerline goodness : 0.723243 Centerline is valid? [False, False] Translation: X:0.87, Y:0.49, Z:-0.03 [[ 0.97540664 0.15366439 -0.15801628 0.86847044] [-0.1544875 0.98796898 0.00713546 0.49406625] [ 0.15721165 0.01745157 0.98741073 -0.03471538] [ 0. 0. 0. 1. ]] SLAMing on 47.996502481 meters Centerline goodness : 0.724718 Centerline is valid? [False, False] Translation: X:0.87, Y:0.50, Z:-0.04 [[ 0.97509103 0.15486287 -0.15879225 0.87211443] [-0.15562034 0.98778669 0.00773014 0.49838056] [ 0.15804998 0.01717372 0.98728176 -0.03545245] [ 0. 0. 0. 1. ]] SLAMing on 48.026502481 meters Centerline goodness : 0.382443 Centerline is valid? [False, False] Translation: X:0.87, Y:0.50, Z:-0.04 [[ 0.97502412 0.15484961 -0.15921543 0.87331495] [-0.15569312 0.98777894 0.00723948 0.50099883] [ 0.15839068 0.01773008 0.98721732 -0.03522983] [ 0. 0. 0. 1. ]] SLAMing on 48.056502481 meters Centerline goodness : 0.723578 Centerline is valid? [False, False] Translation: X:0.87, Y:0.51, Z:-0.03 [[ 0.97502857 0.15472752 -0.15930688 0.8740716 ] [-0.15579187 0.9877725 0.00586326 0.50754009] [ 0.15826616 0.01910187 0.9872117 -0.03440873] [ 0. 0. 0. 1. ]] SLAMing on 48.086502481 meters Centerline goodness : 0.724047 Centerline is valid? [False, False] Translation: X:0.88, Y:0.51, Z:-0.03 [[ 0.97494911 0.15474923 -0.15977144 0.875612 ] [-0.15589887 0.98775831 0.00539124 0.51058553] [ 0.15864986 0.019652 0.98713931 -0.0343439 ] [ 0. 0. 0. 1. ]] SLAMing on 48.116502481 meters Centerline goodness : 0.726310 Centerline is valid? [False, False] Translation: X:0.88, Y:0.52, Z:-0.04 [[ 0.9747646 0.15526702 -0.16039368 0.87907911] [-0.1564516 0.98767143 0.00529521 0.51532136] [ 0.15923843 0.01993226 0.98703892 -0.03537703] [ 0. 0. 0. 1. ]] SLAMing on 48.146502481 meters Centerline goodness : 0.638092 Centerline is valid? [False, False] Translation: X:0.88, Y:0.52, Z:-0.04 [[ 0.97465942 0.15532291 -0.16097765 0.88094264] [-0.15653704 0.98765845 0.00519127 0.51694838] [ 0.15979726 0.02013924 0.9869444 -0.03569409] [ 0. 0. 0. 1. ]] SLAMing on 48.176502481 meters Centerline goodness : 0.381339 Centerline is valid? [False, False] Translation: X:0.89, Y:0.52, Z:-0.03 [[ 0.97533276 0.14936459 -0.16253068 0.89286425] [-0.14999481 0.98865061 0.00845711 0.51941296] [ 0.16194924 0.01613027 0.98666725 -0.03350081] [ 0. 0. 0. 1. ]] SLAMing on 48.206502481 meters Centerline goodness : 0.606912 Centerline is valid? [False, False] Translation: X:0.91, Y:0.52, Z:-0.03 [[ 0.97692805 0.14293198 -0.15868849 0.9051875 ] [-0.14294595 0.989665 0.01138628 0.51909396] [ 0.15867591 0.0115603 0.98726304 -0.03450992] [ 0. 0. 0. 1. ]] SLAMing on 48.236502481 meters Centerline goodness : 0.640147 Centerline is valid? [False, False] Translation: X:0.91, Y:0.52, Z:-0.03 [[ 0.97774014 0.13704691 -0.15887848 0.91390148] [-0.13628513 0.99054471 0.01573311 0.51978085] [ 0.15953241 0.00626988 0.98717278 -0.03159686] [ 0. 0. 0. 1. ]] SLAMing on 48.266502480999996 meters Centerline goodness : 0.727335 Centerline is valid? [False, False] Translation: X:0.92, Y:0.52, Z:-0.03 [[ 9.78885914e-01 1.30885394e-01 -1.57007580e-01 9.23266064e-01] [-1.29301025e-01 9.91397416e-01 2.03078676e-02 5.22086838e-01] [ 1.58314913e-01 4.22155528e-04 9.87388581e-01 -2.94685152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.296502481 meters Centerline goodness : 0.602879 Centerline is valid? [False, False] Translation: X:0.93, Y:0.52, Z:-0.03 [[ 0.97997823 0.12328222 -0.15634627 0.93379396] [-0.12114073 0.99236443 0.02318963 0.52295297] [ 0.15801135 -0.00378543 0.98743004 -0.02819372] [ 0. 0. 0. 1. ]] SLAMing on 48.326502481 meters Centerline goodness : 0.594310 Centerline is valid? [False, False] Translation: X:0.95, Y:0.53, Z:-0.03 [[ 0.98106117 0.11359987 -0.15688865 0.94551755] [-0.11121408 0.99350828 0.02393161 0.52502575] [ 0.1585888 -0.00603015 0.9873263 -0.02702573] [ 0. 0. 0. 1. ]] SLAMing on 48.356502481 meters Centerline goodness : 0.553564 Centerline is valid? [False, False] Translation: X:0.95, Y:0.53, Z:-0.03 [[ 0.98106995 0.11297293 -0.15728595 0.94646178] [-0.11067356 0.99358295 0.02332997 0.52657668] [ 0.1589123 -0.00548094 0.98727749 -0.02700146] [ 0. 0. 0. 1. ]] SLAMing on 48.386502481 meters Centerline goodness : 0.685781 Centerline is valid? [False, False] Translation: X:0.95, Y:0.53, Z:-0.03 [[ 0.98084502 0.11359191 -0.15824007 0.94987305] [-0.11122439 0.99351107 0.02376729 0.53158868] [ 0.15991303 -0.00571187 0.98711458 -0.02757623] [ 0. 0. 0. 1. ]] SLAMing on 48.416502481 meters Centerline goodness : 0.604911 Centerline is valid? [False, False] Translation: X:0.95, Y:0.54, Z:-0.03 [[ 0.9806041 0.11457578 -0.15902201 0.95260193] [-0.11208854 0.99339483 0.02455325 0.53525276] [ 0.16078485 -0.00625247 0.98696967 -0.02783513] [ 0. 0. 0. 1. ]] SLAMing on 48.446502481 meters Centerline goodness : 0.599180 Centerline is valid? [False, False] Translation: X:0.95, Y:0.54, Z:-0.03 [[ 0.9801804 0.11782117 -0.15926255 0.95379164] [-0.11507068 0.993006 0.02641618 0.54168613] [ 0.16126105 -0.00756618 0.98688278 -0.02702137] [ 0. 0. 0. 1. ]] SLAMing on 48.476502481 meters Centerline goodness : 0.600504 Centerline is valid? [False, False] Translation: X:0.96, Y:0.55, Z:-0.03 [[ 0.97993754 0.11898342 -0.1598917 0.95617253] [-0.1161316 0.99286413 0.02709744 0.5456811 ] [ 0.16197488 -0.00798531 0.98676257 -0.02717635] [ 0. 0. 0. 1. ]] SLAMing on 48.506502481 meters Centerline goodness : 0.263722 Centerline is valid? [False, False] Translation: X:0.96, Y:0.55, Z:-0.03 [[ 0.97955682 0.12180329 -0.1601012 0.95793692] [-0.11881296 0.99251736 0.02815616 0.55287828] [ 0.16233274 -0.00855846 0.98669896 -0.02669251] [ 0. 0. 0. 1. ]] SLAMing on 48.536502481 meters Centerline goodness : 0.564763 Centerline is valid? [False, False] Translation: X:0.96, Y:0.56, Z:-0.03 [[ 0.97918582 0.1241809 -0.16054359 0.96085597] [-0.12110993 0.99222084 0.02881301 0.56049729] [ 0.16287272 -0.00876987 0.98660811 -0.02686891] [ 0. 0. 0. 1. ]] SLAMing on 48.566502481 meters Centerline goodness : 0.535058 Centerline is valid? [False, False] Translation: X:0.96, Y:0.57, Z:-0.03 [[ 0.97885861 0.1257855 -0.16128806 0.96454752] [-0.1225835 0.99201393 0.02969259 0.5651024 ] [ 0.1637349 -0.00929359 0.9864606 -0.02793463] [ 0. 0. 0. 1. ]] SLAMing on 48.596502481 meters Centerline goodness : 0.536329 Centerline is valid? [False, False] Translation: X:0.97, Y:0.57, Z:-0.03 [[ 0.97834511 0.12913691 -0.16175447 0.96653991] [-0.12568841 0.99157217 0.03141752 0.57394776] [ 0.16444839 -0.01040652 0.98633079 -0.02694445] [ 0. 0. 0. 1. ]] SLAMing on 48.626502481 meters Centerline goodness : 0.294621 Centerline is valid? [False, False] Translation: X:0.97, Y:0.58, Z:-0.03 [[ 0.97837179 0.12833633 -0.16222952 0.96681162] [-0.12514001 0.99169106 0.02981296 0.57881369] [ 0.16470765 -0.00886676 0.98630258 -0.02566842] [ 0. 0. 0. 1. ]] SLAMing on 48.656502481 meters Centerline goodness : 0.308558 Centerline is valid? [False, False] Translation: X:0.97, Y:0.59, Z:-0.02 [[ 0.97844225 0.12702968 -0.16283188 0.96748523] [-0.12425838 0.9918788 0.02713475 0.58690663] [ 0.1649564 -0.00631657 0.98628063 -0.02407625] [ 0. 0. 0. 1. ]] SLAMing on 48.686502481 meters Centerline goodness : 0.427292 Centerline is valid? [False, False] Translation: X:0.97, Y:0.59, Z:-0.02 [[ 0.97842024 0.12638671 -0.16346323 0.96873324] [-0.1237937 0.99196743 0.02599506 0.59047597] [ 0.16543563 -0.00519837 0.98620689 -0.0236714 ] [ 0. 0. 0. 1. ]] SLAMing on 48.716502481 meters Centerline goodness : 0.362889 Centerline is valid? [False, False] Translation: X:0.97, Y:0.60, Z:-0.02 [[ 0.97815501 0.12738379 -0.16427461 0.97178406] [-0.12478969 0.99184095 0.02605883 0.59722229] [ 0.16625376 -0.0049898 0.98607038 -0.0237844 ] [ 0. 0. 0. 1. ]] SLAMing on 48.746502481 meters Centerline goodness : 0.581516 Centerline is valid? [False, False] Translation: X:0.97, Y:0.60, Z:-0.02 [[ 0.97811978 0.12691346 -0.1648474 0.9728359 ] [-0.12447435 0.99190566 0.025086 0.60111127] [ 0.16669681 -0.00401784 0.98600001 -0.023242 ] [ 0. 0. 0. 1. ]] SLAMing on 48.776502481 meters Centerline goodness : 0.203379 Centerline is valid? [False, False] Translation: X:0.97, Y:0.61, Z:-0.02 [[ 0.97764174 0.13037181 -0.16498428 0.97431677] [-0.12758875 0.99144856 0.02740177 0.60606549] [ 0.16714585 -0.00573897 0.98591548 -0.02290053] [ 0. 0. 0. 1. ]] SLAMing on 48.806502481 meters Centerline goodness : 0.557577 Centerline is valid? [False, False] Translation: X:0.98, Y:0.61, Z:-0.02 [[ 0.97739241 0.13151536 -0.16555297 0.976948 ] [-0.12870725 0.99129779 0.02762501 0.61175971] [ 0.1677454 -0.00569261 0.98581391 -0.02298132] [ 0. 0. 0. 1. ]] SLAMing on 48.836502481 meters Centerline goodness : 0.627096 Centerline is valid? [False, False] Translation: X:0.98, Y:0.61, Z:-0.02 [[ 0.97724234 0.13178543 -0.16622276 0.97912197] [-0.12900399 0.99126356 0.02746877 0.61437623] [ 0.16839055 -0.00540024 0.98570556 -0.02319369] [ 0. 0. 0. 1. ]] SLAMing on 48.866502481 meters Centerline goodness : 0.627096 Centerline is valid? [False, False] Translation: X:0.98, Y:0.61, Z:-0.02 [[ 0.97724234 0.13178543 -0.16622276 0.97912197] [-0.12900399 0.99126356 0.02746877 0.61437623] [ 0.16839055 -0.00540024 0.98570556 -0.02319369] [ 0. 0. 0. 1. ]] SLAMing on 48.896502481 meters Centerline goodness : 0.463704 Centerline is valid? [False, False] Translation: X:0.98, Y:0.62, Z:-0.02 [[ 0.97690111 0.13332226 -0.16700117 0.98264329] [-0.13046022 0.99105687 0.02804294 0.62016697] [ 0.1692464 -0.00560817 0.98555781 -0.02362752] [ 0. 0. 0. 1. ]] SLAMing on 48.926502481 meters Centerline goodness : 0.402596 Centerline is valid? [False, False] Translation: X:0.98, Y:0.62, Z:-0.02 [[ 0.9767363 0.13349649 -0.16782398 0.98466806] [-0.13066857 0.99103535 0.02783277 0.62306141] [ 0.17003508 -0.00525596 0.98542399 -0.02344384] [ 0. 0. 0. 1. ]] SLAMing on 48.956502481 meters Centerline goodness : 0.717473 Centerline is valid? [False, False] Translation: X:1.00, Y:0.63, Z:-0.02 [[ 0.97710127 0.12898206 -0.16922392 0.99620374] [-0.12532164 0.99159408 0.03218171 0.63052969] [ 0.1719523 -0.01023737 0.98505208 -0.02094459] [ 0. 0. 0. 1. ]] SLAMing on 48.986502481 meters Centerline goodness : 0.717989 Centerline is valid? [False, False] Translation: X:1.00, Y:0.63, Z:-0.02 [[ 0.97698122 0.12900248 -0.16990012 0.99790405] [-0.12540424 0.99159634 0.03178809 0.63382449] [ 0.17257308 -0.00975018 0.98494846 -0.02066244] [ 0. 0. 0. 1. ]] SLAMing on 49.016502480999996 meters Centerline goodness : 0.716966 Centerline is valid? [False, False] Translation: X:1.00, Y:0.64, Z:-0.02 [[ 0.97687803 0.12868189 -0.17073453 1.00079367] [-0.12526205 0.99164861 0.03069954 0.64005796] [ 0.17325913 -0.00860315 0.9848387 -0.02069846] [ 0. 0. 0. 1. ]] SLAMing on 49.046502481 meters Centerline goodness : 0.714981 Centerline is valid? [False, False] Translation: X:1.00, Y:0.64, Z:-0.02 [[ 0.97674354 0.12851258 -0.17162917 1.00304442] [-0.1252042 0.99167702 0.03000993 0.64314539] [ 0.17405736 -0.00782331 0.98470444 -0.02068386] [ 0. 0. 0. 1. ]] SLAMing on 49.076502481 meters Centerline goodness : 0.711643 Centerline is valid? [False, False] Translation: X:1.01, Y:0.65, Z:-0.02 [[ 0.97631833 0.13060008 -0.1724707 1.00700872] [-0.12714509 0.99140025 0.0309784 0.65050383] [ 0.17503328 -0.00831598 0.9845274 -0.02122115] [ 0. 0. 0. 1. ]] SLAMing on 49.106502481 meters Centerline goodness : 0.711618 Centerline is valid? [False, False] Translation: X:1.01, Y:0.66, Z:-0.02 [[ 0.97585517 0.13383159 -0.17261457 1.00803673] [-0.13003286 0.99095428 0.03318232 0.65786884] [ 0.17549399 -0.00993558 0.98443037 -0.02008639] [ 0. 0. 0. 1. ]] SLAMing on 49.136502481 meters Centerline goodness : 0.711959 Centerline is valid? [False, False] Translation: X:1.01, Y:0.66, Z:-0.02 [[ 0.97551295 0.13569442 -0.17309391 1.01014069] [-0.13161198 0.99068667 0.03490282 0.66170651] [ 0.17621795 -0.01126692 0.98428669 -0.02016352] [ 0. 0. 0. 1. ]] SLAMing on 49.166502481 meters Centerline goodness : 0.710566 Centerline is valid? [False, False] Translation: X:1.01, Y:0.67, Z:-0.02 [[ 0.97537897 0.13585522 -0.17372166 1.01324561] [-0.13180322 0.99066813 0.03470691 0.66778917] [ 0.17681563 -0.01095531 0.98418302 -0.02088962] [ 0. 0. 0. 1. ]] SLAMing on 49.196502481 meters Centerline goodness : 0.710767 Centerline is valid? [False, False] Translation: X:1.01, Y:0.67, Z:-0.02 [[ 0.97533997 0.13546055 -0.17424807 1.01477986] [-0.13149358 0.99072802 0.03416753 0.67076359] [ 0.1772608 -0.01041245 0.98410883 -0.02099616] [ 0. 0. 0. 1. ]] SLAMing on 49.226502481 meters Centerline goodness : 0.709803 Centerline is valid? [False, False] Translation: X:1.01, Y:0.68, Z:-0.03 [[ 0.97629161 0.13284777 -0.17089812 1.00506382] [-0.12835665 0.99103329 0.0371159 0.6798504 ] [ 0.17429649 -0.01430004 0.98458938 -0.02560979] [ 0. 0. 0. 1. ]] SLAMing on 49.256502481 meters Centerline goodness : 0.708895 Centerline is valid? [False, False] Translation: X:0.96, Y:0.69, Z:-0.03 [[ 0.97686887 0.12815753 -0.17118076 0.96341196] [-0.12319633 0.99160217 0.03934215 0.69407687] [ 0.1747852 -0.01734328 0.98445383 -0.03293438] [ 0. 0. 0. 1. ]] SLAMing on 49.286502481 meters Centerline goodness : 0.707486 Centerline is valid? [False, False] Translation: X:0.96, Y:0.70, Z:-0.04 [[ 0.97726772 0.12882073 -0.16838356 0.9586264 ] [-0.12342813 0.9914578 0.04215367 0.70198376] [ 0.17237546 -0.02041216 0.9848198 -0.03592169] [ 0. 0. 0. 1. ]] SLAMing on 49.316502481 meters Centerline goodness : 0.707447 Centerline is valid? [False, False] Translation: X:0.94, Y:0.71, Z:-0.04 [[ 0.97838264 0.12239635 -0.16669299 0.93951245] [-0.11604878 0.99211475 0.04733919 0.71124004] [ 0.17117272 -0.02697133 0.98487179 -0.04228115] [ 0. 0. 0. 1. ]] SLAMing on 49.346502481 meters Centerline goodness : 0.706151 Centerline is valid? [False, False] Translation: X:0.93, Y:0.72, Z:-0.05 [[ 0.97972368 0.11494989 -0.16409763 0.92859456] [-0.10866234 0.99297543 0.04682183 0.72234705] [ 0.16832708 -0.02804122 0.98533227 -0.04736602] [ 0. 0. 0. 1. ]] SLAMing on 49.376502481 meters Centerline goodness : 0.706111 Centerline is valid? [False, False] Translation: X:0.92, Y:0.73, Z:-0.05 [[ 0.98067118 0.10958575 -0.16209563 0.92170317] [-0.10351338 0.99358817 0.04547014 0.73215529] [ 0.16603918 -0.02781219 0.98572688 -0.05024075] [ 0. 0. 0. 1. ]] SLAMing on 49.406502481 meters Centerline goodness : 0.706233 Centerline is valid? [False, False] Translation: X:0.92, Y:0.74, Z:-0.05 [[ 0.98074945 0.10859393 -0.16228948 0.92190858] [-0.10268224 0.99372251 0.04440632 0.73545517] [ 0.16609297 -0.02688723 0.98574348 -0.04995219] [ 0. 0. 0. 1. ]] SLAMing on 49.436502481 meters Centerline goodness : 0.705323 Centerline is valid? [False, False] Translation: X:0.92, Y:0.74, Z:-0.05 [[ 0.98049885 0.11146481 -0.16185675 0.92151686] [-0.10514931 0.99334036 0.0471016 0.73751663] [ 0.16602901 -0.02916394 0.98568952 -0.04999451] [ 0. 0. 0. 1. ]] SLAMing on 49.466502481 meters Centerline goodness : 0.702905 Centerline is valid? [False, False] Translation: X:0.92, Y:0.75, Z:-0.05 [[ 0.98051703 0.11039041 -0.16248173 0.92229609] [-0.10423417 0.99349006 0.04596457 0.74727299] [ 0.16649803 -0.02813289 0.98564037 -0.04918171] [ 0. 0. 0. 1. ]] SLAMing on 49.496502481 meters Centerline goodness : 0.703812 Centerline is valid? [False, False] Translation: X:0.92, Y:0.76, Z:-0.05 [[ 0.98071876 0.10843639 -0.16258001 0.92225417] [-0.10263982 0.99375978 0.04366421 0.75567433] [ 0.16630027 -0.02613513 0.98572875 -0.04869243] [ 0. 0. 0. 1. ]] SLAMing on 49.526502481 meters Centerline goodness : 0.703090 Centerline is valid? [False, False] Translation: X:0.92, Y:0.76, Z:-0.05 [[ 0.98079286 0.10739311 -0.16282532 0.92237473] [-0.10181744 0.99390616 0.04223457 0.75946493] [ 0.16636879 -0.02484491 0.98575056 -0.04806253] [ 0. 0. 0. 1. ]] SLAMing on 49.556502481 meters Centerline goodness : 0.701537 Centerline is valid? [False, False] Translation: X:0.92, Y:0.77, Z:-0.05 [[ 0.98057776 0.11016485 -0.16226816 0.92335823] [-0.10430579 0.99356168 0.04422086 0.76643328] [ 0.16609502 -0.02643648 0.98575532 -0.04905083] [ 0. 0. 0. 1. ]] SLAMing on 49.586502481 meters Centerline goodness : 0.699608 Centerline is valid? [False, False] Translation: X:0.93, Y:0.77, Z:-0.05 [[ 0.98044316 0.10999328 -0.16319522 0.92535676] [-0.10419889 0.99359695 0.04367713 0.7724484 ] [ 0.16695446 -0.02581818 0.98562652 -0.04859493] [ 0. 0. 0. 1. ]] SLAMing on 49.616502481 meters Centerline goodness : 0.697697 Centerline is valid? [False, False] Translation: X:0.93, Y:0.78, Z:-0.05 [[ 0.98019124 0.11187117 -0.16343185 0.92663088] [-0.10618718 0.99340997 0.04313841 0.7826387 ] [ 0.16718078 -0.02492953 0.98561103 -0.0488225 ] [ 0. 0. 0. 1. ]] SLAMing on 49.646502481 meters Centerline goodness : 0.697253 Centerline is valid? [False, False] Translation: X:0.93, Y:0.79, Z:-0.05 [[ 0.98023799 0.11107247 -0.16369605 0.92688061] [-0.10585124 0.99356468 0.04030809 0.78842922] [ 0.16711973 -0.02218409 0.985687 -0.04890053] [ 0. 0. 0. 1. ]] SLAMing on 49.676502481 meters Centerline goodness : 0.695947 Centerline is valid? [False, False] Translation: X:0.93, Y:0.80, Z:-0.05 [[ 0.9799155 0.11310161 -0.16423651 0.92831727] [-0.10823734 0.99338704 0.03829983 0.7988053 ] [ 0.16748219 -0.01975407 0.98567717 -0.04894806] [ 0. 0. 0. 1. ]] SLAMing on 49.706502481 meters Centerline goodness : 0.694181 Centerline is valid? [False, False] Translation: X:0.93, Y:0.81, Z:-0.05 [[ 0.97962749 0.1158397 -0.16404617 0.92895437] [-0.11127645 0.99310902 0.03677003 0.80928642] [ 0.16717516 -0.01776646 0.98576712 -0.04962927] [ 0. 0. 0. 1. ]] SLAMing on 49.736502481 meters Centerline goodness : 0.693286 Centerline is valid? [False, False] Translation: X:0.93, Y:0.82, Z:-0.05 [[ 0.97961057 0.11528161 -0.16453957 0.9299536 ] [-0.11122291 0.99322386 0.033702 0.81553923] [ 0.16730985 -0.01471426 0.98579455 -0.05000264] [ 0. 0. 0. 1. ]] SLAMing on 49.766502480999996 meters Centerline goodness : 0.691496 Centerline is valid? [False, False] Translation: X:0.93, Y:0.83, Z:-0.05 [[ 0.97912236 0.11768746 -0.16573796 0.93376755] [-0.1137454 0.99295797 0.03311273 0.82521329] [ 0.16846778 -0.01356949 0.98561376 -0.05069278] [ 0. 0. 0. 1. ]] SLAMing on 49.796502481 meters Centerline goodness : 0.690154 Centerline is valid? [False, False] Translation: X:0.94, Y:0.83, Z:-0.05 [[ 0.9790148 0.11710138 -0.16678513 0.93577661] [-0.11359829 0.99306081 0.03042472 0.83104308] [ 0.16919055 -0.01083974 0.98552375 -0.05070558] [ 0. 0. 0. 1. ]] SLAMing on 49.826502481 meters Centerline goodness : 0.687289 Centerline is valid? [False, False] Translation: X:0.94, Y:0.84, Z:-0.05 [[ 0.97858599 0.1198538 -0.16734552 0.93834182] [-0.11642542 0.99274062 0.03018571 0.83952885] [ 0.16974857 -0.01005604 0.9854361 -0.05144122] [ 0. 0. 0. 1. ]] SLAMing on 49.856502481 meters Centerline goodness : 0.686898 Centerline is valid? [False, False] Translation: X:0.94, Y:0.85, Z:-0.05 [[ 0.97855132 0.11957744 -0.16774552 0.9390919 ] [-0.11662517 0.99279857 0.02737833 0.84527268] [ 0.16981134 -0.00722775 0.98545008 -0.05150496] [ 0. 0. 0. 1. ]] SLAMing on 49.886502481 meters Centerline goodness : 0.687678 Centerline is valid? [False, False] Translation: X:0.94, Y:0.85, Z:-0.05 [[ 0.97830665 0.12223448 -0.16725675 0.9392761 ] [-0.11938777 0.99248026 0.02700916 0.85384113] [ 0.16930048 -0.00645483 0.98554334 -0.05196024] [ 0. 0. 0. 1. ]] SLAMing on 49.916502481 meters Centerline goodness : 0.689728 Centerline is valid? [False, False] Translation: X:0.94, Y:0.86, Z:-0.05 [[ 9.78353105e-01 1.20459968e-01 -1.68269419e-01 9.40987863e-01] [-1.18602232e-01 9.92717959e-01 2.10847059e-02 8.64478930e-01] [ 1.69583937e-01 -6.71158886e-04 9.85515519e-01 -5.17467142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.946502481 meters Centerline goodness : 0.690220 Centerline is valid? [False, False] Translation: X:0.94, Y:0.87, Z:-0.05 [[ 0.97832537 0.119558 -0.16907203 0.9425359 ] [-0.11816638 0.99282506 0.0183059 0.87000713] [ 0.17004756 0.0020695 0.98543368 -0.05179303] [ 0. 0. 0. 1. ]] SLAMing on 49.976502481 meters Centerline goodness : 0.685840 Centerline is valid? [False, False] Translation: X:0.94, Y:0.88, Z:-0.05 [[ 0.97794705 0.12219326 -0.16937643 0.94467848] [-0.12092809 0.99250158 0.01780493 0.87942136] [ 0.17028202 0.00307009 0.98539059 -0.05236685] [ 0. 0. 0. 1. ]] SLAMing on 50.006502481 meters Centerline goodness : 0.684411 Centerline is valid? [False, False] Translation: X:0.94, Y:0.89, Z:-0.05 [[ 0.97791929 0.12167671 -0.16990774 0.94486694] [-0.12093912 0.99255073 0.01472335 0.88583054] [ 0.17043354 0.00615024 0.98534998 -0.05140446] [ 0. 0. 0. 1. ]] SLAMing on 50.036502481 meters Centerline goodness : 0.684555 Centerline is valid? [False, False] Translation: X:0.95, Y:0.90, Z:-0.05 [[ 0.97756027 0.12419365 -0.17015246 0.94593262] [-0.12393882 0.99221534 0.01216074 0.8968092 ] [ 0.17033817 0.00920064 0.98534271 -0.05103426] [ 0. 0. 0. 1. ]] SLAMing on 50.066502481 meters Centerline goodness : 0.688338 Centerline is valid? [False, False] Translation: X:0.95, Y:0.91, Z:-0.05 [[ 0.97718634 0.12673767 -0.17042422 0.947576 ] [-0.12672581 0.99187687 0.01099276 0.90683185] [ 0.17043304 0.01085517 0.98530947 -0.05101107] [ 0. 0. 0. 1. ]] SLAMing on 50.096502481 meters Centerline goodness : 0.689048 Centerline is valid? [False, False] Translation: X:0.95, Y:0.91, Z:-0.05 [[ 0.97679527 0.13012157 -0.17011576 0.94811359] [-0.12965562 0.99146174 0.0138938 0.9094417 ] [ 0.17047115 0.00848506 0.98532613 -0.05104882] [ 0. 0. 0. 1. ]] SLAMing on 50.126502481 meters Centerline goodness : 0.684677 Centerline is valid? [False, False] Translation: X:0.95, Y:0.92, Z:-0.05 [[ 0.97645933 0.13194905 -0.17063592 0.94965882] [-0.13172338 0.99120523 0.01269405 0.91900908] [ 0.17081018 0.01008152 0.98525238 -0.05036051] [ 0. 0. 0. 1. ]] SLAMing on 50.156502481 meters Centerline goodness : 0.682712 Centerline is valid? [False, False] Translation: X:0.95, Y:0.92, Z:-0.05 [[ 0.97645365 0.1308273 -0.17152983 0.95144912] [-0.13109609 0.99132113 0.00980945 0.92426342] [ 0.17132449 0.01290842 0.98513009 -0.05029282] [ 0. 0. 0. 1. ]] SLAMing on 50.186502481 meters Centerline goodness : 0.686039 Centerline is valid? [False, False] Translation: X:0.95, Y:0.92, Z:-0.05 [[ 0.97645022 0.12959076 -0.17248536 0.95333049] [-0.12980585 0.99148819 0.01008057 0.92452219] [ 0.17232354 0.01254643 0.9849605 -0.04989875] [ 0. 0. 0. 1. ]] SLAMing on 50.216502481 meters Centerline goodness : 0.687250 Centerline is valid? [False, False] Translation: X:0.95, Y:0.93, Z:-0.05 [[ 0.97703293 0.12267174 -0.17423631 0.95473363] [-0.12327243 0.99234519 0.00741231 0.92738787] [ 0.17381184 0.01423646 0.98467597 -0.04774359] [ 0. 0. 0. 1. ]] SLAMing on 50.246502481 meters Centerline goodness : 0.685240 Centerline is valid? [False, False] Translation: X:0.96, Y:0.93, Z:-0.05 [[ 0.97761703 0.11641004 -0.17525307 0.95610005] [-0.11768366 0.99304616 0.00314399 0.92793428] [ 0.17440038 0.0175508 0.9845184 -0.04808538] [ 0. 0. 0. 1. ]] SLAMing on 50.276502481 meters Centerline goodness : 0.685283 Centerline is valid? [False, False] Translation: X:0.96, Y:0.93, Z:-0.05 [[ 0.97805497 0.11186652 -0.17576792 0.95654479] [-0.11406619 0.99347018 -0.00242905 0.92978826] [ 0.17434846 0.02242492 0.98442864 -0.04852809] [ 0. 0. 0. 1. ]] SLAMing on 50.306502481 meters Centerline goodness : 0.691461 Centerline is valid? [False, False] Translation: X:0.96, Y:0.93, Z:-0.05 [[ 0.97860271 0.10688527 -0.17581887 0.95581222] [-0.11022849 0.99386247 -0.00933142 0.93388798] [ 0.17374239 0.028512 0.98437831 -0.04876865] [ 0. 0. 0. 1. ]] SLAMing on 50.336502481 meters Centerline goodness : 0.683293 Centerline is valid? [False, False] Translation: X:0.96, Y:0.94, Z:-0.05 [[ 0.97860155 0.10631302 -0.17617194 0.95591387] [-0.10981527 0.99389944 -0.01022259 0.93595627] [ 0.1740104 0.02935021 0.98430633 -0.04786081] [ 0. 0. 0. 1. ]] SLAMing on 50.366502481 meters Centerline goodness : 0.681314 Centerline is valid? [False, False] Translation: X:0.96, Y:0.94, Z:-0.05 [[ 0.97811458 0.11095074 -0.17601649 0.95668562] [-0.11374295 0.99349315 -0.0058224 0.93688493] [ 0.17422518 0.02571561 0.98437 -0.0482268 ] [ 0. 0. 0. 1. ]] SLAMing on 50.396502481 meters Centerline goodness : 0.681117 Centerline is valid? [False, False] Translation: X:0.96, Y:0.94, Z:-0.05 [[ 0.9780798 0.11072421 -0.17635206 0.95758494] [-0.11377651 0.99347985 -0.00725957 0.93951883] [ 0.1743984 0.02716516 0.98430039 -0.04837766] [ 0. 0. 0. 1. ]] SLAMing on 50.426502481 meters Centerline goodness : 0.678673 Centerline is valid? [False, False] Translation: X:0.96, Y:0.94, Z:-0.05 [[ 0.97814045 0.11080038 -0.17596742 0.95700778] [-0.11437446 0.99338464 -0.01026831 0.94449406] [ 0.1736656 0.03017003 0.98434243 -0.04859802] [ 0. 0. 0. 1. ]] SLAMing on 50.456502481 meters Centerline goodness : 0.676005 Centerline is valid? [False, False] Translation: X:0.96, Y:0.94, Z:-0.05 [[ 0.97801467 0.11404419 -0.17458875 0.9567927 ] [-0.11710195 0.99309322 -0.00727946 0.94462577] [ 0.17255272 0.0275641 0.98461453 -0.05082861] [ 0. 0. 0. 1. ]] SLAMing on 50.486502481 meters Centerline goodness : 0.676004 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97796182 0.11401566 -0.17490313 0.95765872] [-0.11707976 0.99309593 -0.00726717 0.94522485] [ 0.17286702 0.02758463 0.98455883 -0.05089687] [ 0. 0. 0. 1. ]] SLAMing on 50.516502480999996 meters Centerline goodness : 0.670665 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97788459 0.11407656 -0.17529478 0.95879005] [-0.11720469 0.99307899 -0.0075623 0.9461641 ] [ 0.17321888 0.02794043 0.98448695 -0.05066497] [ 0. 0. 0. 1. ]] SLAMing on 50.546502481 meters Centerline goodness : 0.675464 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97776685 0.1142692 -0.17582531 0.95979739] [-0.1174689 0.99304542 -0.00786404 0.94697126] [ 0.17370391 0.02834321 0.98438997 -0.04985363] [ 0. 0. 0. 1. ]] SLAMing on 50.576502481 meters Centerline goodness : 0.669344 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97758803 0.11458299 -0.17661363 0.96122452] [-0.11791872 0.9929871 -0.00847327 0.94899637] [ 0.17440417 0.02910942 0.98424379 -0.04841751] [ 0. 0. 0. 1. ]] SLAMing on 50.606502481 meters Centerline goodness : 0.671560 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97742226 0.11500516 -0.1772556 0.96282737] [-0.11836671 0.99293381 -0.00847225 0.94967249] [ 0.17502872 0.02926213 0.98412838 -0.04800633] [ 0. 0. 0. 1. ]] SLAMing on 50.636502481 meters Centerline goodness : 0.670298 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97717595 0.115609 -0.1782182 0.96442562] [-0.11908237 0.99284466 -0.0088804 0.95136386] [ 0.17591633 0.02990036 0.98395092 -0.0462505 ] [ 0. 0. 0. 1. ]] SLAMing on 50.666502481 meters Centerline goodness : 0.668998 Centerline is valid? [False, False] Translation: X:0.97, Y:0.95, Z:-0.04 [[ 0.97704356 0.11584574 -0.1787894 0.96504373] [-0.11939802 0.99280384 -0.00920063 0.95250461] [ 0.17643695 0.03033651 0.98384435 -0.04496907] [ 0. 0. 0. 1. ]] SLAMing on 50.696502480999996 meters Centerline goodness : 0.668686 Centerline is valid? [False, False] Translation: X:0.96, Y:0.96, Z:-0.04 [[ 0.97696919 0.11631231 -0.17889284 0.96480574] [-0.1200861 0.99270926 -0.01037556 0.95551084] [ 0.17638178 0.03161914 0.98381385 -0.04257717] [ 0. 0. 0. 1. ]] SLAMing on 50.726502481 meters Centerline goodness : 0.673567 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97687202 0.11680978 -0.17909924 0.96521017] [-0.12074888 0.99261974 -0.0112145 0.95754476] [ 0.17646748 0.03258117 0.98376709 -0.04097138] [ 0. 0. 0. 1. ]] SLAMing on 50.756502481 meters Centerline goodness : 0.670004 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97672454 0.11701493 -0.1797684 0.96624036] [-0.12103303 0.99258175 -0.01150954 0.95836178] [ 0.17708805 0.03299957 0.98364163 -0.03992099] [ 0. 0. 0. 1. ]] SLAMing on 50.786502481 meters Centerline goodness : 0.670004 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.9767266 0.11702831 -0.17974851 0.96621848] [-0.12104487 0.99258038 -0.01150352 0.95835628] [ 0.1770686 0.03299343 0.98364533 -0.03993066] [ 0. 0. 0. 1. ]] SLAMing on 50.816502481 meters Centerline goodness : 0.666544 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97638094 0.11806822 -0.18094242 0.9691732 ] [-0.12213028 0.9924482 -0.01143506 0.95958242] [ 0.17822586 0.03326353 0.98342721 -0.03897242] [ 0. 0. 0. 1. ]] SLAMing on 50.846502481 meters Centerline goodness : 0.664088 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97617067 0.11859328 -0.18173185 0.97109596] [-0.12266981 0.99238301 -0.01131728 0.95994348] [ 0.17900545 0.03334061 0.983283 -0.03855961] [ 0. 0. 0. 1. ]] SLAMing on 50.876502481 meters Centerline goodness : 0.659343 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97585334 0.11951689 -0.1828277 0.97357238] [-0.12365568 0.99226009 -0.01136571 0.9614133 ] [ 0.18005423 0.03369895 0.98307927 -0.03732465] [ 0. 0. 0. 1. ]] SLAMing on 50.906502481 meters Centerline goodness : 0.656017 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97567576 0.11969759 -0.18365536 0.97478222] [-0.12396652 0.99221505 -0.01189934 0.96273909] [ 0.18080129 0.03437701 0.98291867 -0.03584405] [ 0. 0. 0. 1. ]] SLAMing on 50.936502481 meters Centerline goodness : 0.656883 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.04 [[ 0.97545557 0.12027987 -0.18444292 0.97729868] [-0.12465664 0.99212398 -0.01227733 0.96337298] [ 0.18151353 0.03496802 0.98276654 -0.03533137] [ 0. 0. 0. 1. ]] SLAMing on 50.966502481 meters Centerline goodness : 0.661678 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.04 [[ 0.97534056 0.12079872 -0.18471182 0.97904865] [-0.12512116 0.99207031 -0.01188293 0.96237971] [ 0.18181167 0.03470126 0.98272088 -0.0361721 ] [ 0. 0. 0. 1. ]] SLAMing on 50.996502481 meters Centerline goodness : 0.660871 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.04 [[ 0.9750879 0.1216265 -0.18550087 0.9816986 ] [-0.12596646 0.99196494 -0.01174736 0.96207392] [ 0.18258157 0.0348216 0.98257388 -0.03606634] [ 0. 0. 0. 1. ]] SLAMing on 51.026502481 meters Centerline goodness : 0.660163 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.04 [[ 0.97446978 0.12692148 -0.18520147 0.98253108] [-0.13054802 0.99141385 -0.00746962 0.96099157] [ 0.18266325 0.0314566 0.98267218 -0.03598263] [ 0. 0. 0. 1. ]] SLAMing on 51.056502481 meters Centerline goodness : 0.651427 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.03 [[ 0.97418912 0.12757567 -0.18622571 0.98401534] [-0.13128306 0.99131532 -0.00766175 0.9626888 ] [ 0.18363094 0.03191228 0.98247712 -0.03410733] [ 0. 0. 0. 1. ]] SLAMing on 51.086502481 meters Centerline goodness : 0.652889 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.03 [[ 0.9735434 0.1326793 -0.18603618 0.98465506] [-0.13578785 0.99072982 -0.00401014 0.96382 ] [ 0.18377953 0.0291655 0.98253471 -0.03303243] [ 0. 0. 0. 1. ]] SLAMing on 51.116502481 meters Centerline goodness : 0.656404 Centerline is valid? [False, False] Translation: X:1.00, Y:0.96, Z:-0.03 [[ 9.74554734e-01 1.29555850e-01 -1.82916243e-01 1.00074010e+00] [-1.31807104e-01 9.91275373e-01 -1.51511161e-04 9.63828482e-01] [ 1.81300738e-01 2.42573162e-02 9.83128489e-01 -3.18025909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.146502481 meters Centerline goodness : 0.655110 Centerline is valid? [False, False] Translation: X:1.03, Y:0.96, Z:-0.03 [[ 9.75243140e-01 1.27105775e-01 -1.80955631e-01 1.02574424e+00] [-1.29281511e-01 9.91607905e-01 -2.31079453e-04 9.63116236e-01] [ 1.79407662e-01 2.36195760e-02 9.83491233e-01 -2.86373333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.176502481 meters Centerline goodness : 0.654693 Centerline is valid? [False, False] Translation: X:1.03, Y:0.96, Z:-0.03 [[ 9.75146097e-01 1.27293497e-01 -1.81346229e-01 1.02707041e+00] [-1.29515735e-01 9.91577280e-01 -4.15915865e-04 9.63292245e-01] [ 1.79765857e-01 2.38927690e-02 9.83419225e-01 -2.85676066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.206502481 meters Centerline goodness : 0.654146 Centerline is valid? [False, False] Translation: X:1.05, Y:0.96, Z:-0.03 [[ 0.97566288 0.12324605 -0.18136249 1.04614915] [-0.12487351 0.99216962 0.00246216 0.96379559] [ 0.18024581 0.02024514 0.98341323 -0.02603376] [ 0. 0. 0. 1. ]] SLAMing on 51.236502481 meters Centerline goodness : 0.655686 Centerline is valid? [False, False] Translation: X:1.08, Y:0.96, Z:-0.02 [[ 0.97647834 0.11803616 -0.18043702 1.07967787] [-0.11817224 0.99294242 0.01003384 0.96362669] [ 0.18034792 0.01152482 0.98353536 -0.02082018] [ 0. 0. 0. 1. ]] SLAMing on 51.266502480999996 meters Centerline goodness : 0.655696 Centerline is valid? [False, False] Translation: X:1.10, Y:0.96, Z:-0.02 [[ 0.97737059 0.1132353 -0.1786743 1.09656646] [-0.11267666 0.99354263 0.0133049 0.9641276 ] [ 0.17902712 0.00712861 0.98381831 -0.01970525] [ 0. 0. 0. 1. ]] SLAMing on 51.296502481 meters Centerline goodness : 0.650224 Centerline is valid? [False, False] Translation: X:1.12, Y:0.96, Z:-0.02 [[ 0.97772297 0.10682412 -0.18068315 1.11798321] [-0.10601708 0.99426368 0.01414638 0.96402362] [ 0.18115787 0.00532426 0.98343962 -0.01682132] [ 0. 0. 0. 1. ]] SLAMing on 51.326502481 meters Centerline goodness : 0.653484 Centerline is valid? [False, False] Translation: X:1.14, Y:0.96, Z:-0.01 [[ 0.97831004 0.10442842 -0.17889709 1.14174296] [-0.10318997 0.99452908 0.01624014 0.96080417] [ 0.17961429 0.00257249 0.98373375 -0.01493685] [ 0. 0. 0. 1. ]] SLAMing on 51.356502481 meters Centerline goodness : 0.658467 Centerline is valid? [False, False] Translation: X:1.16, Y:0.96, Z:-0.01 [[ 9.79178826e-01 9.78936684e-02 -1.77836040e-01 1.16018727e+00] [-9.63969408e-02 9.95196783e-01 1.70585249e-02 9.60098862e-01] [ 1.78651777e-01 4.39503878e-04 9.83912267e-01 -1.23326320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.386502481 meters Centerline goodness : 0.657519 Centerline is valid? [False, False] Translation: X:1.20, Y:0.96, Z:-0.01 [[ 0.97974801 0.09164885 -0.17802899 1.19598529] [-0.08908805 0.99577313 0.02234258 0.95952739] [ 0.17932415 -0.00602984 0.98377156 -0.00740044] [ 0. 0. 0. 1. ]] SLAMing on 51.416502481 meters Centerline goodness : 0.653701 Centerline is valid? [False, False] Translation: X:1.22, Y:0.96, Z:-0.00 [[ 0.98026746 0.0888933 -0.17656072 1.22291629] [-0.08626256 0.99601753 0.02253563 0.95700349] [ 0.17786084 -0.00686037 0.98403174 -0.00392179] [ 0. 0. 0. 1. ]] SLAMing on 51.446502480999996 meters Centerline goodness : 0.655388 Centerline is valid? [False, False] Translation: X:1.24, Y:0.96, Z:-0.00 [[ 0.9810906 0.0846628 -0.17405011 1.24073524] [-0.08155086 0.99635641 0.02496713 0.95694246] [ 0.17552973 -0.01030108 0.98442024 -0.00221062] [ 0. 0. 0. 1. ]] SLAMing on 51.476502481 meters Centerline goodness : 0.662164 Centerline is valid? [False, False] Translation: X:1.27, Y:0.96, Z:0.00 [[ 0.9816776 0.08435688 -0.17085962 1.26873147] [-0.08122181 0.99637567 0.02526937 0.95541511] [ 0.17237201 -0.01092885 0.98497129 0.00259891] [ 0. 0. 0. 1. ]] SLAMing on 51.506502481 meters Centerline goodness : 0.661559 Centerline is valid? [False, False] Translation: X:1.29, Y:0.95, Z:0.01 [[ 0.98223768 0.0818458 -0.16885022 1.29416553] [-0.07865948 0.99657573 0.02548546 0.95499397] [ 0.17035791 -0.01175111 0.98531218 0.0058264 ] [ 0. 0. 0. 1. ]] SLAMing on 51.536502481 meters Centerline goodness : 0.659613 Centerline is valid? [False, False] Translation: X:1.30, Y:0.96, Z:0.01 [[ 0.98298762 0.07375736 -0.16821175 1.30356336] [-0.06967936 0.99711745 0.03002644 0.95811696] [ 0.16994154 -0.01779473 0.98529347 0.00563823] [ 0. 0. 0. 1. ]] SLAMing on 51.566502481 meters Centerline goodness : 0.664261 Centerline is valid? [False, False] Translation: X:1.34, Y:0.96, Z:0.01 [[ 0.9832347 0.06807484 -0.16916067 1.33887752] [-0.06316538 0.99741545 0.03424263 0.95892183] [ 0.17105453 -0.02298344 0.98499346 0.01155194] [ 0. 0. 0. 1. ]] SLAMing on 51.596502481 meters Centerline goodness : 0.667026 Centerline is valid? [False, False] Translation: X:1.38, Y:0.96, Z:0.02 [[ 0.98356553 0.06339008 -0.16905782 1.37655466] [-0.05758604 0.99757765 0.03902146 0.95963229] [ 0.17112188 -0.0286448 0.98483338 0.01711186] [ 0. 0. 0. 1. ]] SLAMing on 51.626502481 meters Centerline goodness : 0.669992 Centerline is valid? [False, False] Translation: X:1.40, Y:0.96, Z:0.02 [[ 0.98398755 0.05876482 -0.1682712 1.39605023] [-0.05280225 0.99781569 0.03969607 0.9615678 ] [ 0.17023638 -0.03017534 0.98494113 0.02088333] [ 0. 0. 0. 1. ]] SLAMing on 51.656502481 meters Centerline goodness : 0.674688 Centerline is valid? [False, False] Translation: X:1.41, Y:0.96, Z:0.02 [[ 0.98467071 0.05396185 -0.16586653 1.41323966] [-0.0476253 0.99798405 0.04194837 0.96248692] [ 0.16779576 -0.03340588 0.98525562 0.02214952] [ 0. 0. 0. 1. ]] SLAMing on 51.686502481 meters Centerline goodness : 0.675388 Centerline is valid? [False, False] Translation: X:1.45, Y:0.97, Z:0.03 [[ 0.98469745 0.04995941 -0.16695805 1.4525707 ] [-0.04298067 0.99805488 0.04515671 0.96544137] [ 0.1688893 -0.03728972 0.98492938 0.02970893] [ 0. 0. 0. 1. ]] SLAMing on 51.716502481 meters Centerline goodness : 0.674519 Centerline is valid? [False, False] Translation: X:1.48, Y:0.97, Z:0.03 [[ 0.98499828 0.05001051 -0.16515849 1.48084529] [-0.04287008 0.99799696 0.04652127 0.96535584] [ 0.16715423 -0.03874301 0.98516925 0.03388687] [ 0. 0. 0. 1. ]] SLAMing on 51.746502481 meters Centerline goodness : 0.669056 Centerline is valid? [False, False] Translation: X:1.48, Y:0.96, Z:0.03 [[ 0.98481504 0.05064467 -0.16605556 1.48365413] [-0.04339743 0.99795233 0.04698739 0.96458123] [ 0.1680952 -0.0390675 0.98499631 0.03338039] [ 0. 0. 0. 1. ]] SLAMing on 51.776502481 meters Centerline goodness : 0.669829 Centerline is valid? [False, False] Translation: X:1.50, Y:0.97, Z:0.04 [[ 0.98498522 0.04535474 -0.16657451 1.50320825] [-0.03771313 0.99809845 0.04875668 0.96566976] [ 0.1684691 -0.04174256 0.98482268 0.0352485 ] [ 0. 0. 0. 1. ]] SLAMing on 51.806502481 meters Centerline goodness : 0.670842 Centerline is valid? [False, False] Translation: X:1.55, Y:0.97, Z:0.04 [[ 0.98572557 0.03338117 -0.16501756 1.55049989] [-0.02541786 0.9984189 0.05013622 0.97164252] [ 0.16643025 -0.04522616 0.98501552 0.03974145] [ 0. 0. 0. 1. ]] SLAMing on 51.836502481 meters Centerline goodness : 0.673902 Centerline is valid? [False, False] Translation: X:1.57, Y:0.97, Z:0.04 [[ 0.98627874 0.02993633 -0.16235165 1.56903634] [-0.02153851 0.99834932 0.05324208 0.97193417] [ 0.16367753 -0.04901472 0.9852955 0.04097064] [ 0. 0. 0. 1. ]] SLAMing on 51.866502481 meters Centerline goodness : 0.677496 Centerline is valid? [False, False] Translation: X:1.62, Y:0.98, Z:0.05 [[ 0.98630352 0.02338831 -0.16327389 1.61763367] [-0.01513914 0.99855378 0.05158632 0.97796538] [ 0.16424428 -0.04840794 0.98523119 0.05369316] [ 0. 0. 0. 1. ]] SLAMing on 51.896502481 meters Centerline goodness : 0.678074 Centerline is valid? [False, False] Translation: X:1.67, Y:0.99, Z:0.06 [[ 9.87305171e-01 8.82750983e-03 -1.58589328e-01 1.67393221e+00] [ 5.08819823e-04 9.98273522e-01 5.87342786e-02 9.85761564e-01] [ 1.58834005e-01 -5.80693503e-02 9.85596119e-01 5.94319144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.926502481 meters Centerline goodness : 0.676256 Centerline is valid? [False, False] Translation: X:1.68, Y:0.99, Z:0.06 [[ 0.98715259 0.00500186 -0.15970203 1.67561554] [ 0.00373662 0.99851385 0.05437023 0.98759057] [ 0.15973664 -0.05426846 0.98566685 0.06103358] [ 0. 0. 0. 1. ]] SLAMing on 51.956502481 meters Centerline goodness : 0.679833 Centerline is valid? [False, False] Translation: X:1.71, Y:0.99, Z:0.06 [[ 0.98729614 0.00348437 -0.15885273 1.7067976 ] [ 0.00517265 0.99852477 0.05405109 0.98710925] [ 0.15880672 -0.05418612 0.98582163 0.06456592] [ 0. 0. 0. 1. ]] SLAMing on 51.986502481 meters Centerline goodness : 0.679902 Centerline is valid? [False, False] Translation: X:1.73, Y:0.99, Z:0.07 [[ 9.87545383e-01 4.17059140e-04 -1.57333859e-01 1.72522471e+00] [ 8.80770753e-03 9.98281792e-01 5.79300189e-02 9.87924998e-01] [ 1.57087687e-01 -5.85942733e-02 9.85844901e-01 6.58526863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.016502480999996 meters Centerline goodness : 0.681627 Centerline is valid? [False, False] Translation: X:1.72, Y:0.99, Z:0.07 [[ 9.87638186e-01 -1.22557584e-04 -1.56750752e-01 1.72272327e+00] [ 9.30269480e-03 9.98282934e-01 5.78328932e-02 9.89034028e-01] [ 1.56474512e-01 -5.85761782e-02 9.85943486e-01 6.74147499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.046502481 meters Centerline goodness : 0.683247 Centerline is valid? [False, False] Translation: X:1.72, Y:0.99, Z:0.07 [[ 9.87633328e-01 -8.24192812e-04 -1.56779243e-01 1.72170679e+00] [ 9.95866641e-03 9.98296601e-01 5.74867041e-02 9.90016049e-01] [ 1.56464805e-01 -5.83370971e-02 9.85959202e-01 6.86728351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.076502481 meters Centerline goodness : 0.679376 Centerline is valid? [False, False] Translation: X:1.72, Y:0.99, Z:0.07 [[ 0.9876222 -0.00209689 -0.15683745 1.72107429] [ 0.01114508 0.99832141 0.05683439 0.99174626] [ 0.15645501 -0.05787887 0.98598776 0.06947011] [ 0. 0. 0. 1. ]] SLAMing on 52.106502481 meters Centerline goodness : 0.684176 Centerline is valid? [False, False] Translation: X:1.72, Y:1.00, Z:0.07 [[ 0.98759497 -0.00720195 -0.15685758 1.72090065] [ 0.01527056 0.99861766 0.05029493 0.99676401] [ 0.15627852 -0.05206633 0.98633976 0.06941665] [ 0. 0. 0. 1. ]] SLAMing on 52.136502481 meters Centerline goodness : 0.675486 Centerline is valid? [False, False] Translation: X:1.73, Y:1.00, Z:0.07 [[ 0.98720057 -0.01349363 -0.15891176 1.72579558] [ 0.02077227 0.99880533 0.04423142 1.0008186 ] [ 0.15812507 -0.04696624 0.98630149 0.06856936] [ 0. 0. 0. 1. ]] SLAMing on 52.166502481 meters Centerline goodness : 0.676397 Centerline is valid? [False, False] Translation: X:1.73, Y:1.00, Z:0.07 [[ 0.98717735 -0.01320154 -0.15908046 1.72763566] [ 0.02058814 0.99878045 0.0448748 0.99881093] [ 0.15829403 -0.04757456 0.98624523 0.06705073] [ 0. 0. 0. 1. ]] SLAMing on 52.196502480999996 meters Centerline goodness : 0.676811 Centerline is valid? [False, False] Translation: X:1.73, Y:1.00, Z:0.07 [[ 0.98716867 -0.01337421 -0.15911991 1.72712285] [ 0.02068629 0.99880026 0.04438601 0.99870831] [ 0.15833538 -0.04710808 0.98626099 0.06813874] [ 0. 0. 0. 1. ]] SLAMing on 52.226502481 meters Centerline goodness : 0.674536 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.07 [[ 0.98724007 -0.00751462 -0.15906152 1.70853802] [ 0.01435732 0.99901807 0.0419138 0.99634897] [ 0.15859036 -0.04366268 0.98637856 0.06909306] [ 0. 0. 0. 1. ]] SLAMing on 52.256502481 meters Centerline goodness : 0.675010 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.07 [[ 0.98719637 -0.00755337 -0.15933069 1.70832913] [ 0.01433706 0.99903689 0.04146974 0.99660394] [ 0.158864 -0.04322311 0.98635389 0.07033056] [ 0. 0. 0. 1. ]] SLAMing on 52.286502481 meters Centerline goodness : 0.675813 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.07 [[ 0.9871865 -0.00790834 -0.15937461 1.70700332] [ 0.01453579 0.99907537 0.04046137 0.99702033] [ 0.15890726 -0.04225955 0.98638867 0.07257606] [ 0. 0. 0. 1. ]] SLAMing on 52.316502481 meters Centerline goodness : 0.673226 Centerline is valid? [False, False] Translation: X:1.71, Y:0.99, Z:0.07 [[ 0.98715962 -0.00778649 -0.15954701 1.7071928 ] [ 0.01437252 0.9990896 0.04016726 0.99499321] [ 0.159089 -0.04194459 0.98637282 0.0738958 ] [ 0. 0. 0. 1. ]] SLAMing on 52.346502481 meters Centerline goodness : 0.678543 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.08 [[ 0.98706835 -0.01131533 -0.15990006 1.70798849] [ 0.01726779 0.9992067 0.0358858 0.9960449 ] [ 0.15936715 -0.03818286 0.9864807 0.07524672] [ 0. 0. 0. 1. ]] SLAMing on 52.376502481 meters Centerline goodness : 0.678927 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.08 [[ 0.9868153 -0.01512287 -0.16114235 1.70985971] [ 0.02038424 0.99931003 0.03104736 0.99820006] [ 0.16056164 -0.03392277 0.9864427 0.07762745] [ 0. 0. 0. 1. ]] SLAMing on 52.406502481 meters Centerline goodness : 0.670062 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.08 [[ 0.98652871 -0.01430472 -0.16296157 1.7136347 ] [ 0.01957864 0.9993337 0.03080298 0.99754458] [ 0.16241236 -0.03357859 0.98615146 0.07907122] [ 0. 0. 0. 1. ]] SLAMing on 52.436502481 meters Centerline goodness : 0.670463 Centerline is valid? [False, False] Translation: X:1.70, Y:1.00, Z:0.08 [[ 0.98624433 -0.00723417 -0.16513568 1.7024126 ] [ 0.01173784 0.99958484 0.02631297 0.99505593] [ 0.16487677 -0.02788936 0.98591979 0.08227913] [ 0. 0. 0. 1. ]] SLAMing on 52.466502481 meters Centerline goodness : 0.672875 Centerline is valid? [False, False] Translation: X:1.69, Y:0.99, Z:0.08 [[ 0.98602173 -0.00342813 -0.1665815 1.6872642 ] [ 0.00690756 0.99976982 0.02031234 0.99347329] [ 0.16647353 -0.02117908 0.98581845 0.08402559] [ 0. 0. 0. 1. ]] SLAMing on 52.496502481 meters Centerline goodness : 0.672562 Centerline is valid? [False, False] Translation: X:1.68, Y:0.99, Z:0.09 [[ 9.86167520e-01 1.17322069e-03 -1.65747534e-01 1.68474290e+00] [ 4.44698395e-04 9.99952623e-01 9.72389862e-03 9.94065843e-01] [ 1.65751090e-01 -9.66310065e-03 9.86120277e-01 8.70237542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.526502481 meters Centerline goodness : 0.670621 Centerline is valid? [False, False] Translation: X:1.67, Y:0.99, Z:0.09 [[ 0.98589173 0.00329464 -0.16735188 1.66773631] [-0.00266262 0.99998845 0.00400079 0.99192784] [ 0.16736313 -0.00349875 0.98588911 0.0869068 ] [ 0. 0. 0. 1. ]] SLAMing on 52.556502481 meters Centerline goodness : 0.671013 Centerline is valid? [False, False] Translation: X:1.67, Y:0.99, Z:0.09 [[ 9.85809542e-01 -1.01896037e-03 -1.67864552e-01 1.66801113e+00] [ 9.44444232e-04 9.99999417e-01 -5.23741529e-04 9.92378693e-01] [ 1.67864987e-01 3.57770689e-04 9.85809930e-01 8.85985217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.586502481 meters Centerline goodness : 0.672070 Centerline is valid? [False, False] Translation: X:1.67, Y:0.99, Z:0.09 [[ 9.85691840e-01 -8.98573393e-04 -1.68555003e-01 1.66842623e+00] [ 7.56995185e-04 9.99999305e-01 -9.04208061e-04 9.91236833e-01] [ 1.68555698e-01 7.63675182e-04 9.85691835e-01 9.04755217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.616502481 meters Centerline goodness : 0.673028 Centerline is valid? [False, False] Translation: X:1.63, Y:0.99, Z:0.09 [[ 0.98578924 0.0022096 -0.1679723 1.62555153] [-0.00350457 0.99996638 -0.00741332 0.98910019] [ 0.16795028 0.00789664 0.98576384 0.08723075] [ 0. 0. 0. 1. ]] SLAMing on 52.646502481 meters Centerline goodness : 0.672005 Centerline is valid? [False, False] Translation: X:1.59, Y:0.99, Z:0.09 [[ 9.85443571e-01 3.69062998e-04 -1.70002448e-01 1.58694011e+00] [-1.80045759e-03 9.99964217e-01 -8.26576076e-03 9.89600278e-01] [ 1.69993314e-01 8.45152300e-03 9.85408973e-01 8.55994264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.676502481 meters Centerline goodness : 0.672005 Centerline is valid? [False, False] Translation: X:1.54, Y:0.99, Z:0.08 [[ 0.9854233 0.00166795 -0.17011215 1.53695996] [-0.00407695 0.99989629 -0.01381294 0.98810156] [ 0.17007147 0.01430513 0.98532789 0.08062749] [ 0. 0. 0. 1. ]] SLAMing on 52.706502481 meters Centerline goodness : 0.670113 Centerline is valid? [False, False] Translation: X:1.49, Y:0.99, Z:0.08 [[ 0.98536351 0.00307624 -0.1704385 1.48663412] [-0.00643477 0.99979579 -0.01915633 0.98643391] [ 0.17034477 0.01997268 0.98518209 0.07678601] [ 0. 0. 0. 1. ]] SLAMing on 52.736502481 meters Centerline goodness : 0.664371 Centerline is valid? [False, False] Translation: X:1.43, Y:0.99, Z:0.07 [[ 0.98524571 0.00210079 -0.17113295 1.43455246] [-0.00660586 0.99964634 -0.02575979 0.98568715] [ 0.17101831 0.0265102 0.98491114 0.07161478] [ 0. 0. 0. 1. ]] SLAMing on 52.766502480999996 meters Centerline goodness : 0.666798 Centerline is valid? [False, False] Translation: X:1.41, Y:0.99, Z:0.07 [[ 9.84824322e-01 -1.22281937e-03 -1.73549878e-01 1.40530109e+00] [-4.22153491e-03 9.99510533e-01 -3.09979537e-02 9.86808030e-01] [ 1.73502836e-01 3.12601856e-02 9.84337120e-01 6.93534354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.796502481 meters Centerline goodness : 0.667875 Centerline is valid? [False, False] Translation: X:1.35, Y:0.99, Z:0.06 [[ 0.98483146 -0.00285554 -0.17349019 1.35233918] [-0.0038003 0.99926975 -0.03802008 0.98562896] [ 0.17347206 0.03810269 0.98410143 0.06329949] [ 0. 0. 0. 1. ]] SLAMing on 52.826502481 meters Centerline goodness : 0.669942 Centerline is valid? [False, False] Translation: X:1.33, Y:0.98, Z:0.06 [[ 9.84625360e-01 4.65358185e-05 -1.74679416e-01 1.33082271e+00] [-7.36491771e-03 9.99121791e-01 -4.12480758e-02 9.83833671e-01] [ 1.74524092e-01 4.19004010e-02 9.83760996e-01 6.20841356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.856502481 meters Centerline goodness : 0.670070 Centerline is valid? [False, False] Translation: X:1.30, Y:0.98, Z:0.06 [[ 9.84473232e-01 1.01501091e-03 -1.75531833e-01 1.29611105e+00] [-8.26676870e-03 9.99141818e-01 -4.05867844e-02 9.83924499e-01] [ 1.75339999e-01 4.14076839e-02 9.83636767e-01 5.87299692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.886502481 meters Centerline goodness : 0.673763 Centerline is valid? [False, False] Translation: X:1.24, Y:0.98, Z:0.05 [[ 0.98459809 0.00439686 -0.17477778 1.24455507] [-0.01231254 0.99894543 -0.04423152 0.98247839] [ 0.17439898 0.04570223 0.9836139 0.05361621] [ 0. 0. 0. 1. ]] SLAMing on 52.916502481 meters Centerline goodness : 0.673813 Centerline is valid? [False, False] Translation: X:1.18, Y:0.98, Z:0.05 [[ 0.98486599 0.00486299 -0.17324934 1.18120373] [-0.01303007 0.99885486 -0.04603457 0.98249759] [ 0.17282708 0.04759534 0.98380155 0.04610879] [ 0. 0. 0. 1. ]] SLAMing on 52.946502480999996 meters Centerline goodness : 0.676557 Centerline is valid? [False, False] Translation: X:1.13, Y:0.98, Z:0.04 [[ 0.98499596 0.00651068 -0.17245456 1.12892357] [-0.01548316 0.99859217 -0.05073411 0.9818578 ] [ 0.17188146 0.05264303 0.98371006 0.04003318] [ 0. 0. 0. 1. ]] SLAMing on 52.976502481 meters Centerline goodness : 0.673556 Centerline is valid? [False, False] Translation: X:1.08, Y:0.98, Z:0.03 [[ 0.98514169 0.00703759 -0.17159933 1.07733031] [-0.01684699 0.99830119 -0.05577548 0.9810037 ] [ 0.17091529 0.05783769 0.98358669 0.03294136] [ 0. 0. 0. 1. ]] SLAMing on 53.006502481 meters Centerline goodness : 0.672645 Centerline is valid? [False, False] Translation: X:1.04, Y:0.98, Z:0.03 [[ 0.98477206 0.00430743 -0.17379712 1.04406548] [-0.0145383 0.99823176 -0.05763674 0.97926261] [ 0.17324154 0.05928577 0.98309337 0.02786729] [ 0. 0. 0. 1. ]] SLAMing on 53.036502481 meters Centerline goodness : 0.670612 Centerline is valid? [False, False] Translation: X:1.01, Y:0.98, Z:0.02 [[ 0.98437062 0.00256059 -0.17609067 1.01180379] [-0.01325283 0.9981361 -0.05957094 0.9783085 ] [ 0.17560992 0.06097358 0.98256978 0.02375221] [ 0. 0. 0. 1. ]] SLAMing on 53.066502481 meters Centerline goodness : 0.667809 Centerline is valid? [False, False] Translation: X:0.95, Y:0.98, Z:0.02 [[ 9.84262790e-01 2.70843390e-04 -1.76710741e-01 9.51315235e-01] [-1.17635976e-02 9.97881029e-01 -6.39927253e-02 9.76373139e-01] [ 1.76318964e-01 6.50644124e-02 9.82180353e-01 1.67514823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.096502481 meters Centerline goodness : 0.667273 Centerline is valid? [False, False] Translation: X:0.92, Y:0.97, Z:0.01 [[ 0.98401295 0.00172934 -0.17808851 0.92135873] [-0.0132434 0.99789491 -0.06348517 0.97346217] [ 0.17760383 0.06482873 0.98196442 0.01178997] [ 0. 0. 0. 1. ]] SLAMing on 53.126502481 meters Centerline goodness : 0.668400 Centerline is valid? [False, False] Translation: X:0.88, Y:0.97, Z:0.01 [[ 9.83494278e-01 -9.08957896e-04 -1.80936949e-01 8.80071138e-01] [-1.05455215e-02 9.97999605e-01 -6.23344197e-02 9.73204104e-01] [ 1.80631663e-01 6.32136196e-02 9.81517315e-01 5.99339264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.156502481 meters Centerline goodness : 0.665878 Centerline is valid? [False, False] Translation: X:0.85, Y:0.97, Z:0.00 [[ 9.83351691e-01 5.50980520e-04 -1.81711716e-01 8.52812804e-01] [-1.22428039e-02 9.97924055e-01 -6.32273219e-02 9.71160615e-01] [ 1.81299656e-01 6.43993549e-02 9.81317053e-01 1.39261978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.186502481 meters Centerline goodness : 0.665384 Centerline is valid? [False, False] Translation: X:0.79, Y:0.97, Z:-0.00 [[ 0.98339952 -0.00108263 -0.1814503 0.79352748] [-0.01139233 0.99764101 -0.06769509 0.97044065] [ 0.18109555 0.06863846 0.98106736 -0.00497143] [ 0. 0. 0. 1. ]] SLAMing on 53.216502481 meters Centerline goodness : 0.664836 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-0.01 [[ 0.98300048 -0.00623001 -0.18349724 0.74974269] [-0.00635666 0.99767016 -0.06792525 0.97057296] [ 0.1834929 0.06793698 0.98067065 -0.01027192] [ 0. 0. 0. 1. ]] SLAMing on 53.246502481 meters Centerline goodness : 0.667505 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-0.01 [[ 0.98303753 -0.00612886 -0.18330208 0.74965119] [-0.00637225 0.9976967 -0.06753282 0.96919656] [ 0.18329378 0.06755534 0.98073425 -0.0109254 ] [ 0. 0. 0. 1. ]] SLAMing on 53.276502481 meters Centerline goodness : 0.666525 Centerline is valid? [False, False] Translation: X:0.71, Y:0.97, Z:-0.01 [[ 0.98269436 -0.0102767 -0.18494912 0.71297641] [-0.00307724 0.99741633 -0.07177183 0.96970025] [ 0.18520885 0.07109891 0.98012378 -0.01215038] [ 0. 0. 0. 1. ]] SLAMing on 53.306502481 meters Centerline goodness : 0.666112 Centerline is valid? [False, False] Translation: X:0.66, Y:0.97, Z:-0.02 [[ 0.98283881 -0.01005111 -0.18419243 0.663192 ] [-0.004473 0.9969223 -0.07826823 0.96748941] [ 0.18441222 0.07774895 0.97976897 -0.0182337 ] [ 0. 0. 0. 1. ]] SLAMing on 53.336502481 meters Centerline goodness : 0.665789 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.02 [[ 0.98245 -0.00861097 -0.18632725 0.64531153] [-0.00693935 0.99655495 -0.08264424 0.96459082] [ 0.18639699 0.08248683 0.97900566 -0.02140201] [ 0. 0. 0. 1. ]] SLAMing on 53.366502481 meters Centerline goodness : 0.664720 Centerline is valid? [False, False] Translation: X:0.64, Y:0.96, Z:-0.02 [[ 0.98251317 -0.00908973 -0.1859711 0.64390079] [-0.00645354 0.99654502 -0.08280328 0.96365097] [ 0.18608123 0.08255548 0.97905994 -0.02101254] [ 0. 0. 0. 1. ]] SLAMing on 53.396502481 meters Centerline goodness : 0.661995 Centerline is valid? [False, False] Translation: X:0.62, Y:0.96, Z:-0.02 [[ 0.98247753 -0.00614074 -0.18627991 0.62439569] [-0.01037643 0.99610484 -0.08756412 0.96153045] [ 0.18609203 0.0879627 0.9785869 -0.02125946] [ 0. 0. 0. 1. ]] SLAMing on 53.426502481 meters Centerline goodness : 0.661406 Centerline is valid? [False, False] Translation: X:0.62, Y:0.96, Z:-0.02 [[ 0.9825257 -0.0062631 -0.18602159 0.62346992] [-0.01027541 0.9960843 -0.08780934 0.96165981] [ 0.18584314 0.08818638 0.97861407 -0.02074629] [ 0. 0. 0. 1. ]] SLAMing on 53.456502481 meters Centerline goodness : 0.669574 Centerline is valid? [False, False] Translation: X:0.62, Y:0.96, Z:-0.02 [[ 0.98247603 -0.00589939 -0.18629557 0.62435344] [-0.01065115 0.99608871 -0.08771447 0.96104772] [ 0.18608438 0.08816162 0.97857045 -0.02071049] [ 0. 0. 0. 1. ]] SLAMing on 53.486502481 meters Centerline goodness : 0.665635 Centerline is valid? [False, False] Translation: X:0.64, Y:0.96, Z:-0.02 [[ 0.98288861 -0.00789619 -0.18403163 0.64050832] [-0.00712507 0.99670331 -0.08081927 0.96110802] [ 0.18406309 0.08074758 0.97959206 -0.02145757] [ 0. 0. 0. 1. ]] SLAMing on 53.516502480999996 meters Centerline goodness : 0.665071 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.02 [[ 0.98321858 -0.01175625 -0.18205222 0.64868759] [-0.00122492 0.99747353 -0.07102856 0.96165963] [ 0.1824273 0.0700596 0.98072011 -0.02471586] [ 0. 0. 0. 1. ]] SLAMing on 53.546502481 meters Centerline goodness : 0.662630 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.02 [[ 0.98313334 -0.01116226 -0.18254929 0.65007455] [-0.00180616 0.99749453 -0.07072056 0.95998657] [ 0.18288132 0.06985745 0.98064997 -0.02447412] [ 0. 0. 0. 1. ]] SLAMing on 53.576502481 meters Centerline goodness : 0.664962 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.03 [[ 0.98315348 -0.01057491 -0.18247577 0.6512451 ] [-0.00220989 0.99756431 -0.06971778 0.95775064] [ 0.18276857 0.06894653 0.98073545 -0.02618958] [ 0. 0. 0. 1. ]] SLAMing on 53.606502481 meters Centerline goodness : 0.665807 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.03 [[ 0.98316789 -0.01002884 -0.18242898 0.65281387] [-0.00261237 0.99761864 -0.06892194 0.95530583] [ 0.18268576 0.06823841 0.9808004 -0.02799047] [ 0. 0. 0. 1. ]] SLAMing on 53.636502481 meters Centerline goodness : 0.660451 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 0.98322635 -0.00471315 -0.18232865 0.65406046] [-0.00705701 0.99793442 -0.06385205 0.95249158] [ 0.18225298 0.06406771 0.98116216 -0.02986588] [ 0. 0. 0. 1. ]] SLAMing on 53.666502481 meters Centerline goodness : 0.661646 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 0.98311117 -0.00431308 -0.18295853 0.65497289] [-0.00754956 0.99791545 -0.06409182 0.95292061] [ 0.18285358 0.06439064 0.98102926 -0.02881724] [ 0. 0. 0. 1. ]] SLAMing on 53.696502480999996 meters Centerline goodness : 0.661063 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 9.83221685e-01 6.43326076e-04 -1.82413554e-01 6.54652417e-01] [-1.18274103e-02 9.98114424e-01 -6.02304653e-02 9.51078295e-01] [ 1.82030851e-01 6.13773795e-02 9.81375355e-01 -2.89688814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.726502481 meters Centerline goodness : 0.663141 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 9.83206495e-01 5.89426141e-04 -1.82495593e-01 6.54217088e-01] [-1.18778591e-02 9.98081175e-01 -6.07691011e-02 9.51403639e-01] [ 1.82109597e-01 6.19162318e-02 9.81326895e-01 -2.78136926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.756502481 meters Centerline goodness : 0.663849 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 0.98325221 -0.00332358 -0.18221977 0.65342645] [-0.00880353 0.9978004 -0.06570284 0.95259422] [ 0.18203733 0.06620664 0.98106019 -0.02573355] [ 0. 0. 0. 1. ]] SLAMing on 53.786502481 meters Centerline goodness : 0.661693 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 0.9832073 -0.00308984 -0.18246602 0.65435486] [-0.00904289 0.99780347 -0.06562364 0.95070746] [ 0.182268 0.06617166 0.98101972 -0.02584831] [ 0. 0. 0. 1. ]] SLAMing on 53.816502481 meters Centerline goodness : 0.662215 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 0.98315305 -0.00288441 -0.18276147 0.65476091] [-0.0091782 0.99783512 -0.0651217 0.948923 ] [ 0.18255365 0.06570202 0.98099817 -0.0259071 ] [ 0. 0. 0. 1. ]] SLAMing on 53.846502481 meters Centerline goodness : 0.661664 Centerline is valid? [False, False] Translation: X:0.66, Y:0.95, Z:-0.02 [[ 0.98308704 -0.00260296 -0.18312043 0.65517494] [-0.00952315 0.99781966 -0.06530873 0.94775126] [ 0.18289116 0.06594805 0.98091879 -0.02492947] [ 0. 0. 0. 1. ]] SLAMing on 53.876502481 meters Centerline goodness : 0.657675 Centerline is valid? [False, False] Translation: X:0.66, Y:0.95, Z:-0.03 [[ 0.9830573 -0.00238502 -0.183283 0.6563728 ] [-0.00972823 0.99782722 -0.06516284 0.94611164] [ 0.18304018 0.06584183 0.98089813 -0.02562639] [ 0. 0. 0. 1. ]] SLAMing on 53.906502481 meters Centerline goodness : 0.656010 Centerline is valid? [False, False] Translation: X:0.66, Y:0.94, Z:-0.03 [[ 0.98297308 -0.00155922 -0.18374302 0.65889694] [-0.01043707 0.99787583 -0.06430322 0.94463626] [ 0.18345298 0.06512607 0.9808688 -0.02711245] [ 0. 0. 0. 1. ]] SLAMing on 53.936502481 meters Centerline goodness : 0.661534 Centerline is valid? [False, False] Translation: X:0.66, Y:0.94, Z:-0.03 [[ 0.98307808 0.00261156 -0.18316842 0.65843134] [-0.01386085 0.9980924 -0.06016171 0.94111376] [ 0.18266189 0.06168253 0.98123896 -0.02850679] [ 0. 0. 0. 1. ]] SLAMing on 53.966502481 meters Centerline goodness : 0.662507 Centerline is valid? [False, False] Translation: X:0.66, Y:0.94, Z:-0.03 [[ 0.98325628 0.00714603 -0.18208794 0.65613651] [-0.01756734 0.99829389 -0.05568384 0.93755166] [ 0.18137936 0.05795029 0.98170428 -0.0290136 ] [ 0. 0. 0. 1. ]] SLAMing on 53.996502481 meters Centerline goodness : 0.663479 Centerline is valid? [False, False] Translation: X:0.66, Y:0.94, Z:-0.03 [[ 0.98329829 0.00726212 -0.18185636 0.65554454] [-0.01771576 0.9982778 -0.05592474 0.9371018 ] [ 0.18113703 0.05821242 0.98173351 -0.02851322] [ 0. 0. 0. 1. ]] SLAMing on 54.026502481 meters Centerline goodness : 0.664490 Centerline is valid? [False, False] Translation: X:0.64, Y:0.93, Z:-0.03 [[ 0.98341686 0.0120727 -0.18095725 0.63688423] [-0.02316938 0.99796925 -0.05933432 0.93450123] [ 0.17987344 0.06254304 0.9816995 -0.03036601] [ 0. 0. 0. 1. ]] SLAMing on 54.056502481 meters Centerline goodness : 0.659979 Centerline is valid? [False, False] Translation: X:0.58, Y:0.93, Z:-0.04 [[ 0.98318 0.01291543 -0.18218201 0.57826252] [-0.0245526 0.99778858 -0.06176658 0.9347845 ] [ 0.18098139 0.06520071 0.98132288 -0.03845275] [ 0. 0. 0. 1. ]] SLAMing on 54.086502481 meters Centerline goodness : 0.658059 Centerline is valid? [False, False] Translation: X:0.52, Y:0.94, Z:-0.05 [[ 0.98308826 0.0126696 -0.18269361 0.52047898] [-0.02487355 0.99759704 -0.06466421 0.93538512] [ 0.18143534 0.06811486 0.98104107 -0.04736895] [ 0. 0. 0. 1. ]] SLAMing on 54.116502481 meters Centerline goodness : 0.660556 Centerline is valid? [False, False] Translation: X:0.46, Y:0.94, Z:-0.06 [[ 0.98294834 0.01174346 -0.18350655 0.4593394 ] [-0.02440122 0.99746313 -0.06687209 0.93633366] [ 0.1822557 0.0702096 0.98074129 -0.05724506] [ 0. 0. 0. 1. ]] SLAMing on 54.146502481 meters Centerline goodness : 0.659508 Centerline is valid? [False, False] Translation: X:0.40, Y:0.94, Z:-0.07 [[ 0.98298983 0.00990122 -0.18339292 0.39718825] [-0.02299435 0.99732348 -0.06940557 0.93662371] [ 0.18221486 0.07244197 0.98058651 -0.06714803] [ 0. 0. 0. 1. ]] SLAMing on 54.176502481 meters Centerline goodness : 0.655666 Centerline is valid? [False, False] Translation: X:0.33, Y:0.94, Z:-0.08 [[ 0.98295086 0.00796406 -0.18369589 0.33461617] [-0.02150583 0.99718397 -0.07184452 0.936813 ] [ 0.18260642 0.07457017 0.98035411 -0.07721416] [ 0. 0. 0. 1. ]] SLAMing on 54.206502481 meters Centerline goodness : 0.658607 Centerline is valid? [False, False] Translation: X:0.31, Y:0.94, Z:-0.08 [[ 0.98259247 0.0095167 -0.18553026 0.30768337] [-0.02334094 0.99709737 -0.07247099 0.93564766] [ 0.18430205 0.0755399 0.97996249 -0.08213257] [ 0. 0. 0. 1. ]] SLAMing on 54.236502481 meters Centerline goodness : 0.657804 Centerline is valid? [False, False] Translation: X:0.24, Y:0.94, Z:-0.09 [[ 0.98264694 0.0078421 -0.18531995 0.24359532] [-0.02191258 0.99701749 -0.07399971 0.93554259] [ 0.18418692 0.07677643 0.97988803 -0.09264064] [ 0. 0. 0. 1. ]] SLAMing on 54.266502480999996 meters Centerline goodness : 0.657268 Centerline is valid? [False, False] Translation: X:0.21, Y:0.93, Z:-0.10 [[ 0.98233367 0.0078901 -0.1869714 0.20768058] [-0.02185171 0.99711228 -0.07272961 0.93442157] [ 0.18585763 0.07553039 0.97966938 -0.09860706] [ 0. 0. 0. 1. ]] SLAMing on 54.296502481 meters Centerline goodness : 0.658981 Centerline is valid? [False, False] Translation: X:0.16, Y:0.93, Z:-0.11 [[ 0.98210157 0.0044193 -0.18830022 0.16209362] [-0.01817789 0.99728187 -0.07140327 0.93314995] [ 0.18747285 0.07354816 0.97951243 -0.10518801] [ 0. 0. 0. 1. ]] SLAMing on 54.326502481 meters Centerline goodness : 0.659041 Centerline is valid? [False, False] Translation: X:0.16, Y:0.93, Z:-0.10 [[ 0.98226495 0.00384396 -0.18745878 0.15934495] [-0.01754895 0.99728587 -0.07150476 0.93190378] [ 0.18667513 0.07352633 0.97966641 -0.10464619] [ 0. 0. 0. 1. ]] SLAMing on 54.356502481 meters Centerline goodness : 0.660117 Centerline is valid? [False, False] Translation: X:0.09, Y:0.93, Z:-0.12 [[ 0.98240367 0.00102917 -0.18676717 0.09154523] [-0.01478739 0.99727426 -0.07228686 0.93037671] [ 0.1861837 0.07377668 0.9797411 -0.11646091] [ 0. 0. 0. 1. ]] SLAMing on 54.386502481 meters Centerline goodness : 0.663206 Centerline is valid? [False, False] Translation: X:0.06, Y:0.93, Z:-0.12 [[ 9.82079983e-01 -4.86567005e-04 -1.88463974e-01 6.08371000e-02] [-1.35488839e-02 9.97226902e-01 -7.31774094e-02 9.27760149e-01] [ 1.87976950e-01 7.44195455e-02 9.79349987e-01 -1.22799281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.416502481 meters Centerline goodness : 0.661239 Centerline is valid? [False, False] Translation: X:0.01, Y:0.92, Z:-0.13 [[ 9.82190066e-01 1.63139844e-04 -1.87889989e-01 8.14850832e-03] [-1.47269348e-02 9.96989977e-01 -7.61190116e-02 9.24316176e-01] [ 1.87312018e-01 7.75303807e-02 9.79236053e-01 -1.33538843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.446502480999996 meters Centerline goodness : 0.665769 Centerline is valid? [False, False] Translation: X:0.01, Y:0.92, Z:-0.13 [[ 0.98211519 -0.00413659 -0.18823561 0.00933377] [-0.01106153 0.99676409 -0.07961777 0.92275441] [ 0.18795584 0.080276 0.9788914 -0.13410789] [ 0. 0. 0. 1. ]] SLAMing on 54.476502481 meters Centerline goodness : 0.663568 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.92, Z:-0.14 [[ 0.98170165 -0.00807826 -0.19025405 -0.03466378] [-0.00696117 0.99690958 -0.07824847 0.92215513] [ 0.1902982 0.07814104 0.97861155 -0.14099467] [ 0. 0. 0. 1. ]] SLAMing on 54.506502481 meters Centerline goodness : 0.665201 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.92, Z:-0.14 [[ 0.98177763 -0.00854671 -0.1898411 -0.03696295] [-0.00645524 0.99691169 -0.07826506 0.92060271] [ 0.18992372 0.07806435 0.97869042 -0.14013677] [ 0. 0. 0. 1. ]] SLAMing on 54.536502481 meters Centerline goodness : 0.665870 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.92, Z:-0.15 [[ 0.981764 -0.00734136 -0.18996199 -0.06873285] [-0.00741297 0.99701565 -0.07684295 0.91763896] [ 0.18995921 0.07684982 0.97877965 -0.14695134] [ 0. 0. 0. 1. ]] SLAMing on 54.566502481 meters Centerline goodness : 0.666637 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.92, Z:-0.15 [[ 0.98168757 -0.00793895 -0.19033256 -0.10370618] [-0.00678013 0.99704209 -0.07655778 0.91625482] [ 0.19037736 0.0764463 0.97873001 -0.15249928] [ 0. 0. 0. 1. ]] SLAMing on 54.596502481 meters Centerline goodness : 0.669659 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.91, Z:-0.15 [[ 0.9817075 -0.00741296 -0.19025097 -0.10286537] [-0.00719953 0.99708179 -0.07600049 0.9143621 ] [ 0.19025917 0.07597997 0.9787893 -0.15346836] [ 0. 0. 0. 1. ]] SLAMing on 54.626502481 meters Centerline goodness : 0.669659 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.91, Z:-0.15 [[ 0.98172119 -0.00723285 -0.19018727 -0.10280297] [-0.00735993 0.99708749 -0.07591032 0.91366366] [ 0.1901824 0.07592253 0.97880868 -0.15364103] [ 0. 0. 0. 1. ]] SLAMing on 54.656502481 meters Centerline goodness : 0.667821 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.91, Z:-0.15 [[ 0.98151253 -0.00425812 -0.19135051 -0.11879061] [-0.01153189 0.99662056 -0.08132943 0.91118431] [ 0.19105016 0.08203248 0.97814647 -0.15492651] [ 0. 0. 0. 1. ]] SLAMing on 54.686502481 meters Centerline goodness : 0.665451 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.91, Z:-0.16 [[ 9.81538647e-01 1.26731095e-04 -1.91263872e-01 -1.17594077e-01] [-1.51533266e-02 9.96907884e-01 -7.71041407e-02 9.07793833e-01] [ 1.90662690e-01 7.85789778e-02 9.78505535e-01 -1.56736325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.716502481 meters Centerline goodness : 0.665668 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.91, Z:-0.16 [[ 9.81536879e-01 3.45284421e-04 -1.91272673e-01 -1.17245297e-01] [-1.53745331e-02 9.96905087e-01 -7.70965094e-02 9.06582728e-01] [ 1.90654080e-01 7.86137953e-02 9.78504416e-01 -1.56855401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.746502481 meters Centerline goodness : 0.664817 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.91, Z:-0.16 [[ 9.81425108e-01 9.00986154e-04 -1.91843545e-01 -1.15715244e-01] [-1.59972424e-02 9.96890674e-01 -7.71561567e-02 9.06510006e-01] [ 1.91177524e-01 7.87919571e-02 9.78387951e-01 -1.56433343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.776502481 meters Centerline goodness : 0.662253 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.90, Z:-0.16 [[ 0.9813347 0.00204959 -0.19229667 -0.11309069] [-0.01707856 0.99692099 -0.0765302 0.90487212] [ 0.19154773 0.07838589 0.97834816 -0.15718964] [ 0. 0. 0. 1. ]] SLAMing on 54.806502481 meters Centerline goodness : 0.660261 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.90, Z:-0.16 [[ 0.98113541 0.00346176 -0.19329077 -0.10910125] [-0.01850637 0.99692974 -0.07608292 0.90328266] [ 0.19243393 0.07822476 0.97818713 -0.15767624] [ 0. 0. 0. 1. ]] SLAMing on 54.836502481 meters Centerline goodness : 0.664451 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.90, Z:-0.16 [[ 0.9812288 0.00364301 -0.1928128 -0.11017766] [-0.01873593 0.99689259 -0.07651228 0.90316443] [ 0.19193492 0.07868858 0.97824797 -0.15674189] [ 0. 0. 0. 1. ]] SLAMing on 54.866502481 meters Centerline goodness : 0.664418 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.90, Z:-0.16 [[ 0.98116173 0.00412487 -0.19314411 -0.10986762] [-0.01934644 0.99684416 -0.07698982 0.90231805] [ 0.19221701 0.07927611 0.97814514 -0.15511113] [ 0. 0. 0. 1. ]] SLAMing on 54.896502481 meters Centerline goodness : 0.666898 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.90, Z:-0.15 [[ 0.98183592 0.00209967 -0.18972037 -0.09430231] [-0.01598516 0.99729896 -0.07168867 0.90276251] [ 0.18905741 0.07341923 0.9792175 -0.15434333] [ 0. 0. 0. 1. ]] SLAMing on 54.926502481 meters Centerline goodness : 0.665338 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.90, Z:-0.15 [[ 0.98172801 0.00260177 -0.19027176 -0.09274779] [-0.01652304 0.99729545 -0.07161545 0.90117283] [ 0.18957083 0.07345076 0.97911587 -0.153975 ] [ 0. 0. 0. 1. ]] SLAMing on 54.956502481 meters Centerline goodness : 0.664878 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.90, Z:-0.15 [[ 0.98161669 0.00407372 -0.19081949 -0.08977622] [-0.01797353 0.99730234 -0.07116874 0.89814765] [ 0.1900148 0.07329012 0.97904184 -0.15400919] [ 0. 0. 0. 1. ]] SLAMing on 54.986502481 meters Centerline goodness : 0.664285 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.90, Z:-0.15 [[ 0.98159459 0.00414091 -0.19093171 -0.08874959] [-0.01797184 0.99733114 -0.07076454 0.89633722] [ 0.19012911 0.07289348 0.97904926 -0.15498718] [ 0. 0. 0. 1. ]] SLAMing on 55.016502480999996 meters Centerline goodness : 0.666405 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.89, Z:-0.16 [[ 0.98143264 0.00532421 -0.19173323 -0.08545304] [-0.01911533 0.99735321 -0.0701511 0.89341556] [ 0.19085225 0.07251362 0.97893677 -0.15545647] [ 0. 0. 0. 1. ]] SLAMing on 55.046502481 meters Centerline goodness : 0.667373 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.89, Z:-0.15 [[ 0.98097565 0.00269629 -0.1941121 -0.0800735 ] [-0.01729812 0.99714017 -0.07356809 0.89320448] [ 0.19335862 0.07552628 0.97821686 -0.15381993] [ 0. 0. 0. 1. ]] SLAMing on 55.076502481 meters Centerline goodness : 0.668747 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.89, Z:-0.15 [[ 0.98174132 -0.00146724 -0.1902152 -0.0651878 ] [-0.01188599 0.99754303 -0.06904079 0.89069579] [ 0.18984915 0.0700411 0.97931177 -0.15448473] [ 0. 0. 0. 1. ]] SLAMing on 55.106502481 meters Centerline goodness : 0.672722 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.89, Z:-0.15 [[ 0.98241369 -0.00551663 -0.18663575 -0.04986244] [-0.00672744 0.99786863 -0.06490721 0.88912592] [ 0.18659602 0.06502131 0.98028269 -0.15481013] [ 0. 0. 0. 1. ]] SLAMing on 55.136502481 meters Centerline goodness : 0.677447 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.89, Z:-0.16 [[ 9.83115742e-01 -1.03738906e-02 -1.82690507e-01 -3.45819192e-02] [-8.66599261e-04 9.98116525e-01 -6.13404564e-02 8.86884129e-01] [ 1.82982753e-01 6.04630877e-02 9.81255078e-01 -1.55359846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.166502481 meters Centerline goodness : 0.679763 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.88, Z:-0.15 [[ 0.98307305 -0.00973615 -0.18295516 -0.03346064] [-0.0015247 0.9981177 -0.06130854 0.88465757] [ 0.18320769 0.06054972 0.98120776 -0.15465599] [ 0. 0. 0. 1. ]] SLAMing on 55.196502480999996 meters Centerline goodness : 0.679604 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.88, Z:-0.15 [[ 0.98315024 -0.00480183 -0.1827363 -0.03369252] [-0.00571653 0.99835838 -0.05699005 0.88154378] [ 0.18270997 0.0570744 0.98150883 -0.15455916] [ 0. 0. 0. 1. ]] SLAMing on 55.226502481 meters Centerline goodness : 0.683529 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.88, Z:-0.15 [[ 0.98305319 -0.00414687 -0.18327365 -0.03246323] [-0.00640616 0.99835641 -0.05695117 0.88135075] [ 0.1832086 0.05716011 0.98141089 -0.15383382] [ 0. 0. 0. 1. ]] SLAMing on 55.256502481 meters Centerline goodness : 0.683389 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.88, Z:-0.16 [[ 0.98349562 -0.00714727 -0.18079074 -0.01679729] [-0.00210863 0.99869884 -0.0509528 0.88019634] [ 0.18091967 0.05049308 0.98220086 -0.15514289] [ 0. 0. 0. 1. ]] SLAMing on 55.286502481 meters Centerline goodness : 0.684627 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.88, Z:-0.15 [[ 9.83259373e-01 -1.10177319e-02 -1.81878020e-01 -1.45753340e-02] [ 9.91184763e-04 9.98478861e-01 -5.51269510e-02 8.81024922e-01] [ 1.82208733e-01 5.40238166e-02 9.81774620e-01 -1.53938989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.316502481 meters Centerline goodness : 0.683175 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.88, Z:-0.15 [[ 9.83161314e-01 -1.04622099e-02 -1.82440054e-01 -1.28576445e-02] [ 4.75632836e-04 9.98502885e-01 -5.46969965e-02 8.79720352e-01] [ 1.82739171e-01 5.36891964e-02 9.81694385e-01 -1.54145286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.346502481 meters Centerline goodness : 0.683075 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.88, Z:-0.16 [[ 9.83039137e-01 -9.57813934e-03 -1.83145612e-01 -1.00829796e-02] [-3.40994692e-04 9.98538075e-01 -5.40517889e-02 8.78657004e-01] [ 1.83395582e-01 5.31974756e-02 9.81598741e-01 -1.55050391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.376502481 meters Centerline goodness : 0.678415 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.88, Z:-0.16 [[ 9.82963351e-01 -8.88926899e-03 -1.83586577e-01 -8.32002187e-03] [-9.80488851e-04 9.98561997e-01 -5.36001649e-02 8.77743890e-01] [ 1.83799045e-01 5.28670023e-02 9.81541131e-01 -1.55466020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.406502481 meters Centerline goodness : 0.678597 Centerline is valid? [False, False] Translation: X:0.01, Y:0.88, Z:-0.16 [[ 0.98334292 -0.01030966 -0.18146739 0.00959659] [ 0.00166326 0.99885865 -0.04773493 0.87789382] [ 0.1817524 0.04663798 0.98223773 -0.15534783] [ 0. 0. 0. 1. ]] SLAMing on 55.436502481 meters Centerline goodness : 0.678108 Centerline is valid? [False, False] Translation: X:0.01, Y:0.88, Z:-0.15 [[ 0.98325115 -0.01001453 -0.18198045 0.0103055 ] [ 0.00130618 0.99885079 -0.04791017 0.877883 ] [ 0.18225111 0.04687003 0.98213427 -0.15435351] [ 0. 0. 0. 1. ]] SLAMing on 55.466502481 meters Centerline goodness : 0.674584 Centerline is valid? [False, False] Translation: X:0.03, Y:0.88, Z:-0.15 [[ 0.98373525 -0.01291789 -0.1791594 0.02690571] [ 0.0053387 0.99907273 -0.04272202 0.8769382 ] [ 0.17954515 0.04107068 0.98289203 -0.15460837] [ 0. 0. 0. 1. ]] SLAMing on 55.496502481 meters Centerline goodness : 0.674947 Centerline is valid? [False, False] Translation: X:0.03, Y:0.87, Z:-0.16 [[ 0.98374263 -0.01261686 -0.17914029 0.02784815] [ 0.00513828 0.99909809 -0.04214983 0.87467474] [ 0.17951052 0.04054411 0.98292021 -0.15568887] [ 0. 0. 0. 1. ]] SLAMing on 55.526502481 meters Centerline goodness : 0.678060 Centerline is valid? [False, False] Translation: X:0.03, Y:0.87, Z:-0.16 [[ 0.98371258 -0.0125079 -0.17931287 0.02876059] [ 0.00505782 0.99910712 -0.04194508 0.87331525] [ 0.17967741 0.04035497 0.9828975 -0.15611356] [ 0. 0. 0. 1. ]] SLAMing on 55.556502481 meters Centerline goodness : 0.676079 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98391444 -0.01567971 -0.17795091 0.0450861 ] [ 0.00951668 0.9993267 -0.0354342 0.87174711] [ 0.17838669 0.03317072 0.98340119 -0.15690961] [ 0. 0. 0. 1. ]] SLAMing on 55.586502481 meters Centerline goodness : 0.678612 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98385788 -0.01527164 -0.17829878 0.04614362] [ 0.00916597 0.99934466 -0.03501774 0.87092003] [ 0.17871671 0.0328182 0.98335309 -0.15710438] [ 0. 0. 0. 1. ]] SLAMing on 55.616502481 meters Centerline goodness : 0.681262 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98387656 -0.01493642 -0.17822406 0.04688764] [ 0.00894233 0.99936854 -0.03438842 0.86911098] [ 0.17862516 0.03224022 0.98338884 -0.15814278] [ 0. 0. 0. 1. ]] SLAMing on 55.646502481 meters Centerline goodness : 0.677408 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98391927 -0.01484464 -0.17799578 0.04711414] [ 0.00890967 0.99937883 -0.03409646 0.86796634] [ 0.17839136 0.03196228 0.98344036 -0.15888713] [ 0. 0. 0. 1. ]] SLAMing on 55.676502481 meters Centerline goodness : 0.683393 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98390321 -0.01494844 -0.17807586 0.04666414] [ 0.00890555 0.9993586 -0.0346855 0.8680108 ] [ 0.17848014 0.03254131 0.98340526 -0.15744813] [ 0. 0. 0. 1. ]] SLAMing on 55.706502481 meters Centerline goodness : 0.684938 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.9838265 -0.01469626 -0.17852015 0.04702859] [ 0.00854849 0.99934521 -0.03515796 0.86834058] [ 0.17891995 0.03306326 0.98330792 -0.15592894] [ 0. 0. 0. 1. ]] SLAMing on 55.736502481 meters Centerline goodness : 0.685067 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.15 [[ 0.98374353 -0.01438933 -0.1790017 0.04727239] [ 0.00814331 0.99933367 -0.03557959 0.86943874] [ 0.17939439 0.03354353 0.98320521 -0.15439509] [ 0. 0. 0. 1. ]] SLAMing on 55.766502480999996 meters Centerline goodness : 0.683124 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.15 [[ 0.98368447 -0.0138917 -0.17936523 0.04827064] [ 0.0076108 0.99933507 -0.03565814 0.86977548] [ 0.17974132 0.03371125 0.98313611 -0.15382392] [ 0. 0. 0. 1. ]] SLAMing on 55.796502481 meters Centerline goodness : 0.686884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.15 [[ 0.98365656 -0.01338792 -0.17955652 0.04931934] [ 0.00717289 0.99935391 -0.03521794 0.86889069] [ 0.17991201 0.03335442 0.98311706 -0.15432361] [ 0. 0. 0. 1. ]] SLAMing on 55.826502481 meters Centerline goodness : 0.686630 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98364703 -0.01246478 -0.17967511 0.05197064] [ 0.0064509 0.99940046 -0.03401639 0.8659485 ] [ 0.17999139 0.03230106 0.9831377 -0.15674696] [ 0. 0. 0. 1. ]] SLAMing on 55.856502481 meters Centerline goodness : 0.686215 Centerline is valid? [False, False] Translation: X:0.05, Y:0.86, Z:-0.16 [[ 0.98360511 -0.01194177 -0.17993993 0.05357514] [ 0.00596272 0.99941311 -0.03373238 0.86441451] [ 0.18023715 0.03210641 0.98309905 -0.15728195] [ 0. 0. 0. 1. ]] SLAMing on 55.886502481 meters Centerline goodness : 0.683916 Centerline is valid? [False, False] Translation: X:0.05, Y:0.86, Z:-0.16 [[ 0.98352425 -0.01126792 -0.18042476 0.05487825] [ 0.00525101 0.99941511 -0.03379156 0.8644666 ] [ 0.18069999 0.0322874 0.98300816 -0.15676066] [ 0. 0. 0. 1. ]] SLAMing on 55.916502481 meters Centerline goodness : 0.686303 Centerline is valid? [False, False] Translation: X:0.06, Y:0.86, Z:-0.16 [[ 0.98349389 -0.0109864 -0.18060748 0.05537868] [ 0.00495326 0.9994156 -0.03382189 0.86459127] [ 0.18087352 0.03236903 0.98297356 -0.15659702] [ 0. 0. 0. 1. ]] SLAMing on 55.946502480999996 meters Centerline goodness : 0.683374 Centerline is valid? [False, False] Translation: X:0.06, Y:0.87, Z:-0.16 [[ 0.98341792 -0.0106043 -0.1810435 0.05611474] [ 0.00449059 0.99940677 -0.03414582 0.86562426] [ 0.18129819 0.03276661 0.98288215 -0.15582383] [ 0. 0. 0. 1. ]] SLAMing on 55.976502481 meters Centerline goodness : 0.680837 Centerline is valid? [False, False] Translation: X:0.06, Y:0.87, Z:-0.15 [[ 0.98337516 -0.01085381 -0.18126085 0.05585465] [ 0.00453261 0.9993682 -0.0352514 0.86675512] [ 0.18152894 0.03384376 0.98280305 -0.15420389] [ 0. 0. 0. 1. ]] SLAMing on 56.006502481 meters Centerline goodness : 0.683158 Centerline is valid? [False, False] Translation: X:0.06, Y:0.87, Z:-0.15 [[ 0.98336752 -0.01108432 -0.18128834 0.05592409] [ 0.0046538 0.99934605 -0.03585821 0.86684098] [ 0.18156725 0.03441812 0.98277603 -0.15373286] [ 0. 0. 0. 1. ]] SLAMing on 56.036502481 meters Centerline goodness : 0.679847 Centerline is valid? [False, False] Translation: X:0.04, Y:0.87, Z:-0.15 [[ 0.98312553 -0.01093631 -0.18260502 0.0370096 ] [ 0.00316138 0.99907803 -0.04281477 0.8662353 ] [ 0.1829049 0.04151501 0.98225369 -0.15482595] [ 0. 0. 0. 1. ]] SLAMing on 56.066502481 meters Centerline goodness : 0.681259 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.16 [[ 0.98316677 -0.01085299 -0.18238782 0.03718193] [ 0.00314084 0.99909067 -0.04252009 0.86495027] [ 0.18268344 0.04123149 0.98230684 -0.15565858] [ 0. 0. 0. 1. ]] SLAMing on 56.096502481 meters Centerline goodness : 0.680777 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.16 [[ 0.98312778 -0.01094611 -0.18259231 0.03761767] [ 0.00318414 0.99908077 -0.04274896 0.86407193] [ 0.18289241 0.04144629 0.98225891 -0.15541547] [ 0. 0. 0. 1. ]] SLAMing on 56.126502481 meters Centerline goodness : 0.679614 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98309373 -0.01097777 -0.18277363 0.0378617 ] [ 0.00314592 0.99906646 -0.04308494 0.86348756] [ 0.18307598 0.04178154 0.98221051 -0.15477088] [ 0. 0. 0. 1. ]] SLAMing on 56.156502481 meters Centerline goodness : 0.682500 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98304361 -0.0109809 -0.18304281 0.03747485] [ 0.00306128 0.99904904 -0.04349302 0.86411281] [ 0.18334634 0.04219519 0.9821424 -0.15335724] [ 0. 0. 0. 1. ]] SLAMing on 56.186502481 meters Centerline goodness : 0.682743 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98310491 -0.01146434 -0.18268361 0.03643183] [ 0.00338541 0.9990048 -0.04447421 0.86456689] [ 0.18301167 0.04310436 0.98216533 -0.15221351] [ 0. 0. 0. 1. ]] SLAMing on 56.216502481 meters Centerline goodness : 0.688998 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98325884 -0.01177473 -0.18183347 0.03590259] [ 0.00377883 0.999013 -0.04425777 0.86182195] [ 0.18217512 0.04282972 0.98233286 -0.15374887] [ 0. 0. 0. 1. ]] SLAMing on 56.246502481 meters Centerline goodness : 0.688077 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98330045 -0.01166976 -0.18161508 0.03605135] [ 0.00375961 0.99903158 -0.04383795 0.85984324] [ 0.18195078 0.04242307 0.98239208 -0.15451642] [ 0. 0. 0. 1. ]] SLAMing on 56.276502481 meters Centerline goodness : 0.685136 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98330465 -0.0115808 -0.18159805 0.03597394] [ 0.00369345 0.99903738 -0.0437112 0.8576943 ] [ 0.18192945 0.0423107 0.98240088 -0.15428222] [ 0. 0. 0. 1. ]] SLAMing on 56.306502481 meters Centerline goodness : 0.684767 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98333285 -0.01163242 -0.181442 0.03560484] [ 0.00374028 0.99903426 -0.04377839 0.85650159] [ 0.18177602 0.04237009 0.98242672 -0.15418025] [ 0. 0. 0. 1. ]] SLAMing on 56.336502481 meters Centerline goodness : 0.686621 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.9833836 -0.01157082 -0.18117069 0.0355282 ] [ 0.00371816 0.99904111 -0.04362376 0.8547551 ] [ 0.18150173 0.04222527 0.98248366 -0.15464427] [ 0. 0. 0. 1. ]] SLAMing on 56.366502481 meters Centerline goodness : 0.687215 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.16 [[ 0.98338665 -0.01132536 -0.18116963 0.03598735] [ 0.00351527 0.99905279 -0.04337241 0.85391442] [ 0.18148923 0.04201499 0.98249499 -0.1550313 ] [ 0. 0. 0. 1. ]] SLAMing on 56.396502481 meters Centerline goodness : 0.687601 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98328553 -0.01100012 -0.18173762 0.03732793] [ 0.00315989 0.99905392 -0.04337372 0.85315587] [ 0.1820428 0.04207448 0.98239002 -0.15478867] [ 0. 0. 0. 1. ]] SLAMing on 56.426502481 meters Centerline goodness : 0.687808 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98324621 -0.01080699 -0.1819618 0.03795806] [ 0.00294821 0.99905324 -0.04340439 0.85273607] [ 0.1822586 0.04214074 0.98234717 -0.15472988] [ 0. 0. 0. 1. ]] SLAMing on 56.456502481 meters Centerline goodness : 0.685123 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.983225 -0.01068707 -0.18208344 0.0391277 ] [ 0.00272113 0.99903035 -0.04394261 0.85252695] [ 0.1823765 0.04271 0.9823007 -0.15481607] [ 0. 0. 0. 1. ]] SLAMing on 56.486502481 meters Centerline goodness : 0.687104 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98321956 -0.01062168 -0.18211665 0.03962227] [ 0.00262578 0.99902409 -0.04409041 0.85250997] [ 0.18240724 0.04287235 0.98228792 -0.15499768] [ 0. 0. 0. 1. ]] SLAMing on 56.516502480999996 meters Centerline goodness : 0.687104 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98321724 -0.01059294 -0.18213088 0.03962515] [ 0.00258431 0.99902143 -0.04415308 0.85221684] [ 0.18242036 0.04294138 0.98228247 -0.15490942] [ 0. 0. 0. 1. ]] SLAMing on 56.546502481 meters Centerline goodness : 0.686240 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98323415 -0.01067121 -0.18203497 0.03939696] [ 0.00263579 0.99901359 -0.04432713 0.85178164] [ 0.18232844 0.04310414 0.98229241 -0.15477245] [ 0. 0. 0. 1. ]] SLAMing on 56.576502481 meters Centerline goodness : 0.684620 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.9832335 -0.01076971 -0.1820327 0.03895452] [ 0.00269367 0.9990033 -0.04455503 0.85137859] [ 0.18233111 0.04331766 0.98228252 -0.15411952] [ 0. 0. 0. 1. ]] SLAMing on 56.606502481 meters Centerline goodness : 0.687400 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98320999 -0.01046717 -0.18217726 0.03924751] [ 0.00241693 0.99901291 -0.04435507 0.84970283] [ 0.1824617 0.04317003 0.98226477 -0.15376297] [ 0. 0. 0. 1. ]] SLAMing on 56.636502481 meters Centerline goodness : 0.683525 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98321904 -0.01042519 -0.1821308 0.03956943] [ 0.0023175 0.99899902 -0.04467198 0.84761908] [ 0.1824142 0.04350025 0.98225902 -0.15349361] [ 0. 0. 0. 1. ]] SLAMing on 56.666502481 meters Centerline goodness : 0.682746 Centerline is valid? [False, False] Translation: X:0.04, Y:0.84, Z:-0.16 [[ 0.98318606 -0.0098311 -0.18234177 0.04140126] [ 0.0018916 0.99904445 -0.04366479 0.84498183] [ 0.1825968 0.04258569 0.98226517 -0.15518461] [ 0. 0. 0. 1. ]] SLAMing on 56.696502480999996 meters Centerline goodness : 0.680804 Centerline is valid? [False, False] Translation: X:0.04, Y:0.84, Z:-0.16 [[ 0.98311364 -0.00929831 -0.18275969 0.0431298 ] [ 0.00139178 0.9990593 -0.04334264 0.84312022] [ 0.18299078 0.04235638 0.98220177 -0.15553529] [ 0. 0. 0. 1. ]] SLAMing on 56.726502481 meters Centerline goodness : 0.681686 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 0.98295113 -0.01096672 -0.18353966 0.04526508] [ 0.00250059 0.99892468 -0.04629501 0.84234765] [ 0.18385 0.04504678 0.98192157 -0.15381963] [ 0. 0. 0. 1. ]] SLAMing on 56.756502481 meters Centerline goodness : 0.677143 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 0.98286286 -0.01033403 -0.1840484 0.04629271] [ 0.00187927 0.99893723 -0.046053 0.84153532] [ 0.18432871 0.04491791 0.98183772 -0.15335322] [ 0. 0. 0. 1. ]] SLAMing on 56.786502481 meters Centerline goodness : 0.678868 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 0.98286427 -0.00992156 -0.18406357 0.04659355] [ 0.00142116 0.99892859 -0.04625643 0.84054346] [ 0.1843253 0.04520221 0.98182531 -0.15264604] [ 0. 0. 0. 1. ]] SLAMing on 56.816502481 meters Centerline goodness : 0.679216 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 9.82797297e-01 -9.49522348e-03 -1.84443255e-01 4.66194267e-02] [ 8.71146331e-04 9.98904733e-01 -4.67822117e-02 8.39781466e-01] [ 1.84685448e-01 4.58167541e-02 9.81729143e-01 -1.50613288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.846502481 meters Centerline goodness : 0.680456 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 9.82745811e-01 -9.19845019e-03 -1.84732398e-01 4.69171267e-02] [ 5.28828260e-04 9.98898264e-01 -4.69252402e-02 8.38807707e-01] [ 1.84960512e-01 4.60178916e-02 9.81667949e-01 -1.49632786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.876502481 meters Centerline goodness : 0.681489 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 9.82685022e-01 -8.78364406e-03 -1.85075645e-01 4.74635755e-02] [ 7.18729460e-05 9.98893681e-01 -4.70256261e-02 8.37553219e-01] [ 1.85283948e-01 4.61980765e-02 9.81598490e-01 -1.48589612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.906502481 meters Centerline goodness : 0.683474 Centerline is valid? [False, False] Translation: X:0.05, Y:0.83, Z:-0.15 [[ 9.82630466e-01 -7.96312466e-03 -1.85402146e-01 4.96960369e-02] [-5.80674471e-04 9.98942068e-01 -4.59826858e-02 8.34137415e-01] [ 1.85572169e-01 4.52916463e-02 9.81586286e-01 -1.50107203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.936502481 meters Centerline goodness : 0.677954 Centerline is valid? [False, False] Translation: X:0.05, Y:0.83, Z:-0.15 [[ 0.98228142 -0.01163339 -0.18705044 0.05277532] [ 0.00224757 0.99873102 -0.05031198 0.83466297] [ 0.18739838 0.04900011 0.98106108 -0.14804859] [ 0. 0. 0. 1. ]] SLAMing on 56.966502481 meters Centerline goodness : 0.680198 Centerline is valid? [False, False] Translation: X:0.06, Y:0.83, Z:-0.15 [[ 0.98217747 -0.01062744 -0.18765522 0.0551896 ] [ 0.00138473 0.99878225 -0.04931625 0.83201507] [ 0.18795081 0.04817746 0.98099614 -0.14889506] [ 0. 0. 0. 1. ]] SLAMing on 56.996502481 meters Centerline goodness : 0.676422 Centerline is valid? [False, False] Translation: X:0.07, Y:0.83, Z:-0.15 [[ 0.98199579 -0.01388047 -0.18839215 0.07487421] [ 0.0056567 0.99901022 -0.04412009 0.83149016] [ 0.1888181 0.04226006 0.98110235 -0.14798472] [ 0. 0. 0. 1. ]] SLAMing on 57.026502481 meters Centerline goodness : 0.674508 Centerline is valid? [False, False] Translation: X:0.08, Y:0.83, Z:-0.15 [[ 0.98175894 -0.01303507 -0.18968254 0.07830323] [ 0.00480876 0.9990303 -0.04376461 0.83000207] [ 0.19006908 0.04205416 0.98086961 -0.14782845] [ 0. 0. 0. 1. ]] SLAMing on 57.056502481 meters Centerline goodness : 0.674189 Centerline is valid? [False, False] Translation: X:0.08, Y:0.83, Z:-0.15 [[ 0.98164195 -0.01252529 -0.1903213 0.07987142] [ 0.0042892 0.99903876 -0.04362515 0.82914137] [ 0.19068477 0.04200795 0.98075208 -0.14748968] [ 0. 0. 0. 1. ]] SLAMing on 57.086502481 meters Centerline goodness : 0.680604 Centerline is valid? [False, False] Translation: X:0.08, Y:0.83, Z:-0.14 [[ 0.98146218 -0.0170453 -0.19089643 0.07941453] [ 0.00774382 0.99875075 -0.04936569 0.83129763] [ 0.1914994 0.04697229 0.98036809 -0.14328968] [ 0. 0. 0. 1. ]] SLAMing on 57.116502481 meters Centerline goodness : 0.680468 Centerline is valid? [False, False] Translation: X:0.09, Y:0.83, Z:-0.14 [[ 0.98217405 -0.02016752 -0.18688875 0.09374354] [ 0.01209635 0.99894826 -0.04422729 0.83084001] [ 0.18758414 0.04117822 0.98138501 -0.14346209] [ 0. 0. 0. 1. ]] SLAMing on 57.146502481 meters Centerline goodness : 0.680222 Centerline is valid? [False, False] Translation: X:0.09, Y:0.83, Z:-0.14 [[ 0.98216938 -0.02100894 -0.18682059 0.09196347] [ 0.01274903 0.99889183 -0.04530524 0.83052828] [ 0.18756538 0.04211564 0.98134882 -0.14123762] [ 0. 0. 0. 1. ]] SLAMing on 57.176502481 meters Centerline goodness : 0.680436 Centerline is valid? [False, False] Translation: X:0.09, Y:0.83, Z:-0.14 [[ 0.98206598 -0.02078229 -0.18738867 0.09351191] [ 0.01259586 0.9989178 -0.04477235 0.82833347] [ 0.18811635 0.04160908 0.98126496 -0.14166419] [ 0. 0. 0. 1. ]] SLAMing on 57.206502481 meters Centerline goodness : 0.680198 Centerline is valid? [False, False] Translation: X:0.10, Y:0.83, Z:-0.14 [[ 0.98172879 -0.02468561 -0.18867751 0.0959294 ] [ 0.01568299 0.99867273 -0.04905933 0.83006253] [ 0.18963815 0.04520393 0.98081292 -0.1400087 ] [ 0. 0. 0. 1. ]] SLAMing on 57.236502481 meters Centerline goodness : 0.677538 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98157164 -0.02747542 -0.18910901 0.11541363] [ 0.01957804 0.99886143 -0.04350338 0.83062106] [ 0.19008897 0.0389993 0.98099197 -0.13962136] [ 0. 0. 0. 1. ]] SLAMing on 57.266502480999996 meters Centerline goodness : 0.679058 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98146932 -0.02701012 -0.18970618 0.11688002] [ 0.01911691 0.99887854 -0.04331522 0.83058053] [ 0.19066338 0.03888596 0.98088499 -0.13944262] [ 0. 0. 0. 1. ]] SLAMing on 57.296502481 meters Centerline goodness : 0.678034 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98135522 -0.02689925 -0.19031121 0.11760817] [ 0.01887673 0.99886008 -0.04384298 0.83163443] [ 0.19127362 0.03943308 0.98074433 -0.13798904] [ 0. 0. 0. 1. ]] SLAMing on 57.326502481 meters Centerline goodness : 0.676363 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98132742 -0.02687862 -0.19045745 0.11769247] [ 0.0188151 0.99885344 -0.04402051 0.83192178] [ 0.19142229 0.03961505 0.98070799 -0.13749133] [ 0. 0. 0. 1. ]] SLAMing on 57.356502481 meters Centerline goodness : 0.678364 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98133338 -0.02711152 -0.19039372 0.11700862] [ 0.01895578 0.99882829 -0.04452779 0.83195301] [ 0.19137785 0.04008754 0.98069746 -0.13647996] [ 0. 0. 0. 1. ]] SLAMing on 57.386502481 meters Centerline goodness : 0.676198 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98132665 -0.02705815 -0.19043597 0.11677937] [ 0.01891645 0.99883286 -0.04444194 0.83178271] [ 0.19141622 0.04000969 0.98069315 -0.1361835 ] [ 0. 0. 0. 1. ]] SLAMing on 57.416502481 meters Centerline goodness : 0.674740 Centerline is valid? [False, False] Translation: X:0.14, Y:0.83, Z:-0.14 [[ 0.98146351 -0.03097861 -0.1891288 0.13626062] [ 0.02365467 0.99888482 -0.04086036 0.83230404] [ 0.19018368 0.03562918 0.98110179 -0.13534291] [ 0. 0. 0. 1. ]] SLAMing on 57.446502480999996 meters Centerline goodness : 0.674919 Centerline is valid? [False, False] Translation: X:0.14, Y:0.83, Z:-0.14 [[ 0.98146132 -0.03028707 -0.18925213 0.13808023] [ 0.0231684 0.99894241 -0.03971497 0.83033414] [ 0.19025483 0.03459404 0.98112504 -0.13719604] [ 0. 0. 0. 1. ]] SLAMing on 57.476502481 meters Centerline goodness : 0.675403 Centerline is valid? [False, False] Translation: X:0.14, Y:0.83, Z:-0.14 [[ 0.98139213 -0.02958703 -0.18972109 0.14029638] [ 0.02271643 0.99900852 -0.0382876 0.82772203] [ 0.19066581 0.03326536 0.98109121 -0.13902629] [ 0. 0. 0. 1. ]] SLAMing on 57.506502481 meters Centerline goodness : 0.671501 Centerline is valid? [False, False] Translation: X:0.16, Y:0.83, Z:-0.14 [[ 0.98167842 -0.03208136 -0.18782509 0.1572249 ] [ 0.02650775 0.9991327 -0.03211206 0.82732149] [ 0.18869239 0.02654489 0.98167742 -0.13907016] [ 0. 0. 0. 1. ]] SLAMing on 57.536502481 meters Centerline goodness : 0.674029 Centerline is valid? [False, False] Translation: X:0.16, Y:0.83, Z:-0.14 [[ 0.98162249 -0.03180732 -0.18816372 0.1577685 ] [ 0.02632508 0.999155 -0.03156376 0.82625941] [ 0.18900868 0.02603027 0.98163035 -0.1391047 ] [ 0. 0. 0. 1. ]] SLAMing on 57.566502481 meters Centerline goodness : 0.672966 Centerline is valid? [False, False] Translation: X:0.16, Y:0.83, Z:-0.14 [[ 0.98160154 -0.03155589 -0.18831526 0.15846703] [ 0.02612691 0.99917029 -0.03124275 0.82547205] [ 0.18914491 0.02574784 0.98161156 -0.13942127] [ 0. 0. 0. 1. ]] SLAMing on 57.596502481 meters Centerline goodness : 0.674372 Centerline is valid? [False, False] Translation: X:0.16, Y:0.82, Z:-0.14 [[ 0.98165702 -0.03156368 -0.18802457 0.15857707] [ 0.02616306 0.99917267 -0.03113644 0.82439064] [ 0.18885179 0.025646 0.98167066 -0.13997772] [ 0. 0. 0. 1. ]] SLAMing on 57.626502480999996 meters Centerline goodness : 0.673744 Centerline is valid? [False, False] Translation: X:0.16, Y:0.82, Z:-0.14 [[ 0.98170389 -0.03144534 -0.18779951 0.15860447] [ 0.02607191 0.99917882 -0.03101513 0.82332643] [ 0.18862058 0.02555138 0.98171758 -0.14027861] [ 0. 0. 0. 1. ]] SLAMing on 57.656502481 meters Centerline goodness : 0.675420 Centerline is valid? [False, False] Translation: X:0.16, Y:0.82, Z:-0.14 [[ 0.98175828 -0.03168512 -0.18747463 0.1574466 ] [ 0.02626422 0.99916397 -0.03132963 0.8226495 ] [ 0.18831058 0.02583425 0.98176969 -0.13951986] [ 0. 0. 0. 1. ]] SLAMing on 57.686502481 meters Centerline goodness : 0.673391 Centerline is valid? [False, False] Translation: X:0.16, Y:0.82, Z:-0.14 [[ 0.98161107 -0.03129488 -0.18830915 0.15802598] [ 0.02578497 0.99916669 -0.03163942 0.82369165] [ 0.18914238 0.02620206 0.98160003 -0.13764575] [ 0. 0. 0. 1. ]] SLAMing on 57.716502481 meters Centerline goodness : 0.672653 Centerline is valid? [False, False] Translation: X:0.16, Y:0.82, Z:-0.14 [[ 0.98146849 -0.03080656 -0.18913107 0.15955875] [ 0.02525731 0.99917883 -0.03168178 0.82459183] [ 0.18995176 0.02631772 0.98144063 -0.13692903] [ 0. 0. 0. 1. ]] SLAMing on 57.746502481 meters Centerline goodness : 0.671241 Centerline is valid? [False, False] Translation: X:0.16, Y:0.83, Z:-0.14 [[ 0.98126317 -0.02990414 -0.19033744 0.16234158] [ 0.02424007 0.99919332 -0.03201755 0.82639889] [ 0.19114135 0.02680385 0.98119648 -0.13573048] [ 0. 0. 0. 1. ]] SLAMing on 57.776502481 meters Centerline goodness : 0.670072 Centerline is valid? [False, False] Translation: X:0.16, Y:0.83, Z:-0.14 [[ 0.98114701 -0.02937504 -0.19101743 0.16418937] [ 0.02368006 0.99920638 -0.03202906 0.82694411] [ 0.19180669 0.02690191 0.98106395 -0.13552621] [ 0. 0. 0. 1. ]] SLAMing on 57.806502481 meters Centerline goodness : 0.669037 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.14 [[ 0.98102614 -0.02862898 -0.19175006 0.16671375] [ 0.02281601 0.99921273 -0.03245547 0.82822375] [ 0.19252827 0.02746469 0.98090701 -0.13517051] [ 0. 0. 0. 1. ]] SLAMing on 57.836502481 meters Centerline goodness : 0.671981 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.13 [[ 0.98093018 -0.02818836 -0.19230547 0.16840421] [ 0.02232502 0.99921946 -0.03258918 0.82857346] [ 0.193074 0.02767449 0.98079384 -0.13499945] [ 0. 0. 0. 1. ]] SLAMing on 57.866502481 meters Centerline goodness : 0.671575 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.13 [[ 0.98092275 -0.02719862 -0.19248582 0.16988584] [ 0.02129793 0.99923962 -0.03265857 0.82851714] [ 0.19322772 0.02793599 0.98075615 -0.13473607] [ 0. 0. 0. 1. ]] SLAMing on 57.896502481 meters Centerline goodness : 0.670986 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.13 [[ 0.98082483 -0.02679434 -0.19304071 0.17058582] [ 0.0207882 0.99923674 -0.03307233 0.82813972] [ 0.19377952 0.0284252 0.98063322 -0.13338771] [ 0. 0. 0. 1. ]] SLAMing on 57.926502481 meters Centerline goodness : 0.673308 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.13 [[ 0.98106987 -0.02203669 -0.19239619 0.16918691] [ 0.01679933 0.9994437 -0.02881096 0.82629728] [ 0.19292406 0.02503344 0.9808943 -0.13359806] [ 0. 0. 0. 1. ]] SLAMing on 57.956502481 meters Centerline goodness : 0.676310 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.13 [[ 0.98105109 -0.02183761 -0.19251463 0.16919168] [ 0.0165832 0.99944581 -0.02886295 0.82608822] [ 0.19303823 0.02512352 0.98086954 -0.13309092] [ 0. 0. 0. 1. ]] SLAMing on 57.986502481 meters Centerline goodness : 0.677140 Centerline is valid? [False, False] Translation: X:0.17, Y:0.82, Z:-0.13 [[ 0.98107737 -0.02152214 -0.19241618 0.16956495] [ 0.01633937 0.99946076 -0.02848172 0.824733 ] [ 0.19292541 0.02479881 0.9809 -0.13364612] [ 0. 0. 0. 1. ]] SLAMing on 58.016502480999996 meters Centerline goodness : 0.677669 Centerline is valid? [False, False] Translation: X:0.17, Y:0.82, Z:-0.13 [[ 0.98110347 -0.02109619 -0.19233027 0.17037927] [ 0.01604556 0.99948527 -0.0277802 0.82313311] [ 0.19281732 0.0241692 0.98093697 -0.13480879] [ 0. 0. 0. 1. ]] SLAMing on 58.046502481 meters Centerline goodness : 0.677709 Centerline is valid? [False, False] Translation: X:0.17, Y:0.82, Z:-0.13 [[ 0.98081243 -0.0247586 -0.19337525 0.17320725] [ 0.01906877 0.99933031 -0.0312301 0.8224588 ] [ 0.19401896 0.02694344 0.9806277 -0.13478564] [ 0. 0. 0. 1. ]] SLAMing on 58.076502481 meters Centerline goodness : 0.672240 Centerline is valid? [False, False] Translation: X:0.17, Y:0.82, Z:-0.14 [[ 0.98074823 -0.02434612 -0.1937529 0.17445498] [ 0.01879331 0.99935972 -0.03044616 0.82003052] [ 0.19437009 0.02621876 0.98057781 -0.1354612 ] [ 0. 0. 0. 1. ]] SLAMing on 58.106502481 meters Centerline goodness : 0.672735 Centerline is valid? [False, False] Translation: X:0.18, Y:0.82, Z:-0.14 [[ 0.98072575 -0.0239112 -0.19392075 0.17521995] [ 0.01847789 0.9993857 -0.02977902 0.81859843] [ 0.19451368 0.02562181 0.98056512 -0.13603031] [ 0. 0. 0. 1. ]] SLAMing on 58.136502481 meters Centerline goodness : 0.674403 Centerline is valid? [False, False] Translation: X:0.16, Y:0.81, Z:-0.14 [[ 0.98128699 -0.0204227 -0.19146475 0.15605241] [ 0.01471713 0.9994056 -0.03117458 0.8127751 ] [ 0.19198762 0.0277734 0.98100428 -0.14161803] [ 0. 0. 0. 1. ]] SLAMing on 58.166502481 meters Centerline goodness : 0.677343 Centerline is valid? [False, False] Translation: X:0.14, Y:0.81, Z:-0.15 [[ 0.98209494 -0.01591233 -0.18771342 0.13911073] [ 0.00979751 0.99939209 -0.03345828 0.80767846] [ 0.1881317 0.03102009 0.98165382 -0.14618968] [ 0. 0. 0. 1. ]] SLAMing on 58.196502480999996 meters Centerline goodness : 0.678231 Centerline is valid? [False, False] Translation: X:0.14, Y:0.81, Z:-0.15 [[ 0.98214396 -0.01625265 -0.18742755 0.13787334] [ 0.01009773 0.99937939 -0.03374709 0.80589865] [ 0.18785971 0.03125191 0.98169855 -0.14525474] [ 0. 0. 0. 1. ]] SLAMing on 58.226502481 meters Centerline goodness : 0.679849 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.15 [[ 0.98219584 -0.01622047 -0.18715828 0.1375642 ] [ 0.01013207 0.99938931 -0.03344169 0.80390539] [ 0.18758642 0.03094998 0.98176037 -0.14556615] [ 0. 0. 0. 1. ]] SLAMing on 58.256502481 meters Centerline goodness : 0.681174 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.15 [[ 0.98221502 -0.01630067 -0.18705062 0.13707164] [ 0.01024107 0.99939239 -0.03331626 0.80216479] [ 0.18748005 0.03080813 0.98178516 -0.14535413] [ 0. 0. 0. 1. ]] SLAMing on 58.286502481 meters Centerline goodness : 0.680691 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98221587 -0.01641094 -0.18703655 0.13615138] [ 0.010322 0.999386 -0.03348241 0.80006412] [ 0.18747118 0.03095637 0.98178218 -0.14402801] [ 0. 0. 0. 1. ]] SLAMing on 58.316502481 meters Centerline goodness : 0.682429 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98199835 -0.02045175 -0.18777903 0.13704206] [ 0.01363076 0.99920199 -0.03754437 0.79952741] [ 0.18839703 0.03430894 0.98149348 -0.14233775] [ 0. 0. 0. 1. ]] SLAMing on 58.346502481 meters Centerline goodness : 0.681187 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98173131 -0.02416267 -0.18873207 0.13867122] [ 0.01659417 0.99899738 -0.04157971 0.79951456] [ 0.18954752 0.03768825 0.98114797 -0.14071078] [ 0. 0. 0. 1. ]] SLAMing on 58.376502480999996 meters Centerline goodness : 0.684440 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98177305 -0.02404342 -0.18853009 0.13872876] [ 0.0165548 0.99901394 -0.04119583 0.79635644] [ 0.18933468 0.03732388 0.98120299 -0.14111943] [ 0. 0. 0. 1. ]] SLAMing on 58.406502481 meters Centerline goodness : 0.684440 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98177275 -0.02404063 -0.18853202 0.13871828] [ 0.01654196 0.99901202 -0.04124727 0.79604589] [ 0.18933736 0.03737676 0.98120046 -0.14106086] [ 0. 0. 0. 1. ]] SLAMing on 58.436502481 meters Centerline goodness : 0.684766 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98156242 -0.02748251 -0.18915584 0.13986234] [ 0.01926508 0.99879465 -0.04514539 0.79602189] [ 0.19016855 0.04066891 0.98090874 -0.13945239] [ 0. 0. 0. 1. ]] SLAMing on 58.466502481 meters Centerline goodness : 0.683736 Centerline is valid? [False, False] Translation: X:0.14, Y:0.79, Z:-0.14 [[ 0.98155346 -0.02722778 -0.18923914 0.14093587] [ 0.01905369 0.99881063 -0.0448807 0.79149166] [ 0.19023607 0.0404471 0.98090482 -0.13991169] [ 0. 0. 0. 1. ]] SLAMing on 58.496502481 meters Centerline goodness : 0.684037 Centerline is valid? [False, False] Translation: X:0.14, Y:0.79, Z:-0.14 [[ 0.98143979 -0.0262918 -0.18995968 0.14295411] [ 0.0182982 0.99887655 -0.04371282 0.78840903] [ 0.19089556 0.03942558 0.98081829 -0.14040546] [ 0. 0. 0. 1. ]] SLAMing on 58.526502481 meters Centerline goodness : 0.685410 Centerline is valid? [False, False] Translation: X:0.14, Y:0.79, Z:-0.14 [[ 0.9813449 -0.02582092 -0.19051371 0.1440081 ] [ 0.01785414 0.99889752 -0.0434162 0.78690179] [ 0.19142472 0.0392048 0.980724 -0.13992474] [ 0. 0. 0. 1. ]] SLAMing on 58.556502481 meters Centerline goodness : 0.684116 Centerline is valid? [False, False] Translation: X:0.14, Y:0.78, Z:-0.14 [[ 0.98139085 -0.02546852 -0.19032435 0.14369071] [ 0.01754627 0.99891256 -0.04319509 0.78484346] [ 0.1912175 0.03905179 0.98077053 -0.13951954] [ 0. 0. 0. 1. ]] SLAMing on 58.586502481 meters Centerline goodness : 0.685143 Centerline is valid? [False, False] Translation: X:0.14, Y:0.78, Z:-0.14 [[ 0.98140323 -0.02546481 -0.19026098 0.14301088] [ 0.01752823 0.99890914 -0.04328142 0.78363103] [ 0.19115559 0.03914159 0.98077902 -0.1387526 ] [ 0. 0. 0. 1. ]] SLAMing on 58.616502481 meters Centerline goodness : 0.684667 Centerline is valid? [False, False] Translation: X:0.14, Y:0.78, Z:-0.14 [[ 0.98146805 -0.02573865 -0.18988939 0.14165382] [ 0.01777633 0.99889455 -0.04351637 0.78143453] [ 0.19079953 0.03933439 0.98084063 -0.13788605] [ 0. 0. 0. 1. ]] SLAMing on 58.646502481 meters Centerline goodness : 0.685666 Centerline is valid? [False, False] Translation: X:0.14, Y:0.78, Z:-0.14 [[ 0.98136488 -0.02514661 -0.19050097 0.14353871] [ 0.01721618 0.99891936 -0.04317079 0.77946643] [ 0.19138071 0.03908659 0.98073731 -0.13800702] [ 0. 0. 0. 1. ]] SLAMing on 58.676502481 meters Centerline goodness : 0.685865 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.14 [[ 0.98087317 -0.02899132 -0.19247684 0.14781149] [ 0.02020744 0.99866949 -0.04744369 0.77987618] [ 0.19359621 0.04264678 0.98015395 -0.13665364] [ 0. 0. 0. 1. ]] SLAMing on 58.706502481 meters Centerline goodness : 0.680006 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.13 [[ 0.98050524 -0.03269585 -0.1937536 0.15016474] [ 0.02307737 0.99839629 -0.05169417 0.7810721 ] [ 0.19513306 0.04621508 0.97968732 -0.13488844] [ 0. 0. 0. 1. ]] SLAMing on 58.736502481 meters Centerline goodness : 0.682594 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.13 [[ 0.98042004 -0.03249212 -0.19421845 0.15142523] [ 0.02277596 0.99838457 -0.05205286 0.7801381 ] [ 0.19559602 0.04661015 0.97957628 -0.13436278] [ 0. 0. 0. 1. ]] SLAMing on 58.766502480999996 meters Centerline goodness : 0.685281 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.14 [[ 0.98065622 -0.02771802 -0.19376553 0.15153431] [ 0.01875652 0.99867448 -0.04793207 0.77674193] [ 0.19483727 0.04337051 0.97987623 -0.13532564] [ 0. 0. 0. 1. ]] SLAMing on 58.796502481 meters Centerline goodness : 0.684412 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.13 [[ 0.98054804 -0.02717697 -0.19438867 0.15246971] [ 0.01814687 0.99867839 -0.04808499 0.77607266] [ 0.19543857 0.04362209 0.97974531 -0.13401625] [ 0. 0. 0. 1. ]] SLAMing on 58.826502481 meters Centerline goodness : 0.688736 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.13 [[ 0.98056408 -0.02704233 -0.19432653 0.15189689] [ 0.01800154 0.99867836 -0.04814025 0.7754708 ] [ 0.19537153 0.04370642 0.97975493 -0.13330702] [ 0. 0. 0. 1. ]] SLAMing on 58.856502481 meters Centerline goodness : 0.691325 Centerline is valid? [False, False] Translation: X:0.15, Y:0.77, Z:-0.13 [[ 0.98061613 -0.02665062 -0.19411787 0.15241178] [ 0.01770075 0.99870509 -0.04769509 0.77354273] [ 0.19513761 0.04333454 0.97981806 -0.13402157] [ 0. 0. 0. 1. ]] SLAMing on 58.886502481 meters Centerline goodness : 0.688469 Centerline is valid? [False, False] Translation: X:0.15, Y:0.77, Z:-0.13 [[ 0.98058563 -0.02595607 -0.19436592 0.15398715] [ 0.01711196 0.99874623 -0.04704415 0.77139547] [ 0.19534331 0.04280483 0.97980036 -0.13471399] [ 0. 0. 0. 1. ]] SLAMing on 58.916502481 meters Centerline goodness : 0.688642 Centerline is valid? [False, False] Translation: X:0.16, Y:0.77, Z:-0.13 [[ 0.98042965 -0.02519175 -0.19525134 0.15608623] [ 0.01636542 0.99877548 -0.04668731 0.77030085] [ 0.19618838 0.04257825 0.97964137 -0.1343811 ] [ 0. 0. 0. 1. ]] SLAMing on 58.946502480999996 meters Centerline goodness : 0.687640 Centerline is valid? [False, False] Translation: X:0.16, Y:0.77, Z:-0.14 [[ 0.98039377 -0.02457327 -0.19551011 0.15782823] [ 0.01583157 0.99880905 -0.04615017 0.76795983] [ 0.19641133 0.04215011 0.97961521 -0.13517994] [ 0. 0. 0. 1. ]] SLAMing on 58.976502481 meters Centerline goodness : 0.689060 Centerline is valid? [False, False] Translation: X:0.16, Y:0.77, Z:-0.14 [[ 0.98042354 -0.02429211 -0.19539596 0.1578802 ] [ 0.01557352 0.99881849 -0.04603349 0.76641419] [ 0.19628335 0.04208931 0.97964347 -0.13508553] [ 0. 0. 0. 1. ]] SLAMing on 59.006502481 meters Centerline goodness : 0.689759 Centerline is valid? [False, False] Translation: X:0.16, Y:0.77, Z:-0.13 [[ 0.98036276 -0.02423413 -0.19570785 0.15753398] [ 0.01543657 0.99880582 -0.04635354 0.76628473] [ 0.19659748 0.04242223 0.97956612 -0.13360974] [ 0. 0. 0. 1. ]] SLAMing on 59.036502481 meters Centerline goodness : 0.687589 Centerline is valid? [False, False] Translation: X:0.17, Y:0.77, Z:-0.13 [[ 0.98083882 -0.02717919 -0.19291578 0.17384293] [ 0.01924486 0.99889468 -0.0428842 0.76564284] [ 0.19386811 0.03834985 0.98027774 -0.13011179] [ 0. 0. 0. 1. ]] SLAMing on 59.066502481 meters Centerline goodness : 0.688170 Centerline is valid? [False, False] Translation: X:0.18, Y:0.76, Z:-0.13 [[ 0.9807717 -0.02664993 -0.19333044 0.17512421] [ 0.01875763 0.99891869 -0.0425394 0.76417223] [ 0.19425507 0.03809502 0.98021107 -0.13014596] [ 0. 0. 0. 1. ]] SLAMing on 59.096502481 meters Centerline goodness : 0.686030 Centerline is valid? [False, False] Translation: X:0.18, Y:0.76, Z:-0.13 [[ 0.98069159 -0.0259553 -0.19383068 0.1768067 ] [ 0.01814752 0.99895492 -0.04194929 0.76264526] [ 0.19471692 0.03762177 0.98013771 -0.13053539] [ 0. 0. 0. 1. ]] SLAMing on 59.126502480999996 meters Centerline goodness : 0.682849 Centerline is valid? [False, False] Translation: X:0.18, Y:0.76, Z:-0.13 [[ 0.98039406 -0.02914069 -0.19488026 0.17968427] [ 0.02066244 0.99875529 -0.04539754 0.76259148] [ 0.19596061 0.04048078 0.97977587 -0.12992476] [ 0. 0. 0. 1. ]] SLAMing on 59.156502481 meters Centerline goodness : 0.690165 Centerline is valid? [False, False] Translation: X:0.18, Y:0.76, Z:-0.13 [[ 0.98035208 -0.02864753 -0.19516433 0.18096823] [ 0.02024636 0.998786 -0.04490671 0.7610089 ] [ 0.19621386 0.04007302 0.97974194 -0.13042169] [ 0. 0. 0. 1. ]] SLAMing on 59.186502481 meters Centerline goodness : 0.688017 Centerline is valid? [False, False] Translation: X:0.18, Y:0.76, Z:-0.13 [[ 0.98030167 -0.02807923 -0.19549983 0.18236967] [ 0.01978143 0.99882382 -0.04426826 0.75954904] [ 0.1965129 0.03952899 0.97970411 -0.13105384] [ 0. 0. 0. 1. ]] SLAMing on 59.216502481 meters Centerline goodness : 0.689400 Centerline is valid? [False, False] Translation: X:0.21, Y:0.76, Z:-0.12 [[ 0.98019827 -0.02884178 -0.19590688 0.21244811] [ 0.02043162 0.99878631 -0.04481587 0.76048405] [ 0.19696168 0.03992575 0.97959789 -0.12392245] [ 0. 0. 0. 1. ]] SLAMing on 59.246502481 meters Centerline goodness : 0.684648 Centerline is valid? [False, False] Translation: X:0.23, Y:0.76, Z:-0.12 [[ 0.98008483 -0.03247465 -0.19590593 0.23227233] [ 0.02448767 0.99877254 -0.04305536 0.76208193] [ 0.19706367 0.03740063 0.97967704 -0.11975189] [ 0. 0. 0. 1. ]] SLAMing on 59.276502481 meters Centerline goodness : 0.688284 Centerline is valid? [False, False] Translation: X:0.23, Y:0.76, Z:-0.12 [[ 0.98002802 -0.03210078 -0.19625143 0.23322173] [ 0.02411587 0.99878643 -0.04294285 0.76119151] [ 0.19739177 0.03735242 0.97961283 -0.11950603] [ 0. 0. 0. 1. ]] SLAMing on 59.306502481 meters Centerline goodness : 0.684318 Centerline is valid? [False, False] Translation: X:0.23, Y:0.76, Z:-0.12 [[ 0.97990449 -0.03174033 -0.19692573 0.23451022] [ 0.02372151 0.99879571 -0.04294665 0.76085475] [ 0.19805172 0.03741224 0.97947733 -0.11893349] [ 0. 0. 0. 1. ]] SLAMing on 59.336502481 meters Centerline goodness : 0.685106 Centerline is valid? [False, False] Translation: X:0.24, Y:0.76, Z:-0.12 [[ 0.97980497 -0.0313225 -0.19748702 0.23590334] [ 0.02329204 0.9988097 -0.04285626 0.76031112] [ 0.19859431 0.0373909 0.97936828 -0.11869293] [ 0. 0. 0. 1. ]] SLAMing on 59.366502481 meters Centerline goodness : 0.686937 Centerline is valid? [False, False] Translation: X:0.26, Y:0.76, Z:-0.12 [[ 0.98042862 -0.03198976 -0.19425854 0.26208704] [ 0.02447401 0.99886069 -0.04096753 0.75912605] [ 0.19534776 0.03541146 0.98009453 -0.11568049] [ 0. 0. 0. 1. ]] SLAMing on 59.396502481 meters Centerline goodness : 0.688606 Centerline is valid? [False, False] Translation: X:0.29, Y:0.76, Z:-0.11 [[ 0.98109378 -0.03358124 -0.19059721 0.28915259] [ 0.02623893 0.99881795 -0.04091713 0.7579839 ] [ 0.19174597 0.03514247 0.98081522 -0.11066719] [ 0. 0. 0. 1. ]] SLAMing on 59.426502481 meters Centerline goodness : 0.688017 Centerline is valid? [False, False] Translation: X:0.29, Y:0.76, Z:-0.11 [[ 0.98104 -0.03329887 -0.19092332 0.2894802 ] [ 0.02599248 0.99883543 -0.04064684 0.75710916] [ 0.19205447 0.0349136 0.98076303 -0.11025008] [ 0. 0. 0. 1. ]] SLAMing on 59.456502481 meters Centerline goodness : 0.687430 Centerline is valid? [False, False] Translation: X:0.32, Y:0.75, Z:-0.11 [[ 0.98144152 -0.03318898 -0.18886778 0.31844543] [ 0.02656442 0.99894349 -0.03749974 0.75438741] [ 0.18991282 0.03178664 0.98128626 -0.10785858] [ 0. 0. 0. 1. ]] SLAMing on 59.486502481 meters Centerline goodness : 0.689639 Centerline is valid? [False, False] Translation: X:0.34, Y:0.76, Z:-0.11 [[ 0.98139431 -0.03721635 -0.18836175 0.33669409] [ 0.03134392 0.99892814 -0.03406062 0.75537591] [ 0.18942746 0.0275229 0.9815089 -0.10597173] [ 0. 0. 0. 1. ]] SLAMing on 59.516502480999996 meters Centerline goodness : 0.691321 Centerline is valid? [False, False] Translation: X:0.36, Y:0.76, Z:-0.10 [[ 0.9814024 -0.04076562 -0.18758331 0.35656604] [ 0.03552835 0.99888155 -0.03119903 0.75677958] [ 0.18864536 0.02395428 0.98175309 -0.10362809] [ 0. 0. 0. 1. ]] SLAMing on 59.546502481 meters Centerline goodness : 0.690953 Centerline is valid? [False, False] Translation: X:0.36, Y:0.76, Z:-0.10 [[ 0.98135755 -0.04036357 -0.18790462 0.35762719] [ 0.03517139 0.99890391 -0.03088596 0.75607033] [ 0.18894533 0.0237013 0.98170154 -0.10383541] [ 0. 0. 0. 1. ]] SLAMing on 59.576502481 meters Centerline goodness : 0.693174 Centerline is valid? [False, False] Translation: X:0.36, Y:0.75, Z:-0.10 [[ 0.98137646 -0.04003689 -0.18787573 0.3584242 ] [ 0.03489226 0.99892213 -0.03061222 0.75464872] [ 0.18889884 0.0234867 0.98171564 -0.10445443] [ 0. 0. 0. 1. ]] SLAMing on 59.606502481 meters Centerline goodness : 0.693554 Centerline is valid? [False, False] Translation: X:0.36, Y:0.75, Z:-0.10 [[ 0.9815349 -0.03551688 -0.18795688 0.35824449] [ 0.03115113 0.99917303 -0.02613146 0.75264199] [ 0.18872955 0.01979387 0.9818296 -0.10483181] [ 0. 0. 0. 1. ]] SLAMing on 59.636502481 meters Centerline goodness : 0.693061 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98181441 -0.03804914 -0.18599118 0.37508036] [ 0.03467724 0.99917048 -0.02135024 0.75403519] [ 0.18664925 0.01451231 0.98231942 -0.10299608] [ 0. 0. 0. 1. ]] SLAMing on 59.666502481 meters Centerline goodness : 0.694692 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98176105 -0.03798544 -0.18628567 0.37501327] [ 0.03462695 0.99917435 -0.02125061 0.75342816] [ 0.18693907 0.01441251 0.98226578 -0.10227144] [ 0. 0. 0. 1. ]] SLAMing on 59.696502480999996 meters Centerline goodness : 0.695270 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98172598 -0.03751791 -0.18656501 0.37612583] [ 0.03427549 0.99920059 -0.0205761 0.75168361] [ 0.18718784 0.01380548 0.98222712 -0.10285629] [ 0. 0. 0. 1. ]] SLAMing on 59.726502481 meters Centerline goodness : 0.692108 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.9813626 -0.04162749 -0.18760225 0.37856492] [ 0.03773137 0.99899259 -0.02429285 0.75199735] [ 0.18842451 0.01676161 0.98194463 -0.10254442] [ 0. 0. 0. 1. ]] SLAMing on 59.756502481 meters Centerline goodness : 0.694431 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98130529 -0.0412409 -0.187987 0.3799109 ] [ 0.03743466 0.9990167 -0.02375437 0.75070238] [ 0.1887818 0.01627306 0.98188422 -0.10309804] [ 0. 0. 0. 1. ]] SLAMing on 59.786502481 meters Centerline goodness : 0.693943 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98131402 -0.04114598 -0.18796222 0.38047131] [ 0.03743015 0.9990281 -0.02327732 0.74911386] [ 0.18873731 0.01580691 0.98190039 -0.10391386] [ 0. 0. 0. 1. ]] SLAMing on 59.816502481 meters Centerline goodness : 0.691960 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98127445 -0.04103833 -0.18819224 0.38108311] [ 0.03731405 0.99903211 -0.02329153 0.74876734] [ 0.18896593 0.01583317 0.98185599 -0.10376257] [ 0. 0. 0. 1. ]] SLAMing on 59.846502481 meters Centerline goodness : 0.695583 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98118964 -0.04096946 -0.18864884 0.38163427] [ 0.03719149 0.99903123 -0.02352447 0.74937572] [ 0.18942986 0.01606583 0.98176281 -0.10308343] [ 0. 0. 0. 1. ]] SLAMing on 59.876502480999996 meters Centerline goodness : 0.691577 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98109351 -0.04096284 -0.18914958 0.38155394] [ 0.03708587 0.99902402 -0.02399242 0.75070872] [ 0.18994777 0.01652403 0.98165513 -0.1015427 ] [ 0. 0. 0. 1. ]] SLAMing on 59.906502481 meters Centerline goodness : 0.691681 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98099313 -0.04086567 -0.18969048 0.38182654] [ 0.03692773 0.99902367 -0.02424961 0.75146141] [ 0.19049626 0.01678386 0.98154444 -0.10038851] [ 0. 0. 0. 1. ]] SLAMing on 59.936502481 meters Centerline goodness : 0.689962 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98093434 -0.04077434 -0.19001386 0.38232961] [ 0.03675253 0.9990205 -0.02464339 0.75219414] [ 0.19083256 0.01719006 0.98147208 -0.0996153 ] [ 0. 0. 0. 1. ]] SLAMing on 59.966502481 meters Centerline goodness : 0.689867 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98092721 -0.04053257 -0.19010242 0.38317629] [ 0.03655942 0.99903448 -0.02436214 0.75174186] [ 0.19090633 0.01694745 0.98146195 -0.10023262] [ 0. 0. 0. 1. ]] SLAMing on 59.996502481 meters Centerline goodness : 0.693465 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98083094 -0.03991245 -0.19072928 0.38550891] [ 0.03605216 0.99906959 -0.02366828 0.75100909] [ 0.19149648 0.01633838 0.9813573 -0.10129911] [ 0. 0. 0. 1. ]] SLAMing on 60.026502481 meters Centerline goodness : 0.690261 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98071468 -0.03950184 -0.19141137 0.38729596] [ 0.03566961 0.99908902 -0.0234267 0.75068772] [ 0.1921624 0.01614734 0.98123029 -0.10136576] [ 0. 0. 0. 1. ]] SLAMing on 60.056502481 meters Centerline goodness : 0.688211 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.9805494 -0.03888797 -0.1923814 0.38966145] [ 0.03507948 0.99911603 -0.02316454 0.75104245] [ 0.19311216 0.01596534 0.98104679 -0.10137033] [ 0. 0. 0. 1. ]] SLAMing on 60.086502481 meters Centerline goodness : 0.690686 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98046969 -0.03877356 -0.19281024 0.39037978] [ 0.03491595 0.99911705 -0.02336647 0.75157227] [ 0.193546 0.01617796 0.98095781 -0.10083624] [ 0. 0. 0. 1. ]] SLAMing on 60.116502481 meters Centerline goodness : 0.691271 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98048988 -0.0390904 -0.19264356 0.38927673] [ 0.03510625 0.99909409 -0.02405306 0.75216088] [ 0.19340929 0.01682079 0.98097396 -0.09964068] [ 0. 0. 0. 1. ]] SLAMing on 60.146502481 meters Centerline goodness : 0.694284 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98051055 -0.03917515 -0.19252109 0.38872571] [ 0.03515157 0.9990872 -0.02427219 0.75191996] [ 0.19329622 0.01703172 0.9809926 -0.09913314] [ 0. 0. 0. 1. ]] SLAMing on 60.176502481 meters Centerline goodness : 0.690707 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98055278 -0.03913273 -0.19231454 0.38825893] [ 0.03508877 0.99908653 -0.0243902 0.75154113] [ 0.19309332 0.0171678 0.98103019 -0.09878275] [ 0. 0. 0. 1. ]] SLAMing on 60.206502481 meters Centerline goodness : 0.694735 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98046883 -0.03889095 -0.192791 0.38867174] [ 0.03482456 0.99909462 -0.02443759 0.75144792] [ 0.19356685 0.01724644 0.98093549 -0.09788874] [ 0. 0. 0. 1. ]] SLAMing on 60.236502481 meters Centerline goodness : 0.690641 Centerline is valid? [False, False] Translation: X:0.41, Y:0.75, Z:-0.09 [[ 0.98112339 -0.03709718 -0.1897912 0.41253319] [ 0.03387115 0.99922176 -0.02021451 0.75017803] [ 0.1903934 0.01340449 0.98161636 -0.09323875] [ 0. 0. 0. 1. ]] SLAMing on 60.266502480999996 meters Centerline goodness : 0.689195 Centerline is valid? [False, False] Translation: X:0.41, Y:0.75, Z:-0.09 [[ 0.98100034 -0.03667245 -0.19050846 0.41371788] [ 0.03349196 0.99924107 -0.01988884 0.74940168] [ 0.19109325 0.01313046 0.98148406 -0.09272724] [ 0. 0. 0. 1. ]] SLAMing on 60.296502481 meters Centerline goodness : 0.689195 Centerline is valid? [False, False] Translation: X:0.41, Y:0.75, Z:-0.09 [[ 0.98100218 -0.03671758 -0.19049025 0.41365811] [ 0.0335302 0.99923897 -0.01992979 0.74937573] [ 0.19107705 0.01316399 0.98148676 -0.09269502] [ 0. 0. 0. 1. ]] SLAMing on 60.326502481 meters Centerline goodness : 0.689904 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.09 [[ 0.98055741 -0.04005309 -0.19210134 0.41886059] [ 0.03626142 0.99907267 -0.02321452 0.74916416] [ 0.19285301 0.0157973 0.98110048 -0.09345121] [ 0. 0. 0. 1. ]] SLAMing on 60.356502481 meters Centerline goodness : 0.686816 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.09 [[ 0.98013987 -0.04364118 -0.19344581 0.42341328] [ 0.03925701 0.99887925 -0.02644106 0.74902149] [ 0.19438292 0.01832183 0.9807546 -0.09447634] [ 0. 0. 0. 1. ]] SLAMing on 60.386502481 meters Centerline goodness : 0.690055 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.10 [[ 0.98011859 -0.04334655 -0.19361981 0.42448055] [ 0.03902419 0.99889775 -0.02608433 0.74832988] [ 0.19453706 0.01800988 0.98072982 -0.09513095] [ 0. 0. 0. 1. ]] SLAMing on 60.416502481 meters Centerline goodness : 0.694048 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.09 [[ 0.98013428 -0.04323657 -0.19356495 0.42423891] [ 0.03890669 0.99890149 -0.02611673 0.74802112] [ 0.19448152 0.01806693 0.98073979 -0.09476526] [ 0. 0. 0. 1. ]] SLAMing on 60.446502480999996 meters Centerline goodness : 0.687432 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.09 [[ 0.98008005 -0.04324237 -0.19383807 0.42405101] [ 0.03882919 0.99889412 -0.026511 0.74795149] [ 0.19477011 0.01845632 0.98067526 -0.09345567] [ 0. 0. 0. 1. ]] SLAMing on 60.476502481 meters Centerline goodness : 0.690061 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.09 [[ 0.98002921 -0.04325479 -0.19409218 0.42350695] [ 0.03877367 0.99888778 -0.02682929 0.74845484] [ 0.19503681 0.01876782 0.98061634 -0.09213916] [ 0. 0. 0. 1. ]] SLAMing on 60.506502481 meters Centerline goodness : 0.692183 Centerline is valid? [False, False] Translation: X:0.45, Y:0.75, Z:-0.09 [[ 0.98085521 -0.04134897 -0.19029796 0.44823822] [ 0.03756298 0.99901882 -0.02346085 0.74722049] [ 0.19108133 0.01586354 0.98144601 -0.0868256 ] [ 0. 0. 0. 1. ]] SLAMing on 60.536502481 meters Centerline goodness : 0.694099 Centerline is valid? [False, False] Translation: X:0.45, Y:0.75, Z:-0.09 [[ 0.98087327 -0.0414685 -0.19017886 0.44767746] [ 0.03765298 0.99901135 -0.02363407 0.74614481] [ 0.19097091 0.01602123 0.98146494 -0.08617034] [ 0. 0. 0. 1. ]] SLAMing on 60.566502481 meters Centerline goodness : 0.696341 Centerline is valid? [False, False] Translation: X:0.45, Y:0.75, Z:-0.09 [[ 0.98082707 -0.04125607 -0.19046312 0.44871569] [ 0.03749637 0.99902502 -0.02330313 0.74515466] [ 0.19123882 0.01571467 0.98141773 -0.08662352] [ 0. 0. 0. 1. ]] SLAMing on 60.596502481 meters Centerline goodness : 0.693521 Centerline is valid? [False, False] Translation: X:0.45, Y:0.75, Z:-0.09 [[ 0.9803397 -0.04460317 -0.19220984 0.45392451] [ 0.04022996 0.99883639 -0.0265972 0.74535344] [ 0.1931725 0.0183417 0.98099336 -0.08718162] [ 0. 0. 0. 1. ]] SLAMing on 60.626502480999996 meters Centerline goodness : 0.691964 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.09 [[ 0.97994431 -0.04862153 -0.19324878 0.45629584] [ 0.04349708 0.99858252 -0.03067496 0.74671103] [ 0.19446632 0.02165399 0.98067016 -0.08639196] [ 0. 0. 0. 1. ]] SLAMing on 60.656502481 meters Centerline goodness : 0.694952 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.09 [[ 0.97991266 -0.04825691 -0.1935005 0.45710205] [ 0.0431621 0.99860357 -0.03046215 0.74584752] [ 0.1947003 0.02149836 0.98062715 -0.08636952] [ 0. 0. 0. 1. ]] SLAMing on 60.686502481 meters Centerline goodness : 0.693602 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.09 [[ 0.97980704 -0.04788606 -0.19412648 0.45767092] [ 0.04277941 0.99862146 -0.03041564 0.74575872] [ 0.19531536 0.02149684 0.98050487 -0.08531372] [ 0. 0. 0. 1. ]] SLAMing on 60.716502481 meters Centerline goodness : 0.694887 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.08 [[ 0.9796886 -0.04729443 -0.19486787 0.45809033] [ 0.04208064 0.99863902 -0.0308113 0.74624859] [ 0.19605986 0.02198531 0.98034544 -0.08300971] [ 0. 0. 0. 1. ]] SLAMing on 60.746502481 meters Centerline goodness : 0.697187 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.08 [[ 0.97959517 -0.04698292 -0.19541214 0.45858762] [ 0.04173988 0.99865166 -0.03086493 0.74629784] [ 0.19659878 0.02207866 0.98023541 -0.08199872] [ 0. 0. 0. 1. ]] SLAMing on 60.776502481 meters Centerline goodness : 0.699107 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.08 [[ 0.97952541 -0.04647237 -0.19588335 0.45943669] [ 0.04119438 0.99867213 -0.03093535 0.74568395] [ 0.19706088 0.02223266 0.98013913 -0.08106306] [ 0. 0. 0. 1. ]] SLAMing on 60.806502481 meters Centerline goodness : 0.699621 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.08 [[ 0.97917141 -0.05002062 -0.19677723 0.46244218] [ 0.04400634 0.99842422 -0.03482137 0.7454398 ] [ 0.19820894 0.02543665 0.97982968 -0.08071468] [ 0. 0. 0. 1. ]] SLAMing on 60.836502481 meters Centerline goodness : 0.699704 Centerline is valid? [False, False] Translation: X:0.46, Y:0.74, Z:-0.08 [[ 0.97910246 -0.04949794 -0.19725192 0.46417156] [ 0.04357182 0.99846222 -0.03427367 0.7437703 ] [ 0.19864507 0.02496281 0.97975354 -0.08121131] [ 0. 0. 0. 1. ]] SLAMing on 60.866502481 meters Centerline goodness : 0.695468 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.08 [[ 0.97897715 -0.04838777 -0.19814733 0.46571832] [ 0.04254927 0.99852853 -0.03362046 0.74201359] [ 0.19948258 0.02448264 0.97959548 -0.08011411] [ 0. 0. 0. 1. ]] SLAMing on 60.896502481 meters Centerline goodness : 0.700953 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.08 [[ 0.97890227 -0.04766836 -0.19869091 0.46678479] [ 0.04186663 0.99856806 -0.03330175 0.74045599] [ 0.19999384 0.02428064 0.97949626 -0.07933427] [ 0. 0. 0. 1. ]] SLAMing on 60.926502481 meters Centerline goodness : 0.697785 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.08 [[ 0.97857458 -0.05088638 -0.19950531 0.46838347] [ 0.04434642 0.99832648 -0.03711647 0.7389065 ] [ 0.20106016 0.02747389 0.97919355 -0.07727055] [ 0. 0. 0. 1. ]] SLAMing on 60.956502481 meters Centerline goodness : 0.699364 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.07 [[ 0.97832416 -0.05490711 -0.19966735 0.4673468 ] [ 0.04759923 0.99801556 -0.04122193 0.73850364] [ 0.2015345 0.0308244 0.97899627 -0.07472322] [ 0. 0. 0. 1. ]] SLAMing on 60.986502481 meters Centerline goodness : 0.698581 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.07 [[ 0.97814581 -0.05831214 -0.19957574 0.46734778] [ 0.0502712 0.99771555 -0.04512756 0.73714604] [ 0.2017513 0.03410842 0.9788427 -0.07296326] [ 0. 0. 0. 1. ]] SLAMing on 61.016502480999996 meters Centerline goodness : 0.698389 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.07 [[ 0.97780391 -0.06244735 -0.19999961 0.46810769] [ 0.05365306 0.99735181 -0.04909912 0.73570082] [ 0.20253608 0.03727872 0.97856499 -0.07163726] [ 0. 0. 0. 1. ]] SLAMing on 61.046502481 meters Centerline goodness : 0.701239 Centerline is valid? [False, False] Translation: X:0.47, Y:0.73, Z:-0.07 [[ 0.97775384 -0.06193792 -0.2004024 0.46946975] [ 0.05321356 0.99739799 -0.04863711 0.73311224] [ 0.20289343 0.036891 0.97850565 -0.07180488] [ 0. 0. 0. 1. ]] SLAMing on 61.076502481 meters Centerline goodness : 0.698343 Centerline is valid? [False, False] Translation: X:0.47, Y:0.73, Z:-0.07 [[ 0.97760862 -0.06061637 -0.20151188 0.47191698] [ 0.05197449 0.99749861 -0.04790803 0.7299079 ] [ 0.20391183 0.03636183 0.97831375 -0.0707638 ] [ 0. 0. 0. 1. ]] SLAMing on 61.106502481 meters Centerline goodness : 0.696657 Centerline is valid? [False, False] Translation: X:0.48, Y:0.73, Z:-0.07 [[ 0.97751803 -0.05865454 -0.20252937 0.47566967] [ 0.05012174 0.99763612 -0.04701036 0.72614565] [ 0.20480799 0.03580235 0.97814717 -0.0706111 ] [ 0. 0. 0. 1. ]] SLAMing on 61.136502481 meters Centerline goodness : 0.695503 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97747997 -0.05815017 -0.20285824 0.47754712] [ 0.04968747 0.9976786 -0.04656786 0.72376887] [ 0.20509526 0.03543964 0.97810018 -0.07147232] [ 0. 0. 0. 1. ]] SLAMing on 61.166502481 meters Centerline goodness : 0.695436 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97718759 -0.0621187 -0.20309031 0.47799928] [ 0.05281747 0.99730576 -0.0509072 0.72410894] [ 0.20570543 0.03901916 0.97783576 -0.0698803 ] [ 0. 0. 0. 1. ]] SLAMing on 61.196502480999996 meters Centerline goodness : 0.695128 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.9772068 -0.06254073 -0.20286824 0.4767736 ] [ 0.05323456 0.99727807 -0.05101499 0.72238857] [ 0.20550656 0.0390526 0.97787624 -0.06906231] [ 0. 0. 0. 1. ]] SLAMing on 61.226502481 meters Centerline goodness : 0.694219 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97718688 -0.06218468 -0.20307353 0.4777299 ] [ 0.05293297 0.99731113 -0.05068149 0.72070637] [ 0.20567911 0.038776 0.97785097 -0.06916007] [ 0. 0. 0. 1. ]] SLAMing on 61.256502481 meters Centerline goodness : 0.695553 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97714439 -0.06195073 -0.20334931 0.47926248] [ 0.05280644 0.99734744 -0.0500955 0.71887714] [ 0.20591337 0.03821238 0.97782386 -0.07016641] [ 0. 0. 0. 1. ]] SLAMing on 61.286502481 meters Centerline goodness : 0.694579 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97705115 -0.06143155 -0.20395395 0.48120425] [ 0.05232907 0.99739078 -0.04973222 0.71719885] [ 0.20647692 0.0379182 0.97771647 -0.07024136] [ 0. 0. 0. 1. ]] SLAMing on 61.316502481 meters Centerline goodness : 0.694745 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97699585 -0.06082445 -0.20440035 0.48267762] [ 0.05177617 0.99743948 -0.04933262 0.71570155] [ 0.20687761 0.0376147 0.97764349 -0.07008929] [ 0. 0. 0. 1. ]] SLAMing on 61.346502481 meters Centerline goodness : 0.699295 Centerline is valid? [False, False] Translation: X:0.48, Y:0.71, Z:-0.07 [[ 0.97689352 -0.06010998 -0.2050996 0.48375619] [ 0.05109318 0.99749188 -0.04898414 0.71405903] [ 0.20752962 0.0373731 0.97751456 -0.06907218] [ 0. 0. 0. 1. ]] SLAMing on 61.376502480999996 meters Centerline goodness : 0.698231 Centerline is valid? [False, False] Translation: X:0.48, Y:0.71, Z:-0.07 [[ 0.97673818 -0.0589527 -0.2061725 0.48498354] [ 0.04995312 0.99756882 -0.0485916 0.71296564] [ 0.20853586 0.03716231 0.97730843 -0.06702594] [ 0. 0. 0. 1. ]] SLAMing on 61.406502481 meters Centerline goodness : 0.700838 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.07 [[ 0.97659946 -0.05857114 -0.20693701 0.48668644] [ 0.04955779 0.99759401 -0.04847902 0.71324373] [ 0.20927859 0.03708924 0.97715242 -0.06681165] [ 0. 0. 0. 1. ]] SLAMing on 61.436502481 meters Centerline goodness : 0.700786 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.07 [[ 0.97654434 -0.05845998 -0.20722831 0.4883463 ] [ 0.0494379 0.99760108 -0.04845589 0.71280763] [ 0.20956392 0.0370744 0.97709183 -0.06752049] [ 0. 0. 0. 1. ]] SLAMing on 61.466502481 meters Centerline goodness : 0.696011 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.07 [[ 0.97622155 -0.06096319 -0.20802638 0.49213597] [ 0.05127443 0.99734766 -0.05165831 0.71300421] [ 0.21062387 0.03976352 0.97675813 -0.06778518] [ 0. 0. 0. 1. ]] SLAMing on 61.496502481 meters Centerline goodness : 0.696371 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.07 [[ 0.97603356 -0.06288209 -0.20833705 0.49448869] [ 0.05254433 0.9971142 -0.05479391 0.7119374 ] [ 0.21118139 0.04253376 0.97652102 -0.06689759] [ 0. 0. 0. 1. ]] SLAMing on 61.526502481 meters Centerline goodness : 0.696631 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.06 [[ 0.97647636 -0.05727896 -0.20787744 0.49327107] [ 0.04490959 0.99695514 -0.06374622 0.71109591] [ 0.2108958 0.05291099 0.9760755 -0.0645958 ] [ 0. 0. 0. 1. ]] SLAMing on 61.556502481 meters Centerline goodness : 0.697622 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.06 [[ 0.97646406 -0.05697062 -0.20801992 0.49348933] [ 0.04460571 0.99697434 -0.06365916 0.70951948] [ 0.21101723 0.05288201 0.97605083 -0.0642341 ] [ 0. 0. 0. 1. ]] SLAMing on 61.586502481 meters Centerline goodness : 0.698237 Centerline is valid? [False, False] Translation: X:0.48, Y:0.71, Z:-0.07 [[ 0.97717537 -0.05233194 -0.20588748 0.47534288] [ 0.03960218 0.99706813 -0.06547376 0.70523943] [ 0.20871022 0.05582576 0.97638288 -0.0666852 ] [ 0. 0. 0. 1. ]] SLAMing on 61.616502481 meters Centerline goodness : 0.698445 Centerline is valid? [False, False] Translation: X:0.45, Y:0.70, Z:-0.07 [[ 0.97709155 -0.0522874 -0.20629623 0.44563524] [ 0.0391418 0.99696476 -0.06729921 0.7014355 ] [ 0.20918897 0.05768268 0.97617247 -0.07064824] [ 0. 0. 0. 1. ]] SLAMing on 61.646502481 meters Centerline goodness : 0.699584 Centerline is valid? [False, False] Translation: X:0.42, Y:0.70, Z:-0.08 [[ 0.97778319 -0.04859815 -0.20390745 0.42493148] [ 0.03527075 0.99702781 -0.06849462 0.69690517] [ 0.20663011 0.05978092 0.97659113 -0.07586268] [ 0. 0. 0. 1. ]] SLAMing on 61.676502481 meters Centerline goodness : 0.697304 Centerline is valid? [False, False] Translation: X:0.41, Y:0.69, Z:-0.08 [[ 0.9775259 -0.04602532 -0.20572986 0.40839034] [ 0.03156979 0.99683183 -0.07300452 0.69387408] [ 0.20843813 0.06486896 0.97588194 -0.07814592] [ 0. 0. 0. 1. ]] SLAMing on 61.706502481 meters Centerline goodness : 0.692881 Centerline is valid? [False, False] Translation: X:0.39, Y:0.69, Z:-0.08 [[ 0.97681276 -0.0460896 -0.20907553 0.39409469] [ 0.02999046 0.99638124 -0.07952987 0.69185156] [ 0.21198443 0.07141552 0.97466016 -0.08020573] [ 0. 0. 0. 1. ]] SLAMing on 61.736502481 meters Centerline goodness : 0.692093 Centerline is valid? [False, False] Translation: X:0.39, Y:0.69, Z:-0.08 [[ 0.97680668 -0.04575922 -0.20917647 0.39488515] [ 0.02977702 0.99643556 -0.07892723 0.69048537] [ 0.21204253 0.07086799 0.97468749 -0.08107812] [ 0. 0. 0. 1. ]] SLAMing on 61.766502480999996 meters Centerline goodness : 0.689044 Centerline is valid? [False, False] Translation: X:0.38, Y:0.69, Z:-0.09 [[ 0.97708607 -0.04336117 -0.20838095 0.37610274] [ 0.02695312 0.99635401 -0.08094577 0.68587231] [ 0.2111311 0.07347447 0.97469234 -0.08506451] [ 0. 0. 0. 1. ]] SLAMing on 61.796502481 meters Centerline goodness : 0.689184 Centerline is valid? [False, False] Translation: X:0.38, Y:0.68, Z:-0.08 [[ 0.97700991 -0.04319012 -0.20877321 0.37639503] [ 0.02684443 0.99639275 -0.08050384 0.68460037] [ 0.21149709 0.07304865 0.974645 -0.08475182] [ 0. 0. 0. 1. ]] SLAMing on 61.826502481 meters Centerline goodness : 0.692563 Centerline is valid? [False, False] Translation: X:0.38, Y:0.68, Z:-0.08 [[ 0.97661254 -0.04704915 -0.20979591 0.37807475] [ 0.02973189 0.99594172 -0.08494765 0.68486289] [ 0.21294121 0.07672331 0.97404803 -0.08231714] [ 0. 0. 0. 1. ]] SLAMing on 61.856502481 meters Centerline goodness : 0.690385 Centerline is valid? [False, False] Translation: X:0.38, Y:0.68, Z:-0.08 [[ 0.97634566 -0.05189325 -0.2098958 0.37787857] [ 0.03363375 0.99540548 -0.08964763 0.68474263] [ 0.21358353 0.0804675 0.97360519 -0.08061823] [ 0. 0. 0. 1. ]] SLAMing on 61.886502481 meters Centerline goodness : 0.691209 Centerline is valid? [False, False] Translation: X:0.39, Y:0.69, Z:-0.08 [[ 0.97669614 -0.05620675 -0.2071363 0.39427919] [ 0.03894472 0.99549084 -0.08649449 0.68572747] [ 0.21106387 0.07641197 0.97448102 -0.07920093] [ 0. 0. 0. 1. ]] SLAMing on 61.916502481 meters Centerline goodness : 0.688535 Centerline is valid? [False, False] Translation: X:0.42, Y:0.68, Z:-0.07 [[ 0.97702536 -0.05766 -0.20517497 0.42275605] [ 0.04087485 0.99553107 -0.08513007 0.68497966] [ 0.20916666 0.07478774 0.97501595 -0.07479313] [ 0. 0. 0. 1. ]] SLAMing on 61.946502480999996 meters Centerline goodness : 0.688172 Centerline is valid? [False, False] Translation: X:0.44, Y:0.69, Z:-0.07 [[ 0.97717855 -0.06149745 -0.20332278 0.43896372] [ 0.04585783 0.99567809 -0.08076012 0.685933 ] [ 0.20741058 0.06959311 0.97577541 -0.07344501] [ 0. 0. 0. 1. ]] SLAMing on 61.976502481 meters Centerline goodness : 0.685908 Centerline is valid? [False, False] Translation: X:0.45, Y:0.69, Z:-0.07 [[ 0.97740513 -0.06538598 -0.20100717 0.45430008] [ 0.05099663 0.99580633 -0.07595451 0.68687117] [ 0.20513058 0.06398764 0.97664069 -0.07146909] [ 0. 0. 0. 1. ]] SLAMing on 62.006502481 meters Centerline goodness : 0.683444 Centerline is valid? [False, False] Translation: X:0.47, Y:0.69, Z:-0.07 [[ 0.97764911 -0.06944019 -0.19844466 0.46994832] [ 0.05613408 0.99582989 -0.07191517 0.68800135] [ 0.20261093 0.05916829 0.97747017 -0.06996762] [ 0. 0. 0. 1. ]] SLAMing on 62.036502481 meters Centerline goodness : 0.686966 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97726387 -0.07682324 -0.19761962 0.48802306] [ 0.06390204 0.99543019 -0.07095966 0.68998261] [ 0.20216788 0.05671802 0.97770712 -0.06786145] [ 0. 0. 0. 1. ]] SLAMing on 62.066502481 meters Centerline goodness : 0.685967 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97672747 -0.08126576 -0.19849261 0.4900384 ] [ 0.06749116 0.99488085 -0.07521327 0.69128434] [ 0.20358876 0.06006637 0.97721218 -0.06692747] [ 0. 0. 0. 1. ]] SLAMing on 62.096502481 meters Centerline goodness : 0.686805 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97669804 -0.08120551 -0.19866202 0.49121216] [ 0.06752023 0.9949154 -0.0747286 0.69028727] [ 0.20372028 0.05957357 0.97721494 -0.06800217] [ 0. 0. 0. 1. ]] SLAMing on 62.126502480999996 meters Centerline goodness : 0.685062 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97706967 -0.07682869 -0.19857547 0.49059992] [ 0.06396529 0.99546514 -0.07041022 0.68872863] [ 0.20308449 0.05609376 0.97755316 -0.06868316] [ 0. 0. 0. 1. ]] SLAMing on 62.156502481 meters Centerline goodness : 0.686258 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.9774756 -0.07269756 -0.19813255 0.48890561] [ 0.06055496 0.99593531 -0.06667797 0.68867145] [ 0.20217453 0.05317818 0.97790467 -0.06860426] [ 0. 0. 0. 1. ]] SLAMing on 62.186502481 meters Centerline goodness : 0.683104 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97746503 -0.07260109 -0.19822006 0.48948818] [ 0.06044305 0.99593927 -0.06672036 0.68864035] [ 0.20225911 0.05323579 0.97788404 -0.06876708] [ 0. 0. 0. 1. ]] SLAMing on 62.216502481 meters Centerline goodness : 0.683104 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97746503 -0.07260109 -0.19822006 0.48948818] [ 0.06044305 0.99593927 -0.06672036 0.68864035] [ 0.20225911 0.05323579 0.97788404 -0.06876708] [ 0. 0. 0. 1. ]] SLAMing on 62.246502481 meters Centerline goodness : 0.686362 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97744879 -0.07237713 -0.19838201 0.49074771] [ 0.06020708 0.99595396 -0.06671448 0.6890578 ] [ 0.20240795 0.05326598 0.9778516 -0.06931144] [ 0. 0. 0. 1. ]] SLAMing on 62.276502481 meters Centerline goodness : 0.683836 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97775332 -0.06740747 -0.19863202 0.49190728] [ 0.05613447 0.99650538 -0.06185431 0.68721375] [ 0.20210732 0.04932816 0.97812032 -0.07096612] [ 0. 0. 0. 1. ]] SLAMing on 62.306502481 meters Centerline goodness : 0.684852 Centerline is valid? [False, False] Translation: X:0.52, Y:0.69, Z:-0.06 [[ 0.97671254 -0.06774533 -0.20357599 0.51586537] [ 0.05675056 0.99662125 -0.05937562 0.69238878] [ 0.20691058 0.04643986 0.97725705 -0.06434431] [ 0. 0. 0. 1. ]] SLAMing on 62.336502481 meters Centerline goodness : 0.678785 Centerline is valid? [False, False] Translation: X:0.52, Y:0.70, Z:-0.06 [[ 0.97652102 -0.06701631 -0.2047328 0.5192642 ] [ 0.05593313 0.99666261 -0.05945688 0.69531199] [ 0.20803411 0.04660955 0.97701042 -0.06451324] [ 0. 0. 0. 1. ]] SLAMing on 62.366502481 meters Centerline goodness : 0.680345 Centerline is valid? [False, False] Translation: X:0.52, Y:0.69, Z:-0.07 [[ 0.97691794 -0.06204446 -0.20440602 0.52105722] [ 0.05176824 0.99712973 -0.05524811 0.69479452] [ 0.20724716 0.04339113 0.97732585 -0.06702121] [ 0. 0. 0. 1. ]] SLAMing on 62.396502481 meters Centerline goodness : 0.682246 Centerline is valid? [False, False] Translation: X:0.52, Y:0.70, Z:-0.07 [[ 0.97680558 -0.06206048 -0.20493744 0.5216518 ] [ 0.05155186 0.99708609 -0.05622933 0.69674813] [ 0.20782989 0.04436021 0.97715859 -0.0653761 ] [ 0. 0. 0. 1. ]] SLAMing on 62.426502481 meters Centerline goodness : 0.677802 Centerline is valid? [False, False] Translation: X:0.53, Y:0.70, Z:-0.06 [[ 0.9770964 -0.05456773 -0.20568177 0.53115927] [ 0.04385475 0.99745072 -0.05629233 0.69726721] [ 0.20822918 0.04598291 0.97699856 -0.06074813] [ 0. 0. 0. 1. ]] SLAMing on 62.456502481 meters Centerline goodness : 0.677285 Centerline is valid? [False, False] Translation: X:0.53, Y:0.70, Z:-0.06 [[ 0.97695759 -0.05423474 -0.20642784 0.53293559] [ 0.04331229 0.99743016 -0.05707124 0.69879978] [ 0.2089926 0.04681531 0.976796 -0.05968802] [ 0. 0. 0. 1. ]] SLAMing on 62.486502481 meters Centerline goodness : 0.676245 Centerline is valid? [False, False] Translation: X:0.55, Y:0.70, Z:-0.06 [[ 0.97726651 -0.04697208 -0.20674572 0.54612388] [ 0.03559585 0.99765802 -0.05840721 0.69791277] [ 0.20900504 0.04972012 0.97664979 -0.055609 ] [ 0. 0. 0. 1. ]] SLAMing on 62.516502480999996 meters Centerline goodness : 0.679653 Centerline is valid? [False, False] Translation: X:0.55, Y:0.70, Z:-0.05 [[ 0.97722183 -0.04672749 -0.20701217 0.54626097] [ 0.03518119 0.9976312 -0.05911231 0.69925349] [ 0.20928397 0.05048291 0.97655092 -0.05415854] [ 0. 0. 0. 1. ]] SLAMing on 62.546502481 meters Centerline goodness : 0.681940 Centerline is valid? [False, False] Translation: X:0.55, Y:0.70, Z:-0.05 [[ 0.97736 -0.04122582 -0.20752796 0.54713104] [ 0.03028172 0.99799158 -0.05564012 0.69841518] [ 0.20940497 0.04809613 0.97664544 -0.05244042] [ 0. 0. 0. 1. ]] SLAMing on 62.576502481 meters Centerline goodness : 0.677803 Centerline is valid? [False, False] Translation: X:0.55, Y:0.70, Z:-0.05 [[ 0.97711086 -0.0399127 -0.20895296 0.55072975] [ 0.02887733 0.9980354 -0.05560072 0.69891474] [ 0.21076163 0.04829406 0.9763438 -0.05159537] [ 0. 0. 0. 1. ]] SLAMing on 62.606502481 meters Centerline goodness : 0.677073 Centerline is valid? [False, False] Translation: X:0.55, Y:0.70, Z:-0.05 [[ 0.97696003 -0.03870713 -0.20988297 0.55427118] [ 0.02772638 0.99810067 -0.05501185 0.6974227 ] [ 0.21161369 0.04792509 0.97617766 -0.05215571] [ 0. 0. 0. 1. ]] SLAMing on 62.636502481 meters Centerline goodness : 0.679388 Centerline is valid? [False, False] Translation: X:0.56, Y:0.69, Z:-0.05 [[ 0.97678091 -0.03701659 -0.21101856 0.55869235] [ 0.02615706 0.99819697 -0.05402432 0.69473901] [ 0.21263788 0.0472503 0.97598798 -0.05293627] [ 0. 0. 0. 1. ]] SLAMing on 62.666502481 meters Centerline goodness : 0.677928 Centerline is valid? [False, False] Translation: X:0.56, Y:0.69, Z:-0.05 [[ 0.97671131 -0.03569118 -0.21156833 0.56141754] [ 0.02492852 0.99826614 -0.05332236 0.69104741] [ 0.21310464 0.04680647 0.97590756 -0.05326969] [ 0. 0. 0. 1. ]] SLAMing on 62.696502480999996 meters Centerline goodness : 0.679326 Centerline is valid? [False, False] Translation: X:0.56, Y:0.69, Z:-0.05 [[ 0.97665412 -0.03539473 -0.21188192 0.56209232] [ 0.02464689 0.9982821 -0.05315431 0.68934654] [ 0.21339931 0.04669114 0.97584869 -0.05290735] [ 0. 0. 0. 1. ]] SLAMing on 62.726502481 meters Centerline goodness : 0.680052 Centerline is valid? [False, False] Translation: X:0.56, Y:0.69, Z:-0.05 [[ 0.97662714 -0.03514315 -0.2120481 0.56221456] [ 0.02439893 0.9982924 -0.05307514 0.68762232] [ 0.21355123 0.04666087 0.97581691 -0.05221457] [ 0. 0. 0. 1. ]] SLAMing on 62.756502481 meters Centerline goodness : 0.680847 Centerline is valid? [False, False] Translation: X:0.56, Y:0.69, Z:-0.05 [[ 0.97662909 -0.03462919 -0.21212365 0.56278886] [ 0.02393767 0.99831999 -0.05276539 0.68549512] [ 0.21359451 0.04645446 0.97581728 -0.05204733] [ 0. 0. 0. 1. ]] SLAMing on 62.786502481 meters Centerline goodness : 0.680955 Centerline is valid? [False, False] Translation: X:0.56, Y:0.68, Z:-0.05 [[ 0.97638799 -0.03933368 -0.21241317 0.56219855] [ 0.02773235 0.9979704 -0.05732371 0.6849484 ] [ 0.21423681 0.05007946 0.97549712 -0.04981998] [ 0. 0. 0. 1. ]] SLAMing on 62.816502481 meters Centerline goodness : 0.681448 Centerline is valid? [False, False] Translation: X:0.58, Y:0.68, Z:-0.05 [[ 0.97651495 -0.04412188 -0.21088341 0.57928293] [ 0.03359625 0.99801651 -0.05323853 0.68217503] [ 0.21281411 0.04490333 0.97606037 -0.04871248] [ 0. 0. 0. 1. ]] SLAMing on 62.846502481 meters Centerline goodness : 0.681978 Centerline is valid? [False, False] Translation: X:0.58, Y:0.68, Z:-0.05 [[ 0.97637226 -0.04342343 -0.21168753 0.58102189] [ 0.03306249 0.99808697 -0.05224239 0.67965608] [ 0.21355111 0.0440091 0.97594012 -0.04889555] [ 0. 0. 0. 1. ]] SLAMing on 62.876502480999996 meters Centerline goodness : 0.684732 Centerline is valid? [False, False] Translation: X:0.58, Y:0.68, Z:-0.05 [[ 0.97634462 -0.04331476 -0.21183724 0.58168397] [ 0.03319046 0.99814089 -0.05111897 0.67661541] [ 0.21365762 0.04287876 0.97596713 -0.05007065] [ 0. 0. 0. 1. ]] SLAMing on 62.906502481 meters Centerline goodness : 0.683100 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.9763426 -0.04287398 -0.2119362 0.58280998] [ 0.03291577 0.99819183 -0.05029526 0.67440092] [ 0.21370934 0.04212936 0.97598844 -0.05112104] [ 0. 0. 0. 1. ]] SLAMing on 62.936502481 meters Centerline goodness : 0.684121 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.97635581 -0.04264334 -0.21192187 0.58408523] [ 0.03293724 0.99824951 -0.04912293 0.67095555] [ 0.21364566 0.04098133 0.97605126 -0.05306564] [ 0. 0. 0. 1. ]] SLAMing on 62.966502481 meters Centerline goodness : 0.688210 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.97641709 -0.04305152 -0.21155667 0.58252062] [ 0.03336076 0.99823331 -0.04916621 0.66968487] [ 0.21329959 0.04094904 0.9761283 -0.05252751] [ 0. 0. 0. 1. ]] SLAMing on 62.996502481 meters Centerline goodness : 0.687374 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.97637505 -0.04301848 -0.21175734 0.58227141] [ 0.03330651 0.99823245 -0.04922046 0.6694436 ] [ 0.21350044 0.04100473 0.97608205 -0.05175154] [ 0. 0. 0. 1. ]] SLAMing on 63.026502481 meters Centerline goodness : 0.690759 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.97627636 -0.04288651 -0.21223858 0.58251525] [ 0.03314473 0.99823645 -0.04924861 0.66915685] [ 0.21397639 0.04104566 0.97597611 -0.05083092] [ 0. 0. 0. 1. ]] SLAMing on 63.056502481 meters Centerline goodness : 0.692518 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.97630337 -0.04280603 -0.21213056 0.58299335] [ 0.03313795 0.99825257 -0.04892525 0.66743022] [ 0.21385417 0.04073631 0.97601585 -0.05151157] [ 0. 0. 0. 1. ]] SLAMing on 63.086502481 meters Centerline goodness : 0.694821 Centerline is valid? [False, False] Translation: X:0.59, Y:0.66, Z:-0.05 [[ 0.97630551 -0.04213224 -0.21225556 0.58522394] [ 0.03267574 0.99831914 -0.04786644 0.66461633] [ 0.21391551 0.03979666 0.97604118 -0.05352848] [ 0. 0. 0. 1. ]] SLAMing on 63.116502481 meters Centerline goodness : 0.688945 Centerline is valid? [False, False] Translation: X:0.59, Y:0.66, Z:-0.06 [[ 0.97642027 -0.03743621 -0.21260757 0.58694113] [ 0.02890237 0.99865231 -0.04310712 0.66172084] [ 0.21393481 0.0359458 0.97618635 -0.05531325] [ 0. 0. 0. 1. ]] SLAMing on 63.146502481 meters Centerline goodness : 0.689942 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97663826 -0.03677943 -0.2117191 0.6050414 ] [ 0.03008841 0.99894336 -0.03473977 0.66133387] [ 0.2127731 0.02755789 0.97671294 -0.05441287] [ 0. 0. 0. 1. ]] SLAMing on 63.176502481 meters Centerline goodness : 0.689265 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97657229 -0.0364147 -0.21208615 0.60586023] [ 0.02975988 0.99896196 -0.03448706 0.66114305] [ 0.21312183 0.02736745 0.97664226 -0.05432802] [ 0. 0. 0. 1. ]] SLAMing on 63.206502481 meters Centerline goodness : 0.691987 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.06 [[ 0.97659005 -0.03605129 -0.21206645 0.60678396] [ 0.02948404 0.99898513 -0.03405007 0.66005169] [ 0.21307878 0.02700038 0.97666187 -0.05520477] [ 0. 0. 0. 1. ]] SLAMing on 63.236502481 meters Centerline goodness : 0.693712 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.06 [[ 0.97657498 -0.03582719 -0.21217382 0.60748968] [ 0.0292992 0.99899795 -0.03383278 0.65953806] [ 0.21317334 0.02682372 0.9766461 -0.05561816] [ 0. 0. 0. 1. ]] SLAMing on 63.266502480999996 meters Centerline goodness : 0.689637 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.06 [[ 0.97654419 -0.03570883 -0.21233541 0.60766132] [ 0.02910463 0.9989929 -0.03414838 0.66019155] [ 0.21334096 0.02716746 0.9766 -0.05502998] [ 0. 0. 0. 1. ]] SLAMing on 63.296502481 meters Centerline goodness : 0.692814 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97649215 -0.03571203 -0.21257405 0.60782119] [ 0.02903244 0.99898422 -0.03446237 0.66056393] [ 0.21358884 0.02748069 0.97653706 -0.05436426] [ 0. 0. 0. 1. ]] SLAMing on 63.326502481 meters Centerline goodness : 0.692157 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97642769 -0.03536969 -0.21292709 0.60916253] [ 0.02866515 0.99899374 -0.03449374 0.66060887] [ 0.21393286 0.02757706 0.97645903 -0.05445491] [ 0. 0. 0. 1. ]] SLAMing on 63.356502481 meters Centerline goodness : 0.694604 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97637386 -0.03502055 -0.21323144 0.60992312] [ 0.02833435 0.99900871 -0.03433321 0.66054452] [ 0.21422244 0.02748027 0.97639827 -0.05436467] [ 0. 0. 0. 1. ]] SLAMing on 63.386502481 meters Centerline goodness : 0.693276 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.9763056 -0.03447183 -0.213633 0.61053039] [ 0.02774717 0.99902298 -0.03439747 0.66145578] [ 0.21461002 0.02765473 0.97630823 -0.05353836] [ 0. 0. 0. 1. ]] SLAMing on 63.416502481 meters Centerline goodness : 0.693479 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97622967 -0.03386655 -0.21407634 0.61223535] [ 0.02719194 0.99905022 -0.03404771 0.66099447] [ 0.21502609 0.02741723 0.97622337 -0.05388485] [ 0. 0. 0. 1. ]] SLAMing on 63.446502480999996 meters Centerline goodness : 0.690275 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.06 [[ 0.97600887 -0.03229351 -0.2153226 0.61671532] [ 0.02580194 0.99912581 -0.03289182 0.66066357] [ 0.21619656 0.02654697 0.97598889 -0.05517784] [ 0. 0. 0. 1. ]] SLAMing on 63.476502481 meters Centerline goodness : 0.692052 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97594531 -0.03182032 -0.21568082 0.61653031] [ 0.02521055 0.99912642 -0.03332893 0.66189236] [ 0.21655295 0.02708978 0.97589496 -0.05330531] [ 0. 0. 0. 1. ]] SLAMing on 63.506502481 meters Centerline goodness : 0.693345 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97594303 -0.03181104 -0.21569249 0.61638905] [ 0.02513131 0.99911794 -0.03364167 0.66193778] [ 0.21657242 0.02741172 0.97588165 -0.05277803] [ 0. 0. 0. 1. ]] SLAMing on 63.536502481 meters Centerline goodness : 0.693938 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97579177 -0.03595992 -0.21572507 0.61687361] [ 0.02826559 0.99885304 -0.03864801 0.6636826 ] [ 0.21686742 0.03161482 0.975689 -0.05122825] [ 0. 0. 0. 1. ]] SLAMing on 63.566502481 meters Centerline goodness : 0.696388 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97564532 -0.03928265 -0.21580799 0.61778481] [ 0.03079265 0.9986191 -0.04256422 0.66458482] [ 0.21718202 0.03488229 0.97550766 -0.05038243] [ 0. 0. 0. 1. ]] SLAMing on 63.596502481 meters Centerline goodness : 0.697215 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97559118 -0.03874008 -0.21615053 0.61931932] [ 0.0301855 0.99863012 -0.04274014 0.66348347] [ 0.21751019 0.03517229 0.97542413 -0.05021747] [ 0. 0. 0. 1. ]] SLAMing on 63.626502480999996 meters Centerline goodness : 0.696671 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97553422 -0.03856464 -0.21643878 0.61980001] [ 0.02994217 0.99862724 -0.04297796 0.66274021] [ 0.21779909 0.03544582 0.97534976 -0.04958502] [ 0. 0. 0. 1. ]] SLAMing on 63.656502481 meters Centerline goodness : 0.697013 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97555773 -0.03795706 -0.21644026 0.61995774] [ 0.02936044 0.99865226 -0.0427975 0.66161752] [ 0.21777302 0.03539665 0.97535736 -0.04921812] [ 0. 0. 0. 1. ]] SLAMing on 63.686502481 meters Centerline goodness : 0.696252 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97593964 -0.03463808 -0.21527196 0.61792724] [ 0.02666132 0.99884995 -0.03984912 0.6581373 ] [ 0.21640468 0.03315091 0.97574076 -0.04966091] [ 0. 0. 0. 1. ]] SLAMing on 63.716502481 meters Centerline goodness : 0.695254 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97600498 -0.03453377 -0.21499231 0.61719498] [ 0.02653121 0.99884744 -0.03999853 0.65728503] [ 0.21612582 0.03333475 0.9757963 -0.04913 ] [ 0. 0. 0. 1. ]] SLAMing on 63.746502481 meters Centerline goodness : 0.702420 Centerline is valid? [False, False] Translation: X:0.62, Y:0.65, Z:-0.05 [[ 0.97609066 -0.03365278 -0.21474289 0.61855912] [ 0.02591081 0.9989123 -0.03876668 0.65422513] [ 0.21581392 0.03227563 0.97590093 -0.05110495] [ 0. 0. 0. 1. ]] SLAMing on 63.776502481 meters Centerline goodness : 0.700239 Centerline is valid? [False, False] Translation: X:0.62, Y:0.65, Z:-0.05 [[ 0.97577711 -0.03745998 -0.21553604 0.62071947] [ 0.02892303 0.99867229 -0.04262773 0.65393172] [ 0.2168467 0.03536121 0.97556501 -0.05057393] [ 0. 0. 0. 1. ]] SLAMing on 63.806502481 meters Centerline goodness : 0.700068 Centerline is valid? [False, False] Translation: X:0.61, Y:0.65, Z:-0.05 [[ 0.97525992 -0.03598789 -0.21811228 0.60610566] [ 0.02600319 0.99848574 -0.04847748 0.65066257] [ 0.2195266 0.04160653 0.97471892 -0.05174733] [ 0. 0. 0. 1. ]] SLAMing on 63.836502481 meters Centerline goodness : 0.701415 Centerline is valid? [False, False] Translation: X:0.58, Y:0.65, Z:-0.06 [[ 0.97469572 -0.0376307 -0.2203456 0.57586141] [ 0.02679057 0.99828869 -0.0519804 0.64777523] [ 0.22192458 0.04476189 0.97403586 -0.0550685 ] [ 0. 0. 0. 1. ]] SLAMing on 63.866502481 meters Centerline goodness : 0.703381 Centerline is valid? [False, False] Translation: X:0.57, Y:0.64, Z:-0.05 [[ 0.97479924 -0.03812492 -0.21980205 0.57441708] [ 0.02721666 0.99825286 -0.05244502 0.64456615] [ 0.22141749 0.04514109 0.97413376 -0.05466728] [ 0. 0. 0. 1. ]] SLAMing on 63.896502481 meters Centerline goodness : 0.705278 Centerline is valid? [False, False] Translation: X:0.56, Y:0.64, Z:-0.06 [[ 0.97473176 -0.0359165 -0.22047222 0.55597677] [ 0.02396259 0.99810607 -0.05665739 0.64037375] [ 0.2220896 0.04994267 0.97374634 -0.05701938] [ 0. 0. 0. 1. ]] SLAMing on 63.926502481 meters Centerline goodness : 0.703241 Centerline is valid? [False, False] Translation: X:0.50, Y:0.64, Z:-0.07 [[ 0.97453829 -0.03617668 -0.22128347 0.5032608 ] [ 0.02320834 0.99787233 -0.06092768 0.63552411] [ 0.22301681 0.05424074 0.97330439 -0.0658238 ] [ 0. 0. 0. 1. ]] SLAMing on 63.956502481 meters Centerline goodness : 0.700892 Centerline is valid? [False, False] Translation: X:0.48, Y:0.63, Z:-0.07 [[ 0.9742923 -0.03427686 -0.22266481 0.47521552] [ 0.02148003 0.99798872 -0.05964167 0.63133286] [ 0.2242613 0.05332557 0.97306899 -0.07320108] [ 0. 0. 0. 1. ]] SLAMing on 63.986502481 meters Centerline goodness : 0.700593 Centerline is valid? [False, False] Translation: X:0.43, Y:0.63, Z:-0.08 [[ 0.97424591 -0.03382582 -0.22293659 0.4253184 ] [ 0.01985959 0.99771399 -0.06459399 0.62740693] [ 0.2246119 0.058503 0.97269054 -0.08189458] [ 0. 0. 0. 1. ]] SLAMing on 64.01650248099999 meters Centerline goodness : 0.701600 Centerline is valid? [False, False] Translation: X:0.36, Y:0.62, Z:-0.09 [[ 0.97396168 -0.03559802 -0.22390049 0.36273059] [ 0.02107119 0.99753453 -0.06693922 0.62227343] [ 0.22573138 0.06047838 0.9723105 -0.09286152] [ 0. 0. 0. 1. ]] SLAMing on 64.04650248099999 meters Centerline goodness : 0.700297 Centerline is valid? [False, False] Translation: X:0.30, Y:0.62, Z:-0.10 [[ 0.97374092 -0.03557521 -0.22486225 0.30495218] [ 0.02032971 0.99735697 -0.06975518 0.61800189] [ 0.22674948 0.06335209 0.97189052 -0.10277926] [ 0. 0. 0. 1. ]] SLAMing on 64.07650248099999 meters Centerline goodness : 0.701486 Centerline is valid? [False, False] Translation: X:0.26, Y:0.61, Z:-0.11 [[ 0.9738263 -0.0342246 -0.22470206 0.25543433] [ 0.01825564 0.99718206 -0.07276447 0.61321697] [ 0.22655919 0.06675788 0.97170691 -0.1143661 ] [ 0. 0. 0. 1. ]] SLAMing on 64.10650248099999 meters Centerline goodness : 0.701486 Centerline is valid? [False, False] Translation: X:0.20, Y:0.61, Z:-0.13 [[ 0.97400017 -0.03206231 -0.22426697 0.20439156] [ 0.01553068 0.99705554 -0.0750936 0.60946744] [ 0.2260143 0.06965816 0.97163022 -0.12527321] [ 0. 0. 0. 1. ]] SLAMing on 64.136502481 meters Centerline goodness : 0.702127 Centerline is valid? [False, False] Translation: X:0.14, Y:0.61, Z:-0.14 [[ 0.97354966 -0.0342721 -0.22589042 0.14449343] [ 0.01682118 0.99675396 -0.07873109 0.60612261] [ 0.22785545 0.07284888 0.97096598 -0.13645693] [ 0. 0. 0. 1. ]] SLAMing on 64.166502481 meters Centerline goodness : 0.701927 Centerline is valid? [False, False] Translation: X:0.12, Y:0.60, Z:-0.14 [[ 0.97414293 -0.0304198 -0.22387538 0.12428722] [ 0.01283605 0.9967456 -0.07958292 0.60079565] [ 0.2255677 0.07465146 0.97136315 -0.14317318] [ 0. 0. 0. 1. ]] SLAMing on 64.196502481 meters Centerline goodness : 0.702289 Centerline is valid? [False, False] Translation: X:0.05, Y:0.59, Z:-0.16 [[ 0.97463083 -0.0262177 -0.22227772 0.05188312] [ 0.00773768 0.99646885 -0.08360596 0.59458401] [ 0.22368478 0.07976503 0.97139212 -0.15878076] [ 0. 0. 0. 1. ]] SLAMing on 64.226502481 meters Centerline goodness : 0.703420 Centerline is valid? [False, False] Translation: X:0.02, Y:0.59, Z:-0.17 [[ 0.97445733 -0.02528776 -0.22314443 0.01878628] [ 0.00704714 0.99659389 -0.08216423 0.59021175] [ 0.22446212 0.07849301 0.97131643 -0.16625791] [ 0. 0. 0. 1. ]] SLAMing on 64.256502481 meters Centerline goodness : 0.704518 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.59, Z:-0.18 [[ 0.97490702 -0.02313945 -0.22140655 -0.05121084] [ 0.00371961 0.99613742 -0.08772911 0.58513872] [ 0.22258135 0.08470418 0.97122744 -0.18180316] [ 0. 0. 0. 1. ]] SLAMing on 64.28650248099999 meters Centerline goodness : 0.699884 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.58, Z:-0.19 [[ 0.97485458 -0.02097466 -0.22185267 -0.10106214] [ 0.00121795 0.99604716 -0.08881766 0.57983333] [ 0.22283864 0.0863141 0.97102668 -0.19417224] [ 0. 0. 0. 1. ]] SLAMing on 64.31650248099999 meters Centerline goodness : 0.700861 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.58, Z:-0.21 [[ 0.97455592 -0.0236537 -0.22289294 -0.16137233] [ 0.00332945 0.99583418 -0.09112193 0.57758474] [ 0.22411978 0.0880613 0.97057485 -0.20644839] [ 0. 0. 0. 1. ]] SLAMing on 64.34650248099999 meters Centerline goodness : 0.700877 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.57, Z:-0.22 [[ 0.97467316 -0.02224674 -0.22252487 -0.20753724] [ 0.0010934 0.9955019 -0.09473532 0.5724767 ] [ 0.22363148 0.09209267 0.9703133 -0.21705558] [ 0. 0. 0. 1. ]] SLAMing on 64.37650248099999 meters Centerline goodness : 0.701087 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.57, Z:-0.23 [[ 9.74743105e-01 -2.22799042e-02 -2.22214951e-01 -2.59039556e-01] [ 2.82296480e-04 9.95133386e-01 -9.85366187e-02 5.67074445e-01] [ 2.23328903e-01 9.59851592e-02 9.70005696e-01 -2.27728043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40650248099999 meters Centerline goodness : 0.700184 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.56, Z:-0.24 [[ 0.97574405 -0.02033874 -0.21796764 -0.28301868] [-0.00133012 0.99510558 -0.09880845 0.56134258] [ 0.21891046 0.09670168 0.97094129 -0.2353241 ] [ 0. 0. 0. 1. ]] SLAMing on 64.43650248099999 meters Centerline goodness : 0.698566 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.56, Z:-0.23 [[ 9.75922659e-01 -2.10324346e-02 -2.17100439e-01 -2.85464096e-01] [-5.90671853e-04 9.95081531e-01 -9.90575488e-02 5.57474796e-01] [ 2.18116058e-01 9.68007415e-02 9.71110190e-01 -2.34858954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46650248099999 meters Centerline goodness : 0.700448 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.56, Z:-0.24 [[ 0.97582986 -0.02032325 -0.21758458 -0.28371927] [-0.00118745 0.99515837 -0.09827717 0.55511713] [ 0.21852843 0.09616017 0.97108112 -0.23551131] [ 0. 0. 0. 1. ]] SLAMing on 64.496502481 meters Centerline goodness : 0.699879 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.55, Z:-0.23 [[ 9.75301777e-01 -2.32228262e-02 -2.19652324e-01 -2.78649157e-01] [ 7.80629771e-04 9.94813693e-01 -1.01710901e-01 5.52996939e-01] [ 2.20875154e-01 9.90273557e-02 9.70261691e-01 -2.34360650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.526502481 meters Centerline goodness : 0.695345 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.55, Z:-0.23 [[ 0.97422984 -0.02971713 -0.2235914 -0.25569607] [ 0.0066599 0.99464067 -0.10317746 0.55288955] [ 0.22545923 0.09902947 0.96920653 -0.2299566 ] [ 0. 0. 0. 1. ]] SLAMing on 64.556502481 meters Centerline goodness : 0.692228 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.55, Z:-0.23 [[ 0.97455978 -0.03187957 -0.22184889 -0.23774594] [ 0.01016294 0.99509993 -0.09835059 0.5507236 ] [ 0.22389719 0.09359389 0.97010836 -0.22884935] [ 0. 0. 0. 1. ]] SLAMing on 64.586502481 meters Centerline goodness : 0.694781 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.55, Z:-0.22 [[ 0.9752124 -0.03023368 -0.21919557 -0.21220837] [ 0.00961852 0.99547716 -0.09451302 0.54712058] [ 0.22106166 0.09006194 0.97109247 -0.22429634] [ 0. 0. 0. 1. ]] SLAMing on 64.616502481 meters Centerline goodness : 0.692185 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.55, Z:-0.22 [[ 0.97560683 -0.03432769 -0.21682462 -0.19561626] [ 0.01464511 0.99567534 -0.09173946 0.54698919] [ 0.21903613 0.08632622 0.9718904 -0.22180328] [ 0. 0. 0. 1. ]] SLAMing on 64.646502481 meters Centerline goodness : 0.694649 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.55, Z:-0.22 [[ 0.97604577 -0.03996667 -0.21386283 -0.1779542 ] [ 0.02090162 0.99566104 -0.09067644 0.54537335] [ 0.21655892 0.08403428 0.97264612 -0.21949997] [ 0. 0. 0. 1. ]] SLAMing on 64.67650248099999 meters Centerline goodness : 0.698015 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.54, Z:-0.22 [[ 0.97649306 -0.04444966 -0.21091595 -0.16177952] [ 0.02639587 0.9958012 -0.08765405 0.54484928] [ 0.21392654 0.08002626 0.97356624 -0.21830444] [ 0. 0. 0. 1. ]] SLAMing on 64.70650248099999 meters Centerline goodness : 0.697806 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.54, Z:-0.22 [[ 0.97678396 -0.04884946 -0.20858291 -0.14477728] [ 0.03186758 0.99595478 -0.0840151 0.54367195] [ 0.21184324 0.07541757 0.97438936 -0.21706183] [ 0. 0. 0. 1. ]] SLAMing on 64.73650248099999 meters Centerline goodness : 0.696954 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.54, Z:-0.21 [[ 0.97673382 -0.05360861 -0.20764673 -0.12644583] [ 0.0373513 0.99597812 -0.08143992 0.54381344] [ 0.21117748 0.07178925 0.97480787 -0.21498789] [ 0. 0. 0. 1. ]] SLAMing on 64.76650248099999 meters Centerline goodness : 0.695486 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.54, Z:-0.21 [[ 0.97658314 -0.05855283 -0.20701917 -0.1080948 ] [ 0.0429292 0.99593587 -0.07917594 0.54448562] [ 0.21081379 0.06843472 0.9751278 -0.21292112] [ 0. 0. 0. 1. ]] SLAMing on 64.79650248099999 meters Centerline goodness : 0.695065 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.54, Z:-0.21 [[ 0.97671971 -0.0594213 -0.2061255 -0.07807998] [ 0.0441364 0.99597756 -0.07797869 0.54236175] [ 0.20992997 0.06706568 0.97541355 -0.20945048] [ 0. 0. 0. 1. ]] SLAMing on 64.82650248099999 meters Centerline goodness : 0.697442 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.54, Z:-0.21 [[ 0.97665265 -0.06306458 -0.20535936 -0.05974713] [ 0.04848109 0.99598224 -0.07529246 0.54345134] [ 0.20928256 0.06357853 0.97578613 -0.20638613] [ 0. 0. 0. 1. ]] SLAMing on 64.85650248099999 meters Centerline goodness : 0.694680 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.54, Z:-0.20 [[ 0.97738493 -0.06150924 -0.20232478 -0.03311442] [ 0.04776739 0.99625151 -0.0721194 0.54215276] [ 0.20600237 0.06082389 0.97665935 -0.20154276] [ 0. 0. 0. 1. ]] SLAMing on 64.886502481 meters Centerline goodness : 0.697933 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.54, Z:-0.20 [[ 0.97769062 -0.06417887 -0.2000053 -0.01630537] [ 0.0515374 0.99636769 -0.06778884 0.54310247] [ 0.20362943 0.05596876 0.97744696 -0.19974548] [ 0. 0. 0. 1. ]] SLAMing on 64.916502481 meters Centerline goodness : 0.697791 Centerline is valid? [False, False] Translation: X:0.01, Y:0.54, Z:-0.20 [[ 0.97828237 -0.06391724 -0.19717555 0.01466845] [ 0.05157505 0.99641154 -0.06711234 0.54124494] [ 0.20075763 0.05548548 0.97806837 -0.19556181] [ 0. 0. 0. 1. ]] SLAMing on 64.946502481 meters Centerline goodness : 0.699048 Centerline is valid? [False, False] Translation: X:0.03, Y:0.54, Z:-0.19 [[ 0.9778598 -0.06930374 -0.19745178 0.03440405] [ 0.05706374 0.9961181 -0.0670258 0.54311832] [ 0.20133043 0.05427449 0.97801858 -0.19145255] [ 0. 0. 0. 1. ]] SLAMing on 64.976502481 meters Centerline goodness : 0.699179 Centerline is valid? [False, False] Translation: X:0.06, Y:0.54, Z:-0.19 [[ 0.97797362 -0.070185 -0.19657481 0.06250486] [ 0.05825572 0.99612877 -0.06583113 0.54205796] [ 0.20043418 0.0529295 0.97827634 -0.1865524 ] [ 0. 0. 0. 1. ]] SLAMing on 65.006502481 meters Centerline goodness : 0.695800 Centerline is valid? [False, False] Translation: X:0.08, Y:0.54, Z:-0.18 [[ 0.9777187 -0.074059 -0.19642151 0.08033456] [ 0.06286754 0.99605537 -0.06262088 0.54374269] [ 0.20028434 0.04887707 0.97851787 -0.18344592] [ 0. 0. 0. 1. ]] SLAMing on 65.03650248099999 meters Centerline goodness : 0.700466 Centerline is valid? [False, False] Translation: X:0.10, Y:0.54, Z:-0.18 [[ 0.97755154 -0.07776606 -0.19581989 0.09875065] [ 0.06733708 0.99596208 -0.05937386 0.54449615] [ 0.19964646 0.04485506 0.9788408 -0.18123343] [ 0. 0. 0. 1. ]] SLAMing on 65.06650248099999 meters Centerline goodness : 0.699325 Centerline is valid? [False, False] Translation: X:0.10, Y:0.54, Z:-0.18 [[ 0.97713786 -0.08187857 -0.19620782 0.10053132] [ 0.07073249 0.99549317 -0.06316858 0.54463885] [ 0.2004957 0.04784615 0.97852553 -0.18118818] [ 0. 0. 0. 1. ]] SLAMing on 65.09650248099999 meters Centerline goodness : 0.698059 Centerline is valid? [False, False] Translation: X:0.12, Y:0.55, Z:-0.18 [[ 0.97669948 -0.08583395 -0.1966994 0.12076119] [ 0.0749787 0.99525593 -0.06199859 0.54678501] [ 0.20108783 0.04580572 0.97850167 -0.17716083] [ 0. 0. 0. 1. ]] SLAMing on 65.12650248099999 meters Centerline goodness : 0.698641 Centerline is valid? [False, False] Translation: X:0.15, Y:0.55, Z:-0.17 [[ 0.97718247 -0.08474756 -0.19476207 0.1497571 ] [ 0.07454683 0.99546264 -0.05913458 0.54665481] [ 0.19888988 0.04326638 0.97906631 -0.17286141] [ 0. 0. 0. 1. ]] SLAMing on 65.15650248099999 meters Centerline goodness : 0.698303 Centerline is valid? [False, False] Translation: X:0.15, Y:0.55, Z:-0.17 [[ 0.97708418 -0.08463463 -0.19530356 0.15014724] [ 0.07438706 0.99546865 -0.0592345 0.54692848] [ 0.19943187 0.04334904 0.9789524 -0.17192604] [ 0. 0. 0. 1. ]] SLAMing on 65.18650248099999 meters Centerline goodness : 0.695727 Centerline is valid? [False, False] Translation: X:0.15, Y:0.55, Z:-0.17 [[ 0.97702855 -0.08449762 -0.19564091 0.15090431] [ 0.074237 0.99548124 -0.05921118 0.54657088] [ 0.19976006 0.04332722 0.97888644 -0.17170154] [ 0. 0. 0. 1. ]] SLAMing on 65.21650248099999 meters Centerline goodness : 0.698529 Centerline is valid? [False, False] Translation: X:0.18, Y:0.55, Z:-0.17 [[ 0.97735597 -0.08610111 -0.19329229 0.18136148] [ 0.07582172 0.99531597 -0.05997653 0.54725099] [ 0.19755095 0.04396267 0.97930634 -0.16769069] [ 0. 0. 0. 1. ]] SLAMing on 65.246502481 meters Centerline goodness : 0.694806 Centerline is valid? [False, False] Translation: X:0.18, Y:0.55, Z:-0.17 [[ 0.97690942 -0.08867064 -0.19438492 0.18490999] [ 0.07792032 0.99501206 -0.06228498 0.54826342] [ 0.19893819 0.04570024 0.9789459 -0.1681985 ] [ 0. 0. 0. 1. ]] SLAMing on 65.276502481 meters Centerline goodness : 0.693248 Centerline is valid? [False, False] Translation: X:0.20, Y:0.55, Z:-0.17 [[ 0.97671883 -0.09147257 -0.19404404 0.20285502] [ 0.0817305 0.99498586 -0.05764771 0.55056588] [ 0.19834426 0.04044629 0.97929753 -0.16606642] [ 0. 0. 0. 1. ]] SLAMing on 65.306502481 meters Centerline goodness : 0.694032 Centerline is valid? [False, False] Translation: X:0.22, Y:0.55, Z:-0.16 [[ 0.97666853 -0.09420333 -0.19298787 0.22048195] [ 0.08538972 0.9949098 -0.05350784 0.55322132] [ 0.19704613 0.03578024 0.97974109 -0.163121 ] [ 0. 0. 0. 1. ]] SLAMing on 65.336502481 meters Centerline goodness : 0.693386 Centerline is valid? [False, False] Translation: X:0.22, Y:0.55, Z:-0.16 [[ 0.97665821 -0.09447655 -0.19290652 0.21964372] [ 0.08550898 0.99485588 -0.0543139 0.55469193] [ 0.19704558 0.03655088 0.97971275 -0.16181104] [ 0. 0. 0. 1. ]] SLAMing on 65.366502481 meters Centerline goodness : 0.695312 Centerline is valid? [False, False] Translation: X:0.22, Y:0.56, Z:-0.16 [[ 0.97631292 -0.0984606 -0.19266186 0.22000469] [ 0.08871421 0.99433194 -0.0585985 0.55649908] [ 0.19733949 0.04011863 0.97951397 -0.16116129] [ 0. 0. 0. 1. ]] SLAMing on 65.396502481 meters Centerline goodness : 0.694367 Centerline is valid? [False, False] Translation: X:0.23, Y:0.55, Z:-0.16 [[ 0.97633706 -0.09504524 -0.19424815 0.22802658] [ 0.08480963 0.99456685 -0.06036638 0.55415554] [ 0.19893031 0.04246382 0.97909323 -0.15741717] [ 0. 0. 0. 1. ]] SLAMing on 65.42650248099999 meters Centerline goodness : 0.693213 Centerline is valid? [False, False] Translation: X:0.26, Y:0.55, Z:-0.15 [[ 0.97669024 -0.09356018 -0.19319074 0.25865821] [ 0.08383029 0.99479316 -0.05795724 0.55474052] [ 0.19760732 0.04041103 0.97944795 -0.15183405] [ 0. 0. 0. 1. ]] SLAMing on 65.45650248099999 meters Centerline goodness : 0.695419 Centerline is valid? [False, False] Translation: X:0.28, Y:0.56, Z:-0.15 [[ 0.97648987 -0.09643128 -0.19279144 0.27625305] [ 0.08757741 0.99469567 -0.05395117 0.55809845] [ 0.19697139 0.03579859 0.97975545 -0.14858384] [ 0. 0. 0. 1. ]] SLAMing on 65.48650248099999 meters Centerline goodness : 0.692098 Centerline is valid? [False, False] Translation: X:0.28, Y:0.56, Z:-0.15 [[ 0.97638501 -0.09579572 -0.19363753 0.27862381] [ 0.08695573 0.99476556 -0.05366736 0.55833746] [ 0.19776505 0.03556211 0.97960416 -0.14877401] [ 0. 0. 0. 1. ]] SLAMing on 65.51650248099999 meters Centerline goodness : 0.691819 Centerline is valid? [False, False] Translation: X:0.28, Y:0.56, Z:-0.15 [[ 0.97586813 -0.09932617 -0.19446262 0.28124547] [ 0.08975139 0.99430496 -0.05746601 0.55922033] [ 0.19906302 0.03862596 0.97922518 -0.14814044] [ 0. 0. 0. 1. ]] SLAMing on 65.54650248099999 meters Centerline goodness : 0.692227 Centerline is valid? [False, False] Translation: X:0.29, Y:0.55, Z:-0.15 [[ 0.97575186 -0.09490383 -0.1972348 0.29160499] [ 0.08525012 0.99473399 -0.0568921 0.55327797] [ 0.20159544 0.03869829 0.9787041 -0.14637597] [ 0. 0. 0. 1. ]] SLAMing on 65.57650248099999 meters Centerline goodness : 0.691459 Centerline is valid? [False, False] Translation: X:0.29, Y:0.55, Z:-0.15 [[ 0.97570051 -0.09443156 -0.19771495 0.29234986] [ 0.08481388 0.99478912 -0.05657919 0.55150244] [ 0.20202754 0.03843538 0.97862536 -0.14563733] [ 0. 0. 0. 1. ]] SLAMing on 65.60650248099999 meters Centerline goodness : 0.690440 Centerline is valid? [False, False] Translation: X:0.29, Y:0.55, Z:-0.15 [[ 0.97558725 -0.09397153 -0.19849149 0.29370795] [ 0.08439656 0.99484728 -0.0561793 0.55116107] [ 0.20274797 0.03805581 0.97849119 -0.14529599] [ 0. 0. 0. 1. ]] SLAMing on 65.636502481 meters Centerline goodness : 0.693059 Centerline is valid? [False, False] Translation: X:0.30, Y:0.55, Z:-0.14 [[ 0.97488703 -0.09751153 -0.20021682 0.29750668] [ 0.08712802 0.99438528 -0.06005515 0.55148861] [ 0.20494873 0.04110249 0.9779093 -0.14372379] [ 0. 0. 0. 1. ]] SLAMing on 65.666502481 meters Centerline goodness : 0.690140 Centerline is valid? [False, False] Translation: X:0.30, Y:0.55, Z:-0.14 [[ 0.97426972 -0.1015258 -0.2012238 0.29982007] [ 0.09032937 0.99384775 -0.06408792 0.55098684] [ 0.2064924 0.0442625 0.97744653 -0.14230286] [ 0. 0. 0. 1. ]] SLAMing on 65.696502481 meters Centerline goodness : 0.690358 Centerline is valid? [False, False] Translation: X:0.30, Y:0.55, Z:-0.14 [[ 0.97457663 -0.0975068 -0.20172461 0.30003006] [ 0.0874745 0.99447189 -0.05808496 0.54709222] [ 0.20627313 0.03896249 0.97771843 -0.14203462] [ 0. 0. 0. 1. ]] SLAMing on 65.726502481 meters Centerline goodness : 0.692589 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97489025 -0.0935678 -0.2020744 0.30049823] [ 0.08461355 0.99502854 -0.05252379 0.54402885] [ 0.20598433 0.0341067 0.97796073 -0.14226419] [ 0. 0. 0. 1. ]] SLAMing on 65.756502481 meters Centerline goodness : 0.687980 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97471892 -0.09383749 -0.20277463 0.30299478] [ 0.08495301 0.99502177 -0.05210238 0.54397526] [ 0.20665433 0.03355886 0.97783832 -0.14320003] [ 0. 0. 0. 1. ]] SLAMing on 65.78650248099999 meters Centerline goodness : 0.687847 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97467536 -0.09362911 -0.20308011 0.30386303] [ 0.08488123 0.99506516 -0.05138573 0.54295681] [ 0.20688914 0.03284672 0.97781285 -0.14338812] [ 0. 0. 0. 1. ]] SLAMing on 65.81650248099999 meters Centerline goodness : 0.690495 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97477475 -0.09291396 -0.20293147 0.30273317] [ 0.08452647 0.99518429 -0.04963371 0.54051145] [ 0.20656588 0.0312286 0.97793421 -0.1424245 ] [ 0. 0. 0. 1. ]] SLAMing on 65.84650248099999 meters Centerline goodness : 0.694166 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97486757 -0.09238912 -0.20272511 0.30231317] [ 0.08423119 0.99526398 -0.04852533 0.53912444] [ 0.20624821 0.03022999 0.97803263 -0.14241553] [ 0. 0. 0. 1. ]] SLAMing on 65.87650248099999 meters Centerline goodness : 0.693070 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97439231 -0.09668549 -0.20300626 0.30260093] [ 0.08773916 0.99475181 -0.05263728 0.53945197] [ 0.2070301 0.03347776 0.97776162 -0.14091746] [ 0. 0. 0. 1. ]] SLAMing on 65.90650248099999 meters Centerline goodness : 0.695371 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97442199 -0.09628741 -0.20305299 0.30279096] [ 0.08753836 0.9948208 -0.05165853 0.53771413] [ 0.20697541 0.03256229 0.97780411 -0.14106766] [ 0. 0. 0. 1. ]] SLAMing on 65.93650248099999 meters Centerline goodness : 0.692417 Centerline is valid? [False, False] Translation: X:0.30, Y:0.53, Z:-0.14 [[ 0.97467341 -0.09230944 -0.20369268 0.30386572] [ 0.0846252 0.99534415 -0.04613679 0.53380351] [ 0.20700318 0.02773077 0.97794718 -0.14134198] [ 0. 0. 0. 1. ]] SLAMing on 65.96650248099999 meters Centerline goodness : 0.692496 Centerline is valid? [False, False] Translation: X:0.30, Y:0.53, Z:-0.14 [[ 0.97493488 -0.0884289 -0.20416245 0.3046527 ] [ 0.08163131 0.99579833 -0.04149707 0.53176243] [ 0.20697416 0.0237909 0.9780571 -0.14166634] [ 0. 0. 0. 1. ]] SLAMing on 65.996502481 meters Centerline goodness : 0.692537 Centerline is valid? [False, False] Translation: X:0.31, Y:0.53, Z:-0.14 [[ 0.97530065 -0.08405571 -0.20426279 0.30503987] [ 0.07825035 0.99627088 -0.03634846 0.52928054] [ 0.20655637 0.01946704 0.97824102 -0.14235547] [ 0. 0. 0. 1. ]] SLAMing on 66.026502481 meters Centerline goodness : 0.692537 Centerline is valid? [False, False] Translation: X:0.31, Y:0.53, Z:-0.14 [[ 0.97530065 -0.08405571 -0.20426279 0.30503987] [ 0.07825035 0.99627088 -0.03634846 0.52928054] [ 0.20655637 0.01946704 0.97824102 -0.14235547] [ 0. 0. 0. 1. ]] SLAMing on 66.056502481 meters Centerline goodness : 0.690117 Centerline is valid? [False, False] Translation: X:0.30, Y:0.53, Z:-0.14 [[ 0.97558861 -0.08278805 -0.20340353 0.30382791] [ 0.07703428 0.99637621 -0.03605776 0.5283401 ] [ 0.20565159 0.0195085 0.97843081 -0.14315522] [ 0. 0. 0. 1. ]] SLAMing on 66.086502481 meters Centerline goodness : 0.692447 Centerline is valid? [False, False] Translation: X:0.30, Y:0.53, Z:-0.14 [[ 0.97590842 -0.08158845 -0.20235138 0.30265793] [ 0.07589266 0.99647447 -0.03576215 0.52648042] [ 0.20455576 0.0195436 0.97865979 -0.14439948] [ 0. 0. 0. 1. ]] SLAMing on 66.116502481 meters Centerline goodness : 0.690880 Centerline is valid? [False, False] Translation: X:0.30, Y:0.53, Z:-0.14 [[ 0.97595518 -0.08082424 -0.20243253 0.30267759] [ 0.07520585 0.99654277 -0.03530697 0.52619785] [ 0.20458633 0.01923391 0.97865954 -0.14435169] [ 0. 0. 0. 1. ]] SLAMing on 66.146502481 meters Centerline goodness : 0.690535 Centerline is valid? [False, False] Translation: X:0.30, Y:0.52, Z:-0.14 [[ 0.9762863 -0.07638075 -0.2025612 0.30299762] [ 0.07176201 0.99696872 -0.0300598 0.52373587] [ 0.20424317 0.01481077 0.97880814 -0.14486853] [ 0. 0. 0. 1. ]] SLAMing on 66.17650248099999 meters Centerline goodness : 0.687985 Centerline is valid? [False, False] Translation: X:0.30, Y:0.52, Z:-0.15 [[ 0.97648555 -0.07210882 -0.20316569 0.30465612] [ 0.06834356 0.99733597 -0.02549753 0.5223722 ] [ 0.20446305 0.0110129 0.97881233 -0.14575424] [ 0. 0. 0. 1. ]] SLAMing on 66.20650248099999 meters Centerline goodness : 0.688114 Centerline is valid? [False, False] Translation: X:0.30, Y:0.52, Z:-0.15 [[ 0.97655388 -0.07180846 -0.20294351 0.30473829] [ 0.06804256 0.99735694 -0.02548216 0.52231475] [ 0.20423695 0.01107591 0.97885882 -0.14633155] [ 0. 0. 0. 1. ]] SLAMing on 66.23650248099999 meters Centerline goodness : 0.689939 Centerline is valid? [False, False] Translation: X:0.30, Y:0.52, Z:-0.15 [[ 0.97684024 -0.06566538 -0.2036448 0.29930687] [ 0.06030439 0.99765319 -0.03242666 0.51586292] [ 0.2052962 0.01939499 0.97850769 -0.14574386] [ 0. 0. 0. 1. ]] SLAMing on 66.26650248099999 meters Centerline goodness : 0.686660 Centerline is valid? [False, False] Translation: X:0.30, Y:0.52, Z:-0.15 [[ 0.97681767 -0.06594765 -0.20366186 0.29956257] [ 0.06061889 0.99763824 -0.03230008 0.51525728] [ 0.20531097 0.01920553 0.97850833 -0.14590008] [ 0. 0. 0. 1. ]] SLAMing on 66.29650248099999 meters Centerline goodness : 0.690331 Centerline is valid? [False, False] Translation: X:0.30, Y:0.51, Z:-0.15 [[ 0.97671661 -0.06586602 -0.20417233 0.30074975] [ 0.0607037 0.99766018 -0.03145182 0.51357968] [ 0.20576621 0.01832549 0.97842958 -0.14597551] [ 0. 0. 0. 1. ]] SLAMing on 66.32650248099999 meters Centerline goodness : 0.689562 Centerline is valid? [False, False] Translation: X:0.30, Y:0.51, Z:-0.15 [[ 0.97669769 -0.06581868 -0.20427804 0.30118309] [ 0.06067716 0.99766536 -0.03133854 0.51357372] [ 0.20586379 0.01821327 0.97841115 -0.14620688] [ 0. 0. 0. 1. ]] SLAMing on 66.35650248099999 meters Centerline goodness : 0.691034 Centerline is valid? [False, False] Translation: X:0.28, Y:0.51, Z:-0.15 [[ 0.9765861 -0.06199699 -0.20599993 0.28466875] [ 0.0560432 0.99782802 -0.03461809 0.50889765] [ 0.20769872 0.02226265 0.97793947 -0.14783635] [ 0. 0. 0. 1. ]] SLAMing on 66.386502481 meters Centerline goodness : 0.689200 Centerline is valid? [False, False] Translation: X:0.29, Y:0.51, Z:-0.15 [[ 0.97653641 -0.0614965 -0.20638512 0.28630786] [ 0.05549874 0.99785451 -0.03473128 0.5093377 ] [ 0.20807817 0.02246224 0.97785424 -0.14874444] [ 0. 0. 0. 1. ]] SLAMing on 66.416502481 meters Centerline goodness : 0.686026 Centerline is valid? [False, False] Translation: X:0.24, Y:0.50, Z:-0.16 [[ 0.97643075 -0.05978055 -0.20738678 0.2371689 ] [ 0.05286098 0.99784964 -0.03875327 0.50253379] [ 0.20925752 0.02687721 0.97749113 -0.15532982] [ 0. 0. 0. 1. ]] SLAMing on 66.446502481 meters Centerline goodness : 0.690925 Centerline is valid? [False, False] Translation: X:0.22, Y:0.49, Z:-0.16 [[ 0.97783107 -0.05416924 -0.20226737 0.21537946] [ 0.0476767 0.99818331 -0.03683774 0.49444853] [ 0.20389539 0.02637765 0.97863726 -0.16063656] [ 0. 0. 0. 1. ]] SLAMing on 66.476502481 meters Centerline goodness : 0.691138 Centerline is valid? [False, False] Translation: X:0.21, Y:0.49, Z:-0.16 [[ 0.97801666 -0.0540049 -0.20141221 0.2134943 ] [ 0.04738672 0.99817093 -0.0375405 0.48957941] [ 0.20307118 0.02717097 0.97878692 -0.1591263 ] [ 0. 0. 0. 1. ]] SLAMing on 66.506502481 meters Centerline goodness : 0.692040 Centerline is valid? [False, False] Translation: X:0.18, Y:0.48, Z:-0.16 [[ 0.97884943 -0.0514062 -0.19801816 0.18349793] [ 0.04279946 0.99795366 -0.04750462 0.48024036] [ 0.20005498 0.0380248 0.97904654 -0.16353037] [ 0. 0. 0. 1. ]] SLAMing on 66.53650248099999 meters Centerline goodness : 0.692461 Centerline is valid? [False, False] Translation: X:0.18, Y:0.48, Z:-0.16 [[ 0.97885818 -0.05180985 -0.19786968 0.18384773] [ 0.04331499 0.99795419 -0.04702396 0.47827504] [ 0.19990118 0.03745907 0.97909976 -0.16412399] [ 0. 0. 0. 1. ]] SLAMing on 66.56650248099999 meters Centerline goodness : 0.689807 Centerline is valid? [False, False] Translation: X:0.19, Y:0.48, Z:-0.17 [[ 0.97837407 -0.05317207 -0.19989226 0.18929935] [ 0.04468433 0.99790719 -0.04673918 0.47779409] [ 0.20195914 0.03679635 0.97870248 -0.16532863] [ 0. 0. 0. 1. ]] SLAMing on 66.59650248099999 meters Centerline goodness : 0.692138 Centerline is valid? [False, False] Translation: X:0.19, Y:0.48, Z:-0.17 [[ 0.97824299 -0.05354301 -0.20043401 0.1916447 ] [ 0.04500805 0.99788496 -0.046903 0.47865974] [ 0.20252141 0.03686139 0.97858383 -0.16641549] [ 0. 0. 0. 1. ]] SLAMing on 66.62650248099999 meters Centerline goodness : 0.689055 Centerline is valid? [False, False] Translation: X:0.19, Y:0.48, Z:-0.17 [[ 0.97836262 -0.04970184 -0.20083902 0.19363033] [ 0.04212575 0.99823652 -0.04182419 0.47712973] [ 0.20256358 0.03245873 0.97873103 -0.16776709] [ 0. 0. 0. 1. ]] SLAMing on 66.65650248099999 meters Centerline goodness : 0.690959 Centerline is valid? [False, False] Translation: X:0.19, Y:0.48, Z:-0.17 [[ 0.97850425 -0.04891217 -0.20034231 0.19290597] [ 0.04140227 0.99828 -0.04150767 0.47693886] [ 0.20202795 0.03232081 0.9788463 -0.16814556] [ 0. 0. 0. 1. ]] SLAMing on 66.68650248099999 meters Centerline goodness : 0.693172 Centerline is valid? [False, False] Translation: X:0.19, Y:0.48, Z:-0.17 [[ 0.97898586 -0.04724117 -0.19838086 0.18898927] [ 0.03991426 0.99837085 -0.04077364 0.47507341] [ 0.19998386 0.03199859 0.97927654 -0.16849368] [ 0. 0. 0. 1. ]] SLAMing on 66.71650248099999 meters Centerline goodness : 0.693886 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97914502 -0.04673412 -0.1977143 0.1872927 ] [ 0.03948543 0.99840109 -0.04044943 0.47428677] [ 0.19928854 0.03179902 0.97942478 -0.16822736] [ 0. 0. 0. 1. ]] SLAMing on 66.746502481 meters Centerline goodness : 0.693292 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97919794 -0.04626498 -0.1975625 0.18637805] [ 0.03914684 0.99844106 -0.03978666 0.47422737] [ 0.19909524 0.03122507 0.97948256 -0.16755115] [ 0. 0. 0. 1. ]] SLAMing on 66.776502481 meters Centerline goodness : 0.693205 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97914226 -0.04623901 -0.19784437 0.18710176] [ 0.03920618 0.99845721 -0.03932004 0.47388413] [ 0.19935726 0.03074319 0.97944451 -0.16763402] [ 0. 0. 0. 1. ]] SLAMing on 66.806502481 meters Centerline goodness : 0.692858 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97889659 -0.05090572 -0.19791433 0.18854092] [ 0.04292622 0.99809099 -0.04440408 0.47436844] [ 0.19979693 0.03497129 0.97921305 -0.1688034 ] [ 0. 0. 0. 1. ]] SLAMing on 66.836502481 meters Centerline goodness : 0.695014 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97884594 -0.05105892 -0.19812524 0.18989811] [ 0.04318925 0.99810442 -0.04384355 0.47234644] [ 0.19998828 0.0343592 0.97919566 -0.16966908] [ 0. 0. 0. 1. ]] SLAMing on 66.866502481 meters Centerline goodness : 0.693562 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97868405 -0.05093863 -0.19895424 0.19134127] [ 0.04327839 0.99815158 -0.04266612 0.47172852] [ 0.20075985 0.03314623 0.97907957 -0.16922846] [ 0. 0. 0. 1. ]] SLAMing on 66.896502481 meters Centerline goodness : 0.692737 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.978537 -0.05081898 -0.19970671 0.19201809] [ 0.04333482 0.9981911 -0.04167277 0.47181129] [ 0.20146323 0.03212409 0.97896916 -0.16815593] [ 0. 0. 0. 1. ]] SLAMing on 66.92650248099999 meters Centerline goodness : 0.696186 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97855542 -0.05037257 -0.19972954 0.19179712] [ 0.04314227 0.9982521 -0.04039173 0.47008429] [ 0.20141506 0.03090876 0.97901819 -0.16777509] [ 0. 0. 0. 1. ]] SLAMing on 66.95650248099999 meters Centerline goodness : 0.695468 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97857586 -0.0502186 -0.19966815 0.1919624 ] [ 0.04313957 0.99828192 -0.03965068 0.46834678] [ 0.20131631 0.0301876 0.97906101 -0.16801873] [ 0. 0. 0. 1. ]] SLAMing on 66.98650248099999 meters Centerline goodness : 0.695635 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97859259 -0.05041517 -0.19953658 0.1920657 ] [ 0.04344777 0.99828845 -0.03914677 0.46671412] [ 0.20116865 0.02963932 0.97910811 -0.16830235] [ 0. 0. 0. 1. ]] SLAMing on 67.01650248099999 meters Centerline goodness : 0.695786 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97864897 -0.05049927 -0.19923858 0.19181801] [ 0.04379238 0.99832037 -0.03792979 0.46446274] [ 0.20081936 0.02839482 0.97921669 -0.16853064] [ 0. 0. 0. 1. ]] SLAMing on 67.04650248099999 meters Centerline goodness : 0.695145 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97866916 -0.05004237 -0.19925472 0.19196597] [ 0.04357183 0.99837488 -0.03673006 0.46341927] [ 0.20076897 0.02726469 0.97925914 -0.16849111] [ 0. 0. 0. 1. ]] SLAMing on 67.07650248099999 meters Centerline goodness : 0.701220 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97863402 -0.05085158 -0.19922243 0.19127123] [ 0.04466414 0.99837349 -0.03543289 0.46163653] [ 0.20070021 0.02577773 0.9793135 -0.16749157] [ 0. 0. 0. 1. ]] SLAMing on 67.10650248099999 meters Centerline goodness : 0.700044 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97859548 -0.05112101 -0.19934273 0.1910503 ] [ 0.04512247 0.99838478 -0.03452241 0.46007004] [ 0.20078557 0.02478864 0.97932154 -0.16684479] [ 0. 0. 0. 1. ]] SLAMing on 67.136502481 meters Centerline goodness : 0.699501 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97834353 -0.05532504 -0.19945696 0.19144259] [ 0.0487538 0.99809864 -0.03771178 0.45907136] [ 0.20116412 0.0271708 0.97918065 -0.16651548] [ 0. 0. 0. 1. ]] SLAMing on 67.166502481 meters Centerline goodness : 0.699069 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97829549 -0.05598197 -0.19950926 0.19198806] [ 0.04957958 0.99808654 -0.03694749 0.45767077] [ 0.2011959 0.02625398 0.97919913 -0.1666766 ] [ 0. 0. 0. 1. ]] SLAMing on 67.196502481 meters Centerline goodness : 0.699457 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97813709 -0.05660041 -0.20011052 0.19381737] [ 0.05061557 0.99810815 -0.03490254 0.45504773] [ 0.20170744 0.02401076 0.97915147 -0.16674235] [ 0. 0. 0. 1. ]] SLAMing on 67.226502481 meters Centerline goodness : 0.700507 Centerline is valid? [False, False] Translation: X:0.19, Y:0.45, Z:-0.17 [[ 0.97804113 -0.05701384 -0.20046187 0.19473878] [ 0.05116569 0.99810309 -0.03423864 0.45469362] [ 0.20203369 0.02323003 0.97910304 -0.16664599] [ 0. 0. 0. 1. ]] SLAMing on 67.256502481 meters Centerline goodness : 0.701382 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.17 [[ 0.97777391 -0.05777462 -0.2015447 0.19686316] [ 0.05218239 0.99809367 -0.03295497 0.45470097] [ 0.20306445 0.02170542 0.97892477 -0.16608548] [ 0. 0. 0. 1. ]] SLAMing on 67.28650248099999 meters Centerline goodness : 0.700597 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.17 [[ 0.97771228 -0.05811101 -0.20174691 0.19672397] [ 0.05270756 0.9980953 -0.03205747 0.45354515] [ 0.20322554 0.02070939 0.97891292 -0.16527189] [ 0. 0. 0. 1. ]] SLAMing on 67.31650248099999 meters Centerline goodness : 0.699714 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97755357 -0.06300632 -0.20104534 0.19538059] [ 0.05708544 0.99775142 -0.03511928 0.45140606] [ 0.20280601 0.02285422 0.9789522 -0.16465741] [ 0. 0. 0. 1. ]] SLAMing on 67.34650248099999 meters Centerline goodness : 0.700604 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97748711 -0.06391657 -0.20108114 0.19556247] [ 0.05818657 0.99771683 -0.03428472 0.4493524 ] [ 0.2028134 0.02181265 0.97897443 -0.16441366] [ 0. 0. 0. 1. ]] SLAMing on 67.37650248099999 meters Centerline goodness : 0.700678 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97738838 -0.06479313 -0.20128041 0.19609899] [ 0.05923985 0.99768156 -0.0334984 0.44811002] [ 0.20298422 0.02081713 0.9789607 -0.16419801] [ 0. 0. 0. 1. ]] SLAMing on 67.40650248099999 meters Centerline goodness : 0.700096 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97693962 -0.06623325 -0.20298311 0.19835445] [ 0.06097897 0.99762475 -0.03203792 0.4484438 ] [ 0.20462295 0.01892141 0.97865797 -0.16231589] [ 0. 0. 0. 1. ]] SLAMing on 67.43650248099999 meters Centerline goodness : 0.702496 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97676733 -0.06672282 -0.20365081 0.19942791] [ 0.06154011 0.9976016 -0.03168377 0.44893607] [ 0.20527641 0.01841498 0.97853078 -0.16177081] [ 0. 0. 0. 1. ]] SLAMing on 67.46650248099999 meters Centerline goodness : 0.700951 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97662454 -0.06772306 -0.20400511 0.19991984] [ 0.06263523 0.9975455 -0.03130185 0.44829511] [ 0.20562424 0.01779225 0.97846927 -0.16121728] [ 0. 0. 0. 1. ]] SLAMing on 67.496502481 meters Centerline goodness : 0.704282 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97671232 -0.06773066 -0.20358192 0.19887633] [ 0.06271544 0.99755008 -0.03099381 0.44747999] [ 0.20518239 0.01750431 0.97856721 -0.16102974] [ 0. 0. 0. 1. ]] SLAMing on 67.526502481 meters Centerline goodness : 0.705175 Centerline is valid? [False, False] Translation: X:0.22, Y:0.45, Z:-0.16 [[ 0.97704117 -0.07144029 -0.20071579 0.21518814] [ 0.06720117 0.9973503 -0.02786373 0.44926906] [ 0.20217455 0.01373568 0.97925318 -0.15920009] [ 0. 0. 0. 1. ]] SLAMing on 67.556502481 meters Centerline goodness : 0.701399 Centerline is valid? [False, False] Translation: X:0.24, Y:0.45, Z:-0.15 [[ 0.97761455 -0.06864412 -0.19889136 0.24447389] [ 0.06524477 0.9975901 -0.0236031 0.44998242] [ 0.20003227 0.01009811 0.97973727 -0.15476084] [ 0. 0. 0. 1. ]] SLAMing on 67.586502481 meters Centerline goodness : 0.700060 Centerline is valid? [False, False] Translation: X:0.28, Y:0.45, Z:-0.15 [[ 0.97752923 -0.06666756 -0.19998012 0.28160436] [ 0.06329543 0.99772476 -0.02321603 0.45225557] [ 0.20107287 0.01003652 0.97952487 -0.14745516] [ 0. 0. 0. 1. ]] SLAMing on 67.616502481 meters Centerline goodness : 0.702973 Centerline is valid? [False, False] Translation: X:0.31, Y:0.45, Z:-0.14 [[ 0.97743984 -0.06830249 -0.19986527 0.30993862] [ 0.06473862 0.99760584 -0.02432064 0.45348342] [ 0.20104792 0.01083296 0.97952151 -0.14145653] [ 0. 0. 0. 1. ]] SLAMing on 67.646502481 meters Centerline goodness : 0.700575 Centerline is valid? [False, False] Translation: X:0.31, Y:0.45, Z:-0.14 [[ 0.97699524 -0.07262463 -0.20051426 0.31150554] [ 0.06825411 0.99725698 -0.02863378 0.454993 ] [ 0.20204376 0.01428914 0.97927225 -0.14065534] [ 0. 0. 0. 1. ]] SLAMing on 67.67650248099999 meters Centerline goodness : 0.700126 Centerline is valid? [False, False] Translation: X:0.35, Y:0.46, Z:-0.13 [[ 0.97680423 -0.07297738 -0.20131519 0.3455495 ] [ 0.0681841 0.99720178 -0.03065175 0.45659189] [ 0.20298875 0.01621426 0.97904681 -0.13347281] [ 0. 0. 0. 1. ]] SLAMing on 67.70650248099999 meters Centerline goodness : 0.699452 Centerline is valid? [False, False] Translation: X:0.37, Y:0.46, Z:-0.13 [[ 0.97734583 -0.07130215 -0.19927653 0.37129948] [ 0.06732023 0.99737422 -0.0266955 0.45741351] [ 0.20065672 0.01267539 0.97957961 -0.12960329] [ 0. 0. 0. 1. ]] SLAMing on 67.73650248099999 meters Centerline goodness : 0.697033 Centerline is valid? [False, False] Translation: X:0.40, Y:0.46, Z:-0.12 [[ 0.97790203 -0.06488363 -0.19874038 0.40355565] [ 0.06187158 0.99785606 -0.02133524 0.45931643] [ 0.1996986 0.00856739 0.97981992 -0.12320934] [ 0. 0. 0. 1. ]] SLAMing on 67.76650248099999 meters Centerline goodness : 0.695814 Centerline is valid? [False, False] Translation: X:0.41, Y:0.46, Z:-0.12 [[ 0.97779747 -0.06449022 -0.19938186 0.40512025] [ 0.06146411 0.99788121 -0.02133657 0.46009884] [ 0.20033541 0.00860802 0.97968956 -0.1231163 ] [ 0. 0. 0. 1. ]] SLAMing on 67.79650248099999 meters Centerline goodness : 0.696593 Centerline is valid? [False, False] Translation: X:0.42, Y:0.46, Z:-0.12 [[ 0.97780593 -0.06252268 -0.19996617 0.41540977] [ 0.05848591 0.99794863 -0.02603718 0.45946831] [ 0.20118388 0.01376411 0.97945679 -0.11936796] [ 0. 0. 0. 1. ]] SLAMing on 67.82650248099999 meters Centerline goodness : 0.699620 Centerline is valid? [False, False] Translation: X:0.44, Y:0.46, Z:-0.12 [[ 0.97790998 -0.0645418 -0.19881252 0.43609504] [ 0.0610543 0.99785472 -0.02362894 0.46100808] [ 0.19991107 0.01096861 0.97975265 -0.11543839] [ 0. 0. 0. 1. ]] SLAMing on 67.85650248099999 meters Centerline goodness : 0.697587 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97842694 -0.06093143 -0.19740337 0.46693884] [ 0.05809347 0.99810795 -0.02014113 0.46224378] [ 0.1982571 0.00823878 0.98011542 -0.11001775] [ 0. 0. 0. 1. ]] SLAMing on 67.886502481 meters Centerline goodness : 0.698231 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97840346 -0.06065226 -0.19760558 0.46762398] [ 0.05771786 0.99812077 -0.02058104 0.46339982] [ 0.19848252 0.00873119 0.98006554 -0.11044734] [ 0. 0. 0. 1. ]] SLAMing on 67.916502481 meters Centerline goodness : 0.698231 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97840346 -0.06065226 -0.19760558 0.46762398] [ 0.05771786 0.99812077 -0.02058104 0.46339982] [ 0.19848252 0.00873119 0.98006554 -0.11044734] [ 0. 0. 0. 1. ]] SLAMing on 67.946502481 meters Centerline goodness : 0.692229 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97838629 -0.05955384 -0.19802426 0.46996064] [ 0.05642877 0.99817742 -0.02139211 0.46490134] [ 0.19893733 0.00975549 0.97996366 -0.11222279] [ 0. 0. 0. 1. ]] SLAMing on 67.976502481 meters Centerline goodness : 0.690455 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97844457 -0.05917972 -0.1978484 0.4695619 ] [ 0.05592487 0.99819249 -0.02200357 0.46603672] [ 0.19879295 0.01046463 0.97998564 -0.1123885 ] [ 0. 0. 0. 1. ]] SLAMing on 68.006502481 meters Centerline goodness : 0.693705 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97828006 -0.05743232 -0.19917244 0.47248157] [ 0.05372918 0.99826823 -0.02395246 0.46695723] [ 0.20020316 0.01273084 0.97967169 -0.10793377] [ 0. 0. 0. 1. ]] SLAMing on 68.03650248099999 meters Centerline goodness : 0.695471 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.9785614 -0.05662626 -0.1980178 0.47019329] [ 0.05284851 0.99830647 -0.02431526 0.46698674] [ 0.19905933 0.01332903 0.97989679 -0.10826886] [ 0. 0. 0. 1. ]] SLAMing on 68.06650248099999 meters Centerline goodness : 0.694745 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97878406 -0.05587843 -0.19712779 0.46922779] [ 0.05193178 0.9983342 -0.02513776 0.46775259] [ 0.19820408 0.01436725 0.98005547 -0.10941581] [ 0. 0. 0. 1. ]] SLAMing on 68.09650248099999 meters Centerline goodness : 0.693595 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97885957 -0.05577498 -0.19678182 0.46928449] [ 0.05172988 0.99833189 -0.02564081 0.46852923] [ 0.19788368 0.01491925 0.98011196 -0.11028058] [ 0. 0. 0. 1. ]] SLAMing on 68.12650248099999 meters Centerline goodness : 0.690118 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97897018 -0.05534813 -0.19635167 0.46920719] [ 0.05126684 0.99835137 -0.02581173 0.46867982] [ 0.19745659 0.01520258 0.98019374 -0.1112187 ] [ 0. 0. 0. 1. ]] SLAMing on 68.15650248099999 meters Centerline goodness : 0.689674 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97905161 -0.05518473 -0.1959913 0.46865062] [ 0.05116523 0.99836417 -0.02551671 0.46812643] [ 0.19707882 0.01495423 0.98027359 -0.11141428] [ 0. 0. 0. 1. ]] SLAMing on 68.18650248099999 meters Centerline goodness : 0.691788 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97915824 -0.05472085 -0.19558828 0.46776335] [ 0.05087453 0.99840107 -0.02463917 0.46643534] [ 0.19662382 0.01417518 0.98037653 -0.11133944] [ 0. 0. 0. 1. ]] SLAMing on 68.21650248099999 meters Centerline goodness : 0.692700 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97927859 -0.05834333 -0.19393167 0.46531006] [ 0.05387789 0.99814853 -0.02822561 0.46502263] [ 0.19521938 0.0171921 0.9806089 -0.11199541] [ 0. 0. 0. 1. ]] SLAMing on 68.246502481 meters Centerline goodness : 0.690975 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97929837 -0.0587704 -0.19370269 0.46508088] [ 0.05468517 0.99815525 -0.02637488 0.46163586] [ 0.19489542 0.01523622 0.98070568 -0.11190369] [ 0. 0. 0. 1. ]] SLAMing on 68.276502481 meters Centerline goodness : 0.690883 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.9792239 -0.05910355 -0.19397763 0.46555051] [ 0.05515733 0.99814721 -0.0256868 0.46091188] [ 0.19513641 0.01445384 0.9806696 -0.11159453] [ 0. 0. 0. 1. ]] SLAMing on 68.306502481 meters Centerline goodness : 0.692521 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97920886 -0.05928614 -0.19399782 0.4659359 ] [ 0.05545783 0.99814523 -0.02511049 0.45992512] [ 0.1951267 0.01382972 0.98068053 -0.11179091] [ 0. 0. 0. 1. ]] SLAMing on 68.336502481 meters Centerline goodness : 0.692322 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97893888 -0.06310875 -0.19415446 0.46732058] [ 0.05870622 0.9978726 -0.02835216 0.45804283] [ 0.19553068 0.01635696 0.98056117 -0.11209144] [ 0. 0. 0. 1. ]] SLAMing on 68.366502481 meters Centerline goodness : 0.691059 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97890102 -0.06336157 -0.19426296 0.46781029] [ 0.05914693 0.99787247 -0.02742563 0.45615827] [ 0.19558739 0.01535692 0.98056603 -0.11215326] [ 0. 0. 0. 1. ]] SLAMing on 68.396502481 meters Centerline goodness : 0.692873 Centerline is valid? [False, False] Translation: X:0.47, Y:0.45, Z:-0.11 [[ 0.9785169 -0.06630247 -0.19521438 0.47032949] [ 0.06158586 0.99764663 -0.03013932 0.45360224] [ 0.19675328 0.01746939 0.98029739 -0.11147336] [ 0. 0. 0. 1. ]] SLAMing on 68.42650248099999 meters Centerline goodness : 0.690476 Centerline is valid? [False, False] Translation: X:0.47, Y:0.45, Z:-0.11 [[ 0.97845543 -0.06591178 -0.19565432 0.47132639] [ 0.06129435 0.99768167 -0.02956836 0.45129742] [ 0.19714963 0.01693881 0.98022707 -0.11133942] [ 0. 0. 0. 1. ]] SLAMing on 68.45650248099999 meters Centerline goodness : 0.692932 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:-0.10 [[ 0.97855886 -0.0686137 -0.19420275 0.50113874] [ 0.0636391 0.99746789 -0.03174703 0.44986706] [ 0.19588929 0.01870744 0.98044756 -0.10440328] [ 0. 0. 0. 1. ]] SLAMing on 68.48650248099999 meters Centerline goodness : 0.694836 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:-0.10 [[ 0.97811441 -0.07260609 -0.19498863 0.50221626] [ 0.06689093 0.99711978 -0.03574561 0.44973058] [ 0.19702237 0.02192033 0.98015391 -0.10251403] [ 0. 0. 0. 1. ]] SLAMing on 68.51650248099999 meters Centerline goodness : 0.691955 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:-0.10 [[ 0.97798299 -0.07359814 -0.19527568 0.50269899] [ 0.06811792 0.99707566 -0.03464203 0.44795663] [ 0.19725422 0.02057754 0.98013639 -0.10204122] [ 0. 0. 0. 1. ]] SLAMing on 68.54650248099999 meters Centerline goodness : 0.691188 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:-0.10 [[ 0.97776456 -0.07423313 -0.19612725 0.50417484] [ 0.06883971 0.99704188 -0.03418447 0.44768642] [ 0.1980847 0.01992302 0.97998241 -0.10157535] [ 0. 0. 0. 1. ]] SLAMing on 68.57650248099999 meters Centerline goodness : 0.689201 Centerline is valid? [False, False] Translation: X:0.51, Y:0.45, Z:-0.10 [[ 0.97720893 -0.07848797 -0.19723679 0.50603855] [ 0.07237159 0.99665202 -0.03804074 0.44804698] [ 0.19956219 0.02289941 0.97961755 -0.10039113] [ 0. 0. 0. 1. ]] SLAMing on 68.60650248099999 meters Centerline goodness : 0.686621 Centerline is valid? [False, False] Translation: X:0.53, Y:0.45, Z:-0.10 [[ 0.97749403 -0.08041551 -0.1950353 0.53418006] [ 0.07435345 0.99649933 -0.03821849 0.44831316] [ 0.1974259 0.02285679 0.98005131 -0.09604216] [ 0. 0. 0. 1. ]] SLAMing on 68.636502481 meters Centerline goodness : 0.687211 Centerline is valid? [False, False] Translation: X:0.53, Y:0.45, Z:-0.10 [[ 0.97746594 -0.08043602 -0.19516759 0.53461827] [ 0.07447824 0.99651023 -0.03768749 0.44757233] [ 0.19751794 0.0223025 0.98004554 -0.09612585] [ 0. 0. 0. 1. ]] SLAMing on 68.666502481 meters Centerline goodness : 0.690109 Centerline is valid? [False, False] Translation: X:0.53, Y:0.45, Z:-0.10 [[ 0.97747221 -0.08093871 -0.19492819 0.53429401] [ 0.07509026 0.99648186 -0.03722044 0.44733018] [ 0.19725498 0.02174474 0.98011103 -0.09610221] [ 0. 0. 0. 1. ]] SLAMing on 68.696502481 meters Centerline goodness : 0.690195 Centerline is valid? [False, False] Translation: X:0.55, Y:0.45, Z:-0.09 [[ 0.97762101 -0.08411311 -0.19282673 0.55108518] [ 0.07912615 0.9963038 -0.03343326 0.44923345] [ 0.19492618 0.01742742 0.98066308 -0.09401635] [ 0. 0. 0. 1. ]] SLAMing on 68.726502481 meters Centerline goodness : 0.689856 Centerline is valid? [False, False] Translation: X:0.58, Y:0.45, Z:-0.09 [[ 0.97846548 -0.08194027 -0.18944947 0.57973295] [ 0.07759765 0.99652603 -0.03024021 0.45040902] [ 0.19126922 0.01488817 0.98142469 -0.0902129 ] [ 0. 0. 0. 1. ]] SLAMing on 68.756502481 meters Centerline goodness : 0.691881 Centerline is valid? [False, False] Translation: X:0.58, Y:0.45, Z:-0.09 [[ 0.97838304 -0.08186665 -0.18990651 0.58045562] [ 0.07750455 0.99653156 -0.03029678 0.45021965] [ 0.19172813 0.01492324 0.98133461 -0.08974808] [ 0. 0. 0. 1. ]] SLAMing on 68.78650248099999 meters Centerline goodness : 0.692176 Centerline is valid? [False, False] Translation: X:0.58, Y:0.45, Z:-0.09 [[ 0.97838614 -0.08251822 -0.18960827 0.57951523] [ 0.07805095 0.99646973 -0.03092137 0.45065974] [ 0.19149048 0.01545394 0.9813728 -0.0892891 ] [ 0. 0. 0. 1. ]] SLAMing on 68.81650248099999 meters Centerline goodness : 0.691141 Centerline is valid? [False, False] Translation: X:0.60, Y:0.45, Z:-0.09 [[ 0.97793211 -0.08590764 -0.19044332 0.59932211] [ 0.08196873 0.99622791 -0.02847951 0.45288584] [ 0.19217155 0.01224063 0.981285 -0.08576014] [ 0. 0. 0. 1. ]] SLAMing on 68.84650248099999 meters Centerline goodness : 0.690282 Centerline is valid? [False, False] Translation: X:0.60, Y:0.45, Z:-0.09 [[ 0.97785582 -0.08558188 -0.19098097 0.60088844] [ 0.08169314 0.99625968 -0.02815814 0.45285284] [ 0.19267647 0.01193276 0.98118978 -0.08620132] [ 0. 0. 0. 1. ]] SLAMing on 68.87650248099999 meters Centerline goodness : 0.689634 Centerline is valid? [False, False] Translation: X:0.60, Y:0.45, Z:-0.09 [[ 0.97777753 -0.08508605 -0.19160235 0.60314753] [ 0.08121079 0.99630349 -0.02800298 0.45398512] [ 0.19327676 0.0118205 0.98107307 -0.08698467] [ 0. 0. 0. 1. ]] SLAMing on 68.90650248099999 meters Centerline goodness : 0.692023 Centerline is valid? [False, False] Translation: X:0.60, Y:0.45, Z:-0.09 [[ 0.97768458 -0.08479123 -0.19220645 0.60454659] [ 0.08089604 0.99632811 -0.02803795 0.45446587] [ 0.19387806 0.01186353 0.9809539 -0.08686607] [ 0. 0. 0. 1. ]] SLAMing on 68.93650248099999 meters Centerline goodness : 0.692751 Centerline is valid? [False, False] Translation: X:0.61, Y:0.46, Z:-0.09 [[ 0.97752476 -0.08445973 -0.1931629 0.60617989] [ 0.08045856 0.99635099 -0.02848011 0.4565275 ] [ 0.19486347 0.0122984 0.98075327 -0.085973 ] [ 0. 0. 0. 1. ]] SLAMing on 68.96650248099999 meters Centerline goodness : 0.690140 Centerline is valid? [False, False] Translation: X:0.61, Y:0.46, Z:-0.09 [[ 0.9774539 -0.08433077 -0.19357734 0.60658844] [ 0.08027209 0.99635887 -0.02872984 0.45762172] [ 0.19529531 0.01254324 0.98066427 -0.08528964] [ 0. 0. 0. 1. ]] SLAMing on 68.996502481 meters Centerline goodness : 0.693080 Centerline is valid? [False, False] Translation: X:0.61, Y:0.46, Z:-0.08 [[ 0.97714254 -0.08335501 -0.19556175 0.60921152] [ 0.07896266 0.99642111 -0.03016396 0.46016953] [ 0.19737618 0.01403242 0.98022739 -0.08122386] [ 0. 0. 0. 1. ]] SLAMing on 69.026502481 meters Centerline goodness : 0.691249 Centerline is valid? [False, False] Translation: X:0.61, Y:0.46, Z:-0.08 [[ 0.97704534 -0.08325038 -0.19609124 0.61000301] [ 0.07880951 0.99642741 -0.03035575 0.46101985] [ 0.19791782 0.01420508 0.98011568 -0.08070632] [ 0. 0. 0. 1. ]] SLAMing on 69.056502481 meters Centerline goodness : 0.692722 Centerline is valid? [False, False] Translation: X:0.65, Y:0.46, Z:-0.07 [[ 0.97677479 -0.08264935 -0.19768684 0.64647231] [ 0.07776927 0.99644681 -0.03233709 0.46387918] [ 0.19965706 0.01621209 0.97973171 -0.07319161] [ 0. 0. 0. 1. ]] SLAMing on 69.086502481 meters Centerline goodness : 0.691825 Centerline is valid? [False, False] Translation: X:0.67, Y:0.47, Z:-0.07 [[ 0.9758685 -0.08592486 -0.20074261 0.66838019] [ 0.08095448 0.99617615 -0.03285486 0.46802863] [ 0.20279805 0.01581101 0.97909293 -0.06685926] [ 0. 0. 0. 1. ]] SLAMing on 69.116502481 meters Centerline goodness : 0.689999 Centerline is valid? [False, False] Translation: X:0.68, Y:0.47, Z:-0.06 [[ 0.97573592 -0.07977114 -0.20390188 0.68247881] [ 0.07442541 0.9966548 -0.03376501 0.46647268] [ 0.20591326 0.01777025 0.97840888 -0.06210655] [ 0. 0. 0. 1. ]] SLAMing on 69.146502481 meters Centerline goodness : 0.690969 Centerline is valid? [False, False] Translation: X:0.68, Y:0.47, Z:-0.06 [[ 0.97562499 -0.07965448 -0.20447749 0.68309067] [ 0.07421541 0.99665752 -0.03414473 0.46769521] [ 0.20651381 0.01813707 0.97827557 -0.06115036] [ 0. 0. 0. 1. ]] SLAMing on 69.17650248099999 meters Centerline goodness : 0.691662 Centerline is valid? [False, False] Translation: X:0.71, Y:0.47, Z:-0.06 [[ 0.97642892 -0.07722529 -0.20155101 0.71317093] [ 0.07221894 0.99687254 -0.03208672 0.46878707] [ 0.20339857 0.0167746 0.97895231 -0.05566444] [ 0. 0. 0. 1. ]] SLAMing on 69.20650248099999 meters Centerline goodness : 0.694216 Centerline is valid? [False, False] Translation: X:0.71, Y:0.47, Z:-0.05 [[ 0.97638496 -0.07724189 -0.20175754 0.71317669] [ 0.07215744 0.99686535 -0.0324465 0.46950466] [ 0.20363133 0.01712197 0.97889791 -0.0548522 ] [ 0. 0. 0. 1. ]] SLAMing on 69.23650248099999 meters Centerline goodness : 0.693971 Centerline is valid? [False, False] Translation: X:0.75, Y:0.47, Z:-0.05 [[ 0.97646819 -0.07637488 -0.20168479 0.7452696 ] [ 0.07082684 0.99688857 -0.03459403 0.4730288 ] [ 0.20369938 0.01949527 0.97883936 -0.04602644] [ 0. 0. 0. 1. ]] SLAMing on 69.26650248099999 meters Centerline goodness : 0.692731 Centerline is valid? [False, False] Translation: X:0.75, Y:0.47, Z:-0.05 [[ 0.97636334 -0.07598955 -0.20233691 0.74669998] [ 0.0703891 0.9969144 -0.03474272 0.47337524] [ 0.20435266 0.01967921 0.9786995 -0.04545212] [ 0. 0. 0. 1. ]] SLAMing on 69.29650248099999 meters Centerline goodness : 0.691688 Centerline is valid? [False, False] Translation: X:0.75, Y:0.47, Z:-0.05 [[ 0.97620904 -0.07507189 -0.20342107 0.74950722] [ 0.06949351 0.99698778 -0.03443875 0.47285951] [ 0.2053937 0.01948297 0.97848548 -0.04523205] [ 0. 0. 0. 1. ]] SLAMing on 69.32650248099999 meters Centerline goodness : 0.691198 Centerline is valid? [False, False] Translation: X:0.76, Y:0.47, Z:-0.04 [[ 0.97598929 -0.06965505 -0.2063809 0.76189201] [ 0.06397155 0.99736918 -0.03409351 0.46919188] [ 0.20821273 0.0200724 0.97787758 -0.04284255] [ 0. 0. 0. 1. ]] SLAMing on 69.35650248099999 meters Centerline goodness : 0.689591 Centerline is valid? [False, False] Translation: X:0.76, Y:0.47, Z:-0.04 [[ 0.97590332 -0.06919628 -0.206941 0.76331052] [ 0.06356377 0.99740685 -0.03375236 0.46851358] [ 0.2087399 0.01978509 0.97777104 -0.04287656] [ 0. 0. 0. 1. ]] SLAMing on 69.386502481 meters Centerline goodness : 0.691344 Centerline is valid? [False, False] Translation: X:0.79, Y:0.47, Z:-0.03 [[ 0.9757428 -0.07142751 -0.20693983 0.7935449 ] [ 0.06507358 0.99718089 -0.03735904 0.47012863] [ 0.2090249 0.0229865 0.97764012 -0.03405639] [ 0. 0. 0. 1. ]] SLAMing on 69.416502481 meters Centerline goodness : 0.691756 Centerline is valid? [False, False] Translation: X:0.79, Y:0.47, Z:-0.03 [[ 0.97574613 -0.07128779 -0.20697233 0.79363127] [ 0.06492316 0.9971895 -0.03739107 0.46933169] [ 0.20905616 0.02304689 0.97763202 -0.03372448] [ 0. 0. 0. 1. ]] SLAMing on 69.446502481 meters Centerline goodness : 0.692212 Centerline is valid? [False, False] Translation: X:0.79, Y:0.47, Z:-0.03 [[ 0.97567106 -0.07082424 -0.2074847 0.79491254] [ 0.06446684 0.99722431 -0.03725198 0.46925941] [ 0.20954713 0.0229698 0.97752871 -0.03348359] [ 0. 0. 0. 1. ]] SLAMing on 69.476502481 meters Centerline goodness : 0.689962 Centerline is valid? [False, False] Translation: X:0.80, Y:0.47, Z:-0.03 [[ 0.97557808 -0.0703453 -0.20808401 0.79667687] [ 0.0640181 0.99726278 -0.03699511 0.46892942] [ 0.21011687 0.02277048 0.97741107 -0.03360126] [ 0. 0. 0. 1. ]] SLAMing on 69.506502481 meters Centerline goodness : 0.687625 Centerline is valid? [False, False] Translation: X:0.80, Y:0.47, Z:-0.03 [[ 0.97550413 -0.06999317 -0.20854892 0.79813406] [ 0.0636961 0.99729181 -0.03676742 0.46841708] [ 0.2105576 0.02258302 0.97732057 -0.0337789 ] [ 0. 0. 0. 1. ]] SLAMing on 69.53650248099999 meters Centerline goodness : 0.689187 Centerline is valid? [False, False] Translation: X:0.80, Y:0.47, Z:-0.03 [[ 0.9750373 -0.07359471 -0.20949005 0.80096237] [ 0.0664921 0.99695418 -0.04075744 0.46911323] [ 0.21185151 0.02581059 0.97696098 -0.03282237] [ 0. 0. 0. 1. ]] SLAMing on 69.56650248099999 meters Centerline goodness : 0.689931 Centerline is valid? [False, False] Translation: X:0.80, Y:0.47, Z:-0.03 [[ 0.97484777 -0.07288152 -0.21061842 0.80269868] [ 0.06557017 0.99698458 -0.04150071 0.46790789] [ 0.21300795 0.02664659 0.97668704 -0.03026652] [ 0. 0. 0. 1. ]] SLAMing on 69.59650248099999 meters Centerline goodness : 0.688990 Centerline is valid? [False, False] Translation: X:0.82, Y:0.47, Z:-0.03 [[ 0.9751949 -0.0766436 -0.20765517 0.81865716] [ 0.07023568 0.99680376 -0.03806864 0.46908743] [ 0.20990917 0.02253954 0.97746105 -0.02858706] [ 0. 0. 0. 1. ]] SLAMing on 69.62650248099999 meters Centerline goodness : 0.689894 Centerline is valid? [False, False] Translation: X:0.82, Y:0.47, Z:-0.03 [[ 0.9751696 -0.07643072 -0.20785234 0.81899564] [ 0.07007566 0.99682603 -0.03777911 0.46805015] [ 0.21008011 0.02227565 0.97743038 -0.02842085] [ 0. 0. 0. 1. ]] SLAMing on 69.65650248099999 meters Centerline goodness : 0.694094 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.03 [[ 0.97512104 -0.08000869 -0.20673066 0.83644756] [ 0.07459341 0.99663864 -0.03387087 0.46947917] [ 0.20874573 0.01760746 0.97781143 -0.02600483] [ 0. 0. 0. 1. ]] SLAMing on 69.68650248099999 meters Centerline goodness : 0.694128 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.03 [[ 0.97502416 -0.07983985 -0.2072522 0.83756315] [ 0.07445971 0.99665631 -0.03364444 0.46870583] [ 0.20924538 0.0173722 0.97770884 -0.02589157] [ 0. 0. 0. 1. ]] SLAMing on 69.71650248099999 meters Centerline goodness : 0.690917 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.02 [[ 0.97443905 -0.08394108 -0.20838052 0.83969058] [ 0.07776752 0.99626001 -0.03765913 0.47009365] [ 0.21076232 0.02049129 0.97732254 -0.02456485] [ 0. 0. 0. 1. ]] SLAMing on 69.746502481 meters Centerline goodness : 0.690261 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.02 [[ 0.97438047 -0.08369149 -0.20875447 0.84033546] [ 0.07755889 0.99628579 -0.03740649 0.46940465] [ 0.21110971 0.02025739 0.97725244 -0.02433987] [ 0. 0. 0. 1. ]] SLAMing on 69.776502481 meters Centerline goodness : 0.696565 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.02 [[ 0.97432312 -0.08357008 -0.20907057 0.84096384] [ 0.07745908 0.99629893 -0.03726307 0.46880766] [ 0.21141087 0.02011185 0.97719034 -0.02417608] [ 0. 0. 0. 1. ]] SLAMing on 69.806502481 meters Centerline goodness : 0.693630 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.03 [[ 0.97414122 -0.08359512 -0.20990652 0.84347143] [ 0.0775496 0.99630602 -0.03688337 0.46727637] [ 0.2122144 0.01965144 0.97702552 -0.0250431 ] [ 0. 0. 0. 1. ]] SLAMing on 69.836502481 meters Centerline goodness : 0.693630 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.03 [[ 0.97414116 -0.08362593 -0.2098945 0.84343079] [ 0.07757972 0.99630339 -0.03689093 0.46727398] [ 0.21220364 0.01965342 0.97702782 -0.02504845] [ 0. 0. 0. 1. ]] SLAMing on 69.866502481 meters Centerline goodness : 0.692163 Centerline is valid? [False, False] Translation: X:0.85, Y:0.47, Z:-0.03 [[ 0.97406863 -0.08312232 -0.21043046 0.84547403] [ 0.07719091 0.99635675 -0.03626016 0.46594439] [ 0.21267783 0.01907656 0.97693614 -0.0258944 ] [ 0. 0. 0. 1. ]] SLAMing on 69.89650248099998 meters Centerline goodness : 0.696847 Centerline is valid? [False, False] Translation: X:0.85, Y:0.47, Z:-0.03 [[ 0.97395282 -0.08305382 -0.2109928 0.84585815] [ 0.07709218 0.99636148 -0.03634004 0.46658455] [ 0.21324327 0.01912759 0.97681188 -0.02505201] [ 0. 0. 0. 1. ]] SLAMing on 69.92650248099999 meters Centerline goodness : 0.693776 Centerline is valid? [False, False] Translation: X:0.85, Y:0.47, Z:-0.02 [[ 0.97385552 -0.08309502 -0.21142526 0.84526694] [ 0.07705447 0.99635247 -0.03666544 0.46751237] [ 0.2137008 0.01941558 0.9767062 -0.02344595] [ 0. 0. 0. 1. ]] SLAMing on 69.95650248099999 meters Centerline goodness : 0.694301 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.02 [[ 0.97458817 -0.08553401 -0.20703099 0.85884829] [ 0.08052394 0.99622195 -0.03252256 0.46960386] [ 0.2090306 0.01502515 0.97779367 -0.02052825] [ 0. 0. 0. 1. ]] SLAMing on 69.98650248099999 meters Centerline goodness : 0.697365 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.02 [[ 0.97458268 -0.08569424 -0.20699055 0.85848843] [ 0.0806338 0.9962047 -0.03277784 0.46944842] [ 0.20901384 0.01525428 0.9777937 -0.02004357] [ 0. 0. 0. 1. ]] SLAMing on 70.01650248099999 meters Centerline goodness : 0.695603 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.02 [[ 0.97457769 -0.0857564 -0.20698832 0.85847894] [ 0.08067743 0.99619809 -0.0328711 0.46924183] [ 0.20902027 0.01533616 0.97779104 -0.01991725] [ 0. 0. 0. 1. ]] SLAMing on 70.04650248099999 meters Centerline goodness : 0.694891 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.02 [[ 0.97438089 -0.08539474 -0.20806155 0.86039636] [ 0.0803132 0.996231 -0.03276551 0.47011965] [ 0.21007537 0.01521599 0.97756678 -0.0194498 ] [ 0. 0. 0. 1. ]] SLAMing on 70.07650248099999 meters Centerline goodness : 0.693346 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.02 [[ 0.97424314 -0.08473417 -0.20897471 0.86283952] [ 0.07974566 0.99629509 -0.03219805 0.47003203] [ 0.21092875 0.01470391 0.97739084 -0.01982858] [ 0. 0. 0. 1. ]] SLAMing on 70.10650248099999 meters Centerline goodness : 0.693790 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97365004 -0.08780721 -0.21046497 0.86713447] [ 0.08225253 0.99599605 -0.03501984 0.47168938] [ 0.21269727 0.01678579 0.97697395 -0.02010935] [ 0. 0. 0. 1. ]] SLAMing on 70.136502481 meters Centerline goodness : 0.692815 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97362975 -0.08761992 -0.21063681 0.86803091] [ 0.08207888 0.99601375 -0.03492364 0.47109269] [ 0.21285716 0.01671387 0.97694036 -0.02036079] [ 0. 0. 0. 1. ]] SLAMing on 70.166502481 meters Centerline goodness : 0.691671 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97357912 -0.08759819 -0.21087972 0.8684182 ] [ 0.08198512 0.99601061 -0.03523209 0.47204735] [ 0.21312471 0.01701223 0.97687688 -0.01986536] [ 0. 0. 0. 1. ]] SLAMing on 70.196502481 meters Centerline goodness : 0.689884 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97347086 -0.08728792 -0.21150723 0.8690718 ] [ 0.08164952 0.99603705 -0.03526394 0.47285697] [ 0.21374715 0.01705895 0.97674006 -0.01900545] [ 0. 0. 0. 1. ]] SLAMing on 70.226502481 meters Centerline goodness : 0.690155 Centerline is valid? [False, False] Translation: X:0.87, Y:0.48, Z:-0.02 [[ 0.9733375 -0.08704154 -0.21222128 0.8686451 ] [ 0.08128716 0.99605088 -0.03570783 0.47522293] [ 0.21449126 0.0175049 0.97656903 -0.01682018] [ 0. 0. 0. 1. ]] SLAMing on 70.256502481 meters Centerline goodness : 0.691026 Centerline is valid? [False, False] Translation: X:0.87, Y:0.48, Z:-0.02 [[ 0.9732863 -0.08714087 -0.21241525 0.86835718] [ 0.08131832 0.99603737 -0.03601229 0.47558487] [ 0.21471167 0.01777702 0.97651568 -0.01596041] [ 0. 0. 0. 1. ]] SLAMing on 70.28650248099999 meters Centerline goodness : 0.691748 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97338458 -0.0873924 -0.21186089 0.86793647] [ 0.08154517 0.99601207 -0.03619862 0.47486178] [ 0.21417949 0.01795894 0.97662922 -0.01649178] [ 0. 0. 0. 1. ]] SLAMing on 70.31650248099999 meters Centerline goodness : 0.695022 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.9733755 -0.08723847 -0.21196601 0.8686337 ] [ 0.08141433 0.99602751 -0.03606805 0.47460603] [ 0.2142705 0.01785068 0.97661124 -0.01684461] [ 0. 0. 0. 1. ]] SLAMing on 70.34650248099999 meters Centerline goodness : 0.692563 Centerline is valid? [False, False] Translation: X:0.87, Y:0.48, Z:-0.02 [[ 0.97322162 -0.08643495 -0.21299924 0.87140981] [ 0.0807032 0.99610665 -0.03547582 0.47511612] [ 0.21523631 0.01733612 0.97640811 -0.01733408] [ 0. 0. 0. 1. ]] SLAMing on 70.37650248099999 meters Centerline goodness : 0.691589 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97314373 -0.08568648 -0.2136565 0.87380475] [ 0.08006008 0.9961801 -0.03486531 0.47498713] [ 0.21582784 0.0168236 0.97628649 -0.01814445] [ 0. 0. 0. 1. ]] SLAMing on 70.40650248099999 meters Centerline goodness : 0.693401 Centerline is valid? [False, False] Translation: X:0.88, Y:0.47, Z:-0.02 [[ 0.97310875 -0.08462642 -0.21423755 0.87704396] [ 0.07916192 0.99628264 -0.03397482 0.47467958] [ 0.21631632 0.01610174 0.97619055 -0.01987539] [ 0. 0. 0. 1. ]] SLAMing on 70.43650248099999 meters Centerline goodness : 0.690215 Centerline is valid? [False, False] Translation: X:0.88, Y:0.47, Z:-0.02 [[ 0.97310556 -0.08441568 -0.21433516 0.8774011 ] [ 0.07894507 0.99629994 -0.03397225 0.47489387] [ 0.2164099 0.01613788 0.97616921 -0.01983236] [ 0. 0. 0. 1. ]] SLAMing on 70.46650248099999 meters Centerline goodness : 0.692455 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.02 [[ 0.97307781 -0.08427015 -0.21451834 0.87709112] [ 0.07874702 0.99630853 -0.03417935 0.47551478] [ 0.21660675 0.01636648 0.97612174 -0.01893996] [ 0. 0. 0. 1. ]] SLAMing on 70.496502481 meters Centerline goodness : 0.693146 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.02 [[ 0.97293964 -0.08257203 -0.21580158 0.8792151 ] [ 0.07675972 0.99642835 -0.03519222 0.47691822] [ 0.21793671 0.01767504 0.97580284 -0.01506663] [ 0. 0. 0. 1. ]] SLAMing on 70.526502481 meters Centerline goodness : 0.689844 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.01 [[ 0.97291594 -0.0822272 -0.21603994 0.87981247] [ 0.07643689 0.99645864 -0.0350367 0.47687918] [ 0.21815583 0.01757434 0.97575569 -0.01499662] [ 0. 0. 0. 1. ]] SLAMing on 70.556502481 meters Centerline goodness : 0.691163 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.01 [[ 0.97288411 -0.08183946 -0.21633033 0.88084379] [ 0.07604397 0.99649021 -0.03499395 0.47672248] [ 0.21843494 0.01759444 0.97569289 -0.01498483] [ 0. 0. 0. 1. ]] SLAMing on 70.586502481 meters Centerline goodness : 0.692360 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.01 [[ 0.97283579 -0.08154952 -0.21665687 0.88157563] [ 0.07576575 0.99651528 -0.03488329 0.47656272] [ 0.2187466 0.01752054 0.97562439 -0.01481535] [ 0. 0. 0. 1. ]] SLAMing on 70.616502481 meters Centerline goodness : 0.689101 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.01 [[ 0.9727739 -0.08111492 -0.21709747 0.88260042] [ 0.0753588 0.99655334 -0.03467694 0.47671564] [ 0.21916203 0.01737262 0.9755338 -0.01475008] [ 0. 0. 0. 1. ]] SLAMing on 70.64650248099998 meters Centerline goodness : 0.693566 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.01 [[ 0.97268649 -0.08062346 -0.21767142 0.88443253] [ 0.07490758 0.99659702 -0.03439825 0.47516367] [ 0.21970399 0.01715347 0.97541577 -0.01471711] [ 0. 0. 0. 1. ]] SLAMing on 70.67650248099999 meters Centerline goodness : 0.691688 Centerline is valid? [False, False] Translation: X:0.89, Y:0.48, Z:-0.01 [[ 0.97213857 -0.08405518 -0.21881802 0.88785729] [ 0.07757973 0.9962604 -0.03803433 0.47533798] [ 0.22119671 0.0199988 0.97502414 -0.01396768] [ 0. 0. 0. 1. ]] SLAMing on 70.70650248099999 meters Centerline goodness : 0.689615 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97207435 -0.08354155 -0.21929949 0.88926501] [ 0.077176 0.99631388 -0.03745016 0.47431269] [ 0.22161977 0.01947968 0.97493857 -0.01435922] [ 0. 0. 0. 1. ]] SLAMing on 70.73650248099999 meters Centerline goodness : 0.687442 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97196974 -0.08305768 -0.21994599 0.88980545] [ 0.07674676 0.99636016 -0.0370993 0.47356045] [ 0.2222268 0.01917925 0.97480634 -0.01337513] [ 0. 0. 0. 1. ]] SLAMing on 70.76650248099999 meters Centerline goodness : 0.689529 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97194849 -0.08288441 -0.22010522 0.88960409] [ 0.07655109 0.99637279 -0.03716432 0.47294826] [ 0.2223872 0.01927251 0.97476792 -0.01236921] [ 0. 0. 0. 1. ]] SLAMing on 70.79650248099999 meters Centerline goodness : 0.688501 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97193332 -0.08291413 -0.22016101 0.88962615] [ 0.0765544 0.99636828 -0.03727835 0.47211047] [ 0.22245235 0.01937778 0.97475097 -0.01195792] [ 0. 0. 0. 1. ]] SLAMing on 70.82650248099999 meters Centerline goodness : 0.688683 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97152712 -0.08725929 -0.22027456 0.89104255] [ 0.08006863 0.99593001 -0.04138154 0.47184833] [ 0.22298897 0.0225662 0.97455974 -0.01170243] [ 0. 0. 0. 1. ]] SLAMing on 70.85650248099999 meters Centerline goodness : 0.687007 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97149751 -0.08667393 -0.22063594 0.89285252] [ 0.07965091 0.99599778 -0.04054818 0.46987772] [ 0.22326737 0.0218186 0.97451302 -0.01272717] [ 0. 0. 0. 1. ]] SLAMing on 70.886502481 meters Centerline goodness : 0.687319 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97136887 -0.08613214 -0.22141314 0.89395303] [ 0.07915917 0.99605137 -0.04019312 0.46938395] [ 0.22400079 0.02151547 0.97435144 -0.0120127 ] [ 0. 0. 0. 1. ]] SLAMing on 70.916502481 meters Centerline goodness : 0.686306 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97129797 -0.08575711 -0.22186926 0.89442391] [ 0.07881869 0.99608788 -0.03995679 0.46896731] [ 0.22442786 0.0213225 0.9742574 -0.01132228] [ 0. 0. 0. 1. ]] SLAMing on 70.946502481 meters Centerline goodness : 0.687814 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97135974 -0.0858398 -0.22156667 0.89355733] [ 0.07885439 0.99607528 -0.04019974 0.46840005] [ 0.22414782 0.02157691 0.97431627 -0.01066263] [ 0. 0. 0. 1. ]] SLAMing on 70.976502481 meters Centerline goodness : 0.688630 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.9713638 -0.0853526 -0.22173701 0.89470922] [ 0.07845074 0.99612456 -0.03976607 0.46760983] [ 0.22427182 0.02123189 0.97429531 -0.01129026] [ 0. 0. 0. 1. ]] SLAMing on 71.006502481 meters Centerline goodness : 0.689391 Centerline is valid? [False, False] Translation: X:0.91, Y:0.47, Z:-0.01 [[ 0.9709939 -0.08223512 -0.22451778 0.90911385] [ 0.07450201 0.99630561 -0.04271516 0.46538967] [ 0.22720101 0.02474913 0.97353335 -0.00775789] [ 0. 0. 0. 1. ]] SLAMing on 71.03650248099999 meters Centerline goodness : 0.687689 Centerline is valid? [False, False] Translation: X:0.91, Y:0.47, Z:-0.01 [[ 0.97113109 -0.08175034 -0.22410105 0.90929217] [ 0.07398251 0.99633823 -0.04285691 0.46545436] [ 0.22678401 0.02504012 0.97362313 -0.00887242] [ 0. 0. 0. 1. ]] SLAMing on 71.06650248099999 meters Centerline goodness : 0.683263 Centerline is valid? [False, False] Translation: X:0.91, Y:0.47, Z:-0.01 [[ 0.97108409 -0.08055889 -0.22473529 0.91041679] [ 0.0726465 0.99641864 -0.04327101 0.4655008 ] [ 0.22741629 0.02569356 0.97345861 -0.0072745 ] [ 0. 0. 0. 1. ]] SLAMing on 71.09650248099999 meters Centerline goodness : 0.687687 Centerline is valid? [False, False] Translation: X:0.91, Y:0.47, Z:-0.01 [[ 0.97119035 -0.07959877 -0.22461821 0.91001141] [ 0.0716491 0.99648798 -0.04333711 0.46588985] [ 0.22727893 0.02599489 0.97348269 -0.00729348] [ 0. 0. 0. 1. ]] SLAMing on 71.12650248099999 meters Centerline goodness : 0.680943 Centerline is valid? [False, False] Translation: X:0.91, Y:0.47, Z:-0.01 [[ 0.97160958 -0.07817897 -0.22329995 0.90811681] [ 0.07014769 0.99657951 -0.04368736 0.4650896 ] [ 0.22595159 0.02678308 0.97377027 -0.00844617] [ 0. 0. 0. 1. ]] SLAMing on 71.15650248099999 meters Centerline goodness : 0.683003 Centerline is valid? [False, False] Translation: X:0.90, Y:0.46, Z:-0.01 [[ 0.97292509 -0.07441698 -0.21881242 0.90362759] [ 0.06619879 0.99680636 -0.04466317 0.46101449] [ 0.22143731 0.0289688 0.97474424 -0.01208585] [ 0. 0. 0. 1. ]] SLAMing on 71.18650248099999 meters Centerline goodness : 0.681838 Centerline is valid? [False, False] Translation: X:0.90, Y:0.46, Z:-0.01 [[ 0.97328656 -0.06972809 -0.21874934 0.90368996] [ 0.0626279 0.99726546 -0.03923448 0.45805149] [ 0.22088691 0.02448658 0.97499199 -0.01279535] [ 0. 0. 0. 1. ]] SLAMing on 71.21650248099999 meters Centerline goodness : 0.679961 Centerline is valid? [False, False] Translation: X:0.90, Y:0.46, Z:-0.01 [[ 0.97350433 -0.06517667 -0.21918331 0.90417686] [ 0.05907993 0.99766507 -0.03426317 0.45673038] [ 0.22090469 0.02040601 0.9750819 -0.01282219] [ 0. 0. 0. 1. ]] SLAMing on 71.246502481 meters Centerline goodness : 0.681319 Centerline is valid? [False, False] Translation: X:0.90, Y:0.45, Z:-0.01 [[ 0.97364411 -0.06477361 -0.21868132 0.9041836 ] [ 0.05885281 0.99770481 -0.03348822 0.45427512] [ 0.22034856 0.0197356 0.97522152 -0.0138818 ] [ 0. 0. 0. 1. ]] SLAMing on 71.276502481 meters Centerline goodness : 0.682891 Centerline is valid? [False, False] Translation: X:0.90, Y:0.45, Z:-0.01 [[ 0.97368068 -0.06474655 -0.21852646 0.90449451] [ 0.05898092 0.99771971 -0.03281218 0.45189351] [ 0.22015263 0.0190597 0.97527922 -0.01445529] [ 0. 0. 0. 1. ]] SLAMing on 71.306502481 meters Centerline goodness : 0.681502 Centerline is valid? [False, False] Translation: X:0.91, Y:0.45, Z:-0.02 [[ 0.9736684 -0.06466375 -0.21860568 0.90557877] [ 0.05908206 0.9977407 -0.03198143 0.44985477] [ 0.22017982 0.01822363 0.97528906 -0.01528352] [ 0. 0. 0. 1. ]] SLAMing on 71.336502481 meters Centerline goodness : 0.679408 Centerline is valid? [False, False] Translation: X:0.91, Y:0.45, Z:-0.02 [[ 0.97366364 -0.06428627 -0.21873817 0.90574485] [ 0.05896852 0.99778581 -0.03076017 0.44847814] [ 0.2202313 0.01705139 0.97529863 -0.01512673] [ 0. 0. 0. 1. ]] SLAMing on 71.366502481 meters Centerline goodness : 0.676001 Centerline is valid? [False, False] Translation: X:0.90, Y:0.45, Z:-0.01 [[ 0.97358676 -0.0635122 -0.21930578 0.90481862] [ 0.05864828 0.99786822 -0.02862495 0.44691617] [ 0.2206563 0.01500697 0.97523617 -0.01292665] [ 0. 0. 0. 1. ]] SLAMing on 71.39650248099998 meters Centerline goodness : 0.674246 Centerline is valid? [False, False] Translation: X:0.90, Y:0.45, Z:-0.01 [[ 0.97359733 -0.06334918 -0.21930602 0.90486246] [ 0.05864849 0.99788915 -0.02788544 0.44523194] [ 0.22060962 0.01428722 0.97525754 -0.01289831] [ 0. 0. 0. 1. ]] SLAMing on 71.42650248099999 meters Centerline goodness : 0.678672 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97349931 -0.06347961 -0.21970306 0.90595248] [ 0.05894889 0.99789245 -0.0271235 0.44303586] [ 0.22096181 0.01345346 0.97518966 -0.01302021] [ 0. 0. 0. 1. ]] SLAMing on 71.45650248099999 meters Centerline goodness : 0.678581 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97343021 -0.06736691 -0.21884999 0.90582063] [ 0.06205126 0.99758892 -0.03108027 0.44217325] [ 0.22041611 0.01667455 0.9752634 -0.01426238] [ 0. 0. 0. 1. ]] SLAMing on 71.48650248099999 meters Centerline goodness : 0.680282 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97338731 -0.06719147 -0.21909461 0.90638855] [ 0.06203411 0.9976127 -0.03034239 0.44118998] [ 0.22061032 0.01594356 0.97523171 -0.01417138] [ 0. 0. 0. 1. ]] SLAMing on 71.51650248099999 meters Centerline goodness : 0.680370 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97336856 -0.06707744 -0.21921283 0.90695992] [ 0.06213101 0.99763522 -0.02938897 0.43970845] [ 0.22066577 0.01498638 0.97523434 -0.01437594] [ 0. 0. 0. 1. ]] SLAMing on 71.54650248099999 meters Centerline goodness : 0.682577 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97345074 -0.06664548 -0.21897953 0.90704097] [ 0.06183488 0.99767204 -0.02875667 0.43818341] [ 0.22038625 0.01445263 0.9753056 -0.01494416] [ 0. 0. 0. 1. ]] SLAMing on 71.57650248099999 meters Centerline goodness : 0.682890 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97366891 -0.06562705 -0.21831614 0.9052628 ] [ 0.0610323 0.99775049 -0.02773121 0.4366212 ] [ 0.21964495 0.01367668 0.97548401 -0.01459992] [ 0. 0. 0. 1. ]] SLAMing on 71.60650248099999 meters Centerline goodness : 0.686834 Centerline is valid? [False, False] Translation: X:0.90, Y:0.43, Z:-0.01 [[ 0.97394997 -0.06116287 -0.21835879 0.904184 ] [ 0.05765696 0.99808517 -0.02239779 0.43404874] [ 0.21931058 0.00922442 0.97561149 -0.0137386 ] [ 0. 0. 0. 1. ]] SLAMing on 71.636502481 meters Centerline goodness : 0.681806 Centerline is valid? [False, False] Translation: X:0.90, Y:0.43, Z:-0.01 [[ 0.97409496 -0.06080112 -0.21781238 0.90282295] [ 0.05724495 0.9981042 -0.02260585 0.43454802] [ 0.21877391 0.00955159 0.97572883 -0.01357617] [ 0. 0. 0. 1. ]] SLAMing on 71.666502481 meters Centerline goodness : 0.682131 Centerline is valid? [False, False] Translation: X:0.90, Y:0.43, Z:-0.02 [[ 0.97416204 -0.06064475 -0.21755582 0.90387975] [ 0.05700376 0.99810948 -0.02297891 0.43357232] [ 0.21853808 0.00998368 0.97577735 -0.01518094] [ 0. 0. 0. 1. ]] SLAMing on 71.696502481 meters Centerline goodness : 0.682787 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.02 [[ 0.9740487 -0.06419628 -0.21704371 0.90519529] [ 0.05944447 0.99782871 -0.02835872 0.43514341] [ 0.21839297 0.01472072 0.97574987 -0.01739796] [ 0. 0. 0. 1. ]] SLAMing on 71.726502481 meters Centerline goodness : 0.682787 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.02 [[ 0.9740487 -0.06419628 -0.21704371 0.90519529] [ 0.05944447 0.99782871 -0.02835872 0.43514341] [ 0.21839297 0.01472072 0.97574987 -0.01739796] [ 0. 0. 0. 1. ]] SLAMing on 71.756502481 meters Centerline goodness : 0.683509 Centerline is valid? [False, False] Translation: X:0.91, Y:0.43, Z:-0.02 [[ 0.97408559 -0.06388052 -0.21697128 0.90543283] [ 0.0591859 0.99785214 -0.02807368 0.43482042] [ 0.21829861 0.01450453 0.97577422 -0.01774128] [ 0. 0. 0. 1. ]] SLAMing on 71.78650248099999 meters Centerline goodness : 0.684167 Centerline is valid? [False, False] Translation: X:0.91, Y:0.43, Z:-0.02 [[ 0.97398566 -0.0632679 -0.21759849 0.90567771] [ 0.05874113 0.99790218 -0.02721598 0.43462655] [ 0.21886391 0.01372599 0.97565885 -0.01668837] [ 0. 0. 0. 1. ]] SLAMing on 71.81650248099999 meters Centerline goodness : 0.681360 Centerline is valid? [False, False] Translation: X:0.91, Y:0.43, Z:-0.02 [[ 0.97404852 -0.06306469 -0.217376 0.90517328] [ 0.05864988 0.99792127 -0.02670842 0.43413562] [ 0.2186085 0.01326622 0.97572247 -0.01661096] [ 0. 0. 0. 1. ]] SLAMing on 71.84650248099999 meters Centerline goodness : 0.684503 Centerline is valid? [False, False] Translation: X:0.91, Y:0.43, Z:-0.02 [[ 0.97402602 -0.0631517 -0.21745156 0.90504558] [ 0.05887342 0.9979241 -0.026104 0.43317588] [ 0.21864866 0.01262386 0.97572199 -0.01621474] [ 0. 0. 0. 1. ]] SLAMing on 71.87650248099999 meters Centerline goodness : 0.683196 Centerline is valid? [False, False] Translation: X:0.90, Y:0.43, Z:-0.02 [[ 0.97401179 -0.06370409 -0.21735416 0.90443158] [ 0.05978139 0.99790876 -0.02458238 0.42962593] [ 0.21846562 0.01094979 0.97578321 -0.01549727] [ 0. 0. 0. 1. ]] SLAMing on 71.90650248099999 meters Centerline goodness : 0.687686 Centerline is valid? [False, False] Translation: X:0.90, Y:0.43, Z:-0.02 [[ 0.97400191 -0.0639217 -0.21733451 0.90431012] [ 0.06020315 0.99790486 -0.02369526 0.42775161] [ 0.21839381 0.00999501 0.97580953 -0.01522279] [ 0. 0. 0. 1. ]] SLAMing on 71.93650248099999 meters Centerline goodness : 0.685472 Centerline is valid? [False, False] Translation: X:0.90, Y:0.42, Z:-0.01 [[ 0.97389452 -0.06457041 -0.21762383 0.90428226] [ 0.06121127 0.99787905 -0.02214894 0.42491197] [ 0.21859243 0.0082497 0.97578138 -0.01419781] [ 0. 0. 0. 1. ]] SLAMing on 71.96650248099999 meters Centerline goodness : 0.683684 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 0.97377743 -0.06534503 -0.21791638 0.90503821] [ 0.0622892 0.9978399 -0.02087068 0.42309161] [ 0.21880946 0.00674956 0.97574426 -0.01396155] [ 0. 0. 0. 1. ]] SLAMing on 71.996502481 meters Centerline goodness : 0.684516 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 0.97364081 -0.06581517 -0.21838482 0.90612622] [ 0.06288754 0.99781338 -0.02033741 0.42199067] [ 0.2192458 0.00606764 0.97565079 -0.01384069] [ 0. 0. 0. 1. ]] SLAMing on 72.026502481 meters Centerline goodness : 0.683880 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 0.9735943 -0.06605998 -0.21851822 0.90686152] [ 0.06330441 0.99780187 -0.01959544 0.42034411] [ 0.21933237 0.00524484 0.9756361 -0.01406782] [ 0. 0. 0. 1. ]] SLAMing on 72.056502481 meters Centerline goodness : 0.683549 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 0.97350104 -0.06667793 -0.21874595 0.90796786] [ 0.06424386 0.99776772 -0.01822947 0.4178199 ] [ 0.21947315 0.00369332 0.97561155 -0.01432265] [ 0. 0. 0. 1. ]] SLAMing on 72.086502481 meters Centerline goodness : 0.684007 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 0.97347015 -0.06678597 -0.2188504 0.90722649] [ 0.06468224 0.99776496 -0.01677159 0.41632665] [ 0.21948137 0.0021709 0.97561428 -0.01304568] [ 0. 0. 0. 1. ]] SLAMing on 72.116502481 meters Centerline goodness : 0.686523 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 9.73353004e-01 -6.63603829e-02 -2.19499951e-01 9.07766020e-01] [ 6.45616546e-02 9.97795411e-01 -1.53658582e-02 4.15203928e-01] [ 2.20035728e-01 7.85124229e-04 9.75491498e-01 -1.20372091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14650248099998 meters Centerline goodness : 0.685973 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 9.73319660e-01 -6.71845248e-02 -2.19397079e-01 9.07201809e-01] [ 6.56365398e-02 9.97740471e-01 -1.43456095e-02 4.13558387e-01] [ 2.19865148e-01 -4.37601299e-04 9.75530177e-01 -1.12944965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17650248099999 meters Centerline goodness : 0.686861 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 0.97332142 -0.06759944 -0.21926177 0.90715192] [ 0.06619209 0.99771192 -0.01376708 0.41208136] [ 0.21969072 -0.0011136 0.97556893 -0.01131691] [ 0. 0. 0. 1. ]] SLAMing on 72.20650248099999 meters Centerline goodness : 0.689240 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 0.97325396 -0.06790843 -0.21946565 0.90777394] [ 0.06668984 0.99768952 -0.01296503 0.41054112] [ 0.21983901 -0.00201786 0.97553408 -0.01122211] [ 0. 0. 0. 1. ]] SLAMing on 72.23650248099999 meters Centerline goodness : 0.689274 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 9.72901425e-01 -7.30644537e-02 -2.19372747e-01 9.08817657e-01] [ 7.11480253e-02 9.97327055e-01 -1.66344325e-02 4.10090436e-01] [ 2.20001761e-01 5.75725376e-04 9.75499305e-01 -1.16960393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26650248099999 meters Centerline goodness : 0.687953 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 9.72779872e-01 -7.35991280e-02 -2.19732769e-01 9.10169150e-01] [ 7.19198336e-02 9.97287734e-01 -1.56432793e-02 4.08446316e-01] [ 2.20288127e-01 -5.85676931e-04 9.75434671e-01 -1.18863979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29650248099999 meters Centerline goodness : 0.688436 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 0.97221371 -0.07659088 -0.22121107 0.91362813] [ 0.07436058 0.99706156 -0.01840526 0.40662055] [ 0.22197073 0.00144446 0.97505226 -0.01099406] [ 0. 0. 0. 1. ]] SLAMing on 72.32650248099999 meters Centerline goodness : 0.688453 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 9.72067199e-01 -7.69642250e-02 -2.21724761e-01 9.14662657e-01] [ 7.49082787e-02 9.97033688e-01 -1.76797778e-02 4.06346691e-01] [ 2.22427766e-01 5.76911865e-04 9.74949002e-01 -1.06599975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35650248099999 meters Centerline goodness : 0.689677 Centerline is valid? [False, False] Translation: X:0.91, Y:0.40, Z:-0.01 [[ 9.72030916e-01 -7.67478388e-02 -2.21958706e-01 9.14627796e-01] [ 7.48045232e-02 9.97050532e-01 -1.71615900e-02 4.04628177e-01] [ 2.22621160e-01 7.80808901e-05 9.74905028e-01 -1.01334091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.386502481 meters Centerline goodness : 0.693888 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 0.97166002 -0.08042892 -0.22227911 0.91496693] [ 0.07776086 0.99675621 -0.02074376 0.40531285] [ 0.22322648 0.00287127 0.97476238 -0.00886355] [ 0. 0. 0. 1. ]] SLAMing on 72.416502481 meters Centerline goodness : 0.693704 Centerline is valid? [False, False] Translation: X:0.92, Y:0.41, Z:-0.01 [[ 0.97102964 -0.08413788 -0.22365658 0.91698019] [ 0.08057232 0.99643426 -0.0250373 0.40567815] [ 0.22496566 0.00629144 0.97434638 -0.00595877] [ 0. 0. 0. 1. ]] SLAMing on 72.446502481 meters Centerline goodness : 0.692909 Centerline is valid? [False, False] Translation: X:0.95, Y:0.41, Z:0.00 [[ 0.97136158 -0.08585769 -0.22155165 0.94751337] [ 0.08199183 0.99627783 -0.02660511 0.4054896 ] [ 0.22301125 0.00767776 0.97478563 0.00178536] [ 0. 0. 0. 1. ]] SLAMing on 72.476502481 meters Centerline goodness : 0.695936 Centerline is valid? [False, False] Translation: X:0.96, Y:0.40, Z:0.01 [[ 0.97092831 -0.08378785 -0.22422716 0.95961601] [ 0.07892573 0.99641148 -0.0305759 0.40421809] [ 0.2259844 0.01198971 0.97405713 0.0073214 ] [ 0. 0. 0. 1. ]] SLAMing on 72.506502481 meters Centerline goodness : 0.694436 Centerline is valid? [False, False] Translation: X:0.96, Y:0.40, Z:0.01 [[ 0.97086002 -0.08366445 -0.22456866 0.96075686] [ 0.0788197 0.99642316 -0.03046865 0.40382104] [ 0.22631456 0.01188036 0.97398182 0.00712262] [ 0. 0. 0. 1. ]] SLAMing on 72.53650248099999 meters Centerline goodness : 0.699034 Centerline is valid? [False, False] Translation: X:1.01, Y:0.40, Z:0.02 [[ 0.97056866 -0.07932851 -0.22738394 1.00888997] [ 0.07367544 0.99672764 -0.03325582 0.40289959] [ 0.22927799 0.01552445 0.97323717 0.01766069] [ 0. 0. 0. 1. ]] SLAMing on 72.56650248099999 meters Centerline goodness : 0.697560 Centerline is valid? [False, False] Translation: X:1.04, Y:0.40, Z:0.03 [[ 0.97016499 -0.0775451 -0.22970994 1.04377605] [ 0.07140104 0.99683511 -0.03495229 0.40336154] [ 0.23169332 0.01750796 0.97263132 0.02789464] [ 0. 0. 0. 1. ]] SLAMing on 72.59650248099999 meters Centerline goodness : 0.699410 Centerline is valid? [False, False] Translation: X:1.05, Y:0.40, Z:0.03 [[ 0.96971763 -0.07527687 -0.23233837 1.04756482] [ 0.06891232 0.9969944 -0.03540148 0.40395066] [ 0.23430497 0.01831847 0.97199054 0.03260344] [ 0. 0. 0. 1. ]] SLAMing on 72.62650248099999 meters Centerline goodness : 0.698266 Centerline is valid? [False, False] Translation: X:1.10, Y:0.40, Z:0.04 [[ 0.96992369 -0.06721132 -0.23394587 1.09709607] [ 0.06078603 0.99755177 -0.03457625 0.40009972] [ 0.23569704 0.01931568 0.97163461 0.0432186 ] [ 0. 0. 0. 1. ]] SLAMing on 72.65650248099999 meters Centerline goodness : 0.700665 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:0.05 [[ 0.97041885 -0.06353704 -0.23291694 1.12185964] [ 0.0552118 0.99758683 -0.04209715 0.39788512] [ 0.2350296 0.0279921 0.97158506 0.05048804] [ 0. 0. 0. 1. ]] SLAMing on 72.68650248099999 meters Centerline goodness : 0.701430 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:0.05 [[ 0.97045881 -0.06348079 -0.23276575 1.12235984] [ 0.05517637 0.99759192 -0.04202306 0.39747079] [ 0.23487288 0.02793848 0.9716245 0.04972023] [ 0. 0. 0. 1. ]] SLAMing on 72.71650248099999 meters Centerline goodness : 0.701408 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:0.05 [[ 0.97043986 -0.06344586 -0.23285426 1.12302925] [ 0.05510467 0.99759009 -0.04216026 0.39778117] [ 0.234968 0.02808264 0.97159735 0.0491833 ] [ 0. 0. 0. 1. ]] SLAMing on 72.746502481 meters Centerline goodness : 0.701038 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:0.05 [[ 0.97050955 -0.05938773 -0.23363287 1.12550876] [ 0.05194442 0.99793093 -0.03788977 0.39794734] [ 0.23539965 0.02463646 0.97158636 0.04821598] [ 0. 0. 0. 1. ]] SLAMing on 72.776502481 meters Centerline goodness : 0.700600 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:0.05 [[ 0.97083096 -0.05501929 -0.23336694 1.12534875] [ 0.04852499 0.99826057 -0.03348385 0.39715125] [ 0.23480327 0.02118303 0.97181207 0.04750497] [ 0. 0. 0. 1. ]] SLAMing on 72.806502481 meters Centerline goodness : 0.705613 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:0.05 [[ 0.97099565 -0.05457126 -0.23278623 1.12392936] [ 0.04809827 0.99828412 -0.03339724 0.396599 ] [ 0.23420932 0.02123196 0.97195432 0.04756637] [ 0. 0. 0. 1. ]] SLAMing on 72.836502481 meters Centerline goodness : 0.703482 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:0.05 [[ 0.97117286 -0.05397285 -0.23218572 1.1226434 ] [ 0.04759301 0.99832167 -0.03299609 0.3952282 ] [ 0.23357693 0.02099449 0.97211164 0.04747228] [ 0. 0. 0. 1. ]] SLAMing on 72.866502481 meters Centerline goodness : 0.704913 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.05 [[ 0.97129359 -0.05363795 -0.2317579 1.12196138] [ 0.04736603 0.99834722 -0.03254682 0.39346304] [ 0.2331206 0.02063507 0.97222887 0.04724309] [ 0. 0. 0. 1. ]] SLAMing on 72.89650248099998 meters Centerline goodness : 0.702891 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.05 [[ 0.97123638 -0.05375175 -0.23197123 1.12263455] [ 0.04749881 0.99834368 -0.03246157 0.39391903] [ 0.23333188 0.0205095 0.97218084 0.04708062] [ 0. 0. 0. 1. ]] SLAMing on 72.92650248099999 meters Centerline goodness : 0.704997 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.05 [[ 0.97117443 -0.05045355 -0.23296923 1.12574452] [ 0.04511206 0.99858374 -0.02820296 0.39384645] [ 0.23406222 0.01688027 0.97207507 0.0460736 ] [ 0. 0. 0. 1. ]] SLAMing on 72.95650248099999 meters Centerline goodness : 0.704052 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.05 [[ 0.97114969 -0.05057292 -0.23304648 1.12691741] [ 0.04519341 0.99857536 -0.02836902 0.3938367 ] [ 0.23414918 0.0170184 0.97205171 0.04515641] [ 0. 0. 0. 1. ]] SLAMing on 72.98650248099999 meters Centerline goodness : 0.705719 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97118504 -0.05430039 -0.23205838 1.12601063] [ 0.04794024 0.99830612 -0.03296395 0.39359366] [ 0.23345526 0.02088916 0.97214314 0.04404593] [ 0. 0. 0. 1. ]] SLAMing on 73.01650248099999 meters Centerline goodness : 0.705376 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97129072 -0.05376275 -0.23174101 1.12551931] [ 0.0475324 0.99834443 -0.03238943 0.39225553] [ 0.23309869 0.02044435 0.97223815 0.04386728] [ 0. 0. 0. 1. ]] SLAMing on 73.04650248099999 meters Centerline goodness : 0.705390 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.04 [[ 0.971498 -0.04930029 -0.23186445 1.12465622] [ 0.04428895 0.99865996 -0.02677251 0.39039329] [ 0.23287364 0.01574041 0.97237961 0.04487825] [ 0. 0. 0. 1. ]] SLAMing on 73.07650248099999 meters Centerline goodness : 0.707830 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.05 [[ 0.97156619 -0.04903082 -0.23163575 1.12382069] [ 0.04395136 0.99866762 -0.02704175 0.39162568] [ 0.23265301 0.01609214 0.97242667 0.04515703] [ 0. 0. 0. 1. ]] SLAMing on 73.10650248099999 meters Centerline goodness : 0.705177 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.05 [[ 0.97161269 -0.04875959 -0.23149792 1.12327346] [ 0.04369574 0.99868119 -0.02695466 0.39165354] [ 0.23250692 0.01607402 0.97246191 0.04536899] [ 0. 0. 0. 1. ]] SLAMing on 73.136502481 meters Centerline goodness : 0.703513 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.04 [[ 0.97174083 -0.05176548 -0.23030436 1.12183338] [ 0.04572802 0.99845781 -0.03147947 0.39112837] [ 0.23157873 0.02005853 0.97260935 0.04421342] [ 0. 0. 0. 1. ]] SLAMing on 73.166502481 meters Centerline goodness : 0.707662 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.04 [[ 0.97181646 -0.05166851 -0.23000683 1.12195168] [ 0.04569463 0.99846725 -0.03122741 0.38958764] [ 0.23126776 0.01983723 0.97268788 0.04340328] [ 0. 0. 0. 1. ]] SLAMing on 73.196502481 meters Centerline goodness : 0.707137 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.04 [[ 0.97171663 -0.05161595 -0.23043998 1.12288516] [ 0.04571548 0.99847725 -0.03087513 0.38996128] [ 0.23168272 0.0194672 0.9725966 0.04349749] [ 0. 0. 0. 1. ]] SLAMing on 73.226502481 meters Centerline goodness : 0.708060 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97133035 -0.05220861 -0.23193017 1.12548639] [ 0.04656974 0.99847266 -0.02972563 0.39087161] [ 0.23312787 0.01807248 0.97227814 0.04446595] [ 0. 0. 0. 1. ]] SLAMing on 73.256502481 meters Centerline goodness : 0.707543 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97120153 -0.05260022 -0.23238073 1.12644394] [ 0.04716187 0.99846908 -0.02890091 0.3901279 ] [ 0.23354517 0.0171091 0.97219542 0.04477928] [ 0. 0. 0. 1. ]] SLAMing on 73.28650248099999 meters Centerline goodness : 0.708558 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97111314 -0.05288343 -0.23268563 1.12714597] [ 0.0476763 0.99847172 -0.02794986 0.38848758] [ 0.23380811 0.01604889 0.9721503 0.0449943 ] [ 0. 0. 0. 1. ]] SLAMing on 73.31650248099999 meters Centerline goodness : 0.707060 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97082981 -0.05795364 -0.23266038 1.12828056] [ 0.05198107 0.998144 -0.0317257 0.38775514] [ 0.23406718 0.01870632 0.97204045 0.04444463] [ 0. 0. 0. 1. ]] SLAMing on 73.34650248099999 meters Centerline goodness : 0.712796 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97071208 -0.05856449 -0.2329984 1.12910177] [ 0.05294451 0.99813744 -0.03030726 0.38565799] [ 0.23433935 0.01708364 0.97200474 0.04479941] [ 0. 0. 0. 1. ]] SLAMing on 73.37650248099999 meters Centerline goodness : 0.711071 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.05 [[ 0.97065563 -0.05892525 -0.23314257 1.12877112] [ 0.05345932 0.99812825 -0.02970014 0.38527439] [ 0.23445627 0.01636496 0.97198891 0.0456681 ] [ 0. 0. 0. 1. ]] SLAMing on 73.40650248099999 meters Centerline goodness : 0.712511 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:0.05 [[ 0.97051473 -0.05888667 -0.23373816 1.12867406] [ 0.05375441 0.99815384 -0.0282731 0.38446542] [ 0.23497155 0.014875 0.97188842 0.04730659] [ 0. 0. 0. 1. ]] SLAMing on 73.43650248099999 meters Centerline goodness : 0.712871 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:0.05 [[ 0.97052007 -0.05868608 -0.23376644 1.12907497] [ 0.05363323 0.99817032 -0.02791925 0.38346647] [ 0.23497719 0.01455855 0.97189185 0.04697343] [ 0. 0. 0. 1. ]] SLAMing on 73.46650248099999 meters Centerline goodness : 0.715574 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:0.05 [[ 0.9705287 -0.05942626 -0.2335435 1.12900935] [ 0.05456372 0.99813886 -0.02723263 0.38104504] [ 0.23472717 0.01368705 0.97196493 0.04679588] [ 0. 0. 0. 1. ]] SLAMing on 73.496502481 meters Centerline goodness : 0.713198 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:0.05 [[ 0.97046797 -0.05906694 -0.23388676 1.12998395] [ 0.0543124 0.99816634 -0.02672314 0.38011194] [ 0.23503634 0.013231 0.97189653 0.04648728] [ 0. 0. 0. 1. ]] SLAMing on 73.526502481 meters Centerline goodness : 0.712561 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97028466 -0.06096802 -0.23415932 1.14883798] [ 0.05759454 0.99811441 -0.02122469 0.38121561] [ 0.23501182 0.00710769 0.97196652 0.04905547] [ 0. 0. 0. 1. ]] SLAMing on 73.556502481 meters Centerline goodness : 0.713793 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97024204 -0.06101633 -0.23432324 1.14954082] [ 0.05763021 0.99811123 -0.02127757 0.3819559 ] [ 0.23517894 0.0071403 0.97192586 0.04872882] [ 0. 0. 0. 1. ]] SLAMing on 73.586502481 meters Centerline goodness : 0.714590 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97040408 -0.0607867 -0.23371112 1.14908977] [ 0.05718419 0.99811754 -0.02216627 0.38307623] [ 0.23461859 0.00814566 0.97205338 0.04776855] [ 0. 0. 0. 1. ]] SLAMing on 73.616502481 meters Centerline goodness : 0.713091 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97063432 -0.06027086 -0.23288719 1.1476387 ] [ 0.05655695 0.99814359 -0.02259832 0.38330141] [ 0.23381688 0.00876331 0.97224116 0.04728493] [ 0. 0. 0. 1. ]] SLAMing on 73.64650248099998 meters Centerline goodness : 0.713091 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97063432 -0.06027086 -0.23288719 1.1476387 ] [ 0.05655695 0.99814359 -0.02259832 0.38330141] [ 0.23381688 0.00876331 0.97224116 0.04728493] [ 0. 0. 0. 1. ]] SLAMing on 73.67650248099999 meters Centerline goodness : 0.715069 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97111933 -0.05544053 -0.23206377 1.145163 ] [ 0.05234507 0.99843904 -0.01948032 0.38346383] [ 0.23278153 0.00677032 0.97250549 0.04729212] [ 0. 0. 0. 1. ]] SLAMing on 73.70650248099999 meters Centerline goodness : 0.715442 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97130336 -0.05079548 -0.23235664 1.14530586] [ 0.04852828 0.99870205 -0.01546703 0.38300407] [ 0.23284071 0.00374731 0.97250767 0.04733631] [ 0. 0. 0. 1. ]] SLAMing on 73.73650248099999 meters Centerline goodness : 0.714005 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.05 [[ 0.9715079 -0.04635293 -0.23243023 1.1457847 ] [ 0.04451893 0.99892222 -0.01313292 0.38545478] [ 0.23278847 0.00241119 0.9725244 0.04633589] [ 0. 0. 0. 1. ]] SLAMing on 73.76650248099999 meters Centerline goodness : 0.712688 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.05 [[ 0.9715829 -0.04597385 -0.23219188 1.14581821] [ 0.04387309 0.9989361 -0.01420632 0.38722363] [ 0.23259797 0.00361565 0.97256625 0.04551976] [ 0. 0. 0. 1. ]] SLAMing on 73.79650248099999 meters Centerline goodness : 0.715682 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.04 [[ 0.97169028 -0.04558013 -0.23181985 1.14551872] [ 0.0432496 0.99894975 -0.01512833 0.38860354] [ 0.23226593 0.00467394 0.97264109 0.04477922] [ 0. 0. 0. 1. ]] SLAMing on 73.82650248099999 meters Centerline goodness : 0.716444 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97186464 -0.04499929 -0.23120161 1.14480385] [ 0.04230384 0.99896679 -0.01660538 0.39042228] [ 0.23170996 0.00635747 0.97276414 0.04378469] [ 0. 0. 0. 1. ]] SLAMing on 73.85650248099999 meters Centerline goodness : 0.715709 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97192474 -0.04484163 -0.23097949 1.1446494 ] [ 0.04203632 0.99897051 -0.01705491 0.39119181] [ 0.23150647 0.00686656 0.97280913 0.04338895] [ 0. 0. 0. 1. ]] SLAMing on 73.886502481 meters Centerline goodness : 0.717034 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.04 [[ 0.97196626 -0.04485822 -0.23080148 1.14541286] [ 0.04179616 0.99896144 -0.0181419 0.393003 ] [ 0.23137559 0.0079867 0.97283172 0.04220253] [ 0. 0. 0. 1. ]] SLAMing on 73.916502481 meters Centerline goodness : 0.714197 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.04 [[ 0.97197733 -0.04499539 -0.23072818 1.14554245] [ 0.04192345 0.99895501 -0.01820207 0.39293923] [ 0.23130608 0.00801907 0.97284798 0.04199727] [ 0. 0. 0. 1. ]] SLAMing on 73.946502481 meters Centerline goodness : 0.717008 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97210284 -0.04492401 -0.23021272 1.14429104] [ 0.04201929 0.9989634 -0.01750715 0.39121448] [ 0.23076057 0.00734537 0.97298284 0.04221976] [ 0. 0. 0. 1. ]] SLAMing on 73.976502481 meters Centerline goodness : 0.717031 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97213043 -0.04505206 -0.23007115 1.14371618] [ 0.04217323 0.99895848 -0.01741746 0.39090818] [ 0.23061622 0.0072292 0.97301793 0.04249152] [ 0. 0. 0. 1. ]] SLAMing on 74.006502481 meters Centerline goodness : 0.716276 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97204982 -0.04538092 -0.23034697 1.14401312] [ 0.04250601 0.99894415 -0.0174304 0.39101011] [ 0.23089477 0.00715208 0.97295244 0.0428175 ] [ 0. 0. 0. 1. ]] SLAMing on 74.03650248099999 meters Centerline goodness : 0.714791 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97203108 -0.04560426 -0.23038194 1.14420239] [ 0.04273438 0.99893434 -0.01743415 0.39119345] [ 0.23093151 0.00710131 0.97294409 0.04273645] [ 0. 0. 0. 1. ]] SLAMing on 74.06650248099999 meters Centerline goodness : 0.710527 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97202334 -0.04582977 -0.23036984 1.14445505] [ 0.04296701 0.99892442 -0.01743082 0.39136446] [ 0.23092091 0.00704486 0.97294702 0.04253084] [ 0. 0. 0. 1. ]] SLAMing on 74.09650248099999 meters Centerline goodness : 0.712468 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.04 [[ 0.97188264 -0.04658794 -0.23081095 1.14519811] [ 0.04376266 0.99889132 -0.01734804 0.39154361] [ 0.23136326 0.00675936 0.97284395 0.04287764] [ 0. 0. 0. 1. ]] SLAMing on 74.12650248099999 meters Centerline goodness : 0.713012 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97194721 -0.04723303 -0.2304076 1.14328597] [ 0.04468616 0.9988687 -0.0162625 0.3894619 ] [ 0.23091507 0.00551026 0.97295831 0.04426423] [ 0. 0. 0. 1. ]] SLAMing on 74.15650248099999 meters Centerline goodness : 0.716252 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.05 [[ 0.97194991 -0.04734736 -0.23037275 1.14269359] [ 0.04510917 0.99886981 -0.0149757 0.38761843] [ 0.23082144 0.00416371 0.97298722 0.04501419] [ 0. 0. 0. 1. ]] SLAMing on 74.18650248099999 meters Centerline goodness : 0.714577 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.05 [[ 0.97191194 -0.04779128 -0.23044127 1.14258422] [ 0.04575424 0.9988521 -0.01417857 0.38628316] [ 0.23085436 0.00323666 0.97298293 0.0455367 ] [ 0. 0. 0. 1. ]] SLAMing on 74.21650248099999 meters Centerline goodness : 0.715784 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.05 [[ 0.97160311 -0.04957418 -0.23136507 1.14382157] [ 0.0477286 0.99876815 -0.01357098 0.38568051] [ 0.23175284 0.00214288 0.97277234 0.04674602] [ 0. 0. 0. 1. ]] SLAMing on 74.246502481 meters Centerline goodness : 0.716369 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97144903 -0.05083703 -0.23173774 1.14505862] [ 0.04918336 0.99870631 -0.01291174 0.38482647] [ 0.23209434 0.00114546 0.97269261 0.04670085] [ 0. 0. 0. 1. ]] SLAMing on 74.276502481 meters Centerline goodness : 0.714558 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 9.71350801e-01 -5.16459835e-02 -2.31970502e-01 1.14584143e+00] [ 5.00704499e-02 9.98665210e-01 -1.26786612e-02 3.83885794e-01] [ 2.32315672e-01 7.00560364e-04 9.72640189e-01 4.66402870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.306502481 meters Centerline goodness : 0.715230 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 9.71288772e-01 -5.22866816e-02 -2.32086676e-01 1.14658785e+00] [ 5.08695944e-02 9.98632114e-01 -1.20907135e-02 3.82374079e-01] [ 2.32401391e-01 -6.25808232e-05 9.72619961e-01 4.64016537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.336502481 meters Centerline goodness : 0.714341 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 9.71018105e-01 -5.60062942e-02 -2.32351317e-01 1.14773500e+00] [ 5.43685542e-02 9.98430323e-01 -1.34517505e-02 3.82662559e-01] [ 2.32739983e-01 4.29288082e-04 9.72538902e-01 4.64684017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.366502481 meters Centerline goodness : 0.712868 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 9.70875359e-01 -5.57137252e-02 -2.33017205e-01 1.14869446e+00] [ 5.41570709e-02 9.98446781e-01 -1.30781069e-02 3.82167533e-01] [ 2.33383909e-01 7.76824075e-05 9.72384669e-01 4.68833203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39650248099998 meters Centerline goodness : 0.713142 Centerline is valid? [False, False] Translation: X:1.18, Y:0.38, Z:0.05 [[ 0.97144014 -0.05508745 -0.23080173 1.17549564] [ 0.05419759 0.99847814 -0.01019879 0.38129716] [ 0.23101231 -0.00260138 0.97294735 0.05148056] [ 0. 0. 0. 1. ]] SLAMing on 74.42650248099999 meters Centerline goodness : 0.712645 Centerline is valid? [False, False] Translation: X:1.18, Y:0.38, Z:0.05 [[ 0.97152933 -0.05522114 -0.23039397 1.1750564 ] [ 0.05433288 0.99847075 -0.01020297 0.3809891 ] [ 0.23060506 -0.00260549 0.97304395 0.05110064] [ 0. 0. 0. 1. ]] SLAMing on 74.45650248099999 meters Centerline goodness : 0.714929 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:0.05 [[ 0.97168316 -0.05528014 -0.22973015 1.17408953] [ 0.05445028 0.99846686 -0.00995502 0.37992749] [ 0.22992826 -0.00283574 0.97320345 0.05077708] [ 0. 0. 0. 1. ]] SLAMing on 74.48650248099999 meters Centerline goodness : 0.711887 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:0.05 [[ 0.97161365 -0.05513967 -0.23005767 1.17422688] [ 0.05442713 0.99847306 -0.00944688 0.38009855] [ 0.23022728 -0.00334266 0.97313115 0.05135458] [ 0. 0. 0. 1. ]] SLAMing on 74.51650248099999 meters Centerline goodness : 0.710753 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:0.05 [[ 0.9715549 -0.05565935 -0.2301806 1.17422694] [ 0.05484051 0.99844546 -0.00995848 0.38135075] [ 0.23037706 -0.00294801 0.97309697 0.0516223 ] [ 0. 0. 0. 1. ]] SLAMing on 74.54650248099999 meters Centerline goodness : 0.706476 Centerline is valid? [False, False] Translation: X:1.18, Y:0.38, Z:0.05 [[ 9.71111914e-01 -5.92436388e-02 -2.31153287e-01 1.17653195e+00] [ 5.76930242e-02 9.98243520e-01 -1.34680994e-02 3.83854591e-01] [ 2.31545170e-01 -2.56900351e-04 9.72824120e-01 5.23410645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57650248099999 meters Centerline goodness : 0.706482 Centerline is valid? [False, False] Translation: X:1.18, Y:0.38, Z:0.05 [[ 9.70983415e-01 -6.00182042e-02 -2.31493031e-01 1.17782460e+00] [ 5.83214913e-02 9.98197249e-01 -1.41723730e-02 3.84591786e-01] [ 2.31926307e-01 2.60120368e-04 9.72733324e-01 5.18265488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60650248099999 meters Centerline goodness : 0.705418 Centerline is valid? [False, False] Translation: X:1.18, Y:0.39, Z:0.05 [[ 9.70935179e-01 -6.00972397e-02 -2.31674770e-01 1.17830767e+00] [ 5.83422702e-02 9.98192407e-01 -1.44255920e-02 3.85601936e-01] [ 2.32122934e-01 4.89882755e-04 9.72686333e-01 5.17099976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.636502481 meters Centerline goodness : 0.705195 Centerline is valid? [False, False] Translation: X:1.20, Y:0.39, Z:0.06 [[ 0.97097025 -0.06299201 -0.23075695 1.19590469] [ 0.06216584 0.99800678 -0.01085676 0.38832941] [ 0.23098089 -0.00380361 0.97295085 0.05502716] [ 0. 0. 0. 1. ]] SLAMing on 74.666502481 meters Centerline goodness : 0.706363 Centerline is valid? [False, False] Translation: X:1.20, Y:0.39, Z:0.06 [[ 0.97120167 -0.05910519 -0.23081137 1.19510497] [ 0.05915518 0.99822625 -0.00670999 0.38822266] [ 0.23079857 -0.00713693 0.97297538 0.05558764] [ 0. 0. 0. 1. ]] SLAMing on 74.696502481 meters Centerline goodness : 0.707015 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.06 [[ 0.9713701 -0.05895784 -0.23013932 1.19369554] [ 0.05890964 0.99823817 -0.00708659 0.3884827 ] [ 0.23015167 -0.00667373 0.97313189 0.05550168] [ 0. 0. 0. 1. ]] SLAMing on 74.726502481 meters Centerline goodness : 0.710278 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.06 [[ 0.97163716 -0.0588796 -0.22902932 1.19114523] [ 0.05869055 0.99824697 -0.00764297 0.38785464] [ 0.22907784 -0.00601567 0.97338952 0.05559668] [ 0. 0. 0. 1. ]] SLAMing on 74.756502481 meters Centerline goodness : 0.708236 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.05 [[ 0.97157499 -0.05892686 -0.22928074 1.19233679] [ 0.05867136 0.9982458 -0.00793726 0.38908704] [ 0.22934625 -0.00574057 0.97332797 0.05492458] [ 0. 0. 0. 1. ]] SLAMing on 74.78650248099999 meters Centerline goodness : 0.707978 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.05 [[ 0.97147152 -0.05920163 -0.2296481 1.19301481] [ 0.05883842 0.99823188 -0.00843512 0.39075919] [ 0.22974142 -0.00531765 0.97323718 0.05497817] [ 0. 0. 0. 1. ]] SLAMing on 74.81650248099999 meters Centerline goodness : 0.703639 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.05 [[ 0.97145305 -0.05938288 -0.22967943 1.19333669] [ 0.0588798 0.99822406 -0.00904936 0.39245359] [ 0.22980891 -0.00473245 0.97322426 0.05460965] [ 0. 0. 0. 1. ]] SLAMing on 74.84650248099999 meters Centerline goodness : 0.702350 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.05 [[ 0.97142014 -0.05912404 -0.22988533 1.19457077] [ 0.05842583 0.99824317 -0.009849 0.39449252] [ 0.23006377 -0.00386372 0.97316789 0.05366163] [ 0. 0. 0. 1. ]] SLAMing on 74.87650248099999 meters Centerline goodness : 0.701521 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 0.97145004 -0.05952407 -0.22965563 1.19406797] [ 0.05865737 0.99822184 -0.01060512 0.39563643] [ 0.22987852 -0.00316865 0.97321417 0.05355831] [ 0. 0. 0. 1. ]] SLAMing on 74.90650248099999 meters Centerline goodness : 0.699885 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 0.97162164 -0.05948502 -0.22893869 1.19256732] [ 0.05844308 0.99822639 -0.01133471 0.39638655] [ 0.22920689 -0.00236684 0.97337485 0.05340784] [ 0. 0. 0. 1. ]] SLAMing on 74.93650248099999 meters Centerline goodness : 0.699318 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 0.97168947 -0.05956937 -0.22862867 1.19177361] [ 0.05843552 0.99822224 -0.01173209 0.39716545] [ 0.2289211 -0.00196009 0.97344301 0.05347816] [ 0. 0. 0. 1. ]] SLAMing on 74.96650248099999 meters Centerline goodness : 0.698626 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 0.97159865 -0.05990668 -0.22892629 1.19246557] [ 0.05863096 0.998203 -0.01237631 0.39925799] [ 0.22925634 -0.00139737 0.97336508 0.05340981] [ 0. 0. 0. 1. ]] SLAMing on 74.996502481 meters Centerline goodness : 0.695034 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 9.71533633e-01 -6.05329107e-02 -2.29037479e-01 1.19277935e+00] [ 5.91462408e-02 9.98165707e-01 -1.29206510e-02 4.00317391e-01] [ 2.29399482e-01 -9.93858897e-04 9.73331850e-01 5.33475113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.026502481 meters Centerline goodness : 0.696258 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 9.71421344e-01 -6.07668375e-02 -2.29451441e-01 1.19273602e+00] [ 5.93205508e-02 9.98151678e-01 -1.32022341e-02 4.01854773e-01] [ 2.29829599e-01 -7.86253812e-04 9.73230567e-01 5.41878895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.056502481 meters Centerline goodness : 0.693966 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.06 [[ 9.71371219e-01 -6.09791840e-02 -2.29607262e-01 1.19214187e+00] [ 5.95367104e-02 9.98138687e-01 -1.32114105e-02 4.02402156e-01] [ 2.29985513e-01 -8.36877153e-04 9.73193693e-01 5.51048716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.086502481 meters Centerline goodness : 0.694642 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.06 [[ 9.71349670e-01 -6.16646549e-02 -2.29515334e-01 1.19073446e+00] [ 6.00340959e-02 9.98096920e-01 -1.40870884e-02 4.03430752e-01] [ 2.29947224e-01 -9.52569491e-05 9.73203096e-01 5.64461724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.116502481 meters Centerline goodness : 0.695731 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.06 [[ 9.71303259e-01 -6.21608886e-02 -2.29577882e-01 1.19038780e+00] [ 6.04191328e-02 9.98066089e-01 -1.46154079e-02 4.04344707e-01] [ 2.30042405e-01 3.25096766e-04 9.73180552e-01 5.68617635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14650248099998 meters Centerline goodness : 0.694151 Centerline is valid? [False, False] Translation: X:1.19, Y:0.41, Z:0.06 [[ 9.71210864e-01 -6.24109315e-02 -2.29900701e-01 1.19115287e+00] [ 6.06184656e-02 9.98050415e-01 -1.48583441e-02 4.05212400e-01] [ 2.30379814e-01 4.94357455e-04 9.73100661e-01 5.68102462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17650248099999 meters Centerline goodness : 0.696235 Centerline is valid? [False, False] Translation: X:1.19, Y:0.41, Z:0.06 [[ 0.97104923 -0.06287276 -0.23045696 1.19345409] [ 0.06080309 0.99802027 -0.0160789 0.40786433] [ 0.23101164 0.00160091 0.97294967 0.05574857] [ 0. 0. 0. 1. ]] SLAMing on 75.20650248099999 meters Centerline goodness : 0.693584 Centerline is valid? [False, False] Translation: X:1.20, Y:0.41, Z:0.06 [[ 0.97091815 -0.06255293 -0.23109537 1.19522616] [ 0.06051359 0.99804058 -0.0159095 0.40816419] [ 0.23163774 0.00146242 0.97280102 0.05555174] [ 0. 0. 0. 1. ]] SLAMing on 75.23650248099999 meters Centerline goodness : 0.694494 Centerline is valid? [False, False] Translation: X:1.21, Y:0.41, Z:0.06 [[ 0.97075594 -0.05826761 -0.23289008 1.2081801 ] [ 0.05547958 0.99828824 -0.01850975 0.40612323] [ 0.23356995 0.0050478 0.9723269 0.06028359] [ 0. 0. 0. 1. ]] SLAMing on 75.26650248099999 meters Centerline goodness : 0.696820 Centerline is valid? [False, False] Translation: X:1.23, Y:0.41, Z:0.06 [[ 0.97091902 -0.06126081 -0.2314376 1.2273807 ] [ 0.05904889 0.99811906 -0.01647913 0.40810051] [ 0.2320118 0.00233376 0.97271017 0.06454332] [ 0. 0. 0. 1. ]] SLAMing on 75.29650248099999 meters Centerline goodness : 0.695880 Centerline is valid? [False, False] Translation: X:1.27, Y:0.41, Z:0.08 [[ 0.97116341 -0.05614243 -0.23171031 1.27140724] [ 0.05342047 0.99840968 -0.01801014 0.40843099] [ 0.23235295 0.00511271 0.9726181 0.07759336] [ 0. 0. 0. 1. ]] SLAMing on 75.32650248099999 meters Centerline goodness : 0.695457 Centerline is valid? [False, False] Translation: X:1.27, Y:0.41, Z:0.08 [[ 0.9712926 -0.05221097 -0.23208769 1.27132893] [ 0.05041326 0.99863482 -0.01367445 0.4081494 ] [ 0.2324848 0.0015816 0.97259874 0.07819648] [ 0. 0. 0. 1. ]] SLAMing on 75.35650248099999 meters Centerline goodness : 0.694438 Centerline is valid? [False, False] Translation: X:1.28, Y:0.41, Z:0.08 [[ 0.97075496 -0.05052818 -0.23469494 1.27600254] [ 0.04860391 0.99872029 -0.01398001 0.40769557] [ 0.23510098 0.00216407 0.97196854 0.08153061] [ 0. 0. 0. 1. ]] SLAMing on 75.386502481 meters Centerline goodness : 0.693395 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:0.10 [[ 0.96971097 -0.04217537 -0.24058651 1.33756089] [ 0.03902894 0.99907899 -0.01783032 0.40401462] [ 0.24111692 0.00790042 0.97046392 0.0977846 ] [ 0. 0. 0. 1. ]] SLAMing on 75.416502481 meters Centerline goodness : 0.692182 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:0.10 [[ 0.96920684 -0.04471092 -0.24215497 1.34171788] [ 0.04065193 0.99893694 -0.0217351 0.40407162] [ 0.24286935 0.01122174 0.9699941 0.09974595] [ 0. 0. 0. 1. ]] SLAMing on 75.446502481 meters Centerline goodness : 0.687354 Centerline is valid? [False, False] Translation: X:1.37, Y:0.41, Z:0.11 [[ 0.9686181 -0.04510934 -0.2444261 1.37478069] [ 0.03986725 0.99885738 -0.02635421 0.40614521] [ 0.24533563 0.01578257 0.96930972 0.11132406] [ 0. 0. 0. 1. ]] SLAMing on 75.476502481 meters Centerline goodness : 0.689828 Centerline is valid? [False, False] Translation: X:1.41, Y:0.41, Z:0.12 [[ 0.96831666 -0.04439608 -0.24574749 1.407768 ] [ 0.03870049 0.9988596 -0.02796007 0.4074662 ] [ 0.24670855 0.01756365 0.96893055 0.12250839] [ 0. 0. 0. 1. ]] SLAMing on 75.506502481 meters Centerline goodness : 0.687861 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:0.13 [[ 0.96816901 -0.04626494 -0.24598439 1.43634966] [ 0.04001817 0.99873834 -0.03033615 0.40910521] [ 0.24707754 0.01952667 0.96879895 0.13219758] [ 0. 0. 0. 1. ]] SLAMing on 75.53650248099999 meters Centerline goodness : 0.687861 Centerline is valid? [False, False] Translation: X:1.46, Y:0.41, Z:0.14 [[ 0.96781551 -0.05006381 -0.24663081 1.45650732] [ 0.04372437 0.9985589 -0.03111753 0.41048752] [ 0.24783326 0.01933225 0.9686098 0.13931376] [ 0. 0. 0. 1. ]] SLAMing on 75.56650248099999 meters Centerline goodness : 0.690078 Centerline is valid? [False, False] Translation: X:1.49, Y:0.41, Z:0.15 [[ 0.9678556 -0.05176211 -0.24612236 1.4853388 ] [ 0.0449705 0.9984385 -0.03313934 0.41124288] [ 0.2474534 0.02100585 0.96867206 0.14817121] [ 0. 0. 0. 1. ]] SLAMing on 75.59650248099999 meters Centerline goodness : 0.687458 Centerline is valid? [False, False] Translation: X:1.52, Y:0.41, Z:0.15 [[ 0.96863255 -0.05294763 -0.24279114 1.5154804 ] [ 0.04616765 0.99837067 -0.03353446 0.41135356] [ 0.24417113 0.02127347 0.96949879 0.15482619] [ 0. 0. 0. 1. ]] SLAMing on 75.62650248099999 meters Centerline goodness : 0.687593 Centerline is valid? [False, False] Translation: X:1.54, Y:0.41, Z:0.16 [[ 0.96948781 -0.05363983 -0.23919899 1.5444725 ] [ 0.04722359 0.99835617 -0.03247909 0.41100681] [ 0.24054796 0.02019224 0.9704272 0.16042248] [ 0. 0. 0. 1. ]] SLAMing on 75.65650248099999 meters Centerline goodness : 0.685753 Centerline is valid? [False, False] Translation: X:1.56, Y:0.41, Z:0.16 [[ 0.96956842 -0.05789093 -0.23787753 1.56296308] [ 0.05222881 0.99818316 -0.0300421 0.41266113] [ 0.23918451 0.01670381 0.97083045 0.16413061] [ 0. 0. 0. 1. ]] SLAMing on 75.68650248099999 meters Centerline goodness : 0.683949 Centerline is valid? [False, False] Translation: X:1.59, Y:0.41, Z:0.17 [[ 0.96993136 -0.05999809 -0.23586729 1.58946706] [ 0.05447132 0.99806804 -0.02988433 0.41309186] [ 0.2372046 0.01613774 0.97132567 0.17004366] [ 0. 0. 0. 1. ]] SLAMing on 75.71650248099999 meters Centerline goodness : 0.689894 Centerline is valid? [False, False] Translation: X:1.59, Y:0.42, Z:0.17 [[ 0.96937053 -0.06473101 -0.23691912 1.59045662] [ 0.05822638 0.997712 -0.0343576 0.41501244] [ 0.23860106 0.0195103 0.97092167 0.17210714] [ 0. 0. 0. 1. ]] SLAMing on 75.746502481 meters Centerline goodness : 0.687973 Centerline is valid? [False, False] Translation: X:1.62, Y:0.42, Z:0.18 [[ 0.9699699 -0.06578475 -0.23415967 1.6187942 ] [ 0.05958515 0.99766226 -0.03346075 0.41546781] [ 0.23581347 0.01850348 0.97162216 0.17687637] [ 0. 0. 0. 1. ]] SLAMing on 75.776502481 meters Centerline goodness : 0.689048 Centerline is valid? [False, False] Translation: X:1.65, Y:0.42, Z:0.18 [[ 0.9704738 -0.06536288 -0.2321816 1.6499352 ] [ 0.05976177 0.99772857 -0.0310842 0.41609176] [ 0.23368596 0.01629082 0.97217564 0.18133553] [ 0. 0. 0. 1. ]] SLAMing on 75.806502481 meters Centerline goodness : 0.688684 Centerline is valid? [False, False] Translation: X:1.68, Y:0.42, Z:0.19 [[ 0.97114108 -0.06371147 -0.22983873 1.6819135 ] [ 0.05885945 0.99787598 -0.02791222 0.41646157] [ 0.23112888 0.01357852 0.97282838 0.18561529] [ 0. 0. 0. 1. ]] SLAMing on 75.836502481 meters Centerline goodness : 0.689868 Centerline is valid? [False, False] Translation: X:1.68, Y:0.42, Z:0.19 [[ 0.9709959 -0.06343213 -0.23052838 1.68308323] [ 0.05857569 0.99789422 -0.02785687 0.41680192] [ 0.23180996 0.01354554 0.97266678 0.18618387] [ 0. 0. 0. 1. ]] SLAMing on 75.866502481 meters Centerline goodness : 0.690440 Centerline is valid? [False, False] Translation: X:1.68, Y:0.42, Z:0.19 [[ 0.97094323 -0.063431 -0.23075043 1.68349711] [ 0.05854739 0.99789308 -0.02795735 0.41728107] [ 0.23203762 0.01363516 0.97261124 0.18639507] [ 0. 0. 0. 1. ]] SLAMing on 75.89650248099998 meters Centerline goodness : 0.689295 Centerline is valid? [False, False] Translation: X:1.71, Y:0.42, Z:0.19 [[ 0.97167506 -0.06311148 -0.22773784 1.71434093] [ 0.05845953 0.99792129 -0.02712165 0.41892244] [ 0.22897612 0.01303998 0.97334469 0.19184098] [ 0. 0. 0. 1. ]] SLAMing on 75.92650248099999 meters Centerline goodness : 0.693363 Centerline is valid? [False, False] Translation: X:1.71, Y:0.42, Z:0.19 [[ 0.97199696 -0.05841048 -0.22761839 1.7149581 ] [ 0.05467866 0.99824657 -0.02267201 0.41746558] [ 0.22854356 0.00959125 0.97348644 0.19037598] [ 0. 0. 0. 1. ]] SLAMing on 75.95650248099999 meters Centerline goodness : 0.691430 Centerline is valid? [False, False] Translation: X:1.75, Y:0.42, Z:0.20 [[ 0.97252559 -0.05531118 -0.22612973 1.7471375 ] [ 0.05205874 0.99843715 -0.02032589 0.42077268] [ 0.22690057 0.00799542 0.97388511 0.19760046] [ 0. 0. 0. 1. ]] SLAMing on 75.98650248099999 meters Centerline goodness : 0.690429 Centerline is valid? [False, False] Translation: X:1.75, Y:0.42, Z:0.20 [[ 0.97237721 -0.05528852 -0.22677244 1.74773161] [ 0.05189858 0.99843388 -0.02088851 0.42281313] [ 0.22757218 0.00854234 0.97372374 0.19878634] [ 0. 0. 0. 1. ]] SLAMing on 76.01650248099999 meters Centerline goodness : 0.686803 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:0.21 [[ 0.97254126 -0.04958662 -0.2273866 1.7924269 ] [ 0.04588773 0.99871461 -0.02152797 0.42480382] [ 0.22816182 0.01050258 0.97356658 0.20900821] [ 0. 0. 0. 1. ]] SLAMing on 76.04650248099999 meters Centerline goodness : 0.686192 Centerline is valid? [False, False] Translation: X:1.79, Y:0.43, Z:0.21 [[ 0.97234605 -0.04923997 -0.22829497 1.79456145] [ 0.04544969 0.998728 -0.02183364 0.42716367] [ 0.22907967 0.01085392 0.97334716 0.20937465] [ 0. 0. 0. 1. ]] SLAMing on 76.07650248099999 meters Centerline goodness : 0.685408 Centerline is valid? [False, False] Translation: X:1.84, Y:0.43, Z:0.22 [[ 0.97226446 -0.04311043 -0.22987672 1.83754095] [ 0.03894232 0.99898495 -0.02264009 0.43166777] [ 0.23061941 0.01306022 0.97295638 0.21973515] [ 0. 0. 0. 1. ]] SLAMing on 76.10650248099999 meters Centerline goodness : 0.684658 Centerline is valid? [False, False] Translation: X:1.84, Y:0.44, Z:0.22 [[ 0.97206373 -0.04325992 -0.23069607 1.83857444] [ 0.03882667 0.99896429 -0.02372433 0.43510124] [ 0.23148345 0.0141044 0.97273659 0.22127113] [ 0. 0. 0. 1. ]] SLAMing on 76.136502481 meters Centerline goodness : 0.683739 Centerline is valid? [False, False] Translation: X:1.84, Y:0.44, Z:0.22 [[ 0.97212078 -0.04121252 -0.23083049 1.83975052] [ 0.03687915 0.99905368 -0.02305819 0.44069743] [ 0.23156234 0.01390252 0.97272072 0.22139059] [ 0. 0. 0. 1. ]] SLAMing on 76.166502481 meters Centerline goodness : 0.684017 Centerline is valid? [False, False] Translation: X:1.84, Y:0.44, Z:0.22 [[ 0.97200578 -0.04126937 -0.23130415 1.84076063] [ 0.03676013 0.99904131 -0.02377279 0.44290118] [ 0.23206349 0.01460452 0.972591 0.22207473] [ 0. 0. 0. 1. ]] SLAMing on 76.196502481 meters Centerline goodness : 0.683673 Centerline is valid? [False, False] Translation: X:1.84, Y:0.44, Z:0.22 [[ 0.97232497 -0.03685126 -0.23070789 1.84107847] [ 0.03312451 0.99925095 -0.02000742 0.44420486] [ 0.23127238 0.01181163 0.97281734 0.22027226] [ 0. 0. 0. 1. ]] SLAMing on 76.226502481 meters Centerline goodness : 0.682150 Centerline is valid? [False, False] Translation: X:1.84, Y:0.45, Z:0.22 [[ 0.97214283 -0.0366818 -0.23150113 1.8424 ] [ 0.03287155 0.99925349 -0.02029612 0.44602097] [ 0.23207281 0.01212093 0.97262289 0.22100568] [ 0. 0. 0. 1. ]] SLAMing on 76.256502481 meters Centerline goodness : 0.685060 Centerline is valid? [False, False] Translation: X:1.87, Y:0.45, Z:0.22 [[ 0.97307651 -0.03362903 -0.22801577 1.86707181] [ 0.03123643 0.99941264 -0.01409485 0.44702881] [ 0.22835584 0.00659297 0.97355541 0.22346273] [ 0. 0. 0. 1. ]] SLAMing on 76.28650248099999 meters Centerline goodness : 0.688661 Centerline is valid? [False, False] Translation: X:1.87, Y:0.45, Z:0.22 [[ 0.97302061 -0.03405221 -0.22819146 1.8663874 ] [ 0.03147709 0.99939317 -0.01491595 0.44903259] [ 0.22856091 0.00733072 0.97350201 0.2248021 ] [ 0. 0. 0. 1. ]] SLAMing on 76.31650248099999 meters Centerline goodness : 0.686249 Centerline is valid? [False, False] Translation: X:1.87, Y:0.45, Z:0.23 [[ 0.97295825 -0.03475117 -0.22835192 1.86544458] [ 0.03189257 0.99936004 -0.01619778 0.4528599 ] [ 0.22876868 0.00847704 0.9734439 0.22638958] [ 0. 0. 0. 1. ]] SLAMing on 76.34650248099999 meters Centerline goodness : 0.690199 Centerline is valid? [False, False] Translation: X:1.87, Y:0.45, Z:0.23 [[ 0.97289086 -0.03482587 -0.22862748 1.86614163] [ 0.03189288 0.99935489 -0.01651207 0.45389182] [ 0.22905504 0.00877286 0.97337394 0.22658433] [ 0. 0. 0. 1. ]] SLAMing on 76.37650248099999 meters Centerline goodness : 0.682397 Centerline is valid? [False, False] Translation: X:1.87, Y:0.45, Z:0.23 [[ 0.97288557 -0.03467869 -0.22867237 1.86721309] [ 0.0317614 0.99936049 -0.01642658 0.45437699] [ 0.22909578 0.00871822 0.97336484 0.22582306] [ 0. 0. 0. 1. ]] SLAMing on 76.40650248099999 meters Centerline goodness : 0.689649 Centerline is valid? [False, False] Translation: X:1.87, Y:0.46, Z:0.23 [[ 0.97278351 -0.03459843 -0.22911827 1.86900478] [ 0.03159421 0.99936011 -0.01676848 0.45638092] [ 0.22955183 0.00907329 0.97325415 0.22549226] [ 0. 0. 0. 1. ]] SLAMing on 76.43650248099999 meters Centerline goodness : 0.686681 Centerline is valid? [False, False] Translation: X:1.87, Y:0.46, Z:0.22 [[ 0.97301651 -0.02965915 -0.22882135 1.86954234] [ 0.02759523 0.99954455 -0.01221491 0.45517574] [ 0.22907942 0.00557093 0.97339179 0.22392206] [ 0. 0. 0. 1. ]] SLAMing on 76.46650248099999 meters Centerline goodness : 0.684398 Centerline is valid? [False, False] Translation: X:1.87, Y:0.46, Z:0.22 [[ 0.97330858 -0.02532183 -0.22809915 1.86840273] [ 0.02392187 0.99967421 -0.00890063 0.45738684] [ 0.22825022 0.0032065 0.97359723 0.22353195] [ 0. 0. 0. 1. ]] SLAMing on 76.496502481 meters Centerline goodness : 0.688452 Centerline is valid? [False, False] Translation: X:1.87, Y:0.46, Z:0.22 [[ 0.97320955 -0.02525442 -0.22852875 1.86883762] [ 0.02368896 0.99967337 -0.00959113 0.45934917] [ 0.22869632 0.00392057 0.97348992 0.22473772] [ 0. 0. 0. 1. ]] SLAMing on 76.526502481 meters Centerline goodness : 0.683751 Centerline is valid? [False, False] Translation: X:1.87, Y:0.46, Z:0.23 [[ 0.97323024 -0.02418145 -0.22855668 1.86872095] [ 0.02263 0.99969965 -0.00940682 0.46369421] [ 0.2287155 0.00398276 0.97348516 0.22544218] [ 0. 0. 0. 1. ]] SLAMing on 76.556502481 meters Centerline goodness : 0.684022 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.97311927 -0.02401556 -0.22904616 1.86957015] [ 0.02237351 0.99970201 -0.00976356 0.46527339] [ 0.22921238 0.00437654 0.9733666 0.22607694] [ 0. 0. 0. 1. ]] SLAMing on 76.586502481 meters Centerline goodness : 0.685336 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.9730427 -0.02381158 -0.22939249 1.8706319 ] [ 0.02210303 0.99970553 -0.01001507 0.46644284] [ 0.22956341 0.00467482 0.97328248 0.22625618] [ 0. 0. 0. 1. ]] SLAMing on 76.616502481 meters Centerline goodness : 0.684620 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.97293572 -0.02327907 -0.22990035 1.87271611] [ 0.02151647 0.99971676 -0.01017105 0.46812486] [ 0.23007201 0.00494913 0.97316102 0.22607825] [ 0. 0. 0. 1. ]] SLAMing on 76.64650248099998 meters Centerline goodness : 0.685632 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.97285921 -0.02327943 -0.23022384 1.87299017] [ 0.02135974 0.99971322 -0.01082745 0.47024495] [ 0.23040988 0.00561606 0.97307746 0.22704362] [ 0. 0. 0. 1. ]] SLAMing on 76.67650248099999 meters Centerline goodness : 0.684220 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.97278069 -0.02305739 -0.23057771 1.87338561] [ 0.0211096 0.99971763 -0.01091112 0.47069363] [ 0.23076418 0.00574673 0.97299274 0.22768991] [ 0. 0. 0. 1. ]] SLAMing on 76.70650248099999 meters Centerline goodness : 0.684904 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.9726783 -0.02286316 -0.23102856 1.87382799] [ 0.02085449 0.99972053 -0.0111331 0.47124372] [ 0.23121853 0.00601095 0.97288327 0.22864613] [ 0. 0. 0. 1. ]] SLAMing on 76.73650248099999 meters Centerline goodness : 0.688775 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.97257052 -0.02258977 -0.2315087 1.87421935] [ 0.02054234 0.99972568 -0.01125099 0.47153824] [ 0.23169935 0.00618665 0.97276777 0.22965126] [ 0. 0. 0. 1. ]] SLAMing on 76.76650248099999 meters Centerline goodness : 0.691252 Centerline is valid? [False, False] Translation: X:1.88, Y:0.47, Z:0.23 [[ 0.97256715 -0.02219173 -0.23156138 1.87511267] [ 0.02023085 0.99973657 -0.01083958 0.47050096] [ 0.23174093 0.00585754 0.9727599 0.22909558] [ 0. 0. 0. 1. ]] SLAMing on 76.79650248099999 meters Centerline goodness : 0.687900 Centerline is valid? [False, False] Translation: X:1.88, Y:0.47, Z:0.23 [[ 0.97216105 -0.0263711 -0.23282495 1.87721866] [ 0.02350489 0.99961003 -0.01507689 0.47118882] [ 0.23313175 0.00918464 0.97240178 0.23077318] [ 0. 0. 0. 1. ]] SLAMing on 76.82650248099999 meters Centerline goodness : 0.686137 Centerline is valid? [False, False] Translation: X:1.88, Y:0.47, Z:0.23 [[ 0.97213626 -0.02632702 -0.23293342 1.87716328] [ 0.02350437 0.99961291 -0.01488571 0.46938506] [ 0.23323515 0.00899598 0.97237875 0.23107375] [ 0. 0. 0. 1. ]] SLAMing on 76.85650248099999 meters Centerline goodness : 0.688896 Centerline is valid? [False, False] Translation: X:1.88, Y:0.47, Z:0.23 [[ 0.97208597 -0.02604128 -0.23317528 1.87751385] [ 0.02329521 0.99962313 -0.01452352 0.46821951] [ 0.23346562 0.00868624 0.97232626 0.23121086] [ 0. 0. 0. 1. ]] SLAMing on 76.886502481 meters Centerline goodness : 0.690049 Centerline is valid? [False, False] Translation: X:1.88, Y:0.47, Z:0.23 [[ 0.97204936 -0.02599475 -0.23333308 1.87767957] [ 0.02329183 0.99962597 -0.01433238 0.46677495] [ 0.23361837 0.00849702 0.97229124 0.23140458] [ 0. 0. 0. 1. ]] SLAMing on 76.916502481 meters Centerline goodness : 0.690586 Centerline is valid? [False, False] Translation: X:1.90, Y:0.46, Z:0.24 [[ 0.97256186 -0.0288924 -0.23084335 1.9030025 ] [ 0.0263685 0.99955409 -0.01401177 0.46490918] [ 0.23114525 0.00754032 0.97289003 0.23705548] [ 0. 0. 0. 1. ]] SLAMing on 76.946502481 meters Centerline goodness : 0.689182 Centerline is valid? [False, False] Translation: X:1.90, Y:0.46, Z:0.24 [[ 0.97255748 -0.02854685 -0.23090478 1.90303851] [ 0.0261502 0.99956776 -0.01343385 0.46297816] [ 0.23118847 0.00702698 0.97288361 0.23704763] [ 0. 0. 0. 1. ]] SLAMing on 76.976502481 meters Centerline goodness : 0.691979 Centerline is valid? [False, False] Translation: X:1.93, Y:0.46, Z:0.24 [[ 0.97358583 -0.02931644 -0.2264314 1.92655607] [ 0.02748668 0.99955909 -0.0112302 0.45980596] [ 0.22666079 0.00470971 0.97396237 0.24141793] [ 0. 0. 0. 1. ]] SLAMing on 77.006502481 meters Centerline goodness : 0.689638 Centerline is valid? [False, False] Translation: X:1.93, Y:0.46, Z:0.24 [[ 0.97358428 -0.02921265 -0.22645149 1.92620637] [ 0.02742151 0.99956286 -0.01105191 0.45860372] [ 0.22667535 0.00455033 0.97395974 0.24183504] [ 0. 0. 0. 1. ]] SLAMing on 77.03650248099999 meters Centerline goodness : 0.692153 Centerline is valid? [False, False] Translation: X:1.93, Y:0.46, Z:0.24 [[ 0.97358088 -0.02909515 -0.2264812 1.92590098] [ 0.02734883 0.99956712 -0.01084527 0.4574056 ] [ 0.2266987 0.00436475 0.97395516 0.24222391] [ 0. 0. 0. 1. ]] SLAMing on 77.06650248099999 meters Centerline goodness : 0.688036 Centerline is valid? [False, False] Translation: X:1.93, Y:0.46, Z:0.24 [[ 0.97349591 -0.02885535 -0.22687678 1.92640882] [ 0.02712871 0.99957441 -0.01072555 0.45716373] [ 0.22708972 0.00428641 0.97386441 0.24268529] [ 0. 0. 0. 1. ]] SLAMing on 77.09650248099999 meters Centerline goodness : 0.689868 Centerline is valid? [False, False] Translation: X:1.93, Y:0.46, Z:0.24 [[ 0.97339943 -0.02843423 -0.22734343 1.92745986] [ 0.02677027 0.99958751 -0.01039984 0.4568939 ] [ 0.22754537 0.00403715 0.97375911 0.24277728] [ 0. 0. 0. 1. ]] SLAMing on 77.12650248099999 meters Centerline goodness : 0.689701 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.25 [[ 0.97354179 -0.02873493 -0.22669513 1.95774 ] [ 0.02703953 0.99957836 -0.01058117 0.45776323] [ 0.22690359 0.00417148 0.97390829 0.25050158] [ 0. 0. 0. 1. ]] SLAMing on 77.15650248099999 meters Centerline goodness : 0.693543 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.25 [[ 0.97344506 -0.02838521 -0.22715411 1.95935173] [ 0.02658637 0.99958627 -0.01097534 0.45896099] [ 0.22737166 0.00464469 0.97379698 0.25087573] [ 0. 0. 0. 1. ]] SLAMing on 77.18650248099999 meters Centerline goodness : 0.692784 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.25 [[ 0.9733498 -0.02816246 -0.22758963 1.96055539] [ 0.02631676 0.99959157 -0.01114088 0.45986546] [ 0.22781043 0.00485456 0.9736934 0.25104242] [ 0. 0. 0. 1. ]] SLAMing on 77.21650248099999 meters Centerline goodness : 0.688446 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.25 [[ 0.97317844 -0.02782378 -0.22836278 1.96196102] [ 0.02590446 0.99959944 -0.01139842 0.46093175] [ 0.22858846 0.00517708 0.97350938 0.25191427] [ 0. 0. 0. 1. ]] SLAMing on 77.246502481 meters Centerline goodness : 0.690784 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.25 [[ 0.97296034 -0.02672681 -0.22942071 1.96346764] [ 0.02472808 0.99962711 -0.01158308 0.4638398 ] [ 0.22964473 0.00559674 0.97325843 0.25385164] [ 0. 0. 0. 1. ]] SLAMing on 77.276502481 meters Centerline goodness : 0.689126 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.26 [[ 0.97280678 -0.02625868 -0.23012486 1.96477695] [ 0.02410699 0.99963546 -0.01215719 0.46491188] [ 0.2303602 0.00627898 0.97308517 0.25532144] [ 0. 0. 0. 1. ]] SLAMing on 77.306502481 meters Centerline goodness : 0.691085 Centerline is valid? [False, False] Translation: X:1.97, Y:0.47, Z:0.26 [[ 0.97280118 -0.02579909 -0.23020051 1.96554654] [ 0.02346266 0.99964172 -0.01288161 0.46683305] [ 0.23045037 0.00713013 0.97305796 0.25610032] [ 0. 0. 0. 1. ]] SLAMing on 77.336502481 meters Centerline goodness : 0.689328 Centerline is valid? [False, False] Translation: X:1.97, Y:0.47, Z:0.26 [[ 0.97265919 -0.0251144 -0.23087522 1.9674177 ] [ 0.02269378 0.99965618 -0.0131346 0.46681596] [ 0.2311257 0.00753606 0.97289471 0.25703966] [ 0. 0. 0. 1. ]] SLAMing on 77.366502481 meters Centerline goodness : 0.689456 Centerline is valid? [False, False] Translation: X:1.97, Y:0.47, Z:0.26 [[ 0.97254625 -0.02447266 -0.23141929 1.96845073] [ 0.02189423 0.99966637 -0.01370388 0.46812284] [ 0.23167745 0.00826091 0.97275758 0.2585307 ] [ 0. 0. 0. 1. ]] SLAMing on 77.39650248099998 meters Centerline goodness : 0.688950 Centerline is valid? [False, False] Translation: X:1.97, Y:0.47, Z:0.26 [[ 0.97244932 -0.02395169 -0.23188067 1.96949648] [ 0.02132104 0.99967682 -0.0138447 0.46842147] [ 0.23213733 0.00851933 0.97264571 0.25930343] [ 0. 0. 0. 1. ]] SLAMing on 77.42650248099999 meters Centerline goodness : 0.691185 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97296106 -0.01533156 -0.23045979 1.99215887] [ 0.01158701 0.99977809 -0.01759291 0.46370551] [ 0.23067838 0.01444687 0.9729228 0.26645526] [ 0. 0. 0. 1. ]] SLAMing on 77.45650248099999 meters Centerline goodness : 0.691185 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97297432 -0.01536672 -0.23040146 1.99212504] [ 0.01161375 0.99977702 -0.01763625 0.46343466] [ 0.2306211 0.01448379 0.97293583 0.26648128] [ 0. 0. 0. 1. ]] SLAMing on 77.48650248099999 meters Centerline goodness : 0.689616 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97299054 -0.0149558 -0.23036001 1.99234944] [ 0.01125251 0.99978561 -0.01738155 0.46193879] [ 0.23057057 0.01431995 0.97295023 0.26661881] [ 0. 0. 0. 1. ]] SLAMing on 77.51650248099999 meters Centerline goodness : 0.689052 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97319287 -0.01465268 -0.22952327 1.99095067] [ 0.01102461 0.99979332 -0.0170814 0.45887013] [ 0.22972612 0.01409309 0.97315327 0.26675075] [ 0. 0. 0. 1. ]] SLAMing on 77.54650248099999 meters Centerline goodness : 0.691766 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97321369 -0.01424523 -0.22946063 1.99097614] [ 0.01072205 0.99980482 -0.01659369 0.45665639] [ 0.22965222 0.01368892 0.97317648 0.26679313] [ 0. 0. 0. 1. ]] SLAMing on 77.57650248099999 meters Centerline goodness : 0.692487 Centerline is valid? [False, False] Translation: X:1.99, Y:0.45, Z:0.27 [[ 0.97296858 -0.01784328 -0.23024719 1.99181536] [ 0.0136692 0.99971227 -0.01971118 0.45398013] [ 0.23053265 0.01603106 0.97293253 0.26816031] [ 0. 0. 0. 1. ]] SLAMing on 77.60650248099999 meters Centerline goodness : 0.692150 Centerline is valid? [False, False] Translation: X:1.99, Y:0.45, Z:0.27 [[ 0.97268353 -0.02180716 -0.23110863 1.99271352] [ 0.01685807 0.99958479 -0.02336794 0.45273319] [ 0.23152226 0.01883357 0.97264728 0.26984788] [ 0. 0. 0. 1. ]] SLAMing on 77.636502481 meters Centerline goodness : 0.693995 Centerline is valid? [False, False] Translation: X:2.01, Y:0.45, Z:0.27 [[ 0.97310467 -0.02845503 -0.22859924 2.00910673] [ 0.02426573 0.9994825 -0.02111645 0.44858847] [ 0.22908181 0.01500139 0.97329157 0.27151589] [ 0. 0. 0. 1. ]] SLAMing on 77.666502481 meters Centerline goodness : 0.694148 Centerline is valid? [False, False] Translation: X:2.01, Y:0.45, Z:0.27 [[ 0.97278066 -0.0324155 -0.22944937 2.00991622] [ 0.02748727 0.99931835 -0.024643 0.44751459] [ 0.23009179 0.0176653 0.97300859 0.27308875] [ 0. 0. 0. 1. ]] SLAMing on 77.696502481 meters Centerline goodness : 0.693649 Centerline is valid? [False, False] Translation: X:2.03, Y:0.45, Z:0.27 [[ 0.97317522 -0.03809914 -0.22688864 2.02627892] [ 0.03404316 0.99918336 -0.02176426 0.44662272] [ 0.22753255 0.01345643 0.97367749 0.2742086 ] [ 0. 0. 0. 1. ]] SLAMing on 77.726502481 meters Centerline goodness : 0.693191 Centerline is valid? [False, False] Translation: X:2.03, Y:0.44, Z:0.27 [[ 0.9730095 -0.04214239 -0.22688439 2.02660443] [ 0.03754666 0.99899362 -0.02453549 0.44189205] [ 0.22769004 0.01535451 0.97361259 0.27405244] [ 0. 0. 0. 1. ]] SLAMing on 77.756502481 meters Centerline goodness : 0.692426 Centerline is valid? [False, False] Translation: X:2.03, Y:0.44, Z:0.28 [[ 0.97270022 -0.04663268 -0.22733166 2.0264321 ] [ 0.04120648 0.9987424 -0.02855951 0.44144213] [ 0.22837757 0.0184123 0.97339852 0.27571631] [ 0. 0. 0. 1. ]] SLAMing on 77.78650248099999 meters Centerline goodness : 0.689967 Centerline is valid? [False, False] Translation: X:2.02, Y:0.44, Z:0.28 [[ 0.97281885 -0.04747801 -0.22664801 2.02378916] [ 0.042102 0.99870681 -0.0284979 0.43634667] [ 0.22770794 0.01818096 0.97355973 0.27632955] [ 0. 0. 0. 1. ]] SLAMing on 77.81650248099999 meters Centerline goodness : 0.691916 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97284663 -0.04744097 -0.22653649 2.02348095] [ 0.04220332 0.99871911 -0.02791093 0.43407495] [ 0.22757045 0.01759246 0.97360269 0.27609555] [ 0. 0. 0. 1. ]] SLAMing on 77.84650248099999 meters Centerline goodness : 0.691245 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97259831 -0.05218757 -0.22655903 2.02362089] [ 0.04626412 0.99843622 -0.0313806 0.43194779] [ 0.22784242 0.02003917 0.97349179 0.2761214 ] [ 0. 0. 0. 1. ]] SLAMing on 77.87650248099999 meters Centerline goodness : 0.690810 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97265945 -0.05211422 -0.22631328 2.02361044] [ 0.04634279 0.99845237 -0.0307442 0.42995019] [ 0.22756524 0.01941564 0.97356925 0.27528876] [ 0. 0. 0. 1. ]] SLAMing on 77.90650248099999 meters Centerline goodness : 0.689114 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97241463 -0.05720879 -0.22613481 2.02178798] [ 0.05051055 0.99809944 -0.03530133 0.43111405] [ 0.22772457 0.02290534 0.97345614 0.27722136] [ 0. 0. 0. 1. ]] SLAMing on 77.93650248099999 meters Centerline goodness : 0.688946 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97240902 -0.05729956 -0.22613591 2.0214907 ] [ 0.0506049 0.99809485 -0.03529616 0.43102739] [ 0.22772754 0.02287872 0.97345607 0.27741928] [ 0. 0. 0. 1. ]] SLAMing on 77.96650248099999 meters Centerline goodness : 0.687904 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97239596 -0.05732335 -0.22618603 2.02148912] [ 0.05061697 0.99809255 -0.0353438 0.43144278] [ 0.22778062 0.02291931 0.9734427 0.27754043] [ 0. 0. 0. 1. ]] SLAMing on 77.996502481 meters Centerline goodness : 0.685790 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97237853 -0.0578637 -0.22612339 2.02039498] [ 0.05092834 0.99803912 -0.03638988 0.43467317] [ 0.22778564 0.02386865 0.97341871 0.27877052] [ 0. 0. 0. 1. ]] SLAMing on 78.026502481 meters Centerline goodness : 0.682365 Centerline is valid? [False, False] Translation: X:2.02, Y:0.44, Z:0.28 [[ 0.9728328 -0.05427037 -0.22505793 2.0180433 ] [ 0.04791285 0.9982856 -0.03361863 0.43773411] [ 0.22649659 0.02192214 0.97376523 0.27847491] [ 0. 0. 0. 1. ]] SLAMing on 78.056502481 meters Centerline goodness : 0.682066 Centerline is valid? [False, False] Translation: X:2.02, Y:0.44, Z:0.28 [[ 0.97323428 -0.0497328 -0.22436954 2.01773267] [ 0.04422603 0.99858574 -0.02950567 0.43771156] [ 0.22551963 0.01879295 0.97405735 0.27682768] [ 0. 0. 0. 1. ]] SLAMing on 78.086502481 meters Centerline goodness : 0.678860 Centerline is valid? [False, False] Translation: X:2.02, Y:0.44, Z:0.28 [[ 0.97338219 -0.04935617 -0.22381038 2.01626851] [ 0.04375139 0.99859384 -0.0299358 0.44402237] [ 0.22497318 0.01934696 0.97417286 0.27743387] [ 0. 0. 0. 1. ]] SLAMing on 78.116502481 meters Centerline goodness : 0.678809 Centerline is valid? [False, False] Translation: X:2.02, Y:0.45, Z:0.28 [[ 0.97335083 -0.04989646 -0.22382696 2.01523184] [ 0.04402177 0.9985444 -0.03116338 0.44719399] [ 0.2250561 0.02047964 0.97413055 0.27894885] [ 0. 0. 0. 1. ]] SLAMing on 78.14650248099998 meters Centerline goodness : 0.677524 Centerline is valid? [False, False] Translation: X:2.01, Y:0.45, Z:0.28 [[ 0.97336966 -0.05040138 -0.22363185 2.01394975] [ 0.04427095 0.99849578 -0.03234585 0.45007604] [ 0.22492573 0.02158407 0.97413682 0.28033471] [ 0. 0. 0. 1. ]] SLAMing on 78.17650248099999 meters Centerline goodness : 0.675573 Centerline is valid? [False, False] Translation: X:2.01, Y:0.46, Z:0.28 [[ 0.97349392 -0.05198142 -0.22272747 2.01032849] [ 0.04529503 0.99835935 -0.03502799 0.45548251] [ 0.22418286 0.02401108 0.97425126 0.28308755] [ 0. 0. 0. 1. ]] SLAMing on 78.20650248099999 meters Centerline goodness : 0.673490 Centerline is valid? [False, False] Translation: X:2.01, Y:0.46, Z:0.28 [[ 0.97405642 -0.04850313 -0.22104647 2.0076818 ] [ 0.04253639 0.99859263 -0.03167669 0.45661705] [ 0.22227179 0.02145236 0.97474871 0.28140024] [ 0. 0. 0. 1. ]] SLAMing on 78.23650248099999 meters Centerline goodness : 0.671731 Centerline is valid? [False, False] Translation: X:2.01, Y:0.46, Z:0.28 [[ 0.97413119 -0.04895043 -0.22061794 2.006668 ] [ 0.04283669 0.99855612 -0.0324144 0.45857804] [ 0.22188609 0.02212534 0.97482154 0.28177584] [ 0. 0. 0. 1. ]] SLAMing on 78.26650248099999 meters Centerline goodness : 0.671158 Centerline is valid? [False, False] Translation: X:2.01, Y:0.46, Z:0.28 [[ 0.97452068 -0.04492611 -0.21975235 2.00543637] [ 0.03964823 0.99881083 -0.02837137 0.45764494] [ 0.22076564 0.01893569 0.97514305 0.28028156] [ 0. 0. 0. 1. ]] SLAMing on 78.29650248099999 meters Centerline goodness : 0.663388 Centerline is valid? [False, False] Translation: X:2.00, Y:0.46, Z:0.28 [[ 0.97521429 -0.04195979 -0.21724749 2.00075682] [ 0.03731222 0.99897946 -0.02545281 0.45854272] [ 0.21809378 0.01671596 0.97578465 0.27900267] [ 0. 0. 0. 1. ]] SLAMing on 78.32650248099999 meters Centerline goodness : 0.657322 Centerline is valid? [False, False] Translation: X:2.00, Y:0.46, Z:0.28 [[ 0.97595286 -0.03870761 -0.21451747 1.99578321] [ 0.03469457 0.99914595 -0.02244243 0.45939844] [ 0.21520295 0.01446016 0.97646228 0.27774674] [ 0. 0. 0. 1. ]] SLAMing on 78.35650248099999 meters Centerline goodness : 0.641855 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.28 [[ 0.97639258 -0.03463178 -0.21320924 1.99370915] [ 0.03139347 0.99933483 -0.01855641 0.45841012] [ 0.21371006 0.01142496 0.97683032 0.27654298] [ 0. 0. 0. 1. ]] SLAMing on 78.386502481 meters Centerline goodness : 0.644667 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97684921 -0.03066852 -0.21171932 1.99206741] [ 0.02818017 0.99949387 -0.01476115 0.4569363 ] [ 0.21206486 0.00845313 0.97721903 0.27468792] [ 0. 0. 0. 1. ]] SLAMing on 78.416502481 meters Centerline goodness : 0.633786 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97726211 -0.03133869 -0.20970614 1.98896546] [ 0.0287091 0.9994665 -0.01557254 0.4578855 ] [ 0.21008228 0.00919798 0.97764044 0.27405359] [ 0. 0. 0. 1. ]] SLAMing on 78.446502481 meters Centerline goodness : 0.621857 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97744719 -0.03133363 -0.20884253 1.98781823] [ 0.02870213 0.99946596 -0.01561981 0.4575746 ] [ 0.20922042 0.00927331 0.97782453 0.2735796 ] [ 0. 0. 0. 1. ]] SLAMing on 78.476502481 meters Centerline goodness : 0.603265 Centerline is valid? [False, False] Translation: X:1.99, Y:0.45, Z:0.28 [[ 0.97877036 -0.0258916 -0.20331799 1.99190317] [ 0.02274379 0.99958278 -0.01780387 0.4540834 ] [ 0.20369414 0.01280168 0.97895088 0.27681443] [ 0. 0. 0. 1. ]] SLAMing on 78.506502481 meters Centerline goodness : 0.597300 Centerline is valid? [False, False] Translation: X:1.99, Y:0.45, Z:0.28 [[ 0.97907893 -0.02592247 -0.20182287 1.98923471] [ 0.02280029 0.99958193 -0.01777974 0.45308902] [ 0.20219939 0.01280615 0.97926064 0.27656508] [ 0. 0. 0. 1. ]] SLAMing on 78.53650248099999 meters Centerline goodness : 0.585701 Centerline is valid? [False, False] Translation: X:1.98, Y:0.45, Z:0.28 [[ 0.97987189 -0.02664557 -0.19784107 1.98398616] [ 0.02344431 0.99955385 -0.01850608 0.44812276] [ 0.19824591 0.01349534 0.9800594 0.27510396] [ 0. 0. 0. 1. ]] SLAMing on 78.56650248099999 meters Centerline goodness : 0.578671 Centerline is valid? [False, False] Translation: X:1.98, Y:0.44, Z:0.27 [[ 0.9801169 -0.02600804 -0.19670901 1.98361625] [ 0.02302635 0.9995829 -0.01743019 0.44400507] [ 0.19708029 0.01255413 0.98030697 0.27318146] [ 0. 0. 0. 1. ]] SLAMing on 78.59650248099999 meters Centerline goodness : 0.580072 Centerline is valid? [False, False] Translation: X:1.98, Y:0.43, Z:0.27 [[ 0.98057581 -0.02675407 -0.19430724 1.98278742] [ 0.02378829 0.99956241 -0.01758113 0.4340658 ] [ 0.19469258 0.01261739 0.98078316 0.27042796] [ 0. 0. 0. 1. ]] SLAMing on 78.62650248099999 meters Centerline goodness : 0.594390 Centerline is valid? [False, False] Translation: X:1.99, Y:0.43, Z:0.27 [[ 0.98060242 -0.02493455 -0.1944149 1.98517556] [ 0.02235055 0.99963044 -0.01547374 0.42784499] [ 0.19472888 0.01082831 0.98079733 0.26853574] [ 0. 0. 0. 1. ]] SLAMing on 78.65650248099999 meters Centerline goodness : 0.596262 Centerline is valid? [False, False] Translation: X:1.99, Y:0.42, Z:0.27 [[ 0.98015397 -0.02446177 -0.19672268 1.9939453 ] [ 0.02203999 0.99965207 -0.01449082 0.41599909] [ 0.1970087 0.00986747 0.98035208 0.26570857] [ 0. 0. 0. 1. ]] SLAMing on 78.68650248099999 meters Centerline goodness : 0.604648 Centerline is valid? [False, False] Translation: X:2.00, Y:0.41, Z:0.26 [[ 0.97982372 -0.02645176 -0.19810549 1.99893512] [ 0.02377123 0.99959102 -0.01589723 0.40974116] [ 0.19844498 0.01086728 0.98005178 0.26437563] [ 0. 0. 0. 1. ]] SLAMing on 78.71650248099999 meters Centerline goodness : 0.618541 Centerline is valid? [False, False] Translation: X:2.01, Y:0.40, Z:0.26 [[ 0.97945756 -0.02558197 -0.20002115 2.00713883] [ 0.02319999 0.99962937 -0.01424391 0.39500351] [ 0.2003114 0.00931082 0.97968804 0.26126185] [ 0. 0. 0. 1. ]] SLAMing on 78.746502481 meters Centerline goodness : 0.643509 Centerline is valid? [False, False] Translation: X:1.99, Y:0.39, Z:0.26 [[ 0.97897545 -0.02224066 -0.20276198 1.99416006] [ 0.01937104 0.9996823 -0.01612642 0.38532432] [ 0.20305623 0.01185966 0.97909525 0.25605165] [ 0. 0. 0. 1. ]] SLAMing on 78.776502481 meters Centerline goodness : 0.660717 Centerline is valid? [False, False] Translation: X:1.96, Y:0.37, Z:0.24 [[ 0.97776991 -0.0180067 -0.2089061 1.95621855] [ 0.0149554 0.9997573 -0.0161766 0.36504835] [ 0.20914669 0.01269272 0.9778019 0.24094166] [ 0. 0. 0. 1. ]] SLAMing on 78.806502481 meters Centerline goodness : 0.663896 Centerline is valid? [False, False] Translation: X:1.90, Y:0.35, Z:0.22 [[ 0.97729647 -0.01389598 -0.21142025 1.89759818] [ 0.00978642 0.99974253 -0.02047191 0.35181653] [ 0.21165029 0.01793808 0.97718083 0.22173297] [ 0. 0. 0. 1. ]] SLAMing on 78.836502481 meters Centerline goodness : 0.666903 Centerline is valid? [False, False] Translation: X:1.84, Y:0.34, Z:0.20 [[ 0.97694204 -0.01190635 -0.21317246 1.83534206] [ 0.00681503 0.99967408 -0.02460254 0.33960506] [ 0.21339591 0.02258248 0.97670478 0.20053509] [ 0. 0. 0. 1. ]] SLAMing on 78.866502481 meters Centerline goodness : 0.671471 Centerline is valid? [False, False] Translation: X:1.80, Y:0.32, Z:0.18 [[ 0.97597965 -0.01179586 -0.21754216 1.80161427] [ 0.005853 0.9995924 -0.02794237 0.32237726] [ 0.21778309 0.02599791 0.97565088 0.18446798] [ 0. 0. 0. 1. ]] SLAMing on 78.89650248099998 meters Centerline goodness : 0.673041 Centerline is valid? [False, False] Translation: X:1.76, Y:0.31, Z:0.17 [[ 0.97589208 -0.01243473 -0.2178991 1.76202696] [ 0.00556311 0.99946851 -0.03212097 0.31284816] [ 0.2181827 0.0301344 0.97544258 0.16904702] [ 0. 0. 0. 1. ]] SLAMing on 78.92650248099999 meters Centerline goodness : 0.677698 Centerline is valid? [False, False] Translation: X:1.75, Y:0.30, Z:0.16 [[ 0.97502676 -0.01139573 -0.22179485 1.75331553] [ 0.0039828 0.99941929 -0.03384108 0.2978054 ] [ 0.22205169 0.03211259 0.97450594 0.15892205] [ 0. 0. 0. 1. ]] SLAMing on 78.95650248099999 meters Centerline goodness : 0.679871 Centerline is valid? [False, False] Translation: X:1.76, Y:0.29, Z:0.16 [[ 0.97497248 -0.01513069 -0.22181013 1.75593137] [ 0.00723867 0.9993129 -0.03634996 0.29440249] [ 0.22220772 0.0338346 0.9744121 0.1564839 ] [ 0. 0. 0. 1. ]] SLAMing on 78.98650248099999 meters Centerline goodness : 0.685214 Centerline is valid? [False, False] Translation: X:1.76, Y:0.29, Z:0.15 [[ 0.97414669 -0.02601642 -0.22441342 1.7649938 ] [ 0.01643422 0.9988759 -0.04446184 0.28797305] [ 0.22531789 0.03962429 0.97347921 0.15140294] [ 0. 0. 0. 1. ]] SLAMing on 79.01650248099999 meters Centerline goodness : 0.689570 Centerline is valid? [False, False] Translation: X:1.77, Y:0.28, Z:0.15 [[ 0.97379341 -0.03044463 -0.22538749 1.77073065] [ 0.02031459 0.99868222 -0.04712905 0.28396387] [ 0.22652531 0.04131531 0.97312863 0.14814677] [ 0. 0. 0. 1. ]] SLAMing on 79.04650248099999 meters Centerline goodness : 0.700709 Centerline is valid? [False, False] Translation: X:1.78, Y:0.27, Z:0.14 [[ 0.97132841 -0.03378258 -0.23532923 1.77523298] [ 0.0224976 0.99847187 -0.05047565 0.27430866] [ 0.23667482 0.04373409 0.97060412 0.14102753] [ 0. 0. 0. 1. ]] SLAMing on 79.07650248099999 meters Centerline goodness : 0.706499 Centerline is valid? [False, False] Translation: X:1.78, Y:0.27, Z:0.14 [[ 0.97082333 -0.03734364 -0.23687024 1.78239682] [ 0.02552903 0.99828129 -0.05275162 0.27282309] [ 0.23843307 0.04516543 0.97010812 0.13761003] [ 0. 0. 0. 1. ]] SLAMing on 79.10650248099999 meters Centerline goodness : 0.720005 Centerline is valid? [False, False] Translation: X:1.79, Y:0.26, Z:0.13 [[ 0.96864832 -0.03757297 -0.24557831 1.78624039] [ 0.02429983 0.99808651 -0.05685798 0.26382402] [ 0.24724472 0.04910787 0.96770784 0.12819535] [ 0. 0. 0. 1. ]] SLAMing on 79.136502481 meters Centerline goodness : 0.730518 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.12 [[ 0.9678336 -0.03734549 -0.24880401 1.79787822] [ 0.02429233 0.99817257 -0.05532993 0.25803726] [ 0.25041566 0.04750614 0.96697216 0.12277571] [ 0. 0. 0. 1. ]] SLAMing on 79.166502481 meters Centerline goodness : 0.627083 Centerline is valid? [False, False] Translation: X:1.83, Y:0.24, Z:0.12 [[ 0.96585585 -0.0416455 -0.25571102 1.83390327] [ 0.02515571 0.99740732 -0.06742276 0.24286932] [ 0.2578559 0.05868807 0.96439932 0.12318936] [ 0. 0. 0. 1. ]] SLAMing on 79.196502481 meters Centerline goodness : 0.547637 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:0.12 [[ 0.96503981 -0.04806782 -0.257658 1.84151472] [ 0.03015386 0.99687349 -0.07303423 0.23554909] [ 0.26036303 0.06271156 0.96347203 0.12205749] [ 0. 0. 0. 1. ]] SLAMing on 79.226502481 meters Centerline goodness : 0.597795 Centerline is valid? [False, False] Translation: X:1.84, Y:0.22, Z:0.12 [[ 0.96481117 -0.04981687 -0.25818149 1.84378096] [ 0.03212313 0.99686509 -0.07230553 0.2221936 ] [ 0.26097416 0.06146759 0.96338685 0.12006933] [ 0. 0. 0. 1. ]] SLAMing on 79.256502481 meters Centerline goodness : 0.630108 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:0.12 [[ 0.96452653 -0.05206046 -0.25880161 1.8484208 ] [ 0.03423616 0.99675062 -0.07291148 0.21282893] [ 0.26175647 0.06146469 0.96317477 0.11715801] [ 0. 0. 0. 1. ]] SLAMing on 79.28650248099999 meters Centerline goodness : 0.482991 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:0.11 [[ 0.96383206 -0.0522715 -0.26133399 1.85514974] [ 0.0352092 0.99695669 -0.06955339 0.19765353] [ 0.26417433 0.05783642 0.96273925 0.11319326] [ 0. 0. 0. 1. ]] SLAMing on 79.31650248099999 meters Centerline goodness : 0.331222 Centerline is valid? [False, False] Translation: X:1.86, Y:0.19, Z:0.11 [[ 0.96354677 -0.05417376 -0.26199776 1.86113096] [ 0.03725094 0.99691154 -0.06913579 0.18831504] [ 0.26493394 0.0568559 0.96258891 0.10840109] [ 0. 0. 0. 1. ]] SLAMing on 79.34650248099999 meters Centerline goodness : 0.331222 Centerline is valid? [False, False] Translation: X:1.86, Y:0.19, Z:0.11 [[ 0.96354677 -0.05417376 -0.26199776 1.86113096] [ 0.03725094 0.99691154 -0.06913579 0.18831504] [ 0.26493394 0.0568559 0.96258891 0.10840109] [ 0. 0. 0. 1. ]] SLAMing on 79.37650248099999 meters Centerline goodness : 0.750368 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:0.10 [[ 0.96354902 -0.05020918 -0.2627781 1.865184 ] [ 0.03497453 0.9974421 -0.06233807 0.17305083] [ 0.26523588 0.05087525 0.9628404 0.10350178] [ 0. 0. 0. 1. ]] SLAMing on 79.40650248099999 meters Centerline goodness : 0.681980 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:0.10 [[ 0.96292112 -0.05575555 -0.26395877 1.87370504] [ 0.03948131 0.99700054 -0.06656692 0.16694033] [ 0.26687851 0.05367725 0.96223418 0.09955057] [ 0. 0. 0. 1. ]] SLAMing on 79.43650248099999 meters Centerline goodness : 0.592084 Centerline is valid? [False, False] Translation: X:1.89, Y:0.15, Z:0.09 [[ 0.96114646 -0.0548605 -0.27053244 1.88975001] [ 0.03957241 0.99731307 -0.06164957 0.15293412] [ 0.27318766 0.04854864 0.96073489 0.09161337] [ 0. 0. 0. 1. ]] SLAMing on 79.46650248099999 meters Centerline goodness : 0.581602 Centerline is valid? [False, False] Translation: X:1.90, Y:0.14, Z:0.09 [[ 0.96066825 -0.05586438 -0.27202149 1.89782654] [ 0.04111964 0.99737443 -0.05961061 0.14297716] [ 0.27463739 0.04608059 0.96044307 0.08548328] [ 0. 0. 0. 1. ]] SLAMing on 79.496502481 meters Centerline goodness : 0.310246 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:0.08 [[ 0.95742808 -0.05751783 -0.28288366 1.91424575] [ 0.04496853 0.99770294 -0.05066243 0.1246832 ] [ 0.28514785 0.03578477 0.9578153 0.08053199] [ 0. 0. 0. 1. ]] SLAMing on 79.526502481 meters Centerline goodness : 0.291254 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.08 [[ 0.95693789 -0.06454862 -0.28302534 1.91781014] [ 0.05088721 0.99716855 -0.05536591 0.11646711] [ 0.28579776 0.03857937 0.95751307 0.0786388 ] [ 0. 0. 0. 1. ]] SLAMing on 79.556502481 meters Centerline goodness : 0.692326 Centerline is valid? [False, False] Translation: X:1.94, Y:0.10, Z:0.08 [[ 0.95591598 -0.07029026 -0.28510335 1.94354011] [ 0.05848597 0.99704933 -0.04971946 0.09522531] [ 0.28775689 0.03085308 0.95720638 0.07551712] [ 0. 0. 0. 1. ]] SLAMing on 79.586502481 meters Centerline goodness : 0.719041 Centerline is valid? [False, False] Translation: X:1.95, Y:0.08, Z:0.07 [[ 0.95579593 -0.06800829 -0.2860577 1.94803684] [ 0.05751128 0.99733249 -0.04494836 0.0836678 ] [ 0.2883515 0.02650992 0.95715758 0.07189588] [ 0. 0. 0. 1. ]] SLAMing on 79.616502481 meters Centerline goodness : 0.652649 Centerline is valid? [False, False] Translation: X:1.95, Y:0.07, Z:0.07 [[ 0.95546718 -0.06883091 -0.2869578 1.95377259] [ 0.05882017 0.99732593 -0.04337259 0.07324489] [ 0.28917582 0.02456218 0.95696084 0.06829601] [ 0. 0. 0. 1. ]] SLAMing on 79.64650248099998 meters Centerline goodness : 0.715599 Centerline is valid? [False, False] Translation: X:1.96, Y:0.05, Z:0.06 [[ 0.95502444 -0.06717762 -0.28881739 1.96062692] [ 0.05942364 0.99759989 -0.03554272 0.04857289] [ 0.29051187 0.01678158 0.95672422 0.06423822] [ 0. 0. 0. 1. ]] SLAMing on 79.67650248099999 meters Centerline goodness : 0.717463 Centerline is valid? [False, False] Translation: X:1.97, Y:0.03, Z:0.07 [[ 0.95717775 -0.0669345 -0.28165675 1.97000713] [ 0.06086084 0.99768724 -0.03026754 0.02527282] [ 0.28303129 0.01182955 0.95903772 0.06639612] [ 0. 0. 0. 1. ]] SLAMing on 79.70650248099999 meters Centerline goodness : 0.387932 Centerline is valid? [False, False] Translation: X:1.98, Y:0.01, Z:0.07 [[ 0.95866176 -0.06938673 -0.27595853 1.9817562 ] [ 0.06403974 0.99754453 -0.02835174 0.01439701] [ 0.27724816 0.00950742 0.9607513 0.07186117] [ 0. 0. 0. 1. ]] SLAMing on 79.73650248099999 meters Centerline goodness : 0.712848 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.00, Z:0.10 [[ 0.95826997 -0.07591724 -0.27559977 2.0309661 ] [ 0.0694895 0.99703579 -0.03302797 -0.00298486] [ 0.27729022 0.01249842 0.96070491 0.09568033] [ 0. 0. 0. 1. ]] SLAMing on 79.76650248099999 meters Centerline goodness : 0.715580 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:0.10 [[ 0.95861528 -0.07910331 -0.27349481 2.02308472] [ 0.07281653 0.99679664 -0.03307877 -0.01521703] [ 0.27523535 0.01179487 0.96130452 0.09986745] [ 0. 0. 0. 1. ]] SLAMing on 79.79650248099999 meters Centerline goodness : 0.710339 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.04, Z:0.11 [[ 0.9594751 -0.0835689 -0.26911666 2.00981213] [ 0.07823578 0.99646817 -0.03050153 -0.03632864] [ 0.27071517 0.0082109 0.96262447 0.10753276] [ 0. 0. 0. 1. ]] SLAMing on 79.82650248099999 meters Centerline goodness : 0.707984 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:0.11 [[ 0.9598223 -0.08418329 -0.26768325 2.00324835] [ 0.07958134 0.99643462 -0.02801517 -0.04563863] [ 0.26908727 0.005587 0.96309959 0.11199778] [ 0. 0. 0. 1. ]] SLAMing on 79.85650248099999 meters Centerline goodness : 0.708113 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.06, Z:0.12 [[ 0.96010571 -0.0882881 -0.26533421 1.99478797] [ 0.08407622 0.99608766 -0.02721334 -0.06093554] [ 0.26669875 0.00381938 0.96377238 0.11770304] [ 0. 0. 0. 1. ]] SLAMing on 79.886502481 meters Centerline goodness : 0.706370 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.07, Z:0.12 [[ 0.96003374 -0.0907615 -0.26475946 1.9930247 ] [ 0.08649989 0.99586569 -0.02773631 -0.06782095] [ 0.26618225 0.00372613 0.96391552 0.11918236] [ 0. 0. 0. 1. ]] SLAMing on 79.916502481 meters Centerline goodness : 0.708099 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.08, Z:0.12 [[ 9.60201500e-01 -9.23593487e-02 -2.63595961e-01 1.98906160e+00] [ 8.85876276e-02 9.95724128e-01 -2.61857541e-02 -7.85299762e-02] [ 2.64887357e-01 1.79225957e-03 9.64277696e-01 1.22037114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.946502481 meters Centerline goodness : 0.707642 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.08, Z:0.12 [[ 9.60196852e-01 -9.12728895e-02 -2.63991033e-01 1.98863169e+00] [ 8.81111271e-02 9.95825842e-01 -2.38185183e-02 -8.26047224e-02] [ 2.65063078e-01 -3.90081227e-04 9.64230995e-01 1.23838016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.976502481 meters Centerline goodness : 0.707157 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.59903263e-01 -9.47137551e-02 -2.63846605e-01 1.98735258e+00] [ 9.13278453e-02 9.95504548e-01 -2.50982089e-02 -8.78151345e-02] [ 2.65037640e-01 -4.68926861e-06 9.64238067e-01 1.25983592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.006502481 meters Centerline goodness : 0.706534 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 0.95958846 -0.09910022 -0.26338022 1.98705688] [ 0.09494152 0.99507469 -0.02850379 -0.08950394] [ 0.26490773 0.00234619 0.96427091 0.126067 ] [ 0. 0. 0. 1. ]] SLAMing on 80.03650248099999 meters Centerline goodness : 0.702065 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.59381223e-01 -9.96866939e-02 -2.63913304e-01 1.98752887e+00] [ 9.58303253e-02 9.95018298e-01 -2.74797429e-02 -9.29462997e-02] [ 2.65337931e-01 1.07265150e-03 9.64154879e-01 1.27504706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06650248099999 meters Centerline goodness : 0.701652 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.59207155e-01 -9.98756043e-02 -2.64474000e-01 1.98880879e+00] [ 9.60637193e-02 9.94999594e-01 -2.73417380e-02 -9.28982554e-02] [ 2.65882295e-01 8.20034580e-04 9.64005152e-01 1.27682068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09650248099999 meters Centerline goodness : 0.699386 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.58654448e-01 -1.00415570e-01 -2.66267466e-01 1.99239474e+00] [ 9.67206778e-02 9.94945576e-01 -2.69891007e-02 -9.25405771e-02] [ 2.67631763e-01 1.19651674e-04 9.63521264e-01 1.28603931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12650248099999 meters Centerline goodness : 0.700370 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.58622384e-01 -1.00223438e-01 -2.66455226e-01 1.99190013e+00] [ 9.66474410e-02 9.94964905e-01 -2.65350534e-02 -9.29958495e-02] [ 2.67773033e-01 -3.15119601e-04 9.63481968e-01 1.29533539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15650248099999 meters Centerline goodness : 0.700730 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.58749223e-01 -1.00486132e-01 -2.65899352e-01 1.98899308e+00] [ 9.68682717e-02 9.94938449e-01 -2.67211499e-02 -9.29567153e-02] [ 2.67238594e-01 -1.38328955e-04 9.63630383e-01 1.30951162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18650248099999 meters Centerline goodness : 0.701294 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 0.96029238 -0.10577879 -0.25816543 1.99208531] [ 0.1029529 0.99438494 -0.02448026 -0.09146435] [ 0.25930531 -0.00307067 0.96579052 0.13219026] [ 0. 0. 0. 1. ]] SLAMing on 80.21650248099999 meters Centerline goodness : 0.700240 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 0.96078379 -0.10251107 -0.25765477 1.98765279] [ 0.10039299 0.99471771 -0.02139922 -0.09138053] [ 0.25848742 -0.00530671 0.96600005 0.13453069] [ 0. 0. 0. 1. ]] SLAMing on 80.246502481 meters Centerline goodness : 0.701922 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.14 [[ 0.96084724 -0.10230924 -0.25749835 1.98638994] [ 0.10024025 0.99473768 -0.02118571 -0.09142616] [ 0.2583108 -0.00545547 0.96604646 0.13533542] [ 0. 0. 0. 1. ]] SLAMing on 80.276502481 meters Centerline goodness : 0.701352 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.14 [[ 0.96111099 -0.10082183 -0.2571004 1.98232323] [ 0.09916395 0.99488119 -0.01944058 -0.09255645] [ 0.25774438 -0.00681054 0.96618914 0.13806889] [ 0. 0. 0. 1. ]] SLAMing on 80.306502481 meters Centerline goodness : 0.701898 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.14 [[ 0.96130172 -0.09997173 -0.25671901 1.97995892] [ 0.09845034 0.99496426 -0.01880581 -0.09247637] [ 0.25730629 -0.00719602 0.9663031 0.13925174] [ 0. 0. 0. 1. ]] SLAMing on 80.336502481 meters Centerline goodness : 0.702416 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.14 [[ 0.96178507 -0.09862119 -0.25542777 1.97553997] [ 0.09718382 0.99509866 -0.01827471 -0.09248067] [ 0.25597811 -0.0072471 0.96665541 0.14028955] [ 0. 0. 0. 1. ]] SLAMing on 80.366502481 meters Centerline goodness : 0.705186 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.14 [[ 0.96195112 -0.09809019 -0.25500658 1.97390701] [ 0.09674175 0.99514932 -0.01785661 -0.09327522] [ 0.25552119 -0.0074926 0.96677442 0.14081477] [ 0. 0. 0. 1. ]] SLAMing on 80.39650248099998 meters Centerline goodness : 0.709639 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.14 [[ 0.96239872 -0.09544446 -0.25432076 1.96844338] [ 0.09470622 0.9953896 -0.01517487 -0.0939051 ] [ 0.2545966 -0.00948148 0.96700087 0.14391757] [ 0. 0. 0. 1. ]] SLAMing on 80.42650248099999 meters Centerline goodness : 0.706998 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.15 [[ 0.96241969 -0.09479687 -0.25448359 1.9668764 ] [ 0.09422928 0.99544566 -0.01444893 -0.0930798 ] [ 0.2546943 -0.01007387 0.96696915 0.14556543] [ 0. 0. 0. 1. ]] SLAMing on 80.45650248099999 meters Centerline goodness : 0.707496 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.15 [[ 0.96223168 -0.09523398 -0.25503075 1.96625272] [ 0.09461734 0.99540497 -0.01471421 -0.09108901] [ 0.25526017 -0.00997185 0.96682098 0.14723164] [ 0. 0. 0. 1. ]] SLAMing on 80.48650248099999 meters Centerline goodness : 0.705711 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.15 [[ 0.96204554 -0.09579139 -0.25552375 1.9665734 ] [ 0.09509208 0.99535365 -0.01511951 -0.08981785] [ 0.25578482 -0.00975263 0.96668455 0.14797324] [ 0. 0. 0. 1. ]] SLAMing on 80.51650248099999 meters Centerline goodness : 0.704109 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.15 [[ 0.96175307 -0.09663546 -0.25630573 1.9652829 ] [ 0.09582884 0.99527455 -0.01566538 -0.08516396] [ 0.2566084 -0.00949525 0.96646881 0.15051194] [ 0. 0. 0. 1. ]] SLAMing on 80.54650248099999 meters Centerline goodness : 0.705655 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.08, Z:0.15 [[ 0.96180797 -0.09666783 -0.25608741 1.96328649] [ 0.09584415 0.99527213 -0.01572561 -0.08370121] [ 0.25639682 -0.00941946 0.96652571 0.15192653] [ 0. 0. 0. 1. ]] SLAMing on 80.57650248099999 meters Centerline goodness : 0.711753 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.08, Z:0.16 [[ 0.96189894 -0.0984632 -0.25505965 1.95640158] [ 0.09734272 0.99510496 -0.01704448 -0.07856292] [ 0.25548938 -0.00843313 0.96677508 0.15606455] [ 0. 0. 0. 1. ]] SLAMing on 80.60650248099999 meters Centerline goodness : 0.711984 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.07, Z:0.16 [[ 0.96183295 -0.09829739 -0.25537227 1.9544419 ] [ 0.09731143 0.99511678 -0.01652508 -0.0743982 ] [ 0.25574961 -0.00895628 0.96670157 0.15821315] [ 0. 0. 0. 1. ]] SLAMing on 80.636502481 meters Centerline goodness : 0.713813 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.07, Z:0.16 [[ 0.96192098 -0.09777548 -0.25524105 1.9523391 ] [ 0.09680521 0.99516834 -0.01639273 -0.0661991 ] [ 0.25561062 -0.00894015 0.96673848 0.15923069] [ 0. 0. 0. 1. ]] SLAMing on 80.666502481 meters Centerline goodness : 0.713721 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.06, Z:0.16 [[ 0.96168613 -0.09979447 -0.25534458 1.95297447] [ 0.09829797 0.99498227 -0.01864906 -0.06239336] [ 0.2559244 -0.00716531 0.96667024 0.15888789] [ 0. 0. 0. 1. ]] SLAMing on 80.696502481 meters Centerline goodness : 0.710106 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.05, Z:0.16 [[ 0.96135205 -0.10303113 -0.2553171 1.95227047] [ 0.10062259 0.9946699 -0.02251407 -0.0546846 ] [ 0.25627588 -0.00404672 0.96659521 0.15925677] [ 0. 0. 0. 1. ]] SLAMing on 80.726502481 meters Centerline goodness : 0.714246 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.05, Z:0.16 [[ 0.96146322 -0.10063772 -0.25585253 1.95179498] [ 0.09866208 0.99490817 -0.02057953 -0.05047844] [ 0.25662085 -0.00545648 0.96649675 0.16024101] [ 0. 0. 0. 1. ]] SLAMing on 80.756502481 meters Centerline goodness : 0.714573 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.04, Z:0.16 [[ 0.96135251 -0.09888586 -0.2569493 1.95211574] [ 0.09704732 0.99508162 -0.01985925 -0.0423183 ] [ 0.25764932 -0.0058445 0.96622082 0.16126766] [ 0. 0. 0. 1. ]] SLAMing on 80.78650248099999 meters Centerline goodness : 0.712241 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.04, Z:0.16 [[ 0.96160297 -0.09610217 -0.2570683 1.95049281] [ 0.09470715 0.99534545 -0.01783252 -0.03890802] [ 0.2575855 -0.0071984 0.9662287 0.16224716] [ 0. 0. 0. 1. ]] SLAMing on 80.81650248099999 meters Centerline goodness : 0.711065 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:0.17 [[ 0.96236773 -0.09057208 -0.25621291 1.94356674] [ 0.08999986 0.99584361 -0.01398315 -0.03155646] [ 0.25641447 -0.00960219 0.96651923 0.16551431] [ 0. 0. 0. 1. ]] SLAMing on 80.84650248099999 meters Centerline goodness : 0.709091 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:0.17 [[ 0.96259374 -0.08710365 -0.25656625 1.94228426] [ 0.08704409 0.99613679 -0.01161125 -0.02765237] [ 0.25658647 -0.01115566 0.9664569 0.16657465] [ 0. 0. 0. 1. ]] SLAMing on 80.87650248099999 meters Centerline goodness : 0.711944 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.02, Z:0.17 [[ 0.96287423 -0.08428055 -0.25645665 1.94117591] [ 0.08416347 0.99638614 -0.01145275 -0.02013634] [ 0.25649509 -0.01055673 0.96648788 0.16590416] [ 0. 0. 0. 1. ]] SLAMing on 80.90650248099999 meters Centerline goodness : 0.710285 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.02, Z:0.16 [[ 0.96285553 -0.08483158 -0.25634512 1.94152393] [ 0.08419306 0.99635821 -0.0134853 -0.01620251] [ 0.25655555 -0.00859809 0.96649124 0.16469238] [ 0. 0. 0. 1. ]] SLAMing on 80.93650248099999 meters Centerline goodness : 0.712356 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:0.16 [[ 0.96306014 -0.0816693 -0.25660339 1.94282689] [ 0.08089882 0.99662986 -0.01357596 -0.00914495] [ 0.25684734 -0.00768444 0.96642144 0.1623432 ] [ 0. 0. 0. 1. ]] SLAMing on 80.96650248099999 meters Centerline goodness : 0.712861 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:0.16 [[ 0.9632399 -0.07801804 -0.25706436 1.94414378] [ 0.07764494 0.99691338 -0.01161779 -0.00555679] [ 0.2571773 -0.00876903 0.96632445 0.16112187] [ 0. 0. 0. 1. ]] SLAMing on 80.996502481 meters Centerline goodness : 0.715998 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:0.16 [[ 0.96330964 -0.06985634 -0.25914212 1.9495163 ] [ 0.07049841 0.99748853 -0.00682675 0.00326047] [ 0.25896818 -0.01169284 0.96581507 0.15859113] [ 0. 0. 0. 1. ]] SLAMing on 81.026502481 meters Centerline goodness : 0.715212 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:0.16 [[ 0.96334464 -0.06663108 -0.25986034 1.95135154] [ 0.06757052 0.99770028 -0.0053265 0.00802847] [ 0.25961765 -0.01242765 0.96563152 0.15747159] [ 0. 0. 0. 1. ]] SLAMing on 81.056502481 meters Centerline goodness : 0.715967 Centerline is valid? [False, False] Translation: X:1.96, Y:0.01, Z:0.16 [[ 0.96310255 -0.06391118 -0.2614361 1.95746097] [ 0.06510777 0.99786985 -0.00409114 0.01482572] [ 0.26114067 -0.01308133 0.96521212 0.15500895] [ 0. 0. 0. 1. ]] SLAMing on 81.086502481 meters Centerline goodness : 0.713123 Centerline is valid? [False, False] Translation: X:1.96, Y:0.02, Z:0.15 [[ 0.96292381 -0.06353575 -0.26218494 1.96123483] [ 0.0647383 0.99789403 -0.00405781 0.0173131 ] [ 0.2618906 -0.01306605 0.96500912 0.15332069] [ 0. 0. 0. 1. ]] SLAMing on 81.116502481 meters Centerline goodness : 0.712299 Centerline is valid? [False, False] Translation: X:1.96, Y:0.02, Z:0.15 [[ 0.96264303 -0.06386406 -0.26313453 1.96462704] [ 0.06486941 0.99788186 -0.00487471 0.0237423 ] [ 0.26288849 -0.01237678 0.96474683 0.15213651] [ 0. 0. 0. 1. ]] SLAMing on 81.14650248099998 meters Centerline goodness : 0.714801 Centerline is valid? [False, False] Translation: X:1.97, Y:0.03, Z:0.16 [[ 9.62974130e-01 -6.81178611e-02 -2.60846279e-01 1.96801296e+00] [ 7.07810325e-02 9.97491542e-01 8.17772182e-04 3.37906714e-02] [ 2.60136253e-01 -1.92504624e-02 9.65380003e-01 1.55377823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17650248099999 meters Centerline goodness : 0.717053 Centerline is valid? [False, False] Translation: X:1.96, Y:0.04, Z:0.16 [[ 0.9633222 -0.06548634 -0.26023426 1.96439418] [ 0.06856328 0.99764297 0.00275346 0.03807052] [ 0.25944057 -0.02049498 0.96554158 0.15665483] [ 0. 0. 0. 1. ]] SLAMing on 81.20650248099999 meters Centerline goodness : 0.720558 Centerline is valid? [False, False] Translation: X:1.96, Y:0.05, Z:0.16 [[ 0.96364518 -0.06446675 -0.25929136 1.95965098] [ 0.06747252 0.99771748 0.00269952 0.04801474] [ 0.25852549 -0.02009642 0.96579537 0.15806185] [ 0. 0. 0. 1. ]] SLAMing on 81.23650248099999 meters Centerline goodness : 0.719191 Centerline is valid? [False, False] Translation: X:1.96, Y:0.05, Z:0.16 [[ 0.96387768 -0.06193862 -0.25904331 1.95844073] [ 0.06531253 0.99785502 0.00442989 0.05151806] [ 0.25821328 -0.02118864 0.96585555 0.15821511] [ 0. 0. 0. 1. ]] SLAMing on 81.26650248099999 meters Centerline goodness : 0.719191 Centerline is valid? [False, False] Translation: X:1.96, Y:0.05, Z:0.16 [[ 0.96387768 -0.06193862 -0.25904331 1.95844073] [ 0.06531253 0.99785502 0.00442989 0.05151806] [ 0.25821328 -0.02118864 0.96585555 0.15821511] [ 0. 0. 0. 1. ]] SLAMing on 81.29650248099999 meters Centerline goodness : 0.719831 Centerline is valid? [False, False] Translation: X:1.96, Y:0.06, Z:0.16 [[ 0.96415298 -0.05895216 -0.25871543 1.95712641] [ 0.06276935 0.99800682 0.00651139 0.05503379] [ 0.25781591 -0.02251737 0.96593164 0.15822443] [ 0. 0. 0. 1. ]] SLAMing on 81.32650248099999 meters Centerline goodness : 0.723068 Centerline is valid? [False, False] Translation: X:1.96, Y:0.06, Z:0.16 [[ 0.96433951 -0.05684503 -0.25849167 1.95544207] [ 0.06073823 0.99812852 0.00709358 0.06495817] [ 0.25760467 -0.02254095 0.96598744 0.15860363] [ 0. 0. 0. 1. ]] SLAMing on 81.35650248099999 meters Centerline goodness : 0.723050 Centerline is valid? [False, False] Translation: X:1.96, Y:0.07, Z:0.16 [[ 0.96450145 -0.05345521 -0.2586107 1.95527453] [ 0.05785455 0.99828053 0.00942538 0.06850028] [ 0.25766219 -0.0240526 0.96593564 0.15854303] [ 0. 0. 0. 1. ]] SLAMing on 81.386502481 meters Centerline goodness : 0.721921 Centerline is valid? [False, False] Translation: X:1.96, Y:0.08, Z:0.16 [[ 0.9645416 -0.04982156 -0.25918586 1.95685057] [ 0.05473836 0.9984312 0.01178314 0.07610091] [ 0.2581922 -0.02555274 0.96575558 0.15773314] [ 0. 0. 0. 1. ]] SLAMing on 81.416502481 meters Centerline goodness : 0.725438 Centerline is valid? [False, False] Translation: X:1.96, Y:0.08, Z:0.16 [[ 0.96452393 -0.04676489 -0.25982039 1.95791291] [ 0.05215821 0.99854211 0.01389856 0.08120098] [ 0.25879163 -0.02695726 0.96555694 0.15757019] [ 0. 0. 0. 1. ]] SLAMing on 81.446502481 meters Centerline goodness : 0.726603 Centerline is valid? [False, False] Translation: X:1.96, Y:0.08, Z:0.16 [[ 0.96469505 -0.0433719 -0.25977363 1.95753478] [ 0.04943848 0.99863482 0.01686225 0.08184966] [ 0.25868764 -0.02910974 0.96552231 0.15744953] [ 0. 0. 0. 1. ]] SLAMing on 81.476502481 meters Centerline goodness : 0.724939 Centerline is valid? [False, False] Translation: X:1.96, Y:0.08, Z:0.16 [[ 0.96461208 -0.04375462 -0.26001745 1.9577011 ] [ 0.04966514 0.99863451 0.01620167 0.08408287] [ 0.2589535 -0.02854213 0.96546798 0.15776855] [ 0. 0. 0. 1. ]] SLAMing on 81.506502481 meters Centerline goodness : 0.726549 Centerline is valid? [False, False] Translation: X:1.96, Y:0.09, Z:0.16 [[ 0.96473558 -0.04033479 -0.26011222 1.95777068] [ 0.04682012 0.99872673 0.01878268 0.0873767 ] [ 0.25902343 -0.03029881 0.96539569 0.15746815] [ 0. 0. 0. 1. ]] SLAMing on 81.53650248099999 meters Centerline goodness : 0.729625 Centerline is valid? [False, False] Translation: X:1.96, Y:0.09, Z:0.16 [[ 0.96467793 -0.03790373 -0.26069101 1.95893164] [ 0.04488599 0.99877388 0.02088018 0.08948072] [ 0.25957994 -0.03184403 0.96519646 0.15732844] [ 0. 0. 0. 1. ]] SLAMing on 81.56650248099999 meters Centerline goodness : 0.728373 Centerline is valid? [False, False] Translation: X:1.96, Y:0.09, Z:0.16 [[ 0.96489897 -0.03479041 -0.26030675 1.9567488 ] [ 0.04224295 0.99884055 0.02308855 0.09333304] [ 0.25920168 -0.03327425 0.96524987 0.15810175] [ 0. 0. 0. 1. ]] SLAMing on 81.59650248099999 meters Centerline goodness : 0.728342 Centerline is valid? [False, False] Translation: X:1.96, Y:0.10, Z:0.16 [[ 0.96488193 -0.0352262 -0.26031131 1.95692687] [ 0.04251002 0.99884484 0.02240257 0.09530209] [ 0.25922146 -0.03268168 0.96526481 0.1579659 ] [ 0. 0. 0. 1. ]] SLAMing on 81.62650248099999 meters Centerline goodness : 0.729321 Centerline is valid? [False, False] Translation: X:1.96, Y:0.10, Z:0.16 [[ 0.96487172 -0.03283688 -0.2606613 1.95923176] [ 0.04040066 0.99890218 0.02371133 0.10038418] [ 0.25959653 -0.03340928 0.96513909 0.15655466] [ 0. 0. 0. 1. ]] SLAMing on 81.65650248099999 meters Centerline goodness : 0.593653 Centerline is valid? [False, False] Translation: X:1.96, Y:0.10, Z:0.16 [[ 0.96494972 -0.02892615 -0.26083579 1.95986863] [ 0.03718714 0.99894914 0.02679069 0.10214753] [ 0.25978674 -0.03555141 0.96501137 0.15605747] [ 0. 0. 0. 1. ]] SLAMing on 81.68650248099999 meters Centerline goodness : 0.584274 Centerline is valid? [False, False] Translation: X:1.96, Y:0.11, Z:0.16 [[ 0.96505256 -0.02562198 -0.26080083 1.96070366] [ 0.03429464 0.99899796 0.02875693 0.10693101] [ 0.25980268 -0.03669602 0.96496423 0.15515275] [ 0. 0. 0. 1. ]] SLAMing on 81.71650248099999 meters Centerline goodness : 0.731216 Centerline is valid? [False, False] Translation: X:1.96, Y:0.11, Z:0.16 [[ 0.96520241 -0.02180293 -0.26059344 1.96001208] [ 0.03112926 0.99901209 0.0317147 0.10822143] [ 0.25964453 -0.03872319 0.96492758 0.15512834] [ 0. 0. 0. 1. ]] SLAMing on 81.746502481 meters Centerline goodness : 0.733149 Centerline is valid? [False, False] Translation: X:1.96, Y:0.11, Z:0.16 [[ 0.9653883 -0.01812266 -0.26018647 1.95831149] [ 0.02786827 0.99903946 0.03381592 0.11315074] [ 0.25932372 -0.03989644 0.96496605 0.15562527] [ 0. 0. 0. 1. ]] SLAMing on 81.776502481 meters Centerline goodness : 0.734700 Centerline is valid? [False, False] Translation: X:1.96, Y:0.12, Z:0.16 [[ 0.96536819 -0.01820125 -0.2602556 1.9584055 ] [ 0.02776654 0.99906547 0.03312398 0.11590735] [ 0.25940948 -0.03920323 0.96497141 0.15571649] [ 0. 0. 0. 1. ]] SLAMing on 81.806502481 meters Centerline goodness : 0.737644 Centerline is valid? [False, False] Translation: X:1.96, Y:0.12, Z:0.15 [[ 0.96530879 -0.01369032 -0.26075181 1.96066016] [ 0.02393221 0.99906 0.03614366 0.1198455 ] [ 0.26001189 -0.04113016 0.96472904 0.15456726] [ 0. 0. 0. 1. ]] SLAMing on 81.836502481 meters Centerline goodness : 0.393102 Centerline is valid? [False, False] Translation: X:1.96, Y:0.12, Z:0.15 [[ 0.96532126 -0.00943108 -0.26089445 1.96091558] [ 0.02041379 0.99901424 0.03941857 0.12164782] [ 0.26026551 -0.04337743 0.96456221 0.15449873] [ 0. 0. 0. 1. ]] SLAMing on 81.866502481 meters Centerline goodness : 0.139271 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96541952 -0.00593679 -0.26063366 1.96028426] [ 0.01740318 0.99897824 0.0417085 0.12507549] [ 0.26011974 -0.04480205 0.96453642 0.15446397] [ 0. 0. 0. 1. ]] SLAMing on 81.89650248099998 meters Centerline goodness : 0.246637 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96546191 -0.00865409 -0.26040047 1.96123297] [ 0.01938121 0.99906464 0.03865516 0.12884722] [ 0.25982237 -0.04236697 0.96472658 0.15349838] [ 0. 0. 0. 1. ]] SLAMing on 81.92650248099999 meters Centerline goodness : 0.141449 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96549683 -0.009338 -0.26024735 1.96094777] [ 0.01985024 0.99908836 0.03779428 0.12996475] [ 0.25965717 -0.04165623 0.96480201 0.15345401] [ 0. 0. 0. 1. ]] SLAMing on 81.95650248099999 meters Centerline goodness : 0.235815 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96551405 -0.00984832 -0.26016462 1.96063022] [ 0.0201912 0.99910709 0.03711248 0.13129563] [ 0.25956682 -0.04108565 0.96485078 0.15353561] [ 0. 0. 0. 1. ]] SLAMing on 81.98650248099999 meters Centerline goodness : 0.137101 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.9655903 -0.00604785 -0.25999769 1.95968161] [ 0.01703413 0.99905355 0.04002291 0.13348534] [ 0.25950956 -0.04307457 0.96477944 0.15387236] [ 0. 0. 0. 1. ]] SLAMing on 82.01650248099999 meters Centerline goodness : 0.243651 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96559345 -0.00622175 -0.25998188 1.95946983] [ 0.01714497 0.99906181 0.03976878 0.13464631] [ 0.25949053 -0.04285786 0.96479421 0.15400655] [ 0. 0. 0. 1. ]] SLAMing on 82.04650248099999 meters Centerline goodness : 0.170340 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96555162 -0.00633249 -0.26013454 1.96032999] [ 0.01733506 0.99904836 0.04002326 0.13395577] [ 0.25963354 -0.04315398 0.96474254 0.15352315] [ 0. 0. 0. 1. ]] SLAMing on 82.07650248099999 meters Centerline goodness : 0.140321 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96546908 -0.00636789 -0.26043984 1.96140466] [ 0.01744389 0.99903781 0.04023874 0.13338755] [ 0.25993301 -0.04339234 0.9646512 0.15315893] [ 0. 0. 0. 1. ]] SLAMing on 82.10650248099999 meters Centerline goodness : 0.264607 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96537508 -0.01096729 -0.26063514 1.96194002] [ 0.02117606 0.99911317 0.03639294 0.13383014] [ 0.26000486 -0.04065206 0.9647512 0.15318401] [ 0. 0. 0. 1. ]] SLAMing on 82.136502481 meters Centerline goodness : 0.139919 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:0.15 [[ 0.96659233 -0.0161 -0.25581254 1.97340037] [ 0.02733617 0.99880843 0.04042848 0.13273056] [ 0.25485682 -0.04607079 0.96588068 0.15279366] [ 0. 0. 0. 1. ]] SLAMing on 82.166502481 meters Centerline goodness : 0.138365 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:0.15 [[ 0.96670899 -0.01683837 -0.25532372 1.97076448] [ 0.02800488 0.99880064 0.04016235 0.13299138] [ 0.25434123 -0.04597562 0.96602111 0.15405041] [ 0. 0. 0. 1. ]] SLAMing on 82.196502481 meters Centerline goodness : 0.137912 Centerline is valid? [False, False] Translation: X:1.98, Y:0.14, Z:0.16 [[ 0.96730925 -0.02027493 -0.25278793 1.97854524] [ 0.03333595 0.99831519 0.047492 0.1358345 ] [ 0.25139913 -0.05436637 0.96635541 0.1553553 ] [ 0. 0. 0. 1. ]] SLAMing on 82.226502481 meters Centerline goodness : 0.739194 Centerline is valid? [False, False] Translation: X:1.98, Y:0.14, Z:0.16 [[ 0.96735084 -0.02097474 -0.2525716 1.97770562] [ 0.03387126 0.99832886 0.04682119 0.13709136] [ 0.25116745 -0.05384744 0.9664447 0.15562352] [ 0. 0. 0. 1. ]] SLAMing on 82.256502481 meters Centerline goodness : 0.460854 Centerline is valid? [False, False] Translation: X:1.98, Y:0.14, Z:0.15 [[ 0.96731705 -0.02411461 -0.25242071 1.97824742] [ 0.03634393 0.99837474 0.04389769 0.14036752] [ 0.25095188 -0.05163694 0.96662132 0.15495708] [ 0. 0. 0. 1. ]] SLAMing on 82.28650248099999 meters Centerline goodness : 0.462034 Centerline is valid? [False, False] Translation: X:1.98, Y:0.14, Z:0.15 [[ 0.96726991 -0.0247088 -0.25254387 1.97921604] [ 0.03680517 0.99838454 0.04328614 0.14131682] [ 0.25106634 -0.0511643 0.96661673 0.15433733] [ 0. 0. 0. 1. ]] SLAMing on 82.31650248099999 meters Centerline goodness : 0.160111 Centerline is valid? [False, False] Translation: X:1.98, Y:0.14, Z:0.15 [[ 0.96725718 -0.02576154 -0.2524874 1.97937751] [ 0.03752066 0.99841835 0.04186879 0.14489798] [ 0.25100945 -0.04997139 0.96669391 0.15403831] [ 0. 0. 0. 1. ]] SLAMing on 82.34650248099999 meters Centerline goodness : 0.158613 Centerline is valid? [False, False] Translation: X:1.98, Y:0.15, Z:0.15 [[ 0.96708831 -0.02565592 -0.25314419 1.98114768] [ 0.03737519 0.99843528 0.04159421 0.14727979] [ 0.25168095 -0.04968659 0.96653398 0.15373219] [ 0. 0. 0. 1. ]] SLAMing on 82.37650248099999 meters Centerline goodness : 0.519348 Centerline is valid? [False, False] Translation: X:1.99, Y:0.15, Z:0.15 [[ 0.9667829 -0.02472108 -0.25440065 1.98676297] [ 0.03665935 0.99843248 0.04229273 0.15030412] [ 0.25295635 -0.05021405 0.96617371 0.15119604] [ 0. 0. 0. 1. ]] SLAMing on 82.40650248099999 meters Centerline goodness : 0.521831 Centerline is valid? [False, False] Translation: X:1.99, Y:0.15, Z:0.15 [[ 0.96670894 -0.02476288 -0.25467751 1.9881167 ] [ 0.03666607 0.9984405 0.04209701 0.15154829] [ 0.2532379 -0.05003358 0.96610931 0.15056736] [ 0. 0. 0. 1. ]] SLAMing on 82.43650248099999 meters Centerline goodness : 0.533996 Centerline is valid? [False, False] Translation: X:1.99, Y:0.15, Z:0.15 [[ 0.96675544 -0.02075107 -0.2548594 1.98866432] [ 0.03332127 0.99842644 0.04510371 0.15389777] [ 0.25352241 -0.0520965 0.96592564 0.15019429] [ 0. 0. 0. 1. ]] SLAMing on 82.46650248099999 meters Centerline goodness : 0.156674 Centerline is valid? [False, False] Translation: X:1.99, Y:0.16, Z:0.15 [[ 0.96675998 -0.02111541 -0.25481225 1.98819488] [ 0.03349295 0.99845516 0.04433403 0.15613828] [ 0.25348248 -0.05139478 0.96597371 0.15053022] [ 0. 0. 0. 1. ]] SLAMing on 82.496502481 meters Centerline goodness : 0.153738 Centerline is valid? [False, False] Translation: X:1.99, Y:0.16, Z:0.15 [[ 0.96673537 -0.02116359 -0.25490159 1.98810188] [ 0.03332136 0.9984988 0.04347215 0.16031749] [ 0.25359891 -0.05051974 0.96598931 0.15086548] [ 0. 0. 0. 1. ]] SLAMing on 82.526502481 meters Centerline goodness : 0.229301 Centerline is valid? [False, False] Translation: X:1.99, Y:0.16, Z:0.15 [[ 0.96672382 -0.02156241 -0.25491196 1.98792222] [ 0.03354163 0.99852304 0.04273996 0.16262326] [ 0.25361389 -0.0498679 0.96601925 0.15101092] [ 0. 0. 0. 1. ]] SLAMing on 82.556502481 meters Centerline goodness : 0.497275 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96665248 -0.02078025 -0.25524727 1.98860521] [ 0.03283616 0.99853266 0.04306174 0.16728635] [ 0.2539779 -0.05000708 0.96591641 0.1508718 ] [ 0. 0. 0. 1. ]] SLAMing on 82.586502481 meters Centerline goodness : 0.224850 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96657648 -0.02099614 -0.25551727 1.98906234] [ 0.03295372 0.99854833 0.04260625 0.16918357] [ 0.25425178 -0.04960244 0.96586522 0.15097998] [ 0. 0. 0. 1. ]] SLAMing on 82.616502481 meters Centerline goodness : 0.733511 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96633219 -0.0235994 -0.25621313 1.99140618] [ 0.0350465 0.99857668 0.04020384 0.17277736] [ 0.25489967 -0.04782964 0.96578387 0.15027417] [ 0. 0. 0. 1. ]] SLAMing on 82.64650248099998 meters Centerline goodness : 0.732934 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96627572 -0.02383263 -0.25640446 1.99220863] [ 0.03525147 0.99857644 0.04003027 0.17327436] [ 0.25508543 -0.04771891 0.9657403 0.14995786] [ 0. 0. 0. 1. ]] SLAMing on 82.67650248099999 meters Centerline goodness : 0.731471 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96624775 -0.02488867 -0.25640952 1.99148347] [ 0.03612105 0.99857871 0.03918961 0.17458963] [ 0.25506971 -0.04712865 0.96577344 0.15058316] [ 0. 0. 0. 1. ]] SLAMing on 82.70650248099999 meters Centerline goodness : 0.733349 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96618231 -0.02499926 -0.25664525 1.99213631] [ 0.0362477 0.99857405 0.03919138 0.17454451] [ 0.25529953 -0.04716882 0.96571075 0.15044811] [ 0. 0. 0. 1. ]] SLAMing on 82.73650248099999 meters Centerline goodness : 0.732501 Centerline is valid? [False, False] Translation: X:1.99, Y:0.18, Z:0.15 [[ 0.9659507 -0.02458385 -0.25755558 1.99431913] [ 0.036004 0.99856206 0.03971799 0.17549925] [ 0.25620881 -0.04763865 0.96544684 0.15015923] [ 0. 0. 0. 1. ]] SLAMing on 82.76650248099999 meters Centerline goodness : 0.733219 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.15 [[ 0.96580052 -0.02439297 -0.25813626 1.99518301] [ 0.03585551 0.99856453 0.03979027 0.17675735] [ 0.25679511 -0.04768507 0.96528877 0.15048835] [ 0. 0. 0. 1. ]] SLAMing on 82.79650248099999 meters Centerline goodness : 0.732624 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.15 [[ 0.96571586 -0.02419741 -0.2584712 1.99578216] [ 0.03569769 0.9985661 0.0398927 0.17745245] [ 0.25713528 -0.04775184 0.96519491 0.15065118] [ 0. 0. 0. 1. ]] SLAMing on 82.82650248099999 meters Centerline goodness : 0.732755 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.15 [[ 0.96566376 -0.02517098 -0.25857285 1.9961304 ] [ 0.03648827 0.99857036 0.03906215 0.17847593] [ 0.25721995 -0.04715578 0.96520165 0.15051353] [ 0. 0. 0. 1. ]] SLAMing on 82.85650248099999 meters Centerline goodness : 0.731642 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.15 [[ 0.96559468 -0.02513442 -0.25883426 1.99697611] [ 0.03644571 0.99857454 0.0389948 0.17891648] [ 0.25748519 -0.04708657 0.96513431 0.1503771 ] [ 0. 0. 0. 1. ]] SLAMing on 82.886502481 meters Centerline goodness : 0.562830 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.15 [[ 0.96535408 -0.02332008 -0.25989935 1.99989205] [ 0.0349305 0.99858318 0.04014344 0.18284544] [ 0.25859497 -0.04783105 0.96480093 0.14983424] [ 0. 0. 0. 1. ]] SLAMing on 82.916502481 meters Centerline goodness : 0.730880 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:0.15 [[ 0.96515637 -0.02300342 -0.26066075 2.00191169] [ 0.03456955 0.99860652 0.03987429 0.18528413] [ 0.25938028 -0.04749585 0.96460666 0.14970215] [ 0. 0. 0. 1. ]] SLAMing on 82.946502481 meters Centerline goodness : 0.729418 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:0.15 [[ 0.96521392 -0.01950311 -0.26073302 2.00356202] [ 0.03151114 0.99862251 0.04195381 0.18968306] [ 0.25955564 -0.04871039 0.96449892 0.14846931] [ 0. 0. 0. 1. ]] SLAMing on 82.976502481 meters Centerline goodness : 0.728748 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:0.15 [[ 0.96514402 -0.01906779 -0.26102382 2.00442455] [ 0.03098453 0.99865318 0.04161469 0.1926116 ] [ 0.25987877 -0.04825187 0.96443495 0.1484279 ] [ 0. 0. 0. 1. ]] SLAMing on 83.006502481 meters Centerline goodness : 0.726060 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:0.15 [[ 0.96525472 -0.01547033 -0.26085243 2.00387557] [ 0.02778336 0.99866347 0.04358163 0.19719453] [ 0.25982957 -0.04931473 0.96439445 0.14858197] [ 0. 0. 0. 1. ]] SLAMing on 83.03650248099999 meters Centerline goodness : 0.726932 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:0.15 [[ 0.96513609 -0.01533 -0.26129931 2.00463714] [ 0.02750947 0.99869552 0.04301726 0.19987949] [ 0.26029899 -0.04870572 0.96429881 0.14892464] [ 0. 0. 0. 1. ]] SLAMing on 83.06650248099999 meters Centerline goodness : 0.726489 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:0.15 [[ 0.9651701 -0.01104533 -0.2613899 2.00443707] [ 0.02384678 0.9986635 0.04585344 0.20330675] [ 0.26053408 -0.05048967 0.96414355 0.14921918] [ 0. 0. 0. 1. ]] SLAMing on 83.09650248099999 meters Centerline goodness : 0.725567 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:0.15 [[ 0.96502618 -0.01102705 -0.2619215 2.004821 ] [ 0.02370825 0.99869181 0.04530542 0.20577271] [ 0.26107927 -0.04993062 0.96402518 0.15000112] [ 0. 0. 0. 1. ]] SLAMing on 83.12650248099999 meters Centerline goodness : 0.722167 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:0.15 [[ 0.96499074 -0.00671739 -0.26219791 2.00499793] [ 0.0201663 0.99861298 0.04863583 0.20763868] [ 0.26150753 -0.05222069 0.96378774 0.15022799] [ 0. 0. 0. 1. ]] SLAMing on 83.15650248099999 meters Centerline goodness : 0.722167 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:0.15 [[ 0.96499074 -0.00671739 -0.26219791 2.00499793] [ 0.0201663 0.99861298 0.04863583 0.20763868] [ 0.26150753 -0.05222069 0.96378774 0.15022799] [ 0. 0. 0. 1. ]] SLAMing on 83.18650248099999 meters Centerline goodness : 0.723016 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.96484131 -0.00659627 -0.26275032 2.00587687] [ 0.02002326 0.99862455 0.04845692 0.20888847] [ 0.26206929 -0.05201435 0.9636463 0.15061912] [ 0. 0. 0. 1. ]] SLAMing on 83.21650248099999 meters Centerline goodness : 0.723511 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.96472571 -0.00666705 -0.26317268 2.00639916] [ 0.0200282 0.99864077 0.04811947 0.21014005] [ 0.26249415 -0.05169297 0.96354795 0.15105562] [ 0. 0. 0. 1. ]] SLAMing on 83.246502481 meters Centerline goodness : 0.720806 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.96457636 -0.00688719 -0.26371388 2.00737208] [ 0.02013263 0.99866561 0.04755707 0.21187106] [ 0.26303445 -0.05118168 0.9634279 0.15139342] [ 0. 0. 0. 1. ]] SLAMing on 83.276502481 meters Centerline goodness : 0.719321 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.96450578 -0.00720027 -0.26396354 2.00824349] [ 0.02030662 0.99869047 0.04695731 0.21341505] [ 0.26327977 -0.0506508 0.96338895 0.15125706] [ 0. 0. 0. 1. ]] SLAMing on 83.306502481 meters Centerline goodness : 0.718850 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.9644566 -0.0075614 -0.26413308 2.00897997] [ 0.02058919 0.99870191 0.04658939 0.21373968] [ 0.26343793 -0.05037174 0.96336034 0.15101845] [ 0. 0. 0. 1. ]] SLAMing on 83.336502481 meters Centerline goodness : 0.715450 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.96429825 -0.00756528 -0.2647105 2.01023798] [ 0.02061499 0.998703 0.04655475 0.21430797] [ 0.26401497 -0.05034967 0.96320351 0.15110407] [ 0. 0. 0. 1. ]] SLAMing on 83.366502481 meters Centerline goodness : 0.715915 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96415354 -0.00729468 -0.26524468 2.01121527] [ 0.02038861 0.9987034 0.04664571 0.21507834] [ 0.2645605 -0.0503816 0.96305215 0.15136774] [ 0. 0. 0. 1. ]] SLAMing on 83.39650248099998 meters Centerline goodness : 0.713175 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96393774 -0.0067319 -0.26604269 2.01288264] [ 0.01988951 0.99870655 0.04679346 0.21656651] [ 0.26538357 -0.05039744 0.96282483 0.1516423 ] [ 0. 0. 0. 1. ]] SLAMing on 83.42650248099999 meters Centerline goodness : 0.714101 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96390794 -0.00689026 -0.26614659 2.01319698] [ 0.02001651 0.99871126 0.04663854 0.21655714] [ 0.26548225 -0.05028258 0.96280363 0.15162594] [ 0. 0. 0. 1. ]] SLAMing on 83.45650248099999 meters Centerline goodness : 0.712487 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96388223 -0.0070525 -0.26623546 2.0138184 ] [ 0.02017858 0.99870984 0.04659925 0.21560888] [ 0.26556333 -0.05028844 0.96278097 0.15139873] [ 0. 0. 0. 1. ]] SLAMing on 83.48650248099999 meters Centerline goodness : 0.711673 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96384993 -0.00732049 -0.26634511 2.01367592] [ 0.0203878 0.99871813 0.04632963 0.21621742] [ 0.26566453 -0.050085 0.96276365 0.15171049] [ 0. 0. 0. 1. ]] SLAMing on 83.51650248099999 meters Centerline goodness : 0.709539 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96363236 -0.00694613 -0.26714121 2.01444948] [ 0.0201247 0.99870969 0.04662568 0.21780456] [ 0.26647264 -0.05030615 0.96252876 0.15249588] [ 0. 0. 0. 1. ]] SLAMing on 83.54650248099999 meters Centerline goodness : 0.709944 Centerline is valid? [False, False] Translation: X:2.02, Y:0.22, Z:0.15 [[ 0.96353544 -0.00679147 -0.26749456 2.01539522] [ 0.02004452 0.99870101 0.04684568 0.21745866] [ 0.26682894 -0.05049928 0.96241994 0.15244726] [ 0. 0. 0. 1. ]] SLAMing on 83.57650248099999 meters Centerline goodness : 0.711849 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:0.16 [[ 0.9640501 -0.00965443 -0.2655451 2.03344698] [ 0.02375813 0.99846903 0.04995152 0.21715497] [ 0.26465631 -0.05446462 0.96280353 0.15535978] [ 0. 0. 0. 1. ]] SLAMing on 83.60650248099999 meters Centerline goodness : 0.712390 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:0.16 [[ 0.9639258 -0.01480316 -0.26575914 2.03378772] [ 0.02782278 0.99858625 0.04529237 0.21849635] [ 0.26471296 -0.05105264 0.96297491 0.15585573] [ 0. 0. 0. 1. ]] SLAMing on 83.636502481 meters Centerline goodness : 0.711524 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:0.16 [[ 0.96379329 -0.01538847 -0.26620609 2.03515326] [ 0.02824258 0.99860895 0.04452544 0.21995423] [ 0.26515061 -0.05043167 0.96288722 0.15567997] [ 0. 0. 0. 1. ]] SLAMing on 83.666502481 meters Centerline goodness : 0.710489 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:0.16 [[ 0.9636965 -0.01520025 -0.26656708 2.03620045] [ 0.02805023 0.99861711 0.04446415 0.22125177] [ 0.26552258 -0.05032722 0.96279018 0.15559132] [ 0. 0. 0. 1. ]] SLAMing on 83.696502481 meters Centerline goodness : 0.710809 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:0.16 [[ 0.9636333 -0.01080881 -0.26700942 2.03725367] [ 0.02448454 0.99854998 0.04794206 0.22358521] [ 0.26610406 -0.05273616 0.96250066 0.15530843] [ 0. 0. 0. 1. ]] SLAMing on 83.726502481 meters Centerline goodness : 0.710371 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:0.16 [[ 0.9635198 -0.01070099 -0.26742303 2.03824138] [ 0.0243534 0.99856061 0.04778721 0.22452279] [ 0.26652674 -0.05255658 0.96239353 0.15541354] [ 0. 0. 0. 1. ]] SLAMing on 83.756502481 meters Centerline goodness : 0.710089 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.96329019 -0.01359078 -0.26811806 2.04029166] [ 0.02658402 0.99863816 0.04489012 0.22644287] [ 0.26714284 -0.05036987 0.96233964 0.15546941] [ 0. 0. 0. 1. ]] SLAMing on 83.78650248099999 meters Centerline goodness : 0.709795 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.96322177 -0.01357297 -0.26836468 2.04033096] [ 0.02652111 0.99864916 0.04468203 0.2274794 ] [ 0.2673957 -0.05015603 0.96228058 0.15600273] [ 0. 0. 0. 1. ]] SLAMing on 83.81650248099999 meters Centerline goodness : 0.710354 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.96326959 -0.00948722 -0.26836858 2.03946796] [ 0.02320795 0.99857767 0.04800036 0.22881543] [ 0.26753148 -0.05246557 0.96211968 0.15651248] [ 0. 0. 0. 1. ]] SLAMing on 83.84650248099999 meters Centerline goodness : 0.710877 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.963147 -0.00927141 -0.26881573 2.04029315] [ 0.02298386 0.99858727 0.04790837 0.22992718] [ 0.26799178 -0.05232122 0.96199943 0.15679357] [ 0. 0. 0. 1. ]] SLAMing on 83.87650248099999 meters Centerline goodness : 0.710361 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.96303079 -0.00843107 -0.26925937 2.04188775] [ 0.02217238 0.99859961 0.04803332 0.2329141 ] [ 0.26847733 -0.05222768 0.96186911 0.15662245] [ 0. 0. 0. 1. ]] SLAMing on 83.90650248099999 meters Centerline goodness : 0.708022 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.96296236 -0.00844349 -0.26950363 2.04256964] [ 0.02211273 0.99861574 0.04772451 0.23384474] [ 0.2687276 -0.05191637 0.96181608 0.15668088] [ 0. 0. 0. 1. ]] SLAMing on 83.93650248099999 meters Centerline goodness : 0.709312 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.16 [[ 0.96294 -0.01105689 -0.26948896 2.04457356] [ 0.02407351 0.9986949 0.0450441 0.23574593] [ 0.2686392 -0.04986231 0.96194944 0.15562354] [ 0. 0. 0. 1. ]] SLAMing on 83.96650248099999 meters Centerline goodness : 0.709745 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.16 [[ 0.96292284 -0.0111708 -0.26954558 2.04488933] [ 0.02413546 0.99870294 0.04483206 0.23648753] [ 0.26869516 -0.04967542 0.96194348 0.15551037] [ 0. 0. 0. 1. ]] SLAMing on 83.996502481 meters Centerline goodness : 0.712435 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.9628473 -0.01000726 -0.26986094 2.04534476] [ 0.02319781 0.99868426 0.04573413 0.23913822] [ 0.2690482 -0.05029516 0.96181259 0.15568295] [ 0. 0. 0. 1. ]] SLAMing on 84.026502481 meters Centerline goodness : 0.713467 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96276391 -0.01002891 -0.27015751 2.04558374] [ 0.02319341 0.99869137 0.04558076 0.2402113 ] [ 0.26934685 -0.05014939 0.96173661 0.15609109] [ 0. 0. 0. 1. ]] SLAMing on 84.056502481 meters Centerline goodness : 0.710929 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96266454 -0.00983508 -0.27051849 2.04672768] [ 0.02304156 0.99869005 0.0456867 0.24036002] [ 0.26971479 -0.05021413 0.96163011 0.15592815] [ 0. 0. 0. 1. ]] SLAMing on 84.086502481 meters Centerline goodness : 0.710999 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96255036 -0.00987384 -0.27092309 2.04878566] [ 0.02311918 0.99868573 0.04574179 0.23975813] [ 0.27011538 -0.0502923 0.96151358 0.1550602 ] [ 0. 0. 0. 1. ]] SLAMing on 84.116502481 meters Centerline goodness : 0.708634 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96247255 -0.00988677 -0.27119888 2.04957977] [ 0.02314416 0.99868571 0.04572968 0.23932684] [ 0.27039033 -0.05029023 0.96143641 0.15503699] [ 0. 0. 0. 1. ]] SLAMing on 84.14650248099998 meters Centerline goodness : 0.709295 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96234094 -0.00956554 -0.27167705 2.05034294] [ 0.02284211 0.99869179 0.04574869 0.23985729] [ 0.27088403 -0.05023152 0.96130049 0.15563453] [ 0. 0. 0. 1. ]] SLAMing on 84.17650248099999 meters Centerline goodness : 0.711847 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96220049 -0.00934287 -0.27218181 2.0509175 ] [ 0.02261756 0.99870028 0.04567499 0.24112951] [ 0.27140131 -0.05010459 0.9611612 0.1562128 ] [ 0. 0. 0. 1. ]] SLAMing on 84.20650248099999 meters Centerline goodness : 0.707291 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96204938 -0.00882668 -0.27273262 2.05186432] [ 0.02204107 0.99872452 0.0454261 0.24408901] [ 0.27198379 -0.04971347 0.96101685 0.15671699] [ 0. 0. 0. 1. ]] SLAMing on 84.23650248099999 meters Centerline goodness : 0.709225 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96198853 -0.00887525 -0.27294561 2.05233837] [ 0.02196926 0.99874745 0.04495417 0.24557058] [ 0.27220476 -0.04924181 0.96097857 0.15688673] [ 0. 0. 0. 1. ]] SLAMing on 84.26650248099999 meters Centerline goodness : 0.706462 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96194503 -0.00882 -0.27310064 2.05285028] [ 0.02182313 0.998766 0.04461187 0.24673038] [ 0.27237016 -0.04887407 0.96095048 0.15693465] [ 0. 0. 0. 1. ]] SLAMing on 84.29650248099999 meters Centerline goodness : 0.707675 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96187146 -0.00848043 -0.27337039 2.05305375] [ 0.02130213 0.99880579 0.04396821 0.24915403] [ 0.27267106 -0.04811514 0.96090344 0.15781768] [ 0. 0. 0. 1. ]] SLAMing on 84.32650248099999 meters Centerline goodness : 0.709830 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96177374 -0.00816581 -0.27372355 2.05298001] [ 0.02090072 0.99882863 0.04364084 0.25053903] [ 0.27304656 -0.04769363 0.96081783 0.15892187] [ 0. 0. 0. 1. ]] SLAMing on 84.35650248099999 meters Centerline goodness : 0.709962 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96165818 -0.00777497 -0.27414063 2.05337873] [ 0.020558 0.99882933 0.04378739 0.25079666] [ 0.27347926 -0.04774429 0.96069224 0.15952836] [ 0. 0. 0. 1. ]] SLAMing on 84.386502481 meters Centerline goodness : 0.711752 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96183053 -0.00838009 -0.27351747 2.05125114] [ 0.0211105 0.99882455 0.04363333 0.24904197] [ 0.27283031 -0.04774196 0.96087685 0.16014408] [ 0. 0. 0. 1. ]] SLAMing on 84.416502481 meters Centerline goodness : 0.712453 Centerline is valid? [False, False] Translation: X:2.07, Y:0.25, Z:0.16 [[ 0.96248011 -0.01263854 -0.27105775 2.06866411] [ 0.02592841 0.99862758 0.04550464 0.24857173] [ 0.27011063 -0.05082541 0.96148688 0.16322151] [ 0. 0. 0. 1. ]] SLAMing on 84.446502481 meters Centerline goodness : 0.710257 Centerline is valid? [False, False] Translation: X:2.07, Y:0.25, Z:0.16 [[ 0.9621623 -0.01636229 -0.27198527 2.07045085] [ 0.02902717 0.99867017 0.0426064 0.24703295] [ 0.27092644 -0.04888924 0.96135774 0.16381215] [ 0. 0. 0. 1. ]] SLAMing on 84.476502481 meters Centerline goodness : 0.712120 Centerline is valid? [False, False] Translation: X:2.07, Y:0.25, Z:0.16 [[ 0.96207649 -0.01581326 -0.27232106 2.07139746] [ 0.02869274 0.99864662 0.04337806 0.24550644] [ 0.27126656 -0.04954665 0.96122816 0.16385437] [ 0. 0. 0. 1. ]] SLAMing on 84.50650248099998 meters Centerline goodness : 0.714415 Centerline is valid? [False, False] Translation: X:2.07, Y:0.24, Z:0.16 [[ 0.96198889 -0.01532315 -0.27265836 2.07177601] [ 0.02839394 0.99862543 0.04405723 0.2443563 ] [ 0.27160848 -0.05012441 0.96110165 0.16423467] [ 0. 0. 0. 1. ]] SLAMing on 84.53650248099999 meters Centerline goodness : 0.713108 Centerline is valid? [False, False] Translation: X:2.07, Y:0.24, Z:0.16 [[ 0.96181052 -0.01467284 -0.27332258 2.07356221] [ 0.02800487 0.99859708 0.04494004 0.24251742] [ 0.27227973 -0.05087817 0.96087208 0.16412542] [ 0. 0. 0. 1. ]] SLAMing on 84.56650248099999 meters Centerline goodness : 0.713381 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.16 [[ 0.96145308 -0.01679049 -0.27445592 2.07917127] [ 0.02962675 0.99864894 0.04269144 0.24249932] [ 0.27336831 -0.04917705 0.96065154 0.16259185] [ 0. 0. 0. 1. ]] SLAMing on 84.59650248099999 meters Centerline goodness : 0.711536 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.16 [[ 0.96140863 -0.01648002 -0.27463039 2.08014935] [ 0.0293449 0.99865254 0.04280165 0.24232586] [ 0.27355497 -0.04920888 0.96059678 0.1623151 ] [ 0. 0. 0. 1. ]] SLAMing on 84.62650248099999 meters Centerline goodness : 0.714321 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.16 [[ 0.96134059 -0.01611713 -0.27488999 2.08075602] [ 0.02897913 0.99866362 0.04279245 0.2431873 ] [ 0.27383294 -0.04910419 0.96052293 0.16252054] [ 0. 0. 0. 1. ]] SLAMing on 84.65650248099999 meters Centerline goodness : 0.708839 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.16 [[ 0.96117343 -0.01323219 -0.27562755 2.0833959 ] [ 0.02655232 0.99864972 0.04465106 0.24568575] [ 0.27466455 -0.05023597 0.96022692 0.16205515] [ 0. 0. 0. 1. ]] SLAMing on 84.68650248099999 meters Centerline goodness : 0.710109 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.16 [[ 0.96107775 -0.01085817 -0.27606458 2.08475541] [ 0.02448681 0.99864272 0.04596859 0.24834171] [ 0.27519075 -0.05093933 0.96003919 0.16210618] [ 0. 0. 0. 1. ]] SLAMing on 84.71650248099999 meters Centerline goodness : 0.712281 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.16 [[ 0.96110835 -0.01109562 -0.2759486 2.08337176] [ 0.02454142 0.99867101 0.04532036 0.24990871] [ 0.275079 -0.05032995 0.96010335 0.16322917] [ 0. 0. 0. 1. ]] SLAMing on 84.746502481 meters Centerline goodness : 0.713758 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.16 [[ 0.96106071 -0.01114447 -0.27611251 2.08301671] [ 0.02450492 0.99868708 0.04498482 0.25035417] [ 0.27524866 -0.04999926 0.960072 0.16409957] [ 0. 0. 0. 1. ]] SLAMing on 84.776502481 meters Centerline goodness : 0.713175 Centerline is valid? [False, False] Translation: X:2.09, Y:0.25, Z:0.16 [[ 0.96076445 -0.01500132 -0.27695963 2.08569276] [ 0.02750135 0.99876808 0.04130379 0.25065591] [ 0.27599882 -0.04729997 0.95999342 0.16411432] [ 0. 0. 0. 1. ]] SLAMing on 84.806502481 meters Centerline goodness : 0.711694 Centerline is valid? [False, False] Translation: X:2.09, Y:0.25, Z:0.16 [[ 0.9606277 -0.01459133 -0.27745543 2.08691605] [ 0.02721146 0.99876001 0.04168899 0.24985964] [ 0.27650309 -0.04759756 0.95983359 0.1642064 ] [ 0. 0. 0. 1. ]] SLAMing on 84.836502481 meters Centerline goodness : 0.714268 Centerline is valid? [False, False] Translation: X:2.10, Y:0.25, Z:0.17 [[ 0.96150072 -0.01625006 -0.27432152 2.10120498] [ 0.03027345 0.99843772 0.04696414 0.24915656] [ 0.27312979 -0.05346072 0.96049054 0.16768472] [ 0. 0. 0. 1. ]] SLAMing on 84.866502481 meters Centerline goodness : 0.714159 Centerline is valid? [False, False] Translation: X:2.10, Y:0.25, Z:0.17 [[ 0.96138006 -0.01597291 -0.27476035 2.1018476 ] [ 0.0301181 0.99842466 0.04734014 0.2481311 ] [ 0.27357135 -0.05378712 0.96034664 0.1681304 ] [ 0. 0. 0. 1. ]] SLAMing on 84.89650248099998 meters Centerline goodness : 0.717886 Centerline is valid? [False, False] Translation: X:2.10, Y:0.25, Z:0.17 [[ 0.96122881 -0.02044382 -0.27499315 2.1023904 ] [ 0.03380523 0.99846222 0.04393628 0.24631212] [ 0.27367204 -0.05152902 0.96044176 0.16866583] [ 0. 0. 0. 1. ]] SLAMing on 84.92650248099999 meters Centerline goodness : 0.716935 Centerline is valid? [False, False] Translation: X:2.12, Y:0.25, Z:0.17 [[ 0.96129718 -0.02562432 -0.27431939 2.12168969] [ 0.03935562 0.99822633 0.044669 0.24565203] [ 0.27268823 -0.0537362 0.96060062 0.17293262] [ 0. 0. 0. 1. ]] SLAMing on 84.95650248099999 meters Centerline goodness : 0.716627 Centerline is valid? [False, False] Translation: X:2.12, Y:0.24, Z:0.17 [[ 0.96096476 -0.02954965 -0.27508826 2.12374373] [ 0.04266744 0.99821356 0.04182309 0.24341751] [ 0.27336097 -0.05192782 0.96050886 0.1730089 ] [ 0. 0. 0. 1. ]] SLAMing on 84.98650248099999 meters Centerline goodness : 0.717353 Centerline is valid? [False, False] Translation: X:2.12, Y:0.24, Z:0.17 [[ 0.96086609 -0.02895049 -0.27549633 2.12460794] [ 0.04230635 0.99819354 0.04265952 0.2419664 ] [ 0.27376364 -0.05264533 0.96035511 0.17312391] [ 0. 0. 0. 1. ]] SLAMing on 85.01650248099999 meters Centerline goodness : 0.718678 Centerline is valid? [False, False] Translation: X:2.14, Y:0.24, Z:0.18 [[ 0.96127241 -0.03044784 -0.27391291 2.1426161 ] [ 0.04518457 0.99784148 0.04765227 0.24017073] [ 0.27187075 -0.05818345 0.96057326 0.17669 ] [ 0. 0. 0. 1. ]] SLAMing on 85.04650248099999 meters Centerline goodness : 0.717152 Centerline is valid? [False, False] Translation: X:2.14, Y:0.24, Z:0.18 [[ 0.96115242 -0.02978238 -0.27440671 2.14375983] [ 0.04471404 0.99783058 0.04831966 0.23923179] [ 0.27237233 -0.05871239 0.96039896 0.17682447] [ 0. 0. 0. 1. ]] SLAMing on 85.07650248099999 meters Centerline goodness : 0.717152 Centerline is valid? [False, False] Translation: X:2.14, Y:0.24, Z:0.18 [[ 0.96115658 -0.02975848 -0.27439473 2.14375071] [ 0.04469547 0.99783022 0.04834434 0.2392272 ] [ 0.2723607 -0.05873068 0.96040114 0.17682319] [ 0. 0. 0. 1. ]] SLAMing on 85.10650248099999 meters Centerline goodness : 0.718149 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:0.18 [[ 0.96103063 -0.02931467 -0.27488319 2.14500854] [ 0.04430385 0.99784116 0.04847868 0.23928425] [ 0.27286863 -0.05876788 0.96025468 0.17698935] [ 0. 0. 0. 1. ]] SLAMing on 85.136502481 meters Centerline goodness : 0.718403 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:0.18 [[ 0.96097976 -0.03153006 -0.27481584 2.16585036] [ 0.04686026 0.99767937 0.04939627 0.24126158] [ 0.27262063 -0.06034676 0.96022719 0.18267357] [ 0. 0. 0. 1. ]] SLAMing on 85.166502481 meters Centerline goodness : 0.720867 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.96177945 -0.02908704 -0.27227603 2.19576797] [ 0.04449965 0.99772698 0.05060281 0.24050678] [ 0.27018525 -0.06078493 0.96088767 0.18977726] [ 0. 0. 0. 1. ]] SLAMing on 85.196502481 meters Centerline goodness : 0.721078 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.9616467 -0.02859709 -0.27279634 2.19637513] [ 0.04402776 0.99774751 0.05061093 0.24174935] [ 0.27073454 -0.06068045 0.96073966 0.19044118] [ 0. 0. 0. 1. ]] SLAMing on 85.226502481 meters Centerline goodness : 0.719067 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.96156052 -0.02813948 -0.27314745 2.19655133] [ 0.04356844 0.99776902 0.05058433 0.24346959] [ 0.27111464 -0.06054051 0.96064129 0.1911069 ] [ 0. 0. 0. 1. ]] SLAMing on 85.25650248099998 meters Centerline goodness : 0.719189 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.96137784 -0.02720475 -0.27388417 2.19828018] [ 0.04269501 0.99779807 0.05075572 0.244922 ] [ 0.2719003 -0.06048891 0.96042247 0.1913772 ] [ 0. 0. 0. 1. ]] SLAMing on 85.28650248099999 meters Centerline goodness : 0.720668 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.9613098 -0.02665801 -0.27417663 2.19901845] [ 0.04221106 0.99780707 0.05098303 0.24473931] [ 0.27221627 -0.06058378 0.96032698 0.19160336] [ 0. 0. 0. 1. ]] SLAMing on 85.31650248099999 meters Centerline goodness : 0.722280 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.96126525 -0.02655851 -0.27434243 2.19920841] [ 0.0421058 0.99781383 0.0509378 0.2446844 ] [ 0.27238984 -0.06051615 0.96028203 0.19196066] [ 0. 0. 0. 1. ]] SLAMing on 85.34650248099999 meters Centerline goodness : 0.720974 Centerline is valid? [False, False] Translation: X:2.22, Y:0.25, Z:0.20 [[ 0.96171167 -0.02926564 -0.2724962 2.21785404] [ 0.04541756 0.99755289 0.05315513 0.24598662] [ 0.27027376 -0.06349602 0.96068744 0.1959921 ] [ 0. 0. 0. 1. ]] SLAMing on 85.37650248099999 meters Centerline goodness : 0.723185 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.20 [[ 0.96245863 -0.02612095 -0.27016861 2.24668293] [ 0.04302271 0.99745659 0.05682773 0.24513261] [ 0.26799707 -0.06631772 0.9611345 0.20137537] [ 0. 0. 0. 1. ]] SLAMing on 85.40650248099999 meters Centerline goodness : 0.723186 Centerline is valid? [False, False] Translation: X:2.27, Y:0.25, Z:0.21 [[ 0.96159566 -0.02801526 -0.27303649 2.27029899] [ 0.04597887 0.99716191 0.05961594 0.24632368] [ 0.27059144 -0.06988034 0.96015468 0.20593027] [ 0. 0. 0. 1. ]] SLAMing on 85.43650248099999 meters Centerline goodness : 0.721762 Centerline is valid? [False, False] Translation: X:2.27, Y:0.25, Z:0.21 [[ 0.96127017 -0.03030405 -0.27393672 2.27401469] [ 0.04785689 0.99719083 0.0576209 0.2465838 ] [ 0.27142104 -0.06849901 0.96002005 0.20508563] [ 0. 0. 0. 1. ]] SLAMing on 85.46650248099999 meters Centerline goodness : 0.721479 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.20 [[ 0.96117833 -0.03016406 -0.27427422 2.27546291] [ 0.04781525 0.99717674 0.05789859 0.24535462] [ 0.27175341 -0.06876536 0.95990698 0.2046946 ] [ 0. 0. 0. 1. ]] SLAMing on 85.496502481 meters Centerline goodness : 0.725371 Centerline is valid? [False, False] Translation: X:2.28, Y:0.24, Z:0.21 [[ 0.9611329 -0.03022502 -0.27442669 2.27526642] [ 0.04796791 0.99715337 0.05817423 0.24403498] [ 0.27188718 -0.06907684 0.95984673 0.2052295 ] [ 0. 0. 0. 1. ]] SLAMing on 85.526502481 meters Centerline goodness : 0.723968 Centerline is valid? [False, False] Translation: X:2.27, Y:0.24, Z:0.21 [[ 0.961133 -0.03041382 -0.27440547 2.27469519] [ 0.04816011 0.99714454 0.05816683 0.24342782] [ 0.27185284 -0.06912145 0.95985325 0.20576626] [ 0. 0. 0. 1. ]] SLAMing on 85.556502481 meters Centerline goodness : 0.727325 Centerline is valid? [False, False] Translation: X:2.27, Y:0.24, Z:0.21 [[ 0.96118521 -0.03110412 -0.27414509 2.27344223] [ 0.04878283 0.99712948 0.05790548 0.24237847] [ 0.27155705 -0.06903146 0.95994345 0.20633294] [ 0. 0. 0. 1. ]] SLAMing on 85.586502481 meters Centerline goodness : 0.726732 Centerline is valid? [False, False] Translation: X:2.29, Y:0.24, Z:0.21 [[ 0.96116364 -0.03348714 -0.27393991 2.29329323] [ 0.05199774 0.99680743 0.06059031 0.24350091] [ 0.27103634 -0.07248145 0.95983631 0.21062237] [ 0. 0. 0. 1. ]] SLAMing on 85.616502481 meters Centerline goodness : 0.139765 Centerline is valid? [False, False] Translation: X:2.30, Y:0.24, Z:0.21 [[ 0.96076284 -0.03743958 -0.27483277 2.29529762] [ 0.05509092 0.99686517 0.05678758 0.24473194] [ 0.27184511 -0.06970018 0.95981359 0.21130744] [ 0. 0. 0. 1. ]] SLAMing on 85.64650248099998 meters Centerline goodness : 0.475806 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.21 [[ 0.96059777 -0.04197773 -0.27475407 2.29551373] [ 0.05833618 0.99696064 0.05163694 0.24711121] [ 0.27175139 -0.06563044 0.96012698 0.21073744] [ 0. 0. 0. 1. ]] SLAMing on 85.67650248099999 meters Centerline goodness : 0.724724 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.21 [[ 0.96056695 -0.04210643 -0.2748421 2.29559016] [ 0.05835348 0.99698195 0.05120421 0.24829735] [ 0.27185658 -0.06522306 0.96012497 0.21064798] [ 0. 0. 0. 1. ]] SLAMing on 85.70650248099999 meters Centerline goodness : 0.473641 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96061807 -0.04214196 -0.27465794 2.294404 ] [ 0.05838048 0.9969798 0.05121517 0.2483249 ] [ 0.27167011 -0.06523288 0.96017708 0.21129497] [ 0. 0. 0. 1. ]] SLAMing on 85.73650248099999 meters Centerline goodness : 0.501845 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96066266 -0.04227574 -0.27448135 2.29269718] [ 0.05844917 0.99698624 0.05101115 0.24898038] [ 0.2714976 -0.06504771 0.96023843 0.21229267] [ 0. 0. 0. 1. ]] SLAMing on 85.76650248099999 meters Centerline goodness : 0.481954 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96058617 -0.04263167 -0.27469391 2.29238945] [ 0.05885093 0.99695945 0.05107265 0.2496565 ] [ 0.27168137 -0.06522568 0.96017438 0.21304943] [ 0. 0. 0. 1. ]] SLAMing on 85.79650248099999 meters Centerline goodness : 0.608717 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96053323 -0.04352791 -0.2747385 2.29100212] [ 0.05993547 0.99686732 0.05160712 0.24924132] [ 0.27163148 -0.06603694 0.96013304 0.21481331] [ 0. 0. 0. 1. ]] SLAMing on 85.82650248099999 meters Centerline goodness : 0.558678 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96039637 -0.04863185 -0.27436063 2.29076557] [ 0.06390471 0.99684858 0.04700112 0.24992452] [ 0.27121026 -0.06267264 0.96047756 0.2144823 ] [ 0. 0. 0. 1. ]] SLAMing on 85.85650248099999 meters Centerline goodness : 0.518216 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96019571 -0.05340584 -0.27417516 2.29058278] [ 0.06753454 0.99681785 0.04234695 0.25138204] [ 0.27104112 -0.05917766 0.96074696 0.21430944] [ 0. 0. 0. 1. ]] SLAMing on 85.886502481 meters Centerline goodness : 0.579987 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96005167 -0.05801403 -0.27374288 2.2899394 ] [ 0.07098371 0.99676456 0.03770582 0.25298982] [ 0.27066973 -0.05563082 0.96106353 0.21414591] [ 0. 0. 0. 1. ]] SLAMing on 85.916502481 meters Centerline goodness : 0.229386 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.95980493 -0.06267501 -0.27358059 2.29097131] [ 0.07455625 0.99666269 0.03323923 0.25491695] [ 0.2705843 -0.05230032 0.96127458 0.21316627] [ 0. 0. 0. 1. ]] SLAMing on 85.946502481 meters Centerline goodness : 0.242840 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.95972644 -0.06308746 -0.27376108 2.2918371 ] [ 0.07501293 0.99662627 0.03330375 0.25496084] [ 0.27073644 -0.05249811 0.96122096 0.21292729] [ 0. 0. 0. 1. ]] SLAMing on 85.976502481 meters Centerline goodness : 0.435969 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.95966692 -0.06360604 -0.27384974 2.29172393] [ 0.07571701 0.99655382 0.03387357 0.25440197] [ 0.27075144 -0.05324242 0.96117579 0.21356175] [ 0. 0. 0. 1. ]] SLAMing on 86.00650248099998 meters Centerline goodness : 0.479567 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.21 [[ 0.95957493 -0.06788454 -0.27314399 2.29078924] [ 0.07882545 0.99645865 0.02926953 0.25582943] [ 0.27018974 -0.049617 0.96152777 0.2130913 ] [ 0. 0. 0. 1. ]] SLAMing on 86.03650248099999 meters Centerline goodness : 0.266412 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.21 [[ 0.95947135 -0.07216264 -0.27241012 2.2899628 ] [ 0.08202361 0.9963175 0.02497118 0.256926 ] [ 0.26960499 -0.04630319 0.96185714 0.21258716] [ 0. 0. 0. 1. ]] SLAMing on 86.06650248099999 meters Centerline goodness : 0.413449 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.21 [[ 0.95948033 -0.07241114 -0.27231255 2.29002194] [ 0.08217997 0.99631322 0.02462567 0.25758881] [ 0.26952542 -0.04600649 0.96189368 0.21230367] [ 0. 0. 0. 1. ]] SLAMing on 86.09650248099999 meters Centerline goodness : 0.245502 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.21 [[ 0.95961383 -0.07231379 -0.27186764 2.28907673] [ 0.0816974 0.99638383 0.023341 0.26035795] [ 0.26919665 -0.04460922 0.96205155 0.21175257] [ 0. 0. 0. 1. ]] SLAMing on 86.12650248099999 meters Centerline goodness : 0.277616 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.21 [[ 0.95974711 -0.07235147 -0.27138672 2.28875612] [ 0.08135872 0.99644047 0.02207134 0.26181734] [ 0.26882381 -0.04326258 0.96221729 0.2106742 ] [ 0. 0. 0. 1. ]] SLAMing on 86.15650248099999 meters Centerline goodness : 0.358352 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.21 [[ 0.96005351 -0.07161 -0.27049819 2.28903905] [ 0.07974987 0.99662984 0.0192071 0.26517742] [ 0.26821115 -0.04001204 0.96252886 0.20763968] [ 0. 0. 0. 1. ]] SLAMing on 86.18650248099999 meters Centerline goodness : 0.237764 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.21 [[ 0.96018838 -0.07123922 -0.2701171 2.2884694 ] [ 0.07896191 0.99671839 0.01781772 0.26712131] [ 0.26796136 -0.03843734 0.9626626 0.20680289] [ 0. 0. 0. 1. ]] SLAMing on 86.21650248099999 meters Centerline goodness : 0.211906 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.21 [[ 0.96047085 -0.07068432 -0.26925724 2.28732239] [ 0.07797914 0.99681878 0.0164795 0.26901164] [ 0.26723584 -0.03682453 0.96292729 0.20556336] [ 0. 0. 0. 1. ]] SLAMing on 86.246502481 meters Centerline goodness : 0.231746 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.20 [[ 0.96108675 -0.06845796 -0.26762989 2.28343738] [ 0.07532876 0.99703863 0.01547749 0.27091844] [ 0.26577778 -0.03503544 0.96339747 0.20492939] [ 0. 0. 0. 1. ]] SLAMing on 86.276502481 meters Centerline goodness : 0.454072 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.20 [[ 0.96134382 -0.06770889 -0.26689619 2.28151612] [ 0.07451338 0.9971005 0.01543826 0.27071601] [ 0.26507702 -0.03472882 0.96360162 0.20491846] [ 0. 0. 0. 1. ]] SLAMing on 86.306502481 meters Centerline goodness : 0.243948 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.21 [[ 0.9617518 -0.06654114 -0.26571742 2.27858086] [ 0.07340508 0.99717428 0.01597317 0.26887363] [ 0.26390371 -0.03486723 0.96391862 0.20501728] [ 0. 0. 0. 1. ]] SLAMing on 86.336502481 meters Centerline goodness : 0.227592 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.20 [[ 0.96185974 -0.06565398 -0.26554734 2.27834457] [ 0.07265683 0.99721845 0.01662346 0.26782004] [ 0.26371731 -0.03528327 0.9639545 0.20483547] [ 0. 0. 0. 1. ]] SLAMing on 86.366502481 meters Centerline goodness : 0.275978 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.20 [[ 0.96182602 -0.06579375 -0.2656349 2.27866575] [ 0.0729078 0.99719381 0.0169989 0.26706861] [ 0.26377105 -0.03571684 0.96392382 0.20488636] [ 0. 0. 0. 1. ]] SLAMing on 86.39650248099998 meters Centerline goodness : 0.230596 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.20 [[ 0.9618516 -0.06573136 -0.26555769 2.27860536] [ 0.07296507 0.99718173 0.01745554 0.26580732] [ 0.2636619 -0.03616608 0.96393694 0.20494315] [ 0. 0. 0. 1. ]] SLAMing on 86.42650248099999 meters Centerline goodness : 0.237171 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.20 [[ 0.96200253 -0.06868558 -0.26426015 2.27676827] [ 0.07502679 0.99708371 0.01396613 0.26419804] [ 0.26253022 -0.03326205 0.96435031 0.20416444] [ 0. 0. 0. 1. ]] SLAMing on 86.45650248099999 meters Centerline goodness : 0.233692 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.20 [[ 0.96195156 -0.07211038 -0.26353234 2.27559583] [ 0.07746274 0.99694548 0.00996189 0.26467782] [ 0.26200902 -0.02999679 0.96459912 0.20387496] [ 0. 0. 0. 1. ]] SLAMing on 86.48650248099999 meters Centerline goodness : 0.306115 Centerline is valid? [False, False] Translation: X:2.27, Y:0.26, Z:0.20 [[ 0.96211192 -0.07470756 -0.26222022 2.27293388] [ 0.07938915 0.99681705 0.00728959 0.2626418 ] [ 0.26084099 -0.02783084 0.96498053 0.2039286 ] [ 0. 0. 0. 1. ]] SLAMing on 86.51650248099999 meters Centerline goodness : 0.219144 Centerline is valid? [False, False] Translation: X:2.27, Y:0.26, Z:0.20 [[ 0.96190342 -0.07850847 -0.26187445 2.27262035] [ 0.08230092 0.99660128 0.00352799 0.26305637] [ 0.26070744 -0.02494609 0.9650955 0.20382689] [ 0. 0. 0. 1. ]] SLAMing on 86.54650248099999 meters Centerline goodness : 0.300226 Centerline is valid? [False, False] Translation: X:2.27, Y:0.26, Z:0.20 [[ 9.61772395e-01 -8.17002628e-02 -2.61378894e-01 2.27180798e+00] [ 8.50508142e-02 9.96375467e-01 1.51270009e-03 2.60099850e-01] [ 2.60307930e-01 -2.36853610e-02 9.65235093e-01 2.04296879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57650248099999 meters Centerline goodness : 0.606002 Centerline is valid? [False, False] Translation: X:2.27, Y:0.26, Z:0.20 [[ 9.61712444e-01 -8.54006861e-02 -2.60414857e-01 2.26970648e+00] [ 8.79566658e-02 9.96122593e-01 -1.84525875e-03 2.59257460e-01] [ 2.59562709e-01 -2.11306142e-02 9.65495053e-01 2.04767123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60650248099999 meters Centerline goodness : 0.606155 Centerline is valid? [False, False] Translation: X:2.27, Y:0.26, Z:0.21 [[ 0.96165815 -0.08879983 -0.25947679 2.2666884 ] [ 0.09097115 0.99584683 -0.00365305 0.25510654] [ 0.25872352 -0.02009192 0.96574244 0.20652315] [ 0. 0. 0. 1. ]] SLAMing on 86.636502481 meters Centerline goodness : 0.217606 Centerline is valid? [False, False] Translation: X:2.27, Y:0.25, Z:0.21 [[ 0.9616463 -0.08888024 -0.25949315 2.26643302] [ 0.0913552 0.99581515 -0.00253145 0.25247707] [ 0.2586322 -0.02127168 0.96574163 0.2072059 ] [ 0. 0. 0. 1. ]] SLAMing on 86.666502481 meters Centerline goodness : 0.207157 Centerline is valid? [False, False] Translation: X:2.26, Y:0.25, Z:0.21 [[ 0.96149445 -0.09251587 -0.25878413 2.26481032] [ 0.09474635 0.99549393 -0.00386771 0.24807641] [ 0.25797586 -0.02080007 0.96592744 0.20843146] [ 0. 0. 0. 1. ]] SLAMing on 86.696502481 meters Centerline goodness : 0.260940 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.21 [[ 0.96162534 -0.09235351 -0.25835543 2.26349066] [ 0.09496076 0.99547813 -0.00239681 0.24478134] [ 0.25740853 -0.02222879 0.96604696 0.20923614] [ 0. 0. 0. 1. ]] SLAMing on 86.726502481 meters Centerline goodness : 0.600316 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.21 [[ 0.96147486 -0.09592051 -0.25761473 2.26207188] [ 0.09811757 0.99516535 -0.00434441 0.24041143] [ 0.25678597 -0.02109949 0.96623795 0.2100977 ] [ 0. 0. 0. 1. ]] SLAMing on 86.75650248099998 meters Centerline goodness : 0.269455 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.21 [[ 0.96141334 -0.098855 -0.25673346 2.2614098 ] [ 0.10043061 0.99491943 -0.00700116 0.2382266 ] [ 0.25612121 -0.01905289 0.96645689 0.20958017] [ 0. 0. 0. 1. ]] SLAMing on 86.78650248099999 meters Centerline goodness : 0.618455 Centerline is valid? [False, False] Translation: X:2.26, Y:0.23, Z:0.21 [[ 0.96135393 -0.10193478 -0.25574974 2.25934582] [ 0.10315771 0.99462727 -0.00866486 0.23464836] [ 0.25525892 -0.01805256 0.96670419 0.21048476] [ 0. 0. 0. 1. ]] SLAMing on 86.81650248099999 meters Centerline goodness : 0.619982 Centerline is valid? [False, False] Translation: X:2.26, Y:0.23, Z:0.21 [[ 0.96136425 -0.1018303 -0.25575255 2.25917562] [ 0.10338799 0.9946137 -0.00738329 0.23203542] [ 0.25512684 -0.01934371 0.96671408 0.21104872] [ 0. 0. 0. 1. ]] SLAMing on 86.84650248099999 meters Centerline goodness : 0.228336 Centerline is valid? [False, False] Translation: X:2.26, Y:0.23, Z:0.21 [[ 0.96102953 -0.10620109 -0.25523237 2.25972284] [ 0.10731619 0.99417865 -0.00959449 0.22784916] [ 0.25476552 -0.01816998 0.96683214 0.21083337] [ 0. 0. 0. 1. ]] SLAMing on 86.87650248099999 meters Centerline goodness : 0.229313 Centerline is valid? [False, False] Translation: X:2.26, Y:0.23, Z:0.21 [[ 0.9607096 -0.10999152 -0.25483117 2.25986227] [ 0.1105529 0.9937958 -0.01216443 0.22577862] [ 0.25458813 -0.01648584 0.96690904 0.21089077] [ 0. 0. 0. 1. ]] SLAMing on 86.90650248099999 meters Centerline goodness : 0.653160 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.21 [[ 0.96035499 -0.11417281 -0.25432825 2.26069568] [ 0.11452067 0.99332928 -0.01348924 0.22065154] [ 0.2541718 -0.01617138 0.96702388 0.21072646] [ 0. 0. 0. 1. ]] SLAMing on 86.93650248099999 meters Centerline goodness : 0.247451 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.21 [[ 0.95982734 -0.11802231 -0.2545628 2.26237399] [ 0.11791343 0.99289907 -0.01574347 0.21872361] [ 0.25461325 -0.01490536 0.96692809 0.21083176] [ 0. 0. 0. 1. ]] SLAMing on 86.96650248099999 meters Centerline goodness : 0.247451 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.21 [[ 0.95982734 -0.11802231 -0.2545628 2.26237399] [ 0.11791343 0.99289907 -0.01574347 0.21872361] [ 0.25461325 -0.01490536 0.96692809 0.21083176] [ 0. 0. 0. 1. ]] SLAMing on 86.996502481 meters Centerline goodness : 0.649681 Centerline is valid? [False, False] Translation: X:2.26, Y:0.21, Z:0.21 [[ 0.95920203 -0.12279528 -0.2546621 2.26485427] [ 0.12259699 0.99231579 -0.01671397 0.21338021] [ 0.25475762 -0.01518873 0.96688565 0.21065389] [ 0. 0. 0. 1. ]] SLAMing on 87.026502481 meters Centerline goodness : 0.311025 Centerline is valid? [False, False] Translation: X:2.27, Y:0.21, Z:0.21 [[ 0.95902077 -0.12364911 -0.25493147 2.26559243] [ 0.12393122 0.99217712 -0.0150205 0.20984136] [ 0.25479445 -0.01718899 0.96684245 0.21151736] [ 0. 0. 0. 1. ]] SLAMing on 87.056502481 meters Centerline goodness : 0.661446 Centerline is valid? [False, False] Translation: X:2.27, Y:0.21, Z:0.21 [[ 0.95847258 -0.12851218 -0.25458779 2.26626968] [ 0.12853576 0.99156566 -0.01661614 0.20577649] [ 0.25457588 -0.01679752 0.96690691 0.21207661] [ 0. 0. 0. 1. ]] SLAMing on 87.086502481 meters Centerline goodness : 0.163104 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.9583823 -0.12890637 -0.25472832 2.26690266] [ 0.12923898 0.99149226 -0.01550402 0.20337039] [ 0.25455972 -0.01806205 0.96688836 0.21239617] [ 0. 0. 0. 1. ]] SLAMing on 87.116502481 meters Centerline goodness : 0.558275 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95817164 -0.12983775 -0.2550476 2.26685278] [ 0.13059444 0.99133645 -0.01404053 0.20078497] [ 0.25466097 -0.01985456 0.96682655 0.21398536] [ 0. 0. 0. 1. ]] SLAMing on 87.14650248099998 meters Centerline goodness : 0.307944 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95802339 -0.13044516 -0.25529441 2.267816 ] [ 0.13125586 0.99125057 -0.01393549 0.20043062] [ 0.25487855 -0.02015836 0.96676293 0.21394284] [ 0. 0. 0. 1. ]] SLAMing on 87.17650248099999 meters Centerline goodness : 0.580189 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95767952 -0.13184807 -0.2558633 2.27069922] [ 0.13259089 0.99106589 -0.01442387 0.20029047] [ 0.25547915 -0.0201117 0.96660536 0.21291931] [ 0. 0. 0. 1. ]] SLAMing on 87.20650248099999 meters Centerline goodness : 0.273336 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.957601 -0.13217317 -0.25598942 2.2716044 ] [ 0.13282799 0.99102845 -0.01480982 0.20117646] [ 0.25565026 -0.01982067 0.96656613 0.21235092] [ 0. 0. 0. 1. ]] SLAMing on 87.23650248099999 meters Centerline goodness : 0.576126 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95745414 -0.13220106 -0.25652376 2.27276955] [ 0.13287559 0.99102249 -0.01478202 0.20235236] [ 0.25617501 -0.01993264 0.96642488 0.21231203] [ 0. 0. 0. 1. ]] SLAMing on 87.26650248099999 meters Centerline goodness : 0.260683 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95778245 -0.12880534 -0.25702524 2.27359886] [ 0.1302145 0.99141793 -0.01160492 0.2028049 ] [ 0.2563142 -0.02235342 0.96633501 0.21190451] [ 0. 0. 0. 1. ]] SLAMing on 87.29650248099999 meters Centerline goodness : 0.483204 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95786769 -0.12865285 -0.25678383 2.27377944] [ 0.12990148 0.99145223 -0.0121687 0.20365765] [ 0.25615444 -0.02170059 0.96639225 0.21105939] [ 0. 0. 0. 1. ]] SLAMing on 87.32650248099999 meters Centerline goodness : 0.248611 Centerline is valid? [False, False] Translation: X:2.27, Y:0.21, Z:0.21 [[ 0.95814127 -0.12516304 -0.25748694 2.27488606] [ 0.12698744 0.99185786 -0.00960064 0.20638565] [ 0.25659209 -0.02349884 0.96623408 0.21044145] [ 0. 0. 0. 1. ]] SLAMing on 87.35650248099999 meters Centerline goodness : 0.398402 Centerline is valid? [False, False] Translation: X:2.28, Y:0.21, Z:0.21 [[ 0.9584218 -0.12156287 -0.25816684 2.27600294] [ 0.1241381 0.99224453 -0.00636579 0.20756363] [ 0.25693848 -0.02594723 0.96607938 0.21005374] [ 0. 0. 0. 1. ]] SLAMing on 87.386502481 meters Centerline goodness : 0.268712 Centerline is valid? [False, False] Translation: X:2.28, Y:0.21, Z:0.21 [[ 0.95878321 -0.11788707 -0.2585293 2.2766023 ] [ 0.1208894 0.99265662 -0.00431154 0.21133877] [ 0.2571391 -0.02711962 0.96599379 0.20907315] [ 0. 0. 0. 1. ]] SLAMing on 87.416502481 meters Centerline goodness : 0.435431 Centerline is valid? [False, False] Translation: X:2.28, Y:0.21, Z:0.21 [[ 9.59156323e-01 -1.14222591e-01 -2.58790163e-01 2.27674028e+00] [ 1.17947104e-01 9.93019223e-01 -1.14192100e-03 2.11693039e-01] [ 2.57114039e-01 -2.94282695e-02 9.65932890e-01 2.08792432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.446502481 meters Centerline goodness : 0.427370 Centerline is valid? [False, False] Translation: X:2.28, Y:0.22, Z:0.21 [[ 9.59508701e-01 -1.10480443e-01 -2.59108326e-01 2.27755957e+00] [ 1.14406418e-01 9.93434027e-01 7.30301655e-05 2.16648005e-01] [ 2.57398959e-01 -2.97137286e-02 9.65848265e-01 2.07243629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.476502481 meters Centerline goodness : 0.731729 Centerline is valid? [False, False] Translation: X:2.28, Y:0.22, Z:0.21 [[ 0.95970513 -0.10681564 -0.25991629 2.27898447] [ 0.11137937 0.99377387 0.00284999 0.21897007] [ 0.25799359 -0.03168446 0.96562695 0.20666467] [ 0. 0. 0. 1. ]] SLAMing on 87.50650248099998 meters Centerline goodness : 0.493398 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.20 [[ 0.96004931 -0.10310116 -0.26014511 2.27951086] [ 0.10762197 0.99418688 0.00315432 0.22528212] [ 0.25830764 -0.03102563 0.96556438 0.20493297] [ 0. 0. 0. 1. ]] SLAMing on 87.53650248099999 meters Centerline goodness : 0.294391 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.20 [[ 0.96030575 -0.09926478 -0.26069018 2.28100247] [ 0.10427318 0.99453395 0.00541617 0.2276815 ] [ 0.2587276 -0.03238417 0.96540732 0.20363825] [ 0. 0. 0. 1. ]] SLAMing on 87.56650248099999 meters Centerline goodness : 0.454722 Centerline is valid? [False, False] Translation: X:2.28, Y:0.24, Z:0.20 [[ 0.96055035 -0.09498823 -0.26138143 2.28355512] [ 0.10012133 0.9949549 0.00636073 0.23536006] [ 0.25945854 -0.03227966 0.96521463 0.20102385] [ 0. 0. 0. 1. ]] SLAMing on 87.59650248099999 meters Centerline goodness : 0.543935 Centerline is valid? [False, False] Translation: X:2.28, Y:0.24, Z:0.20 [[ 0.96079487 -0.09125984 -0.26181075 2.28360469] [ 0.0969043 0.99525566 0.00870203 0.23850855] [ 0.25977449 -0.03373146 0.96508 0.20088922] [ 0. 0. 0. 1. ]] SLAMing on 87.62650248099999 meters Centerline goodness : 0.447175 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.20 [[ 0.96128224 -0.08411987 -0.26241248 2.2828201 ] [ 0.09073635 0.99578778 0.0131766 0.24577631] [ 0.26019873 -0.03647678 0.96486583 0.20113974] [ 0. 0. 0. 1. ]] SLAMing on 87.65650248099999 meters Centerline goodness : 0.535853 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.20 [[ 0.96139433 -0.08087699 -0.26302063 2.28362481] [ 0.0879831 0.99600397 0.01533209 0.24905606] [ 0.26072958 -0.03788155 0.96466838 0.20091557] [ 0. 0. 0. 1. ]] SLAMing on 87.68650248099999 meters Centerline goodness : 0.530751 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.20 [[ 0.96151997 -0.07864212 -0.263239 2.2838461 ] [ 0.08567629 0.99620506 0.01533127 0.25550379] [ 0.26103434 -0.03729467 0.96460882 0.20013078] [ 0. 0. 0. 1. ]] SLAMing on 87.71650248099999 meters Centerline goodness : 0.526214 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.20 [[ 0.96148003 -0.07952723 -0.26311892 2.28386319] [ 0.08593917 0.99621646 0.01293128 0.26010327] [ 0.26109501 -0.03504539 0.96467674 0.19935628] [ 0. 0. 0. 1. ]] SLAMing on 87.746502481 meters Centerline goodness : 0.438952 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.20 [[ 0.96130657 -0.07662982 -0.26460829 2.28516079] [ 0.08385683 0.99634762 0.0161075 0.26771872] [ 0.26240753 -0.03767346 0.96422145 0.20041898] [ 0. 0. 0. 1. ]] SLAMing on 87.776502481 meters Centerline goodness : 0.716094 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.20 [[ 0.96133884 -0.0738584 -0.26527829 2.28565737] [ 0.08169107 0.99648413 0.01859963 0.27086775] [ 0.26297187 -0.03955141 0.96399247 0.20087315] [ 0. 0. 0. 1. ]] SLAMing on 87.806502481 meters Centerline goodness : 0.716538 Centerline is valid? [False, False] Translation: X:2.29, Y:0.28, Z:0.20 [[ 0.96108986 -0.07408053 -0.26611718 2.28672826] [ 0.08203652 0.99645029 0.01888982 0.27544801] [ 0.26377318 -0.03998614 0.96375558 0.2014149 ] [ 0. 0. 0. 1. ]] SLAMing on 87.836502481 meters Centerline goodness : 0.716699 Centerline is valid? [False, False] Translation: X:2.29, Y:0.28, Z:0.20 [[ 0.96107109 -0.07191567 -0.26677798 2.28684318] [ 0.08006256 0.9965937 0.01977342 0.28277976] [ 0.26444723 -0.04036259 0.96355515 0.20177702] [ 0. 0. 0. 1. ]] SLAMing on 87.866502481 meters Centerline goodness : 0.716306 Centerline is valid? [False, False] Translation: X:2.29, Y:0.29, Z:0.20 [[ 0.9609628 -0.07244428 -0.26702495 2.28658858] [ 0.08029639 0.99659766 0.01859019 0.28643415] [ 0.26476969 -0.03930562 0.96351029 0.20222371] [ 0. 0. 0. 1. ]] SLAMing on 87.89650248099998 meters Centerline goodness : 0.717265 Centerline is valid? [False, False] Translation: X:2.29, Y:0.29, Z:0.20 [[ 0.96100115 -0.06986266 -0.2675743 2.2854142 ] [ 0.0783452 0.99670204 0.02114392 0.2901941 ] [ 0.26521469 -0.0412825 0.96330521 0.20409843] [ 0. 0. 0. 1. ]] SLAMing on 87.92650248099999 meters Centerline goodness : 0.718703 Centerline is valid? [False, False] Translation: X:2.28, Y:0.29, Z:0.20 [[ 0.96086638 -0.07113435 -0.26772319 2.28481472] [ 0.07929127 0.9966555 0.0197662 0.29380393] [ 0.26542173 -0.04022079 0.9632931 0.20480441] [ 0. 0. 0. 1. ]] SLAMing on 87.95650248099999 meters Centerline goodness : 0.714898 Centerline is valid? [False, False] Translation: X:2.29, Y:0.30, Z:0.21 [[ 0.96059249 -0.07200275 -0.26847285 2.28533618] [ 0.08008685 0.99660166 0.01926736 0.29684206] [ 0.26617319 -0.04000923 0.96309454 0.20582273] [ 0. 0. 0. 1. ]] SLAMing on 87.98650248099999 meters Centerline goodness : 0.714210 Centerline is valid? [False, False] Translation: X:2.29, Y:0.30, Z:0.21 [[ 0.96022153 -0.07277148 -0.2695903 2.28603405] [ 0.08115353 0.99649968 0.02006233 0.3011455 ] [ 0.26718668 -0.04114248 0.9627661 0.20744077] [ 0. 0. 0. 1. ]] SLAMing on 88.01650248099999 meters Centerline goodness : 0.713492 Centerline is valid? [False, False] Translation: X:2.29, Y:0.30, Z:0.21 [[ 0.96003313 -0.07358252 -0.27004073 2.28659504] [ 0.08181159 0.99646035 0.01932961 0.30307942] [ 0.26766256 -0.04064953 0.96265485 0.20788245] [ 0. 0. 0. 1. ]] SLAMing on 88.04650248099999 meters Centerline goodness : 0.709654 Centerline is valid? [False, False] Translation: X:2.29, Y:0.31, Z:0.21 [[ 0.95955747 -0.07436059 -0.27151419 2.28889925] [ 0.08270805 0.99638469 0.01941472 0.30830068] [ 0.2690889 -0.04108595 0.96223859 0.20861371] [ 0. 0. 0. 1. ]] SLAMing on 88.07650248099999 meters Centerline goodness : 0.710792 Centerline is valid? [False, False] Translation: X:2.29, Y:0.31, Z:0.21 [[ 0.95949118 -0.0746999 -0.2716553 2.2888429 ] [ 0.08276344 0.99640061 0.0183312 0.31102364] [ 0.26930816 -0.04007176 0.96222002 0.20874988] [ 0. 0. 0. 1. ]] SLAMing on 88.10650248099999 meters Centerline goodness : 0.711046 Centerline is valid? [False, False] Translation: X:2.29, Y:0.31, Z:0.21 [[ 0.95969892 -0.07119422 -0.27186277 2.2879638 ] [ 0.07975003 0.99660328 0.02053839 0.31468805] [ 0.26947712 -0.04139174 0.96211684 0.20924748] [ 0. 0. 0. 1. ]] SLAMing on 88.136502481 meters Centerline goodness : 0.711851 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.21 [[ 0.95966415 -0.07097506 -0.27204275 2.28751269] [ 0.07935784 0.99664709 0.01992258 0.3174481 ] [ 0.26971661 -0.04070771 0.96207891 0.20973136] [ 0. 0. 0. 1. ]] SLAMing on 88.166502481 meters Centerline goodness : 0.712415 Centerline is valid? [False, False] Translation: X:2.28, Y:0.32, Z:0.21 [[ 0.96005621 -0.06661691 -0.2717614 2.28465732] [ 0.0756219 0.99687617 0.0227864 0.31970786] [ 0.2693945 -0.04242734 0.96209486 0.21108617] [ 0. 0. 0. 1. ]] SLAMing on 88.196502481 meters Centerline goodness : 0.710812 Centerline is valid? [False, False] Translation: X:2.28, Y:0.32, Z:0.21 [[ 0.95991613 -0.06693997 -0.27217653 2.28482289] [ 0.07540202 0.99693753 0.02073894 0.32456237] [ 0.26995473 -0.0404303 0.96202382 0.21132387] [ 0. 0. 0. 1. ]] SLAMing on 88.226502481 meters Centerline goodness : 0.710517 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.21 [[ 0.95989276 -0.06747677 -0.2721264 2.28499077] [ 0.07560271 0.99694782 0.01947504 0.32648261] [ 0.26998171 -0.03926744 0.96206442 0.21095815] [ 0. 0. 0. 1. ]] SLAMing on 88.25650248099998 meters Centerline goodness : 0.707546 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.21 [[ 0.95980752 -0.06789981 -0.27232175 2.28500723] [ 0.07579786 0.99695016 0.01857591 0.32816581] [ 0.27022991 -0.0384707 0.96202692 0.21125586] [ 0. 0. 0. 1. ]] SLAMing on 88.28650248099999 meters Centerline goodness : 0.709532 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.21 [[ 0.95961938 -0.06875703 -0.27276936 2.28536562] [ 0.07619856 0.99695164 0.01676942 0.33163803] [ 0.27078485 -0.0368769 0.96193329 0.21166033] [ 0. 0. 0. 1. ]] SLAMing on 88.31650248099999 meters Centerline goodness : 0.709311 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.21 [[ 0.95948202 -0.06928199 -0.27311948 2.28579101] [ 0.07663905 0.99692488 0.0163476 0.33309074] [ 0.27114701 -0.03661684 0.96184121 0.21200367] [ 0. 0. 0. 1. ]] SLAMing on 88.34650248099999 meters Centerline goodness : 0.708395 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.21 [[ 0.95935785 -0.07002501 -0.27336609 2.28562948] [ 0.07717438 0.99689752 0.01547407 0.33483768] [ 0.27143441 -0.03594203 0.9617856 0.2126665 ] [ 0. 0. 0. 1. ]] SLAMing on 88.37650248099999 meters Centerline goodness : 0.711451 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.21 [[ 0.95928378 -0.07055703 -0.2734892 2.2852201 ] [ 0.0776394 0.99686645 0.01514607 0.33517339] [ 0.27156354 -0.03576292 0.96175582 0.21339306] [ 0. 0. 0. 1. ]] SLAMing on 88.40650248099999 meters Centerline goodness : 0.711217 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.22 [[ 0.9591196 -0.07128094 -0.27387702 2.28449872] [ 0.07848762 0.99679564 0.01543205 0.33443062] [ 0.27189941 -0.03629713 0.9616409 0.2151484 ] [ 0. 0. 0. 1. ]] SLAMing on 88.43650248099999 meters Centerline goodness : 0.712201 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.22 [[ 0.95901692 -0.07159035 -0.27415575 2.28489967] [ 0.07887139 0.99676253 0.01561309 0.33380247] [ 0.27215043 -0.03659626 0.96155856 0.21557475] [ 0. 0. 0. 1. ]] SLAMing on 88.46650248099999 meters Centerline goodness : 0.713542 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95859811 -0.07649885 -0.27429471 2.28555305] [ 0.08287415 0.9964912 0.01171211 0.334579 ] [ 0.2724363 -0.03395915 0.96157435 0.21591102] [ 0. 0. 0. 1. ]] SLAMing on 88.496502481 meters Centerline goodness : 0.714905 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95846889 -0.0768136 -0.27465807 2.28569376] [ 0.08340005 0.99643942 0.0123654 0.33369757] [ 0.2727303 -0.03475835 0.96146245 0.2167515 ] [ 0. 0. 0. 1. ]] SLAMing on 88.526502481 meters Centerline goodness : 0.713702 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95829118 -0.07766471 -0.27503854 2.28518333] [ 0.08440136 0.99635059 0.01272475 0.33365847] [ 0.27304655 -0.03540764 0.96134899 0.21822199] [ 0. 0. 0. 1. ]] SLAMing on 88.556502481 meters Centerline goodness : 0.715228 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95816295 -0.07790252 -0.27541779 2.28579495] [ 0.08473223 0.99631937 0.01296755 0.33276637] [ 0.27339387 -0.03576179 0.96123716 0.21857105] [ 0. 0. 0. 1. ]] SLAMing on 88.586502481 meters Centerline goodness : 0.714554 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95805704 -0.07824537 -0.27568891 2.28603838] [ 0.08516226 0.9962798 0.01318882 0.33225677] [ 0.27363133 -0.03611393 0.96115643 0.21899377] [ 0. 0. 0. 1. ]] SLAMing on 88.616502481 meters Centerline goodness : 0.716149 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95798966 -0.07891009 -0.27573358 2.2856477 ] [ 0.08587573 0.9962176 0.01326079 0.33219093] [ 0.27364424 -0.03638253 0.96114262 0.21968166] [ 0. 0. 0. 1. ]] SLAMing on 88.64650248099998 meters Centerline goodness : 0.714461 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95745647 -0.0841562 -0.27603412 2.28603363] [ 0.09003586 0.99590076 0.00867355 0.33390127] [ 0.27417266 -0.03315751 0.9611087 0.22054605] [ 0. 0. 0. 1. ]] SLAMing on 88.67650248099999 meters Centerline goodness : 0.713713 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95696344 -0.08766876 -0.2766499 2.28711049] [ 0.09275331 0.9956749 0.00532059 0.33429607] [ 0.27498691 -0.03075181 0.96095605 0.22187343] [ 0. 0. 0. 1. ]] SLAMing on 88.70650248099999 meters Centerline goodness : 0.714715 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95690775 -0.08764537 -0.27684986 2.28705377] [ 0.09282267 0.99566677 0.0056245 0.33235481] [ 0.27515724 -0.03108007 0.96089673 0.22239111] [ 0. 0. 0. 1. ]] SLAMing on 88.73650248099999 meters Centerline goodness : 0.713284 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95690601 -0.08770971 -0.27683549 2.28693333] [ 0.09294246 0.99565453 0.00581079 0.33079818] [ 0.27512284 -0.03129015 0.96089976 0.22257738] [ 0. 0. 0. 1. ]] SLAMing on 88.76650248099999 meters Centerline goodness : 0.716653 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 9.56330448e-01 -9.19109748e-02 -2.77460712e-01 2.28770093e+00] [ 9.63194473e-02 9.95347885e-01 2.26996388e-03 3.30234610e-01] [ 2.75961298e-01 -2.88956980e-02 9.60734303e-01 2.24076329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79650248099999 meters Centerline goodness : 0.714691 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95627455 -0.09151709 -0.27778339 2.288591 ] [ 0.09612709 0.99536457 0.0029916 0.32856002] [ 0.27622197 -0.0295633 0.96063908 0.22380867] [ 0. 0. 0. 1. ]] SLAMing on 88.82650248099999 meters Centerline goodness : 0.715603 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95628677 -0.09138544 -0.27778467 2.28893891] [ 0.09618356 0.99535687 0.00366452 0.32587715] [ 0.27616 -0.03022265 0.96063638 0.22352097] [ 0. 0. 0. 1. ]] SLAMing on 88.85650248099999 meters Centerline goodness : 0.715747 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.22 [[ 0.95611939 -0.09186343 -0.27820284 2.2896608 ] [ 0.09683876 0.99529137 0.00416436 0.32497113] [ 0.27651033 -0.03092244 0.96051332 0.22395867] [ 0. 0. 0. 1. ]] SLAMing on 88.886502481 meters Centerline goodness : 0.715747 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.22 [[ 0.95611939 -0.09186343 -0.27820284 2.2896608 ] [ 0.09683876 0.99529137 0.00416436 0.32497113] [ 0.27651033 -0.03092244 0.96051332 0.22395867] [ 0. 0. 0. 1. ]] SLAMing on 88.916502481 meters Centerline goodness : 0.714792 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.22 [[ 9.55608902e-01 -9.54499210e-02 -2.78748883e-01 2.29129520e+00] [ 9.96823763e-02 9.95018791e-01 1.01489622e-03 3.24938418e-01] [ 2.77263505e-01 -2.87561949e-02 9.60363489e-01 2.24491896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.946502481 meters Centerline goodness : 0.590989 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.22 [[ 9.55664302e-01 -9.56859401e-02 -2.78477902e-01 2.29089381e+00] [ 9.99283581e-02 9.94994086e-01 1.04503846e-03 3.24589483e-01] [ 2.76983870e-01 -2.88265455e-02 9.60442068e-01 2.24346314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.976502481 meters Centerline goodness : 0.573993 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.22 [[ 9.55779676e-01 -9.60141939e-02 -2.77968499e-01 2.29025188e+00] [ 1.00091459e-01 9.94978125e-01 4.79764132e-04 3.24717962e-01] [ 2.76526512e-01 -2.82808213e-02 9.60590071e-01 2.23890668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00650248099998 meters Centerline goodness : 0.578047 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 9.55751571e-01 -9.61474160e-02 -2.78019079e-01 2.29064119e+00] [ 1.00096292e-01 9.94977755e-01 9.52533154e-06 3.25367528e-01] [ 2.76621883e-01 -2.78377827e-02 9.60575552e-01 2.23561492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03650248099999 meters Centerline goodness : 0.570340 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 9.56063601e-01 -9.55162769e-02 -2.77162465e-01 2.28872087e+00] [ 9.92165275e-02 9.95065637e-01 -6.77055554e-04 3.26594100e-01] [ 2.75859515e-01 -2.68517892e-02 9.60822829e-01 2.23238760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06650248099999 meters Centerline goodness : 0.569627 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 9.55898746e-01 -9.54418256e-02 -2.77756090e-01 2.28916937e+00] [ 9.90780211e-02 9.95079215e-01 -9.49109181e-04 3.26786329e-01] [ 2.76479897e-01 -2.66122715e-02 9.60651161e-01 2.24576693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09650248099999 meters Centerline goodness : 0.568098 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 9.56025700e-01 -9.55847930e-02 -2.77269557e-01 2.28860403e+00] [ 9.89691128e-02 9.95088883e-01 -1.79734645e-03 3.27716355e-01] [ 2.76079653e-01 -2.57228127e-02 9.60790488e-01 2.23982212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12650248099999 meters Centerline goodness : 0.570654 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95522201 -0.09799143 -0.27919275 2.29320067] [ 0.10002758 0.99496018 -0.00698093 0.32812937] [ 0.27846974 -0.02125864 0.9602097 0.22928151] [ 0. 0. 0. 1. ]] SLAMing on 89.15650248099999 meters Centerline goodness : 0.579185 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95520572 -0.09861948 -0.27902728 2.2924358 ] [ 0.10041484 0.99491438 -0.00788851 0.32942124] [ 0.27838621 -0.02048333 0.96025077 0.2296179 ] [ 0. 0. 0. 1. ]] SLAMing on 89.18650248099999 meters Centerline goodness : 0.413754 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95522117 -0.09891625 -0.2788693 2.29236521] [ 0.10063641 0.99488965 -0.00817848 0.32977235] [ 0.27825317 -0.02025215 0.96029424 0.229349 ] [ 0. 0. 0. 1. ]] SLAMing on 89.21650248099999 meters Centerline goodness : 0.423089 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95458831 -0.10306396 -0.27953349 2.29386694] [ 0.10381844 0.99452209 -0.01214709 0.33083323] [ 0.27925416 -0.01742526 0.9600591 0.23069248] [ 0. 0. 0. 1. ]] SLAMing on 89.246502481 meters Centerline goodness : 0.415423 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95447882 -0.10337204 -0.27979349 2.29420528] [ 0.10418215 0.99448563 -0.01201728 0.33093568] [ 0.27949286 -0.01767925 0.95998499 0.23106127] [ 0. 0. 0. 1. ]] SLAMing on 89.276502481 meters Centerline goodness : 0.718754 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95454414 -0.10383631 -0.27939848 2.29341301] [ 0.10482756 0.99442467 -0.01143477 0.32974686] [ 0.27902809 -0.01837366 0.96010715 0.23126903] [ 0. 0. 0. 1. ]] SLAMing on 89.306502481 meters Centerline goodness : 0.718727 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95446068 -0.10433945 -0.27949612 2.29297278] [ 0.10540667 0.99436553 -0.0112525 0.32923361] [ 0.27909539 -0.01872069 0.96008088 0.23195869] [ 0. 0. 0. 1. ]] SLAMing on 89.336502481 meters Centerline goodness : 0.562204 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95432739 -0.10483041 -0.27976742 2.29276968] [ 0.10623442 0.99428895 -0.01018454 0.3283231 ] [ 0.27923731 -0.02000154 0.96001378 0.23300613] [ 0. 0. 0. 1. ]] SLAMing on 89.366502481 meters Centerline goodness : 0.635890 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95423756 -0.10547996 -0.27982968 2.29228359] [ 0.1068084 0.99422373 -0.01054244 0.32788022] [ 0.27932533 -0.01982817 0.95999177 0.23368835] [ 0. 0. 0. 1. ]] SLAMing on 89.39650248099998 meters Centerline goodness : 0.633979 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95367481 -0.11008383 -0.27997483 2.29294647] [ 0.11039238 0.99377911 -0.01471766 0.32906249] [ 0.27985331 -0.01687123 0.95989452 0.23469859] [ 0. 0. 0. 1. ]] SLAMing on 89.42650248099999 meters Centerline goodness : 0.638874 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95382054 -0.11017467 -0.27944216 2.29201599] [ 0.11070592 0.99375556 -0.0139317 0.32723923] [ 0.27923212 -0.01764756 0.96006145 0.23470192] [ 0. 0. 0. 1. ]] SLAMing on 89.45650248099999 meters Centerline goodness : 0.645482 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.24 [[ 0.95373087 -0.11023559 -0.27972405 2.29202695] [ 0.11089442 0.99374022 -0.01352086 0.32745641] [ 0.27946352 -0.01812457 0.95998523 0.23531815] [ 0. 0. 0. 1. ]] SLAMing on 89.48650248099999 meters Centerline goodness : 0.729800 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.24 [[ 0.95374826 -0.11058463 -0.27952691 2.29099445] [ 0.11125612 0.99369987 -0.01351426 0.3280049 ] [ 0.27926033 -0.01820988 0.96004274 0.2359658 ] [ 0. 0. 0. 1. ]] SLAMing on 89.51650248099999 meters Centerline goodness : 0.732921 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.24 [[ 0.95373023 -0.11075498 -0.27952097 2.29074871] [ 0.11150753 0.99367512 -0.01325972 0.32745046] [ 0.27922162 -0.01852249 0.96004802 0.2362209 ] [ 0. 0. 0. 1. ]] SLAMing on 89.54650248099999 meters Centerline goodness : 0.733170 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.24 [[ 0.95337818 -0.11177427 -0.28031509 2.2934402 ] [ 0.11234732 0.99356928 -0.01407699 0.32892349] [ 0.28008591 -0.01807195 0.95980482 0.23559461] [ 0. 0. 0. 1. ]] SLAMing on 89.57650248099999 meters Centerline goodness : 0.729701 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.24 [[ 0.95328525 -0.11207876 -0.28050952 2.29443585] [ 0.11254653 0.99354073 -0.01449458 0.3300632 ] [ 0.28032217 -0.0177529 0.9597418 0.23509708] [ 0. 0. 0. 1. ]] SLAMing on 89.60650248099999 meters Centerline goodness : 0.637683 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95371991 -0.11157281 -0.27923079 2.29201469] [ 0.11162238 0.99362547 -0.01577585 0.33185446] [ 0.27921098 -0.01612266 0.96009442 0.23440377] [ 0. 0. 0. 1. ]] SLAMing on 89.636502481 meters Centerline goodness : 0.642398 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95399798 -0.11088278 -0.27855496 2.29071163] [ 0.11074488 0.99371548 -0.01628238 0.33303289] [ 0.27860981 -0.01531518 0.96028226 0.23393104] [ 0. 0. 0. 1. ]] SLAMing on 89.666502481 meters Centerline goodness : 0.363815 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95418182 -0.11054267 -0.27806001 2.28998968] [ 0.11005125 0.99377314 -0.01742585 0.3348835 ] [ 0.27825487 -0.01397342 0.96040563 0.23326384] [ 0. 0. 0. 1. ]] SLAMing on 89.696502481 meters Centerline goodness : 0.593180 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.95504167 -0.10523172 -0.27716727 2.28872149] [ 0.10528594 0.99433288 -0.01473081 0.33605467] [ 0.27714668 -0.01511328 0.96070875 0.23149669] [ 0. 0. 0. 1. ]] SLAMing on 89.726502481 meters Centerline goodness : 0.597951 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.9551508 -0.10444195 -0.27708993 2.2880427 ] [ 0.1042226 0.99443223 -0.01556223 0.33821261] [ 0.27717251 -0.01401476 0.96071795 0.23159063] [ 0. 0. 0. 1. ]] SLAMing on 89.75650248099998 meters Centerline goodness : 0.585587 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.95559926 -0.09976929 -0.27726547 2.28812107] [ 0.10028596 0.99488195 -0.01235451 0.33957141] [ 0.27707901 -0.01599987 0.96071392 0.23095809] [ 0. 0. 0. 1. ]] SLAMing on 89.78650248099999 meters Centerline goodness : 0.627433 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.9561753 -0.09868529 -0.27566285 2.28507169] [ 0.0989805 0.99500605 -0.01287713 0.33878803] [ 0.27555698 -0.01497245 0.96116813 0.23031188] [ 0. 0. 0. 1. ]] SLAMing on 89.81650248099999 meters Centerline goodness : 0.322622 Centerline is valid? [False, False] Translation: X:2.28, Y:0.34, Z:0.23 [[ 0.95637925 -0.09854148 -0.27500602 2.28418641] [ 0.09880602 0.99502275 -0.01292695 0.33761887] [ 0.27491108 -0.01480919 0.9613556 0.22982391] [ 0. 0. 0. 1. ]] SLAMing on 89.84650248099999 meters Centerline goodness : 0.208893 Centerline is valid? [False, False] Translation: X:2.28, Y:0.34, Z:0.23 [[ 0.95650962 -0.09835211 -0.27462012 2.28350378] [ 0.09863454 0.9950412 -0.01281592 0.33707726] [ 0.2745188 -0.01482847 0.96146739 0.22960463] [ 0. 0. 0. 1. ]] SLAMing on 89.87650248099999 meters Centerline goodness : 0.339022 Centerline is valid? [False, False] Translation: X:2.28, Y:0.34, Z:0.23 [[ 0.95638066 -0.09758155 -0.27534318 2.28434279] [ 0.09867766 0.99507016 -0.00990432 0.33764891] [ 0.27495226 -0.01769792 0.96129498 0.23030359] [ 0. 0. 0. 1. ]] SLAMing on 89.90650248099999 meters Centerline goodness : 0.215532 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.95627432 -0.09783384 -0.27562288 2.28510748] [ 0.09902082 0.99503865 -0.00964141 0.33746817] [ 0.27519867 -0.01807257 0.9612175 0.23028212] [ 0. 0. 0. 1. ]] SLAMing on 89.93650248099999 meters Centerline goodness : 0.556029 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.9559762 -0.10183924 -0.27520589 2.28630371] [ 0.10200722 0.99468874 -0.01374198 0.33694163] [ 0.27514367 -0.01493598 0.96128709 0.22907452] [ 0. 0. 0. 1. ]] SLAMing on 89.96650248099999 meters Centerline goodness : 0.464815 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.95599115 -0.10181891 -0.27516146 2.2864405 ] [ 0.10217716 0.99468033 -0.01307162 0.33572003] [ 0.27502863 -0.01561887 0.96130916 0.22897049] [ 0. 0. 0. 1. ]] SLAMing on 89.996502481 meters Centerline goodness : 0.226888 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.95603327 -0.10169559 -0.27506069 2.28635147] [ 0.10211048 0.99469006 -0.01285016 0.33587581] [ 0.27490694 -0.0158014 0.96134098 0.22889541] [ 0. 0. 0. 1. ]] SLAMing on 90.026502481 meters Centerline goodness : 0.605553 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95628937 -0.10159639 -0.27420577 2.28506531] [ 0.10223611 0.99468783 -0.01199608 0.33328089] [ 0.2739679 -0.016562 0.96159622 0.2286267 ] [ 0. 0. 0. 1. ]] SLAMing on 90.056502481 meters Centerline goodness : 0.234112 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95634109 -0.10151821 -0.27405433 2.28465118] [ 0.10246032 0.99467722 -0.01091331 0.33113935] [ 0.2737035 -0.01764285 0.96165229 0.22890844] [ 0. 0. 0. 1. ]] SLAMing on 90.086502481 meters Centerline goodness : 0.241249 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95637394 -0.10162805 -0.27389893 2.28435664] [ 0.10276303 0.99465315 -0.01024018 0.3299338 ] [ 0.27347512 -0.01835325 0.96170397 0.22904578] [ 0. 0. 0. 1. ]] SLAMing on 90.116502481 meters Centerline goodness : 0.247936 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95612731 -0.10266581 -0.27437256 2.28518486] [ 0.10412659 0.9945208 -0.00927572 0.32835787] [ 0.27382152 -0.01970071 0.96157873 0.22965092] [ 0. 0. 0. 1. ]] SLAMing on 90.14650248099998 meters Centerline goodness : 0.737016 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95605731 -0.10293605 -0.27451519 2.28566416] [ 0.10456027 0.99448005 -0.00875085 0.32719754] [ 0.27390066 -0.02033706 0.96154294 0.22970767] [ 0. 0. 0. 1. ]] SLAMing on 90.17650248099999 meters Centerline goodness : 0.594869 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95604708 -0.1036667 -0.27427576 2.28491004] [ 0.10548295 0.99438763 -0.00816047 0.32626579] [ 0.27358239 -0.02112962 0.96161646 0.23020933] [ 0. 0. 0. 1. ]] SLAMing on 90.20650248099999 meters Centerline goodness : 0.235050 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95605756 -0.10416088 -0.27405191 2.28451293] [ 0.1060089 0.99433219 -0.00810033 0.32618743] [ 0.27334237 -0.02130756 0.96168079 0.23025569] [ 0. 0. 0. 1. ]] SLAMing on 90.23650248099999 meters Centerline goodness : 0.254106 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95600818 -0.10493858 -0.27392746 2.28414419] [ 0.10686838 0.9942417 -0.00791183 0.3250453 ] [ 0.27318036 -0.02171041 0.96171781 0.2305585 ] [ 0. 0. 0. 1. ]] SLAMing on 90.26650248099999 meters Centerline goodness : 0.316589 Centerline is valid? [False, False] Translation: X:2.28, Y:0.32, Z:0.23 [[ 0.95607766 -0.10501258 -0.27365647 2.28309482] [ 0.10705845 0.99422451 -0.00749071 0.32439218] [ 0.27286258 -0.02213553 0.96179833 0.23103206] [ 0. 0. 0. 1. ]] SLAMing on 90.29650248099999 meters Centerline goodness : 0.266541 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95588265 -0.10583372 -0.27402115 2.28384216] [ 0.10784768 0.99413723 -0.00774944 0.32503463] [ 0.27323477 -0.02214499 0.96169244 0.23118924] [ 0. 0. 0. 1. ]] SLAMing on 90.32650248099999 meters Centerline goodness : 0.261441 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.9557469 -0.10642993 -0.27426361 2.28568894] [ 0.10833495 0.99408032 -0.00823699 0.32500011] [ 0.27351673 -0.02183985 0.96161927 0.23020318] [ 0. 0. 0. 1. ]] SLAMing on 90.35650248099999 meters Centerline goodness : 0.455801 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.23 [[ 0.95572339 -0.10667274 -0.27425121 2.28686649] [ 0.10862167 0.99405003 -0.00811583 0.32482196] [ 0.27348516 -0.02203314 0.96162384 0.22919789] [ 0. 0. 0. 1. ]] SLAMing on 90.386502481 meters Centerline goodness : 0.555814 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95570958 -0.10686384 -0.27422492 2.28662647] [ 0.10873416 0.99403523 -0.00841696 0.3263104 ] [ 0.2734887 -0.02177345 0.96162875 0.22924239] [ 0. 0. 0. 1. ]] SLAMing on 90.416502481 meters Centerline goodness : 0.528617 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95567292 -0.10693215 -0.27432605 2.28674739] [ 0.10867218 0.99403786 -0.00889288 0.32788736] [ 0.27364142 -0.02131292 0.96159562 0.22924126] [ 0. 0. 0. 1. ]] SLAMing on 90.446502481 meters Centerline goodness : 0.321156 Centerline is valid? [False, False] Translation: X:2.30, Y:0.33, Z:0.23 [[ 0.95563041 -0.10422016 -0.2755153 2.29590512] [ 0.1049064 0.99440619 -0.01228763 0.32706912] [ 0.27525474 -0.01716088 0.96121815 0.23476544] [ 0. 0. 0. 1. ]] SLAMing on 90.476502481 meters Centerline goodness : 0.150332 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95694256 -0.10036631 -0.27237388 2.31882864] [ 0.09842964 0.9949266 -0.02080082 0.32720333] [ 0.27307972 -0.00690448 0.96196663 0.24427945] [ 0. 0. 0. 1. ]] SLAMing on 90.50650248099998 meters Centerline goodness : 0.151029 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95711698 -0.10018127 -0.27182862 2.31792505] [ 0.09800536 0.99495134 -0.02160516 0.32854587] [ 0.27262068 -0.005962 0.96210312 0.24379955] [ 0. 0. 0. 1. ]] SLAMing on 90.53650248099999 meters Centerline goodness : 0.172012 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95759072 -0.09590782 -0.27170151 2.31800643] [ 0.09438223 0.99536022 -0.01870906 0.33017483] [ 0.27223522 -0.00772817 0.9621997 0.24263609] [ 0. 0. 0. 1. ]] SLAMing on 90.56650248099999 meters Centerline goodness : 0.413809 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.9574233 -0.09562634 -0.27238983 2.31952525] [ 0.0939549 0.99539122 -0.01920416 0.33065211] [ 0.27297087 -0.00720585 0.96199531 0.24373811] [ 0. 0. 0. 1. ]] SLAMing on 90.59650248099999 meters Centerline goodness : 0.185559 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95769486 -0.09513031 -0.27160775 2.31904997] [ 0.09292814 0.99545156 -0.02098914 0.33328641] [ 0.27236906 -0.00513882 0.96217913 0.242155 ] [ 0. 0. 0. 1. ]] SLAMing on 90.62650248099999 meters Centerline goodness : 0.729601 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95798939 -0.09486958 -0.27065862 2.3172604 ] [ 0.09250387 0.99547987 -0.0215143 0.33345357] [ 0.27147626 -0.0044265 0.96243496 0.24170089] [ 0. 0. 0. 1. ]] SLAMing on 90.65650248099999 meters Centerline goodness : 0.190683 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95819763 -0.09454451 -0.2700345 2.31619825] [ 0.09214593 0.99551174 -0.0215756 0.33285121] [ 0.27086237 -0.00420889 0.96260888 0.24133278] [ 0. 0. 0. 1. ]] SLAMing on 90.68650248099999 meters Centerline goodness : 0.192100 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95820981 -0.09445627 -0.27002217 2.31679964] [ 0.09196812 0.9955215 -0.0218815 0.33357461] [ 0.27087972 -0.00386636 0.96260544 0.24065489] [ 0. 0. 0. 1. ]] SLAMing on 90.71650248099999 meters Centerline goodness : 0.728101 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95809424 -0.09469192 -0.27034952 2.31734013] [ 0.09209778 0.99550034 -0.02229517 0.33498259] [ 0.27124421 -0.00353772 0.96250406 0.24082676] [ 0. 0. 0. 1. ]] SLAMing on 90.746502481 meters Centerline goodness : 0.727379 Centerline is valid? [False, False] Translation: X:2.32, Y:0.34, Z:0.24 [[ 0.95815648 -0.09447066 -0.27020633 2.31724383] [ 0.09192099 0.99552093 -0.02210468 0.33541475] [ 0.2710843 -0.00365789 0.96254866 0.2405964 ] [ 0. 0. 0. 1. ]] SLAMing on 90.776502481 meters Centerline goodness : 0.727379 Centerline is valid? [False, False] Translation: X:2.32, Y:0.34, Z:0.24 [[ 0.95815648 -0.09447066 -0.27020633 2.31724383] [ 0.09192099 0.99552093 -0.02210468 0.33541475] [ 0.2710843 -0.00365789 0.96254866 0.2405964 ] [ 0. 0. 0. 1. ]] SLAMing on 90.806502481 meters Centerline goodness : 0.727834 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95814193 -0.09486199 -0.27012081 2.31778051] [ 0.09230407 0.99548365 -0.02218697 0.33480751] [ 0.27100555 -0.00367499 0.96257077 0.24004788] [ 0. 0. 0. 1. ]] SLAMing on 90.836502481 meters Centerline goodness : 0.727285 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.57662245e-01 -1.00397973e-01 -2.69820813e-01 2.31889062e+00] [ 9.67569863e-02 9.94947259e-01 -2.67962095e-02 3.34974146e-01] [ 2.71147764e-01 -4.45330568e-04 9.62537631e-01 2.39298707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.866502481 meters Centerline goodness : 0.728782 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.57592807e-01 -1.00787709e-01 -2.69921940e-01 2.31945955e+00] [ 9.73419045e-02 9.94907199e-01 -2.61575966e-02 3.33496955e-01] [ 2.71183645e-01 -1.22638933e-03 9.62526845e-01 2.39244140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89650248099998 meters Centerline goodness : 0.561997 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.56963309e-01 -1.05080609e-01 -2.70516710e-01 2.31997575e+00] [ 1.00683178e-01 9.94462437e-01 -3.01223929e-02 3.33014171e-01] [ 2.72183986e-01 1.58954273e-03 9.62243915e-01 2.41608650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92650248099999 meters Centerline goodness : 0.728267 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.56844434e-01 -1.05685741e-01 -2.70701408e-01 2.32087874e+00] [ 1.01417739e-01 9.94399067e-01 -2.97479189e-02 3.32446818e-01] [ 2.72329159e-01 1.01020587e-03 9.62203621e-01 2.41412676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95650248099999 meters Centerline goodness : 0.728018 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95637215 -0.11002616 -0.270641 2.32129552] [ 0.10484035 0.99392161 -0.03359061 0.33323415] [ 0.27269178 0.00375103 0.96209413 0.24167252] [ 0. 0. 0. 1. ]] SLAMing on 90.98650248099999 meters Centerline goodness : 0.727620 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95622496 -0.11428149 -0.26939481 2.31913889] [ 0.10850424 0.99343334 -0.03629091 0.33048957] [ 0.27177317 0.00547179 0.96234578 0.24207667] [ 0. 0. 0. 1. ]] SLAMing on 91.01650248099999 meters Centerline goodness : 0.728565 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95610507 -0.11478777 -0.26960502 2.3191563 ] [ 0.10958129 0.99338461 -0.0343361 0.32738279] [ 0.27176284 0.00328525 0.96235865 0.2428742 ] [ 0. 0. 0. 1. ]] SLAMing on 91.04650248099999 meters Centerline goodness : 0.728905 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.55956632e-01 -1.15172675e-01 -2.69966983e-01 2.31924479e+00] [ 1.10271301e-01 9.93343331e-01 -3.33056513e-02 3.26432697e-01] [ 2.72005803e-01 2.06914772e-03 9.62293387e-01 2.43691588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07650248099999 meters Centerline goodness : 0.729968 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.55970016e-01 -1.15318490e-01 -2.69857324e-01 2.31829631e+00] [ 1.10500549e-01 9.93327014e-01 -3.30313795e-02 3.25335720e-01] [ 2.71865698e-01 1.75762607e-03 9.62333598e-01 2.44110379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10650248099999 meters Centerline goodness : 0.729854 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.9557605 -0.11940015 -0.26882236 2.31682639] [ 0.11371498 0.99283607 -0.03668032 0.32468125] [ 0.27127617 0.00448848 0.96249109 0.24413876] [ 0. 0. 0. 1. ]] SLAMing on 91.136502481 meters Centerline goodness : 0.729613 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95565287 -0.11990287 -0.26898122 2.31791133] [ 0.11430144 0.99277721 -0.03644991 0.32356416] [ 0.27140887 0.00408852 0.96245546 0.2436482 ] [ 0. 0. 0. 1. ]] SLAMing on 91.166502481 meters Centerline goodness : 0.729077 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95554053 -0.12040787 -0.26915468 2.31957823] [ 0.11484345 0.99271701 -0.03638565 0.32232336] [ 0.27157555 0.00385731 0.96240939 0.2426823 ] [ 0. 0. 0. 1. ]] SLAMing on 91.196502481 meters Centerline goodness : 0.730472 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95533553 -0.12068479 -0.26975768 2.32166914] [ 0.11525002 0.99268552 -0.03595674 0.32178777] [ 0.27212397 0.00326118 0.96225667 0.24215619] [ 0. 0. 0. 1. ]] SLAMing on 91.226502481 meters Centerline goodness : 0.728706 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95532633 -0.12004644 -0.27007492 2.32250523] [ 0.11478064 0.99276462 -0.0352676 0.32156729] [ 0.27235457 0.00269269 0.96219319 0.24204364] [ 0. 0. 0. 1. ]] SLAMing on 91.25650248099998 meters Centerline goodness : 0.729610 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95543712 -0.1197411 -0.26981843 2.32159964] [ 0.11450481 0.99280158 -0.03512364 0.3214556 ] [ 0.27208191 0.00266292 0.96227041 0.24227788] [ 0. 0. 0. 1. ]] SLAMing on 91.28650248099999 meters Centerline goodness : 0.730075 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95551967 -0.11917591 -0.26977633 2.32172313] [ 0.1140425 0.99287032 -0.03468196 0.32038436] [ 0.27198617 0.00237332 0.96229824 0.2422399 ] [ 0. 0. 0. 1. ]] SLAMing on 91.31650248099999 meters Centerline goodness : 0.729785 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 9.55960878e-01 -1.13530203e-01 -2.70646805e-01 2.32362656e+00] [ 1.09505618e-01 9.93534061e-01 -2.99764746e-02 3.19880209e-01] [ 2.72300055e-01 -9.81008632e-04 9.62211888e-01 2.41506251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34650248099999 meters Centerline goodness : 0.729906 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 9.55802769e-01 -1.13025240e-01 -2.71415479e-01 2.32499812e+00] [ 1.08993352e-01 9.93591643e-01 -2.99348674e-02 3.20935661e-01] [ 2.73059547e-01 -9.70653583e-04 9.61996643e-01 2.42057584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37650248099999 meters Centerline goodness : 0.729574 Centerline is valid? [False, False] Translation: X:2.33, Y:0.32, Z:0.24 [[ 9.55723061e-01 -1.12625624e-01 -2.71861911e-01 2.32654621e+00] [ 1.08614086e-01 9.93636951e-01 -2.98092322e-02 3.21344930e-01] [ 2.73489324e-01 -1.03866252e-03 9.61874478e-01 2.41881427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40650248099999 meters Centerline goodness : 0.728850 Centerline is valid? [False, False] Translation: X:2.33, Y:0.32, Z:0.24 [[ 9.55304047e-01 -1.14724474e-01 -2.72456370e-01 2.33061912e+00] [ 1.10028181e-01 9.93396768e-01 -3.25063259e-02 3.23587789e-01] [ 2.74386549e-01 1.07554602e-03 9.61618877e-01 2.41441011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43650248099999 meters Centerline goodness : 0.727534 Centerline is valid? [False, False] Translation: X:2.36, Y:0.32, Z:0.25 [[ 0.95662033 -0.10677721 -0.2710649 2.36147033] [ 0.0998811 0.9942288 -0.03915181 0.32333939] [ 0.27368105 0.01037916 0.9617645 0.25081148] [ 0. 0. 0. 1. ]] SLAMing on 91.46650248099999 meters Centerline goodness : 0.729259 Centerline is valid? [False, False] Translation: X:2.40, Y:0.33, Z:0.27 [[ 0.95685909 -0.1027093 -0.2717931 2.40147535] [ 0.09459425 0.99459418 -0.04282927 0.32517496] [ 0.2747228 0.01527151 0.96140219 0.26582521] [ 0. 0. 0. 1. ]] SLAMing on 91.496502481 meters Centerline goodness : 0.728835 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:0.28 [[ 0.9567542 -0.10037876 -0.27303023 2.43356653] [ 0.09182151 0.99480399 -0.04397528 0.32921037] [ 0.27602575 0.01700349 0.96099983 0.27735695] [ 0. 0. 0. 1. ]] SLAMing on 91.526502481 meters Centerline goodness : 0.726929 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:0.28 [[ 0.95666814 -0.10047473 -0.27329635 2.43442807] [ 0.09180817 0.99478851 -0.04435168 0.3305802 ] [ 0.27632829 0.017339 0.96090688 0.27707141] [ 0. 0. 0. 1. ]] SLAMing on 91.556502481 meters Centerline goodness : 0.726968 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95649644 -0.09993737 -0.27409318 2.43684002] [ 0.09113556 0.99483503 -0.04469416 0.33091367] [ 0.27714412 0.01777017 0.96066402 0.27797044] [ 0. 0. 0. 1. ]] SLAMing on 91.586502481 meters Centerline goodness : 0.727139 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95639027 -0.09971487 -0.27454435 2.43827276] [ 0.09088567 0.99485637 -0.04472795 0.33045164] [ 0.27759224 0.01782523 0.96053361 0.27829198] [ 0. 0. 0. 1. ]] SLAMing on 91.616502481 meters Centerline goodness : 0.727240 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95648607 -0.09997374 -0.27411613 2.43733669] [ 0.09109977 0.99482689 -0.04494773 0.33052341] [ 0.27719168 0.01801996 0.96064564 0.27827767] [ 0. 0. 0. 1. ]] SLAMing on 91.64650248099998 meters Centerline goodness : 0.726775 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95648376 -0.10022915 -0.2740309 2.43677379] [ 0.09122783 0.99479322 -0.04543043 0.33031862] [ 0.27715754 0.01845423 0.96064725 0.27931833] [ 0. 0. 0. 1. ]] SLAMing on 91.67650248099999 meters Centerline goodness : 0.726164 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95637044 -0.10020243 -0.27443589 2.43656323] [ 0.09116233 0.99479454 -0.04553292 0.33035203] [ 0.27756983 0.01852813 0.96052678 0.28043214] [ 0. 0. 0. 1. ]] SLAMing on 91.70650248099999 meters Centerline goodness : 0.727426 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95613956 -0.10016676 -0.27525219 2.4384522 ] [ 0.09106238 0.99479634 -0.04569333 0.3303333 ] [ 0.27839682 0.01862408 0.96028556 0.28095874] [ 0. 0. 0. 1. ]] SLAMing on 91.73650248099999 meters Centerline goodness : 0.726759 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95596899 -0.09975803 -0.27599207 2.4404796 ] [ 0.09069574 0.99484143 -0.04544011 0.33008404] [ 0.27910137 0.01840803 0.96008519 0.28099291] [ 0. 0. 0. 1. ]] SLAMing on 91.76650248099999 meters Centerline goodness : 0.726421 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95577871 -0.09918158 -0.27685748 2.44309921] [ 0.09022322 0.99490695 -0.04494375 0.33063248] [ 0.27990502 0.01797731 0.95985936 0.28040468] [ 0. 0. 0. 1. ]] SLAMing on 91.79650248099999 meters Centerline goodness : 0.723942 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95527354 -0.10381045 -0.27690404 2.44481608] [ 0.093791 0.99437429 -0.04922422 0.33109141] [ 0.28045624 0.02105149 0.95963594 0.28063806] [ 0. 0. 0. 1. ]] SLAMing on 91.82650248099999 meters Centerline goodness : 0.725404 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:0.28 [[ 0.955224 -0.10360881 -0.27715038 2.44523347] [ 0.09362195 0.99439807 -0.0490653 0.33047048] [ 0.2806814 0.02092099 0.95957296 0.28087546] [ 0. 0. 0. 1. ]] SLAMing on 91.85650248099999 meters Centerline goodness : 0.723663 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:0.28 [[ 0.95562652 -0.09891689 -0.27747686 2.44554834] [ 0.09000319 0.9949373 -0.04471245 0.32844814] [ 0.28049489 0.0177546 0.9596913 0.28019716] [ 0. 0. 0. 1. ]] SLAMing on 91.886502481 meters Centerline goodness : 0.723525 Centerline is valid? [False, False] Translation: X:2.46, Y:0.33, Z:0.28 [[ 0.95577719 -0.10045544 -0.27640309 2.46263493] [ 0.09305199 0.9948652 -0.03980654 0.33085217] [ 0.2789826 0.01232633 0.96021704 0.28477072] [ 0. 0. 0. 1. ]] SLAMing on 91.916502481 meters Centerline goodness : 0.722221 Centerline is valid? [False, False] Translation: X:2.46, Y:0.33, Z:0.29 [[ 0.95568666 -0.10021187 -0.27680423 2.46339145] [ 0.09283811 0.99489136 -0.03965178 0.33064418] [ 0.27936372 0.01219669 0.96010789 0.28506832] [ 0. 0. 0. 1. ]] SLAMing on 91.946502481 meters Centerline goodness : 0.722443 Centerline is valid? [False, False] Translation: X:2.46, Y:0.33, Z:0.28 [[ 0.95563824 -0.10009631 -0.27701313 2.464399 ] [ 0.09273723 0.9949038 -0.03957559 0.32996424] [ 0.27956279 0.01213051 0.96005078 0.2848875 ] [ 0. 0. 0. 1. ]] SLAMing on 91.976502481 meters Centerline goodness : 0.721802 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.29 [[ 0.9555652 -0.10001753 -0.27729342 2.46503349] [ 0.09262863 0.99491079 -0.03965412 0.32929244] [ 0.27984832 0.01220678 0.95996662 0.28521633] [ 0. 0. 0. 1. ]] SLAMing on 92.00650248099998 meters Centerline goodness : 0.720364 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.29 [[ 0.95548034 -0.09967403 -0.2777092 2.46589034] [ 0.09229313 0.99494575 -0.0395593 0.32901186] [ 0.28024862 0.01216748 0.95985033 0.28569824] [ 0. 0. 0. 1. ]] SLAMing on 92.03650248099999 meters Centerline goodness : 0.722432 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.29 [[ 0.95531389 -0.09948549 -0.27834872 2.46702689] [ 0.09210881 0.99496561 -0.03948934 0.32893625] [ 0.28087602 0.01208635 0.95966795 0.28617448] [ 0. 0. 0. 1. ]] SLAMing on 92.06650248099999 meters Centerline goodness : 0.719230 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.29 [[ 0.95505262 -0.09990175 -0.2790952 2.46971352] [ 0.0923473 0.99491823 -0.04012086 0.33064196] [ 0.28168505 0.01254384 0.95942493 0.28533761] [ 0. 0. 0. 1. ]] SLAMing on 92.09650248099999 meters Centerline goodness : 0.719876 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95513394 -0.10041917 -0.27863086 2.47016819] [ 0.09257898 0.99485299 -0.04119067 0.33146854] [ 0.28133307 0.01354725 0.95951455 0.28399426] [ 0. 0. 0. 1. ]] SLAMing on 92.12650248099999 meters Centerline goodness : 0.717982 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95510758 -0.10061981 -0.27864881 2.47037843] [ 0.09272184 0.99483036 -0.04141525 0.3315291 ] [ 0.28137549 0.01371919 0.95949967 0.28382873] [ 0. 0. 0. 1. ]] SLAMing on 92.15650248099999 meters Centerline goodness : 0.717512 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95514697 -0.10064893 -0.27850324 2.47079531] [ 0.09269434 0.99482438 -0.04161997 0.3317423 ] [ 0.28125082 0.01393751 0.95953307 0.283155 ] [ 0. 0. 0. 1. ]] SLAMing on 92.18650248099999 meters Centerline goodness : 0.717387 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95524415 -0.10050108 -0.2782232 2.47028598] [ 0.09268494 0.99484519 -0.04114058 0.33192871] [ 0.28092369 0.01351219 0.95963498 0.28306093] [ 0. 0. 0. 1. ]] SLAMing on 92.21650248099999 meters Centerline goodness : 0.717996 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95527712 -0.10090371 -0.27796414 2.46993186] [ 0.09314704 0.99480754 -0.04100722 0.33205508] [ 0.2806586 0.01328172 0.95971576 0.2829419 ] [ 0. 0. 0. 1. ]] SLAMing on 92.246502481 meters Centerline goodness : 0.717495 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95511166 -0.10177051 -0.27821661 2.47116828] [ 0.09431103 0.99473476 -0.04010221 0.33036934] [ 0.28083296 0.01206319 0.95968085 0.28267572] [ 0. 0. 0. 1. ]] SLAMing on 92.276502481 meters Centerline goodness : 0.716682 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95511989 -0.10226324 -0.27800759 2.47138749] [ 0.0949527 0.99469097 -0.03967198 0.32893547] [ 0.28058863 0.01149392 0.9597593 0.28221495] [ 0. 0. 0. 1. ]] SLAMing on 92.306502481 meters Centerline goodness : 0.716367 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.9551713 -0.10221852 -0.27784736 2.47109873] [ 0.0950646 0.9947015 -0.03913638 0.32655366] [ 0.28037565 0.0109685 0.95982769 0.28199653] [ 0. 0. 0. 1. ]] SLAMing on 92.336502481 meters Centerline goodness : 0.717867 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.9552372 -0.10204954 -0.2776829 2.47034274] [ 0.0950355 0.99472368 -0.03863995 0.32573955] [ 0.28016094 0.01052059 0.95989539 0.28238639] [ 0. 0. 0. 1. ]] SLAMing on 92.366502481 meters Centerline goodness : 0.715308 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.9551576 -0.1018536 -0.27802841 2.47001557] [ 0.09483911 0.99474397 -0.03860024 0.32582306] [ 0.28049866 0.01050135 0.95979697 0.28343973] [ 0. 0. 0. 1. ]] SLAMing on 92.39650248099998 meters Centerline goodness : 0.715388 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95504883 -0.10167698 -0.2784664 2.47101997] [ 0.09466221 0.99476242 -0.03855904 0.32594037] [ 0.28092847 0.01046552 0.95967165 0.28358468] [ 0. 0. 0. 1. ]] SLAMing on 92.42650248099999 meters Centerline goodness : 0.714118 Centerline is valid? [False, False] Translation: X:2.47, Y:0.32, Z:0.28 [[ 0.95505237 -0.10110055 -0.27866405 2.47428566] [ 0.09424214 0.99482627 -0.03793564 0.32407069] [ 0.28105763 0.00996863 0.95963912 0.28152082] [ 0. 0. 0. 1. ]] SLAMing on 92.45650248099999 meters Centerline goodness : 0.712924 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95492448 -0.10027852 -0.27939837 2.47690594] [ 0.09355449 0.99491394 -0.03733387 0.32309189] [ 0.28172111 0.00951205 0.95944918 0.28113521] [ 0. 0. 0. 1. ]] SLAMing on 92.48650248099999 meters Centerline goodness : 0.709692 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95515025 -0.09456135 -0.28061745 2.47937501] [ 0.08898248 0.99550001 -0.03258597 0.32270331] [ 0.28243605 0.00615446 0.95926639 0.2807439 ] [ 0. 0. 0. 1. ]] SLAMing on 92.51650248099999 meters Centerline goodness : 0.708644 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95492064 -0.0938889 -0.28162287 2.48102288] [ 0.08834488 0.99556454 -0.0323486 0.32352336] [ 0.28341092 0.00601041 0.95897973 0.28153473] [ 0. 0. 0. 1. ]] SLAMing on 92.54650248099999 meters Centerline goodness : 0.708880 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95476828 -0.09301399 -0.28242862 2.48388933] [ 0.08752301 0.99564757 -0.03202563 0.32347388] [ 0.2841782 0.00585805 0.95875358 0.28136699] [ 0. 0. 0. 1. ]] SLAMing on 92.57650248099999 meters Centerline goodness : 0.707705 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95479629 -0.09291516 -0.28236646 2.48451636] [ 0.08742555 0.9956567 -0.03200807 0.32317753] [ 0.2841141 0.00587514 0.95877248 0.28100667] [ 0. 0. 0. 1. ]] SLAMing on 92.60650248099999 meters Centerline goodness : 0.708947 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95521828 -0.09235489 -0.28112028 2.48232493] [ 0.08661631 0.99570169 -0.03279889 0.3239371 ] [ 0.28294108 0.0069805 0.95911189 0.28024199] [ 0. 0. 0. 1. ]] SLAMing on 92.636502481 meters Centerline goodness : 0.709156 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95535914 -0.09237869 -0.28063337 2.48171118] [ 0.08628377 0.99568942 -0.03402483 0.32638624] [ 0.28256684 0.00829183 0.95921177 0.27968195] [ 0. 0. 0. 1. ]] SLAMing on 92.666502481 meters Centerline goodness : 0.708205 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95523748 -0.09242981 -0.28103041 2.48226215] [ 0.08622066 0.99568175 -0.03440717 0.32798194] [ 0.2829971 0.00863639 0.95908188 0.27994339] [ 0. 0. 0. 1. ]] SLAMing on 92.696502481 meters Centerline goodness : 0.708205 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95523748 -0.09242981 -0.28103041 2.48226215] [ 0.08622066 0.99568175 -0.03440717 0.32798194] [ 0.2829971 0.00863639 0.95908188 0.27994339] [ 0. 0. 0. 1. ]] SLAMing on 92.726502481 meters Centerline goodness : 0.707219 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.9550941 -0.09248058 -0.28150063 2.48343056] [ 0.08616345 0.99567428 -0.03476488 0.32982194] [ 0.28349802 0.00894867 0.95893107 0.2798821 ] [ 0. 0. 0. 1. ]] SLAMing on 92.75650248099998 meters Centerline goodness : 0.706006 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95511479 -0.09297233 -0.28126834 2.48353838] [ 0.08642839 0.99562141 -0.03561085 0.33160922] [ 0.2833476 0.00970288 0.95896819 0.27929941] [ 0. 0. 0. 1. ]] SLAMing on 92.78650248099999 meters Centerline goodness : 0.706233 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95517284 -0.09314482 -0.28101403 2.48344345] [ 0.08655536 0.99560364 -0.03579889 0.33104299] [ 0.28311307 0.00987086 0.95903574 0.27893098] [ 0. 0. 0. 1. ]] SLAMing on 92.81650248099999 meters Centerline goodness : 0.707779 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95518705 -0.09365343 -0.28079661 2.48369434] [ 0.08700732 0.9955544 -0.03607173 0.33095527] [ 0.28292654 0.01002389 0.9590892 0.27838451] [ 0. 0. 0. 1. ]] SLAMing on 92.84650248099999 meters Centerline goodness : 0.708294 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95517086 -0.09363272 -0.2808586 2.48335668] [ 0.08709517 0.99556017 -0.03569851 0.3312111 ] [ 0.28295418 0.00963675 0.95908501 0.27883677] [ 0. 0. 0. 1. ]] SLAMing on 92.87650248099999 meters Centerline goodness : 0.708798 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95526392 -0.09340534 -0.28061768 2.48243899] [ 0.08693949 0.99558332 -0.03543129 0.33196968] [ 0.28268775 0.00944947 0.95916544 0.27915567] [ 0. 0. 0. 1. ]] SLAMing on 92.90650248099999 meters Centerline goodness : 0.709587 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95535055 -0.09374351 -0.2802097 2.48166591] [ 0.08710442 0.99554551 -0.03608252 0.33388229] [ 0.28234402 0.01006395 0.95926043 0.27904487] [ 0. 0. 0. 1. ]] SLAMing on 92.93650248099999 meters Centerline goodness : 0.708281 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95497047 -0.09863969 -0.27982425 2.48302864] [ 0.09061193 0.99502061 -0.04151467 0.33604352] [ 0.28252589 0.01428987 0.95915323 0.2777103 ] [ 0. 0. 0. 1. ]] SLAMing on 92.96650248099999 meters Centerline goodness : 0.707124 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95492595 -0.09902744 -0.27983925 2.48377291] [ 0.091004 0.99498317 -0.04155441 0.33587775] [ 0.28255037 0.01421489 0.95914713 0.27718561] [ 0. 0. 0. 1. ]] SLAMing on 92.996502481 meters Centerline goodness : 0.709695 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95486641 -0.0995693 -0.27985014 2.48423456] [ 0.09161165 0.99493352 -0.04140769 0.33590767] [ 0.28255522 0.01390127 0.9591503 0.27689219] [ 0. 0. 0. 1. ]] SLAMing on 93.026502481 meters Centerline goodness : 0.708685 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95484752 -0.09943991 -0.27996056 2.48453195] [ 0.09153663 0.99494908 -0.0411991 0.33611731] [ 0.28264334 0.01371222 0.95912706 0.27688389] [ 0. 0. 0. 1. ]] SLAMing on 93.056502481 meters Centerline goodness : 0.705479 Centerline is valid? [False, False] Translation: X:2.49, Y:0.34, Z:0.28 [[ 0.95467003 -0.09969699 -0.28047397 2.48557809] [ 0.09178572 0.99492456 -0.04123702 0.33724019] [ 0.28316165 0.01362424 0.95897542 0.27702656] [ 0. 0. 0. 1. ]] SLAMing on 93.086502481 meters Centerline goodness : 0.708768 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95491945 -0.09964957 -0.27964051 2.48440439] [ 0.09186723 0.99493366 -0.04083422 0.33570803] [ 0.28229287 0.01330359 0.95923603 0.27646457] [ 0. 0. 0. 1. ]] SLAMing on 93.116502481 meters Centerline goodness : 0.708640 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95500219 -0.09926394 -0.27949506 2.48357268] [ 0.0916582 0.99497933 -0.04018601 0.33481363] [ 0.28208083 0.01275971 0.95930579 0.2768927 ] [ 0. 0. 0. 1. ]] SLAMing on 93.14650248099998 meters Centerline goodness : 0.708118 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95508507 -0.09914617 -0.27925357 2.48287734] [ 0.09162445 0.99499416 -0.03989462 0.33482918] [ 0.28181107 0.0125163 0.95938828 0.27700903] [ 0. 0. 0. 1. ]] SLAMing on 93.17650248099999 meters Centerline goodness : 0.709783 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95537986 -0.0950221 -0.27967859 2.48318372] [ 0.08863738 0.99543404 -0.03541877 0.33418338] [ 0.28176716 0.0090484 0.95944015 0.27699321] [ 0. 0. 0. 1. ]] SLAMing on 93.20650248099999 meters Centerline goodness : 0.708113 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95544306 -0.09483551 -0.27952599 2.48252038] [ 0.08831854 0.99544702 -0.0358478 0.33549327] [ 0.28165296 0.0095632 0.95946869 0.27715209] [ 0. 0. 0. 1. ]] SLAMing on 93.23650248099999 meters Centerline goodness : 0.705939 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95531355 -0.09501061 -0.27990893 2.48291559] [ 0.08826864 0.99542317 -0.03662452 0.33681151] [ 0.28210756 0.01028072 0.9593277 0.27819429] [ 0. 0. 0. 1. ]] SLAMing on 93.26650248099999 meters Centerline goodness : 0.706663 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95529785 -0.09539696 -0.27983107 2.48321513] [ 0.08856034 0.99538321 -0.03700457 0.33701111] [ 0.28206927 0.01056845 0.95933583 0.27779701] [ 0. 0. 0. 1. ]] SLAMing on 93.29650248099999 meters Centerline goodness : 0.708618 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95497477 -0.09626645 -0.28063493 2.48485472] [ 0.08941261 0.99530136 -0.03715625 0.33697022] [ 0.28289323 0.01039098 0.95909512 0.2781572 ] [ 0. 0. 0. 1. ]] SLAMing on 93.32650248099999 meters Centerline goodness : 0.707159 Centerline is valid? [False, False] Translation: X:2.50, Y:0.34, Z:0.28 [[ 0.95501242 -0.0996066 -0.27933814 2.50205628] [ 0.09385796 0.99500776 -0.03391524 0.33898329] [ 0.28132179 0.00617137 0.95959364 0.28216111] [ 0. 0. 0. 1. ]] SLAMing on 93.35650248099999 meters Centerline goodness : 0.708582 Centerline is valid? [False, False] Translation: X:2.53, Y:0.34, Z:0.29 [[ 0.95536963 -0.09779041 -0.2787578 2.53331558] [ 0.09270186 0.9951983 -0.03141186 0.34068645] [ 0.28049107 0.00416857 0.95984758 0.29049927] [ 0. 0. 0. 1. ]] SLAMing on 93.386502481 meters Centerline goodness : 0.706507 Centerline is valid? [False, False] Translation: X:2.54, Y:0.34, Z:0.29 [[ 0.9552256 -0.0971525 -0.27947352 2.53526893] [ 0.09214679 0.99526192 -0.03102695 0.34032992] [ 0.2811637 0.00388515 0.95965196 0.29054459] [ 0. 0. 0. 1. ]] SLAMing on 93.416502481 meters Centerline goodness : 0.704149 Centerline is valid? [False, False] Translation: X:2.57, Y:0.34, Z:0.30 [[ 0.9554569 -0.09701547 -0.27872946 2.57091093] [ 0.09145821 0.9952651 -0.03290551 0.34143964] [ 0.28060205 0.0059477 0.95980577 0.30068191] [ 0. 0. 0. 1. ]] SLAMing on 93.446502481 meters Centerline goodness : 0.704627 Centerline is valid? [False, False] Translation: X:2.57, Y:0.34, Z:0.30 [[ 0.95541269 -0.09713528 -0.27883926 2.57067461] [ 0.09150582 0.99525205 -0.033167 0.34099195] [ 0.28073703 0.00617276 0.95976488 0.30139781] [ 0. 0. 0. 1. ]] SLAMing on 93.476502481 meters Centerline goodness : 0.703240 Centerline is valid? [False, False] Translation: X:2.60, Y:0.34, Z:0.31 [[ 0.95592649 -0.09710435 -0.27708353 2.60324612] [ 0.09132491 0.99525009 -0.03371984 0.34157322] [ 0.27904175 0.00692906 0.96025397 0.30960564] [ 0. 0. 0. 1. ]] SLAMing on 93.50650248099998 meters Centerline goodness : 0.704908 Centerline is valid? [False, False] Translation: X:2.60, Y:0.34, Z:0.31 [[ 0.95586301 -0.09688932 -0.27737766 2.60455857] [ 0.09115614 0.99527222 -0.03352275 0.340753 ] [ 0.27931427 0.00675848 0.96017595 0.30924013] [ 0. 0. 0. 1. ]] SLAMing on 93.53650248099999 meters Centerline goodness : 0.703472 Centerline is valid? [False, False] Translation: X:2.62, Y:0.34, Z:0.31 [[ 9.55444579e-01 -9.94674923e-02 -2.77906233e-01 2.62426693e+00] [ 9.49935597e-02 9.95039117e-01 -2.95530038e-02 3.42112387e-01] [ 2.79467136e-01 1.83695487e-03 9.60153501e-01 3.13232736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56650248099999 meters Centerline goodness : 0.702336 Centerline is valid? [False, False] Translation: X:2.63, Y:0.34, Z:0.31 [[ 9.55256998e-01 -9.87928022e-02 -2.78790332e-01 2.62564067e+00] [ 9.44462844e-02 9.95107061e-01 -2.90144240e-02 3.41546509e-01] [ 2.80292644e-01 1.38552061e-03 9.59913597e-01 3.13862278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59650248099999 meters Centerline goodness : 0.702189 Centerline is valid? [False, False] Translation: X:2.65, Y:0.34, Z:0.32 [[ 9.56060690e-01 -9.80128261e-02 -2.76299554e-01 2.65363824e+00] [ 9.42662204e-02 9.95185078e-01 -2.68428745e-02 3.40088271e-01] [ 2.77600139e-01 -3.82297598e-04 9.60696631e-01 3.20725604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62650248099999 meters Centerline goodness : 0.703222 Centerline is valid? [False, False] Translation: X:2.67, Y:0.34, Z:0.32 [[ 0.95624451 -0.10156631 -0.27437332 2.67105614] [ 0.09884144 0.99481911 -0.02377608 0.34107833] [ 0.27536667 -0.00438371 0.96132928 0.32415945] [ 0. 0. 0. 1. ]] SLAMing on 93.65650248099999 meters Centerline goodness : 0.704866 Centerline is valid? [False, False] Translation: X:2.67, Y:0.34, Z:0.32 [[ 9.55666467e-01 -1.06114109e-01 -2.74665979e-01 2.67218796e+00] [ 1.02437681e-01 9.94352626e-01 -2.77376419e-02 3.40495313e-01] [ 2.76058193e-01 -1.62821179e-03 9.61139544e-01 3.24996386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68650248099999 meters Centerline goodness : 0.704678 Centerline is valid? [False, False] Translation: X:2.67, Y:0.34, Z:0.33 [[ 9.55088023e-01 -1.10249197e-01 -2.75049055e-01 2.67299133e+00] [ 1.05658654e-01 9.93903450e-01 -3.14988965e-02 3.40937701e-01] [ 2.76844933e-01 1.02290569e-03 9.60914063e-01 3.26257923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71650248099999 meters Centerline goodness : 0.704108 Centerline is valid? [False, False] Translation: X:2.67, Y:0.34, Z:0.33 [[ 9.54862068e-01 -1.09643870e-01 -2.76073637e-01 2.67484427e+00] [ 1.05163079e-01 9.93970757e-01 -3.10299997e-02 3.40826532e-01] [ 2.77811371e-01 5.96615881e-04 9.60635460e-01 3.26794786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.746502481 meters Centerline goodness : 0.702319 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 9.54692742e-01 -1.08882396e-01 -2.76959189e-01 2.67757090e+00] [ 1.04516568e-01 9.94054619e-01 -3.05237762e-02 3.40942752e-01] [ 2.78636063e-01 1.94003679e-04 9.60396744e-01 3.26467008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.776502481 meters Centerline goodness : 0.701318 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 9.54648917e-01 -1.09229825e-01 -2.76973448e-01 2.67800896e+00] [ 1.04810867e-01 9.94016466e-01 -3.07562465e-02 3.40342566e-01] [ 2.78675667e-01 3.31590163e-04 9.60385216e-01 3.26353077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.806502481 meters Centerline goodness : 0.706764 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 9.54700849e-01 -1.09894232e-01 -2.76531278e-01 2.67647635e+00] [ 1.05604767e-01 9.93943271e-01 -3.04040509e-02 3.39017567e-01] [ 2.78197633e-01 -1.76248104e-04 9.60523839e-01 3.27035821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.836502481 meters Centerline goodness : 0.700831 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 9.54664373e-01 -1.10034989e-01 -2.76601223e-01 2.67638086e+00] [ 1.05969126e-01 9.93927208e-01 -2.96521477e-02 3.38148299e-01] [ 2.78184255e-01 -1.00334072e-03 9.60527206e-01 3.27393094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.866502481 meters Centerline goodness : 0.700035 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 9.54304220e-01 -1.10986858e-01 -2.77462382e-01 2.67726854e+00] [ 1.07216020e-01 9.93819241e-01 -2.87757039e-02 3.38199389e-01] [ 2.78941179e-01 -2.28763654e-03 9.60305465e-01 3.28607440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89650248099998 meters Centerline goodness : 0.703352 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 0.9541836 -0.11101358 -0.27786623 2.67791614] [ 0.10746177 0.99381401 -0.02803003 0.33797585] [ 0.27925906 -0.0031142 0.96021075 0.32898367] [ 0. 0. 0. 1. ]] SLAMing on 93.92650248099999 meters Centerline goodness : 0.700598 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 0.95422776 -0.11088697 -0.27776512 2.67930496] [ 0.10746788 0.99382666 -0.02755418 0.33585658] [ 0.27910578 -0.00355787 0.96025377 0.3277631 ] [ 0. 0. 0. 1. ]] SLAMing on 93.95650248099999 meters Centerline goodness : 0.700820 Centerline is valid? [False, False] Translation: X:2.68, Y:0.33, Z:0.33 [[ 0.95416009 -0.11113796 -0.27789725 2.67991369] [ 0.10783382 0.99379687 -0.02719648 0.33442615] [ 0.27919598 -0.00401693 0.96022574 0.3276546 ] [ 0. 0. 0. 1. ]] SLAMing on 93.98650248099999 meters Centerline goodness : 0.697879 Centerline is valid? [False, False] Translation: X:2.68, Y:0.33, Z:0.33 [[ 0.95400374 -0.11057292 -0.27865837 2.68057356] [ 0.10734826 0.99385874 -0.02685448 0.33457089] [ 0.27991644 -0.00429422 0.96001476 0.32861745] [ 0. 0. 0. 1. ]] SLAMing on 94.01650248099999 meters Centerline goodness : 0.699343 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 0.95393072 -0.1103036 -0.27901487 2.6808114 ] [ 0.10715871 0.99388742 -0.02654832 0.33559651] [ 0.28023774 -0.00457362 0.95991973 0.32908201] [ 0. 0. 0. 1. ]] SLAMing on 94.04650248099999 meters Centerline goodness : 0.697718 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 0.9538534 -0.10974264 -0.27949997 2.68268143] [ 0.10658859 0.99394982 -0.0265073 0.33678922] [ 0.28071793 -0.00450743 0.95977973 0.32891038] [ 0. 0. 0. 1. ]] SLAMing on 94.07650248099999 meters Centerline goodness : 0.698856 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 0.95375232 -0.10925993 -0.28003355 2.68442784] [ 0.10612387 0.99400278 -0.02638537 0.33709414] [ 0.28123699 -0.00455314 0.95962754 0.32884073] [ 0. 0. 0. 1. ]] SLAMing on 94.10650248099999 meters Centerline goodness : 0.698159 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.33 [[ 0.95366578 -0.10824857 -0.28072018 2.68594836] [ 0.10498667 0.9941157 -0.02667927 0.33918834] [ 0.28195633 -0.00402877 0.95941878 0.32993722] [ 0. 0. 0. 1. ]] SLAMing on 94.136502481 meters Centerline goodness : 0.697772 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.33 [[ 0.95352108 -0.10788202 -0.28135214 2.6866597 ] [ 0.10451913 0.99415689 -0.0269785 0.34068564] [ 0.28261866 -0.00368212 0.95922528 0.3310311 ] [ 0. 0. 0. 1. ]] SLAMing on 94.166502481 meters Centerline goodness : 0.697877 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.33 [[ 0.9535112 -0.10707173 -0.28169494 2.68750131] [ 0.1036505 0.99424551 -0.02706358 0.34210093] [ 0.28297167 -0.00339239 0.95912227 0.3317761 ] [ 0. 0. 0. 1. ]] SLAMing on 94.196502481 meters Centerline goodness : 0.699323 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.33 [[ 0.95345926 -0.10655181 -0.28206763 2.68876098] [ 0.1031953 0.99430071 -0.0267738 0.34196248] [ 0.28331284 -0.00358033 0.95902086 0.33161686] [ 0. 0. 0. 1. ]] SLAMing on 94.226502481 meters Centerline goodness : 0.695099 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.33 [[ 9.53004880e-01 -1.08307820e-01 -2.82933056e-01 2.69277479e+00] [ 1.04373390e-01 9.94115583e-01 -2.89896907e-02 3.43207653e-01] [ 2.84407971e-01 -1.90336553e-03 9.58701457e-01 3.31653362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25650248099998 meters Centerline goodness : 0.694007 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 9.52736874e-01 -1.07157760e-01 -2.84270407e-01 2.69659145e+00] [ 1.03362975e-01 9.94239228e-01 -2.83628910e-02 3.43275930e-01] [ 2.85672093e-01 -2.36066289e-03 9.58324518e-01 3.31478753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28650248099999 meters Centerline goodness : 0.692773 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 9.52524088e-01 -1.06410444e-01 -2.85262474e-01 2.69907799e+00] [ 1.02710769e-01 9.94318673e-01 -2.79441250e-02 3.42704256e-01] [ 2.86615351e-01 -2.68207580e-03 9.58041986e-01 3.31828716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31650248099999 meters Centerline goodness : 0.693818 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 0.95237537 -0.10603211 -0.2858992 2.70061912] [ 0.10236088 0.9943588 -0.02779994 0.3421799 ] [ 0.28723407 -0.00278891 0.95785636 0.33217748] [ 0. 0. 0. 1. ]] SLAMing on 94.34650248099999 meters Centerline goodness : 0.693940 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 0.95223257 -0.10550151 -0.28657034 2.70171535] [ 0.10184278 0.99441514 -0.02768705 0.342312 ] [ 0.28789091 -0.00282061 0.95765906 0.33301318] [ 0. 0. 0. 1. ]] SLAMing on 94.37650248099999 meters Centerline goodness : 0.695205 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 0.95209641 -0.10504055 -0.28719141 2.70261716] [ 0.10143013 0.99446347 -0.02746506 0.34224387] [ 0.28848631 -0.00298048 0.95747938 0.333681 ] [ 0. 0. 0. 1. ]] SLAMing on 94.40650248099999 meters Centerline goodness : 0.696537 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 9.51952836e-01 -1.05126224e-01 -2.87635664e-01 2.70287306e+00] [ 1.01367251e-01 9.94455678e-01 -2.79747220e-02 3.43127003e-01] [ 2.88981796e-01 -2.52622068e-03 9.57331259e-01 3.34876654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43650248099999 meters Centerline goodness : 0.697292 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.34 [[ 9.51321581e-01 -1.09317750e-01 -2.88161204e-01 2.70435103e+00] [ 1.04462550e-01 9.94006703e-01 -3.22218863e-02 3.44085731e-01] [ 2.89956592e-01 5.51321576e-04 9.57039639e-01 3.36545373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46650248099999 meters Centerline goodness : 0.698217 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.34 [[ 9.51386073e-01 -1.09453019e-01 -2.87896816e-01 2.70470371e+00] [ 1.04643167e-01 9.93991887e-01 -3.20926131e-02 3.42249705e-01] [ 2.89679733e-01 4.06030683e-04 9.57123549e-01 3.35905528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.496502481 meters Centerline goodness : 0.697171 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:0.34 [[ 9.51230095e-01 -1.08891399e-01 -2.88624270e-01 2.70610546e+00] [ 1.04291429e-01 9.94053603e-01 -3.13166351e-02 3.40799254e-01] [ 2.90318108e-01 -3.11711879e-04 9.56930143e-01 3.36017058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.526502481 meters Centerline goodness : 0.696414 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:0.34 [[ 9.51140966e-01 -1.08547868e-01 -2.89047097e-01 2.70687387e+00] [ 1.04078871e-01 9.94090936e-01 -3.08350230e-02 3.39814092e-01] [ 2.90686175e-01 -7.55241910e-04 9.56818153e-01 3.36144978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.556502481 meters Centerline goodness : 0.698839 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:0.34 [[ 9.51004458e-01 -1.08646417e-01 -2.89458938e-01 2.70740694e+00] [ 1.04215864e-01 9.94080006e-01 -3.07244934e-02 3.38796745e-01] [ 2.91083449e-01 -9.47083038e-04 9.56697198e-01 3.36603756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.586502481 meters Centerline goodness : 0.698839 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:0.34 [[ 9.51001719e-01 -1.08680577e-01 -2.89455115e-01 2.70737570e+00] [ 1.04253394e-01 9.94076257e-01 -3.07184905e-02 3.38779147e-01] [ 2.91078960e-01 -9.63340899e-04 9.56698547e-01 3.36587999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.616502481 meters Centerline goodness : 0.700750 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:0.34 [[ 9.51003447e-01 -1.09098053e-01 -2.89292342e-01 2.70818929e+00] [ 1.04771646e-01 9.94030072e-01 -3.04486055e-02 3.35405814e-01] [ 2.90887171e-01 -1.35290619e-03 9.56756408e-01 3.35622571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64650248099998 meters Centerline goodness : 0.700425 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 9.51039861e-01 -1.08867097e-01 -2.89259637e-01 2.70877087e+00] [ 1.04709742e-01 9.94054513e-01 -2.98579175e-02 3.33193782e-01] [ 2.90790392e-01 -1.89223220e-03 9.56784912e-01 3.35025398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67650248099999 meters Centerline goodness : 0.703855 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 9.50918261e-01 -1.08792052e-01 -2.89687331e-01 2.70840054e+00] [ 1.04792004e-01 9.94061477e-01 -2.93328605e-02 3.31062172e-01] [ 2.91158198e-01 -2.46376324e-03 9.56671748e-01 3.35899710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70650248099999 meters Centerline goodness : 0.703403 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 0.95079661 -0.10860654 -0.29015588 2.70899773] [ 0.10473479 0.99408052 -0.02888848 0.32979109] [ 0.29157578 -0.00292235 0.95654327 0.33623881] [ 0. 0. 0. 1. ]] SLAMing on 94.73650248099999 meters Centerline goodness : 0.704379 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 0.95072446 -0.10835029 -0.2904879 2.70951041] [ 0.10451839 0.99410809 -0.02872307 0.32918009] [ 0.29188852 -0.0030536 0.95644747 0.33661787] [ 0. 0. 0. 1. ]] SLAMing on 94.76650248099999 meters Centerline goodness : 0.705982 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 0.95067281 -0.10825638 -0.29069187 2.70983455] [ 0.10442053 0.99411834 -0.02872422 0.32886167] [ 0.2920917 -0.00304686 0.95638546 0.33697001] [ 0. 0. 0. 1. ]] SLAMing on 94.79650248099999 meters Centerline goodness : 0.705021 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 0.95056621 -0.10794066 -0.29115752 2.71103327] [ 0.10414171 0.99415228 -0.02856136 0.32850466] [ 0.29253784 -0.00317218 0.95624869 0.33709277] [ 0. 0. 0. 1. ]] SLAMing on 94.82650248099999 meters Centerline goodness : 0.702905 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 0.9503376 -0.10721252 -0.29217106 2.71381493] [ 0.10353658 0.99422968 -0.02806288 0.32845552] [ 0.29349383 -0.00358119 0.95595426 0.33697321] [ 0. 0. 0. 1. ]] SLAMing on 94.85650248099999 meters Centerline goodness : 0.703614 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:0.34 [[ 0.95008445 -0.10596895 -0.29344524 2.71755333] [ 0.10249237 0.99436061 -0.02724509 0.32946144] [ 0.29467752 -0.00419076 0.95558757 0.33650507] [ 0. 0. 0. 1. ]] SLAMing on 94.886502481 meters Centerline goodness : 0.705064 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:0.34 [[ 0.95002628 -0.105644 -0.2937506 2.71898883] [ 0.10211185 0.99439604 -0.0273805 0.32986088] [ 0.29499702 -0.00398322 0.95548987 0.33642645] [ 0. 0. 0. 1. ]] SLAMing on 94.916502481 meters Centerline goodness : 0.705688 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:0.34 [[ 0.94993459 -0.10558707 -0.29406742 2.71920809] [ 0.10195641 0.99440328 -0.02769504 0.33027097] [ 0.29534584 -0.00367358 0.95538335 0.33725721] [ 0. 0. 0. 1. ]] SLAMing on 94.946502481 meters Centerline goodness : 0.705267 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:0.34 [[ 0.94985423 -0.10556286 -0.29433558 2.7190599 ] [ 0.10182338 0.99440706 -0.02804651 0.33102489] [ 0.29565005 -0.00333014 0.95529051 0.33824395] [ 0. 0. 0. 1. ]] SLAMing on 94.976502481 meters Centerline goodness : 0.702795 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:0.34 [[ 0.95017297 -0.10026881 -0.29515674 2.71985581] [ 0.09750085 0.99494313 -0.02411969 0.33179035] [ 0.29608263 -0.00586015 0.95514435 0.33870258] [ 0. 0. 0. 1. ]] SLAMing on 95.00650248099998 meters Centerline goodness : 0.701493 Centerline is valid? [False, False] Translation: X:2.72, Y:0.34, Z:0.34 [[ 0.95006659 -0.09780054 -0.29632504 2.72277187] [ 0.09528328 0.99518533 -0.02296195 0.33510382] [ 0.29714403 -0.00641944 0.95481109 0.33908767] [ 0. 0. 0. 1. ]] SLAMing on 95.03650248099999 meters Centerline goodness : 0.702725 Centerline is valid? [False, False] Translation: X:2.72, Y:0.34, Z:0.34 [[ 0.9498827 -0.09738146 -0.29705168 2.72453285] [ 0.09481725 0.99522746 -0.02306479 0.3356823 ] [ 0.29788007 -0.00625678 0.9545828 0.33954066] [ 0. 0. 0. 1. ]] SLAMing on 95.06650248099999 meters Centerline goodness : 0.699478 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:0.34 [[ 0.94934514 -0.0947651 -0.29960538 2.73401913] [ 0.09138321 0.99549403 -0.0253129 0.3345959 ] [ 0.30065415 -0.00334822 0.95372736 0.34456503] [ 0. 0. 0. 1. ]] SLAMing on 95.09650248099999 meters Centerline goodness : 0.701810 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:0.35 [[ 0.94915367 -0.0944915 -0.30029762 2.73487736] [ 0.09107121 0.9955204 -0.02540027 0.33499451] [ 0.30135251 -0.00323971 0.9535073 0.34555185] [ 0. 0. 0. 1. ]] SLAMing on 95.12650248099999 meters Centerline goodness : 0.700572 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:0.35 [[ 0.9487368 -0.09318097 -0.30201952 2.7383376 ] [ 0.08970734 0.99564464 -0.02538405 0.33576097] [ 0.30306943 -0.00301059 0.95296372 0.34741152] [ 0. 0. 0. 1. ]] SLAMing on 95.15650248099999 meters Centerline goodness : 0.697668 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:0.35 [[ 0.94852916 -0.09267072 -0.30282761 2.73997066] [ 0.08919615 0.9956923 -0.02531597 0.33576884] [ 0.30386917 -0.00299812 0.95270905 0.34818127] [ 0. 0. 0. 1. ]] SLAMing on 95.18650248099999 meters Centerline goodness : 0.696904 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:0.35 [[ 0.94833709 -0.09220112 -0.30357159 2.74111412] [ 0.08870693 0.99573611 -0.02531171 0.33574874] [ 0.30461096 -0.00292487 0.95247237 0.34918923] [ 0. 0. 0. 1. ]] SLAMing on 95.21650248099999 meters Centerline goodness : 0.699208 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:0.36 [[ 0.94835295 -0.08767983 -0.30485888 2.75857875] [ 0.08249644 0.99614364 -0.02986946 0.33358695] [ 0.30630218 0.00317702 0.95192903 0.35725334] [ 0. 0. 0. 1. ]] SLAMing on 95.246502481 meters Centerline goodness : 0.696854 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:0.36 [[ 0.94770615 -0.09175043 -0.30567124 2.76142188] [ 0.08535768 0.99576171 -0.0342445 0.3340798 ] [ 0.30751766 0.00636234 0.9515211 0.35867481] [ 0. 0. 0. 1. ]] SLAMing on 95.276502481 meters Centerline goodness : 0.694788 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:0.36 [[ 0.94764949 -0.09147527 -0.30592928 2.76141477] [ 0.08500609 0.99578532 -0.03443198 0.33285468] [ 0.30778956 0.0066236 0.9514314 0.36000749] [ 0. 0. 0. 1. ]] SLAMing on 95.306502481 meters Centerline goodness : 0.695663 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:0.37 [[ 0.94855349 -0.08847573 -0.30400382 2.79068978] [ 0.08262073 0.99606408 -0.03209603 0.33185912] [ 0.30564701 0.00532778 0.95212999 0.37080937] [ 0. 0. 0. 1. ]] SLAMing on 95.336502481 meters Centerline goodness : 0.697762 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:0.37 [[ 0.9479926 -0.09276974 -0.30447299 2.79129586] [ 0.08575362 0.99565245 -0.03636649 0.33279025] [ 0.30652299 0.0083655 0.95182649 0.37276101] [ 0. 0. 0. 1. ]] SLAMing on 95.366502481 meters Centerline goodness : 0.697806 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:0.37 [[ 0.94738484 -0.09697348 -0.30505426 2.79229879] [ 0.08880097 0.9952221 -0.04058771 0.33278379] [ 0.30753267 0.01136306 0.95146967 0.37493944] [ 0. 0. 0. 1. ]] SLAMing on 95.39650248099998 meters Centerline goodness : 0.701041 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:0.38 [[ 0.94825968 -0.0964655 -0.30248634 2.81881666] [ 0.08912589 0.99529489 -0.03800877 0.33041537] [ 0.30472964 0.00908282 0.95239558 0.38221794] [ 0. 0. 0. 1. ]] SLAMing on 95.42650248099999 meters Centerline goodness : 0.701843 Centerline is valid? [False, False] Translation: X:2.85, Y:0.33, Z:0.39 [[ 0.94887584 -0.09803748 -0.30003882 2.84721195] [ 0.09110886 0.99515213 -0.03703259 0.3292428 ] [ 0.30221485 0.00780313 0.9532079 0.38826445] [ 0. 0. 0. 1. ]] SLAMing on 95.45650248099999 meters Centerline goodness : 0.698702 Centerline is valid? [False, False] Translation: X:2.85, Y:0.33, Z:0.39 [[ 0.94811944 -0.10199036 -0.30111044 2.85016105] [ 0.09406716 0.99473208 -0.04073649 0.32922261] [ 0.30367894 0.01029846 0.95271876 0.38938401] [ 0. 0. 0. 1. ]] SLAMing on 95.48650248099999 meters Centerline goodness : 0.698068 Centerline is valid? [False, False] Translation: X:2.85, Y:0.33, Z:0.39 [[ 0.94801428 -0.10124898 -0.3016912 2.85356514] [ 0.093683 0.99481888 -0.03948267 0.32549309] [ 0.30412568 0.0091668 0.95258781 0.38763311] [ 0. 0. 0. 1. ]] SLAMing on 95.51650248099999 meters Centerline goodness : 0.698863 Centerline is valid? [False, False] Translation: X:2.85, Y:0.32, Z:0.39 [[ 0.94794932 -0.10080688 -0.30204314 2.85479336] [ 0.09338315 0.99486776 -0.03895808 0.32399959] [ 0.30442022 0.00872454 0.95249788 0.38737777] [ 0. 0. 0. 1. ]] SLAMing on 95.54650248099999 meters Centerline goodness : 0.700763 Centerline is valid? [False, False] Translation: X:2.86, Y:0.32, Z:0.39 [[ 0.94791866 -0.10015506 -0.30235606 2.8556293 ] [ 0.09285123 0.99493642 -0.03847285 0.32214486] [ 0.30467831 0.008395 0.95241832 0.3877106 ] [ 0. 0. 0. 1. ]] SLAMing on 95.57650248099999 meters Centerline goodness : 0.699719 Centerline is valid? [False, False] Translation: X:2.86, Y:0.32, Z:0.39 [[ 0.94781975 -0.09978722 -0.30278743 2.85622065] [ 0.09244543 0.99497232 -0.0385218 0.32180391] [ 0.30510909 0.00852041 0.95227929 0.38866251] [ 0. 0. 0. 1. ]] SLAMing on 95.60650248099999 meters Centerline goodness : 0.700646 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:0.40 [[ 0.94844842 -0.0957068 -0.3021354 2.89383455] [ 0.08795504 0.99535316 -0.03919185 0.32192045] [ 0.30448235 0.01059711 0.95245903 0.40213652] [ 0. 0. 0. 1. ]] SLAMing on 95.636502481 meters Centerline goodness : 0.701199 Centerline is valid? [False, False] Translation: X:2.91, Y:0.32, Z:0.41 [[ 0.94843124 -0.08740288 -0.30469481 2.91108395] [ 0.07900178 0.99607893 -0.03981822 0.31737742] [ 0.30698031 0.01369341 0.95161735 0.40962223] [ 0. 0. 0. 1. ]] SLAMing on 95.666502481 meters Centerline goodness : 0.701756 Centerline is valid? [False, False] Translation: X:2.94, Y:0.32, Z:0.42 [[ 0.94963995 -0.07862866 -0.30331748 2.94321537] [ 0.06789823 0.9966414 -0.04577942 0.31510446] [ 0.30589833 0.02287924 0.95178924 0.4212582 ] [ 0. 0. 0. 1. ]] SLAMing on 95.696502481 meters Centerline goodness : 0.704287 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:0.42 [[ 0.9501988 -0.0779359 -0.30174201 2.94086118] [ 0.0668844 0.99666243 -0.04680261 0.31457422] [ 0.30438253 0.02428995 0.95224014 0.41994785] [ 0. 0. 0. 1. ]] SLAMing on 95.726502481 meters Centerline goodness : 0.702350 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:0.42 [[ 0.950094 -0.07746147 -0.30219384 2.94180986] [ 0.06638329 0.9966972 -0.04677549 0.31319218] [ 0.30481905 0.02438049 0.95209818 0.42052518] [ 0. 0. 0. 1. ]] SLAMing on 95.75650248099998 meters Centerline goodness : 0.703372 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:0.42 [[ 0.94996825 -0.07682611 -0.30275083 2.9434631 ] [ 0.06580575 0.99675067 -0.04645107 0.31147413] [ 0.30533575 0.02420429 0.9519371 0.42045145] [ 0. 0. 0. 1. ]] SLAMing on 95.78650248099999 meters Centerline goodness : 0.701175 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:0.42 [[ 0.94991253 -0.07708531 -0.30285976 2.94450934] [ 0.06605192 0.99673106 -0.04652244 0.31131074] [ 0.30545593 0.02418778 0.95189896 0.41989391] [ 0. 0. 0. 1. ]] SLAMing on 95.81650248099999 meters Centerline goodness : 0.699560 Centerline is valid? [False, False] Translation: X:2.95, Y:0.31, Z:0.42 [[ 0.94964928 -0.08169382 -0.30247706 2.94620174] [ 0.06970968 0.99630216 -0.05022524 0.31044595] [ 0.30546164 0.02661079 0.95183247 0.41825541] [ 0. 0. 0. 1. ]] SLAMing on 95.84650248099999 meters Centerline goodness : 0.700650 Centerline is valid? [False, False] Translation: X:2.95, Y:0.31, Z:0.42 [[ 0.94958022 -0.08204684 -0.30259829 2.94693891] [ 0.07046636 0.99630941 -0.04901078 0.30760289] [ 0.30550271 0.02521667 0.95185725 0.41809735] [ 0. 0. 0. 1. ]] SLAMing on 95.87650248099999 meters Centerline goodness : 0.703244 Centerline is valid? [False, False] Translation: X:2.95, Y:0.30, Z:0.42 [[ 0.94956913 -0.08433901 -0.3020023 2.94535579] [ 0.0730884 0.99615116 -0.04838346 0.30415191] [ 0.30492055 0.02387058 0.95207859 0.41868026] [ 0. 0. 0. 1. ]] SLAMing on 95.90650248099999 meters Centerline goodness : 0.702022 Centerline is valid? [False, False] Translation: X:2.95, Y:0.30, Z:0.42 [[ 0.94942582 -0.08429068 -0.30246602 2.9460161 ] [ 0.07353268 0.99619401 -0.04680209 0.30182739] [ 0.30525982 0.02219397 0.95201044 0.41930151] [ 0. 0. 0. 1. ]] SLAMing on 95.93650248099999 meters Centerline goodness : 0.701958 Centerline is valid? [False, False] Translation: X:2.95, Y:0.30, Z:0.42 [[ 0.94915754 -0.0851157 -0.30307636 2.9476226 ] [ 0.07520453 0.99618598 -0.04424667 0.29765772] [ 0.30568651 0.01920435 0.95193852 0.41961442] [ 0. 0. 0. 1. ]] SLAMing on 95.96650248099999 meters Centerline goodness : 0.704088 Centerline is valid? [False, False] Translation: X:2.95, Y:0.30, Z:0.42 [[ 0.94906003 -0.08510405 -0.30338482 2.94801045] [ 0.07566208 0.99621606 -0.04276471 0.29504251] [ 0.30587628 0.01763155 0.95190799 0.420088 ] [ 0. 0. 0. 1. ]] SLAMing on 95.996502481 meters Centerline goodness : 0.702016 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94876617 -0.08963551 -0.30299874 2.94785929] [ 0.07944212 0.9957855 -0.04582773 0.29373059] [ 0.30582954 0.01940893 0.95188843 0.4202037 ] [ 0. 0. 0. 1. ]] SLAMing on 96.026502481 meters Centerline goodness : 0.703203 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94858999 -0.09386434 -0.30226896 2.94797358] [ 0.08261701 0.99533568 -0.04981279 0.29372891] [ 0.30553473 0.02227935 0.95192025 0.41928161] [ 0. 0. 0. 1. ]] SLAMing on 96.056502481 meters Centerline goodness : 0.699971 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94854331 -0.09457073 -0.30219525 2.94757627] [ 0.08380807 0.99530502 -0.04841616 0.29009324] [ 0.3053552 0.02059843 0.95201571 0.41981133] [ 0. 0. 0. 1. ]] SLAMing on 96.086502481 meters Centerline goodness : 0.701921 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94851407 -0.09440162 -0.30233986 2.9472617 ] [ 0.08387978 0.99533694 -0.04762941 0.28981098] [ 0.30542633 0.01981696 0.95200948 0.42046576] [ 0. 0. 0. 1. ]] SLAMing on 96.116502481 meters Centerline goodness : 0.704144 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94842017 -0.09479635 -0.30251089 2.94705466] [ 0.08449648 0.99531531 -0.04698705 0.289409 ] [ 0.30554792 0.01900236 0.95198707 0.42123888] [ 0. 0. 0. 1. ]] SLAMing on 96.14650248099998 meters Centerline goodness : 0.703231 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94839752 -0.09519344 -0.30245719 2.9462676 ] [ 0.08511553 0.99529197 -0.04635996 0.28665736] [ 0.30544638 0.01822386 0.95203487 0.42197859] [ 0. 0. 0. 1. ]] SLAMing on 96.17650248099999 meters Centerline goodness : 0.701333 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.9483912 -0.09502531 -0.30252986 2.94629635] [ 0.08503385 0.99531287 -0.04606014 0.28605901] [ 0.30548874 0.01795775 0.95202634 0.42212517] [ 0. 0. 0. 1. ]] SLAMing on 96.20650248099999 meters Centerline goodness : 0.702540 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94832124 -0.09508656 -0.30272988 2.94650435] [ 0.08502989 0.99530392 -0.0462603 0.28640242] [ 0.30570697 0.01812854 0.95195305 0.42234003] [ 0. 0. 0. 1. ]] SLAMing on 96.23650248099999 meters Centerline goodness : 0.703060 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94849382 -0.09090191 -0.30347374 2.94775793] [ 0.08184616 0.9957403 -0.04245545 0.28630784] [ 0.30604031 0.01543057 0.9518935 0.42218092] [ 0. 0. 0. 1. ]] SLAMing on 96.26650248099999 meters Centerline goodness : 0.700301 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94873382 -0.08812404 -0.3035429 2.94724946] [ 0.07998127 0.99602605 -0.03918031 0.28560011] [ 0.30578936 0.01289394 0.95201188 0.42236398] [ 0. 0. 0. 1. ]] SLAMing on 96.29650248099999 meters Centerline goodness : 0.704722 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94895039 -0.08748264 -0.30305108 2.94589347] [ 0.07916838 0.9960729 -0.03963762 0.28598793] [ 0.30532857 0.01362207 0.95214962 0.42239344] [ 0. 0. 0. 1. ]] SLAMing on 96.32650248099999 meters Centerline goodness : 0.703636 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94927488 -0.08699579 -0.30217369 2.94504328] [ 0.07851379 0.99610506 -0.04012849 0.28505431] [ 0.30448775 0.01436817 0.95240788 0.42120929] [ 0. 0. 0. 1. ]] SLAMing on 96.35650248099999 meters Centerline goodness : 0.705994 Centerline is valid? [False, False] Translation: X:2.94, Y:0.28, Z:0.42 [[ 0.94943934 -0.08669312 -0.30174366 2.94458854] [ 0.07824867 0.99613167 -0.0399856 0.28398025] [ 0.30404289 0.01435286 0.95255022 0.4206893 ] [ 0. 0. 0. 1. ]] SLAMing on 96.386502481 meters Centerline goodness : 0.708148 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94946686 -0.0864367 -0.30173065 2.94521673] [ 0.0781308 0.99615979 -0.03951259 0.28374599] [ 0.30398728 0.01394144 0.95257408 0.42016807] [ 0. 0. 0. 1. ]] SLAMing on 96.416502481 meters Centerline goodness : 0.707512 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94932244 -0.08660331 -0.30213701 2.94605979] [ 0.07841157 0.99615159 -0.0391616 0.2836569 ] [ 0.30436578 0.01348595 0.95245976 0.42038832] [ 0. 0. 0. 1. ]] SLAMing on 96.446502481 meters Centerline goodness : 0.708642 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94930276 -0.08678978 -0.30214535 2.94641456] [ 0.07889638 0.99614849 -0.03825629 0.28144143] [ 0.30430189 0.01247862 0.95249391 0.42028102] [ 0. 0. 0. 1. ]] SLAMing on 96.476502481 meters Centerline goodness : 0.709325 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94921604 -0.08683044 -0.30240598 2.9468585 ] [ 0.07915167 0.99615398 -0.03758014 0.27984362] [ 0.30450602 0.01173573 0.95243811 0.42058085] [ 0. 0. 0. 1. ]] SLAMing on 96.50650248099998 meters Centerline goodness : 0.709325 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94921604 -0.08683044 -0.30240598 2.9468585 ] [ 0.07915167 0.99615398 -0.03758014 0.27984362] [ 0.30450602 0.01173573 0.95243811 0.42058085] [ 0. 0. 0. 1. ]] SLAMing on 96.53650248099999 meters Centerline goodness : 0.712798 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94900999 -0.09119584 -0.30176707 2.94625661] [ 0.08248653 0.99572741 -0.04150772 0.279615 ] [ 0.30426308 0.01449952 0.95247769 0.42049909] [ 0. 0. 0. 1. ]] SLAMing on 96.56650248099999 meters Centerline goodness : 0.711328 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94899884 -0.09126798 -0.30178031 2.94642648] [ 0.08282947 0.9957335 -0.04067035 0.2779759 ] [ 0.30420467 0.01359981 0.95250961 0.42054247] [ 0. 0. 0. 1. ]] SLAMing on 96.59650248099999 meters Centerline goodness : 0.711053 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94869629 -0.09227139 -0.30242575 2.94679795] [ 0.0843131 0.99566421 -0.0392949 0.27652701] [ 0.30474029 0.01178048 0.95236263 0.42188669] [ 0. 0. 0. 1. ]] SLAMing on 96.62650248099999 meters Centerline goodness : 0.709882 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94841696 -0.09313879 -0.30303536 2.94787481] [ 0.08535988 0.99559265 -0.0388454 0.27593879] [ 0.30531779 0.01097457 0.95218727 0.42247712] [ 0. 0. 0. 1. ]] SLAMing on 96.65650248099999 meters Centerline goodness : 0.708996 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94768658 -0.09896735 -0.30347257 2.94963863] [ 0.09034133 0.99500916 -0.0423701 0.27568435] [ 0.30615124 0.01273746 0.95189767 0.4228545 ] [ 0. 0. 0. 1. ]] SLAMing on 96.68650248099999 meters Centerline goodness : 0.708891 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.42 [[ 0.94759991 -0.09971765 -0.30349763 2.94928598] [ 0.09134036 0.99494575 -0.04171215 0.2742766 ] [ 0.30612311 0.01180484 0.95191874 0.42353185] [ 0. 0. 0. 1. ]] SLAMing on 96.71650248099999 meters Centerline goodness : 0.711483 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.42 [[ 0.94715622 -0.10328888 -0.30368817 2.94917104] [ 0.09505375 0.9945934 -0.0418182 0.27353349] [ 0.3063656 0.01074167 0.95185332 0.42475862] [ 0. 0. 0. 1. ]] SLAMing on 96.746502481 meters Centerline goodness : 0.712508 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94694459 -0.1047108 -0.30386114 2.9489146 ] [ 0.09693849 0.99446211 -0.04059597 0.27209802] [ 0.30642923 0.0089863 0.95185102 0.42575396] [ 0. 0. 0. 1. ]] SLAMing on 96.776502481 meters Centerline goodness : 0.712849 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94687643 -0.10523252 -0.30389332 2.94831644] [ 0.09755462 0.99441053 -0.04038309 0.2720933 ] [ 0.30644434 0.0085916 0.95184981 0.42652766] [ 0. 0. 0. 1. ]] SLAMing on 96.806502481 meters Centerline goodness : 0.713094 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94667862 -0.10628947 -0.30414165 2.94806338] [ 0.09873108 0.99430305 -0.0401699 0.27236301] [ 0.30667861 0.00799975 0.95177951 0.42748032] [ 0. 0. 0. 1. ]] SLAMing on 96.836502481 meters Centerline goodness : 0.712578 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94652289 -0.10700691 -0.30437467 2.94792325] [ 0.09940109 0.99422604 -0.04042274 0.27300368] [ 0.30694274 0.00800588 0.95169431 0.42817414] [ 0. 0. 0. 1. ]] SLAMing on 96.866502481 meters Centerline goodness : 0.711874 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94639207 -0.10778317 -0.30450753 2.94803125] [ 0.10016015 0.99414289 -0.04059376 0.27312314] [ 0.30709933 0.00791809 0.95164453 0.42848035] [ 0. 0. 0. 1. ]] SLAMing on 96.89650248099998 meters Centerline goodness : 0.712457 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94626793 -0.10785442 -0.30486789 2.94882749] [ 0.1002819 0.99413693 -0.04043889 0.2732847 ] [ 0.30744194 0.0076933 0.95153574 0.4286047 ] [ 0. 0. 0. 1. ]] SLAMing on 96.92650248099999 meters Centerline goodness : 0.713251 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94644759 -0.10412322 -0.30560646 2.94863493] [ 0.09771926 0.99455458 -0.03622329 0.27336328] [ 0.30771399 0.00441981 0.95146864 0.4297201 ] [ 0. 0. 0. 1. ]] SLAMing on 96.95650248099999 meters Centerline goodness : 0.709887 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94627765 -0.10417871 -0.30611338 2.94914764] [ 0.09783224 0.99454988 -0.03604697 0.27399317] [ 0.30820035 0.00416268 0.95131236 0.43031154] [ 0. 0. 0. 1. ]] SLAMing on 96.98650248099999 meters Centerline goodness : 0.711850 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 0.94611704 -0.10501039 -0.30632558 2.95110712] [ 0.09827987 0.99445732 -0.03735923 0.27585649] [ 0.30855082 0.00524057 0.95119342 0.42910632] [ 0. 0. 0. 1. ]] SLAMing on 97.01650248099999 meters Centerline goodness : 0.711213 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 0.94614636 -0.10513076 -0.30619372 2.95091507] [ 0.09824423 0.99444184 -0.03786168 0.27642515] [ 0.30847227 0.00574092 0.95121601 0.42898464] [ 0. 0. 0. 1. ]] SLAMing on 97.04650248099999 meters Centerline goodness : 0.709070 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 0.94644252 -0.10085397 -0.30671654 2.95092267] [ 0.09496086 0.99489621 -0.03411697 0.27713424] [ 0.30859195 0.00316368 0.95118925 0.42928261] [ 0. 0. 0. 1. ]] SLAMing on 97.07650248099999 meters Centerline goodness : 0.709569 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 9.46648316e-01 -9.66490494e-02 -3.07434428e-01 2.95165729e+00] [ 9.18360442e-02 9.95318483e-01 -3.01207275e-02 2.77326805e-01] [ 3.08906308e-01 2.80174317e-04 9.51092432e-01 4.29481541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10650248099999 meters Centerline goodness : 0.708763 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 9.46657678e-01 -9.65970512e-02 -3.07421941e-01 2.95213350e+00] [ 9.11700212e-02 9.95320987e-01 -3.20025037e-02 2.80666826e-01] [ 3.09074857e-01 2.26775098e-03 9.51035010e-01 4.28882546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.136502481 meters Centerline goodness : 0.708422 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 9.46583257e-01 -9.62941527e-02 -3.07745955e-01 2.95377089e+00] [ 9.08817959e-02 9.95350413e-01 -3.19069614e-02 2.80729817e-01] [ 3.09387517e-01 2.23409037e-03 9.50933422e-01 4.28373884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.166502481 meters Centerline goodness : 0.709967 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 9.46510268e-01 -9.62732237e-02 -3.07976913e-01 2.95496675e+00] [ 9.06392747e-02 9.95350648e-01 -3.25823495e-02 2.81594117e-01] [ 3.09681828e-01 2.92472435e-03 9.50835744e-01 4.28834999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.196502481 meters Centerline goodness : 0.705550 Centerline is valid? [False, False] Translation: X:2.96, Y:0.28, Z:0.43 [[ 0.94622862 -0.09594301 -0.3089439 2.95613498] [ 0.09018115 0.99538142 -0.03291179 0.28299361] [ 0.31067468 0.00328116 0.95051064 0.4301883 ] [ 0. 0. 0. 1. ]] SLAMing on 97.226502481 meters Centerline goodness : 0.706315 Centerline is valid? [False, False] Translation: X:2.99, Y:0.29, Z:0.44 [[ 9.47129628e-01 -8.87234606e-02 -3.08340097e-01 2.98978261e+00] [ 8.40628171e-02 9.96055822e-01 -2.83944090e-02 2.85955008e-01] [ 3.09643199e-01 9.73248897e-04 9.50852324e-01 4.40024077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25650248099998 meters Centerline goodness : 0.701779 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.45 [[ 0.94694536 -0.08332868 -0.31040427 3.00585318] [ 0.07751017 0.99650776 -0.03105558 0.28759115] [ 0.31190808 0.00534845 0.95009723 0.44591366] [ 0. 0. 0. 1. ]] SLAMing on 97.28650248099999 meters Centerline goodness : 0.701228 Centerline is valid? [False, False] Translation: X:3.02, Y:0.29, Z:0.45 [[ 0.94653802 -0.08099014 -0.31226012 3.01935907] [ 0.07374393 0.99666404 -0.03496613 0.2868475 ] [ 0.31405034 0.01006948 0.94935293 0.45113144] [ 0. 0. 0. 1. ]] SLAMing on 97.31650248099999 meters Centerline goodness : 0.699715 Centerline is valid? [False, False] Translation: X:3.02, Y:0.29, Z:0.45 [[ 0.94707963 -0.08039499 -0.31076812 3.01675523] [ 0.07261788 0.99669043 -0.0365353 0.28853862] [ 0.31267686 0.01203452 0.94978332 0.45007961] [ 0. 0. 0. 1. ]] SLAMing on 97.34650248099999 meters Centerline goodness : 0.700779 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.45 [[ 0.94745991 -0.07590325 -0.31073849 3.01464022] [ 0.06898836 0.99706485 -0.03320077 0.28907625] [ 0.31234647 0.01001906 0.94991542 0.45155718] [ 0. 0. 0. 1. ]] SLAMing on 97.37650248099999 meters Centerline goodness : 0.701528 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.45 [[ 0.94741705 -0.07578307 -0.31089847 3.01495948] [ 0.06883355 0.99707286 -0.03328148 0.28877954] [ 0.31251059 0.0101312 0.94986025 0.45213461] [ 0. 0. 0. 1. ]] SLAMing on 97.40650248099999 meters Centerline goodness : 0.702905 Centerline is valid? [False, False] Translation: X:3.02, Y:0.29, Z:0.45 [[ 0.94688012 -0.08000871 -0.31147496 3.01607726] [ 0.07182853 0.99670553 -0.03766634 0.28940716] [ 0.31346245 0.01329272 0.94950755 0.45427619] [ 0. 0. 0. 1. ]] SLAMing on 97.43650248099999 meters Centerline goodness : 0.700003 Centerline is valid? [False, False] Translation: X:3.02, Y:0.29, Z:0.46 [[ 0.94644049 -0.0848049 -0.31154219 3.01619576] [ 0.07559382 0.99627275 -0.04154737 0.28875508] [ 0.31390441 0.01577145 0.94932359 0.45507959] [ 0. 0. 0. 1. ]] SLAMing on 97.46650248099999 meters Centerline goodness : 0.702485 Centerline is valid? [False, False] Translation: X:3.02, Y:0.29, Z:0.45 [[ 0.94643144 -0.08462275 -0.3116192 3.01694758] [ 0.07560916 0.99629767 -0.04091714 0.28659877] [ 0.313928 0.015164 0.94932569 0.45443906] [ 0. 0. 0. 1. ]] SLAMing on 97.496502481 meters Centerline goodness : 0.699767 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.45 [[ 0.94623493 -0.08475456 -0.31217964 3.01831803] [ 0.07602156 0.996301 -0.04006283 0.28274618] [ 0.31442039 0.01417646 0.94917798 0.45391294] [ 0. 0. 0. 1. ]] SLAMing on 97.526502481 meters Centerline goodness : 0.700157 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.46 [[ 0.94652343 -0.08676391 -0.31074976 3.03522436] [ 0.08008442 0.99620067 -0.03421559 0.28207513] [ 0.3125378 0.00749964 0.94987572 0.45639804] [ 0. 0. 0. 1. ]] SLAMing on 97.556502481 meters Centerline goodness : 0.700399 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.46 [[ 0.94652756 -0.08629221 -0.31086853 3.03556276] [ 0.08000503 0.99624987 -0.03294525 0.27868222] [ 0.31254565 0.00631254 0.94988177 0.45588105] [ 0. 0. 0. 1. ]] SLAMing on 97.586502481 meters Centerline goodness : 0.701599 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.46 [[ 0.94648424 -0.0859398 -0.31109794 3.03616802] [ 0.07983125 0.99628359 -0.03234155 0.27685574] [ 0.3127212 0.00577543 0.9498274 0.45575515] [ 0. 0. 0. 1. ]] SLAMing on 97.616502481 meters Centerline goodness : 0.698706 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.45 [[ 0.94637419 -0.08546607 -0.31156289 3.03811631] [ 0.07965397 0.99632923 -0.03135766 0.27413369] [ 0.31309923 0.00485886 0.94970799 0.45487766] [ 0. 0. 0. 1. ]] SLAMing on 97.64650248099998 meters Centerline goodness : 0.699065 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 0.9463049 -0.08529544 -0.31182002 3.03832085] [ 0.07960539 0.99634567 -0.03095623 0.27297962] [ 0.31332096 0.00447147 0.94963676 0.45512934] [ 0. 0. 0. 1. ]] SLAMing on 97.67650248099999 meters Centerline goodness : 0.697386 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 0.94625089 -0.08530334 -0.31198173 3.03813872] [ 0.07959449 0.99634481 -0.031012 0.27311744] [ 0.3134868 0.00451311 0.94958183 0.45563038] [ 0. 0. 0. 1. ]] SLAMing on 97.70650248099999 meters Centerline goodness : 0.697381 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 0.94617871 -0.08507757 -0.31226217 3.03868812] [ 0.07938206 0.99636427 -0.03093118 0.27305858] [ 0.31375842 0.00447841 0.94949228 0.45592385] [ 0. 0. 0. 1. ]] SLAMing on 97.73650248099999 meters Centerline goodness : 0.696235 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 0.94609331 -0.08449974 -0.31267754 3.04077962] [ 0.07884735 0.99641382 -0.03070179 0.27312478] [ 0.31415052 0.00439296 0.94936303 0.45540814] [ 0. 0. 0. 1. ]] SLAMing on 97.76650248099999 meters Centerline goodness : 0.692842 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 0.9458954 -0.08395612 -0.31342185 3.04261764] [ 0.07823026 0.99645866 -0.03082478 0.27406843] [ 0.31489985 0.00463794 0.94911357 0.45593759] [ 0. 0. 0. 1. ]] SLAMing on 97.79650248099999 meters Centerline goodness : 0.692285 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 9.46224197e-01 -7.87771767e-02 -3.13773687e-01 3.04358198e+00] [ 7.42394998e-02 9.96890816e-01 -2.64044863e-02 2.72678947e-01] [ 3.14878177e-01 1.69016231e-03 9.49130590e-01 4.55168814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82650248099999 meters Centerline goodness : 0.686259 Centerline is valid? [False, False] Translation: X:3.05, Y:0.27, Z:0.45 [[ 9.46375342e-01 -7.30248085e-02 -3.14707943e-01 3.04579788e+00] [ 6.95933082e-02 9.97329675e-01 -2.21424906e-02 2.73686441e-01] [ 3.15484521e-01 -9.46459700e-04 9.48930251e-01 4.54896326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85650248099999 meters Centerline goodness : 0.687927 Centerline is valid? [False, False] Translation: X:3.05, Y:0.27, Z:0.46 [[ 9.46195006e-01 -7.27059460e-02 -3.15323414e-01 3.04720336e+00] [ 6.91838364e-02 9.97353206e-01 -2.23646817e-02 2.74529195e-01] [ 3.16114863e-01 -6.53933312e-04 9.48720699e-01 4.55441479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.886502481 meters Centerline goodness : 0.685958 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:0.46 [[ 9.45999957e-01 -7.18813632e-02 -3.16096743e-01 3.04953939e+00] [ 6.81896846e-02 9.97413188e-01 -2.27398132e-02 2.76464619e-01] [ 3.16913629e-01 -4.26749179e-05 9.48454401e-01 4.56202037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.916502481 meters Centerline goodness : 0.683560 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:0.46 [[ 9.45717054e-01 -7.13680494e-02 -3.17058127e-01 3.05101453e+00] [ 6.75958597e-02 9.97450025e-01 -2.28964496e-02 2.77900400e-01] [ 3.17883711e-01 2.21746175e-04 9.48129684e-01 4.57314360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.946502481 meters Centerline goodness : 0.681020 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:0.46 [[ 9.45543658e-01 -7.07260740e-02 -3.17718449e-01 3.05255501e+00] [ 6.68775449e-02 9.97495642e-01 -2.30182167e-02 2.79866433e-01] [ 3.18550756e-01 5.16499027e-04 9.47905665e-01 4.57880484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.976502481 meters Centerline goodness : 0.681039 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:0.46 [[ 9.45382997e-01 -7.03625679e-02 -3.18276763e-01 3.05421088e+00] [ 6.65006290e-02 9.97521317e-01 -2.29975865e-02 2.79546902e-01] [ 3.19106025e-01 5.75922325e-04 9.47718847e-01 4.58151315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00650248099998 meters Centerline goodness : 0.681966 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:0.46 [[ 9.45301244e-01 -7.01122660e-02 -3.18574683e-01 3.05517546e+00] [ 6.62230452e-02 9.97538875e-01 -2.30369342e-02 2.79572558e-01] [ 3.19405803e-01 6.79856912e-04 9.47617787e-01 4.58364433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03650248099999 meters Centerline goodness : 0.680211 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:0.46 [[ 9.45222924e-01 -6.98809892e-02 -3.18857760e-01 3.05543743e+00] [ 6.60298103e-02 9.97555168e-01 -2.28856014e-02 2.78683243e-01] [ 3.19677475e-01 5.77877705e-04 9.47526241e-01 4.58855783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06650248099999 meters Centerline goodness : 0.681037 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:0.46 [[ 0.94477795 -0.07432564 -0.31917132 3.05537162] [ 0.06930191 0.99722799 -0.02708483 0.27983399] [ 0.32029967 0.00346997 0.94730992 0.46073546] [ 0. 0. 0. 1. ]] SLAMing on 98.09650248099999 meters Centerline goodness : 0.683794 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:0.46 [[ 0.94477313 -0.07394929 -0.31927297 3.05613336] [ 0.06905832 0.99725715 -0.0266293 0.27828487] [ 0.32036647 0.00311019 0.94728858 0.46041401] [ 0. 0. 0. 1. ]] SLAMing on 98.12650248099999 meters Centerline goodness : 0.680678 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:0.47 [[ 9.44926646e-01 -7.67274506e-02 -3.18161172e-01 3.07449919e+00] [ 7.32819855e-02 9.97050536e-01 -2.28030495e-02 2.77624567e-01] [ 3.18972387e-01 -1.76827326e-03 9.47762359e-01 4.65524072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15650248099999 meters Centerline goodness : 0.683562 Centerline is valid? [False, False] Translation: X:3.08, Y:0.28, Z:0.47 [[ 9.44761305e-01 -7.62482934e-02 -3.18766801e-01 3.07533145e+00] [ 7.29588750e-02 9.97086387e-01 -2.22652212e-02 2.76429880e-01] [ 3.19535723e-01 -2.22154773e-03 9.47571626e-01 4.66042189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18650248099999 meters Centerline goodness : 0.685778 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.44744500e-01 -7.64235004e-02 -3.18774652e-01 3.07599776e+00] [ 7.32912083e-02 9.97071679e-01 -2.18280902e-02 2.73263137e-01] [ 3.19509356e-01 -2.74141121e-03 9.47579155e-01 4.65440280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21650248099999 meters Centerline goodness : 0.684719 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.44228830e-01 -8.09229678e-02 -3.19191775e-01 3.07764061e+00] [ 7.67633526e-02 9.96720308e-01 -2.56127986e-02 2.73480239e-01] [ 3.20217588e-01 -3.17887900e-04 9.47343969e-01 4.65833243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.246502481 meters Centerline goodness : 0.685822 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.44085456e-01 -8.04971819e-02 -3.19723091e-01 3.07867724e+00] [ 7.64303205e-02 9.96754667e-01 -2.52693283e-02 2.72829550e-01] [ 3.20719593e-01 -5.80133036e-04 9.47174010e-01 4.66145813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.276502481 meters Centerline goodness : 0.685826 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 0.94430714 -0.07605944 -0.32015463 3.07879233] [ 0.07314994 0.99709724 -0.02112305 0.27131389] [ 0.3208319 -0.00347264 0.94712979 0.46592225] [ 0. 0. 0. 1. ]] SLAMing on 98.306502481 meters Centerline goodness : 0.687266 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 0.94417044 -0.07572599 -0.3206365 3.08001312] [ 0.07286959 0.99712211 -0.02091697 0.27127188] [ 0.3212977 -0.00361547 0.94697134 0.46603327] [ 0. 0. 0. 1. ]] SLAMing on 98.336502481 meters Centerline goodness : 0.688764 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 0.94407174 -0.07550614 -0.32097878 3.08146161] [ 0.07271484 0.99713808 -0.02069301 0.27049551] [ 0.32162261 -0.00380423 0.9468603 0.46573892] [ 0. 0. 0. 1. ]] SLAMing on 98.366502481 meters Centerline goodness : 0.689298 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43590149e-01 -8.05809725e-02 -3.21160921e-01 3.08152042e+00] [ 7.65089404e-02 9.96747822e-01 -2.53014167e-02 2.71584154e-01] [ 3.22155261e-01 -6.97514199e-04 9.46686591e-01 4.67207125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39650248099998 meters Centerline goodness : 0.689298 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43592602e-01 -8.06123708e-02 -3.21145836e-01 3.08147648e+00] [ 7.65384160e-02 9.96745284e-01 -2.53122303e-02 2.71585349e-01] [ 3.22141076e-01 -6.95560353e-04 9.46691419e-01 4.67199942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42650248099999 meters Centerline goodness : 0.691076 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43615993e-01 -8.09393310e-02 -3.20994833e-01 3.08026810e+00] [ 7.67444920e-02 9.96718964e-01 -2.57213989e-02 2.71532410e-01] [ 3.22023510e-01 -3.63462031e-04 9.46731602e-01 4.68125189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45650248099999 meters Centerline goodness : 0.689035 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43394820e-01 -8.04010215e-02 -3.21779255e-01 3.08181926e+00] [ 7.62961397e-02 9.96762406e-01 -2.53693567e-02 2.71519950e-01] [ 3.22777186e-01 -6.17195215e-04 9.46474779e-01 4.68566744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48650248099999 meters Centerline goodness : 0.686399 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43253106e-01 -7.97958664e-02 -3.22344844e-01 3.08349844e+00] [ 7.57851384e-02 9.96810861e-01 -2.49944096e-02 2.71537207e-01] [ 3.23311292e-01 -8.52894166e-04 9.46292281e-01 4.68577492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51650248099999 meters Centerline goodness : 0.687902 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43207756e-01 -7.97477660e-02 -3.22489414e-01 3.08353365e+00] [ 7.56624399e-02 9.96814878e-01 -2.52050428e-02 2.71617316e-01] [ 3.23472291e-01 -6.26744038e-04 9.46237435e-01 4.69182506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54650248099999 meters Centerline goodness : 0.692253 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43140556e-01 -7.90464282e-02 -3.22858410e-01 3.08456971e+00] [ 7.49146246e-02 9.96870857e-01 -2.52248653e-02 2.72245212e-01] [ 3.23842075e-01 -3.96223114e-04 9.46111068e-01 4.69766765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57650248099999 meters Centerline goodness : 0.689254 Centerline is valid? [False, False] Translation: X:3.09, Y:0.27, Z:0.47 [[ 9.42958262e-01 -7.84492628e-02 -3.23535824e-01 3.08634291e+00] [ 7.43645330e-02 9.96917984e-01 -2.49889798e-02 2.72497273e-01] [ 3.24499049e-01 -4.96025513e-04 9.45885892e-01 4.70020570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60650248099999 meters Centerline goodness : 0.693442 Centerline is valid? [False, False] Translation: X:3.09, Y:0.27, Z:0.47 [[ 9.42894934e-01 -7.76709106e-02 -3.23907971e-01 3.08723254e+00] [ 7.35434720e-02 9.96979017e-01 -2.49839511e-02 2.73738073e-01] [ 3.24869976e-01 -2.64075845e-04 9.45758652e-01 4.70881085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.636502481 meters Centerline goodness : 0.690968 Centerline is valid? [False, False] Translation: X:3.09, Y:0.27, Z:0.47 [[ 9.42767436e-01 -7.75430892e-02 -3.24309469e-01 3.08715547e+00] [ 7.32516887e-02 9.96988976e-01 -2.54395850e-02 2.74672108e-01] [ 3.25305629e-01 2.27396023e-04 9.45608902e-01 4.72378366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.666502481 meters Centerline goodness : 0.690785 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:0.47 [[ 9.42671250e-01 -7.68693126e-02 -3.24749169e-01 3.08799909e+00] [ 7.24107113e-02 9.97040843e-01 -2.58117625e-02 2.76441385e-01] [ 3.25772317e-01 8.16688086e-04 9.45447899e-01 4.73554569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.696502481 meters Centerline goodness : 0.690752 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:0.48 [[ 0.94308765 -0.07055437 -0.3249735 3.1198545 ] [ 0.06357555 0.997462 -0.03205798 0.27488954] [ 0.32641054 0.00957312 0.94517962 0.483411 ] [ 0. 0. 0. 1. ]] SLAMing on 98.726502481 meters Centerline goodness : 0.691047 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:0.49 [[ 0.94255921 -0.06667067 -0.32731814 3.13012897] [ 0.05914673 0.99770702 -0.03289919 0.27137279] [ 0.32876102 0.01164964 0.94434129 0.48753406] [ 0. 0. 0. 1. ]] SLAMing on 98.75650248099998 meters Centerline goodness : 0.686861 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:0.49 [[ 0.94225649 -0.06538926 -0.32844627 3.13439795] [ 0.05798749 0.99779493 -0.03229138 0.27189629] [ 0.32983353 0.01138098 0.94397051 0.48706937] [ 0. 0. 0. 1. ]] SLAMing on 98.78650248099999 meters Centerline goodness : 0.686149 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:0.50 [[ 0.94269793 -0.05998968 -0.32821008 3.16390516] [ 0.05030218 0.99801333 -0.03793527 0.26942743] [ 0.32983376 0.01925182 0.94384271 0.49692855] [ 0. 0. 0. 1. ]] SLAMing on 98.81650248099999 meters Centerline goodness : 0.688895 Centerline is valid? [False, False] Translation: X:3.17, Y:0.27, Z:0.50 [[ 0.94249492 -0.05499395 -0.32966497 3.17452197] [ 0.0443378 0.99822499 -0.03976212 0.2660105 ] [ 0.33126649 0.02285897 0.94326029 0.50318931] [ 0. 0. 0. 1. ]] SLAMing on 98.84650248099999 meters Centerline goodness : 0.686552 Centerline is valid? [False, False] Translation: X:3.18, Y:0.26, Z:0.50 [[ 0.94213027 -0.05346684 -0.33095596 3.1780568 ] [ 0.04280639 0.99830531 -0.03942227 0.26397443] [ 0.33250287 0.02297389 0.94282238 0.50453747] [ 0. 0. 0. 1. ]] SLAMing on 98.87650248099999 meters Centerline goodness : 0.688671 Centerline is valid? [False, False] Translation: X:3.18, Y:0.26, Z:0.50 [[ 0.94228369 -0.0534202 -0.33052645 3.17777345] [ 0.04254113 0.998291 -0.04006667 0.26480076] [ 0.33210195 0.0236932 0.94294588 0.5038407 ] [ 0. 0. 0. 1. ]] SLAMing on 98.90650248099999 meters Centerline goodness : 0.687533 Centerline is valid? [False, False] Translation: X:3.18, Y:0.26, Z:0.50 [[ 0.9424829 -0.05248493 -0.33010802 3.17682091] [ 0.0415985 0.99833493 -0.03996167 0.2647855 ] [ 0.33165575 0.02393119 0.9430969 0.50365101] [ 0. 0. 0. 1. ]] SLAMing on 98.93650248099999 meters Centerline goodness : 0.686265 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94265709 -0.05176565 -0.32972401 3.17380215] [ 0.04103112 0.99837925 -0.03943745 0.26482162] [ 0.33123111 0.02364705 0.94325329 0.50530958] [ 0. 0. 0. 1. ]] SLAMing on 98.96650248099999 meters Centerline goodness : 0.687586 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94281589 -0.05171183 -0.32927814 3.17254323] [ 0.04106924 0.99838704 -0.03919995 0.26402022] [ 0.33077413 0.02343513 0.94341893 0.50545334] [ 0. 0. 0. 1. ]] SLAMing on 98.996502481 meters Centerline goodness : 0.686602 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94261461 -0.05651472 -0.329065 3.17195688] [ 0.04466309 0.99805585 -0.04347094 0.26374373] [ 0.330882 0.02627928 0.94330615 0.50586723] [ 0. 0. 0. 1. ]] SLAMing on 99.026502481 meters Centerline goodness : 0.685268 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.942294 -0.06038762 -0.32929524 3.17226602] [ 0.04757662 0.9977691 -0.04683254 0.26361939] [ 0.33138872 0.02846327 0.94306487 0.50638664] [ 0. 0. 0. 1. ]] SLAMing on 99.056502481 meters Centerline goodness : 0.688560 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94221835 -0.06046976 -0.32949657 3.17163421] [ 0.04836605 0.99782375 -0.04481621 0.25994455] [ 0.33148953 0.02629021 0.94309253 0.50746571] [ 0. 0. 0. 1. ]] SLAMing on 99.086502481 meters Centerline goodness : 0.686147 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94210589 -0.06029488 -0.32984998 3.17239637] [ 0.04863691 0.99786925 -0.04349034 0.25805779] [ 0.3317694 0.02492962 0.94303106 0.50773728] [ 0. 0. 0. 1. ]] SLAMing on 99.116502481 meters Centerline goodness : 0.687644 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94164562 -0.06351935 -0.33055835 3.1738818 ] [ 0.05139238 0.99765028 -0.04530726 0.25640603] [ 0.33265952 0.0256752 0.94269742 0.50839965] [ 0. 0. 0. 1. ]] SLAMing on 99.14650248099998 meters Centerline goodness : 0.688093 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:0.51 [[ 0.94188526 -0.06312358 -0.32995086 3.1723743 ] [ 0.05144399 0.99770525 -0.04401986 0.25347658] [ 0.3319724 0.02448767 0.9429712 0.50847626] [ 0. 0. 0. 1. ]] SLAMing on 99.17650248099999 meters Centerline goodness : 0.693689 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:0.51 [[ 0.94214067 -0.06517285 -0.32882131 3.16937953] [ 0.05319518 0.99755602 -0.04530187 0.24974916] [ 0.33097013 0.02518903 0.94330498 0.50904993] [ 0. 0. 0. 1. ]] SLAMing on 99.20650248099999 meters Centerline goodness : 0.694154 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:0.51 [[ 0.94212618 -0.06491584 -0.32891366 3.16986362] [ 0.05334232 0.99760203 -0.04409964 0.24759197] [ 0.3309877 0.0240024 0.94332975 0.50903394] [ 0. 0. 0. 1. ]] SLAMing on 99.23650248099999 meters Centerline goodness : 0.695166 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:0.51 [[ 0.94184956 -0.06792968 -0.32909719 3.17098932] [ 0.05576124 0.99737072 -0.04628535 0.24559622] [ 0.33137605 0.02524297 0.94316102 0.50887729] [ 0. 0. 0. 1. ]] SLAMing on 99.26650248099999 meters Centerline goodness : 0.695453 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.51 [[ 0.94185251 -0.06763891 -0.32914865 3.17127737] [ 0.05577021 0.99741185 -0.04537931 0.24409955] [ 0.33136617 0.02438393 0.94318709 0.50885078] [ 0. 0. 0. 1. ]] SLAMing on 99.29650248099999 meters Centerline goodness : 0.696019 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.51 [[ 0.94203179 -0.06682271 -0.32880213 3.17179448] [ 0.05516189 0.99747738 -0.04467699 0.24168669] [ 0.33095812 0.0239498 0.94334147 0.50772127] [ 0. 0. 0. 1. ]] SLAMing on 99.32650248099999 meters Centerline goodness : 0.696995 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.51 [[ 0.94209951 -0.06640972 -0.32869173 3.17175898] [ 0.05492787 0.99751572 -0.04410582 0.23996394] [ 0.33080422 0.02349773 0.94340682 0.50749798] [ 0. 0. 0. 1. ]] SLAMing on 99.35650248099999 meters Centerline goodness : 0.696459 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.51 [[ 0.94258032 -0.06509568 -0.32757424 3.1699761 ] [ 0.05368616 0.99759839 -0.04376359 0.23778067] [ 0.32963636 0.0236645 0.94381135 0.50645443] [ 0. 0. 0. 1. ]] SLAMing on 99.386502481 meters Centerline goodness : 0.698530 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.51 [[ 0.94277529 -0.06444036 -0.32714247 3.16923776] [ 0.05308751 0.99764088 -0.04352458 0.23707217] [ 0.32917544 0.02366672 0.94397215 0.50607512] [ 0. 0. 0. 1. ]] SLAMing on 99.416502481 meters Centerline goodness : 0.698624 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.50 [[ 0.94305057 -0.06318178 -0.32659407 3.16909798] [ 0.05201078 0.99772747 -0.04283424 0.23515676] [ 0.32855821 0.02340844 0.94419359 0.50498922] [ 0. 0. 0. 1. ]] SLAMing on 99.446502481 meters Centerline goodness : 0.699538 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.50 [[ 0.94305788 -0.06293646 -0.32662033 3.16995236] [ 0.05196033 0.9977558 -0.04223134 0.23387486] [ 0.32854522 0.0228553 0.94421167 0.5043713 ] [ 0. 0. 0. 1. ]] SLAMing on 99.476502481 meters Centerline goodness : 0.698802 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.50 [[ 0.9433773 -0.06210661 -0.32585587 3.16903628] [ 0.05154518 0.99783055 -0.04095468 0.23050304] [ 0.3276925 0.02183941 0.94453198 0.50364699] [ 0. 0. 0. 1. ]] SLAMing on 99.50650248099998 meters Centerline goodness : 0.698872 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.50 [[ 0.94345558 -0.06175006 -0.32569693 3.16911264] [ 0.0514969 0.99787107 -0.04001745 0.22875428] [ 0.32747462 0.02098231 0.94462697 0.5033887 ] [ 0. 0. 0. 1. ]] SLAMing on 99.53650248099999 meters Centerline goodness : 0.696488 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.50 [[ 0.943481 -0.06589246 -0.32481038 3.1688662 ] [ 0.05485619 0.99756668 -0.04302927 0.22706252] [ 0.32685532 0.02277944 0.94479982 0.50232741] [ 0. 0. 0. 1. ]] SLAMing on 99.56650248099999 meters Centerline goodness : 0.697571 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.50 [[ 0.94360816 -0.06570403 -0.324479 3.16836715] [ 0.05529316 0.99761927 -0.04121234 0.22365385] [ 0.32641432 0.02094683 0.94499467 0.50238632] [ 0. 0. 0. 1. ]] SLAMing on 99.59650248099999 meters Centerline goodness : 0.698374 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.50 [[ 0.94344437 -0.07014578 -0.32402515 3.16838811] [ 0.05936201 0.99730742 -0.04305887 0.22063146] [ 0.32617308 0.02138886 0.94506806 0.50225281] [ 0. 0. 0. 1. ]] SLAMing on 99.62650248099999 meters Centerline goodness : 0.700286 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.50 [[ 0.94319271 -0.07481066 -0.3237142 3.16914429] [ 0.0631301 0.99692374 -0.04645046 0.21982462] [ 0.32619336 0.02337563 0.94501401 0.50170407] [ 0. 0. 0. 1. ]] SLAMing on 99.65650248099999 meters Centerline goodness : 0.699955 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94282031 -0.0797539 -0.32361887 3.17064155] [ 0.06790834 0.99654817 -0.04775138 0.21498278] [ 0.32631015 0.02304455 0.94498182 0.5012823 ] [ 0. 0. 0. 1. ]] SLAMing on 99.68650248099999 meters Centerline goodness : 0.700184 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94273304 -0.07984621 -0.32385027 3.1709738 ] [ 0.06857733 0.99658103 -0.04608028 0.21250115] [ 0.32642237 0.02123262 0.94498551 0.50181725] [ 0. 0. 0. 1. ]] SLAMing on 99.71650248099999 meters Centerline goodness : 0.702856 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94282447 -0.08021343 -0.32349317 3.16999527] [ 0.06934128 0.99657684 -0.04501546 0.21090716] [ 0.32599664 0.02001025 0.94515913 0.50225555] [ 0. 0. 0. 1. ]] SLAMing on 99.746502481 meters Centerline goodness : 0.701277 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94272705 -0.08459974 -0.32265863 3.16886073] [ 0.07307948 0.99618592 -0.04767598 0.20864227] [ 0.32546136 0.02136571 0.94531392 0.50231749] [ 0. 0. 0. 1. ]] SLAMing on 99.776502481 meters Centerline goodness : 0.701161 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94264374 -0.08487099 -0.32283074 3.16946636] [ 0.07364493 0.99618325 -0.04685466 0.20684984] [ 0.32557518 0.02039241 0.94529623 0.50241082] [ 0. 0. 0. 1. ]] SLAMing on 99.806502481 meters Centerline goodness : 0.701159 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94269002 -0.08508218 -0.32263996 3.16984674] [ 0.07413103 0.99618225 -0.04610332 0.20563069] [ 0.32533078 0.01954351 0.9453983 0.50195595] [ 0. 0. 0. 1. ]] SLAMing on 99.836502481 meters Centerline goodness : 0.701087 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94275704 -0.08518692 -0.32241644 3.16999643] [ 0.07421203 0.99617156 -0.04620382 0.20581544] [ 0.32511805 0.0196318 0.94546964 0.50148028] [ 0. 0. 0. 1. ]] SLAMing on 99.866502481 meters Centerline goodness : 0.700706 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94279465 -0.08489301 -0.32238398 3.17052493] [ 0.07381442 0.99618923 -0.04645908 0.20697599] [ 0.3250995 0.02000478 0.9454682 0.5008906 ] [ 0. 0. 0. 1. ]] SLAMing on 99.89650248099998 meters Centerline goodness : 0.701107 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94298119 -0.08470156 -0.32188837 3.17007466] [ 0.0735721 0.9962002 -0.04660809 0.20716361] [ 0.32461303 0.02026855 0.94562972 0.50022273] [ 0. 0. 0. 1. ]] SLAMing on 99.92650248099999 meters Centerline goodness : 0.702871 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94342725 -0.08419777 -0.32071133 3.16895886] [ 0.07287753 0.99622519 -0.04716171 0.2067257 ] [ 0.32347161 0.02112099 0.94600212 0.49866761] [ 0. 0. 0. 1. ]] SLAMing on 99.95650248099999 meters Centerline goodness : 0.701523 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94356367 -0.08353286 -0.32048379 3.16903659] [ 0.07221852 0.9962784 -0.0470514 0.20689651] [ 0.32322142 0.02125113 0.94608472 0.49803568] [ 0. 0. 0. 1. ]] SLAMing on 99.98650248099999 meters Centerline goodness : 0.704956 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94397968 -0.07890255 -0.32043214 3.16906056] [ 0.06873903 0.99671076 -0.0429257 0.20658199] [ 0.32276511 0.0184948 0.94629838 0.49743767] [ 0. 0. 0. 1. ]] SLAMing on 100.01650248099999 meters Centerline goodness : 0.703195 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94398144 -0.07866476 -0.32048542 3.16997118] [ 0.06844772 0.99672586 -0.04304039 0.20709411] [ 0.32282187 0.01869283 0.94627513 0.49676005] [ 0. 0. 0. 1. ]] SLAMing on 100.04650248099999 meters Centerline goodness : 0.704269 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.9441559 -0.07824281 -0.32007453 3.17050043] [ 0.0679806 0.99675399 -0.04312917 0.20654701] [ 0.32241011 0.0189618 0.94641015 0.49540097] [ 0. 0. 0. 1. ]] SLAMing on 100.07650248099999 meters Centerline goodness : 0.704311 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.49 [[ 0.9443547 -0.07827242 -0.31948026 3.16997143] [ 0.06804007 0.99675192 -0.04308316 0.2057159 ] [ 0.32181478 0.01894832 0.94661302 0.49472341] [ 0. 0. 0. 1. ]] SLAMing on 100.10650248099999 meters Centerline goodness : 0.703221 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.49 [[ 0.9444025 -0.07829311 -0.31933386 3.17002092] [ 0.06810053 0.9967523 -0.04297862 0.20521644] [ 0.32166169 0.01884231 0.94666717 0.49442665] [ 0. 0. 0. 1. ]] SLAMing on 100.136502481 meters Centerline goodness : 0.704598 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.49 [[ 0.94432782 -0.07835818 -0.31953866 3.17095937] [ 0.06824585 0.9967526 -0.04274057 0.20561903] [ 0.32185006 0.01855392 0.94660884 0.49418751] [ 0. 0. 0. 1. ]] SLAMing on 100.166502481 meters Centerline goodness : 0.703893 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94420634 -0.0787897 -0.31979145 3.17248981] [ 0.06876433 0.99672554 -0.04254017 0.20480621] [ 0.32209603 0.01817645 0.9465325 0.4935927 ] [ 0. 0. 0. 1. ]] SLAMing on 100.196502481 meters Centerline goodness : 0.702189 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94412426 -0.07912373 -0.31995128 3.17325579] [ 0.06915525 0.99670369 -0.04241822 0.20446193] [ 0.32225291 0.01792176 0.94648395 0.49343721] [ 0. 0. 0. 1. ]] SLAMing on 100.226502481 meters Centerline goodness : 0.700883 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94406246 -0.07887516 -0.32019492 3.17406026] [ 0.06902424 0.99672971 -0.04201821 0.20443851] [ 0.32246199 0.01756661 0.9464194 0.49334965] [ 0. 0. 0. 1. ]] SLAMing on 100.25650248099998 meters Centerline goodness : 0.702955 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94402493 -0.07922389 -0.32021947 3.1741294 ] [ 0.06939386 0.99670428 -0.04201262 0.20405225] [ 0.32249252 0.0174397 0.94641134 0.49346472] [ 0. 0. 0. 1. ]] SLAMing on 100.28650248099999 meters Centerline goodness : 0.700818 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94423777 -0.07901514 -0.319643 3.17249807] [ 0.0695012 0.9967356 -0.04108191 0.20211114] [ 0.32184565 0.01657552 0.94664705 0.49386887] [ 0. 0. 0. 1. ]] SLAMing on 100.31650248099999 meters Centerline goodness : 0.700818 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94423777 -0.07901514 -0.319643 3.17249807] [ 0.0695012 0.9967356 -0.04108191 0.20211114] [ 0.32184565 0.01657552 0.94664705 0.49386887] [ 0. 0. 0. 1. ]] SLAMing on 100.34650248099999 meters Centerline goodness : 0.699823 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94423195 -0.07898928 -0.31966656 3.17228043] [ 0.06960241 0.9967441 -0.04070266 0.20154717] [ 0.32184083 0.01618319 0.94665547 0.49415284] [ 0. 0. 0. 1. ]] SLAMing on 100.37650248099999 meters Centerline goodness : 0.699301 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94411855 -0.07930318 -0.31992368 3.17313637] [ 0.07008311 0.99672879 -0.04025023 0.20038969] [ 0.32206912 0.01557974 0.94658795 0.4941366 ] [ 0. 0. 0. 1. ]] SLAMing on 100.40650248099999 meters Centerline goodness : 0.698868 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94391296 -0.08021131 -0.32030371 3.17446543] [ 0.07124154 0.99667091 -0.0396451 0.1987152 ] [ 0.32241737 0.01460259 0.94648497 0.49415503] [ 0. 0. 0. 1. ]] SLAMing on 100.43650248099999 meters Centerline goodness : 0.697490 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 0.94369961 -0.0801701 -0.32094206 3.17522837] [ 0.07147335 0.99668726 -0.03880806 0.19820381] [ 0.32299011 0.01368435 0.9463034 0.49499372] [ 0. 0. 0. 1. ]] SLAMing on 100.46650248099999 meters Centerline goodness : 0.698028 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.50 [[ 0.94360786 -0.08039453 -0.32115561 3.17604273] [ 0.07208539 0.99668569 -0.03770055 0.1961277 ] [ 0.32312211 0.01242391 0.94627572 0.49507324] [ 0. 0. 0. 1. ]] SLAMing on 100.496502481 meters Centerline goodness : 0.697846 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94347205 -0.08078966 -0.32145532 3.17665789] [ 0.07271582 0.99666373 -0.03706511 0.1944653 ] [ 0.32337734 0.01159501 0.94619906 0.49538252] [ 0. 0. 0. 1. ]] SLAMing on 100.526502481 meters Centerline goodness : 0.695829 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.9434353 -0.08067421 -0.32159213 3.17639783] [ 0.07311603 0.99669027 -0.03553244 0.19174815] [ 0.3233943 0.01000902 0.94621137 0.49615264] [ 0. 0. 0. 1. ]] SLAMing on 100.556502481 meters Centerline goodness : 0.692961 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94337165 -0.08076737 -0.32175544 3.17669935] [ 0.07339161 0.99668854 -0.03500905 0.19099254] [ 0.32351755 0.0094124 0.94617536 0.49640681] [ 0. 0. 0. 1. ]] SLAMing on 100.586502481 meters Centerline goodness : 0.695385 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94339449 -0.08077199 -0.3216873 3.17712858] [ 0.0734338 0.99668918 -0.034902 0.19088352] [ 0.32344136 0.00930363 0.94620248 0.49595241] [ 0. 0. 0. 1. ]] SLAMing on 100.61650248099998 meters Centerline goodness : 0.692576 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94341707 -0.0801775 -0.32176978 3.17736337] [ 0.07304245 0.99674203 -0.03420704 0.1901047 ] [ 0.3234641 0.00876865 0.94619981 0.49593506] [ 0. 0. 0. 1. ]] SLAMing on 100.64650248099998 meters Centerline goodness : 0.695393 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94349957 -0.08016358 -0.32153126 3.17694844] [ 0.07313212 0.99674566 -0.0339083 0.18939001] [ 0.3232031 0.00847821 0.94629164 0.49588853] [ 0. 0. 0. 1. ]] SLAMing on 100.67650248099999 meters Centerline goodness : 0.698794 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94367176 -0.08017656 -0.32102232 3.1768995 ] [ 0.07334175 0.99674917 -0.03334776 0.18703955] [ 0.32265244 0.007925 0.94648434 0.49502541] [ 0. 0. 0. 1. ]] SLAMing on 100.70650248099999 meters Centerline goodness : 0.694524 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94352911 -0.08002351 -0.32147949 3.17826188] [ 0.07349212 0.99676864 -0.03242189 0.18572184] [ 0.32303519 0.00696479 0.94636133 0.49500198] [ 0. 0. 0. 1. ]] SLAMing on 100.73650248099999 meters Centerline goodness : 0.695692 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94345318 -0.07982954 -0.32175044 3.1785622 ] [ 0.0733893 0.9967861 -0.03211682 0.18635209] [ 0.32328024 0.00668768 0.94627964 0.49534143] [ 0. 0. 0. 1. ]] SLAMing on 100.76650248099999 meters Centerline goodness : 0.695616 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94353747 -0.07982833 -0.32150345 3.1781387 ] [ 0.07331368 0.99678444 -0.03234004 0.18706394] [ 0.32305129 0.00694344 0.94635599 0.49520295] [ 0. 0. 0. 1. ]] SLAMing on 100.79650248099999 meters Centerline goodness : 0.696623 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94373837 -0.07962355 -0.32096415 3.17812303] [ 0.07306899 0.9967993 -0.0324357 0.1857697 ] [ 0.32251948 0.00715829 0.94653576 0.49408273] [ 0. 0. 0. 1. ]] SLAMing on 100.82650248099999 meters Centerline goodness : 0.693979 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94381859 -0.0793394 -0.32079858 3.17848706] [ 0.07285047 0.99682294 -0.03219996 0.18470987] [ 0.32233411 0.00702059 0.94659993 0.49345283] [ 0. 0. 0. 1. ]] SLAMing on 100.85650248099999 meters Centerline goodness : 0.696153 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94384377 -0.07939512 -0.32071069 3.17911041] [ 0.07269447 0.99681368 -0.03283305 0.18593652] [ 0.32229558 0.00767538 0.94660797 0.49264872] [ 0. 0. 0. 1. ]] SLAMing on 100.886502481 meters Centerline goodness : 0.697165 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94378405 -0.07964126 -0.32082538 3.18065294] [ 0.07278939 0.99679077 -0.03331472 0.18668282] [ 0.32244901 0.00808922 0.94655227 0.49162951] [ 0. 0. 0. 1. ]] SLAMing on 100.916502481 meters Centerline goodness : 0.697005 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94386594 -0.07969015 -0.32057226 3.18031455] [ 0.07292463 0.99678884 -0.03307578 0.18579392] [ 0.32217867 0.00784148 0.94664641 0.49144486] [ 0. 0. 0. 1. ]] SLAMing on 100.946502481 meters Centerline goodness : 0.695785 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94388545 -0.07980962 -0.32048509 3.17987168] [ 0.07313136 0.99678145 -0.0328412 0.18534144] [ 0.32207463 0.00756082 0.94668409 0.49170318] [ 0. 0. 0. 1. ]] SLAMing on 100.976502481 meters Centerline goodness : 0.697171 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94366744 -0.08025934 -0.32101434 3.18066325] [ 0.0736852 0.99674868 -0.03259688 0.18559577] [ 0.32258683 0.00710661 0.9465132 0.49227904] [ 0. 0. 0. 1. ]] SLAMing on 101.00650248099998 meters Centerline goodness : 0.694946 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94357304 -0.08073087 -0.32117354 3.1812468 ] [ 0.07423323 0.99671292 -0.03244671 0.1853259 ] [ 0.32273726 0.00677409 0.94646435 0.4923092 ] [ 0. 0. 0. 1. ]] SLAMing on 101.03650248099999 meters Centerline goodness : 0.695919 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94336156 -0.08146308 -0.3216096 3.18202218] [ 0.07516754 0.99665841 -0.03196637 0.18474872] [ 0.32313899 0.00598124 0.94633261 0.49287023] [ 0. 0. 0. 1. ]] SLAMing on 101.06650248099999 meters Centerline goodness : 0.699168 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94336013 -0.08210554 -0.32145036 3.18224331] [ 0.07587479 0.9966074 -0.03188593 0.18416937] [ 0.32297782 0.00568994 0.94638943 0.49264763] [ 0. 0. 0. 1. ]] SLAMing on 101.09650248099999 meters Centerline goodness : 0.697477 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94330101 -0.08260536 -0.32149582 3.18288231] [ 0.0764256 0.99656747 -0.03181836 0.18319144] [ 0.32302064 0.00544378 0.94637626 0.49240058] [ 0. 0. 0. 1. ]] SLAMing on 101.12650248099999 meters Centerline goodness : 0.698303 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94337966 -0.08286253 -0.32119871 3.18236944] [ 0.07686098 0.99654903 -0.0313435 0.18127558] [ 0.32268747 0.00488117 0.94649299 0.49237971] [ 0. 0. 0. 1. ]] SLAMing on 101.15650248099999 meters Centerline goodness : 0.699550 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94345411 -0.08271268 -0.32101861 3.18118322] [ 0.0769088 0.9965641 -0.0307414 0.18115147] [ 0.32245832 0.00431395 0.94657383 0.49307381] [ 0. 0. 0. 1. ]] SLAMing on 101.18650248099999 meters Centerline goodness : 0.702368 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 9.43504210e-01 -7.91108098e-02 -3.21778319e-01 3.18130253e+00] [ 7.48381501e-02 9.96865821e-01 -2.56473238e-02 1.79785374e-01] [ 3.22798788e-01 1.17063908e-04 9.46467606e-01 4.94513633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21650248099999 meters Centerline goodness : 0.700597 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 9.43464066e-01 -7.94981811e-02 -3.21800552e-01 3.18214541e+00] [ 7.52852708e-02 9.96835002e-01 -2.55363820e-02 1.79140307e-01] [ 3.22812149e-01 -1.34182905e-04 9.46463046e-01 4.94062089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.246502481 meters Centerline goodness : 0.698640 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 9.43310362e-01 -8.00898892e-02 -3.22104286e-01 3.18378632e+00] [ 7.60348438e-02 9.96787366e-01 -2.51723871e-02 1.77897855e-01] [ 3.23085537e-01 -7.45775481e-04 9.46369473e-01 4.93640710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.276502481 meters Centerline goodness : 0.700370 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 9.43359551e-01 -8.00393924e-02 -3.21972753e-01 3.18381163e+00] [ 7.60071109e-02 9.96791383e-01 -2.50969765e-02 1.77741686e-01] [ 3.22948412e-01 -7.96746261e-04 9.46416234e-01 4.93402657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.306502481 meters Centerline goodness : 0.698939 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 9.43194717e-01 -8.07042613e-02 -3.22289542e-01 3.18499295e+00] [ 7.64927336e-02 9.96738018e-01 -2.57329580e-02 1.79223816e-01] [ 3.23314998e-01 -3.81617984e-04 9.46291322e-01 4.93123870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.336502481 meters Centerline goodness : 0.699976 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43011520e-01 -8.09780346e-02 -3.22756611e-01 3.18629527e+00] [ 7.67493018e-02 9.96715800e-01 -2.58294034e-02 1.80007861e-01] [ 3.23788229e-01 -4.13919603e-04 9.46129490e-01 4.93087178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36650248099998 meters Centerline goodness : 0.700189 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43055663e-01 -8.11667692e-02 -3.22580181e-01 3.18638430e+00] [ 7.67356074e-02 9.96700516e-01 -2.64523743e-02 1.80309876e-01] [ 3.23662886e-01 1.92675253e-04 9.46172447e-01 4.92505653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39650248099998 meters Centerline goodness : 0.700400 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43114591e-01 -8.14714248e-02 -3.22331002e-01 3.18577072e+00] [ 7.68996230e-02 9.96675499e-01 -2.69146204e-02 1.80642929e-01] [ 3.23452185e-01 5.96438701e-04 9.46244328e-01 4.92488603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42650248099999 meters Centerline goodness : 0.696750 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43124204e-01 -8.12958526e-02 -3.22347205e-01 3.18562586e+00] [ 7.66966035e-02 9.96689762e-01 -2.69657088e-02 1.80979028e-01] [ 3.23472360e-01 7.09076821e-04 9.46237354e-01 4.92558667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45650248099999 meters Centerline goodness : 0.697017 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43054111e-01 -8.17127151e-02 -3.22446857e-01 3.18631203e+00] [ 7.67988365e-02 9.96654642e-01 -2.79546788e-02 1.83135720e-01] [ 3.23652410e-01 1.59923124e-03 9.46174699e-01 4.92085195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48650248099999 meters Centerline goodness : 0.697510 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43125796e-01 -8.00832214e-02 -3.22645951e-01 3.18627696e+00] [ 7.57996207e-02 9.96788177e-01 -2.58408037e-02 1.84199823e-01] [ 3.23679085e-01 -8.53121414e-05 9.46166921e-01 4.92369287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51650248099999 meters Centerline goodness : 0.697644 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.43252763e-01 -7.99792603e-02 -3.22300394e-01 3.18532570e+00] [ 7.55344714e-02 9.96796423e-01 -2.62951640e-02 1.85055824e-01] [ 3.23370947e-01 4.58196278e-04 9.46272170e-01 4.92331370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54650248099999 meters Centerline goodness : 0.698313 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43350727e-01 -8.01396835e-02 -3.21973658e-01 3.18494906e+00] [ 7.53297661e-02 9.96782382e-01 -2.73917904e-02 1.86284867e-01] [ 3.23132839e-01 1.58586510e-03 9.46352288e-01 4.91772206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57650248099999 meters Centerline goodness : 0.694144 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43364001e-01 -8.01152183e-02 -3.21940854e-01 3.18493138e+00] [ 7.51952541e-02 9.96783737e-01 -2.77102171e-02 1.87116310e-01] [ 3.23125418e-01 1.93239689e-03 9.46354178e-01 4.91653665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60650248099999 meters Centerline goodness : 0.695494 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43480838e-01 -7.62026328e-02 -3.22547776e-01 3.18447992e+00] [ 7.25420143e-02 9.97091444e-01 -2.33732590e-02 1.86737783e-01] [ 3.23390731e-01 -1.34604339e-03 9.46264563e-01 4.92977159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.636502481 meters Centerline goodness : 0.694233 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43471449e-01 -7.65095705e-02 -3.22502575e-01 3.18442271e+00] [ 7.27885772e-02 9.97068115e-01 -2.36007694e-02 1.86893523e-01] [ 3.23362719e-01 -1.20785149e-03 9.46274322e-01 4.92991962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.666502481 meters Centerline goodness : 0.694217 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.43476233e-01 -7.67263345e-02 -3.22437074e-01 3.18510162e+00] [ 7.29632640e-02 9.97051573e-01 -2.37596963e-02 1.86716794e-01] [ 3.23309386e-01 -1.10935261e-03 9.46292666e-01 4.92329761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.696502481 meters Centerline goodness : 0.694675 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.43164358e-01 -7.79399947e-02 -3.23057813e-01 3.18738014e+00] [ 7.40699222e-02 9.96957518e-01 -2.42766236e-02 1.87564116e-01] [ 3.23967036e-01 -1.03202098e-03 9.46067807e-01 4.91967491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.726502481 meters Centerline goodness : 0.693887 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.43045729e-01 -7.85066560e-02 -3.23266852e-01 3.18822843e+00] [ 7.46219687e-02 9.96912984e-01 -2.44144298e-02 1.87719500e-01] [ 3.24185617e-01 -1.09888519e-03 9.45992853e-01 4.91861479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75650248099998 meters Centerline goodness : 0.691172 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42895936e-01 -7.93976004e-02 -3.23486127e-01 3.18913256e+00] [ 7.56060437e-02 9.96841818e-01 -2.42922845e-02 1.87143615e-01] [ 3.24393249e-01 -1.55240989e-03 9.45921038e-01 4.91863523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78650248099999 meters Centerline goodness : 0.689807 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42710692e-01 -8.01032554e-02 -3.23851848e-01 3.18957894e+00] [ 7.63900529e-02 9.96784682e-01 -2.41838310e-02 1.87257424e-01] [ 3.24747765e-01 -1.94070379e-03 9.45798669e-01 4.92409978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81650248099999 meters Centerline goodness : 0.691763 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42593700e-01 -8.05735142e-02 -3.24075647e-01 3.18990339e+00] [ 7.68316584e-02 9.96746762e-01 -2.43472543e-02 1.87990980e-01] [ 3.24983096e-01 -1.94970089e-03 9.45717815e-01 4.92685446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84650248099999 meters Centerline goodness : 0.691027 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42467986e-01 -8.11011108e-02 -3.24309582e-01 3.19045673e+00] [ 7.73070386e-02 9.96704074e-01 -2.45888463e-02 1.88747434e-01] [ 3.25234864e-01 -1.89721292e-03 9.45631368e-01 4.92797412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87650248099999 meters Centerline goodness : 0.689121 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42207583e-01 -8.23047464e-02 -3.24762681e-01 3.19153181e+00] [ 7.83872754e-02 9.96605656e-01 -2.51515674e-02 1.90231256e-01] [ 3.25730418e-01 -1.75926412e-03 9.45461051e-01 4.93056691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90650248099999 meters Centerline goodness : 0.691805 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42296491e-01 -8.25054195e-02 -3.24453663e-01 3.19038386e+00] [ 7.85562790e-02 9.96589215e-01 -2.52754280e-02 1.90620076e-01] [ 3.25432381e-01 -1.67092544e-03 9.45563839e-01 4.93397339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93650248099999 meters Centerline goodness : 0.690578 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42339511e-01 -8.29673390e-02 -3.24210838e-01 3.18905482e+00] [ 7.89759240e-02 9.96550983e-01 -2.54743170e-02 1.90645299e-01] [ 3.25206166e-01 -1.59939515e-03 9.45641788e-01 4.94065281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96650248099999 meters Centerline goodness : 0.692517 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42286591e-01 -8.35402445e-02 -3.24217533e-01 3.18902923e+00] [ 7.94480664e-02 9.96503438e-01 -2.58631701e-02 1.90982533e-01] [ 3.25244501e-01 -1.38793770e-03 9.45628938e-01 4.94144384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.996502481 meters Centerline goodness : 0.692391 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42314165e-01 -8.35293828e-02 -3.24140180e-01 3.18866265e+00] [ 7.93727095e-02 9.96504614e-01 -2.60485659e-02 1.91713436e-01] [ 3.25183005e-01 -1.18195169e-03 9.45650367e-01 4.94247462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.026502481 meters Centerline goodness : 0.693219 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42467141e-01 -8.31272532e-02 -3.23798623e-01 3.18766024e+00] [ 7.88833585e-02 9.96538605e-01 -2.62340325e-02 1.92354241e-01] [ 3.24858591e-01 -8.17609301e-04 9.45762247e-01 4.94249377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.056502481 meters Centerline goodness : 0.691364 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42656477e-01 -8.28360814e-02 -3.23321745e-01 3.18614404e+00] [ 7.82723971e-02 9.96563153e-01 -2.71166554e-02 1.94004057e-01] [ 3.24456775e-01 2.54522831e-04 9.45900490e-01 4.94260360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.086502481 meters Centerline goodness : 0.691402 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42705232e-01 -8.28412558e-02 -3.23178236e-01 3.18631517e+00] [ 7.80654284e-02 9.96562333e-01 -2.77363585e-02 1.94958303e-01] [ 3.24364971e-01 9.18162859e-04 9.45931563e-01 4.93702042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11650248099998 meters Centerline goodness : 0.690837 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.42905962e-01 -8.26366070e-02 -3.22644601e-01 3.18605750e+00] [ 7.76228835e-02 9.96578240e-01 -2.83989404e-02 1.95547683e-01] [ 3.23887381e-01 1.73292589e-03 9.46094055e-01 4.92642014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14650248099998 meters Centerline goodness : 0.690797 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 9.43053710e-01 -8.22814462e-02 -3.22303372e-01 3.18472375e+00] [ 7.72456577e-02 9.96607336e-01 -2.84064320e-02 1.95482668e-01] [ 3.23547228e-01 1.89225511e-03 9.46210130e-01 4.92972889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17650248099999 meters Centerline goodness : 0.691184 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43299368e-01 -7.79502154e-02 -3.22660915e-01 3.18489877e+00] [ 7.41145586e-02 9.96956637e-01 -2.41763656e-02 1.94954634e-01] [ 3.23563494e-01 -1.10832097e-03 9.46205811e-01 4.93144825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20650248099999 meters Centerline goodness : 0.691184 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43299368e-01 -7.79502154e-02 -3.22660915e-01 3.18489877e+00] [ 7.41145586e-02 9.96956637e-01 -2.41763656e-02 1.94954634e-01] [ 3.23563494e-01 -1.10832097e-03 9.46205811e-01 4.93144825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23650248099999 meters Centerline goodness : 0.691716 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43119359e-01 -7.83538539e-02 -3.23089070e-01 3.18847833e+00] [ 7.41273962e-02 9.96925611e-01 -2.53861302e-02 1.96386842e-01] [ 3.24084870e-01 -7.60062720e-06 9.46028011e-01 4.90976609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26650248099999 meters Centerline goodness : 0.690070 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43108707e-01 -7.84409423e-02 -3.23099033e-01 3.18888794e+00] [ 7.41429010e-02 9.96918743e-01 -2.56095785e-02 1.96669479e-01] [ 3.24112322e-01 1.97116801e-04 9.46018585e-01 4.90629992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29650248099999 meters Centerline goodness : 0.689535 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43177084e-01 -7.83152042e-02 -3.22929895e-01 3.18843549e+00] [ 7.39886984e-02 9.96928596e-01 -2.56718931e-02 1.96990954e-01] [ 3.23948547e-01 3.19978681e-04 9.46074647e-01 4.90584159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32650248099999 meters Centerline goodness : 0.691922 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43239950e-01 -7.86062389e-02 -3.22675466e-01 3.18807358e+00] [ 7.40064978e-02 9.96905098e-01 -2.65191371e-02 1.98892533e-01] [ 3.23761386e-01 1.13382841e-03 9.46138087e-01 4.90295245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35650248099999 meters Centerline goodness : 0.694503 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43433967e-01 -7.87262616e-02 -3.22078447e-01 3.18697903e+00] [ 7.39636474e-02 9.96894876e-01 -2.70182300e-02 1.99363232e-01] [ 3.23205398e-01 1.66781916e-03 9.46327369e-01 4.89985648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.386502481 meters Centerline goodness : 0.692340 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43576712e-01 -7.87846579e-02 -3.21645715e-01 3.18513465e+00] [ 7.40460772e-02 9.96890338e-01 -2.69598188e-02 1.99219313e-01] [ 3.22769526e-01 1.62205371e-03 9.46476203e-01 4.90633786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.416502481 meters Centerline goodness : 0.691230 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43289266e-01 -7.94330267e-02 -3.22328644e-01 3.18595385e+00] [ 7.45518971e-02 9.96838409e-01 -2.74809200e-02 2.01691007e-01] [ 3.23492465e-01 1.89224500e-03 9.46228854e-01 4.91342850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.446502481 meters Centerline goodness : 0.690396 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43042223e-01 -8.01186138e-02 -3.22881361e-01 3.18735563e+00] [ 7.51040039e-02 9.96783044e-01 -2.79812653e-02 2.03000486e-01] [ 3.24084486e-01 2.13783166e-03 9.46025727e-01 4.91403150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.476502481 meters Centerline goodness : 0.694578 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43159439e-01 -8.10452013e-02 -3.22307225e-01 3.18700990e+00] [ 7.58484183e-02 9.96707047e-01 -2.86719344e-02 2.03207836e-01] [ 3.23569605e-01 2.59571236e-03 9.46200810e-01 4.90689573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50650248099998 meters Centerline goodness : 0.695183 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43280969e-01 -8.10646725e-02 -3.21946473e-01 3.18617274e+00] [ 7.58962895e-02 9.96705611e-01 -2.85950900e-02 2.02886060e-01] [ 3.23203908e-01 2.53866150e-03 9.46325942e-01 4.90654531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53650248099999 meters Centerline goodness : 0.696140 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43226437e-01 -8.18171541e-02 -3.21915892e-01 3.18605400e+00] [ 7.66909592e-02 9.96644737e-01 -2.85965871e-02 2.02949649e-01] [ 3.23175471e-01 2.28501837e-03 9.46336300e-01 4.90844676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56650248099999 meters Centerline goodness : 0.695248 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43213902e-01 -8.20920464e-02 -3.21882635e-01 3.18580588e+00] [ 7.70470610e-02 9.96622762e-01 -2.84045858e-02 2.02431260e-01] [ 3.23127351e-01 1.99148923e-03 9.46353395e-01 4.91120791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59650248099999 meters Centerline goodness : 0.696285 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43019514e-01 -8.27073984e-02 -3.22294405e-01 3.18605927e+00] [ 7.78369010e-02 9.96573010e-01 -2.79937979e-02 2.02648958e-01] [ 3.23505199e-01 1.31230006e-03 9.46225483e-01 4.92000558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62650248099999 meters Centerline goodness : 0.696730 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.42939529e-01 -8.25687676e-02 -3.22563859e-01 3.18645542e+00] [ 7.78174089e-02 9.96584922e-01 -2.76214388e-02 2.03125830e-01] [ 3.23742947e-01 9.44262799e-04 9.46144605e-01 4.92273057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65650248099999 meters Centerline goodness : 0.697816 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 9.43141126e-01 -8.22692410e-02 -3.22050598e-01 3.18497894e+00] [ 7.75999317e-02 9.96609829e-01 -2.73331186e-02 2.02727870e-01] [ 3.23207466e-01 7.87883869e-04 9.46327804e-01 4.92454303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68650248099999 meters Centerline goodness : 0.698548 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 9.43194868e-01 -8.25057996e-02 -3.21832618e-01 3.18445941e+00] [ 7.78323809e-02 9.96590279e-01 -2.73849672e-02 2.02674422e-01] [ 3.22994677e-01 7.80361635e-04 9.46400460e-01 4.92484364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71650248099999 meters Centerline goodness : 0.697567 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 9.43122649e-01 -8.25656281e-02 -3.22028858e-01 3.18462829e+00] [ 7.78248692e-02 9.96585167e-01 -2.75915750e-02 2.03475148e-01] [ 3.23207299e-01 9.60385547e-04 9.46327702e-01 4.92706944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.746502481 meters Centerline goodness : 0.698709 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.42907066e-01 -8.35874372e-02 -3.22396349e-01 3.18619541e+00] [ 7.85972077e-02 9.96499282e-01 -2.84896485e-02 2.04921105e-01] [ 3.23649107e-01 1.52363806e-03 9.46175953e-01 4.92273138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.776502481 meters Centerline goodness : 0.698095 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.42890722e-01 -8.39722814e-02 -3.22344136e-01 3.18716495e+00] [ 7.88448239e-02 9.96466305e-01 -2.89550672e-02 2.05153070e-01] [ 3.23636494e-01 1.88629754e-03 9.46179614e-01 4.91415619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.806502481 meters Centerline goodness : 0.696088 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.42820647e-01 -8.43669652e-02 -3.22446031e-01 3.18747615e+00] [ 7.90838787e-02 9.96432123e-01 -2.94748257e-02 2.06179223e-01] [ 3.23782285e-01 2.28919139e-03 9.46128845e-01 4.91364533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.836502481 meters Centerline goodness : 0.698244 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.42940801e-01 -8.45177673e-02 -3.22054953e-01 3.18680770e+00] [ 7.91459468e-02 9.96418646e-01 -2.97624260e-02 2.06357606e-01] [ 3.23417014e-01 2.57486160e-03 9.46253034e-01 4.91150290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86650248099998 meters Centerline goodness : 0.700710 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43042867e-01 -8.42429173e-02 -3.21828030e-01 3.18556511e+00] [ 7.88821050e-02 9.96441831e-01 -2.96865389e-02 2.06805081e-01] [ 3.23183793e-01 2.60920629e-03 9.46332620e-01 4.91629721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89650248099998 meters Centerline goodness : 0.700342 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43132940e-01 -8.06140361e-02 -3.22492846e-01 3.18583951e+00] [ 7.64980897e-02 9.96745162e-01 -2.54386486e-02 2.07612829e-01] [ 3.23493896e-01 -6.78059195e-04 9.46230014e-01 4.92524289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92650248099999 meters Centerline goodness : 0.700194 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43042688e-01 -8.12137600e-02 -3.22606282e-01 3.18681782e+00] [ 7.69592148e-02 9.96696641e-01 -2.59438747e-02 2.08429326e-01] [ 3.23647598e-01 -3.61344825e-04 9.46177627e-01 4.92035345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95650248099999 meters Centerline goodness : 0.702588 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43044772e-01 -8.18072291e-02 -3.22450207e-01 3.18734115e+00] [ 7.75359321e-02 9.96648093e-01 -2.60913571e-02 2.07703835e-01] [ 3.23503845e-01 -3.96159448e-04 9.46226773e-01 4.91431464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98650248099999 meters Centerline goodness : 0.701305 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43091839e-01 -8.21011911e-02 -3.22237765e-01 3.18709329e+00] [ 7.77606061e-02 9.96623976e-01 -2.63427299e-02 2.07748433e-01] [ 3.23312652e-01 -2.13790325e-04 9.46292176e-01 4.91213199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01650248099999 meters Centerline goodness : 0.701704 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43111161e-01 -8.23657122e-02 -3.22113688e-01 3.18693341e+00] [ 7.79725736e-02 9.96602168e-01 -2.65404524e-02 2.07717960e-01] [ 3.23205224e-01 -8.54363890e-05 9.46328894e-01 4.91115758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04650248099999 meters Centerline goodness : 0.702875 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43233637e-01 -8.25255780e-02 -3.21713903e-01 3.18617662e+00] [ 7.81451197e-02 9.96588940e-01 -2.65296985e-02 2.07553388e-01] [ 3.22805896e-01 -1.16667487e-04 9.46465181e-01 4.90987478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07650248099999 meters Centerline goodness : 0.705393 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43339817e-01 -8.24792305e-02 -3.21414323e-01 3.18562448e+00] [ 7.80682610e-02 9.96592784e-01 -2.66114679e-02 2.07983262e-01] [ 3.22514088e-01 1.13999449e-05 9.46564664e-01 4.90809706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10650248099999 meters Centerline goodness : 0.705967 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43479235e-01 -8.21355589e-02 -3.21092950e-01 3.18564493e+00] [ 7.77231760e-02 9.96621162e-01 -2.65587690e-02 2.08322669e-01] [ 3.22189449e-01 1.01283171e-04 9.46675208e-01 4.90103428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.136502481 meters Centerline goodness : 0.706607 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43734717e-01 -8.16709508e-02 -3.20460045e-01 3.18529983e+00] [ 7.70166553e-02 9.96658862e-01 -2.71946088e-02 2.09136840e-01] [ 3.21610354e-01 9.83735570e-04 9.46871593e-01 4.88878562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.166502481 meters Centerline goodness : 0.708889 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43841695e-01 -8.17143045e-02 -3.20133765e-01 3.18541073e+00] [ 7.68846063e-02 9.96654590e-01 -2.77197859e-02 2.09647015e-01] [ 3.21327889e-01 1.54973119e-03 9.46966729e-01 4.88079209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.196502481 meters Centerline goodness : 0.707285 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.44023178e-01 -8.11337712e-02 -3.19746071e-01 3.18596846e+00] [ 7.60397655e-02 9.96700079e-01 -2.84060883e-02 2.10412064e-01] [ 3.20995628e-01 2.50258953e-03 9.47077370e-01 4.86587835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.226502481 meters Centerline goodness : 0.707472 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.44227702e-01 -8.07439298e-02 -3.19240450e-01 3.18555863e+00] [ 7.56033713e-02 9.96731058e-01 -2.84838122e-02 2.10524123e-01] [ 3.20496766e-01 2.75955027e-03 9.47245590e-01 4.85814766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25650248099998 meters Centerline goodness : 0.707618 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 9.44647348e-01 -8.00491432e-02 -3.18172158e-01 3.18253185e+00] [ 7.49015633e-02 9.96786412e-01 -2.84007726e-02 2.10717872e-01] [ 3.19423141e-01 2.99712251e-03 9.47607447e-01 4.85986560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28650248099999 meters Centerline goodness : 0.710093 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 0.94494015 -0.07975354 -0.31737595 3.18081084] [ 0.07453928 0.99680905 -0.02855885 0.2108407 ] [ 0.31864089 0.00332943 0.94786966 0.48566528] [ 0. 0. 0. 1. ]] SLAMing on 103.31650248099999 meters Centerline goodness : 0.709073 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94508533 -0.0798406 -0.31692144 3.18113196] [ 0.07437945 0.99679908 -0.02931363 0.21100201] [ 0.31824742 0.00413144 0.94799869 0.48439103] [ 0. 0. 0. 1. ]] SLAMing on 103.34650248099999 meters Centerline goodness : 0.706916 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94500995 -0.08026418 -0.31703921 3.18255797] [ 0.07469457 0.99676396 -0.02970399 0.21082127] [ 0.31839742 0.00438946 0.94794716 0.48349642] [ 0. 0. 0. 1. ]] SLAMing on 103.37650248099999 meters Centerline goodness : 0.705887 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94495643 -0.08037478 -0.31717068 3.1842233 ] [ 0.07458761 0.99675198 -0.03036748 0.21245001] [ 0.31858128 0.00503894 0.94788215 0.48236616] [ 0. 0. 0. 1. ]] SLAMing on 103.40650248099999 meters Centerline goodness : 0.705174 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94499979 -0.08026777 -0.31706859 3.18391304] [ 0.07436713 0.99675859 -0.03068947 0.21408486] [ 0.31850421 0.00542206 0.94790594 0.48233662] [ 0. 0. 0. 1. ]] SLAMing on 103.43650248099999 meters Centerline goodness : 0.707133 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 9.45512472e-01 -7.55840556e-02 -3.16691040e-01 3.18241374e+00] [ 7.09379622e-02 9.97136782e-01 -2.61924490e-02 2.12783805e-01] [ 3.17764016e-01 2.29987020e-03 9.48167043e-01 4.82381086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46650248099999 meters Centerline goodness : 0.706283 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 9.45702887e-01 -7.53641674e-02 -3.16174464e-01 3.18124469e+00] [ 7.06814982e-02 9.97152953e-01 -2.62700064e-02 2.12721520e-01] [ 3.17254118e-01 2.49593607e-03 9.48337279e-01 4.82264498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.496502481 meters Centerline goodness : 0.704866 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94581397 -0.07548893 -0.31581221 3.18047919] [ 0.07057232 0.99714137 -0.02699342 0.21411468] [ 0.31694712 0.00324316 0.94843766 0.48203444] [ 0. 0. 0. 1. ]] SLAMing on 103.526502481 meters Centerline goodness : 0.704394 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94585493 -0.07574802 -0.31562746 3.1806407 ] [ 0.07071343 0.99712053 -0.02739069 0.21446673] [ 0.31679341 0.00358852 0.94848777 0.4815863 ] [ 0. 0. 0. 1. ]] SLAMing on 103.556502481 meters Centerline goodness : 0.701435 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94577078 -0.07640118 -0.31572217 3.18073439] [ 0.07129509 0.9970703 -0.02770959 0.21484443] [ 0.31691424 0.00369748 0.94844699 0.48178423] [ 0. 0. 0. 1. ]] SLAMing on 103.586502481 meters Centerline goodness : 0.701244 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94582677 -0.07686925 -0.31544072 3.18019093] [ 0.07168036 0.99703353 -0.02803703 0.21523255] [ 0.31666016 0.00390727 0.94853101 0.48174567] [ 0. 0. 0. 1. ]] SLAMing on 103.61650248099998 meters Centerline goodness : 0.701153 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94571004 -0.07725678 -0.31569592 3.18110092] [ 0.07199352 0.99700299 -0.02831917 0.2153866 ] [ 0.31693762 0.00405366 0.94843772 0.48156608] [ 0. 0. 0. 1. ]] SLAMing on 103.64650248099998 meters Centerline goodness : 0.700301 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.9454611 -0.07755849 -0.31636687 3.18326279] [ 0.07200065 0.99697593 -0.02923865 0.2179093 ] [ 0.31767786 0.00486539 0.94818622 0.4810459 ] [ 0. 0. 0. 1. ]] SLAMing on 103.67650248099999 meters Centerline goodness : 0.697510 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94546732 -0.07766214 -0.31632285 3.18328956] [ 0.07193227 0.99696515 -0.0297697 0.21961997] [ 0.31767483 0.00539246 0.94818438 0.48086489] [ 0. 0. 0. 1. ]] SLAMing on 103.70650248099999 meters Centerline goodness : 0.696104 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.45575236e-01 -7.36743233e-02 -3.16953571e-01 3.18377841e+00] [ 6.89282458e-02 9.97278122e-01 -2.61771729e-02 2.20851873e-01] [ 3.18019448e-01 2.90543275e-03 9.48079738e-01 4.81348900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73650248099999 meters Centerline goodness : 0.697355 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94573727 -0.0738332 -0.31643273 3.18265121] [ 0.06890527 0.99726448 -0.02675116 0.22219371] [ 0.31754225 0.00349568 0.94823768 0.48116323] [ 0. 0. 0. 1. ]] SLAMing on 103.76650248099999 meters Centerline goodness : 0.697226 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94576607 -0.07463699 -0.31615798 3.18149146] [ 0.06949947 0.99720256 -0.02751142 0.22236979] [ 0.31732691 0.00404656 0.94830757 0.48166661] [ 0. 0. 0. 1. ]] SLAMing on 103.79650248099999 meters Centerline goodness : 0.697281 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94555726 -0.075933 -0.31647376 3.18275624] [ 0.07053724 0.99710224 -0.0284888 0.22303108] [ 0.31771994 0.00461461 0.94817337 0.48140559] [ 0. 0. 0. 1. ]] SLAMing on 103.82650248099999 meters Centerline goodness : 0.695232 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94546917 -0.07665124 -0.31656379 3.18302355] [ 0.07113656 0.99704612 -0.02895907 0.22406986] [ 0.31784845 0.00486065 0.94812907 0.48145576] [ 0. 0. 0. 1. ]] SLAMing on 103.85650248099999 meters Centerline goodness : 0.696637 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94526797 -0.07750466 -0.3169566 3.18403537] [ 0.0718939 0.99697954 -0.02937803 0.22562725] [ 0.31827617 0.00498286 0.94798494 0.48151959] [ 0. 0. 0. 1. ]] SLAMing on 103.886502481 meters Centerline goodness : 0.695076 Centerline is valid? [False, False] Translation: X:3.19, Y:0.23, Z:0.48 [[ 0.94509849 -0.07804472 -0.31732927 3.18510924] [ 0.07236572 0.99693696 -0.02966298 0.22691193] [ 0.31867232 0.00507068 0.94785138 0.48147221] [ 0. 0. 0. 1. ]] SLAMing on 103.916502481 meters Centerline goodness : 0.693599 Centerline is valid? [False, False] Translation: X:3.19, Y:0.23, Z:0.48 [[ 0.94504238 -0.07875804 -0.31732014 3.18537466] [ 0.0729047 0.9968786 -0.03029802 0.22835985] [ 0.31871587 0.00549878 0.94783435 0.4812676 ] [ 0. 0. 0. 1. ]] SLAMing on 103.946502481 meters Centerline goodness : 0.696025 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94509252 -0.07940975 -0.31700822 3.1846268 ] [ 0.07343222 0.99682512 -0.03077961 0.22888899] [ 0.31844596 0.00581096 0.94792321 0.48131382] [ 0. 0. 0. 1. ]] SLAMing on 103.976502481 meters Centerline goodness : 0.696032 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94537716 -0.07937942 -0.316166 3.18205103] [ 0.07360298 0.99683054 -0.03019064 0.22835937] [ 0.31756044 0.00527079 0.94822338 0.48182355] [ 0. 0. 0. 1. ]] SLAMing on 104.00650248099998 meters Centerline goodness : 0.696068 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94540564 -0.07937428 -0.31608211 3.18144216] [ 0.07374132 0.99683319 -0.02976269 0.22814936] [ 0.31744353 0.0048295 0.94826488 0.48228344] [ 0. 0. 0. 1. ]] SLAMing on 104.03650248099999 meters Centerline goodness : 0.695830 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94510513 -0.08040809 -0.31671886 3.18255575] [ 0.07478158 0.99675153 -0.02990172 0.2289811 ] [ 0.31809435 0.00457553 0.94804802 0.48284696] [ 0. 0. 0. 1. ]] SLAMing on 104.06650248099999 meters Centerline goodness : 0.695027 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94498822 -0.08098877 -0.31691969 3.18337208] [ 0.07535094 0.99670488 -0.03002703 0.22916234] [ 0.31830725 0.00449499 0.94797695 0.48274771] [ 0. 0. 0. 1. ]] SLAMing on 104.09650248099999 meters Centerline goodness : 0.694134 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94473424 -0.08173603 -0.31748454 3.18400395] [ 0.07607641 0.99664437 -0.03020546 0.22984373] [ 0.31888806 0.00438305 0.94778225 0.48348326] [ 0. 0. 0. 1. ]] SLAMing on 104.12650248099999 meters Centerline goodness : 0.694134 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94473424 -0.08173603 -0.31748454 3.18400395] [ 0.07607641 0.99664437 -0.03020546 0.22984373] [ 0.31888806 0.00438305 0.94778225 0.48348326] [ 0. 0. 0. 1. ]] SLAMing on 104.15650248099999 meters Centerline goodness : 0.693066 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94466609 -0.08202964 -0.31761159 3.18427347] [ 0.07642527 0.99662125 -0.03008743 0.23007818] [ 0.31900652 0.00414903 0.94774344 0.48362554] [ 0. 0. 0. 1. ]] SLAMing on 104.18650248099999 meters Centerline goodness : 0.692703 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94455284 -0.08245357 -0.31783854 3.18445076] [ 0.07689071 0.99658717 -0.03003044 0.230101 ] [ 0.31922993 0.00392651 0.94766916 0.48405574] [ 0. 0. 0. 1. ]] SLAMing on 104.21650248099999 meters Centerline goodness : 0.693398 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94444403 -0.08306223 -0.31800337 3.18486805] [ 0.07750089 0.9965371 -0.0301234 0.22980919] [ 0.31940427 0.00380433 0.94761091 0.48414016] [ 0. 0. 0. 1. ]] SLAMing on 104.246502481 meters Centerline goodness : 0.693866 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94447926 -0.08259984 -0.31801918 3.18464239] [ 0.07710354 0.99657601 -0.02985455 0.23022229] [ 0.31939627 0.00367659 0.94761411 0.48429518] [ 0. 0. 0. 1. ]] SLAMing on 104.276502481 meters Centerline goodness : 0.692923 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94444126 -0.08266185 -0.3181159 3.18439725] [ 0.07709786 0.99657015 -0.03006428 0.2309885 ] [ 0.31950998 0.00386789 0.94757502 0.48465664] [ 0. 0. 0. 1. ]] SLAMing on 104.306502481 meters Centerline goodness : 0.689748 Centerline is valid? [False, False] Translation: X:3.19, Y:0.23, Z:0.48 [[ 0.94446333 -0.08264501 -0.31805473 3.18521861] [ 0.07670209 0.99656621 -0.03118619 0.232515 ] [ 0.31953998 0.00505875 0.94755929 0.4837383 ] [ 0. 0. 0. 1. ]] SLAMing on 104.336502481 meters Centerline goodness : 0.687689 Centerline is valid? [False, False] Translation: X:3.19, Y:0.23, Z:0.48 [[ 0.94448658 -0.0824158 -0.31804519 3.18544108] [ 0.07638634 0.99658358 -0.03140549 0.23289363] [ 0.31954692 0.00536776 0.94755525 0.48346538] [ 0. 0. 0. 1. ]] SLAMing on 104.36650248099998 meters Centerline goodness : 0.690100 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.44845069e-01 -7.76641966e-02 -3.18176158e-01 3.18398398e+00] [ 7.27833935e-02 9.96976289e-01 -2.72186707e-02 2.31853564e-01] [ 3.19328002e-01 2.55948632e-03 9.47640795e-01 4.84430214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39650248099998 meters Centerline goodness : 0.692381 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45096692e-01 -7.71119199e-02 -3.17562584e-01 3.18222795e+00] [ 7.21816546e-02 9.97018339e-01 -2.72807809e-02 2.32275848e-01] [ 3.18719393e-01 2.86078296e-03 9.47844800e-01 4.84521284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42650248099999 meters Centerline goodness : 0.691942 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94529878 -0.07668139 -0.31706494 3.18121201] [ 0.07152032 0.99704878 -0.02790286 0.23267244] [ 0.31826884 0.00369995 0.94799328 0.48422399] [ 0. 0. 0. 1. ]] SLAMing on 104.45650248099999 meters Centerline goodness : 0.693100 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.9453009 -0.07659398 -0.31707975 3.1818176 ] [ 0.07135819 0.99705455 -0.02811095 0.23292119] [ 0.31829894 0.00394707 0.94798218 0.48372997] [ 0. 0. 0. 1. ]] SLAMing on 104.48650248099999 meters Centerline goodness : 0.692927 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94520768 -0.07650944 -0.31737792 3.18242329] [ 0.07115803 0.99705961 -0.02843724 0.23400303] [ 0.31862042 0.00429511 0.94787266 0.48374965] [ 0. 0. 0. 1. ]] SLAMing on 104.51650248099999 meters Centerline goodness : 0.690703 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94530187 -0.07614254 -0.31718556 3.18199215] [ 0.0708392 0.997088 -0.02823705 0.23408453] [ 0.31841196 0.00422336 0.94794303 0.48369209] [ 0. 0. 0. 1. ]] SLAMing on 104.54650248099999 meters Centerline goodness : 0.694064 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94552909 -0.07610183 -0.31651739 3.18072339] [ 0.07067987 0.99708914 -0.0285938 0.23360953] [ 0.31777209 0.00466486 0.94815565 0.48335798] [ 0. 0. 0. 1. ]] SLAMing on 104.57650248099999 meters Centerline goodness : 0.693395 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94560215 -0.07605432 -0.31631049 3.18007332] [ 0.07070808 0.99709373 -0.02836318 0.23232776] [ 0.31754834 0.00445457 0.94823162 0.48348513] [ 0. 0. 0. 1. ]] SLAMing on 104.60650248099999 meters Centerline goodness : 0.691032 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.9454923 -0.07609366 -0.31662922 3.18070002] [ 0.07091449 0.99709307 -0.02786654 0.23108984] [ 0.31782927 0.00389399 0.94813997 0.48376135] [ 0. 0. 0. 1. ]] SLAMing on 104.636502481 meters Centerline goodness : 0.689432 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94535566 -0.07607355 -0.31704179 3.18200554] [ 0.07096098 0.99709553 -0.02765955 0.23116637] [ 0.31822511 0.00365052 0.94800815 0.4835751 ] [ 0. 0. 0. 1. ]] SLAMing on 104.666502481 meters Centerline goodness : 0.692121 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94535228 -0.07599959 -0.31706959 3.18175246] [ 0.0709779 0.99710214 -0.02737643 0.23106274] [ 0.31823136 0.00337544 0.94800707 0.48385044] [ 0. 0. 0. 1. ]] SLAMing on 104.696502481 meters Centerline goodness : 0.693112 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45514446e-01 -7.52177793e-02 -3.16772344e-01 3.18034693e+00] [ 7.04263282e-02 9.97163173e-01 -2.65657305e-02 2.30625415e-01] [ 3.17871931e-01 2.80916891e-03 9.48129497e-01 4.84432577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.726502481 meters Centerline goodness : 0.694901 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45493683e-01 -7.57217468e-02 -3.16714243e-01 3.18014340e+00] [ 7.08634063e-02 9.97124650e-01 -2.68479154e-02 2.30164683e-01] [ 3.17836550e-01 2.94108429e-03 9.48140959e-01 4.84559500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75650248099998 meters Centerline goodness : 0.694757 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45494234e-01 -7.62644406e-02 -3.16582356e-01 3.18043568e+00] [ 7.14062273e-02 9.97083516e-01 -2.69371942e-02 2.29090073e-01] [ 3.17713399e-01 2.86301016e-03 9.48182472e-01 4.84212397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78650248099999 meters Centerline goodness : 0.692881 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45395188e-01 -7.71469865e-02 -3.16664305e-01 3.18119292e+00] [ 7.24002228e-02 9.97016936e-01 -2.67476624e-02 2.28138552e-01] [ 3.17783176e-01 2.36054510e-03 9.48160472e-01 4.84012196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81650248099999 meters Centerline goodness : 0.694253 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45316840e-01 -7.76041633e-02 -3.16786469e-01 3.18168471e+00] [ 7.29315188e-02 9.96982159e-01 -2.66001684e-02 2.28135049e-01] [ 3.17894741e-01 2.04186884e-03 9.48123813e-01 4.84021832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84650248099999 meters Centerline goodness : 0.695234 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45373901e-01 -7.82959434e-02 -3.16445782e-01 3.18118809e+00] [ 7.38664891e-02 9.96929445e-01 -2.59889084e-02 2.26622021e-01] [ 3.17508944e-01 1.19449677e-03 9.48254525e-01 4.84126235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87650248099999 meters Centerline goodness : 0.697446 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45350827e-01 -7.91475832e-02 -3.16302819e-01 3.18091586e+00] [ 7.49066777e-02 9.96862796e-01 -2.55647147e-02 2.25131217e-01] [ 3.17333898e-01 4.74430865e-04 9.48313752e-01 4.84322169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90650248099999 meters Centerline goodness : 0.697708 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.45250873e-01 -7.96111760e-02 -3.16485147e-01 3.18099367e+00] [ 7.55984108e-02 9.96825937e-01 -2.49585848e-02 2.24290526e-01] [ 3.17467586e-01 -3.33650130e-04 9.48269066e-01 4.84855293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93650248099999 meters Centerline goodness : 0.696173 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.49 [[ 9.45358839e-01 -7.95122360e-02 -3.16187398e-01 3.18015734e+00] [ 7.55704684e-02 9.96833757e-01 -2.47298619e-02 2.24179140e-01] [ 3.17152598e-01 -5.15836180e-04 9.48374379e-01 4.85028187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96650248099999 meters Centerline goodness : 0.698135 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.49 [[ 9.45574093e-01 -7.93186937e-02 -3.15591791e-01 3.17829098e+00] [ 7.51582750e-02 9.96849277e-01 -2.53525756e-02 2.25207914e-01] [ 3.16608382e-01 2.53404097e-04 9.48556307e-01 4.85217056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.996502481 meters Centerline goodness : 0.699115 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45761142e-01 -7.90039629e-02 -3.15109879e-01 3.17760331e+00] [ 7.46484798e-02 9.96873839e-01 -2.58873265e-02 2.25640279e-01] [ 3.16169996e-01 9.60754030e-04 9.48702066e-01 4.84685352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.026502481 meters Centerline goodness : 0.697740 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.46119230e-01 -7.79580710e-02 -3.14294356e-01 3.17596131e+00] [ 7.33598308e-02 9.96954693e-01 -2.64513760e-02 2.26278619e-01] [ 3.15399331e-01 1.96957470e-03 9.48956997e-01 4.84096403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.056502481 meters Centerline goodness : 0.697395 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.48 [[ 9.46335273e-01 -7.77251128e-02 -3.13701064e-01 3.17464270e+00] [ 7.30117713e-02 9.96971879e-01 -2.67647713e-02 2.26625090e-01] [ 3.14831435e-01 2.42457680e-03 9.49144504e-01 4.83936458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.086502481 meters Centerline goodness : 0.697911 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.48 [[ 9.46357904e-01 -7.78815182e-02 -3.13593983e-01 3.17439772e+00] [ 7.30672397e-02 9.96958888e-01 -2.70952647e-02 2.27212132e-01] [ 3.14750529e-01 2.72837118e-03 9.49170512e-01 4.83900881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11650248099998 meters Centerline goodness : 0.697971 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.46233010e-01 -7.81449660e-02 -3.13905170e-01 3.17530152e+00] [ 7.33041595e-02 9.96938238e-01 -2.72148729e-02 2.27973100e-01] [ 3.15070773e-01 2.74105648e-03 9.49064221e-01 4.83841164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14650248099998 meters Centerline goodness : 0.699441 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.46201339e-01 -7.83527126e-02 -3.13948847e-01 3.17564211e+00] [ 7.36226778e-02 9.96922924e-01 -2.69143815e-02 2.26729051e-01] [ 3.15091617e-01 2.35266902e-03 9.49058343e-01 4.83745994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17650248099999 meters Centerline goodness : 0.699330 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.46160450e-01 -7.83588039e-02 -3.14070534e-01 3.17606036e+00] [ 7.38229836e-02 9.96923727e-01 -2.63296376e-02 2.25451215e-01] [ 3.15167526e-01 1.72643787e-03 9.49034483e-01 4.83750803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20650248099999 meters Centerline goodness : 0.700191 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.46167929e-01 -7.84011259e-02 -3.14037439e-01 3.17588078e+00] [ 7.41643998e-02 9.96921592e-01 -2.54358164e-02 2.24427401e-01] [ 3.15064900e-01 7.76155589e-04 9.49069811e-01 4.84041832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23650248099999 meters Centerline goodness : 0.700919 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.46110950e-01 -7.87107090e-02 -3.14131650e-01 3.17578149e+00] [ 7.45790706e-02 9.96897425e-01 -2.51691535e-02 2.23701692e-01] [ 3.15138115e-01 3.85165215e-04 9.49045742e-01 4.84424246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26650248099999 meters Centerline goodness : 0.703538 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.45947420e-01 -8.31444543e-02 -3.13481224e-01 3.17578732e+00] [ 7.80058427e-02 9.96533268e-01 -2.89229094e-02 2.23551371e-01] [ 3.14799248e-01 2.90618449e-03 9.49153827e-01 4.83703461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29650248099999 meters Centerline goodness : 0.702248 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94560729 -0.08727519 -0.31338459 3.17599403] [ 0.08138891 0.99617359 -0.03184362 0.223026 ] [ 0.31496461 0.00460553 0.94909224 0.4840334 ] [ 0. 0. 0. 1. ]] SLAMing on 105.32650248099999 meters Centerline goodness : 0.701969 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94543167 -0.08773376 -0.31378614 3.1766238 ] [ 0.08203377 0.99613633 -0.03135085 0.22219189] [ 0.3153243 0.00389903 0.94897597 0.48454594] [ 0. 0. 0. 1. ]] SLAMing on 105.35650248099999 meters Centerline goodness : 0.702426 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94515012 -0.08875545 -0.3143465 3.1783979 ] [ 0.08316124 0.99604785 -0.03119112 0.22243433] [ 0.31587254 0.00333885 0.94879576 0.48446885] [ 0. 0. 0. 1. ]] SLAMing on 105.386502481 meters Centerline goodness : 0.703266 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.45136291e-01 -8.89447046e-02 -3.14334585e-01 3.17788445e+00] [ 8.34516777e-02 9.96032078e-01 -3.09179146e-02 2.21662483e-01] [ 3.15837315e-01 2.98989469e-03 9.48808648e-01 4.84977760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.416502481 meters Centerline goodness : 0.704815 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.49 [[ 9.45404167e-01 -8.92232463e-02 -3.13448838e-01 3.17528831e+00] [ 8.38480198e-02 9.96008092e-01 -3.06168244e-02 2.19442347e-01] [ 3.14929312e-01 2.66320904e-03 9.49111393e-01 4.85491485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.446502481 meters Centerline goodness : 0.701590 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.49 [[ 9.45416921e-01 -8.92503377e-02 -3.13402652e-01 3.17518560e+00] [ 8.38362493e-02 9.96005328e-01 -3.07387416e-02 2.19617960e-01] [ 3.14894154e-01 2.78642357e-03 9.49122704e-01 4.85442382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.476502481 meters Centerline goodness : 0.704309 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 9.45614838e-01 -8.86832492e-02 -3.12966227e-01 3.17418200e+00] [ 8.32530275e-02 9.96055435e-01 -3.07002270e-02 2.19891167e-01] [ 3.14454307e-01 2.97520428e-03 9.49267948e-01 4.85316525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50650248099998 meters Centerline goodness : 0.706419 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 0.94578958 -0.08851038 -0.31248676 3.17295207] [ 0.08301728 0.99606995 -0.03086738 0.22000917] [ 0.31399076 0.00325224 0.94942047 0.48532403] [ 0. 0. 0. 1. ]] SLAMing on 105.53650248099999 meters Centerline goodness : 0.703934 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 0.94571629 -0.08840321 -0.31273882 3.17341292] [ 0.08283628 0.9960787 -0.03107045 0.22109908] [ 0.31425921 0.00347771 0.94933085 0.48542617] [ 0. 0. 0. 1. ]] SLAMing on 105.56650248099999 meters Centerline goodness : 0.703822 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 0.94569721 -0.08849614 -0.31277023 3.17386455] [ 0.08297187 0.99607097 -0.03095617 0.22022258] [ 0.31428085 0.00332403 0.94932423 0.48523962] [ 0. 0. 0. 1. ]] SLAMing on 105.59650248099999 meters Centerline goodness : 0.704789 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.48 [[ 0.94579302 -0.08850764 -0.31247714 3.17354692] [ 0.08301696 0.99607021 -0.03085975 0.21963878] [ 0.3139805 0.00324604 0.94942388 0.48495354] [ 0. 0. 0. 1. ]] SLAMing on 105.62650248099999 meters Centerline goodness : 0.707312 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 9.45809504e-01 -8.81467469e-02 -3.12529251e-01 3.17331991e+00] [ 8.29159401e-02 9.96104425e-01 -3.00153677e-02 2.18961947e-01] [ 3.13957526e-01 2.47516340e-03 9.49433802e-01 4.85359597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65650248099999 meters Centerline goodness : 0.709816 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 9.45808916e-01 -8.80991606e-02 -3.12544448e-01 3.17315614e+00] [ 8.30098778e-02 9.96109636e-01 -2.95796016e-02 2.18487179e-01] [ 3.13934475e-01 2.03237451e-03 9.49442476e-01 4.85628531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68650248099999 meters Centerline goodness : 0.709314 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 9.45979799e-01 -8.81207334e-02 -3.12020763e-01 3.17191836e+00] [ 8.32900180e-02 9.96109006e-01 -2.88031528e-02 2.16325206e-01] [ 3.13344847e-01 1.25898574e-03 9.49638574e-01 4.85886328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71650248099999 meters Centerline goodness : 0.708050 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.49 [[ 9.46030764e-01 -8.81415065e-02 -3.11860335e-01 3.17157634e+00] [ 8.35265001e-02 9.96107792e-01 -2.81529957e-02 2.14813357e-01] [ 3.13127957e-01 5.84997747e-04 9.49710767e-01 4.86018686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.746502481 meters Centerline goodness : 0.708989 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 9.45600608e-01 -9.30393886e-02 -3.11742142e-01 3.17245265e+00] [ 8.74125530e-02 9.95657861e-01 -3.20073359e-02 2.15027163e-01] [ 3.13366457e-01 3.01597976e-03 9.49627489e-01 4.85776672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.776502481 meters Centerline goodness : 0.710227 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.49 [[ 9.45466532e-01 -9.35732010e-02 -3.11988931e-01 3.17409272e+00] [ 8.82196190e-02 9.95610323e-01 -3.12631209e-02 2.13489503e-01] [ 3.13544790e-01 2.03468996e-03 9.49571232e-01 4.85324729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.806502481 meters Centerline goodness : 0.708001 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 9.45011835e-01 -9.52813190e-02 -3.12848368e-01 3.17645894e+00] [ 9.04777655e-02 9.95450383e-01 -2.98715515e-02 2.11462155e-01] [ 3.14271228e-01 -7.68515283e-05 9.49333234e-01 4.85761703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.836502481 meters Centerline goodness : 0.706539 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 9.44975674e-01 -9.57609408e-02 -3.12811155e-01 3.17701028e+00] [ 9.12252495e-02 9.95403859e-01 -2.91395247e-02 2.10126374e-01] [ 3.14163859e-01 -1.00013365e-03 9.49368248e-01 4.85605426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86650248099998 meters Centerline goodness : 0.351592 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 9.44697152e-01 -1.00749940e-01 -3.12084508e-01 3.17608753e+00] [ 9.52829174e-02 9.94911042e-01 -3.27594840e-02 2.09319325e-01] [ 3.13796839e-01 1.21146885e-03 9.49489377e-01 4.85826680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89650248099998 meters Centerline goodness : 0.710944 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 9.44766468e-01 -1.00965988e-01 -3.11804729e-01 3.17567419e+00] [ 9.58405550e-02 9.94889870e-01 -3.17605714e-02 2.07039201e-01] [ 3.13418104e-01 1.22784548e-04 9.49615226e-01 4.85921048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92650248099999 meters Centerline goodness : 0.712280 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 9.44687829e-01 -1.02043716e-01 -3.11692132e-01 3.17437452e+00] [ 9.74607608e-02 9.94778351e-01 -3.02891338e-02 2.04310871e-01] [ 3.13155401e-01 -1.76397628e-03 9.49700260e-01 4.87403378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95650248099999 meters Centerline goodness : 0.714536 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 0.94441602 -0.10283066 -0.31225668 3.17510991] [ 0.09874322 0.99469264 -0.02891924 0.20375525] [ 0.31357321 -0.00352143 0.9495575 0.48841708] [ 0. 0. 0. 1. ]] SLAMing on 105.98650248099999 meters Centerline goodness : 0.712230 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 0.94422262 -0.10334335 -0.31267201 3.17613226] [ 0.09938327 0.9946375 -0.02862182 0.20325948] [ 0.31395318 -0.00404899 0.94942983 0.48868107] [ 0. 0. 0. 1. ]] SLAMing on 106.01650248099999 meters Centerline goodness : 0.712230 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 0.94422262 -0.10334335 -0.31267201 3.17613226] [ 0.09938327 0.9946375 -0.02862182 0.20325948] [ 0.31395318 -0.00404899 0.94942983 0.48868107] [ 0. 0. 0. 1. ]] SLAMing on 106.04650248099999 meters Centerline goodness : 0.712698 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 9.43992906e-01 -1.08235004e-01 -3.11709122e-01 3.17618592e+00] [ 1.03147867e-01 9.94124640e-01 -3.28133807e-02 2.02766988e-01] [ 3.13429276e-01 -1.17653240e-03 9.49610818e-01 4.87589799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07650248099999 meters Centerline goodness : 0.714282 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 9.44000750e-01 -1.12015110e-01 -3.10346902e-01 3.17492173e+00] [ 1.05990844e-01 9.93705600e-01 -3.62645981e-02 2.00831447e-01] [ 3.12455637e-01 1.33987782e-03 9.49931408e-01 4.86640203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10650248099999 meters Centerline goodness : 0.715067 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 9.44213088e-01 -1.11135744e-01 -3.10016921e-01 3.17400769e+00] [ 1.05291250e-01 9.93804780e-01 -3.55782444e-02 2.00317364e-01] [ 3.12050313e-01 9.51374817e-04 9.50065102e-01 4.86677231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.136502481 meters Centerline goodness : 0.713384 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 9.44865772e-01 -1.05425376e-01 -3.10022844e-01 3.17271123e+00] [ 1.00838912e-01 9.94424934e-01 -3.08312301e-02 1.99337439e-01] [ 3.11544840e-01 -2.13099232e-03 9.50229063e-01 4.86930507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.166502481 meters Centerline goodness : 0.714275 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 9.45059817e-01 -1.04275726e-01 -3.09820134e-01 3.17296138e+00] [ 9.96995958e-02 9.94546502e-01 -3.06144613e-02 1.99470926e-01] [ 3.11322876e-01 -1.95644487e-03 9.50302183e-01 4.86068759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.196502481 meters Centerline goodness : 0.717509 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.45452805e-01 -1.02830647e-01 -3.09103302e-01 3.17304200e+00] [ 9.78686090e-02 9.94698792e-01 -3.15602254e-02 2.00125388e-01] [ 3.10710039e-01 -4.12806577e-04 9.50504656e-01 4.83976223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.226502481 meters Centerline goodness : 0.713546 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.45791898e-01 -1.01846242e-01 -3.08391031e-01 3.17232431e+00] [ 9.67456442e-02 9.94800116e-01 -3.18277958e-02 1.99803995e-01] [ 3.10028975e-01 2.66982449e-04 9.50727071e-01 4.82859543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25650248099998 meters Centerline goodness : 0.691996 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46294814e-01 -9.98432427e-02 -3.07501954e-01 3.17187484e+00] [ 9.45353326e-02 9.95002260e-01 -3.21492496e-02 1.99686082e-01] [ 3.09175025e-01 1.35286859e-03 9.51004192e-01 4.80963795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28650248099999 meters Centerline goodness : 0.551495 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46495125e-01 -9.90933105e-02 -3.07127815e-01 3.17196953e+00] [ 9.37160046e-02 9.95076628e-01 -3.22461702e-02 1.99924471e-01] [ 3.08811090e-01 1.73805117e-03 9.51121806e-01 4.79940716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31650248099999 meters Centerline goodness : 0.519215 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46690062e-01 -9.76644847e-02 -3.06984651e-01 3.17192776e+00] [ 9.22941445e-02 9.95217465e-01 -3.19998137e-02 2.00475567e-01] [ 3.08641731e-01 1.96101990e-03 9.51176343e-01 4.79346703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34650248099999 meters Centerline goodness : 0.430283 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46868944e-01 -9.37996398e-02 -3.07637499e-01 3.17301472e+00] [ 8.95448252e-02 9.95590507e-01 -2.79511339e-02 1.99447237e-01] [ 3.08902780e-01 -1.08128537e-03 9.51093005e-01 4.79366888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37650248099999 meters Centerline goodness : 0.431132 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46920680e-01 -9.34566742e-02 -3.07582633e-01 3.17345816e+00] [ 8.92405912e-02 9.95622688e-01 -2.77773288e-02 1.98828292e-01] [ 3.08832224e-01 -1.14592891e-03 9.51115842e-01 4.78884425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40650248099999 meters Centerline goodness : 0.436665 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47097889e-01 -9.35394768e-02 -3.07011326e-01 3.17274820e+00] [ 8.90614465e-02 9.95615538e-01 -2.85964970e-02 1.98437024e-01] [ 3.08340148e-01 -2.59190829e-04 9.51276136e-01 4.78186007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43650248099999 meters Centerline goodness : 0.513220 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47167627e-01 -9.34041987e-02 -3.06837323e-01 3.17301492e+00] [ 8.88734475e-02 9.95628271e-01 -2.87377309e-02 1.98583461e-01] [ 3.08180138e-01 -5.02424133e-05 9.51328019e-01 4.77605729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46650248099999 meters Centerline goodness : 0.484959 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47098586e-01 -9.33931045e-02 -3.07053735e-01 3.17333540e+00] [ 8.88617501e-02 9.95629310e-01 -2.87378831e-02 1.99771811e-01] [ 3.08395618e-01 -6.77237625e-05 9.51258187e-01 4.77751804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.496502481 meters Centerline goodness : 0.518867 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47226452e-01 -9.31724250e-02 -3.06726178e-01 3.17266841e+00] [ 8.86478876e-02 9.95649988e-01 -2.86819334e-02 2.00115559e-01] [ 3.08064281e-01 -2.23417532e-05 9.51365544e-01 4.77640844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.526502481 meters Centerline goodness : 0.365279 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47111937e-01 -9.37856822e-02 -3.06892856e-01 3.17231836e+00] [ 8.93309302e-02 9.95592344e-01 -2.85634436e-02 1.99773690e-01] [ 3.08219020e-01 -3.62245965e-04 9.51315355e-01 4.78447873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.556502481 meters Centerline goodness : 0.602638 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47036076e-01 -9.40547712e-02 -3.07044576e-01 3.17271037e+00] [ 8.96832272e-02 9.95566786e-01 -2.83494822e-02 1.99171115e-01] [ 3.08349786e-01 -6.88766086e-04 9.51272797e-01 4.78549671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.586502481 meters Centerline goodness : 0.572485 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47074314e-01 -9.44217858e-02 -3.06813900e-01 3.17199279e+00] [ 9.02563514e-02 9.95531311e-01 -2.77704891e-02 1.97657701e-01] [ 3.08064984e-01 -1.39118629e-03 9.51364300e-01 4.78962015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61650248099998 meters Centerline goodness : 0.582172 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47056626e-01 -9.41823979e-02 -3.06942052e-01 3.17160468e+00] [ 9.02868720e-02 9.95552445e-01 -2.68999837e-02 1.97239112e-01] [ 3.08110415e-01 -2.23702993e-03 9.51347974e-01 4.79629166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64650248099998 meters Centerline goodness : 0.721473 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46912452e-01 -9.46801027e-02 -3.07233602e-01 3.17201687e+00] [ 9.08198086e-02 9.95504716e-01 -2.68723248e-02 1.97990516e-01] [ 3.08396774e-01 -2.45715790e-03 9.51254641e-01 4.80021545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67650248099999 meters Centerline goodness : 0.482311 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46783012e-01 -9.57987016e-02 -3.07285758e-01 3.17255975e+00] [ 9.19478116e-02 9.95397143e-01 -2.70208681e-02 1.97621678e-01] [ 3.08459929e-01 -2.67135407e-03 9.51233586e-01 4.80025041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70650248099999 meters Centerline goodness : 0.720876 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94688964 -0.09658605 -0.30671019 3.17124552] [ 0.09296372 0.99531854 -0.02643375 0.19576671] [ 0.30782747 -0.00348307 0.95143582 0.48036674] [ 0. 0. 0. 1. ]] SLAMing on 106.73650248099999 meters Centerline goodness : 0.720119 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94675052 -0.09716321 -0.30695728 3.1718169 ] [ 0.09364747 0.99526065 -0.02619887 0.19570021] [ 0.30804807 -0.00394198 0.95136263 0.48064262] [ 0. 0. 0. 1. ]] SLAMing on 106.76650248099999 meters Centerline goodness : 0.720101 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.48 [[ 0.94636151 -0.0985821 -0.30770352 3.17426375] [ 0.09529762 0.99511645 -0.02572173 0.19483565] [ 0.30873653 -0.00498136 0.95113455 0.48064456] [ 0. 0. 0. 1. ]] SLAMing on 106.79650248099999 meters Centerline goodness : 0.720508 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94618098 -0.09899974 -0.30812432 3.17578595] [ 0.0959199 0.99507088 -0.02516571 0.1938191 ] [ 0.30909694 -0.00574393 0.95101319 0.48055099] [ 0. 0. 0. 1. ]] SLAMing on 106.82650248099999 meters Centerline goodness : 0.576346 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94583365 -0.0997476 -0.3089484 3.17824723] [ 0.09695681 0.9949891 -0.02441433 0.19314472] [ 0.30983556 -0.00686276 0.95076539 0.48052055] [ 0. 0. 0. 1. ]] SLAMing on 106.85650248099999 meters Centerline goodness : 0.370500 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94589275 -0.09963427 -0.30880403 3.17802341] [ 0.0969684 0.99499783 -0.02400932 0.19275152] [ 0.30965149 -0.00723399 0.9508226 0.48053229] [ 0. 0. 0. 1. ]] SLAMing on 106.886502481 meters Centerline goodness : 0.718819 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94597053 -0.09941931 -0.30863499 3.17708685] [ 0.09683118 0.99501785 -0.02373206 0.19249129] [ 0.30945675 -0.00743566 0.95088445 0.48094616] [ 0. 0. 0. 1. ]] SLAMing on 106.916502481 meters Centerline goodness : 0.720179 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94607711 -0.0992529 -0.30836174 3.17652555] [ 0.09659471 0.99503647 -0.02391418 0.19318854] [ 0.30920473 -0.00716146 0.95096853 0.48076326] [ 0. 0. 0. 1. ]] SLAMing on 106.946502481 meters Centerline goodness : 0.721570 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94624136 -0.09731419 -0.30847568 3.17736613] [ 0.09501806 0.99522136 -0.02249492 0.19477203] [ 0.30919066 -0.00802514 0.95096621 0.47994335] [ 0. 0. 0. 1. ]] SLAMing on 106.976502481 meters Centerline goodness : 0.720421 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94647171 -0.09685196 -0.30791394 3.17646687] [ 0.09439746 0.99527131 -0.02289423 0.19588545] [ 0.30867526 -0.00739755 0.95113872 0.4793308 ] [ 0. 0. 0. 1. ]] SLAMing on 107.00650248099998 meters Centerline goodness : 0.368036 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94684293 -0.09267156 -0.30805917 3.17553347] [ 0.09102228 0.99565294 -0.01975241 0.19679807] [ 0.3085505 -0.00933782 0.95116213 0.47965813] [ 0. 0. 0. 1. ]] SLAMing on 107.03650248099999 meters Centerline goodness : 0.722513 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94683514 -0.09283162 -0.3080349 3.17608751] [ 0.09089624 0.99564606 -0.02065896 0.19846444] [ 0.30861154 -0.00843858 0.95115073 0.47904319] [ 0. 0. 0. 1. ]] SLAMing on 107.06650248099999 meters Centerline goodness : 0.570657 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94702874 -0.09263485 -0.30749853 3.17624462] [ 0.09027429 0.99567557 -0.021925 0.19947968] [ 0.3081998 -0.0069956 0.95129593 0.47751403] [ 0. 0. 0. 1. ]] SLAMing on 107.09650248099999 meters Centerline goodness : 0.722599 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94715265 -0.08879075 -0.30825 3.17662738] [ 0.08742068 0.99600373 -0.01828123 0.2000077 ] [ 0.30864135 -0.00963231 0.95112972 0.4781741 ] [ 0. 0. 0. 1. ]] SLAMing on 107.12650248099999 meters Centerline goodness : 0.459764 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94704981 -0.08880315 -0.30856225 3.17730232] [ 0.08731244 0.99600611 -0.01866477 0.20178067] [ 0.30898738 -0.00926485 0.95102101 0.47814013] [ 0. 0. 0. 1. ]] SLAMing on 107.15650248099999 meters Centerline goodness : 0.721388 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94697981 -0.08865035 -0.30882092 3.17770524] [ 0.08704332 0.9960232 -0.01900628 0.20286468] [ 0.30927771 -0.00888223 0.95093028 0.47816813] [ 0. 0. 0. 1. ]] SLAMing on 107.18650248099999 meters Centerline goodness : 0.720838 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94708543 -0.08881062 -0.30845073 3.17688583] [ 0.08709668 0.99601193 -0.01934973 0.20320082] [ 0.30893907 -0.00853919 0.9510435 0.47806007] [ 0. 0. 0. 1. ]] SLAMing on 107.21650248099999 meters Centerline goodness : 0.721145 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94709151 -0.088609 -0.30849005 3.17581563] [ 0.08689834 0.99603005 -0.01930872 0.20354066] [ 0.30897629 -0.00852015 0.95103158 0.47894747] [ 0. 0. 0. 1. ]] SLAMing on 107.246502481 meters Centerline goodness : 0.722663 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94721631 -0.08843189 -0.30815752 3.17500168] [ 0.08675677 0.99604523 -0.01916143 0.20343201] [ 0.30863331 -0.00858473 0.95114236 0.478981 ] [ 0. 0. 0. 1. ]] SLAMing on 107.276502481 meters Centerline goodness : 0.721050 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.9471177 -0.08878526 -0.30835895 3.17498333] [ 0.08711515 0.99601305 -0.01920805 0.20379613] [ 0.30883493 -0.00867045 0.95107613 0.4794485 ] [ 0. 0. 0. 1. ]] SLAMing on 107.306502481 meters Centerline goodness : 0.722564 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94711021 -0.08882609 -0.30837021 3.17563039] [ 0.08725511 0.99600651 -0.0189096 0.20243273] [ 0.3088184 -0.0089974 0.95107846 0.47908198] [ 0. 0. 0. 1. ]] SLAMing on 107.336502481 meters Centerline goodness : 0.723323 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94696802 -0.09287464 -0.30761319 3.17476538] [ 0.09026124 0.99565834 -0.02274577 0.20207535] [ 0.30839014 -0.00622603 0.95123959 0.47881402] [ 0. 0. 0. 1. ]] SLAMing on 107.36650248099998 meters Centerline goodness : 0.722717 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94712265 -0.08896449 -0.30829208 3.17463329] [ 0.08792239 0.9959771 -0.01729952 0.20015274] [ 0.30859089 -0.01072101 0.95113444 0.48013118] [ 0. 0. 0. 1. ]] SLAMing on 107.39650248099998 meters Centerline goodness : 0.724064 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94709193 -0.08888221 -0.30841015 3.17456403] [ 0.08795573 0.99598043 -0.0169345 0.19985351] [ 0.30867565 -0.01108791 0.95110273 0.48052027] [ 0. 0. 0. 1. ]] SLAMing on 107.42650248099999 meters Centerline goodness : 0.722891 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94714155 -0.08873775 -0.30829935 3.17413494] [ 0.0878222 0.99599324 -0.01687368 0.19930146] [ 0.3085614 -0.01109376 0.95113973 0.48064592] [ 0. 0. 0. 1. ]] SLAMing on 107.45650248099999 meters Centerline goodness : 0.721560 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94715928 -0.0886216 -0.30827829 3.1740912 ] [ 0.08770009 0.99600402 -0.0168728 0.19915214] [ 0.30854171 -0.0110548 0.95114657 0.48060812] [ 0. 0. 0. 1. ]] SLAMing on 107.48650248099999 meters Centerline goodness : 0.723124 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94716101 -0.08860893 -0.30827663 3.17465726] [ 0.08769338 0.99600495 -0.01685233 0.19870003] [ 0.30853832 -0.01107195 0.95114747 0.48016963] [ 0. 0. 0. 1. ]] SLAMing on 107.51650248099999 meters Centerline goodness : 0.719920 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94713112 -0.08917527 -0.30820516 3.17595188] [ 0.08813164 0.99595799 -0.0173346 0.19819 ] [ 0.30850521 -0.01074449 0.95116197 0.4790845 ] [ 0. 0. 0. 1. ]] SLAMing on 107.54650248099999 meters Centerline goodness : 0.717842 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94722355 -0.0887514 -0.3080434 3.1756339 ] [ 0.08770522 0.99599677 -0.01726919 0.19904481] [ 0.30834289 -0.01065923 0.95121556 0.47900857] [ 0. 0. 0. 1. ]] SLAMing on 107.57650248099999 meters Centerline goodness : 0.721361 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94737425 -0.0887023 -0.30759377 3.17473466] [ 0.08753786 0.99600552 -0.01761047 0.19916147] [ 0.30792718 -0.01024239 0.95135479 0.47881787] [ 0. 0. 0. 1. ]] SLAMing on 107.60650248099999 meters Centerline goodness : 0.718314 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94767067 -0.08832998 -0.30678677 3.17395556] [ 0.08703422 0.99604395 -0.01793026 0.19813291] [ 0.30715689 -0.00970897 0.95160936 0.47768215] [ 0. 0. 0. 1. ]] SLAMing on 107.636502481 meters Centerline goodness : 0.720448 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94777599 -0.08820877 -0.30649613 3.17320982] [ 0.08688428 0.99605595 -0.01799056 0.19780337] [ 0.30687422 -0.00957868 0.95170188 0.47764129] [ 0. 0. 0. 1. ]] SLAMing on 107.666502481 meters Centerline goodness : 0.723332 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94816986 -0.08715724 -0.30557737 3.17089929] [ 0.08597583 0.99614615 -0.01734964 0.19710059] [ 0.30591187 -0.00982186 0.95200917 0.47765181] [ 0. 0. 0. 1. ]] SLAMing on 107.696502481 meters Centerline goodness : 0.721560 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.9482334 -0.08701695 -0.30542015 3.17024233] [ 0.08597793 0.99615405 -0.01687887 0.19669621] [ 0.30571427 -0.01025428 0.95206808 0.47793429] [ 0. 0. 0. 1. ]] SLAMing on 107.726502481 meters Centerline goodness : 0.721227 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94805813 -0.0910461 -0.30478909 3.17043571] [ 0.08895172 0.99581912 -0.02078173 0.19661051] [ 0.30540689 -0.00740923 0.95219312 0.47705142] [ 0. 0. 0. 1. ]] SLAMing on 107.75650248099998 meters Centerline goodness : 0.719850 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.48 [[ 0.94803774 -0.0913352 -0.30476602 3.17057163] [ 0.0895547 0.99578412 -0.01984772 0.19423814] [ 0.30529396 -0.00847685 0.95222043 0.47723304] [ 0. 0. 0. 1. ]] SLAMing on 107.78650248099999 meters Centerline goodness : 0.446493 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.48 [[ 0.94774064 -0.09562954 -0.30437258 3.17053087] [ 0.0932321 0.99539158 -0.02243628 0.19268292] [ 0.30511548 -0.00711352 0.95228879 0.47739052] [ 0. 0. 0. 1. ]] SLAMing on 107.81650248099999 meters Centerline goodness : 0.244525 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.48 [[ 0.94748802 -0.09648998 -0.30488709 3.17226919] [ 0.09442537 0.99529873 -0.02154715 0.19070566] [ 0.30553282 -0.00837341 0.95214473 0.47751993] [ 0. 0. 0. 1. ]] SLAMing on 107.84650248099999 meters Centerline goodness : 0.486681 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.48 [[ 0.94709354 -0.10128556 -0.30455717 3.17312407] [ 0.09889336 0.99482491 -0.02331296 0.18703072] [ 0.30534233 -0.00803913 0.95220871 0.47746271] [ 0. 0. 0. 1. ]] SLAMing on 107.87650248099999 meters Centerline goodness : 0.278447 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94702679 -0.10174352 -0.30461208 3.17297853] [ 0.09976381 0.99476568 -0.02210011 0.18474604] [ 0.30526618 -0.00945986 0.95222007 0.47818691] [ 0. 0. 0. 1. ]] SLAMing on 107.90650248099999 meters Centerline goodness : 0.511231 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94668353 -0.10551795 -0.30439489 3.17338548] [ 0.10298846 0.99438319 -0.02440186 0.18289416] [ 0.30526 -0.00824832 0.95223332 0.47834392] [ 0. 0. 0. 1. ]] SLAMing on 107.93650248099999 meters Centerline goodness : 0.511231 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94668353 -0.10551795 -0.30439489 3.17338548] [ 0.10298846 0.99438319 -0.02440186 0.18289416] [ 0.30526 -0.00824832 0.95223332 0.47834392] [ 0. 0. 0. 1. ]] SLAMing on 107.96650248099999 meters Centerline goodness : 0.503571 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94659994 -0.1056411 -0.30461206 3.17394502] [ 0.10342286 0.99436084 -0.02345705 0.1806302 ] [ 0.30537233 -0.00929941 0.95218762 0.47864884] [ 0. 0. 0. 1. ]] SLAMing on 107.996502481 meters Centerline goodness : 0.227936 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94667547 -0.10539171 -0.3044637 3.17331549] [ 0.10355431 0.99437547 -0.02222467 0.17838497] [ 0.30509353 -0.01048898 0.95226463 0.47915421] [ 0. 0. 0. 1. ]] SLAMing on 108.026502481 meters Centerline goodness : 0.230806 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94668377 -0.1053684 -0.30444595 3.17340059] [ 0.10355721 0.99437709 -0.02213852 0.17875782] [ 0.30506678 -0.01056939 0.95227231 0.47909927] [ 0. 0. 0. 1. ]] SLAMing on 108.056502481 meters Centerline goodness : 0.473414 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94673375 -0.10522744 -0.30433926 3.17335982] [ 0.10344486 0.99439134 -0.02202316 0.17893686] [ 0.30494976 -0.01063227 0.95230909 0.47894885] [ 0. 0. 0. 1. ]] SLAMing on 108.086502481 meters Centerline goodness : 0.234369 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94702498 -0.10488668 -0.30354977 3.1715318 ] [ 0.10314565 0.9944271 -0.02181076 0.17818274] [ 0.30414578 -0.0106545 0.95256592 0.47895568] [ 0. 0. 0. 1. ]] SLAMing on 108.11650248099998 meters Centerline goodness : 0.394187 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94712735 -0.10464173 -0.30331483 3.17112301] [ 0.10295955 0.99445144 -0.02157927 0.17724255] [ 0.30388996 -0.01079084 0.95264602 0.47887724] [ 0. 0. 0. 1. ]] SLAMing on 108.14650248099998 meters Centerline goodness : 0.130273 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94733166 -0.10439116 -0.30276263 3.17023243] [ 0.10266912 0.99448004 -0.02164476 0.17673754] [ 0.30335092 -0.01057961 0.95282018 0.47844563] [ 0. 0. 0. 1. ]] SLAMing on 108.17650248099999 meters Centerline goodness : 0.571689 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.9474373 -0.10326539 -0.30281814 3.17038914] [ 0.10163669 0.99459615 -0.0211776 0.17701246] [ 0.30336867 -0.01071298 0.95281304 0.47822667] [ 0. 0. 0. 1. ]] SLAMing on 108.20650248099999 meters Centerline goodness : 0.420585 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94749446 -0.10292026 -0.30275676 3.17073084] [ 0.10129594 0.99463239 -0.02110764 0.17727825] [ 0.30330409 -0.01066866 0.95283409 0.47775311] [ 0. 0. 0. 1. ]] SLAMing on 108.23650248099999 meters Centerline goodness : 0.552706 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94762231 -0.10257923 -0.30247225 3.1709639 ] [ 0.10089082 0.99467064 -0.02124544 0.1774368 ] [ 0.30303961 -0.01038402 0.95292139 0.47687536] [ 0. 0. 0. 1. ]] SLAMing on 108.26650248099999 meters Centerline goodness : 0.293772 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94792654 -0.10142976 -0.30190608 3.17072189] [ 0.09967603 0.99479297 -0.02125183 0.17724247] [ 0.30248961 -0.00994762 0.95310077 0.47570755] [ 0. 0. 0. 1. ]] SLAMing on 108.29650248099999 meters Centerline goodness : 0.557210 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94806239 -0.10106822 -0.30160061 3.16993569] [ 0.09922982 0.99483328 -0.02145213 0.17796141] [ 0.30221045 -0.00958981 0.95319299 0.47560543] [ 0. 0. 0. 1. ]] SLAMing on 108.32650248099999 meters Centerline goodness : 0.399821 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.9483043 -0.10049707 -0.3010304 3.16889333] [ 0.09863572 0.99489311 -0.02141698 0.17757711] [ 0.30164541 -0.00938254 0.95337402 0.47523326] [ 0. 0. 0. 1. ]] SLAMing on 108.35650248099999 meters Centerline goodness : 0.579479 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94854715 -0.10013497 -0.30038526 3.16826783] [ 0.09825758 0.9949311 -0.02139067 0.17663225] [ 0.30100459 -0.00922507 0.95357807 0.4744285 ] [ 0. 0. 0. 1. ]] SLAMing on 108.386502481 meters Centerline goodness : 0.672003 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94852611 -0.1000214 -0.3004895 3.16867892] [ 0.09813436 0.99494291 -0.02140703 0.17707766] [ 0.30111106 -0.00918322 0.95354486 0.47425568] [ 0. 0. 0. 1. ]] SLAMing on 108.416502481 meters Centerline goodness : 0.543441 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94853143 -0.09995772 -0.3004939 3.16907427] [ 0.09803019 0.99495062 -0.02152549 0.17774564] [ 0.30112823 -0.00903987 0.95354081 0.4739171 ] [ 0. 0. 0. 1. ]] SLAMing on 108.446502481 meters Centerline goodness : 0.516766 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94878695 -0.09969074 -0.29977505 3.16814558] [ 0.09767368 0.99498089 -0.02174585 0.17785765] [ 0.3004383 -0.00864795 0.95376204 0.47317654] [ 0. 0. 0. 1. ]] SLAMing on 108.476502481 meters Centerline goodness : 0.580442 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94913062 -0.09894642 -0.29893255 3.16719559] [ 0.09700898 0.99505444 -0.02135225 0.17660744] [ 0.29956689 -0.00873307 0.95403533 0.47228319] [ 0. 0. 0. 1. ]] SLAMing on 108.50650248099998 meters Centerline goodness : 0.226812 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94923559 -0.09882845 -0.29863814 3.16685405] [ 0.09688097 0.99506681 -0.0213571 0.17695046] [ 0.29927559 -0.00865943 0.95412742 0.47197594] [ 0. 0. 0. 1. ]] SLAMing on 108.53650248099999 meters Centerline goodness : 0.615770 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94932215 -0.09896545 -0.29831745 3.16648595] [ 0.097082 0.99505134 -0.02116405 0.17613219] [ 0.29893569 -0.00886975 0.95423204 0.47176389] [ 0. 0. 0. 1. ]] SLAMing on 108.56650248099999 meters Centerline goodness : 0.723650 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94936205 -0.09911439 -0.29814097 3.16645851] [ 0.09719864 0.99503738 -0.02128464 0.17583533] [ 0.29877103 -0.00877206 0.95428451 0.47146939] [ 0. 0. 0. 1. ]] SLAMing on 108.59650248099999 meters Centerline goodness : 0.714021 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94951025 -0.09900586 -0.29770475 3.16620024] [ 0.09700783 0.99505099 -0.02151779 0.17603316] [ 0.29836179 -0.00844833 0.95441546 0.47076826] [ 0. 0. 0. 1. ]] SLAMing on 108.62650248099999 meters Centerline goodness : 0.681513 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94968461 -0.09862505 -0.2972747 3.16660215] [ 0.0965941 0.99509049 -0.02155221 0.17588059] [ 0.29794081 -0.00824718 0.95454872 0.4695121 ] [ 0. 0. 0. 1. ]] SLAMing on 108.65650248099999 meters Centerline goodness : 0.723576 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94971867 -0.09890329 -0.29707336 3.16701234] [ 0.0967973 0.9950647 -0.0218295 0.1762181 ] [ 0.29776622 -0.00802401 0.9546051 0.46882662] [ 0. 0. 0. 1. ]] SLAMing on 108.68650248099999 meters Centerline goodness : 0.722293 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94954765 -0.0993275 -0.29747823 3.16831429] [ 0.09725437 0.99502076 -0.02180082 0.17730258] [ 0.29816244 -0.00823014 0.95447966 0.46860921] [ 0. 0. 0. 1. ]] SLAMing on 108.71650248099999 meters Centerline goodness : 0.508917 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94949832 -0.10018275 -0.29734889 3.16882172] [ 0.09817934 0.99493202 -0.02170481 0.17690347] [ 0.29801638 -0.00858484 0.95452215 0.46826992] [ 0. 0. 0. 1. ]] SLAMing on 108.746502481 meters Centerline goodness : 0.404606 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94944697 -0.10046938 -0.29741613 3.16938773] [ 0.09850814 0.99490145 -0.02161578 0.17635561] [ 0.29807146 -0.00877487 0.95450322 0.46805089] [ 0. 0. 0. 1. ]] SLAMing on 108.776502481 meters Centerline goodness : 0.601165 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.9493967 -0.10093156 -0.29742012 3.16983084] [ 0.09899529 0.9948533 -0.0216068 0.17618868] [ 0.2980702 -0.00892977 0.95450218 0.467935 ] [ 0. 0. 0. 1. ]] SLAMing on 108.806502481 meters Centerline goodness : 0.598774 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94942637 -0.10169633 -0.29706467 3.16912633] [ 0.09997522 0.99476781 -0.02102277 0.17460765] [ 0.29764831 -0.00973953 0.95462591 0.4682262 ] [ 0. 0. 0. 1. ]] SLAMing on 108.836502481 meters Centerline goodness : 0.255270 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94936804 -0.10210715 -0.29711017 3.16963084] [ 0.10047745 0.99472201 -0.02079415 0.17417253] [ 0.29766526 -0.01011157 0.95461675 0.46808636] [ 0. 0. 0. 1. ]] SLAMing on 108.86650248099998 meters Centerline goodness : 0.441923 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94918573 -0.10322514 -0.29730628 3.17060895] [ 0.10162348 0.99460373 -0.0208827 0.17428395] [ 0.29785756 -0.01039174 0.95455376 0.46801676] [ 0. 0. 0. 1. ]] SLAMing on 108.89650248099998 meters Centerline goodness : 0.723588 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.9490444 -0.10412486 -0.29744369 3.17118629] [ 0.10275621 0.99449983 -0.02027929 0.17314142] [ 0.29791928 -0.01131824 0.95452397 0.46816709] [ 0. 0. 0. 1. ]] SLAMing on 108.92650248099999 meters Centerline goodness : 0.720868 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94893998 -0.10475327 -0.29755616 3.17181107] [ 0.10343125 0.99443084 -0.02023094 0.17321306] [ 0.29801827 -0.01157866 0.95448994 0.46806073] [ 0. 0. 0. 1. ]] SLAMing on 108.95650248099999 meters Centerline goodness : 0.723043 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94887084 -0.10515417 -0.29763524 3.1719313 ] [ 0.10391358 0.99438452 -0.02003496 0.17322889] [ 0.29807064 -0.01191775 0.95446941 0.46829276] [ 0. 0. 0. 1. ]] SLAMing on 108.98650248099999 meters Centerline goodness : 0.724029 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94886375 -0.10559314 -0.29750239 3.17129432] [ 0.10448392 0.99433192 -0.01967589 0.17320687] [ 0.29789377 -0.01241447 0.9545183 0.46878739] [ 0. 0. 0. 1. ]] SLAMing on 109.01650248099999 meters Centerline goodness : 0.720632 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94872661 -0.10591782 -0.29782416 3.17173592] [ 0.10492788 0.99429141 -0.0193581 0.17326617] [ 0.29817437 -0.01288451 0.95442445 0.46922675] [ 0. 0. 0. 1. ]] SLAMing on 109.04650248099999 meters Centerline goodness : 0.722427 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94850956 -0.10689137 -0.29816747 3.17201812] [ 0.1058869 0.99418559 -0.01956995 0.1743403 ] [ 0.29852566 -0.01300974 0.95431293 0.46992851] [ 0. 0. 0. 1. ]] SLAMing on 109.07650248099999 meters Centerline goodness : 0.721288 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.9484785 -0.10724251 -0.2981402 3.17200463] [ 0.10624276 0.99414688 -0.01960765 0.17412828] [ 0.29849792 -0.0130778 0.95432068 0.47003928] [ 0. 0. 0. 1. ]] SLAMing on 109.10650248099999 meters Centerline goodness : 0.722627 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94836847 -0.10812502 -0.29817146 3.17325812] [ 0.10693838 0.99405753 -0.02034234 0.17476223] [ 0.2985991 -0.01259394 0.95429553 0.46920968] [ 0. 0. 0. 1. ]] SLAMing on 109.136502481 meters Centerline goodness : 0.722001 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94814979 -0.10827506 -0.29881178 3.17523328] [ 0.10692553 0.99404707 -0.02091313 0.17669292] [ 0.29929734 -0.01212183 0.95408289 0.46868897] [ 0. 0. 0. 1. ]] SLAMing on 109.166502481 meters Centerline goodness : 0.720537 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94826564 -0.10450744 -0.29978405 3.17697315] [ 0.10382325 0.99442819 -0.01825691 0.17841073] [ 0.30002169 -0.01381215 0.95383238 0.46831087] [ 0. 0. 0. 1. ]] SLAMing on 109.196502481 meters Centerline goodness : 0.718325 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94870842 -0.09984709 -0.29997149 3.17648797] [ 0.09994469 0.99487902 -0.01505947 0.17946806] [ 0.29993899 -0.01569351 0.95382929 0.46818144] [ 0. 0. 0. 1. ]] SLAMing on 109.226502481 meters Centerline goodness : 0.720371 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94878992 -0.09936134 -0.299875 3.17590014] [ 0.09926728 0.99493869 -0.01558866 0.1812583 ] [ 0.29990615 -0.01497742 0.95385113 0.46816281] [ 0. 0. 0. 1. ]] SLAMing on 109.25650248099998 meters Centerline goodness : 0.720324 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94885716 -0.09905719 -0.29976284 3.1755642 ] [ 0.09869411 0.99498281 -0.01639158 0.18286047] [ 0.29988257 -0.01403156 0.95387293 0.46793723] [ 0. 0. 0. 1. ]] SLAMing on 109.28650248099999 meters Centerline goodness : 0.717905 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94892704 -0.09899655 -0.2995616 3.17520894] [ 0.0980679 0.9950138 -0.01817206 0.18586953] [ 0.2998669 -0.01213342 0.95390388 0.46740618] [ 0. 0. 0. 1. ]] SLAMing on 109.31650248099999 meters Centerline goodness : 0.717651 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94897812 -0.09872778 -0.2994885 3.17529325] [ 0.09770755 0.99504471 -0.01841885 0.18679151] [ 0.2998229 -0.0117832 0.95392211 0.46706673] [ 0. 0. 0. 1. ]] SLAMing on 109.34650248099999 meters Centerline goodness : 0.719191 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94891073 -0.09831007 -0.29983923 3.17581161] [ 0.09726304 0.99508761 -0.01845387 0.18790088] [ 0.3001805 -0.0116522 0.95381125 0.46719411] [ 0. 0. 0. 1. ]] SLAMing on 109.37650248099999 meters Centerline goodness : 0.717009 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.9489718 -0.09824314 -0.29966784 3.17496013] [ 0.0971457 0.99509641 -0.01859683 0.1883469 ] [ 0.3000254 -0.01146358 0.95386233 0.46752842] [ 0. 0. 0. 1. ]] SLAMing on 109.40650248099999 meters Centerline goodness : 0.718192 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.9490517 -0.09467849 -0.30056091 3.17438281] [ 0.09483088 0.9953933 -0.0141167 0.1877289 ] [ 0.30051286 -0.01510498 0.95365815 0.46951547] [ 0. 0. 0. 1. ]] SLAMing on 109.43650248099999 meters Centerline goodness : 0.718470 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94894747 -0.09525245 -0.30070863 3.17459323] [ 0.09535428 0.99533962 -0.01437382 0.18875696] [ 0.30067635 -0.01503385 0.95360774 0.46975371] [ 0. 0. 0. 1. ]] SLAMing on 109.46650248099999 meters Centerline goodness : 0.717376 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94860704 -0.09603654 -0.30153219 3.17663227] [ 0.09610618 0.99526341 -0.01464073 0.18907142] [ 0.30151 -0.0150908 0.95334358 0.46980119] [ 0. 0. 0. 1. ]] SLAMing on 109.496502481 meters Centerline goodness : 0.716327 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94846648 -0.09657784 -0.30180135 3.17779097] [ 0.09660122 0.99521185 -0.01488523 0.18915946] [ 0.30179387 -0.01503623 0.95325462 0.4694661 ] [ 0. 0. 0. 1. ]] SLAMing on 109.526502481 meters Centerline goodness : 0.715305 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94831906 -0.09707159 -0.30210605 3.17882951] [ 0.09700064 0.99516709 -0.01527576 0.1897857 ] [ 0.30212884 -0.01481819 0.95315192 0.46930755] [ 0. 0. 0. 1. ]] SLAMing on 109.556502481 meters Centerline goodness : 0.716384 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94823047 -0.09737439 -0.30228662 3.17839485] [ 0.09739901 0.9951319 -0.01503095 0.19051148] [ 0.30227869 -0.01518961 0.95309856 0.47014867] [ 0. 0. 0. 1. ]] SLAMing on 109.586502481 meters Centerline goodness : 0.715776 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.9481947 -0.09729407 -0.30242466 3.17763885] [ 0.09749891 0.99513061 -0.01445765 0.19039706] [ 0.30235868 -0.01577741 0.95306364 0.47117857] [ 0. 0. 0. 1. ]] SLAMing on 109.61650248099998 meters Centerline goodness : 0.716581 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94797746 -0.09830382 -0.30277894 3.17772931] [ 0.09840107 0.99503418 -0.01497351 0.19209233] [ 0.30274735 -0.01559923 0.95294318 0.47194687] [ 0. 0. 0. 1. ]] SLAMing on 109.64650248099998 meters Centerline goodness : 0.716656 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94778869 -0.09938831 -0.30301579 3.17891493] [ 0.09944132 0.99492587 -0.01529505 0.19113812] [ 0.3029984 -0.01563582 0.95286279 0.47175259] [ 0. 0. 0. 1. ]] SLAMing on 109.67650248099999 meters Centerline goodness : 0.714092 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94769341 -0.09981006 -0.30317512 3.17942919] [ 0.09992094 0.99487946 -0.01518781 0.19060996] [ 0.3031386 -0.01590015 0.95281382 0.47178467] [ 0. 0. 0. 1. ]] SLAMing on 109.70650248099999 meters Centerline goodness : 0.713384 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94743041 -0.10009491 -0.30390234 3.18076153] [ 0.10035225 0.99484169 -0.01481338 0.19137034] [ 0.30381746 -0.01646264 0.95258802 0.47223673] [ 0. 0. 0. 1. ]] SLAMing on 109.73650248099999 meters Centerline goodness : 0.713793 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94726998 -0.10055046 -0.30425185 3.18108312] [ 0.10082422 0.99479337 -0.01485339 0.1917577 ] [ 0.30416124 -0.01660578 0.95247582 0.47278081] [ 0. 0. 0. 1. ]] SLAMing on 109.76650248099999 meters Centerline goodness : 0.712270 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94727141 -0.10012706 -0.30438701 3.18086088] [ 0.10070227 0.99482019 -0.01385092 0.19072369] [ 0.30419719 -0.01753189 0.95244774 0.47335483] [ 0. 0. 0. 1. ]] SLAMing on 109.79650248099999 meters Centerline goodness : 0.712446 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94726491 -0.10049516 -0.30428589 3.18028633] [ 0.1009914 0.99478667 -0.01414998 0.19135087] [ 0.30412155 -0.01732648 0.95247566 0.47364365] [ 0. 0. 0. 1. ]] SLAMing on 109.82650248099999 meters Centerline goodness : 0.712446 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94726491 -0.10049516 -0.30428589 3.18028633] [ 0.1009914 0.99478667 -0.01414998 0.19135087] [ 0.30412155 -0.01732648 0.95247566 0.47364365] [ 0. 0. 0. 1. ]] SLAMing on 109.85650248099999 meters Centerline goodness : 0.713197 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94725455 -0.1006993 -0.30425066 3.18002799] [ 0.10125067 0.99476233 -0.01400725 0.19058333] [ 0.30406761 -0.01753715 0.95248902 0.47384395] [ 0. 0. 0. 1. ]] SLAMing on 109.886502481 meters Centerline goodness : 0.713634 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94723993 -0.10104246 -0.30418242 3.18012247] [ 0.1015992 0.99472633 -0.01404018 0.19012499] [ 0.30399692 -0.01760527 0.95251033 0.47376767] [ 0. 0. 0. 1. ]] SLAMing on 109.916502481 meters Centerline goodness : 0.714867 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94714321 -0.10117124 -0.30444067 3.18049518] [ 0.10171393 0.99471348 -0.01412014 0.19097999] [ 0.30425978 -0.01759207 0.95242664 0.47397324] [ 0. 0. 0. 1. ]] SLAMing on 109.946502481 meters Centerline goodness : 0.713598 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94708436 -0.10098504 -0.30468546 3.18089156] [ 0.10155517 0.99473111 -0.01401986 0.19135313] [ 0.3044959 -0.0176644 0.95234984 0.47410868] [ 0. 0. 0. 1. ]] SLAMing on 109.976502481 meters Centerline goodness : 0.715049 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94730602 -0.10068979 -0.30409353 3.18037261] [ 0.10113393 0.99476958 -0.0143323 0.19151605] [ 0.3039461 -0.0171771 0.95253436 0.47324154] [ 0. 0. 0. 1. ]] SLAMing on 110.00650248099998 meters Centerline goodness : 0.715517 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94736631 -0.1005314 -0.30395806 3.18021235] [ 0.10086966 0.99479206 -0.01463137 0.19184165] [ 0.30384598 -0.01679888 0.95257305 0.47298056] [ 0. 0. 0. 1. ]] SLAMing on 110.03650248099999 meters Centerline goodness : 0.715516 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94755973 -0.09992164 -0.30355596 3.18034666] [ 0.10001641 0.9948685 -0.01527684 0.19281431] [ 0.30352475 -0.01588486 0.95269114 0.47177883] [ 0. 0. 0. 1. ]] SLAMing on 110.06650248099999 meters Centerline goodness : 0.715210 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94768776 -0.0997161 -0.30322369 3.18036715] [ 0.09967808 0.99489676 -0.01564367 0.19319687] [ 0.30323619 -0.01539944 0.95279099 0.47095997] [ 0. 0. 0. 1. ]] SLAMing on 110.09650248099999 meters Centerline goodness : 0.712923 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94780568 -0.09915268 -0.30303984 3.18034059] [ 0.09902638 0.99495899 -0.01582328 0.19332299] [ 0.30308113 -0.01501155 0.95284651 0.47043258] [ 0. 0. 0. 1. ]] SLAMing on 110.12650248099999 meters Centerline goodness : 0.713820 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94793833 -0.09911054 -0.30263845 3.18014073] [ 0.09891508 0.99496702 -0.0160136 0.19311795] [ 0.30270239 -0.0147556 0.9529709 0.46983712] [ 0. 0. 0. 1. ]] SLAMing on 110.15650248099999 meters Centerline goodness : 0.716704 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94822163 -0.09829703 -0.30201563 3.17925726] [ 0.09824804 0.99504291 -0.01539273 0.19101516] [ 0.30203157 -0.01507673 0.95317869 0.46929706] [ 0. 0. 0. 1. ]] SLAMing on 110.18650248099999 meters Centerline goodness : 0.718714 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94825805 -0.09809296 -0.30196762 3.17879834] [ 0.09818397 0.99505648 -0.01491648 0.19039433] [ 0.30193804 -0.0155037 0.95320148 0.46964322] [ 0. 0. 0. 1. ]] SLAMing on 110.21650248099999 meters Centerline goodness : 0.717142 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94819183 -0.09817936 -0.30214741 3.17904971] [ 0.09838022 0.9950419 -0.01459307 0.1898408 ] [ 0.30208207 -0.0158883 0.95314951 0.46989457] [ 0. 0. 0. 1. ]] SLAMing on 110.246502481 meters Centerline goodness : 0.714427 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94805893 -0.09837721 -0.3024999 3.18060808] [ 0.09862052 0.99501933 -0.01450963 0.18936072] [ 0.30242066 -0.01607672 0.95303897 0.46939745] [ 0. 0. 0. 1. ]] SLAMing on 110.276502481 meters Centerline goodness : 0.715589 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94800738 -0.0985566 -0.30260304 3.18158877] [ 0.09885184 0.99499826 -0.0143798 0.18840422] [ 0.30250672 -0.01628071 0.9530082 0.46892744] [ 0. 0. 0. 1. ]] SLAMing on 110.306502481 meters Centerline goodness : 0.718580 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94823812 -0.09821439 -0.30199072 3.18046931] [ 0.09891047 0.99501108 -0.01302601 0.18530264] [ 0.30176346 -0.01751828 0.95322187 0.46892765] [ 0. 0. 0. 1. ]] SLAMing on 110.336502481 meters Centerline goodness : 0.718534 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94819442 -0.09824032 -0.30211947 3.18025247] [ 0.09919083 0.99499322 -0.01223445 0.18418455] [ 0.30180874 -0.01836684 0.95319156 0.46955401] [ 0. 0. 0. 1. ]] SLAMing on 110.36650248099998 meters Centerline goodness : 0.718203 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94795999 -0.09898464 -0.30261179 3.18198433] [ 0.10013795 0.99490427 -0.0117427 0.1832831 ] [ 0.3022321 -0.01917132 0.95304156 0.46940551] [ 0. 0. 0. 1. ]] SLAMing on 110.39650248099998 meters Centerline goodness : 0.717389 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94771119 -0.10339989 -0.30191384 3.18189714] [ 0.10377747 0.99448989 -0.01483563 0.18206627] [ 0.30178426 -0.01727196 0.95321977 0.46896195] [ 0. 0. 0. 1. ]] SLAMing on 110.42650248099999 meters Centerline goodness : 0.720200 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.9476547 -0.10366194 -0.30200127 3.18196174] [ 0.10434541 0.99444376 -0.01391565 0.18040371] [ 0.3017658 -0.01832522 0.95320595 0.46943868] [ 0. 0. 0. 1. ]] SLAMing on 110.45650248099999 meters Centerline goodness : 0.722089 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.9475686 -0.10419359 -0.30208847 3.18162381] [ 0.10535213 0.99435637 -0.0125036 0.17834039] [ 0.30168638 -0.01997764 0.95319789 0.47043922] [ 0. 0. 0. 1. ]] SLAMing on 110.48650248099999 meters Centerline goodness : 0.721466 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94749253 -0.10426096 -0.30230376 3.18168283] [ 0.1057339 0.99432754 -0.01153628 0.17661179] [ 0.30179173 -0.02103322 0.95314183 0.47106443] [ 0. 0. 0. 1. ]] SLAMing on 110.51650248099999 meters Centerline goodness : 0.722781 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94736497 -0.10455189 -0.30260291 3.1820121 ] [ 0.10628556 0.9942772 -0.01078093 0.17527736] [ 0.30199834 -0.02194884 0.95305574 0.47168358] [ 0. 0. 0. 1. ]] SLAMing on 110.54650248099999 meters Centerline goodness : 0.723806 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94719676 -0.10527684 -0.30287802 3.18312215] [ 0.1073039 0.99417608 -0.00999017 0.17388965] [ 0.30216581 -0.02303734 0.95297697 0.47167418] [ 0. 0. 0. 1. ]] SLAMing on 110.57650248099999 meters Centerline goodness : 0.724842 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94719379 -0.10524655 -0.30289781 3.18208673] [ 0.10772062 0.99414421 -0.00857698 0.17235223] [ 0.3020268 -0.02450428 0.95298445 0.47294476] [ 0. 0. 0. 1. ]] SLAMing on 110.60650248099999 meters Centerline goodness : 0.724879 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94718891 -0.10543817 -0.30284643 3.18184155] [ 0.1080803 0.9941094 -0.00807213 0.1714938 ] [ 0.30191359 -0.0250859 0.95300518 0.47323982] [ 0. 0. 0. 1. ]] SLAMing on 110.636502481 meters Centerline goodness : 0.722850 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94697481 -0.10599658 -0.30332067 3.18357647] [ 0.10886659 0.99402821 -0.00748277 0.17020323] [ 0.30230245 -0.02593549 0.95285916 0.47307402] [ 0. 0. 0. 1. ]] SLAMing on 110.666502481 meters Centerline goodness : 0.724704 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94691849 -0.10619478 -0.30342715 3.18385955] [ 0.109133 0.99400029 -0.00730846 0.16975737] [ 0.3023828 -0.0261934 0.95282661 0.47321558] [ 0. 0. 0. 1. ]] SLAMing on 110.696502481 meters Centerline goodness : 0.724496 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94688613 -0.1058033 -0.30366481 3.18384687] [ 0.10890205 0.99402948 -0.00676323 0.169716 ] [ 0.30256735 -0.02666571 0.95275492 0.47371878] [ 0. 0. 0. 1. ]] SLAMing on 110.726502481 meters Centerline goodness : 0.724076 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94677839 -0.10576642 -0.30401339 3.18472721] [ 0.10882311 0.99403703 -0.00692195 0.17051294] [ 0.30293267 -0.02653013 0.95264261 0.47358913] [ 0. 0. 0. 1. ]] SLAMing on 110.75650248099998 meters Centerline goodness : 0.724610 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.47 [[ 0.94689517 -0.10526091 -0.30382507 3.18539946] [ 0.10815071 0.99410734 -0.00735048 0.17147692] [ 0.30280845 -0.02589877 0.95269948 0.4724548 ] [ 0. 0. 0. 1. ]] SLAMing on 110.78650248099999 meters Centerline goodness : 0.725975 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94707235 -0.10501791 -0.30335656 3.18489854] [ 0.10773725 0.99414875 -0.00780748 0.17151354] [ 0.30240146 -0.02528856 0.95284513 0.47177455] [ 0. 0. 0. 1. ]] SLAMing on 110.81650248099999 meters Centerline goodness : 0.723947 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94740776 -0.10388983 -0.30269696 3.18426057] [ 0.10633235 0.99429476 -0.00844747 0.17198048] [ 0.30184761 -0.02418328 0.95304942 0.47057311] [ 0. 0. 0. 1. ]] SLAMing on 110.84650248099999 meters Centerline goodness : 0.723596 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94754552 -0.10336515 -0.30244526 3.18383425] [ 0.10559719 0.99436817 -0.00900946 0.17287938] [ 0.3016732 -0.0234005 0.95312418 0.47011664] [ 0. 0. 0. 1. ]] SLAMing on 110.87650248099999 meters Centerline goodness : 0.723708 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94805707 -0.09800078 -0.3026279 3.18440957] [ 0.10098171 0.99487125 -0.00582147 0.17395749] [ 0.30164631 -0.0250408 0.95309101 0.4689037 ] [ 0. 0. 0. 1. ]] SLAMing on 110.90650248099999 meters Centerline goodness : 0.721463 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 9.48515227e-01 -9.28196328e-02 -3.02825660e-01 3.18403270e+00] [ 9.69595502e-02 9.95287381e-01 -1.36910309e-03 1.73070432e-01] [ 3.01525638e-01 -2.80632246e-02 9.53044986e-01 4.68916943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93650248099999 meters Centerline goodness : 0.723843 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 9.49383681e-01 -9.10534689e-02 -3.00632487e-01 3.17968026e+00] [ 9.45678399e-02 9.95514272e-01 -2.87348839e-03 1.74557075e-01] [ 2.99545573e-01 -2.57021219e-02 9.53735734e-01 4.67596932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96650248099999 meters Centerline goodness : 0.725057 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.9497532 -0.0904509 -0.2996456 3.17807188] [ 0.09374812 0.99559019 -0.00338553 0.17449904] [ 0.29863045 -0.02487579 0.95404457 0.46676808] [ 0. 0. 0. 1. ]] SLAMing on 110.996502481 meters Centerline goodness : 0.723031 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 9.50223177e-01 -8.56182383e-02 -2.99575419e-01 3.17667624e+00] [ 9.00672644e-02 9.95935134e-01 1.04745064e-03 1.73179124e-01] [ 2.98268004e-01 -2.79772503e-02 9.54072047e-01 4.67264034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.026502481 meters Centerline goodness : 0.724227 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 9.50259777e-01 -8.57118597e-02 -2.99432520e-01 3.17621170e+00] [ 9.01377937e-02 9.95928828e-01 9.73200029e-04 1.73419693e-01] [ 2.98130064e-01 -2.79149795e-02 9.54116984e-01 4.67367912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.056502481 meters Centerline goodness : 0.722207 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94998525 -0.09053588 -0.29888338 3.17645345] [ 0.09358355 0.99560286 -0.00413136 0.17512134] [ 0.29794318 -0.02404584 0.9542807 0.46649546] [ 0. 0. 0. 1. ]] SLAMing on 111.086502481 meters Centerline goodness : 0.722300 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94987721 -0.09095727 -0.29909876 3.17715692] [ 0.09408307 0.99555646 -0.00396438 0.17431327] [ 0.29813029 -0.02437446 0.95421393 0.4665227 ] [ 0. 0. 0. 1. ]] SLAMing on 111.11650248099998 meters Centerline goodness : 0.722969 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94978149 -0.09532801 -0.29803976 3.17548593] [ 0.09740348 0.99521348 -0.00791739 0.17477342] [ 0.29736794 -0.02151032 0.95452062 0.46644083] [ 0. 0. 0. 1. ]] SLAMing on 111.14650248099998 meters Centerline goodness : 0.722937 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94989043 -0.09524538 -0.2977188 3.17474268] [ 0.097501 0.99520864 -0.00730138 0.17358015] [ 0.29698775 -0.02209237 0.95462569 0.46658974] [ 0. 0. 0. 1. ]] SLAMing on 111.17650248099999 meters Centerline goodness : 0.722714 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94991943 -0.09551046 -0.29754132 3.17439052] [ 0.09807695 0.99515871 -0.00632808 0.17192769] [ 0.29670523 -0.02317078 0.95468797 0.46689807] [ 0. 0. 0. 1. ]] SLAMing on 111.20650248099999 meters Centerline goodness : 0.720917 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94981058 -0.09566908 -0.29783768 3.17505514] [ 0.09834494 0.99513415 -0.00602512 0.17209646] [ 0.29696486 -0.02356811 0.95459752 0.46703941] [ 0. 0. 0. 1. ]] SLAMing on 111.23650248099999 meters Centerline goodness : 0.722394 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94985207 -0.09559312 -0.29772976 3.17483232] [ 0.09842044 0.99512963 -0.00551736 0.17214075] [ 0.29680712 -0.02406202 0.95463425 0.46708082] [ 0. 0. 0. 1. ]] SLAMing on 111.26650248099999 meters Centerline goodness : 0.723948 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94993581 -0.09545566 -0.29750661 3.17439742] [ 0.09838101 0.99513543 -0.00516179 0.17107942] [ 0.29655209 -0.02436564 0.9547058 0.46709673] [ 0. 0. 0. 1. ]] SLAMing on 111.29650248099999 meters Centerline goodness : 0.724323 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94983623 -0.09962218 -0.29645668 3.17370685] [ 0.10127175 0.99481025 -0.00982805 0.17174971] [ 0.29589723 -0.02068765 0.95499573 0.46603724] [ 0. 0. 0. 1. ]] SLAMing on 111.32650248099999 meters Centerline goodness : 0.722738 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94976338 -0.0999639 -0.29657502 3.17443903] [ 0.10158832 0.99477656 -0.00997008 0.17220381] [ 0.29602253 -0.02065935 0.95495751 0.46573205] [ 0. 0. 0. 1. ]] SLAMing on 111.35650248099999 meters Centerline goodness : 0.722342 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94949208 -0.10022976 -0.29735296 3.17590986] [ 0.10199078 0.99473875 -0.00962827 0.17420353] [ 0.29675355 -0.02118529 0.95471908 0.46610348] [ 0. 0. 0. 1. ]] SLAMing on 111.386502481 meters Centerline goodness : 0.722876 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94949404 -0.10052709 -0.29724633 3.17593383] [ 0.10224201 0.99471114 -0.00981421 0.17456463] [ 0.29666083 -0.02107253 0.95475039 0.46597829] [ 0. 0. 0. 1. ]] SLAMing on 111.416502481 meters Centerline goodness : 0.724605 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94974866 -0.10068707 -0.29637746 3.1742488 ] [ 0.10234308 0.99469926 -0.00996414 0.17383386] [ 0.2958097 -0.02086875 0.95501891 0.46576987] [ 0. 0. 0. 1. ]] SLAMing on 111.446502481 meters Centerline goodness : 0.725251 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94982924 -0.10079291 -0.29608311 3.1734272 ] [ 0.10244119 0.99468896 -0.00998353 0.17341997] [ 0.29551687 -0.02084846 0.95511 0.46592902] [ 0. 0. 0. 1. ]] SLAMing on 111.476502481 meters Centerline goodness : 0.725725 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94988698 -0.10070662 -0.29592719 3.17221695] [ 0.1024973 0.99468793 -0.00949831 0.17318102] [ 0.29531175 -0.02130942 0.95516327 0.46673988] [ 0. 0. 0. 1. ]] SLAMing on 111.50650248099998 meters Centerline goodness : 0.725179 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94979121 -0.10097456 -0.29614319 3.17244085] [ 0.10279921 0.99465728 -0.00944577 0.17367995] [ 0.29551476 -0.02147177 0.95509685 0.46707332] [ 0. 0. 0. 1. ]] SLAMing on 111.53650248099999 meters Centerline goodness : 0.724908 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94961202 -0.10183067 -0.29642458 3.1736018 ] [ 0.1036939 0.99456414 -0.00947343 0.17420365] [ 0.29577795 -0.02174134 0.95500928 0.46691645] [ 0. 0. 0. 1. ]] SLAMing on 111.56650248099999 meters Centerline goodness : 0.724153 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94948838 -0.10220503 -0.29669168 3.17454666] [ 0.10417902 0.99451606 -0.009194 0.1737166 ] [ 0.29600431 -0.02217945 0.95492907 0.46686842] [ 0. 0. 0. 1. ]] SLAMing on 111.59650248099999 meters Centerline goodness : 0.726864 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.949035 -0.1071277 -0.29640552 3.17604571] [ 0.10803352 0.99405732 -0.01337184 0.1743549 ] [ 0.29607657 -0.01933139 0.95496857 0.46585066] [ 0. 0. 0. 1. ]] SLAMing on 111.62650248099999 meters Centerline goodness : 0.725922 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94893756 -0.10758543 -0.29655165 3.17725761] [ 0.10858348 0.99400029 -0.01315458 0.17342439] [ 0.29618767 -0.01971774 0.95492621 0.46536925] [ 0. 0. 0. 1. ]] SLAMing on 111.65650248099999 meters Centerline goodness : 0.726160 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94892872 -0.10773866 -0.2965243 3.17733658] [ 0.10895326 0.99396856 -0.01247779 0.17209921] [ 0.29608017 -0.02046675 0.95494379 0.46550816] [ 0. 0. 0. 1. ]] SLAMing on 111.68650248099999 meters Centerline goodness : 0.728030 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94919717 -0.10794791 -0.29558753 3.17566437] [ 0.10952318 0.9939203 -0.01127424 0.16897589] [ 0.29500748 -0.02167221 0.95524913 0.46554147] [ 0. 0. 0. 1. ]] SLAMing on 111.71650248099999 meters Centerline goodness : 0.728053 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94933192 -0.10773648 -0.29523171 3.17492758] [ 0.10970781 0.99391428 -0.00993015 0.16670048] [ 0.29450485 -0.02296222 0.95537408 0.46581578] [ 0. 0. 0. 1. ]] SLAMing on 111.746502481 meters Centerline goodness : 0.728053 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94933192 -0.10773648 -0.29523171 3.17492758] [ 0.10970781 0.99391428 -0.00993015 0.16670048] [ 0.29450485 -0.02296222 0.95537408 0.46581578] [ 0. 0. 0. 1. ]] SLAMing on 111.776502481 meters Centerline goodness : 0.728456 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94938591 -0.10761993 -0.29510057 3.1746074 ] [ 0.10974573 0.99391524 -0.00940034 0.16598097] [ 0.29431661 -0.02346148 0.95541995 0.46593134] [ 0. 0. 0. 1. ]] SLAMing on 111.806502481 meters Centerline goodness : 0.727849 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94938116 -0.10770993 -0.29508303 3.1747673 ] [ 0.1099724 0.99389418 -0.00896883 0.16505309] [ 0.29424733 -0.02393615 0.95542952 0.46594022] [ 0. 0. 0. 1. ]] SLAMing on 111.836502481 meters Centerline goodness : 0.726755 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.46 [[ 0.9490349 -0.11208701 -0.29456624 3.17638564] [ 0.11311357 0.99348887 -0.01360805 0.1655256 ] [ 0.29417356 -0.02040492 0.95553417 0.46413227] [ 0. 0. 0. 1. ]] SLAMing on 111.86650248099998 meters Centerline goodness : 0.725047 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94903263 -0.11210261 -0.29456761 3.17729862] [ 0.11338504 0.99346893 -0.01277926 0.16389074] [ 0.29407636 -0.02127163 0.95554519 0.4636291 ] [ 0. 0. 0. 1. ]] SLAMing on 111.89650248099998 meters Centerline goodness : 0.726553 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94906899 -0.1121057 -0.29444925 3.17719869] [ 0.11349015 0.99346125 -0.01243912 0.16333517] [ 0.29391842 -0.02161151 0.95558616 0.46356651] [ 0. 0. 0. 1. ]] SLAMing on 111.92650248099999 meters Centerline goodness : 0.725300 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94923254 -0.11204076 -0.29394633 3.17686739] [ 0.11346432 0.99346639 -0.01226313 0.16220121] [ 0.29339977 -0.02171186 0.95574325 0.46291579] [ 0. 0. 0. 1. ]] SLAMing on 111.95650248099999 meters Centerline goodness : 0.726518 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94937519 -0.11179142 -0.29358037 3.17649654] [ 0.11330123 0.99348923 -0.01191562 0.1612956 ] [ 0.293001 -0.02195062 0.95586013 0.46258942] [ 0. 0. 0. 1. ]] SLAMing on 111.98650248099999 meters Centerline goodness : 0.727361 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.9498913 -0.11040272 -0.29243419 3.17398401] [ 0.11197045 0.99364584 -0.01142635 0.16021146] [ 0.29183752 -0.02189019 0.95621738 0.46220304] [ 0. 0. 0. 1. ]] SLAMing on 112.01650248099999 meters Centerline goodness : 0.727962 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95001518 -0.11000648 -0.29218098 3.17338502] [ 0.11151686 0.9936956 -0.01153481 0.16011949] [ 0.29160786 -0.02162486 0.95629348 0.46201751] [ 0. 0. 0. 1. ]] SLAMing on 112.04650248099999 meters Centerline goodness : 0.727725 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95029417 -0.10929201 -0.29154117 3.17248637] [ 0.11072839 0.99378276 -0.01162089 0.16022895] [ 0.29099866 -0.02123862 0.95648769 0.46126288] [ 0. 0. 0. 1. ]] SLAMing on 112.07650248099999 meters Centerline goodness : 0.728447 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95038796 -0.1091028 -0.29130619 3.17195881] [ 0.11047686 0.99380889 -0.01177953 0.16023321] [ 0.29078786 -0.02098747 0.95655734 0.46113494] [ 0. 0. 0. 1. ]] SLAMing on 112.10650248099999 meters Centerline goodness : 0.728028 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95077691 -0.10811242 -0.29040484 3.17087291] [ 0.10937513 0.99392894 -0.01193065 0.1591608 ] [ 0.28993162 -0.02041968 0.9568295 0.45997433] [ 0. 0. 0. 1. ]] SLAMing on 112.136502481 meters Centerline goodness : 0.727500 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95091059 -0.10774904 -0.29010205 3.1704173 ] [ 0.10908247 0.99396478 -0.0116203 0.15833121] [ 0.28960329 -0.02059518 0.95692516 0.45978773] [ 0. 0. 0. 1. ]] SLAMing on 112.166502481 meters Centerline goodness : 0.725248 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.9508661 -0.10759335 -0.29030559 3.17001816] [ 0.10918495 0.99396322 -0.01075956 0.15750282] [ 0.28971073 -0.0214661 0.9568735 0.4606686 ] [ 0. 0. 0. 1. ]] SLAMing on 112.196502481 meters Centerline goodness : 0.727682 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95083592 -0.10765769 -0.29038058 3.17056788] [ 0.10940425 0.99394435 -0.01026328 0.15662145] [ 0.28972705 -0.02201017 0.9568562 0.46053761] [ 0. 0. 0. 1. ]] SLAMing on 112.226502481 meters Centerline goodness : 0.725929 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95077435 -0.10787611 -0.29050109 3.17165686] [ 0.10975441 0.99390972 -0.00987064 0.15521657] [ 0.28979666 -0.02249902 0.95682375 0.46009875] [ 0. 0. 0. 1. ]] SLAMing on 112.25650248099998 meters Centerline goodness : 0.725454 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.95025856 -0.11241736 -0.29046686 3.173645 ] [ 0.1134438 0.99345459 -0.01335986 0.15421514] [ 0.29006752 -0.02025634 0.95679178 0.4592741 ] [ 0. 0. 0. 1. ]] SLAMing on 112.28650248099999 meters Centerline goodness : 0.726740 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94997982 -0.11305575 -0.29113011 3.17622639] [ 0.1144835 0.99335044 -0.01218345 0.15222515] [ 0.29057163 -0.02175556 0.95660589 0.45893966] [ 0. 0. 0. 1. ]] SLAMing on 112.31650248099999 meters Centerline goodness : 0.725801 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94980708 -0.11335192 -0.29157822 3.17725358] [ 0.11504664 0.99329484 -0.01138552 0.15150306] [ 0.29091371 -0.02273105 0.95647923 0.45929876] [ 0. 0. 0. 1. ]] SLAMing on 112.34650248099999 meters Centerline goodness : 0.726034 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94972177 -0.11388839 -0.29164705 3.17667699] [ 0.11600861 0.99319713 -0.01007285 0.14914251] [ 0.29081019 -0.02426717 0.95647297 0.46053507] [ 0. 0. 0. 1. ]] SLAMing on 112.37650248099999 meters Centerline goodness : 0.727023 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94964333 -0.1141135 -0.29181441 3.17718293] [ 0.11650701 0.99314705 -0.00922293 0.14742033] [ 0.29086708 -0.02523993 0.95643049 0.46083231] [ 0. 0. 0. 1. ]] SLAMing on 112.40650248099999 meters Centerline goodness : 0.728313 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94915234 -0.11895556 -0.29147799 3.17716274] [ 0.12047623 0.99263377 -0.01279344 0.14686266] [ 0.29085275 -0.02297325 0.95649198 0.46124278] [ 0. 0. 0. 1. ]] SLAMing on 112.43650248099999 meters Centerline goodness : 0.728375 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94914502 -0.11874287 -0.29158853 3.17700929] [ 0.1205778 0.99263449 -0.01173728 0.14536679] [ 0.29083455 -0.02401872 0.95647183 0.461881 ] [ 0. 0. 0. 1. ]] SLAMing on 112.46650248099999 meters Centerline goodness : 0.727524 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94896053 -0.11935616 -0.29193839 3.17749725] [ 0.12131269 0.99254818 -0.01146058 0.14522232] [ 0.29113081 -0.02454019 0.95636846 0.46245155] [ 0. 0. 0. 1. ]] SLAMing on 112.496502481 meters Centerline goodness : 0.726882 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94879324 -0.11961174 -0.29237718 3.17853831] [ 0.12165281 0.99250884 -0.01126061 0.14547032] [ 0.29153384 -0.02488452 0.95623678 0.46256754] [ 0. 0. 0. 1. ]] SLAMing on 112.526502481 meters Centerline goodness : 0.725618 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94877322 -0.11968572 -0.29241189 3.17803909] [ 0.12181837 0.99249174 -0.01097451 0.1450547 ] [ 0.29152987 -0.02520882 0.9562295 0.46317911] [ 0. 0. 0. 1. ]] SLAMing on 112.556502481 meters Centerline goodness : 0.727489 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94870445 -0.12010931 -0.29246133 3.17817401] [ 0.12220847 0.99244179 -0.01115286 0.14513358] [ 0.29159041 -0.02516049 0.95621231 0.46328825] [ 0. 0. 0. 1. ]] SLAMing on 112.586502481 meters Centerline goodness : 0.725870 Centerline is valid? [False, False] Translation: X:3.18, Y:0.14, Z:0.46 [[ 0.94861502 -0.11990567 -0.29283471 3.17893237] [ 0.12215381 0.99245385 -0.0106678 0.14484401] [ 0.29190406 -0.02565124 0.95610357 0.46343774] [ 0. 0. 0. 1. ]] SLAMing on 112.61650248099998 meters Centerline goodness : 0.724772 Centerline is valid? [False, False] Translation: X:3.18, Y:0.14, Z:0.46 [[ 0.94861114 -0.11984472 -0.29287224 3.17881635] [ 0.12215912 0.99245557 -0.01044502 0.14498575] [ 0.29191446 -0.02586876 0.95609453 0.46364503] [ 0. 0. 0. 1. ]] SLAMing on 112.64650248099998 meters Centerline goodness : 0.726603 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94864841 -0.11965008 -0.29283109 3.17823255] [ 0.12196831 0.99247951 -0.01039919 0.14547758] [ 0.29187312 -0.02585094 0.95610764 0.46396207] [ 0. 0. 0. 1. ]] SLAMing on 112.67650248099999 meters Centerline goodness : 0.573860 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94862367 -0.11966085 -0.29290684 3.17862044] [ 0.12198449 0.99247762 -0.01039014 0.14577366] [ 0.29194678 -0.02587376 0.95608453 0.46378667] [ 0. 0. 0. 1. ]] SLAMing on 112.70650248099999 meters Centerline goodness : 0.631485 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94859391 -0.11971445 -0.29298129 3.17917997] [ 0.12202842 0.99247173 -0.0104368 0.14570192] [ 0.29202509 -0.02585176 0.95606121 0.46348489] [ 0. 0. 0. 1. ]] SLAMing on 112.73650248099999 meters Centerline goodness : 0.723725 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94865266 -0.11931292 -0.29295489 3.17949108] [ 0.12156658 0.99252699 -0.01057102 0.14551437] [ 0.29202689 -0.0255853 0.95606782 0.46300208] [ 0. 0. 0. 1. ]] SLAMing on 112.76650248099999 meters Centerline goodness : 0.721350 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94860528 -0.11909214 -0.29319802 3.1799372 ] [ 0.12138567 0.99255063 -0.01042945 0.14562173] [ 0.29225594 -0.02569661 0.95599485 0.46308877] [ 0. 0. 0. 1. ]] SLAMing on 112.79650248099999 meters Centerline goodness : 0.722637 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94850553 -0.11859821 -0.29372048 3.18085797] [ 0.12098268 0.99260318 -0.01010561 0.14647189] [ 0.29274639 -0.02594986 0.95583793 0.46315585] [ 0. 0. 0. 1. ]] SLAMing on 112.82650248099999 meters Centerline goodness : 0.720007 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94851361 -0.11812939 -0.29388326 3.1810582 ] [ 0.12059425 0.99265363 -0.00978718 0.14673535] [ 0.29288044 -0.02615736 0.95579121 0.46325907] [ 0. 0. 0. 1. ]] SLAMing on 112.85650248099999 meters Centerline goodness : 0.719337 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94848501 -0.11828767 -0.29391192 3.1817112 ] [ 0.12057434 0.99264987 -0.01039527 0.14747098] [ 0.29298126 -0.02557848 0.95577598 0.46265412] [ 0. 0. 0. 1. ]] SLAMing on 112.886502481 meters Centerline goodness : 0.718677 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94839402 -0.11861343 -0.29407421 3.18256345] [ 0.12085686 0.99261334 -0.01060057 0.14767255] [ 0.29315935 -0.02548737 0.9557238 0.46230925] [ 0. 0. 0. 1. ]] SLAMing on 112.916502481 meters Centerline goodness : 0.718589 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94823746 -0.11883986 -0.29448735 3.18279009] [ 0.12120726 0.9925741 -0.01026904 0.14809665] [ 0.29352089 -0.02595651 0.9556002 0.46300623] [ 0. 0. 0. 1. ]] SLAMing on 112.946502481 meters Centerline goodness : 0.714675 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94802566 -0.11901177 -0.29509922 3.18352126] [ 0.12150455 0.99254106 -0.00994458 0.14855829] [ 0.29408161 -0.02642818 0.95541486 0.4637285 ] [ 0. 0. 0. 1. ]] SLAMing on 112.976502481 meters Centerline goodness : 0.715841 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94772456 -0.12015373 -0.29560317 3.18444394] [ 0.12254896 0.99240711 -0.01048285 0.15062032] [ 0.29461824 -0.02629101 0.9552533 0.46415176] [ 0. 0. 0. 1. ]] SLAMing on 113.00650248099998 meters Centerline goodness : 0.716158 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94764062 -0.12020227 -0.29585243 3.18448993] [ 0.12275499 0.99238659 -0.01000333 0.15066754] [ 0.29480241 -0.0268378 0.95518128 0.46470889] [ 0. 0. 0. 1. ]] SLAMing on 113.03650248099999 meters Centerline goodness : 0.714043 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.47 [[ 0.94756277 -0.12015222 -0.296122 3.18430939] [ 0.12289498 0.99237511 -0.00940613 0.15047862] [ 0.29499427 -0.02747901 0.95510381 0.46552383] [ 0. 0. 0. 1. ]] SLAMing on 113.06650248099999 meters Centerline goodness : 0.714787 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.47 [[ 0.9475393 -0.12061823 -0.29600762 3.18360386] [ 0.12332927 0.99231967 -0.00956905 0.15099596] [ 0.29488838 -0.02743935 0.95513765 0.46598875] [ 0. 0. 0. 1. ]] SLAMing on 113.09650248099999 meters Centerline goodness : 0.709632 Centerline is valid? [False, False] Translation: X:3.19, Y:0.15, Z:0.47 [[ 0.94725541 -0.12070069 -0.29688133 3.18557627] [ 0.12340757 0.99230886 -0.00968024 0.15305105] [ 0.29576638 -0.02746775 0.95486531 0.46592842] [ 0. 0. 0. 1. ]] SLAMing on 113.12650248099999 meters Centerline goodness : 0.707430 Centerline is valid? [False, False] Translation: X:3.19, Y:0.15, Z:0.47 [[ 0.94722128 -0.12057793 -0.29704007 3.18574017] [ 0.12327446 0.99232511 -0.0097102 0.15406057] [ 0.29593116 -0.02741975 0.95481564 0.46603725] [ 0. 0. 0. 1. ]] SLAMing on 113.15650248099999 meters Centerline goodness : 0.708180 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.47 [[ 0.94731661 -0.12031786 -0.29684147 3.18434478] [ 0.12309044 0.99235089 -0.00940542 0.1543592 ] [ 0.29570253 -0.02762844 0.95488045 0.46675556] [ 0. 0. 0. 1. ]] SLAMing on 113.18650248099999 meters Centerline goodness : 0.706901 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94741701 -0.11986238 -0.29670529 3.18383829] [ 0.12253079 0.99241771 -0.00965873 0.15568136] [ 0.2956133 -0.02720469 0.95492025 0.46668596] [ 0. 0. 0. 1. ]] SLAMing on 113.21650248099999 meters Centerline goodness : 0.707232 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.9474041 -0.11971305 -0.29680677 3.18457729] [ 0.12223629 0.99244949 -0.01011429 0.15674921] [ 0.29577654 -0.02669824 0.95488399 0.46607428] [ 0. 0. 0. 1. ]] SLAMing on 113.246502481 meters Centerline goodness : 0.705326 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94757494 -0.11945969 -0.29636313 3.18319224] [ 0.12189195 0.99248964 -0.01032771 0.15739048] [ 0.29537109 -0.026338 0.95501949 0.46624132] [ 0. 0. 0. 1. ]] SLAMing on 113.276502481 meters Centerline goodness : 0.704230 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94799335 -0.11549164 -0.29659786 3.18248999] [ 0.11907022 0.99286749 -0.0060355 0.15573858] [ 0.29517942 -0.02959436 0.95498339 0.46686784] [ 0. 0. 0. 1. ]] SLAMing on 113.306502481 meters Centerline goodness : 0.701277 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94798852 -0.11450895 -0.29699404 3.18297776] [ 0.11835901 0.99295803 -0.00504926 0.15834277] [ 0.2954808 -0.03036528 0.95486598 0.46681618] [ 0. 0. 0. 1. ]] SLAMing on 113.336502481 meters Centerline goodness : 0.702268 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94809045 -0.11437889 -0.29671866 3.18240986] [ 0.11806967 0.99299 -0.00551487 0.15902019] [ 0.29526945 -0.02980488 0.95494902 0.46660036] [ 0. 0. 0. 1. ]] SLAMing on 113.36650248099998 meters Centerline goodness : 0.699418 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94826359 -0.1137401 -0.29641077 3.18095081] [ 0.11738147 0.99307142 -0.00554457 0.15926768] [ 0.29498771 -0.02953542 0.95504445 0.46703997] [ 0. 0. 0. 1. ]] SLAMing on 113.39650248099998 meters Centerline goodness : 0.699292 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94821555 -0.11363203 -0.29660584 3.1815606 ] [ 0.11722569 0.99308893 -0.0057028 0.1602523 ] [ 0.29520399 -0.02936234 0.95498296 0.46681319] [ 0. 0. 0. 1. ]] SLAMing on 113.42650248099999 meters Centerline goodness : 0.698669 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94806205 -0.11425559 -0.2968569 3.1824552 ] [ 0.1175537 0.99304339 -0.00677956 0.1624712 ] [ 0.29556638 -0.02846918 0.95489791 0.46642358] [ 0. 0. 0. 1. ]] SLAMing on 113.45650248099999 meters Centerline goodness : 0.694257 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94784589 -0.11266819 -0.29815104 3.18499633] [ 0.11658686 0.99316952 -0.00466957 0.16443268] [ 0.29664063 -0.03033446 0.95450728 0.46648233] [ 0. 0. 0. 1. ]] SLAMing on 113.48650248099999 meters Centerline goodness : 0.694100 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94779869 -0.11345299 -0.29800347 3.18392034] [ 0.11716719 0.99309734 -0.00543265 0.16616616] [ 0.29656281 -0.02976717 0.95454933 0.467081 ] [ 0. 0. 0. 1. ]] SLAMing on 113.51650248099999 meters Centerline goodness : 0.695077 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94777242 -0.1140252 -0.2978686 3.18380578] [ 0.11769138 0.99303408 -0.00566112 0.16608982] [ 0.29643918 -0.02969111 0.9545901 0.46702544] [ 0. 0. 0. 1. ]] SLAMing on 113.54650248099999 meters Centerline goodness : 0.692478 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94764723 -0.11472885 -0.29799668 3.18423332] [ 0.1183507 0.99295418 -0.00592552 0.16601923] [ 0.29657688 -0.02965281 0.95454851 0.46704839] [ 0. 0. 0. 1. ]] SLAMing on 113.57650248099999 meters Centerline goodness : 0.694002 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94736788 -0.11609668 -0.29835491 3.184736 ] [ 0.11959423 0.99280109 -0.00657332 0.16813919] [ 0.29697022 -0.02945418 0.95443236 0.46754755] [ 0. 0. 0. 1. ]] SLAMing on 113.60650248099999 meters Centerline goodness : 0.692903 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94721842 -0.11654752 -0.29865353 3.18493666] [ 0.12002917 0.99274759 -0.00672495 0.1695999 ] [ 0.29727135 -0.02947714 0.95433791 0.46801566] [ 0. 0. 0. 1. ]] SLAMing on 113.636502481 meters Centerline goodness : 0.692903 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94721842 -0.11654752 -0.29865353 3.18493666] [ 0.12002917 0.99274759 -0.00672495 0.1695999 ] [ 0.29727135 -0.02947714 0.95433791 0.46801566] [ 0. 0. 0. 1. ]] SLAMing on 113.666502481 meters Centerline goodness : 0.692160 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94705285 -0.11731797 -0.29887689 3.18416294] [ 0.12082863 0.99265027 -0.00677407 0.17135942] [ 0.29747494 -0.02969748 0.95426763 0.46920788] [ 0. 0. 0. 1. ]] SLAMing on 113.696502481 meters Centerline goodness : 0.692687 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.9467281 -0.11888101 -0.29928784 3.18453773] [ 0.12216841 0.99247894 -0.0077739 0.17335001] [ 0.29796105 -0.02920375 0.9541312 0.46991446] [ 0. 0. 0. 1. ]] SLAMing on 113.726502481 meters Centerline goodness : 0.692353 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94657139 -0.11974245 -0.29944007 3.18472374] [ 0.12293785 0.99238035 -0.00821734 0.17396674] [ 0.29814241 -0.02903422 0.95407972 0.47021214] [ 0. 0. 0. 1. ]] SLAMing on 113.75650248099998 meters Centerline goodness : 0.691795 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94647049 -0.12051574 -0.29944876 3.18498664] [ 0.12361828 0.99229227 -0.00863513 0.17437211] [ 0.29818136 -0.02884445 0.95407331 0.47014575] [ 0. 0. 0. 1. ]] SLAMing on 113.78650248099999 meters Centerline goodness : 0.691722 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94616284 -0.12136277 -0.30007824 3.18566647] [ 0.12449644 0.99218164 -0.00873108 0.17588009] [ 0.29879175 -0.02909765 0.95387464 0.47095887] [ 0. 0. 0. 1. ]] SLAMing on 113.81650248099999 meters Centerline goodness : 0.692526 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94608792 -0.12129208 -0.30034295 3.18574793] [ 0.12451405 0.99218173 -0.00846548 0.17651356] [ 0.29902158 -0.02938783 0.95379371 0.47145221] [ 0. 0. 0. 1. ]] SLAMing on 113.84650248099999 meters Centerline goodness : 0.691623 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94597743 -0.12178838 -0.30049008 3.18535413] [ 0.1247567 0.99214315 -0.00936629 0.1791169 ] [ 0.29926988 -0.02862786 0.95373895 0.47199117] [ 0. 0. 0. 1. ]] SLAMing on 113.87650248099999 meters Centerline goodness : 0.691751 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94593916 -0.12177514 -0.3006159 3.18621664] [ 0.12459466 0.99215882 -0.0098508 0.18072464] [ 0.2994583 -0.02813688 0.95369442 0.47135446] [ 0. 0. 0. 1. ]] SLAMing on 113.90650248099999 meters Centerline goodness : 0.692478 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94630122 -0.117638 -0.3011234 3.186762 ] [ 0.12128631 0.99259549 -0.00662042 0.18122393] [ 0.29967254 -0.03025723 0.9535622 0.47108448] [ 0. 0. 0. 1. ]] SLAMing on 113.93650248099999 meters Centerline goodness : 0.693252 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94656542 -0.11706013 -0.30051759 3.18524043] [ 0.12057103 0.99268069 -0.00690463 0.18198437] [ 0.29912627 -0.02969804 0.95375128 0.47096653] [ 0. 0. 0. 1. ]] SLAMing on 113.96650248099999 meters Centerline goodness : 0.692855 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94682745 -0.11681376 -0.29978713 3.18352226] [ 0.12000121 0.99274291 -0.00782419 0.18348608] [ 0.29852552 -0.02856667 0.95397403 0.47069079] [ 0. 0. 0. 1. ]] SLAMing on 113.996502481 meters Centerline goodness : 0.694466 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.9473966 -0.11251167 -0.29963444 3.18270925] [ 0.11641052 0.99318926 -0.00486744 0.18415788] [ 0.29814135 -0.0302692 0.95404167 0.4702101 ] [ 0. 0. 0. 1. ]] SLAMing on 114.026502481 meters Centerline goodness : 0.694225 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 9.47886614e-01 -1.07971647e-01 -2.99755051e-01 3.18264698e+00] [ 1.12678261e-01 9.93630248e-01 -1.59356259e-03 1.84710142e-01] [ 2.98017745e-01 -3.22653613e-02 9.54014869e-01 4.69605482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.056502481 meters Centerline goodness : 0.692774 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 9.48025140e-01 -1.07571165e-01 -2.99460814e-01 3.18221902e+00] [ 1.12041511e-01 9.93700968e-01 -2.25539456e-03 1.86083360e-01] [ 2.97817116e-01 -3.14138712e-02 9.54105934e-01 4.69141071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.086502481 meters Centerline goodness : 0.695163 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94832381 -0.10692966 -0.29874405 3.18155155] [ 0.11087022 0.99382771 -0.00377845 0.18879217] [ 0.29730414 -0.02953863 0.95432579 0.46778034] [ 0. 0. 0. 1. ]] SLAMing on 114.11650248099998 meters Centerline goodness : 0.695420 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94845854 -0.10670189 -0.29839757 3.18074883] [ 0.11037429 0.99387959 -0.00456907 0.18994879] [ 0.29705878 -0.02860185 0.95443073 0.46753577] [ 0. 0. 0. 1. ]] SLAMing on 114.14650248099998 meters Centerline goodness : 0.696271 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94864669 -0.10650061 -0.2978709 3.17986354] [ 0.10994587 0.99392389 -0.00521606 0.19101172] [ 0.29661652 -0.02780147 0.95459191 0.46704615] [ 0. 0. 0. 1. ]] SLAMing on 114.17650248099999 meters Centerline goodness : 0.695168 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94889435 -0.10631692 -0.29714679 3.17885516] [ 0.10929394 0.99398738 -0.00662728 0.19282499] [ 0.29606475 -0.02618776 0.95480881 0.46613399] [ 0. 0. 0. 1. ]] SLAMing on 114.20650248099999 meters Centerline goodness : 0.694620 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94894282 -0.10625398 -0.29701449 3.17853144] [ 0.10904108 0.99401104 -0.0072181 0.19380347] [ 0.29600264 -0.02553722 0.95484569 0.46599771] [ 0. 0. 0. 1. ]] SLAMing on 114.23650248099999 meters Centerline goodness : 0.694904 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94927811 -0.1019887 -0.297438 3.17799212] [ 0.10577092 0.99438473 -0.00339565 0.19359677] [ 0.29611412 -0.02823688 0.9547351 0.46664014] [ 0. 0. 0. 1. ]] SLAMing on 114.26650248099999 meters Centerline goodness : 0.692734 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94934549 -0.10206794 -0.29719568 3.17763702] [ 0.10561843 0.99439815 -0.00413124 0.19480167] [ 0.2959525 -0.02746736 0.95480766 0.46637102] [ 0. 0. 0. 1. ]] SLAMing on 114.29650248099999 meters Centerline goodness : 0.695895 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.47 [[ 0.94961643 -0.10181877 -0.29641452 3.17614711] [ 0.10506909 0.99445241 -0.00498827 0.19534458] [ 0.29527803 -0.02640706 0.95504636 0.46597968] [ 0. 0. 0. 1. ]] SLAMing on 114.32650248099999 meters Centerline goodness : 0.697504 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94972654 -0.10155767 -0.29615121 3.1750475 ] [ 0.10489378 0.99447258 -0.00464598 0.19482217] [ 0.29498609 -0.02665201 0.95512977 0.46644259] [ 0. 0. 0. 1. ]] SLAMing on 114.35650248099999 meters Centerline goodness : 0.698282 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94976845 -0.10163424 -0.29599049 3.17399044] [ 0.1051266 0.99445024 -0.00413617 0.19456318] [ 0.29476819 -0.02718807 0.95518193 0.46715268] [ 0. 0. 0. 1. ]] SLAMing on 114.386502481 meters Centerline goodness : 0.697672 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94958789 -0.10209361 -0.29641142 3.17469084] [ 0.10563399 0.99439666 -0.00409157 0.19465192] [ 0.29516825 -0.02742582 0.95505158 0.46754768] [ 0. 0. 0. 1. ]] SLAMing on 114.416502481 meters Centerline goodness : 0.699983 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.47 [[ 0.94938265 -0.10634802 -0.29557178 3.17377288] [ 0.10882216 0.9940281 -0.00811665 0.19519394] [ 0.29466984 -0.02445895 0.95528605 0.46734384] [ 0. 0. 0. 1. ]] SLAMing on 114.446502481 meters Centerline goodness : 0.699208 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94938363 -0.10627028 -0.29559659 3.17414936] [ 0.10902056 0.99401333 -0.00721165 0.19331939] [ 0.29459334 -0.02537949 0.95528564 0.46726356] [ 0. 0. 0. 1. ]] SLAMing on 114.476502481 meters Centerline goodness : 0.700337 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94898786 -0.11041638 -0.29534771 3.17466189] [ 0.11225555 0.99362093 -0.01077668 0.19339261] [ 0.29465359 -0.02292749 0.95532905 0.46706717] [ 0. 0. 0. 1. ]] SLAMing on 114.50650248099998 meters Centerline goodness : 0.701556 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94883653 -0.11060592 -0.29576269 3.17570514] [ 0.11266255 0.99358161 -0.01013538 0.19255399] [ 0.29498541 -0.02370457 0.95520768 0.46722059] [ 0. 0. 0. 1. ]] SLAMing on 114.53650248099999 meters Centerline goodness : 0.704225 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94876912 -0.11063867 -0.29596662 3.17605599] [ 0.11293251 0.99355829 -0.00938988 0.19163365] [ 0.29509897 -0.02451543 0.95515213 0.46750514] [ 0. 0. 0. 1. ]] SLAMing on 114.56650248099999 meters Centerline goodness : 0.703710 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94868631 -0.11096904 -0.29610835 3.17635299] [ 0.11359465 0.99349184 -0.00837917 0.19022294] [ 0.29511106 -0.02568712 0.9551176 0.4678337 ] [ 0. 0. 0. 1. ]] SLAMing on 114.59650248099999 meters Centerline goodness : 0.702194 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94874906 -0.11099872 -0.29589611 3.17613098] [ 0.1138305 0.99347037 -0.00769649 0.18835329] [ 0.29481832 -0.02637997 0.95518912 0.46785739] [ 0. 0. 0. 1. ]] SLAMing on 114.62650248099999 meters Centerline goodness : 0.707585 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94909555 -0.11097022 -0.29479357 3.17335883] [ 0.11407642 0.99344941 -0.00669579 0.18511716] [ 0.29360554 -0.02727405 0.9555375 0.4684449 ] [ 0. 0. 0. 1. ]] SLAMing on 114.65650248099999 meters Centerline goodness : 0.708794 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94918595 -0.11056081 -0.2946563 3.17270251] [ 0.1138489 0.99347979 -0.00602789 0.18410099] [ 0.29340153 -0.02782471 0.95558429 0.46881527] [ 0. 0. 0. 1. ]] SLAMing on 114.68650248099999 meters Centerline goodness : 0.708479 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94929862 -0.11042895 -0.29434261 3.17256955] [ 0.11365802 0.99350078 -0.00616916 0.18413246] [ 0.29311086 -0.02759802 0.95568006 0.46828929] [ 0. 0. 0. 1. ]] SLAMing on 114.71650248099999 meters Centerline goodness : 0.705669 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94936911 -0.1099749 -0.29428527 3.17276221] [ 0.11318374 0.99355497 -0.00616056 0.18458665] [ 0.2930661 -0.02745967 0.95569777 0.46787546] [ 0. 0. 0. 1. ]] SLAMing on 114.746502481 meters Centerline goodness : 0.704998 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94933744 -0.10972955 -0.29447894 3.17400571] [ 0.11254588 0.99361882 -0.007421 0.1872459 ] [ 0.29341412 -0.02609736 0.95562916 0.46682934] [ 0. 0. 0. 1. ]] SLAMing on 114.776502481 meters Centerline goodness : 0.702873 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94949718 -0.10963594 -0.2939984 3.1739837 ] [ 0.11221923 0.99365028 -0.0081223 0.18758864] [ 0.29302208 -0.02528018 0.9557714 0.46577962] [ 0. 0. 0. 1. ]] SLAMing on 114.806502481 meters Centerline goodness : 0.705638 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.9496709 -0.10956612 -0.29346287 3.17343004] [ 0.11207412 0.99366511 -0.00830941 0.1867278 ] [ 0.29251424 -0.02499839 0.95593436 0.46517344] [ 0. 0. 0. 1. ]] SLAMing on 114.836502481 meters Centerline goodness : 0.703264 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.46 [[ 0.95003131 -0.10908729 -0.29247304 3.17203534] [ 0.11149899 0.9937285 -0.00846445 0.18572294] [ 0.29156216 -0.02456896 0.95623631 0.46439958] [ 0. 0. 0. 1. ]] SLAMing on 114.86650248099998 meters Centerline goodness : 0.701924 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.46 [[ 0.95002475 -0.10820836 -0.29282063 3.17207962] [ 0.11088945 0.9938046 -0.00747978 0.18602649] [ 0.29181586 -0.02536474 0.95613813 0.46492934] [ 0. 0. 0. 1. ]] SLAMing on 114.89650248099998 meters Centerline goodness : 0.705193 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.46 [[ 0.9499961 -0.10817325 -0.29292654 3.17270876] [ 0.1109139 0.99380329 -0.00728907 0.18583394] [ 0.29189984 -0.02556504 0.95610716 0.46463723] [ 0. 0. 0. 1. ]] SLAMing on 114.92650248099999 meters Centerline goodness : 0.703089 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.46 [[ 0.95000365 -0.10814794 -0.29291141 3.17371092] [ 0.11099829 0.99379647 -0.00692448 0.18471787] [ 0.29184319 -0.02593438 0.95611451 0.4638837 ] [ 0. 0. 0. 1. ]] SLAMing on 114.95650248099999 meters Centerline goodness : 0.701759 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.46 [[ 0.949794 -0.11229753 -0.29202847 3.17381131] [ 0.11417509 0.99340342 -0.01066312 0.18345595] [ 0.29129952 -0.0232146 0.95635018 0.46283801] [ 0. 0. 0. 1. ]] SLAMing on 114.98650248099999 meters Centerline goodness : 0.702556 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.46 [[ 0.94987582 -0.11217111 -0.29181085 3.17341183] [ 0.11439559 0.99338999 -0.00948579 0.1807965 ] [ 0.29094601 -0.02437155 0.95642901 0.46306782] [ 0. 0. 0. 1. ]] SLAMing on 115.01650248099999 meters Centerline goodness : 0.702554 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.46 [[ 0.94994355 -0.11160686 -0.29180671 3.17282591] [ 0.11453734 0.99339372 -0.00707849 0.17756162] [ 0.29066896 -0.0266986 0.95645112 0.46400372] [ 0. 0. 0. 1. ]] SLAMing on 115.04650248099999 meters Centerline goodness : 0.702638 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.46 [[ 0.94994179 -0.11163319 -0.29180236 3.17265976] [ 0.11483053 0.99336572 -0.00620376 0.17634311] [ 0.29055901 -0.0276146 0.95645852 0.46437116] [ 0. 0. 0. 1. ]] SLAMing on 115.07650248099999 meters Centerline goodness : 0.704548 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.46 [[ 0.94991212 -0.11544525 -0.29041238 3.17049355] [ 0.11792222 0.99298187 -0.00901921 0.17448353] [ 0.28941546 -0.02567862 0.95685908 0.46440531] [ 0. 0. 0. 1. ]] SLAMing on 115.10650248099999 meters Centerline goodness : 0.704882 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.46 [[ 0.94995124 -0.11535965 -0.29031843 3.17087571] [ 0.11815241 0.99296362 -0.00795303 0.17198826] [ 0.2891931 -0.02674683 0.95689705 0.46421084] [ 0. 0. 0. 1. ]] SLAMing on 115.136502481 meters Centerline goodness : 0.704376 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.46 [[ 0.94989511 -0.11567923 -0.29037494 3.17197995] [ 0.1187018 0.99290351 -0.007246 0.16992346] [ 0.2891525 -0.02758509 0.95688552 0.46375723] [ 0. 0. 0. 1. ]] SLAMing on 115.166502481 meters Centerline goodness : 0.701732 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.46 [[ 0.94961745 -0.11603457 -0.29114031 3.17432335] [ 0.11948257 0.99281834 -0.00597142 0.16704899] [ 0.28974234 -0.02911563 0.95666173 0.46373178] [ 0. 0. 0. 1. ]] SLAMing on 115.196502481 meters Centerline goodness : 0.702879 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.46 [[ 0.94969581 -0.1159712 -0.29090987 3.173493 ] [ 0.11984526 0.99278225 -0.00452923 0.16503845] [ 0.28933542 -0.03056278 0.95673974 0.46434693] [ 0. 0. 0. 1. ]] SLAMing on 115.22650248099998 meters Centerline goodness : 0.701348 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.949738 -0.11576612 -0.29085379 3.17290033] [ 0.11990677 0.99277859 -0.00361045 0.16336849] [ 0.28917139 -0.03144635 0.9567607 0.46494644] [ 0. 0. 0. 1. ]] SLAMing on 115.25650248099998 meters Centerline goodness : 0.701173 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.47 [[ 9.49743072e-01 -1.15870319e-01 -2.90795748e-01 3.17278897e+00] [ 1.20201956e-01 9.92744965e-01 -2.98732275e-03 1.61767970e-01] [ 2.89032157e-01 -3.21170288e-02 9.56780491e-01 4.65197786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28650248099999 meters Centerline goodness : 0.700688 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.47 [[ 0.94944288 -0.11997391 -0.29011114 3.1721951 ] [ 0.12335384 0.99234028 -0.00667854 0.16116738] [ 0.28869022 -0.02944544 0.95696966 0.46513521] [ 0. 0. 0. 1. ]] SLAMing on 115.31650248099999 meters Centerline goodness : 0.698551 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.94953375 -0.11975969 -0.28990218 3.17219853] [ 0.12328526 0.99235227 -0.00614098 0.15993276] [ 0.28842053 -0.0299096 0.95703658 0.46484966] [ 0. 0. 0. 1. ]] SLAMing on 115.34650248099999 meters Centerline goodness : 0.701978 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.94955175 -0.11968123 -0.28987561 3.17228591] [ 0.12321863 0.99236088 -0.00608712 0.15969801] [ 0.28838973 -0.02993804 0.95704497 0.46471472] [ 0. 0. 0. 1. ]] SLAMing on 115.37650248099999 meters Centerline goodness : 0.702016 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.94963608 -0.11939981 -0.28971539 3.17246419] [ 0.1228865 0.99240139 -0.00619604 0.15947984] [ 0.28825376 -0.02971813 0.95709279 0.46414205] [ 0. 0. 0. 1. ]] SLAMing on 115.40650248099999 meters Centerline goodness : 0.699226 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.94984476 -0.11884725 -0.28925813 3.17226629] [ 0.12213352 0.99249086 -0.00673075 0.1593708 ] [ 0.28788598 -0.02893495 0.95722747 0.46312179] [ 0. 0. 0. 1. ]] SLAMing on 115.43650248099999 meters Centerline goodness : 0.699832 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.94999483 -0.1184425 -0.28893112 3.17187005] [ 0.12166431 0.99254766 -0.00685061 0.15920926] [ 0.28758931 -0.02864456 0.95732538 0.46269055] [ 0. 0. 0. 1. ]] SLAMing on 115.46650248099999 meters Centerline goodness : 0.700427 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95048015 -0.11717879 -0.28784824 3.16995418] [ 0.12019414 0.992724 -0.00724009 0.15949957] [ 0.28660224 -0.02771611 0.95764867 0.46178393] [ 0. 0. 0. 1. ]] SLAMing on 115.496502481 meters Centerline goodness : 0.700338 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95070933 -0.11670135 -0.2872848 3.16902294] [ 0.11967523 0.99278661 -0.00725126 0.15952337] [ 0.28605874 -0.02748703 0.95781776 0.46131703] [ 0. 0. 0. 1. ]] SLAMing on 115.526502481 meters Centerline goodness : 0.700572 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95084915 -0.11638095 -0.28695185 3.16875166] [ 0.11932052 0.99282906 -0.00728546 0.15925894] [ 0.28574202 -0.02731187 0.9579173 0.46079922] [ 0. 0. 0. 1. ]] SLAMing on 115.556502481 meters Centerline goodness : 0.700572 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95084915 -0.11638095 -0.28695185 3.16875166] [ 0.11932052 0.99282906 -0.00728546 0.15925894] [ 0.28574202 -0.02731187 0.9579173 0.46079922] [ 0. 0. 0. 1. ]] SLAMing on 115.586502481 meters Centerline goodness : 0.702502 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.9509678 -0.11616472 -0.28664613 3.16826964] [ 0.11915401 0.99285071 -0.00705606 0.15865393] [ 0.28541648 -0.02744495 0.95801055 0.46061304] [ 0. 0. 0. 1. ]] SLAMing on 115.61650248099998 meters Centerline goodness : 0.701991 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95094779 -0.11616927 -0.28671067 3.16855946] [ 0.11925328 0.99284095 -0.00674539 0.15832047] [ 0.2854417 -0.02777667 0.95799347 0.46061367] [ 0. 0. 0. 1. ]] SLAMing on 115.64650248099998 meters Centerline goodness : 0.698777 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.950475 -0.12060793 -0.28644545 3.17082335] [ 0.12267052 0.99238865 -0.01080372 0.15832129] [ 0.28556822 -0.02486975 0.95803564 0.45899301] [ 0. 0. 0. 1. ]] SLAMing on 115.67650248099999 meters Centerline goodness : 0.699228 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.9502798 -0.12114814 -0.28686482 3.17247807] [ 0.12343434 0.9923006 -0.01017277 0.15691592] [ 0.28588854 -0.02574199 0.95791706 0.45878645] [ 0. 0. 0. 1. ]] SLAMing on 115.70650248099999 meters Centerline goodness : 0.700195 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95011833 -0.12187148 -0.2870932 3.17215422] [ 0.12466378 0.99216172 -0.0086065 0.15543766] [ 0.28589177 -0.02761293 0.95786399 0.46017971] [ 0. 0. 0. 1. ]] SLAMing on 115.73650248099999 meters Centerline goodness : 0.702704 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94999879 -0.12251252 -0.28721592 3.17177633] [ 0.12548784 0.99206208 -0.008101 0.15467388] [ 0.2859285 -0.02834617 0.95783161 0.46108471] [ 0. 0. 0. 1. ]] SLAMing on 115.76650248099999 meters Centerline goodness : 0.703212 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.95003925 -0.122889 -0.28692108 3.17175966] [ 0.12600132 0.99200045 -0.00766674 0.15318829] [ 0.285568 -0.02886873 0.95792354 0.4608447 ] [ 0. 0. 0. 1. ]] SLAMing on 115.79650248099999 meters Centerline goodness : 0.699459 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94956183 -0.12741451 -0.28652728 3.17249673] [ 0.12959928 0.99150081 -0.01140924 0.15298071] [ 0.28554573 -0.02629995 0.95800415 0.46040569] [ 0. 0. 0. 1. ]] SLAMing on 115.82650248099999 meters Centerline goodness : 0.701036 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94937634 -0.12805031 -0.28685832 3.17313483] [ 0.13030418 0.99140962 -0.01130384 0.15324149] [ 0.28584156 -0.02664724 0.95790633 0.46073808] [ 0. 0. 0. 1. ]] SLAMing on 115.85650248099999 meters Centerline goodness : 0.702451 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94941573 -0.12830065 -0.28661597 3.17202977] [ 0.13068423 0.99136432 -0.01088222 0.15357184] [ 0.28553704 -0.02712443 0.95798375 0.46139084] [ 0. 0. 0. 1. ]] SLAMing on 115.886502481 meters Centerline goodness : 0.701936 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94941547 -0.12810846 -0.28670279 3.1719148 ] [ 0.1306208 0.99137753 -0.01043046 0.15349327] [ 0.28556694 -0.02754651 0.95796279 0.46172138] [ 0. 0. 0. 1. ]] SLAMing on 115.916502481 meters Centerline goodness : 0.700671 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94937441 -0.12887069 -0.28649709 3.17224198] [ 0.13122882 0.99129063 -0.01104034 0.15362654] [ 0.28542465 -0.02711526 0.9580175 0.46118443] [ 0. 0. 0. 1. ]] SLAMing on 115.946502481 meters Centerline goodness : 0.701303 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94936942 -0.12928172 -0.28632839 3.17270966] [ 0.13157288 0.99124199 -0.0113094 0.1530528 ] [ 0.28528282 -0.02693625 0.9580648 0.46057136] [ 0. 0. 0. 1. ]] SLAMing on 115.97650248099998 meters Centerline goodness : 0.698722 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94934176 -0.12941074 -0.28636181 3.17346338] [ 0.13170825 0.991224 -0.01131047 0.15288429] [ 0.2853124 -0.02697872 0.95805479 0.46005603] [ 0. 0. 0. 1. ]] SLAMing on 116.00650248099998 meters Centerline goodness : 0.698173 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94932067 -0.12932085 -0.28647232 3.17409656] [ 0.13161014 0.99123674 -0.01133567 0.1536098 ] [ 0.28542783 -0.02694148 0.95802146 0.45971505] [ 0. 0. 0. 1. ]] SLAMing on 116.03650248099999 meters Centerline goodness : 0.699785 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94930739 -0.12933685 -0.28650908 3.17472734] [ 0.13154985 0.99124171 -0.01159766 0.15467174] [ 0.28549976 -0.02668048 0.95800733 0.45916939] [ 0. 0. 0. 1. ]] SLAMing on 116.06650248099999 meters Centerline goodness : 0.699639 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94938632 -0.12905088 -0.28637648 3.17507711] [ 0.13129177 0.99127766 -0.01144871 0.15444356] [ 0.28535607 -0.02672963 0.95804877 0.45857332] [ 0. 0. 0. 1. ]] SLAMing on 116.09650248099999 meters Centerline goodness : 0.697900 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94944708 -0.128679 -0.28634236 3.17565707] [ 0.13094184 0.99132546 -0.0113166 0.15441274] [ 0.28531468 -0.02674968 0.95806053 0.45796787] [ 0. 0. 0. 1. ]] SLAMing on 116.12650248099999 meters Centerline goodness : 0.697671 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94946742 -0.12863549 -0.28629448 3.17667088] [ 0.13071395 0.99134841 -0.01192462 0.15521323] [ 0.28535151 -0.02610065 0.95806747 0.45685834] [ 0. 0. 0. 1. ]] SLAMing on 116.15650248099999 meters Centerline goodness : 0.695047 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94957382 -0.12798726 -0.28623212 3.17679183] [ 0.13002433 0.99143865 -0.01196169 0.15609285] [ 0.28531253 -0.02585863 0.95808564 0.45642274] [ 0. 0. 0. 1. ]] SLAMing on 116.18650248099999 meters Centerline goodness : 0.697794 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94960602 -0.12771197 -0.28624823 3.17707713] [ 0.12979541 0.99147098 -0.01176673 0.15628309] [ 0.28530957 -0.02597995 0.95808324 0.45618767] [ 0. 0. 0. 1. ]] SLAMing on 116.21650248099999 meters Centerline goodness : 0.699012 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94975977 -0.12741595 -0.28586981 3.17670375] [ 0.12952453 0.99150834 -0.01160243 0.15587105] [ 0.28492063 -0.02600764 0.95819822 0.45573875] [ 0. 0. 0. 1. ]] SLAMing on 116.246502481 meters Centerline goodness : 0.697267 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94980308 -0.12734702 -0.2857566 3.17660747] [ 0.12938307 0.99152417 -0.01182548 0.15613672] [ 0.28484052 -0.02574019 0.95822926 0.45555554] [ 0. 0. 0. 1. ]] SLAMing on 116.276502481 meters Centerline goodness : 0.699817 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94977185 -0.12724924 -0.28590395 3.17665174] [ 0.12930924 0.99153476 -0.0117444 0.15647226] [ 0.28497817 -0.02581552 0.95818631 0.45578566] [ 0. 0. 0. 1. ]] SLAMing on 116.306502481 meters Centerline goodness : 0.699511 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.95008697 -0.12365108 -0.28643526 3.17741645] [ 0.12675782 0.99190344 -0.00774689 0.15570419] [ 0.28507403 -0.02894769 0.95806828 0.45569415] [ 0. 0. 0. 1. ]] SLAMing on 116.336502481 meters Centerline goodness : 0.701633 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.95004988 -0.12392361 -0.2864405 3.17807675] [ 0.12690112 0.9918813 -0.00822199 0.15665219] [ 0.28513387 -0.02853832 0.95806275 0.45514009] [ 0. 0. 0. 1. ]] SLAMing on 116.36650248099998 meters Centerline goodness : 0.699052 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95005662 -0.12394247 -0.28640998 3.17860737] [ 0.1269358 0.9918773 -0.00816844 0.15671259] [ 0.28509598 -0.0285952 0.95807233 0.45462931] [ 0. 0. 0. 1. ]] SLAMing on 116.39650248099998 meters Centerline goodness : 0.701900 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95022465 -0.12395372 -0.28584715 3.17825381] [ 0.12700218 0.99187077 -0.00792546 0.15500206] [ 0.28450583 -0.02877225 0.95824245 0.45404267] [ 0. 0. 0. 1. ]] SLAMing on 116.42650248099999 meters Centerline goodness : 0.702612 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.45 [[ 0.95020164 -0.12403123 -0.28589001 3.17869353] [ 0.12715551 0.99185301 -0.00768608 0.15435436] [ 0.28451418 -0.02904916 0.95823161 0.45387023] [ 0. 0. 0. 1. ]] SLAMing on 116.45650248099999 meters Centerline goodness : 0.704157 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.94986471 -0.12471113 -0.28671269 3.18073416] [ 0.12789416 0.99175811 -0.0076771 0.1553573 ] [ 0.28530706 -0.02937668 0.95798585 0.45392396] [ 0. 0. 0. 1. ]] SLAMing on 116.48650248099999 meters Centerline goodness : 0.704470 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.94984175 -0.12456973 -0.2868502 3.18124173] [ 0.12789127 0.99176202 -0.00720605 0.15500638] [ 0.28538479 -0.02984103 0.95794835 0.4538703 ] [ 0. 0. 0. 1. ]] SLAMing on 116.51650248099999 meters Centerline goodness : 0.704625 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.45 [[ 0.94994952 -0.12488003 -0.28635798 3.18035136] [ 0.12820764 0.99172137 -0.00717775 0.15464211] [ 0.28488369 -0.02989478 0.95809581 0.45380459] [ 0. 0. 0. 1. ]] SLAMing on 116.54650248099999 meters Centerline goodness : 0.704348 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.45 [[ 0.9499985 -0.1250514 -0.28612059 3.18022845] [ 0.12832223 0.99170516 -0.00736818 0.15464915] [ 0.28466867 -0.02971587 0.95816529 0.45348336] [ 0. 0. 0. 1. ]] SLAMing on 116.57650248099999 meters Centerline goodness : 0.706413 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.45 [[ 0.95016909 -0.12474283 -0.28568851 3.17993243] [ 0.12789504 0.99175801 -0.00767545 0.15496167] [ 0.28429133 -0.02924517 0.95829179 0.4527919 ] [ 0. 0. 0. 1. ]] SLAMing on 116.60650248099999 meters Centerline goodness : 0.705659 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.9501489 -0.12463649 -0.28580206 3.18054608] [ 0.12777343 0.99177331 -0.00772341 0.15535829] [ 0.28441347 -0.02917952 0.95825755 0.45247599] [ 0. 0. 0. 1. ]] SLAMing on 116.636502481 meters Centerline goodness : 0.705962 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95027701 -0.12454421 -0.28541608 3.18055584] [ 0.12755329 0.99179864 -0.00809981 0.15612436] [ 0.28408407 -0.02870869 0.95836948 0.45160818] [ 0. 0. 0. 1. ]] SLAMing on 116.666502481 meters Centerline goodness : 0.703947 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95033158 -0.12436672 -0.28531176 3.18050138] [ 0.1273713 0.99182221 -0.00807783 0.15662628] [ 0.28398316 -0.02866392 0.95840072 0.45138331] [ 0. 0. 0. 1. ]] SLAMing on 116.696502481 meters Centerline goodness : 0.704895 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95043973 -0.123968 -0.28512498 3.18026813] [ 0.12706821 0.99186428 -0.0076765 0.15670218] [ 0.28375692 -0.02893427 0.95845961 0.45119271] [ 0. 0. 0. 1. ]] SLAMing on 116.72650248099998 meters Centerline goodness : 0.704322 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95050635 -0.12411587 -0.28483843 3.17940887] [ 0.12724172 0.99184277 -0.00758103 0.15676497] [ 0.28345587 -0.02903751 0.95854556 0.45143964] [ 0. 0. 0. 1. ]] SLAMing on 116.75650248099998 meters Centerline goodness : 0.704758 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95054076 -0.1242128 -0.2846813 3.17976325] [ 0.12737237 0.99182688 -0.00746437 0.15656499] [ 0.28328173 -0.02916535 0.95859316 0.45094702] [ 0. 0. 0. 1. ]] SLAMing on 116.78650248099999 meters Centerline goodness : 0.706144 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95030214 -0.12529808 -0.28500217 3.18128759] [ 0.12833256 0.99169826 -0.00808128 0.1574236 ] [ 0.28364872 -0.0288954 0.95849281 0.45048725] [ 0. 0. 0. 1. ]] SLAMing on 116.81650248099999 meters Centerline goodness : 0.706897 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95020319 -0.12582196 -0.28510126 3.18230781] [ 0.12883522 0.99163178 -0.00824064 0.15778063] [ 0.28375232 -0.02890081 0.95846198 0.44999218] [ 0. 0. 0. 1. ]] SLAMing on 116.84650248099999 meters Centerline goodness : 0.708220 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95011206 -0.12623599 -0.28522194 3.18326129] [ 0.12928218 0.99157391 -0.00820329 0.15788733] [ 0.28385418 -0.02908007 0.95842639 0.44956263] [ 0. 0. 0. 1. ]] SLAMing on 116.87650248099999 meters Centerline goodness : 0.707401 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95007389 -0.12614586 -0.28538892 3.18391358] [ 0.12932099 0.99157232 -0.00777271 0.1579949 ] [ 0.28396425 -0.02952213 0.95838027 0.44943584] [ 0. 0. 0. 1. ]] SLAMing on 116.90650248099999 meters Centerline goodness : 0.710661 Centerline is valid? [False, False] Translation: X:3.19, Y:0.16, Z:0.45 [[ 0.9497238 -0.12689651 -0.28622017 3.18531605] [ 0.12997031 0.99148302 -0.00831473 0.1611428 ] [ 0.28483755 -0.02930342 0.9581278 0.44979236] [ 0. 0. 0. 1. ]] SLAMing on 116.93650248099999 meters Centerline goodness : 0.708483 Centerline is valid? [False, False] Translation: X:3.19, Y:0.16, Z:0.45 [[ 0.94974767 -0.12684301 -0.28616467 3.1855188 ] [ 0.12988744 0.99149317 -0.00839967 0.16180617] [ 0.28479576 -0.02919163 0.95814363 0.44948348] [ 0. 0. 0. 1. ]] SLAMing on 116.96650248099999 meters Centerline goodness : 0.710305 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.9498003 -0.12736225 -0.28575906 3.18436529] [ 0.13019994 0.99144573 -0.00912941 0.16266878] [ 0.28447734 -0.02853469 0.95825801 0.44971157] [ 0. 0. 0. 1. ]] SLAMing on 116.996502481 meters Centerline goodness : 0.713847 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.94974397 -0.12759657 -0.28584174 3.18422162] [ 0.13036981 0.99142097 -0.00938971 0.16326293] [ 0.28458759 -0.02834731 0.95823084 0.45004228] [ 0. 0. 0. 1. ]] SLAMing on 117.026502481 meters Centerline goodness : 0.711397 Centerline is valid? [False, False] Translation: X:3.19, Y:0.16, Z:0.45 [[ 0.94962492 -0.1274275 -0.28631232 3.18539578] [ 0.13027958 0.99143509 -0.00914859 0.16366144] [ 0.28502586 -0.02861292 0.95809267 0.45000317] [ 0. 0. 0. 1. ]] SLAMing on 117.056502481 meters Centerline goodness : 0.712770 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94948887 -0.12822057 -0.28640944 3.18578472] [ 0.13081595 0.99135483 -0.01013861 0.16552676] [ 0.28523336 -0.02784042 0.95805367 0.44986041] [ 0. 0. 0. 1. ]] SLAMing on 117.086502481 meters Centerline goodness : 0.710158 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94949435 -0.12801233 -0.28648441 3.18547711] [ 0.13062055 0.99138127 -0.0100723 0.1662039 ] [ 0.28530465 -0.02785716 0.95803196 0.4501924 ] [ 0. 0. 0. 1. ]] SLAMing on 117.11650248099998 meters Centerline goodness : 0.710381 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94963783 -0.12460061 -0.28751119 3.18585582] [ 0.12822663 0.99172512 -0.00626307 0.1667246 ] [ 0.28591245 -0.03091894 0.9577568 0.45126376] [ 0. 0. 0. 1. ]] SLAMing on 117.14650248099998 meters Centerline goodness : 0.707460 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94960036 -0.12451136 -0.28767357 3.18655239] [ 0.12816059 0.99173411 -0.00619044 0.1674427 ] [ 0.28606647 -0.03098997 0.95770851 0.45096234] [ 0. 0. 0. 1. ]] SLAMing on 117.17650248099999 meters Centerline goodness : 0.708087 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94939879 -0.12519321 -0.28804269 3.18761112] [ 0.1287716 0.99165251 -0.00657042 0.16825393] [ 0.28646083 -0.03085376 0.95759503 0.45090251] [ 0. 0. 0. 1. ]] SLAMing on 117.20650248099999 meters Centerline goodness : 0.708319 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94949918 -0.12479229 -0.28788572 3.18728592] [ 0.1285127 0.9916896 -0.00601805 0.1675837 ] [ 0.28624428 -0.03128284 0.95764586 0.45094687] [ 0. 0. 0. 1. ]] SLAMing on 117.23650248099999 meters Centerline goodness : 0.708306 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94954258 -0.12469903 -0.28778298 3.1865201 ] [ 0.12850258 0.99169271 -0.00571418 0.16766243] [ 0.28610484 -0.031555 0.9576786 0.45144861] [ 0. 0. 0. 1. ]] SLAMing on 117.26650248099999 meters Centerline goodness : 0.707654 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94937407 -0.12437444 -0.28847855 3.18716112] [ 0.12832207 0.99171857 -0.00526484 0.16875011] [ 0.28674435 -0.03201986 0.95747188 0.45221096] [ 0. 0. 0. 1. ]] SLAMing on 117.29650248099999 meters Centerline goodness : 0.709632 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94931682 -0.12413026 -0.28877198 3.18723588] [ 0.12789352 0.99177049 -0.00587751 0.1713596 ] [ 0.2871251 -0.03135245 0.95737986 0.45242176] [ 0. 0. 0. 1. ]] SLAMing on 117.32650248099999 meters Centerline goodness : 0.709938 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94928306 -0.12368496 -0.28907387 3.18801442] [ 0.1274591 0.99182682 -0.00580923 0.17172422] [ 0.28742973 -0.03133049 0.95728917 0.45228462] [ 0. 0. 0. 1. ]] SLAMing on 117.35650248099999 meters Centerline goodness : 0.708502 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94916438 -0.12358652 -0.28950536 3.18927756] [ 0.12736845 0.99183841 -0.00581773 0.17224075] [ 0.28786153 -0.03135187 0.95715871 0.4520176 ] [ 0. 0. 0. 1. ]] SLAMing on 117.386502481 meters Centerline goodness : 0.708856 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94892584 -0.12338894 -0.2903703 3.1912364 ] [ 0.12716601 0.99186388 -0.00590252 0.17359444] [ 0.28873612 -0.03132418 0.95689615 0.45193188] [ 0. 0. 0. 1. ]] SLAMing on 117.416502481 meters Centerline goodness : 0.708951 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94899276 -0.12293996 -0.29034206 3.1907397 ] [ 0.12677024 0.99191598 -0.00565566 0.17404221] [ 0.28869023 -0.03143956 0.95690622 0.45219074] [ 0. 0. 0. 1. ]] SLAMing on 117.446502481 meters Centerline goodness : 0.708951 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94899276 -0.12293996 -0.29034206 3.1907397 ] [ 0.12677024 0.99191598 -0.00565566 0.17404221] [ 0.28869023 -0.03143956 0.95690622 0.45219074] [ 0. 0. 0. 1. ]] SLAMing on 117.47650248099998 meters Centerline goodness : 0.708799 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 9.48975978e-01 -1.19735023e-01 -2.91732956e-01 3.19135598e+00] [ 1.24633605e-01 9.92201190e-01 -1.80622466e-03 1.74026735e-01] [ 2.89674055e-01 -3.46456663e-02 9.56498102e-01 4.53915994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50650248099998 meters Centerline goodness : 0.706299 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 9.48780425e-01 -1.19664901e-01 -2.92397017e-01 3.19259874e+00] [ 1.24712036e-01 9.92192007e-01 -1.38927399e-03 1.74847433e-01] [ 2.90280231e-01 -3.51473114e-02 9.56296008e-01 4.54152350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53650248099999 meters Centerline goodness : 0.705783 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 9.48732552e-01 -1.19790303e-01 -2.92500986e-01 3.19260195e+00] [ 1.24886259e-01 9.92170264e-01 -1.26056957e-03 1.74542091e-01] [ 2.90361785e-01 -3.53334105e-02 9.56264390e-01 4.54421099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56650248099999 meters Centerline goodness : 0.703963 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.46 [[ 9.48578249e-01 -1.19184971e-01 -2.93247761e-01 3.19332362e+00] [ 1.24736133e-01 9.92189923e-01 2.31393966e-04 1.73134442e-01] [ 2.90929894e-01 -3.67980870e-02 9.56036452e-01 4.55424468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59650248099999 meters Centerline goodness : 0.701312 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.46 [[ 9.48152288e-01 -1.19989713e-01 -2.94295273e-01 3.19401985e+00] [ 1.25797759e-01 9.92055575e-01 8.12005276e-04 1.72783450e-01] [ 2.91859834e-01 -3.77915905e-02 9.55714200e-01 4.57264716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62650248099999 meters Centerline goodness : 0.700811 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.46 [[ 9.48043228e-01 -1.20433762e-01 -2.94465187e-01 3.19426010e+00] [ 1.26330586e-01 9.91987681e-01 1.01216790e-03 1.72751170e-01] [ 2.91983939e-01 -3.81595386e-02 9.55661671e-01 4.57568122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65650248099999 meters Centerline goodness : 0.698352 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.46 [[ 9.47453466e-01 -1.21407407e-01 -2.95959746e-01 3.19600012e+00] [ 1.27748946e-01 9.91804297e-01 2.10769783e-03 1.71222497e-01] [ 2.93278257e-01 -3.98054912e-02 9.55198088e-01 4.59621956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68650248099999 meters Centerline goodness : 0.695806 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.46 [[ 9.47197286e-01 -1.22339036e-01 -2.96395787e-01 3.19679882e+00] [ 1.28721859e-01 9.91678643e-01 2.03776780e-03 1.70840487e-01] [ 2.93680073e-01 -4.00827847e-02 9.55063027e-01 4.60128941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71650248099999 meters Centerline goodness : 0.692997 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.46 [[ 9.46398127e-01 -1.24263686e-01 -2.98142787e-01 3.20002018e+00] [ 1.30771713e-01 9.91410691e-01 1.89760385e-03 1.71023088e-01] [ 2.95346143e-01 -4.07845316e-02 9.54519396e-01 4.61368832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.746502481 meters Centerline goodness : 0.690331 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.46 [[ 9.46116681e-01 -1.24643582e-01 -2.98876570e-01 3.20126677e+00] [ 1.31427036e-01 9.91322382e-01 2.62094571e-03 1.70014396e-01] [ 2.95956349e-01 -4.17601823e-02 9.54288178e-01 4.62085764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.776502481 meters Centerline goodness : 0.688356 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.47 [[ 0.94558083 -0.12546355 -0.30022624 3.20133947] [ 0.13269591 0.99114976 0.00373564 0.16914574] [ 0.29710047 -0.04337115 0.95386071 0.46510969] [ 0. 0. 0. 1. ]] SLAMing on 117.806502481 meters Centerline goodness : 0.687878 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.47 [[ 0.94524378 -0.12507523 -0.30144715 3.20169046] [ 0.13282833 0.99112503 0.00527443 0.16869883] [ 0.29811212 -0.04502635 0.9534683 0.46734259] [ 0. 0. 0. 1. ]] SLAMing on 117.836502481 meters Centerline goodness : 0.682955 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.47 [[ 0.94441293 -0.12487724 -0.30412151 3.20256652] [ 0.13355845 0.99101005 0.00782492 0.16825923] [ 0.30041032 -0.04800796 0.95260111 0.47207335] [ 0. 0. 0. 1. ]] SLAMing on 117.86650248099998 meters Centerline goodness : 0.683540 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.47 [[ 0.94400588 -0.12528599 -0.30521522 3.2035581 ] [ 0.13417176 0.99092397 0.00822384 0.16842958] [ 0.30141474 -0.04871461 0.95224789 0.47358822] [ 0. 0. 0. 1. ]] SLAMing on 117.89650248099998 meters Centerline goodness : 0.677886 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.48 [[ 0.94317633 -0.12566561 -0.30761432 3.20611639] [ 0.13500632 0.99080218 0.0091836 0.16830423] [ 0.30363088 -0.05019164 0.95146681 0.47640033] [ 0. 0. 0. 1. ]] SLAMing on 117.92650248099999 meters Centerline goodness : 0.676732 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.48 [[ 0.94275583 -0.12620705 -0.30867981 3.20764029] [ 0.13567162 0.99071021 0.00929961 0.16797653] [ 0.30463856 -0.05064635 0.95112055 0.47748683] [ 0. 0. 0. 1. ]] SLAMing on 117.95650248099999 meters Centerline goodness : 0.672405 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.48 [[ 0.94199264 -0.12779963 -0.31034999 3.20977392] [ 0.13733078 0.99048471 0.00896084 0.1689246 ] [ 0.30625172 -0.05106165 0.95058013 0.47938249] [ 0. 0. 0. 1. ]] SLAMing on 117.98650248099999 meters Centerline goodness : 0.669628 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.48 [[ 0.9415463 -0.12778447 -0.31170772 3.21108671] [ 0.13759811 0.99044163 0.00959852 0.16933345] [ 0.30750176 -0.05192784 0.95012955 0.48100732] [ 0. 0. 0. 1. ]] SLAMing on 118.01650248099999 meters Centerline goodness : 0.666148 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.48 [[ 0.94084437 -0.12770439 -0.31385261 3.21253871] [ 0.13800579 0.99037332 0.01072782 0.16988834] [ 0.30946126 -0.05340669 0.94941111 0.48407741] [ 0. 0. 0. 1. ]] SLAMing on 118.04650248099999 meters Centerline goodness : 0.663072 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.49 [[ 0.94052897 -0.12831364 -0.31454867 3.21252947] [ 0.13860895 0.9902917 0.01048422 0.17109702] [ 0.31014966 -0.05345997 0.94918345 0.48544984] [ 0. 0. 0. 1. ]] SLAMing on 118.07650248099999 meters Centerline goodness : 0.661136 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.49 [[ 0.9401841 -0.12488058 -0.31695222 3.21306434] [ 0.13660343 0.99051309 0.01494397 0.1712934 ] [ 0.31207911 -0.05734685 0.94832377 0.48922244] [ 0. 0. 0. 1. ]] SLAMing on 118.10650248099999 meters Centerline goodness : 0.658657 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.49 [[ 0.93994481 -0.1243499 -0.31786924 3.21357863] [ 0.13638956 0.99052907 0.01581301 0.17072502] [ 0.31289238 -0.0582174 0.94800269 0.49063789] [ 0. 0. 0. 1. ]] SLAMing on 118.136502481 meters Centerline goodness : 0.657064 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.49 [[ 0.93936041 -0.12444609 -0.31955469 3.21386366] [ 0.13679002 0.99046456 0.01638434 0.17063827] [ 0.31446863 -0.0591027 0.94742617 0.49381476] [ 0. 0. 0. 1. ]] SLAMing on 118.166502481 meters Centerline goodness : 0.653164 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.50 [[ 0.9390347 -0.12427816 -0.32057567 3.21387129] [ 0.1368487 0.99044795 0.01689033 0.17098157] [ 0.31541442 -0.05973097 0.94707231 0.49582743] [ 0. 0. 0. 1. ]] SLAMing on 118.196502481 meters Centerline goodness : 0.651630 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.50 [[ 0.9380972 -0.12364444 -0.32355169 3.21499209] [ 0.13721186 0.99035236 0.01936782 0.17294341] [ 0.31803546 -0.06256402 0.94601226 0.50044914] [ 0. 0. 0. 1. ]] SLAMing on 118.22650248099998 meters Centerline goodness : 0.648615 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.50 [[ 0.93753455 -0.12420528 -0.32496464 3.21629107] [ 0.13796631 0.99024386 0.01955496 0.17399851] [ 0.31936541 -0.06316762 0.94552397 0.50220304] [ 0. 0. 0. 1. ]] SLAMing on 118.25650248099998 meters Centerline goodness : 0.645182 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.51 [[ 0.93662425 -0.12536203 -0.32713815 3.21677458] [ 0.13931164 0.9900573 0.01946295 0.17564848] [ 0.3214456 -0.06380363 0.94477607 0.50611328] [ 0. 0. 0. 1. ]] SLAMing on 118.28650248099999 meters Centerline goodness : 0.646076 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.51 [[ 0.93624068 -0.12467418 -0.32849617 3.21730558] [ 0.13905635 0.99007101 0.02056012 0.17530724] [ 0.32267122 -0.0649287 0.9442815 0.50839999] [ 0. 0. 0. 1. ]] SLAMing on 118.31650248099999 meters Centerline goodness : 0.644596 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.51 [[ 0.93571806 -0.12503105 -0.32984686 3.21714148] [ 0.13959064 0.98999228 0.02072995 0.17651818] [ 0.32395396 -0.06544092 0.94380682 0.51109899] [ 0. 0. 0. 1. ]] SLAMing on 118.34650248099999 meters Centerline goodness : 0.638622 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.52 [[ 0.93532381 -0.12042686 -0.33266611 3.21689974] [ 0.13670394 0.99027403 0.02587237 0.17697842] [ 0.32631488 -0.06967581 0.94268971 0.51597334] [ 0. 0. 0. 1. ]] SLAMing on 118.37650248099999 meters Centerline goodness : 0.637203 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.52 [[ 0.93452946 -0.12019928 -0.33497286 3.21725998] [ 0.13683698 0.99024104 0.02642579 0.17868257] [ 0.32852751 -0.07053236 0.94185713 0.51991127] [ 0. 0. 0. 1. ]] SLAMing on 118.40650248099999 meters Centerline goodness : 0.636338 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.52 [[ 0.93412055 -0.12097923 -0.33583155 3.21718569] [ 0.13759564 0.99014623 0.02603623 0.17903608] [ 0.3293725 -0.07052993 0.94156215 0.5217675 ] [ 0. 0. 0. 1. ]] SLAMing on 118.43650248099999 meters Centerline goodness : 0.636807 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.52 [[ 0.93363631 -0.12115678 -0.33711167 3.21741882] [ 0.13809521 0.99006082 0.02663248 0.17875891] [ 0.33053435 -0.07141856 0.9410879 0.52419497] [ 0. 0. 0. 1. ]] SLAMing on 118.46650248099999 meters Centerline goodness : 0.631367 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.53 [[ 0.93257983 -0.12148361 -0.33990673 3.21879291] [ 0.13908974 0.98988886 0.02782237 0.18038372] [ 0.33308993 -0.07322412 0.94004751 0.52851445] [ 0. 0. 0. 1. ]] SLAMing on 118.496502481 meters Centerline goodness : 0.629822 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.53 [[ 0.93194075 -0.12188177 -0.3415132 3.22014673] [ 0.13984042 0.98976758 0.02836893 0.18072277] [ 0.33456104 -0.07419551 0.93944874 0.53073971] [ 0. 0. 0. 1. ]] SLAMing on 118.526502481 meters Centerline goodness : 0.626776 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.54 [[ 0.93082673 -0.12325822 -0.34404799 3.21984875] [ 0.14188276 0.98944714 0.02938768 0.18032982] [ 0.33679503 -0.07616931 0.93849206 0.53627335] [ 0. 0. 0. 1. ]] SLAMing on 118.556502481 meters Centerline goodness : 0.623770 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.54 [[ 0.92979274 -0.12474878 -0.34629929 3.21857108] [ 0.14412054 0.98908527 0.03065282 0.17856496] [ 0.33869563 -0.07840961 0.93762317 0.54210291] [ 0. 0. 0. 1. ]] SLAMing on 118.586502481 meters Centerline goodness : 0.621368 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.55 [[ 0.92912982 -0.12474522 -0.34807528 3.21898535] [ 0.1448705 0.98892354 0.03229189 0.17736634] [ 0.34019157 -0.0804292 0.93691026 0.54556294] [ 0. 0. 0. 1. ]] SLAMing on 118.61650248099998 meters Centerline goodness : 0.616684 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.55 [[ 0.92775988 -0.12424333 -0.35188805 3.2185005 ] [ 0.14635071 0.98854715 0.03682402 0.17675819] [ 0.34328279 -0.08566291 0.93531748 0.55337514] [ 0. 0. 0. 1. ]] SLAMing on 118.64650248099998 meters Centerline goodness : 0.616007 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.56 [[ 0.92710447 -0.12477606 -0.3534236 3.21862327] [ 0.14752437 0.98832588 0.03805942 0.17590479] [ 0.34454879 -0.08742365 0.93468885 0.55658614] [ 0. 0. 0. 1. ]] SLAMing on 118.67650248099999 meters Centerline goodness : 0.617734 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.56 [[ 0.92528776 -0.12972838 -0.35638897 3.21777048] [ 0.15278266 0.98755988 0.03718797 0.17431914] [ 0.34713112 -0.08885963 0.93359732 0.56411471] [ 0. 0. 0. 1. ]] SLAMing on 118.70650248099999 meters Centerline goodness : 0.616760 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.57 [[ 0.92407787 -0.13451105 -0.35775253 3.21794221] [ 0.15698887 0.98700101 0.03440198 0.17560893] [ 0.34847466 -0.08795327 0.93318253 0.56733214] [ 0. 0. 0. 1. ]] SLAMing on 118.73650248099999 meters Centerline goodness : 0.612462 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.57 [[ 0.92313032 -0.13544106 -0.35984181 3.21923043] [ 0.15857161 0.98671242 0.03540691 0.17493107] [ 0.35026484 -0.08974589 0.93234126 0.57077671] [ 0. 0. 0. 1. ]] SLAMing on 118.76650248099999 meters Centerline goodness : 0.609568 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.58 [[ 0.92158218 -0.13654039 -0.36337722 3.21835307] [ 0.16109185 0.98620825 0.03798289 0.17375038] [ 0.35317942 -0.09354147 0.9308675 0.57858556] [ 0. 0. 0. 1. ]] SLAMing on 118.79650248099999 meters Centerline goodness : 0.609007 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.59 [[ 0.92014709 -0.13593715 -0.36721985 3.2171728 ] [ 0.1622587 0.98586991 0.04162501 0.1743026 ] [ 0.35637262 -0.09788575 0.92920231 0.58649436] [ 0. 0. 0. 1. ]] SLAMing on 118.82650248099999 meters Centerline goodness : 0.609002 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.59 [[ 0.91942922 -0.13698184 -0.36862702 3.21756696] [ 0.16349889 0.98566925 0.04152401 0.17475183] [ 0.35765628 -0.0984485 0.92864949 0.58904018] [ 0. 0. 0. 1. ]] SLAMing on 118.85650248099999 meters Centerline goodness : 0.606255 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.59 [[ 0.91875976 -0.1378174 -0.36998226 3.21861635] [ 0.16453049 0.98549964 0.04147495 0.17480532] [ 0.35890141 -0.09897887 0.92811258 0.59105177] [ 0. 0. 0. 1. ]] SLAMing on 118.886502481 meters Centerline goodness : 0.604395 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.60 [[ 0.91744137 -0.13892343 -0.37282919 3.21854359] [ 0.16611562 0.98522608 0.04165543 0.17572181] [ 0.36153413 -0.10014916 0.92696452 0.59651959] [ 0. 0. 0. 1. ]] SLAMing on 118.916502481 meters Centerline goodness : 0.603399 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.60 [[ 0.91683793 -0.13827074 -0.37455228 3.21816309] [ 0.16622768 0.98513982 0.04321914 0.17550103] [ 0.36301043 -0.1018859 0.92619798 0.59996005] [ 0. 0. 0. 1. ]] SLAMing on 118.946502481 meters Centerline goodness : 0.599424 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:0.61 [[ 0.91486357 -0.13987283 -0.37876146 3.22960068] [ 0.16822864 0.9848247 0.04265491 0.1813998 ] [ 0.36704738 -0.10274195 0.92451085 0.61442149] [ 0. 0. 0. 1. ]] SLAMing on 118.97650248099998 meters Centerline goodness : 0.594343 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:0.62 [[ 0.91328917 -0.13646121 -0.38377237 3.22961395] [ 0.16665192 0.98492462 0.04637486 0.18301817] [ 0.37165849 -0.10631006 0.92226251 0.62307502] [ 0. 0. 0. 1. ]] SLAMing on 119.00650248099998 meters Centerline goodness : 0.591322 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:0.63 [[ 0.9125622 -0.13619722 -0.38559117 3.23004938] [ 0.16662957 0.98492423 0.04646348 0.18435279] [ 0.37344989 -0.10665171 0.9214991 0.62595539] [ 0. 0. 0. 1. ]] SLAMing on 119.03650248099999 meters Centerline goodness : 0.590640 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:0.64 [[ 0.91024555 -0.13564338 -0.39122105 3.23203623] [ 0.16609207 0.98508774 0.04489518 0.18836168] [ 0.37929733 -0.10584435 0.91920102 0.63528124] [ 0. 0. 0. 1. ]] SLAMing on 119.06650248099999 meters Centerline goodness : 0.591973 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:0.64 [[ 0.90949657 -0.13574189 -0.39292509 3.23097828] [ 0.16647764 0.98501538 0.04505437 0.19070635] [ 0.38092149 -0.10639004 0.9184661 0.63874294] [ 0. 0. 0. 1. ]] SLAMing on 119.09650248099999 meters Centerline goodness : 0.584279 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:0.65 [[ 0.90773748 -0.13054434 -0.39871148 3.23082547] [ 0.16299623 0.98543673 0.04844255 0.19444475] [ 0.38658104 -0.10896159 0.91579609 0.64880176] [ 0. 0. 0. 1. ]] SLAMing on 119.12650248099999 meters Centerline goodness : 0.584392 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:0.65 [[ 0.90734101 -0.12673574 -0.40083705 3.22952734] [ 0.16074426 0.98561293 0.05223438 0.19486683] [ 0.38845022 -0.11182665 0.91465908 0.65282065] [ 0. 0. 0. 1. ]] SLAMing on 119.15650248099999 meters Centerline goodness : 0.579842 Centerline is valid? [False, False] Translation: X:3.24, Y:0.20, Z:0.67 [[ 0.90653227 -0.12821581 -0.40219393 3.2368414 ] [ 0.16070659 0.98583672 0.04795163 0.20365268] [ 0.39034939 -0.10810492 0.91429792 0.6656612 ] [ 0. 0. 0. 1. ]] SLAMing on 119.18650248099999 meters Centerline goodness : 0.578616 Centerline is valid? [False, False] Translation: X:3.24, Y:0.21, Z:0.67 [[ 0.90550166 -0.1287717 -0.40433227 3.23531984] [ 0.1613483 0.98575882 0.04739496 0.2057486 ] [ 0.39247097 -0.10815454 0.91338334 0.67043784] [ 0. 0. 0. 1. ]] SLAMing on 119.21650248099999 meters Centerline goodness : 0.572907 Centerline is valid? [False, False] Translation: X:3.24, Y:0.21, Z:0.69 [[ 0.90286508 -0.12911162 -0.41007906 3.24486798] [ 0.16113552 0.9859352 0.04435229 0.21260003] [ 0.39858498 -0.10612244 0.91097093 0.68573037] [ 0. 0. 0. 1. ]] SLAMing on 119.246502481 meters Centerline goodness : 0.569283 Centerline is valid? [False, False] Translation: X:3.24, Y:0.21, Z:0.69 [[ 0.90181045 -0.12847829 -0.41259088 3.24453501] [ 0.16147906 0.98580463 0.04597536 0.21457996] [ 0.40082717 -0.10808585 0.90975548 0.68999841] [ 0. 0. 0. 1. ]] SLAMing on 119.276502481 meters Centerline goodness : 0.567313 Centerline is valid? [False, False] Translation: X:3.24, Y:0.22, Z:0.69 [[ 0.90088993 -0.1282491 -0.41466793 3.24410434] [ 0.16200839 0.98566349 0.0471251 0.21599693] [ 0.40267929 -0.10963421 0.90875174 0.69378015] [ 0. 0. 0. 1. ]] SLAMing on 119.306502481 meters Centerline goodness : 0.562455 Centerline is valid? [False, False] Translation: X:3.24, Y:0.22, Z:0.70 [[ 0.89886566 -0.12862385 -0.41892295 3.24228209] [ 0.16322688 0.98543642 0.04766607 0.21975099] [ 0.40669094 -0.11122487 0.90676982 0.70252356] [ 0. 0. 0. 1. ]] SLAMing on 119.336502481 meters Centerline goodness : 0.556315 Centerline is valid? [False, False] Translation: X:3.24, Y:0.22, Z:0.71 [[ 0.89650832 -0.12976081 -0.42359764 3.2428044 ] [ 0.16438905 0.98531855 0.04608246 0.22422555] [ 0.41139892 -0.11094813 0.90467754 0.71088027] [ 0. 0. 0. 1. ]] SLAMing on 119.36650248099998 meters Centerline goodness : 0.556315 Centerline is valid? [False, False] Translation: X:3.24, Y:0.22, Z:0.71 [[ 0.89650832 -0.12976081 -0.42359764 3.2428044 ] [ 0.16438905 0.98531855 0.04608246 0.22422555] [ 0.41139892 -0.11094813 0.90467754 0.71088027] [ 0. 0. 0. 1. ]] SLAMing on 119.39650248099998 meters Centerline goodness : 0.552780 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:0.71 [[ 0.89560859 -0.13099914 -0.42511702 3.2423241 ] [ 0.16561958 0.98514668 0.04534504 0.22631817] [ 0.41286246 -0.11101911 0.90400185 0.71382122] [ 0. 0. 0. 1. ]] SLAMing on 119.42650248099999 meters Centerline goodness : 0.556569 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:0.72 [[ 0.89487797 -0.13172101 -0.42643052 3.24101734] [ 0.16648579 0.98501129 0.04511352 0.22791085] [ 0.41409648 -0.11136572 0.90339459 0.71696384] [ 0. 0. 0. 1. ]] SLAMing on 119.45650248099999 meters Centerline goodness : 0.545287 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:0.73 [[ 0.89330599 -0.12910813 -0.43050609 3.2379177 ] [ 0.16571142 0.98498299 0.04845855 0.23031649] [ 0.41778479 -0.11462809 0.9012859 0.72587607] [ 0. 0. 0. 1. ]] SLAMing on 119.48650248099999 meters Centerline goodness : 0.543358 Centerline is valid? [False, False] Translation: X:3.23, Y:0.24, Z:0.73 [[ 0.89123212 -0.13067502 -0.43431479 3.23474468] [ 0.16686766 0.98490166 0.04608586 0.23720724] [ 0.42173509 -0.11354629 0.89958143 0.73488181] [ 0. 0. 0. 1. ]] SLAMing on 119.51650248099999 meters Centerline goodness : 0.539565 Centerline is valid? [False, False] Translation: X:3.23, Y:0.24, Z:0.74 [[ 0.89033885 -0.13174131 -0.43582217 3.23334979] [ 0.16770724 0.98481306 0.04491675 0.24080822] [ 0.42328597 -0.11308166 0.8989113 0.73814536] [ 0. 0. 0. 1. ]] SLAMing on 119.54650248099999 meters Centerline goodness : 0.533151 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:0.75 [[ 0.88878154 -0.13219841 -0.43885185 3.23029625] [ 0.16744428 0.9849691 0.0424062 0.24894441] [ 0.42664948 -0.11117308 0.89755822 0.74528649] [ 0. 0. 0. 1. ]] SLAMing on 119.57650248099999 meters Centerline goodness : 0.529105 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:0.75 [[ 0.88812001 -0.13337083 -0.43983527 3.22751922] [ 0.16811792 0.98492184 0.04080857 0.25251881] [ 0.42776069 -0.1101871 0.89715082 0.74851897] [ 0. 0. 0. 1. ]] SLAMing on 119.60650248099999 meters Centerline goodness : 0.526708 Centerline is valid? [False, False] Translation: X:3.22, Y:0.26, Z:0.75 [[ 0.88751185 -0.1340773 -0.44084691 3.22438363] [ 0.16859714 0.98487784 0.03988279 0.25572555] [ 0.42883297 -0.10972197 0.89669581 0.75197258] [ 0. 0. 0. 1. ]] SLAMing on 119.636502481 meters Centerline goodness : 0.524112 Centerline is valid? [False, False] Translation: X:3.23, Y:0.27, Z:0.76 [[ 0.88726471 -0.13599923 -0.44075566 3.22792586] [ 0.16988392 0.98472578 0.03813918 0.2670853 ] [ 0.42883656 -0.10871684 0.89681651 0.76162788] [ 0. 0. 0. 1. ]] SLAMing on 119.666502481 meters Centerline goodness : 0.519129 Centerline is valid? [False, False] Translation: X:3.22, Y:0.27, Z:0.76 [[ 0.88685221 -0.13711925 -0.44123856 3.22417376] [ 0.17052481 0.98466801 0.03674513 0.27128934] [ 0.42943503 -0.10782962 0.89663723 0.7643801 ] [ 0. 0. 0. 1. ]] SLAMing on 119.696502481 meters Centerline goodness : 0.514371 Centerline is valid? [False, False] Translation: X:3.22, Y:0.28, Z:0.77 [[ 0.88671323 -0.13948681 -0.44077555 3.21737626] [ 0.17077534 0.98479329 0.03190532 0.27884555] [ 0.42962243 -0.10356446 0.89705015 0.76950012] [ 0. 0. 0. 1. ]] SLAMing on 119.72650248099998 meters Centerline goodness : 0.509374 Centerline is valid? [False, False] Translation: X:3.21, Y:0.29, Z:0.77 [[ 0.88654619 -0.14126742 -0.4405444 3.21048374] [ 0.17088359 0.98489149 0.02806327 0.28587903] [ 0.42992401 -0.10016119 0.89729208 0.77494946] [ 0. 0. 0. 1. ]] SLAMing on 119.75650248099998 meters Centerline goodness : 0.509812 Centerline is valid? [False, False] Translation: X:3.21, Y:0.29, Z:0.78 [[ 0.88634425 -0.14237563 -0.44059396 3.20715834] [ 0.17146503 0.98482849 0.02669456 0.28843819] [ 0.43010883 -0.09920702 0.89730951 0.77722154] [ 0. 0. 0. 1. ]] SLAMing on 119.78650248099999 meters Centerline goodness : 0.502873 Centerline is valid? [False, False] Translation: X:3.20, Y:0.29, Z:0.78 [[ 0.88603026 -0.14337398 -0.44090166 3.20491385] [ 0.1719308 0.98478476 0.02527409 0.29071017] [ 0.43056959 -0.09819818 0.8971995 0.77926243] [ 0. 0. 0. 1. ]] SLAMing on 119.81650248099999 meters Centerline goodness : 0.503320 Centerline is valid? [False, False] Translation: X:3.20, Y:0.30, Z:0.78 [[ 0.88580801 -0.1454257 -0.44067623 3.20044945] [ 0.17293202 0.98467295 0.02266475 0.29718045] [ 0.43062593 -0.09628364 0.89737995 0.78167986] [ 0. 0. 0. 1. ]] SLAMing on 119.84650248099999 meters Centerline goodness : 0.502545 Centerline is valid? [False, False] Translation: X:3.20, Y:0.30, Z:0.78 [[ 0.88564778 -0.14622365 -0.44073423 3.19889915] [ 0.17308722 0.98467991 0.02112572 0.29967742] [ 0.43089306 -0.09499541 0.89738901 0.78289794] [ 0. 0. 0. 1. ]] SLAMing on 119.87650248099999 meters Centerline goodness : 0.497345 Centerline is valid? [False, False] Translation: X:3.19, Y:0.31, Z:0.79 [[ 0.88597469 -0.14437194 -0.44068763 3.19446657] [ 0.17096162 0.98505391 0.02099792 0.305159 ] [ 0.43106957 -0.0939443 0.8974149 0.78548364] [ 0. 0. 0. 1. ]] SLAMing on 119.90650248099999 meters Centerline goodness : 0.493799 Centerline is valid? [False, False] Translation: X:3.19, Y:0.31, Z:0.79 [[ 0.88641523 -0.14719558 -0.43886388 3.18960263] [ 0.17145381 0.98506369 0.01590981 0.31200824] [ 0.42996702 -0.08934758 0.89841269 0.78646931] [ 0. 0. 0. 1. ]] SLAMing on 119.93650248099999 meters Centerline goodness : 0.491643 Centerline is valid? [False, False] Translation: X:3.19, Y:0.31, Z:0.79 [[ 0.8865978 -0.14826904 -0.43813312 3.18682891] [ 0.17180177 0.98502759 0.01431065 0.31425088] [ 0.42945139 -0.08795984 0.89879618 0.78718742] [ 0. 0. 0. 1. ]] SLAMing on 119.96650248099999 meters Centerline goodness : 0.488547 Centerline is valid? [False, False] Translation: X:3.18, Y:0.32, Z:0.79 [[ 0.88781242 -0.14907636 -0.43539103 3.17897917] [ 0.17137853 0.98513027 0.01215541 0.32041524] [ 0.4271048 -0.08540839 0.90015937 0.78867624] [ 0. 0. 0. 1. ]] SLAMing on 119.996502481 meters Centerline goodness : 0.488586 Centerline is valid? [False, False] Translation: X:3.18, Y:0.32, Z:0.79 [[ 0.88801904 -0.15002825 -0.43464204 3.1758464 ] [ 0.17154868 0.98512021 0.01045142 0.32307744] [ 0.42660665 -0.08384333 0.90054265 0.7897129 ] [ 0. 0. 0. 1. ]] SLAMing on 120.026502481 meters Centerline goodness : 0.484773 Centerline is valid? [False, False] Translation: X:3.17, Y:0.33, Z:0.79 [[ 0.88845078 -0.15223405 -0.43298961 3.17119722] [ 0.17201918 0.98507131 0.00662642 0.32904805] [ 0.42551688 -0.08036976 0.90137455 0.79062537] [ 0. 0. 0. 1. ]] SLAMing on 120.056502481 meters Centerline goodness : 0.482326 Centerline is valid? [False, False] Translation: X:3.17, Y:0.33, Z:0.79 [[ 0.88869019 -0.15305067 -0.43220972 3.16903696] [ 0.17220177 0.98504768 0.00525628 0.33133902] [ 0.4249427 -0.07909849 0.9017578 0.79091243] [ 0. 0. 0. 1. ]] SLAMing on 120.086502481 meters Centerline goodness : 0.482860 Centerline is valid? [False, False] Translation: X:3.17, Y:0.33, Z:0.79 [[ 0.88896895 -0.15363288 -0.43142919 3.16642704] [ 0.17222295 0.9850495 0.00409073 0.33336566] [ 0.42435064 -0.07793854 0.90213753 0.79150933] [ 0. 0. 0. 1. ]] SLAMing on 120.11650248099998 meters Centerline goodness : 0.477932 Centerline is valid? [False, False] Translation: X:3.16, Y:0.34, Z:0.79 [[ 0.88977298 -0.15377794 -0.42971664 3.16159815] [ 0.17203537 0.98508384 0.00369605 0.33663256] [ 0.42273854 -0.07721511 0.90295623 0.7923106 ] [ 0. 0. 0. 1. ]] SLAMing on 120.14650248099998 meters Centerline goodness : 0.481551 Centerline is valid? [False, False] Translation: X:3.16, Y:0.34, Z:0.79 [[ 0.89079998 -0.15301203 -0.42785829 3.15726604] [ 0.17155817 0.98516197 0.00486699 0.3371988 ] [ 0.42076501 -0.0777381 0.90383273 0.79260505] [ 0. 0. 0. 1. ]] SLAMing on 120.17650248099999 meters Centerline goodness : 0.478417 Centerline is valid? [False, False] Translation: X:3.15, Y:0.34, Z:0.79 [[ 0.89131902 -0.15360542 -0.42656274 3.15451574] [ 0.17194947 0.98509521 0.00456174 0.33741071] [ 0.41950421 -0.0774132 0.90444647 0.79277433] [ 0. 0. 0. 1. ]] SLAMing on 120.20650248099999 meters Centerline goodness : 0.479303 Centerline is valid? [False, False] Translation: X:3.15, Y:0.34, Z:0.79 [[ 0.89170508 -0.15402097 -0.42560497 3.15222901] [ 0.17232621 0.98502929 0.00457936 0.33676491] [ 0.41852804 -0.07742633 0.90489747 0.79334715] [ 0. 0. 0. 1. ]] SLAMing on 120.23650248099999 meters Centerline goodness : 0.480899 Centerline is valid? [False, False] Translation: X:3.15, Y:0.34, Z:0.79 [[ 0.89282586 -0.15576766 -0.42260906 3.14802292] [ 0.17332314 0.98485992 0.00316617 0.3360706 ] [ 0.41571753 -0.07607477 0.90630655 0.79301866] [ 0. 0. 0. 1. ]] SLAMing on 120.26650248099999 meters Centerline goodness : 0.486096 Centerline is valid? [False, False] Translation: X:3.14, Y:0.34, Z:0.79 [[ 8.94034767e-01 -1.56820854e-01 -4.19653493e-01 3.14466094e+00] [ 1.73590574e-01 9.84816259e-01 1.80215655e-03 3.36286218e-01] [ 4.12998968e-01 -7.44590814e-02 9.07682598e-01 7.91724243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29650248099999 meters Centerline goodness : 0.483122 Centerline is valid? [False, False] Translation: X:3.14, Y:0.34, Z:0.79 [[ 8.94478201e-01 -1.56779188e-01 -4.18723101e-01 3.14292282e+00] [ 1.73325378e-01 9.84863469e-01 1.50380534e-03 3.36530612e-01] [ 4.12149320e-01 -7.39204609e-02 9.08112715e-01 7.91634133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32650248099999 meters Centerline goodness : 0.485797 Centerline is valid? [False, False] Translation: X:3.14, Y:0.34, Z:0.79 [[ 8.95158072e-01 -1.55884325e-01 -4.17602805e-01 3.14058463e+00] [ 1.72338822e-01 9.85036227e-01 1.72120395e-03 3.36807804e-01] [ 4.11085583e-01 -7.35099250e-02 9.08628051e-01 7.91516016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35650248099999 meters Centerline goodness : 0.490574 Centerline is valid? [False, False] Translation: X:3.14, Y:0.34, Z:0.79 [[ 8.97000199e-01 -1.53431598e-01 -4.14547207e-01 3.13611455e+00] [ 1.69709180e-01 9.85491094e-01 2.46943033e-03 3.36479332e-01] [ 4.08153692e-01 -7.25675462e-02 9.10024458e-01 7.90538311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.386502481 meters Centerline goodness : 0.489198 Centerline is valid? [False, False] Translation: X:3.13, Y:0.34, Z:0.79 [[ 8.97588173e-01 -1.53286952e-01 -4.13326242e-01 3.13422021e+00] [ 1.69268479e-01 9.85567789e-01 2.07754241e-03 3.36535097e-01] [ 4.07042570e-01 -7.18278817e-02 9.10580640e-01 7.90170342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.416502481 meters Centerline goodness : 0.494915 Centerline is valid? [False, False] Translation: X:3.13, Y:0.34, Z:0.79 [[ 8.98753938e-01 -1.52564764e-01 -4.11053951e-01 3.13112876e+00] [ 1.68233509e-01 9.85745199e-01 1.97187025e-03 3.36648993e-01] [ 4.04893621e-01 -7.09252748e-02 9.11608886e-01 7.89372024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.446502481 meters Centerline goodness : 0.498339 Centerline is valid? [False, False] Translation: X:3.13, Y:0.34, Z:0.79 [[ 8.99190294e-01 -1.52737002e-01 -4.10034416e-01 3.12967535e+00] [ 1.67959147e-01 9.85793318e-01 1.12214525e-03 3.37311616e-01] [ 4.04037795e-01 -6.98780528e-02 9.12069360e-01 7.89037000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47650248099998 meters Centerline goodness : 0.501742 Centerline is valid? [False, False] Translation: X:3.13, Y:0.34, Z:0.79 [[ 9.00748158e-01 -1.51558598e-01 -4.07041457e-01 3.12588162e+00] [ 1.66249445e-01 9.86083455e-01 7.35686437e-04 3.37829083e-01] [ 4.01265347e-01 -6.83330845e-02 9.13409388e-01 7.87687805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50650248099998 meters Centerline goodness : 0.500987 Centerline is valid? [False, False] Translation: X:3.12, Y:0.34, Z:0.79 [[ 9.01516815e-01 -1.50851291e-01 -4.05599951e-01 3.12358584e+00] [ 1.65296939e-01 9.86243665e-01 5.96254543e-04 3.37817052e-01] [ 3.99930436e-01 -6.75819640e-02 9.14050504e-01 7.87350411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53650248099999 meters Centerline goodness : 0.499217 Centerline is valid? [False, False] Translation: X:3.12, Y:0.34, Z:0.79 [[ 9.03565111e-01 -1.48642153e-01 -4.01840267e-01 3.11843733e+00] [ 1.62958602e-01 9.86631820e-01 1.46483398e-03 3.37946316e-01] [ 3.96250658e-01 -6.68069010e-02 9.15708607e-01 7.85983911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56650248099999 meters Centerline goodness : 0.501374 Centerline is valid? [False, False] Translation: X:3.12, Y:0.34, Z:0.79 [[ 9.04105410e-01 -1.47531088e-01 -4.01033646e-01 3.11693736e+00] [ 1.61758479e-01 9.86829011e-01 1.64265185e-03 3.38206644e-01] [ 3.95509293e-01 -6.63557231e-02 9.16061852e-01 7.85823176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59650248099999 meters Centerline goodness : 0.506725 Centerline is valid? [False, False] Translation: X:3.11, Y:0.34, Z:0.78 [[ 9.05431515e-01 -1.46252597e-01 -3.98502133e-01 3.11357297e+00] [ 1.60136181e-01 9.87093676e-01 1.57422379e-03 3.38832699e-01] [ 3.93128701e-01 -6.52399617e-02 9.17166055e-01 7.84658782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62650248099999 meters Centerline goodness : 0.508124 Centerline is valid? [False, False] Translation: X:3.11, Y:0.34, Z:0.78 [[ 9.05924968e-01 -1.46233062e-01 -3.97386264e-01 3.11194388e+00] [ 1.60037502e-01 9.87109646e-01 1.59517951e-03 3.38399696e-01] [ 3.92030547e-01 -6.50418179e-02 9.17650049e-01 7.84351787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65650248099999 meters Centerline goodness : 0.512328 Centerline is valid? [False, False] Translation: X:3.11, Y:0.34, Z:0.78 [[ 9.06663979e-01 -1.49843022e-01 -3.94344389e-01 3.10936144e+00] [ 1.62381362e-01 9.86726786e-01 -1.59452244e-03 3.37346509e-01] [ 3.89349100e-01 -6.25884831e-02 9.18961349e-01 7.82935762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68650248099999 meters Centerline goodness : 0.512793 Centerline is valid? [False, False] Translation: X:3.11, Y:0.34, Z:0.78 [[ 0.90672888 -0.15344919 -0.39280541 3.10779016] [ 0.16480983 0.98631336 -0.00486542 0.33752942] [ 0.38817582 -0.06032658 0.91960874 0.78249139] [ 0. 0. 0. 1. ]] SLAMing on 120.71650248099999 meters Centerline goodness : 0.513958 Centerline is valid? [False, False] Translation: X:3.11, Y:0.33, Z:0.78 [[ 9.07687806e-01 -1.52476726e-01 -3.90965082e-01 3.10570327e+00] [ 1.64380625e-01 9.86392244e-01 -3.05799876e-03 3.34744436e-01] [ 3.86111198e-01 -6.14913764e-02 9.20400431e-01 7.81889257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.746502481 meters Centerline goodness : 0.521856 Centerline is valid? [False, False] Translation: X:3.10, Y:0.33, Z:0.78 [[ 9.08202639e-01 -1.52604744e-01 -3.89717536e-01 3.10420152e+00] [ 1.64520358e-01 9.86369599e-01 -2.84015195e-03 3.34208391e-01] [ 3.84838951e-01 -6.15370351e-02 9.20930060e-01 7.81304386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.776502481 meters Centerline goodness : 0.526611 Centerline is valid? [False, False] Translation: X:3.10, Y:0.33, Z:0.78 [[ 9.09710019e-01 -1.51146497e-01 -3.86758862e-01 3.10066753e+00] [ 1.63425008e-01 9.86555089e-01 -1.15053314e-03 3.32383753e-01] [ 3.81732823e-01 -6.21594186e-02 9.22180166e-01 7.80022534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.806502481 meters Centerline goodness : 0.530263 Centerline is valid? [False, False] Translation: X:3.10, Y:0.33, Z:0.78 [[ 9.10501286e-01 -1.50035708e-01 -3.85326738e-01 3.09876346e+00] [ 1.62456408e-01 9.86715668e-01 -3.26514332e-04 3.31508673e-01] [ 3.80256918e-01 -6.23015061e-02 9.22780146e-01 7.79344649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.836502481 meters Centerline goodness : 0.534433 Centerline is valid? [False, False] Translation: X:3.10, Y:0.33, Z:0.78 [[ 9.11866813e-01 -1.49989873e-01 -3.82102020e-01 3.09564658e+00] [ 1.62273833e-01 9.86745761e-01 -7.78553311e-05 3.30682294e-01] [ 3.77049226e-01 -6.19341656e-02 9.24120144e-01 7.77296367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86650248099998 meters Centerline goodness : 0.535151 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.78 [[ 0.91188081 -0.15345418 -0.38069043 3.09475957] [ 0.1642606 0.98640822 -0.00415658 0.33180616] [ 0.37615401 -0.05874213 0.9246932 0.77660487] [ 0. 0. 0. 1. ]] SLAMing on 120.89650248099998 meters Centerline goodness : 0.534948 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91282218 -0.15292117 -0.37864334 3.09359382] [ 0.16374588 0.98649577 -0.00365838 0.33071579] [ 0.37408949 -0.05866184 0.92553543 0.77453351] [ 0. 0. 0. 1. ]] SLAMing on 120.92650248099999 meters Centerline goodness : 0.536788 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91318791 -0.15260823 -0.37788698 3.09284037] [ 0.16317199 0.98658906 -0.0041148 0.33104755] [ 0.37344711 -0.05790299 0.92584259 0.77405928] [ 0. 0. 0. 1. ]] SLAMing on 120.95650248099999 meters Centerline goodness : 0.535765 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91429791 -0.1515777 -0.37561088 3.09124362] [ 0.16157135 0.98684861 -0.00495167 0.33269624] [ 0.37142163 -0.05616065 0.92676424 0.77178399] [ 0. 0. 0. 1. ]] SLAMing on 120.98650248099999 meters Centerline goodness : 0.536305 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.9149254 -0.15069959 -0.37443444 3.0901823 ] [ 0.16051113 0.98702115 -0.00504221 0.33278042] [ 0.37033457 -0.05548765 0.92723968 0.77077063] [ 0. 0. 0. 1. ]] SLAMing on 121.01650248099999 meters Centerline goodness : 0.537982 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91606702 -0.1497467 -0.37201766 3.08755936] [ 0.15935797 0.98720836 -0.00496917 0.33249673] [ 0.36800306 -0.05473189 0.92821235 0.76936387] [ 0. 0. 0. 1. ]] SLAMing on 121.04650248099999 meters Centerline goodness : 0.536420 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91625359 -0.14950151 -0.37165665 3.08748865] [ 0.15913906 0.98724452 -0.00479693 0.33176105] [ 0.36763314 -0.05474988 0.92835786 0.76905561] [ 0. 0. 0. 1. ]] SLAMing on 121.07650248099999 meters Centerline goodness : 0.534859 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91692606 -0.14836626 -0.37045115 3.08661544] [ 0.15822181 0.98739617 -0.00382931 0.33013879] [ 0.36635018 -0.05510226 0.92884406 0.76802118] [ 0. 0. 0. 1. ]] SLAMing on 121.10650248099999 meters Centerline goodness : 0.534854 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91739255 -0.14817034 -0.36937306 3.08536305] [ 0.15787559 0.98745091 -0.0039988 0.32969396] [ 0.36533027 -0.05464652 0.92927259 0.76751143] [ 0. 0. 0. 1. ]] SLAMing on 121.136502481 meters Centerline goodness : 0.532331 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.77 [[ 0.91797836 -0.14754375 -0.3681665 3.08444986] [ 0.15703957 0.9875833 -0.00421771 0.32862091] [ 0.36421738 -0.05394495 0.92975031 0.76668153] [ 0. 0. 0. 1. ]] SLAMing on 121.166502481 meters Centerline goodness : 0.533231 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.77 [[ 0.91825404 -0.1472297 -0.36760431 3.0840565 ] [ 0.15667587 0.98764117 -0.00419436 0.32809428] [ 0.36367868 -0.05374324 0.92997284 0.76620555] [ 0. 0. 0. 1. ]] SLAMing on 121.196502481 meters Centerline goodness : 0.531548 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.77 [[ 0.91870646 -0.14628614 -0.36684985 3.08273058] [ 0.15558379 0.98781346 -0.00427312 0.32830019] [ 0.36300431 -0.05315015 0.93027035 0.76605542] [ 0. 0. 0. 1. ]] SLAMing on 121.22650248099998 meters Centerline goodness : 0.531028 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.77 [[ 0.9187569 -0.14658829 -0.36660283 3.08250003] [ 0.1556706 0.98779714 -0.00484464 0.32863527] [ 0.3628394 -0.05261824 0.93036493 0.7659172 ] [ 0. 0. 0. 1. ]] SLAMing on 121.25650248099998 meters Centerline goodness : 0.531028 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.77 [[ 0.9187569 -0.14658829 -0.36660283 3.08250003] [ 0.1556706 0.98779714 -0.00484464 0.32863527] [ 0.3628394 -0.05261824 0.93036493 0.7659172 ] [ 0. 0. 0. 1. ]] SLAMing on 121.28650248099999 meters Centerline goodness : 0.531808 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91882508 -0.15002006 -0.36504036 3.08282577] [ 0.15743623 0.98748298 -0.00954936 0.33025168] [ 0.36190374 -0.04869638 0.93094272 0.76407774] [ 0. 0. 0. 1. ]] SLAMing on 121.31650248099999 meters Centerline goodness : 0.530643 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91861209 -0.15400688 -0.36391443 3.08220366] [ 0.15974104 0.98705261 -0.01448924 0.33195745] [ 0.36143413 -0.04482208 0.93131968 0.76359931] [ 0. 0. 0. 1. ]] SLAMing on 121.34650248099999 meters Centerline goodness : 0.532311 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91918398 -0.15397091 -0.36248279 3.08085827] [ 0.15950195 0.98708641 -0.01481714 0.33163133] [ 0.36008325 -0.04419703 0.93187267 0.76256881] [ 0. 0. 0. 1. ]] SLAMing on 121.37650248099999 meters Centerline goodness : 0.533861 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91987082 -0.15184378 -0.36163676 3.07864516] [ 0.15766841 0.98739931 -0.0135381 0.33110825] [ 0.35913556 -0.04456539 0.93222077 0.76286154] [ 0. 0. 0. 1. ]] SLAMing on 121.40650248099999 meters Centerline goodness : 0.538388 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91991628 -0.15221489 -0.36136499 3.07771249] [ 0.15776093 0.98737384 -0.01429624 0.33161966] [ 0.35897844 -0.04385794 0.93231484 0.7632377 ] [ 0. 0. 0. 1. ]] SLAMing on 121.43650248099999 meters Centerline goodness : 0.537117 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91990025 -0.15240042 -0.3613276 3.07785204] [ 0.15767864 0.98737621 -0.01502216 0.33183169] [ 0.35905566 -0.04315476 0.93231792 0.76332343] [ 0. 0. 0. 1. ]] SLAMing on 121.46650248099999 meters Centerline goodness : 0.536335 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91991311 -0.15349629 -0.36083065 3.07795468] [ 0.15826391 0.98725908 -0.01649404 0.33250642] [ 0.35876511 -0.04193338 0.93248549 0.76270637] [ 0. 0. 0. 1. ]] SLAMing on 121.496502481 meters Centerline goodness : 0.540198 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91991488 -0.15408645 -0.36057451 3.07786788] [ 0.15850638 0.98720324 -0.0174784 0.33310228] [ 0.35865351 -0.04107472 0.93256664 0.76259593] [ 0. 0. 0. 1. ]] SLAMing on 121.526502481 meters Centerline goodness : 0.538129 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.92018317 -0.15370769 -0.36005122 3.07805038] [ 0.15786464 0.9872962 -0.01802697 0.33386318] [ 0.35824808 -0.04025124 0.93275836 0.76174055] [ 0. 0. 0. 1. ]] SLAMing on 121.556502481 meters Centerline goodness : 0.538045 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.92004064 -0.15433782 -0.3601459 3.07836217] [ 0.15810413 0.98723625 -0.01917463 0.33482118] [ 0.35850846 -0.03929911 0.93269891 0.76186527] [ 0. 0. 0. 1. ]] SLAMing on 121.586502481 meters Centerline goodness : 0.542457 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.9202289 -0.15383797 -0.35987867 3.07866077] [ 0.15770822 0.98730721 -0.01877764 0.33463272] [ 0.35819952 -0.0394761 0.93281013 0.76131159] [ 0. 0. 0. 1. ]] SLAMing on 121.61650248099998 meters Centerline goodness : 0.544615 Centerline is valid? [False, False] Translation: X:3.04, Y:0.32, Z:0.75 [[ 0.92168561 -0.14839811 -0.3584322 3.03969699] [ 0.15061542 0.98834986 -0.02189866 0.32401894] [ 0.35750613 -0.03380174 0.93329888 0.74900575] [ 0. 0. 0. 1. ]] SLAMing on 121.64650248099998 meters Centerline goodness : 0.544228 Centerline is valid? [False, False] Translation: X:3.04, Y:0.32, Z:0.75 [[ 0.9222504 -0.14731527 -0.35742469 3.03861853] [ 0.14979978 0.98849558 -0.02089276 0.32327336] [ 0.35639055 -0.03427378 0.93370824 0.74830994] [ 0. 0. 0. 1. ]] SLAMing on 121.67650248099999 meters Centerline goodness : 0.546199 Centerline is valid? [False, False] Translation: X:3.02, Y:0.32, Z:0.74 [[ 0.92297063 -0.14432937 -0.35678319 3.02253137] [ 0.14516029 0.98910222 -0.02460265 0.31773143] [ 0.35644593 -0.02908323 0.93386319 0.74387136] [ 0. 0. 0. 1. ]] SLAMing on 121.70650248099999 meters Centerline goodness : 0.548833 Centerline is valid? [False, False] Translation: X:3.02, Y:0.31, Z:0.74 [[ 0.92561366 -0.13894001 -0.35204406 3.01622837] [ 0.13838808 0.99001357 -0.02686766 0.31058449] [ 0.35226139 -0.02384963 0.93559773 0.73960239] [ 0. 0. 0. 1. ]] SLAMing on 121.73650248099999 meters Centerline goodness : 0.552682 Centerline is valid? [False, False] Translation: X:3.01, Y:0.30, Z:0.74 [[ 0.92804721 -0.1332588 -0.3478081 3.01031939] [ 0.13143034 0.99090228 -0.02896107 0.3015871 ] [ 0.34850316 -0.0188353 0.93711834 0.73605511] [ 0. 0. 0. 1. ]] SLAMing on 121.76650248099999 meters Centerline goodness : 0.551074 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.74 [[ 0.92950966 -0.12619676 -0.34653452 3.00750222] [ 0.12249906 0.99193142 -0.03265034 0.29330506] [ 0.34785884 -0.01210135 0.93746882 0.73540375] [ 0. 0. 0. 1. ]] SLAMing on 121.79650248099999 meters Centerline goodness : 0.553132 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.74 [[ 0.929419 -0.1260493 -0.34683121 3.00850966] [ 0.12218428 0.99195583 -0.03308512 0.29023046] [ 0.3482116 -0.01162738 0.93734384 0.73657097] [ 0. 0. 0. 1. ]] SLAMing on 121.82650248099999 meters Centerline goodness : 0.550515 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.74 [[ 0.92925994 -0.12558733 -0.34742451 3.0097748 ] [ 0.12176562 0.99201327 -0.03290611 0.28860314] [ 0.34878231 -0.01172603 0.93713041 0.7371856 ] [ 0. 0. 0. 1. ]] SLAMing on 121.85650248099999 meters Centerline goodness : 0.554501 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.74 [[ 0.92892749 -0.12490653 -0.34855714 3.01190938] [ 0.12131904 0.99209129 -0.03219582 0.28682192] [ 0.34982197 -0.01237903 0.93673441 0.7374781 ] [ 0. 0. 0. 1. ]] SLAMing on 121.886502481 meters Centerline goodness : 0.559086 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:0.74 [[ 0.9288254 -0.12452988 -0.34896372 3.01370422] [ 0.12097408 0.99213788 -0.03205779 0.28462574] [ 0.35021228 -0.01243948 0.93658775 0.73769673] [ 0. 0. 0. 1. ]] SLAMing on 121.916502481 meters Centerline goodness : 0.555911 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92875849 -0.12452318 -0.34914416 3.01501857] [ 0.1210373 0.99213601 -0.03187656 0.28275069] [ 0.35036787 -0.01265384 0.93652669 0.73738482] [ 0. 0. 0. 1. ]] SLAMing on 121.946502481 meters Centerline goodness : 0.558147 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92869716 -0.12441877 -0.34934446 3.01616651] [ 0.12091103 0.99214989 -0.03192362 0.28094515] [ 0.35057396 -0.01259222 0.93645039 0.73756096] [ 0. 0. 0. 1. ]] SLAMing on 121.97650248099998 meters Centerline goodness : 0.559112 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92855181 -0.12452238 -0.34969375 3.01777977] [ 0.12092812 0.9921393 -0.03218681 0.27930306] [ 0.35095289 -0.01240069 0.936311 0.73783367] [ 0. 0. 0. 1. ]] SLAMing on 122.00650248099998 meters Centerline goodness : 0.555562 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92830916 -0.124163 -0.35046492 3.01857879] [ 0.12051856 0.99218599 -0.0322837 0.2787995 ] [ 0.35173482 -0.01226827 0.93601929 0.73908929] [ 0. 0. 0. 1. ]] SLAMing on 122.03650248099999 meters Centerline goodness : 0.554934 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92797687 -0.12350116 -0.35157701 3.01927475] [ 0.11990396 0.99226711 -0.03207843 0.27855262] [ 0.35282003 -0.01238743 0.9356092 0.74063091] [ 0. 0. 0. 1. ]] SLAMing on 122.06650248099999 meters Centerline goodness : 0.555124 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92770025 -0.12298246 -0.35248768 3.01957816] [ 0.11935797 0.99233258 -0.03208929 0.27815648] [ 0.35373143 -0.01230297 0.93526612 0.74250452] [ 0. 0. 0. 1. ]] SLAMing on 122.09650248099999 meters Centerline goodness : 0.554769 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92759703 -0.12311445 -0.35271317 3.01942161] [ 0.11932569 0.99232126 -0.03255601 0.27757204] [ 0.35401289 -0.01188888 0.93516497 0.74380421] [ 0. 0. 0. 1. ]] SLAMing on 122.12650248099999 meters Centerline goodness : 0.552674 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92756216 -0.12300496 -0.35284306 3.0200769 ] [ 0.11916875 0.99233651 -0.03266578 0.27705674] [ 0.35415711 -0.01174833 0.93511214 0.74406407] [ 0. 0. 0. 1. ]] SLAMing on 122.15650248099999 meters Centerline goodness : 0.557235 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92764062 -0.12319875 -0.35256906 3.02090571] [ 0.11927271 0.99231532 -0.03292912 0.27573841] [ 0.35391651 -0.01150548 0.93520625 0.74388214] [ 0. 0. 0. 1. ]] SLAMing on 122.18650248099999 meters Centerline goodness : 0.556411 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.74 [[ 0.92750181 -0.12294307 -0.35302321 3.02214949] [ 0.11895484 0.99234906 -0.03306188 0.27482792] [ 0.35438698 -0.01132887 0.93503023 0.74451997] [ 0. 0. 0. 1. ]] SLAMing on 122.21650248099999 meters Centerline goodness : 0.555464 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.75 [[ 0.92733836 -0.12247992 -0.35361311 3.02333935] [ 0.11846826 0.99240739 -0.03305821 0.27438782] [ 0.35497723 -0.01123578 0.93480743 0.7452943 ] [ 0. 0. 0. 1. ]] SLAMing on 122.246502481 meters Centerline goodness : 0.557401 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.75 [[ 0.92780174 -0.11732437 -0.35414535 3.02437206] [ 0.11441421 0.99300318 -0.02922464 0.27319261] [ 0.35509622 -0.01340459 0.93473365 0.74530135] [ 0. 0. 0. 1. ]] SLAMing on 122.276502481 meters Centerline goodness : 0.563373 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:0.75 [[ 0.9275918 -0.11589164 -0.35516557 3.0275534 ] [ 0.11282596 0.99317947 -0.02940813 0.27273229] [ 0.35615131 -0.01279316 0.93434072 0.74703668] [ 0. 0. 0. 1. ]] SLAMing on 122.306502481 meters Centerline goodness : 0.561197 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:0.75 [[ 0.92726596 -0.11508705 -0.35627631 3.02988861] [ 0.11194692 0.99327634 -0.02949586 0.27180744] [ 0.35727542 -0.01253352 0.93391498 0.74836349] [ 0. 0. 0. 1. ]] SLAMing on 122.336502481 meters Centerline goodness : 0.560475 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:0.75 [[ 0.92703671 -0.11454926 -0.35704538 3.03144848] [ 0.11145221 0.99333741 -0.02931218 0.2719731 ] [ 0.35802422 -0.01262003 0.93362701 0.74879885] [ 0. 0. 0. 1. ]] SLAMing on 122.36650248099998 meters Centerline goodness : 0.561059 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.75 [[ 9.26734013e-01 -1.08012207e-01 -3.59857516e-01 3.03639887e+00] [ 1.01168405e-01 9.94148691e-01 -3.78594080e-02 2.68338744e-01] [ 3.61841156e-01 -1.32060974e-03 9.32238829e-01 7.53246175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39650248099998 meters Centerline goodness : 0.561369 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.75 [[ 9.26586865e-01 -1.07279219e-01 -3.60455198e-01 3.03844615e+00] [ 1.00495116e-01 9.94227930e-01 -3.75706630e-02 2.67210254e-01] [ 3.62405177e-01 -1.41150421e-03 9.32019579e-01 7.53552320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42650248099999 meters Centerline goodness : 0.560492 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.76 [[ 9.26303590e-01 -1.06058771e-01 -3.61542801e-01 3.03886050e+00] [ 9.91277299e-02 9.94359459e-01 -3.77221467e-02 2.66849269e-01] [ 3.63504268e-01 -8.96757226e-04 9.31592101e-01 7.56581424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45650248099999 meters Centerline goodness : 0.563529 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.76 [[ 9.26094294e-01 -1.05850522e-01 -3.62139510e-01 3.03843020e+00] [ 9.87997218e-02 9.94381874e-01 -3.79908340e-02 2.65953634e-01] [ 3.64126315e-01 -5.96188222e-04 9.31349382e-01 7.58555835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48650248099999 meters Centerline goodness : 0.558998 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.76 [[ 9.26149756e-01 -1.06145283e-01 -3.61911327e-01 3.03841466e+00] [ 9.89914389e-02 9.94350572e-01 -3.83097306e-02 2.64499810e-01] [ 3.63933132e-01 -3.45575376e-04 9.31425014e-01 7.58808753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51650248099999 meters Centerline goodness : 0.561637 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.76 [[ 9.26071214e-01 -1.06021703e-01 -3.62148458e-01 3.03917146e+00] [ 9.88825319e-02 9.94363740e-01 -3.82491504e-02 2.63021447e-01] [ 3.64162535e-01 -3.88719294e-04 9.31335330e-01 7.59159635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54650248099999 meters Centerline goodness : 0.560775 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.76 [[ 9.25987978e-01 -1.05499482e-01 -3.62513618e-01 3.04008052e+00] [ 9.84854911e-02 9.94419131e-01 -3.78311917e-02 2.60014670e-01] [ 3.64481648e-01 -6.71102930e-04 9.31210330e-01 7.59711395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57650248099999 meters Centerline goodness : 0.562121 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.76 [[ 9.25790899e-01 -1.04949494e-01 -3.63176011e-01 3.04060336e+00] [ 9.80362184e-02 9.94477134e-01 -3.74717289e-02 2.59035241e-01] [ 3.65102877e-01 -9.13417078e-04 9.30966731e-01 7.60548074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60650248099999 meters Centerline goodness : 0.564041 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.76 [[ 9.25642556e-01 -1.04216160e-01 -3.63764828e-01 3.04207352e+00] [ 9.74196321e-02 9.94554000e-01 -3.70372286e-02 2.56262325e-01] [ 3.65643643e-01 -1.15460078e-03 9.30754207e-01 7.61247874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.636502481 meters Centerline goodness : 0.560308 Centerline is valid? [False, False] Translation: X:3.04, Y:0.25, Z:0.76 [[ 9.25623246e-01 -1.04087964e-01 -3.63850659e-01 3.04300292e+00] [ 9.73550887e-02 9.94567229e-01 -3.68512301e-02 2.54821088e-01] [ 3.65709712e-01 -1.31235801e-03 9.30728040e-01 7.61048360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.666502481 meters Centerline goodness : 0.558400 Centerline is valid? [False, False] Translation: X:3.04, Y:0.25, Z:0.76 [[ 9.25591445e-01 -1.03564355e-01 -3.64080898e-01 3.04419156e+00] [ 9.69587036e-02 9.94621496e-01 -3.64292308e-02 2.52427302e-01] [ 3.65895458e-01 -1.58222749e-03 9.30654614e-01 7.61266102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.696502481 meters Centerline goodness : 0.558871 Centerline is valid? [False, False] Translation: X:3.05, Y:0.25, Z:0.76 [[ 9.25453883e-01 -1.03235778e-01 -3.64523641e-01 3.04515475e+00] [ 9.66987798e-02 9.94655369e-01 -3.61945247e-02 2.51178492e-01] [ 3.66311967e-01 -1.75262795e-03 9.30490447e-01 7.61758547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72650248099998 meters Centerline goodness : 0.552322 Centerline is valid? [False, False] Translation: X:3.05, Y:0.25, Z:0.76 [[ 9.25126195e-01 -1.03130746e-01 -3.65384144e-01 3.04775972e+00] [ 9.66300425e-02 9.94665952e-01 -3.60871115e-02 2.49562741e-01] [ 3.67156858e-01 -1.92195317e-03 9.30157056e-01 7.61790088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75650248099998 meters Centerline goodness : 0.557154 Centerline is valid? [False, False] Translation: X:3.05, Y:0.25, Z:0.76 [[ 9.24919303e-01 -1.02398707e-01 -3.66113080e-01 3.05010192e+00] [ 9.60940717e-02 9.94740572e-01 -3.54559473e-02 2.48356430e-01] [ 3.67818177e-01 -2.38740652e-03 9.29894665e-01 7.61582776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78650248099999 meters Centerline goodness : 0.553401 Centerline is valid? [False, False] Translation: X:3.05, Y:0.25, Z:0.76 [[ 9.24618887e-01 -1.01163709e-01 -3.67213585e-01 3.05303709e+00] [ 9.50309317e-02 9.94866060e-01 -3.47943173e-02 2.45457355e-01] [ 3.68848255e-01 -2.72516618e-03 9.29485631e-01 7.62393937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81650248099999 meters Centerline goodness : 0.551455 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.76 [[ 9.24482654e-01 -1.00495580e-01 -3.67739665e-01 3.05377511e+00] [ 9.43295073e-02 9.94934214e-01 -3.47541996e-02 2.44431321e-01] [ 3.69369418e-01 -2.55904673e-03 9.29279121e-01 7.63514070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84650248099999 meters Centerline goodness : 0.556945 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.77 [[ 9.24596140e-01 -9.98370065e-02 -3.67633716e-01 3.05330745e+00] [ 9.34710728e-02 9.95002025e-01 -3.51301581e-02 2.43687477e-01] [ 3.69303582e-01 -1.88190931e-03 9.29306904e-01 7.65026656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87650248099999 meters Centerline goodness : 0.554052 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.77 [[ 9.24572752e-01 -9.99223793e-02 -3.67669341e-01 3.05394811e+00] [ 9.33101918e-02 9.94994464e-01 -3.57662497e-02 2.43047547e-01] [ 3.69402808e-01 -1.23879683e-03 9.29268546e-01 7.65499458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90650248099999 meters Centerline goodness : 0.551921 Centerline is valid? [False, False] Translation: X:3.06, Y:0.24, Z:0.77 [[ 0.92446706 -0.09510232 -0.36921023 3.05693708] [ 0.08469928 0.9954202 -0.04432454 0.23925392] [ 0.37173469 0.00970474 0.92828828 0.7700808 ] [ 0. 0. 0. 1. ]] SLAMing on 122.93650248099999 meters Centerline goodness : 0.550566 Centerline is valid? [False, False] Translation: X:3.06, Y:0.23, Z:0.77 [[ 0.92518086 -0.08794556 -0.36919636 3.05506788] [ 0.07511436 0.99596948 -0.04901654 0.23269706] [ 0.3720191 0.01761722 0.92805788 0.77088465] [ 0. 0. 0. 1. ]] SLAMing on 122.96650248099999 meters Centerline goodness : 0.553145 Centerline is valid? [False, False] Translation: X:3.06, Y:0.23, Z:0.77 [[ 0.92558768 -0.08325403 -0.36926441 3.05521267] [ 0.07142714 0.99640244 -0.04561078 0.23249018] [ 0.37173324 0.01584127 0.92820442 0.7707072 ] [ 0. 0. 0. 1. ]] SLAMing on 122.996502481 meters Centerline goodness : 0.551306 Centerline is valid? [False, False] Translation: X:3.05, Y:0.23, Z:0.77 [[ 0.9260921 -0.07541461 -0.36968374 3.05067618] [ 0.06119458 0.99686966 -0.05006095 0.22749463] [ 0.37230183 0.02373841 0.92780808 0.77025529] [ 0. 0. 0. 1. ]] SLAMing on 123.026502481 meters Centerline goodness : 0.547397 Centerline is valid? [False, False] Translation: X:3.04, Y:0.22, Z:0.77 [[ 0.92677138 -0.06709474 -0.36958505 3.04479605] [ 0.0511329 0.99729362 -0.05282855 0.22197135] [ 0.37212934 0.03006203 0.92769393 0.76818993] [ 0. 0. 0. 1. ]] SLAMing on 123.056502481 meters Centerline goodness : 0.555552 Centerline is valid? [False, False] Translation: X:3.02, Y:0.21, Z:0.76 [[ 0.92726833 -0.05765271 -0.3699319 3.01982729] [ 0.03869124 0.99753851 -0.05848004 0.21254165] [ 0.37239285 0.03991357 0.92721652 0.76240272] [ 0. 0. 0. 1. ]] SLAMing on 123.086502481 meters Centerline goodness : 0.557814 Centerline is valid? [False, False] Translation: X:3.02, Y:0.21, Z:0.76 [[ 0.92786262 -0.05001243 -0.36955339 3.01523104] [ 0.02889414 0.99762883 -0.06246472 0.20767472] [ 0.37180113 0.04728075 0.92710757 0.76161495] [ 0. 0. 0. 1. ]] SLAMing on 123.11650248099998 meters Centerline goodness : 0.561179 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:0.76 [[ 0.92788976 -0.04517414 -0.37010794 3.0126229 ] [ 0.0207716 0.99735467 -0.06965775 0.20280834] [ 0.37227561 0.05694698 0.92637353 0.7636015 ] [ 0. 0. 0. 1. ]] SLAMing on 123.14650248099998 meters Centerline goodness : 0.558976 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:0.77 [[ 0.92774035 -0.0412936 -0.37093487 3.01076324] [ 0.01334678 0.99689555 -0.07759597 0.19845747] [ 0.37298754 0.06703813 0.92541136 0.76590325] [ 0. 0. 0. 1. ]] SLAMing on 123.17650248099999 meters Centerline goodness : 0.558976 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:0.77 [[ 0.92777126 -0.04109593 -0.37087951 3.01082945] [ 0.01318855 0.99690727 -0.07747226 0.19769867] [ 0.37291627 0.06698517 0.92544392 0.76578005] [ 0. 0. 0. 1. ]] SLAMing on 123.20650248099999 meters Centerline goodness : 0.557259 Centerline is valid? [False, False] Translation: X:3.01, Y:0.19, Z:0.77 [[ 0.9276533 -0.03860058 -0.37144226 3.00947346] [ 0.00658923 0.9961806 -0.08706771 0.19282858] [ 0.37338444 0.07832113 0.92436457 0.76972427] [ 0. 0. 0. 1. ]] SLAMing on 123.23650248099999 meters Centerline goodness : 0.558801 Centerline is valid? [False, False] Translation: X:3.01, Y:0.19, Z:0.77 [[ 9.27333120e-01 -3.42757374e-02 -3.72664003e-01 3.00713645e+00] [-1.32943305e-03 9.95488958e-01 -9.48681525e-02 1.86597238e-01] [ 3.74234576e-01 8.84698116e-02 9.23104314e-01 7.72218018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26650248099999 meters Centerline goodness : 0.554954 Centerline is valid? [False, False] Translation: X:3.01, Y:0.18, Z:0.77 [[ 9.26743731e-01 -3.38829643e-02 -3.74163069e-01 3.00954102e+00] [-2.20039356e-03 9.95418187e-01 -9.55917961e-02 1.81189534e-01] [ 3.75687657e-01 8.94124037e-02 9.22423008e-01 7.74535443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29650248099999 meters Centerline goodness : 0.559363 Centerline is valid? [False, False] Translation: X:3.01, Y:0.18, Z:0.77 [[ 9.26506077e-01 -3.31139893e-02 -3.74819895e-01 3.01088732e+00] [-2.86991776e-03 9.95469299e-01 -9.50401950e-02 1.79208749e-01] [ 3.76268858e-01 8.91310205e-02 9.22213320e-01 7.74865182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32650248099999 meters Centerline goodness : 0.555536 Centerline is valid? [False, False] Translation: X:3.02, Y:0.18, Z:0.78 [[ 0.92655445 -0.03817246 -0.37421881 3.02258673] [ 0.00441722 0.99587321 -0.09064785 0.18061706] [ 0.37613474 0.08233716 0.92289937 0.77776157] [ 0. 0. 0. 1. ]] SLAMing on 123.35650248099999 meters Centerline goodness : 0.557189 Centerline is valid? [False, False] Translation: X:3.02, Y:0.18, Z:0.78 [[ 0.92668233 -0.03861233 -0.37385686 3.02136709] [ 0.00468824 0.99581895 -0.09122845 0.1773194 ] [ 0.37581629 0.08278706 0.92298885 0.77870082] [ 0. 0. 0. 1. ]] SLAMing on 123.386502481 meters Centerline goodness : 0.557332 Centerline is valid? [False, False] Translation: X:3.02, Y:0.18, Z:0.78 [[ 0.92662231 -0.03838847 -0.37402864 3.02123075] [ 0.0044362 0.99582125 -0.09121595 0.17638419] [ 0.37596731 0.08286347 0.92292049 0.77933908] [ 0. 0. 0. 1. ]] SLAMing on 123.416502481 meters Centerline goodness : 0.559558 Centerline is valid? [False, False] Translation: X:3.03, Y:0.18, Z:0.78 [[ 0.92683574 -0.04386483 -0.37289594 3.03187811] [ 0.01177108 0.99605868 -0.08791216 0.17935283] [ 0.37528249 0.07709075 0.92369912 0.78322476] [ 0. 0. 0. 1. ]] SLAMing on 123.446502481 meters Centerline goodness : 0.560260 Centerline is valid? [False, False] Translation: X:3.06, Y:0.18, Z:0.79 [[ 0.92790999 -0.04324065 -0.37028813 3.05593121] [ 0.01289721 0.99637945 -0.0840336 0.17784014] [ 0.37258115 0.07319993 0.92510813 0.78942242] [ 0. 0. 0. 1. ]] SLAMing on 123.47650248099998 meters Centerline goodness : 0.558251 Centerline is valid? [False, False] Translation: X:3.06, Y:0.18, Z:0.79 [[ 0.92733189 -0.04961787 -0.37093616 3.0645226 ] [ 0.02126952 0.99655746 -0.08013011 0.18251718] [ 0.37363508 0.06641757 0.92519486 0.79268314] [ 0. 0. 0. 1. ]] SLAMing on 123.50650248099998 meters Centerline goodness : 0.562246 Centerline is valid? [False, False] Translation: X:3.07, Y:0.18, Z:0.79 [[ 0.92701523 -0.04951195 -0.37174095 3.06503986] [ 0.02097067 0.99653934 -0.08043364 0.183151 ] [ 0.3744369 0.06676756 0.92484545 0.79409993] [ 0. 0. 0. 1. ]] SLAMing on 123.53650248099999 meters Centerline goodness : 0.561006 Centerline is valid? [False, False] Translation: X:3.07, Y:0.18, Z:0.79 [[ 0.92688947 -0.04948195 -0.37205838 3.06569151] [ 0.02084269 0.99652786 -0.08060903 0.18337725] [ 0.37475524 0.06696097 0.92470252 0.79447031] [ 0. 0. 0. 1. ]] SLAMing on 123.56650248099999 meters Centerline goodness : 0.560653 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:0.80 [[ 0.92632713 -0.0527747 -0.37300521 3.06743317] [ 0.02299114 0.99621289 -0.08385277 0.18586702] [ 0.3760179 0.06909928 0.92403237 0.79594114] [ 0. 0. 0. 1. ]] SLAMing on 123.59650248099999 meters Centerline goodness : 0.560332 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:0.80 [[ 0.92602167 -0.05232459 -0.37382617 3.0689036 ] [ 0.02246623 0.9962301 -0.08379059 0.18615124] [ 0.37680119 0.06919343 0.92370619 0.79664491] [ 0. 0. 0. 1. ]] SLAMing on 123.62650248099999 meters Centerline goodness : 0.563565 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:0.80 [[ 0.92545687 -0.05039931 -0.37548566 3.07072182] [ 0.02046563 0.99631532 -0.08328827 0.1868404 ] [ 0.37829979 0.06939515 0.92307832 0.79934859] [ 0. 0. 0. 1. ]] SLAMing on 123.65650248099999 meters Centerline goodness : 0.562609 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:0.80 [[ 0.92499085 -0.04960996 -0.37673702 3.07219376] [ 0.01953063 0.99633746 -0.083248 0.18725714] [ 0.37948714 0.06964572 0.92257194 0.80111757] [ 0. 0. 0. 1. ]] SLAMing on 123.68650248099999 meters Centerline goodness : 0.560473 Centerline is valid? [False, False] Translation: X:3.09, Y:0.18, Z:0.81 [[ 0.92469038 -0.04238075 -0.37835378 3.08563293] [ 0.01129803 0.99640185 -0.08399832 0.18398905] [ 0.38055231 0.07339778 0.92184202 0.80889492] [ 0. 0. 0. 1. ]] SLAMing on 123.71650248099999 meters Centerline goodness : 0.562822 Centerline is valid? [False, False] Translation: X:3.09, Y:0.18, Z:0.81 [[ 0.92458221 -0.04229064 -0.37862811 3.08598337] [ 0.01107786 0.99638398 -0.08423918 0.18442668] [ 0.38082151 0.07369166 0.92170739 0.8094981 ] [ 0. 0. 0. 1. ]] SLAMing on 123.746502481 meters Centerline goodness : 0.562094 Centerline is valid? [False, False] Translation: X:3.09, Y:0.18, Z:0.81 [[ 0.92393066 -0.03892497 -0.38057455 3.09247772] [ 0.00720269 0.99640376 -0.08442552 0.18136389] [ 0.38249217 0.07526217 0.92088835 0.81338583] [ 0. 0. 0. 1. ]] SLAMing on 123.776502481 meters Centerline goodness : 0.563165 Centerline is valid? [False, False] Translation: X:3.09, Y:0.18, Z:0.81 [[ 0.92358497 -0.03852776 -0.38145304 3.09452025] [ 0.00665567 0.99639921 -0.08452404 0.17940048] [ 0.38333603 0.07552631 0.92051576 0.8142228 ] [ 0. 0. 0. 1. ]] SLAMing on 123.806502481 meters Centerline goodness : 0.562418 Centerline is valid? [False, False] Translation: X:3.10, Y:0.17, Z:0.82 [[ 0.92314728 -0.0376063 -0.38260274 3.09831391] [ 0.00547489 0.99638925 -0.08472596 0.17460523] [ 0.38440749 0.07611983 0.92001992 0.81529484] [ 0. 0. 0. 1. ]] SLAMing on 123.836502481 meters Centerline goodness : 0.559753 Centerline is valid? [False, False] Translation: X:3.10, Y:0.17, Z:0.82 [[ 0.92307553 -0.03757738 -0.38277866 3.10054851] [ 0.00526097 0.99635636 -0.0851254 0.17052741] [ 0.38458274 0.07656339 0.91990987 0.81522274] [ 0. 0. 0. 1. ]] SLAMing on 123.86650248099998 meters Centerline goodness : 0.558622 Centerline is valid? [False, False] Translation: X:3.10, Y:0.17, Z:0.82 [[ 0.92302677 -0.03706987 -0.3829457 3.10182929] [ 0.00475439 0.99637039 -0.08499087 0.16726571] [ 0.38470635 0.07662818 0.91985278 0.81536142] [ 0. 0. 0. 1. ]] SLAMing on 123.89650248099998 meters Centerline goodness : 0.561149 Centerline is valid? [False, False] Translation: X:3.10, Y:0.17, Z:0.82 [[ 0.92282798 -0.03648557 -0.38348055 3.10283131] [ 0.00424637 0.99640741 -0.08458271 0.16543428] [ 0.38518891 0.07642689 0.91966757 0.81581414] [ 0. 0. 0. 1. ]] SLAMing on 123.92650248099999 meters Centerline goodness : 0.558965 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:0.82 [[ 9.22662689e-01 -3.17869598e-02 -3.84295655e-01 3.10469172e+00] [ 5.05287739e-04 9.96695389e-01 -8.12283607e-02 1.60579297e-01] [ 3.85607710e-01 7.47521979e-02 9.19629710e-01 8.16358695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95650248099999 meters Centerline goodness : 0.559036 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:0.82 [[ 9.22507295e-01 -3.14090000e-02 -3.84699579e-01 3.10513770e+00] [ 4.20188481e-05 9.96691741e-01 -8.12746619e-02 1.59160170e-01] [ 3.85979649e-01 7.49603038e-02 9.19456722e-01 8.17288765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98650248099999 meters Centerline goodness : 0.556578 Centerline is valid? [False, False] Translation: X:3.07, Y:0.15, Z:0.81 [[ 0.92212845 -0.0296232 -0.38574808 3.0671686 ] [-0.00525505 0.99601328 -0.08905016 0.15222983] [ 0.38684816 0.08414281 0.91829651 0.80729313] [ 0. 0. 0. 1. ]] SLAMing on 124.01650248099999 meters Centerline goodness : 0.554787 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:0.81 [[ 0.92259631 -0.02639249 -0.38486295 3.06332008] [-0.01183611 0.99525055 -0.09662425 0.14736528] [ 0.38558522 0.09370046 0.9179021 0.80553742] [ 0. 0. 0. 1. ]] SLAMing on 124.04650248099999 meters Centerline goodness : 0.549892 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.80 [[ 0.92288963 -0.02263525 -0.38439873 3.06044161] [-0.01862637 0.994478 -0.10327905 0.1404851 ] [ 0.38461382 0.10247512 0.91737182 0.80363922] [ 0. 0. 0. 1. ]] SLAMing on 124.07650248099999 meters Centerline goodness : 0.552000 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:0.79 [[ 0.92233218 -0.02126938 -0.38581208 3.02077206] [-0.02284424 0.99373576 -0.10939554 0.1349239 ] [ 0.38572203 0.10971261 0.91606859 0.792426 ] [ 0. 0. 0. 1. ]] SLAMing on 124.10650248099999 meters Centerline goodness : 0.549498 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:0.79 [[ 0.92211438 -0.02083048 -0.38635626 3.0204607 ] [-0.02323746 0.99376574 -0.10903981 0.13360743] [ 0.38621896 0.10952512 0.91588163 0.79347987] [ 0. 0. 0. 1. ]] SLAMing on 124.136502481 meters Centerline goodness : 0.551293 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:0.79 [[ 0.92202229 -0.02093118 -0.38657053 3.01950887] [-0.02322687 0.99374769 -0.10920646 0.13083419] [ 0.38643939 0.10966961 0.91577135 0.79477384] [ 0. 0. 0. 1. ]] SLAMing on 124.166502481 meters Centerline goodness : 0.548320 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:0.80 [[ 0.92167235 -0.02562497 -0.387122 3.01945397] [-0.01993609 0.99337001 -0.11321912 0.1298432 ] [ 0.38745662 0.11206863 0.91505081 0.79641862] [ 0. 0. 0. 1. ]] SLAMing on 124.196502481 meters Centerline goodness : 0.546868 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:0.80 [[ 0.92206412 -0.03692636 -0.38527158 3.02474183] [-0.00682988 0.99373086 -0.11158997 0.13333617] [ 0.38697688 0.10552447 0.91603138 0.79678725] [ 0. 0. 0. 1. ]] SLAMing on 124.22650248099998 meters Centerline goodness : 0.546722 Centerline is valid? [False, False] Translation: X:3.03, Y:0.14, Z:0.80 [[ 0.92159789 -0.04620357 -0.38538626 3.02993407] [ 0.00425199 0.99403206 -0.10900546 0.13769876] [ 0.38812274 0.09882054 0.9162943 0.79909952] [ 0. 0. 0. 1. ]] SLAMing on 124.25650248099998 meters Centerline goodness : 0.543442 Centerline is valid? [False, False] Translation: X:3.03, Y:0.14, Z:0.80 [[ 0.92108347 -0.05794621 -0.38502918 3.03466824] [ 0.01760407 0.99405034 -0.1074896 0.14090752] [ 0.38896701 0.09222882 0.91662343 0.80134838] [ 0. 0. 0. 1. ]] SLAMing on 124.28650248099999 meters Centerline goodness : 0.544250 Centerline is valid? [False, False] Translation: X:3.03, Y:0.14, Z:0.80 [[ 0.92117384 -0.05793534 -0.38481457 3.03471202] [ 0.01780611 0.99409521 -0.10704044 0.13921532] [ 0.38874375 0.0917508 0.9167661 0.80068034] [ 0. 0. 0. 1. ]] SLAMing on 124.31650248099999 meters Centerline goodness : 0.545034 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92090384 -0.06630924 -0.38410832 3.03977869] [ 0.02852573 0.99424655 -0.10324764 0.14250866] [ 0.38874465 0.08412417 0.91749699 0.80221627] [ 0. 0. 0. 1. ]] SLAMing on 124.34650248099999 meters Centerline goodness : 0.545610 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92075491 -0.06613825 -0.38449464 3.04046954] [ 0.02868299 0.9943347 -0.10235135 0.13977856] [ 0.3890857 0.08321205 0.9174356 0.80167767] [ 0. 0. 0. 1. ]] SLAMing on 124.37650248099999 meters Centerline goodness : 0.543486 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.9204391 -0.06613341 -0.38525087 3.04200706] [ 0.02886611 0.99439276 -0.10173391 0.13765485] [ 0.38981869 0.08251918 0.91718699 0.80133626] [ 0. 0. 0. 1. ]] SLAMing on 124.40650248099999 meters Centerline goodness : 0.542294 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92042855 -0.06570808 -0.38534885 3.04315734] [ 0.02867949 0.9944659 -0.10106954 0.13649458] [ 0.38985738 0.08197568 0.91721928 0.80058028] [ 0. 0. 0. 1. ]] SLAMing on 124.43650248099999 meters Centerline goodness : 0.543388 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92038356 -0.06582951 -0.38543557 3.04327525] [ 0.02888696 0.99448011 -0.10087045 0.13578945] [ 0.38994826 0.08170544 0.91720476 0.80045701] [ 0. 0. 0. 1. ]] SLAMing on 124.46650248099999 meters Centerline goodness : 0.546356 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92040035 -0.06575623 -0.38540799 3.04364032] [ 0.0288501 0.99449064 -0.10077714 0.13612197] [ 0.38991136 0.08163625 0.91722661 0.80024113] [ 0. 0. 0. 1. ]] SLAMing on 124.496502481 meters Centerline goodness : 0.544679 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92037936 -0.06571096 -0.38546582 3.04425032] [ 0.0288248 0.99449833 -0.10070851 0.13639759] [ 0.38996277 0.08157906 0.91720984 0.80001362] [ 0. 0. 0. 1. ]] SLAMing on 124.526502481 meters Centerline goodness : 0.543979 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.92031895 -0.06557972 -0.38563238 3.0455092 ] [ 0.02869065 0.99450785 -0.10065283 0.13710376] [ 0.39011521 0.08156866 0.91714594 0.79968359] [ 0. 0. 0. 1. ]] SLAMing on 124.556502481 meters Centerline goodness : 0.550844 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.92079815 -0.06071666 -0.38528463 3.04540075] [ 0.02511518 0.99498924 -0.09677627 0.13705623] [ 0.38923 0.07943492 0.91770916 0.79890114] [ 0. 0. 0. 1. ]] SLAMing on 124.586502481 meters Centerline goodness : 0.554611 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.9206917 -0.06047436 -0.38557703 3.04555012] [ 0.02477342 0.99498575 -0.09690009 0.1378627 ] [ 0.38950362 0.07966305 0.91757328 0.79965241] [ 0. 0. 0. 1. ]] SLAMing on 124.61650248099998 meters Centerline goodness : 0.557124 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.92116736 -0.05584218 -0.38513937 3.04591988] [ 0.02144671 0.99543192 -0.09303406 0.13704513] [ 0.38857525 0.07743997 0.91815703 0.79829839] [ 0. 0. 0. 1. ]] SLAMing on 124.64650248099998 meters Centerline goodness : 0.557812 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.92173691 -0.05114561 -0.38442841 3.04708782] [ 0.01807347 0.99585358 -0.08915718 0.1364266 ] [ 0.38739441 0.0752315 0.91883937 0.79621615] [ 0. 0. 0. 1. ]] SLAMing on 124.67650248099999 meters Centerline goodness : 0.561579 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.92162939 -0.05064905 -0.38475179 3.04850664] [ 0.01762108 0.99588558 -0.08888991 0.13638962] [ 0.38767095 0.07514381 0.91872991 0.79609686] [ 0. 0. 0. 1. ]] SLAMing on 124.70650248099999 meters Centerline goodness : 0.564058 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.79 [[ 0.9219244 -0.04574836 -0.38465894 3.05055889] [ 0.01395332 0.9962792 -0.08504736 0.13550271] [ 0.38711847 0.07303997 0.91913244 0.79458324] [ 0. 0. 0. 1. ]] SLAMing on 124.73650248099999 meters Centerline goodness : 0.561995 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.79 [[ 0.92170387 -0.04528864 -0.38524136 3.05209578] [ 0.01347161 0.99629902 -0.08489272 0.13635106] [ 0.38766027 0.07305612 0.91890278 0.79481478] [ 0. 0. 0. 1. ]] SLAMing on 124.76650248099999 meters Centerline goodness : 0.558550 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.79 [[ 0.92118733 -0.04422087 -0.38659853 3.05674812] [ 0.01241084 0.99635509 -0.08439499 0.13757871] [ 0.38892143 0.07294558 0.9183785 0.79463166] [ 0. 0. 0. 1. ]] SLAMing on 124.79650248099999 meters Centerline goodness : 0.558458 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.80 [[ 0.92083394 -0.0434897 -0.38752225 3.05890808] [ 0.01165171 0.99638644 -0.08413261 0.1385816 ] [ 0.38978082 0.07295686 0.91801318 0.79510844] [ 0. 0. 0. 1. ]] SLAMing on 124.82650248099999 meters Centerline goodness : 0.554568 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.80 [[ 0.9204862 -0.04311434 -0.38838937 3.06016893] [ 0.01110772 0.99638013 -0.0842808 0.14005459] [ 0.39061716 0.07326519 0.91763307 0.79613547] [ 0. 0. 0. 1. ]] SLAMing on 124.85650248099999 meters Centerline goodness : 0.559191 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.80 [[ 0.9202752 -0.04222941 -0.38898617 3.06164893] [ 0.01003315 0.99637865 -0.08443288 0.14315719] [ 0.39114307 0.07379873 0.91736626 0.79722167] [ 0. 0. 0. 1. ]] SLAMing on 124.886502481 meters Centerline goodness : 0.558040 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.80 [[ 0.92005692 -0.04206722 -0.38951972 3.06223191] [ 0.00964665 0.99634978 -0.08481777 0.14442812] [ 0.39166594 0.07427962 0.91710432 0.7982677 ] [ 0. 0. 0. 1. ]] SLAMing on 124.916502481 meters Centerline goodness : 0.561503 Centerline is valid? [False, False] Translation: X:3.09, Y:0.14, Z:0.81 [[ 0.92220977 -0.03584051 -0.38502545 3.0906348 ] [ 0.00542735 0.99679705 -0.0797884 0.14383986] [ 0.38665189 0.07149198 0.91945049 0.80688476] [ 0. 0. 0. 1. ]] SLAMing on 124.946502481 meters Centerline goodness : 0.566488 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:0.81 [[ 0.92402494 -0.03194491 -0.38099531 3.11651318] [ 0.00363499 0.99719234 -0.0747946 0.14211042] [ 0.38231491 0.06772716 0.92154671 0.81337633] [ 0. 0. 0. 1. ]] SLAMing on 124.97650248099998 meters Centerline goodness : 0.570490 Centerline is valid? [False, False] Translation: X:3.14, Y:0.14, Z:0.82 [[ 9.26179712e-01 -2.88385198e-02 -3.75978033e-01 3.14016653e+00] [ 2.84477381e-03 9.97577264e-01 -6.95090605e-02 1.40451298e-01] [ 3.77071676e-01 6.33083091e-02 9.24017862e-01 8.18285797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00650248099998 meters Centerline goodness : 0.568892 Centerline is valid? [False, False] Translation: X:3.14, Y:0.14, Z:0.82 [[ 9.26203437e-01 -2.87563381e-02 -3.75925879e-01 3.13974128e+00] [ 2.71144167e-03 9.97569317e-01 -6.96283376e-02 1.40504676e-01] [ 3.77014378e-01 6.34707045e-02 9.24030101e-01 8.18750379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03650248099999 meters Centerline goodness : 0.572907 Centerline is valid? [False, False] Translation: X:3.16, Y:0.14, Z:0.82 [[ 9.27721712e-01 -2.67511222e-02 -3.72312775e-01 3.16281839e+00] [ 2.85553015e-03 9.97908089e-01 -6.45855461e-02 1.39089399e-01] [ 3.73261665e-01 5.88542630e-02 9.25857389e-01 8.23307668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06650248099999 meters Centerline goodness : 0.572907 Centerline is valid? [False, False] Translation: X:3.16, Y:0.14, Z:0.82 [[ 9.27721872e-01 -2.67519256e-02 -3.72312318e-01 3.16281731e+00] [ 2.85634941e-03 9.97908074e-01 -6.45857350e-02 1.39088663e-01] [ 3.73261261e-01 5.88541449e-02 9.25857560e-01 8.23307408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09650248099999 meters Centerline goodness : 0.567824 Centerline is valid? [False, False] Translation: X:3.19, Y:0.14, Z:0.83 [[ 0.92847606 -0.02692132 -0.37041524 3.18794738] [ 0.00418242 0.998064 -0.06205448 0.1384956 ] [ 0.3713687 0.05606687 0.92679113 0.8302995 ] [ 0. 0. 0. 1. ]] SLAMing on 125.12650248099999 meters Centerline goodness : 0.570720 Centerline is valid? [False, False] Translation: X:3.20, Y:0.14, Z:0.83 [[ 0.9280456 -0.03453265 -0.37086232 3.19529407] [ 0.01416301 0.99824449 -0.05750951 0.14020169] [ 0.37219723 0.04811893 0.92690549 0.83150828] [ 0. 0. 0. 1. ]] SLAMing on 125.15650248099999 meters Centerline goodness : 0.571912 Centerline is valid? [False, False] Translation: X:3.20, Y:0.14, Z:0.83 [[ 0.92771557 -0.03366234 -0.37176696 3.1969765 ] [ 0.01343085 0.99829088 -0.0568765 0.13873672] [ 0.37304616 0.04777207 0.9265821 0.83201093] [ 0. 0. 0. 1. ]] SLAMing on 125.18650248099999 meters Centerline goodness : 0.574713 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:0.84 [[ 0.928072 -0.03250227 -0.37097974 3.22903533] [ 0.01314531 0.99842241 -0.05458844 0.13528353] [ 0.37216873 0.04578536 0.92703513 0.8403664 ] [ 0. 0. 0. 1. ]] SLAMing on 125.21650248099999 meters Centerline goodness : 0.564797 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:0.84 [[ 0.92730284 -0.03632654 -0.37254507 3.23133937] [ 0.0157827 0.99818904 -0.05804777 0.13519986] [ 0.37397908 0.0479481 0.92619686 0.84226862] [ 0. 0. 0. 1. ]] SLAMing on 125.246502481 meters Centerline goodness : 0.569494 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:0.84 [[ 0.92699583 -0.03584577 -0.3733548 3.23321865] [ 0.01538445 0.99821882 -0.05764115 0.13389461] [ 0.37475598 0.04768925 0.92589616 0.84257491] [ 0. 0. 0. 1. ]] SLAMing on 125.276502481 meters Centerline goodness : 0.571911 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:0.85 [[ 0.92587664 -0.03073067 -0.37657414 3.24530115] [ 0.00938888 0.99825035 -0.05837883 0.12871302] [ 0.37770928 0.05051598 0.9245452 0.84966872] [ 0. 0. 0. 1. ]] SLAMing on 125.306502481 meters Centerline goodness : 0.567590 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:0.85 [[ 0.92556618 -0.0305651 -0.37735001 3.24650284] [ 0.00913431 0.99824838 -0.05845278 0.12851032] [ 0.37847565 0.05065508 0.92422413 0.85043264] [ 0. 0. 0. 1. ]] SLAMing on 125.336502481 meters Centerline goodness : 0.572773 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:0.85 [[ 0.92513894 -0.02985808 -0.37845269 3.2477957 ] [ 0.00829067 0.99825353 -0.05849056 0.12779403] [ 0.37953815 0.05097426 0.92377076 0.85229654] [ 0. 0. 0. 1. ]] SLAMing on 125.36650248099998 meters Centerline goodness : 0.571002 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:0.86 [[ 0.92444163 -0.02826867 -0.38027431 3.25054576] [ 0.00637701 0.99825498 -0.05870541 0.12622369] [ 0.38127024 0.05184471 0.92300874 0.85569613] [ 0. 0. 0. 1. ]] SLAMing on 125.39650248099998 meters Centerline goodness : 0.570642 Centerline is valid? [False, False] Translation: X:3.28, Y:0.12, Z:0.87 [[ 9.25315268e-01 -2.47224624e-02 -3.78391933e-01 3.27768169e+00] [-2.13796493e-04 9.97838267e-01 -6.57171732e-02 1.22994460e-01] [ 3.79198641e-01 6.08900026e-02 9.23309698e-01 8.69147983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42650248099999 meters Centerline goodness : 0.568713 Centerline is valid? [False, False] Translation: X:3.30, Y:0.12, Z:0.88 [[ 9.26556634e-01 -2.48667859e-02 -3.75332448e-01 3.30265632e+00] [ 1.09777439e-03 9.97987000e-01 -6.34093296e-02 1.21171793e-01] [ 3.76153690e-01 5.83403046e-02 9.24718774e-01 8.76049453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45650248099999 meters Centerline goodness : 0.565739 Centerline is valid? [False, False] Translation: X:3.31, Y:0.12, Z:0.88 [[ 0.92682857 -0.03268917 -0.37405912 3.30745651] [ 0.01149255 0.99820611 -0.05875783 0.12424435] [ 0.37530885 0.05015954 0.92554162 0.87692704] [ 0. 0. 0. 1. ]] SLAMing on 125.48650248099999 meters Centerline goodness : 0.563831 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:0.88 [[ 0.92662192 -0.03971936 -0.37389062 3.3143824 ] [ 0.02073357 0.99828939 -0.05466637 0.12853184] [ 0.37542236 0.04290297 0.92586035 0.87912244] [ 0. 0. 0. 1. ]] SLAMing on 125.51650248099999 meters Centerline goodness : 0.562334 Centerline is valid? [False, False] Translation: X:3.32, Y:0.13, Z:0.88 [[ 0.92655558 -0.03993979 -0.37403152 3.31544894] [ 0.02082809 0.99826902 -0.05500145 0.12872861] [ 0.37558083 0.04317154 0.92578359 0.87917223] [ 0. 0. 0. 1. ]] SLAMing on 125.54650248099999 meters Centerline goodness : 0.563729 Centerline is valid? [False, False] Translation: X:3.32, Y:0.13, Z:0.88 [[ 0.92635637 -0.04008017 -0.37450961 3.31671351] [ 0.02084638 0.99825382 -0.05526963 0.12869096] [ 0.37607087 0.04339221 0.92557432 0.87953 ] [ 0. 0. 0. 1. ]] SLAMing on 125.57650248099999 meters Centerline goodness : 0.565775 Centerline is valid? [False, False] Translation: X:3.32, Y:0.13, Z:0.88 [[ 0.9260598 -0.03926359 -0.37532868 3.31844478] [ 0.02026649 0.99831187 -0.05443049 0.12677069] [ 0.37683222 0.04279929 0.92529223 0.87961913] [ 0. 0. 0. 1. ]] SLAMing on 125.60650248099999 meters Centerline goodness : 0.565450 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 0.92589662 -0.03910396 -0.3757477 3.31859387] [ 0.02025732 0.99833654 -0.05397964 0.12246534] [ 0.37723348 0.04236792 0.92514856 0.88004317] [ 0. 0. 0. 1. ]] SLAMing on 125.636502481 meters Centerline goodness : 0.560509 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 0.92584346 -0.03918364 -0.37587035 3.31933882] [ 0.02044574 0.99834705 -0.05371353 0.11834434] [ 0.37735375 0.04204537 0.92511423 0.87973806] [ 0. 0. 0. 1. ]] SLAMing on 125.666502481 meters Centerline goodness : 0.559566 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 0.92524205 -0.04376898 -0.37684404 3.32087953] [ 0.02375053 0.99805677 -0.05760724 0.11858034] [ 0.37863315 0.0443504 0.92448363 0.88096841] [ 0. 0. 0. 1. ]] SLAMing on 125.696502481 meters Centerline goodness : 0.561414 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 0.92523396 -0.04328876 -0.37691937 3.32250388] [ 0.02342427 0.99809194 -0.05712955 0.11697772] [ 0.37867325 0.04402914 0.92448256 0.8802161 ] [ 0. 0. 0. 1. ]] SLAMing on 125.72650248099998 meters Centerline goodness : 0.554669 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 0.92469084 -0.0424237 -0.37834783 3.32455318] [ 0.02254807 0.99813029 -0.05681117 0.11700692] [ 0.38005056 0.04400175 0.92391851 0.88161225] [ 0. 0. 0. 1. ]] SLAMing on 125.75650248099998 meters Centerline goodness : 0.553285 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.88 [[ 0.92415004 -0.04056345 -0.37987012 3.32670852] [ 0.02071651 0.99820506 -0.05619153 0.11920768] [ 0.3814676 0.04405982 0.92333158 0.88349552] [ 0. 0. 0. 1. ]] SLAMing on 125.78650248099999 meters Centerline goodness : 0.554392 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.88 [[ 0.92385629 -0.04016417 -0.38062632 3.32786487] [ 0.0201298 0.99820121 -0.05647239 0.12021874] [ 0.38220982 0.04451044 0.92300296 0.88472257] [ 0. 0. 0. 1. ]] SLAMing on 125.81650248099999 meters Centerline goodness : 0.551019 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.9237011 -0.03998833 -0.38102128 3.32838774] [ 0.01975859 0.99818664 -0.05685979 0.12139809] [ 0.38260408 0.044993 0.92281621 0.885664 ] [ 0. 0. 0. 1. ]] SLAMing on 125.84650248099999 meters Centerline goodness : 0.548078 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92387685 -0.04028718 -0.38056342 3.32821203] [ 0.01979268 0.99814263 -0.05761551 0.12295257] [ 0.38217774 0.04569726 0.92295825 0.88581249] [ 0. 0. 0. 1. ]] SLAMing on 125.87650248099999 meters Centerline goodness : 0.547124 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92383322 -0.040192 -0.38067938 3.32846639] [ 0.01965611 0.99814149 -0.05768196 0.1226223 ] [ 0.38229023 0.04580584 0.92290628 0.88611426] [ 0. 0. 0. 1. ]] SLAMing on 125.90650248099999 meters Centerline goodness : 0.547498 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92365435 -0.03982718 -0.38115147 3.32867379] [ 0.01925104 0.9981514 -0.05764702 0.12136356] [ 0.38274279 0.04590836 0.92271359 0.88730437] [ 0. 0. 0. 1. ]] SLAMing on 125.93650248099999 meters Centerline goodness : 0.547428 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92355223 -0.03948452 -0.38143448 3.32890563] [ 0.01894613 0.99816843 -0.05745276 0.12075076] [ 0.38300435 0.04583392 0.92260876 0.88779298] [ 0. 0. 0. 1. ]] SLAMing on 125.96650248099999 meters Centerline goodness : 0.548167 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92353957 -0.03930028 -0.38148415 3.32910454] [ 0.01878639 0.99817728 -0.05735147 0.12026977] [ 0.38304274 0.04579964 0.92259452 0.88798186] [ 0. 0. 0. 1. ]] SLAMing on 125.996502481 meters Centerline goodness : 0.545104 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92345825 -0.03900742 -0.38171098 3.32973057] [ 0.01850773 0.9981894 -0.05723094 0.12012348] [ 0.38325229 0.04578578 0.92250818 0.88822091] [ 0. 0. 0. 1. ]] SLAMing on 126.026502481 meters Centerline goodness : 0.546256 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92330032 -0.03883535 -0.38211038 3.33009175] [ 0.01827715 0.99819046 -0.05728653 0.12009687] [ 0.38364368 0.04590879 0.92233937 0.88889955] [ 0. 0. 0. 1. ]] SLAMing on 126.056502481 meters Centerline goodness : 0.540276 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92299949 -0.03859092 -0.38286118 3.32969565] [ 0.01798186 0.99819713 -0.05726384 0.11892026] [ 0.38438079 0.04596994 0.92202938 0.89063992] [ 0. 0. 0. 1. ]] SLAMing on 126.086502481 meters Centerline goodness : 0.545591 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92276159 -0.03833129 -0.38346024 3.33019893] [ 0.01775097 0.99821254 -0.05706684 0.11739358] [ 0.38496226 0.04585229 0.92179261 0.89143957] [ 0. 0. 0. 1. ]] SLAMing on 126.11650248099998 meters Centerline goodness : 0.541787 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92278155 -0.03812331 -0.38343295 3.33122351] [ 0.01761505 0.99822692 -0.05685707 0.11616242] [ 0.38492068 0.04571246 0.92181693 0.89101834] [ 0. 0. 0. 1. ]] SLAMing on 126.14650248099998 meters Centerline goodness : 0.542474 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.9227298 -0.03785943 -0.3835836 3.33256056] [ 0.01742799 0.99824469 -0.05660213 0.11515386] [ 0.38505322 0.04554338 0.92176994 0.89063415] [ 0. 0. 0. 1. ]] SLAMing on 126.17650248099999 meters Centerline goodness : 0.542380 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.89 [[ 0.92230724 -0.03730641 -0.38465254 3.3350307 ] [ 0.01696043 0.9982781 -0.05615312 0.11359643] [ 0.38608508 0.04526656 0.92135186 0.89091141] [ 0. 0. 0. 1. ]] SLAMing on 126.20650248099999 meters Centerline goodness : 0.543918 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.89 [[ 0.92184664 -0.03675512 -0.38580803 3.33632181] [ 0.01631025 0.99829005 -0.05613341 0.11360352] [ 0.38721151 0.04545377 0.92086981 0.89239138] [ 0. 0. 0. 1. ]] SLAMing on 126.23650248099999 meters Centerline goodness : 0.544124 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.89 [[ 0.92166224 -0.03631804 -0.38628967 3.33734315] [ 0.01583971 0.99830144 -0.05606541 0.11377522] [ 0.38766972 0.04555466 0.92067201 0.8929147 ] [ 0. 0. 0. 1. ]] SLAMing on 126.26650248099999 meters Centerline goodness : 0.546719 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.89 [[ 0.92148902 -0.03602678 -0.38672996 3.33810421] [ 0.0154775 0.99830405 -0.05612014 0.11426389] [ 0.38809592 0.04572848 0.92048382 0.8934984 ] [ 0. 0. 0. 1. ]] SLAMing on 126.29650248099999 meters Centerline goodness : 0.541279 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.90 [[ 0.92153427 -0.03549577 -0.38667124 3.3377306 ] [ 0.01465404 0.99828278 -0.05671643 0.11490951] [ 0.38802043 0.04659983 0.92047194 0.89503645] [ 0. 0. 0. 1. ]] SLAMing on 126.32650248099999 meters Centerline goodness : 0.539834 Centerline is valid? [False, False] Translation: X:3.34, Y:0.12, Z:0.90 [[ 0.92130884 -0.03519834 -0.38723521 3.33755616] [ 0.01414396 0.99826896 -0.05708792 0.11523931] [ 0.38857429 0.04711856 0.92021186 0.89671867] [ 0. 0. 0. 1. ]] SLAMing on 126.35650248099999 meters Centerline goodness : 0.541210 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.90 [[ 9.20641686e-01 -2.82211267e-02 -3.89387281e-01 3.34242771e+00] [ 2.53248812e-03 9.97794643e-01 -6.63282450e-02 1.10953827e-01] [ 3.90400401e-01 6.00784286e-02 9.18682812e-01 9.04831381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.386502481 meters Centerline goodness : 0.544150 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.91 [[ 9.20431322e-01 -2.77788492e-02 -3.89916038e-01 3.34428621e+00] [ 1.93033030e-03 9.97782660e-01 -6.65284702e-02 1.09591550e-01] [ 3.90899546e-01 6.04822211e-02 9.18444035e-01 9.05342168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.416502481 meters Centerline goodness : 0.543394 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.91 [[ 9.20122474e-01 -2.78007389e-02 -3.90642742e-01 3.34497987e+00] [ 1.57768653e-03 9.97732267e-01 -6.72891791e-02 1.08487086e-01] [ 3.91627558e-01 6.12979741e-02 9.18079743e-01 9.06888585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.446502481 meters Centerline goodness : 0.548040 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.91 [[ 0.91963091 -0.02403153 -0.3920478 3.34562481] [-0.0063612 0.99708446 -0.07604026 0.10295439] [ 0.39273213 0.07242286 0.91679681 0.91248966] [ 0. 0. 0. 1. ]] SLAMing on 126.47650248099998 meters Centerline goodness : 0.542877 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.92 [[ 0.918646 -0.02807255 -0.39408305 3.34822908] [-0.00383996 0.99679085 -0.07995782 0.10269509] [ 0.395063 0.07496619 0.91559013 0.91508177] [ 0. 0. 0. 1. ]] SLAMing on 126.50650248099998 meters Centerline goodness : 0.543602 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.92 [[ 9.17654909e-01 -3.13619692e-02 -3.96138732e-01 3.35015011e+00] [-1.88331657e-03 9.96526342e-01 -8.32568503e-02 1.01052264e-01] [ 3.97373781e-01 7.71471120e-02 9.14408225e-01 9.18029112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53650248099999 meters Centerline goodness : 0.542136 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.92 [[ 9.17033594e-01 -3.15722180e-02 -3.97558275e-01 3.35158320e+00] [-2.01578436e-03 9.96481761e-01 -8.37856571e-02 9.78760509e-02] [ 3.98804869e-01 7.76356540e-02 9.13743608e-01 9.19754113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56650248099999 meters Centerline goodness : 0.538703 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.91 [[ 0.9160175 -0.02991379 -0.40002138 3.31061309] [-0.00644829 0.99598869 -0.08924659 0.09230437] [ 0.40108648 0.0843309 0.91215017 0.9078017 ] [ 0. 0. 0. 1. ]] SLAMing on 126.59650248099999 meters Centerline goodness : 0.539432 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.91 [[ 0.91588349 -0.03398569 -0.40000301 3.31005124] [-0.00360996 0.99567248 -0.0928616 0.0924035 ] [ 0.40142795 0.0864944 0.9117973 0.90873855] [ 0. 0. 0. 1. ]] SLAMing on 126.62650248099999 meters Centerline goodness : 0.542230 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.90 [[ 9.14609079e-01 -3.85844239e-02 -4.02494068e-01 3.27137602e+00] [-4.98910465e-04 9.95328091e-01 -9.65491718e-02 9.24088186e-02] [ 4.04338947e-01 8.85055576e-02 9.10316858e-01 8.98785048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65650248099999 meters Centerline goodness : 0.545744 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.90 [[ 9.15164649e-01 -3.56211895e-02 -4.01503170e-01 3.26860012e+00] [-2.71078716e-03 9.95521073e-01 -9.45010259e-02 8.89586568e-02] [ 4.03071105e-01 8.75723879e-02 9.10969133e-01 8.99024965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68650248099999 meters Centerline goodness : 0.544162 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.90 [[ 9.15235624e-01 -3.56594729e-02 -4.01337955e-01 3.26775328e+00] [-2.77468857e-03 9.95494497e-01 -9.47787330e-02 8.72983367e-02] [ 4.02909485e-01 8.78584607e-02 9.11013083e-01 8.99566775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71650248099999 meters Centerline goodness : 0.548787 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.90 [[ 9.15346423e-01 -3.57532473e-02 -4.01076840e-01 3.26699518e+00] [-2.70670981e-03 9.95481448e-01 -9.49176511e-02 8.56422194e-02] [ 4.02658168e-01 8.79681310e-02 9.11113609e-01 8.99770979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.746502481 meters Centerline goodness : 0.547987 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.90 [[ 9.15568725e-01 -3.68983908e-02 -4.00465254e-01 3.26543978e+00] [-1.96367898e-03 9.95360013e-01 -9.62007701e-02 8.24826317e-02] [ 4.02156754e-01 8.88648016e-02 9.11248041e-01 9.00418111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.776502481 meters Centerline goodness : 0.544597 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.90 [[ 9.15038005e-01 -4.11429432e-02 -4.01263888e-01 3.26560226e+00] [ 7.78068266e-04 9.94962721e-01 -1.00242593e-01 8.10072143e-02] [ 4.03366885e-01 9.14135718e-02 9.10460716e-01 9.02831066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.806502481 meters Centerline goodness : 0.545683 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.90 [[ 0.91435556 -0.04525217 -0.40237564 3.2668468 ] [ 0.00353437 0.99458956 -0.10382254 0.08032548] [ 0.4048968 0.09350858 0.90956843 0.90457461] [ 0. 0. 0. 1. ]] SLAMing on 126.836502481 meters Centerline goodness : 0.545332 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.90 [[ 9.14202311e-01 -4.48148446e-02 -4.02772596e-01 3.26842527e+00] [ 3.16720107e-03 9.94626579e-01 -1.03479168e-01 7.78106186e-02] [ 4.05245732e-01 9.33252325e-02 9.09431854e-01 9.04492929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86650248099998 meters Centerline goodness : 0.544722 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.91 [[ 0.91345658 -0.0482296 -0.40406804 3.26982436] [ 0.00543385 0.9943089 -0.10639678 0.07610062] [ 0.40689993 0.0949932 0.90852008 0.90641043] [ 0. 0. 0. 1. ]] SLAMing on 126.89650248099998 meters Centerline goodness : 0.545952 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.91 [[ 0.91261395 -0.05224962 -0.4054698 3.27147283] [ 0.00806546 0.99390734 -0.10992341 0.07562325] [ 0.40874286 0.09704734 0.90747512 0.90847927] [ 0. 0. 0. 1. ]] SLAMing on 126.92650248099999 meters Centerline goodness : 0.543104 Centerline is valid? [False, False] Translation: X:3.27, Y:0.07, Z:0.91 [[ 0.91177738 -0.05592823 -0.40685874 3.27457497] [ 0.01058397 0.99355468 -0.11285866 0.07453665] [ 0.41054839 0.09859579 0.90649263 0.90938756] [ 0. 0. 0. 1. ]] SLAMing on 126.95650248099999 meters Centerline goodness : 0.545075 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:0.91 [[ 0.9114193 -0.05463703 -0.40783534 3.27739768] [ 0.0092765 0.99362166 -0.112383 0.07049475] [ 0.4113743 0.09864475 0.9061128 0.91018787] [ 0. 0. 0. 1. ]] SLAMing on 126.98650248099999 meters Centerline goodness : 0.545075 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:0.91 [[ 0.91138123 -0.05443064 -0.40794799 3.27775871] [ 0.00916325 0.99365384 -0.11210742 0.06948396] [ 0.41146117 0.09843447 0.90609622 0.9101206 ] [ 0. 0. 0. 1. ]] SLAMing on 127.01650248099999 meters Centerline goodness : 0.544933 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:0.91 [[ 0.91144679 -0.06042364 -0.40695668 3.28378718] [ 0.01827356 0.99412569 -0.10667799 0.07295009] [ 0.41101196 0.08979477 0.90719682 0.91139423] [ 0. 0. 0. 1. ]] SLAMing on 127.04650248099999 meters Centerline goodness : 0.548368 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:0.91 [[ 0.91143887 -0.05996817 -0.40704177 3.28413257] [ 0.01793299 0.994171 -0.1063129 0.07188354] [ 0.41104452 0.08959824 0.9072015 0.91142864] [ 0. 0. 0. 1. ]] SLAMing on 127.07650248099999 meters Centerline goodness : 0.550234 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.92 [[ 0.91352827 -0.05688033 -0.40277875 3.30981276] [ 0.01704818 0.99465888 -0.10179914 0.06826374] [ 0.40641783 0.08612975 0.90961872 0.91861064] [ 0. 0. 0. 1. ]] SLAMing on 127.10650248099999 meters Centerline goodness : 0.551254 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.92 [[ 0.91377043 -0.06440666 -0.40109275 3.31394681] [ 0.0272742 0.99485046 -0.09761492 0.07257387] [ 0.40531436 0.07825815 0.91082157 0.91967624] [ 0. 0. 0. 1. ]] SLAMing on 127.136502481 meters Centerline goodness : 0.552968 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.92 [[ 0.9139273 -0.0644432 -0.40072928 3.31354117] [ 0.0273845 0.99485549 -0.09753275 0.0714449 ] [ 0.40495305 0.07816408 0.91099034 0.91948657] [ 0. 0. 0. 1. ]] SLAMing on 127.166502481 meters Centerline goodness : 0.553080 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.92 [[ 0.91401497 -0.06424833 -0.40056059 3.31452645] [ 0.02741142 0.9949039 -0.09703016 0.06919115] [ 0.40475331 0.07770708 0.91111819 0.91849017] [ 0. 0. 0. 1. ]] SLAMing on 127.196502481 meters Centerline goodness : 0.554022 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91387546 -0.06316652 -0.40105066 3.31689738] [ 0.02670882 0.99503649 -0.09585936 0.06780172] [ 0.40511514 0.07689192 0.91102654 0.91760914] [ 0. 0. 0. 1. ]] SLAMing on 127.22650248099998 meters Centerline goodness : 0.558088 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91380808 -0.06237943 -0.40132731 3.31838486] [ 0.02613365 0.99511807 -0.0951686 0.06680378] [ 0.40530462 0.07647769 0.91097713 0.91720764] [ 0. 0. 0. 1. ]] SLAMing on 127.25650248099998 meters Centerline goodness : 0.558856 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91393606 -0.06171948 -0.40113786 3.3197745 ] [ 0.0256594 0.99517911 -0.09465797 0.06647948] [ 0.40504626 0.07621838 0.91111376 0.91627059] [ 0. 0. 0. 1. ]] SLAMing on 127.28650248099999 meters Centerline goodness : 0.559344 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91385946 -0.06137196 -0.40136562 3.32021234] [ 0.02535499 0.99520716 -0.09444484 0.06632059] [ 0.40523821 0.07613269 0.91103557 0.91649958] [ 0. 0. 0. 1. ]] SLAMing on 127.31650248099999 meters Centerline goodness : 0.564178 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91369196 -0.06032944 -0.40190467 3.32040916] [ 0.02428814 0.99525883 -0.09418037 0.06681094] [ 0.40568102 0.07629033 0.91082528 0.91797575] [ 0. 0. 0. 1. ]] SLAMing on 127.34650248099999 meters Centerline goodness : 0.567300 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91342441 -0.05971381 -0.40260416 3.32174803] [ 0.02363879 0.99529253 -0.09398924 0.06633773] [ 0.40632137 0.07633499 0.91053606 0.91882385] [ 0. 0. 0. 1. ]] SLAMing on 127.37650248099999 meters Centerline goodness : 0.563646 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.9133428 -0.05909161 -0.40288101 3.32438265] [ 0.0230495 0.99533044 -0.09373385 0.06695193] [ 0.40653861 0.07632493 0.91043993 0.91807711] [ 0. 0. 0. 1. ]] SLAMing on 127.40650248099999 meters Centerline goodness : 0.567752 Centerline is valid? [False, False] Translation: X:3.34, Y:0.06, Z:0.93 [[ 0.91283349 -0.05395986 -0.40475097 3.33982749] [ 0.0161832 0.99523213 -0.09618265 0.06102682] [ 0.40801117 0.08124858 0.90935447 0.92608021] [ 0. 0. 0. 1. ]] SLAMing on 127.43650248099999 meters Centerline goodness : 0.568661 Centerline is valid? [False, False] Translation: X:3.34, Y:0.06, Z:0.93 [[ 0.91246207 -0.05311883 -0.40569861 3.34250688] [ 0.01533262 0.99527972 -0.09582891 0.05984653] [ 0.40887392 0.08121983 0.90896945 0.92657104] [ 0. 0. 0. 1. ]] SLAMing on 127.46650248099999 meters Centerline goodness : 0.563289 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.93 [[ 0.91159673 -0.05116712 -0.40788888 3.34715839] [ 0.01337225 0.9953894 -0.09497958 0.05791856] [ 0.4108681 0.08112869 0.90807794 0.92829964] [ 0. 0. 0. 1. ]] SLAMing on 127.496502481 meters Centerline goodness : 0.562532 Centerline is valid? [False, False] Translation: X:3.35, Y:0.05, Z:0.93 [[ 0.91100506 -0.05009442 -0.40934135 3.34984679] [ 0.01219449 0.99543308 -0.0946799 0.05499405] [ 0.41221485 0.08126216 0.90745544 0.92987522] [ 0. 0. 0. 1. ]] SLAMing on 127.526502481 meters Centerline goodness : 0.564165 Centerline is valid? [False, False] Translation: X:3.35, Y:0.05, Z:0.93 [[ 0.91063478 -0.04859204 -0.41034512 3.35281211] [ 0.0105586 0.99547362 -0.09444992 0.05115933] [ 0.41307725 0.08167671 0.90702596 0.931287 ] [ 0. 0. 0. 1. ]] SLAMing on 127.556502481 meters Centerline goodness : 0.566719 Centerline is valid? [False, False] Translation: X:3.35, Y:0.05, Z:0.93 [[ 0.91084772 -0.04920414 -0.4097992 3.35240286] [ 0.01084018 0.99537809 -0.09541984 0.04888052] [ 0.4126002 0.08247065 0.90717125 0.93141588] [ 0. 0. 0. 1. ]] SLAMing on 127.586502481 meters Centerline goodness : 0.568079 Centerline is valid? [False, False] Translation: X:3.35, Y:0.05, Z:0.93 [[ 0.91046718 -0.05241006 -0.41024712 3.35341932] [ 0.01271027 0.99501545 -0.09890756 0.04570369] [ 0.41338597 0.08483774 0.90659506 0.93344775] [ 0. 0. 0. 1. ]] SLAMing on 127.61650248099998 meters Centerline goodness : 0.569475 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:0.93 [[ 0.91054059 -0.05362291 -0.40992734 3.35298894] [ 0.01343396 0.9948666 -0.10029943 0.04192618] [ 0.41320136 0.08581975 0.90658679 0.93408049] [ 0. 0. 0. 1. ]] SLAMing on 127.64650248099998 meters Centerline goodness : 0.571010 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:0.94 [[ 0.9105019 -0.05352303 -0.41002631 3.35239508] [ 0.01315028 0.99483399 -0.10065983 0.03794883] [ 0.41329573 0.08625901 0.90650208 0.93532301] [ 0. 0. 0. 1. ]] SLAMing on 127.67650248099999 meters Centerline goodness : 0.564114 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.94 [[ 0.9103214 -0.0530584 -0.41048722 3.35287394] [ 0.01261054 0.99484452 -0.10062484 0.03467927] [ 0.41370995 0.08642448 0.90629735 0.93629534] [ 0. 0. 0. 1. ]] SLAMing on 127.70650248099999 meters Centerline goodness : 0.566457 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.94 [[ 0.91009788 -0.05249125 -0.41105536 3.35313375] [ 0.01200023 0.9948673 -0.10047415 0.03073661] [ 0.41421955 0.08650855 0.90605653 0.93754414] [ 0. 0. 0. 1. ]] SLAMing on 127.73650248099999 meters Centerline goodness : 0.564604 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.94 [[ 0.90997731 -0.05228614 -0.41134833 3.35382125] [ 0.01170128 0.99486111 -0.1005706 0.02793417] [ 0.4144929 0.08670367 0.90591286 0.93803768] [ 0. 0. 0. 1. ]] SLAMing on 127.76650248099999 meters Centerline goodness : 0.564231 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:0.94 [[ 0.90875894 -0.05569887 -0.41358775 3.3575622 ] [ 0.01386065 0.99453485 -0.10348102 0.02547303] [ 0.41709121 0.08830671 0.90456445 0.94004933] [ 0. 0. 0. 1. ]] SLAMing on 127.79650248099999 meters Centerline goodness : 0.559005 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:0.94 [[ 0.90766544 -0.05883515 -0.41555008 3.36078354] [ 0.0155491 0.99415961 -0.10679375 0.02213481] [ 0.41940633 0.09047157 0.90327915 0.94281431] [ 0. 0. 0. 1. ]] SLAMing on 127.82650248099999 meters Centerline goodness : 0.554920 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:0.95 [[ 0.90668985 -0.06223052 -0.41718207 3.36287812] [ 0.01772022 0.99380326 -0.10973184 0.017713 ] [ 0.42142557 0.09210019 0.90217407 0.94513345] [ 0. 0. 0. 1. ]] SLAMing on 127.85650248099999 meters Centerline goodness : 0.555344 Centerline is valid? [False, False] Translation: X:3.36, Y:0.01, Z:0.95 [[ 0.90639741 -0.06173213 -0.41789099 3.36422951] [ 0.01714003 0.9938242 -0.10963434 0.01480762] [ 0.42207814 0.09220962 0.90185777 0.94582833] [ 0. 0. 0. 1. ]] SLAMing on 127.886502481 meters Centerline goodness : 0.547662 Centerline is valid? [False, False] Translation: X:3.37, Y:0.01, Z:0.95 [[ 0.90541617 -0.06533781 -0.41946696 3.3665266 ] [ 0.01950206 0.9934436 -0.11264762 0.01298295] [ 0.42407692 0.09381251 0.90075412 0.94763323] [ 0. 0. 0. 1. ]] SLAMing on 127.916502481 meters Centerline goodness : 0.551857 Centerline is valid? [False, False] Translation: X:3.37, Y:0.01, Z:0.95 [[ 0.90518514 -0.06471812 -0.42006122 3.36735007] [ 0.01899664 0.99351161 -0.112133 0.01084337] [ 0.42459274 0.09352138 0.90054137 0.94814762] [ 0. 0. 0. 1. ]] SLAMing on 127.946502481 meters Centerline goodness : 0.552596 Centerline is valid? [False, False] Translation: X:3.37, Y:0.01, Z:0.95 [[ 0.90492224 -0.06415439 -0.42071363 3.36741396] [ 0.0184656 0.99356034 -0.1117894 0.00959184] [ 0.42517616 0.09339199 0.90027949 0.94923568] [ 0. 0. 0. 1. ]] SLAMing on 127.97650248099998 meters Centerline goodness : 0.547291 Centerline is valid? [False, False] Translation: X:3.39, Y:0.01, Z:0.96 [[ 0.90686168 -0.06016298 -0.41711187 3.39370005] [ 0.01656809 0.99408194 -0.107362 0.00509843] [ 0.4211026 0.09045174 0.9024916 0.95811212] [ 0. 0. 0. 1. ]] SLAMing on 128.00650248099998 meters Centerline goodness : 0.548934 Centerline is valid? [False, False] Translation: X:3.39, Y:0.00, Z:0.96 [[ 9.06041591e-01 -6.44083686e-02 -4.18258530e-01 3.39393640e+00] [ 1.94230131e-02 9.93637579e-01 -1.10937409e-01 3.34887514e-03] [ 4.22742691e-01 9.23900657e-02 9.01527977e-01 9.60747918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03650248099999 meters Centerline goodness : 0.550197 Centerline is valid? [False, False] Translation: X:3.39, Y:0.00, Z:0.96 [[ 9.05843017e-01 -6.39756906e-02 -4.18754750e-01 3.39406372e+00] [ 1.90678017e-02 9.93686047e-01 -1.10564277e-01 1.79269703e-03] [ 4.23184178e-01 9.21691455e-02 9.01343442e-01 9.61436051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.066502481 meters Centerline goodness : 0.545182 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.00, Z:0.97 [[ 9.07234045e-01 -6.21683705e-02 -4.16006588e-01 3.42255935e+00] [ 1.89562317e-02 9.94055412e-01 -1.07212404e-01 -1.53959901e-03] [ 4.20198820e-01 8.93808259e-02 9.03019390e-01 9.69802746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.096502481 meters Centerline goodness : 0.542580 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.00, Z:0.97 [[ 9.06938652e-01 -6.15989479e-02 -4.16734749e-01 3.42434249e+00] [ 1.84909682e-02 9.94119070e-01 -1.06702201e-01 -3.28967915e-03] [ 4.20856705e-01 8.90665214e-02 9.02744033e-01 9.69934342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.126502481 meters Centerline goodness : 0.542180 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.00, Z:0.97 [[ 0.90653554 -0.06090026 -0.41771339 3.42617957] [ 0.01787702 0.99418942 -0.1061499 -0.0049327 ] [ 0.42175079 0.08876118 0.90235676 0.97051824] [ 0. 0. 0. 1. ]] SLAMing on 128.156502481 meters Centerline goodness : 0.546869 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:0.98 [[ 0.90766686 -0.05742185 -0.41574465 3.45651978] [ 0.0159866 0.99460754 -0.10247083 -0.00841389] [ 0.41938682 0.08636304 0.90369028 0.97988555] [ 0. 0. 0. 1. ]] SLAMing on 128.186502481 meters Centerline goodness : 0.544838 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:0.98 [[ 0.90753502 -0.05675528 -0.41612382 3.45831605] [ 0.015434 0.99466443 -0.10200224 -0.01026262] [ 0.41969273 0.08614815 0.90356876 0.97970846] [ 0. 0. 0. 1. ]] SLAMing on 128.216502481 meters Centerline goodness : 0.543090 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:0.98 [[ 0.90729371 -0.05628109 -0.416714 3.45941465] [ 0.01498186 0.99469983 -0.10172408 -0.01274955] [ 0.42023049 0.08605047 0.9033281 0.9802666 ] [ 0. 0. 0. 1. ]] SLAMing on 128.246502481 meters Centerline goodness : 0.543391 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:0.98 [[ 0.90697446 -0.05561888 -0.41749715 3.46033664] [ 0.01427321 0.99473205 -0.10151074 -0.01464404] [ 0.42094371 0.08610862 0.90299042 0.98142564] [ 0. 0. 0. 1. ]] SLAMing on 128.276502481 meters Centerline goodness : 0.541804 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:0.98 [[ 0.90635635 -0.05443759 -0.41899251 3.46241145] [ 0.01308892 0.99480676 -0.10093655 -0.01633342] [ 0.42231132 0.08600032 0.90236195 0.98294264] [ 0. 0. 0. 1. ]] SLAMing on 128.306502481 meters Centerline goodness : 0.543082 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:0.98 [[ 0.90612092 -0.05389949 -0.41957089 3.4639631 ] [ 0.01256323 0.99484069 -0.10066857 -0.01744357] [ 0.42283218 0.08594673 0.90212311 0.98321898] [ 0. 0. 0. 1. ]] SLAMing on 128.336502481 meters Centerline goodness : 0.543096 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:0.98 [[ 0.90607347 -0.05385966 -0.41967845 3.46457419] [ 0.01245103 0.99482975 -0.10079061 -0.01932497] [ 0.42293716 0.08609827 0.90205945 0.98340182] [ 0. 0. 0. 1. ]] SLAMing on 128.366502481 meters Centerline goodness : 0.542816 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:0.98 [[ 0.90586079 -0.05374898 -0.42015148 3.46458422] [ 0.01231936 0.9948399 -0.10070654 -0.02016162] [ 0.42339633 0.08605011 0.90184862 0.98419171] [ 0. 0. 0. 1. ]] SLAMing on 128.396502481 meters Centerline goodness : 0.541113 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:0.99 [[ 0.90566315 -0.05341889 -0.42061939 3.46476038] [ 0.01194798 0.99485309 -0.10062092 -0.0224212 ] [ 0.42382956 0.08610311 0.90164004 0.98522948] [ 0. 0. 0. 1. ]] SLAMing on 128.426502481 meters Centerline goodness : 0.543169 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.99 [[ 0.9054146 -0.05306674 -0.42119867 3.46546348] [ 0.01152506 0.99486341 -0.10056821 -0.0251232 ] [ 0.42437197 0.08620158 0.90137546 0.9862494 ] [ 0. 0. 0. 1. ]] SLAMing on 128.456502481 meters Centerline goodness : 0.542217 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.03, Z:0.99 [[ 0.90498908 -0.05361899 -0.42204238 3.46487795] [ 0.01176707 0.99480121 -0.10115374 -0.02840392] [ 0.42527204 0.08657683 0.90091517 0.98826418] [ 0. 0. 0. 1. ]] SLAMing on 128.486502481 meters Centerline goodness : 0.539237 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.99 [[ 0.90475592 -0.05359863 -0.42254458 3.46549533] [ 0.01172384 0.99480865 -0.10108558 -0.02996725] [ 0.42576905 0.08650394 0.9006874 0.98878145] [ 0. 0. 0. 1. ]] SLAMing on 128.516502481 meters Centerline goodness : 0.540826 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.99 [[ 0.90388711 -0.05790255 -0.42383414 3.46774404] [ 0.01469317 0.99441448 -0.10451771 -0.03210916] [ 0.42751865 0.08824475 0.89968921 0.99021847] [ 0. 0. 0. 1. ]] SLAMing on 128.54650248099998 meters Centerline goodness : 0.539085 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.99 [[ 0.90292265 -0.06114558 -0.42543142 3.46979819] [ 0.0168114 0.99409561 -0.10719744 -0.03457714] [ 0.42947416 0.0896389 0.89861939 0.99227831] [ 0. 0. 0. 1. ]] SLAMing on 128.57650248099998 meters Centerline goodness : 0.541305 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:0.99 [[ 0.90282059 -0.06219063 -0.42549655 3.46846386] [ 0.01762247 0.99400635 -0.10789265 -0.0380633 ] [ 0.42965618 0.0899094 0.89850535 0.99316819] [ 0. 0. 0. 1. ]] SLAMing on 128.60650248099998 meters Centerline goodness : 0.542830 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:0.99 [[ 0.90280185 -0.06201799 -0.42556149 3.46839347] [ 0.01753525 0.99403283 -0.10766262 -0.03996407] [ 0.42969911 0.08973568 0.89850219 0.9933778 ] [ 0. 0. 0. 1. ]] SLAMing on 128.63650248099998 meters Centerline goodness : 0.543116 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:0.99 [[ 0.90270499 -0.06139237 -0.42585759 3.46817786] [ 0.01715728 0.99411692 -0.10694473 -0.04261516] [ 0.42991782 0.08923298 0.89844763 0.9937154 ] [ 0. 0. 0. 1. ]] SLAMing on 128.66650248099998 meters Centerline goodness : 0.545199 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:1.00 [[ 0.90192576 -0.06820162 -0.4264721 3.47349104] [ 0.02634523 0.99430201 -0.10329296 -0.03981418] [ 0.43108682 0.08192708 0.89858339 0.99709477] [ 0. 0. 0. 1. ]] SLAMing on 128.69650248099998 meters Centerline goodness : 0.544886 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:1.00 [[ 0.90118989 -0.07082654 -0.42759838 3.47472819] [ 0.02814573 0.99403875 -0.10533174 -0.04249865] [ 0.43250965 0.08288883 0.89781114 0.99863776] [ 0. 0. 0. 1. ]] SLAMing on 128.72650248099998 meters Centerline goodness : 0.545132 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.04, Z:1.00 [[ 0.90116318 -0.07036747 -0.42773046 3.47611668] [ 0.02795476 0.99411623 -0.10464919 -0.04454623] [ 0.43257769 0.08234889 0.89782805 0.99793157] [ 0. 0. 0. 1. ]] SLAMing on 128.75650248099998 meters Centerline goodness : 0.543867 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:1.00 [[ 0.90046153 -0.07446849 -0.42851311 3.47842951] [ 0.03092905 0.99370266 -0.10769593 -0.04750876] [ 0.43383457 0.08372254 0.89709426 0.9986431 ] [ 0. 0. 0. 1. ]] SLAMing on 128.78650248099999 meters Centerline goodness : 0.543762 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:1.00 [[ 0.89974928 -0.07833767 -0.42931858 3.47943869] [ 0.03361067 0.99327394 -0.11080254 -0.04860609] [ 0.43511097 0.08526482 0.89633049 1.00007236] [ 0. 0. 0. 1. ]] SLAMing on 128.816502481 meters Centerline goodness : 0.544938 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:1.00 [[ 0.8997405 -0.07856909 -0.42929468 3.47961009] [ 0.03391422 0.99327409 -0.11070866 -0.05074461] [ 0.43510557 0.08504987 0.89635354 0.99991995] [ 0. 0. 0. 1. ]] SLAMing on 128.846502481 meters Centerline goodness : 0.547589 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:1.00 [[ 0.89975354 -0.07822432 -0.42933031 3.47990507] [ 0.0338491 0.99334939 -0.11005102 -0.0546032 ] [ 0.43508367 0.08448635 0.89641746 0.99960606] [ 0. 0. 0. 1. ]] SLAMing on 128.876502481 meters Centerline goodness : 0.547589 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:1.00 [[ 0.89976371 -0.07831649 -0.42929221 3.47983154] [ 0.03395397 0.99334562 -0.11005277 -0.05465575] [ 0.43505448 0.08444531 0.89643549 0.99955795] [ 0. 0. 0. 1. ]] SLAMing on 128.906502481 meters Centerline goodness : 0.552606 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.06, Z:1.00 [[ 0.89958467 -0.07834733 -0.42966163 3.48035671] [ 0.03396017 0.99334782 -0.11003101 -0.05772866] [ 0.43542408 0.08439083 0.89626116 1.00011724] [ 0. 0. 0. 1. ]] SLAMing on 128.936502481 meters Centerline goodness : 0.556387 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.06, Z:1.00 [[ 0.89958701 -0.07979707 -0.42938984 3.4793297 ] [ 0.03519622 0.99321484 -0.11084002 -0.06113913] [ 0.43532107 0.08459734 0.89629172 1.0002855 ] [ 0. 0. 0. 1. ]] SLAMing on 128.966502481 meters Centerline goodness : 0.554505 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.06, Z:1.00 [[ 0.89954705 -0.079452 -0.42953752 3.47994953] [ 0.03504466 0.99327631 -0.11033605 -0.06287364] [ 0.43541586 0.08419947 0.89628315 1.00010467] [ 0. 0. 0. 1. ]] SLAMing on 128.996502481 meters Centerline goodness : 0.559836 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.07, Z:1.00 [[ 0.89934918 -0.08120651 -0.42962375 3.4800385 ] [ 0.03651192 0.99311759 -0.11128491 -0.06597879] [ 0.43570396 0.08439761 0.89612449 1.00006987] [ 0. 0. 0. 1. ]] SLAMing on 129.026502481 meters Centerline goodness : 0.559940 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.07, Z:1.00 [[ 0.89944863 -0.0813081 -0.42939627 3.48032465] [ 0.03678301 0.99313874 -0.11100653 -0.06794909] [ 0.4354758 0.08405019 0.89626804 0.9994783 ] [ 0. 0. 0. 1. ]] SLAMing on 129.056502481 meters Centerline goodness : 0.558405 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.07, Z:1.00 [[ 0.89887126 -0.08601337 -0.42968844 3.48104752] [ 0.04044705 0.99264645 -0.11409238 -0.07039733] [ 0.43634218 0.08517473 0.89574035 0.99966316] [ 0. 0. 0. 1. ]] SLAMing on 129.086502481 meters Centerline goodness : 0.559895 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.07, Z:1.00 [[ 0.89890483 -0.08552091 -0.42971652 3.48158144] [ 0.04026842 0.99274029 -0.11333652 -0.07226084] [ 0.43628954 0.08457474 0.89582283 0.99915919] [ 0. 0. 0. 1. ]] SLAMing on 129.116502481 meters Centerline goodness : 0.566560 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.07, Z:1.00 [[ 0.89892038 -0.08560106 -0.42966802 3.48100427] [ 0.04061832 0.99278599 -0.11281011 -0.0747644 ] [ 0.43622506 0.08395492 0.89591254 0.99904298] [ 0. 0. 0. 1. ]] SLAMing on 129.146502481 meters Centerline goodness : 0.568022 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.89895417 -0.08531267 -0.42965469 3.48129489] [ 0.04056051 0.99284874 -0.11227745 -0.07632847] [ 0.43616081 0.08350527 0.89598584 0.99865908] [ 0. 0. 0. 1. ]] SLAMing on 129.176502481 meters Centerline goodness : 0.569397 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.89908379 -0.08707186 -0.42903011 3.48022123] [ 0.04214171 0.99268352 -0.1131526 -0.07913234] [ 0.43574353 0.0836536 0.89617501 0.9981664 ] [ 0. 0. 0. 1. ]] SLAMing on 129.206502481 meters Centerline goodness : 0.570135 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.89924169 -0.08695363 -0.42872304 3.48042038] [ 0.04223336 0.99272425 -0.11276039 -0.08054378] [ 0.43540868 0.08329243 0.89637138 0.99747894] [ 0. 0. 0. 1. ]] SLAMing on 129.236502481 meters Centerline goodness : 0.569797 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.89929965 -0.08660064 -0.42867292 3.48046947] [ 0.04208989 0.9927866 -0.11226397 -0.08172639] [ 0.43530287 0.08291615 0.89645765 0.99729225] [ 0. 0. 0. 1. ]] SLAMing on 129.266502481 meters Centerline goodness : 0.572188 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.89983702 -0.08188279 -0.42847233 3.48093856] [ 0.03878631 0.99335278 -0.10837839 -0.08328045] [ 0.43449851 0.08090402 0.89703154 0.99618538] [ 0. 0. 0. 1. ]] SLAMing on 129.29650248099998 meters Centerline goodness : 0.570205 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.90041436 -0.07710251 -0.42814622 3.48100766] [ 0.03545022 0.99389998 -0.10443232 -0.08477114] [ 0.43358651 0.07885449 0.89765511 0.9950712 ] [ 0. 0. 0. 1. ]] SLAMing on 129.32650248099998 meters Centerline goodness : 0.577193 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:0.99 [[ 0.9005701 -0.07699533 -0.42783783 3.48113524] [ 0.03541786 0.99391333 -0.10431621 -0.08538212] [ 0.43326558 0.07879096 0.89781564 0.99467933] [ 0. 0. 0. 1. ]] SLAMing on 129.35650248099998 meters Centerline goodness : 0.577883 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:0.99 [[ 0.90066622 -0.07648588 -0.42772686 3.48257839] [ 0.03508638 0.99397285 -0.10386013 -0.08655769] [ 0.43309272 0.07853592 0.89792138 0.99382458] [ 0. 0. 0. 1. ]] SLAMing on 129.38650248099998 meters Centerline goodness : 0.578218 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:0.99 [[ 0.90044953 -0.07586607 -0.4282931 3.48411282] [ 0.03455771 0.99403674 -0.10342492 -0.08668772] [ 0.43358552 0.07832809 0.89770168 0.99388193] [ 0. 0. 0. 1. ]] SLAMing on 129.41650248099998 meters Centerline goodness : 0.574108 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.09, Z:0.99 [[ 0.90018553 -0.07485617 -0.42902514 3.486424 ] [ 0.03375423 0.99414624 -0.1026348 -0.08723535] [ 0.43419658 0.07790895 0.89744277 0.99371717] [ 0. 0. 0. 1. ]] SLAMing on 129.44650248099998 meters Centerline goodness : 0.577368 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.09, Z:0.99 [[ 0.89980162 -0.07317008 -0.43011996 3.48989526] [ 0.03243517 0.99432737 -0.10129684 -0.08748126] [ 0.43509195 0.07719604 0.89707066 0.99338856] [ 0. 0. 0. 1. ]] SLAMing on 129.47650248099998 meters Centerline goodness : 0.579887 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.09, Z:1.00 [[ 0.90186076 -0.06870046 -0.42652951 3.51642332] [ 0.03028748 0.99490046 -0.09620677 -0.08942186] [ 0.43096386 0.07384661 0.89934244 1.00111523] [ 0. 0. 0. 1. ]] SLAMing on 129.50650248099998 meters Centerline goodness : 0.580909 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.09, Z:1.00 [[ 0.90199571 -0.06850592 -0.42627536 3.51667821] [ 0.03013956 0.99491376 -0.09611565 -0.08968225] [ 0.43069171 0.07384816 0.89947268 1.00074748] [ 0. 0. 0. 1. ]] SLAMing on 129.53650248099999 meters Centerline goodness : 0.582581 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.09, Z:1.00 [[ 0.90188374 -0.0681954 -0.42656195 3.51723921] [ 0.02980704 0.99493103 -0.09604052 -0.08965342] [ 0.43094925 0.07390283 0.89934483 1.0010167 ] [ 0. 0. 0. 1. ]] SLAMing on 129.566502481 meters Centerline goodness : 0.593874 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:1.01 [[ 0.904021 -0.0619921 -0.42296927 3.54631023] [ 0.026058 0.99558072 -0.09022206 -0.09208031] [ 0.42669311 0.0705409 0.90164127 1.00949781] [ 0. 0. 0. 1. ]] SLAMing on 129.596502481 meters Centerline goodness : 0.590604 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:1.01 [[ 0.90383718 -0.06145471 -0.42344028 3.54687921] [ 0.02555874 0.99561911 -0.08994078 -0.09210273] [ 0.42711252 0.07046923 0.90144827 1.00998386] [ 0. 0. 0. 1. ]] SLAMing on 129.626502481 meters Centerline goodness : 0.590972 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.09, Z:1.02 [[ 0.90591555 -0.0565148 -0.41967023 3.57430758] [ 0.02288234 0.99613945 -0.08475023 -0.09452147] [ 0.42283971 0.06717352 0.9037114 1.01744949] [ 0. 0. 0. 1. ]] SLAMing on 129.656502481 meters Centerline goodness : 0.597874 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.10, Z:1.03 [[ 0.90760845 -0.05287602 -0.41647451 3.60332347] [ 0.02072189 0.99646981 -0.0813543 -0.0975934 ] [ 0.41930597 0.06520771 0.90550011 1.02688826] [ 0. 0. 0. 1. ]] SLAMing on 129.686502481 meters Centerline goodness : 0.602540 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.10, Z:1.03 [[ 0.9097584 -0.04972107 -0.41214981 3.63058369] [ 0.01919031 0.99677726 -0.07788985 -0.10001488] [ 0.41469432 0.06295167 0.90778065 1.0348195 ] [ 0. 0. 0. 1. ]] SLAMing on 129.716502481 meters Centerline goodness : 0.604761 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.10, Z:1.03 [[ 0.90970513 -0.04936434 -0.41231025 3.63126631] [ 0.01889394 0.99680114 -0.07765636 -0.1006447 ] [ 0.41482478 0.06285422 0.90772779 1.03475957] [ 0. 0. 0. 1. ]] SLAMing on 129.746502481 meters Centerline goodness : 0.605629 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.10, Z:1.03 [[ 0.90956111 -0.04893118 -0.41267944 3.63228775] [ 0.01857318 0.99683808 -0.07725856 -0.10142416] [ 0.41515494 0.06260662 0.90759396 1.03474186] [ 0. 0. 0. 1. ]] SLAMing on 129.776502481 meters Centerline goodness : 0.613475 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.10, Z:1.04 [[ 0.91087522 -0.0465799 -0.41004469 3.65708406] [ 0.01856181 0.99722836 -0.07204901 -0.10434432] [ 0.41226422 0.05801648 0.90921521 1.04028661] [ 0. 0. 0. 1. ]] SLAMing on 129.806502481 meters Centerline goodness : 0.618557 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.11, Z:1.05 [[ 0.91227775 -0.04429711 -0.40716959 3.68575435] [ 0.01778828 0.99748128 -0.0686635 -0.10840782] [ 0.40918564 0.05539734 0.91076794 1.04823434] [ 0. 0. 0. 1. ]] SLAMing on 129.836502481 meters Centerline goodness : 0.617254 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.11, Z:1.05 [[ 0.91225928 -0.04366467 -0.40727927 3.68660864] [ 0.0173832 0.9975332 -0.06800979 -0.10964156] [ 0.40924422 0.05496274 0.91076795 1.04784792] [ 0. 0. 0. 1. ]] SLAMing on 129.866502481 meters Centerline goodness : 0.617196 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.11, Z:1.06 [[ 0.91375628 -0.04230046 -0.40405461 3.71272999] [ 0.01762475 0.99775577 -0.06459721 -0.11366354] [ 0.40588031 0.05190474 0.91245113 1.05523965] [ 0. 0. 0. 1. ]] SLAMing on 129.896502481 meters Centerline goodness : 0.623763 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.11, Z:1.06 [[ 0.91373587 -0.04211384 -0.40412025 3.71263974] [ 0.01754454 0.99777571 -0.06431028 -0.11487065] [ 0.40592972 0.05167251 0.91244233 1.05534687] [ 0. 0. 0. 1. ]] SLAMing on 129.926502481 meters Centerline goodness : 0.625719 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.12, Z:1.06 [[ 0.91491796 -0.04251471 -0.4013946 3.73624155] [ 0.01933559 0.99791214 -0.0616238 -0.118742 ] [ 0.40317646 0.04861952 0.91382979 1.06243682] [ 0. 0. 0. 1. ]] SLAMing on 129.956502481 meters Centerline goodness : 0.622517 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.12, Z:1.07 [[ 0.9127775 -0.05137265 -0.40521364 3.74320263] [ 0.02902804 0.99770942 -0.06110071 -0.11508192] [ 0.40742437 0.04400879 0.91217795 1.06781303] [ 0. 0. 0. 1. ]] SLAMing on 129.986502481 meters Centerline goodness : 0.632040 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.12, Z:1.08 [[ 0.91384743 -0.04988986 -0.40298123 3.7722479 ] [ 0.02901834 0.99790996 -0.05773779 -0.11858344] [ 0.40501951 0.04106969 0.91338517 1.07571183] [ 0. 0. 0. 1. ]] SLAMing on 130.016502481 meters Centerline goodness : 0.625438 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.12, Z:1.08 [[ 0.91529486 -0.04896552 -0.39979706 3.7983232 ] [ 0.0295112 0.99806792 -0.05467639 -0.12082016] [ 0.40170188 0.03824652 0.91497148 1.08290013] [ 0. 0. 0. 1. ]] SLAMing on 130.04650248099998 meters Centerline goodness : 0.629381 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.12, Z:1.09 [[ 0.91681693 -0.04747175 -0.39647591 3.82609568] [ 0.02935014 0.99823371 -0.05165306 -0.12340951] [ 0.39822768 0.03571978 0.91659086 1.09017471] [ 0. 0. 0. 1. ]] SLAMing on 130.07650248099998 meters Centerline goodness : 0.630121 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.13, Z:1.10 [[ 0.91812349 -0.04696703 -0.3935014 3.85045531] [ 0.03057356 0.9983875 -0.04782956 -0.12589189] [ 0.39511329 0.0318827 0.91807896 1.0960296 ] [ 0. 0. 0. 1. ]] SLAMing on 130.10650248099998 meters Centerline goodness : 0.630839 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.13, Z:1.10 [[ 0.919766 -0.0455334 -0.3898169 3.87605709] [ 0.03032461 0.99852282 -0.04508423 -0.12830352] [ 0.39129391 0.0296459 0.91978813 1.10372558] [ 0. 0. 0. 1. ]] SLAMing on 130.13650248099998 meters Centerline goodness : 0.632225 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.13, Z:1.11 [[ 0.92130934 -0.04284285 -0.38646291 3.9080498 ] [ 0.02820045 0.99865615 -0.04348137 -0.13116822] [ 0.38780643 0.02916136 0.92127943 1.1144592 ] [ 0. 0. 0. 1. ]] SLAMing on 130.16650248099998 meters Centerline goodness : 0.629967 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.13, Z:1.11 [[ 0.92108182 -0.04253985 -0.3870383 3.90889814] [ 0.0279546 0.99867361 -0.04323849 -0.13133587] [ 0.38836429 0.02900669 0.92104929 1.11482794] [ 0. 0. 0. 1. ]] SLAMing on 130.19650248099998 meters Centerline goodness : 0.632168 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.13, Z:1.12 [[ 0.92090372 -0.04221317 -0.38749758 3.90976218] [ 0.02771074 0.99869329 -0.04293985 -0.1315767 ] [ 0.38880386 0.02880563 0.92087013 1.11507867] [ 0. 0. 0. 1. ]] SLAMing on 130.22650248099998 meters Centerline goodness : 0.630244 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.13, Z:1.12 [[ 0.92268191 -0.03866468 -0.38361848 3.93742562] [ 0.02544014 0.99889609 -0.03948935 -0.13424772] [ 0.38472184 0.0266768 0.92264698 1.12326608] [ 0. 0. 0. 1. ]] SLAMing on 130.25650248099998 meters Centerline goodness : 0.635985 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.13, Z:1.12 [[ 0.92242739 -0.03867276 -0.38422927 3.93745546] [ 0.02530876 0.99888793 -0.03977901 -0.13357977] [ 0.38534034 0.02696889 0.92238034 1.12440073] [ 0. 0. 0. 1. ]] SLAMing on 130.28650248099999 meters Centerline goodness : 0.633497 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.13, Z:1.12 [[ 0.92218894 -0.0382581 -0.38484267 3.93863211] [ 0.02494342 0.99890691 -0.03953234 -0.13342478] [ 0.38593444 0.026857 0.92213519 1.12471148] [ 0. 0. 0. 1. ]] SLAMing on 130.316502481 meters Centerline goodness : 0.632554 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.14, Z:1.13 [[ 0.92340453 -0.03225272 -0.38247069 3.96940936] [ 0.0208106 0.99920457 -0.03401689 -0.13697175] [ 0.3832636 0.02345191 0.92334123 1.13346285] [ 0. 0. 0. 1. ]] SLAMing on 130.346502481 meters Centerline goodness : 0.629409 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.14, Z:1.14 [[ 0.92452241 -0.0296306 -0.37997413 3.99920862] [ 0.01907986 0.9993215 -0.03150408 -0.14000404] [ 0.3806498 0.02187638 0.92446047 1.14230745] [ 0. 0. 0. 1. ]] SLAMing on 130.376502481 meters Centerline goodness : 0.622666 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:1.15 [[ 0.92425572 -0.03021755 -0.38057622 4.03505728] [ 0.01869168 0.99924887 -0.03394578 -0.14169914] [ 0.38131612 0.02426098 0.9241263 1.15393287] [ 0. 0. 0. 1. ]] SLAMing on 130.406502481 meters Centerline goodness : 0.624835 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:1.15 [[ 0.9240739 -0.02973297 -0.38105562 4.03712327] [ 0.0183148 0.99926899 -0.0335568 -0.14201894] [ 0.3817748 0.02403 0.92394294 1.15351941] [ 0. 0. 0. 1. ]] SLAMing on 130.436502481 meters Centerline goodness : 0.619302 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:1.15 [[ 0.92378074 -0.02908067 -0.38181599 4.03857891] [ 0.01777777 0.99929398 -0.03309807 -0.1422039 ] [ 0.38250894 0.02378753 0.92364553 1.15383082] [ 0. 0. 0. 1. ]] SLAMing on 130.466502481 meters Centerline goodness : 0.619529 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.15, Z:1.16 [[ 0.92505048 -0.02365874 -0.37910668 4.07151016] [ 0.01358103 0.99948029 -0.02923533 -0.14531981] [ 0.37960132 0.0218955 0.92489103 1.16411458] [ 0. 0. 0. 1. ]] SLAMing on 130.496502481 meters Centerline goodness : 0.619544 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.14, Z:1.16 [[ 0.92479339 -0.02309217 -0.37976827 4.07237717] [ 0.01300758 0.99949188 -0.02909961 -0.14433918] [ 0.38024727 0.02197126 0.92462386 1.16485668] [ 0. 0. 0. 1. ]] SLAMing on 130.526502481 meters Centerline goodness : 0.620247 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.15, Z:1.17 [[ 0.92613512 -0.01959197 -0.37668274 4.09967552] [ 0.01099916 0.99962821 -0.02494932 -0.14718815] [ 0.3770315 0.01896325 0.92600629 1.17187071] [ 0. 0. 0. 1. ]] SLAMing on 130.556502481 meters Centerline goodness : 0.620598 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.15, Z:1.17 [[ 0.92600169 -0.01946777 -0.37701707 4.09979974] [ 0.01081886 0.99962779 -0.02504461 -0.14677518] [ 0.37736431 0.01911245 0.92586764 1.17252351] [ 0. 0. 0. 1. ]] SLAMing on 130.586502481 meters Centerline goodness : 0.621611 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.15, Z:1.17 [[ 0.92618175 -0.0198534 -0.37655439 4.09768739] [ 0.01089183 0.99960486 -0.02591325 -0.14501503] [ 0.37692006 0.01989902 0.92603202 1.17382654] [ 0. 0. 0. 1. ]] SLAMing on 130.616502481 meters Centerline goodness : 0.619591 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:1.17 [[ 0.9261637 -0.02014117 -0.37658349 4.09753783] [ 0.01100951 0.99959122 -0.02638545 -0.14441863] [ 0.37696099 0.02029124 0.92600685 1.17436326] [ 0. 0. 0. 1. ]] SLAMing on 130.646502481 meters Centerline goodness : 0.615338 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:1.17 [[ 0.92604559 -0.02014054 -0.37687388 4.0986186 ] [ 0.01091343 0.99958651 -0.02660273 -0.14357205] [ 0.37725384 0.02052236 0.92588248 1.17442536] [ 0. 0. 0. 1. ]] SLAMing on 130.676502481 meters Centerline goodness : 0.612073 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:1.18 [[ 0.92588644 -0.02022841 -0.37726 4.09910515] [ 0.01084216 0.99957698 -0.02698732 -0.14301829] [ 0.37764632 0.02089688 0.92571409 1.17516384] [ 0. 0. 0. 1. ]] SLAMing on 130.706502481 meters Centerline goodness : 0.606292 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:1.18 [[ 0.92568804 -0.01986015 -0.37776609 4.10002053] [ 0.01033058 0.99957565 -0.02723598 -0.14107876] [ 0.3781467 0.02130947 0.92550039 1.17584255] [ 0. 0. 0. 1. ]] SLAMing on 130.736502481 meters Centerline goodness : 0.605668 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:1.18 [[ 0.92533444 -0.01911005 -0.37867002 4.10185587] [ 0.00963908 0.99959189 -0.02689118 -0.14026819] [ 0.37902938 0.0212333 0.925141 1.1762885 ] [ 0. 0. 0. 1. ]] SLAMing on 130.766502481 meters Centerline goodness : 0.599721 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.14, Z:1.18 [[ 0.92468442 -0.01740139 -0.38033658 4.10546742] [ 0.00811294 0.99962873 -0.02601122 -0.13808976] [ 0.38064801 0.02096652 0.92448229 1.17713426] [ 0. 0. 0. 1. ]] SLAMing on 130.79650248099998 meters Centerline goodness : 0.599721 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.14, Z:1.18 [[ 0.92470564 -0.01749192 -0.38028083 4.10536548] [ 0.00820799 0.99962769 -0.02602138 -0.13814653] [ 0.38059441 0.02094078 0.92450494 1.17708262] [ 0. 0. 0. 1. ]] SLAMing on 130.82650248099998 meters Centerline goodness : 0.595510 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.14, Z:1.18 [[ 0.92452306 -0.01756375 -0.38072119 4.10571019] [ 0.00814021 0.99961969 -0.02634804 -0.13748232] [ 0.38103916 0.02126022 0.92431443 1.17787591] [ 0. 0. 0. 1. ]] SLAMing on 130.85650248099998 meters Centerline goodness : 0.596036 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.14, Z:1.18 [[ 0.92470819 -0.01871653 -0.38021632 4.10516163] [ 0.00895741 0.99958385 -0.02742058 -0.1364924 ] [ 0.38057131 0.02195028 0.92449103 1.17772621] [ 0. 0. 0. 1. ]] SLAMing on 130.88650248099998 meters Centerline goodness : 0.590814 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.14, Z:1.18 [[ 0.92423145 -0.02311673 -0.38113233 4.10629872] [ 0.01210537 0.99943787 -0.03126361 -0.13553779] [ 0.38164079 0.02428107 0.92399174 1.17904623] [ 0. 0. 0. 1. ]] SLAMing on 130.91650248099998 meters Centerline goodness : 0.585173 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92410541 -0.02327936 -0.38142793 4.10685374] [ 0.01218645 0.99943032 -0.03147259 -0.1349879 ] [ 0.3819433 0.02443574 0.92386266 1.17932469] [ 0. 0. 0. 1. ]] SLAMing on 130.94650248099998 meters Centerline goodness : 0.584675 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92397065 -0.02308514 -0.38176606 4.10699229] [ 0.01200887 0.99943567 -0.03137072 -0.13465346] [ 0.38227481 0.02440104 0.92372645 1.17982046] [ 0. 0. 0. 1. ]] SLAMing on 130.97650248099998 meters Centerline goodness : 0.586358 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92375898 -0.02290212 -0.38228894 4.10744727] [ 0.01180345 0.99943869 -0.03135251 -0.13427691] [ 0.3827924 0.02444984 0.92351079 1.18049115] [ 0. 0. 0. 1. ]] SLAMing on 131.00650248099998 meters Centerline goodness : 0.579790 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92340936 -0.02794109 -0.38279819 4.10742934] [ 0.01550323 0.99924803 -0.03553895 -0.13219259] [ 0.38350333 0.02688239 0.92314816 1.18171726] [ 0. 0. 0. 1. ]] SLAMing on 131.03650248099999 meters Centerline goodness : 0.585725 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.9236692 -0.02874468 -0.38211117 4.10629637] [ 0.01619834 0.99922009 -0.03601137 -0.1326348 ] [ 0.3828483 0.02707303 0.92341444 1.1814897 ] [ 0. 0. 0. 1. ]] SLAMing on 131.066502481 meters Centerline goodness : 0.586384 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92370498 -0.0286847 -0.38202919 4.10609237] [ 0.01620302 0.99922583 -0.03584984 -0.1330051 ] [ 0.38276177 0.02692465 0.92345465 1.18148214] [ 0. 0. 0. 1. ]] SLAMing on 131.096502481 meters Centerline goodness : 0.584536 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92277862 -0.03604009 -0.38364141 4.11324229] [ 0.02546583 0.99914373 -0.03260834 -0.12806639] [ 0.38448811 0.02032053 0.92290626 1.18474772] [ 0. 0. 0. 1. ]] SLAMing on 131.126502481 meters Centerline goodness : 0.584217 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92270994 -0.03552449 -0.38385464 4.11471362] [ 0.02509826 0.99916825 -0.03213855 -0.12810841] [ 0.38467707 0.02002048 0.92283408 1.18424291] [ 0. 0. 0. 1. ]] SLAMing on 131.156502481 meters Centerline goodness : 0.584844 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.13, Z:1.18 [[ 0.92274446 -0.03559904 -0.38376472 4.11581441] [ 0.02513256 0.99916363 -0.03225503 -0.12721209] [ 0.384592 0.02011816 0.92286741 1.1836251 ] [ 0. 0. 0. 1. ]] SLAMing on 131.186502481 meters Centerline goodness : 0.588987 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.13, Z:1.18 [[ 0.92270994 -0.03559988 -0.38384765 4.11614381] [ 0.0250594 0.99915987 -0.03242798 -0.12627486] [ 0.3846796 0.02030263 0.92282686 1.18377562] [ 0. 0. 0. 1. ]] SLAMing on 131.216502481 meters Centerline goodness : 0.593175 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:1.18 [[ 0.92319165 -0.03086178 -0.38309884 4.11560791] [ 0.0213852 0.99935144 -0.02897196 -0.12447056] [ 0.3837445 0.01855403 0.92325289 1.18310506] [ 0. 0. 0. 1. ]] SLAMing on 131.246502481 meters Centerline goodness : 0.592312 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:1.18 [[ 0.92289342 -0.03076458 -0.38382453 4.11603572] [ 0.02107892 0.99934496 -0.02941664 -0.12285473] [ 0.3844781 0.01905782 0.92293737 1.18445799] [ 0. 0. 0. 1. ]] SLAMing on 131.276502481 meters Centerline goodness : 0.590833 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:1.18 [[ 0.92318572 -0.02619498 -0.3834605 4.11651911] [ 0.01760555 0.99950968 -0.025893 -0.12256555] [ 0.38395075 0.01715302 0.92319423 1.18361198] [ 0. 0. 0. 1. ]] SLAMing on 131.306502481 meters Centerline goodness : 0.595257 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:1.18 [[ 0.92293093 -0.02556516 -0.38411577 4.11894179] [ 0.01686182 0.99951948 -0.02600928 -0.11832276] [ 0.38459612 0.01752788 0.92291852 1.18368547] [ 0. 0. 0. 1. ]] SLAMing on 131.336502481 meters Centerline goodness : 0.595059 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:1.18 [[ 0.92263201 -0.02555761 -0.3848337 4.12029894] [ 0.01665559 0.99951142 -0.02644817 -0.11643502] [ 0.38532163 0.0179923 0.92260691 1.18427622] [ 0. 0. 0. 1. ]] SLAMing on 131.366502481 meters Centerline goodness : 0.596265 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.11, Z:1.19 [[ 0.92201966 -0.02453206 -0.38636502 4.12384591] [ 0.0155436 0.99953136 -0.02637157 -0.11158353] [ 0.3868309 0.0183096 0.92196888 1.18502603] [ 0. 0. 0. 1. ]] SLAMing on 131.396502481 meters Centerline goodness : 0.594694 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.11, Z:1.19 [[ 0.92157397 -0.02354479 -0.38748814 4.12635314] [ 0.0144321 0.99954699 -0.02641083 -0.10650068] [ 0.38793444 0.01874726 0.92149629 1.18582938] [ 0. 0. 0. 1. ]] SLAMing on 131.426502481 meters Centerline goodness : 0.595183 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92134602 -0.0234101 -0.38803799 4.12731274] [ 0.01413157 0.99954231 -0.02674822 -0.10495758] [ 0.38848656 0.01916079 0.92125515 1.18651615] [ 0. 0. 0. 1. ]] SLAMing on 131.456502481 meters Centerline goodness : 0.592438 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92108634 -0.02330495 -0.3886603 4.128155 ] [ 0.01386063 0.999537 -0.02708619 -0.10352864] [ 0.38911159 0.01956164 0.9209829 1.18726968] [ 0. 0. 0. 1. ]] SLAMing on 131.486502481 meters Centerline goodness : 0.590004 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92083988 -0.02253077 -0.38928946 4.12918383] [ 0.01303798 0.99955013 -0.02701009 -0.09988954] [ 0.38972289 0.01979642 0.92071938 1.18808225] [ 0. 0. 0. 1. ]] SLAMing on 131.516502481 meters Centerline goodness : 0.592253 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92066979 -0.02249783 -0.38969345 4.12915015] [ 0.01287919 0.99954491 -0.02727814 -0.09872348] [ 0.39012981 0.02009523 0.92054056 1.18890123] [ 0. 0. 0. 1. ]] SLAMing on 131.54650248099998 meters Centerline goodness : 0.591262 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92070391 -0.02301313 -0.38958273 4.12817932] [ 0.01305358 0.99951726 -0.0281931 -0.09686276] [ 0.39004347 0.02087205 0.92055986 1.18992843] [ 0. 0. 0. 1. ]] SLAMing on 131.57650248099998 meters Centerline goodness : 0.597157 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92077582 -0.02323597 -0.38939952 4.12795621] [ 0.01316479 0.99950675 -0.02851233 -0.0964845 ] [ 0.38986996 0.0211271 0.92062754 1.18999792] [ 0. 0. 0. 1. ]] SLAMing on 131.60650248099998 meters Centerline goodness : 0.600283 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92096583 -0.02374444 -0.38891919 4.12739693] [ 0.01358521 0.99949139 -0.02885138 -0.09647845] [ 0.38940644 0.02128759 0.92081999 1.18973785] [ 0. 0. 0. 1. ]] SLAMing on 131.63650248099998 meters Centerline goodness : 0.595369 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92084689 -0.02350559 -0.38921522 4.12827886] [ 0.01343147 0.99950114 -0.02858452 -0.09685858] [ 0.38969295 0.02109423 0.92070323 1.1896987 ] [ 0. 0. 0. 1. ]] SLAMing on 131.66650248099998 meters Centerline goodness : 0.594946 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92062543 -0.02318953 -0.3897577 4.13032261] [ 0.01330277 0.99951809 -0.02804688 -0.09784092] [ 0.39022027 0.02063581 0.92049025 1.1891661 ] [ 0. 0. 0. 1. ]] SLAMing on 131.69650248099998 meters Centerline goodness : 0.590085 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92060475 -0.02301989 -0.3898166 4.1311746 ] [ 0.01322689 0.99952632 -0.02778806 -0.09827214] [ 0.39027164 0.02042576 0.92047316 1.1887673 ] [ 0. 0. 0. 1. ]] SLAMing on 131.72650248099998 meters Centerline goodness : 0.591383 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92069811 -0.02295776 -0.38959971 4.13121187] [ 0.01326632 0.99953244 -0.02754817 -0.09826639] [ 0.39004999 0.02019499 0.92057219 1.18835591] [ 0. 0. 0. 1. ]] SLAMing on 131.75650248099998 meters Centerline goodness : 0.588309 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92067399 -0.02276186 -0.38966819 4.13156438] [ 0.01314407 0.99954002 -0.0273309 -0.09849903] [ 0.39011105 0.02004102 0.92054969 1.18827406] [ 0. 0. 0. 1. ]] SLAMing on 131.78650248099999 meters Centerline goodness : 0.595004 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92089704 -0.02275135 -0.38914139 4.13081583] [ 0.01324251 0.99954499 -0.02710069 -0.09877332] [ 0.3895809 0.01980374 0.92077931 1.18788036] [ 0. 0. 0. 1. ]] SLAMing on 131.816502481 meters Centerline goodness : 0.591281 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92122539 -0.0185483 -0.38858686 4.13078825] [ 0.01021215 0.99967151 -0.02350702 -0.10058842] [ 0.38889523 0.01768696 0.92111219 1.18685932] [ 0. 0. 0. 1. ]] SLAMing on 131.846502481 meters Centerline goodness : 0.589392 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92161291 -0.01387376 -0.38786231 4.13095911] [ 0.00687019 0.99978747 -0.01943771 -0.10209171] [ 0.38804955 0.01524935 0.92151235 1.18537373] [ 0. 0. 0. 1. ]] SLAMing on 131.876502481 meters Centerline goodness : 0.587308 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92174039 -0.01409666 -0.3875512 4.13072481] [ 0.00709246 0.99978475 -0.01949735 -0.10153428] [ 0.38774262 0.0152228 0.92164197 1.18503048] [ 0. 0. 0. 1. ]] SLAMing on 131.906502481 meters Centerline goodness : 0.586918 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.18 [[ 0.9219647 -0.01430463 -0.38700965 4.1311675 ] [ 0.00734362 0.99978368 -0.0194594 -0.10148593] [ 0.38720429 0.01509882 0.92187031 1.18391859] [ 0. 0. 0. 1. ]] SLAMing on 131.936502481 meters Centerline goodness : 0.580247 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.18 [[ 0.92197201 -0.01418355 -0.3869967 4.13194582] [ 0.00729067 0.99978767 -0.0192734 -0.10131015] [ 0.38718789 0.01494807 0.92187965 1.18344013] [ 0. 0. 0. 1. ]] SLAMing on 131.966502481 meters Centerline goodness : 0.580535 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.18 [[ 0.92191361 -0.01394845 -0.38714435 4.13284833] [ 0.0071268 0.99979312 -0.01905045 -0.10133195] [ 0.38732998 0.01480377 0.92182229 1.18318323] [ 0. 0. 0. 1. ]] SLAMing on 131.996502481 meters Centerline goodness : 0.576115 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.18 [[ 0.92178052 -0.01364283 -0.38747199 4.1340714 ] [ 0.0068792 0.99979889 -0.01883742 -0.1007339 ] [ 0.38765107 0.01469846 0.921689 1.1830064 ] [ 0. 0. 0. 1. ]] SLAMing on 132.026502481 meters Centerline goodness : 0.572662 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 0.92146912 -0.01267411 -0.3882448 4.1365677 ] [ 0.00613093 0.99981761 -0.0180874 -0.10029545] [ 0.38840323 0.01428668 0.92137876 1.18278017] [ 0. 0. 0. 1. ]] SLAMing on 132.056502481 meters Centerline goodness : 0.570486 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.21678923e-01 -7.79830630e-03 -3.87875172e-01 4.13817585e+00] [ 2.56588632e-03 9.99898618e-01 -1.40060327e-02 -1.01778702e-01] [ 3.87945072e-01 1.19138216e-02 9.21605491e-01 1.18116629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.086502481 meters Centerline goodness : 0.567903 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.21603849e-01 -7.39731613e-03 -3.88061367e-01 4.13944968e+00] [ 2.24902469e-03 9.99903358e-01 -1.37191998e-02 -1.01511220e-01] [ 3.88125349e-01 1.17709077e-02 9.21531420e-01 1.18083214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.116502481 meters Centerline goodness : 0.562675 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.21536958e-01 -7.14655683e-03 -3.88224886e-01 4.14115939e+00] [ 2.01282013e-03 9.99905099e-01 -1.36286742e-02 -1.00552446e-01] [ 3.88285442e-01 1.17779001e-02 9.21463888e-01 1.18024002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.146502481 meters Centerline goodness : 0.565004 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.21378766e-01 -6.84017020e-03 -3.88605689e-01 4.14225614e+00] [ 1.73935884e-03 9.99907679e-01 -1.34762063e-02 -1.00149792e-01] [ 3.88661992e-01 1.17407656e-02 9.21305601e-01 1.18029965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.176502481 meters Centerline goodness : 0.560088 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.21215369e-01 -6.55285242e-03 -3.88997819e-01 4.14348750e+00] [ 1.46679081e-03 9.99909537e-01 -1.33703305e-02 -9.89377387e-02] [ 3.89050243e-01 1.17463755e-02 9.21141645e-01 1.18027194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.206502481 meters Centerline goodness : 0.560894 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.20989733e-01 -6.15506666e-03 -3.89538222e-01 4.14458011e+00] [ 1.10409785e-03 9.99912410e-01 -1.31891159e-02 -9.88058281e-02] [ 3.89585282e-01 1.17169520e-02 9.20915860e-01 1.18063424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.236502481 meters Centerline goodness : 0.563009 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20601456e-01 -5.59576445e-03 -3.90463375e-01 4.14542606e+00] [ 5.77536680e-04 9.99915742e-01 -1.29682121e-02 -9.82331195e-02] [ 3.90503043e-01 1.17130480e-02 9.20527120e-01 1.18173474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.266502481 meters Centerline goodness : 0.561895 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20435830e-01 -5.50469666e-03 -3.90854937e-01 4.14573023e+00] [ 4.37991880e-04 9.99914735e-01 -1.30510924e-02 -9.77210209e-02] [ 3.90893453e-01 1.18415017e-02 9.20359760e-01 1.18229446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29650248099998 meters Centerline goodness : 0.559625 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20277706e-01 -5.16486504e-03 -3.91231732e-01 4.14711042e+00] [ 1.76566388e-04 9.99918251e-01 -1.27851406e-02 -9.77512587e-02] [ 3.91265783e-01 1.16968015e-02 9.20203386e-01 1.18212930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32650248099998 meters Centerline goodness : 0.559953 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20179859e-01 -4.70275910e-03 -3.91467638e-01 4.14814395e+00] [-1.51081065e-04 9.99923510e-01 -1.23673598e-02 -9.82936689e-02] [ 3.91495855e-01 1.14393388e-02 9.20108764e-01 1.18193784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35650248099998 meters Centerline goodness : 0.554564 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20063861e-01 -4.73860793e-03 -3.91739757e-01 4.14832560e+00] [-2.23829233e-04 9.99920326e-01 -1.26210513e-02 -9.76629542e-02] [ 3.91768352e-01 1.16998560e-02 9.19989496e-01 1.18256745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38650248099998 meters Centerline goodness : 0.553573 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20332627e-01 -1.07145334e-04 -3.91136605e-01 4.14879371e+00] [-3.66222312e-03 9.99953768e-01 -8.89102110e-03 -9.92486093e-02] [ 3.91119475e-01 9.61512633e-03 9.20289686e-01 1.18141547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41650248099998 meters Centerline goodness : 0.552394 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.92058342 0.00473111 -0.39051733 4.14966001] [-0.00718236 0.99996261 -0.00481676 -0.10074638] [ 0.39047994 0.00723906 0.92058298 1.17984539] [ 0. 0. 0. 1. ]] SLAMing on 132.44650248099998 meters Centerline goodness : 0.550126 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.92042322 0.00497679 -0.39089171 4.15002982] [-0.00743807 0.9999609 -0.00478286 -0.10074492] [ 0.39085262 0.00730974 0.92042425 1.18040084] [ 0. 0. 0. 1. ]] SLAMing on 132.47650248099998 meters Centerline goodness : 0.550027 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.92038982 0.00506501 -0.39096922 4.1499255 ] [-0.00763136 0.99995833 -0.00501068 -0.10014585] [ 0.39092755 0.00759541 0.92039011 1.18094775] [ 0. 0. 0. 1. ]] SLAMing on 132.50650248099998 meters Centerline goodness : 0.548595 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.92031615 0.00534568 -0.39113885 4.15070871] [-0.00788862 0.9999569 -0.00489486 -0.09984663] [ 0.39109583 0.00759037 0.92031866 1.18092677] [ 0. 0. 0. 1. ]] SLAMing on 132.53650248099999 meters Centerline goodness : 0.545101 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.92001052 0.00600761 -0.39184762 4.15231078] [-0.00854933 0.99995221 -0.00474201 -0.09899376] [ 0.39180041 0.00771273 0.92001791 1.18145361] [ 0. 0. 0. 1. ]] SLAMing on 132.566502481 meters Centerline goodness : 0.543382 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.91985181 0.00642374 -0.39221343 4.15349388] [-0.00892341 0.99994983 -0.00455057 -0.09851364] [ 0.39216453 0.00768573 0.91986299 1.18148464] [ 0. 0. 0. 1. ]] SLAMing on 132.596502481 meters Centerline goodness : 0.539439 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19501534e-01 7.68960186e-03 -3.93011194e-01 4.15638859e+00] [-1.00049165e-02 9.99942565e-01 -3.84308621e-03 -9.77910997e-02] [ 3.92959069e-01 7.46576786e-03 9.19525656e-01 1.18140662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.626502481 meters Centerline goodness : 0.542084 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19304637e-01 8.65852597e-03 -3.93451412e-01 4.15825364e+00] [-1.08536896e-02 9.99935470e-01 -3.35461997e-03 -9.72819818e-02] [ 3.93396977e-01 7.35431720e-03 9.19339291e-01 1.18135024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.656502481 meters Centerline goodness : 0.540464 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19147729e-01 8.99724472e-03 -3.93810235e-01 4.15882185e+00] [-1.11914634e-02 9.99932008e-01 -3.27562640e-03 -9.71770978e-02] [ 3.93753988e-01 7.41809741e-03 9.19185927e-01 1.18177119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.686502481 meters Centerline goodness : 0.540464 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19147729e-01 8.99724472e-03 -3.93810235e-01 4.15882185e+00] [-1.11914634e-02 9.99932008e-01 -3.27562640e-03 -9.71770978e-02] [ 3.93753988e-01 7.41809741e-03 9.19185927e-01 1.18177119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.716502481 meters Centerline goodness : 0.541079 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.18997632e-01 9.22240110e-03 -3.94155172e-01 4.15896506e+00] [-1.14351476e-02 9.99929284e-01 -3.26552766e-03 -9.70470393e-02] [ 3.94097183e-01 7.50823474e-03 9.19038104e-01 1.18237546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.746502481 meters Centerline goodness : 0.539891 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.18916486e-01 9.46565748e-03 -3.94338552e-01 4.15860940e+00] [-1.17148493e-02 9.99925944e-01 -3.29668917e-03 -9.71821873e-02] [ 3.94278143e-01 7.64899873e-03 9.18959324e-01 1.18319792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.776502481 meters Centerline goodness : 0.536540 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.18900602e-01 9.61300786e-03 -3.94371999e-01 4.15895002e+00] [-1.18109179e-02 9.99925299e-01 -3.14619147e-03 -9.77937508e-02] [ 3.94312294e-01 7.54893254e-03 9.18945498e-01 1.18315128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.806502481 meters Centerline goodness : 0.536062 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19104058e-01 9.56683427e-03 -3.93898726e-01 4.15977996e+00] [-1.16199115e-02 9.99928489e-01 -2.82752291e-03 -9.97011164e-02] [ 3.93843508e-01 7.17585612e-03 9.19149497e-01 1.18189923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.836502481 meters Centerline goodness : 0.536589 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19147012e-01 9.72238334e-03 -3.93794674e-01 4.16039313e+00] [-1.16607303e-02 9.99928811e-01 -2.52983154e-03 -1.00932393e-01] [ 3.93742044e-01 6.91722058e-03 9.19194949e-01 1.18142770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.866502481 meters Centerline goodness : 0.540534 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19202140e-01 9.80317448e-03 -3.93663972e-01 4.16059191e+00] [-1.15710732e-02 9.99930810e-01 -2.11769210e-03 -1.03264708e-01] [ 3.93615975e-01 6.50170176e-03 9.19251974e-01 1.18106402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.896502481 meters Centerline goodness : 0.538644 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.10, Z:1.18 [[ 9.19241317e-01 2.76765757e-03 -3.93684824e-01 4.16685811e+00] [-2.11498386e-03 9.99995576e-01 2.09168533e-03 -9.99346416e-02] [ 3.93688872e-01 -1.09012653e-03 9.19243104e-01 1.18320447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.926502481 meters Centerline goodness : 0.541015 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.10, Z:1.18 [[ 9.18955142e-01 3.36848086e-03 -3.94347690e-01 4.16819531e+00] [-2.43671758e-03 9.99992931e-01 2.86352103e-03 -1.01667981e-01] [ 3.94354548e-01 -1.67053343e-03 9.18956854e-01 1.18333596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.956502481 meters Centerline goodness : 0.536081 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.10, Z:1.18 [[ 9.18886746e-01 3.73601409e-03 -3.94503726e-01 4.16897855e+00] [-2.64174831e-03 9.99991010e-01 3.31685839e-03 -1.02927671e-01] [ 3.94512571e-01 -2.00563766e-03 9.18888355e-01 1.18315656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.986502481 meters Centerline goodness : 0.534407 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18811297e-01 3.87869617e-03 -3.94678040e-01 4.16988968e+00] [-2.57630962e-03 9.99989348e-01 3.82973542e-03 -1.05450552e-01] [ 3.94688690e-01 -2.50199134e-03 9.18811503e-01 1.18276581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.016502481 meters Centerline goodness : 0.537905 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18838227e-01 3.96864718e-03 -3.94614448e-01 4.17046997e+00] [-2.55755637e-03 9.99988317e-01 4.10177646e-03 -1.06549709e-01] [ 3.94626117e-01 -2.75962032e-03 9.18837642e-01 1.18235318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04650248099998 meters Centerline goodness : 0.531867 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18895598e-01 3.76574912e-03 -3.94482825e-01 4.17066569e+00] [-2.22044798e-03 9.99987970e-01 4.37368584e-03 -1.08495525e-01] [ 3.94494550e-01 -3.14303208e-03 9.18892905e-01 1.18190006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07650248099998 meters Centerline goodness : 0.538049 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18905635e-01 4.08658864e-03 -3.94456251e-01 4.17094404e+00] [-2.41299246e-03 9.99985861e-01 4.73872195e-03 -1.08890876e-01] [ 3.94470039e-01 -3.40261834e-03 9.18902503e-01 1.18171064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10650248099998 meters Centerline goodness : 0.535325 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18646969e-01 4.86015807e-03 -3.95049524e-01 4.17259135e+00] [-3.01998120e-03 9.99981502e-01 5.27977244e-03 -1.08935830e-01] [ 3.95067876e-01 -3.65720481e-03 9.18644653e-01 1.18182343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13650248099998 meters Centerline goodness : 0.536736 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18560278e-01 5.43319168e-03 -3.95243590e-01 4.17396838e+00] [-3.45528051e-03 9.99977694e-01 5.71593600e-03 -1.09286288e-01] [ 3.95265830e-01 -3.88475429e-03 9.18558562e-01 1.18146039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16650248099998 meters Centerline goodness : 0.534385 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 9.18504248e-01 5.95591622e-03 -3.95366253e-01 4.17500306e+00] [-3.85825757e-03 9.99973948e-01 6.10050826e-03 -1.09323101e-01] [ 3.95392287e-01 -4.07791791e-03 9.18503299e-01 1.18117869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19650248099998 meters Centerline goodness : 0.534656 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 9.18239874e-01 6.71397309e-03 -3.95967748e-01 4.17692231e+00] [-4.54889600e-03 9.99969131e-01 6.40655247e-03 -1.08498722e-01] [ 3.95998538e-01 -4.08153583e-03 9.18242070e-01 1.18131572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22650248099998 meters Centerline goodness : 0.536975 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 0.91808026 0.00733049 -0.39632676 4.17857359] [-0.00506064 0.99996426 0.00677259 -0.10820163] [ 0.39636224 -0.00421211 0.91808454 1.1810945 ] [ 0. 0. 0. 1. ]] SLAMing on 133.25650248099998 meters Centerline goodness : 0.536609 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 0.91775709 0.00884166 -0.39704377 4.1812705 ] [-0.00637101 0.99995127 0.00754121 -0.10640142] [ 0.39709109 -0.00439143 0.9177687 1.18109807] [ 0. 0. 0. 1. ]] SLAMing on 133.28650248099999 meters Centerline goodness : 0.535588 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 0.91792923 0.01429151 -0.39648667 4.1823789 ] [-0.01048712 0.99987584 0.01176156 -0.1072958 ] [ 0.39660553 -0.00663827 0.91796513 1.17989088] [ 0. 0. 0. 1. ]] SLAMing on 133.316502481 meters Centerline goodness : 0.536298 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 0.91762815 0.01493005 -0.39715949 4.18407661] [-0.01114719 0.99986787 0.01183176 -0.10596977] [ 0.39728366 -0.00642994 0.91767333 1.18030415] [ 0. 0. 0. 1. ]] SLAMing on 133.346502481 meters Centerline goodness : 0.531922 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.91742165 0.01694253 -0.39755561 4.18700251] [-0.01294943 0.99983516 0.0127269 -0.10284926] [ 0.3977057 -0.00652781 0.91748982 1.1799195 ] [ 0. 0. 0. 1. ]] SLAMing on 133.376502481 meters Centerline goodness : 0.531236 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.91703632 0.01742671 -0.39842277 4.18811391] [-0.01351127 0.99982891 0.01263334 -0.10135288] [ 0.39857476 -0.00620203 0.91711488 1.18094642] [ 0. 0. 0. 1. ]] SLAMing on 133.406502481 meters Centerline goodness : 0.526564 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.91699834 0.01939676 -0.39841914 4.18867881] [-0.01534358 0.99979303 0.01335958 -0.09821556] [ 0.39859581 -0.00613753 0.91710616 1.18151795] [ 0. 0. 0. 1. ]] SLAMing on 133.436502481 meters Centerline goodness : 0.528340 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.9169111 0.01968876 -0.39860554 4.18983945] [-0.01570372 0.99978875 0.01326043 -0.09752836] [ 0.39878242 -0.00589905 0.9170266 1.18152799] [ 0. 0. 0. 1. ]] SLAMing on 133.466502481 meters Centerline goodness : 0.528315 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.91677141 0.02010901 -0.39890577 4.19158202] [-0.01616182 0.99978151 0.01325605 -0.09726061] [ 0.39908518 -0.00570572 0.9168961 1.18143897] [ 0. 0. 0. 1. ]] SLAMing on 133.496502481 meters Centerline goodness : 0.525191 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.91667586 0.02041091 -0.39910995 4.19210889] [-0.01645368 0.99977565 0.01333878 -0.09745054] [ 0.39929267 -0.00566051 0.91680604 1.18168208] [ 0. 0. 0. 1. ]] SLAMing on 133.526502481 meters Centerline goodness : 0.523892 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.9164918 0.02067958 -0.39951862 4.19278102] [-0.01670626 0.9997703 0.01342534 -0.09839422] [ 0.39970449 -0.00562975 0.91662677 1.18219499] [ 0. 0. 0. 1. ]] SLAMing on 133.556502481 meters Centerline goodness : 0.527377 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 9.16059894e-01 1.69052846e-02 -4.00685015e-01 4.19443258e+00] [-1.39616769e-02 9.99849840e-01 1.02649555e-02 -9.90503053e-02] [ 4.00798380e-01 -3.80907930e-03 9.16158365e-01 1.18338727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.586502481 meters Centerline goodness : 0.525380 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 9.16085293e-01 1.70908248e-02 -4.00619071e-01 4.19463332e+00] [-1.40762935e-02 9.99846143e-01 1.04665758e-02 -1.00385413e-01] [ 4.00736316e-01 -3.94904449e-03 9.16184922e-01 1.18332350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.616502481 meters Centerline goodness : 0.527470 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 9.16252341e-01 1.70198337e-02 -4.00239894e-01 4.19412830e+00] [-1.40220412e-02 9.99847417e-01 1.04175240e-02 -1.02494944e-01] [ 4.00356129e-01 -3.93290046e-03 9.16351190e-01 1.18336977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.646502481 meters Centerline goodness : 0.526975 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 9.15840755e-01 1.27198101e-02 -4.01340152e-01 4.19491565e+00] [-1.08905381e-02 9.99917309e-01 6.83898607e-03 -1.02014044e-01] [ 4.01393956e-01 -1.89261196e-03 9.15903549e-01 1.18478157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.676502481 meters Centerline goodness : 0.527394 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.10, Z:1.19 [[ 9.15484562e-01 8.36801394e-03 -4.02266074e-01 4.19624160e+00] [-7.61580272e-03 9.99964981e-01 3.46927364e-03 -1.03223123e-01] [ 4.02281018e-01 -1.12487403e-04 9.15516232e-01 1.18563989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.706502481 meters Centerline goodness : 0.527365 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.10, Z:1.19 [[ 9.14943728e-01 4.33319095e-03 -4.03558173e-01 4.19704966e+00] [-4.70177887e-03 9.99988944e-01 7.75103904e-05 -1.03337661e-01] [ 4.03554047e-01 1.82652364e-03 9.14953985e-01 1.18752923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.736502481 meters Centerline goodness : 0.527413 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.11, Z:1.19 [[ 9.14838498e-01 5.00017842e-03 -4.03788956e-01 4.19815145e+00] [-5.08015810e-03 9.99986715e-01 8.73198200e-04 -1.05440092e-01] [ 4.03787958e-01 1.25247641e-03 9.14851745e-01 1.18722090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.766502481 meters Centerline goodness : 0.526947 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.11, Z:1.19 [[ 9.14975256e-01 4.31837627e-03 -4.03486843e-01 4.19815902e+00] [-4.27618441e-03 9.99990351e-01 1.00556360e-03 -1.10371798e-01] [ 4.03487292e-01 8.05318335e-04 9.14984894e-01 1.18656835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79650248099998 meters Centerline goodness : 0.534453 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.11, Z:1.19 [[ 9.14747471e-01 -1.87788046e-04 -4.04026026e-01 4.19731197e+00] [-7.37027833e-04 9.99997453e-01 -2.13348116e-03 -1.13393682e-01] [ 4.04025397e-01 2.24937492e-03 9.14745002e-01 1.18793458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82650248099998 meters Centerline goodness : 0.531148 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.12, Z:1.19 [[ 9.14778298e-01 4.13559049e-05 -4.03956265e-01 4.19742118e+00] [-7.72294474e-04 9.99998346e-01 -1.64652079e-03 -1.15699856e-01] [ 4.03955529e-01 1.81817468e-03 9.14776817e-01 1.18775737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85650248099998 meters Centerline goodness : 0.534825 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.12, Z:1.19 [[ 9.14591182e-01 -4.49296464e-03 -4.04354774e-01 4.19787879e+00] [ 2.84786365e-03 9.99985041e-01 -4.66982605e-03 -1.19239655e-01] [ 4.04369707e-01 3.11943447e-03 9.14590296e-01 1.18808419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88650248099998 meters Centerline goodness : 0.536757 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.12, Z:1.19 [[ 9.14698107e-01 -4.42190146e-03 -4.04113622e-01 4.19808091e+00] [ 2.95388486e-03 9.99986580e-01 -4.25605358e-03 -1.22141503e-01] [ 4.04127019e-01 2.69929904e-03 9.14698894e-01 1.18758023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91650248099998 meters Centerline goodness : 0.541385 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.13, Z:1.19 [[ 9.14737752e-01 -5.23353619e-03 -4.04014177e-01 4.19726495e+00] [ 3.82273126e-03 9.99983455e-01 -4.29849520e-03 -1.26940408e-01] [ 4.04029989e-01 2.38755821e-03 9.14742624e-01 1.18769328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94650248099998 meters Centerline goodness : 0.543321 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.13, Z:1.19 [[ 9.14689255e-01 -4.79729525e-03 -4.04129376e-01 4.19760686e+00] [ 3.58666330e-03 9.99986527e-01 -3.75263054e-03 -1.29177292e-01] [ 4.04141934e-01 1.98301483e-03 9.14694137e-01 1.18769074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97650248099998 meters Centerline goodness : 0.543701 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.13, Z:1.19 [[ 9.14682722e-01 -4.40891939e-03 -4.04148587e-01 4.19803477e+00] [ 3.48334975e-03 9.99989357e-01 -3.02540372e-03 -1.32938780e-01] [ 4.04157624e-01 1.35949363e-03 9.14688344e-01 1.18739887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00650248099998 meters Centerline goodness : 0.541917 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.13, Z:1.19 [[ 9.14612167e-01 -4.12985815e-03 -4.04311177e-01 4.19827868e+00] [ 3.34192229e-03 9.99990892e-01 -2.65453396e-03 -1.34392161e-01] [ 4.04318458e-01 1.07669253e-03 9.14617639e-01 1.18750554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03650248099999 meters Centerline goodness : 0.545311 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.14, Z:1.19 [[ 9.14512089e-01 -3.53266088e-03 -4.04543148e-01 4.19882215e+00] [ 2.94807358e-03 9.99993516e-01 -2.06798473e-03 -1.36165011e-01] [ 4.04547831e-01 6.98574069e-04 9.14516574e-01 1.18764591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.066502481 meters Centerline goodness : 0.545881 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.14, Z:1.19 [[ 9.14494997e-01 -2.96407229e-03 -4.04586350e-01 4.20017541e+00] [ 2.67527357e-03 9.99995603e-01 -1.27917060e-03 -1.38677282e-01] [ 4.04588363e-01 8.74159460e-05 9.14498906e-01 1.18691813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.096502481 meters Centerline goodness : 0.546379 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.14, Z:1.19 [[ 9.14495995e-01 -2.55599127e-03 -4.04586879e-01 4.20140729e+00] [ 2.43214277e-03 9.99996706e-01 -8.20090933e-04 -1.40192351e-01] [ 4.04587643e-01 -2.34043180e-04 9.14499199e-01 1.18628673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.126502481 meters Centerline goodness : 0.542972 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.14, Z:1.19 [[ 9.14096159e-01 -1.58334898e-03 -4.05494395e-01 4.20395364e+00] [ 1.72428907e-03 9.99998513e-01 -1.77082888e-05 -1.42156613e-01] [ 4.05493821e-01 -6.83002476e-04 9.14097530e-01 1.18639628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.156502481 meters Centerline goodness : 0.538988 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:1.19 [[ 9.13777297e-01 -8.14343428e-04 -4.06214707e-01 4.20537654e+00] [ 1.12096807e-03 9.99999238e-01 5.16899959e-04 -1.42575890e-01] [ 4.06213976e-01 -9.27685163e-04 9.13777514e-01 1.18675640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.186502481 meters Centerline goodness : 0.536453 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:1.19 [[ 9.12979808e-01 8.98351002e-04 -4.08003754e-01 4.20959078e+00] [-2.31861258e-04 9.99998557e-01 1.68298711e-03 -1.43529499e-01] [ 4.08004677e-01 -1.44193299e-03 9.12978699e-01 1.18732685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.216502481 meters Centerline goodness : 0.534188 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:1.19 [[ 9.12580823e-01 1.71780135e-03 -4.08892761e-01 4.21164552e+00] [-9.21967681e-04 9.99997278e-01 2.14341443e-03 -1.43912470e-01] [ 4.08895330e-01 -1.57905299e-03 9.12579923e-01 1.18773198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.246502481 meters Centerline goodness : 0.532741 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:1.19 [[ 9.12250915e-01 2.34806058e-03 -4.09625139e-01 4.21311015e+00] [-1.49833173e-03 9.99996009e-01 2.39535278e-03 -1.44022116e-01] [ 4.09629128e-01 -1.57140842e-03 9.12250792e-01 1.18825964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.276502481 meters Centerline goodness : 0.532534 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:1.19 [[ 9.11845586e-01 3.06826899e-03 -4.10521879e-01 4.21448614e+00] [-2.32219643e-03 9.99994622e-01 2.31599817e-03 -1.43034148e-01] [ 4.10526777e-01 -1.15852026e-03 9.11847807e-01 1.18941801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.306502481 meters Centerline goodness : 0.530557 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.14, Z:1.19 [[ 9.11312081e-01 3.95050771e-03 -4.11697321e-01 4.21601912e+00] [-3.32257663e-03 9.99991969e-01 2.24089814e-03 -1.41652367e-01] [ 4.11702867e-01 -6.74261653e-04 9.11317889e-01 1.19100641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.336502481 meters Centerline goodness : 0.529646 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.14, Z:1.19 [[ 9.11017187e-01 4.33301566e-03 -4.12345619e-01 4.21685388e+00] [-3.76714814e-03 9.99990517e-01 2.18515204e-03 -1.41051962e-01] [ 4.12351177e-01 -4.37344035e-04 9.11024871e-01 1.19185095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.366502481 meters Centerline goodness : 0.526827 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.14, Z:1.19 [[ 9.10848264e-01 4.58084699e-03 -4.12715951e-01 4.21719429e+00] [-4.08084548e-03 9.99989483e-01 2.09288687e-03 -1.40716027e-01] [ 4.12721198e-01 -2.22072347e-04 9.10857378e-01 1.19247399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.396502481 meters Centerline goodness : 0.525504 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.14, Z:1.19 [[ 9.10727225e-01 4.68502715e-03 -4.12981807e-01 4.21711425e+00] [-4.35226656e-03 9.99989004e-01 1.74644010e-03 -1.40908109e-01] [ 4.12985448e-01 2.06876366e-04 9.10737601e-01 1.19341638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.426502481 meters Centerline goodness : 0.527085 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.14, Z:1.20 [[ 9.09871942e-01 7.75894266e-05 -4.14889194e-01 4.22903004e+00] [ 1.63736180e-03 9.99991524e-01 3.77782394e-03 -1.38396110e-01] [ 4.14885971e-01 -4.11665972e-03 9.09864102e-01 1.20007248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.456502481 meters Centerline goodness : 0.522617 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.14, Z:1.21 [[ 9.10050877e-01 -1.09975410e-03 -4.14495105e-01 4.24998434e+00] [ 3.91721063e-03 9.99974642e-01 5.94731935e-03 -1.40074002e-01] [ 4.14478054e-01 -7.03602782e-03 9.10032108e-01 1.20973210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.486502481 meters Centerline goodness : 0.524983 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.14, Z:1.21 [[ 9.09928361e-01 -7.21005972e-04 -4.14764822e-01 4.25003753e+00] [ 3.68519688e-03 9.99973071e-01 6.34643648e-03 -1.41832245e-01] [ 4.14749077e-01 -7.30329258e-03 9.09906514e-01 1.21019312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.516502481 meters Centerline goodness : 0.521147 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.14, Z:1.21 [[ 9.09312967e-01 -4.82495495e-03 -4.16084905e-01 4.25144556e+00] [ 6.83802453e-03 9.99971015e-01 3.34808895e-03 -1.44209977e-01] [ 4.16056690e-01 -5.88965948e-03 9.09319604e-01 1.21151161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54650248099998 meters Centerline goodness : 0.519342 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.15, Z:1.21 [[ 9.08592679e-01 -8.76453266e-03 -4.17591339e-01 4.25375843e+00] [ 9.80172922e-03 9.99951904e-01 3.39251020e-04 -1.45573644e-01] [ 4.17568281e-01 -4.40135822e-03 9.08634887e-01 1.21269716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57650248099998 meters Centerline goodness : 0.518753 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.15, Z:1.21 [[ 9.08416632e-01 -8.01396424e-03 -4.17989234e-01 4.25598491e+00] [ 9.39511603e-03 9.99955088e-01 1.24662384e-03 -1.48716059e-01] [ 4.17960471e-01 -5.05951118e-03 9.08451125e-01 1.21214523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60650248099998 meters Centerline goodness : 0.518753 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.15, Z:1.21 [[ 9.08416632e-01 -8.01396424e-03 -4.17989234e-01 4.25598491e+00] [ 9.39511603e-03 9.99955088e-01 1.24662384e-03 -1.48716059e-01] [ 4.17960471e-01 -5.05951118e-03 9.08451125e-01 1.21214523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63650248099998 meters Centerline goodness : 0.521394 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.15, Z:1.21 [[ 9.07781742e-01 -1.18735927e-02 -4.19274764e-01 4.25781081e+00] [ 1.24568301e-02 9.99921504e-01 -1.34655804e-03 -1.52133503e-01] [ 4.19257841e-01 -4.00045367e-03 9.07858392e-01 1.21313038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66650248099998 meters Centerline goodness : 0.520554 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.16, Z:1.21 [[ 9.07508925e-01 -1.62563556e-02 -4.19718097e-01 4.25731440e+00] [ 1.58559516e-02 9.99864416e-01 -4.44282465e-03 -1.55130090e-01] [ 4.19733414e-01 -2.62312680e-03 9.07643642e-01 1.21426007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69650248099998 meters Centerline goodness : 0.523700 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.16, Z:1.22 [[ 9.07003441e-01 -2.01819994e-02 -4.20639328e-01 4.25726287e+00] [ 1.87619784e-02 9.99795743e-01 -7.51403373e-03 -1.56149570e-01] [ 4.20705057e-01 -1.07677151e-03 9.07196834e-01 1.21587228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72650248099998 meters Centerline goodness : 0.521366 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.16, Z:1.22 [[ 9.07077344e-01 -2.06690816e-02 -4.20456277e-01 4.25680646e+00] [ 1.93289999e-02 9.99785432e-01 -7.44845292e-03 -1.61021556e-01] [ 4.20520013e-01 -1.37067643e-03 9.07282227e-01 1.21586745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75650248099998 meters Centerline goodness : 0.524491 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.16, Z:1.22 [[ 9.07074473e-01 -2.00455979e-02 -4.20492658e-01 4.25715724e+00] [ 1.89988304e-02 9.99797202e-01 -6.67830607e-03 -1.63399466e-01] [ 4.20541253e-01 -1.93114773e-03 9.07271362e-01 1.21574782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78650248099999 meters Centerline goodness : 0.528667 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:1.22 [[ 9.07379097e-01 -2.00314651e-02 -4.19835581e-01 4.25492184e+00] [ 1.91286665e-02 9.99796797e-01 -6.36068651e-03 -1.66888033e-01] [ 4.19877683e-01 -2.25934082e-03 9.07577890e-01 1.21605982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.816502481 meters Centerline goodness : 0.526211 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:1.22 [[ 9.07492448e-01 -1.97795430e-02 -4.19602463e-01 4.25468921e+00] [ 1.90495886e-02 9.99800954e-01 -5.93001328e-03 -1.68722127e-01] [ 4.19636235e-01 -2.61181203e-03 9.07688608e-01 1.21587335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.846502481 meters Centerline goodness : 0.525442 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:1.22 [[ 9.07585538e-01 -1.94172265e-02 -4.19418005e-01 4.25491108e+00] [ 1.88994134e-02 9.99806862e-01 -5.38994976e-03 -1.70845147e-01] [ 4.19441657e-01 -3.03491382e-03 9.07777222e-01 1.21553851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.876502481 meters Centerline goodness : 0.528438 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.18, Z:1.21 [[ 9.07840882e-01 -1.93187541e-02 -4.18869572e-01 4.25546472e+00] [ 1.90031353e-02 9.99807291e-01 -4.92565761e-03 -1.75138365e-01] [ 4.18884010e-01 -3.48812180e-03 9.08033050e-01 1.21455912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.906502481 meters Centerline goodness : 0.529897 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.18, Z:1.21 [[ 9.07869050e-01 -1.88910353e-02 -4.18828028e-01 4.25583112e+00] [ 1.87809085e-02 9.99814004e-01 -4.38584804e-03 -1.77038698e-01] [ 4.18832981e-01 -3.88419520e-03 9.08054980e-01 1.21434521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.936502481 meters Centerline goodness : 0.531492 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.18, Z:1.21 [[ 9.07950408e-01 -1.83143566e-02 -4.18677252e-01 4.25604592e+00] [ 1.84703675e-02 9.99822634e-01 -3.68047352e-03 -1.79716962e-01] [ 4.18670398e-01 -4.39143526e-03 9.08127641e-01 1.21416350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.966502481 meters Centerline goodness : 0.533837 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.18, Z:1.22 [[ 9.07767193e-01 -2.29629462e-02 -4.18845350e-01 4.26889051e+00] [ 2.47656257e-02 9.99692643e-01 -1.13279502e-03 -1.78501773e-01] [ 4.18742627e-01 -9.34465298e-03 9.08056876e-01 1.21993532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.996502481 meters Centerline goodness : 0.533494 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.18, Z:1.22 [[ 9.07100292e-01 -2.66666086e-02 -4.20068985e-01 4.27159137e+00] [ 2.75387498e-02 9.99612776e-01 -3.98952260e-03 -1.80015739e-01] [ 4.20012711e-01 -7.94927755e-03 9.07483406e-01 1.22069343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.026502481 meters Centerline goodness : 0.534553 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.18, Z:1.22 [[ 9.06799251e-01 -2.60708316e-02 -4.20755785e-01 4.27334871e+00] [ 2.71404090e-02 9.99625690e-01 -3.44658476e-03 -1.81957359e-01] [ 4.20688147e-01 -8.29412362e-03 9.07167399e-01 1.22100570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.056502481 meters Centerline goodness : 0.538102 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.18, Z:1.22 [[ 9.06403651e-01 -2.47316167e-02 -4.21688000e-01 4.27611745e+00] [ 2.62052969e-02 9.99653933e-01 -2.30141977e-03 -1.83919410e-01] [ 4.21598985e-01 -8.96444394e-03 9.06738074e-01 1.22105946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.086502481 meters Centerline goodness : 0.540194 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.19, Z:1.23 [[ 9.05327796e-01 -1.99829742e-02 -4.24243165e-01 4.28509898e+00] [ 2.11020715e-02 9.99775203e-01 -2.06058764e-03 -1.89254907e-01] [ 4.24188973e-01 -7.08690235e-03 9.05545963e-01 1.22636157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.116502481 meters Centerline goodness : 0.541025 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.20, Z:1.24 [[ 9.04225983e-01 -1.32064334e-02 -4.26850045e-01 4.30208142e+00] [ 1.29428700e-02 9.99910046e-01 -3.51872070e-03 -1.96519993e-01] [ 4.26858118e-01 -2.34294593e-03 9.04315574e-01 1.23551151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.146502481 meters Centerline goodness : 0.542094 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.20, Z:1.24 [[ 9.03261467e-01 -7.17594544e-03 -4.29030567e-01 4.31334096e+00] [ 6.00363840e-03 9.99973631e-01 -4.08572517e-03 -2.03614439e-01] [ 4.29048573e-01 1.11473373e-03 9.03280731e-01 1.24323173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.176502481 meters Centerline goodness : 0.540606 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.21, Z:1.26 [[ 9.03608412e-01 1.27793865e-04 -4.28359454e-01 4.33448606e+00] [-3.72911255e-03 9.99964408e-01 -7.56810227e-03 -2.10790292e-01] [ 4.28343240e-01 8.43600149e-03 9.03576727e-01 1.25578403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.206502481 meters Centerline goodness : 0.544376 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.21, Z:1.26 [[ 9.03087200e-01 1.21495897e-03 -4.29455508e-01 4.33605480e+00] [-4.73911314e-03 9.99963303e-01 -7.13675336e-03 -2.13546954e-01] [ 4.29431077e-01 8.48034885e-03 9.03059817e-01 1.25732371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.236502481 meters Centerline goodness : 0.541699 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.22, Z:1.26 [[ 9.02445268e-01 -1.45276299e-03 -4.30802076e-01 4.33798326e+00] [-3.03416571e-03 9.99948078e-01 -9.72803121e-03 -2.15473163e-01] [ 4.30793840e-01 1.00861406e-02 9.02394003e-01 1.25924778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.266502481 meters Centerline goodness : 0.547850 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.22, Z:1.26 [[ 9.02128076e-01 -4.96418877e-03 -4.31439788e-01 4.33816741e+00] [-6.74093097e-04 9.99916375e-01 -1.29146456e-02 -2.16947036e-01] [ 4.31467819e-01 1.19414950e-02 9.02049290e-01 1.26071590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29650248099998 meters Centerline goodness : 0.553272 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.22, Z:1.26 [[ 9.02048471e-01 -8.79861338e-03 -4.31545061e-01 4.33739372e+00] [ 1.98623673e-03 9.99866245e-01 -1.62341209e-02 -2.17824042e-01] [ 4.31630178e-01 1.37868133e-02 9.01945294e-01 1.26183677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32650248099998 meters Centerline goodness : 0.554772 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.22, Z:1.26 [[ 0.90189712 -0.01325902 -0.43174735 4.33677055] [ 0.00504407 0.99978391 -0.02016672 -0.2193685 ] [ 0.43192144 0.01601054 0.90176911 1.26338477] [ 0. 0. 0. 1. ]] SLAMing on 135.35650248099998 meters Centerline goodness : 0.557880 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.22, Z:1.26 [[ 0.90146506 -0.01763349 -0.43249256 4.33719507] [ 0.00817378 0.99968518 -0.02372193 -0.22162882] [ 0.4327747 0.01784939 0.90132539 1.26485271] [ 0. 0. 0. 1. ]] SLAMing on 135.38650248099998 meters Centerline goodness : 0.556622 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:1.27 [[ 0.90140666 -0.01779955 -0.43260744 4.3373763 ] [ 0.0082844 0.99968075 -0.02386979 -0.22611881] [ 0.43289421 0.0179325 0.90126635 1.26538614] [ 0. 0. 0. 1. ]] SLAMing on 135.41650248099998 meters Centerline goodness : 0.558369 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:1.27 [[ 0.90135246 -0.0176359 -0.43272708 4.33737535] [ 0.00820345 0.99968652 -0.02365502 -0.22824271] [ 0.43300861 0.01777166 0.90121458 1.26572615] [ 0. 0. 0. 1. ]] SLAMing on 135.44650248099998 meters Centerline goodness : 0.561935 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:1.27 [[ 0.90100593 -0.0214725 -0.43327502 4.33872099] [ 0.01127309 0.99959588 -0.02609591 -0.23141503] [ 0.43366027 0.01862823 0.90088388 1.26585075] [ 0. 0. 0. 1. ]] SLAMing on 135.47650248099998 meters Centerline goodness : 0.563633 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:1.27 [[ 0.90095566 -0.02282872 -0.43331022 4.33893457] [ 0.01244485 0.99956373 -0.02678567 -0.23484374] [ 0.43373266 0.01874022 0.9008467 1.26581947] [ 0. 0. 0. 1. ]] SLAMing on 135.50650248099998 meters Centerline goodness : 0.570337 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.24, Z:1.27 [[ 0.90079466 -0.02438841 -0.4335599 4.33886828] [ 0.01394155 0.99953117 -0.0272592 -0.24052952] [ 0.43402144 0.01851045 0.90071236 1.26598232] [ 0. 0. 0. 1. ]] SLAMing on 135.53650248099999 meters Centerline goodness : 0.563743 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.24, Z:1.27 [[ 0.90081322 -0.02581908 -0.43343848 4.3381163 ] [ 0.01522122 0.99949472 -0.02790375 -0.24468492] [ 0.43393992 0.0185386 0.90075105 1.26624311] [ 0. 0. 0. 1. ]] SLAMing on 135.566502481 meters Centerline goodness : 0.569385 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.25, Z:1.27 [[ 0.90074264 -0.03050525 -0.43328065 4.33808013] [ 0.01904125 0.99934497 -0.03077452 -0.24900715] [ 0.43393562 0.01946972 0.90073349 1.26610849] [ 0. 0. 0. 1. ]] SLAMing on 135.596502481 meters Centerline goodness : 0.566341 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.25, Z:1.27 [[ 0.90041309 -0.03549024 -0.43358588 4.33805479] [ 0.02285241 0.99914937 -0.0343264 -0.25133562] [ 0.43443531 0.02099946 0.90045821 1.26686225] [ 0. 0. 0. 1. ]] SLAMing on 135.626502481 meters Centerline goodness : 0.571225 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.25, Z:1.27 [[ 0.90015677 -0.04030941 -0.43369683 4.33780084] [ 0.0265599 0.99893537 -0.03771855 -0.25379494] [ 0.43475552 0.02243366 0.90026905 1.26748331] [ 0. 0. 0. 1. ]] SLAMing on 135.656502481 meters Centerline goodness : 0.578356 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.26, Z:1.27 [[ 0.90058087 -0.04159796 -0.43269356 4.33574084] [ 0.02783235 0.99888619 -0.03810167 -0.25848853] [ 0.43379657 0.02227076 0.90073556 1.26723153] [ 0. 0. 0. 1. ]] SLAMing on 135.686502481 meters Centerline goodness : 0.582557 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.26, Z:1.27 [[ 0.90125967 -0.0468925 -0.43073438 4.34847053] [ 0.03466488 0.99874325 -0.03619749 -0.26020447] [ 0.43189044 0.01769198 0.90175254 1.27275918] [ 0. 0. 0. 1. ]] SLAMing on 135.716502481 meters Centerline goodness : 0.584614 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.26, Z:1.27 [[ 0.90067864 -0.04984384 -0.4316174 4.34959582] [ 0.03689336 0.99858382 -0.03833069 -0.26162966] [ 0.4329167 0.01859982 0.90124202 1.27377012] [ 0. 0. 0. 1. ]] SLAMing on 135.746502481 meters Centerline goodness : 0.588247 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.26, Z:1.27 [[ 0.90075365 -0.04961745 -0.43148693 4.34990579] [ 0.03683163 0.99860091 -0.03794276 -0.26334718] [ 0.43276586 0.01828471 0.90132091 1.27349583] [ 0. 0. 0. 1. ]] SLAMing on 135.776502481 meters Centerline goodness : 0.590449 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.26, Z:1.28 [[ 0.9011605 -0.05475933 -0.430013 4.36330106] [ 0.04354189 0.99840668 -0.03589158 -0.26358718] [ 0.43129325 0.0136205 0.90210898 1.27858619] [ 0. 0. 0. 1. ]] SLAMing on 135.806502481 meters Centerline goodness : 0.587976 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.26, Z:1.28 [[ 0.90132342 -0.05526656 -0.42960645 4.3636882 ] [ 0.04401818 0.99837882 -0.036085 -0.2641208 ] [ 0.43090428 0.01361377 0.90229494 1.27788488] [ 0. 0. 0. 1. ]] SLAMing on 135.836502481 meters Centerline goodness : 0.589680 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:1.28 [[ 0.90146063 -0.05511714 -0.42933767 4.36462266] [ 0.04404779 0.99839187 -0.03568555 -0.26591972] [ 0.43061413 0.01325775 0.90243875 1.27701697] [ 0. 0. 0. 1. ]] SLAMing on 135.866502481 meters Centerline goodness : 0.590262 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:1.28 [[ 0.9015396 -0.0551858 -0.42916301 4.3650042 ] [ 0.04424263 0.99839192 -0.03544242 -0.26604275] [ 0.4304288 0.01296544 0.90253141 1.27665084] [ 0. 0. 0. 1. ]] SLAMing on 135.896502481 meters Centerline goodness : 0.596832 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:1.28 [[ 0.90145674 -0.05607154 -0.42922223 4.36675232] [ 0.04497583 0.99834066 -0.03595978 -0.26567653] [ 0.43052633 0.01311156 0.90248278 1.27587249] [ 0. 0. 0. 1. ]] SLAMing on 135.926502481 meters Centerline goodness : 0.597465 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:1.28 [[ 0.90133846 -0.05670582 -0.42938727 4.36821072] [ 0.0454603 0.99830236 -0.03641104 -0.26539158] [ 0.43072304 0.0132986 0.90238618 1.27541354] [ 0. 0. 0. 1. ]] SLAMing on 135.956502481 meters Centerline goodness : 0.599598 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.26, Z:1.27 [[ 0.90147509 -0.05705191 -0.42905447 4.36937783] [ 0.04552792 0.99827449 -0.03708429 -0.26434486] [ 0.43042986 0.01389661 0.90251705 1.27418277] [ 0. 0. 0. 1. ]] SLAMing on 135.986502481 meters Centerline goodness : 0.600609 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.26, Z:1.27 [[ 0.90164685 -0.05714149 -0.42868147 4.36942432] [ 0.04542238 0.99826274 -0.03752734 -0.26339691] [ 0.43008111 0.01436467 0.90267596 1.27357773] [ 0. 0. 0. 1. ]] SLAMing on 136.016502481 meters Centerline goodness : 0.602779 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.26, Z:1.28 [[ 0.90232091 -0.05534854 -0.42749681 4.39762466] [ 0.04430622 0.99837836 -0.03574378 -0.26220969] [ 0.42878193 0.01331159 0.90330995 1.28468101] [ 0. 0. 0. 1. ]] SLAMing on 136.04650248099998 meters Centerline goodness : 0.599162 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.26, Z:1.29 [[ 0.90075591 -0.05807444 -0.43042554 4.41208866] [ 0.04796394 0.9982595 -0.03431387 -0.25837053] [ 0.43166914 0.01026351 0.90197362 1.29311951] [ 0. 0. 0. 1. ]] SLAMing on 136.07650248099998 meters Centerline goodness : 0.599879 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.26, Z:1.30 [[ 0.89941134 -0.06039357 -0.43291091 4.42790017] [ 0.05078985 0.99813975 -0.03372576 -0.25512431] [ 0.43414241 0.00834585 0.90080559 1.30243721] [ 0. 0. 0. 1. ]] SLAMing on 136.10650248099998 meters Centerline goodness : 0.600650 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.25, Z:1.30 [[ 0.89891026 -0.05873274 -0.43417832 4.43064456] [ 0.04927186 0.9982393 -0.03302409 -0.25377226] [ 0.43535345 0.00829292 0.90022142 1.30335079] [ 0. 0. 0. 1. ]] SLAMing on 136.13650248099998 meters Centerline goodness : 0.598262 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.25, Z:1.31 [[ 0.89843735 -0.06073653 -0.43488091 4.44866383] [ 0.05185261 0.998133 -0.03227738 -0.25135009] [ 0.4360294 0.0064495 0.89990931 1.31290264] [ 0. 0. 0. 1. ]] SLAMing on 136.16650248099998 meters Centerline goodness : 0.597165 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.25, Z:1.33 [[ 0.89793343 -0.05905845 -0.43615095 4.47664138] [ 0.04903247 0.99821082 -0.03421955 -0.25055117] [ 0.43739155 0.00934132 0.89922265 1.32878025] [ 0. 0. 0. 1. ]] SLAMing on 136.19650248099998 meters Centerline goodness : 0.594507 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.25, Z:1.33 [[ 0.89710617 -0.05710432 -0.43810914 4.48001598] [ 0.04729358 0.99832639 -0.03328254 -0.25336341] [ 0.43927649 0.00913822 0.89830544 1.33093592] [ 0. 0. 0. 1. ]] SLAMing on 136.22650248099998 meters Centerline goodness : 0.591909 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.25, Z:1.33 [[ 0.89628903 -0.05512357 -0.4400311 4.48348078] [ 0.04520544 0.99843258 -0.03299775 -0.25484497] [ 0.44116034 0.00968372 0.89737605 1.33339211] [ 0. 0. 0. 1. ]] SLAMing on 136.25650248099998 meters Centerline goodness : 0.588961 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.26, Z:1.34 [[ 0.89538098 -0.05822055 -0.44147851 4.48523084] [ 0.04692177 0.99823225 -0.03647917 -0.25660885] [ 0.44282192 0.01194781 0.89652998 1.33619018] [ 0. 0. 0. 1. ]] SLAMing on 136.28650248099999 meters Centerline goodness : 0.594599 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.26, Z:1.34 [[ 0.89573815 -0.05502633 -0.44116354 4.48394706] [ 0.04023456 0.99827222 -0.04282229 -0.26026424] [ 0.44275767 0.02060754 0.89640447 1.33626343] [ 0. 0. 0. 1. ]] SLAMing on 136.316502481 meters Centerline goodness : 0.595770 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.27, Z:1.33 [[ 0.89660809 -0.04847712 -0.44016349 4.48174822] [ 0.03153583 0.99845611 -0.04572618 -0.26751904] [ 0.4417006 0.02711754 0.89675259 1.33398394] [ 0. 0. 0. 1. ]] SLAMing on 136.346502481 meters Centerline goodness : 0.592038 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.27, Z:1.32 [[ 0.89598549 -0.04418144 -0.44188007 4.45306886] [ 0.02390722 0.99839459 -0.05134877 -0.2721703 ] [ 0.44343933 0.03544363 0.89560332 1.32369593] [ 0. 0. 0. 1. ]] SLAMing on 136.376502481 meters Centerline goodness : 0.592943 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.28, Z:1.31 [[ 0.89482256 -0.04044996 -0.44458564 4.42021537] [ 0.0167008 0.99822259 -0.0572079 -0.27555798] [ 0.44610949 0.04376598 0.89390764 1.31227783] [ 0. 0. 0. 1. ]] SLAMing on 136.406502481 meters Centerline goodness : 0.591808 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.28, Z:1.30 [[ 0.89366882 -0.03929931 -0.44700292 4.3796343 ] [ 0.01278849 0.99798347 -0.0621727 -0.27917549] [ 0.44854487 0.04984531 0.89236929 1.29674569] [ 0. 0. 0. 1. ]] SLAMing on 136.436502481 meters Centerline goodness : 0.592337 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:1.28 [[ 0.89256328 -0.03570521 -0.44950632 4.34653903] [ 0.0056541 0.99766795 -0.06801973 -0.28360484] [ 0.45088671 0.05817036 0.89068366 1.28478695] [ 0. 0. 0. 1. ]] SLAMing on 136.466502481 meters Centerline goodness : 0.595758 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.29, Z:1.28 [[ 8.92739564e-01 -3.05728148e-02 -4.49534620e-01 4.34049356e+00] [-2.31198828e-03 9.97371358e-01 -7.24225718e-02 -2.88131906e-01] [ 4.50567116e-01 6.56938139e-02 8.90322187e-01 1.28184563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.496502481 meters Centerline goodness : 0.595758 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.29, Z:1.27 [[ 8.90468323e-01 -3.47272679e-02 -4.53718176e-01 4.30695136e+00] [ 6.10455434e-04 9.97173945e-01 -7.51249064e-02 -2.88494130e-01] [ 4.55044826e-01 6.66193747e-02 8.87973009e-01 1.27061285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.526502481 meters Centerline goodness : 0.596439 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.29, Z:1.25 [[ 8.88654283e-01 -3.44310649e-02 -4.57283355e-01 4.26474665e+00] [-2.50828383e-03 9.96797475e-01 -7.99281131e-02 -2.91593195e-01] [ 4.58570903e-01 7.21754565e-02 8.85721982e-01 1.25436898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.556502481 meters Centerline goodness : 0.596025 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.29, Z:1.24 [[ 8.85955128e-01 -3.42493622e-02 -4.62504586e-01 4.23030245e+00] [-2.52698244e-03 9.96898076e-01 -7.86628230e-02 -2.94083064e-01] [ 4.63764084e-01 7.08604724e-02 8.83120415e-01 1.24111773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.586502481 meters Centerline goodness : 0.599130 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.30, Z:1.24 [[ 8.85750005e-01 -3.45268967e-02 -4.62876682e-01 4.23056041e+00] [-2.12005302e-03 9.96918234e-01 -7.84190072e-02 -2.95063051e-01] [ 4.64157769e-01 7.04409591e-02 8.82947131e-01 1.24155910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.616502481 meters Centerline goodness : 0.600311 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.30, Z:1.23 [[ 0.88723907 -0.02981385 -0.46034548 4.21766662] [-0.00741717 0.99685843 -0.07885596 -0.29932616] [ 0.46125027 0.07337855 0.88423061 1.23225091] [ 0. 0. 0. 1. ]] SLAMing on 136.646502481 meters Centerline goodness : 0.598467 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.30, Z:1.23 [[ 0.88719949 -0.03300523 -0.46020399 4.21592197] [-0.00481651 0.99672121 -0.08076902 -0.30040563] [ 0.46136088 0.07387481 0.88413158 1.2329928 ] [ 0. 0. 0. 1. ]] SLAMing on 136.676502481 meters Centerline goodness : 0.602525 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.30, Z:1.23 [[ 8.87061758e-01 -3.65500635e-02 -4.60201619e-01 4.21487754e+00] [-2.24742157e-03 9.96507215e-01 -8.34764637e-02 -3.00429201e-01] [ 4.61645303e-01 7.50830457e-02 8.83881299e-01 1.23358017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.706502481 meters Centerline goodness : 0.599628 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.30, Z:1.23 [[ 8.87108739e-01 -3.63223007e-02 -4.60129087e-01 4.21414774e+00] [-2.25489440e-03 9.96545827e-01 -8.30140385e-02 -3.03083224e-01] [ 4.61554982e-01 7.46800215e-02 8.83962608e-01 1.23364298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.736502481 meters Centerline goodness : 0.601716 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.30, Z:1.23 [[ 8.87070431e-01 -3.62457440e-02 -4.60208970e-01 4.21354530e+00] [-1.96972544e-03 9.96606581e-01 -8.22887746e-02 -3.04489051e-01] [ 4.61629907e-01 7.39024241e-02 8.83988835e-01 1.23416080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.766502481 meters Centerline goodness : 0.600919 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.23 [[ 8.87115005e-01 -3.59601940e-02 -4.60145447e-01 4.21255832e+00] [-1.67712187e-03 9.96702504e-01 -8.11252520e-02 -3.06958338e-01] [ 4.61545399e-01 7.27391483e-02 8.84129437e-01 1.23455829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79650248099998 meters Centerline goodness : 0.601510 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.24 [[ 8.87007046e-01 -3.60060816e-02 -4.60349934e-01 4.21229832e+00] [-1.35163911e-03 9.96748471e-01 -8.05646258e-02 -3.08199023e-01] [ 4.61753909e-01 7.20836178e-02 8.84074250e-01 1.23501513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82650248099998 meters Centerline goodness : 0.599199 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.23 [[ 8.86935795e-01 -3.52008302e-02 -4.60549451e-01 4.21279102e+00] [-1.78687172e-03 9.96822840e-01 -7.96306062e-02 -3.10837261e-01] [ 4.61889275e-01 7.14501778e-02 8.84054958e-01 1.23486140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85650248099998 meters Centerline goodness : 0.596009 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.24 [[ 8.86799843e-01 -3.56310256e-02 -4.60778112e-01 4.21320018e+00] [-1.16731734e-03 9.96847665e-01 -7.93307680e-02 -3.11876866e-01] [ 4.62152221e-01 7.08883869e-02 8.83962760e-01 1.23508514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88650248099998 meters Centerline goodness : 0.600844 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.23 [[ 8.86781716e-01 -3.98730698e-02 -4.60465336e-01 4.21301628e+00] [ 2.09954713e-03 9.96609025e-01 -8.22559663e-02 -3.13402893e-01] [ 4.62183707e-01 7.19763183e-02 8.83858377e-01 1.23474454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91650248099998 meters Centerline goodness : 0.595295 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.24 [[ 8.86512579e-01 -4.01921946e-02 -4.60955566e-01 4.21340857e+00] [ 2.62780801e-03 9.96641478e-01 -8.18465514e-02 -3.14452654e-01] [ 4.62697030e-01 7.13466947e-02 8.83640825e-01 1.23533543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94650248099998 meters Centerline goodness : 0.596591 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.24 [[ 8.86412419e-01 -4.02617023e-02 -4.61142080e-01 4.21385880e+00] [ 2.87776596e-03 9.96670308e-01 -8.14862866e-02 -3.15462286e-01] [ 4.62887396e-01 7.09033975e-02 8.83576803e-01 1.23538906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97650248099998 meters Centerline goodness : 0.594376 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 8.85901822e-01 -4.03792935e-02 -4.62111972e-01 4.21564039e+00] [ 3.21500696e-03 9.96714650e-01 -8.09294178e-02 -3.16498219e-01] [ 4.63861645e-01 7.02098255e-02 8.83121144e-01 1.23589895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00650248099998 meters Centerline goodness : 0.589013 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 8.85706281e-01 -4.09317926e-02 -4.62438073e-01 4.21641465e+00] [ 3.67907512e-03 9.96693171e-01 -8.11738055e-02 -3.16719353e-01] [ 4.64231459e-01 7.01948050e-02 8.82927994e-01 1.23604370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03650248099999 meters Centerline goodness : 0.589388 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.88545704 -0.04525327 -0.46251267 4.21696802] [ 0.00665152 0.9963797 -0.08475401 -0.31711479] [ 0.46467363 0.07196963 0.88255243 1.23589317] [ 0. 0. 0. 1. ]] SLAMing on 137.066502481 meters Centerline goodness : 0.588404 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.88532155 -0.04563507 -0.46273447 4.21744918] [ 0.00713619 0.9963885 -0.08461101 -0.31794252] [ 0.46492453 0.07160579 0.88244988 1.23603002] [ 0. 0. 0. 1. ]] SLAMing on 137.096502481 meters Centerline goodness : 0.584538 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.88520384 -0.04521321 -0.463001 4.21715003] [ 0.00727479 0.9964895 -0.08340115 -0.31959163] [ 0.46514647 0.07045878 0.88242525 1.23666632] [ 0. 0. 0. 1. ]] SLAMing on 137.126502481 meters Centerline goodness : 0.586585 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.88534053 -0.04475088 -0.46278451 4.2162285 ] [ 0.00708564 0.99654022 -0.08280928 -0.32041287] [ 0.46488917 0.07003529 0.88259454 1.23680278] [ 0. 0. 0. 1. ]] SLAMing on 137.156502481 meters Centerline goodness : 0.585636 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.8853969 -0.04486932 -0.46266519 4.21526631] [ 0.00737387 0.99656086 -0.0825353 -0.32118917] [ 0.46477732 0.06966487 0.88268275 1.23717899] [ 0. 0. 0. 1. ]] SLAMing on 137.186502481 meters Centerline goodness : 0.583310 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.24 [[ 0.88569085 -0.04933572 -0.46164673 4.21486223] [ 0.0105352 0.99621761 -0.08625249 -0.32216725] [ 0.46415593 0.0715295 0.88286058 1.23594477] [ 0. 0. 0. 1. ]] SLAMing on 137.216502481 meters Centerline goodness : 0.583632 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.88560565 -0.04987892 -0.4617518 4.21523769] [ 0.01113228 0.99621039 -0.08626081 -0.32295558] [ 0.46430454 0.07125271 0.88280482 1.23601092] [ 0. 0. 0. 1. ]] SLAMing on 137.246502481 meters Centerline goodness : 0.582419 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88602895 -0.04922591 -0.46100922 4.21364898] [ 0.01118063 0.99632692 -0.08489795 -0.32531676] [ 0.46349508 0.07006767 0.88332487 1.23583388] [ 0. 0. 0. 1. ]] SLAMing on 137.276502481 meters Centerline goodness : 0.580348 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88624503 -0.0489395 -0.46062422 4.2127939 ] [ 0.01126102 0.9963856 -0.08419573 -0.32639201] [ 0.46307983 0.06943095 0.8835929 1.23580267] [ 0. 0. 0. 1. ]] SLAMing on 137.306502481 meters Centerline goodness : 0.580002 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88633217 -0.04877004 -0.4604745 4.21249112] [ 0.01141489 0.99643707 -0.08356356 -0.32729526] [ 0.46290926 0.06880881 0.88373093 1.23582606] [ 0. 0. 0. 1. ]] SLAMing on 137.336502481 meters Centerline goodness : 0.576571 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88621358 -0.05233419 -0.46031143 4.21275692] [ 0.01437074 0.99622622 -0.08559671 -0.32854651] [ 0.46305395 0.06924196 0.88362129 1.23579811] [ 0. 0. 0. 1. ]] SLAMing on 137.366502481 meters Centerline goodness : 0.576725 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.8862387 -0.0569856 -0.45971034 4.21269264] [ 0.01808815 0.99590469 -0.08858144 -0.32976474] [ 0.46287555 0.07018899 0.88364004 1.23528688] [ 0. 0. 0. 1. ]] SLAMing on 137.396502481 meters Centerline goodness : 0.576976 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88620643 -0.05770036 -0.45968341 4.21293322] [ 0.018918 0.99589338 -0.0885352 -0.33076516] [ 0.46290417 0.06976417 0.88365869 1.2352826 ] [ 0. 0. 0. 1. ]] SLAMing on 137.426502481 meters Centerline goodness : 0.574147 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.8862016 -0.05814161 -0.45963712 4.21327818] [ 0.01953321 0.99590104 -0.08831517 -0.33168919] [ 0.46288787 0.06928686 0.88370479 1.23518003] [ 0. 0. 0. 1. ]] SLAMing on 137.456502481 meters Centerline goodness : 0.573112 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88623135 -0.05854421 -0.45952864 4.21346696] [ 0.02013066 0.99591205 -0.08805644 -0.33224694] [ 0.4628053 0.06878776 0.88378702 1.23512829] [ 0. 0. 0. 1. ]] SLAMing on 137.486502481 meters Centerline goodness : 0.572803 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88612251 -0.05870904 -0.45971746 4.21418211] [ 0.0203787 0.99592038 -0.08790509 -0.33172711] [ 0.46300281 0.06852623 0.88370389 1.23517296] [ 0. 0. 0. 1. ]] SLAMing on 137.516502481 meters Centerline goodness : 0.569595 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.88618423 -0.05933755 -0.45951774 4.21488988] [ 0.0206714 0.99584137 -0.08872806 -0.33096762] [ 0.46287168 0.06913053 0.88372551 1.23455989] [ 0. 0. 0. 1. ]] SLAMing on 137.54650248099998 meters Centerline goodness : 0.568914 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:1.23 [[ 0.88617144 -0.06001383 -0.45945459 4.21568275] [ 0.02103157 0.99576457 -0.08950192 -0.33024794] [ 0.46287995 0.069651 0.88368031 1.23410363] [ 0. 0. 0. 1. ]] SLAMing on 137.57650248099998 meters Centerline goodness : 0.571609 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:1.23 [[ 0.88650308 -0.06046416 -0.45875525 4.21588835] [ 0.02097968 0.99565844 -0.09068692 -0.32907366] [ 0.46224684 0.07076969 0.88392279 1.23291083] [ 0. 0. 0. 1. ]] SLAMing on 137.60650248099998 meters Centerline goodness : 0.571522 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.88687398 -0.05997293 -0.45810238 4.21467398] [ 0.02046282 0.995665 -0.090733 -0.32858449] [ 0.46155803 0.07109467 0.8842566 1.23247027] [ 0. 0. 0. 1. ]] SLAMing on 137.63650248099998 meters Centerline goodness : 0.568689 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.88781423 -0.05445603 -0.45696874 4.21222516] [ 0.01607335 0.99603766 -0.08746792 -0.32760311] [ 0.45992123 0.07031025 0.8851717 1.231724 ] [ 0. 0. 0. 1. ]] SLAMing on 137.66650248099998 meters Centerline goodness : 0.573059 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.88815116 -0.05019877 -0.45680149 4.21188468] [ 0.01291984 0.99635065 -0.08437101 -0.32730443] [ 0.45936978 0.0690324 0.88555854 1.23146649] [ 0. 0. 0. 1. ]] SLAMing on 137.69650248099998 meters Centerline goodness : 0.569677 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.8887847 -0.04555972 -0.45605489 4.21083697] [ 0.00911974 0.99660804 -0.08178775 -0.32619688] [ 0.4582342 0.0685326 0.88618548 1.23058475] [ 0. 0. 0. 1. ]] SLAMing on 137.72650248099998 meters Centerline goodness : 0.573151 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.88922894 -0.04543509 -0.45520056 4.20952499] [ 0.00863978 0.99654608 -0.08259089 -0.32527426] [ 0.45738086 0.06950938 0.88655017 1.22985219] [ 0. 0. 0. 1. ]] SLAMing on 137.75650248099998 meters Centerline goodness : 0.570259 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.23 [[ 0.88961894 -0.04532364 -0.45444901 4.20858279] [ 0.00832482 0.99650741 -0.08308837 -0.32464781] [ 0.45662767 0.07013379 0.88688918 1.22911042] [ 0. 0. 0. 1. ]] SLAMing on 137.78650248099999 meters Centerline goodness : 0.569785 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.23 [[ 0.88989566 -0.04509389 -0.4539298 4.20900384] [ 0.00750569 0.99641464 -0.08427058 -0.32264711] [ 0.45610239 0.07158497 0.88704352 1.22795408] [ 0. 0. 0. 1. ]] SLAMing on 137.816502481 meters Centerline goodness : 0.570234 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.23 [[ 0.89005972 -0.04129436 -0.45396969 4.20975335] [ 0.00445474 0.99662878 -0.08192214 -0.3210195 ] [ 0.45582218 0.07089328 0.88724308 1.22748494] [ 0. 0. 0. 1. ]] SLAMing on 137.846502481 meters Centerline goodness : 0.574726 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.23 [[ 0.89019826 -0.04114251 -0.45371176 4.20985978] [ 0.00421196 0.99661447 -0.08210882 -0.32032377] [ 0.45555387 0.07118211 0.88735775 1.22700425] [ 0. 0. 0. 1. ]] SLAMing on 137.876502481 meters Centerline goodness : 0.574241 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:1.22 [[ 8.91284118e-01 -3.64737492e-02 -4.51975979e-01 4.19794245e+00] [-1.10695064e-03 9.96581715e-01 -8.26054499e-02 -3.22969203e-01] [ 4.53443927e-01 7.41252407e-02 8.88197081e-01 1.21713961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.906502481 meters Centerline goodness : 0.574034 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:1.22 [[ 8.91357622e-01 -3.66615022e-02 -4.51815809e-01 4.19791103e+00] [-9.37221248e-04 9.96572928e-01 -8.27134845e-02 -3.22957973e-01] [ 4.53299804e-01 7.41507462e-02 8.88268515e-01 1.21693165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.936502481 meters Centerline goodness : 0.575495 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.32, Z:1.20 [[ 8.89920811e-01 -3.76280260e-02 -4.54560317e-01 4.16483490e+00] [ 2.03647470e-04 9.96624010e-01 -8.21007965e-02 -3.24570828e-01] [ 4.56115016e-01 7.29706373e-02 8.86924111e-01 1.20322618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.966502481 meters Centerline goodness : 0.579133 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 8.90191000e-01 -3.76479360e-02 -4.54029313e-01 4.13831832e+00] [ 5.08537891e-04 9.96661286e-01 -8.16457074e-02 -3.26357319e-01] [ 4.55587232e-01 7.24493827e-02 8.87238052e-01 1.18960626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.996502481 meters Centerline goodness : 0.584296 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 8.89781613e-01 -3.94644420e-02 -4.54677072e-01 4.13989554e+00] [ 2.12059001e-03 9.96601072e-01 -8.23517293e-02 -3.26414167e-01] [ 4.56381622e-01 7.23108709e-02 8.86840997e-01 1.18996105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.026502481 meters Centerline goodness : 0.578401 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 8.89686721e-01 -4.01698025e-02 -4.54800974e-01 4.14044991e+00] [ 2.86004596e-03 9.96592907e-01 -8.24281334e-02 -3.26929746e-01] [ 4.56562547e-01 7.20344640e-02 8.86770363e-01 1.19003523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.056502481 meters Centerline goodness : 0.581479 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 8.89629542e-01 -4.10718983e-02 -4.54832252e-01 4.14101604e+00] [ 3.68896044e-03 9.96561411e-01 -8.27752663e-02 -3.27183002e-01] [ 4.56668008e-01 7.19614641e-02 8.86721985e-01 1.18992168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.086502481 meters Centerline goodness : 0.579176 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88945084 -0.04182952 -0.45511262 4.14215675] [ 0.00468061 0.99658431 -0.08244876 -0.32795207] [ 0.45700689 0.07120391 0.88660854 1.18998861] [ 0. 0. 0. 1. ]] SLAMing on 138.116502481 meters Centerline goodness : 0.579491 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88942588 -0.04163188 -0.45517951 4.14178698] [ 0.00476692 0.99663407 -0.08184009 -0.32852094] [ 0.45705457 0.07062089 0.8866306 1.19035099] [ 0. 0. 0. 1. ]] SLAMing on 138.146502481 meters Centerline goodness : 0.584501 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.8897581 -0.04171627 -0.45452203 4.1395929 ] [ 0.00527274 0.99668757 -0.08115475 -0.32976125] [ 0.45640193 0.06981152 0.88703079 1.19061457] [ 0. 0. 0. 1. ]] SLAMing on 138.176502481 meters Centerline goodness : 0.585404 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88968165 -0.04185776 -0.45465865 4.13962683] [ 0.00548345 0.99669659 -0.08102992 -0.32994891] [ 0.45654846 0.06959773 0.88697219 1.19088308] [ 0. 0. 0. 1. ]] SLAMing on 138.206502481 meters Centerline goodness : 0.586659 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88966201 -0.04262663 -0.45462565 4.140229 ] [ 0.00616518 0.99666371 -0.08138451 -0.33033586] [ 0.45657804 0.06960186 0.88695664 1.19061948] [ 0. 0. 0. 1. ]] SLAMing on 138.236502481 meters Centerline goodness : 0.589166 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88969222 -0.04286556 -0.45454406 4.14015639] [ 0.0064654 0.99666584 -0.08133517 -0.33121013] [ 0.45651501 0.06942446 0.88700298 1.19060459] [ 0. 0. 0. 1. ]] SLAMing on 138.266502481 meters Centerline goodness : 0.589679 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.889754 -0.04323365 -0.45438824 4.14018064] [ 0.00702791 0.99668365 -0.08106979 -0.33273196] [ 0.45638627 0.06893877 0.88710711 1.19043882] [ 0. 0. 0. 1. ]] SLAMing on 138.29650248099998 meters Centerline goodness : 0.592835 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88971497 -0.04317438 -0.45447029 4.14073258] [ 0.00706062 0.99670019 -0.08086331 -0.33310838] [ 0.45646185 0.06873645 0.88708392 1.19033442] [ 0. 0. 0. 1. ]] SLAMing on 138.32650248099998 meters Centerline goodness : 0.594963 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88975376 -0.04337091 -0.45437562 4.14181659] [ 0.00728783 0.99669837 -0.08086557 -0.33351509] [ 0.45638266 0.06863903 0.88713221 1.18969704] [ 0. 0. 0. 1. ]] SLAMing on 138.35650248099998 meters Centerline goodness : 0.589301 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.89000095 -0.04317704 -0.45390974 4.14175668] [ 0.00715625 0.99670645 -0.08077767 -0.33419942] [ 0.45590251 0.06864391 0.88737868 1.18900754] [ 0. 0. 0. 1. ]] SLAMing on 138.38650248099998 meters Centerline goodness : 0.594210 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.8900778 -0.04270547 -0.45380365 4.14195173] [ 0.00692181 0.99675284 -0.0802238 -0.33486762] [ 0.45575607 0.06826428 0.88748318 1.18877743] [ 0. 0. 0. 1. ]] SLAMing on 138.41650248099998 meters Centerline goodness : 0.594210 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.8900778 -0.04270547 -0.45380365 4.14195173] [ 0.00692181 0.99675284 -0.0802238 -0.33486762] [ 0.45575607 0.06826428 0.88748318 1.18877743] [ 0. 0. 0. 1. ]] SLAMing on 138.44650248099998 meters Centerline goodness : 0.592745 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89027821 -0.0420338 -0.45347312 4.14147634] [ 0.00658201 0.99681507 -0.07947573 -0.33595124] [ 0.45536951 0.06777074 0.8877194 1.18849917] [ 0. 0. 0. 1. ]] SLAMing on 138.47650248099998 meters Centerline goodness : 0.592781 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89030328 -0.04172649 -0.45345229 4.14152028] [ 0.00649494 0.99685519 -0.07897811 -0.33678542] [ 0.45532175 0.06736933 0.88777445 1.1884344 ] [ 0. 0. 0. 1. ]] SLAMing on 138.50650248099998 meters Centerline goodness : 0.590684 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89040515 -0.04182521 -0.45324311 4.14126312] [ 0.0068133 0.99688238 -0.07860728 -0.33881811] [ 0.45511783 0.06690425 0.88791417 1.18826459] [ 0. 0. 0. 1. ]] SLAMing on 138.53650248099999 meters Centerline goodness : 0.593639 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89043878 -0.04169744 -0.45318881 4.1415277 ] [ 0.00689066 0.99691496 -0.07818616 -0.33977826] [ 0.45505087 0.06649722 0.88797907 1.18810406] [ 0. 0. 0. 1. ]] SLAMing on 138.566502481 meters Centerline goodness : 0.587654 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89033483 -0.04165786 -0.45339663 4.14248228] [ 0.00717578 0.99696578 -0.07750966 -0.3414332 ] [ 0.45524981 0.06575608 0.88793229 1.18804145] [ 0. 0. 0. 1. ]] SLAMing on 138.596502481 meters Centerline goodness : 0.589181 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89031877 -0.04122495 -0.45346775 4.14252747] [ 0.00707153 0.99702483 -0.07675601 -0.3424591 ] [ 0.45528287 0.0651306 0.88796144 1.18817008] [ 0. 0. 0. 1. ]] SLAMing on 138.626502481 meters Centerline goodness : 0.587983 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89041827 -0.04097578 -0.45329492 4.14238109] [ 0.00704817 0.99706115 -0.07628486 -0.34312804] [ 0.45508859 0.06473053 0.88809027 1.18805043] [ 0. 0. 0. 1. ]] SLAMing on 138.656502481 meters Centerline goodness : 0.586187 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89038103 -0.04142131 -0.45332759 4.14286104] [ 0.00753426 0.99705608 -0.07630465 -0.34431678] [ 0.45515367 0.06452473 0.8880719 1.18788904] [ 0. 0. 0. 1. ]] SLAMing on 138.686502481 meters Centerline goodness : 0.586042 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:1.19 [[ 0.89031483 -0.04186521 -0.45341681 4.14361157] [ 0.00796464 0.99704385 -0.07642066 -0.34505092] [ 0.45527581 0.06442714 0.88801637 1.18770901] [ 0. 0. 0. 1. ]] SLAMing on 138.716502481 meters Centerline goodness : 0.589400 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:1.19 [[ 0.89024193 -0.04228548 -0.45352095 4.14426716] [ 0.00860814 0.99706553 -0.07606721 -0.34693188] [ 0.45540664 0.06381425 0.88799354 1.18762019] [ 0. 0. 0. 1. ]] SLAMing on 138.746502481 meters Centerline goodness : 0.588116 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:1.19 [[ 0.89035921 -0.04194959 -0.45332187 4.14398419] [ 0.00862804 0.99712166 -0.07532569 -0.34822205] [ 0.45517693 0.06315564 0.88815839 1.18756458] [ 0. 0. 0. 1. ]] SLAMing on 138.776502481 meters Centerline goodness : 0.586764 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:1.19 [[ 0.89038182 -0.04143066 -0.45332518 4.14410267] [ 0.00869983 0.99721651 -0.07405096 -0.34998653] [ 0.45513133 0.06198978 0.88826389 1.18767643] [ 0. 0. 0. 1. ]] SLAMing on 138.806502481 meters Centerline goodness : 0.592554 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:1.19 [[ 0.89030282 -0.04107868 -0.45351233 4.14463138] [ 0.00872123 0.9972783 -0.07321153 -0.35111998] [ 0.45528544 0.06122525 0.88823794 1.18779923] [ 0. 0. 0. 1. ]] SLAMing on 138.836502481 meters Centerline goodness : 0.587821 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.35, Z:1.19 [[ 0.89018472 -0.04106442 -0.45374538 4.14525893] [ 0.00900709 0.99732134 -0.07258795 -0.35216618] [ 0.45551074 0.06052976 0.88817009 1.18798873] [ 0. 0. 0. 1. ]] SLAMing on 138.866502481 meters Centerline goodness : 0.588949 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.35, Z:1.19 [[ 0.89010447 -0.04526169 -0.45350349 4.14554747] [ 0.01222478 0.99706949 -0.07551809 -0.35358579] [ 0.45559257 0.06167501 0.88804932 1.18771388] [ 0. 0. 0. 1. ]] SLAMing on 138.896502481 meters Centerline goodness : 0.590249 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.36, Z:1.19 [[ 0.8900025 -0.0454626 -0.45368348 4.14579249] [ 0.01296512 0.99713771 -0.0744869 -0.35587666] [ 0.45577127 0.06041147 0.88804448 1.18811193] [ 0. 0. 0. 1. ]] SLAMing on 138.926502481 meters Centerline goodness : 0.591269 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.36, Z:1.19 [[ 0.8899683 -0.04516021 -0.45378076 4.14615575] [ 0.01297533 0.9971892 -0.07379256 -0.35700483] [ 0.45583776 0.05978508 0.88805274 1.18818415] [ 0. 0. 0. 1. ]] SLAMing on 138.956502481 meters Centerline goodness : 0.590570 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.36, Z:1.19 [[ 0.88989612 -0.04483559 -0.45395448 4.1462366 ] [ 0.01293035 0.9972374 -0.07314625 -0.35798123] [ 0.45597994 0.05922277 0.88801743 1.18850036] [ 0. 0. 0. 1. ]] SLAMing on 138.986502481 meters Centerline goodness : 0.593289 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.36, Z:1.19 [[ 0.89006641 -0.04341799 -0.45375838 4.14535303] [ 0.01202933 0.99734398 -0.07183508 -0.35932173] [ 0.45567212 0.05847958 0.88822466 1.18871541] [ 0. 0. 0. 1. ]] SLAMing on 139.01650248099997 meters Centerline goodness : 0.590677 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.36, Z:1.19 [[ 0.89020935 -0.04165967 -0.4536428 4.14469699] [ 0.0105754 0.99743127 -0.07084504 -0.3597229 ] [ 0.45542889 0.05826946 0.88836321 1.18875466] [ 0. 0. 0. 1. ]] SLAMing on 139.04650248099998 meters Centerline goodness : 0.592459 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.36, Z:1.19 [[ 0.89031529 -0.0407402 -0.45351838 4.14451623] [ 0.00987372 0.99748253 -0.07022189 -0.36005272] [ 0.45523751 0.05804171 0.88847621 1.18861866] [ 0. 0. 0. 1. ]] SLAMing on 139.07650248099998 meters Centerline goodness : 0.590824 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.36, Z:1.19 [[ 0.89048228 -0.04017244 -0.45324108 4.14420265] [ 0.00938608 0.99750482 -0.06997173 -0.36031899] [ 0.4549211 0.05805443 0.88863743 1.18839999] [ 0. 0. 0. 1. ]] SLAMing on 139.10650248099998 meters Centerline goodness : 0.588736 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.36, Z:1.20 [[ 0.88878661 -0.04121783 -0.45646407 4.15735692] [ 0.01169161 0.99766278 -0.06732216 -0.35866494] [ 0.45817209 0.05449824 0.88719123 1.19791692] [ 0. 0. 0. 1. ]] SLAMing on 139.13650248099998 meters Centerline goodness : 0.588762 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.36, Z:1.20 [[ 0.88878578 -0.04136478 -0.4564524 4.15807109] [ 0.01175356 0.99764847 -0.06752316 -0.35858028] [ 0.45817212 0.05464868 0.88718196 1.19759177] [ 0. 0. 0. 1. ]] SLAMing on 139.16650248099998 meters Centerline goodness : 0.587506 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.20 [[ 0.88725569 -0.04398039 -0.4591765 4.16535207] [ 0.01700943 0.99788673 -0.06271168 -0.35760385] [ 0.46096422 0.04783097 0.88612876 1.20245694] [ 0. 0. 0. 1. ]] SLAMing on 139.19650248099998 meters Centerline goodness : 0.584511 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.20 [[ 0.88729161 -0.04372118 -0.45913184 4.16514702] [ 0.01708604 0.99792933 -0.06200909 -0.35865627] [ 0.46089224 0.0471754 0.88620135 1.20269167] [ 0. 0. 0. 1. ]] SLAMing on 139.22650248099998 meters Centerline goodness : 0.586127 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88623937 -0.04834628 -0.46069774 4.17223075] [ 0.02419468 0.99801231 -0.05818978 -0.3560996 ] [ 0.46259528 0.04042364 0.88564753 1.20722283] [ 0. 0. 0. 1. ]] SLAMing on 139.25650248099998 meters Centerline goodness : 0.589884 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88630347 -0.04854991 -0.460553 4.17242886] [ 0.02451288 0.99801363 -0.05803376 -0.35669149] [ 0.46245571 0.04014605 0.88573304 1.20708395] [ 0. 0. 0. 1. ]] SLAMing on 139.28650248099999 meters Centerline goodness : 0.592490 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88654078 -0.0521612 -0.45970062 4.17140448] [ 0.02725117 0.99778628 -0.06066222 -0.35782423] [ 0.46184718 0.04125215 0.88599968 1.20672456] [ 0. 0. 0. 1. ]] SLAMing on 139.316502481 meters Centerline goodness : 0.592210 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88646116 -0.05239606 -0.45982743 4.17157676] [ 0.0276995 0.9977961 -0.06029664 -0.35851806] [ 0.46197332 0.04071364 0.88595883 1.20707934] [ 0. 0. 0. 1. ]] SLAMing on 139.346502481 meters Centerline goodness : 0.590982 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88643318 -0.05307678 -0.4598033 4.17270003] [ 0.02878766 0.99780227 -0.05968159 -0.35943342] [ 0.46196048 0.03966708 0.886013 1.20699696] [ 0. 0. 0. 1. ]] SLAMing on 139.376502481 meters Centerline goodness : 0.594089 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88665397 -0.05745709 -0.45885011 4.17164792] [ 0.03242004 0.99753301 -0.06226431 -0.36063309] [ 0.46129566 0.04033096 0.88632936 1.20678739] [ 0. 0. 0. 1. ]] SLAMing on 139.406502481 meters Centerline goodness : 0.595049 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88647076 -0.06139579 -0.45869395 4.17133609] [ 0.03542513 0.99725501 -0.06501921 -0.36107619] [ 0.46142675 0.04138833 0.88621237 1.20705274] [ 0. 0. 0. 1. ]] SLAMing on 139.436502481 meters Centerline goodness : 0.594322 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88641365 -0.06227085 -0.45868637 4.1716086 ] [ 0.03643672 0.99722192 -0.0649678 -0.36182988] [ 0.4614577 0.04087532 0.88622006 1.20721983] [ 0. 0. 0. 1. ]] SLAMing on 139.466502481 meters Centerline goodness : 0.597781 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88608781 -0.06737001 -0.45859532 4.17276778] [ 0.04043542 0.99684417 -0.06831309 -0.36204049] [ 0.46175032 0.0419879 0.88601561 1.20711704] [ 0. 0. 0. 1. ]] SLAMing on 139.496502481 meters Centerline goodness : 0.599058 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88579106 -0.06869786 -0.45897147 4.17473791] [ 0.0419969 0.99679106 -0.06814572 -0.36257371] [ 0.46218012 0.04108749 0.88583371 1.20718128] [ 0. 0. 0. 1. ]] SLAMing on 139.526502481 meters Centerline goodness : 0.599693 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88559117 -0.06915223 -0.45928885 4.1756869 ] [ 0.04262333 0.99678167 -0.06789374 -0.36306721] [ 0.46250571 0.04054968 0.88568854 1.20746629] [ 0. 0. 0. 1. ]] SLAMing on 139.556502481 meters Centerline goodness : 0.601693 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.8855632 -0.06978016 -0.45924781 4.17613932] [ 0.04331896 0.99674995 -0.06791909 -0.36351788] [ 0.46249464 0.04025251 0.88570788 1.20742048] [ 0. 0. 0. 1. ]] SLAMing on 139.586502481 meters Centerline goodness : 0.598346 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88527918 -0.07449329 -0.45905502 4.17782143] [ 0.04686321 0.99635281 -0.07130862 -0.36337747] [ 0.46269278 0.04161524 0.8855414 1.20685257] [ 0. 0. 0. 1. ]] SLAMing on 139.616502481 meters Centerline goodness : 0.600983 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88511047 -0.07497164 -0.45930241 4.17856105] [ 0.04738364 0.99632752 -0.07131805 -0.36361534] [ 0.46296246 0.04136093 0.88541235 1.20702922] [ 0. 0. 0. 1. ]] SLAMing on 139.646502481 meters Centerline goodness : 0.601419 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88516815 -0.07298011 -0.45951198 4.17877901] [ 0.04636811 0.99654185 -0.06895176 -0.36265795] [ 0.46295502 0.0397272 0.88549105 1.20745748] [ 0. 0. 0. 1. ]] SLAMing on 139.676502481 meters Centerline goodness : 0.596472 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88516192 -0.07267049 -0.45957303 4.17895959] [ 0.04601257 0.99655781 -0.06895917 -0.36156758] [ 0.46300239 0.0398939 0.88545879 1.20751559] [ 0. 0. 0. 1. ]] SLAMing on 139.706502481 meters Centerline goodness : 0.597798 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88526498 -0.07274818 -0.45936219 4.1787712 ] [ 0.04590344 0.99653532 -0.06935577 -0.36048583] [ 0.46281616 0.04031193 0.88553721 1.20735823] [ 0. 0. 0. 1. ]] SLAMing on 139.736502481 meters Centerline goodness : 0.601713 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88579327 -0.07348167 -0.45822562 4.17728709] [ 0.04598588 0.99642336 -0.07089275 -0.35846957] [ 0.46179603 0.04172441 0.88600423 1.20646406] [ 0. 0. 0. 1. ]] SLAMing on 139.76650248099997 meters Centerline goodness : 0.596051 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88601083 -0.0735159 -0.45779932 4.17615295] [ 0.04585639 0.99640322 -0.07125878 -0.3575256 ] [ 0.46139137 0.04214303 0.88619522 1.2064351 ] [ 0. 0. 0. 1. ]] SLAMing on 139.79650248099998 meters Centerline goodness : 0.594662 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88626989 -0.07022356 -0.45781473 4.17579285] [ 0.04322448 0.99666593 -0.0692002 -0.35530214] [ 0.46114783 0.04154125 0.88635038 1.20645592] [ 0. 0. 0. 1. ]] SLAMing on 139.82650248099998 meters Centerline goodness : 0.593905 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.35, Z:1.21 [[ 0.88610326 -0.07036227 -0.45811588 4.17664921] [ 0.04304242 0.99663066 -0.06981895 -0.3533494 ] [ 0.46148495 0.04214839 0.88614624 1.20646803] [ 0. 0. 0. 1. ]] SLAMing on 139.85650248099998 meters Centerline goodness : 0.588904 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.35, Z:1.21 [[ 0.88623106 -0.06741982 -0.45831111 4.17851757] [ 0.04038604 0.99683028 -0.0685446 -0.35028904] [ 0.46147965 0.04223698 0.88614478 1.20549658] [ 0. 0. 0. 1. ]] SLAMing on 139.88650248099998 meters Centerline goodness : 0.589927 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.35, Z:1.21 [[ 0.8862375 -0.06763337 -0.45826719 4.17914529] [ 0.04019839 0.99678072 -0.06937071 -0.34866803] [ 0.46148367 0.04305732 0.8861032 1.20508487] [ 0. 0. 0. 1. ]] SLAMing on 139.91650248099998 meters Centerline goodness : 0.588063 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.35, Z:1.20 [[ 0.88604793 -0.06542977 -0.45895317 4.18135141] [ 0.03830955 0.99693815 -0.06816673 -0.34617698] [ 0.46200806 0.0428167 0.88584157 1.20482644] [ 0. 0. 0. 1. ]] SLAMing on 139.94650248099998 meters Centerline goodness : 0.586276 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.34, Z:1.20 [[ 0.88567781 -0.06564581 -0.45963622 4.18320126] [ 0.03824516 0.9969051 -0.06868421 -0.3445801 ] [ 0.46272252 0.04325322 0.88544736 1.20488856] [ 0. 0. 0. 1. ]] SLAMing on 139.97650248099998 meters Centerline goodness : 0.586318 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.34, Z:1.20 [[ 0.88536706 -0.06585129 -0.46020514 4.1848759 ] [ 0.03806195 0.9968614 -0.06941645 -0.34262175] [ 0.4633319 0.04394274 0.88509468 1.20482632] [ 0. 0. 0. 1. ]] SLAMing on 140.00650248099998 meters Centerline goodness : 0.584838 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.34, Z:1.20 [[ 0.88550507 -0.06264111 -0.46038774 4.18535727] [ 0.03543521 0.99708915 -0.06750986 -0.34001604] [ 0.46327651 0.04346639 0.88514719 1.2046615 ] [ 0. 0. 0. 1. ]] SLAMing on 140.03650248099999 meters Centerline goodness : 0.582868 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.34, Z:1.20 [[ 0.8856868 -0.05951518 -0.46045285 4.18487299] [ 0.03293464 0.99730529 -0.0655551 -0.33779571] [ 0.46311359 0.04289644 0.88526024 1.20489376] [ 0. 0. 0. 1. ]] SLAMing on 140.066502481 meters Centerline goodness : 0.580801 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.34, Z:1.21 [[ 0.88553486 -0.06000932 -0.46068091 4.18479975] [ 0.0330299 0.99724542 -0.06641233 -0.33600904] [ 0.46339728 0.04359419 0.88507768 1.20525346] [ 0. 0. 0. 1. ]] SLAMing on 140.096502481 meters Centerline goodness : 0.582716 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.33, Z:1.21 [[ 0.88554234 -0.06053742 -0.46059743 4.18480672] [ 0.03312398 0.99717756 -0.06737744 -0.33421566] [ 0.46337627 0.04440876 0.88504819 1.20516962] [ 0. 0. 0. 1. ]] SLAMing on 140.126502481 meters Centerline goodness : 0.579239 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.33, Z:1.21 [[ 0.88554404 -0.05736624 -0.46099985 4.18479867] [ 0.03053339 0.99738784 -0.06546147 -0.33197274] [ 0.46355092 0.04389312 0.88498245 1.20558922] [ 0. 0. 0. 1. ]] SLAMing on 140.156502481 meters Centerline goodness : 0.576935 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.33, Z:1.21 [[ 0.88549937 -0.05768004 -0.4610465 4.18479545] [ 0.03048913 0.99733941 -0.06621559 -0.33025025] [ 0.46363917 0.04457696 0.88490204 1.20564776] [ 0. 0. 0. 1. ]] SLAMing on 140.186502481 meters Centerline goodness : 0.579201 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:1.21 [[ 0.88539705 -0.05518127 -0.46154858 4.18605736] [ 0.02843447 0.99749883 -0.06471141 -0.32769103] [ 0.46396502 0.0441714 0.88475157 1.20562795] [ 0. 0. 0. 1. ]] SLAMing on 140.216502481 meters Centerline goodness : 0.579446 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:1.21 [[ 0.88530994 -0.05517702 -0.46171615 4.18647703] [ 0.02826052 0.99748398 -0.06501586 -0.32625109] [ 0.46414184 0.04451085 0.88464181 1.20568421] [ 0. 0. 0. 1. ]] SLAMing on 140.246502481 meters Centerline goodness : 0.579292 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88614985 -0.05284395 -0.4603759 4.15791317] [ 0.0227107 0.99723533 -0.07075255 -0.33053501] [ 0.46284195 0.05224191 0.88490006 1.19123943] [ 0. 0. 0. 1. ]] SLAMing on 140.276502481 meters Centerline goodness : 0.576139 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.8859611 -0.05318808 -0.46069942 4.15873081] [ 0.02301798 0.99722034 -0.07086443 -0.33004815] [ 0.46318797 0.05217876 0.88472271 1.1914324 ] [ 0. 0. 0. 1. ]] SLAMing on 140.306502481 meters Centerline goodness : 0.576139 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.8859611 -0.05318808 -0.46069942 4.15873081] [ 0.02301798 0.99722034 -0.07086443 -0.33004815] [ 0.46318797 0.05217876 0.88472271 1.1914324 ] [ 0. 0. 0. 1. ]] SLAMing on 140.336502481 meters Centerline goodness : 0.575116 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.885773 -0.0545074 -0.46090687 4.15966122] [ 0.02426491 0.99716023 -0.07129294 -0.32917985] [ 0.46348399 0.0519655 0.88458022 1.19156845] [ 0. 0. 0. 1. ]] SLAMing on 140.366502481 meters Centerline goodness : 0.572977 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88537762 -0.05848143 -0.46117935 4.1600487 ] [ 0.02705708 0.99685648 -0.07446531 -0.33065309] [ 0.46408446 0.05345175 0.88417675 1.19245004] [ 0. 0. 0. 1. ]] SLAMing on 140.396502481 meters Centerline goodness : 0.570157 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88540443 -0.05977584 -0.46096186 4.16009663] [ 0.02814832 0.99677177 -0.0751911 -0.32939154] [ 0.46396839 0.05359923 0.88422874 1.1923791 ] [ 0. 0. 0. 1. ]] SLAMing on 140.426502481 meters Centerline goodness : 0.568251 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88532817 -0.06046342 -0.46101866 4.16016881] [ 0.02868862 0.99672323 -0.07562916 -0.328689 ] [ 0.46408081 0.05373064 0.88416176 1.19255742] [ 0. 0. 0. 1. ]] SLAMing on 140.456502481 meters Centerline goodness : 0.565013 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88542371 -0.06220479 -0.46060331 4.15996332] [ 0.02983148 0.99656602 -0.07724149 -0.32684413] [ 0.4638264 0.05465097 0.88423885 1.19230065] [ 0. 0. 0. 1. ]] SLAMing on 140.486502481 meters Centerline goodness : 0.566486 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88529591 -0.06204214 -0.46087083 4.16120631] [ 0.02967809 0.99657773 -0.07714942 -0.32625087] [ 0.46408013 0.05462229 0.88410748 1.1922407 ] [ 0. 0. 0. 1. ]] SLAMing on 140.51650248099997 meters Centerline goodness : 0.568098 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:1.20 [[ 0.88331995 -0.06580467 -0.46412888 4.17917268] [ 0.03364666 0.99644452 -0.07724134 -0.32173384] [ 0.46756152 0.05261243 0.88239343 1.20141904] [ 0. 0. 0. 1. ]] SLAMing on 140.54650248099998 meters Centerline goodness : 0.566456 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:1.20 [[ 0.8834116 -0.06648492 -0.46385741 4.18051337] [ 0.0340052 0.99636952 -0.0780476 -0.32062315] [ 0.46736237 0.05317459 0.88246523 1.20046923] [ 0. 0. 0. 1. ]] SLAMing on 140.57650248099998 meters Centerline goodness : 0.565253 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:1.20 [[ 0.88411019 -0.06694528 -0.46245812 4.18002081] [ 0.03398149 0.99627494 -0.07925588 -0.3185514 ] [ 0.46604124 0.05435591 0.88309173 1.19872028] [ 0. 0. 0. 1. ]] SLAMing on 140.60650248099998 meters Centerline goodness : 0.562292 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:1.20 [[ 0.88438848 -0.06648663 -0.46199194 4.17968445] [ 0.03342219 0.99628254 -0.07939806 -0.3174153 ] [ 0.46555341 0.05477795 0.88332293 1.19820061] [ 0. 0. 0. 1. ]] SLAMing on 140.63650248099998 meters Centerline goodness : 0.563488 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:1.20 [[ 0.88463323 -0.06571857 -0.46163309 4.18191911] [ 0.03218357 0.9962627 -0.08015523 -0.31643927] [ 0.46517551 0.05605098 0.88344215 1.19877068] [ 0. 0. 0. 1. ]] SLAMing on 140.66650248099998 meters Centerline goodness : 0.558037 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.31, Z:1.20 [[ 0.88510294 -0.065486 -0.46076498 4.18184478] [ 0.03157914 0.99621976 -0.08092556 -0.3145069 ] [ 0.46432267 0.05707689 0.88382503 1.19750201] [ 0. 0. 0. 1. ]] SLAMing on 140.69650248099998 meters Centerline goodness : 0.557841 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.31, Z:1.20 [[ 0.88562107 -0.06424108 -0.45994391 4.18422315] [ 0.03033431 0.9962733 -0.0807424 -0.31416898] [ 0.46341682 0.05755509 0.88426934 1.19631432] [ 0. 0. 0. 1. ]] SLAMing on 140.72650248099998 meters Centerline goodness : 0.556326 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.31, Z:1.20 [[ 0.88586518 -0.06386736 -0.45952567 4.18537991] [ 0.03001447 0.9962938 -0.08060895 -0.31344092] [ 0.46297085 0.05761625 0.88449893 1.19539799] [ 0. 0. 0. 1. ]] SLAMing on 140.75650248099998 meters Centerline goodness : 0.553900 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:1.20 [[ 0.88577026 -0.06090494 -0.46011046 4.19769146] [ 0.02548597 0.99623951 -0.08280881 -0.31449113] [ 0.46342369 0.06162322 0.88399155 1.20004105] [ 0. 0. 0. 1. ]] SLAMing on 140.78650248099999 meters Centerline goodness : 0.552504 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:1.20 [[ 0.88602671 -0.06077193 -0.45963404 4.19934891] [ 0.02532243 0.99623553 -0.08290685 -0.31557661] [ 0.46294217 0.06181863 0.88423018 1.19900677] [ 0. 0. 0. 1. ]] SLAMing on 140.816502481 meters Centerline goodness : 0.552914 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:1.20 [[ 0.8861585 -0.06398375 -0.45894356 4.20373347] [ 0.02746081 0.99593171 -0.08582496 -0.316375 ] [ 0.46256785 0.06345156 0.8843104 1.19724338] [ 0. 0. 0. 1. ]] SLAMing on 140.846502481 meters Centerline goodness : 0.551849 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.20 [[ 0.88662822 -0.06364214 -0.45808305 4.20567444] [ 0.02736781 0.99597074 -0.08540076 -0.31753509] [ 0.46167241 0.063182 0.88479751 1.19516834] [ 0. 0. 0. 1. ]] SLAMing on 140.876502481 meters Centerline goodness : 0.549088 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.19 [[ 0.88722479 -0.065068 -0.45672566 4.20849104] [ 0.02846975 0.995839 -0.08656877 -0.31670605] [ 0.46045809 0.06380309 0.88538552 1.19242452] [ 0. 0. 0. 1. ]] SLAMing on 140.906502481 meters Centerline goodness : 0.547643 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.19 [[ 0.88750351 -0.06446828 -0.45626896 4.20949847] [ 0.0281286 0.99589789 -0.08600101 -0.31682274] [ 0.45994164 0.06349199 0.88567627 1.19135539] [ 0. 0. 0. 1. ]] SLAMing on 140.936502481 meters Centerline goodness : 0.548658 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.19 [[ 0.88786731 -0.06410285 -0.45561218 4.21014468] [ 0.02792791 0.99592955 -0.08569929 -0.3163949 ] [ 0.4592512 0.0633653 0.88604355 1.19014922] [ 0. 0. 0. 1. ]] SLAMing on 140.966502481 meters Centerline goodness : 0.544765 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.19 [[ 0.88853673 -0.06303401 -0.45445483 4.21319811] [ 0.02738078 0.99603713 -0.08461871 -0.31630362] [ 0.45798774 0.0627435 0.8867415 1.18713455] [ 0. 0. 0. 1. ]] SLAMing on 140.996502481 meters Centerline goodness : 0.544409 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.18 [[ 0.88871514 -0.0662845 -0.45364278 4.21700073] [ 0.02982406 0.99575578 -0.08706867 -0.31539208] [ 0.45748872 0.06384978 0.88692011 1.18476336] [ 0. 0. 0. 1. ]] SLAMing on 141.026502481 meters Centerline goodness : 0.543384 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.18 [[ 0.88900353 -0.06595501 -0.45312543 4.2185576 ] [ 0.02973075 0.9957982 -0.08661429 -0.31599285] [ 0.45693413 0.06352865 0.88722901 1.18322353] [ 0. 0. 0. 1. ]] SLAMing on 141.056502481 meters Centerline goodness : 0.543115 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:1.19 [[ 0.88886874 -0.06957733 -0.45284805 4.23415266] [ 0.03489189 0.99581128 -0.08451308 -0.31517264] [ 0.45683138 0.05932031 0.8875732 1.1903349 ] [ 0. 0. 0. 1. ]] SLAMing on 141.086502481 meters Centerline goodness : 0.542046 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.32, Z:1.19 [[ 0.88987998 -0.06913041 -0.45092638 4.23662228] [ 0.03497246 0.99588051 -0.08365962 -0.31570692] [ 0.45485222 0.05867702 0.88863179 1.18621343] [ 0. 0. 0. 1. ]] SLAMing on 141.116502481 meters Centerline goodness : 0.540988 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.31, Z:1.19 [[ 0.8912532 -0.07129446 -0.44786698 4.25203518] [ 0.03997423 0.9960718 -0.07901285 -0.31461725] [ 0.45174084 0.05251732 0.89060212 1.18849513] [ 0. 0. 0. 1. ]] SLAMing on 141.146502481 meters Centerline goodness : 0.541089 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:1.19 [[ 0.89161436 -0.07082255 -0.44722255 4.25349958] [ 0.03975459 0.99612199 -0.07848917 -0.31507015] [ 0.45104702 0.05220292 0.89097219 1.18683919] [ 0. 0. 0. 1. ]] SLAMing on 141.176502481 meters Centerline goodness : 0.539913 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:1.18 [[ 0.89263305 -0.06996042 -0.44532211 4.25658863] [ 0.03942546 0.99621416 -0.07747896 -0.3157264 ] [ 0.44905665 0.05160325 0.8920119 1.18256913] [ 0. 0. 0. 1. ]] SLAMing on 141.206502481 meters Centerline goodness : 0.539762 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:1.18 [[ 0.89298897 -0.06917945 -0.44473014 4.25863963] [ 0.03895933 0.99628902 -0.07674874 -0.31614602] [ 0.44838919 0.05120939 0.89237029 1.18067074] [ 0. 0. 0. 1. ]] SLAMing on 141.236502481 meters Centerline goodness : 0.539807 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:1.18 [[ 0.89328618 -0.06823119 -0.44427953 4.26073286] [ 0.03836795 0.99637874 -0.07587689 -0.31644002] [ 0.44784785 0.05073369 0.89266925 1.17893153] [ 0. 0. 0. 1. ]] SLAMing on 141.26650248099997 meters Centerline goodness : 0.542103 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:1.17 [[ 0.89425287 -0.06647539 -0.44259781 4.26412346] [ 0.03723113 0.99652962 -0.0744483 -0.31559229] [ 0.44601081 0.05009719 0.89362443 1.17489963] [ 0. 0. 0. 1. ]] SLAMing on 141.29650248099998 meters Centerline goodness : 0.537737 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.31, Z:1.17 [[ 0.89519071 -0.06501517 -0.44091567 4.26778346] [ 0.03631405 0.99665351 -0.07323303 -0.31492452] [ 0.4442014 0.0495461 0.89455592 1.1706611 ] [ 0. 0. 0. 1. ]] SLAMing on 141.32650248099998 meters Centerline goodness : 0.534040 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.32, Z:1.17 [[ 0.89566089 -0.06435959 -0.44005615 4.26973106] [ 0.03591154 0.99670859 -0.0726798 -0.31531068] [ 0.44328539 0.04929336 0.89502415 1.16840369] [ 0. 0. 0. 1. ]] SLAMing on 141.35650248099998 meters Centerline goodness : 0.534297 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.32, Z:1.17 [[ 0.89598753 -0.06339689 -0.43953064 4.2720029 ] [ 0.0351606 0.99677764 -0.07209769 -0.31623122] [ 0.44268508 0.04914447 0.8953294 1.16679705] [ 0. 0. 0. 1. ]] SLAMing on 141.38650248099998 meters Centerline goodness : 0.532171 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.32, Z:1.16 [[ 0.89688463 -0.06173705 -0.43793436 4.27573434] [ 0.03389569 0.99689189 -0.07111715 -0.31692502] [ 0.44096377 0.04893979 0.89618963 1.16301127] [ 0. 0. 0. 1. ]] SLAMing on 141.41650248099998 meters Centerline goodness : 0.536964 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.32, Z:1.16 [[ 0.897122 -0.06116411 -0.43752837 4.27828623] [ 0.03337818 0.99692305 -0.0709248 -0.31824909] [ 0.44052017 0.0490243 0.89640315 1.16142606] [ 0. 0. 0. 1. ]] SLAMing on 141.44650248099998 meters Centerline goodness : 0.533278 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.32, Z:1.16 [[ 0.89762091 -0.06243228 -0.43632433 4.28371415] [ 0.03411601 0.99678891 -0.07244281 -0.31886429] [ 0.43944602 0.05014054 0.89686851 1.15777111] [ 0. 0. 0. 1. ]] SLAMing on 141.47650248099998 meters Centerline goodness : 0.536749 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:1.16 [[ 0.89751262 -0.06602673 -0.43601786 4.28551929] [ 0.03660323 0.99646986 -0.07555146 -0.31945638] [ 0.43946707 0.05184873 0.89676106 1.15704324] [ 0. 0. 0. 1. ]] SLAMing on 141.50650248099998 meters Centerline goodness : 0.536889 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:1.15 [[ 0.89795396 -0.0670676 -0.434949 4.29071646] [ 0.03738365 0.99637171 -0.07645832 -0.31958277] [ 0.43849875 0.05239607 0.89720315 1.15308494] [ 0. 0. 0. 1. ]] SLAMing on 141.53650248099999 meters Centerline goodness : 0.538159 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:1.15 [[ 0.89823727 -0.06646037 -0.43445694 4.29317514] [ 0.03703384 0.9964305 -0.07586013 -0.32037508] [ 0.43794784 0.05205079 0.89749229 1.15096587] [ 0. 0. 0. 1. ]] SLAMing on 141.566502481 meters Centerline goodness : 0.534129 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:1.15 [[ 0.89945201 -0.06685021 -0.4318763 4.29546835] [ 0.03747921 0.99638983 -0.07617487 -0.32167085] [ 0.43540946 0.05232926 0.89871033 1.14608133] [ 0. 0. 0. 1. ]] SLAMing on 141.596502481 meters Centerline goodness : 0.531929 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:1.14 [[ 0.89992128 -0.06629653 -0.43098313 4.29682697] [ 0.03722123 0.99644638 -0.07555925 -0.3224897 ] [ 0.43446089 0.05195566 0.89919094 1.14389344] [ 0. 0. 0. 1. ]] SLAMing on 141.626502481 meters Centerline goodness : 0.528682 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:1.14 [[ 0.90045875 -0.07033756 -0.42921635 4.29958574] [ 0.04037541 0.99609379 -0.07853013 -0.32384547] [ 0.43306336 0.05338336 0.89978128 1.14024671] [ 0. 0. 0. 1. ]] SLAMing on 141.656502481 meters Centerline goodness : 0.526590 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:1.14 [[ 0.90101966 -0.07324252 -0.42755013 4.30277994] [ 0.04282667 0.99584681 -0.080343 -0.3249179 ] [ 0.43165896 0.05408008 0.90041429 1.1362573 ] [ 0. 0. 0. 1. ]] SLAMing on 141.686502481 meters Centerline goodness : 0.528080 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.33, Z:1.13 [[ 0.90152111 -0.07270977 -0.42658291 4.30482719] [ 0.04254186 0.99589932 -0.07984198 -0.32743349] [ 0.43063893 0.0538316 0.90091746 1.13389026] [ 0. 0. 0. 1. ]] SLAMing on 141.716502481 meters Centerline goodness : 0.529824 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.33, Z:1.13 [[ 0.90191848 -0.07202304 -0.42585882 4.30722173] [ 0.04218569 0.99597375 -0.07909899 -0.32939929] [ 0.42984116 0.05337569 0.90132548 1.13151933] [ 0. 0. 0. 1. ]] SLAMing on 141.746502481 meters Centerline goodness : 0.529393 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.33, Z:1.13 [[ 0.902262 -0.07465079 -0.42467699 4.31256877] [ 0.04440334 0.99574916 -0.08069665 -0.33096008] [ 0.42889582 0.05395245 0.90174138 1.1271514 ] [ 0. 0. 0. 1. ]] SLAMing on 141.776502481 meters Centerline goodness : 0.525506 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.33, Z:1.12 [[ 0.9026516 -0.07334133 -0.4240768 4.31544247] [ 0.04362073 0.99588915 -0.0793854 -0.33254896] [ 0.42815572 0.05315882 0.90214014 1.12446703] [ 0. 0. 0. 1. ]] SLAMing on 141.806502481 meters Centerline goodness : 0.529322 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.33, Z:1.12 [[ 0.90349666 -0.07103611 -0.4226673 4.32020357] [ 0.04221263 0.9961231 -0.07718068 -0.33437744] [ 0.42651128 0.05189059 0.90299252 1.11949699] [ 0. 0. 0. 1. ]] SLAMing on 141.836502481 meters Centerline goodness : 0.519321 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.33, Z:1.13 [[ 0.90321417 -0.07309506 -0.42291993 4.33784487] [ 0.04548392 0.99614346 -0.07502945 -0.33368338] [ 0.42677321 0.0485316 0.90305554 1.12744626] [ 0. 0. 0. 1. ]] SLAMing on 141.866502481 meters Centerline goodness : 0.522842 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:1.13 [[ 0.90350002 -0.07058066 -0.42273643 4.34987352] [ 0.04209873 0.99619198 -0.07634941 -0.33625682] [ 0.42651544 0.05118502 0.90303083 1.12681702] [ 0. 0. 0. 1. ]] SLAMing on 141.896502481 meters Centerline goodness : 0.514424 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:1.12 [[ 0.90441468 -0.06958872 -0.42094121 4.35185538] [ 0.04080977 0.99619508 -0.07700597 -0.33568679] [ 0.42469831 0.05246682 0.90381335 1.12245841] [ 0. 0. 0. 1. ]] SLAMing on 141.926502481 meters Centerline goodness : 0.523238 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.34, Z:1.11 [[ 0.90544905 -0.06632898 -0.41924036 4.34267625] [ 0.03617357 0.99617971 -0.07948247 -0.33689139] [ 0.42291073 0.05680191 0.90438933 1.10817827] [ 0. 0. 0. 1. ]] SLAMing on 141.956502481 meters Centerline goodness : 0.523205 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.34, Z:1.10 [[ 0.90600175 -0.06311928 -0.41854126 4.33125082] [ 0.03174876 0.99616718 -0.08150433 -0.33894262] [ 0.42208157 0.0605549 0.90453317 1.09624632] [ 0. 0. 0. 1. ]] SLAMing on 141.986502481 meters Centerline goodness : 0.518027 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.34, Z:1.09 [[ 0.90635114 -0.06160982 -0.41800938 4.31946013] [ 0.02848484 0.99597094 -0.08503237 -0.34097896] [ 0.42156403 0.06516226 0.90445434 1.08524366] [ 0. 0. 0. 1. ]] SLAMing on 142.01650248099997 meters Centerline goodness : 0.515578 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.34, Z:1.06 [[ 0.90841687 -0.05775615 -0.41405679 4.29301048] [ 0.02334425 0.99587363 -0.08769694 -0.34483694] [ 0.41741328 0.06999954 0.90601668 1.05866666] [ 0. 0. 0. 1. ]] SLAMing on 142.04650248099998 meters Centerline goodness : 0.517540 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.35, Z:1.03 [[ 0.9098972 -0.05417216 -0.4112815 4.26675468] [ 0.01879928 0.9958029 -0.08957217 -0.34854985] [ 0.41440762 0.07376967 0.90709666 1.03070497] [ 0. 0. 0. 1. ]] SLAMing on 142.07650248099998 meters Centerline goodness : 0.510157 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.35, Z:1.03 [[ 0.91012127 -0.0542748 -0.41077186 4.26952779] [ 0.01870557 0.99575495 -0.09012319 -0.34825433] [ 0.41391953 0.07433931 0.907273 1.02817107] [ 0. 0. 0. 1. ]] SLAMing on 142.10650248099998 meters Centerline goodness : 0.522818 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.35, Z:1.03 [[ 0.91024791 -0.05422429 -0.41049784 4.27238696] [ 0.0186059 0.99574311 -0.09027448 -0.34805069] [ 0.41364546 0.07453448 0.90738197 1.02602107] [ 0. 0. 0. 1. ]] SLAMing on 142.13650248099998 meters Centerline goodness : 0.521796 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.35, Z:1.02 [[ 0.91053164 -0.05543063 -0.40970671 4.27861498] [ 0.01925151 0.99558111 -0.09191105 -0.34704534] [ 0.41299095 0.07580045 0.90757522 1.02092477] [ 0. 0. 0. 1. ]] SLAMing on 142.16650248099998 meters Centerline goodness : 0.511590 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.35, Z:1.02 [[ 0.91065226 -0.05544939 -0.40943598 4.28177309] [ 0.01935727 0.99559133 -0.09177795 -0.34770344] [ 0.41271995 0.07565223 0.90771085 1.01854943] [ 0. 0. 0. 1. ]] SLAMing on 142.19650248099998 meters Centerline goodness : 0.535463 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.35, Z:1.01 [[ 0.91072035 -0.05968091 -0.40868891 4.28725852] [ 0.02254239 0.99521267 -0.09509772 -0.34764267] [ 0.41240791 0.0773946 0.90770579 1.0142326 ] [ 0. 0. 0. 1. ]] SLAMing on 142.22650248099998 meters Centerline goodness : 0.535463 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.35, Z:1.01 [[ 0.91072035 -0.05968091 -0.40868891 4.28725852] [ 0.02254239 0.99521267 -0.09509772 -0.34764267] [ 0.41240791 0.0773946 0.90770579 1.0142326 ] [ 0. 0. 0. 1. ]] SLAMing on 142.25650248099998 meters Centerline goodness : 0.531168 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.35, Z:1.01 [[ 0.9108672 -0.05993322 -0.40832457 4.28975737] [ 0.02287432 0.9952098 -0.09504855 -0.34836109] [ 0.41206518 0.07723646 0.90787489 1.01217027] [ 0. 0. 0. 1. ]] SLAMing on 142.28650248099999 meters Centerline goodness : 0.553838 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.35, Z:1.01 [[ 0.91079433 -0.06426228 -0.40782845 4.29510768] [ 0.02622301 0.99482187 -0.09819264 -0.34855117] [ 0.41202674 0.07873882 0.90776327 1.00848368] [ 0. 0. 0. 1. ]] SLAMing on 142.316502481 meters Centerline goodness : 0.517207 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.35, Z:1.01 [[ 0.91081318 -0.0645805 -0.40773608 4.29830906] [ 0.02665501 0.99482684 -0.09802584 -0.34962649] [ 0.41195735 0.07841502 0.90782279 1.00647301] [ 0. 0. 0. 1. ]] SLAMing on 142.346502481 meters Centerline goodness : 0.515393 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.35, Z:1.00 [[ 0.91082585 -0.06492682 -0.40765276 4.30361897] [ 0.02737528 0.99487958 -0.0972893 -0.351495 ] [ 0.41188209 0.077454 0.90793944 1.00305638] [ 0. 0. 0. 1. ]] SLAMing on 142.376502481 meters Centerline goodness : 0.557127 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.35, Z:1.00 [[ 0.91061553 -0.06568311 -0.40800133 4.30884875] [ 0.02835122 0.9948914 -0.09688816 -0.35233671] [ 0.41228093 0.07666053 0.90782575 1.00067748] [ 0. 0. 0. 1. ]] SLAMing on 142.406502481 meters Centerline goodness : 0.577739 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.35, Z:1.00 [[ 0.91048209 -0.06580118 -0.40828002 4.312098 ] [ 0.02873955 0.99494113 -0.09626102 -0.35328984] [ 0.41254867 0.07591015 0.90776717 0.99928323] [ 0. 0. 0. 1. ]] SLAMing on 142.436502481 meters Centerline goodness : 0.562816 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.35, Z:1.00 [[ 0.91037707 -0.06596013 -0.4084885 4.31516445] [ 0.02901244 0.99495833 -0.09600104 -0.35397594] [ 0.41276128 0.07554589 0.90770091 0.99786555] [ 0. 0. 0. 1. ]] SLAMing on 142.466502481 meters Centerline goodness : 0.578159 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.35, Z:1.00 [[ 0.91017216 -0.06744863 -0.408702 4.32055921] [ 0.0302573 0.99484403 -0.09679796 -0.35441563] [ 0.41312364 0.07573659 0.90752015 0.99515809] [ 0. 0. 0. 1. ]] SLAMing on 142.496502481 meters Centerline goodness : 0.582467 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.36, Z:0.99 [[ 0.90992499 -0.06765261 -0.40921832 4.32380421] [ 0.03058276 0.99486595 -0.09646992 -0.35523582] [ 0.41364381 0.07526536 0.90732239 0.99420191] [ 0. 0. 0. 1. ]] SLAMing on 142.526502481 meters Centerline goodness : 0.582449 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.36, Z:0.99 [[ 0.90955646 -0.06846187 -0.40990245 4.32929093] [ 0.03132009 0.99482479 -0.09665758 -0.35582013] [ 0.41439848 0.07507735 0.90699355 0.99221435] [ 0. 0. 0. 1. ]] SLAMing on 142.556502481 meters Centerline goodness : 0.583787 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.36, Z:0.99 [[ 0.90917175 -0.06829165 -0.41078338 4.33271512] [ 0.03126078 0.99487041 -0.09620623 -0.35568649] [ 0.41524631 0.07462658 0.90664291 0.99185675] [ 0. 0. 0. 1. ]] SLAMing on 142.586502481 meters Centerline goodness : 0.587334 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.36, Z:0.99 [[ 0.9087654 -0.0682412 -0.41168992 4.33618266] [ 0.03122315 0.99489247 -0.09599007 -0.35508387] [ 0.41613767 0.07437819 0.90625456 0.99156766] [ 0. 0. 0. 1. ]] SLAMing on 142.616502481 meters Centerline goodness : 0.589021 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.35, Z:0.99 [[ 0.90807907 -0.06869134 -0.41312698 4.34245272] [ 0.03155961 0.99487609 -0.09604977 -0.35411445] [ 0.41760794 0.07418266 0.90559403 0.99060481] [ 0. 0. 0. 1. ]] SLAMing on 142.646502481 meters Centerline goodness : 0.595548 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.35, Z:0.99 [[ 0.9074854 -0.06923109 -0.4143396 4.34917782] [ 0.03203798 0.99485987 -0.09605944 -0.35451927] [ 0.41886014 0.07389794 0.90503883 0.98894059] [ 0. 0. 0. 1. ]] SLAMing on 142.676502481 meters Centerline goodness : 0.600366 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.35, Z:0.99 [[ 0.90705777 -0.06882615 -0.41534223 4.35272744] [ 0.03181528 0.99493153 -0.09538883 -0.35471437] [ 0.41980233 0.07330895 0.9046501 0.98875918] [ 0. 0. 0. 1. ]] SLAMing on 142.706502481 meters Centerline goodness : 0.604024 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.35, Z:0.99 [[ 0.90623936 -0.06913552 -0.41707374 4.35953617] [ 0.03211017 0.99494449 -0.09515465 -0.35275544] [ 0.42154378 0.07284058 0.90387781 0.98821151] [ 0. 0. 0. 1. ]] SLAMing on 142.736502481 meters Centerline goodness : 0.604344 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.35, Z:0.99 [[ 0.90588916 -0.06882283 -0.41788544 4.3631691 ] [ 0.03193521 0.99499915 -0.09464051 -0.35307226] [ 0.42230909 0.07238855 0.90355682 0.98763204] [ 0. 0. 0. 1. ]] SLAMing on 142.76650248099997 meters Centerline goodness : 0.615145 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.35, Z:0.99 [[ 0.90502036 -0.06907789 -0.4197218 4.36939461] [ 0.03218267 0.9950172 -0.09436661 -0.35291048] [ 0.42414906 0.07189594 0.90273393 0.98751778] [ 0. 0. 0. 1. ]] SLAMing on 142.79650248099998 meters Centerline goodness : 0.614847 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.35, Z:0.99 [[ 0.90464668 -0.0687738 -0.42057646 4.3726401 ] [ 0.03194804 0.99505987 -0.09399566 -0.35301064] [ 0.42496319 0.07159627 0.90237479 0.98724218] [ 0. 0. 0. 1. ]] SLAMing on 142.82650248099998 meters Centerline goodness : 0.629965 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.99 [[ 0.90365814 -0.06929773 -0.42261068 4.3785492 ] [ 0.03251435 0.99507477 -0.09364308 -0.35247514] [ 0.42701848 0.07088042 0.90146058 0.98777746] [ 0. 0. 0. 1. ]] SLAMing on 142.85650248099998 meters Centerline goodness : 0.633181 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.99 [[ 0.90321618 -0.06907097 -0.42359147 4.3818093 ] [ 0.03245314 0.9951308 -0.09306713 -0.35263428] [ 0.42795715 0.07031286 0.90105981 0.98778348] [ 0. 0. 0. 1. ]] SLAMing on 142.88650248099998 meters Centerline goodness : 0.636225 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.35, Z:0.99 [[ 0.9020424 -0.06988432 -0.42595269 4.38823735] [ 0.03319178 0.99511513 -0.09297407 -0.35094583] [ 0.43036939 0.06972842 0.89995563 0.98875179] [ 0. 0. 0. 1. ]] SLAMing on 142.91650248099998 meters Centerline goodness : 0.640381 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.99 [[ 0.90087159 -0.07070178 -0.4282892 4.39557665] [ 0.03392166 0.99509571 -0.09291847 -0.34928217] [ 0.43275824 0.06917933 0.89885178 0.98914962] [ 0. 0. 0. 1. ]] SLAMing on 142.94650248099998 meters Centerline goodness : 0.644578 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.99 [[ 0.90025313 -0.07094542 -0.42954749 4.39938041] [ 0.03410031 0.99509277 -0.09288463 -0.3485586 ] [ 0.43402934 0.06897198 0.89825464 0.98947525] [ 0. 0. 0. 1. ]] SLAMing on 142.97650248099998 meters Centerline goodness : 0.652030 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.99 [[ 0.89962054 -0.07114002 -0.4308387 4.40274096] [ 0.03422456 0.99509208 -0.09284625 -0.34758184] [ 0.43532926 0.06878113 0.89764001 0.99012245] [ 0. 0. 0. 1. ]] SLAMing on 143.00650248099998 meters Centerline goodness : 0.655566 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.35, Z:0.99 [[ 0.89868125 -0.06854618 -0.43321292 4.40835916] [ 0.0326465 0.99542641 -0.08978006 -0.34669099] [ 0.43738566 0.06654077 0.89680885 0.99132862] [ 0. 0. 0. 1. ]] SLAMing on 143.03650248099999 meters Centerline goodness : 0.654227 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.35, Z:0.99 [[ 0.89814575 -0.06857757 -0.43431709 4.41096993] [ 0.03272631 0.99544879 -0.0895025 -0.34610069] [ 0.43847828 0.06617269 0.89630239 0.99199614] [ 0. 0. 0. 1. ]] SLAMing on 143.066502481 meters Centerline goodness : 0.655138 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.34, Z:0.99 [[ 0.8971845 -0.06922502 -0.43619705 4.41542111] [ 0.03309752 0.99540112 -0.08989534 -0.34464855] [ 0.44041404 0.06621567 0.89534963 0.99321863] [ 0. 0. 0. 1. ]] SLAMing on 143.096502481 meters Centerline goodness : 0.665368 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.34, Z:0.99 [[ 0.89669634 -0.06939388 -0.43717292 4.41787415] [ 0.03330791 0.99541294 -0.08968645 -0.34442836] [ 0.44139127 0.06586019 0.89489451 0.9937639 ] [ 0. 0. 0. 1. ]] SLAMing on 143.126502481 meters Centerline goodness : 0.664686 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.34, Z:0.99 [[ 0.89564844 -0.06994652 -0.43922814 4.42327096] [ 0.03404542 0.99544072 -0.08909923 -0.34445595] [ 0.44345776 0.06484788 0.89394629 0.99478471] [ 0. 0. 0. 1. ]] SLAMing on 143.156502481 meters Centerline goodness : 0.665699 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.35, Z:1.00 [[ 0.8949885 -0.06984745 -0.44058702 4.4264149 ] [ 0.03435818 0.99552514 -0.08802963 -0.34547788] [ 0.4447641 0.06364773 0.89338338 0.99572725] [ 0. 0. 0. 1. ]] SLAMing on 143.186502481 meters Centerline goodness : 0.668622 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.35, Z:1.00 [[ 0.89386321 -0.07020702 -0.44280868 4.43156668] [ 0.03542372 0.99563488 -0.08635016 -0.34711615] [ 0.44693816 0.0614993 0.89244839 0.99725918] [ 0. 0. 0. 1. ]] SLAMing on 143.216502481 meters Centerline goodness : 0.670150 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.35, Z:1.00 [[ 0.89327987 -0.06999249 -0.44401815 4.43425756] [ 0.03570683 0.99573019 -0.08512591 -0.34826839] [ 0.44808045 0.06018678 0.89196494 0.99822704] [ 0. 0. 0. 1. ]] SLAMing on 143.246502481 meters Centerline goodness : 0.671812 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.35, Z:1.00 [[ 0.89236574 -0.06995123 -0.44585896 4.43876351] [ 0.03650581 0.99586586 -0.08317766 -0.35021831] [ 0.44983409 0.05794846 0.8912302 0.99940143] [ 0. 0. 0. 1. ]] SLAMing on 143.276502481 meters Centerline goodness : 0.671838 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.35, Z:1.00 [[ 0.89182116 -0.06984496 -0.44696387 4.44135888] [ 0.03691627 0.99595053 -0.08197398 -0.35167258] [ 0.45087937 0.05660589 0.89078817 1.00024692] [ 0. 0. 0. 1. ]] SLAMing on 143.306502481 meters Centerline goodness : 0.673978 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.35, Z:1.00 [[ 0.89070058 -0.07176686 -0.44888973 4.44567353] [ 0.03955636 0.99594998 -0.08073992 -0.35378269] [ 0.45286617 0.05415865 0.88993206 1.00200826] [ 0. 0. 0. 1. ]] SLAMing on 143.336502481 meters Centerline goodness : 0.675950 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.36, Z:1.00 [[ 0.89020487 -0.07200442 -0.44983403 4.44840142] [ 0.04033276 0.99600955 -0.07961308 -0.35565921] [ 0.45377148 0.0527289 0.88955669 1.00251309] [ 0. 0. 0. 1. ]] SLAMing on 143.366502481 meters Centerline goodness : 0.678341 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.36, Z:1.00 [[ 0.8886781 -0.0777472 -0.45189226 4.45366308] [ 0.04532139 0.99558801 -0.08216129 -0.35621564] [ 0.45628633 0.05253456 0.88828087 1.00433261] [ 0. 0. 0. 1. ]] SLAMing on 143.396502481 meters Centerline goodness : 0.491136 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:1.01 [[ 0.88796724 -0.07786941 -0.45326652 4.45691915] [ 0.04604146 0.99566202 -0.08085376 -0.35763627] [ 0.45759629 0.05092644 0.88770047 1.00542203] [ 0. 0. 0. 1. ]] SLAMing on 143.426502481 meters Centerline goodness : 0.678951 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:1.01 [[ 0.88737475 -0.07788295 -0.45442304 4.4596853 ] [ 0.0466782 0.99574076 -0.07950779 -0.35896659] [ 0.45867984 0.04934155 0.88723064 1.00635753] [ 0. 0. 0. 1. ]] SLAMing on 143.456502481 meters Centerline goodness : 0.684180 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:1.01 [[ 0.88579899 -0.08396885 -0.45640922 4.46422378] [ 0.05197636 0.99525719 -0.08222883 -0.3585952 ] [ 0.46114922 0.04911572 0.88596221 1.00875343] [ 0. 0. 0. 1. ]] SLAMing on 143.486502481 meters Centerline goodness : 0.678407 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:1.01 [[ 0.88436419 -0.08600571 -0.45880606 4.46920297] [ 0.05483433 0.99521569 -0.08086361 -0.35985378] [ 0.46356572 0.04635456 0.88484919 1.01121024] [ 0. 0. 0. 1. ]] SLAMing on 143.51650248099997 meters Centerline goodness : 0.687372 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:1.01 [[ 0.88366714 -0.08629116 -0.46009372 4.47165275] [ 0.05561794 0.99525484 -0.07984013 -0.36066977] [ 0.4648 0.04496264 0.88427333 1.01263879] [ 0. 0. 0. 1. ]] SLAMing on 143.54650248099998 meters Centerline goodness : 0.688264 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.01 [[ 0.88247252 -0.08848187 -0.46196667 4.47570463] [ 0.05832594 0.99515198 -0.07918724 -0.36120311] [ 0.46673368 0.04293592 0.88335507 1.01464556] [ 0. 0. 0. 1. ]] SLAMing on 143.57650248099998 meters Centerline goodness : 0.690020 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.02 [[ 0.88195602 -0.08872044 -0.46290632 4.47833507] [ 0.05899933 0.99518037 -0.07832694 -0.36200547] [ 0.46762449 0.04176975 0.88293976 1.0152994 ] [ 0. 0. 0. 1. ]] SLAMing on 143.60650248099998 meters Centerline goodness : 0.690004 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.02 [[ 0.88145949 -0.08888376 -0.46381984 4.48078718] [ 0.05955513 0.99520924 -0.0775355 -0.36279764] [ 0.46848944 0.04072155 0.88253012 1.01598144] [ 0. 0. 0. 1. ]] SLAMing on 143.63650248099998 meters Centerline goodness : 0.692500 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.02 [[ 0.88059289 -0.089989 -0.46525061 4.48426593] [ 0.06098607 0.99515996 -0.07705426 -0.36293446] [ 0.46993282 0.03947963 0.88181886 1.01726919] [ 0. 0. 0. 1. ]] SLAMing on 143.66650248099998 meters Centerline goodness : 0.695308 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.02 [[ 0.87967241 -0.09059178 -0.46687213 4.48836972] [ 0.06172923 0.99513482 -0.07678664 -0.3617229 ] [ 0.47155696 0.03872743 0.8809848 1.01843725] [ 0. 0. 0. 1. ]] SLAMing on 143.69650248099998 meters Centerline goodness : 0.694841 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.02 [[ 0.87925412 -0.09057986 -0.46766171 4.48971485] [ 0.06186718 0.99515363 -0.0764311 -0.36118374] [ 0.47231836 0.03826944 0.88059685 1.01937244] [ 0. 0. 0. 1. ]] SLAMing on 143.72650248099998 meters Centerline goodness : 0.695805 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.02 [[ 0.8791496 -0.08629228 -0.46866793 4.48956378] [ 0.05937505 0.99564003 -0.07194113 -0.36182147] [ 0.47283252 0.03541984 0.88044014 1.02108504] [ 0. 0. 0. 1. ]] SLAMing on 143.75650248099998 meters Centerline goodness : 0.694728 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.02 [[ 0.87903788 -0.08627579 -0.46888048 4.48981352] [ 0.05939552 0.99564538 -0.07185026 -0.36120948] [ 0.47303762 0.0353097 0.88033439 1.02143708] [ 0. 0. 0. 1. ]] SLAMing on 143.78650248099999 meters Centerline goodness : 0.697008 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.02 [[ 0.87875006 -0.08657564 -0.46936445 4.49106236] [ 0.0596091 0.99561862 -0.07204383 -0.36030951] [ 0.47354523 0.03533013 0.88006062 1.02179191] [ 0. 0. 0. 1. ]] SLAMing on 143.816502481 meters Centerline goodness : 0.697499 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:1.02 [[ 0.87783431 -0.08746967 -0.47090973 4.49610467] [ 0.06018227 0.99553429 -0.07272943 -0.35834822] [ 0.4751684 0.03550397 0.87917828 1.0222467 ] [ 0. 0. 0. 1. ]] SLAMing on 143.846502481 meters Centerline goodness : 0.701533 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:1.02 [[ 0.87711877 -0.08770769 -0.47219702 4.50021605] [ 0.06034076 0.99551759 -0.07282667 -0.35649567] [ 0.47646789 0.03538491 0.87847951 1.02262721] [ 0. 0. 0. 1. ]] SLAMing on 143.876502481 meters Centerline goodness : 0.701787 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.35, Z:1.02 [[ 0.87663509 -0.08779251 -0.47307864 4.50193645] [ 0.06032121 0.99550859 -0.07296568 -0.35496735] [ 0.47735969 0.0354276 0.87799352 1.02348253] [ 0. 0. 0. 1. ]] SLAMing on 143.906502481 meters Centerline goodness : 0.703756 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.35, Z:1.02 [[ 0.8764023 -0.08339652 -0.47430374 4.50420852] [ 0.05709347 0.99593846 -0.06961984 -0.35319567] [ 0.47818339 0.03393534 0.87760415 1.02417634] [ 0. 0. 0. 1. ]] SLAMing on 143.936502481 meters Centerline goodness : 0.704821 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.02 [[ 0.87617225 -0.08324663 -0.47475487 4.50534981] [ 0.05671663 0.99593602 -0.06996195 -0.35170389] [ 0.47864957 0.03437223 0.87733297 1.02442904] [ 0. 0. 0. 1. ]] SLAMing on 143.966502481 meters Centerline goodness : 0.706557 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.02 [[ 0.87578768 -0.08336209 -0.47544369 4.50701371] [ 0.05619288 0.99588481 -0.07110413 -0.34887957] [ 0.47941454 0.03555557 0.876868 1.02481897] [ 0. 0. 0. 1. ]] SLAMing on 143.996502481 meters Centerline goodness : 0.706221 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.03 [[ 0.87554117 -0.08338027 -0.47589431 4.50797919] [ 0.0559177 0.9958643 -0.07160661 -0.34755594] [ 0.47989673 0.03608362 0.87658262 1.02511931] [ 0. 0. 0. 1. ]] SLAMing on 144.026502481 meters Centerline goodness : 0.709356 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.03 [[ 0.87550233 -0.07917461 -0.47668338 4.50941618] [ 0.05253991 0.99623414 -0.06897164 -0.34566335] [ 0.48034906 0.03533993 0.87636514 1.02534442] [ 0. 0. 0. 1. ]] SLAMing on 144.056502481 meters Centerline goodness : 0.709964 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87517231 -0.07926966 -0.47727325 4.51030738] [ 0.05215371 0.99619514 -0.06982283 -0.34316178] [ 0.48099212 0.03621544 0.87597661 1.02593955] [ 0. 0. 0. 1. ]] SLAMing on 144.086502481 meters Centerline goodness : 0.711189 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87514159 -0.07488857 -0.4780365 4.51216764] [ 0.04809868 0.99652116 -0.06805942 -0.339999 ] [ 0.48147037 0.0365687 0.87569916 1.02570212] [ 0. 0. 0. 1. ]] SLAMing on 144.116502481 meters Centerline goodness : 0.711189 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87514159 -0.07488857 -0.4780365 4.51216764] [ 0.04809868 0.99652116 -0.06805942 -0.339999 ] [ 0.48147037 0.0365687 0.87569916 1.02570212] [ 0. 0. 0. 1. ]] SLAMing on 144.146502481 meters Centerline goodness : 0.712634 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.8750821 -0.07505952 -0.47811858 4.51277789] [ 0.04751872 0.9964523 -0.0694607 -0.33747933] [ 0.48163605 0.03806423 0.87554431 1.02537191] [ 0. 0. 0. 1. ]] SLAMing on 144.176502481 meters Centerline goodness : 0.710970 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87534805 -0.06956486 -0.47846267 4.5140727 ] [ 0.0424322 0.99682996 -0.06730179 -0.33498659] [ 0.48162776 0.03861027 0.87552495 1.02454326] [ 0. 0. 0. 1. ]] SLAMing on 144.206502481 meters Centerline goodness : 0.711107 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87529789 -0.06893653 -0.47864534 4.5142199 ] [ 0.04129257 0.99682665 -0.06805555 -0.33299281] [ 0.48181795 0.03980438 0.87536682 1.0246366 ] [ 0. 0. 0. 1. ]] SLAMing on 144.236502481 meters Centerline goodness : 0.708469 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87561707 -0.06352882 -0.47880981 4.5141284 ] [ 0.03653512 0.9971839 -0.06549394 -0.33091126] [ 0.48162219 0.03985424 0.87547228 1.02433853] [ 0. 0. 0. 1. ]] SLAMing on 144.26650248099997 meters Centerline goodness : 0.708727 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87570612 -0.06333148 -0.47867308 4.51351166] [ 0.03584514 0.99715216 -0.06635283 -0.32923631] [ 0.48151212 0.04094748 0.87548237 1.02424567] [ 0. 0. 0. 1. ]] SLAMing on 144.29650248099998 meters Centerline goodness : 0.707937 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87609522 -0.06280017 -0.47803066 4.51196393] [ 0.03438636 0.99709457 -0.06797051 -0.32721759] [ 0.48091034 0.0431109 0.87570926 1.02354511] [ 0. 0. 0. 1. ]] SLAMing on 144.32650248099998 meters Centerline goodness : 0.703641 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.8761013 -0.0627677 -0.47802378 4.511576 ] [ 0.03401058 0.99706517 -0.06858817 -0.32653369] [ 0.48092598 0.04383232 0.87566485 1.02363876] [ 0. 0. 0. 1. ]] SLAMing on 144.35650248099998 meters Centerline goodness : 0.705356 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87605136 -0.06309971 -0.47807158 4.51192724] [ 0.03392886 0.99701039 -0.06941982 -0.32602469] [ 0.4810227 0.04459491 0.87557321 1.02347138] [ 0. 0. 0. 1. ]] SLAMing on 144.38650248099998 meters Centerline goodness : 0.702043 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87596776 -0.0630041 -0.47823736 4.51214112] [ 0.03402389 0.99703412 -0.06903142 -0.32701685] [ 0.48116823 0.04419781 0.87551339 1.02367876] [ 0. 0. 0. 1. ]] SLAMing on 144.41650248099998 meters Centerline goodness : 0.703831 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87565986 -0.06306835 -0.47879244 4.51230591] [ 0.03476385 0.99709568 -0.06776187 -0.32910107] [ 0.4816755 0.04269168 0.87530916 1.0247814 ] [ 0. 0. 0. 1. ]] SLAMing on 144.44650248099998 meters Centerline goodness : 0.703126 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87542589 -0.06333793 -0.47918453 4.51266987] [ 0.03543225 0.99711918 -0.06706634 -0.33027178] [ 0.48205193 0.04173303 0.87514816 1.02551032] [ 0. 0. 0. 1. ]] SLAMing on 144.47650248099998 meters Centerline goodness : 0.702464 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87476933 -0.06848401 -0.47967548 4.51390903] [ 0.03977542 0.9967696 -0.06977314 -0.3314757 ] [ 0.48290428 0.04195611 0.87466745 1.02639249] [ 0. 0. 0. 1. ]] SLAMing on 144.50650248099998 meters Centerline goodness : 0.703394 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87432321 -0.07390106 -0.47968485 4.51468561] [ 0.04421203 0.99635771 -0.07291513 -0.3327329 ] [ 0.4833262 0.04254355 0.87440599 1.02665947] [ 0. 0. 0. 1. ]] SLAMing on 144.53650248099999 meters Centerline goodness : 0.700027 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87393706 -0.07864966 -0.47963346 4.51472722] [ 0.04759043 0.99592577 -0.07659636 -0.33230663] [ 0.4837036 0.04411443 0.87411941 1.02706442] [ 0. 0. 0. 1. ]] SLAMing on 144.566502481 meters Centerline goodness : 0.698766 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87386052 -0.07898295 -0.47971813 4.51492881] [ 0.04829914 0.99593785 -0.07599338 -0.33380781] [ 0.48377162 0.04323764 0.87412558 1.02723845] [ 0. 0. 0. 1. ]] SLAMing on 144.596502481 meters Centerline goodness : 0.701274 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87368004 -0.08385893 -0.47921902 4.51458174] [ 0.05187697 0.99547445 -0.07962029 -0.33376957] [ 0.48372717 0.04470222 0.87407651 1.0270796 ] [ 0. 0. 0. 1. ]] SLAMing on 144.626502481 meters Centerline goodness : 0.700905 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87361947 -0.08409749 -0.47928762 4.51469506] [ 0.05227983 0.99547286 -0.07937633 -0.33459362] [ 0.48379317 0.04428764 0.87406108 1.02723352] [ 0. 0. 0. 1. ]] SLAMing on 144.656502481 meters Centerline goodness : 0.699010 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87346539 -0.08469779 -0.47946272 4.51507956] [ 0.05309463 0.99544998 -0.07912208 -0.33560609] [ 0.48398262 0.0436535 0.8739881 1.02755121] [ 0. 0. 0. 1. ]] SLAMing on 144.686502481 meters Centerline goodness : 0.701197 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87344191 -0.0849711 -0.47945713 4.51554133] [ 0.05346233 0.99543831 -0.07902115 -0.3356674 ] [ 0.48398451 0.04338749 0.8740003 1.02742878] [ 0. 0. 0. 1. ]] SLAMing on 144.716502481 meters Centerline goodness : 0.702678 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87344279 -0.08527153 -0.4794022 4.51528797] [ 0.05375874 0.99541531 -0.07910978 -0.33588496] [ 0.4839501 0.04332581 0.87402241 1.02750851] [ 0. 0. 0. 1. ]] SLAMing on 144.746502481 meters Centerline goodness : 0.701862 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87347487 -0.08531168 -0.47933659 4.51524144] [ 0.05399815 0.99542956 -0.07876665 -0.33680327] [ 0.48386552 0.0429174 0.87408938 1.02744825] [ 0. 0. 0. 1. ]] SLAMing on 144.776502481 meters Centerline goodness : 0.702598 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87335466 -0.09018588 -0.47866287 4.51460661] [ 0.05724843 0.99490398 -0.08299809 -0.33595701] [ 0.48370885 0.04508407 0.87406703 1.02705266] [ 0. 0. 0. 1. ]] SLAMing on 144.806502481 meters Centerline goodness : 0.698460 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87335496 -0.09049238 -0.47860447 4.5144752 ] [ 0.05766988 0.99489002 -0.08287363 -0.33642419] [ 0.48365824 0.04477703 0.87411082 1.02709482] [ 0. 0. 0. 1. ]] SLAMing on 144.836502481 meters Centerline goodness : 0.701631 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87346833 -0.09084839 -0.47833007 4.51424912] [ 0.05818267 0.9948739 -0.08270853 -0.33747744] [ 0.48339204 0.04441277 0.87427664 1.02675149] [ 0. 0. 0. 1. ]] SLAMing on 144.866502481 meters Centerline goodness : 0.698348 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87344158 -0.09117695 -0.47831639 4.51546621] [ 0.05872932 0.99486754 -0.08239811 -0.33904602] [ 0.48337426 0.04387874 0.87431344 1.02611745] [ 0. 0. 0. 1. ]] SLAMing on 144.896502481 meters Centerline goodness : 0.697950 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.8733408 -0.0912913 -0.47847857 4.51607132] [ 0.05902994 0.99487659 -0.08207331 -0.34001358] [ 0.48351971 0.04343341 0.87425524 1.02618054] [ 0. 0. 0. 1. ]] SLAMing on 144.926502481 meters Centerline goodness : 0.697759 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87331844 -0.09146014 -0.47848714 4.51636337] [ 0.05940185 0.99488126 -0.08174776 -0.34091628] [ 0.48351455 0.0429688 0.87428105 1.02611944] [ 0. 0. 0. 1. ]] SLAMing on 144.956502481 meters Centerline goodness : 0.695518 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87317891 -0.09149763 -0.47873456 4.51688492] [ 0.05999325 0.99492879 -0.08073114 -0.34288155] [ 0.4836935 0.04177189 0.87424007 1.02638717] [ 0. 0. 0. 1. ]] SLAMing on 144.986502481 meters Centerline goodness : 0.697634 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87305348 -0.09176684 -0.47891175 4.51741169] [ 0.06036988 0.99491765 -0.08058753 -0.34329322] [ 0.48387301 0.04144538 0.87415627 1.02653413] [ 0. 0. 0. 1. ]] SLAMing on 145.01650248099997 meters Centerline goodness : 0.696248 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.8727748 -0.09242427 -0.47929312 4.51896869] [ 0.0611769 0.99487978 -0.08044636 -0.34456291] [ 0.48427423 0.04088989 0.87396023 1.02656178] [ 0. 0. 0. 1. ]] SLAMing on 145.04650248099998 meters Centerline goodness : 0.695818 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87264015 -0.09278131 -0.47946928 4.51973733] [ 0.06159128 0.99485665 -0.08041615 -0.34491233] [ 0.48446432 0.04064324 0.87386638 1.02659125] [ 0. 0. 0. 1. ]] SLAMing on 145.07650248099998 meters Centerline goodness : 0.693859 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87254256 -0.09311918 -0.47958138 4.52009011] [ 0.06180432 0.99481916 -0.08071591 -0.34469048] [ 0.48461295 0.04078787 0.87377722 1.02665606] [ 0. 0. 0. 1. ]] SLAMing on 145.10650248099998 meters Centerline goodness : 0.692465 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87235684 -0.09343317 -0.47985809 4.52073904] [ 0.06206555 0.99479089 -0.08086383 -0.34382502] [ 0.48491382 0.04075946 0.87361162 1.02694729] [ 0. 0. 0. 1. ]] SLAMing on 145.13650248099998 meters Centerline goodness : 0.692058 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87216462 -0.09390957 -0.48011444 4.52107271] [ 0.06240904 0.99474209 -0.08119906 -0.3433466 ] [ 0.48521541 0.04085547 0.87343966 1.02735404] [ 0. 0. 0. 1. ]] SLAMing on 145.16650248099998 meters Centerline goodness : 0.692287 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.8720707 -0.09424828 -0.48021865 4.52144145] [ 0.06277796 0.99471713 -0.08122043 -0.34341307] [ 0.4853366 0.04068281 0.87338038 1.02742171] [ 0. 0. 0. 1. ]] SLAMing on 145.19650248099998 meters Centerline goodness : 0.693272 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87199116 -0.09486896 -0.48024087 4.52069718] [ 0.0635616 0.99467864 -0.08108218 -0.34436745] [ 0.48537752 0.04017807 0.87338101 1.02798189] [ 0. 0. 0. 1. ]] SLAMing on 145.22650248099998 meters Centerline goodness : 0.692042 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87186253 -0.09507901 -0.48043284 4.52014772] [ 0.06389679 0.99467264 -0.08089219 -0.34470427] [ 0.48556455 0.03982876 0.87329304 1.0287208 ] [ 0. 0. 0. 1. ]] SLAMing on 145.25650248099998 meters Centerline goodness : 0.690721 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87162217 -0.09565148 -0.48075522 4.52019305] [ 0.06438905 0.99461978 -0.08115132 -0.34341097] [ 0.4859309 0.03977792 0.87309156 1.02950485] [ 0. 0. 0. 1. ]] SLAMing on 145.28650248099999 meters Centerline goodness : 0.691504 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87162439 -0.09613416 -0.48065491 4.51920172] [ 0.06483355 0.99457454 -0.08135168 -0.34322179] [ 0.48586781 0.03974555 0.87312815 1.02996334] [ 0. 0. 0. 1. ]] SLAMing on 145.316502481 meters Centerline goodness : 0.691982 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.8717474 -0.09593836 -0.48047091 4.51834677] [ 0.06473126 0.99459759 -0.08115111 -0.34382508] [ 0.48566071 0.03964178 0.87324807 1.03007831] [ 0. 0. 0. 1. ]] SLAMing on 145.346502481 meters Centerline goodness : 0.690318 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87178241 -0.09598481 -0.48039811 4.51754391] [ 0.06482572 0.99459696 -0.08108333 -0.3440474 ] [ 0.48558527 0.03954487 0.87329442 1.0303945 ] [ 0. 0. 0. 1. ]] SLAMing on 145.376502481 meters Centerline goodness : 0.692200 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87190529 -0.09551938 -0.48026786 4.51663034] [ 0.06451892 0.99464873 -0.08069213 -0.343968 ] [ 0.48540548 0.03936953 0.87340229 1.03056793] [ 0. 0. 0. 1. ]] SLAMing on 145.406502481 meters Centerline goodness : 0.691045 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87199038 -0.09540094 -0.48013689 4.51546808] [ 0.06427544 0.99464766 -0.08089934 -0.34309513] [ 0.4852849 0.03968243 0.87345513 1.03097692] [ 0. 0. 0. 1. ]] SLAMing on 145.436502481 meters Centerline goodness : 0.690165 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87203512 -0.09525411 -0.48008478 4.51535411] [ 0.06407031 0.99465498 -0.08097197 -0.34307391] [ 0.48523164 0.03985122 0.87347704 1.03088777] [ 0. 0. 0. 1. ]] SLAMing on 145.466502481 meters Centerline goodness : 0.688705 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87205288 -0.0952652 -0.48005033 4.51601888] [ 0.0637605 0.9946272 -0.08155567 -0.34287463] [ 0.48524053 0.04051261 0.87344167 1.03032172] [ 0. 0. 0. 1. ]] SLAMing on 145.496502481 meters Centerline goodness : 0.686639 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.8721772 -0.09527336 -0.4798228 4.51617909] [ 0.06362623 0.99461278 -0.08183594 -0.34274257] [ 0.48503467 0.04084613 0.87354047 1.02975457] [ 0. 0. 0. 1. ]] SLAMing on 145.526502481 meters Centerline goodness : 0.689217 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87239174 -0.09489946 -0.47950677 4.51620411] [ 0.06304062 0.99462389 -0.08215349 -0.34223526] [ 0.48472522 0.04144162 0.87368419 1.02898786] [ 0. 0. 0. 1. ]] SLAMing on 145.556502481 meters Centerline goodness : 0.687488 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87233793 -0.09483455 -0.47961749 4.51676119] [ 0.06295069 0.99462811 -0.08217139 -0.3420429 ] [ 0.48483372 0.04148897 0.87362173 1.0288746 ] [ 0. 0. 0. 1. ]] SLAMing on 145.586502481 meters Centerline goodness : 0.687770 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87225643 -0.09515242 -0.47970276 4.51776259] [ 0.06312528 0.99458972 -0.08250147 -0.34206995] [ 0.48495765 0.04168106 0.8735438 1.02847011] [ 0. 0. 0. 1. ]] SLAMing on 145.616502481 meters Centerline goodness : 0.687855 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87225632 -0.095113 -0.47971077 4.51797787] [ 0.06319546 0.99460251 -0.08229332 -0.34262056] [ 0.4849487 0.04146532 0.87355903 1.02837493] [ 0. 0. 0. 1. ]] SLAMing on 145.646502481 meters Centerline goodness : 0.688919 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87232332 -0.09515884 -0.47957984 4.51706304] [ 0.06359417 0.9946275 -0.08168176 -0.34348205] [ 0.48477605 0.04075442 0.87368831 1.02872862] [ 0. 0. 0. 1. ]] SLAMing on 145.676502481 meters Centerline goodness : 0.689243 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87218076 -0.09529432 -0.47981216 4.51676988] [ 0.06407368 0.99464645 -0.08107406 -0.3442276 ] [ 0.48496936 0.03996791 0.87361736 1.02947127] [ 0. 0. 0. 1. ]] SLAMing on 145.706502481 meters Centerline goodness : 0.686623 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.87185627 -0.09533195 -0.48039408 4.51602544] [ 0.06501475 0.99472013 -0.07940374 -0.34633164] [ 0.48542737 0.03799594 0.87345096 1.03127624] [ 0. 0. 0. 1. ]] SLAMing on 145.736502481 meters Centerline goodness : 0.689327 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.8716207 -0.09558178 -0.48077175 4.51615658] [ 0.06562178 0.99472896 -0.07879137 -0.34736112] [ 0.4857686 0.03712709 0.8732986 1.03211082] [ 0. 0. 0. 1. ]] SLAMing on 145.76650248099997 meters Centerline goodness : 0.686192 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.87145334 -0.09582189 -0.48102727 4.51650149] [ 0.06623284 0.99473798 -0.07816364 -0.34867861] [ 0.48598589 0.03625616 0.8732143 1.03259054] [ 0. 0. 0. 1. ]] SLAMing on 145.79650248099998 meters Centerline goodness : 0.687987 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.87094668 -0.10083866 -0.48091937 4.51577544] [ 0.0699748 0.99419444 -0.08173702 -0.3485362 ] [ 0.48636962 0.03753635 0.87294652 1.03351793] [ 0. 0. 0. 1. ]] SLAMing on 145.82650248099998 meters Centerline goodness : 0.689265 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.87079759 -0.10122575 -0.481108 4.51602453] [ 0.07045222 0.99416732 -0.08165675 -0.34891769] [ 0.48656762 0.03721137 0.87285008 1.03388758] [ 0. 0. 0. 1. ]] SLAMing on 145.85650248099998 meters Centerline goodness : 0.686609 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.87032592 -0.10180375 -0.48183896 4.51732509] [ 0.07125784 0.99413646 -0.08133273 -0.34906632] [ 0.48729366 0.03645118 0.87247705 1.03476857] [ 0. 0. 0. 1. ]] SLAMing on 145.88650248099998 meters Centerline goodness : 0.686459 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.87006691 -0.1020069 -0.48226358 4.51786436] [ 0.07151245 0.99412443 -0.08125625 -0.34854619] [ 0.4877187 0.03621052 0.87224954 1.03537401] [ 0. 0. 0. 1. ]] SLAMing on 145.91650248099998 meters Centerline goodness : 0.688543 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.87004706 -0.10181739 -0.48233944 4.51644947] [ 0.07137044 0.99414605 -0.08111656 -0.3478351 ] [ 0.48777493 0.03615045 0.87222059 1.03634495] [ 0. 0. 0. 1. ]] SLAMing on 145.94650248099998 meters Centerline goodness : 0.687861 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.87017356 -0.10145424 -0.48218773 4.51526673] [ 0.07102318 0.99417974 -0.0810084 -0.34794999] [ 0.48759991 0.03624486 0.87231453 1.03667437] [ 0. 0. 0. 1. ]] SLAMing on 145.97650248099998 meters Centerline goodness : 0.687144 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87054604 -0.10109328 -0.48159085 4.51270862] [ 0.07055176 0.99420051 -0.08116524 -0.347665 ] [ 0.48700313 0.036681 0.87262962 1.0368683 ] [ 0. 0. 0. 1. ]] SLAMing on 146.00650248099998 meters Centerline goodness : 0.689367 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87057094 -0.10122184 -0.48151882 4.51173526] [ 0.07062886 0.99418432 -0.08129637 -0.34709209] [ 0.48694743 0.03676514 0.87265716 1.0373164 ] [ 0. 0. 0. 1. ]] SLAMing on 146.03650248099999 meters Centerline goodness : 0.689367 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87057094 -0.10122184 -0.48151882 4.51173526] [ 0.07062886 0.99418432 -0.08129637 -0.34709209] [ 0.48694743 0.03676514 0.87265716 1.0373164 ] [ 0. 0. 0. 1. ]] SLAMing on 146.066502481 meters Centerline goodness : 0.688537 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87070149 -0.10128133 -0.4812702 4.51052809] [ 0.07074959 0.99418172 -0.08122314 -0.34712624] [ 0.48669642 0.03667143 0.87280112 1.03760809] [ 0. 0. 0. 1. ]] SLAMing on 146.096502481 meters Centerline goodness : 0.689826 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87066906 -0.10149404 -0.48128406 4.51097314] [ 0.07106841 0.9941702 -0.08108576 -0.34759887] [ 0.48670799 0.03639477 0.87280625 1.03746831] [ 0. 0. 0. 1. ]] SLAMing on 146.126502481 meters Centerline goodness : 0.689119 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87039943 -0.10212342 -0.4816385 4.51218634] [ 0.07196562 0.99413412 -0.08073595 -0.3486836 ] [ 0.4870583 0.03561111 0.87264315 1.03766609] [ 0. 0. 0. 1. ]] SLAMing on 146.156502481 meters Centerline goodness : 0.688837 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87031659 -0.1020996 -0.48179323 4.5124247 ] [ 0.07218361 0.99415493 -0.08028387 -0.3493573 ] [ 0.48717406 0.03509481 0.87259944 1.03791599] [ 0. 0. 0. 1. ]] SLAMing on 146.186502481 meters Centerline goodness : 0.689711 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87017212 -0.10228395 -0.48201502 4.51306694] [ 0.07286826 0.99417461 -0.07941698 -0.35055785] [ 0.48733018 0.03398284 0.87255628 1.03819522] [ 0. 0. 0. 1. ]] SLAMing on 146.216502481 meters Centerline goodness : 0.690481 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87012598 -0.10241966 -0.48206949 4.51361319] [ 0.07322724 0.99417768 -0.07904755 -0.35131892] [ 0.48735875 0.03348071 0.87255974 1.03814082] [ 0. 0. 0. 1. ]] SLAMing on 146.246502481 meters Centerline goodness : 0.690333 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87020352 -0.10247307 -0.48191814 4.51346388] [ 0.07380368 0.9942071 -0.07813616 -0.35303162] [ 0.48713329 0.03242703 0.87272541 1.03811204] [ 0. 0. 0. 1. ]] SLAMing on 146.276502481 meters Centerline goodness : 0.693024 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87017375 -0.10280588 -0.48190103 4.51326967] [ 0.07420553 0.99418013 -0.07809873 -0.35329376] [ 0.48712544 0.03219974 0.87273821 1.0383155 ] [ 0. 0. 0. 1. ]] SLAMing on 146.306502481 meters Centerline goodness : 0.693865 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87006142 -0.10292269 -0.48207887 4.5137926 ] [ 0.07450731 0.99418224 -0.07778389 -0.35397553] [ 0.48727998 0.03175836 0.87266811 1.03845995] [ 0. 0. 0. 1. ]] SLAMing on 146.336502481 meters Centerline goodness : 0.692704 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.86953028 -0.10807043 -0.48191065 4.51522663] [ 0.07787877 0.99356087 -0.08229036 -0.35214059] [ 0.48770072 0.03402336 0.87234765 1.03802922] [ 0. 0. 0. 1. ]] SLAMing on 146.366502481 meters Centerline goodness : 0.692513 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.8692895 -0.10900559 -0.48213436 4.51647195] [ 0.07879545 0.99346752 -0.08254431 -0.35197844] [ 0.48798262 0.03376491 0.87220003 1.0380475 ] [ 0. 0. 0. 1. ]] SLAMing on 146.396502481 meters Centerline goodness : 0.692480 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.86925951 -0.10926376 -0.48213 4.51659892] [ 0.07908279 0.99344351 -0.08255845 -0.35188475] [ 0.48798957 0.03363653 0.87220111 1.03806182] [ 0. 0. 0. 1. ]] SLAMing on 146.426502481 meters Centerline goodness : 0.693604 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.86917501 -0.10925528 -0.48228424 4.51671416] [ 0.0791995 0.99345396 -0.08232047 -0.35220234] [ 0.48812113 0.03335422 0.87213832 1.0383261 ] [ 0. 0. 0. 1. ]] SLAMing on 146.456502481 meters Centerline goodness : 0.692964 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.8695398 -0.10912391 -0.481656 4.51451201] [ 0.0791886 0.99347138 -0.08212052 -0.35267975] [ 0.48747276 0.03326539 0.87250428 1.03834871] [ 0. 0. 0. 1. ]] SLAMing on 146.486502481 meters Centerline goodness : 0.692119 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87016047 -0.10858466 -0.48065593 4.51091929] [ 0.07862187 0.99351719 -0.0821109 -0.3531898 ] [ 0.48645592 0.03365959 0.87305651 1.03829328] [ 0. 0. 0. 1. ]] SLAMing on 146.51650248099997 meters Centerline goodness : 0.693316 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87044642 -0.10799415 -0.48027106 4.51007638] [ 0.07805772 0.99357546 -0.08194388 -0.35368438] [ 0.486035 0.03383889 0.87328398 1.03787634] [ 0. 0. 0. 1. ]] SLAMing on 146.54650248099998 meters Centerline goodness : 0.695752 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87047565 -0.10803277 -0.4802094 4.50982387] [ 0.07800984 0.99356517 -0.08211403 -0.35368067] [ 0.48599034 0.03401721 0.87330191 1.03786991] [ 0. 0. 0. 1. ]] SLAMing on 146.57650248099998 meters Centerline goodness : 0.693478 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87075728 -0.10720119 -0.47988506 4.50950556] [ 0.07705361 0.99363656 -0.08215307 -0.35375318] [ 0.48563825 0.03455851 0.8734765 1.03718021] [ 0. 0. 0. 1. ]] SLAMing on 146.60650248099998 meters Centerline goodness : 0.691737 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87091074 -0.10681408 -0.47969285 4.50971539] [ 0.07659611 0.99366829 -0.08219715 -0.35373825] [ 0.48543539 0.03484378 0.87357793 1.03657774] [ 0. 0. 0. 1. ]] SLAMing on 146.63650248099998 meters Centerline goodness : 0.695309 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87119968 -0.10621902 -0.47930016 4.51003751] [ 0.07591362 0.99371744 -0.08223609 -0.35402655] [ 0.48502397 0.03525864 0.87378978 1.03546817] [ 0. 0. 0. 1. ]] SLAMing on 146.66650248099998 meters Centerline goodness : 0.691902 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87123561 -0.10567919 -0.47935417 4.50952688] [ 0.07555413 0.9937833 -0.08176995 -0.35481482] [ 0.48501555 0.03502371 0.8738039 1.03577168] [ 0. 0. 0. 1. ]] SLAMing on 146.69650248099998 meters Centerline goodness : 0.694563 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:1.04 [[ 0.87177664 -0.10442545 -0.47864477 4.50776664] [ 0.07467671 0.99392635 -0.08083197 -0.35669235] [ 0.48417856 0.03472381 0.87427992 1.03520695] [ 0. 0. 0. 1. ]] SLAMing on 146.72650248099998 meters Centerline goodness : 0.696055 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:1.04 [[ 0.87195047 -0.10406135 -0.47840737 4.50709344] [ 0.07463137 0.99398229 -0.0801833 -0.35817523] [ 0.48387244 0.03421167 0.87446957 1.03511721] [ 0. 0. 0. 1. ]] SLAMing on 146.75650248099998 meters Centerline goodness : 0.699578 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:1.04 [[ 0.87213039 -0.10338983 -0.47822497 4.50595937] [ 0.0746209 0.99409111 -0.07883269 -0.36123841] [ 0.48354969 0.03306681 0.87469211 1.0353684 ] [ 0. 0. 0. 1. ]] SLAMing on 146.78650248099999 meters Centerline goodness : 0.698421 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:1.04 [[ 0.87207662 -0.10334509 -0.4783327 4.5067822 ] [ 0.07498245 0.99412345 -0.07807815 -0.36360203] [ 0.48359074 0.03222357 0.87470088 1.03521591] [ 0. 0. 0. 1. ]] SLAMing on 146.816502481 meters Centerline goodness : 0.697483 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87179815 -0.10339637 -0.47882897 4.50848177] [ 0.07538802 0.99414476 -0.0774135 -0.36510227] [ 0.48402958 0.03139098 0.8744884 1.03535601] [ 0. 0. 0. 1. ]] SLAMing on 146.846502481 meters Centerline goodness : 0.697904 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87148745 -0.10374096 -0.47931977 4.51020709] [ 0.07589654 0.99412508 -0.07716897 -0.36584424] [ 0.48450938 0.03087308 0.87424111 1.03549437] [ 0. 0. 0. 1. ]] SLAMing on 146.876502481 meters Centerline goodness : 0.694400 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87114799 -0.10388592 -0.47990509 4.51236772] [ 0.07663329 0.99415118 -0.07609708 -0.36752157] [ 0.48500362 0.02951511 0.87401393 1.0356378 ] [ 0. 0. 0. 1. ]] SLAMing on 146.906502481 meters Centerline goodness : 0.696087 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87140061 -0.10345054 -0.47954037 4.51114475] [ 0.07680303 0.99422748 -0.07491999 -0.36936385] [ 0.48452273 0.02845517 0.87431575 1.03572707] [ 0. 0. 0. 1. ]] SLAMing on 146.936502481 meters Centerline goodness : 0.697572 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87148044 -0.10322542 -0.47944381 4.51002623] [ 0.07685672 0.99426493 -0.07436593 -0.37051737] [ 0.48437062 0.02795997 0.874416 1.03622627] [ 0. 0. 0. 1. ]] SLAMing on 146.966502481 meters Centerline goodness : 0.697394 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87158776 -0.10319642 -0.47925492 4.50882131] [ 0.0771599 0.99428577 -0.07377098 -0.37196749] [ 0.48412925 0.02731862 0.87456993 1.03663053] [ 0. 0. 0. 1. ]] SLAMing on 146.996502481 meters Centerline goodness : 0.695302 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87167622 -0.10294333 -0.47914845 4.5068638 ] [ 0.07748308 0.99434157 -0.072672 -0.37459097] [ 0.48391832 0.02622055 0.87472027 1.03764253] [ 0. 0. 0. 1. ]] SLAMing on 147.026502481 meters Centerline goodness : 0.693021 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87150479 -0.10323591 -0.47939727 4.50692566] [ 0.07800031 0.99432641 -0.07232531 -0.37505896] [ 0.48414393 0.02563872 0.87461266 1.0382542 ] [ 0. 0. 0. 1. ]] SLAMing on 147.056502481 meters Centerline goodness : 0.693636 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87094203 -0.10411593 -0.48022897 4.50897251] [ 0.07909664 0.99425545 -0.07210985 -0.37547853] [ 0.48497805 0.024819 0.87417407 1.0390059 ] [ 0. 0. 0. 1. ]] SLAMing on 147.086502481 meters Centerline goodness : 0.692111 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87072909 -0.10451452 -0.48052842 4.51052464] [ 0.07952262 0.99421893 -0.07214485 -0.3757627 ] [ 0.48529063 0.02460573 0.87400661 1.03883606] [ 0. 0. 0. 1. ]] SLAMing on 147.116502481 meters Centerline goodness : 0.691976 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.8703713 -0.10524017 -0.48101798 4.51267089] [ 0.08012237 0.99414285 -0.07252858 -0.37581585] [ 0.48583351 0.02458649 0.8737055 1.03869758] [ 0. 0. 0. 1. ]] SLAMing on 147.146502481 meters Centerline goodness : 0.692494 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87036213 -0.10544984 -0.48098867 4.51274548] [ 0.08031601 0.99412108 -0.07261273 -0.37624984] [ 0.48581798 0.02456828 0.87371465 1.03863054] [ 0. 0. 0. 1. ]] SLAMing on 147.176502481 meters Centerline goodness : 0.691542 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87048807 -0.10497504 -0.48086459 4.51125297] [ 0.08003908 0.99417765 -0.0721425 -0.3767221 ] [ 0.48563799 0.02431123 0.8738219 1.03921948] [ 0. 0. 0. 1. ]] SLAMing on 147.206502481 meters Centerline goodness : 0.690166 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87052576 -0.10463198 -0.48087114 4.51012322] [ 0.07992913 0.9942232 -0.07163494 -0.37692603] [ 0.48558855 0.02392444 0.87386005 1.03987555] [ 0. 0. 0. 1. ]] SLAMing on 147.236502481 meters Centerline goodness : 0.694556 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87060633 -0.10472143 -0.48070578 4.50856609] [ 0.08011779 0.99421855 -0.0714885 -0.37674751] [ 0.48541298 0.02372525 0.87396301 1.0405495 ] [ 0. 0. 0. 1. ]] SLAMing on 147.26650248099997 meters Centerline goodness : 0.694635 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87056486 -0.10469676 -0.48078625 4.5086608 ] [ 0.08033399 0.99423296 -0.07104409 -0.37773591] [ 0.48545162 0.02322501 0.87395499 1.0407277 ] [ 0. 0. 0. 1. ]] SLAMing on 147.29650248099998 meters Centerline goodness : 0.693759 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87058939 -0.10505875 -0.48066285 4.50845913] [ 0.08096151 0.99420907 -0.07066519 -0.37922938] [ 0.48530336 0.02260517 0.87405358 1.04079568] [ 0. 0. 0. 1. ]] SLAMing on 147.32650248099998 meters Centerline goodness : 0.695160 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87042471 -0.10543769 -0.48087807 4.50888172] [ 0.08146018 0.99417756 -0.0705352 -0.3795473 ] [ 0.48551525 0.02222316 0.87394569 1.04108432] [ 0. 0. 0. 1. ]] SLAMing on 147.35650248099998 meters Centerline goodness : 0.693012 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87021642 -0.10567034 -0.48120386 4.50989685] [ 0.08184839 0.99416248 -0.07029802 -0.37991534] [ 0.48582324 0.02178873 0.87378546 1.04125691] [ 0. 0. 0. 1. ]] SLAMing on 147.38650248099998 meters Centerline goodness : 0.690913 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.86990401 -0.10589509 -0.48171905 4.51120071] [ 0.0821834 0.99414662 -0.07013128 -0.37895447] [ 0.48632592 0.02141817 0.87351495 1.04169111] [ 0. 0. 0. 1. ]] SLAMing on 147.41650248099998 meters Centerline goodness : 0.692781 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.86975004 -0.10623405 -0.4819224 4.51054812] [ 0.082457 0.99411025 -0.07032539 -0.37814445] [ 0.48655494 0.02142764 0.87338717 1.04252698] [ 0. 0. 0. 1. ]] SLAMing on 147.44650248099998 meters Centerline goodness : 0.691313 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.86976087 -0.10646341 -0.48185222 4.51034862] [ 0.08255372 0.99408091 -0.0706259 -0.37799211] [ 0.48651917 0.02164895 0.87340164 1.04253187] [ 0. 0. 0. 1. ]] SLAMing on 147.47650248099998 meters Centerline goodness : 0.690821 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.86973381 -0.10652756 -0.48188689 4.51054458] [ 0.08258064 0.99407288 -0.07070743 -0.37790918] [ 0.48656298 0.02170212 0.87337591 1.04249761] [ 0. 0. 0. 1. ]] SLAMing on 147.50650248099998 meters Centerline goodness : 0.688043 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.86975331 -0.10665309 -0.48182394 4.5099487 ] [ 0.08243681 0.99404777 -0.07122639 -0.37658581] [ 0.48655253 0.02222936 0.87336848 1.04274785] [ 0. 0. 0. 1. ]] SLAMing on 147.53650248099999 meters Centerline goodness : 0.688061 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87001493 -0.10644216 -0.48139806 4.50885521] [ 0.0822014 0.99406639 -0.07123859 -0.37640056] [ 0.48612442 0.02240704 0.8736023 1.04249607] [ 0. 0. 0. 1. ]] SLAMing on 147.566502481 meters Centerline goodness : 0.683735 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.86997277 -0.10687697 -0.48137791 4.50852668] [ 0.08225182 0.99400434 -0.07204179 -0.37493285] [ 0.48619134 0.02308019 0.87354753 1.04265847] [ 0. 0. 0. 1. ]] SLAMing on 147.596502481 meters Centerline goodness : 0.680859 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.869874 -0.10719987 -0.48148458 4.50941015] [ 0.08241194 0.99396424 -0.0724111 -0.37430119] [ 0.48634092 0.02330845 0.8734582 1.04244526] [ 0. 0. 0. 1. ]] SLAMing on 147.626502481 meters Centerline goodness : 0.641591 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.86963873 -0.10788513 -0.48175645 4.51056653] [ 0.08292713 0.99388733 -0.07287712 -0.37363636] [ 0.48667399 0.02342609 0.87326952 1.04246347] [ 0. 0. 0. 1. ]] SLAMing on 147.656502481 meters Centerline goodness : 0.639660 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.86960191 -0.10797217 -0.48180342 4.51069849] [ 0.08313021 0.99388416 -0.07268865 -0.37407407] [ 0.48670514 0.02315777 0.87325931 1.04254822] [ 0. 0. 0. 1. ]] SLAMing on 147.686502481 meters Centerline goodness : 0.619919 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.86968095 -0.10816584 -0.48161728 4.51040751] [ 0.08340626 0.99386748 -0.07260053 -0.37370647] [ 0.48651665 0.0229694 0.87336932 1.04245192] [ 0. 0. 0. 1. ]] SLAMing on 147.716502481 meters Centerline goodness : 0.609849 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.86986959 -0.10845072 -0.48121237 4.50984378] [ 0.08356814 0.99383075 -0.0729164 -0.37328824] [ 0.48615149 0.02321373 0.87356617 1.04206343] [ 0. 0. 0. 1. ]] SLAMing on 147.746502481 meters Centerline goodness : 0.583255 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87010123 -0.10837792 -0.48080981 4.50889883] [ 0.08361439 0.9938423 -0.07270563 -0.37380714] [ 0.48572881 0.02305864 0.87380537 1.04195984] [ 0. 0. 0. 1. ]] SLAMing on 147.776502481 meters Centerline goodness : 0.546559 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87085391 -0.10805294 -0.47951855 4.50681907] [ 0.08356026 0.99388341 -0.0722042 -0.37575927] [ 0.4843874 0.02281061 0.87455618 1.04096352] [ 0. 0. 0. 1. ]] SLAMing on 147.806502481 meters Centerline goodness : 0.515942 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87148043 -0.10763098 -0.47847408 4.50749882] [ 0.08331936 0.99393108 -0.07182537 -0.37622528] [ 0.48330089 0.02272825 0.87515923 1.03923025] [ 0. 0. 0. 1. ]] SLAMing on 147.836502481 meters Centerline goodness : 0.506236 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87183092 -0.10787751 -0.47777954 4.50776329] [ 0.08353658 0.99390177 -0.07197855 -0.37629999] [ 0.4826308 0.02284106 0.87552601 1.03821428] [ 0. 0. 0. 1. ]] SLAMing on 147.866502481 meters Centerline goodness : 0.499098 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.03 [[ 0.87355964 -0.11001216 -0.47412116 4.49269713] [ 0.08519652 0.99364314 -0.07358579 -0.37679662] [ 0.47920257 0.02388811 0.8773792 1.02552788] [ 0. 0. 0. 1. ]] SLAMing on 147.896502481 meters Centerline goodness : 0.509623 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.01 [[ 0.87407481 -0.10973497 -0.4732351 4.48353872] [ 0.08485577 0.99366507 -0.07368328 -0.37873033] [ 0.47832282 0.02424797 0.87784925 1.01453305] [ 0. 0. 0. 1. ]] SLAMing on 147.926502481 meters Centerline goodness : 0.509623 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:1.00 [[ 0.87556499 -0.11278808 -0.46974971 4.46604426] [ 0.08829105 0.99334668 -0.07393961 -0.37891334] [ 0.47496382 0.02326424 0.87969776 1.00106562] [ 0. 0. 0. 1. ]] SLAMing on 147.956502481 meters Centerline goodness : 0.514531 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.38, Z:1.00 [[ 0.87723761 -0.11390526 -0.46634725 4.464485 ] [ 0.0893488 0.99320882 -0.07451868 -0.37813478] [ 0.47166827 0.02370302 0.88145743 0.99575976] [ 0. 0. 0. 1. ]] SLAMing on 147.986502481 meters Centerline goodness : 0.289224 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.38, Z:0.99 [[ 0.87811957 -0.11339974 -0.46480804 4.46436637] [ 0.08890481 0.99326003 -0.074367 -0.37792932] [ 0.47010844 0.02397945 0.88228286 0.99387634] [ 0. 0. 0. 1. ]] SLAMing on 148.01650248099997 meters Centerline goodness : 0.334345 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.38, Z:0.99 [[ 0.87889835 -0.11322579 -0.46337631 4.46396518] [ 0.08853218 0.99326217 -0.07478177 -0.37598495] [ 0.46872139 0.02470186 0.88300061 0.99245933] [ 0. 0. 0. 1. ]] SLAMing on 148.04650248099998 meters Centerline goodness : 0.330366 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:0.99 [[ 0.87920141 -0.11357343 -0.46271585 4.46464933] [ 0.08853499 0.99320325 -0.07555699 -0.37461205] [ 0.46815215 0.02546327 0.88328092 0.99146595] [ 0. 0. 0. 1. ]] SLAMing on 148.07650248099998 meters Centerline goodness : 0.326507 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:0.99 [[ 0.87964075 -0.11389922 -0.46179987 4.46468878] [ 0.08841523 0.99313899 -0.07653557 -0.37323112] [ 0.4673488 0.02649366 0.88367595 0.99017186] [ 0. 0. 0. 1. ]] SLAMing on 148.10650248099998 meters Centerline goodness : 0.340769 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:0.99 [[ 0.88075632 -0.11384188 -0.45968285 4.46394649] [ 0.08736242 0.9930748 -0.07855089 -0.36989306] [ 0.46544184 0.02902519 0.88460242 0.98737122] [ 0. 0. 0. 1. ]] SLAMing on 148.13650248099998 meters Centerline goodness : 0.342001 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:0.99 [[ 0.88166695 -0.11391303 -0.45791615 4.46312934] [ 0.08641028 0.99299012 -0.08064671 -0.3658166 ] [ 0.46389293 0.03153488 0.88532983 0.98539313] [ 0. 0. 0. 1. ]] SLAMing on 148.16650248099998 meters Centerline goodness : 0.342729 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:0.98 [[ 0.88206292 -0.11416932 -0.45708902 4.46313459] [ 0.08621976 0.99292663 -0.08162633 -0.36400824] [ 0.46317509 0.03258945 0.88566741 0.98435968] [ 0. 0. 0. 1. ]] SLAMing on 148.19650248099998 meters Centerline goodness : 0.413071 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:0.98 [[ 0.88233442 -0.11431118 -0.45652921 4.46342312] [ 0.08608263 0.99288797 -0.08223905 -0.36262409] [ 0.4626832 0.03326311 0.88589944 0.98366359] [ 0. 0. 0. 1. ]] SLAMing on 148.22650248099998 meters Centerline goodness : 0.421677 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:0.98 [[ 0.88295121 -0.1146449 -0.45525126 4.46387991] [ 0.08590102 0.9928058 -0.08341263 -0.36038973] [ 0.46153893 0.03454274 0.88644719 0.98189235] [ 0. 0. 0. 1. ]] SLAMing on 148.25650248099998 meters Centerline goodness : 0.343833 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:0.98 [[ 0.88315874 -0.11491198 -0.45478113 4.46448869] [ 0.08617896 0.99277477 -0.08349515 -0.36008834] [ 0.46108982 0.03454691 0.88668071 0.98134066] [ 0. 0. 0. 1. ]] SLAMing on 148.28650248099999 meters Centerline goodness : 0.340689 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88344521 -0.11531024 -0.45412345 4.4656944 ] [ 0.08666591 0.9927341 -0.08347472 -0.36006815] [ 0.46044932 0.03438832 0.88701965 0.98049705] [ 0. 0. 0. 1. ]] SLAMing on 148.316502481 meters Centerline goodness : 0.299707 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88361302 -0.11545551 -0.45375991 4.46653522] [ 0.08696967 0.99272773 -0.08323423 -0.36011567] [ 0.46006989 0.0340835 0.88722827 0.98000323] [ 0. 0. 0. 1. ]] SLAMing on 148.346502481 meters Centerline goodness : 0.338738 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88380854 -0.11600941 -0.45323756 4.46818976] [ 0.08767888 0.99267578 -0.08310959 -0.36083231] [ 0.45955945 0.0337136 0.88750691 0.97912919] [ 0. 0. 0. 1. ]] SLAMing on 148.376502481 meters Centerline goodness : 0.259011 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88397024 -0.11631593 -0.45284347 4.46895389] [ 0.08814378 0.9926514 -0.08290877 -0.36146896] [ 0.45915932 0.03337355 0.88772683 0.97861222] [ 0. 0. 0. 1. ]] SLAMing on 148.406502481 meters Centerline goodness : 0.283120 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88393304 -0.1165287 -0.45286139 4.4700022 ] [ 0.08868397 0.99265189 -0.08232484 -0.36214536] [ 0.45912693 0.0326081 0.88777203 0.97874611] [ 0. 0. 0. 1. ]] SLAMing on 148.436502481 meters Centerline goodness : 0.279356 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88370802 -0.11730337 -0.45310048 4.4730325 ] [ 0.08987924 0.99259787 -0.08167739 -0.36287035] [ 0.45932761 0.03145464 0.88770984 0.97879646] [ 0. 0. 0. 1. ]] SLAMing on 148.466502481 meters Centerline goodness : 0.561991 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88356709 -0.11821797 -0.45313763 4.47446971] [ 0.09092989 0.99250611 -0.0816295 -0.36301212] [ 0.45939194 0.03092138 0.88769528 0.97885461] [ 0. 0. 0. 1. ]] SLAMing on 148.496502481 meters Centerline goodness : 0.265575 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.98 [[ 0.88295847 -0.12315044 -0.45301027 4.47694383] [ 0.09512717 0.99189487 -0.08423419 -0.3623952 ] [ 0.45971204 0.03128171 0.88751693 0.97931209] [ 0. 0. 0. 1. ]] SLAMing on 148.526502481 meters Centerline goodness : 0.524680 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.98 [[ 0.8830684 -0.12328186 -0.45276019 4.47767848] [ 0.09580719 0.99191464 -0.08322459 -0.36395215] [ 0.45935954 0.03011532 0.88773976 0.97935759] [ 0. 0. 0. 1. ]] SLAMing on 148.556502481 meters Centerline goodness : 0.260726 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88307205 -0.12361944 -0.452661 4.47859739] [ 0.09683817 0.99191885 -0.08197167 -0.36593755] [ 0.45913628 0.02855203 0.8879069 0.9797793 ] [ 0. 0. 0. 1. ]] SLAMing on 148.586502481 meters Centerline goodness : 0.266317 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88297888 -0.12389325 -0.45276789 4.47979676] [ 0.09747312 0.99190938 -0.08133124 -0.36643836] [ 0.45918111 0.02768107 0.8879113 0.98008843] [ 0. 0. 0. 1. ]] SLAMing on 148.616502481 meters Centerline goodness : 0.186094 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88312457 -0.12358346 -0.45256836 4.48120197] [ 0.09769492 0.99197626 -0.08024217 -0.36740378] [ 0.45885367 0.0266502 0.88811209 0.97997077] [ 0. 0. 0. 1. ]] SLAMing on 148.646502481 meters Centerline goodness : 0.193604 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88315042 -0.12365035 -0.45249965 4.48156322] [ 0.09793806 0.99197818 -0.07992141 -0.36759838] [ 0.45875209 0.02626569 0.88817601 0.98027781] [ 0. 0. 0. 1. ]] SLAMing on 148.676502481 meters Centerline goodness : 0.251668 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88340297 -0.12328822 -0.45210531 4.48251702] [ 0.09769304 0.99202549 -0.07963351 -0.36855488] [ 0.45831786 0.02618094 0.88840266 0.97962701] [ 0. 0. 0. 1. ]] SLAMing on 148.706502481 meters Centerline goodness : 0.248697 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88349285 -0.12317727 -0.45195989 4.4835163 ] [ 0.09766818 0.99204269 -0.07944947 -0.36919746] [ 0.45814988 0.02605094 0.88849313 0.97912704] [ 0. 0. 0. 1. ]] SLAMing on 148.736502481 meters Centerline goodness : 0.665038 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88366354 -0.12292607 -0.45169451 4.48496004] [ 0.09752461 0.99207695 -0.07919772 -0.36976775] [ 0.45785118 0.02593281 0.88865054 0.97835662] [ 0. 0. 0. 1. ]] SLAMing on 148.76650248099997 meters Centerline goodness : 0.243371 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.98 [[ 0.88383827 -0.12233052 -0.4515143 4.4852964 ] [ 0.09723897 0.99216316 -0.07846553 -0.37054645] [ 0.45757458 0.02544606 0.88880707 0.97826784] [ 0. 0. 0. 1. ]] SLAMing on 148.79650248099998 meters Centerline goodness : 0.246974 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.98 [[ 0.88412217 -0.12182291 -0.45109551 4.48656291] [ 0.09675097 0.99222135 -0.07833289 -0.37067995] [ 0.45712934 0.02561191 0.88903138 0.97720486] [ 0. 0. 0. 1. ]] SLAMing on 148.82650248099998 meters Centerline goodness : 0.168116 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.98 [[ 0.88427526 -0.12133209 -0.45092771 4.4877256 ] [ 0.09651959 0.99229193 -0.07772191 -0.37141697] [ 0.45688209 0.02520421 0.88917012 0.97662017] [ 0. 0. 0. 1. ]] SLAMing on 148.85650248099998 meters Centerline goodness : 0.208574 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.98 [[ 0.88463513 -0.12085033 -0.45035085 4.48829344] [ 0.09628545 0.99235848 -0.07716064 -0.37322159] [ 0.45623438 0.02489678 0.88951129 0.97573127] [ 0. 0. 0. 1. ]] SLAMing on 148.88650248099998 meters Centerline goodness : 0.680467 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.98 [[ 0.88458252 -0.12083438 -0.45045846 4.4892367 ] [ 0.09649032 0.99237276 -0.07671982 -0.37457551] [ 0.4562931 0.02440013 0.88949494 0.97563911] [ 0. 0. 0. 1. ]] SLAMing on 148.91650248099998 meters Centerline goodness : 0.141939 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.88383371 -0.12495462 -0.45080408 4.49342697] [ 0.0996772 0.99183917 -0.07949534 -0.37504448] [ 0.45705846 0.02532577 0.88907602 0.97525497] [ 0. 0. 0. 1. ]] SLAMing on 148.94650248099998 meters Centerline goodness : 0.685178 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.88348679 -0.12540299 -0.45135926 4.49545084] [ 0.10044696 0.9918056 -0.07894339 -0.37601639] [ 0.45756038 0.02440778 0.88884349 0.97558236] [ 0. 0. 0. 1. ]] SLAMing on 148.97650248099998 meters Centerline goodness : 0.686427 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.88311469 -0.12574556 -0.45199171 4.49718905] [ 0.10122631 0.99178997 -0.07814024 -0.37667082] [ 0.45810663 0.02325334 0.88859304 0.97633653] [ 0. 0. 0. 1. ]] SLAMing on 149.00650248099998 meters Centerline goodness : 0.688320 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.88253563 -0.12648511 -0.45291543 4.49959742] [ 0.10288411 0.99174819 -0.07648776 -0.37792356] [ 0.45885262 0.02090537 0.88826642 0.97786682] [ 0. 0. 0. 1. ]] SLAMing on 149.03650248099999 meters Centerline goodness : 0.692191 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.88147294 -0.13244316 -0.45328165 4.50357174] [ 0.1079545 0.99096293 -0.0796134 -0.37799919] [ 0.45972957 0.02124327 0.88780485 0.97822594] [ 0. 0. 0. 1. ]] SLAMing on 149.066502481 meters Centerline goodness : 0.695395 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.98 [[ 0.88099445 -0.13341786 -0.4539256 4.50511133] [ 0.10955019 0.99086735 -0.07861705 -0.38000354] [ 0.46026898 0.01953354 0.88756459 0.97932492] [ 0. 0. 0. 1. ]] SLAMing on 149.096502481 meters Centerline goodness : 0.519489 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.98 [[ 0.87981696 -0.13881277 -0.45459116 4.50762008] [ 0.11466025 0.99014314 -0.08043377 -0.38110884] [ 0.46127555 0.01864346 0.88706104 0.98131217] [ 0. 0. 0. 1. ]] SLAMing on 149.126502481 meters Centerline goodness : 0.537529 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.98 [[ 0.87924206 -0.13985075 -0.45538464 4.50921261] [ 0.11628105 0.9900271 -0.07953023 -0.3822953 ] [ 0.4619655 0.01697372 0.88673546 0.98278262] [ 0. 0. 0. 1. ]] SLAMing on 149.156502481 meters Centerline goodness : 0.482810 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.98 [[ 0.87887482 -0.14064633 -0.45584828 4.51042634] [ 0.11768813 0.98994057 -0.07853133 -0.38404792] [ 0.46230785 0.01537128 0.88658625 0.983679 ] [ 0. 0. 0. 1. ]] SLAMing on 149.186502481 meters Centerline goodness : 0.702990 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.99 [[ 0.87794422 -0.14618826 -0.45589794 4.51152474] [ 0.12254467 0.98913677 -0.08118659 -0.38469827] [ 0.46281394 0.01540943 0.8863215 0.98524493] [ 0. 0. 0. 1. ]] SLAMing on 149.216502481 meters Centerline goodness : 0.527638 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.87727428 -0.14690198 -0.45695694 4.51380534] [ 0.124225 0.98906621 -0.07947443 -0.38601841] [ 0.46363562 0.01295539 0.88593124 0.98720726] [ 0. 0. 0. 1. ]] SLAMing on 149.246502481 meters Centerline goodness : 0.563175 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.87676285 -0.14760348 -0.45771184 4.51557932] [ 0.12517338 0.98897256 -0.07915114 -0.3861744 ] [ 0.46434743 0.01210344 0.88557042 0.98803716] [ 0. 0. 0. 1. ]] SLAMing on 149.276502481 meters Centerline goodness : 0.432163 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.87590244 -0.14848631 -0.4590716 4.51883439] [ 0.12665626 0.9888604 -0.07818759 -0.38686711] [ 0.46556751 0.01034041 0.88495196 0.98966068] [ 0. 0. 0. 1. ]] SLAMing on 149.306502481 meters Centerline goodness : 0.561958 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.87536857 -0.1490313 -0.45991254 4.52085409] [ 0.12742729 0.98878625 -0.07787188 -0.38705136] [ 0.46636054 0.00956119 0.88454306 0.99049342] [ 0. 0. 0. 1. ]] SLAMing on 149.336502481 meters Centerline goodness : 0.459283 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.8750011 -0.14947659 -0.46046696 4.52248614] [ 0.12837596 0.98873063 -0.07701524 -0.38838202] [ 0.46678976 0.00827553 0.88432959 0.99133485] [ 0. 0. 0. 1. ]] SLAMing on 149.366502481 meters Centerline goodness : 0.559168 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.8748991 -0.14965895 -0.46060152 4.52298916] [ 0.12859705 0.98870433 -0.07698412 -0.38838662] [ 0.46692008 0.00812134 0.88426223 0.99148683] [ 0. 0. 0. 1. ]] SLAMing on 149.396502481 meters Centerline goodness : 0.574692 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.87443714 -0.15005985 -0.46134774 4.52393799] [ 0.12904681 0.98864634 -0.07697621 -0.38773923] [ 0.46766079 0.0077754 0.88387382 0.99264397] [ 0. 0. 0. 1. ]] SLAMing on 149.426502481 meters Centerline goodness : 0.544012 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 0.87402863 -0.15007271 -0.46211702 4.52743769] [ 0.12903454 0.98864512 -0.07701247 -0.385811 ] [ 0.4684272 0.00768204 0.8834687 0.99266883] [ 0. 0. 0. 1. ]] SLAMing on 149.456502481 meters Centerline goodness : 0.603747 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 0.87380809 -0.14633387 -0.46373033 4.5320144 ] [ 0.12659531 0.98921931 -0.07361237 -0.38511777] [ 0.46950299 0.005617 0.88291302 0.99274242] [ 0. 0. 0. 1. ]] SLAMing on 149.486502481 meters Centerline goodness : 0.720357 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.38, Z:0.99 [[ 0.87353406 -0.14683949 -0.46408664 4.53383352] [ 0.12670064 0.98914049 -0.07448515 -0.38321937] [ 0.46998425 0.00626524 0.88265256 0.99249717] [ 0. 0. 0. 1. ]] SLAMing on 149.51650248099997 meters Centerline goodness : 0.719561 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.38, Z:0.99 [[ 0.87334249 -0.1470507 -0.46438022 4.53497386] [ 0.12666139 0.98910637 -0.07500321 -0.38202907] [ 0.47035071 0.00668444 0.88245427 0.99247657] [ 0. 0. 0. 1. ]] SLAMing on 149.54650248099998 meters Centerline goodness : 0.718880 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.38, Z:0.99 [[ 0.87322032 -0.14736211 -0.46451123 4.53543161] [ 0.12657682 0.98905484 -0.07582111 -0.3802713 ] [ 0.47060023 0.00741218 0.88231541 0.99262171] [ 0. 0. 0. 1. ]] SLAMing on 149.57650248099998 meters Centerline goodness : 0.718740 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.38, Z:0.99 [[ 0.87351964 -0.14337827 -0.4651947 4.53554719] [ 0.1239826 0.9896532 -0.07221392 -0.3798756 ] [ 0.47073533 0.00540423 0.88225792 0.99344041] [ 0. 0. 0. 1. ]] SLAMing on 149.60650248099998 meters Centerline goodness : 0.719703 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.38, Z:0.99 [[ 0.87333984 -0.14368665 -0.46543707 4.53546423] [ 0.12405596 0.98960638 -0.07272779 -0.37828935] [ 0.47104951 0.00577584 0.88208786 0.9940302 ] [ 0. 0. 0. 1. ]] SLAMing on 149.63650248099998 meters Centerline goodness : 0.712354 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.38, Z:0.99 [[ 0.87309696 -0.14368312 -0.46589361 4.53710664] [ 0.12354541 0.98960065 -0.07366871 -0.37569476] [ 0.47163358 0.00676091 0.88176871 0.99408269] [ 0. 0. 0. 1. ]] SLAMing on 149.66650248099998 meters Centerline goodness : 0.712170 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:0.99 [[ 0.87262758 -0.14431899 -0.46657598 4.53917016] [ 0.12385301 0.9895053 -0.07442914 -0.37372852] [ 0.47242094 0.00716208 0.88134395 0.99442198] [ 0. 0. 0. 1. ]] SLAMing on 149.69650248099998 meters Centerline goodness : 0.709740 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:0.99 [[ 0.87227267 -0.14476996 -0.4670996 4.54063626] [ 0.12395766 0.98943557 -0.07517812 -0.37191685] [ 0.4730485 0.00767525 0.88100296 0.99468307] [ 0. 0. 0. 1. ]] SLAMing on 149.72650248099998 meters Centerline goodness : 0.719514 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 0.87261004 -0.14063954 -0.46773094 4.54100872] [ 0.12103971 0.99004204 -0.07187592 -0.37134592] [ 0.47318189 0.00610564 0.8809436 0.99511196] [ 0. 0. 0. 1. ]] SLAMing on 149.75650248099998 meters Centerline goodness : 0.717650 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 8.72555202e-01 -1.36821981e-01 -4.68963927e-01 4.54197751e+00] [ 1.18593904e-01 9.90587478e-01 -6.83515542e-02 -3.70575574e-01] [ 4.73901788e-01 4.02424112e-03 8.80568510e-01 9.96526344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78650248099999 meters Centerline goodness : 0.716006 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 8.72284826e-01 -1.37289002e-01 -4.69330281e-01 4.54264449e+00] [ 1.18886818e-01 9.90522104e-01 -6.87887077e-02 -3.69203951e-01] [ 4.74325950e-01 4.20616217e-03 8.80339254e-01 9.97018414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.816502481 meters Centerline goodness : 0.718501 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 8.72127435e-01 -1.37663746e-01 -4.69512972e-01 4.54310057e+00] [ 1.19099619e-01 9.90469176e-01 -6.91815865e-02 -3.68550830e-01] [ 4.74561923e-01 4.41634358e-03 8.80211041e-01 9.97201859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.846502481 meters Centerline goodness : 0.718501 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 8.72127435e-01 -1.37663746e-01 -4.69512972e-01 4.54310057e+00] [ 1.19099619e-01 9.90469176e-01 -6.91815865e-02 -3.68550830e-01] [ 4.74561923e-01 4.41634358e-03 8.80211041e-01 9.97201859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.876502481 meters Centerline goodness : 0.720103 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 0.87184962 -0.13835181 -0.46982658 4.54389175] [ 0.11959217 0.9903725 -0.06971389 -0.3671539 ] [ 0.47494837 0.00459245 0.88000168 0.99776549] [ 0. 0. 0. 1. ]] SLAMing on 149.906502481 meters Centerline goodness : 0.719440 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.37, Z:1.00 [[ 8.71362195e-01 -1.38835135e-01 -4.70587645e-01 4.54559237e+00] [ 1.20110140e-01 9.90306315e-01 -6.97635741e-02 -3.66198261e-01] [ 4.75711552e-01 4.26699335e-03 8.79590992e-01 9.98524023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.936502481 meters Centerline goodness : 0.720114 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.36, Z:1.00 [[ 8.70628798e-01 -1.39237934e-01 -4.71824431e-01 4.54816583e+00] [ 1.20682107e-01 9.90252396e-01 -6.95415033e-02 -3.64769222e-01] [ 4.76908089e-01 3.60406907e-03 8.78945781e-01 9.99801031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.966502481 meters Centerline goodness : 0.721659 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.36, Z:1.00 [[ 8.70323286e-01 -1.39668561e-01 -4.72260596e-01 4.54915896e+00] [ 1.21121343e-01 9.90192470e-01 -6.96311171e-02 -3.64267346e-01] [ 4.77354164e-01 3.40074505e-03 8.78704408e-01 1.00031145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.996502481 meters Centerline goodness : 0.722451 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.37, Z:1.00 [[ 8.69777543e-01 -1.39969129e-01 -4.73176150e-01 4.55087056e+00] [ 1.21860937e-01 9.90153287e-01 -6.88939775e-02 -3.65186318e-01] [ 4.78159950e-01 2.26074539e-03 8.78269862e-01 1.00139895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.026502481 meters Centerline goodness : 0.720344 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.37, Z:1.00 [[ 8.69363300e-01 -1.40192958e-01 -4.73870644e-01 4.55251126e+00] [ 1.22359900e-01 9.90123036e-01 -6.84428794e-02 -3.66113445e-01] [ 4.78785451e-01 1.51896302e-03 8.77930626e-01 1.00209439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.056502481 meters Centerline goodness : 0.719852 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.37, Z:1.00 [[ 8.69028926e-01 -1.40178130e-01 -4.74487954e-01 4.55413578e+00] [ 1.22579475e-01 9.90125856e-01 -6.80077996e-02 -3.66622862e-01] [ 4.79335998e-01 9.38261000e-04 8.77630971e-01 1.00259916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.086502481 meters Centerline goodness : 0.723472 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.37, Z:1.00 [[ 8.68752883e-01 -1.39791917e-01 -4.75106985e-01 4.55501236e+00] [ 1.22441526e-01 9.90180810e-01 -6.74539553e-02 -3.66555111e-01] [ 4.79871337e-01 4.27993889e-04 8.77338770e-01 1.00339086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.116502481 meters Centerline goodness : 0.723818 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.37, Z:1.01 [[ 8.68703436e-01 -1.34936119e-01 -4.76598976e-01 4.55580432e+00] [ 1.19311274e-01 9.90852115e-01 -6.30627158e-02 -3.66915611e-01] [ 4.80748542e-01 -2.08083312e-03 8.76856037e-01 1.00501824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.146502481 meters Centerline goodness : 0.723628 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.37, Z:1.01 [[ 8.68501445e-01 -1.35040049e-01 -4.76937548e-01 4.55670423e+00] [ 1.19195008e-01 9.90838673e-01 -6.34923104e-02 -3.65627733e-01] [ 4.81142172e-01 -1.70541136e-03 8.76640920e-01 1.00521205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.176502481 meters Centerline goodness : 0.718567 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.68444892e-01 -1.34653371e-01 -4.77149809e-01 4.55702499e+00] [ 1.18056977e-01 9.90892760e-01 -6.47617832e-02 -3.63788064e-01] [ 4.81524683e-01 -8.88240181e-05 8.76432525e-01 1.00500619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.206502481 meters Centerline goodness : 0.718376 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.00 [[ 8.68377889e-01 -1.34703995e-01 -4.77257452e-01 4.55764577e+00] [ 1.17793743e-01 9.90885743e-01 -6.53458344e-02 -3.62802225e-01] [ 4.81709950e-01 5.26936178e-04 8.76330558e-01 1.00481188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.236502481 meters Centerline goodness : 0.715067 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.68123673e-01 -1.30517208e-01 -4.78880514e-01 4.55990358e+00] [ 1.14701095e-01 9.91445672e-01 -6.22827288e-02 -3.62478325e-01] [ 4.82912981e-01 -8.59008224e-04 8.75667925e-01 1.00592412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26650248099997 meters Centerline goodness : 0.711843 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.67954390e-01 -1.30562922e-01 -4.79174811e-01 4.56122955e+00] [ 1.14540681e-01 9.91439903e-01 -6.26685771e-02 -3.61344056e-01] [ 4.83255221e-01 -4.91542555e-04 8.75479383e-01 1.00580763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29650248099998 meters Centerline goodness : 0.717190 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.68033766e-01 -1.25485793e-01 -4.80385987e-01 4.56261898e+00] [ 1.10946114e-01 9.92092606e-01 -5.86789687e-02 -3.61747723e-01] [ 4.83950763e-01 -2.36163243e-03 8.75092042e-01 1.00658583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32650248099998 meters Centerline goodness : 0.714505 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.67763485e-01 -1.25463859e-01 -4.80879771e-01 4.56348436e+00] [ 1.10820697e-01 9.92095724e-01 -5.88629538e-02 -3.60647812e-01] [ 4.84463938e-01 -2.21230948e-03 8.74808436e-01 1.00713053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35650248099998 meters Centerline goodness : 0.713472 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.67623151e-01 -1.25633968e-01 -4.81088529e-01 4.56417736e+00] [ 1.10634199e-01 9.92075442e-01 -5.95515809e-02 -3.60031691e-01] [ 4.84757817e-01 -1.55651357e-03 8.74647035e-01 1.00718443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38650248099998 meters Centerline goodness : 0.712604 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.67469463e-01 -1.25659657e-01 -4.81358890e-01 4.56427869e+00] [ 1.10749635e-01 9.92071804e-01 -5.93974199e-02 -3.60500946e-01] [ 4.85006442e-01 -1.78487342e-03 8.74508757e-01 1.00775154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41650248099998 meters Centerline goodness : 0.716008 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.67247881e-01 -1.25762473e-01 -4.81731163e-01 4.56408950e+00] [ 1.11128718e-01 9.92057408e-01 -5.89279858e-02 -3.60914163e-01] [ 4.85315898e-01 -2.42899592e-03 8.74335507e-01 1.00885107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44650248099998 meters Centerline goodness : 0.716024 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.66909600e-01 -1.25930356e-01 -4.82295853e-01 4.56485149e+00] [ 1.11538012e-01 9.92034412e-01 -5.85405680e-02 -3.61429668e-01] [ 4.85826117e-01 -3.04494039e-03 8.74050177e-01 1.00977307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47650248099998 meters Centerline goodness : 0.716783 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.01 [[ 8.66388053e-01 -1.26279087e-01 -4.83141111e-01 4.56636170e+00] [ 1.12466835e-01 9.91984832e-01 -5.75960440e-02 -3.62828002e-01] [ 4.86541830e-01 -4.43682728e-03 8.73646017e-01 1.01103478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50650248099998 meters Centerline goodness : 0.712982 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.01 [[ 0.86572425 -0.12680764 -0.48419143 4.56867679] [ 0.11357642 0.99190977 -0.05670458 -0.36427442] [ 0.48746478 -0.0059022 0.8731227 1.0122844 ] [ 0. 0. 0. 1. ]] SLAMing on 150.53650248099999 meters Centerline goodness : 0.711492 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.01 [[ 0.86549291 -0.12717734 -0.48450794 4.57017459] [ 0.11415583 0.9918589 -0.05643027 -0.36504399] [ 0.48774016 -0.0064694 0.87296488 1.0123708 ] [ 0. 0. 0. 1. ]] SLAMing on 150.566502481 meters Centerline goodness : 0.714656 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.01 [[ 0.86505785 -0.12779709 -0.48512144 4.57183712] [ 0.1152245 0.991771 -0.05579962 -0.36629133] [ 0.48826041 -0.00762797 0.87266465 1.01310428] [ 0. 0. 0. 1. ]] SLAMing on 150.596502481 meters Centerline goodness : 0.710348 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.01 [[ 0.86471532 -0.12811621 -0.48564767 4.57259715] [ 0.11579496 0.9917245 -0.05544412 -0.36674719] [ 0.48873198 -0.00829217 0.87239457 1.01391152] [ 0. 0. 0. 1. ]] SLAMing on 150.626502481 meters Centerline goodness : 0.710207 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.01 [[ 0.86447502 -0.12850566 -0.48597246 4.57332507] [ 0.11645971 0.99166796 -0.05506164 -0.36732266] [ 0.48899906 -0.0089968 0.87223792 1.01445083] [ 0. 0. 0. 1. ]] SLAMing on 150.656502481 meters Centerline goodness : 0.710443 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.01 [[ 0.86432617 -0.12878031 -0.48616448 4.57365704] [ 0.11676217 0.99163092 -0.05508823 -0.36715039] [ 0.48919001 -0.00915143 0.87212922 1.01481734] [ 0. 0. 0. 1. ]] SLAMing on 150.686502481 meters Centerline goodness : 0.709130 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.02 [[ 0.86427976 -0.1289728 -0.48619595 4.57292749] [ 0.1168075 0.99160811 -0.05540178 -0.36639976] [ 0.48926117 -0.0089087 0.87209182 1.01538037] [ 0. 0. 0. 1. ]] SLAMing on 150.716502481 meters Centerline goodness : 0.704661 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.02 [[ 0.86416219 -0.12916628 -0.48635357 4.57296722] [ 0.11684021 0.99158518 -0.05574232 -0.36564507] [ 0.48946101 -0.00865524 0.87198223 1.0157308 ] [ 0. 0. 0. 1. ]] SLAMing on 150.746502481 meters Centerline goodness : 0.707259 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.86412399 -0.12940143 -0.48635891 4.57311069] [ 0.11670968 0.99156019 -0.05645558 -0.3645 ] [ 0.48955957 -0.00797817 0.87193335 1.01566069] [ 0. 0. 0. 1. ]] SLAMing on 150.776502481 meters Centerline goodness : 0.701664 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.8644808 -0.12493895 -0.48689136 4.57301594] [ 0.11321748 0.99212524 -0.05356585 -0.36364526] [ 0.48974967 -0.00881797 0.8718185 1.01592266] [ 0. 0. 0. 1. ]] SLAMing on 150.806502481 meters Centerline goodness : 0.694804 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.86431209 -0.1242687 -0.48736219 4.57259116] [ 0.11257778 0.99220994 -0.05334493 -0.36011768] [ 0.49019471 -0.00875948 0.87156894 1.01688614] [ 0. 0. 0. 1. ]] SLAMing on 150.836502481 meters Centerline goodness : 0.693408 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.86427419 -0.12452763 -0.48736331 4.57256498] [ 0.11250555 0.9921826 -0.05400182 -0.35875645] [ 0.49027811 -0.0081587 0.87152786 1.01695509] [ 0. 0. 0. 1. ]] SLAMing on 150.866502481 meters Centerline goodness : 0.692072 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.8640985 -0.12495258 -0.48756603 4.57325559] [ 0.11264466 0.99213268 -0.05462532 -0.35783096] [ 0.49055577 -0.00772005 0.8713756 1.01709719] [ 0. 0. 0. 1. ]] SLAMing on 150.896502481 meters Centerline goodness : 0.687534 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.8639966 -0.12504882 -0.48772192 4.5736341 ] [ 0.11238294 0.9921256 -0.055289 -0.35584175] [ 0.49079522 -0.00704211 0.8712465 1.0173182 ] [ 0. 0. 0. 1. ]] SLAMing on 150.926502481 meters Centerline goodness : 0.681888 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.35, Z:1.02 [[ 0.86402977 -0.12077502 -0.48873915 4.57364187] [ 0.10986515 0.99263376 -0.05106731 -0.35489301] [ 0.49130663 -0.00957172 0.87093408 1.0189751 ] [ 0. 0. 0. 1. ]] SLAMing on 150.956502481 meters Centerline goodness : 0.677773 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.35, Z:1.02 [[ 0.86386976 -0.12109138 -0.48894367 4.57419251] [ 0.11011544 0.99259545 -0.05127249 -0.35357867] [ 0.49153191 -0.00954749 0.87080722 1.01938764] [ 0. 0. 0. 1. ]] SLAMing on 150.986502481 meters Centerline goodness : 0.620194 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.02 [[ 0.86338287 -0.12195751 -0.48958797 4.57524326] [ 0.11112525 0.99248345 -0.05126183 -0.35259296] [ 0.49215972 -0.010147 0.87044577 1.02101072] [ 0. 0. 0. 1. ]] SLAMing on 151.01650248099997 meters Centerline goodness : 0.615752 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.02 [[ 0.86312376 -0.12228489 -0.48996303 4.57607957] [ 0.11177848 0.99243478 -0.05078163 -0.35294859] [ 0.49246618 -0.01093649 0.87026286 1.02189458] [ 0. 0. 0. 1. ]] SLAMing on 151.04650248099998 meters Centerline goodness : 0.604748 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.02 [[ 0.86274948 -0.12278891 -0.49049589 4.57775324] [ 0.11264024 0.992362 -0.05029754 -0.3532551 ] [ 0.49292546 -0.0118554 0.86999077 1.02270287] [ 0. 0. 0. 1. ]] SLAMing on 151.07650248099998 meters Centerline goodness : 0.595984 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.03 [[ 0.86166376 -0.12409387 -0.49207344 4.58081638] [ 0.11501277 0.99216402 -0.04881209 -0.35369469] [ 0.49427484 -0.01453512 0.86918416 1.02553475] [ 0. 0. 0. 1. ]] SLAMing on 151.10650248099998 meters Centerline goodness : 0.591902 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.03 [[ 0.86083912 -0.1259119 -0.49305396 4.58280638] [ 0.11776832 0.99189548 -0.0476862 -0.35427826] [ 0.49506226 -0.01701599 0.86869087 1.02785144] [ 0. 0. 0. 1. ]] SLAMing on 151.13650248099998 meters Centerline goodness : 0.592438 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.36, Z:1.03 [[ 0.86040358 -0.12661145 -0.49363471 4.58343344] [ 0.11905173 0.99178101 -0.04687332 -0.35547762] [ 0.49551223 -0.01843809 0.86840524 1.02931756] [ 0. 0. 0. 1. ]] SLAMing on 151.16650248099998 meters Centerline goodness : 0.599529 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.36, Z:1.03 [[ 0.85992285 -0.12722777 -0.49431346 4.58424341] [ 0.12029005 0.99167343 -0.04597939 -0.35644163] [ 0.49604738 -0.01992226 0.86806688 1.03086037] [ 0. 0. 0. 1. ]] SLAMing on 151.19650248099998 meters Centerline goodness : 0.683515 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.03 [[ 0.85908565 -0.12857076 -0.49542044 4.58561352] [ 0.1226437 0.99144685 -0.04462802 -0.3569833 ] [ 0.4969209 -0.0224209 0.86750615 1.03357762] [ 0. 0. 0. 1. ]] SLAMing on 151.22650248099998 meters Centerline goodness : 0.578891 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.04 [[ 0.8585699 -0.12945777 -0.49608306 4.5858148 ] [ 0.123979 0.99130349 -0.04412024 -0.35701253] [ 0.49748058 -0.02362357 0.86715339 1.03542115] [ 0. 0. 0. 1. ]] SLAMing on 151.25650248099998 meters Centerline goodness : 0.675291 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.04 [[ 0.8577981 -0.13072257 -0.49708554 4.58670012] [ 0.12604896 0.99108657 -0.04311698 -0.35697202] [ 0.49829117 -0.02567145 0.86662961 1.03798814] [ 0. 0. 0. 1. ]] SLAMing on 151.28650248099999 meters Centerline goodness : 0.586816 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.04 [[ 0.85695235 -0.13218803 -0.49815559 4.58866036] [ 0.12794936 0.99085575 -0.0428235 -0.35699459] [ 0.49926109 -0.02704099 0.86602953 1.0399199 ] [ 0. 0. 0. 1. ]] SLAMing on 151.316502481 meters Centerline goodness : 0.663672 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.04 [[ 0.85660748 -0.13286371 -0.49856881 4.58973358] [ 0.12880547 0.99074928 -0.04272007 -0.35706759] [ 0.49963264 -0.02762406 0.86579682 1.04059374] [ 0. 0. 0. 1. ]] SLAMing on 151.346502481 meters Centerline goodness : 0.553284 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.04 [[ 0.85639192 -0.1333459 -0.49881033 4.59044834] [ 0.12931895 0.99067841 -0.04281227 -0.35664872] [ 0.49986947 -0.02784155 0.86565314 1.04113612] [ 0. 0. 0. 1. ]] SLAMing on 151.376502481 meters Centerline goodness : 0.549003 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.04 [[ 0.85596507 -0.13316738 -0.49959007 4.59056709] [ 0.12938676 0.99068779 -0.04238826 -0.35467082] [ 0.50058252 -0.02835747 0.86522425 1.04289868] [ 0. 0. 0. 1. ]] SLAMing on 151.406502481 meters Centerline goodness : 0.550729 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.04 [[ 0.85600356 -0.13297856 -0.49957443 4.58971654] [ 0.12916083 0.99071677 -0.04240001 -0.35356875] [ 0.50057506 -0.02823089 0.8652327 1.04348162] [ 0. 0. 0. 1. ]] SLAMing on 151.436502481 meters Centerline goodness : 0.650631 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.04 [[ 0.85655948 -0.12828771 -0.49984809 4.58737515] [ 0.12573742 0.99129858 -0.03895152 -0.35218948] [ 0.50049571 -0.02948532 0.86523677 1.04490368] [ 0. 0. 0. 1. ]] SLAMing on 151.466502481 meters Centerline goodness : 0.558007 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.05 [[ 0.85659458 -0.12829533 -0.49978599 4.58688124] [ 0.12532654 0.99132201 -0.03967286 -0.35052884] [ 0.50053869 -0.02865289 0.86523987 1.04516937] [ 0. 0. 0. 1. ]] SLAMing on 151.496502481 meters Centerline goodness : 0.148216 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.05 [[ 0.85656626 -0.12764772 -0.50000031 4.58755189] [ 0.12393277 0.99145148 -0.04079976 -0.34801606] [ 0.50093404 -0.02701873 0.86506362 1.04537656] [ 0. 0. 0. 1. ]] SLAMing on 151.526502481 meters Centerline goodness : 0.524748 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.05 [[ 0.85643154 -0.12762779 -0.50023612 4.58810246] [ 0.12343044 0.99147915 -0.04164147 -0.34599889] [ 0.50128829 -0.0260813 0.86488717 1.04558306] [ 0. 0. 0. 1. ]] SLAMing on 151.556502481 meters Centerline goodness : 0.150971 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:1.05 [[ 0.85669185 -0.12255714 -0.5010577 4.58861358] [ 0.11952787 0.99209192 -0.03829777 -0.34384536] [ 0.50178896 -0.02708098 0.86456605 1.04630395] [ 0. 0. 0. 1. ]] SLAMing on 151.586502481 meters Centerline goodness : 0.147355 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:1.05 [[ 0.85684908 -0.11776971 -0.5019362 4.58898497] [ 0.11645132 0.99261069 -0.03410447 -0.34408513] [ 0.50224371 -0.02922875 0.86423199 1.04735804] [ 0. 0. 0. 1. ]] SLAMing on 151.616502481 meters Centerline goodness : 0.153673 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:1.05 [[ 0.85732251 -0.11291064 -0.50224427 4.58851117] [ 0.11278614 0.99314346 -0.03074673 -0.34318474] [ 0.50227224 -0.03028633 0.86417899 1.04784342] [ 0. 0. 0. 1. ]] SLAMing on 151.646502481 meters Centerline goodness : 0.146970 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:1.05 [[ 0.85752781 -0.11298332 -0.5018773 4.58752665] [ 0.11250728 0.99315634 -0.03134628 -0.34237164] [ 0.50198423 -0.02958454 0.86437063 1.0478237 ] [ 0. 0. 0. 1. ]] SLAMing on 151.676502481 meters Centerline goodness : 0.432724 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:1.05 [[ 0.85781216 -0.11313707 -0.50135647 4.5862874 ] [ 0.11184252 0.99318568 -0.0327636 -0.34026171] [ 0.50164684 -0.02796796 0.86462028 1.04758592] [ 0. 0. 0. 1. ]] SLAMing on 151.706502481 meters Centerline goodness : 0.511158 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85789733 -0.11212531 -0.50143802 4.58497995] [ 0.11116273 0.99328942 -0.03192155 -0.33753286] [ 0.50165229 -0.02835581 0.86460449 1.04836242] [ 0. 0. 0. 1. ]] SLAMing on 151.736502481 meters Centerline goodness : 0.511158 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85789733 -0.11212531 -0.50143802 4.58497995] [ 0.11116273 0.99328942 -0.03192155 -0.33753286] [ 0.50165229 -0.02835581 0.86460449 1.04836242] [ 0. 0. 0. 1. ]] SLAMing on 151.76650248099997 meters Centerline goodness : 0.546287 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85804998 -0.11215269 -0.50117064 4.58395803] [ 0.11087217 0.99330445 -0.03245981 -0.33614605] [ 0.50145548 -0.02771373 0.86473947 1.04851718] [ 0. 0. 0. 1. ]] SLAMing on 151.79650248099998 meters Centerline goodness : 0.536414 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:1.05 [[ 0.85834985 -0.11214697 -0.50065815 4.58277315] [ 0.11044254 0.99332927 -0.0331574 -0.33415172] [ 0.5010369 -0.02683331 0.86500983 1.04832775] [ 0. 0. 0. 1. ]] SLAMing on 151.82650248099998 meters Centerline goodness : 0.508311 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:1.05 [[ 0.85837985 -0.11231357 -0.50056938 4.58236089] [ 0.11054716 0.99331272 -0.03330416 -0.33374056] [ 0.50096244 -0.0267489 0.86505557 1.04858382] [ 0. 0. 0. 1. ]] SLAMing on 151.85650248099998 meters Centerline goodness : 0.525314 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:1.05 [[ 0.85861693 -0.11264226 -0.50008868 4.58176869] [ 0.11100363 0.99326721 -0.03314267 -0.33408298] [ 0.50045495 -0.0270548 0.86533975 1.04835129] [ 0. 0. 0. 1. ]] SLAMing on 151.88650248099998 meters Centerline goodness : 0.520097 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:1.05 [[ 0.85860372 -0.11287182 -0.5000596 4.58187441] [ 0.11147152 0.99322649 -0.03279094 -0.33462014] [ 0.50037361 -0.02758798 0.86536995 1.04844614] [ 0. 0. 0. 1. ]] SLAMing on 151.91650248099998 meters Centerline goodness : 0.613059 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85859571 -0.11354017 -0.49992204 4.58206921] [ 0.11257374 0.99312109 -0.03221263 -0.33545475] [ 0.50014055 -0.02862047 0.86547114 1.0485618 ] [ 0. 0. 0. 1. ]] SLAMing on 151.94650248099998 meters Centerline goodness : 0.613186 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85865846 -0.11352208 -0.49981835 4.58172199] [ 0.11297637 0.9930991 -0.03147255 -0.33646531] [ 0.49994198 -0.02944349 0.86555826 1.04870176] [ 0. 0. 0. 1. ]] SLAMing on 151.97650248099998 meters Centerline goodness : 0.600992 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85882141 -0.11413945 -0.49939761 4.5807479 ] [ 0.11435465 0.99297805 -0.03029198 -0.33844715] [ 0.49934838 -0.03109304 0.86584319 1.04906285] [ 0. 0. 0. 1. ]] SLAMing on 152.00650248099998 meters Centerline goodness : 0.595061 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85949021 -0.11500986 -0.4980455 4.57963672] [ 0.11560847 0.99284887 -0.02976246 -0.33975121] [ 0.49790688 -0.03199774 0.86663999 1.04721659] [ 0. 0. 0. 1. ]] SLAMing on 152.03650248099999 meters Centerline goodness : 0.614584 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85920685 -0.11967404 -0.49743514 4.57978326] [ 0.11926506 0.99232277 -0.03273174 -0.34139804] [ 0.49753336 -0.0312033 0.86688345 1.04710389] [ 0. 0. 0. 1. ]] SLAMing on 152.066502481 meters Centerline goodness : 0.557950 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85928582 -0.1198034 -0.49726756 4.57942055] [ 0.11982558 0.99227902 -0.03200284 -0.34292662] [ 0.49726221 -0.03208579 0.8670068 1.04724188] [ 0. 0. 0. 1. ]] SLAMing on 152.096502481 meters Centerline goodness : 0.618872 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.05 [[ 0.85932943 -0.11938892 -0.49729187 4.57920608] [ 0.12046575 0.99226246 -0.03005354 -0.34544483] [ 0.49703212 -0.03408075 0.86706261 1.04788819] [ 0. 0. 0. 1. ]] SLAMing on 152.126502481 meters Centerline goodness : 0.620066 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.35, Z:1.04 [[ 0.86023707 -0.11887322 -0.49584408 4.56515586] [ 0.12060711 0.99228682 -0.02864937 -0.34854881] [ 0.49542519 -0.03515707 0.86793886 1.03758322] [ 0. 0. 0. 1. ]] SLAMing on 152.156502481 meters Centerline goodness : 0.619501 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.35, Z:1.04 [[ 0.86022334 -0.11827938 -0.49600987 4.56607245] [ 0.12032935 0.9923405 -0.02794965 -0.34930371] [ 0.49551655 -0.03564161 0.86786694 1.03757469] [ 0. 0. 0. 1. ]] SLAMing on 152.186502481 meters Centerline goodness : 0.608551 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.35, Z:1.03 [[ 0.86130301 -0.11813376 -0.49416753 4.55090608] [ 0.11957547 0.99240649 -0.02882827 -0.35132683] [ 0.49382065 -0.03426044 0.86888859 1.02747787] [ 0. 0. 0. 1. ]] SLAMing on 152.216502481 meters Centerline goodness : 0.592999 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.35, Z:1.03 [[ 0.86148706 -0.11757283 -0.49398043 4.55019553] [ 0.11916677 0.99246813 -0.02839515 -0.35252944] [ 0.49359834 -0.034404 0.86900923 1.02755582] [ 0. 0. 0. 1. ]] SLAMing on 152.246502481 meters Centerline goodness : 0.630368 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.35, Z:1.03 [[ 0.86201123 -0.11713815 -0.49316862 4.54764143] [ 0.11877135 0.99252267 -0.0281446 -0.35359841] [ 0.49277784 -0.03431335 0.86947835 1.02767259] [ 0. 0. 0. 1. ]] SLAMing on 152.276502481 meters Centerline goodness : 0.628393 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.35, Z:1.03 [[ 0.86238763 -0.11683711 -0.49258164 4.54577275] [ 0.11837429 0.9925689 -0.0281869 -0.35395683] [ 0.49221449 -0.03400097 0.86980965 1.02777696] [ 0. 0. 0. 1. ]] SLAMing on 152.306502481 meters Centerline goodness : 0.630228 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.35, Z:1.03 [[ 0.86228733 -0.11701097 -0.49271593 4.54622147] [ 0.11836373 0.99255922 -0.02856975 -0.35382868] [ 0.49239271 -0.03368436 0.86972109 1.02777174] [ 0. 0. 0. 1. ]] SLAMing on 152.336502481 meters Centerline goodness : 0.635444 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.36, Z:1.02 [[ 0.86225161 -0.11750207 -0.49266157 4.53263083] [ 0.11733521 0.99259647 -0.03137989 -0.35551999] [ 0.49270134 -0.03074919 0.86965504 1.01916975] [ 0. 0. 0. 1. ]] SLAMing on 152.366502481 meters Centerline goodness : 0.634156 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.36, Z:1.02 [[ 0.86226899 -0.11748227 -0.49263587 4.53246004] [ 0.11734528 0.99259717 -0.03132004 -0.35590522] [ 0.49266852 -0.0308022 0.86967175 1.01922952] [ 0. 0. 0. 1. ]] SLAMing on 152.396502481 meters Centerline goodness : 0.635572 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.36, Z:1.02 [[ 0.86231928 -0.11734158 -0.49258137 4.53186763] [ 0.11732362 0.99260764 -0.03106844 -0.35622166] [ 0.49258565 -0.03100051 0.86971164 1.01950469] [ 0. 0. 0. 1. ]] SLAMing on 152.426502481 meters Centerline goodness : 0.618885 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:1.01 [[ 0.86323868 -0.11735332 -0.49096556 4.51616122] [ 0.11743512 0.99260351 -0.03077768 -0.35839159] [ 0.490946 -0.03108811 0.87063514 1.01009179] [ 0. 0. 0. 1. ]] SLAMing on 152.456502481 meters Centerline goodness : 0.422277 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:1.01 [[ 0.86326024 -0.11735096 -0.49092821 4.51537228] [ 0.11796575 0.99256955 -0.02982892 -0.36045449] [ 0.49078085 -0.0321626 0.87068922 1.0107772 ] [ 0. 0. 0. 1. ]] SLAMing on 152.486502481 meters Centerline goodness : 0.627836 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:1.01 [[ 0.86320056 -0.11737791 -0.49102669 4.51483285] [ 0.11838509 0.99253987 -0.02914745 -0.3619472 ] [ 0.49078484 -0.03297015 0.87065677 1.01143196] [ 0. 0. 0. 1. ]] SLAMing on 152.51650248099997 meters Centerline goodness : 0.632930 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:1.00 [[ 0.86418941 -0.11992411 -0.48866643 4.49928522] [ 0.12048048 0.99224879 -0.03044325 -0.36558974] [ 0.48852955 -0.03256603 0.87193941 1.00136186] [ 0. 0. 0. 1. ]] SLAMing on 152.54650248099998 meters Centerline goodness : 0.635503 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.86456829 -0.12166248 -0.48756529 4.48417845] [ 0.12151789 0.99207095 -0.03207223 -0.36824089] [ 0.48760135 -0.03151927 0.87249726 0.99104737] [ 0. 0. 0. 1. ]] SLAMing on 152.57650248099998 meters Centerline goodness : 0.636993 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86437104 -0.12254004 -0.48769525 4.47022817] [ 0.12197522 0.99198223 -0.03306509 -0.37133764] [ 0.48783681 -0.03090623 0.87238756 0.98214097] [ 0. 0. 0. 1. ]] SLAMing on 152.60650248099998 meters Centerline goodness : 0.640308 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86412887 -0.12664766 -0.48707459 4.47036534] [ 0.12490391 0.99150771 -0.03621426 -0.37196723] [ 0.48752467 -0.02954373 0.87260923 0.98175373] [ 0. 0. 0. 1. ]] SLAMing on 152.63650248099998 meters Centerline goodness : 0.645530 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86395536 -0.13089111 -0.48625986 4.47018497] [ 0.12791055 0.99099908 -0.03949323 -0.37280566] [ 0.48705238 -0.02807738 0.87292132 0.98117644] [ 0. 0. 0. 1. ]] SLAMing on 152.66650248099998 meters Centerline goodness : 0.646327 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86401209 -0.13085678 -0.4861683 4.47037977] [ 0.12815574 0.99098784 -0.03897698 -0.37420201] [ 0.48688727 -0.02862868 0.87299552 0.98104294] [ 0. 0. 0. 1. ]] SLAMing on 152.69650248099998 meters Centerline goodness : 0.646785 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86452657 -0.12996999 -0.4854911 4.46894727] [ 0.12761064 0.99109289 -0.03808421 -0.37574335] [ 0.48611659 -0.02902902 0.87341169 0.9807441 ] [ 0. 0. 0. 1. ]] SLAMing on 152.72650248099998 meters Centerline goodness : 0.653049 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86475525 -0.12956295 -0.48519254 4.46806881] [ 0.12725601 0.99114698 -0.03786255 -0.37582308] [ 0.4858027 -0.02900183 0.87358722 0.98063798] [ 0. 0. 0. 1. ]] SLAMing on 152.75650248099998 meters Centerline goodness : 0.653681 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86532142 -0.12919523 -0.48428032 4.46636009] [ 0.12655366 0.99121983 -0.03830691 -0.37552914] [ 0.48497733 -0.02813966 0.87407388 0.97986857] [ 0. 0. 0. 1. ]] SLAMing on 152.78650248099999 meters Centerline goodness : 0.655093 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86533857 -0.12957362 -0.48414856 4.46603398] [ 0.12683013 0.99117386 -0.03858109 -0.37552147] [ 0.48487449 -0.02801892 0.87413481 0.97986597] [ 0. 0. 0. 1. ]] SLAMing on 152.816502481 meters Centerline goodness : 0.658108 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86530495 -0.12999358 -0.48409607 4.46616528] [ 0.12703682 0.99112815 -0.03907222 -0.37554402] [ 0.48488038 -0.02768864 0.87414207 0.97979712] [ 0. 0. 0. 1. ]] SLAMing on 152.846502481 meters Centerline goodness : 0.659044 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86532672 -0.130369 -0.48395618 4.4661339 ] [ 0.12724635 0.99108588 -0.03946062 -0.37522479] [ 0.48478658 -0.02743533 0.87420208 0.97960433] [ 0. 0. 0. 1. ]] SLAMing on 152.876502481 meters Centerline goodness : 0.659792 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86505584 -0.131047 -0.48425724 4.46681069] [ 0.12764336 0.99100656 -0.04016421 -0.37402521] [ 0.4851655 -0.02706794 0.8740033 0.97983415] [ 0. 0. 0. 1. ]] SLAMing on 152.906502481 meters Centerline goodness : 0.660345 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86481991 -0.13148161 -0.48456074 4.46749469] [ 0.12797783 0.99095066 -0.04047792 -0.37341313] [ 0.48549788 -0.02700692 0.87382059 0.980086 ] [ 0. 0. 0. 1. ]] SLAMing on 152.936502481 meters Centerline goodness : 0.658930 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86472589 -0.1320776 -0.48456644 4.46752932] [ 0.12839469 0.99087704 -0.04095713 -0.37258478] [ 0.48555528 -0.02679907 0.8737951 0.98019736] [ 0. 0. 0. 1. ]] SLAMing on 152.966502481 meters Centerline goodness : 0.659762 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.8645988 -0.13245024 -0.4846915 4.46729445] [ 0.12875529 0.99082498 -0.04108457 -0.37179993] [ 0.48568611 -0.02688492 0.87371975 0.98064997] [ 0. 0. 0. 1. ]] SLAMing on 152.996502481 meters Centerline goodness : 0.661158 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86445093 -0.13286889 -0.48484065 4.46720361] [ 0.12937982 0.99075399 -0.04083377 -0.37172175] [ 0.48578334 -0.02742981 0.87364876 0.98123543] [ 0. 0. 0. 1. ]] SLAMing on 153.026502481 meters Centerline goodness : 0.662717 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86436378 -0.13330858 -0.48487532 4.46675312] [ 0.13010802 0.99067507 -0.04043271 -0.37241916] [ 0.48574392 -0.0281376 0.87364817 0.98181041] [ 0. 0. 0. 1. ]] SLAMing on 153.056502481 meters Centerline goodness : 0.665285 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86368405 -0.13817292 -0.48472477 4.4664971 ] [ 0.1340899 0.99002323 -0.04328868 -0.37254904] [ 0.48587011 -0.02760896 0.87359486 0.98274831] [ 0. 0. 0. 1. ]] SLAMing on 153.086502481 meters Centerline goodness : 0.663856 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86334428 -0.13867796 -0.48518561 4.46728836] [ 0.13494183 0.98992747 -0.04282869 -0.37320632] [ 0.48623796 -0.02849593 0.87336168 0.98345714] [ 0. 0. 0. 1. ]] SLAMing on 153.116502481 meters Centerline goodness : 0.664500 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.8625121 -0.14048217 -0.4861457 4.4692672 ] [ 0.13724858 0.98962579 -0.04246921 -0.37379496] [ 0.48706848 -0.0300926 0.87284519 0.98482107] [ 0. 0. 0. 1. ]] SLAMing on 153.146502481 meters Centerline goodness : 0.667215 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.86232543 -0.14089322 -0.48635784 4.46975913] [ 0.13787537 0.9895499 -0.04220645 -0.3740576 ] [ 0.48722195 -0.03066107 0.87273975 0.98517853] [ 0. 0. 0. 1. ]] SLAMing on 153.176502481 meters Centerline goodness : 0.665387 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.86204005 -0.14165574 -0.48664218 4.4700198 ] [ 0.1389484 0.98941397 -0.04187281 -0.3740647 ] [ 0.48742209 -0.03152211 0.87259731 0.9858649 ] [ 0. 0. 0. 1. ]] SLAMing on 153.206502481 meters Centerline goodness : 0.666536 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.86199354 -0.14200843 -0.48662177 4.46967011] [ 0.1394215 0.98935265 -0.04174902 -0.37443458] [ 0.48736925 -0.03185815 0.87261462 0.98619734] [ 0. 0. 0. 1. ]] SLAMing on 153.236502481 meters Centerline goodness : 0.670897 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.86217364 -0.14269045 -0.48610293 4.46939714] [ 0.1401497 0.98924729 -0.04180752 -0.37497164] [ 0.48684154 -0.03208184 0.87290095 0.985684 ] [ 0. 0. 0. 1. ]] SLAMing on 153.26650248099997 meters Centerline goodness : 0.672453 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.862374 -0.14310727 -0.48562474 4.46944832] [ 0.14026117 0.989205 -0.04242955 -0.37303083] [ 0.48645441 -0.03152415 0.87313707 0.98477029] [ 0. 0. 0. 1. ]] SLAMing on 153.29650248099998 meters Centerline goodness : 0.675811 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86255571 -0.14345067 -0.48520052 4.46925237] [ 0.14026461 0.98917556 -0.0430994 -0.37165637] [ 0.48613113 -0.03088083 0.87334008 0.9840542 ] [ 0. 0. 0. 1. ]] SLAMing on 153.32650248099998 meters Centerline goodness : 0.675816 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86265904 -0.14356021 -0.48498437 4.4693006 ] [ 0.14017 0.98917233 -0.0434795 -0.37068142] [ 0.48597505 -0.03047227 0.87344129 0.9835762 ] [ 0. 0. 0. 1. ]] SLAMing on 153.35650248099998 meters Centerline goodness : 0.678205 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86320435 -0.143738 -0.48396036 4.46864697] [ 0.13960283 0.98919385 -0.04479495 -0.36852653] [ 0.48516935 -0.02889504 0.87394267 0.98189991] [ 0. 0. 0. 1. ]] SLAMing on 153.38650248099998 meters Centerline goodness : 0.678425 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86345463 -0.14379656 -0.48349628 4.46844046] [ 0.13930258 0.98920741 -0.04542572 -0.3672517 ] [ 0.48481016 -0.02812923 0.87416695 0.98107479] [ 0. 0. 0. 1. ]] SLAMing on 153.41650248099998 meters Centerline goodness : 0.679911 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86403495 -0.13970856 -0.48365806 4.46853411] [ 0.13644422 0.98975084 -0.04214568 -0.36654884] [ 0.48458908 -0.029577 0.87424174 0.98051477] [ 0. 0. 0. 1. ]] SLAMing on 153.44650248099998 meters Centerline goodness : 0.680566 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.8646096 -0.13942531 -0.48271194 4.46756069] [ 0.13564087 0.98982685 -0.04294594 -0.36474862] [ 0.483789 -0.02834399 0.87472557 0.97905201] [ 0. 0. 0. 1. ]] SLAMing on 153.47650248099998 meters Centerline goodness : 0.679275 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.86484744 -0.13971489 -0.48220188 4.46722871] [ 0.13555132 0.98980727 -0.04367383 -0.36365817] [ 0.48338881 -0.0275919 0.87497083 0.9782397 ] [ 0. 0. 0. 1. ]] SLAMing on 153.50650248099998 meters Centerline goodness : 0.682054 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.86504022 -0.13978576 -0.48183541 4.46743149] [ 0.13537317 0.98981189 -0.04411956 -0.36300679] [ 0.4830937 -0.0270624 0.87515033 0.97737744] [ 0. 0. 0. 1. ]] SLAMing on 153.53650248099999 meters Centerline goodness : 0.683066 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.86526753 -0.14038269 -0.48125336 4.4680088 ] [ 0.13556355 0.9897473 -0.04497557 -0.36243995] [ 0.48263301 -0.02632452 0.87542698 0.97599754] [ 0. 0. 0. 1. ]] SLAMing on 153.566502481 meters Centerline goodness : 0.680377 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.86542446 -0.14063568 -0.48089719 4.46811167] [ 0.13571616 0.98971609 -0.04520158 -0.36253782] [ 0.48230865 -0.02614696 0.87561105 0.9753142 ] [ 0. 0. 0. 1. ]] SLAMing on 153.596502481 meters Centerline goodness : 0.683441 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86555924 -0.14118285 -0.48049412 4.46874682] [ 0.13614425 0.98964198 -0.04553555 -0.36242729] [ 0.48194599 -0.02600279 0.875815 0.97431456] [ 0. 0. 0. 1. ]] SLAMing on 153.626502481 meters Centerline goodness : 0.685133 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86565905 -0.14154706 -0.48020707 4.46902818] [ 0.1364106 0.98959354 -0.04579064 -0.36207276] [ 0.48169134 -0.02586625 0.87595912 0.97369765] [ 0. 0. 0. 1. ]] SLAMing on 153.656502481 meters Centerline goodness : 0.685133 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86565905 -0.14154706 -0.48020707 4.46902818] [ 0.1364106 0.98959354 -0.04579064 -0.36207276] [ 0.48169134 -0.02586625 0.87595912 0.97369765] [ 0. 0. 0. 1. ]] SLAMing on 153.686502481 meters Centerline goodness : 0.684796 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86559229 -0.14147495 -0.48034865 4.46895412] [ 0.13651187 0.98959457 -0.04546535 -0.36209275] [ 0.48178262 -0.02621884 0.87589844 0.97403294] [ 0. 0. 0. 1. ]] SLAMing on 153.716502481 meters Centerline goodness : 0.686439 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86547707 -0.14189165 -0.48043335 4.46930536] [ 0.13715247 0.98951942 -0.0451722 -0.36252964] [ 0.48180768 -0.02679712 0.87586715 0.97417608] [ 0. 0. 0. 1. ]] SLAMing on 153.746502481 meters Centerline goodness : 0.686685 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86552244 -0.14199269 -0.48032175 4.46952012] [ 0.13748782 0.98949137 -0.0447653 -0.36368082] [ 0.48163057 -0.02729302 0.87594925 0.97395462] [ 0. 0. 0. 1. ]] SLAMing on 153.776502481 meters Centerline goodness : 0.687786 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86539084 -0.1421469 -0.48051321 4.46950868] [ 0.13793727 0.9894506 -0.04428117 -0.36489101] [ 0.48173851 -0.02796016 0.87586884 0.97447624] [ 0. 0. 0. 1. ]] SLAMing on 153.806502481 meters Centerline goodness : 0.687217 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86559085 -0.14211613 -0.48016193 4.46898964] [ 0.13839104 0.98942769 -0.0433679 -0.36691413] [ 0.48124878 -0.02891125 0.87610716 0.97422164] [ 0. 0. 0. 1. ]] SLAMing on 153.836502481 meters Centerline goodness : 0.686777 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86513778 -0.14274903 -0.48079032 4.47110363] [ 0.13922926 0.9893173 -0.04320301 -0.36721695] [ 0.48182137 -0.02956352 0.87577061 0.97441702] [ 0. 0. 0. 1. ]] SLAMing on 153.866502481 meters Centerline goodness : 0.688364 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86508106 -0.14293252 -0.48083787 4.4719291 ] [ 0.13946724 0.98928586 -0.04315519 -0.36729395] [ 0.48185439 -0.0297284 0.87574686 0.97412726] [ 0. 0. 0. 1. ]] SLAMing on 153.896502481 meters Centerline goodness : 0.690418 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86496968 -0.14306933 -0.48099753 4.47269015] [ 0.13982968 0.98925047 -0.04279225 -0.36803652] [ 0.48194929 -0.03024373 0.87567699 0.97412085] [ 0. 0. 0. 1. ]] SLAMing on 153.926502481 meters Centerline goodness : 0.690506 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86486551 -0.14306116 -0.48118724 4.47308649] [ 0.14005261 0.9892365 -0.04238403 -0.3687187 ] [ 0.48207149 -0.03073504 0.87559262 0.97435 ] [ 0. 0. 0. 1. ]] SLAMing on 153.956502481 meters Centerline goodness : 0.689319 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.8649462 -0.14266151 -0.48116085 4.47287803] [ 0.14018439 0.98926318 -0.04131221 -0.3706345 ] [ 0.48188837 -0.0317184 0.87565835 0.97449434] [ 0. 0. 0. 1. ]] SLAMing on 153.986502481 meters Centerline goodness : 0.687526 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86501563 -0.14217349 -0.48118049 4.47228991] [ 0.14009544 0.98931096 -0.04046101 -0.37203264] [ 0.48178961 -0.03241178 0.8756873 0.97491244] [ 0. 0. 0. 1. ]] SLAMing on 154.01650248099997 meters Centerline goodness : 0.689395 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86507072 -0.14185134 -0.48117653 4.47165435] [ 0.14014499 0.98933474 -0.03970087 -0.37338541] [ 0.48167628 -0.03309042 0.87572426 0.97532017] [ 0. 0. 0. 1. ]] SLAMing on 154.04650248099998 meters Centerline goodness : 0.686603 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86517611 -0.1413577 -0.4811323 4.47158122] [ 0.1399339 0.98939033 -0.0390547 -0.37488637] [ 0.48154833 -0.03353753 0.87577762 0.97532369] [ 0. 0. 0. 1. ]] SLAMing on 154.07650248099998 meters Centerline goodness : 0.687768 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86508649 -0.14144298 -0.48126836 4.47313572] [ 0.13978817 0.98939295 -0.03950776 -0.37494265] [ 0.48175162 -0.03309799 0.87568253 0.97466 ] [ 0. 0. 0. 1. ]] SLAMing on 154.10650248099998 meters Centerline goodness : 0.688168 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86507657 -0.14129882 -0.48132855 4.47411957] [ 0.13945156 0.98942775 -0.03982456 -0.37466755] [ 0.48186698 -0.03267073 0.8756351 0.97416979] [ 0. 0. 0. 1. ]] SLAMing on 154.13650248099998 meters Centerline goodness : 0.687272 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.97 [[ 0.86503503 -0.14099798 -0.48149139 4.4765459 ] [ 0.13837236 0.98952411 -0.041172 -0.3724217 ] [ 0.48225251 -0.03100988 0.87548324 0.97280216] [ 0. 0. 0. 1. ]] SLAMing on 154.16650248099998 meters Centerline goodness : 0.687537 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.97 [[ 0.86505115 -0.14071329 -0.48154572 4.47753332] [ 0.13769702 0.98959153 -0.04181059 -0.37118093] [ 0.48241688 -0.03013911 0.87542309 0.97218241] [ 0. 0. 0. 1. ]] SLAMing on 154.19650248099998 meters Centerline goodness : 0.687782 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.97 [[ 0.866178 -0.13495449 -0.48116833 4.47614703] [ 0.13318901 0.99036158 -0.03800821 -0.37209406] [ 0.48166 -0.03116446 0.87580387 0.97113808] [ 0. 0. 0. 1. ]] SLAMing on 154.22650248099998 meters Centerline goodness : 0.691392 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86749686 -0.12892128 -0.48044615 4.47236844] [ 0.12857271 0.99112381 -0.03380301 -0.37378854] [ 0.48053955 -0.03244826 0.87637255 0.97090833] [ 0. 0. 0. 1. ]] SLAMing on 154.25650248099998 meters Centerline goodness : 0.690250 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86776635 -0.12849477 -0.48007359 4.47127528] [ 0.12804099 0.99119085 -0.03385559 -0.37386697] [ 0.48019481 -0.03209036 0.87657467 0.97069882] [ 0. 0. 0. 1. ]] SLAMing on 154.28650248099999 meters Centerline goodness : 0.691041 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86795127 -0.12863247 -0.47970229 4.47082327] [ 0.12786983 0.99119325 -0.03442728 -0.37350843] [ 0.47990614 -0.03145825 0.87675566 0.9702119 ] [ 0. 0. 0. 1. ]] SLAMing on 154.316502481 meters Centerline goodness : 0.693108 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86792484 -0.12848589 -0.47978937 4.47242898] [ 0.12754965 0.99122455 -0.03471287 -0.37319887] [ 0.48003912 -0.0310688 0.87669674 0.96941555] [ 0. 0. 0. 1. ]] SLAMing on 154.346502481 meters Centerline goodness : 0.693295 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.8677349 -0.12896546 -0.48000421 4.47360061] [ 0.12791998 0.99116487 -0.03505262 -0.37296652] [ 0.48028389 -0.03098575 0.87656561 0.96929895] [ 0. 0. 0. 1. ]] SLAMing on 154.376502481 meters Centerline goodness : 0.693472 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.97 [[ 0.86746575 -0.12933454 -0.48039124 4.47567651] [ 0.12861447 0.99109146 -0.0345837 -0.37486826] [ 0.48058452 -0.03178509 0.8763722 0.96911906] [ 0. 0. 0. 1. ]] SLAMing on 154.406502481 meters Centerline goodness : 0.694082 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.86736239 -0.12933347 -0.48057813 4.47616726] [ 0.12898772 0.99106606 -0.03391522 -0.37643126] [ 0.48067104 -0.03257189 0.87629585 0.96938894] [ 0. 0. 0. 1. ]] SLAMing on 154.436502481 meters Centerline goodness : 0.692870 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.86722265 -0.12916329 -0.48087598 4.47664056] [ 0.12954202 0.99103875 -0.032574 -0.37909566] [ 0.4807741 -0.03404473 0.87618333 0.96999109] [ 0. 0. 0. 1. ]] SLAMing on 154.466502481 meters Centerline goodness : 0.697579 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.86684398 -0.13178893 -0.48084633 4.47680635] [ 0.13217524 0.99066883 -0.03324113 -0.38082928] [ 0.48074028 -0.03474111 0.87617455 0.97059183] [ 0. 0. 0. 1. ]] SLAMing on 154.496502481 meters Centerline goodness : 0.696999 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.86672027 -0.13180352 -0.48106528 4.47734505] [ 0.13264353 0.99063291 -0.0324365 -0.38248686] [ 0.48083434 -0.03569683 0.87608451 0.97093192] [ 0. 0. 0. 1. ]] SLAMing on 154.526502481 meters Centerline goodness : 0.697136 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.866293 -0.13620054 -0.48060988 4.47761829] [ 0.13603091 0.99007251 -0.03538377 -0.38400374] [ 0.48065792 -0.03472508 0.87622037 0.97092045] [ 0. 0. 0. 1. ]] SLAMing on 154.556502481 meters Centerline goodness : 0.700424 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.86588365 -0.14104885 -0.47994866 4.47738685] [ 0.13931345 0.98946227 -0.03944855 -0.38366542] [ 0.48045526 -0.03270545 0.8764092 0.97069604] [ 0. 0. 0. 1. ]] SLAMing on 154.586502481 meters Centerline goodness : 0.699510 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.97 [[ 0.86533219 -0.14526109 -0.47968679 4.47845988] [ 0.14271752 0.98887196 -0.04199941 -0.38585323] [ 0.4804497 -0.03211627 0.87643404 0.97067228] [ 0. 0. 0. 1. ]] SLAMing on 154.616502481 meters Centerline goodness : 0.700128 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.97 [[ 0.86504917 -0.14542541 -0.48014726 4.47942313] [ 0.14325329 0.98881974 -0.04140058 -0.38693674] [ 0.48079978 -0.03296913 0.87621037 0.97123437] [ 0. 0. 0. 1. ]] SLAMing on 154.646502481 meters Centerline goodness : 0.698777 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.97 [[ 0.86479364 -0.14517816 -0.48068208 4.47994017] [ 0.14392984 0.98879139 -0.03969631 -0.38991398] [ 0.48105734 -0.03485538 0.87599597 0.97227443] [ 0. 0. 0. 1. ]] SLAMing on 154.676502481 meters Centerline goodness : 0.701597 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.97 [[ 0.86465461 -0.1450681 -0.48096534 4.48018496] [ 0.14425777 0.98877548 -0.03889394 -0.39151058] [ 0.48120901 -0.03575316 0.87587648 0.97289855] [ 0. 0. 0. 1. ]] SLAMing on 154.706502481 meters Centerline goodness : 0.701365 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.97 [[ 0.86446587 -0.14513487 -0.48128435 4.48041038] [ 0.14514021 0.98870191 -0.03745471 -0.3943933 ] [ 0.48128274 -0.03747539 0.87576396 0.97375754] [ 0. 0. 0. 1. ]] SLAMing on 154.736502481 meters Centerline goodness : 0.698510 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.97 [[ 0.86430629 -0.14529786 -0.48152172 4.48051612] [ 0.14560658 0.9886517 -0.03696673 -0.39553821] [ 0.48142845 -0.03816215 0.87565421 0.97435234] [ 0. 0. 0. 1. ]] SLAMing on 154.76650248099997 meters Centerline goodness : 0.699741 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.97 [[ 0.86378204 -0.15039856 -0.48089589 4.47973192] [ 0.14943771 0.98793908 -0.04055557 -0.39612322] [ 0.48119534 -0.0368328 0.87583925 0.97475498] [ 0. 0. 0. 1. ]] SLAMing on 154.79650248099998 meters Centerline goodness : 0.699079 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86378985 -0.15036126 -0.48089353 4.47928015] [ 0.14984325 0.98791082 -0.03973944 -0.39780206] [ 0.48105519 -0.03773212 0.87587795 0.97519853] [ 0. 0. 0. 1. ]] SLAMing on 154.82650248099998 meters Centerline goodness : 0.694965 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86343154 -0.1508828 -0.48137341 4.47967578] [ 0.15083475 0.98778685 -0.03906441 -0.39924197] [ 0.48138847 -0.0388784 0.87564468 0.97622189] [ 0. 0. 0. 1. ]] SLAMing on 154.85650248099998 meters Centerline goodness : 0.696385 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86319369 -0.15096189 -0.48177502 4.48013975] [ 0.15115822 0.9877526 -0.03867818 -0.39978165] [ 0.48171346 -0.0394375 0.87544093 0.97683641] [ 0. 0. 0. 1. ]] SLAMing on 154.88650248099998 meters Centerline goodness : 0.696062 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86275199 -0.15131907 -0.48245367 4.48117154] [ 0.15199029 0.98765223 -0.03797398 -0.40087437] [ 0.48224263 -0.04056615 0.87509795 0.97779303] [ 0. 0. 0. 1. ]] SLAMing on 154.91650248099998 meters Centerline goodness : 0.695343 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86259254 -0.15130735 -0.48274237 4.4817689 ] [ 0.15229352 0.98762638 -0.03742758 -0.40172417] [ 0.48243217 -0.04123378 0.87496227 0.97815519] [ 0. 0. 0. 1. ]] SLAMing on 154.94650248099998 meters Centerline goodness : 0.695575 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86238093 -0.15137339 -0.48309961 4.48206183] [ 0.15283441 0.98757312 -0.03661937 -0.40336286] [ 0.48263939 -0.0422544 0.87479928 0.97895131] [ 0. 0. 0. 1. ]] SLAMing on 154.97650248099998 meters Centerline goodness : 0.694654 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.8623596 -0.15134112 -0.48314778 4.48224882] [ 0.15310448 0.98755159 -0.03606774 -0.4047391 ] [ 0.48259189 -0.04286873 0.8747956 0.97913814] [ 0. 0. 0. 1. ]] SLAMing on 155.00650248099998 meters Centerline goodness : 0.695288 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86236858 -0.15123113 -0.48316621 4.48235349] [ 0.15357563 0.98751731 -0.03498705 -0.40724366] [ 0.48242612 -0.04403082 0.87482931 0.97945165] [ 0. 0. 0. 1. ]] SLAMing on 155.03650248099999 meters Centerline goodness : 0.694707 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.8623483 -0.15134232 -0.48316758 4.48211799] [ 0.15385505 0.98748354 -0.03471138 -0.40790362] [ 0.48237334 -0.04440448 0.87483953 0.97970654] [ 0. 0. 0. 1. ]] SLAMing on 155.066502481 meters Centerline goodness : 0.693422 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86234349 -0.15139346 -0.48316014 4.4821858 ] [ 0.15415157 0.9874524 -0.03427897 -0.40937578] [ 0.48228726 -0.04491964 0.87486069 0.9798682 ] [ 0. 0. 0. 1. ]] SLAMing on 155.096502481 meters Centerline goodness : 0.695279 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86219576 -0.15182679 -0.48328779 4.4825607 ] [ 0.15463361 0.98737566 -0.03431834 -0.40978176] [ 0.48239705 -0.04514341 0.87478864 0.98009062] [ 0. 0. 0. 1. ]] SLAMing on 155.126502481 meters Centerline goodness : 0.693424 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86195676 -0.15224676 -0.48358191 4.48392064] [ 0.15504008 0.98730611 -0.03448499 -0.40961875] [ 0.4826936 -0.04525001 0.87461953 0.98002377] [ 0. 0. 0. 1. ]] SLAMing on 155.156502481 meters Centerline goodness : 0.694242 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86183818 -0.15230682 -0.48377432 4.48457732] [ 0.15507225 0.98729802 -0.03457198 -0.40917443] [ 0.48289497 -0.04522452 0.87450968 0.98003692] [ 0. 0. 0. 1. ]] SLAMing on 155.186502481 meters Centerline goodness : 0.695131 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86178607 -0.15220881 -0.48389796 4.48444877] [ 0.15487222 0.98732337 -0.0347441 -0.40843855] [ 0.48305213 -0.04500037 0.87443445 0.98025586] [ 0. 0. 0. 1. ]] SLAMing on 155.216502481 meters Centerline goodness : 0.694749 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86180186 -0.15202729 -0.48392691 4.4836976 ] [ 0.15471014 0.9873516 -0.03466412 -0.4083164 ] [ 0.4830759 -0.04499479 0.8744216 0.98065614] [ 0. 0. 0. 1. ]] SLAMing on 155.246502481 meters Centerline goodness : 0.698513 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.8618343 -0.15199761 -0.48387846 4.48222872] [ 0.15462499 0.98736186 -0.03475153 -0.40787834] [ 0.48304528 -0.04486964 0.87444495 0.98128318] [ 0. 0. 0. 1. ]] SLAMing on 155.276502481 meters Centerline goodness : 0.695709 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86192415 -0.15181318 -0.48377631 4.48127833] [ 0.15435541 0.9874007 -0.03484622 -0.40786678] [ 0.48297119 -0.04463869 0.8744977 0.9815339 ] [ 0. 0. 0. 1. ]] SLAMing on 155.306502481 meters Centerline goodness : 0.698757 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86191963 -0.15182757 -0.48377985 4.48053877] [ 0.15433869 0.98740118 -0.03490673 -0.40759126] [ 0.4829846 -0.04457915 0.87449332 0.98189822] [ 0. 0. 0. 1. ]] SLAMing on 155.336502481 meters Centerline goodness : 0.697685 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86179135 -0.15229701 -0.48386082 4.48004882] [ 0.1547976 0.98732397 -0.03505812 -0.40750055] [ 0.48306663 -0.04468771 0.87444247 0.98239388] [ 0. 0. 0. 1. ]] SLAMing on 155.366502481 meters Centerline goodness : 0.697014 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.8615873 -0.15264566 -0.48411427 4.4806248 ] [ 0.15520509 0.98725956 -0.03507054 -0.40771062] [ 0.4832998 -0.04492067 0.87430168 0.98271127] [ 0. 0. 0. 1. ]] SLAMing on 155.396502481 meters Centerline goodness : 0.696067 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86134719 -0.15319245 -0.48436876 4.48157493] [ 0.15599656 0.98714439 -0.03479965 -0.40871143] [ 0.48347295 -0.04558528 0.87417155 0.98293753] [ 0. 0. 0. 1. ]] SLAMing on 155.426502481 meters Centerline goodness : 0.698196 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86133472 -0.15309105 -0.48442298 4.48200216] [ 0.15622081 0.98713024 -0.03418995 -0.41001666] [ 0.48342275 -0.04622796 0.87416556 0.98298533] [ 0. 0. 0. 1. ]] SLAMing on 155.456502481 meters Centerline goodness : 0.699389 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86133559 -0.15288517 -0.48448646 4.48191672] [ 0.15661183 0.98710666 -0.0330631 -0.41259639] [ 0.48329467 -0.04739788 0.87417372 0.98347901] [ 0. 0. 0. 1. ]] SLAMing on 155.486502481 meters Centerline goodness : 0.701475 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.98 [[ 0.86152879 -0.1522479 -0.48434361 4.48096454] [ 0.15672215 0.98713945 -0.03152568 -0.41545436] [ 0.4829144 -0.04874709 0.87430967 0.98397769] [ 0. 0. 0. 1. ]] SLAMing on 155.51650248099997 meters Centerline goodness : 0.697986 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.98 [[ 0.86159633 -0.15179476 -0.48436568 4.48038019] [ 0.15671696 0.98716948 -0.03059755 -0.41694324] [ 0.48279556 -0.04954558 0.87433042 0.98444398] [ 0. 0. 0. 1. ]] SLAMing on 155.54650248099998 meters Centerline goodness : 0.697986 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.98 [[ 0.86159633 -0.15179476 -0.48436568 4.48038019] [ 0.15671696 0.98716948 -0.03059755 -0.41694324] [ 0.48279556 -0.04954558 0.87433042 0.98444398] [ 0. 0. 0. 1. ]] SLAMing on 155.57650248099998 meters Centerline goodness : 0.698387 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86145577 -0.15159784 -0.48467726 4.48073078] [ 0.15704305 0.98714701 -0.02963561 -0.41849891] [ 0.4829404 -0.05058543 0.87419087 0.98510513] [ 0. 0. 0. 1. ]] SLAMing on 155.60650248099998 meters Centerline goodness : 0.698164 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.8614724 -0.15158952 -0.48465031 4.48101209] [ 0.15730087 0.98712046 -0.02914835 -0.41975352] [ 0.48282683 -0.05112542 0.8742222 0.98510002] [ 0. 0. 0. 1. ]] SLAMing on 155.63650248099998 meters Centerline goodness : 0.694659 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86132082 -0.15179065 -0.48485673 4.48152669] [ 0.15795879 0.98703722 -0.02839979 -0.42137046] [ 0.48288246 -0.05212605 0.87413237 0.98551698] [ 0. 0. 0. 1. ]] SLAMing on 155.66650248099998 meters Centerline goodness : 0.698031 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86114883 -0.1519113 -0.48512436 4.48199315] [ 0.15831837 0.98699011 -0.02803255 -0.42170007] [ 0.48307141 -0.05266391 0.87399573 0.98591819] [ 0. 0. 0. 1. ]] SLAMing on 155.69650248099998 meters Centerline goodness : 0.696286 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86108599 -0.15227147 -0.48512299 4.48140011] [ 0.15885983 0.98690969 -0.02779956 -0.42172699] [ 0.48300566 -0.05312874 0.87400393 0.98641162] [ 0. 0. 0. 1. ]] SLAMing on 155.72650248099998 meters Centerline goodness : 0.696038 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86096979 -0.15264723 -0.48521113 4.48154471] [ 0.15932047 0.98683664 -0.02775651 -0.42167197] [ 0.48306107 -0.05340655 0.87395637 0.98667411] [ 0. 0. 0. 1. ]] SLAMing on 155.75650248099998 meters Centerline goodness : 0.691966 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86063204 -0.15363077 -0.48549983 4.48219764] [ 0.16044229 0.98665356 -0.02780347 -0.42196882] [ 0.4832916 -0.05396615 0.87379453 0.9872541 ] [ 0. 0. 0. 1. ]] SLAMing on 155.78650248099999 meters Centerline goodness : 0.691744 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86038419 -0.15429674 -0.48572787 4.48297318] [ 0.16115207 0.9865343 -0.02792989 -0.42198963] [ 0.4834967 -0.05424561 0.87366376 0.98747568] [ 0. 0. 0. 1. ]] SLAMing on 155.816502481 meters Centerline goodness : 0.693567 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86008518 -0.1553861 -0.48591011 4.4846126 ] [ 0.16220362 0.98635111 -0.02831043 -0.42157634] [ 0.48367703 -0.05446699 0.87355016 0.98726696] [ 0. 0. 0. 1. ]] SLAMing on 155.846502481 meters Centerline goodness : 0.690975 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85987073 -0.15579859 -0.48615751 4.48555945] [ 0.16265606 0.98627461 -0.02837971 -0.42102795] [ 0.48390633 -0.05467358 0.87341025 0.98734734] [ 0. 0. 0. 1. ]] SLAMing on 155.876502481 meters Centerline goodness : 0.689284 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85958292 -0.15664244 -0.48639525 4.48624582] [ 0.16334457 0.98614527 -0.02891476 -0.41877497] [ 0.48418566 -0.05459538 0.87326032 0.98750626] [ 0. 0. 0. 1. ]] SLAMing on 155.906502481 meters Centerline goodness : 0.690238 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85939175 -0.15712718 -0.48657668 4.48605681] [ 0.16382155 0.98606125 -0.029081 -0.41776124] [ 0.48436382 -0.05471977 0.87315373 0.98801385] [ 0. 0. 0. 1. ]] SLAMing on 155.936502481 meters Centerline goodness : 0.691521 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85948197 -0.15793773 -0.48615473 4.48438673] [ 0.16455483 0.98593026 -0.02938093 -0.41700352] [ 0.48395501 -0.05474673 0.87337869 0.98836528] [ 0. 0. 0. 1. ]] SLAMing on 155.966502481 meters Centerline goodness : 0.691096 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85950029 -0.15860855 -0.48590388 4.48400586] [ 0.16506757 0.9858316 -0.02981184 -0.41657386] [ 0.48374781 -0.05458369 0.87350368 0.98824438] [ 0. 0. 0. 1. ]] SLAMing on 155.996502481 meters Centerline goodness : 0.688468 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85932647 -0.15965497 -0.48586862 4.48469291] [ 0.16585144 0.98567715 -0.03055913 -0.41483389] [ 0.48378851 -0.05432174 0.87349747 0.98793705] [ 0. 0. 0. 1. ]] SLAMing on 156.026502481 meters Centerline goodness : 0.690887 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85916343 -0.16006923 -0.48602062 4.48495056] [ 0.16616082 0.9856151 -0.030878 -0.41372933] [ 0.48397188 -0.05422834 0.87340169 0.98809384] [ 0. 0. 0. 1. ]] SLAMing on 156.056502481 meters Centerline goodness : 0.690692 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85874169 -0.1609689 -0.48646862 4.48652783] [ 0.16655534 0.98550995 -0.03208519 -0.41002073] [ 0.48458438 -0.05347106 0.87310871 0.98795523] [ 0. 0. 0. 1. ]] SLAMing on 156.086502481 meters Centerline goodness : 0.690159 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85832343 -0.16138507 -0.48706852 4.48828185] [ 0.16647823 0.98548743 -0.03315917 -0.40593228] [ 0.4853513 -0.05262502 0.87273405 0.98785303] [ 0. 0. 0. 1. ]] SLAMing on 156.116502481 meters Centerline goodness : 0.690711 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85836949 -0.16184915 -0.4868333 4.48791515] [ 0.16644821 0.98545893 -0.03414234 -0.4039673 ] [ 0.48528013 -0.05172579 0.87282738 0.98747575] [ 0. 0. 0. 1. ]] SLAMing on 156.146502481 meters Centerline goodness : 0.689633 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.8585009 -0.16224668 -0.48646914 4.48704571] [ 0.16635469 0.98544152 -0.03508746 -0.40197622] [ 0.48507971 -0.05080381 0.87299292 0.98710786] [ 0. 0. 0. 1. ]] SLAMing on 156.176502481 meters Centerline goodness : 0.686999 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85923792 -0.15772286 -0.48665563 4.48562253] [ 0.16275717 0.9861393 -0.0322396 -0.39989017] [ 0.48499516 -0.05150521 0.8729988 0.9870294 ] [ 0. 0. 0. 1. ]] SLAMing on 156.206502481 meters Centerline goodness : 0.688945 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.8597245 -0.15317997 -0.48724705 4.48548514] [ 0.15953732 0.98677391 -0.02872435 -0.39949911] [ 0.48520268 -0.05303906 0.87279163 0.98723824] [ 0. 0. 0. 1. ]] SLAMing on 156.236502481 meters Centerline goodness : 0.690175 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.86030048 -0.14912282 -0.48748893 4.48551422] [ 0.15584816 0.98741155 -0.02701466 -0.39594743] [ 0.4853807 -0.05273352 0.87271115 0.98635997] [ 0. 0. 0. 1. ]] SLAMing on 156.26650248099997 meters Centerline goodness : 0.689469 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.8604429 -0.14953296 -0.48711181 4.48550955] [ 0.15551113 0.98742521 -0.02842092 -0.39334909] [ 0.48523634 -0.05129673 0.87287705 0.98539527] [ 0. 0. 0. 1. ]] SLAMing on 156.29650248099998 meters Centerline goodness : 0.688326 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86102508 -0.14964437 -0.48604771 4.48466997] [ 0.15427136 0.98754965 -0.03075776 -0.38926559] [ 0.48459897 -0.04850004 0.87339085 0.98324311] [ 0. 0. 0. 1. ]] SLAMing on 156.32650248099998 meters Centerline goodness : 0.688248 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86144334 -0.14995766 -0.48520931 4.48336821] [ 0.15344996 0.98761213 -0.03279319 -0.38566537] [ 0.48411619 -0.04620588 0.87378289 0.98197785] [ 0. 0. 0. 1. ]] SLAMing on 156.35650248099998 meters Centerline goodness : 0.690057 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86156927 -0.15005729 -0.48495485 4.48265686] [ 0.15316971 0.98763267 -0.03347769 -0.38401608] [ 0.48398083 -0.04543704 0.87389818 0.98171383] [ 0. 0. 0. 1. ]] SLAMing on 156.38650248099998 meters Centerline goodness : 0.690247 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86167301 -0.15009029 -0.48476028 4.48197173] [ 0.15307911 0.98763954 -0.03368874 -0.38298073] [ 0.48382477 -0.04517799 0.87399802 0.98164577] [ 0. 0. 0. 1. ]] SLAMing on 156.41650248099998 meters Centerline goodness : 0.691585 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86194233 -0.15020416 -0.48424595 4.48000558] [ 0.15317655 0.98762427 -0.03369346 -0.38309253] [ 0.48331395 -0.0451333 0.87428291 0.98177697] [ 0. 0. 0. 1. ]] SLAMing on 156.44650248099998 meters Centerline goodness : 0.691372 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.8619673 -0.15069327 -0.4840495 4.47948269] [ 0.15378281 0.98753359 -0.03358936 -0.38398721] [ 0.48307683 -0.04548556 0.8743957 0.98188315] [ 0. 0. 0. 1. ]] SLAMing on 156.47650248099998 meters Centerline goodness : 0.691821 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86151978 -0.15542966 -0.483348 4.47884562] [ 0.15732177 0.98685657 -0.03693192 -0.3843149 ] [ 0.48273547 -0.04422359 0.87464892 0.98199846] [ 0. 0. 0. 1. ]] SLAMing on 156.50650248099998 meters Centerline goodness : 0.693245 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86114516 -0.15618004 -0.48377352 4.47962268] [ 0.15842415 0.98669489 -0.03653746 -0.38511005] [ 0.48304328 -0.04517736 0.87443021 0.9826777 ] [ 0. 0. 0. 1. ]] SLAMing on 156.53650248099999 meters Centerline goodness : 0.694243 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86092451 -0.15617235 -0.48416856 4.4803963 ] [ 0.15873519 0.98666461 -0.03600133 -0.3854627 ] [ 0.48333439 -0.04586015 0.87423378 0.98314714] [ 0. 0. 0. 1. ]] SLAMing on 156.566502481 meters Centerline goodness : 0.694640 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86051367 -0.15721608 -0.48456096 4.4816827 ] [ 0.15985021 0.98647763 -0.03619122 -0.38533756] [ 0.48369838 -0.04631414 0.87400851 0.98344351] [ 0. 0. 0. 1. ]] SLAMing on 156.596502481 meters Centerline goodness : 0.695887 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.8603347 -0.15761755 -0.4847483 4.48237088] [ 0.16037973 0.9863955 -0.03608676 -0.3860548 ] [ 0.48384145 -0.04669711 0.87390894 0.98361214] [ 0. 0. 0. 1. ]] SLAMing on 156.626502481 meters Centerline goodness : 0.697707 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.85996408 -0.16253318 -0.48378171 4.48203657] [ 0.16370556 0.98569163 -0.04015591 -0.38572493] [ 0.48338625 -0.04466512 0.87426698 0.98306679] [ 0. 0. 0. 1. ]] SLAMing on 156.656502481 meters Centerline goodness : 0.697581 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.85984895 -0.16278396 -0.48390202 4.48158589] [ 0.16405768 0.98563732 -0.04005175 -0.38594842] [ 0.48347168 -0.04494939 0.87420518 0.98366278] [ 0. 0. 0. 1. ]] SLAMing on 156.686502481 meters Centerline goodness : 0.700146 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86004284 -0.16264238 -0.48360497 4.48052153] [ 0.16377978 0.98567631 -0.04022935 -0.38510958] [ 0.48322096 -0.04460575 0.87436139 0.98356841] [ 0. 0. 0. 1. ]] SLAMing on 156.716502481 meters Centerline goodness : 0.703836 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86019329 -0.16274842 -0.48330162 4.47938952] [ 0.16339499 0.98570367 -0.04111397 -0.38315679] [ 0.48308342 -0.0436031 0.87448795 0.983434 ] [ 0. 0. 0. 1. ]] SLAMing on 156.746502481 meters Centerline goodness : 0.702814 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86033958 -0.16234118 -0.48317817 4.47882468] [ 0.162818 0.98579132 -0.04130102 -0.38230005] [ 0.4830177 -0.0431372 0.87454736 0.98336269] [ 0. 0. 0. 1. ]] SLAMing on 156.776502481 meters Centerline goodness : 0.705602 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86043549 -0.16222314 -0.48304702 4.47792748] [ 0.16246057 0.98583391 -0.04169001 -0.38162489] [ 0.48296722 -0.04260453 0.87460135 0.98349228] [ 0. 0. 0. 1. ]] SLAMing on 156.806502481 meters Centerline goodness : 0.707722 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86061536 -0.16216139 -0.48274722 4.47696562] [ 0.16191223 0.98588845 -0.04252513 -0.38096252] [ 0.48283085 -0.0415649 0.87472666 0.98334289] [ 0. 0. 0. 1. ]] SLAMing on 156.836502481 meters Centerline goodness : 0.708081 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86072393 -0.1619775 -0.48261538 4.47640323] [ 0.16168038 0.9859254 -0.04255056 -0.38081974] [ 0.482715 -0.04140515 0.87479817 0.9833274 ] [ 0. 0. 0. 1. ]] SLAMing on 156.866502481 meters Centerline goodness : 0.708673 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86059257 -0.16087853 -0.48321686 4.4766668 ] [ 0.16082207 0.98609431 -0.04188415 -0.38012944] [ 0.48323565 -0.04166675 0.87449825 0.98405149] [ 0. 0. 0. 1. ]] SLAMing on 156.896502481 meters Centerline goodness : 0.707421 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86066439 -0.16069316 -0.4831506 4.4767372 ] [ 0.16056765 0.98613281 -0.04195368 -0.37945223] [ 0.48319233 -0.04147032 0.87453152 0.9838292 ] [ 0. 0. 0. 1. ]] SLAMing on 156.926502481 meters Centerline goodness : 0.709116 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86089651 -0.16090973 -0.48266474 4.47579542] [ 0.16047117 0.98612382 -0.04253025 -0.37919803] [ 0.48281073 -0.04083964 0.87477193 0.98344661] [ 0. 0. 0. 1. ]] SLAMing on 156.956502481 meters Centerline goodness : 0.708151 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86091387 -0.16083347 -0.4826592 4.47576315] [ 0.1605191 0.98612658 -0.04228458 -0.38053159] [ 0.48276384 -0.04107264 0.87478689 0.98354804] [ 0. 0. 0. 1. ]] SLAMing on 156.986502481 meters Centerline goodness : 0.707572 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86070467 -0.16112102 -0.48293632 4.47666671] [ 0.16077574 0.98607795 -0.04244339 -0.38066846] [ 0.48305138 -0.04111323 0.87462624 0.9836784 ] [ 0. 0. 0. 1. ]] SLAMing on 157.01650248099997 meters Centerline goodness : 0.709936 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.860556 -0.16126982 -0.48315155 4.47782004] [ 0.16096048 0.98604801 -0.0424386 -0.38081053] [ 0.4832547 -0.04124751 0.8745076 0.98355387] [ 0. 0. 0. 1. ]] SLAMing on 157.04650248099998 meters Centerline goodness : 0.708043 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86017574 -0.1614086 -0.48378194 4.47948422] [ 0.1613431 0.98600015 -0.04209641 -0.38101152] [ 0.48380379 -0.04184457 0.87417557 0.98395093] [ 0. 0. 0. 1. ]] SLAMing on 157.07650248099998 meters Centerline goodness : 0.709497 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86001794 -0.16152621 -0.48402317 4.47986132] [ 0.16164499 0.98596252 -0.04181866 -0.381339 ] [ 0.48398352 -0.04227512 0.87405536 0.98430442] [ 0. 0. 0. 1. ]] SLAMing on 157.10650248099998 meters Centerline goodness : 0.708892 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85974836 -0.16182409 -0.48440244 4.48027191] [ 0.16238839 0.98586926 -0.04113158 -0.38249125] [ 0.48421356 -0.04329853 0.87387783 0.98504616] [ 0. 0. 0. 1. ]] SLAMing on 157.13650248099998 meters Centerline goodness : 0.709041 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85935824 -0.1627485 -0.48478484 4.48128434] [ 0.16368017 0.98567133 -0.0407534 -0.38347743] [ 0.48447107 -0.0443279 0.87368348 0.98560595] [ 0. 0. 0. 1. ]] SLAMing on 157.16650248099998 meters Centerline goodness : 0.709720 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85898624 -0.16323281 -0.48528105 4.48170507] [ 0.16452253 0.98555016 -0.0402891 -0.38411219] [ 0.48484532 -0.04523188 0.8734295 0.98655341] [ 0. 0. 0. 1. ]] SLAMing on 157.19650248099998 meters Centerline goodness : 0.709413 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.8587011 -0.16413629 -0.48548089 4.4807883 ] [ 0.16587937 0.98534524 -0.03973403 -0.38470264] [ 0.48488808 -0.04641161 0.87334387 0.98784603] [ 0. 0. 0. 1. ]] SLAMing on 157.22650248099998 meters Centerline goodness : 0.709387 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85829888 -0.16477805 -0.48597452 4.48093438] [ 0.16675336 0.98520547 -0.03954118 -0.38480682] [ 0.48530028 -0.04709973 0.87307804 0.98895546] [ 0. 0. 0. 1. ]] SLAMing on 157.25650248099998 meters Centerline goodness : 0.710562 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.99 [[ 0.85798112 -0.1656814 -0.48622842 4.48135436] [ 0.1677437 0.98503281 -0.03965355 -0.38506053] [ 0.48552081 -0.04753975 0.87293157 0.98951551] [ 0. 0. 0. 1. ]] SLAMing on 157.28650248099999 meters Centerline goodness : 0.710425 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85694515 -0.17108226 -0.48618502 4.48199672] [ 0.17177218 0.98417345 -0.04355397 -0.38385379] [ 0.4859417 -0.0461897 0.87276983 0.99028288] [ 0. 0. 0. 1. ]] SLAMing on 157.316502481 meters Centerline goodness : 0.707521 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85664951 -0.17189559 -0.48641909 4.48210945] [ 0.17258827 0.98402011 -0.04379159 -0.38335041] [ 0.48617375 -0.04643619 0.87262751 0.99087178] [ 0. 0. 0. 1. ]] SLAMing on 157.346502481 meters Centerline goodness : 0.708182 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85620555 -0.17273045 -0.48690477 4.48180257] [ 0.17350425 0.98385318 -0.04392255 -0.38200747] [ 0.48662957 -0.04687332 0.87235002 0.99208905] [ 0. 0. 0. 1. ]] SLAMing on 157.376502481 meters Centerline goodness : 0.710180 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85604155 -0.17283936 -0.48715441 4.48183348] [ 0.17377065 0.9838162 -0.04369717 -0.38110097] [ 0.48682299 -0.04724655 0.87222196 0.9925783 ] [ 0. 0. 0. 1. ]] SLAMing on 157.406502481 meters Centerline goodness : 0.709530 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85589664 -0.17282772 -0.4874131 4.48218235] [ 0.17392395 0.98380105 -0.04342756 -0.38077647] [ 0.487023 -0.04760331 0.87209089 0.99293255] [ 0. 0. 0. 1. ]] SLAMing on 157.436502481 meters Centerline goodness : 0.707684 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85563874 -0.17329266 -0.48770073 4.48245634] [ 0.1743446 0.98371614 -0.04366366 -0.37941218] [ 0.48732567 -0.04766767 0.87191828 0.9933943 ] [ 0. 0. 0. 1. ]] SLAMing on 157.466502481 meters Centerline goodness : 0.707684 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85563874 -0.17329266 -0.48770073 4.48245634] [ 0.1743446 0.98371614 -0.04366366 -0.37941218] [ 0.48732567 -0.04766767 0.87191828 0.9933943 ] [ 0. 0. 0. 1. ]] SLAMing on 157.496502481 meters Centerline goodness : 0.709288 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85548719 -0.17374676 -0.48780501 4.48282009] [ 0.17471004 0.9836383 -0.04395562 -0.37895433] [ 0.48746084 -0.04762096 0.87184527 0.99349981] [ 0. 0. 0. 1. ]] SLAMing on 157.526502481 meters Centerline goodness : 0.709240 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85550923 -0.17422227 -0.48759671 4.48300047] [ 0.17490055 0.98357682 -0.04456953 -0.37818081] [ 0.48735382 -0.04715129 0.87193062 0.99307098] [ 0. 0. 0. 1. ]] SLAMing on 157.556502481 meters Centerline goodness : 0.709153 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85549155 -0.17446657 -0.48754039 4.48281284] [ 0.17488664 0.98355554 -0.04509067 -0.37702231] [ 0.48738986 -0.04668961 0.87193532 0.9930102 ] [ 0. 0. 0. 1. ]] SLAMing on 157.586502481 meters Centerline goodness : 0.707294 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85609039 -0.17007235 -0.48804163 4.48275553] [ 0.17150209 0.98428108 -0.04216383 -0.37555371] [ 0.48754105 -0.04760411 0.87180134 0.99278074] [ 0. 0. 0. 1. ]] SLAMing on 157.616502481 meters Centerline goodness : 0.707218 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85622327 -0.16971102 -0.48793429 4.48242828] [ 0.17085691 0.98437611 -0.04256272 -0.37409192] [ 0.48753422 -0.04692376 0.87184204 0.99254243] [ 0. 0. 0. 1. ]] SLAMing on 157.646502481 meters Centerline goodness : 0.707405 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85710001 -0.16523468 -0.48793142 4.48174668] [ 0.16712934 0.98512219 -0.04002569 -0.37268964] [ 0.4872857 -0.04724163 0.8719638 0.99169788] [ 0. 0. 0. 1. ]] SLAMing on 157.676502481 meters Centerline goodness : 0.705830 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85724177 -0.16512295 -0.48772017 4.48133158] [ 0.16654166 0.98518894 -0.04082432 -0.3708641 ] [ 0.48723755 -0.04622941 0.87204496 0.99128429] [ 0. 0. 0. 1. ]] SLAMing on 157.706502481 meters Centerline goodness : 0.704000 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8579121 -0.16069192 -0.48802145 4.48145997] [ 0.16289715 0.9859007 -0.03826644 -0.36902486] [ 0.48728979 -0.04666806 0.8719924 0.99057337] [ 0. 0. 0. 1. ]] SLAMing on 157.736502481 meters Centerline goodness : 0.704276 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85807936 -0.16047123 -0.48779995 4.48154246] [ 0.16220836 0.98598468 -0.03902118 -0.36736535] [ 0.48722506 -0.04564196 0.87208288 0.9899236 ] [ 0. 0. 0. 1. ]] SLAMing on 157.76650248099997 meters Centerline goodness : 0.704558 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85854809 -0.16055579 -0.48694663 4.48028875] [ 0.16122973 0.98607077 -0.04085847 -0.36410407] [ 0.4867239 -0.04343131 0.87247554 0.98863535] [ 0. 0. 0. 1. ]] SLAMing on 157.79650248099998 meters Centerline goodness : 0.703181 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85905214 -0.16029634 -0.48614247 4.47911876] [ 0.16001834 0.98620229 -0.04241661 -0.36166558] [ 0.48623404 -0.04135363 0.87284955 0.98739424] [ 0. 0. 0. 1. ]] SLAMing on 157.82650248099998 meters Centerline goodness : 0.703249 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85935555 -0.16011518 -0.48566569 4.47816775] [ 0.15943411 0.98626963 -0.04304637 -0.36040919] [ 0.4858897 -0.04043955 0.8730841 0.98682346] [ 0. 0. 0. 1. ]] SLAMing on 157.85650248099998 meters Centerline goodness : 0.704220 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85986761 -0.15984673 -0.48484711 4.47585255] [ 0.15853888 0.98637071 -0.0440256 -0.35859698] [ 0.48527633 -0.03901093 0.87349014 0.98623497] [ 0. 0. 0. 1. ]] SLAMing on 157.88650248099998 meters Centerline goodness : 0.703727 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.86011494 -0.15940425 -0.484554 4.47495674] [ 0.15803712 0.98645289 -0.04398828 -0.35898584] [ 0.48500161 -0.03874254 0.87365466 0.98611406] [ 0. 0. 0. 1. ]] SLAMing on 157.91650248099998 meters Centerline goodness : 0.704279 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.86017783 -0.1596852 -0.48434982 4.47468958] [ 0.15817947 0.98641641 -0.04429367 -0.35906248] [ 0.48484365 -0.03851376 0.87375244 0.9859584 ] [ 0. 0. 0. 1. ]] SLAMing on 157.94650248099998 meters Centerline goodness : 0.704232 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85988453 -0.16371511 -0.48352452 4.47422316] [ 0.16080779 0.98582696 -0.04781275 -0.35869404] [ 0.48449917 -0.03664106 0.87402402 0.98551488] [ 0. 0. 0. 1. ]] SLAMing on 157.97650248099998 meters Centerline goodness : 0.703086 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85972477 -0.16377086 -0.48378964 4.47473998] [ 0.16122543 0.98578837 -0.04719802 -0.35969757] [ 0.48464386 -0.03742189 0.87391071 0.98587486] [ 0. 0. 0. 1. ]] SLAMing on 158.00650248099998 meters Centerline goodness : 0.702036 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85963949 -0.1638279 -0.48392187 4.47481177] [ 0.16156158 0.98575603 -0.04672165 -0.36059813] [ 0.48468321 -0.03801941 0.8738631 0.98621055] [ 0. 0. 0. 1. ]] SLAMing on 158.03650248099999 meters Centerline goodness : 0.701066 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85916954 -0.1680278 -0.483316 4.47465847] [ 0.16467388 0.9850931 -0.04974023 -0.36103217] [ 0.484469 -0.03685423 0.87403178 0.98620333] [ 0. 0. 0. 1. ]] SLAMing on 158.066502481 meters Centerline goodness : 0.702708 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85898228 -0.16830684 -0.48355171 4.47509779] [ 0.16528043 0.98501645 -0.04924406 -0.36219171] [ 0.4845945 -0.03762186 0.8739295 0.98661545] [ 0. 0. 0. 1. ]] SLAMing on 158.096502481 meters Centerline goodness : 0.702956 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85860353 -0.16892692 -0.48400793 4.4755357 ] [ 0.1665818 0.9848478 -0.0482215 -0.36368094] [ 0.48482005 -0.03922376 0.87373395 0.9876117 ] [ 0. 0. 0. 1. ]] SLAMing on 158.126502481 meters Centerline goodness : 0.704328 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8584753 -0.1692525 -0.48412163 4.47533593] [ 0.1672368 0.98476099 -0.04772479 -0.36463876] [ 0.48482163 -0.0399924 0.87369823 0.98815687] [ 0. 0. 0. 1. ]] SLAMing on 158.156502481 meters Centerline goodness : 0.705560 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85775484 -0.17426446 -0.48362024 4.47469188] [ 0.17123354 0.98391805 -0.05083647 -0.36545836] [ 0.48470168 -0.03920678 0.87380039 0.98889408] [ 0. 0. 0. 1. ]] SLAMing on 158.186502481 meters Centerline goodness : 0.703888 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85748086 -0.17484517 -0.48389642 4.47556153] [ 0.17209737 0.98378434 -0.05050614 -0.36656207] [ 0.48488047 -0.03996925 0.87366663 0.98922897] [ 0. 0. 0. 1. ]] SLAMing on 158.216502481 meters Centerline goodness : 0.703347 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85689375 -0.17583486 -0.48457734 4.47706846] [ 0.17346747 0.98356193 -0.05014944 -0.36734094] [ 0.48542984 -0.04108566 0.8733097 0.99008538] [ 0. 0. 0. 1. ]] SLAMing on 158.246502481 meters Centerline goodness : 0.705723 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85652214 -0.17649317 -0.48499483 4.47744048] [ 0.17425226 0.98342378 -0.05013798 -0.3670755 ] [ 0.48580446 -0.04156716 0.87307857 0.99088005] [ 0. 0. 0. 1. ]] SLAMing on 158.276502481 meters Centerline goodness : 0.703894 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85634389 -0.17673278 -0.48522229 4.47691888] [ 0.17488018 0.9833433 -0.04952662 -0.36759595] [ 0.48589306 -0.04244394 0.87298708 0.99171019] [ 0. 0. 0. 1. ]] SLAMing on 158.306502481 meters Centerline goodness : 0.704757 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85623428 -0.17687075 -0.48536542 4.47672456] [ 0.1751929 0.98330083 -0.0492639 -0.3681605 ] [ 0.48597356 -0.04285114 0.87292238 0.99219962] [ 0. 0. 0. 1. ]] SLAMing on 158.336502481 meters Centerline goodness : 0.702340 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85611809 -0.17726306 -0.48542726 4.47622826] [ 0.17561427 0.98322272 -0.04932257 -0.36822103] [ 0.48602618 -0.043022 0.87288468 0.99270693] [ 0. 0. 0. 1. ]] SLAMing on 158.366502481 meters Centerline goodness : 0.704904 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85605688 -0.17738349 -0.48549121 4.47617369] [ 0.1757844 0.98319485 -0.04927194 -0.36816631] [ 0.48607249 -0.04316219 0.87285197 0.9929117 ] [ 0. 0. 0. 1. ]] SLAMing on 158.396502481 meters Centerline goodness : 0.704433 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8560791 -0.17735831 -0.48546123 4.47614117] [ 0.17571312 0.98320393 -0.04934495 -0.36703829] [ 0.48605913 -0.04305873 0.87286452 0.99278398] [ 0. 0. 0. 1. ]] SLAMing on 158.426502481 meters Centerline goodness : 0.705139 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85598975 -0.17749053 -0.48557045 4.47651013] [ 0.17576914 0.98318471 -0.04952813 -0.36638748] [ 0.48619622 -0.04295272 0.87279339 0.99280267] [ 0. 0. 0. 1. ]] SLAMing on 158.456502481 meters Centerline goodness : 0.703278 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85595888 -0.17755499 -0.48560129 4.47650703] [ 0.17579439 0.98317562 -0.04961882 -0.36605423] [ 0.48624142 -0.04289432 0.87277108 0.99285511] [ 0. 0. 0. 1. ]] SLAMing on 158.486502481 meters Centerline goodness : 0.704446 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85612226 -0.17764915 -0.48527873 4.47612068] [ 0.17561687 0.98318298 -0.05009927 -0.36558173] [ 0.48601789 -0.04233203 0.87292303 0.99244226] [ 0. 0. 0. 1. ]] SLAMing on 158.51650248099997 meters Centerline goodness : 0.705725 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85622498 -0.17778955 -0.48504604 4.47559823] [ 0.17567221 0.98316457 -0.05026628 -0.36552458] [ 0.4858169 -0.04216987 0.87304275 0.9923175 ] [ 0. 0. 0. 1. ]] SLAMing on 158.54650248099998 meters Centerline goodness : 0.698677 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85624814 -0.17765489 -0.48505449 4.47528351] [ 0.17549891 0.98319376 -0.05030066 -0.36507858] [ 0.4858387 -0.04205669 0.87303607 0.99241222] [ 0. 0. 0. 1. ]] SLAMing on 158.57650248099998 meters Centerline goodness : 0.699911 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85631192 -0.177683 -0.48493159 4.47543131] [ 0.1754128 0.98319885 -0.05050126 -0.36449848] [ 0.4857574 -0.04181838 0.87309276 0.99206169] [ 0. 0. 0. 1. ]] SLAMing on 158.60650248099998 meters Centerline goodness : 0.699018 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85632713 -0.17719062 -0.48508487 4.47577721] [ 0.17485387 0.98329822 -0.05050479 -0.36347344] [ 0.48593206 -0.04157035 0.87300741 0.99193664] [ 0. 0. 0. 1. ]] SLAMing on 158.63650248099998 meters Centerline goodness : 0.695859 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8562394 -0.17739345 -0.48516559 4.47612432] [ 0.17492049 0.98327057 -0.0508114 -0.36269348] [ 0.48606266 -0.04135868 0.87294476 0.99186781] [ 0. 0. 0. 1. ]] SLAMing on 158.66650248099998 meters Centerline goodness : 0.694256 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85634766 -0.17751148 -0.48493129 4.47546791] [ 0.17500148 0.98325228 -0.0508865 -0.36299139] [ 0.48584273 -0.04128716 0.87307057 0.99184562] [ 0. 0. 0. 1. ]] SLAMing on 158.69650248099998 meters Centerline goodness : 0.693099 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85642615 -0.17740792 -0.48483057 4.47500447] [ 0.17500019 0.98326393 -0.05066526 -0.36363766] [ 0.48570483 -0.04145439 0.87313937 0.99196726] [ 0. 0. 0. 1. ]] SLAMing on 158.72650248099998 meters Centerline goodness : 0.691586 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85624376 -0.17759695 -0.48508345 4.47439628] [ 0.17530856 0.98321617 -0.05052601 -0.36386551] [ 0.48591516 -0.0417767 0.87300697 0.99289799] [ 0. 0. 0. 1. ]] SLAMing on 158.75650248099998 meters Centerline goodness : 0.691964 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85615779 -0.17762221 -0.48522591 4.47425384] [ 0.17535865 0.98320846 -0.05050223 -0.36366064] [ 0.48604853 -0.04185069 0.87292917 0.9932433 ] [ 0. 0. 0. 1. ]] SLAMing on 158.78650248099999 meters Centerline goodness : 0.690884 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85612849 -0.17782179 -0.48520452 4.4737435 ] [ 0.17539715 0.98318405 -0.05084257 -0.36314224] [ 0.48608626 -0.04157572 0.8729213 0.99344151] [ 0. 0. 0. 1. ]] SLAMing on 158.816502481 meters Centerline goodness : 0.689103 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85628748 -0.1777232 -0.48496002 4.47341786] [ 0.17519918 0.9832127 -0.0509709 -0.36331513] [ 0.48587756 -0.04131885 0.87304968 0.99313271] [ 0. 0. 0. 1. ]] SLAMing on 158.846502481 meters Centerline goodness : 0.689864 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85656211 -0.1776471 -0.48450269 4.47276157] [ 0.17483426 0.98325398 -0.05142554 -0.36318728] [ 0.4855248 -0.0406585 0.8732769 0.99262933] [ 0. 0. 0. 1. ]] SLAMing on 158.876502481 meters Centerline goodness : 0.688837 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85679928 -0.17733314 -0.48419827 4.4719507 ] [ 0.17451056 0.98331646 -0.05133036 -0.3634847 ] [ 0.4852227 -0.04051789 0.87345133 0.99243823] [ 0. 0. 0. 1. ]] SLAMing on 158.906502481 meters Centerline goodness : 0.690311 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85722974 -0.17615074 -0.48386784 4.47024505] [ 0.17341547 0.9835363 -0.05082741 -0.36348422] [ 0.48485487 -0.0403394 0.87366383 0.99248338] [ 0. 0. 0. 1. ]] SLAMing on 158.936502481 meters Centerline goodness : 0.688995 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.8573796 -0.17603485 -0.48364444 4.46942284] [ 0.17318144 0.9835692 -0.05098835 -0.36309769] [ 0.48467351 -0.04004187 0.87377814 0.99242861] [ 0. 0. 0. 1. ]] SLAMing on 158.966502481 meters Centerline goodness : 0.690332 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85771465 -0.1758787 -0.48310688 4.46904759] [ 0.17272304 0.9836262 -0.05144164 -0.36330778] [ 0.48424408 -0.03932144 0.87404891 0.99160613] [ 0. 0. 0. 1. ]] SLAMing on 158.996502481 meters Centerline goodness : 0.688782 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85784038 -0.17604989 -0.48282121 4.46923135] [ 0.17272015 0.98360923 -0.05177481 -0.36350236] [ 0.48402235 -0.03897843 0.87418708 0.99102713] [ 0. 0. 0. 1. ]] SLAMing on 159.026502481 meters Centerline goodness : 0.693047 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85820323 -0.17582247 -0.48225892 4.46880432] [ 0.17238271 0.98366384 -0.05186178 -0.3645727 ] [ 0.48349913 -0.03862515 0.87449225 0.99028083] [ 0. 0. 0. 1. ]] SLAMing on 159.056502481 meters Centerline goodness : 0.694009 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.8584279 -0.17579695 -0.48186821 4.4684989 ] [ 0.17235922 0.98367039 -0.05181559 -0.36507465] [ 0.48310851 -0.03857448 0.87471034 0.98982863] [ 0. 0. 0. 1. ]] SLAMing on 159.086502481 meters Centerline goodness : 0.692035 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85877952 -0.17562438 -0.48130429 4.46796213] [ 0.17218478 0.98370587 -0.0517219 -0.36552474] [ 0.48254548 -0.03845556 0.8750263 0.98910159] [ 0. 0. 0. 1. ]] SLAMing on 159.116502481 meters Centerline goodness : 0.694095 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85892095 -0.17552092 -0.4810896 4.46829437] [ 0.17204458 0.98372936 -0.0517417 -0.36589656] [ 0.48234372 -0.03832683 0.87514318 0.98856029] [ 0. 0. 0. 1. ]] SLAMing on 159.146502481 meters Centerline goodness : 0.692694 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.859015 -0.17579964 -0.48081983 4.46912328] [ 0.17225543 0.9836834 -0.05191382 -0.3663064 ] [ 0.48210091 -0.03822908 0.87528124 0.98778789] [ 0. 0. 0. 1. ]] SLAMing on 159.176502481 meters Centerline goodness : 0.694628 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85892049 -0.17611025 -0.48087501 4.46953837] [ 0.17262838 0.9836194 -0.05188752 -0.36656166] [ 0.48213592 -0.03844542 0.87525248 0.98782246] [ 0. 0. 0. 1. ]] SLAMing on 159.206502481 meters Centerline goodness : 0.692564 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85877616 -0.17664124 -0.48093801 4.47020458] [ 0.17340061 0.98349893 -0.05159534 -0.36788504] [ 0.48211589 -0.0390861 0.87523514 0.98791836] [ 0. 0. 0. 1. ]] SLAMing on 159.236502481 meters Centerline goodness : 0.694871 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85858241 -0.1773171 -0.48103523 4.47094459] [ 0.1741474 0.9833639 -0.05165389 -0.36845258] [ 0.48219179 -0.03942192 0.87517826 0.9879681 ] [ 0. 0. 0. 1. ]] SLAMing on 159.26650248099997 meters Centerline goodness : 0.695199 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85778828 -0.18283567 -0.48038566 4.47159605] [ 0.17812216 0.98242201 -0.0558524 -0.36715697] [ 0.48215326 -0.0376578 0.87527717 0.9877353 ] [ 0. 0. 0. 1. ]] SLAMing on 159.29650248099998 meters Centerline goodness : 0.695143 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85749171 -0.18340915 -0.48069643 4.47199683] [ 0.17889265 0.98229212 -0.05567423 -0.36750141] [ 0.48239548 -0.03825287 0.87511789 0.98833646] [ 0. 0. 0. 1. ]] SLAMing on 159.32650248099998 meters Centerline goodness : 0.696098 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85742633 -0.1840935 -0.48055143 4.47094604] [ 0.1798619 0.98213486 -0.05532459 -0.36816715] [ 0.48215121 -0.03899614 0.87521969 0.98896361] [ 0. 0. 0. 1. ]] SLAMing on 159.35650248099998 meters Centerline goodness : 0.696098 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85742633 -0.1840935 -0.48055143 4.47094604] [ 0.1798619 0.98213486 -0.05532459 -0.36816715] [ 0.48215121 -0.03899614 0.87521969 0.98896361] [ 0. 0. 0. 1. ]] SLAMing on 159.38650248099998 meters Centerline goodness : 0.700408 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85733493 -0.18468616 -0.48048709 4.47020137] [ 0.18053543 0.98201107 -0.05532828 -0.36839233] [ 0.48206201 -0.03931008 0.87525479 0.98944956] [ 0. 0. 0. 1. ]] SLAMing on 159.41650248099998 meters Centerline goodness : 0.698412 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85706597 -0.18541319 -0.48068687 4.46973279] [ 0.18141428 0.98185274 -0.05526351 -0.36849271] [ 0.48221031 -0.03983899 0.87514917 0.99031651] [ 0. 0. 0. 1. ]] SLAMing on 159.44650248099998 meters Centerline goodness : 0.699264 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85679493 -0.18584839 -0.48100189 4.4701275 ] [ 0.18195098 0.98175563 -0.05522437 -0.36846417] [ 0.48248967 -0.04020281 0.87497854 0.99086984] [ 0. 0. 0. 1. ]] SLAMing on 159.47650248099998 meters Centerline goodness : 0.698520 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85639367 -0.18691556 -0.48130287 4.47022627] [ 0.18319333 0.98152491 -0.05521818 -0.36856927] [ 0.4827319 -0.04088298 0.87481341 0.99173372] [ 0. 0. 0. 1. ]] SLAMing on 159.50650248099998 meters Centerline goodness : 0.701019 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85633983 -0.18721245 -0.48128327 4.47018352] [ 0.18361754 0.9814543 -0.05506416 -0.369298 ] [ 0.48266624 -0.04121842 0.8748339 0.99192085] [ 0. 0. 0. 1. ]] SLAMing on 159.53650248099999 meters Centerline goodness : 0.701586 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85597945 -0.18805132 -0.48159722 4.47056682] [ 0.18474195 0.98125805 -0.05480006 -0.37010095] [ 0.48287637 -0.04206349 0.8746777 0.99267227] [ 0. 0. 0. 1. ]] SLAMing on 159.566502481 meters Centerline goodness : 0.701062 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85558951 -0.18877071 -0.48200852 4.47151104] [ 0.18550859 0.98110521 -0.05494658 -0.36977634] [ 0.48327337 -0.04240501 0.87444191 0.99316614] [ 0. 0. 0. 1. ]] SLAMing on 159.596502481 meters Centerline goodness : 0.702532 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85522361 -0.18956597 -0.48234565 4.47310536] [ 0.18659038 0.98091529 -0.05467378 -0.37015333] [ 0.48350451 -0.04324275 0.8742731 0.99327171] [ 0. 0. 0. 1. ]] SLAMing on 159.626502481 meters Centerline goodness : 0.703254 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85505155 -0.19014603 -0.48242237 4.4743797 ] [ 0.18733844 0.98078059 -0.05453211 -0.37092112] [ 0.48351956 -0.04374849 0.87423962 0.993029 ] [ 0. 0. 0. 1. ]] SLAMing on 159.656502481 meters Centerline goodness : 0.703105 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8548587 -0.19067078 -0.48255699 4.47522127] [ 0.18787716 0.98067039 -0.05466041 -0.37100206] [ 0.4836515 -0.04393451 0.8741573 0.99303838] [ 0. 0. 0. 1. ]] SLAMing on 159.686502481 meters Centerline goodness : 0.702980 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85460666 -0.19142232 -0.48270587 4.47632826] [ 0.18859751 0.98051692 -0.05493227 -0.37088807] [ 0.48381654 -0.04409164 0.87405806 0.99293744] [ 0. 0. 0. 1. ]] SLAMing on 159.716502481 meters Centerline goodness : 0.704624 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85468903 -0.19167118 -0.48246121 4.47632339] [ 0.18887377 0.98046424 -0.05492339 -0.37114563] [ 0.4835632 -0.04418185 0.87419369 0.99260346] [ 0. 0. 0. 1. ]] SLAMing on 159.746502481 meters Centerline goodness : 0.705936 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85468731 -0.19194842 -0.48235403 4.47623083] [ 0.18915555 0.98040687 -0.05497768 -0.37144121] [ 0.48345608 -0.04425122 0.87424942 0.99256163] [ 0. 0. 0. 1. ]] SLAMing on 159.776502481 meters Centerline goodness : 0.704084 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85471065 -0.19248233 -0.48209984 4.47630289] [ 0.18961469 0.98030409 -0.05522824 -0.37175644] [ 0.48323491 -0.04420905 0.87437383 0.99226506] [ 0. 0. 0. 1. ]] SLAMing on 159.806502481 meters Centerline goodness : 0.705754 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85475957 -0.19277752 -0.48189513 4.4767094 ] [ 0.18978385 0.98025525 -0.05551335 -0.37157936] [ 0.48308196 -0.04400535 0.87446861 0.99176697] [ 0. 0. 0. 1. ]] SLAMing on 159.836502481 meters Centerline goodness : 0.705675 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8546192 -0.19303166 -0.48204233 4.47723881] [ 0.18984916 0.98021847 -0.05593797 -0.37045118] [ 0.48330459 -0.04370967 0.87436042 0.99170052] [ 0. 0. 0. 1. ]] SLAMing on 159.866502481 meters Centerline goodness : 0.705085 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85458663 -0.1931348 -0.48205876 4.47728388] [ 0.189725 0.98021728 -0.05637824 -0.36938762] [ 0.48341092 -0.0432785 0.87432308 0.99161436] [ 0. 0. 0. 1. ]] SLAMing on 159.896502481 meters Centerline goodness : 0.704988 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8548623 -0.19321548 -0.48153735 4.47707708] [ 0.18917351 0.98025925 -0.05749078 -0.36792803] [ 0.48313955 -0.04194741 0.87453793 0.99064261] [ 0. 0. 0. 1. ]] SLAMing on 159.926502481 meters Centerline goodness : 0.702986 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85502078 -0.1928971 -0.48138361 4.47654723] [ 0.18877467 0.98033344 -0.05753667 -0.36767688] [ 0.48301511 -0.04167798 0.87461955 0.99049768] [ 0. 0. 0. 1. ]] SLAMing on 159.956502481 meters Centerline goodness : 0.706240 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85601658 -0.19181096 -0.480046 4.47387065] [ 0.18684124 0.98063743 -0.05865647 -0.36604358] [ 0.48200203 -0.03948148 0.8752801 0.9890295 ] [ 0. 0. 0. 1. ]] SLAMing on 159.986502481 meters Centerline goodness : 0.707146 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85656972 -0.19129116 -0.47926611 4.47231628] [ 0.18583949 0.98078767 -0.05932307 -0.36487871] [ 0.48140627 -0.03825222 0.87566248 0.98815663] [ 0. 0. 0. 1. ]] SLAMing on 160.01650248099997 meters Centerline goodness : 0.707049 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85802678 -0.18586271 -0.47879546 4.47035988] [ 0.18131591 0.98181763 -0.05620222 -0.364782 ] [ 0.48053572 -0.03859022 0.87612569 0.98687209] [ 0. 0. 0. 1. ]] SLAMing on 160.04650248099998 meters Centerline goodness : 0.706602 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85842715 -0.18537383 -0.47826704 4.4691582 ] [ 0.18041379 0.98195058 -0.05677967 -0.36367288] [ 0.48016006 -0.03754476 0.87637703 0.98630611] [ 0. 0. 0. 1. ]] SLAMing on 160.07650248099998 meters Centerline goodness : 0.706655 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85904652 -0.18455583 -0.47747065 4.46799238] [ 0.17898991 0.98216323 -0.05760206 -0.36263596] [ 0.47958492 -0.03597958 0.87675754 0.98510803] [ 0. 0. 0. 1. ]] SLAMing on 160.10650248099998 meters Centerline goodness : 0.705287 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85932804 -0.18442846 -0.47701307 4.46807084] [ 0.17864282 0.98220704 -0.05793165 -0.36267431] [ 0.47920984 -0.03543267 0.87698487 0.98417265] [ 0. 0. 0. 1. ]] SLAMing on 160.13650248099998 meters Centerline goodness : 0.705809 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85947182 -0.18418352 -0.47684863 4.46910417] [ 0.17811009 0.98227721 -0.05838051 -0.36247111] [ 0.47915027 -0.03475515 0.87704452 0.98318888] [ 0. 0. 0. 1. ]] SLAMing on 160.16650248099998 meters Centerline goodness : 0.705848 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85964721 -0.18416262 -0.47654046 4.46914956] [ 0.17806182 0.98228482 -0.05839967 -0.36253669] [ 0.47885349 -0.03465055 0.87721073 0.98261081] [ 0. 0. 0. 1. ]] SLAMing on 160.19650248099998 meters Centerline goodness : 0.706102 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85967687 -0.18426106 -0.47644888 4.46924905] [ 0.17823515 0.98226046 -0.05828057 -0.36313501] [ 0.47873573 -0.03481748 0.8772684 0.98247013] [ 0. 0. 0. 1. ]] SLAMing on 160.22650248099998 meters Centerline goodness : 0.705537 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.8596618 -0.18446909 -0.47639557 4.46977246] [ 0.17853994 0.98221265 -0.05815317 -0.36378059] [ 0.47864922 -0.03506358 0.8773058 0.98223253] [ 0. 0. 0. 1. ]] SLAMing on 160.25650248099998 meters Centerline goodness : 0.706089 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85926071 -0.1893533 -0.47520138 4.46924995] [ 0.18178159 0.98136061 -0.0623443 -0.36322217] [ 0.47814901 -0.03281286 0.87766556 0.98149075] [ 0. 0. 0. 1. ]] SLAMing on 160.28650248099999 meters Centerline goodness : 0.707112 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85914336 -0.18964755 -0.47529622 4.46947522] [ 0.18243724 0.98127556 -0.06176519 -0.36453355] [ 0.47811018 -0.03364658 0.87765515 0.98175601] [ 0. 0. 0. 1. ]] SLAMing on 160.316502481 meters Centerline goodness : 0.708206 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85818429 -0.19430496 -0.47514767 4.47059028] [ 0.18606283 0.98039454 -0.06486263 -0.3646438 ] [ 0.47843531 -0.03274323 0.87751213 0.9822117 ] [ 0. 0. 0. 1. ]] SLAMing on 160.346502481 meters Centerline goodness : 0.707857 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85775626 -0.19503197 -0.47562247 4.47183638] [ 0.18708379 0.98022078 -0.0645514 -0.36531866] [ 0.47880461 -0.03361188 0.87727783 0.98277134] [ 0. 0. 0. 1. ]] SLAMing on 160.376502481 meters Centerline goodness : 0.708539 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85739558 -0.19604584 -0.4758559 4.47145094] [ 0.18868169 0.97996588 -0.06376592 -0.36756472] [ 0.47882359 -0.03511267 0.87720868 0.98393342] [ 0. 0. 0. 1. ]] SLAMing on 160.406502481 meters Centerline goodness : 0.709801 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85756273 -0.19627558 -0.47545984 4.46984369] [ 0.18946971 0.97987822 -0.06276872 -0.37036501] [ 0.47821271 -0.03625712 0.87749531 0.98442483] [ 0. 0. 0. 1. ]] SLAMing on 160.436502481 meters Centerline goodness : 0.708606 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85745062 -0.19649579 -0.47557106 4.47005181] [ 0.18982595 0.97982092 -0.06258647 -0.37080549] [ 0.47827245 -0.03661091 0.87744806 0.98464938] [ 0. 0. 0. 1. ]] SLAMing on 160.466502481 meters Centerline goodness : 0.709071 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85751541 -0.19652924 -0.4754404 4.47028431] [ 0.18982986 0.97981687 -0.06263799 -0.37084909] [ 0.47815473 -0.03653975 0.87751519 0.98431381] [ 0. 0. 0. 1. ]] SLAMing on 160.496502481 meters Centerline goodness : 0.709549 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85778952 -0.19614045 -0.47510636 4.46997139] [ 0.1894888 0.97989683 -0.06241948 -0.3711673 ] [ 0.47779821 -0.03648456 0.87771166 0.98380422] [ 0. 0. 0. 1. ]] SLAMing on 160.526502481 meters Centerline goodness : 0.710028 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85793501 -0.19597965 -0.47490999 4.46975409] [ 0.18930143 0.9799337 -0.06240917 -0.37139492] [ 0.47761123 -0.03635813 0.87781866 0.98351295] [ 0. 0. 0. 1. ]] SLAMing on 160.556502481 meters Centerline goodness : 0.708555 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85839861 -0.19539306 -0.47431359 4.46984368] [ 0.18845749 0.9800792 -0.06267801 -0.37151609] [ 0.47711173 -0.03558523 0.87812191 0.98219968] [ 0. 0. 0. 1. ]] SLAMing on 160.586502481 meters Centerline goodness : 0.711476 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85857331 -0.19485525 -0.47421863 4.4699001 ] [ 0.18795546 0.98018928 -0.06246378 -0.37200298] [ 0.47699541 -0.03550224 0.87818846 0.98188127] [ 0. 0. 0. 1. ]] SLAMing on 160.616502481 meters Centerline goodness : 0.710171 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85904517 -0.19397924 -0.47372297 4.46909577] [ 0.18705835 0.98037559 -0.06223246 -0.37350017] [ 0.47649824 -0.03515334 0.87847235 0.98127089] [ 0. 0. 0. 1. ]] SLAMing on 160.646502481 meters Centerline goodness : 0.709858 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85930698 -0.1931209 -0.4735988 4.46866774] [ 0.18657451 0.98052604 -0.06130779 -0.37548835] [ 0.47621577 -0.03567926 0.87860431 0.98125214] [ 0. 0. 0. 1. ]] SLAMing on 160.676502481 meters Centerline goodness : 0.707178 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85909904 -0.19298968 -0.47402934 4.46935217] [ 0.18675905 0.98052696 -0.06072844 -0.37656358] [ 0.47651851 -0.03635752 0.87841234 0.98179682] [ 0. 0. 0. 1. ]] SLAMing on 160.706502481 meters Centerline goodness : 0.709981 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85903225 -0.19265761 -0.4742854 4.47006904] [ 0.18680102 0.98056534 -0.05997501 -0.37801131] [ 0.47662247 -0.03707653 0.87832588 0.98196423] [ 0. 0. 0. 1. ]] SLAMing on 160.736502481 meters Centerline goodness : 0.709116 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85862728 -0.19649897 -0.47344202 4.47075297] [ 0.18961333 0.97984845 -0.06279974 -0.38007205] [ 0.47624151 -0.03584935 0.87858343 0.98126733] [ 0. 0. 0. 1. ]] SLAMing on 160.76650248099997 meters Centerline goodness : 0.709131 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85861801 -0.19614283 -0.47360648 4.47183015] [ 0.18977845 0.97988259 -0.06175962 -0.3824525 ] [ 0.47619245 -0.03685238 0.87856853 0.98118568] [ 0. 0. 0. 1. ]] SLAMing on 160.79650248099998 meters Centerline goodness : 0.710802 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85805115 -0.20036738 -0.47286482 4.47213752] [ 0.19300534 0.9790664 -0.06463689 -0.38376562] [ 0.47591718 -0.03580368 0.87876102 0.98102733] [ 0. 0. 0. 1. ]] SLAMing on 160.82650248099998 meters Centerline goodness : 0.711710 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.39, Z:0.98 [[ 0.85803518 -0.19996861 -0.47306255 4.47232496] [ 0.19329214 0.97909818 -0.06328432 -0.38614277] [ 0.47582956 -0.0371391 0.87875304 0.98144505] [ 0. 0. 0. 1. ]] SLAMing on 160.85650248099998 meters Centerline goodness : 0.712596 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.39, Z:0.98 [[ 0.85731631 -0.20423 -0.47254508 4.47133125] [ 0.19704433 0.97821819 -0.06528941 -0.38907387] [ 0.47558624 -0.03713865 0.87888477 0.98256975] [ 0. 0. 0. 1. ]] SLAMing on 160.88650248099998 meters Centerline goodness : 0.713458 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.39, Z:0.98 [[ 0.85697981 -0.20399725 -0.47325545 4.47262169] [ 0.19770465 0.97819339 -0.063644 -0.39187005] [ 0.47591855 -0.03902318 0.8786232 0.98350737] [ 0. 0. 0. 1. ]] SLAMing on 160.91650248099998 meters Centerline goodness : 0.713204 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.39, Z:0.98 [[ 0.85587308 -0.20868395 -0.47321483 4.47361099] [ 0.20195835 0.97719038 -0.06566412 -0.39437381] [ 0.47612403 -0.03936953 0.87849641 0.9846364 ] [ 0. 0. 0. 1. ]] SLAMing on 160.94650248099998 meters Centerline goodness : 0.712547 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.40, Z:0.99 [[ 0.85503068 -0.21305237 -0.4727909 4.47337287] [ 0.20601651 0.97622877 -0.06733931 -0.39769761] [ 0.47589888 -0.03982556 0.87859785 0.98571576] [ 0. 0. 0. 1. ]] SLAMing on 160.97650248099998 meters Centerline goodness : 0.712610 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.40, Z:0.99 [[ 0.85471553 -0.21348201 -0.47316677 4.47391382] [ 0.20697276 0.97608292 -0.06651631 -0.39957286] [ 0.47605004 -0.04108011 0.87845819 0.98653569] [ 0. 0. 0. 1. ]] SLAMing on 161.00650248099998 meters Centerline goodness : 0.712066 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.40, Z:0.99 [[ 0.85440986 -0.21365229 -0.47364174 4.47486029] [ 0.20767444 0.97599399 -0.06562822 -0.40128892] [ 0.47629311 -0.04228988 0.878269 0.98725232] [ 0. 0. 0. 1. ]] SLAMing on 161.03650248099999 meters Centerline goodness : 0.714015 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.99 [[ 0.85376374 -0.21468367 -0.47433996 4.47639737] [ 0.20939453 0.97568824 -0.06470227 -0.40354403] [ 0.47669844 -0.04408374 0.87796083 0.98838871] [ 0. 0. 0. 1. ]] SLAMing on 161.066502481 meters Centerline goodness : 0.713783 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.99 [[ 0.85362457 -0.21481066 -0.47453291 4.47710242] [ 0.20985415 0.97562638 -0.06414369 -0.40486014] [ 0.47674557 -0.04482807 0.87789755 0.98860882] [ 0. 0. 0. 1. ]] SLAMing on 161.096502481 meters Centerline goodness : 0.712478 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85328512 -0.21520477 -0.47496464 4.4777012 ] [ 0.21094036 0.97546531 -0.06302054 -0.40722764] [ 0.47687385 -0.04641472 0.87774541 0.98957363] [ 0. 0. 0. 1. ]] SLAMing on 161.126502481 meters Centerline goodness : 0.712083 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.8532954 -0.21498455 -0.47504589 4.47738001] [ 0.21114502 0.97547437 -0.06218946 -0.40872478] [ 0.47676486 -0.0472376 0.87776072 0.99008602] [ 0. 0. 0. 1. ]] SLAMing on 161.156502481 meters Centerline goodness : 0.717182 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85336606 -0.21517954 -0.47483064 4.47567633] [ 0.21207786 0.97535606 -0.06085669 -0.41176615] [ 0.47622406 -0.04876803 0.87797057 0.99113603] [ 0. 0. 0. 1. ]] SLAMing on 161.186502481 meters Centerline goodness : 0.715728 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85318846 -0.21536303 -0.47506653 4.47602666] [ 0.21262372 0.97527396 -0.06026493 -0.41318145] [ 0.47629885 -0.04959307 0.87788378 0.99171161] [ 0. 0. 0. 1. ]] SLAMing on 161.216502481 meters Centerline goodness : 0.715737 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85274902 -0.21600592 -0.47556341 4.47807069] [ 0.21376131 0.97506716 -0.05958306 -0.41473209] [ 0.47657656 -0.05084766 0.87766127 0.99203098] [ 0. 0. 0. 1. ]] SLAMing on 161.246502481 meters Centerline goodness : 0.715901 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85260449 -0.21623814 -0.47571698 4.4792854 ] [ 0.21413282 0.9749964 -0.05940676 -0.41506604] [ 0.47666835 -0.05121614 0.87758999 0.99186925] [ 0. 0. 0. 1. ]] SLAMing on 161.276502481 meters Centerline goodness : 0.715901 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85260449 -0.21623814 -0.47571698 4.4792854 ] [ 0.21413282 0.9749964 -0.05940676 -0.41506604] [ 0.47666835 -0.05121614 0.87758999 0.99186925] [ 0. 0. 0. 1. ]] SLAMing on 161.306502481 meters Centerline goodness : 0.148053 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85253836 -0.21653135 -0.47570213 4.4802506 ] [ 0.21445059 0.9749247 -0.05943719 -0.41546691] [ 0.47664377 -0.05134212 0.87759598 0.99151694] [ 0. 0. 0. 1. ]] SLAMing on 161.336502481 meters Centerline goodness : 0.394832 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85259233 -0.21651213 -0.47561415 4.48064842] [ 0.21440511 0.97493272 -0.05946967 -0.41546724] [ 0.4765677 -0.05127072 0.87764146 0.99118662] [ 0. 0. 0. 1. ]] SLAMing on 161.366502481 meters Centerline goodness : 0.460934 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85284248 -0.21630585 -0.47525938 4.48058608] [ 0.21396173 0.97500939 -0.05980858 -0.41461533] [ 0.47631931 -0.05068002 0.8778106 0.99039026] [ 0. 0. 0. 1. ]] SLAMing on 161.396502481 meters Centerline goodness : 0.622329 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85327765 -0.21549904 -0.47484462 4.48016847] [ 0.21298456 0.97522018 -0.05985968 -0.4138648 ] [ 0.47597776 -0.05005765 0.87803155 0.98953353] [ 0. 0. 0. 1. ]] SLAMing on 161.426502481 meters Centerline goodness : 0.458373 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85353372 -0.21516051 -0.47453782 4.47944393] [ 0.2125703 0.97530971 -0.05987346 -0.41351573] [ 0.47570375 -0.04976864 0.87819646 0.98918726] [ 0. 0. 0. 1. ]] SLAMing on 161.456502481 meters Centerline goodness : 0.275186 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.8538039 -0.21499319 -0.47412744 4.47850686] [ 0.2121883 0.97537421 -0.06017711 -0.41256764] [ 0.47538935 -0.04922485 0.87839734 0.98877553] [ 0. 0. 0. 1. ]] SLAMing on 161.486502481 meters Centerline goodness : 0.493652 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.8546574 -0.21176221 -0.47404376 4.47706636] [ 0.20969743 0.97604757 -0.05794937 -0.41239556] [ 0.47496075 -0.0498789 0.87859227 0.98838751] [ 0. 0. 0. 1. ]] SLAMing on 161.51650248099997 meters Centerline goodness : 0.231370 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.8549804 -0.21170621 -0.47348601 4.47659831] [ 0.20922158 0.97610811 -0.05864543 -0.41138436] [ 0.47458913 -0.0489228 0.87884681 0.98742648] [ 0. 0. 0. 1. ]] SLAMing on 161.54650248099998 meters Centerline goodness : 0.520435 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85547054 -0.21144358 -0.47271744 4.47581277] [ 0.20822061 0.97624866 -0.05985587 -0.40966313] [ 0.4741459 -0.04722458 0.87917888 0.98606594] [ 0. 0. 0. 1. ]] SLAMing on 161.57650248099998 meters Centerline goodness : 0.232810 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85575756 -0.2110306 -0.47238235 4.47528712] [ 0.20751032 0.97637494 -0.06026149 -0.40861415] [ 0.47393931 -0.04645499 0.87933126 0.9854515 ] [ 0. 0. 0. 1. ]] SLAMing on 161.60650248099998 meters Centerline goodness : 0.329296 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85590816 -0.21075427 -0.47223285 4.4747973 ] [ 0.20716251 0.97644609 -0.0603052 -0.40836912] [ 0.4738195 -0.04621323 0.87940856 0.98533333] [ 0. 0. 0. 1. ]] SLAMing on 161.63650248099998 meters Centerline goodness : 0.262194 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85602508 -0.20953126 -0.47256503 4.47431944] [ 0.20616452 0.97670028 -0.059605 -0.40796236] [ 0.47404351 -0.04640276 0.87927785 0.98573413] [ 0. 0. 0. 1. ]] SLAMing on 161.66650248099998 meters Centerline goodness : 0.232893 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85614709 -0.20909941 -0.47253529 4.47437015] [ 0.20581192 0.97679067 -0.05934176 -0.40785217] [ 0.47397639 -0.04644812 0.87931164 0.98552022] [ 0. 0. 0. 1. ]] SLAMing on 161.69650248099998 meters Centerline goodness : 0.568465 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85628758 -0.20892714 -0.47235689 4.47335246] [ 0.20580996 0.97681416 -0.05896066 -0.40910978] [ 0.47372338 -0.04672847 0.87943312 0.98583547] [ 0. 0. 0. 1. ]] SLAMing on 161.72650248099998 meters Centerline goodness : 0.353272 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85627197 -0.20883828 -0.47242447 4.47279467] [ 0.20595087 0.97681105 -0.05851853 -0.41028031] [ 0.47369035 -0.04718845 0.87942635 0.9863778 ] [ 0. 0. 0. 1. ]] SLAMing on 161.75650248099998 meters Centerline goodness : 0.597793 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85621747 -0.2085276 -0.47266043 4.47226135] [ 0.20620996 0.97682236 -0.05740665 -0.41208431] [ 0.47367615 -0.04831471 0.87937284 0.98731475] [ 0. 0. 0. 1. ]] SLAMing on 161.78650248099999 meters Centerline goodness : 0.223505 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85607238 -0.20896993 -0.47272788 4.47266394] [ 0.20670717 0.97671599 -0.05742832 -0.41264454] [ 0.47372168 -0.04855344 0.87933517 0.98746896] [ 0. 0. 0. 1. ]] SLAMing on 161.816502481 meters Centerline goodness : 0.461879 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.42, Z:0.99 [[ 0.85564019 -0.20921006 -0.47340365 4.47400607] [ 0.20763734 0.97658488 -0.05629133 -0.41545192] [ 0.47409556 -0.05013115 0.87904509 0.98843913] [ 0. 0. 0. 1. ]] SLAMing on 161.846502481 meters Centerline goodness : 0.585411 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.42, Z:0.99 [[ 0.85543572 -0.20944358 -0.47366984 4.47445879] [ 0.20820312 0.97649438 -0.05576902 -0.41663885] [ 0.4742164 -0.05091273 0.87893498 0.98897175] [ 0. 0. 0. 1. ]] SLAMing on 161.876502481 meters Centerline goodness : 0.593245 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.8549663 -0.20977361 -0.4743708 4.47526259] [ 0.20929604 0.97633072 -0.05452984 -0.41810622] [ 0.47458171 -0.05266275 0.87863464 0.99028089] [ 0. 0. 0. 1. ]] SLAMing on 161.906502481 meters Centerline goodness : 0.547065 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85464098 -0.21004287 -0.47483764 4.47614857] [ 0.20996492 0.97622092 -0.05392078 -0.41888321] [ 0.47487212 -0.05361634 0.87842004 0.99098769] [ 0. 0. 0. 1. ]] SLAMing on 161.936502481 meters Centerline goodness : 0.527205 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85408109 -0.21092129 -0.47545525 4.47715845] [ 0.21165037 0.97592136 -0.05274107 -0.42148767] [ 0.47513115 -0.05558513 0.87815755 0.99233343] [ 0. 0. 0. 1. ]] SLAMing on 161.966502481 meters Centerline goodness : 0.460916 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.8538181 -0.21163082 -0.47561229 4.47767986] [ 0.21260302 0.97572727 -0.05250003 -0.42302898] [ 0.47517851 -0.05629113 0.87808695 0.99285221] [ 0. 0. 0. 1. ]] SLAMing on 161.996502481 meters Centerline goodness : 0.730932 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.43, Z:0.99 [[ 0.85317809 -0.21326709 -0.47602971 4.47844831] [ 0.21470636 0.97528663 -0.05212654 -0.42502744] [ 0.47538229 -0.05773338 0.87788299 0.99412522] [ 0. 0. 0. 1. ]] SLAMing on 162.026502481 meters Centerline goodness : 0.729897 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.43, Z:0.99 [[ 0.85279586 -0.21384446 -0.47645542 4.47899568] [ 0.21551559 0.97511964 -0.0519107 -0.42526933] [ 0.47570185 -0.05841434 0.87766481 0.99492318] [ 0. 0. 0. 1. ]] SLAMing on 162.056502481 meters Centerline goodness : 0.727622 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.43, Z:1.00 [[ 0.85214343 -0.21475307 -0.47721346 4.48020092] [ 0.21671613 0.97486363 -0.05172052 -0.4250368 ] [ 0.47632519 -0.05934655 0.8772641 0.99600151] [ 0. 0. 0. 1. ]] SLAMing on 162.086502481 meters Centerline goodness : 0.147242 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85189484 -0.21530398 -0.47740903 4.48066951] [ 0.21727574 0.97473066 -0.05187859 -0.42488242] [ 0.47651488 -0.0595343 0.87714835 0.99630847] [ 0. 0. 0. 1. ]] SLAMing on 162.116502481 meters Centerline goodness : 0.725068 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85137507 -0.21607627 -0.47798697 4.48180697] [ 0.21814439 0.97453072 -0.05198943 -0.42468876] [ 0.47704667 -0.06000767 0.87682698 0.99705478] [ 0. 0. 0. 1. ]] SLAMing on 162.146502481 meters Centerline goodness : 0.593160 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85101227 -0.21642696 -0.47847413 4.48213845] [ 0.21846948 0.97444664 -0.05219993 -0.42359064] [ 0.47754498 -0.06010922 0.87654873 0.99777081] [ 0. 0. 0. 1. ]] SLAMing on 162.176502481 meters Centerline goodness : 0.723571 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85093805 -0.21639077 -0.47862247 4.48214111] [ 0.2184267 0.97445495 -0.05222378 -0.42307426] [ 0.47769678 -0.06010473 0.87646632 0.99797982] [ 0. 0. 0. 1. ]] SLAMing on 162.206502481 meters Centerline goodness : 0.146825 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85079676 -0.21619846 -0.47896043 4.48242796] [ 0.21831573 0.97448794 -0.05207211 -0.42262408] [ 0.47799907 -0.06026182 0.87629071 0.99838625] [ 0. 0. 0. 1. ]] SLAMing on 162.236502481 meters Centerline goodness : 0.720137 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.8505422 -0.21589651 -0.4795484 4.48178401] [ 0.21818261 0.97453398 -0.05176738 -0.42178704] [ 0.47851261 -0.06059878 0.87598714 0.99964765] [ 0. 0. 0. 1. ]] SLAMing on 162.26650248099997 meters Centerline goodness : 0.719987 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85044483 -0.21582604 -0.47975276 4.48126469] [ 0.21822932 0.97453432 -0.05156382 -0.42147329] [ 0.47866434 -0.06084394 0.87588724 1.00026635] [ 0. 0. 0. 1. ]] SLAMing on 162.29650248099998 meters Centerline goodness : 0.717352 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85017772 -0.2157786 -0.48024727 4.48189415] [ 0.21844458 0.97450826 -0.05114306 -0.42148859] [ 0.47904051 -0.06142673 0.87564088 1.00093192] [ 0. 0. 0. 1. ]] SLAMing on 162.32650248099998 meters Centerline goodness : 0.716348 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.84994379 -0.21614217 -0.48049779 4.48259382] [ 0.21882075 0.97441803 -0.05125412 -0.42106548] [ 0.47928389 -0.06157976 0.87549694 1.00115925] [ 0. 0. 0. 1. ]] SLAMing on 162.35650248099998 meters Centerline goodness : 0.714381 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.84941133 -0.21582651 -0.48158001 4.48454608] [ 0.21890227 0.97443363 -0.05060539 -0.41987982] [ 0.48018974 -0.06243417 0.87493988 1.00209519] [ 0. 0. 0. 1. ]] SLAMing on 162.38650248099998 meters Centerline goodness : 0.712142 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.84927317 -0.21609775 -0.48170204 4.48461682] [ 0.21906003 0.97438267 -0.05090304 -0.41841311] [ 0.48036215 -0.06229108 0.87485543 1.00227221] [ 0. 0. 0. 1. ]] SLAMing on 162.41650248099998 meters Centerline goodness : 0.710339 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.8491893 -0.21672538 -0.48156791 4.48417687] [ 0.21945017 0.97426434 -0.05148406 -0.41737412] [ 0.48033234 -0.06196045 0.87489527 1.00230867] [ 0. 0. 0. 1. ]] SLAMing on 162.44650248099998 meters Centerline goodness : 0.711678 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.84918305 -0.21743619 -0.4812584 4.48383468] [ 0.21950869 0.97417978 -0.05281754 -0.41467887] [ 0.48031665 -0.06078864 0.87498609 1.00187348] [ 0. 0. 0. 1. ]] SLAMing on 162.47650248099998 meters Centerline goodness : 0.710580 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.8491937 -0.21778536 -0.4810817 4.48340664] [ 0.21955341 0.97413574 -0.05344026 -0.41289555] [ 0.48027739 -0.06024199 0.87504545 1.00163325] [ 0. 0. 0. 1. ]] SLAMing on 162.50650248099998 meters Centerline goodness : 0.706153 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.84938914 -0.21503528 -0.48197295 4.48427187] [ 0.21744201 0.97470472 -0.05166891 -0.40890102] [ 0.48089195 -0.06091416 0.87466131 1.00159453] [ 0. 0. 0. 1. ]] SLAMing on 162.53650248099999 meters Centerline goodness : 0.706544 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.84924924 -0.21557499 -0.48197838 4.48452153] [ 0.21735505 0.97465515 -0.05295396 -0.40561964] [ 0.48117826 -0.05978933 0.87458145 1.0012531 ] [ 0. 0. 0. 1. ]] SLAMing on 162.566502481 meters Centerline goodness : 0.703845 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84983233 -0.21246646 -0.48233081 4.48415929] [ 0.2146529 0.97533529 -0.05143164 -0.40158465] [ 0.48136175 -0.05982544 0.874478 1.00074658] [ 0. 0. 0. 1. ]] SLAMing on 162.596502481 meters Centerline goodness : 0.701815 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84985148 -0.21285996 -0.48212353 4.48311801] [ 0.2144645 0.97531631 -0.052565 -0.39839109] [ 0.48141193 -0.05872594 0.87452491 1.00061064] [ 0. 0. 0. 1. ]] SLAMing on 162.626502481 meters Centerline goodness : 0.701725 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.85049001 -0.21015472 -0.48218435 4.48097682] [ 0.21186418 0.97593291 -0.0516577 -0.3926661 ] [ 0.48143568 -0.05822323 0.87454545 1.00042221] [ 0. 0. 0. 1. ]] SLAMing on 162.656502481 meters Centerline goodness : 0.700803 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.85101858 -0.20648846 -0.48283525 4.48076729] [ 0.20920085 0.976647 -0.04894532 -0.39117621] [ 0.48166625 -0.05935617 0.87434231 1.00052874] [ 0. 0. 0. 1. ]] SLAMing on 162.686502481 meters Centerline goodness : 0.698919 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.85164876 -0.20351674 -0.48298584 4.48031891] [ 0.20630915 0.97730758 -0.04802525 -0.38573019] [ 0.48179967 -0.05874375 0.87431016 0.99959889] [ 0. 0. 0. 1. ]] SLAMing on 162.716502481 meters Centerline goodness : 0.698012 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.8516899 -0.20415549 -0.4826436 4.48043655] [ 0.20609365 0.97726936 -0.04969926 -0.38182541] [ 0.48181918 -0.05714142 0.87440559 0.99862991] [ 0. 0. 0. 1. ]] SLAMing on 162.746502481 meters Centerline goodness : 0.698069 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.85209399 -0.2017556 -0.48293945 4.48095519] [ 0.20374549 0.97779673 -0.04900337 -0.37646618] [ 0.48210332 -0.05664126 0.87428151 0.99769171] [ 0. 0. 0. 1. ]] SLAMing on 162.776502481 meters Centerline goodness : 0.695437 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.8520767 -0.20237405 -0.48271114 4.48084157] [ 0.20364727 0.97774424 -0.05043797 -0.37289458] [ 0.48217538 -0.05532579 0.874326 0.99709055] [ 0. 0. 0. 1. ]] SLAMing on 162.806502481 meters Centerline goodness : 0.694254 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.85272736 -0.19973654 -0.48266071 4.47933625] [ 0.2015035 0.97826985 -0.04883074 -0.36844155] [ 0.4819257 -0.05561852 0.87444508 0.9966663 ] [ 0. 0. 0. 1. ]] SLAMing on 162.836502481 meters Centerline goodness : 0.694849 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.85258493 -0.2006731 -0.48252383 4.47761378] [ 0.20230055 0.97808099 -0.049316 -0.36438789] [ 0.48184378 -0.05556875 0.87449339 0.9972375 ] [ 0. 0. 0. 1. ]] SLAMing on 162.866502481 meters Centerline goodness : 0.693800 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.85234853 -0.20192859 -0.48241769 4.47715865] [ 0.20322416 0.97784248 -0.05023974 -0.36261546] [ 0.48187335 -0.05521717 0.87449936 0.99741649] [ 0. 0. 0. 1. ]] SLAMing on 162.896502481 meters Centerline goodness : 0.691744 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.85176622 -0.20414937 -0.48251149 4.47745805] [ 0.20501396 0.97739647 -0.05162759 -0.35960471] [ 0.48214477 -0.05494696 0.87436677 0.99788532] [ 0. 0. 0. 1. ]] SLAMing on 162.926502481 meters Centerline goodness : 0.691270 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.85129123 -0.2053474 -0.48284127 4.47794482] [ 0.20607906 0.97714032 -0.05223234 -0.35791199] [ 0.48252945 -0.05503854 0.87414878 0.99844223] [ 0. 0. 0. 1. ]] SLAMing on 162.956502481 meters Centerline goodness : 0.690047 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85063557 -0.20699286 -0.483294 4.47939524] [ 0.20751151 0.97678934 -0.0531183 -0.35474975] [ 0.48307153 -0.05510475 0.87384516 0.99877336] [ 0. 0. 0. 1. ]] SLAMing on 162.986502481 meters Centerline goodness : 0.689324 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85050734 -0.2078492 -0.48315213 4.47935827] [ 0.20813419 0.97662217 -0.05375218 -0.35353818] [ 0.48302943 -0.05484386 0.87388484 0.99869077] [ 0. 0. 0. 1. ]] SLAMing on 163.01650248099997 meters Centerline goodness : 0.688352 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85043128 -0.20878015 -0.48288455 4.47932986] [ 0.20863965 0.9764596 -0.05473708 -0.35105661] [ 0.48294527 -0.05419874 0.8739716 0.99829707] [ 0. 0. 0. 1. ]] SLAMing on 163.04650248099998 meters Centerline goodness : 0.688902 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85054224 -0.20936942 -0.48243378 4.47849615] [ 0.20883855 0.97637151 -0.05554407 -0.34930713] [ 0.48266382 -0.05350819 0.87416961 0.99786875] [ 0. 0. 0. 1. ]] SLAMing on 163.07650248099998 meters Centerline goodness : 0.687625 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85149908 -0.20546061 -0.48242642 4.47676824] [ 0.20589118 0.97715188 -0.05275431 -0.34835514] [ 0.48224281 -0.0544071 0.87434646 0.99762731] [ 0. 0. 0. 1. ]] SLAMing on 163.10650248099998 meters Centerline goodness : 0.688985 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85192977 -0.20551503 -0.48164223 4.47528807] [ 0.20545705 0.97719972 -0.0535548 -0.34659774] [ 0.48166696 -0.05333186 0.87473004 0.99677299] [ 0. 0. 0. 1. ]] SLAMing on 163.13650248099998 meters Centerline goodness : 0.687502 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.8527598 -0.20133205 -0.48193996 4.4745771 ] [ 0.20189999 0.97805964 -0.05133951 -0.34403373] [ 0.48170231 -0.0535234 0.87469888 0.99634028] [ 0. 0. 0. 1. ]] SLAMing on 163.16650248099998 meters Centerline goodness : 0.687502 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.8527598 -0.20133205 -0.48193996 4.4745771 ] [ 0.20189999 0.97805964 -0.05133951 -0.34403373] [ 0.48170231 -0.0535234 0.87469888 0.99634028] [ 0. 0. 0. 1. ]] SLAMing on 163.19650248099998 meters Centerline goodness : 0.687102 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.8529321 -0.20132168 -0.48163929 4.47386225] [ 0.20128577 0.97813023 -0.05239549 -0.34133453] [ 0.4816543 -0.05225734 0.87480187 0.99590994] [ 0. 0. 0. 1. ]] SLAMing on 163.22650248099998 meters Centerline goodness : 0.683592 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85410014 -0.19637453 -0.48161187 4.47271132] [ 0.19708414 0.97912501 -0.04971974 -0.33911263] [ 0.48132192 -0.05245242 0.87497312 0.99492643] [ 0. 0. 0. 1. ]] SLAMing on 163.25650248099998 meters Centerline goodness : 0.683251 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85438934 -0.19640431 -0.48108648 4.47199414] [ 0.19644472 0.97919391 -0.05087988 -0.33685189] [ 0.48106998 -0.05103567 0.87519543 0.9941282 ] [ 0. 0. 0. 1. ]] SLAMing on 163.28650248099999 meters Centerline goodness : 0.684686 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85533439 -0.19226148 -0.48108066 4.4716209 ] [ 0.1928493 0.98001499 -0.04878287 -0.33518476] [ 0.48084532 -0.0510504 0.87531802 0.99306523] [ 0. 0. 0. 1. ]] SLAMing on 163.316502481 meters Centerline goodness : 0.680995 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85564381 -0.1921995 -0.48055492 4.4708506 ] [ 0.1920296 0.98011035 -0.05008331 -0.33247714] [ 0.48062283 -0.04942729 0.87553334 0.99235756] [ 0. 0. 0. 1. ]] SLAMing on 163.346502481 meters Centerline goodness : 0.681446 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85569742 -0.19226408 -0.4804336 4.47061016] [ 0.19191018 0.9801164 -0.05042141 -0.33185476] [ 0.48057507 -0.04905463 0.87558052 0.99218917] [ 0. 0. 0. 1. ]] SLAMing on 163.376502481 meters Centerline goodness : 0.680843 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85574273 -0.19264083 -0.48020192 4.47032823] [ 0.19209658 0.98005821 -0.05084106 -0.33129082] [ 0.4804199 -0.04873828 0.87568333 0.9920391 ] [ 0. 0. 0. 1. ]] SLAMing on 163.406502481 meters Centerline goodness : 0.679044 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.8557381 -0.19294832 -0.48008671 4.47020074] [ 0.19239236 0.97999555 -0.05093043 -0.3312519 ] [ 0.48030978 -0.0487819 0.87574131 0.99195912] [ 0. 0. 0. 1. ]] SLAMing on 163.436502481 meters Centerline goodness : 0.678344 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85575775 -0.19307842 -0.47999938 4.47045893] [ 0.19256608 0.9799643 -0.05087516 -0.3313504 ] [ 0.48020515 -0.04889478 0.87579239 0.99184577] [ 0. 0. 0. 1. ]] SLAMing on 163.466502481 meters Centerline goodness : 0.679455 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85570564 -0.19317607 -0.48005298 4.4702433 ] [ 0.19288696 0.97992059 -0.05050015 -0.33231451] [ 0.48016922 -0.0493827 0.87578472 0.99222968] [ 0. 0. 0. 1. ]] SLAMing on 163.496502481 meters Centerline goodness : 0.681703 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85572218 -0.19345384 -0.47991161 4.47004809] [ 0.19323224 0.97985597 -0.05043384 -0.33323021] [ 0.48000088 -0.04957704 0.87586601 0.99224921] [ 0. 0. 0. 1. ]] SLAMing on 163.526502481 meters Centerline goodness : 0.681210 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85555056 -0.19385502 -0.48005569 4.47039126] [ 0.19377305 0.97975592 -0.05030242 -0.3339954 ] [ 0.48008878 -0.04998559 0.87579461 0.99254951] [ 0. 0. 0. 1. ]] SLAMing on 163.556502481 meters Centerline goodness : 0.681796 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85545728 -0.19436255 -0.48001672 4.47132216] [ 0.19454163 0.97962134 -0.04995586 -0.33570944] [ 0.47994417 -0.05064813 0.87583581 0.99241278] [ 0. 0. 0. 1. ]] SLAMing on 163.586502481 meters Centerline goodness : 0.682501 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.8549835 -0.19500811 -0.48059864 4.47193263] [ 0.19551911 0.97944517 -0.0495926 -0.33642662] [ 0.48039097 -0.05156537 0.87553728 0.99350082] [ 0. 0. 0. 1. ]] SLAMing on 163.616502481 meters Centerline goodness : 0.679860 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85468715 -0.19541975 -0.48095842 4.47222706] [ 0.19608974 0.97933797 -0.04945667 -0.33669827] [ 0.48068565 -0.05204103 0.87534738 0.99417587] [ 0. 0. 0. 1. ]] SLAMing on 163.646502481 meters Centerline goodness : 0.680900 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85424929 -0.20018938 -0.47977323 4.47152233] [ 0.19922699 0.97848895 -0.0535536 -0.33605169] [ 0.48017367 -0.04983566 0.87575662 0.99372148] [ 0. 0. 0. 1. ]] SLAMing on 163.676502481 meters Centerline goodness : 0.681592 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.8542437 -0.2004715 -0.47966539 4.47136083] [ 0.1996243 0.97841607 -0.05340543 -0.33708128] [ 0.48001859 -0.05013161 0.87582474 0.99385244] [ 0. 0. 0. 1. ]] SLAMing on 163.706502481 meters Centerline goodness : 0.682053 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85422179 -0.20071464 -0.47960272 4.47136066] [ 0.19992459 0.97835733 -0.05335813 -0.33723162] [ 0.4799326 -0.0503047 0.87586194 0.99391295] [ 0. 0. 0. 1. ]] SLAMing on 163.736502481 meters Centerline goodness : 0.683363 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85415786 -0.20106239 -0.47957092 4.4708475 ] [ 0.2002062 0.97828832 -0.05356724 -0.33644642] [ 0.47992898 -0.05025819 0.87586659 0.99421472] [ 0. 0. 0. 1. ]] SLAMing on 163.76650248099997 meters Centerline goodness : 0.683394 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85412689 -0.20107833 -0.4796194 4.47065033] [ 0.20016926 0.97829004 -0.05367376 -0.3361736 ] [ 0.47999951 -0.05016086 0.87583352 0.99442537] [ 0. 0. 0. 1. ]] SLAMing on 163.79650248099998 meters Centerline goodness : 0.686510 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85427194 -0.20153153 -0.47917064 4.47052255] [ 0.20034538 0.9782224 -0.05424626 -0.33599649] [ 0.47966779 -0.04965857 0.87604386 0.99378538] [ 0. 0. 0. 1. ]] SLAMing on 163.82650248099998 meters Centerline goodness : 0.687694 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85464809 -0.20183245 -0.47837256 4.47006322] [ 0.20034251 0.97819284 -0.05478724 -0.3368254 ] [ 0.47899846 -0.04901455 0.87644626 0.9927787 ] [ 0. 0. 0. 1. ]] SLAMing on 163.85650248099998 meters Centerline goodness : 0.685495 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85492347 -0.20158061 -0.47798652 4.46963799] [ 0.20012789 0.97824683 -0.05460733 -0.33747715] [ 0.47859658 -0.04897334 0.87666808 0.99230069] [ 0. 0. 0. 1. ]] SLAMing on 163.88650248099998 meters Centerline goodness : 0.687959 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85513553 -0.201006 -0.47784916 4.469341 ] [ 0.19959989 0.97836881 -0.05435405 -0.33705507] [ 0.47843821 -0.04889856 0.8767587 0.99203556] [ 0. 0. 0. 1. ]] SLAMing on 163.91650248099998 meters Centerline goodness : 0.691218 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.8553729 -0.20068509 -0.47755911 4.46933453] [ 0.19924604 0.97844416 -0.05429589 -0.33660737] [ 0.47816129 -0.04870853 0.87692032 0.99139611] [ 0. 0. 0. 1. ]] SLAMing on 163.94650248099998 meters Centerline goodness : 0.690082 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.8555271 -0.20026886 -0.47745761 4.4697285 ] [ 0.19874892 0.97854377 -0.05432265 -0.33634302] [ 0.4780923 -0.04841968 0.87697394 0.99086808] [ 0. 0. 0. 1. ]] SLAMing on 163.97650248099998 meters Centerline goodness : 0.691257 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85580559 -0.20017889 -0.47699601 4.47032653] [ 0.19847609 0.97858476 -0.0545813 -0.33623603] [ 0.47770705 -0.04796132 0.87720903 0.98976113] [ 0. 0. 0. 1. ]] SLAMing on 164.00650248099998 meters Centerline goodness : 0.692066 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85577649 -0.20032866 -0.47698535 4.47055289] [ 0.19862167 0.97855266 -0.05462722 -0.33657674] [ 0.47769868 -0.04799094 0.87721197 0.98972039] [ 0. 0. 0. 1. ]] SLAMing on 164.03650248099999 meters Centerline goodness : 0.690601 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85577614 -0.20079945 -0.47678798 4.47086079] [ 0.19904249 0.97845634 -0.05482035 -0.33693036] [ 0.47752412 -0.04798712 0.87730722 0.98942839] [ 0. 0. 0. 1. ]] SLAMing on 164.066502481 meters Centerline goodness : 0.691262 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.8556345 -0.20103464 -0.47694306 4.47136889] [ 0.19937643 0.97839404 -0.05471878 -0.33691958] [ 0.47763862 -0.04827193 0.87722926 0.98953194] [ 0. 0. 0. 1. ]] SLAMing on 164.096502481 meters Centerline goodness : 0.692172 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85521074 -0.20226183 -0.47718418 4.47281689] [ 0.20055169 0.97812871 -0.05516559 -0.33733951] [ 0.47790544 -0.04852189 0.87707013 0.98961692] [ 0. 0. 0. 1. ]] SLAMing on 164.126502481 meters Centerline goodness : 0.692942 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85494469 -0.20315278 -0.47728244 4.47357318] [ 0.20141026 0.97793498 -0.0554715 -0.33724595] [ 0.47802038 -0.04870451 0.87699737 0.98964336] [ 0. 0. 0. 1. ]] SLAMing on 164.156502481 meters Centerline goodness : 0.692279 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85483033 -0.20313363 -0.47749538 4.47383527] [ 0.2015908 0.97791737 -0.0551251 -0.33706649] [ 0.47814878 -0.04913607 0.8769033 0.98992838] [ 0. 0. 0. 1. ]] SLAMing on 164.186502481 meters Centerline goodness : 0.692265 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85487976 -0.20320935 -0.47737466 4.47340345] [ 0.20152862 0.97791556 -0.05538386 -0.3363763 ] [ 0.47808662 -0.04885812 0.87695272 0.98993847] [ 0. 0. 0. 1. ]] SLAMing on 164.216502481 meters Centerline goodness : 0.696100 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85510064 -0.20306184 -0.4770417 4.47190716] [ 0.20118742 0.97797004 -0.05566161 -0.33562164] [ 0.47783524 -0.04837851 0.8771163 0.98999948] [ 0. 0. 0. 1. ]] SLAMing on 164.246502481 meters Centerline goodness : 0.694479 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85530518 -0.20331302 -0.4765678 4.47029782] [ 0.20109689 0.97795207 -0.05630086 -0.33456921] [ 0.47750717 -0.04768189 0.87733308 0.98995483] [ 0. 0. 0. 1. ]] SLAMing on 164.276502481 meters Centerline goodness : 0.696203 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85531826 -0.20376078 -0.47635304 4.46976507] [ 0.20127035 0.9778818 -0.05689845 -0.33368124] [ 0.47741064 -0.04720946 0.87741116 0.98987427] [ 0. 0. 0. 1. ]] SLAMing on 164.306502481 meters Centerline goodness : 0.695631 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85521431 -0.20450134 -0.47622232 4.46947903] [ 0.201541 0.97776475 -0.05794238 -0.33199977] [ 0.47748269 -0.04642517 0.87741381 0.98981704] [ 0. 0. 0. 1. ]] SLAMing on 164.336502481 meters Centerline goodness : 0.694675 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85516655 -0.20464576 -0.47624603 4.46949747] [ 0.20157038 0.97774372 -0.05819442 -0.33115271] [ 0.47755581 -0.04623117 0.87738425 0.98982495] [ 0. 0. 0. 1. ]] SLAMing on 164.366502481 meters Centerline goodness : 0.695556 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85482925 -0.20494489 -0.47672271 4.47059675] [ 0.20176248 0.97768452 -0.05852245 -0.32968319] [ 0.4780783 -0.04615806 0.87710351 0.99010714] [ 0. 0. 0. 1. ]] SLAMing on 164.396502481 meters Centerline goodness : 0.693731 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85466284 -0.20529908 -0.47686866 4.47075658] [ 0.20212205 0.97760428 -0.05862211 -0.32954196] [ 0.47822391 -0.04628353 0.87701752 0.99038697] [ 0. 0. 0. 1. ]] SLAMing on 164.426502481 meters Centerline goodness : 0.696775 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.8545204 -0.20571583 -0.47694431 4.47101746] [ 0.20273072 0.97749222 -0.05838856 -0.33065943] [ 0.4782208 -0.04679704 0.87699196 0.99064832] [ 0. 0. 0. 1. ]] SLAMing on 164.456502481 meters Centerline goodness : 0.697100 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85445183 -0.20614635 -0.47688128 4.47052107] [ 0.20337395 0.97737549 -0.0581049 -0.33185191] [ 0.47807019 -0.04733739 0.87704507 0.99104268] [ 0. 0. 0. 1. ]] SLAMing on 164.486502481 meters Centerline goodness : 0.696908 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85457475 -0.2058939 -0.47677006 4.47057903] [ 0.20341194 0.97740379 -0.05749264 -0.33250103] [ 0.47783425 -0.04784896 0.87714589 0.99077503] [ 0. 0. 0. 1. ]] SLAMing on 164.51650248099997 meters Centerline goodness : 0.698216 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85436096 -0.20596713 -0.47712146 4.47067573] [ 0.20377357 0.97735596 -0.05702327 -0.33228677] [ 0.47806242 -0.04850628 0.87698544 0.99138859] [ 0. 0. 0. 1. ]] SLAMing on 164.54650248099998 meters Centerline goodness : 0.696183 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85420082 -0.20577828 -0.47748954 4.47109237] [ 0.20397776 0.97735555 -0.05629562 -0.33301373] [ 0.47826147 -0.04930948 0.87683211 0.99188516] [ 0. 0. 0. 1. ]] SLAMing on 164.57650248099998 meters Centerline goodness : 0.695636 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85376145 -0.20683765 -0.47781751 4.47210549] [ 0.20544571 0.97707269 -0.05586609 -0.33478625] [ 0.47841765 -0.05046925 0.8766809 0.99245442] [ 0. 0. 0. 1. ]] SLAMing on 164.60650248099998 meters Centerline goodness : 0.695739 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85342133 -0.20772117 -0.47804179 4.47309211] [ 0.20649126 0.9768543 -0.05583041 -0.33570471] [ 0.47857434 -0.05106459 0.8765609 0.99275358] [ 0. 0. 0. 1. ]] SLAMing on 164.63650248099998 meters Centerline goodness : 0.696123 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85224945 -0.21274586 -0.47792267 4.47456993] [ 0.21057993 0.97580294 -0.05886184 -0.33611825] [ 0.47888096 -0.05047595 0.87642752 0.99334838] [ 0. 0. 0. 1. ]] SLAMing on 164.66650248099998 meters Centerline goodness : 0.695853 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85186885 -0.21301779 -0.47847976 4.47546503] [ 0.21132959 0.97568485 -0.05812813 -0.33706475] [ 0.47922778 -0.05159939 0.8761725 0.99411659] [ 0. 0. 0. 1. ]] SLAMing on 164.69650248099998 meters Centerline goodness : 0.696653 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.8512978 -0.21339295 -0.47932818 4.4771354 ] [ 0.21230407 0.97552584 -0.05723917 -0.33778106] [ 0.47981146 -0.05303575 0.87576719 0.99504082] [ 0. 0. 0. 1. ]] SLAMing on 164.72650248099998 meters Centerline goodness : 0.696314 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85116313 -0.21421224 -0.47920188 4.47682499] [ 0.21317434 0.97532962 -0.05734828 -0.33837451] [ 0.47966449 -0.0533408 0.87582917 0.99525164] [ 0. 0. 0. 1. ]] SLAMing on 164.75650248099998 meters Centerline goodness : 0.694032 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85123219 -0.21430434 -0.47903801 4.47604015] [ 0.21339856 0.97529454 -0.05711057 -0.33921873] [ 0.4794422 -0.05361166 0.87593434 0.99546981] [ 0. 0. 0. 1. ]] SLAMing on 164.78650248099999 meters Centerline goodness : 0.695950 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.85122928 -0.21474945 -0.47884379 4.47440278] [ 0.21380627 0.97519574 -0.05727252 -0.33906839] [ 0.47926567 -0.05362776 0.87602995 0.99606892] [ 0. 0. 0. 1. ]] SLAMing on 164.816502481 meters Centerline goodness : 0.696148 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.85105776 -0.21495274 -0.47905742 4.47433684] [ 0.21397827 0.97514986 -0.05741122 -0.3385705 ] [ 0.47949347 -0.05364761 0.87590407 0.99650215] [ 0. 0. 0. 1. ]] SLAMing on 164.846502481 meters Centerline goodness : 0.694081 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.85073848 -0.21551436 -0.47937209 4.47463362] [ 0.21453072 0.97501627 -0.05761802 -0.33770157] [ 0.4798131 -0.05382217 0.87571831 0.99699592] [ 0. 0. 0. 1. ]] SLAMing on 164.876502481 meters Centerline goodness : 0.695239 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85077679 -0.21514362 -0.47947062 4.47541031] [ 0.21441749 0.97507388 -0.05706191 -0.33935396] [ 0.47979579 -0.05425994 0.87570078 0.9967515 ] [ 0. 0. 0. 1. ]] SLAMing on 164.906502481 meters Centerline goodness : 0.696922 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85074515 -0.21542021 -0.47940257 4.47549454] [ 0.21481563 0.97499542 -0.05690492 -0.33998822] [ 0.47967378 -0.05457158 0.87574826 0.99675772] [ 0. 0. 0. 1. ]] SLAMing on 164.936502481 meters Centerline goodness : 0.698557 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85053877 -0.21578251 -0.47960579 4.47585959] [ 0.21530775 0.9748935 -0.05679118 -0.34047014] [ 0.47981911 -0.05495974 0.87564436 0.99709994] [ 0. 0. 0. 1. ]] SLAMing on 164.966502481 meters Centerline goodness : 0.695470 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85045896 -0.21569883 -0.47978493 4.47612015] [ 0.21565001 0.97486274 -0.05601524 -0.3414633 ] [ 0.47980687 -0.05582696 0.87559621 0.99735844] [ 0. 0. 0. 1. ]] SLAMing on 164.996502481 meters Centerline goodness : 0.695056 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85129828 -0.2111351 -0.48032615 4.47712244] [ 0.21254572 0.97575547 -0.05220709 -0.34430734] [ 0.47970362 -0.05764746 0.87553481 0.99666044] [ 0. 0. 0. 1. ]] SLAMing on 165.026502481 meters Centerline goodness : 0.695706 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85212746 -0.20632616 -0.48094523 4.47857218] [ 0.20925104 0.97667099 -0.04824711 -0.34687753] [ 0.47967989 -0.0595256 0.87542213 0.99587433] [ 0. 0. 0. 1. ]] SLAMing on 165.056502481 meters Centerline goodness : 0.695172 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85218812 -0.2059663 -0.48099199 4.47988999] [ 0.20851802 0.97679836 -0.04883858 -0.3453722 ] [ 0.47989129 -0.05867584 0.87536364 0.99507254] [ 0. 0. 0. 1. ]] SLAMing on 165.086502481 meters Centerline goodness : 0.695172 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85218812 -0.2059663 -0.48099199 4.47988999] [ 0.20851802 0.97679836 -0.04883858 -0.3453722 ] [ 0.47989129 -0.05867584 0.87536364 0.99507254] [ 0. 0. 0. 1. ]] SLAMing on 165.116502481 meters Centerline goodness : 0.693406 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85217412 -0.20615332 -0.48093667 4.4802276 ] [ 0.20841872 0.97679117 -0.04940298 -0.34424762] [ 0.47995928 -0.05813627 0.87536236 0.99474459] [ 0. 0. 0. 1. ]] SLAMing on 165.146502481 meters Centerline goodness : 0.692850 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85247149 -0.20567998 -0.48061221 4.47996793] [ 0.20758069 0.97694447 -0.0498974 -0.34256366] [ 0.47979434 -0.05722971 0.87551251 0.99399895] [ 0. 0. 0. 1. ]] SLAMing on 165.176502481 meters Centerline goodness : 0.692805 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85279036 -0.20568717 -0.48004311 4.47874753] [ 0.20725671 0.97698608 -0.05042669 -0.34121953] [ 0.47936756 -0.05648876 0.87579436 0.9934783 ] [ 0. 0. 0. 1. ]] SLAMing on 165.206502481 meters Centerline goodness : 0.694070 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.8530326 -0.20574802 -0.47958643 4.4776588 ] [ 0.20721085 0.97698807 -0.05057638 -0.34156512] [ 0.47895621 -0.05623221 0.87603589 0.99325564] [ 0. 0. 0. 1. ]] SLAMing on 165.236502481 meters Centerline goodness : 0.695563 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85353059 -0.20584283 -0.47865882 4.47507916] [ 0.20711352 0.97699559 -0.05082913 -0.34242879] [ 0.47811037 -0.0557525 0.87652846 0.99301605] [ 0. 0. 0. 1. ]] SLAMing on 165.26650248099997 meters Centerline goodness : 0.694975 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.853658 -0.20595493 -0.47838331 4.47453277] [ 0.20709837 0.976987 -0.05105552 -0.34241588] [ 0.47788941 -0.05548845 0.8766657 0.99284004] [ 0. 0. 0. 1. ]] SLAMing on 165.29650248099998 meters Centerline goodness : 0.695704 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85356538 -0.20665517 -0.47824657 4.47508045] [ 0.20723371 0.97689465 -0.05225926 -0.34076237] [ 0.47799616 -0.05450212 0.87666937 0.99234744] [ 0. 0. 0. 1. ]] SLAMing on 165.32650248099998 meters Centerline goodness : 0.695641 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.853596 -0.20702791 -0.47803066 4.4750737 ] [ 0.20728816 0.97684786 -0.05291382 -0.33950157] [ 0.47791787 -0.05392307 0.87674786 0.99197009] [ 0. 0. 0. 1. ]] SLAMing on 165.35650248099998 meters Centerline goodness : 0.695157 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.8537734 -0.20695121 -0.47774699 4.47513956] [ 0.20671009 0.97692321 -0.05377712 -0.33733581] [ 0.47785136 -0.05284165 0.87684995 0.9912342 ] [ 0. 0. 0. 1. ]] SLAMing on 165.38650248099998 meters Centerline goodness : 0.695929 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85389664 -0.20718813 -0.47742394 4.4752059 ] [ 0.20669919 0.97689915 -0.05425402 -0.33697293] [ 0.47763583 -0.05235582 0.87699651 0.99062799] [ 0. 0. 0. 1. ]] SLAMing on 165.41650248099998 meters Centerline goodness : 0.695792 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85414927 -0.20694825 -0.47707594 4.47445854] [ 0.20652851 0.97694823 -0.05401981 -0.33801111] [ 0.47725779 -0.0523888 0.87720033 0.99055085] [ 0. 0. 0. 1. ]] SLAMing on 165.44650248099998 meters Centerline goodness : 0.699752 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85434042 -0.20672281 -0.47683135 4.47274809] [ 0.2066418 0.97696345 -0.05330645 -0.3394514 ] [ 0.47686646 -0.05299143 0.87737694 0.9911571 ] [ 0. 0. 0. 1. ]] SLAMing on 165.47650248099998 meters Centerline goodness : 0.700930 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85437798 -0.20673306 -0.4767596 4.4726757 ] [ 0.20682604 0.97694223 -0.05297983 -0.34047021] [ 0.47671927 -0.0533415 0.87743571 0.99118928] [ 0. 0. 0. 1. ]] SLAMing on 165.50650248099998 meters Centerline goodness : 0.702206 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85430365 -0.2069285 -0.47680801 4.47309427] [ 0.20743857 0.9768506 -0.0522699 -0.34276454] [ 0.47658632 -0.05425401 0.87745198 0.99141483] [ 0. 0. 0. 1. ]] SLAMing on 165.53650248099999 meters Centerline goodness : 0.704457 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85426145 -0.20697357 -0.47686405 4.47306613] [ 0.20770472 0.97681472 -0.05188207 -0.34410822] [ 0.47654604 -0.05472606 0.87744455 0.99174233] [ 0. 0. 0. 1. ]] SLAMing on 165.566502481 meters Centerline goodness : 0.704162 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85404258 -0.20758136 -0.47699188 4.47407739] [ 0.20843669 0.97666151 -0.0518309 -0.34539788] [ 0.47661874 -0.05515682 0.87737809 0.99173743] [ 0. 0. 0. 1. ]] SLAMing on 165.596502481 meters Centerline goodness : 0.701866 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85379606 -0.2078349 -0.47732269 4.47556602] [ 0.20881241 0.97658729 -0.05171702 -0.3458927 ] [ 0.47689587 -0.05551511 0.87720488 0.99172592] [ 0. 0. 0. 1. ]] SLAMing on 165.626502481 meters Centerline goodness : 0.704430 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85328476 -0.20812717 -0.47810898 4.47719015] [ 0.20939765 0.97648074 -0.05136139 -0.34598247] [ 0.47755391 -0.056289 0.87679747 0.99240663] [ 0. 0. 0. 1. ]] SLAMing on 165.656502481 meters Centerline goodness : 0.705265 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85326217 -0.2084572 -0.47800551 4.47711147] [ 0.20981246 0.97639601 -0.05127921 -0.34655624] [ 0.47741219 -0.05653691 0.8768587 0.99246731] [ 0. 0. 0. 1. ]] SLAMing on 165.686502481 meters Centerline goodness : 0.706227 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85300571 -0.20868345 -0.47836438 4.47793161] [ 0.21022724 0.97631923 -0.0510419 -0.34719961] [ 0.47768794 -0.05702619 0.87667682 0.99284523] [ 0. 0. 0. 1. ]] SLAMing on 165.716502481 meters Centerline goodness : 0.703356 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85291405 -0.20899113 -0.47839348 4.47807359] [ 0.21087659 0.97620734 -0.05050043 -0.34842649] [ 0.47756537 -0.05780946 0.8766923 0.99314703] [ 0. 0. 0. 1. ]] SLAMing on 165.746502481 meters Centerline goodness : 0.707409 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85297024 -0.2091213 -0.47823639 4.47655628] [ 0.21123269 0.97615107 -0.0500982 -0.34846611] [ 0.47730757 -0.05828689 0.87680107 0.99384045] [ 0. 0. 0. 1. ]] SLAMing on 165.776502481 meters Centerline goodness : 0.707162 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85297908 -0.20901132 -0.47826871 4.47612106] [ 0.21122834 0.97616322 -0.0498795 -0.34840662] [ 0.4772937 -0.05847774 0.87679592 0.99410431] [ 0. 0. 0. 1. ]] SLAMing on 165.806502481 meters Centerline goodness : 0.709504 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85317947 -0.20940883 -0.47773711 4.47465981] [ 0.21141903 0.97610083 -0.05029074 -0.34870707] [ 0.47685091 -0.05809569 0.8770622 0.99413307] [ 0. 0. 0. 1. ]] SLAMing on 165.836502481 meters Centerline goodness : 0.709761 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85329241 -0.2095121 -0.47749004 4.47392355] [ 0.21152854 0.97607806 -0.05027217 -0.34904521] [ 0.47660019 -0.05810591 0.87719779 0.99419085] [ 0. 0. 0. 1. ]] SLAMing on 165.866502481 meters Centerline goodness : 0.708041 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85319763 -0.20990974 -0.47748478 4.47362825] [ 0.21187786 0.97599231 -0.0504657 -0.34874336] [ 0.47661471 -0.05811124 0.87718955 0.99444175] [ 0. 0. 0. 1. ]] SLAMing on 165.896502481 meters Centerline goodness : 0.712222 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85294555 -0.21025479 -0.47778323 4.47458437] [ 0.2122136 0.97591158 -0.05061591 -0.34808873] [ 0.47691642 -0.05821948 0.87701837 0.99459672] [ 0. 0. 0. 1. ]] SLAMing on 165.926502481 meters Centerline goodness : 0.711827 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:1.00 [[ 0.85263585 -0.21055185 -0.47820501 4.47494073] [ 0.2129094 0.97579069 -0.05002113 -0.34854066] [ 0.47716003 -0.05916453 0.87682259 0.99535678] [ 0. 0. 0. 1. ]] SLAMing on 165.956502481 meters Centerline goodness : 0.710675 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85230508 -0.21094657 -0.47862051 4.47597796] [ 0.21372622 0.97564325 -0.04941004 -0.34991034] [ 0.47738575 -0.06018132 0.87663051 0.99589381] [ 0. 0. 0. 1. ]] SLAMing on 165.986502481 meters Centerline goodness : 0.708708 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85224494 -0.21111353 -0.47865399 4.47664221] [ 0.21408916 0.97557936 -0.04909934 -0.3510829 ] [ 0.47733049 -0.06062997 0.87662969 0.99581483] [ 0. 0. 0. 1. ]] SLAMing on 166.01650248099997 meters Centerline goodness : 0.709477 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85208509 -0.21137656 -0.47882247 4.47723002] [ 0.21465903 0.97547762 -0.04863044 -0.35253436] [ 0.47735993 -0.06134629 0.87656382 0.99608357] [ 0. 0. 0. 1. ]] SLAMing on 166.04650248099998 meters Centerline goodness : 0.710254 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85194106 -0.21108005 -0.47920938 4.47739328] [ 0.21471717 0.97549812 -0.04795779 -0.35288364] [ 0.47759079 -0.06203727 0.87638942 0.99671158] [ 0. 0. 0. 1. ]] SLAMing on 166.07650248099998 meters Centerline goodness : 0.711496 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85189664 -0.21103124 -0.47930985 4.4775459 ] [ 0.21477259 0.97549521 -0.04776851 -0.35224006] [ 0.47764511 -0.06224879 0.87634482 0.99680339] [ 0. 0. 0. 1. ]] SLAMing on 166.10650248099998 meters Centerline goodness : 0.713209 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85183527 -0.21144657 -0.47923587 4.47751598] [ 0.21508112 0.97541272 -0.048064 -0.35208282] [ 0.47761573 -0.06213198 0.87636912 0.99682064] [ 0. 0. 0. 1. ]] SLAMing on 166.13650248099998 meters Centerline goodness : 0.713796 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85217117 -0.21188946 -0.47844242 4.47683589] [ 0.21523737 0.97535216 -0.04859051 -0.3526785 ] [ 0.47694567 -0.06157125 0.87677352 0.99596365] [ 0. 0. 0. 1. ]] SLAMing on 166.16650248099998 meters Centerline goodness : 0.714201 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85237818 -0.21243877 -0.47782967 4.47598083] [ 0.21553872 0.97525998 -0.04910228 -0.35262034] [ 0.47643939 -0.06113708 0.87707911 0.99547392] [ 0. 0. 0. 1. ]] SLAMing on 166.19650248099998 meters Centerline goodness : 0.716222 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85243241 -0.21250369 -0.47770405 4.47588013] [ 0.21553458 0.97525454 -0.04922823 -0.35212874] [ 0.47634423 -0.060998 0.87714048 0.99530376] [ 0. 0. 0. 1. ]] SLAMing on 166.22650248099998 meters Centerline goodness : 0.716498 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85234359 -0.21293741 -0.47766941 4.47568709] [ 0.21573174 0.97518326 -0.04977382 -0.35018558] [ 0.47641392 -0.06062405 0.87712856 0.99528143] [ 0. 0. 0. 1. ]] SLAMing on 166.25650248099998 meters Centerline goodness : 0.716820 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.8524028 -0.21306674 -0.47750605 4.47585521] [ 0.21574599 0.97516872 -0.0499963 -0.34940389] [ 0.47630151 -0.06040303 0.87720485 0.99484944] [ 0. 0. 0. 1. ]] SLAMing on 166.28650248099999 meters Centerline goodness : 0.715084 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85241292 -0.21373194 -0.4771906 4.4764041 ] [ 0.21592696 0.97507568 -0.05101922 -0.34797524] [ 0.47620139 -0.05954887 0.8773176 0.99403342] [ 0. 0. 0. 1. ]] SLAMing on 166.316502481 meters Centerline goodness : 0.715895 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85242436 -0.21421337 -0.47695424 4.47659726] [ 0.21625593 0.97498309 -0.05139401 -0.34768286] [ 0.47603161 -0.05933468 0.87742424 0.99361747] [ 0. 0. 0. 1. ]] SLAMing on 166.346502481 meters Centerline goodness : 0.717501 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85244187 -0.2149815 -0.47657719 4.47678926] [ 0.21672848 0.97484127 -0.05208896 -0.34740533] [ 0.47578527 -0.05888504 0.87758813 0.99308274] [ 0. 0. 0. 1. ]] SLAMing on 166.376502481 meters Centerline goodness : 0.718024 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85227565 -0.21530201 -0.47672976 4.47686919] [ 0.21704979 0.97476416 -0.05219399 -0.34726247] [ 0.47593656 -0.05899043 0.87749902 0.99341589] [ 0. 0. 0. 1. ]] SLAMing on 166.406502481 meters Centerline goodness : 0.716250 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.8524403 -0.21550589 -0.4763431 4.47622154] [ 0.21722719 0.97472207 -0.05224204 -0.34651828] [ 0.4755606 -0.05894146 0.87770611 0.99304845] [ 0. 0. 0. 1. ]] SLAMing on 166.436502481 meters Centerline goodness : 0.716674 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85277111 -0.21536576 -0.47581406 4.47467932] [ 0.21707192 0.97476116 -0.05215801 -0.34665305] [ 0.47503811 -0.05880703 0.87799802 0.99292176] [ 0. 0. 0. 1. ]] SLAMing on 166.466502481 meters Centerline goodness : 0.714364 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85285371 -0.21528005 -0.4757048 4.47411236] [ 0.21705228 0.9747741 -0.05199775 -0.34697304] [ 0.47489879 -0.05890633 0.87806673 0.9930521 ] [ 0. 0. 0. 1. ]] SLAMing on 166.496502481 meters Centerline goodness : 0.715845 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85316996 -0.21485635 -0.47532911 4.47272306] [ 0.21674714 0.97486243 -0.05161315 -0.34755084] [ 0.4744699 -0.05899143 0.87829284 0.99303334] [ 0. 0. 0. 1. ]] SLAMing on 166.526502481 meters Centerline goodness : 0.715458 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85329721 -0.21457063 -0.47522974 4.47242594] [ 0.216553 0.97491926 -0.05135405 -0.34777204] [ 0.4743297 -0.05909216 0.8783618 0.9929743 ] [ 0. 0. 0. 1. ]] SLAMing on 166.556502481 meters Centerline goodness : 0.715849 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85340049 -0.21386327 -0.47536314 4.47279727] [ 0.2158804 0.97508061 -0.05112194 -0.34735057] [ 0.47445048 -0.05899409 0.87830316 0.99280384] [ 0. 0. 0. 1. ]] SLAMing on 166.586502481 meters Centerline goodness : 0.716682 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85363692 -0.21376889 -0.47498092 4.47313373] [ 0.21552815 0.97513755 -0.05152056 -0.34655296] [ 0.47418522 -0.05839191 0.87848663 0.99182477] [ 0. 0. 0. 1. ]] SLAMing on 166.616502481 meters Centerline goodness : 0.716318 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85368532 -0.21382901 -0.47486685 4.47401615] [ 0.21530856 0.97515855 -0.05203866 -0.34534955] [ 0.47419785 -0.05781826 0.87851776 0.99106204] [ 0. 0. 0. 1. ]] SLAMing on 166.646502481 meters Centerline goodness : 0.717322 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85358016 -0.2138087 -0.475065 4.47493707] [ 0.21528804 0.97516188 -0.05206129 -0.34542282] [ 0.47439643 -0.05783733 0.87840928 0.99096049] [ 0. 0. 0. 1. ]] SLAMing on 166.676502481 meters Centerline goodness : 0.713850 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85350699 -0.21414535 -0.47504483 4.47607903] [ 0.21555163 0.97509181 -0.05228255 -0.34524881] [ 0.47440839 -0.05777316 0.87840705 0.99036721] [ 0. 0. 0. 1. ]] SLAMing on 166.706502481 meters Centerline goodness : 0.713147 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85321134 -0.21486536 -0.47525076 4.4770076 ] [ 0.21605698 0.97494674 -0.05289841 -0.34447601] [ 0.47471022 -0.05754773 0.87825877 0.99039762] [ 0. 0. 0. 1. ]] SLAMing on 166.736502481 meters Centerline goodness : 0.714554 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85309518 -0.21499126 -0.47540232 4.47753311] [ 0.21620816 0.97491281 -0.05290593 -0.34471535] [ 0.47485013 -0.05765207 0.87817629 0.99049016] [ 0. 0. 0. 1. ]] SLAMing on 166.76650248099997 meters Centerline goodness : 0.711728 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85286422 -0.2153301 -0.4756633 4.477723 ] [ 0.21654835 0.97483061 -0.05302918 -0.34431921] [ 0.47510992 -0.05777742 0.87802753 0.9909497 ] [ 0. 0. 0. 1. ]] SLAMing on 166.79650248099998 meters Centerline goodness : 0.712276 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85274305 -0.21544479 -0.47582857 4.47779053] [ 0.21664797 0.97480406 -0.05311031 -0.34356773] [ 0.47528196 -0.05779785 0.87793307 0.99119081] [ 0. 0. 0. 1. ]] SLAMing on 166.82650248099998 meters Centerline goodness : 0.710192 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85260533 -0.21444913 -0.47652463 4.47764124] [ 0.2162723 0.97495797 -0.0518 -0.34386515] [ 0.47569995 -0.05889412 0.87763377 0.99235013] [ 0. 0. 0. 1. ]] SLAMing on 166.85650248099998 meters Centerline goodness : 0.708975 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85277222 -0.21420091 -0.47633761 4.47668733] [ 0.21623952 0.97499115 -0.0513101 -0.34517696] [ 0.47541563 -0.05924719 0.87776407 0.9926951 ] [ 0. 0. 0. 1. ]] SLAMing on 166.88650248099998 meters Centerline goodness : 0.710669 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85256533 -0.21448782 -0.47657878 4.47685245] [ 0.21671486 0.97489807 -0.05107275 -0.34578018] [ 0.47557022 -0.05973885 0.87764699 0.99320947] [ 0. 0. 0. 1. ]] SLAMing on 166.91650248099998 meters Centerline goodness : 0.708328 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85225685 -0.21488791 -0.47695015 4.47688464] [ 0.21759434 0.97473985 -0.05034811 -0.34729263] [ 0.47572152 -0.06087213 0.8774871 0.99416382] [ 0. 0. 0. 1. ]] SLAMing on 166.94650248099998 meters Centerline goodness : 0.709298 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85227704 -0.21490912 -0.47690452 4.47683703] [ 0.2179301 0.9746947 -0.04976669 -0.3485403 ] [ 0.47553162 -0.06151685 0.87754507 0.99427393] [ 0. 0. 0. 1. ]] SLAMing on 166.97650248099998 meters Centerline goodness : 0.709298 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85227704 -0.21490912 -0.47690452 4.47683703] [ 0.2179301 0.9746947 -0.04976669 -0.3485403 ] [ 0.47553162 -0.06151685 0.87754507 0.99427393] [ 0. 0. 0. 1. ]] SLAMing on 167.00650248099998 meters Centerline goodness : 0.708995 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.8515735 -0.21939965 -0.47611592 4.47609639] [ 0.22132831 0.97376579 -0.05285802 -0.34920844] [ 0.47522243 -0.06036544 0.87779249 0.99474276] [ 0. 0. 0. 1. ]] SLAMing on 167.03650248099999 meters Centerline goodness : 0.711016 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85154944 -0.21938069 -0.47616768 4.47662583] [ 0.22166905 0.97372399 -0.05219607 -0.35102398] [ 0.4751067 -0.06110411 0.87780403 0.99478497] [ 0. 0. 0. 1. ]] SLAMing on 167.066502481 meters Centerline goodness : 0.709361 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85147926 -0.21926491 -0.47634647 4.47789091] [ 0.22203618 0.97368798 -0.05129964 -0.35323206] [ 0.47506104 -0.06208558 0.87775987 0.99472926] [ 0. 0. 0. 1. ]] SLAMing on 167.096502481 meters Centerline goodness : 0.710803 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85153361 -0.21922625 -0.47626712 4.47851928] [ 0.2221042 0.97368399 -0.05108036 -0.35402507] [ 0.47493182 -0.06228429 0.87781572 0.99435646] [ 0. 0. 0. 1. ]] SLAMing on 167.126502481 meters Centerline goodness : 0.710352 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8518313 -0.21837288 -0.47612679 4.47901123] [ 0.22150514 0.97385782 -0.05036289 -0.35552068] [ 0.47467769 -0.06256385 0.87793329 0.9937745 ] [ 0. 0. 0. 1. ]] SLAMing on 167.156502481 meters Centerline goodness : 0.709448 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85228688 -0.21754395 -0.47569076 4.47956399] [ 0.22055703 0.97407631 -0.05029853 -0.3559645 ] [ 0.47430124 -0.06204816 0.87817331 0.99250182] [ 0. 0. 0. 1. ]] SLAMing on 167.186502481 meters Centerline goodness : 0.708977 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85243263 -0.21688373 -0.47573109 4.4803928 ] [ 0.21993294 0.97422954 -0.05006299 -0.35614121] [ 0.47432912 -0.06195361 0.87816492 0.992014 ] [ 0. 0. 0. 1. ]] SLAMing on 167.216502481 meters Centerline goodness : 0.709472 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85285079 -0.21640361 -0.47519997 4.47994383] [ 0.21921397 0.97437938 -0.05029968 -0.35596255] [ 0.47391009 -0.06127235 0.87843892 0.99115932] [ 0. 0. 0. 1. ]] SLAMing on 167.246502481 meters Centerline goodness : 0.709075 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85306148 -0.21614651 -0.47493873 4.47944666] [ 0.21895536 0.97444287 -0.05019605 -0.35631646] [ 0.47365036 -0.06117006 0.87858611 0.99095059] [ 0. 0. 0. 1. ]] SLAMing on 167.276502481 meters Centerline goodness : 0.711553 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8533351 -0.2159601 -0.4745318 4.47919795] [ 0.21858171 0.97451444 -0.05043453 -0.35649243] [ 0.47332994 -0.06068642 0.87879231 0.99036581] [ 0. 0. 0. 1. ]] SLAMing on 167.306502481 meters Centerline goodness : 0.710463 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85337966 -0.21610609 -0.47438519 4.4792931 ] [ 0.21865024 0.97449073 -0.0505954 -0.35682031] [ 0.47321794 -0.06054735 0.87886222 0.99016609] [ 0. 0. 0. 1. ]] SLAMing on 167.336502481 meters Centerline goodness : 0.709110 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8537411 -0.21597412 -0.47379459 4.47857846] [ 0.21838336 0.97454381 -0.05072533 -0.3580199 ] [ 0.47268894 -0.06016256 0.87917326 0.98963079] [ 0. 0. 0. 1. ]] SLAMing on 167.366502481 meters Centerline goodness : 0.708875 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85376405 -0.21571294 -0.47387222 4.47818814] [ 0.21821052 0.97459405 -0.05050358 -0.35833999] [ 0.47272732 -0.06028576 0.87914419 0.98994953] [ 0. 0. 0. 1. ]] SLAMing on 167.396502481 meters Centerline goodness : 0.710943 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85395496 -0.21527478 -0.47372746 4.47744546] [ 0.21771534 0.97470635 -0.05047331 -0.35812874] [ 0.47261079 -0.0600358 0.87922394 0.99000827] [ 0. 0. 0. 1. ]] SLAMing on 167.426502481 meters Centerline goodness : 0.710467 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85421875 -0.21480923 -0.47346312 4.47624203] [ 0.21721698 0.97482269 -0.0503737 -0.35896692] [ 0.47236333 -0.05981407 0.87937203 0.99016521] [ 0. 0. 0. 1. ]] SLAMing on 167.456502481 meters Centerline goodness : 0.711803 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8543796 -0.21436479 -0.47337431 4.47560905] [ 0.2168645 0.97491666 -0.05007283 -0.35965182] [ 0.47223435 -0.05987688 0.87943702 0.99030654] [ 0. 0. 0. 1. ]] SLAMing on 167.486502481 meters Centerline goodness : 0.710771 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85443612 -0.21388301 -0.47349021 4.47599377] [ 0.21635756 0.97503252 -0.05000985 -0.36022376] [ 0.47236461 -0.05971297 0.87937821 0.99022331] [ 0. 0. 0. 1. ]] SLAMing on 167.51650248099997 meters Centerline goodness : 0.712181 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85456911 -0.21365707 -0.47335218 4.47656221] [ 0.21604404 0.97509774 -0.0500937 -0.36057349] [ 0.47226752 -0.05945638 0.87944774 0.98967443] [ 0. 0. 0. 1. ]] SLAMing on 167.54650248099998 meters Centerline goodness : 0.710631 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85472023 -0.21308176 -0.47333867 4.4774209 ] [ 0.21547268 0.97523238 -0.04993332 -0.36119111] [ 0.47225507 -0.05931254 0.87946414 0.98917899] [ 0. 0. 0. 1. ]] SLAMing on 167.57650248099998 meters Centerline goodness : 0.709750 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85494014 -0.21268544 -0.47311972 4.47721081] [ 0.21522917 0.97530757 -0.04951318 -0.36214774] [ 0.47196798 -0.05949835 0.87960569 0.98891242] [ 0. 0. 0. 1. ]] SLAMing on 167.60650248099998 meters Centerline goodness : 0.712055 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85471428 -0.21645356 -0.47181707 4.47609307] [ 0.21768554 0.9745917 -0.05276389 -0.36297656] [ 0.47124993 -0.0576097 0.88011625 0.98833113] [ 0. 0. 0. 1. ]] SLAMing on 167.63650248099998 meters Centerline goodness : 0.711661 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85467811 -0.21614459 -0.47202419 4.47626028] [ 0.21783035 0.97460762 -0.05186456 -0.36495641] [ 0.47124862 -0.05849369 0.88005865 0.98882367] [ 0. 0. 0. 1. ]] SLAMing on 167.66650248099998 meters Centerline goodness : 0.715313 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85403695 -0.22038626 -0.47122265 4.47551987] [ 0.22102008 0.97372681 -0.05482906 -0.36628617] [ 0.4709257 -0.05732363 0.88030846 0.98922749] [ 0. 0. 0. 1. ]] SLAMing on 167.69650248099998 meters Centerline goodness : 0.714819 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85349666 -0.22448167 -0.4702674 4.47580263] [ 0.22420279 0.97284606 -0.05747745 -0.36825945] [ 0.47040042 -0.05637845 0.88065028 0.98888516] [ 0. 0. 0. 1. ]] SLAMing on 167.72650248099998 meters Centerline goodness : 0.714608 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85316176 -0.22465359 -0.47079272 4.47706562] [ 0.22496381 0.97272805 -0.05649264 -0.37051574] [ 0.47064456 -0.05771396 0.8804333 0.98954961] [ 0. 0. 0. 1. ]] SLAMing on 167.75650248099998 meters Centerline goodness : 0.714774 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85193958 -0.22952939 -0.47065402 4.47884742] [ 0.22920845 0.97159167 -0.05893308 -0.37244296] [ 0.4708104 -0.05767045 0.88034748 0.99017629] [ 0. 0. 0. 1. ]] SLAMing on 167.78650248099999 meters Centerline goodness : 0.714603 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85154291 -0.22988943 -0.47119585 4.47974664] [ 0.23019321 0.97141877 -0.05793665 -0.37433755] [ 0.47104752 -0.05913054 0.88012375 0.99113708] [ 0. 0. 0. 1. ]] SLAMing on 167.816502481 meters Centerline goodness : 0.712952 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.8501974 -0.23476782 -0.47122017 4.48123549] [ 0.23449899 0.97024473 -0.06029413 -0.37591581] [ 0.47135401 -0.05923874 0.87995237 0.99224036] [ 0. 0. 0. 1. ]] SLAMing on 167.846502481 meters Centerline goodness : 0.714941 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84982488 -0.23530276 -0.47162516 4.48251909] [ 0.23550377 0.97004319 -0.05961701 -0.37765651] [ 0.47152482 -0.06040548 0.87978152 0.99278504] [ 0. 0. 0. 1. ]] SLAMing on 167.876502481 meters Centerline goodness : 0.715649 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84878742 -0.2402789 -0.47098404 4.48254344] [ 0.23957912 0.96886184 -0.06251871 -0.37859801] [ 0.47134039 -0.05977284 0.87992354 0.99346749] [ 0. 0. 0. 1. ]] SLAMing on 167.906502481 meters Centerline goodness : 0.715055 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84854382 -0.24093405 -0.47108828 4.48097927] [ 0.24084282 0.9686092 -0.06157074 -0.38063378] [ 0.47113493 -0.06121276 0.87993459 0.99505749] [ 0. 0. 0. 1. ]] SLAMing on 167.936502481 meters Centerline goodness : 0.715247 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84837643 -0.24115485 -0.47127675 4.48081494] [ 0.24133416 0.96851343 -0.06115196 -0.38131062] [ 0.47118495 -0.0618553 0.87986287 0.99571629] [ 0. 0. 0. 1. ]] SLAMing on 167.966502481 meters Centerline goodness : 0.714981 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84826798 -0.24178383 -0.47114967 4.48080749] [ 0.2419594 0.96834766 -0.0613062 -0.381628 ] [ 0.47105953 -0.06199501 0.87992019 0.99579542] [ 0. 0. 0. 1. ]] SLAMing on 167.996502481 meters Centerline goodness : 0.713874 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84823183 -0.24208893 -0.47105809 4.48020472] [ 0.24220168 0.96827541 -0.06149046 -0.38153982] [ 0.47100012 -0.06193289 0.87995636 0.99605466] [ 0. 0. 0. 1. ]] SLAMing on 168.026502481 meters Centerline goodness : 0.715263 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84818413 -0.24207866 -0.47114924 4.48035591] [ 0.24219055 0.96827739 -0.06150304 -0.38116672] [ 0.47109173 -0.06194199 0.87990668 0.99611334] [ 0. 0. 0. 1. ]] SLAMing on 168.056502481 meters Centerline goodness : 0.714029 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84819313 -0.24195017 -0.47119904 4.48199641] [ 0.24189496 0.9683331 -0.06178858 -0.38010239] [ 0.47122739 -0.06157202 0.87986001 0.9951873 ] [ 0. 0. 0. 1. ]] SLAMing on 168.086502481 meters Centerline goodness : 0.714594 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.8483935 -0.24150422 -0.47106707 4.4821482 ] [ 0.24147054 0.96845035 -0.06161078 -0.38014494] [ 0.47108433 -0.06147864 0.87994314 0.99474985] [ 0. 0. 0. 1. ]] SLAMing on 168.116502481 meters Centerline goodness : 0.715419 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84865379 -0.24049671 -0.47111365 4.48201028] [ 0.24059207 0.96870066 -0.06111041 -0.3800133 ] [ 0.47106496 -0.06148463 0.87995309 0.99459246] [ 0. 0. 0. 1. ]] SLAMing on 168.146502481 meters Centerline goodness : 0.716671 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84916877 -0.23965502 -0.47061435 4.48157646] [ 0.23959169 0.96894855 -0.06111077 -0.37973353] [ 0.47064659 -0.06086193 0.88022021 0.99364462] [ 0. 0. 0. 1. ]] SLAMing on 168.176502481 meters Centerline goodness : 0.717756 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.8492906 -0.23941187 -0.47051825 4.4811541 ] [ 0.23931847 0.96901746 -0.06108871 -0.37944002] [ 0.47056577 -0.06072164 0.88027311 0.99360027] [ 0. 0. 0. 1. ]] SLAMing on 168.206502481 meters Centerline goodness : 0.717448 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84947502 -0.23910048 -0.47034366 4.48068924] [ 0.2390573 0.96909462 -0.06088693 -0.37954088] [ 0.4703656 -0.06071716 0.88038039 0.99345956] [ 0. 0. 0. 1. ]] SLAMing on 168.236502481 meters Centerline goodness : 0.718284 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84975099 -0.2391335 -0.46982808 4.48003923] [ 0.23887307 0.96911863 -0.06122687 -0.3791952 ] [ 0.46996054 -0.06020168 0.88063207 0.99284954] [ 0. 0. 0. 1. ]] SLAMing on 168.26650248099997 meters Centerline goodness : 0.718682 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84943249 -0.24001229 -0.46995591 4.48200348] [ 0.23946751 0.96892215 -0.06200951 -0.37793567] [ 0.47023373 -0.05986628 0.88050909 0.99220803] [ 0. 0. 0. 1. ]] SLAMing on 168.29650248099998 meters Centerline goodness : 0.715797 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84903338 -0.24057626 -0.47038854 4.48330768] [ 0.23999421 0.96877378 -0.0622908 -0.376995 ] [ 0.47068577 -0.06000356 0.88025819 0.99244904] [ 0. 0. 0. 1. ]] SLAMing on 168.32650248099998 meters Centerline goodness : 0.718431 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.84825453 -0.24191061 -0.47110881 4.4852777 ] [ 0.24133061 0.96841245 -0.06274444 -0.3758686 ] [ 0.47140618 -0.06046972 0.87984068 0.99305221] [ 0. 0. 0. 1. ]] SLAMing on 168.35650248099998 meters Centerline goodness : 0.717760 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.84807571 -0.24244296 -0.47115709 4.48576919] [ 0.24193792 0.96826039 -0.0627524 -0.3761614 ] [ 0.47141663 -0.06077198 0.87981426 0.99315563] [ 0. 0. 0. 1. ]] SLAMing on 168.38650248099998 meters Centerline goodness : 0.718181 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.84791699 -0.24338629 -0.47095635 4.48521596] [ 0.24294293 0.96800192 -0.06285713 -0.37645272] [ 0.47118521 -0.06111789 0.87991426 0.99344629] [ 0. 0. 0. 1. ]] SLAMing on 168.41650248099998 meters Centerline goodness : 0.717657 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84786673 -0.24384853 -0.47080771 4.48415242] [ 0.2432609 0.96789798 -0.06322683 -0.37526823] [ 0.47111161 -0.06092118 0.87996731 0.9937801 ] [ 0. 0. 0. 1. ]] SLAMing on 168.44650248099998 meters Centerline goodness : 0.716385 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84783816 -0.24403837 -0.4707608 4.48394263] [ 0.24329177 0.96786794 -0.06356703 -0.37422211] [ 0.47114708 -0.06063767 0.8799679 0.99372271] [ 0. 0. 0. 1. ]] SLAMing on 168.47650248099998 meters Centerline goodness : 0.715309 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84790197 -0.24458108 -0.47036406 4.48309211] [ 0.24328824 0.96779555 -0.0646731 -0.37153321] [ 0.47103406 -0.05959759 0.88009945 0.99330721] [ 0. 0. 0. 1. ]] SLAMing on 168.50650248099998 meters Centerline goodness : 0.715809 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84798851 -0.24495519 -0.47001324 4.48219338] [ 0.24338161 0.9677336 -0.06524617 -0.3705036 ] [ 0.47082999 -0.05906458 0.88024456 0.99311903] [ 0. 0. 0. 1. ]] SLAMing on 168.53650248099999 meters Centerline goodness : 0.714113 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84837101 -0.24535984 -0.46911106 4.48047832] [ 0.24324322 0.96770081 -0.06624107 -0.36972251] [ 0.47021205 -0.05791108 0.88065143 0.99245226] [ 0. 0. 0. 1. ]] SLAMing on 168.566502481 meters Centerline goodness : 0.712600 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84848663 -0.24531601 -0.46892482 4.47986865] [ 0.24314971 0.96772052 -0.06629646 -0.36947063] [ 0.47005175 -0.05776727 0.88074644 0.99243727] [ 0. 0. 0. 1. ]] SLAMing on 168.596502481 meters Centerline goodness : 0.713459 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84839557 -0.24508236 -0.46921167 4.47980691] [ 0.24277886 0.96779746 -0.06653198 -0.36775067] [ 0.47040768 -0.05746923 0.88057589 0.99276507] [ 0. 0. 0. 1. ]] SLAMing on 168.626502481 meters Centerline goodness : 0.713687 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84847345 -0.24504961 -0.46908794 4.47969257] [ 0.24262215 0.96782256 -0.06673821 -0.36699855] [ 0.47034806 -0.05718552 0.88062621 0.99249624] [ 0. 0. 0. 1. ]] SLAMing on 168.656502481 meters Centerline goodness : 0.714001 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84872154 -0.24441209 -0.46897172 4.47969023] [ 0.24198587 0.96799467 -0.06655195 -0.36644557] [ 0.47022822 -0.05700045 0.8807022 0.99202064] [ 0. 0. 0. 1. ]] SLAMing on 168.686502481 meters Centerline goodness : 0.713039 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84892427 -0.24449438 -0.46856171 4.47933464] [ 0.24176426 0.96801313 -0.06708663 -0.36610298] [ 0.46997619 -0.05633001 0.88087985 0.99144811] [ 0. 0. 0. 1. ]] SLAMing on 168.716502481 meters Centerline goodness : 0.713220 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8489866 -0.2444032 -0.46849635 4.47989354] [ 0.24160019 0.9680469 -0.06719036 -0.36597112] [ 0.46994798 -0.05614509 0.8809067 0.99098204] [ 0. 0. 0. 1. ]] SLAMing on 168.746502481 meters Centerline goodness : 0.713574 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84895561 -0.24441414 -0.4685468 4.48077478] [ 0.24149498 0.96805734 -0.0674178 -0.36533978] [ 0.47005803 -0.05591698 0.8808625 0.99053034] [ 0. 0. 0. 1. ]] SLAMing on 168.776502481 meters Centerline goodness : 0.710667 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8485387 -0.24402244 -0.46950518 4.48330097] [ 0.2411494 0.96814762 -0.06735847 -0.36323105] [ 0.4709873 -0.05606463 0.88035659 0.99062365] [ 0. 0. 0. 1. ]] SLAMing on 168.806502481 meters Centerline goodness : 0.711140 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8484156 -0.24418662 -0.46964228 4.48450422] [ 0.24101718 0.96813751 -0.06797406 -0.36138849] [ 0.47127667 -0.05552161 0.88023614 0.99014849] [ 0. 0. 0. 1. ]] SLAMing on 168.836502481 meters Centerline goodness : 0.711361 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84832987 -0.24446516 -0.46965224 4.48470781] [ 0.2411941 0.96807484 -0.06823859 -0.36119368] [ 0.47134048 -0.05538852 0.88021035 0.99016861] [ 0. 0. 0. 1. ]] SLAMing on 168.866502481 meters Centerline goodness : 0.711631 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84828136 -0.24501449 -0.46945354 4.48433311] [ 0.2415623 0.96795074 -0.06869512 -0.36110999] [ 0.4712392 -0.05512949 0.88028084 0.9902092 ] [ 0. 0. 0. 1. ]] SLAMing on 168.896502481 meters Centerline goodness : 0.711631 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84828136 -0.24501449 -0.46945354 4.48433311] [ 0.2415623 0.96795074 -0.06869512 -0.36110999] [ 0.4712392 -0.05512949 0.88028084 0.9902092 ] [ 0. 0. 0. 1. ]] SLAMing on 168.926502481 meters Centerline goodness : 0.709393 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84808117 -0.2450986 -0.46977123 4.48357031] [ 0.24156644 0.96793451 -0.06890895 -0.35927757] [ 0.47159727 -0.05504059 0.88009462 0.99101977] [ 0. 0. 0. 1. ]] SLAMing on 168.956502481 meters Centerline goodness : 0.709941 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84787617 -0.2449654 -0.47021054 4.48364083] [ 0.24144782 0.96796437 -0.06890515 -0.35792155] [ 0.47202642 -0.05510828 0.87986029 0.99163096] [ 0. 0. 0. 1. ]] SLAMing on 168.98650248099997 meters Centerline goodness : 0.707665 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84770506 -0.24526491 -0.47036291 4.48345092] [ 0.24159028 0.96790084 -0.06929716 -0.35670112] [ 0.47226081 -0.05489155 0.87974806 0.9919683 ] [ 0. 0. 0. 1. ]] SLAMing on 169.01650248099997 meters Centerline goodness : 0.705945 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84763532 -0.24558917 -0.47031939 4.48292257] [ 0.24156009 0.96785511 -0.07003724 -0.35567714] [ 0.47240141 -0.05424436 0.87971271 0.99215795] [ 0. 0. 0. 1. ]] SLAMing on 169.04650248099998 meters Centerline goodness : 0.708119 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84760806 -0.24590969 -0.47020102 4.48284895] [ 0.24171431 0.96778911 -0.0704161 -0.35573011] [ 0.47237143 -0.05396907 0.87974574 0.99208306] [ 0. 0. 0. 1. ]] SLAMing on 169.07650248099998 meters Centerline goodness : 0.702631 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84734085 -0.24615902 -0.47055204 4.4831731 ] [ 0.24193972 0.96772141 -0.07057231 -0.35527304] [ 0.47273529 -0.05404643 0.87954553 0.99262877] [ 0. 0. 0. 1. ]] SLAMing on 169.10650248099998 meters Centerline goodness : 0.703204 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.84723266 -0.24297854 -0.47239628 4.48490616] [ 0.24030534 0.96837511 -0.06710433 -0.35464578] [ 0.47376171 -0.05666637 0.87882806 0.99394843] [ 0. 0. 0. 1. ]] SLAMing on 169.13650248099998 meters Centerline goodness : 0.700647 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.99 [[ 0.84706909 -0.24301033 -0.47267318 4.48509585] [ 0.24045633 0.96834972 -0.06692966 -0.35434024] [ 0.47397754 -0.05696322 0.87869249 0.9943671 ] [ 0. 0. 0. 1. ]] SLAMing on 169.16650248099998 meters Centerline goodness : 0.700955 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84712045 -0.24285728 -0.4726598 4.48410532] [ 0.2406405 0.96834989 -0.06626188 -0.35619923] [ 0.47379225 -0.0576093 0.87875029 0.99505637] [ 0. 0. 0. 1. ]] SLAMing on 169.19650248099998 meters Centerline goodness : 0.703425 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84719162 -0.24294006 -0.47248967 4.48329478] [ 0.24090826 0.96830686 -0.06591693 -0.35768986] [ 0.47352885 -0.05798239 0.87886772 0.99538885] [ 0. 0. 0. 1. ]] SLAMing on 169.22650248099998 meters Centerline goodness : 0.702231 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84726391 -0.24298684 -0.47233596 4.48250125] [ 0.2413157 0.96825138 -0.06523801 -0.35992811] [ 0.47319192 -0.05870827 0.87900099 0.99582755] [ 0. 0. 0. 1. ]] SLAMing on 169.25650248099998 meters Centerline goodness : 0.700334 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84696878 -0.24263039 -0.47304797 4.48332746] [ 0.2414823 0.9682743 -0.06427424 -0.36060712] [ 0.47363507 -0.05979444 0.87868905 0.99667679] [ 0. 0. 0. 1. ]] SLAMing on 169.28650248099999 meters Centerline goodness : 0.700024 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84668909 -0.24255688 -0.47358605 4.48401539] [ 0.24163038 0.96826069 -0.06392183 -0.36036401] [ 0.47405943 -0.06031086 0.87842487 0.9972547 ] [ 0. 0. 0. 1. ]] SLAMing on 169.316502481 meters Centerline goodness : 0.699214 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.00 [[ 0.8465565 -0.2420748 -0.4740695 4.48557292] [ 0.24135948 0.96835778 -0.06347292 -0.36067579] [ 0.47443408 -0.06068776 0.87819662 0.99726746] [ 0. 0. 0. 1. ]] SLAMing on 169.346502481 meters Centerline goodness : 0.699102 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.00 [[ 0.84661446 -0.24212365 -0.47394102 4.485918 ] [ 0.24144369 0.96834145 -0.06340166 -0.36143857] [ 0.47428778 -0.06075331 0.87827111 0.9969804 ] [ 0. 0. 0. 1. ]] SLAMing on 169.376502481 meters Centerline goodness : 0.698825 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.00 [[ 0.84668171 -0.24205057 -0.47385821 4.48514847] [ 0.24148892 0.96834656 -0.06315092 -0.36242017] [ 0.47414468 -0.06096278 0.87833385 0.99732327] [ 0. 0. 0. 1. ]] SLAMing on 169.406502481 meters Centerline goodness : 0.699243 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.00 [[ 0.84649549 -0.2419817 -0.47422594 4.48516545] [ 0.24166135 0.96833025 -0.06274003 -0.36268128] [ 0.47438926 -0.06149293 0.87816482 0.99802646] [ 0. 0. 0. 1. ]] SLAMing on 169.436502481 meters Centerline goodness : 0.698400 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84638147 -0.24141611 -0.47471747 4.48467291] [ 0.24163672 0.96840566 -0.06166169 -0.36313899] [ 0.47460521 -0.06251986 0.8779756 0.99904054] [ 0. 0. 0. 1. ]] SLAMing on 169.466502481 meters Centerline goodness : 0.696812 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.8461151 -0.24202935 -0.47488002 4.48399163] [ 0.24226227 0.96823882 -0.06182708 -0.36329891] [ 0.47476123 -0.06273269 0.87787606 0.99995109] [ 0. 0. 0. 1. ]] SLAMing on 169.496502481 meters Centerline goodness : 0.695104 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84597324 -0.24208574 -0.47510396 4.48407881] [ 0.24243634 0.96820599 -0.06165854 -0.36366483] [ 0.47492515 -0.06302099 0.87776674 1.00038905] [ 0. 0. 0. 1. ]] SLAMing on 169.526502481 meters Centerline goodness : 0.696039 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84574951 -0.24278095 -0.47514754 4.48455552] [ 0.24279942 0.96806334 -0.06246448 -0.36283865] [ 0.4751381 -0.06253624 0.87768617 1.00032529] [ 0. 0. 0. 1. ]] SLAMing on 169.556502481 meters Centerline goodness : 0.692366 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84559365 -0.24299238 -0.47531683 4.48467072] [ 0.24278224 0.96803499 -0.06296854 -0.36181191] [ 0.4754242 -0.06215269 0.87755847 1.00050055] [ 0. 0. 0. 1. ]] SLAMing on 169.586502481 meters Centerline goodness : 0.690418 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84668617 -0.23802462 -0.47588529 4.48310484] [ 0.23914646 0.96917295 -0.05926853 -0.36245941] [ 0.47532252 -0.06362444 0.87750808 1.00082624] [ 0. 0. 0. 1. ]] SLAMing on 169.616502481 meters Centerline goodness : 0.694614 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84702861 -0.23690659 -0.47583379 4.48182798] [ 0.23809222 0.96945832 -0.05884438 -0.3623311 ] [ 0.47524164 -0.06344946 0.87756455 1.0010656 ] [ 0. 0. 0. 1. ]] SLAMing on 169.646502481 meters Centerline goodness : 0.695479 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84770011 -0.23561103 -0.47528094 4.47925347] [ 0.23666981 0.96981837 -0.05864926 -0.36235004] [ 0.4747546 -0.06276766 0.87787715 1.00114683] [ 0. 0. 0. 1. ]] SLAMing on 169.676502481 meters Centerline goodness : 0.691618 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84775097 -0.23486066 -0.47556153 4.47905041] [ 0.23614332 0.96998107 -0.058078 -0.36295274] [ 0.47492592 -0.063065 0.87776317 1.00160896] [ 0. 0. 0. 1. ]] SLAMing on 169.706502481 meters Centerline goodness : 0.691313 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84771044 -0.23463142 -0.47574689 4.47922387] [ 0.23616998 0.97000473 -0.05757228 -0.36393296] [ 0.474985 -0.06355251 0.87769603 1.00191958] [ 0. 0. 0. 1. ]] SLAMing on 169.73650248099997 meters Centerline goodness : 0.691717 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.84764492 -0.23466942 -0.47584488 4.4792884 ] [ 0.23676587 0.96991864 -0.05656646 -0.36633321] [ 0.47480523 -0.06471555 0.87770832 1.00241531] [ 0. 0. 0. 1. ]] SLAMing on 169.76650248099997 meters Centerline goodness : 0.691728 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.84747481 -0.23475541 -0.47610539 4.47983892] [ 0.23724141 0.96984048 -0.05591027 -0.36776723] [ 0.47487152 -0.06556937 0.87760908 1.0028488 ] [ 0. 0. 0. 1. ]] SLAMing on 169.79650248099998 meters Centerline goodness : 0.689487 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.84671192 -0.23549867 -0.47709464 4.48168636] [ 0.23877045 0.96952763 -0.05481654 -0.37062017] [ 0.47546566 -0.06750229 0.87714072 1.00424539] [ 0. 0. 0. 1. ]] SLAMing on 169.82650248099998 meters Centerline goodness : 0.689630 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.84640274 -0.23588392 -0.47745281 4.48271522] [ 0.23956387 0.96936512 -0.05422552 -0.37212778] [ 0.47561703 -0.06848382 0.87698256 1.00467999] [ 0. 0. 0. 1. ]] SLAMing on 169.85650248099998 meters Centerline goodness : 0.689895 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.01 [[ 0.84533365 -0.24037981 -0.47710435 4.48340296] [ 0.24328165 0.9682907 -0.05680806 -0.37375932] [ 0.47563122 -0.06804897 0.87700871 1.00538001] [ 0. 0. 0. 1. ]] SLAMing on 169.88650248099998 meters Centerline goodness : 0.687887 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.01 [[ 0.84505967 -0.24030848 -0.47762537 4.48433174] [ 0.2438335 0.96821474 -0.05572643 -0.3757378 ] [ 0.47583546 -0.0693689 0.87679449 1.00611301] [ 0. 0. 0. 1. ]] SLAMing on 169.91650248099998 meters Centerline goodness : 0.688736 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.01 [[ 0.84454559 -0.24047365 -0.4784508 4.48554909] [ 0.2449904 0.96801579 -0.05408441 -0.37884329] [ 0.47615381 -0.0715391 0.87644721 1.00746796] [ 0. 0. 0. 1. ]] SLAMing on 169.94650248099998 meters Centerline goodness : 0.688079 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.01 [[ 0.84435289 -0.24054121 -0.47875685 4.48613057] [ 0.24546834 0.96793269 -0.05340038 -0.38023843] [ 0.4762494 -0.07243089 0.87632202 1.00795706] [ 0. 0. 0. 1. ]] SLAMing on 169.97650248099998 meters Centerline goodness : 0.688343 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.01 [[ 0.84427867 -0.24066689 -0.47882457 4.48531076] [ 0.24623706 0.96779953 -0.05226257 -0.38253754] [ 0.47598407 -0.07378018 0.87635361 1.00889333] [ 0. 0. 0. 1. ]] SLAMing on 170.00650248099998 meters Centerline goodness : 0.688837 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.01 [[ 0.84421813 -0.24050315 -0.47901355 4.48444604] [ 0.24646967 0.96778 -0.05152251 -0.38366921] [ 0.47597106 -0.07456608 0.87629416 1.00978908] [ 0. 0. 0. 1. ]] SLAMing on 170.03650248099999 meters Centerline goodness : 0.689225 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.01 [[ 0.84463058 -0.24062441 -0.47822493 4.48191103] [ 0.24677558 0.96772588 -0.05107275 -0.38560124] [ 0.47508 -0.07487663 0.8767511 1.01002311] [ 0. 0. 0. 1. ]] SLAMing on 170.066502481 meters Centerline goodness : 0.689997 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.01 [[ 0.84482698 -0.24073566 -0.47782184 4.48112339] [ 0.24690534 0.96769685 -0.05099568 -0.38618668] [ 0.47466317 -0.07489423 0.87697533 1.00983171] [ 0. 0. 0. 1. ]] SLAMing on 170.096502481 meters Centerline goodness : 0.690092 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.01 [[ 0.84547397 -0.24037685 -0.47685714 4.47973135] [ 0.24613184 0.96786754 -0.05149317 -0.38591967] [ 0.47391232 -0.07383359 0.87747121 1.00868627] [ 0. 0. 0. 1. ]] SLAMing on 170.126502481 meters Centerline goodness : 0.687625 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.01 [[ 0.84563325 -0.24014899 -0.47668949 4.4793096 ] [ 0.24572545 0.96795801 -0.0517329 -0.38534117] [ 0.47383901 -0.07338768 0.8775482 1.00846165] [ 0. 0. 0. 1. ]] SLAMing on 170.156502481 meters Centerline goodness : 0.689925 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.01 [[ 0.84597724 -0.23986692 -0.47622093 4.47865479] [ 0.24501493 0.96810392 -0.05236866 -0.38444865] [ 0.47359286 -0.07237854 0.87776486 1.00771691] [ 0. 0. 0. 1. ]] SLAMing on 170.186502481 meters Centerline goodness : 0.691194 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.01 [[ 0.84705017 -0.23854563 -0.47497578 4.47680605] [ 0.24308373 0.96855999 -0.05293245 -0.38359745] [ 0.47266934 -0.07062245 0.87840546 1.00592737] [ 0. 0. 0. 1. ]] SLAMing on 170.216502481 meters Centerline goodness : 0.693834 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.8486831 -0.23286641 -0.47487918 4.47556686] [ 0.23854333 0.96988039 -0.04928595 -0.38514624] [ 0.47205305 -0.07145111 0.87866982 1.00481235] [ 0. 0. 0. 1. ]] SLAMing on 170.246502481 meters Centerline goodness : 0.692076 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84897785 -0.23221318 -0.47467216 4.47527003] [ 0.23776035 0.97007099 -0.04931826 -0.38474637] [ 0.47191804 -0.0709881 0.87877987 1.00431314] [ 0. 0. 0. 1. ]] SLAMing on 170.276502481 meters Centerline goodness : 0.694005 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84954182 -0.23100195 -0.47425393 4.47561711] [ 0.23647738 0.97039769 -0.04905882 -0.38484492] [ 0.4715476 -0.0704728 0.87902016 1.00304716] [ 0. 0. 0. 1. ]] SLAMing on 170.306502481 meters Centerline goodness : 0.691751 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.8496845 -0.23068995 -0.47415019 4.47608152] [ 0.23625142 0.97046588 -0.04879795 -0.38572284] [ 0.47140378 -0.0705558 0.87909064 1.00266538] [ 0. 0. 0. 1. ]] SLAMing on 170.336502481 meters Centerline goodness : 0.694660 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.85027991 -0.22996106 -0.47343636 4.47514943] [ 0.23609017 0.97057332 -0.0474221 -0.38962981] [ 0.47040994 -0.07145161 0.87955054 1.00223251] [ 0. 0. 0. 1. ]] SLAMing on 170.366502481 meters Centerline goodness : 0.695142 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.39, Z:1.00 [[ 0.84967066 -0.23423815 -0.47243228 4.47483141] [ 0.23943511 0.96961764 -0.05012454 -0.39107321] [ 0.46981975 -0.07052752 0.87994049 1.00224158] [ 0. 0. 0. 1. ]] SLAMing on 170.396502481 meters Centerline goodness : 0.697531 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84937428 -0.23445947 -0.47285525 4.4762346 ] [ 0.2401024 0.96948873 -0.04942107 -0.39234187] [ 0.47001507 -0.07155669 0.87975307 1.00258975] [ 0. 0. 0. 1. ]] SLAMing on 170.426502481 meters Centerline goodness : 0.695106 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84804197 -0.23973873 -0.47259937 4.47806281] [ 0.24450754 0.96822989 -0.05241131 -0.39240163] [ 0.47014986 -0.07110712 0.87971751 1.00298939] [ 0. 0. 0. 1. ]] SLAMing on 170.456502481 meters Centerline goodness : 0.696318 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.8471274 -0.24474322 -0.47167354 4.47837357] [ 0.2481308 0.96709694 -0.05616602 -0.39226345] [ 0.46990028 -0.06945696 0.87998264 1.00284005] [ 0. 0. 0. 1. ]] SLAMing on 170.48650248099997 meters Centerline goodness : 0.694500 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84580827 -0.25045337 -0.47104296 4.47878631] [ 0.25305314 0.96564854 -0.05905086 -0.39420133] [ 0.46965144 -0.06925319 0.88013154 1.00375379] [ 0. 0. 0. 1. ]] SLAMing on 170.51650248099997 meters Centerline goodness : 0.694722 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84534352 -0.25106505 -0.47155135 4.47940995] [ 0.25420112 0.96539291 -0.05829514 -0.3953976 ] [ 0.4698682 -0.07058947 0.87990966 1.00481554] [ 0. 0. 0. 1. ]] SLAMing on 170.54650248099998 meters Centerline goodness : 0.693573 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84427527 -0.25320018 -0.47232292 4.47978699] [ 0.25727201 0.96464184 -0.05724706 -0.39678966] [ 0.47011742 -0.07318319 0.87956457 1.007003 ] [ 0. 0. 0. 1. ]] SLAMing on 170.57650248099998 meters Centerline goodness : 0.696060 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84377949 -0.25402908 -0.47276357 4.47996437] [ 0.25864182 0.96431744 -0.05653569 -0.3981962 ] [ 0.47025587 -0.07457278 0.87937382 1.00825261] [ 0. 0. 0. 1. ]] SLAMing on 170.60650248099998 meters Centerline goodness : 0.695906 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84241208 -0.25969629 -0.47212258 4.47956027] [ 0.26352046 0.96282265 -0.05940969 -0.39895 ] [ 0.46999879 -0.07436652 0.87952872 1.00959498] [ 0. 0. 0. 1. ]] SLAMing on 170.63650248099998 meters Centerline goodness : 0.698939 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84109006 -0.26557875 -0.47120636 4.47943277] [ 0.26811069 0.96131033 -0.06323844 -0.3986338 ] [ 0.46977033 -0.07314624 0.87975307 1.01014954] [ 0. 0. 0. 1. ]] SLAMing on 170.66650248099998 meters Centerline goodness : 0.699831 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84081461 -0.26616959 -0.47136454 4.47987814] [ 0.26887015 0.96110669 -0.06310917 -0.39901745] [ 0.46982936 -0.07367274 0.87967761 1.01052243] [ 0. 0. 0. 1. ]] SLAMing on 170.69650248099998 meters Centerline goodness : 0.700783 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84048097 -0.26715505 -0.47140207 4.48047926] [ 0.2698898 0.96080726 -0.06331595 -0.39810551] [ 0.46984171 -0.07401076 0.87964264 1.01055673] [ 0. 0. 0. 1. ]] SLAMing on 170.72650248099998 meters Centerline goodness : 0.702317 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84048515 -0.26734064 -0.4712894 4.48054125] [ 0.27001946 0.96076197 -0.06345015 -0.39752729] [ 0.46975974 -0.0739284 0.87969334 1.0103481 ] [ 0. 0. 0. 1. ]] SLAMing on 170.75650248099998 meters Centerline goodness : 0.704497 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84120297 -0.26698074 -0.4702115 4.47870063] [ 0.26950525 0.96090636 -0.06344992 -0.39795148] [ 0.46876913 -0.0733502 0.88026999 1.00931587] [ 0. 0. 0. 1. ]] SLAMing on 170.78650248099999 meters Centerline goodness : 0.704497 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84120297 -0.26698074 -0.4702115 4.47870063] [ 0.26950525 0.96090636 -0.06344992 -0.39795148] [ 0.46876913 -0.0733502 0.88026999 1.00931587] [ 0. 0. 0. 1. ]] SLAMing on 170.816502481 meters Centerline goodness : 0.704951 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84163927 -0.26660787 -0.46964197 4.47792663] [ 0.26910909 0.96102776 -0.06329243 -0.39857146] [ 0.46821323 -0.07311553 0.88058531 1.00865767] [ 0. 0. 0. 1. ]] SLAMing on 170.846502481 meters Centerline goodness : 0.706632 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84258364 -0.26563323 -0.46849952 4.47672126] [ 0.26789879 0.96136706 -0.06327412 -0.39861741] [ 0.46720772 -0.07219672 0.88119497 1.00695149] [ 0. 0. 0. 1. ]] SLAMing on 170.876502481 meters Centerline goodness : 0.705947 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84373216 -0.26078171 -0.46915769 4.47785129] [ 0.26444708 0.96256535 -0.05946173 -0.39957783] [ 0.46710147 -0.07389761 0.8811103 1.00594283] [ 0. 0. 0. 1. ]] SLAMing on 170.906502481 meters Centerline goodness : 0.707775 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84387663 -0.26041277 -0.46910278 4.47885245] [ 0.2639262 0.96269724 -0.05964046 -0.39848997] [ 0.46713509 -0.07347932 0.88112746 1.00508501] [ 0. 0. 0. 1. ]] SLAMing on 170.936502481 meters Centerline goodness : 0.708168 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84485256 -0.25570701 -0.46993411 4.48142453] [ 0.26044763 0.96384932 -0.05622741 -0.3985861 ] [ 0.46732342 -0.07488936 0.88090885 1.0036338 ] [ 0. 0. 0. 1. ]] SLAMing on 170.966502481 meters Centerline goodness : 0.710432 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84514715 -0.25569976 -0.46940806 4.48190852] [ 0.26000398 0.9639265 -0.05695291 -0.3976567 ] [ 0.46703772 -0.07391437 0.88114269 1.00227483] [ 0. 0. 0. 1. ]] SLAMing on 170.996502481 meters Centerline goodness : 0.708163 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84542643 -0.25560198 -0.46895819 4.48243477] [ 0.25962213 0.96400395 -0.05738231 -0.39727513] [ 0.46674458 -0.0732394 0.88135435 1.00111828] [ 0. 0. 0. 1. ]] SLAMing on 171.026502481 meters Centerline goodness : 0.712734 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84608325 -0.25561125 -0.46776705 4.4818691 ] [ 0.2589663 0.96411734 -0.05843121 -0.39716161] [ 0.465918 -0.07169824 0.88191824 0.99923597] [ 0. 0. 0. 1. ]] SLAMing on 171.056502481 meters Centerline goodness : 0.711497 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84645458 -0.25531134 -0.46725877 4.48120651] [ 0.25847968 0.96423665 -0.05861687 -0.39711847] [ 0.46551358 -0.07116038 0.88217533 0.99855745] [ 0. 0. 0. 1. ]] SLAMing on 171.086502481 meters Centerline goodness : 0.712658 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84761451 -0.25064979 -0.46767972 4.48056947] [ 0.25499581 0.96536354 -0.05523015 -0.39712215] [ 0.46532437 -0.07244249 0.8821708 0.99807192] [ 0. 0. 0. 1. ]] SLAMing on 171.116502481 meters Centerline goodness : 0.713601 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84861801 -0.24612477 -0.46826282 4.48007073] [ 0.25142347 0.9664611 -0.05233712 -0.39666488] [ 0.46543926 -0.07331804 0.88203785 0.99774274] [ 0. 0. 0. 1. ]] SLAMing on 171.146502481 meters Centerline goodness : 0.713025 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84894503 -0.24584358 -0.46781756 4.47915595] [ 0.25083029 0.96659141 -0.0527752 -0.39577578] [ 0.46516288 -0.07253957 0.88224799 0.99721655] [ 0. 0. 0. 1. ]] SLAMing on 171.176502481 meters Centerline goodness : 0.715938 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84938059 -0.24587593 -0.46700925 4.47848901] [ 0.25018226 0.96669544 -0.05393294 -0.39474692] [ 0.46471653 -0.07102784 0.88260614 0.99594066] [ 0. 0. 0. 1. ]] SLAMing on 171.206502481 meters Centerline goodness : 0.714876 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84936745 -0.2460392 -0.46694715 4.47891146] [ 0.25025685 0.96666493 -0.05413341 -0.39488754] [ 0.46470037 -0.07087757 0.88262672 0.99569598] [ 0. 0. 0. 1. ]] SLAMing on 171.23650248099997 meters Centerline goodness : 0.716912 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84934493 -0.246205 -0.46690073 4.47896679] [ 0.25041929 0.96662052 -0.05417522 -0.39475149] [ 0.46465403 -0.0709075 0.88264872 0.99566438] [ 0. 0. 0. 1. ]] SLAMing on 171.26650248099997 meters Centerline goodness : 0.407992 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84922961 -0.24635852 -0.46702948 4.47904139] [ 0.2506792 0.96656095 -0.05403583 -0.3946646 ] [ 0.46472465 -0.07118575 0.88258914 0.99593999] [ 0. 0. 0. 1. ]] SLAMing on 171.29650248099998 meters Centerline goodness : 0.717246 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.8492518 -0.24652553 -0.466901 4.47871024] [ 0.25107604 0.96648107 -0.05362053 -0.39617617] [ 0.46446981 -0.07169032 0.88268244 0.99622615] [ 0. 0. 0. 1. ]] SLAMing on 171.32650248099998 meters Centerline goodness : 0.717825 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84909441 -0.24688988 -0.46699471 4.47917474] [ 0.25157524 0.96635924 -0.05347638 -0.39697417] [ 0.46448743 -0.07207781 0.88264161 0.99642211] [ 0. 0. 0. 1. ]] SLAMing on 171.35650248099998 meters Centerline goodness : 0.144899 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84877517 -0.24749693 -0.46725366 4.48036449] [ 0.25254077 0.96613358 -0.05300068 -0.39861129] [ 0.46454695 -0.07301494 0.88253326 0.99676285] [ 0. 0. 0. 1. ]] SLAMing on 171.38650248099998 meters Centerline goodness : 0.650315 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84848897 -0.24765094 -0.46769165 4.48191876] [ 0.25327214 0.96599522 -0.0520236 -0.40050794] [ 0.46467159 -0.07431182 0.88235937 0.99712788] [ 0. 0. 0. 1. ]] SLAMing on 171.41650248099998 meters Centerline goodness : 0.451286 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84832477 -0.24768781 -0.4679699 4.4828337 ] [ 0.25360337 0.96593502 -0.05152534 -0.40136477] [ 0.46479072 -0.07496852 0.88224107 0.99737013] [ 0. 0. 0. 1. ]] SLAMing on 171.44650248099998 meters Centerline goodness : 0.586037 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84813388 -0.24742547 -0.46845443 4.48443094] [ 0.25398884 0.96589746 -0.05031673 -0.40283121] [ 0.46492858 -0.07630687 0.88205367 0.99762266] [ 0. 0. 0. 1. ]] SLAMing on 171.47650248099998 meters Centerline goodness : 0.588328 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.8480195 -0.24769091 -0.46852123 4.48463577] [ 0.25447586 0.96578681 -0.04997879 -0.40356559] [ 0.46487092 -0.07684435 0.8820374 0.99787894] [ 0. 0. 0. 1. ]] SLAMing on 171.50650248099998 meters Centerline goodness : 0.574402 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:1.00 [[ 0.84784757 -0.24802512 -0.46865556 4.4853934 ] [ 0.25525847 0.96561814 -0.04924144 -0.40525525] [ 0.46475543 -0.07787907 0.88200751 0.99815887] [ 0. 0. 0. 1. ]] SLAMing on 171.53650248099999 meters Centerline goodness : 0.568657 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:1.00 [[ 0.84772117 -0.24845404 -0.46865702 4.4864433 ] [ 0.25580533 0.96547904 -0.04913096 -0.40570415] [ 0.46468532 -0.07823561 0.88201289 0.99785796] [ 0. 0. 0. 1. ]] SLAMing on 171.566502481 meters Centerline goodness : 0.650862 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:1.00 [[ 0.84780854 -0.24839937 -0.46852795 4.48628965] [ 0.25581377 0.96548488 -0.04897196 -0.40591451] [ 0.46452126 -0.07833706 0.88209031 0.99774044] [ 0. 0. 0. 1. ]] SLAMing on 171.596502481 meters Centerline goodness : 0.676388 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.84804541 -0.24839023 -0.46810392 4.48491476] [ 0.25573012 0.96550411 -0.04902979 -0.40578838] [ 0.46413478 -0.07812878 0.88231219 0.99767335] [ 0. 0. 0. 1. ]] SLAMing on 171.626502481 meters Centerline goodness : 0.717709 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.8480464 -0.24876816 -0.46790139 4.48493394] [ 0.25594114 0.96542892 -0.04940787 -0.40524664] [ 0.46401663 -0.07785505 0.88239852 0.99736783] [ 0. 0. 0. 1. ]] SLAMing on 171.656502481 meters Centerline goodness : 0.538254 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84790027 -0.24902894 -0.46802747 4.48645918] [ 0.25594836 0.96539742 -0.04998256 -0.40410123] [ 0.46427962 -0.07741064 0.88229929 0.99672731] [ 0. 0. 0. 1. ]] SLAMing on 171.686502481 meters Centerline goodness : 0.387291 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84786807 -0.24947286 -0.46784936 4.48694271] [ 0.25612161 0.96532035 -0.05058016 -0.40329475] [ 0.46424288 -0.07694103 0.88235969 0.99616662] [ 0. 0. 0. 1. ]] SLAMing on 171.716502481 meters Centerline goodness : 0.320974 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84779376 -0.24962635 -0.46790215 4.48760858] [ 0.25596699 0.96532784 -0.05121593 -0.40157305] [ 0.46446381 -0.07634696 0.88229502 0.99572405] [ 0. 0. 0. 1. ]] SLAMing on 171.746502481 meters Centerline goodness : 0.300123 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84791152 -0.24945447 -0.46778042 4.48826375] [ 0.25563725 0.96540288 -0.05144785 -0.40063279] [ 0.46443046 -0.07595887 0.88234608 0.99499902] [ 0. 0. 0. 1. ]] SLAMing on 171.776502481 meters Centerline goodness : 0.521687 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84803506 -0.2494518 -0.46755784 4.48846001] [ 0.25532576 0.96545612 -0.05199264 -0.39914262] [ 0.46437624 -0.07528798 0.88243211 0.99426697] [ 0. 0. 0. 1. ]] SLAMing on 171.806502481 meters Centerline goodness : 0.719524 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84873133 -0.24850921 -0.46679578 4.48626594] [ 0.25452943 0.96570203 -0.05132598 -0.39983307] [ 0.46354061 -0.0752513 0.88287448 0.99391485] [ 0. 0. 0. 1. ]] SLAMing on 171.836502481 meters Centerline goodness : 0.647762 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84897063 -0.24822889 -0.46650968 4.48569049] [ 0.25424582 0.96578311 -0.05120587 -0.39989368] [ 0.46325795 -0.07513585 0.88303266 0.99365737] [ 0. 0. 0. 1. ]] SLAMing on 171.866502481 meters Centerline goodness : 0.536724 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84904764 -0.2483062 -0.46632835 4.48602396] [ 0.25408301 0.96580228 -0.05165055 -0.39933085] [ 0.46320613 -0.07463233 0.88310254 0.99311237] [ 0. 0. 0. 1. ]] SLAMing on 171.896502481 meters Centerline goodness : 0.498186 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84903498 -0.24846288 -0.46626795 4.4866697 ] [ 0.25411591 0.96577936 -0.05191654 -0.39914708] [ 0.46321129 -0.07440714 0.88311883 0.99271317] [ 0. 0. 0. 1. ]] SLAMing on 171.926502481 meters Centerline goodness : 0.141059 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84902459 -0.24840935 -0.46631539 4.48817881] [ 0.25394404 0.96581271 -0.05213677 -0.39874726] [ 0.46332459 -0.07415261 0.88308081 0.9919744 ] [ 0. 0. 0. 1. ]] SLAMing on 171.956502481 meters Centerline goodness : 0.257595 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.8491357 -0.24829856 -0.46617206 4.48893983] [ 0.25372327 0.96586237 -0.0522913 -0.39841857] [ 0.46324191 -0.07387629 0.88314734 0.99124236] [ 0. 0. 0. 1. ]] SLAMing on 171.98650248099997 meters Centerline goodness : 0.721937 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84927689 -0.2481434 -0.46599744 4.48916867] [ 0.25345163 0.96592556 -0.05244115 -0.39787046] [ 0.46313177 -0.07357075 0.88323061 0.99073553] [ 0. 0. 0. 1. ]] SLAMing on 172.01650248099997 meters Centerline goodness : 0.143958 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.849547 -0.24777598 -0.46570051 4.48891105] [ 0.25305918 0.96603399 -0.0523391 -0.39770634] [ 0.4628509 -0.07338527 0.88339326 0.99020649] [ 0. 0. 0. 1. ]] SLAMing on 172.04650248099998 meters Centerline goodness : 0.136546 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84960384 -0.24730844 -0.46584531 4.48964719] [ 0.25250954 0.96617453 -0.05239946 -0.39665143] [ 0.4630467 -0.0731116 0.88331333 0.98980509] [ 0. 0. 0. 1. ]] SLAMing on 172.07650248099998 meters Centerline goodness : 0.723665 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84960118 -0.24730539 -0.46585177 4.49018377] [ 0.25224325 0.96621671 -0.05290189 -0.39550082] [ 0.46319669 -0.07256245 0.88327998 0.98936858] [ 0. 0. 0. 1. ]] SLAMing on 172.10650248099998 meters Centerline goodness : 0.720512 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84974653 -0.24711538 -0.46568748 4.49012159] [ 0.25192438 0.96629075 -0.05306872 -0.39505867] [ 0.4631036 -0.07222307 0.8833566 0.98899436] [ 0. 0. 0. 1. ]] SLAMing on 172.13650248099998 meters Centerline goodness : 0.144798 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84979426 -0.24696224 -0.46568161 4.49009274] [ 0.25140096 0.96639031 -0.05373377 -0.39310317] [ 0.46330041 -0.07141016 0.88331949 0.98870286] [ 0. 0. 0. 1. ]] SLAMing on 172.16650248099998 meters Centerline goodness : 0.535141 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84985004 -0.24665569 -0.46574229 4.49039636] [ 0.25102706 0.96648423 -0.05379258 -0.392129 ] [ 0.46340082 -0.07119829 0.88328392 0.98842126] [ 0. 0. 0. 1. ]] SLAMing on 172.19650248099998 meters Centerline goodness : 0.141503 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84967713 -0.2473081 -0.46571179 4.49071663] [ 0.25134296 0.96635689 -0.05459928 -0.39043895] [ 0.46354665 -0.07066162 0.8832505 0.98826123] [ 0. 0. 0. 1. ]] SLAMing on 172.22650248099998 meters Centerline goodness : 0.723310 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84945486 -0.24814266 -0.46567333 4.49163272] [ 0.25215556 0.96613081 -0.05485283 -0.39085584] [ 0.46351268 -0.07082712 0.88325507 0.98805409] [ 0. 0. 0. 1. ]] SLAMing on 172.25650248099998 meters Centerline goodness : 0.722471 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84931731 -0.2486727 -0.46564148 4.49177686] [ 0.25267725 0.96598602 -0.05500195 -0.39089477] [ 0.46348065 -0.0709429 0.88326259 0.98810551] [ 0. 0. 0. 1. ]] SLAMing on 172.28650248099999 meters Centerline goodness : 0.723075 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84893356 -0.24952404 -0.46588579 4.49196781] [ 0.25372499 0.96571752 -0.05489344 -0.39111075] [ 0.4636113 -0.07160598 0.8831405 0.98880967] [ 0. 0. 0. 1. ]] SLAMing on 172.316502481 meters Centerline goodness : 0.723751 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84855532 -0.25009032 -0.46627105 4.49306522] [ 0.25434611 0.96554776 -0.05500534 -0.39067486] [ 0.46396327 -0.07191915 0.88293019 0.98911071] [ 0. 0. 0. 1. ]] SLAMing on 172.346502481 meters Centerline goodness : 0.723467 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84824763 -0.25071259 -0.46649668 4.49436222] [ 0.25502301 0.96536353 -0.05510463 -0.39046693] [ 0.46415431 -0.07222502 0.88280481 0.98905127] [ 0. 0. 0. 1. ]] SLAMing on 172.376502481 meters Centerline goodness : 0.724847 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84768531 -0.25194985 -0.4668521 4.49634008] [ 0.25645577 0.96498294 -0.05512136 -0.39077507] [ 0.46439213 -0.07300135 0.88261586 0.98919138] [ 0. 0. 0. 1. ]] SLAMing on 172.406502481 meters Centerline goodness : 0.724375 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84743472 -0.25244134 -0.4670415 4.49646438] [ 0.25723362 0.96479757 -0.05474052 -0.39176045] [ 0.46441927 -0.07374976 0.88253935 0.98980519] [ 0. 0. 0. 1. ]] SLAMing on 172.436502481 meters Centerline goodness : 0.723416 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84715071 -0.25310322 -0.4671985 4.49577216] [ 0.2585823 0.96449892 -0.05363802 -0.3939358 ] [ 0.4641884 -0.07536977 0.88252395 0.99105759] [ 0. 0. 0. 1. ]] SLAMing on 172.466502481 meters Centerline goodness : 0.724021 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84679247 -0.25363313 -0.46756042 4.49590953] [ 0.25950192 0.96428144 -0.05310426 -0.39463056] [ 0.46432883 -0.07636454 0.88236455 0.99199325] [ 0. 0. 0. 1. ]] SLAMing on 172.496502481 meters Centerline goodness : 0.722489 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84597152 -0.25514757 -0.46822206 4.49703317] [ 0.26157625 0.96375033 -0.05256586 -0.39615469] [ 0.46466122 -0.07800656 0.88204588 0.99339421] [ 0. 0. 0. 1. ]] SLAMing on 172.526502481 meters Centerline goodness : 0.723584 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84551927 -0.25606393 -0.46853862 4.49814544] [ 0.26293848 0.96340904 -0.05202293 -0.39720876] [ 0.46471553 -0.07921044 0.88190996 0.9938709 ] [ 0. 0. 0. 1. ]] SLAMing on 172.556502481 meters Centerline goodness : 0.722647 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84522788 -0.25660143 -0.46877025 4.49884966] [ 0.26357901 0.96323443 -0.05201482 -0.39732636] [ 0.46488272 -0.07959362 0.88178734 0.99415287] [ 0. 0. 0. 1. ]] SLAMing on 172.586502481 meters Centerline goodness : 0.722430 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84478998 -0.25744483 -0.46909705 4.49993667] [ 0.26459107 0.96295866 -0.05198251 -0.39745295] [ 0.4651037 -0.08020458 0.88161543 0.99449561] [ 0. 0. 0. 1. ]] SLAMing on 172.616502481 meters Centerline goodness : 0.724567 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84461626 -0.2577222 -0.46925755 4.50064487] [ 0.26489885 0.96287147 -0.05203002 -0.39737883] [ 0.465244 -0.08036039 0.88152722 0.99451122] [ 0. 0. 0. 1. ]] SLAMing on 172.646502481 meters Centerline goodness : 0.723624 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:1.00 [[ 0.84405546 -0.25895127 -0.46958984 4.50133236] [ 0.26608123 0.96251933 -0.05251026 -0.39641732] [ 0.4655869 -0.08062747 0.88132176 0.99503926] [ 0. 0. 0. 1. ]] SLAMing on 172.676502481 meters Centerline goodness : 0.723008 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:1.00 [[ 0.84348095 -0.26007051 -0.47000343 4.5026297 ] [ 0.26699655 0.96222378 -0.05327519 -0.39530069] [ 0.46610378 -0.08055269 0.88105535 0.99532045] [ 0. 0. 0. 1. ]] SLAMing on 172.706502481 meters Centerline goodness : 0.723008 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:1.00 [[ 0.84348095 -0.26007051 -0.47000343 4.5026297 ] [ 0.26699655 0.96222378 -0.05327519 -0.39530069] [ 0.46610378 -0.08055269 0.88105535 0.99532045] [ 0. 0. 0. 1. ]] SLAMing on 172.73650248099997 meters Centerline goodness : 0.724775 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84322211 -0.26051144 -0.47022363 4.50349134] [ 0.26736909 0.96210422 -0.05356523 -0.39446398] [ 0.4663585 -0.08055588 0.88092026 0.99534114] [ 0. 0. 0. 1. ]] SLAMing on 172.76650248099997 meters Centerline goodness : 0.724190 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84302616 -0.26097473 -0.47031807 4.50365408] [ 0.26762978 0.96200239 -0.0540898 -0.39310555] [ 0.46656318 -0.08027201 0.88083779 0.99539581] [ 0. 0. 0. 1. ]] SLAMing on 172.79650248099998 meters Centerline goodness : 0.724169 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84303068 -0.26108467 -0.47024894 4.50332211] [ 0.26767541 0.96198197 -0.05422696 -0.39280519] [ 0.46652883 -0.08015908 0.88086626 0.99542295] [ 0. 0. 0. 1. ]] SLAMing on 172.82650248099998 meters Centerline goodness : 0.724343 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84324477 -0.26092144 -0.46995559 4.50229937] [ 0.26730709 0.96206819 -0.05451348 -0.39197026] [ 0.46635306 -0.07965426 0.88100512 0.99526624] [ 0. 0. 0. 1. ]] SLAMing on 172.85650248099998 meters Centerline goodness : 0.724084 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84334336 -0.26089846 -0.46979141 4.5016505 ] [ 0.26704816 0.9621169 -0.05492125 -0.39068745] [ 0.46632312 -0.07913945 0.88106736 0.99512352] [ 0. 0. 0. 1. ]] SLAMing on 172.88650248099998 meters Centerline goodness : 0.722028 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84415066 -0.25683727 -0.47057867 4.50165533] [ 0.26394182 0.96312556 -0.05219079 -0.3893382 ] [ 0.46663089 -0.0801485 0.88081317 0.99482338] [ 0. 0. 0. 1. ]] SLAMing on 172.91650248099998 meters Centerline goodness : 0.722746 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84424501 -0.25686466 -0.47039443 4.50135949] [ 0.26353134 0.96319439 -0.05298867 -0.38763744] [ 0.46669219 -0.07922825 0.88086394 0.99437894] [ 0. 0. 0. 1. ]] SLAMing on 172.94650248099998 meters Centerline goodness : 0.722277 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84537303 -0.25194556 -0.47102853 4.50099147] [ 0.25959635 0.96442468 -0.04994765 -0.38640384] [ 0.46685563 -0.08005289 0.88070276 0.99379221] [ 0. 0. 0. 1. ]] SLAMing on 172.97650248099998 meters Centerline goodness : 0.722469 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84626777 -0.24763561 -0.47170697 4.50092335] [ 0.25605497 0.96549513 -0.04748692 -0.38435728] [ 0.46719024 -0.08059626 0.88047574 0.99322604] [ 0. 0. 0. 1. ]] SLAMing on 173.00650248099998 meters Centerline goodness : 0.721314 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84633147 -0.24787963 -0.47146445 4.50084115] [ 0.25585945 0.965505 -0.04833263 -0.38278572] [ 0.46718196 -0.07972321 0.88055961 0.99266353] [ 0. 0. 0. 1. ]] SLAMing on 173.03650248099999 meters Centerline goodness : 0.720945 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84660007 -0.24787985 -0.47098184 4.50004911] [ 0.25536314 0.96559382 -0.04917556 -0.38143468] [ 0.46696679 -0.07863937 0.88077118 0.9919936 ] [ 0. 0. 0. 1. ]] SLAMing on 173.066502481 meters Centerline goodness : 0.719270 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84666044 -0.24790444 -0.47086036 4.49979456] [ 0.2551932 0.96562085 -0.04952574 -0.38096416] [ 0.46695023 -0.07822888 0.88081651 0.99183369] [ 0. 0. 0. 1. ]] SLAMing on 173.096502481 meters Centerline goodness : 0.717092 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84671978 -0.24796738 -0.4707205 4.49993413] [ 0.25480003 0.96568069 -0.05037614 -0.37923657] [ 0.46705733 -0.07728512 0.88084304 0.99125157] [ 0. 0. 0. 1. ]] SLAMing on 173.126502481 meters Centerline goodness : 0.716922 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84672557 -0.24801916 -0.47068281 4.5000418 ] [ 0.25465888 0.96569852 -0.0507466 -0.37821177] [ 0.46712382 -0.07689511 0.88084191 0.99101725] [ 0. 0. 0. 1. ]] SLAMing on 173.156502481 meters Centerline goodness : 0.716013 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84654112 -0.24855321 -0.47073287 4.50090193] [ 0.2548184 0.96561103 -0.0516035 -0.37646817] [ 0.46737107 -0.07626692 0.88076537 0.99057188] [ 0. 0. 0. 1. ]] SLAMing on 173.186502481 meters Centerline goodness : 0.715427 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84644441 -0.24877051 -0.47079198 4.50112958] [ 0.25511611 0.96553684 -0.05152062 -0.37669141] [ 0.46738381 -0.07649728 0.88073863 0.99065063] [ 0. 0. 0. 1. ]] SLAMing on 173.216502481 meters Centerline goodness : 0.716359 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84633599 -0.24904236 -0.47084318 4.5006675 ] [ 0.25588443 0.96537871 -0.05066654 -0.37887829] [ 0.4671601 -0.07760052 0.88076081 0.99139114] [ 0. 0. 0. 1. ]] SLAMing on 173.246502481 meters Centerline goodness : 0.716277 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84627164 -0.2490613 -0.47094882 4.49947445] [ 0.2567089 0.96523707 -0.04917251 -0.38178257] [ 0.46682423 -0.07928345 0.88078901 0.99266325] [ 0. 0. 0. 1. ]] SLAMing on 173.276502481 meters Centerline goodness : 0.715126 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84618336 -0.24889556 -0.47119498 4.49928612] [ 0.25707028 0.96519084 -0.04818202 -0.38346358] [ 0.46678538 -0.0803594 0.88071209 0.99342616] [ 0. 0. 0. 1. ]] SLAMing on 173.306502481 meters Centerline goodness : 0.714472 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84571508 -0.24939293 -0.47177237 4.4994761 ] [ 0.25824279 0.96492852 -0.04715522 -0.38547449] [ 0.46698679 -0.08195193 0.88045853 0.99489303] [ 0. 0. 0. 1. ]] SLAMing on 173.336502481 meters Centerline goodness : 0.712999 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84555158 -0.24959796 -0.47195697 4.49986257] [ 0.25863406 0.96483637 -0.04689571 -0.38611521] [ 0.46706632 -0.08241141 0.88037345 0.99523841] [ 0. 0. 0. 1. ]] SLAMing on 173.366502481 meters Centerline goodness : 0.712169 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84535402 -0.24972444 -0.47224389 4.50045166] [ 0.25923967 0.96471292 -0.04608444 -0.38787884] [ 0.46708819 -0.08346669 0.88026242 0.99582388] [ 0. 0. 0. 1. ]] SLAMing on 173.396502481 meters Centerline goodness : 0.712328 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84510624 -0.24991902 -0.47258431 4.50073575] [ 0.25992534 0.96456647 -0.04528077 -0.38968548] [ 0.46715551 -0.08456957 0.88012142 0.99668217] [ 0. 0. 0. 1. ]] SLAMing on 173.426502481 meters Centerline goodness : 0.711903 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84491697 -0.25000642 -0.47287641 4.50119648] [ 0.26023964 0.96449778 -0.04493721 -0.39024867] [ 0.46732284 -0.08509298 0.87998213 0.99713871] [ 0. 0. 0. 1. ]] SLAMing on 173.456502481 meters Centerline goodness : 0.708866 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84454181 -0.25045751 -0.47330769 4.50235601] [ 0.26102097 0.9643057 -0.04452597 -0.39067964] [ 0.46756517 -0.08593919 0.87977114 0.9975911 ] [ 0. 0. 0. 1. ]] SLAMing on 173.48650248099997 meters Centerline goodness : 0.708780 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84429816 -0.25076603 -0.47357894 4.50276957] [ 0.26155916 0.96417333 -0.04423339 -0.39104092] [ 0.46770442 -0.08652274 0.87963992 0.99806829] [ 0. 0. 0. 1. ]] SLAMing on 173.51650248099997 meters Centerline goodness : 0.707975 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84379702 -0.2517377 -0.47395645 4.50273255] [ 0.26292966 0.96381923 -0.04382338 -0.39189417] [ 0.46784034 -0.08763917 0.8794571 0.99927115] [ 0. 0. 0. 1. ]] SLAMing on 173.54650248099998 meters Centerline goodness : 0.708006 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84341872 -0.25281318 -0.47405734 4.50316047] [ 0.26428172 0.96345892 -0.04361279 -0.39311421] [ 0.46776066 -0.08850085 0.87941319 0.99979211] [ 0. 0. 0. 1. ]] SLAMing on 173.57650248099998 meters Centerline goodness : 0.707758 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84317583 -0.25313736 -0.47431634 4.50392882] [ 0.26466454 0.96335236 -0.04364542 -0.39319815] [ 0.46798205 -0.08873396 0.87927191 1.00002453] [ 0. 0. 0. 1. ]] SLAMing on 173.60650248099998 meters Centerline goodness : 0.703225 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84291398 -0.25332671 -0.47468052 4.50454601] [ 0.2649675 0.96327286 -0.04356178 -0.39238656] [ 0.46828222 -0.08905607 0.87907951 1.00037637] [ 0. 0. 0. 1. ]] SLAMing on 173.63650248099998 meters Centerline goodness : 0.703603 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84288844 -0.25339515 -0.47468935 4.50436143] [ 0.26499941 0.96326006 -0.04365061 -0.39189157] [ 0.46831014 -0.0889998 0.87907033 1.00043556] [ 0. 0. 0. 1. ]] SLAMing on 173.66650248099998 meters Centerline goodness : 0.703897 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84299165 -0.25333691 -0.47453712 4.50380738] [ 0.26480962 0.96330324 -0.04384898 -0.39058863] [ 0.46823171 -0.08869767 0.87914264 1.00024837] [ 0. 0. 0. 1. ]] SLAMing on 173.69650248099998 meters Centerline goodness : 0.703170 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84310439 -0.25325595 -0.47438002 4.50325251] [ 0.26464072 0.96334467 -0.04395845 -0.38988297] [ 0.46812421 -0.08847871 0.87922196 1.00009753] [ 0. 0. 0. 1. ]] SLAMing on 173.72650248099998 meters Centerline goodness : 0.704446 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84317551 -0.25297337 -0.4744044 4.50357649] [ 0.26412135 0.96347004 -0.04433267 -0.38817587] [ 0.46828942 -0.08792011 0.87919001 0.99971969] [ 0. 0. 0. 1. ]] SLAMing on 173.75650248099998 meters Centerline goodness : 0.704169 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84323234 -0.2530155 -0.47428091 4.50328391] [ 0.26400143 0.96348957 -0.04462176 -0.38731913] [ 0.46825471 -0.08758432 0.87924201 0.99950621] [ 0. 0. 0. 1. ]] SLAMing on 173.78650248099999 meters Centerline goodness : 0.704260 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84464667 -0.24819479 -0.47431144 4.5020972 ] [ 0.25993184 0.96471626 -0.04192813 -0.38566718] [ 0.4679823 -0.08787419 0.87935811 0.99826021] [ 0. 0. 0. 1. ]] SLAMing on 173.816502481 meters Centerline goodness : 0.706310 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84484456 -0.24823044 -0.4739402 4.50155116] [ 0.25939834 0.96481587 -0.04292817 -0.38365823] [ 0.46792111 -0.08667167 0.87951001 0.99754959] [ 0. 0. 0. 1. ]] SLAMing on 173.846502481 meters Centerline goodness : 0.703312 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84580894 -0.24405203 -0.47438996 4.50089545] [ 0.25590893 0.96584735 -0.04061414 -0.38144014] [ 0.46810026 -0.08704882 0.87937742 0.99692149] [ 0. 0. 0. 1. ]] SLAMing on 173.876502481 meters Centerline goodness : 0.703555 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84605768 -0.24418871 -0.4738758 4.49998304] [ 0.25549202 0.96591652 -0.04158248 -0.37967692] [ 0.46787844 -0.08589031 0.87960936 0.99622716] [ 0. 0. 0. 1. ]] SLAMing on 173.906502481 meters Centerline goodness : 0.702865 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84724653 -0.23972851 -0.47402907 4.49935997] [ 0.25172028 0.96700852 -0.03913341 -0.37832217] [ 0.46777154 -0.08616708 0.87963914 0.99506363] [ 0. 0. 0. 1. ]] SLAMing on 173.936502481 meters Centerline goodness : 0.702487 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84747103 -0.23990317 -0.47353914 4.49890073] [ 0.2512979 0.9670746 -0.04020061 -0.37649338] [ 0.46759193 -0.08493054 0.87985487 0.99416941] [ 0. 0. 0. 1. ]] SLAMing on 173.966502481 meters Centerline goodness : 0.702827 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84825782 -0.23551157 -0.47433424 4.49957775] [ 0.24786719 0.9680721 -0.03739325 -0.37512223] [ 0.46799629 -0.08585278 0.87955033 0.99362419] [ 0. 0. 0. 1. ]] SLAMing on 173.996502481 meters Centerline goodness : 0.702631 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.99 [[ 0.84833992 -0.23571412 -0.47408674 4.49875456] [ 0.24772807 0.96808261 -0.03803761 -0.3737745 ] [ 0.46792113 -0.08517577 0.87965613 0.99348585] [ 0. 0. 0. 1. ]] SLAMing on 174.026502481 meters Centerline goodness : 0.702654 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.99 [[ 0.84875244 -0.2355353 -0.47343681 4.49675249] [ 0.24721092 0.96819683 -0.03849227 -0.37323375] [ 0.46744631 -0.08436835 0.87998632 0.99322245] [ 0. 0. 0. 1. ]] SLAMing on 174.056502481 meters Centerline goodness : 0.703575 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.99 [[ 0.84903615 -0.23556941 -0.47291084 4.49630292] [ 0.24703748 0.96822945 -0.03878425 -0.37331768] [ 0.46702259 -0.08389747 0.88025628 0.99254881] [ 0. 0. 0. 1. ]] SLAMing on 174.086502481 meters Centerline goodness : 0.704581 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.99 [[ 0.84902309 -0.23586113 -0.47278889 4.49629142] [ 0.24725385 0.96816642 -0.03897849 -0.37338637] [ 0.46693183 -0.08380524 0.88031321 0.99243629] [ 0. 0. 0. 1. ]] SLAMing on 174.116502481 meters Centerline goodness : 0.706500 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.99 [[ 0.84912101 -0.23582665 -0.47263019 4.49559039] [ 0.24744287 0.96813666 -0.03851529 -0.37478464] [ 0.46665354 -0.08424483 0.88041881 0.99271602] [ 0. 0. 0. 1. ]] SLAMing on 174.146502481 meters Centerline goodness : 0.708480 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84917507 -0.23592661 -0.47248316 4.49527164] [ 0.24763406 0.96809477 -0.03833925 -0.37527608] [ 0.46645372 -0.08444618 0.88050541 0.9927493 ] [ 0. 0. 0. 1. ]] SLAMing on 174.176502481 meters Centerline goodness : 0.708990 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.8489972 -0.23617084 -0.47268074 4.49549823] [ 0.24842354 0.96792862 -0.03741558 -0.37715567] [ 0.46635769 -0.0856593 0.88043909 0.99339765] [ 0. 0. 0. 1. ]] SLAMing on 174.206502481 meters Centerline goodness : 0.713287 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84884214 -0.23638019 -0.47285454 4.49591913] [ 0.24904934 0.96779439 -0.03672133 -0.37876491] [ 0.46630617 -0.0865935 0.88037499 0.99383461] [ 0. 0. 0. 1. ]] SLAMing on 174.23650248099997 meters Centerline goodness : 0.714929 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84799678 -0.24106341 -0.47200625 4.49587207] [ 0.25279999 0.96671012 -0.03954368 -0.38031443] [ 0.46582576 -0.08579026 0.8807079 0.99413866] [ 0. 0. 0. 1. ]] SLAMing on 174.26650248099997 meters Centerline goodness : 0.717305 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84699891 -0.24585925 -0.47132374 4.4969205 ] [ 0.25661888 0.96557698 -0.04251881 -0.38154437] [ 0.46555299 -0.08493719 0.88093478 0.9942236 ] [ 0. 0. 0. 1. ]] SLAMing on 174.29650248099998 meters Centerline goodness : 0.717793 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84684981 -0.24618806 -0.47142002 4.49740429] [ 0.25730198 0.96541981 -0.04195558 -0.38285401] [ 0.46544719 -0.08576723 0.88091027 0.99446032] [ 0. 0. 0. 1. ]] SLAMing on 174.32650248099998 meters Centerline goodness : 0.718887 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84640114 -0.24686588 -0.47187111 4.49770385] [ 0.25861589 0.96510859 -0.0410273 -0.3844241 ] [ 0.4655351 -0.08730781 0.88071245 0.99564643] [ 0. 0. 0. 1. ]] SLAMing on 174.35650248099998 meters Centerline goodness : 0.718888 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84615 -0.24717748 -0.47215832 4.49833922] [ 0.25921022 0.96496565 -0.04063689 -0.38510352] [ 0.46566108 -0.08800336 0.88057661 0.99608115] [ 0. 0. 0. 1. ]] SLAMing on 174.38650248099998 meters Centerline goodness : 0.718402 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84540647 -0.24997125 -0.47201936 4.49877648] [ 0.261746 0.96422958 -0.0418371 -0.38567233] [ 0.46559311 -0.08817982 0.8805949 0.99657869] [ 0. 0. 0. 1. ]] SLAMing on 174.41650248099998 meters Centerline goodness : 0.719769 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84518636 -0.25055223 -0.47210548 4.49893309] [ 0.26241416 0.9640476 -0.04184533 -0.38612254] [ 0.4656166 -0.08852006 0.88054834 0.99690914] [ 0. 0. 0. 1. ]] SLAMing on 174.44650248099998 meters Centerline goodness : 0.718179 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84463894 -0.25166769 -0.47249172 4.49885923] [ 0.26364659 0.96370434 -0.04200512 -0.3855584 ] [ 0.46591366 -0.08909167 0.88033354 0.99793876] [ 0. 0. 0. 1. ]] SLAMing on 174.47650248099998 meters Centerline goodness : 0.719000 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84432376 -0.25221851 -0.47276126 4.4991855 ] [ 0.26421093 0.9635419 -0.04218522 -0.38505641] [ 0.46616518 -0.08929071 0.88018021 0.99837057] [ 0. 0. 0. 1. ]] SLAMing on 174.50650248099998 meters Centerline goodness : 0.718950 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.8438484 -0.25313736 -0.47311875 4.4996898 ] [ 0.26517697 0.96326619 -0.04241957 -0.3845141 ] [ 0.46647727 -0.08966451 0.87997684 0.99899856] [ 0. 0. 0. 1. ]] SLAMing on 174.53650248099999 meters Centerline goodness : 0.717848 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84361444 -0.25358846 -0.47329437 4.49863257] [ 0.2657671 0.96310808 -0.04231645 -0.38428184] [ 0.4665646 -0.0900873 0.87988735 1.00003853] [ 0. 0. 0. 1. ]] SLAMing on 174.566502481 meters Centerline goodness : 0.719372 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84363734 -0.25355789 -0.47326994 4.49808715] [ 0.26582708 0.9630996 -0.0421321 -0.38452236] [ 0.46648902 -0.09026376 0.87990934 1.00029455] [ 0. 0. 0. 1. ]] SLAMing on 174.596502481 meters Centerline goodness : 0.719372 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84363734 -0.25355789 -0.47326994 4.49808715] [ 0.26582708 0.9630996 -0.0421321 -0.38452236] [ 0.46648902 -0.09026376 0.87990934 1.00029455] [ 0. 0. 0. 1. ]] SLAMing on 174.626502481 meters Centerline goodness : 0.717618 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84368137 -0.2535813 -0.4731789 4.49803221] [ 0.26573593 0.96311589 -0.04233435 -0.38418691] [ 0.46646132 -0.09002393 0.8799486 1.00011776] [ 0. 0. 0. 1. ]] SLAMing on 174.656502481 meters Centerline goodness : 0.717522 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84363835 -0.25322744 -0.47344504 4.49831855] [ 0.26544638 0.96320263 -0.0421772 -0.38376492] [ 0.46670393 -0.09009197 0.87981298 1.00026046] [ 0. 0. 0. 1. ]] SLAMing on 174.686502481 meters Centerline goodness : 0.716804 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.8445545 -0.24856028 -0.47428418 4.49813226] [ 0.26229839 0.96422826 -0.03825463 -0.38479318] [ 0.46682679 -0.09209586 0.87954028 1.00041266] [ 0. 0. 0. 1. ]] SLAMing on 174.716502481 meters Centerline goodness : 0.716782 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84473699 -0.24840273 -0.47404166 4.49784617] [ 0.26192634 0.96431714 -0.03856229 -0.3842264 ] [ 0.46670548 -0.091589 0.87965758 0.99996483] [ 0. 0. 0. 1. ]] SLAMing on 174.746502481 meters Centerline goodness : 0.716634 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84563596 -0.24390507 -0.47477378 4.49881013] [ 0.25836897 0.96538437 -0.0357561 -0.38355526] [ 0.46706028 -0.09243017 0.87938124 0.99915661] [ 0. 0. 0. 1. ]] SLAMing on 174.776502481 meters Centerline goodness : 0.715365 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84688769 -0.23860798 -0.47523412 4.49814588] [ 0.25396726 0.96665773 -0.03276385 -0.38295978] [ 0.46720645 -0.0929466 0.87924914 0.99840134] [ 0. 0. 0. 1. ]] SLAMing on 174.806502481 meters Centerline goodness : 0.714200 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.848426 -0.2332508 -0.47514986 4.49633263] [ 0.24931605 0.96795764 -0.02999196 -0.38168876] [ 0.46692059 -0.09301653 0.87939359 0.99721161] [ 0. 0. 0. 1. ]] SLAMing on 174.836502481 meters Centerline goodness : 0.715254 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84872779 -0.23251241 -0.47497275 4.49582749] [ 0.24808766 0.96825168 -0.03067889 -0.37992351] [ 0.46702638 -0.09179685 0.87946557 0.99662678] [ 0. 0. 0. 1. ]] SLAMing on 174.866502481 meters Centerline goodness : 0.712652 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84977054 -0.22763183 -0.47547216 4.49535003] [ 0.24397334 0.96937604 -0.02805524 -0.37846338] [ 0.46729758 -0.09216202 0.87928331 0.99598149] [ 0. 0. 0. 1. ]] SLAMing on 174.896502481 meters Centerline goodness : 0.714134 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84998296 -0.22749907 -0.4751559 4.49479435] [ 0.24345387 0.96948844 -0.02867708 -0.37750913] [ 0.46718217 -0.09130351 0.87943419 0.99546605] [ 0. 0. 0. 1. ]] SLAMing on 174.926502481 meters Centerline goodness : 0.712608 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85053344 -0.22720412 -0.47431125 4.49332343] [ 0.24261497 0.96967595 -0.02943684 -0.37678472] [ 0.46661638 -0.09003799 0.87986494 0.99446227] [ 0. 0. 0. 1. ]] SLAMing on 174.956502481 meters Centerline goodness : 0.712129 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85059284 -0.22738497 -0.47411803 4.49307063] [ 0.24260998 0.96966633 -0.02979265 -0.37652042] [ 0.46651069 -0.08968435 0.8799571 0.99423233] [ 0. 0. 0. 1. ]] SLAMing on 174.98650248099997 meters Centerline goodness : 0.711549 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85050414 -0.22770248 -0.47412476 4.49365458] [ 0.24295868 0.96957821 -0.02981915 -0.37698194] [ 0.46649093 -0.08983141 0.87995257 0.99410502] [ 0. 0. 0. 1. ]] SLAMing on 175.01650248099997 meters Centerline goodness : 0.711149 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85023097 -0.22812648 -0.47441081 4.49387465] [ 0.24395566 0.96935527 -0.02891364 -0.37872776] [ 0.46646858 -0.09115193 0.87982861 0.99496882] [ 0. 0. 0. 1. ]] SLAMing on 175.04650248099998 meters Centerline goodness : 0.712292 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.85009036 -0.2281303 -0.47466087 4.49332375] [ 0.24446069 0.96925412 -0.02802539 -0.38032 ] [ 0.46646045 -0.09221181 0.87972247 0.99598291] [ 0. 0. 0. 1. ]] SLAMing on 175.07650248099998 meters Centerline goodness : 0.714258 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84934897 -0.23284726 -0.47369661 4.49186603] [ 0.24821722 0.96821243 -0.03086905 -0.38147869] [ 0.46582672 -0.09136106 0.88014693 0.99673422] [ 0. 0. 0. 1. ]] SLAMing on 175.10650248099998 meters Centerline goodness : 0.713161 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84900173 -0.23329103 -0.47410058 4.49252736] [ 0.24915834 0.96799371 -0.03013789 -0.38296188] [ 0.46595728 -0.09253899 0.87995474 0.99755495] [ 0. 0. 0. 1. ]] SLAMing on 175.13650248099998 meters Centerline goodness : 0.715000 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84784261 -0.2381916 -0.47373797 4.493288 ] [ 0.25334467 0.96682314 -0.03270319 -0.38391126] [ 0.46581046 -0.09229183 0.88005843 0.99835218] [ 0. 0. 0. 1. ]] SLAMing on 175.16650248099998 meters Centerline goodness : 0.716969 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84667096 -0.24321108 -0.47328284 4.49347212] [ 0.25753156 0.96561733 -0.03550592 -0.38475295] [ 0.46564555 -0.09182344 0.88019468 0.99930585] [ 0. 0. 0. 1. ]] SLAMing on 175.19650248099998 meters Centerline goodness : 0.717657 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:1.00 [[ 0.84640458 -0.24382809 -0.47344182 4.49423411] [ 0.25855254 0.96536503 -0.03494211 -0.38628965] [ 0.46556404 -0.09283442 0.88013175 0.99968106] [ 0. 0. 0. 1. ]] SLAMing on 175.22650248099998 meters Centerline goodness : 0.718592 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:1.00 [[ 0.84531962 -0.24913932 -0.47261437 4.4946229 ] [ 0.262877 0.96407944 -0.03803314 -0.387239 ] [ 0.46511334 -0.09208929 0.88044826 0.99999098] [ 0. 0. 0. 1. ]] SLAMing on 175.25650248099998 meters Centerline goodness : 0.720571 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:1.00 [[ 0.84480354 -0.25048512 -0.47282574 4.49385874] [ 0.26500526 0.96353844 -0.03695792 -0.38937238] [ 0.46484318 -0.09407913 0.88038056 1.0016465 ] [ 0. 0. 0. 1. ]] SLAMing on 175.28650248099999 meters Centerline goodness : 0.721811 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:1.00 [[ 0.8444852 -0.25088101 -0.47318438 4.49425699] [ 0.26580265 0.96334053 -0.03638631 -0.39019249] [ 0.46496633 -0.09504596 0.88021167 1.00242301] [ 0. 0. 0. 1. ]] SLAMing on 175.316502481 meters Centerline goodness : 0.721922 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84372601 -0.25195904 -0.47396526 4.49666966] [ 0.26736786 0.96292422 -0.03593565 -0.390809 ] [ 0.46544694 -0.09640323 0.87980996 1.00309344] [ 0. 0. 0. 1. ]] SLAMing on 175.346502481 meters Centerline goodness : 0.720103 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84334428 -0.25253494 -0.474338 4.49805738] [ 0.26809742 0.96272315 -0.03588749 -0.39102656] [ 0.46571901 -0.09690328 0.87961102 1.00334237] [ 0. 0. 0. 1. ]] SLAMing on 175.376502481 meters Centerline goodness : 0.721467 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84289391 -0.25347272 -0.47463821 4.4996509 ] [ 0.26918405 0.96241834 -0.03592884 -0.39125913] [ 0.4659075 -0.09748084 0.87944738 1.0034303 ] [ 0. 0. 0. 1. ]] SLAMing on 175.406502481 meters Centerline goodness : 0.722230 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84278876 -0.25417714 -0.4744482 4.49994135] [ 0.26968331 0.96225861 -0.03645935 -0.39078049] [ 0.465809 -0.09722323 0.87952807 1.00310692] [ 0. 0. 0. 1. ]] SLAMing on 175.436502481 meters Centerline goodness : 0.722375 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84278339 -0.25458056 -0.47424139 4.49968691] [ 0.26991923 0.96217817 -0.03683444 -0.39035891] [ 0.46568205 -0.09696342 0.87962397 1.00291377] [ 0. 0. 0. 1. ]] SLAMing on 175.466502481 meters Centerline goodness : 0.722149 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84337732 -0.25078814 -0.47520522 4.49964087] [ 0.26746866 0.96298342 -0.03351777 -0.39014577] [ 0.46602061 -0.09883438 0.87923635 1.00330224] [ 0. 0. 0. 1. ]] SLAMing on 175.496502481 meters Centerline goodness : 0.722433 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.8434885 -0.25080385 -0.47499955 4.49928554] [ 0.26719414 0.96304202 -0.03401996 -0.38884137] [ 0.46597686 -0.09822165 0.87932819 1.00287479] [ 0. 0. 0. 1. ]] SLAMing on 175.526502481 meters Centerline goodness : 0.721708 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84376745 -0.2503795 -0.47472791 4.49883686] [ 0.26622731 0.96327952 -0.03486524 -0.38660233] [ 0.46602522 -0.09696738 0.87944177 1.00210573] [ 0. 0. 0. 1. ]] SLAMing on 175.556502481 meters Centerline goodness : 0.722194 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84414309 -0.25024585 -0.47413021 4.49781846] [ 0.26565603 0.96341351 -0.03551458 -0.38538241] [ 0.46567082 -0.09597616 0.87973818 1.00126181] [ 0. 0. 0. 1. ]] SLAMing on 175.586502481 meters Centerline goodness : 0.722176 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84512049 -0.24576195 -0.47473406 4.49776505] [ 0.26221234 0.96446289 -0.03249663 -0.38461815] [ 0.46584982 -0.09701756 0.87952916 1.00068804] [ 0. 0. 0. 1. ]] SLAMing on 175.616502481 meters Centerline goodness : 0.720230 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84639121 -0.24084965 -0.47498775 4.49715783] [ 0.2581793 0.9656438 -0.02958872 -0.3841392 ] [ 0.46579542 -0.09758837 0.87949482 0.9996973 ] [ 0. 0. 0. 1. ]] SLAMing on 175.646502481 meters Centerline goodness : 0.720119 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84664985 -0.240276 -0.47481732 4.49667971] [ 0.25723302 0.96588054 -0.03009918 -0.38251004] [ 0.46584892 -0.09665523 0.87956953 0.99917383] [ 0. 0. 0. 1. ]] SLAMing on 175.676502481 meters Centerline goodness : 0.719197 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84804786 -0.23527925 -0.4748247 4.49616223] [ 0.25280471 0.9671207 -0.02770062 -0.38079276] [ 0.46573018 -0.09654647 0.87964435 0.99751763] [ 0. 0. 0. 1. ]] SLAMing on 175.706502481 meters Centerline goodness : 0.720187 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84853282 -0.23535137 -0.4739217 4.49558359] [ 0.25196578 0.9672946 -0.0292303 -0.37850432] [ 0.46530129 -0.09460918 0.8800817 0.99578274] [ 0. 0. 0. 1. ]] SLAMing on 175.73650248099997 meters Centerline goodness : 0.719640 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85001125 -0.22997545 -0.47391156 4.49472692] [ 0.24710971 0.96861618 -0.02682337 -0.37662849] [ 0.46520712 -0.09430798 0.88016381 0.99418692] [ 0. 0. 0. 1. ]] SLAMing on 175.76650248099997 meters Centerline goodness : 0.719627 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85142533 -0.22495517 -0.47378273 4.493108 ] [ 0.24279676 0.96977699 -0.02413139 -0.37547466] [ 0.46489207 -0.09448684 0.88031108 0.9930207 ] [ 0. 0. 0. 1. ]] SLAMing on 175.79650248099998 meters Centerline goodness : 0.718552 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85178336 -0.22492149 -0.47315477 4.49192827] [ 0.24227469 0.96988803 -0.02490328 -0.37451251] [ 0.46450843 -0.09342122 0.88062727 0.99229854] [ 0. 0. 0. 1. ]] SLAMing on 175.82650248099998 meters Centerline goodness : 0.719127 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85211527 -0.224777 -0.4726255 4.49069011] [ 0.24144369 0.9700652 -0.02604703 -0.37281472] [ 0.46433233 -0.09191737 0.88087836 0.99166218] [ 0. 0. 0. 1. ]] SLAMing on 175.85650248099998 meters Centerline goodness : 0.716737 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85225434 -0.22485184 -0.47233905 4.489958 ] [ 0.24120811 0.97010904 -0.02659136 -0.37176246] [ 0.4641995 -0.09126941 0.88101573 0.99137773] [ 0. 0. 0. 1. ]] SLAMing on 175.88650248099998 meters Centerline goodness : 0.713742 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85247587 -0.22481863 -0.47195496 4.48918776] [ 0.2407001 0.97021275 -0.02739855 -0.37045952] [ 0.46405642 -0.090243 0.88119682 0.99085299] [ 0. 0. 0. 1. ]] SLAMing on 175.91650248099998 meters Centerline goodness : 0.714195 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85238229 -0.22573964 -0.47168426 4.48947239] [ 0.24119245 0.97006183 -0.0283945 -0.36947842] [ 0.46397266 -0.08956371 0.88131022 0.99032444] [ 0. 0. 0. 1. ]] SLAMing on 175.94650248099998 meters Centerline goodness : 0.713061 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85235147 -0.22594781 -0.47164028 4.489414 ] [ 0.24149696 0.9699901 -0.02825639 -0.36985196] [ 0.46387087 -0.08981532 0.8813382 0.99038275] [ 0. 0. 0. 1. ]] SLAMing on 175.97650248099998 meters Centerline goodness : 0.713406 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85222379 -0.2261957 -0.47175218 4.48956788] [ 0.24193165 0.96988946 -0.02799121 -0.37050449] [ 0.46387896 -0.09027701 0.88128677 0.99069546] [ 0. 0. 0. 1. ]] SLAMing on 176.00650248099998 meters Centerline goodness : 0.713733 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.8515776 -0.22735175 -0.47236297 4.49068924] [ 0.24373502 0.96946031 -0.02720199 -0.37157949] [ 0.46412157 -0.0919668 0.88098427 0.99177008] [ 0. 0. 0. 1. ]] SLAMing on 176.03650248099999 meters Centerline goodness : 0.714112 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85119584 -0.22809907 -0.47269066 4.49147745] [ 0.24472864 0.96921546 -0.02700528 -0.37227469] [ 0.46429898 -0.09269416 0.88081454 0.99228888] [ 0. 0. 0. 1. ]] SLAMing on 176.066502481 meters Centerline goodness : 0.711871 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85026153 -0.23369119 -0.47163944 4.49149328] [ 0.24899629 0.96801603 -0.03075411 -0.37304464] [ 0.4637415 -0.09128743 0.88125503 0.99232068] [ 0. 0. 0. 1. ]] SLAMing on 176.096502481 meters Centerline goodness : 0.712887 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.84992089 -0.23390118 -0.47214904 4.49209517] [ 0.24971061 0.96785672 -0.02996631 -0.37439641] [ 0.46398178 -0.09243164 0.88100925 0.99322436] [ 0. 0. 0. 1. ]] SLAMing on 176.126502481 meters Centerline goodness : 0.711241 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.84934513 -0.23446484 -0.47290495 4.49298175] [ 0.25078252 0.96759923 -0.02932321 -0.37499377] [ 0.46445773 -0.09369077 0.88062538 0.99441255] [ 0. 0. 0. 1. ]] SLAMing on 176.156502481 meters Centerline goodness : 0.712714 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84913858 -0.23455131 -0.47323287 4.49310533] [ 0.25112346 0.96752237 -0.02893929 -0.37531953] [ 0.46465114 -0.0942664 0.88046191 0.99505968] [ 0. 0. 0. 1. ]] SLAMing on 176.186502481 meters Centerline goodness : 0.713730 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84912303 -0.23459931 -0.47323698 4.49295242] [ 0.2513799 0.9674671 -0.02855788 -0.37631178] [ 0.46454087 -0.09471311 0.88047215 0.99531771] [ 0. 0. 0. 1. ]] SLAMing on 176.216502481 meters Centerline goodness : 0.714172 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84921874 -0.2345895 -0.47307008 4.49322801] [ 0.2514529 0.96745397 -0.02835948 -0.37725989] [ 0.46432636 -0.09487145 0.88056825 0.99501181] [ 0. 0. 0. 1. ]] SLAMing on 176.246502481 meters Centerline goodness : 0.714134 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.84941138 -0.23442646 -0.47280498 4.49346749] [ 0.25140834 0.96747515 -0.02802988 -0.37887907] [ 0.46399801 -0.09505822 0.88072117 0.99456064] [ 0. 0. 0. 1. ]] SLAMing on 176.276502481 meters Centerline goodness : 0.715039 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85005752 -0.23301002 -0.47234367 4.49176468] [ 0.25029101 0.96779464 -0.02698054 -0.3807608 ] [ 0.46341841 -0.09528836 0.88100142 0.9944508 ] [ 0. 0. 0. 1. ]] SLAMing on 176.306502481 meters Centerline goodness : 0.715535 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85065915 -0.23201684 -0.47174908 4.49121117] [ 0.24918834 0.96808447 -0.02678873 -0.38112869] [ 0.46290839 -0.09476629 0.8813258 0.99337003] [ 0. 0. 0. 1. ]] SLAMing on 176.336502481 meters Centerline goodness : 0.712866 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85082653 -0.23162419 -0.47164017 4.49110712] [ 0.24874734 0.96819888 -0.02675228 -0.38147443] [ 0.46283796 -0.09455769 0.8813852 0.9931237 ] [ 0. 0. 0. 1. ]] SLAMing on 176.366502481 meters Centerline goodness : 0.714813 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85106095 -0.23118096 -0.47143465 4.49145932] [ 0.24832359 0.96831319 -0.026551 -0.38307409] [ 0.46263448 -0.09447182 0.88150123 0.9926574 ] [ 0. 0. 0. 1. ]] SLAMing on 176.396502481 meters Centerline goodness : 0.712691 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85115864 -0.23106346 -0.47131587 4.49188676] [ 0.24827463 0.96833091 -0.02636193 -0.38405013] [ 0.46248101 -0.09457759 0.88157041 0.99233188] [ 0. 0. 0. 1. ]] SLAMing on 176.426502481 meters Centerline goodness : 0.709413 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85110192 -0.23077188 -0.47156109 4.49341776] [ 0.24841622 0.96831723 -0.02551709 -0.38610587] [ 0.46250935 -0.09542578 0.88146413 0.99220243] [ 0. 0. 0. 1. ]] SLAMing on 176.456502481 meters Centerline goodness : 0.710620 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85119625 -0.23047887 -0.47153413 4.49314412] [ 0.24851616 0.96831316 -0.02468474 -0.3876798 ] [ 0.46228202 -0.0961723 0.88150225 0.99247846] [ 0. 0. 0. 1. ]] SLAMing on 176.48650248099997 meters Centerline goodness : 0.711506 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85125653 -0.23024819 -0.471538 4.49180266] [ 0.24902797 0.96821817 -0.02320872 -0.3908408 ] [ 0.46189543 -0.09766958 0.88154028 0.99365388] [ 0. 0. 0. 1. ]] SLAMing on 176.51650248099997 meters Centerline goodness : 0.711506 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85125653 -0.23024819 -0.471538 4.49180266] [ 0.24902797 0.96821817 -0.02320872 -0.3908408 ] [ 0.46189543 -0.09766958 0.88154028 0.99365388] [ 0. 0. 0. 1. ]] SLAMing on 176.54650248099998 meters Centerline goodness : 0.707851 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85119425 -0.23016797 -0.47168958 4.49222024] [ 0.24934533 0.96815402 -0.02246549 -0.39263037] [ 0.46183899 -0.0984911 0.88147844 0.99399343] [ 0. 0. 0. 1. ]] SLAMing on 176.57650248099998 meters Centerline goodness : 0.708143 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85044314 -0.23486683 -0.47072714 4.49238345] [ 0.25287575 0.96715742 -0.02569802 -0.3945102 ] [ 0.46130286 -0.09718078 0.88190451 0.99396696] [ 0. 0. 0. 1. ]] SLAMing on 176.60650248099998 meters Centerline goodness : 0.707111 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84979018 -0.23884884 -0.46990198 4.49156767] [ 0.25600393 0.96626492 -0.02817955 -0.3962072 ] [ 0.46078046 -0.09635005 0.88226869 0.99452907] [ 0. 0. 0. 1. ]] SLAMing on 176.63650248099998 meters Centerline goodness : 0.709124 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84969074 -0.23899053 -0.47000976 4.49162394] [ 0.25658044 0.96613414 -0.02740982 -0.39782574] [ 0.46064316 -0.09730544 0.88223553 0.99502911] [ 0. 0. 0. 1. ]] SLAMing on 176.66650248099998 meters Centerline goodness : 0.707943 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84892719 -0.24316741 -0.46924645 4.49215028] [ 0.25993661 0.96516276 -0.02989658 -0.39968268] [ 0.46016907 -0.09659431 0.88256103 0.99509137] [ 0. 0. 0. 1. ]] SLAMing on 176.69650248099998 meters Centerline goodness : 0.709267 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84882675 -0.24319322 -0.46941474 4.49242265] [ 0.26047455 0.96504624 -0.02896145 -0.4016671 ] [ 0.46005016 -0.09768734 0.88250271 0.99565627] [ 0. 0. 0. 1. ]] SLAMing on 176.72650248099998 meters Centerline goodness : 0.711009 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84823305 -0.24751995 -0.46822491 4.49162583] [ 0.26370953 0.96407423 -0.03190874 -0.40315008] [ 0.45930162 -0.09640933 0.88303299 0.99566498] [ 0. 0. 0. 1. ]] SLAMing on 176.75650248099998 meters Centerline goodness : 0.709656 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.848262 -0.24734803 -0.46826332 4.49223269] [ 0.26392873 0.96404 -0.03112071 -0.40496021] [ 0.45912222 -0.09718962 0.88304075 0.99568654] [ 0. 0. 0. 1. ]] SLAMing on 176.78650248099999 meters Centerline goodness : 0.707218 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:1.00 [[ 0.84832331 -0.24683238 -0.46842432 4.49303915] [ 0.26402991 0.96405286 -0.02983776 -0.40736539] [ 0.45895073 -0.09836597 0.88299964 0.99584381] [ 0. 0. 0. 1. ]] SLAMing on 176.816502481 meters Centerline goodness : 0.709608 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:1.00 [[ 0.84848125 -0.24640918 -0.46836106 4.49372166] [ 0.26380494 0.96413003 -0.02932982 -0.40855337] [ 0.4587881 -0.09867016 0.88305021 0.99545885] [ 0. 0. 0. 1. ]] SLAMing on 176.846502481 meters Centerline goodness : 0.709831 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.84877362 -0.24608796 -0.46800006 4.49361592] [ 0.26341063 0.9642388 -0.02929819 -0.40895048] [ 0.45847375 -0.09840866 0.88324264 0.99479358] [ 0. 0. 0. 1. ]] SLAMing on 176.876502481 meters Centerline goodness : 0.710673 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.84945187 -0.24501362 -0.46733269 4.49215758] [ 0.26219556 0.96457512 -0.02912599 -0.40999008] [ 0.45791375 -0.09779143 0.88360162 0.99411252] [ 0. 0. 0. 1. ]] SLAMing on 176.906502481 meters Centerline goodness : 0.710767 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85025982 -0.24382274 -0.46648549 4.4906097 ] [ 0.26070839 0.96497643 -0.02918274 -0.41036903] [ 0.45726292 -0.09680377 0.88404731 0.99298734] [ 0. 0. 0. 1. ]] SLAMing on 176.936502481 meters Centerline goodness : 0.712846 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85063839 -0.24347829 -0.46597494 4.48993677] [ 0.26009073 0.96513347 -0.02949921 -0.410155 ] [ 0.45691042 -0.0961026 0.88430603 0.99220182] [ 0. 0. 0. 1. ]] SLAMing on 176.966502481 meters Centerline goodness : 0.711202 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85120518 -0.2426472 -0.46537306 4.48912733] [ 0.25885914 0.96545171 -0.0299156 -0.40973253] [ 0.45655415 -0.09500176 0.88460894 0.99115872] [ 0. 0. 0. 1. ]] SLAMing on 176.996502481 meters Centerline goodness : 0.712069 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85167642 -0.2419821 -0.4648569 4.48849698] [ 0.25810331 0.96565771 -0.02979707 -0.41005082] [ 0.45610301 -0.09460364 0.88488429 0.99034508] [ 0. 0. 0. 1. ]] SLAMing on 177.026502481 meters Centerline goodness : 0.713521 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85198919 -0.24147541 -0.46454715 4.48886703] [ 0.2575364 0.96581175 -0.0297097 -0.41079123] [ 0.45583926 -0.09432546 0.88504987 0.98951516] [ 0. 0. 0. 1. ]] SLAMing on 177.056502481 meters Centerline goodness : 0.714615 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85210979 -0.24129784 -0.46441819 4.48919981] [ 0.25752028 0.96582796 -0.02931981 -0.41201848] [ 0.45562288 -0.09461341 0.88513055 0.98923522] [ 0. 0. 0. 1. ]] SLAMing on 177.086502481 meters Centerline goodness : 0.716809 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.8523677 -0.24090117 -0.46415076 4.48850784] [ 0.25782226 0.96579248 -0.02779522 -0.41540799] [ 0.45496921 -0.09597665 0.88532 0.9896323 ] [ 0. 0. 0. 1. ]] SLAMing on 177.116502481 meters Centerline goodness : 0.717636 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85247591 -0.24067618 -0.46406875 4.48821179] [ 0.25796891 0.96577605 -0.02699385 -0.41681491] [ 0.45468326 -0.0967037 0.88538778 0.98985528] [ 0. 0. 0. 1. ]] SLAMing on 177.146502481 meters Centerline goodness : 0.716877 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85216807 -0.24105839 -0.46443561 4.48971507] [ 0.25899249 0.96553113 -0.02593308 -0.41874845] [ 0.45467842 -0.098186 0.88522711 0.99026779] [ 0. 0. 0. 1. ]] SLAMing on 177.176502481 meters Centerline goodness : 0.480751 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85121569 -0.24576928 -0.46371253 4.49169067] [ 0.26251855 0.96448242 -0.02928591 -0.41936675] [ 0.45444016 -0.09680451 0.88550157 0.98967917] [ 0. 0. 0. 1. ]] SLAMing on 177.206502481 meters Centerline goodness : 0.716552 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85111465 -0.24593046 -0.46381253 4.49194225] [ 0.26301202 0.96436546 -0.02870439 -0.42071787] [ 0.45434406 -0.09755754 0.88546824 0.99004359] [ 0. 0. 0. 1. ]] SLAMing on 177.23650248099997 meters Centerline goodness : 0.534112 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85132935 -0.24594248 -0.46341196 4.49147011] [ 0.26344945 0.96427313 -0.02777978 -0.4230079 ] [ 0.45368793 -0.09843588 0.88570743 0.99004168] [ 0. 0. 0. 1. ]] SLAMing on 177.26650248099997 meters Centerline goodness : 0.549794 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85137579 -0.24600662 -0.46329257 4.49131021] [ 0.26364859 0.96422663 -0.02750335 -0.42384569] [ 0.45348504 -0.09873074 0.88577851 0.9901121 ] [ 0. 0. 0. 1. ]] SLAMing on 177.29650248099998 meters Centerline goodness : 0.541800 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.8516418 -0.24562654 -0.46300524 4.49047468] [ 0.26339914 0.96430681 -0.0270788 -0.42466199] [ 0.45313038 -0.09889375 0.88594181 0.99008965] [ 0. 0. 0. 1. ]] SLAMing on 177.32650248099998 meters Centerline goodness : 0.515267 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85189961 -0.2452491 -0.46273095 4.48952 ] [ 0.26296645 0.9644265 -0.02702156 -0.42469688] [ 0.45289701 -0.09866306 0.88608685 0.98998087] [ 0. 0. 0. 1. ]] SLAMing on 177.35650248099998 meters Centerline goodness : 0.558117 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85214564 -0.24505249 -0.46238196 4.48918757] [ 0.26271383 0.96449611 -0.02699441 -0.42508203] [ 0.45258065 -0.09847096 0.88626984 0.98951957] [ 0. 0. 0. 1. ]] SLAMing on 177.38650248099998 meters Centerline goodness : 0.514232 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85233056 -0.24495436 -0.46209304 4.48945832] [ 0.26260637 0.96452756 -0.02691623 -0.42593601] [ 0.45229472 -0.09840705 0.88642289 0.98891925] [ 0. 0. 0. 1. ]] SLAMing on 177.41650248099998 meters Centerline goodness : 0.534006 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85226949 -0.24509366 -0.46213182 4.49116279] [ 0.26276068 0.96448508 -0.02693229 -0.42620987] [ 0.45232018 -0.09847651 0.88640219 0.9882195 ] [ 0. 0. 0. 1. ]] SLAMing on 177.44650248099998 meters Centerline goodness : 0.578836 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85213857 -0.24530882 -0.46225906 4.49179597] [ 0.26302319 0.96441369 -0.02692641 -0.42603691] [ 0.45241425 -0.09863982 0.88633601 0.98819265] [ 0. 0. 0. 1. ]] SLAMing on 177.47650248099998 meters Centerline goodness : 0.482937 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85217167 -0.24543001 -0.46213369 4.49186545] [ 0.2633619 0.96433306 -0.02650038 -0.42692696] [ 0.45215478 -0.09912553 0.88641423 0.98816878] [ 0. 0. 0. 1. ]] SLAMing on 177.50650248099998 meters Centerline goodness : 0.680086 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85225281 -0.24545045 -0.46197318 4.49200139] [ 0.26350729 0.96430098 -0.02622076 -0.42761492] [ 0.45191709 -0.09938658 0.88650621 0.98794294] [ 0. 0. 0. 1. ]] SLAMing on 177.53650248099999 meters Centerline goodness : 0.572643 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85202556 -0.24608688 -0.46205378 4.49339673] [ 0.26431072 0.96408496 -0.0260774 -0.42839323] [ 0.4518764 -0.09990716 0.88646843 0.98775945] [ 0. 0. 0. 1. ]] SLAMing on 177.566502481 meters Centerline goodness : 0.323267 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85183455 -0.2464005 -0.46223878 4.49409333] [ 0.26483636 0.96394846 -0.02578889 -0.42895635] [ 0.45192876 -0.10044977 0.88638042 0.98796269] [ 0. 0. 0. 1. ]] SLAMing on 177.596502481 meters Centerline goodness : 0.147142 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85144034 -0.24716566 -0.46255648 4.49448979] [ 0.26614121 0.96360959 -0.02500849 -0.43036081] [ 0.45190509 -0.1018121 0.88623703 0.98897011] [ 0. 0. 0. 1. ]] SLAMing on 177.626502481 meters Centerline goodness : 0.429752 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.85090802 -0.24814205 -0.46301302 4.49606809] [ 0.26748655 0.96324612 -0.02465462 -0.43095777] [ 0.45211335 -0.10287094 0.88600852 0.98947433] [ 0. 0. 0. 1. ]] SLAMing on 177.656502481 meters Centerline goodness : 0.516399 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.85058113 -0.248573 -0.46338235 4.49709712] [ 0.26807481 0.96308516 -0.02455336 -0.43104948] [ 0.45237997 -0.10333651 0.88581823 0.98981148] [ 0. 0. 0. 1. ]] SLAMing on 177.686502481 meters Centerline goodness : 0.725659 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.85015905 -0.2496834 -0.46355991 4.49753441] [ 0.26925866 0.96274999 -0.02474332 -0.43071875] [ 0.45247029 -0.10378176 0.88572003 0.99029033] [ 0. 0. 0. 1. ]] SLAMing on 177.716502481 meters Centerline goodness : 0.370293 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.84967259 -0.25073867 -0.46388211 4.49884822] [ 0.27034153 0.96243863 -0.02504687 -0.43027573] [ 0.45273828 -0.10412496 0.88554279 0.99050264] [ 0. 0. 0. 1. ]] SLAMing on 177.746502481 meters Centerline goodness : 0.476490 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.84938522 -0.25126745 -0.46412219 4.49952576] [ 0.27075538 0.96231114 -0.02547142 -0.42932872] [ 0.45303009 -0.10402853 0.88540488 0.99060053] [ 0. 0. 0. 1. ]] SLAMing on 177.776502481 meters Centerline goodness : 0.305786 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.84964436 -0.24764132 -0.4655945 4.50068743] [ 0.26850809 0.96302103 -0.0222241 -0.42821731] [ 0.4538809 -0.10613331 0.88471908 0.99123712] [ 0. 0. 0. 1. ]] SLAMing on 177.806502481 meters Centerline goodness : 0.366279 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.84967421 -0.24783316 -0.46543792 4.50040122] [ 0.26838661 0.9630404 -0.02284334 -0.42677214] [ 0.45389686 -0.10550791 0.88478569 0.99086229] [ 0. 0. 0. 1. ]] SLAMing on 177.836502481 meters Centerline goodness : 0.446541 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84987829 -0.24817917 -0.46488062 4.49955649] [ 0.26810911 0.96308948 -0.02400323 -0.42477785] [ 0.45367873 -0.1042389 0.88504794 0.98995737] [ 0. 0. 0. 1. ]] SLAMing on 177.866502481 meters Centerline goodness : 0.568716 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.85009121 -0.24844795 -0.46434744 4.49883373] [ 0.26796115 0.96311181 -0.02474813 -0.42384966] [ 0.45336712 -0.1033889 0.88530728 0.989236 ] [ 0. 0. 0. 1. ]] SLAMing on 177.896502481 meters Centerline goodness : 0.146691 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.85011933 -0.24873989 -0.46413964 4.49868732] [ 0.26759872 0.96317829 -0.02604822 -0.42171658] [ 0.45352845 -0.10205908 0.88537895 0.98853241] [ 0. 0. 0. 1. ]] SLAMing on 177.926502481 meters Centerline goodness : 0.149915 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.85092913 -0.24399199 -0.46517473 4.49886203] [ 0.26428231 0.96418776 -0.02228964 -0.42195547] [ 0.45395428 -0.10397055 0.88493821 0.98871446] [ 0. 0. 0. 1. ]] SLAMing on 177.956502481 meters Centerline goodness : 0.237696 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.8510588 -0.24402729 -0.46491892 4.49855198] [ 0.26409351 0.96423063 -0.02266952 -0.42123746] [ 0.45382105 -0.10348898 0.88506299 0.9882671 ] [ 0. 0. 0. 1. ]] SLAMing on 177.98650248099997 meters Centerline goodness : 0.718431 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.851164 -0.24401018 -0.46473528 4.49892523] [ 0.26392828 0.96427027 -0.02290662 -0.42154551] [ 0.45371986 -0.10315949 0.88515332 0.98774081] [ 0. 0. 0. 1. ]] SLAMing on 178.01650248099997 meters Centerline goodness : 0.717764 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.85116174 -0.24421644 -0.46463107 4.49897359] [ 0.26410036 0.96422093 -0.02299992 -0.42155229] [ 0.45362396 -0.10313258 0.88520561 0.98759515] [ 0. 0. 0. 1. ]] SLAMing on 178.04650248099998 meters Centerline goodness : 0.718477 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.8510864 -0.24387065 -0.46495059 4.49848962] [ 0.26417958 0.96421881 -0.02216368 -0.42207577] [ 0.45371918 -0.10396724 0.88505916 0.98845479] [ 0. 0. 0. 1. ]] SLAMing on 178.07650248099998 meters Centerline goodness : 0.719450 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.8509367 -0.24382508 -0.46524839 4.49829835] [ 0.26447475 0.96415147 -0.0215649 -0.42265419] [ 0.45382799 -0.10469609 0.88491745 0.98924528] [ 0. 0. 0. 1. ]] SLAMing on 178.10650248099998 meters Centerline goodness : 0.720687 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.85049754 -0.2445095 -0.46569199 4.49838151] [ 0.26585509 0.96379495 -0.02050266 -0.42440286] [ 0.45384469 -0.10636913 0.88470934 0.99065935] [ 0. 0. 0. 1. ]] SLAMing on 178.13650248099998 meters Centerline goodness : 0.720540 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.85022998 -0.24508402 -0.46587852 4.49878533] [ 0.26673136 0.96356102 -0.02011341 -0.42550812] [ 0.45383186 -0.10716339 0.88462006 0.99122488] [ 0. 0. 0. 1. ]] SLAMing on 178.16650248099998 meters Centerline goodness : 0.720116 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.84893102 -0.25080053 -0.46520449 4.49978494] [ 0.27103481 0.96226589 -0.02417633 -0.4251858 ] [ 0.45371385 -0.10556257 0.88487303 0.99139636] [ 0. 0. 0. 1. ]] SLAMing on 178.19650248099998 meters Centerline goodness : 0.718368 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84823249 -0.25209019 -0.46578125 4.50194879] [ 0.27232898 0.96188825 -0.024656 -0.42435051] [ 0.45424504 -0.10593171 0.88455634 0.99164701] [ 0. 0. 0. 1. ]] SLAMing on 178.22650248099998 meters Centerline goodness : 0.717281 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84796323 -0.25254368 -0.46602581 4.50243741] [ 0.27277798 0.96175608 -0.02484783 -0.4233654 ] [ 0.45447832 -0.10605153 0.88442215 0.99185052] [ 0. 0. 0. 1. ]] SLAMing on 178.25650248099998 meters Centerline goodness : 0.718663 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84767246 -0.25276794 -0.46643302 4.50154358] [ 0.27326507 0.96162664 -0.02450321 -0.42226958] [ 0.45472805 -0.10668915 0.88421707 0.99300652] [ 0. 0. 0. 1. ]] SLAMing on 178.28650248099999 meters Centerline goodness : 0.719626 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84772443 -0.25306766 -0.46617599 4.50055069] [ 0.27342882 0.96157306 -0.02477768 -0.42172452] [ 0.4545327 -0.10646131 0.88434496 0.99305353] [ 0. 0. 0. 1. ]] SLAMing on 178.316502481 meters Centerline goodness : 0.721488 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84787699 -0.25338701 -0.46572484 4.49945531] [ 0.27349527 0.9615423 -0.02523374 -0.4213255 ] [ 0.45420804 -0.10597843 0.88456974 0.9928384 ] [ 0. 0. 0. 1. ]] SLAMing on 178.346502481 meters Centerline goodness : 0.721901 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84796817 -0.25363116 -0.46542584 4.4987556 ] [ 0.27351746 0.96152495 -0.02565089 -0.42061087] [ 0.45402442 -0.10555095 0.88471511 0.99256599] [ 0. 0. 0. 1. ]] SLAMing on 178.376502481 meters Centerline goodness : 0.723073 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84816157 -0.25374981 -0.4650086 4.49732122] [ 0.27313808 0.96160858 -0.02654309 -0.41813447] [ 0.45389156 -0.10449872 0.88490817 0.99210422] [ 0. 0. 0. 1. ]] SLAMing on 178.406502481 meters Centerline goodness : 0.723073 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84816157 -0.25374981 -0.4650086 4.49732122] [ 0.27313808 0.96160858 -0.02654309 -0.41813447] [ 0.45389156 -0.10449872 0.88490817 0.99210422] [ 0. 0. 0. 1. ]] SLAMing on 178.436502481 meters Centerline goodness : 0.722731 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.8490008 -0.24941145 -0.46582355 4.49701231] [ 0.26997393 0.96258475 -0.0233384 -0.41730261] [ 0.45421551 -0.1059459 0.88456981 0.99205093] [ 0. 0. 0. 1. ]] SLAMing on 178.466502481 meters Centerline goodness : 0.723058 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84921712 -0.24949246 -0.46538564 4.49662796] [ 0.26957513 0.96267577 -0.02417894 -0.41556408] [ 0.45404794 -0.10492322 0.88477771 0.99109272] [ 0. 0. 0. 1. ]] SLAMing on 178.496502481 meters Centerline goodness : 0.721728 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84995086 -0.24539313 -0.466225 4.49772389] [ 0.26633334 0.96363752 -0.02166288 -0.41416226] [ 0.45458783 -0.10575888 0.88440091 0.9903255 ] [ 0. 0. 0. 1. ]] SLAMing on 178.526502481 meters Centerline goodness : 0.723577 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85090272 -0.24071456 -0.46692726 4.49807857] [ 0.26272652 0.96469204 -0.0185483 -0.41336638] [ 0.45490585 -0.10689138 0.88410118 0.98964383] [ 0. 0. 0. 1. ]] SLAMing on 178.556502481 meters Centerline goodness : 0.722035 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85109577 -0.24081615 -0.46652286 4.49727035] [ 0.26233424 0.96478149 -0.01942756 -0.4113783 ] [ 0.45477109 -0.10585021 0.88429576 0.98895058] [ 0. 0. 0. 1. ]] SLAMing on 178.586502481 meters Centerline goodness : 0.722843 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85181725 -0.2363827 -0.46747256 4.4977887 ] [ 0.25910768 0.96571284 -0.01618366 -0.41051873] [ 0.4552698 -0.10734021 0.88385943 0.98879747] [ 0. 0. 0. 1. ]] SLAMing on 178.616502481 meters Centerline goodness : 0.721724 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85190218 -0.23659499 -0.46721033 4.49748015] [ 0.25901006 0.96572902 -0.01677062 -0.40943265] [ 0.45516641 -0.10672525 0.88398714 0.98831233] [ 0. 0. 0. 1. ]] SLAMing on 178.646502481 meters Centerline goodness : 0.721580 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85181613 -0.23700132 -0.46716128 4.4973402 ] [ 0.25912034 0.96568761 -0.017438 -0.40787122] [ 0.45526469 -0.10619702 0.88400014 0.98816685] [ 0. 0. 0. 1. ]] SLAMing on 178.676502481 meters Centerline goodness : 0.720296 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85164861 -0.23758827 -0.46716855 4.49734588] [ 0.25957489 0.96555801 -0.01784936 -0.40697726] [ 0.45531913 -0.10606384 0.88398809 0.98822334] [ 0. 0. 0. 1. ]] SLAMing on 178.706502481 meters Centerline goodness : 0.719295 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85118855 -0.23856524 -0.46750901 4.49784861] [ 0.26058114 0.96528158 -0.01813644 -0.40621091] [ 0.45560456 -0.10638651 0.88380224 0.98881248] [ 0. 0. 0. 1. ]] SLAMing on 178.73650248099997 meters Centerline goodness : 0.719198 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85074117 -0.23960393 -0.46779206 4.49820171] [ 0.26176449 0.96496014 -0.01820129 -0.40615772] [ 0.45576179 -0.10696676 0.88365112 0.98954065] [ 0. 0. 0. 1. ]] SLAMing on 178.76650248099997 meters Centerline goodness : 0.720492 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85041086 -0.24015735 -0.46810876 4.49857252] [ 0.26252141 0.9647576 -0.01803549 -0.40645473] [ 0.45594284 -0.10755099 0.88348679 0.99020389] [ 0. 0. 0. 1. ]] SLAMing on 178.79650248099998 meters Centerline goodness : 0.720313 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85000543 -0.24106642 -0.46837778 4.49910345] [ 0.26370814 0.96443814 -0.01780678 -0.40688901] [ 0.45601402 -0.10837918 0.88334884 0.99085903] [ 0. 0. 0. 1. ]] SLAMing on 178.82650248099998 meters Centerline goodness : 0.720996 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.8498482 -0.24151235 -0.46843337 4.49906316] [ 0.26420841 0.96430073 -0.01783284 -0.40707548] [ 0.4560175 -0.10860883 0.88331884 0.99117276] [ 0. 0. 0. 1. ]] SLAMing on 178.85650248099998 meters Centerline goodness : 0.719083 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84970843 -0.24189204 -0.468491 4.49875325] [ 0.26473293 0.96415992 -0.01766695 -0.40724545] [ 0.45597374 -0.10901324 0.88329161 0.99159997] [ 0. 0. 0. 1. ]] SLAMing on 178.88650248099998 meters Centerline goodness : 0.720440 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84937673 -0.24250067 -0.46877777 4.49877402] [ 0.26538587 0.96397763 -0.01781791 -0.4061056 ] [ 0.45621213 -0.10927287 0.88313642 0.99217467] [ 0. 0. 0. 1. ]] SLAMing on 178.91650248099998 meters Centerline goodness : 0.718803 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84929557 -0.24270532 -0.46881891 4.49869448] [ 0.2656348 0.96390945 -0.01779682 -0.40594837] [ 0.45621836 -0.10941986 0.883115 0.99232508] [ 0. 0. 0. 1. ]] SLAMing on 178.94650248099998 meters Centerline goodness : 0.719697 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84948086 -0.24295539 -0.46835344 4.49786072] [ 0.26587338 0.96384439 -0.01775761 -0.40662584] [ 0.45573415 -0.10943796 0.88336273 0.99208415] [ 0. 0. 0. 1. ]] SLAMing on 178.97650248099998 meters Centerline goodness : 0.719740 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84952209 -0.2431728 -0.46816579 4.49767443] [ 0.26597664 0.96381169 -0.01798455 -0.40664916] [ 0.45559702 -0.1092429 0.88345761 0.99189254] [ 0. 0. 0. 1. ]] SLAMing on 179.00650248099998 meters Centerline goodness : 0.719237 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84983976 -0.24319016 -0.46757986 4.49684516] [ 0.26570402 0.96387918 -0.01839277 -0.40610115] [ 0.45516343 -0.10860694 0.88375946 0.99111583] [ 0. 0. 0. 1. ]] SLAMing on 179.03650248099999 meters Centerline goodness : 0.719792 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84999411 -0.24325348 -0.46726626 4.49616138] [ 0.26553803 0.96391765 -0.01876994 -0.40527322] [ 0.45497205 -0.10812262 0.88391738 0.99075331] [ 0. 0. 0. 1. ]] SLAMing on 179.066502481 meters Centerline goodness : 0.718087 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85107398 -0.23856572 -0.46771731 4.49592667] [ 0.2620727 0.96492687 -0.01529817 -0.40545056] [ 0.45496262 -0.10955606 0.88374571 0.9901156 ] [ 0. 0. 0. 1. ]] SLAMing on 179.096502481 meters Centerline goodness : 0.718396 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85173062 -0.23823879 -0.4666875 4.49416811] [ 0.26093719 0.96521465 -0.0165065 -0.40397865] [ 0.4543861 -0.10771703 0.88426823 0.98866543] [ 0. 0. 0. 1. ]] SLAMing on 179.126502481 meters Centerline goodness : 0.717885 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85223112 -0.23798486 -0.4659027 4.49306514] [ 0.2602765 0.96538405 -0.01702299 -0.40364708] [ 0.45382625 -0.10675601 0.88467219 0.98759889] [ 0. 0. 0. 1. ]] SLAMing on 179.156502481 meters Centerline goodness : 0.717957 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85279932 -0.23739994 -0.46516082 4.49188416] [ 0.25914886 0.96567457 -0.0177339 -0.40274751] [ 0.453404 -0.10542243 0.88504854 0.98645331] [ 0. 0. 0. 1. ]] SLAMing on 179.186502481 meters Centerline goodness : 0.718741 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85297061 -0.23727446 -0.46491072 4.49169816] [ 0.25883683 0.96575333 -0.018 -0.40207017] [ 0.45326002 -0.10498254 0.88517457 0.98590141] [ 0. 0. 0. 1. ]] SLAMing on 179.216502481 meters Centerline goodness : 0.716016 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85290427 -0.23738594 -0.4649755 4.49201744] [ 0.25874076 0.96577056 -0.01845096 -0.40083252] [ 0.45343965 -0.10457121 0.88513126 0.98564169] [ 0. 0. 0. 1. ]] SLAMing on 179.246502481 meters Centerline goodness : 0.719639 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.8528929 -0.23764323 -0.46486493 4.49261507] [ 0.25895015 0.96571193 -0.01858208 -0.40107759] [ 0.45334152 -0.10452832 0.88518659 0.98525937] [ 0. 0. 0. 1. ]] SLAMing on 179.276502481 meters Centerline goodness : 0.719026 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85285947 -0.23777314 -0.46485982 4.49287836] [ 0.25911521 0.96566835 -0.01854566 -0.40156356] [ 0.45331008 -0.10463541 0.88519004 0.98521395] [ 0. 0. 0. 1. ]] SLAMing on 179.306502481 meters Centerline goodness : 0.717473 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85246951 -0.2381215 -0.46539648 4.49413503] [ 0.25969952 0.96551576 -0.01831586 -0.40216561] [ 0.45370904 -0.10524953 0.88491279 0.98575395] [ 0. 0. 0. 1. ]] SLAMing on 179.336502481 meters Centerline goodness : 0.718261 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85229392 -0.23842853 -0.46556085 4.494675 ] [ 0.26008429 0.96541274 -0.01828694 -0.40229038] [ 0.45381851 -0.10549922 0.88482692 0.98590942] [ 0. 0. 0. 1. ]] SLAMing on 179.366502481 meters Centerline goodness : 0.717925 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85184333 -0.23909527 -0.46604333 4.49581532] [ 0.26112375 0.96514008 -0.01786079 -0.40275936] [ 0.45406753 -0.10648039 0.8845816 0.98656166] [ 0. 0. 0. 1. ]] SLAMing on 179.396502481 meters Centerline goodness : 0.716388 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85139517 -0.23944564 -0.46668195 4.49679325] [ 0.26194835 0.96492863 -0.01719884 -0.40368249] [ 0.45443297 -0.10760356 0.88425797 0.98755289] [ 0. 0. 0. 1. ]] SLAMing on 179.426502481 meters Centerline goodness : 0.714684 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85111679 -0.23976771 -0.46702426 4.49736669] [ 0.26241269 0.96480425 -0.01709776 -0.40362687] [ 0.45468648 -0.1080009 0.88407919 0.98799554] [ 0. 0. 0. 1. ]] SLAMing on 179.456502481 meters Centerline goodness : 0.716959 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85103577 -0.23999696 -0.46705415 4.49752973] [ 0.26261741 0.9647465 -0.01721303 -0.40356299] [ 0.45471993 -0.10800765 0.88406116 0.98803541] [ 0. 0. 0. 1. ]] SLAMing on 179.48650248099997 meters Centerline goodness : 0.716014 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85111837 -0.23989081 -0.46695815 4.49698777] [ 0.26236187 0.96481177 -0.01745009 -0.40336964] [ 0.45471284 -0.10765992 0.88410722 0.98804848] [ 0. 0. 0. 1. ]] SLAMing on 179.51650248099997 meters Centerline goodness : 0.717274 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85190398 -0.23531225 -0.46785441 4.49643161] [ 0.25928998 0.96570409 -0.01357653 -0.40358428] [ 0.45500364 -0.10974406 0.88370127 0.98856399] [ 0. 0. 0. 1. ]] SLAMing on 179.54650248099998 meters Centerline goodness : 0.715914 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85195026 -0.23566872 -0.46759064 4.49538867] [ 0.25919027 0.96571768 -0.01448325 -0.40136771] [ 0.4549738 -0.10885593 0.88382647 0.98838237] [ 0. 0. 0. 1. ]] SLAMing on 179.57650248099998 meters Centerline goodness : 0.714903 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85188343 -0.23608223 -0.4675038 4.49539552] [ 0.25931058 0.96567536 -0.01513658 -0.40034143] [ 0.45503038 -0.10833408 0.88386146 0.98816278] [ 0. 0. 0. 1. ]] SLAMing on 179.60650248099998 meters Centerline goodness : 0.714397 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85177237 -0.23710289 -0.46718953 4.49565647] [ 0.2597799 0.96552879 -0.01638805 -0.39880568] [ 0.45497059 -0.10740756 0.8840053 0.98747861] [ 0. 0. 0. 1. ]] SLAMing on 179.63650248099998 meters Centerline goodness : 0.712608 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85163668 -0.2376665 -0.46715051 4.4957019 ] [ 0.26015115 0.96542004 -0.01689764 -0.39807719] [ 0.45501246 -0.10713909 0.88401633 0.98744932] [ 0. 0. 0. 1. ]] SLAMing on 179.66650248099998 meters Centerline goodness : 0.711782 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85130985 -0.23807421 -0.46753845 4.49597751] [ 0.26041134 0.96534108 -0.01739338 -0.39556676] [ 0.45547499 -0.10694515 0.8838016 0.98774032] [ 0. 0. 0. 1. ]] SLAMing on 179.69650248099998 meters Centerline goodness : 0.711233 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.85115473 -0.23862568 -0.46753975 4.49627786] [ 0.26060389 0.96527362 -0.01823341 -0.39354057] [ 0.45565474 -0.10632322 0.88378398 0.98741135] [ 0. 0. 0. 1. ]] SLAMing on 179.72650248099998 meters Centerline goodness : 0.708478 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.85081121 -0.2390652 -0.46794029 4.49819533] [ 0.26061197 0.96525091 -0.01928947 -0.39025275] [ 0.45629124 -0.10553914 0.88354954 0.98672346] [ 0. 0. 0. 1. ]] SLAMing on 179.75650248099998 meters Centerline goodness : 0.706388 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.85092539 -0.23933141 -0.46759646 4.49737876] [ 0.26041222 0.96528679 -0.0201714 -0.38813313] [ 0.45619234 -0.10460348 0.88371187 0.98624968] [ 0. 0. 0. 1. ]] SLAMing on 179.78650248099999 meters Centerline goodness : 0.707047 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.85096225 -0.23955766 -0.46741349 4.49641887] [ 0.26022937 0.96531897 -0.0209754 -0.38602691] [ 0.45622792 -0.10378545 0.88378994 0.98614081] [ 0. 0. 0. 1. ]] SLAMing on 179.816502481 meters Centerline goodness : 0.705508 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.85104784 -0.23988436 -0.46709 4.49604872] [ 0.26014561 0.96532389 -0.02177255 -0.38449091] [ 0.45611603 -0.10298193 0.88394168 0.98555708] [ 0. 0. 0. 1. ]] SLAMing on 179.846502481 meters Centerline goodness : 0.704742 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.85101123 -0.24003399 -0.46707984 4.49568839] [ 0.25982925 0.96538745 -0.02271172 -0.38172847] [ 0.45636461 -0.10203308 0.88392341 0.98530534] [ 0. 0. 0. 1. ]] SLAMing on 179.876502481 meters Centerline goodness : 0.703056 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.85105592 -0.24028143 -0.46687113 4.49522021] [ 0.259826 0.9653765 -0.02320896 -0.38050354] [ 0.4562831 -0.10155314 0.88402075 0.98505456] [ 0. 0. 0. 1. ]] SLAMing on 179.906502481 meters Centerline goodness : 0.704744 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85096851 -0.24107794 -0.46661978 4.49456576] [ 0.26011705 0.96527046 -0.02433242 -0.37868859] [ 0.4562803 -0.10066964 0.88412324 0.98494573] [ 0. 0. 0. 1. ]] SLAMing on 179.936502481 meters Centerline goodness : 0.703870 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85090095 -0.24148132 -0.46653439 4.49461589] [ 0.26030159 0.96520778 -0.02484014 -0.37784751] [ 0.45630105 -0.10030314 0.88415419 0.98474884] [ 0. 0. 0. 1. ]] SLAMing on 179.966502481 meters Centerline goodness : 0.703779 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85073361 -0.24209314 -0.46652249 4.49483969] [ 0.26069517 0.96508647 -0.02541928 -0.37652452] [ 0.45638837 -0.09999513 0.88414401 0.98460428] [ 0. 0. 0. 1. ]] SLAMing on 179.996502481 meters Centerline goodness : 0.701317 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.85033091 -0.2434193 -0.4665666 4.49579213] [ 0.26157831 0.96481472 -0.02663371 -0.37444602] [ 0.45663348 -0.09939623 0.88408498 0.98428709] [ 0. 0. 0. 1. ]] SLAMing on 180.026502481 meters Centerline goodness : 0.701359 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.85009513 -0.24420768 -0.46658426 4.49657173] [ 0.26210853 0.96465095 -0.02734336 -0.37346577] [ 0.45676841 -0.09905126 0.88405399 0.98401548] [ 0. 0. 0. 1. ]] SLAMing on 180.056502481 meters Centerline goodness : 0.698774 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84982925 -0.24516974 -0.46656409 4.49778444] [ 0.26282722 0.96443479 -0.02806038 -0.37283392] [ 0.4568502 -0.09877921 0.88404217 0.98355613] [ 0. 0. 0. 1. ]] SLAMing on 180.086502481 meters Centerline goodness : 0.701391 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84973939 -0.2453392 -0.46663867 4.49762137] [ 0.26310588 0.96436312 -0.02791164 -0.37293692] [ 0.45685694 -0.09905776 0.88400752 0.98386205] [ 0. 0. 0. 1. ]] SLAMing on 180.116502481 meters Centerline goodness : 0.702347 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84979999 -0.24552853 -0.46642869 4.49635184] [ 0.26345847 0.96427602 -0.02759322 -0.37345902] [ 0.45654092 -0.09943587 0.88412833 0.98436185] [ 0. 0. 0. 1. ]] SLAMing on 180.146502481 meters Centerline goodness : 0.702875 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84968555 -0.24572945 -0.46653136 4.49648008] [ 0.26369568 0.96421097 -0.02760077 -0.3734925 ] [ 0.45661697 -0.09957033 0.88407392 0.98456189] [ 0. 0. 0. 1. ]] SLAMing on 180.176502481 meters Centerline goodness : 0.701187 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.8496196 -0.24616006 -0.46642444 4.49701544] [ 0.26402055 0.96411369 -0.02789144 -0.3732004 ] [ 0.45655195 -0.09944852 0.88412121 0.9842059 ] [ 0. 0. 0. 1. ]] SLAMing on 180.206502481 meters Centerline goodness : 0.702709 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.85010495 -0.24591316 -0.46566972 4.4956138 ] [ 0.26376003 0.96419147 -0.02766696 -0.37377484] [ 0.45579844 -0.09930524 0.884526 0.98355833] [ 0. 0. 0. 1. ]] SLAMing on 180.23650248099997 meters Centerline goodness : 0.701947 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.85022319 -0.24583161 -0.46549689 4.49512027] [ 0.26371744 0.96420711 -0.02752737 -0.37440423] [ 0.45560251 -0.09935524 0.88462133 0.98357557] [ 0. 0. 0. 1. ]] SLAMing on 180.26650248099997 meters Centerline goodness : 0.700293 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.85028665 -0.24605443 -0.46526319 4.49560834] [ 0.26402865 0.96412682 -0.02735579 -0.3755259 ] [ 0.45530373 -0.09958255 0.88474958 0.98315591] [ 0. 0. 0. 1. ]] SLAMing on 180.29650248099998 meters Centerline goodness : 0.702500 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.85019035 -0.24637317 -0.46527049 4.49611876] [ 0.26441133 0.96402306 -0.02731627 -0.37604819] [ 0.45526148 -0.09979876 0.88474696 0.98308631] [ 0. 0. 0. 1. ]] SLAMing on 180.32650248099998 meters Centerline goodness : 0.702500 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.85019035 -0.24637317 -0.46527049 4.49611876] [ 0.26441133 0.96402306 -0.02731627 -0.37604819] [ 0.45526148 -0.09979876 0.88474696 0.98308631] [ 0. 0. 0. 1. ]] SLAMing on 180.35650248099998 meters Centerline goodness : 0.704161 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.85028491 -0.24633091 -0.46512004 4.49609876] [ 0.26458572 0.96398841 -0.02684661 -0.37735573] [ 0.45498348 -0.10023685 0.88484044 0.98307939] [ 0. 0. 0. 1. ]] SLAMing on 180.38650248099998 meters Centerline goodness : 0.702565 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.85030679 -0.24640925 -0.46503854 4.49560616] [ 0.26476482 0.96394467 -0.02665059 -0.37790278] [ 0.45483838 -0.10046467 0.8848892 0.98331899] [ 0. 0. 0. 1. ]] SLAMing on 180.41650248099998 meters Centerline goodness : 0.706418 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85062825 -0.24614064 -0.46459268 4.49482059] [ 0.26460482 0.96399939 -0.02625761 -0.37909869] [ 0.45433013 -0.100598 0.88513512 0.98306839] [ 0. 0. 0. 1. ]] SLAMing on 180.44650248099998 meters Centerline goodness : 0.704455 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85086344 -0.24567281 -0.46440959 4.49428243] [ 0.26429063 0.96409818 -0.02579075 -0.37985667] [ 0.45407253 -0.1007947 0.88524492 0.98299144] [ 0. 0. 0. 1. ]] SLAMing on 180.47650248099998 meters Centerline goodness : 0.704259 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85090697 -0.24581674 -0.46425366 4.49411452] [ 0.26446111 0.96405286 -0.02573706 -0.38029394] [ 0.45389167 -0.10087719 0.88532827 0.98292894] [ 0. 0. 0. 1. ]] SLAMing on 180.50650248099998 meters Centerline goodness : 0.703973 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85088427 -0.24613873 -0.46412465 4.49461991] [ 0.26500422 0.9639138 -0.02535655 -0.38169211] [ 0.45361738 -0.1014195 0.88540689 0.98277075] [ 0. 0. 0. 1. ]] SLAMing on 180.53650248099999 meters Centerline goodness : 0.704268 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85085021 -0.24617708 -0.46416673 4.49473206] [ 0.26524398 0.96385758 -0.02498401 -0.38275791] [ 0.45354111 -0.10185979 0.88539542 0.98301578] [ 0. 0. 0. 1. ]] SLAMing on 180.566502481 meters Centerline goodness : 0.704860 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85022851 -0.25094496 -0.46275059 4.49374136] [ 0.26854257 0.96283913 -0.02873487 -0.38264714] [ 0.45276525 -0.09983702 0.88602269 0.98259093] [ 0. 0. 0. 1. ]] SLAMing on 180.596502481 meters Centerline goodness : 0.705963 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85012392 -0.25115205 -0.46283039 4.49426281] [ 0.26893572 0.96273802 -0.0284444 -0.38350517] [ 0.45272828 -0.10029036 0.88599038 0.98269437] [ 0. 0. 0. 1. ]] SLAMing on 180.626502481 meters Centerline goodness : 0.706558 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84993048 -0.25147824 -0.4630085 4.49551907] [ 0.26956102 0.96257649 -0.0279885 -0.38489232] [ 0.4527196 -0.10102077 0.88591183 0.9827646 ] [ 0. 0. 0. 1. ]] SLAMing on 180.656502481 meters Centerline goodness : 0.711179 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.85012883 -0.25122454 -0.46278203 4.4952093 ] [ 0.26953638 0.96259984 -0.0274169 -0.3862671 ] [ 0.45236171 -0.10142869 0.88604803 0.98272236] [ 0. 0. 0. 1. ]] SLAMing on 180.686502481 meters Centerline goodness : 0.710806 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.8502974 -0.25074929 -0.46273007 4.49524427] [ 0.2693224 0.96267797 -0.02676869 -0.3878134 ] [ 0.45217228 -0.10186223 0.88609498 0.98273352] [ 0. 0. 0. 1. ]] SLAMing on 180.716502481 meters Centerline goodness : 0.711835 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.85030961 -0.25077211 -0.46269527 4.4958347 ] [ 0.26951929 0.96263238 -0.02642454 -0.38895186] [ 0.45203198 -0.10223626 0.88612349 0.98254993] [ 0. 0. 0. 1. ]] SLAMing on 180.746502481 meters Centerline goodness : 0.712100 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84971332 -0.25465065 -0.46167123 4.49526446] [ 0.27232572 0.96175977 -0.02927184 -0.3899963 ] [ 0.45147091 -0.10085228 0.88656801 0.98256531] [ 0. 0. 0. 1. ]] SLAMing on 180.776502481 meters Centerline goodness : 0.712979 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84945532 -0.25489809 -0.46200934 4.49568152] [ 0.27294867 0.96160086 -0.02868454 -0.39112196] [ 0.45158021 -0.1017386 0.88641106 0.9832736 ] [ 0. 0. 0. 1. ]] SLAMing on 180.806502481 meters Centerline goodness : 0.712723 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84828423 -0.25935844 -0.46167854 4.49780565] [ 0.2765998 0.96047383 -0.03134594 -0.39154822] [ 0.45155999 -0.10110992 0.88649329 0.98334472] [ 0. 0. 0. 1. ]] SLAMing on 180.836502481 meters Centerline goodness : 0.712356 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84690512 -0.26471848 -0.46116791 4.50047448] [ 0.28089542 0.95911087 -0.03470016 -0.39200139] [ 0.45149693 -0.10015221 0.88663412 0.98313917] [ 0. 0. 0. 1. ]] SLAMing on 180.866502481 meters Centerline goodness : 0.712634 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84661178 -0.26542987 -0.46129761 4.50147093] [ 0.28181186 0.95884867 -0.03451531 -0.39299397] [ 0.45147599 -0.10077807 0.88657386 0.98332961] [ 0. 0. 0. 1. ]] SLAMing on 180.896502481 meters Centerline goodness : 0.715099 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84563531 -0.27010398 -0.46037459 4.50134328] [ 0.28536475 0.95767708 -0.03770383 -0.3931586 ] [ 0.45107415 -0.09949099 0.8869237 0.9835058 ] [ 0. 0. 0. 1. ]] SLAMing on 180.926502481 meters Centerline goodness : 0.715942 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84553794 -0.2703505 -0.46040873 4.50128836] [ 0.28582041 0.95755445 -0.03736533 -0.39398518] [ 0.45096817 -0.10000041 0.88692031 0.98385381] [ 0. 0. 0. 1. ]] SLAMing on 180.956502481 meters Centerline goodness : 0.716318 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84528664 -0.27065287 -0.46069243 4.50092494] [ 0.28644433 0.95738668 -0.03688338 -0.39463048] [ 0.45104339 -0.1007857 0.88679316 0.98480402] [ 0. 0. 0. 1. ]] SLAMing on 180.98650248099997 meters Centerline goodness : 0.717114 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84512407 -0.27095073 -0.4608156 4.50118041] [ 0.28675698 0.95729001 -0.03696315 -0.39427199] [ 0.45114936 -0.10090364 0.88672584 0.98498195] [ 0. 0. 0. 1. ]] SLAMing on 181.01650248099997 meters Centerline goodness : 0.716168 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84479598 -0.27132496 -0.46119683 4.50181551] [ 0.28704864 0.95718876 -0.03731957 -0.3927919 ] [ 0.45157815 -0.1008585 0.88651268 0.98525745] [ 0. 0. 0. 1. ]] SLAMing on 181.04650248099998 meters Centerline goodness : 0.716736 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84488651 -0.27132637 -0.46103014 4.50169183] [ 0.28693344 0.95721599 -0.03750677 -0.39226081] [ 0.451482 -0.100596 0.88659148 0.98488828] [ 0. 0. 0. 1. ]] SLAMing on 181.07650248099998 meters Centerline goodness : 0.718056 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84505186 -0.27146457 -0.46064558 4.50125645] [ 0.28683069 0.95723053 -0.03791931 -0.39186359] [ 0.45123776 -0.10008351 0.8867738 0.98439585] [ 0. 0. 0. 1. ]] SLAMing on 181.10650248099998 meters Centerline goodness : 0.719724 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84588444 -0.26724929 -0.46158134 4.5015159 ] [ 0.28386076 0.95824066 -0.03461088 -0.39219486] [ 0.45155574 -0.10174803 0.88642245 0.98442984] [ 0. 0. 0. 1. ]] SLAMing on 181.13650248099998 meters Centerline goodness : 0.718490 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84592979 -0.26742021 -0.46139921 4.5010212 ] [ 0.28372431 0.95825915 -0.0352125 -0.39054139] [ 0.45155655 -0.10112286 0.88649357 0.98411221] [ 0. 0. 0. 1. ]] SLAMing on 181.16650248099998 meters Centerline goodness : 0.720203 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.8462438 -0.26714696 -0.46098149 4.50011241] [ 0.28290498 0.95846803 -0.03610826 -0.38810088] [ 0.45148223 -0.09985757 0.88667483 0.98329645] [ 0. 0. 0. 1. ]] SLAMing on 181.19650248099998 meters Centerline goodness : 0.720651 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84661325 -0.26682064 -0.46049186 4.50052025] [ 0.28201565 0.95869579 -0.03700748 -0.38636825] [ 0.45134597 -0.09853488 0.88689215 0.98175173] [ 0. 0. 0. 1. ]] SLAMing on 181.22650248099998 meters Centerline goodness : 0.719041 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84679425 -0.26696395 -0.46007582 4.50043616] [ 0.28174418 0.95874636 -0.0377576 -0.38506278] [ 0.45117593 -0.09765077 0.88707644 0.98084367] [ 0. 0. 0. 1. ]] SLAMing on 181.25650248099998 meters Centerline goodness : 0.721838 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84760392 -0.26258377 -0.4611045 4.50117634] [ 0.2784356 0.95982542 -0.03476754 -0.38417369] [ 0.45170921 -0.09891881 0.88666446 0.98054401] [ 0. 0. 0. 1. ]] SLAMing on 181.28650248099999 meters Centerline goodness : 0.721517 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84778557 -0.26264289 -0.46073673 4.50076446] [ 0.2781536 0.95988547 -0.03536182 -0.38278822] [ 0.45154202 -0.09817634 0.88683212 0.97986155] [ 0. 0. 0. 1. ]] SLAMing on 181.316502481 meters Centerline goodness : 0.720388 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.8481549 -0.26248373 -0.46014733 4.50004825] [ 0.27755259 0.96003404 -0.03604438 -0.38156182] [ 0.45121817 -0.09714386 0.88711061 0.97886896] [ 0. 0. 0. 1. ]] SLAMing on 181.346502481 meters Centerline goodness : 0.721734 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.848225 -0.26269271 -0.45989878 4.49931785] [ 0.27758834 0.96001109 -0.03637876 -0.38085823] [ 0.45106437 -0.09680517 0.88722584 0.97874066] [ 0. 0. 0. 1. ]] SLAMing on 181.376502481 meters Centerline goodness : 0.721348 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84820397 -0.26338333 -0.45954243 4.49965974] [ 0.27792908 0.95988258 -0.03715983 -0.3800816 ] [ 0.45089406 -0.09620109 0.8873781 0.97802744] [ 0. 0. 0. 1. ]] SLAMing on 181.406502481 meters Centerline goodness : 0.721581 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84820249 -0.26359732 -0.45942245 4.50002512] [ 0.27809566 0.95982969 -0.03727962 -0.37988925] [ 0.45079412 -0.09614272 0.8874352 0.9776597 ] [ 0. 0. 0. 1. ]] SLAMing on 181.436502481 meters Centerline goodness : 0.721676 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84785545 -0.26471022 -0.45942316 4.50080999] [ 0.27902421 0.95953464 -0.0379311 -0.37891036] [ 0.45087319 -0.0960301 0.88740723 0.97750946] [ 0. 0. 0. 1. ]] SLAMing on 181.466502481 meters Centerline goodness : 0.722422 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84747298 -0.26532129 -0.45977621 4.50212994] [ 0.27970822 0.9593315 -0.03803138 -0.37816632] [ 0.45116834 -0.09637262 0.88722007 0.97755386] [ 0. 0. 0. 1. ]] SLAMing on 181.496502481 meters Centerline goodness : 0.723096 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.8472883 -0.2659416 -0.45975821 4.5024067 ] [ 0.28026832 0.95915707 -0.03830644 -0.37798468] [ 0.45116761 -0.09639907 0.88721756 0.97758875] [ 0. 0. 0. 1. ]] SLAMing on 181.526502481 meters Centerline goodness : 0.721788 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84722986 -0.26684435 -0.45934263 4.50158992] [ 0.28144079 0.95882949 -0.03790894 -0.37937741] [ 0.45054705 -0.09716017 0.88744986 0.97784798] [ 0. 0. 0. 1. ]] SLAMing on 181.556502481 meters Centerline goodness : 0.722542 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84716466 -0.26696717 -0.45939152 4.50077652] [ 0.28181988 0.95873626 -0.03744794 -0.38019879] [ 0.45043267 -0.09774109 0.88744413 0.97859149] [ 0. 0. 0. 1. ]] SLAMing on 181.586502481 meters Centerline goodness : 0.365618 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84713323 -0.26734637 -0.45922893 4.49909937] [ 0.28233268 0.95859335 -0.03724297 -0.38020313] [ 0.45017057 -0.09810558 0.8875369 0.97934594] [ 0. 0. 0. 1. ]] SLAMing on 181.616502481 meters Centerline goodness : 0.374575 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84701331 -0.26742593 -0.45940377 4.49961648] [ 0.28226371 0.95859975 -0.03759941 -0.37807335] [ 0.4504394 -0.09782581 0.88743138 0.97906998] [ 0. 0. 0. 1. ]] SLAMing on 181.646502481 meters Centerline goodness : 0.451248 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84684547 -0.26759795 -0.45961297 4.50058321] [ 0.28230735 0.95857315 -0.03794825 -0.37655831] [ 0.45072752 -0.09761582 0.88730821 0.97873852] [ 0. 0. 0. 1. ]] SLAMing on 181.676502481 meters Centerline goodness : 0.615668 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84674792 -0.26823167 -0.45942326 4.50128194] [ 0.28242348 0.95849325 -0.03908542 -0.37422254] [ 0.45083804 -0.09665642 0.88735708 0.97789287] [ 0. 0. 0. 1. ]] SLAMing on 181.706502481 meters Centerline goodness : 0.510974 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84675254 -0.26839327 -0.45932036 4.50101983] [ 0.28249196 0.95846488 -0.03928573 -0.37383491] [ 0.45078646 -0.09648901 0.88740151 0.97783915] [ 0. 0. 0. 1. ]] SLAMing on 181.73650248099997 meters Centerline goodness : 0.726140 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84681062 -0.26901668 -0.45884834 4.49985254] [ 0.28283291 0.95833937 -0.03988978 -0.37268643] [ 0.45046344 -0.09599832 0.88761873 0.97761894] [ 0. 0. 0. 1. ]] SLAMing on 181.76650248099997 meters Centerline goodness : 0.726314 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84675346 -0.26910899 -0.45889969 4.49948182] [ 0.2829463 0.95830611 -0.03988459 -0.37193361] [ 0.45049969 -0.09607156 0.88759241 0.97780178] [ 0. 0. 0. 1. ]] SLAMing on 181.79650248099998 meters Centerline goodness : 0.140670 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84668925 -0.26974758 -0.45864317 4.49850895] [ 0.28328188 0.95817753 -0.04058568 -0.37026639] [ 0.45040947 -0.09556184 0.88769322 0.97781968] [ 0. 0. 0. 1. ]] SLAMing on 181.82650248099998 meters Centerline goodness : 0.653396 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84653958 -0.27007678 -0.45872571 4.49887992] [ 0.28326296 0.95814929 -0.04137673 -0.36811619] [ 0.45070261 -0.09491296 0.88761404 0.97756514] [ 0. 0. 0. 1. ]] SLAMing on 181.85650248099998 meters Centerline goodness : 0.521395 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84657904 -0.27037686 -0.45847605 4.49964833] [ 0.28293219 0.95819173 -0.0426378 -0.36569824] [ 0.45083624 -0.09362136 0.88768335 0.97639595] [ 0. 0. 0. 1. ]] SLAMing on 181.88650248099998 meters Centerline goodness : 0.725940 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84680496 -0.26994406 -0.45831383 4.49950934] [ 0.28237588 0.95835169 -0.04273065 -0.36519329] [ 0.45076071 -0.09323225 0.88776265 0.97593177] [ 0. 0. 0. 1. ]] SLAMing on 181.91650248099998 meters Centerline goodness : 0.726381 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84768328 -0.26562935 -0.45921032 4.49940327] [ 0.27916847 0.95942346 -0.03964324 -0.36425423] [ 0.45110756 -0.09459213 0.88744256 0.97583128] [ 0. 0. 0. 1. ]] SLAMing on 181.94650248099998 meters Centerline goodness : 0.726844 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84840858 -0.26138638 -0.4603043 4.49984141] [ 0.27631526 0.96038982 -0.03607306 -0.36429811] [ 0.45150057 -0.09658441 0.88702801 0.97605065] [ 0. 0. 0. 1. ]] SLAMing on 181.97650248099998 meters Centerline goodness : 0.727060 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84943684 -0.25669451 -0.4610477 4.49920812] [ 0.27272549 0.96153009 -0.03287386 -0.36339328] [ 0.45174978 -0.09781519 0.88676622 0.97587723] [ 0. 0. 0. 1. ]] SLAMing on 182.00650248099998 meters Centerline goodness : 0.726078 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84973403 -0.25633461 -0.46070016 4.49804406] [ 0.27215637 0.96168335 -0.03310658 -0.36250806] [ 0.45153404 -0.0972507 0.88693817 0.97558512] [ 0. 0. 0. 1. ]] SLAMing on 182.03650248099999 meters Centerline goodness : 0.728759 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.85009222 -0.25636622 -0.46002128 4.49588366] [ 0.27175691 0.96177228 -0.03379733 -0.3611385 ] [ 0.45110021 -0.09628311 0.88726442 0.97528894] [ 0. 0. 0. 1. ]] SLAMing on 182.066502481 meters Centerline goodness : 0.726843 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.85016529 -0.25628009 -0.45993423 4.49552982] [ 0.27158335 0.96181678 -0.03392605 -0.36055861] [ 0.45106702 -0.09606773 0.88730464 0.97522667] [ 0. 0. 0. 1. ]] SLAMing on 182.096502481 meters Centerline goodness : 0.146484 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.85015889 -0.25638312 -0.45988864 4.49521571] [ 0.27169298 0.96178572 -0.03392869 -0.36033964] [ 0.45101307 -0.09610374 0.88732817 0.97529331] [ 0. 0. 0. 1. ]] SLAMing on 182.126502481 meters Centerline goodness : 0.153413 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84998747 -0.25683537 -0.45995314 4.49555904] [ 0.27199817 0.96168448 -0.03435034 -0.35941514] [ 0.45115218 -0.09590906 0.88727851 0.97524209] [ 0. 0. 0. 1. ]] SLAMing on 182.156502481 meters Centerline goodness : 0.147475 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84983519 -0.25699174 -0.46014715 4.49645749] [ 0.27219303 0.96162894 -0.03436178 -0.35915691] [ 0.45132151 -0.096047 0.88717747 0.97513143] [ 0. 0. 0. 1. ]] SLAMing on 182.186502481 meters Centerline goodness : 0.729350 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.97 [[ 0.84954669 -0.25776157 -0.46024927 4.49782694] [ 0.27287468 0.96142147 -0.03475884 -0.35895929] [ 0.45145302 -0.09606111 0.88710903 0.97485425] [ 0. 0. 0. 1. ]] SLAMing on 182.216502481 meters Centerline goodness : 0.729350 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.97 [[ 0.84954669 -0.25776157 -0.46024927 4.49782694] [ 0.27287468 0.96142147 -0.03475884 -0.35895929] [ 0.45145302 -0.09606111 0.88710903 0.97485425] [ 0. 0. 0. 1. ]] SLAMing on 182.246502481 meters Centerline goodness : 0.149345 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84918699 -0.25848433 -0.46050767 4.49850237] [ 0.27382347 0.96115868 -0.03456431 -0.35931045] [ 0.45155528 -0.09674624 0.88698252 0.97527853] [ 0. 0. 0. 1. ]] SLAMing on 182.276502481 meters Centerline goodness : 0.144614 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84897816 -0.25850553 -0.46088064 4.49879431] [ 0.2741263 0.96108868 -0.03410753 -0.35975875] [ 0.45176415 -0.09738296 0.88680647 0.97591016] [ 0. 0. 0. 1. ]] SLAMing on 182.306502481 meters Centerline goodness : 0.532927 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.8488019 -0.25903935 -0.46090557 4.49831022] [ 0.27481914 0.96089673 -0.03393983 -0.35974803] [ 0.45167441 -0.09785748 0.88679994 0.97645192] [ 0. 0. 0. 1. ]] SLAMing on 182.336502481 meters Centerline goodness : 0.139963 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84855914 -0.25943375 -0.46113069 4.49791814] [ 0.27539296 0.96073928 -0.03374528 -0.35930571] [ 0.45178103 -0.09835728 0.88669033 0.977134 ] [ 0. 0. 0. 1. ]] SLAMing on 182.366502481 meters Centerline goodness : 0.143233 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84835893 -0.25982048 -0.46128131 4.49825144] [ 0.27587242 0.96060328 -0.03370084 -0.3593705 ] [ 0.45186451 -0.09866438 0.88661367 0.97738623] [ 0. 0. 0. 1. ]] SLAMing on 182.396502481 meters Centerline goodness : 0.143799 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84809533 -0.26036445 -0.46145928 4.49843142] [ 0.27645954 0.96043094 -0.03380152 -0.35929426] [ 0.45200048 -0.0989079 0.88651723 0.97781301] [ 0. 0. 0. 1. ]] SLAMing on 182.426502481 meters Centerline goodness : 0.509935 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84795329 -0.26041097 -0.46169399 4.49767044] [ 0.27683761 0.96034226 -0.03322178 -0.35893921] [ 0.45203556 -0.09964374 0.88641693 0.97862652] [ 0. 0. 0. 1. ]] SLAMing on 182.456502481 meters Centerline goodness : 0.515544 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84794798 -0.26053279 -0.46163501 4.49592929] [ 0.27713064 0.96026872 -0.03290288 -0.35836762] [ 0.45186594 -0.10003327 0.88645954 0.97941589] [ 0. 0. 0. 1. ]] SLAMing on 182.48650248099997 meters Centerline goodness : 0.148920 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84797521 -0.26055026 -0.46157513 4.49556288] [ 0.27714887 0.96026387 -0.03289093 -0.35781517] [ 0.45180366 -0.10003433 0.88649117 0.97940654] [ 0. 0. 0. 1. ]] SLAMing on 182.51650248099997 meters Centerline goodness : 0.724867 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:0.98 [[ 0.8481095 -0.26062595 -0.46128559 4.49398173] [ 0.27710703 0.96026983 -0.03306873 -0.3569994 ] [ 0.45157721 -0.09977958 0.88663525 0.97966502] [ 0. 0. 0. 1. ]] SLAMing on 182.54650248099998 meters Centerline goodness : 0.542362 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:0.98 [[ 0.84842742 -0.2603686 -0.46084607 4.49260423] [ 0.27678836 0.96036367 -0.03301255 -0.35702034] [ 0.45117525 -0.09954807 0.88686587 0.97956047] [ 0. 0. 0. 1. ]] SLAMing on 182.57650248099998 meters Centerline goodness : 0.724670 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:0.98 [[ 0.84877794 -0.2601685 -0.46031333 4.49090494] [ 0.27635003 0.96048009 -0.03329658 -0.35582137] [ 0.45078451 -0.0989462 0.88713188 0.97926791] [ 0. 0. 0. 1. ]] SLAMing on 182.60650248099998 meters Centerline goodness : 0.723763 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.98 [[ 0.84905767 -0.25939243 -0.46023543 4.49067163] [ 0.27539277 0.96075026 -0.03343289 -0.35402015] [ 0.45084354 -0.09835906 0.88716717 0.97872949] [ 0. 0. 0. 1. ]] SLAMing on 182.63650248099998 meters Centerline goodness : 0.722264 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.98 [[ 0.84928519 -0.25935263 -0.45983789 4.4902592 ] [ 0.27503772 0.96083399 -0.03394536 -0.35300942] [ 0.45063169 -0.09764347 0.88735384 0.97806935] [ 0. 0. 0. 1. ]] SLAMing on 182.66650248099998 meters Centerline goodness : 0.723380 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.98 [[ 0.84980201 -0.25894189 -0.45911398 4.48953076] [ 0.27399611 0.96109713 -0.03490606 -0.35104881] [ 0.45029177 -0.0961322 0.88769134 0.97678317] [ 0. 0. 0. 1. ]] SLAMing on 182.69650248099998 meters Centerline goodness : 0.723250 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.98 [[ 0.85011774 -0.25901991 -0.45848502 4.48893445] [ 0.27362999 0.96117409 -0.03565114 -0.34955947] [ 0.44991828 -0.09514759 0.88798676 0.97577615] [ 0. 0. 0. 1. ]] SLAMing on 182.72650248099998 meters Centerline goodness : 0.723492 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.98 [[ 0.85070318 -0.25550286 -0.45937173 4.49042818] [ 0.27105917 0.9619937 -0.03309139 -0.34808599] [ 0.45036766 -0.09636597 0.88762749 0.97503195] [ 0. 0. 0. 1. ]] SLAMing on 182.75650248099998 meters Centerline goodness : 0.723779 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.97 [[ 0.85060474 -0.25622 -0.45915453 4.49074105] [ 0.27138656 0.96186999 -0.0339921 -0.34638785] [ 0.45035642 -0.09569452 0.88770584 0.97443175] [ 0. 0. 0. 1. ]] SLAMing on 182.78650248099999 meters Centerline goodness : 0.723690 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.97 [[ 0.85064203 -0.2564924 -0.45893331 4.49088386] [ 0.27143404 0.9618402 -0.03445271 -0.34529192] [ 0.45025736 -0.0952632 0.88780247 0.97386021] [ 0. 0. 0. 1. ]] SLAMing on 182.816502481 meters Centerline goodness : 0.721681 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.85052777 -0.25744214 -0.45861319 4.4911531 ] [ 0.27191516 0.96166453 -0.03554538 -0.34359218] [ 0.45018292 -0.09447154 0.88792481 0.97318494] [ 0. 0. 0. 1. ]] SLAMing on 182.846502481 meters Centerline goodness : 0.721196 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.85054201 -0.25809677 -0.45821866 4.49124517] [ 0.27206068 0.96158285 -0.03662529 -0.34158399] [ 0.45006808 -0.09351193 0.88808459 0.9723329 ] [ 0. 0. 0. 1. ]] SLAMing on 182.876502481 meters Centerline goodness : 0.721422 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.85059423 -0.25821157 -0.45805703 4.48999228] [ 0.27207182 0.9615722 -0.0368215 -0.33968073] [ 0.44996264 -0.09330425 0.88815986 0.97248812] [ 0. 0. 0. 1. ]] SLAMing on 182.906502481 meters Centerline goodness : 0.720779 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.85045752 -0.25899131 -0.45787062 4.48930057] [ 0.27263632 0.96138983 -0.0374036 -0.33824323] [ 0.44987936 -0.09302199 0.88823165 0.97252583] [ 0. 0. 0. 1. ]] SLAMing on 182.936502481 meters Centerline goodness : 0.720279 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.84979099 -0.26045966 -0.45827507 4.48989992] [ 0.27404735 0.96096557 -0.03798984 -0.33651675] [ 0.45028138 -0.09330564 0.88799816 0.97315719] [ 0. 0. 0. 1. ]] SLAMing on 182.966502481 meters Centerline goodness : 0.721081 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.84947138 -0.26135315 -0.45835893 4.4899903 ] [ 0.2749358 0.96070143 -0.03825005 -0.33635536] [ 0.45034285 -0.09352696 0.88794371 0.97354358] [ 0. 0. 0. 1. ]] SLAMing on 182.996502481 meters Centerline goodness : 0.721383 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.97 [[ 0.84837727 -0.26727278 -0.45696966 4.48943493] [ 0.27923582 0.95927481 -0.04265209 -0.3349427 ] [ 0.44975922 -0.09141723 0.88845908 0.9732802 ] [ 0. 0. 0. 1. ]] SLAMing on 183.026502481 meters Centerline goodness : 0.720937 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.97 [[ 0.84777056 -0.26831206 -0.45748629 4.4905075 ] [ 0.28044232 0.95892022 -0.04270973 -0.33479498] [ 0.45015239 -0.09209047 0.88819039 0.97397634] [ 0. 0. 0. 1. ]] SLAMing on 183.056502481 meters Centerline goodness : 0.720639 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.97 [[ 0.84673246 -0.27008967 -0.458362 4.49328345] [ 0.28243199 0.95832508 -0.04295593 -0.33312635] [ 0.45086175 -0.09308392 0.88772691 0.97436457] [ 0. 0. 0. 1. ]] SLAMing on 183.086502481 meters Centerline goodness : 0.719865 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.98 [[ 0.84588279 -0.27177976 -0.45893144 4.49426073] [ 0.28427714 0.95776732 -0.0432235 -0.33172397] [ 0.45129681 -0.0939017 0.88741967 0.97519016] [ 0. 0. 0. 1. ]] SLAMing on 183.116502481 meters Centerline goodness : 0.721138 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.98 [[ 0.8455008 -0.2724436 -0.45924165 4.49513493] [ 0.28502548 0.95754127 -0.0433034 -0.33157877] [ 0.45154056 -0.09428251 0.88725528 0.97552454] [ 0. 0. 0. 1. ]] SLAMing on 183.146502481 meters Centerline goodness : 0.721959 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.98 [[ 0.84533152 -0.27328963 -0.45905054 4.49491579] [ 0.28594297 0.95726613 -0.04333792 -0.33233305] [ 0.45127734 -0.09462737 0.88735248 0.97571003] [ 0. 0. 0. 1. ]] SLAMing on 183.176502481 meters Centerline goodness : 0.722731 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.98 [[ 0.84537396 -0.27362224 -0.45877417 4.49440489] [ 0.28620924 0.95717968 -0.04348939 -0.33244018] [ 0.45102898 -0.09454061 0.88748799 0.97564487] [ 0. 0. 0. 1. ]] SLAMing on 183.206502481 meters Centerline goodness : 0.720657 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.98 [[ 0.84509355 -0.27419524 -0.45894865 4.4946735 ] [ 0.28673641 0.95700909 -0.04377014 -0.33132527] [ 0.45121959 -0.09460743 0.88738397 0.97579221] [ 0. 0. 0. 1. ]] SLAMing on 183.23650248099997 meters Centerline goodness : 0.720870 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.98 [[ 0.84495488 -0.27461772 -0.45895136 4.49562832] [ 0.28702858 0.95690465 -0.04413709 -0.33042591] [ 0.45129352 -0.0944383 0.88736439 0.97528055] [ 0. 0. 0. 1. ]] SLAMing on 183.26650248099997 meters Centerline goodness : 0.723025 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.8448172 -0.27519343 -0.45885998 4.49692728] [ 0.28728237 0.95679307 -0.0448984 -0.32896095] [ 0.45138979 -0.09389144 0.88737346 0.97440647] [ 0. 0. 0. 1. ]] SLAMing on 183.29650248099998 meters Centerline goodness : 0.722937 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84488521 -0.27528612 -0.45867912 4.49735913] [ 0.28732358 0.9567768 -0.0449812 -0.32875651] [ 0.45123624 -0.09378538 0.88746276 0.97382481] [ 0. 0. 0. 1. ]] SLAMing on 183.32650248099998 meters Centerline goodness : 0.720827 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84496523 -0.27542062 -0.45845091 4.49868339] [ 0.28723275 0.95678402 -0.04540586 -0.32887152] [ 0.45114421 -0.09331574 0.88755905 0.97280875] [ 0. 0. 0. 1. ]] SLAMing on 183.35650248099998 meters Centerline goodness : 0.723481 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84532497 -0.27504935 -0.45801043 4.49864945] [ 0.28674471 0.95692896 -0.04543614 -0.32900638] [ 0.45078063 -0.09292377 0.88778488 0.97189716] [ 0. 0. 0. 1. ]] SLAMing on 183.38650248099998 meters Centerline goodness : 0.722151 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84535356 -0.27486431 -0.45806874 4.49880959] [ 0.2865935 0.95697905 -0.04533502 -0.32888909] [ 0.45082317 -0.0929554 0.88775997 0.97183385] [ 0. 0. 0. 1. ]] SLAMing on 183.41650248099998 meters Centerline goodness : 0.723047 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84551694 -0.27495009 -0.45771557 4.50011614] [ 0.28642168 0.95700919 -0.04578253 -0.32841315] [ 0.45062592 -0.09238976 0.88791915 0.97045472] [ 0. 0. 0. 1. ]] SLAMing on 183.44650248099998 meters Centerline goodness : 0.721589 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84535451 -0.27559367 -0.45762853 4.50137568] [ 0.28677347 0.95686901 -0.04650452 -0.32801557] [ 0.45070692 -0.09192292 0.88792649 0.96985862] [ 0. 0. 0. 1. ]] SLAMing on 183.47650248099998 meters Centerline goodness : 0.723254 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84482756 -0.2803086 -0.455734 4.502372 ] [ 0.2894162 0.95582304 -0.05138664 -0.32721656] [ 0.45000517 -0.08848395 0.8886315 0.96769786] [ 0. 0. 0. 1. ]] SLAMing on 183.50650248099998 meters Centerline goodness : 0.723277 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84496596 -0.28035538 -0.45544856 4.5031633 ] [ 0.28941015 0.95582202 -0.05143966 -0.32826834] [ 0.44974915 -0.08834667 0.88877476 0.96696658] [ 0. 0. 0. 1. ]] SLAMing on 183.53650248099999 meters Centerline goodness : 0.720983 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:0.97 [[ 0.84504008 -0.28004941 -0.45549928 4.5051513 ] [ 0.28905668 0.95592758 -0.05146544 -0.3291071 ] [ 0.44983719 -0.08817475 0.88874727 0.96602351] [ 0. 0. 0. 1. ]] SLAMing on 183.566502481 meters Centerline goodness : 0.720291 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:0.97 [[ 0.84528133 -0.27936507 -0.45547187 4.50645163] [ 0.28844083 0.95613069 -0.05114667 -0.33013276] [ 0.44977923 -0.08814336 0.88877972 0.9652156 ] [ 0. 0. 0. 1. ]] SLAMing on 183.596502481 meters Centerline goodness : 0.719230 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:0.96 [[ 0.84555928 -0.27889843 -0.45524187 4.50634221] [ 0.28808434 0.95625893 -0.05075704 -0.33138504] [ 0.44948516 -0.08822997 0.88891988 0.96495451] [ 0. 0. 0. 1. ]] SLAMing on 183.626502481 meters Centerline goodness : 0.719877 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:0.96 [[ 0.84620146 -0.2774968 -0.45490507 4.50646031] [ 0.28699429 0.95664199 -0.0497029 -0.33550889] [ 0.44897369 -0.08849649 0.88915184 0.96453083] [ 0. 0. 0. 1. ]] SLAMing on 183.656502481 meters Centerline goodness : 0.720739 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:0.96 [[ 0.84648102 -0.27695684 -0.45471397 4.50622886] [ 0.28677535 0.95674981 -0.04888461 -0.3380095 ] [ 0.44858643 -0.08902086 0.88929495 0.96448481] [ 0. 0. 0. 1. ]] SLAMing on 183.686502481 meters Centerline goodness : 0.721249 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:0.96 [[ 0.8461126 -0.28062148 -0.45315014 4.50519195] [ 0.28894941 0.95590692 -0.0524424 -0.33854729] [ 0.44788582 -0.08656529 0.8898903 0.96384129] [ 0. 0. 0. 1. ]] SLAMing on 183.716502481 meters Centerline goodness : 0.721608 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:0.96 [[ 0.84588193 -0.28373195 -0.45164139 4.50580259] [ 0.29110853 0.95511871 -0.05480952 -0.3417018 ] [ 0.44692235 -0.08511428 0.89051444 0.9626554 ] [ 0. 0. 0. 1. ]] SLAMing on 183.746502481 meters Centerline goodness : 0.722983 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:0.96 [[ 0.84513548 -0.28736344 -0.45074192 4.507536 ] [ 0.29392183 0.95411744 -0.05718284 -0.34507527] [ 0.44649298 -0.08415564 0.89082088 0.9621917 ] [ 0. 0. 0. 1. ]] SLAMing on 183.776502481 meters Centerline goodness : 0.722601 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:0.96 [[ 0.84438217 -0.2910882 -0.44976262 4.50826552] [ 0.29653048 0.95312651 -0.06016248 -0.34616533] [ 0.44619327 -0.0825682 0.89111955 0.9618059 ] [ 0. 0. 0. 1. ]] SLAMing on 183.806502481 meters Centerline goodness : 0.724393 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:0.96 [[ 0.84440123 -0.29072566 -0.44996129 4.50949059] [ 0.29676969 0.95313036 -0.05890898 -0.34964045] [ 0.44599811 -0.08379206 0.89110301 0.96197758] [ 0. 0. 0. 1. ]] SLAMing on 183.836502481 meters Centerline goodness : 0.724255 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:0.96 [[ 0.84401469 -0.29357246 -0.44883673 4.50954063] [ 0.2992558 0.95227677 -0.06012419 -0.35506032] [ 0.44506759 -0.0835713 0.89158885 0.96205522] [ 0. 0. 0. 1. ]] SLAMing on 183.866502481 meters Centerline goodness : 0.723744 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:0.96 [[ 0.84379917 -0.29621467 -0.44750399 4.50920224] [ 0.30138663 0.95151357 -0.06154691 -0.36017759] [ 0.44403722 -0.08293849 0.89216151 0.96185496] [ 0. 0. 0. 1. ]] SLAMing on 183.896502481 meters Centerline goodness : 0.722824 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:0.96 [[ 0.84396316 -0.29526504 -0.44782221 4.50977264] [ 0.30109875 0.9517009 -0.06004113 -0.36328373] [ 0.44392085 -0.0841662 0.89210444 0.96230431] [ 0. 0. 0. 1. ]] SLAMing on 183.926502481 meters Centerline goodness : 0.723036 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:0.96 [[ 0.84441834 -0.29360075 -0.44805832 4.50989541] [ 0.3004471 0.95205588 -0.0576293 -0.36838898] [ 0.44349657 -0.08595459 0.89214494 0.96296325] [ 0. 0. 0. 1. ]] SLAMing on 183.956502481 meters Centerline goodness : 0.722113 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:0.96 [[ 0.84466907 -0.29281821 -0.44809783 4.51019076] [ 0.30012254 0.95222499 -0.05651577 -0.37102899] [ 0.4432388 -0.08674714 0.89219634 0.96301944] [ 0. 0. 0. 1. ]] SLAMing on 183.98650248099997 meters Centerline goodness : 0.722966 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:0.96 [[ 0.84465283 -0.29550068 -0.44636414 4.51001777] [ 0.30155379 0.95160037 -0.05934684 -0.37389593] [ 0.44229731 -0.08447532 0.89288129 0.96165785] [ 0. 0. 0. 1. ]] SLAMing on 184.01650248099997 meters Centerline goodness : 0.724732 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.96 [[ 0.84475113 -0.29815087 -0.44441151 4.50852145] [ 0.30295292 0.95097758 -0.0621383 -0.37698594] [ 0.44115197 -0.08214437 0.89366506 0.96067834] [ 0. 0. 0. 1. ]] SLAMing on 184.04650248099998 meters Centerline goodness : 0.725511 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.96 [[ 0.84522855 -0.29706904 -0.44422819 4.50845462] [ 0.30222371 0.95127622 -0.06110959 -0.37933282] [ 0.44073748 -0.08260473 0.89382713 0.96036207] [ 0. 0. 0. 1. ]] SLAMing on 184.07650248099998 meters Centerline goodness : 0.725601 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.96 [[ 0.84560018 -0.2960196 -0.44422149 4.5080994 ] [ 0.30160718 0.95154482 -0.05996296 -0.38237584] [ 0.44044687 -0.0832757 0.89390811 0.96072093] [ 0. 0. 0. 1. ]] SLAMing on 184.10650248099998 meters Centerline goodness : 0.725309 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.96 [[ 0.84593477 -0.29528632 -0.44407247 4.50784396] [ 0.30120243 0.95172839 -0.05907766 -0.38447777] [ 0.4400812 -0.08377986 0.89404109 0.96069257] [ 0. 0. 0. 1. ]] SLAMing on 184.13650248099998 meters Centerline goodness : 0.725309 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.96 [[ 0.84593477 -0.29528632 -0.44407247 4.50784396] [ 0.30120243 0.95172839 -0.05907766 -0.38447777] [ 0.4400812 -0.08377986 0.89404109 0.96069257] [ 0. 0. 0. 1. ]] SLAMing on 184.16650248099998 meters Centerline goodness : 0.354335 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.96 [[ 0.84628102 -0.29451675 -0.44392377 4.50793492] [ 0.3009255 0.95189147 -0.05784876 -0.38883207] [ 0.43960468 -0.08463168 0.89419528 0.96089596] [ 0. 0. 0. 1. ]] SLAMing on 184.19650248099998 meters Centerline goodness : 0.727269 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.96 [[ 0.84606271 -0.29766807 -0.44223479 4.50665768] [ 0.30306299 0.95105763 -0.06035074 -0.39182124] [ 0.43855526 -0.08296449 0.89486657 0.96045789] [ 0. 0. 0. 1. ]] SLAMing on 184.22650248099998 meters Centerline goodness : 0.578451 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.96 [[ 0.84611989 -0.29739243 -0.44231083 4.50648417] [ 0.30314776 0.95108036 -0.05956161 -0.39358959] [ 0.43838632 -0.08368928 0.89488186 0.96093597] [ 0. 0. 0. 1. ]] SLAMing on 184.25650248099998 meters Centerline goodness : 0.580767 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84612299 -0.29670585 -0.44276576 4.50645352] [ 0.30313231 0.9511747 -0.05811623 -0.39567251] [ 0.43839102 -0.08504313 0.89475191 0.96189212] [ 0. 0. 0. 1. ]] SLAMing on 184.28650248099999 meters Centerline goodness : 0.542767 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84598521 -0.29667651 -0.44304861 4.50722856] [ 0.30339051 0.95112475 -0.05758393 -0.39661299] [ 0.4384783 -0.08570159 0.89464631 0.96219227] [ 0. 0. 0. 1. ]] SLAMing on 184.316502481 meters Centerline goodness : 0.490272 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84499437 -0.30112296 -0.44193831 4.50808095] [ 0.30668942 0.94986497 -0.06081237 -0.39770347] [ 0.43809372 -0.08415169 0.89498178 0.96189164] [ 0. 0. 0. 1. ]] SLAMing on 184.346502481 meters Centerline goodness : 0.247378 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84472543 -0.30132845 -0.44231224 4.50947798] [ 0.30736191 0.94969976 -0.05999185 -0.39975999] [ 0.43814108 -0.08527329 0.89485242 0.9622872 ] [ 0. 0. 0. 1. ]] SLAMing on 184.376502481 meters Centerline goodness : 0.470322 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84353067 -0.30604025 -0.44135628 4.50968579] [ 0.31115446 0.94827829 -0.06285849 -0.40180064] [ 0.43776581 -0.08430691 0.89512761 0.96287755] [ 0. 0. 0. 1. ]] SLAMing on 184.406502481 meters Centerline goodness : 0.240886 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84220498 -0.31038121 -0.4408563 4.50978363] [ 0.31485701 0.94689987 -0.06515907 -0.40320139] [ 0.43767092 -0.0839294 0.89520948 0.96418053] [ 0. 0. 0. 1. ]] SLAMing on 184.436502481 meters Centerline goodness : 0.159746 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.8418994 -0.31051695 -0.44134412 4.51021967] [ 0.31552893 0.94674149 -0.06420311 -0.40469118] [ 0.43777495 -0.08520428 0.89503817 0.96518286] [ 0. 0. 0. 1. ]] SLAMing on 184.466502481 meters Centerline goodness : 0.580286 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.8411536 -0.31143661 -0.44211747 4.51090314] [ 0.31722176 0.94625458 -0.06302871 -0.40669373] [ 0.43798513 -0.08723246 0.89473992 0.96702156] [ 0. 0. 0. 1. ]] SLAMing on 184.496502481 meters Centerline goodness : 0.534495 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84087802 -0.31172327 -0.44243955 4.51154026] [ 0.3178139 0.94608761 -0.06255047 -0.40786179] [ 0.43808502 -0.08801613 0.89461426 0.96763656] [ 0. 0. 0. 1. ]] SLAMing on 184.526502481 meters Centerline goodness : 0.508415 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84049085 -0.31259305 -0.44256153 4.51236946] [ 0.31913888 0.9456862 -0.06187077 -0.41027673] [ 0.43786471 -0.08923678 0.89460119 0.96825785] [ 0. 0. 0. 1. ]] SLAMing on 184.556502481 meters Centerline goodness : 0.158599 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84043278 -0.31264335 -0.44263629 4.51248846] [ 0.31940172 0.94562382 -0.06146656 -0.41105056] [ 0.43778453 -0.08972027 0.89459207 0.96850453] [ 0. 0. 0. 1. ]] SLAMing on 184.586502481 meters Centerline goodness : 0.156412 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84020273 -0.31284781 -0.44292845 4.51197605] [ 0.31997836 0.94547027 -0.0608261 -0.41167659] [ 0.437805 -0.09062127 0.89449124 0.96958529] [ 0. 0. 0. 1. ]] SLAMing on 184.616502481 meters Centerline goodness : 0.161394 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83973564 -0.31342894 -0.44340315 4.51252346] [ 0.32077473 0.94521193 -0.06064638 -0.41157694] [ 0.43811828 -0.0913056 0.89426823 0.970434 ] [ 0. 0. 0. 1. ]] SLAMing on 184.646502481 meters Centerline goodness : 0.732380 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83960843 -0.31313099 -0.44385433 4.51334392] [ 0.32073781 0.94525659 -0.06014353 -0.41142119] [ 0.43838903 -0.09186385 0.89407835 0.9707049 ] [ 0. 0. 0. 1. ]] SLAMing on 184.676502481 meters Centerline goodness : 0.643612 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83924411 -0.31395308 -0.44396259 4.51271997] [ 0.32151015 0.94497259 -0.06048157 -0.41068315] [ 0.43852086 -0.09197968 0.89400179 0.97146025] [ 0. 0. 0. 1. ]] SLAMing on 184.706502481 meters Centerline goodness : 0.619228 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83915778 -0.31410297 -0.44401976 4.51238146] [ 0.32175671 0.94489794 -0.06033653 -0.41087274] [ 0.43850525 -0.09223447 0.89398319 0.97187628] [ 0. 0. 0. 1. ]] SLAMing on 184.73650248099997 meters Centerline goodness : 0.603052 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83908428 -0.31397755 -0.4442473 4.51218209] [ 0.32174371 0.94491559 -0.06012911 -0.41049796] [ 0.43865539 -0.09248039 0.89388412 0.97229958] [ 0. 0. 0. 1. ]] SLAMing on 184.76650248099997 meters Centerline goodness : 0.259053 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83903834 -0.31367155 -0.44455013 4.51252882] [ 0.32157869 0.94499042 -0.05983522 -0.40996155] [ 0.43886422 -0.0927538 0.89375328 0.97244047] [ 0. 0. 0. 1. ]] SLAMing on 184.79650248099998 meters Centerline goodness : 0.266161 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83908974 -0.31158439 -0.4459188 4.51400187] [ 0.32058941 0.94547787 -0.05739354 -0.40884973] [ 0.43948929 -0.09479851 0.89323144 0.97298807] [ 0. 0. 0. 1. ]] SLAMing on 184.82650248099998 meters Centerline goodness : 0.556870 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83896932 -0.31174008 -0.44603655 4.51473246] [ 0.32071979 0.94542635 -0.05751373 -0.40834081] [ 0.43962405 -0.09480049 0.89316491 0.97279459] [ 0. 0. 0. 1. ]] SLAMing on 184.85650248099998 meters Centerline goodness : 0.636296 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.8389846 -0.31140291 -0.44624329 4.51566035] [ 0.3203743 0.94554469 -0.05749388 -0.4075311 ] [ 0.43984673 -0.0947284 0.89306292 0.97239812] [ 0. 0. 0. 1. ]] SLAMing on 184.88650248099998 meters Centerline goodness : 0.348237 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83987529 -0.30769606 -0.44713827 4.51461675] [ 0.31790318 0.94656992 -0.05424903 -0.40748369] [ 0.43993985 -0.09658426 0.89281824 0.972886 ] [ 0. 0. 0. 1. ]] SLAMing on 184.91650248099998 meters Centerline goodness : 0.437663 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83998737 -0.30724654 -0.44723684 4.51454283] [ 0.31733939 0.94675103 -0.05438931 -0.40627252] [ 0.44013286 -0.09623953 0.89276033 0.97270464] [ 0. 0. 0. 1. ]] SLAMing on 184.94650248099998 meters Centerline goodness : 0.580393 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.84087404 -0.30311151 -0.44839075 4.51481719] [ 0.3141664 0.94796138 -0.05165947 -0.40450023] [ 0.44071569 -0.0974302 0.89234357 0.97251295] [ 0. 0. 0. 1. ]] SLAMing on 184.97650248099998 meters Centerline goodness : 0.237984 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84100575 -0.30273894 -0.44839544 4.51522005] [ 0.31358404 0.94813615 -0.05198927 -0.40298658] [ 0.4408791 -0.09688638 0.89232205 0.97190961] [ 0. 0. 0. 1. ]] SLAMing on 185.00650248099998 meters Centerline goodness : 0.619598 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84180371 -0.29915729 -0.44930104 4.51550241] [ 0.31107226 0.94911566 -0.0491276 -0.40247495] [ 0.44113553 -0.09840929 0.89202862 0.97177795] [ 0. 0. 0. 1. ]] SLAMing on 185.03650248099999 meters Centerline goodness : 0.366400 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84178081 -0.29975378 -0.44894624 4.51521149] [ 0.311325 0.94899313 -0.04988765 -0.40132291] [ 0.44100092 -0.09777372 0.89216506 0.97131398] [ 0. 0. 0. 1. ]] SLAMing on 185.066502481 meters Centerline goodness : 0.604681 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84168511 -0.29953956 -0.44926855 4.51553932] [ 0.31127208 0.94902626 -0.04958689 -0.40112861] [ 0.44122089 -0.09810821 0.89201957 0.97162493] [ 0. 0. 0. 1. ]] SLAMing on 185.096502481 meters Centerline goodness : 0.699233 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84165669 -0.29976743 -0.44916979 4.51503675] [ 0.31142677 0.94896598 -0.04976885 -0.40061522] [ 0.44116593 -0.09799521 0.89205917 0.97174234] [ 0. 0. 0. 1. ]] SLAMing on 185.126502481 meters Centerline goodness : 0.592714 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84191657 -0.29702487 -0.45050274 4.5155403 ] [ 0.31004164 0.94957745 -0.0466566 -0.40024186] [ 0.44164542 -0.10039364 0.89155507 0.97267364] [ 0. 0. 0. 1. ]] SLAMing on 185.156502481 meters Centerline goodness : 0.730181 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84170681 -0.29746625 -0.45060346 4.5156837 ] [ 0.31017011 0.94949729 -0.04742773 -0.39823243] [ 0.44195492 -0.09984348 0.89146348 0.97259355] [ 0. 0. 0. 1. ]] SLAMing on 185.186502481 meters Centerline goodness : 0.730390 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84167245 -0.29770272 -0.45051145 4.51568943] [ 0.31016272 0.94947311 -0.0479573 -0.39714991] [ 0.44202553 -0.09936752 0.89148165 0.97233476] [ 0. 0. 0. 1. ]] SLAMing on 185.216502481 meters Centerline goodness : 0.730466 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84182221 -0.29747076 -0.45038486 4.51544629] [ 0.30960223 0.94962703 -0.04852791 -0.39535648] [ 0.44213327 -0.09858829 0.89151473 0.97184949] [ 0. 0. 0. 1. ]] SLAMing on 185.246502481 meters Centerline goodness : 0.447824 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.97 [[ 0.84178687 -0.29706122 -0.45072109 4.51559623] [ 0.30916961 0.94976668 -0.04855315 -0.39429491] [ 0.44250313 -0.09847786 0.89134342 0.97202247] [ 0. 0. 0. 1. ]] SLAMing on 185.276502481 meters Centerline goodness : 0.730453 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.97 [[ 0.8426932 -0.29327509 -0.45150625 4.51528337] [ 0.30642094 0.9507992 -0.04568459 -0.39356956] [ 0.44268993 -0.09985288 0.89109765 0.97188266] [ 0. 0. 0. 1. ]] SLAMing on 185.306502481 meters Centerline goodness : 0.518031 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84386174 -0.28891584 -0.45213384 4.51381494] [ 0.30346977 0.95191997 -0.04188634 -0.39469864] [ 0.44249686 -0.10186267 0.89096606 0.97220851] [ 0. 0. 0. 1. ]] SLAMing on 185.336502481 meters Centerline goodness : 0.584523 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84409913 -0.28866547 -0.45185053 4.51279696] [ 0.30314466 0.952023 -0.04189887 -0.39433264] [ 0.44226686 -0.10160927 0.89110919 0.97206255] [ 0. 0. 0. 1. ]] SLAMing on 185.366502481 meters Centerline goodness : 0.136590 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84488227 -0.28452166 -0.45301366 4.51297007] [ 0.3003418 0.95305693 -0.03843566 -0.39400943] [ 0.44268359 -0.10358533 0.89067464 0.97236739] [ 0. 0. 0. 1. ]] SLAMing on 185.396502481 meters Centerline goodness : 0.729591 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84496864 -0.28425775 -0.45301825 4.51272619] [ 0.30004662 0.95315005 -0.03843179 -0.39347414] [ 0.4427189 -0.10345294 0.89067248 0.9723 ] [ 0. 0. 0. 1. ]] SLAMing on 185.426502481 meters Centerline goodness : 0.487252 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84530663 -0.28405852 -0.45251239 4.51155738] [ 0.29954404 0.95329083 -0.03885821 -0.39304105] [ 0.44241391 -0.10270029 0.8909111 0.97188109] [ 0. 0. 0. 1. ]] SLAMing on 185.456502481 meters Centerline goodness : 0.728019 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84539491 -0.28359992 -0.4526351 4.51200559] [ 0.29908845 0.95343761 -0.03876628 -0.39268817] [ 0.44255344 -0.10260512 0.89085276 0.97161542] [ 0. 0. 0. 1. ]] SLAMing on 185.48650248099997 meters Centerline goodness : 0.517946 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.8464068 -0.27898871 -0.45360868 4.5122678 ] [ 0.29582902 0.95459518 -0.03511746 -0.39340388] [ 0.44281004 -0.10446695 0.8905088 0.97153958] [ 0. 0. 0. 1. ]] SLAMing on 185.51650248099997 meters Centerline goodness : 0.727001 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84655395 -0.27890757 -0.45338391 4.51172804] [ 0.29554192 0.95467177 -0.03545121 -0.39263155] [ 0.44272043 -0.10398258 0.89061004 0.97122555] [ 0. 0. 0. 1. ]] SLAMing on 185.54650248099998 meters Centerline goodness : 0.725598 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84759764 -0.27459827 -0.4540639 4.51080766] [ 0.29246514 0.95573904 -0.03204731 -0.39377359] [ 0.44276673 -0.10563464 0.89039258 0.97148591] [ 0. 0. 0. 1. ]] SLAMing on 185.57650248099998 meters Centerline goodness : 0.726754 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84774386 -0.27440642 -0.4539069 4.51114827] [ 0.29198942 0.95586829 -0.03252685 -0.39329288] [ 0.44280079 -0.10496157 0.89045524 0.97086656] [ 0. 0. 0. 1. ]] SLAMing on 185.60650248099998 meters Centerline goodness : 0.726640 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84780925 -0.27438219 -0.45379938 4.51169905] [ 0.29191728 0.95588823 -0.03258828 -0.39358219] [ 0.44272313 -0.10484324 0.89050779 0.97040434] [ 0. 0. 0. 1. ]] SLAMing on 185.63650248099998 meters Centerline goodness : 0.726903 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84781263 -0.27427437 -0.45385826 4.51285416] [ 0.29171333 0.95594429 -0.03276965 -0.39352855] [ 0.44285109 -0.10461398 0.89047113 0.96986977] [ 0. 0. 0. 1. ]] SLAMing on 185.66650248099998 meters Centerline goodness : 0.726911 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84782188 -0.27403917 -0.45398303 4.51324268] [ 0.29162918 0.95598124 -0.0324389 -0.39396572] [ 0.44288879 -0.10489229 0.89041964 0.96989986] [ 0. 0. 0. 1. ]] SLAMing on 185.69650248099998 meters Centerline goodness : 0.725781 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.84786564 -0.27408249 -0.45387515 4.5125277 ] [ 0.29208539 0.95587037 -0.03159055 -0.39625422] [ 0.44250422 -0.10578575 0.89050513 0.97058115] [ 0. 0. 0. 1. ]] SLAMing on 185.72650248099998 meters Centerline goodness : 0.727700 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.84797213 -0.27393005 -0.45376822 4.51195049] [ 0.29227125 0.95583802 -0.03084148 -0.39808919] [ 0.44217732 -0.10647068 0.89058588 0.97102544] [ 0. 0. 0. 1. ]] SLAMing on 185.75650248099998 meters Centerline goodness : 0.727613 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.8471108 -0.27817995 -0.45279046 4.51153467] [ 0.29560268 0.9547228 -0.03351774 -0.39971509] [ 0.44161334 -0.10545283 0.89098673 0.97146855] [ 0. 0. 0. 1. ]] SLAMing on 185.78650248099999 meters Centerline goodness : 0.729456 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.84660438 -0.27851725 -0.45352968 4.51357362] [ 0.2965971 0.95445023 -0.03247957 -0.40159652] [ 0.44191763 -0.10701824 0.89064915 0.97220367] [ 0. 0. 0. 1. ]] SLAMing on 185.816502481 meters Centerline goodness : 0.728605 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.84642045 -0.27844133 -0.45391943 4.51434432] [ 0.29685898 0.95438882 -0.03188622 -0.40246248] [ 0.44209407 -0.10776091 0.89047202 0.97266097] [ 0. 0. 0. 1. ]] SLAMing on 185.846502481 meters Centerline goodness : 0.728569 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.8463691 -0.27838832 -0.45404767 4.51551197] [ 0.29715857 0.95431834 -0.0311977 -0.40439687] [ 0.44199109 -0.10851939 0.89043103 0.97268873] [ 0. 0. 0. 1. ]] SLAMing on 185.876502481 meters Centerline goodness : 0.729403 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84640805 -0.2780686 -0.45417097 4.51601519] [ 0.29706293 0.95436431 -0.03069833 -0.40577247] [ 0.44198081 -0.10893405 0.8903855 0.97277201] [ 0. 0. 0. 1. ]] SLAMing on 185.906502481 meters Centerline goodness : 0.727443 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84654484 -0.27762825 -0.45418542 4.51609478] [ 0.2968804 0.95444111 -0.03006974 -0.40772955] [ 0.44184145 -0.10938337 0.89039958 0.9729665 ] [ 0. 0. 0. 1. ]] SLAMing on 185.936502481 meters Centerline goodness : 0.729650 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84671517 -0.27740531 -0.45400409 4.5154294 ] [ 0.29672674 0.95449666 -0.02982222 -0.40841895] [ 0.44161823 -0.10946423 0.89050038 0.97303752] [ 0. 0. 0. 1. ]] SLAMing on 185.966502481 meters Centerline goodness : 0.731562 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.8470334 -0.27682665 -0.45376361 4.51380288] [ 0.29635317 0.95463217 -0.02919272 -0.4095212 ] [ 0.44125866 -0.10974708 0.8906438 0.97353498] [ 0. 0. 0. 1. ]] SLAMing on 185.996502481 meters Centerline goodness : 0.733661 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84717509 -0.27677604 -0.45352992 4.51386546] [ 0.29633268 0.95464278 -0.02905339 -0.41035236] [ 0.44100035 -0.10978243 0.89076737 0.97325149] [ 0. 0. 0. 1. ]] SLAMing on 186.026502481 meters Centerline goodness : 0.733661 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84717509 -0.27677604 -0.45352992 4.51386546] [ 0.29633268 0.95464278 -0.02905339 -0.41035236] [ 0.44100035 -0.10978243 0.89076737 0.97325149] [ 0. 0. 0. 1. ]] SLAMing on 186.056502481 meters Centerline goodness : 0.732319 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84724949 -0.27661473 -0.45348936 4.51417751] [ 0.29627498 0.95466863 -0.02879135 -0.41132132] [ 0.44089618 -0.10996409 0.89079653 0.97312589] [ 0. 0. 0. 1. ]] SLAMing on 186.086502481 meters Centerline goodness : 0.731864 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84723504 -0.27666643 -0.45348481 4.51506545] [ 0.29643021 0.95462637 -0.02859416 -0.41262847] [ 0.4408196 -0.11020062 0.8908052 0.97292388] [ 0. 0. 0. 1. ]] SLAMing on 186.116502481 meters Centerline goodness : 0.732738 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84726929 -0.27668373 -0.45341026 4.51565002] [ 0.2964726 0.95461522 -0.02852685 -0.41313039] [ 0.44072525 -0.11025379 0.8908453 0.97258369] [ 0. 0. 0. 1. ]] SLAMing on 186.146502481 meters Centerline goodness : 0.734785 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84730793 -0.27669071 -0.4533338 4.51623786] [ 0.2964533 0.95462022 -0.02856022 -0.41318812] [ 0.44066395 -0.110193 0.89088315 0.97218017] [ 0. 0. 0. 1. ]] SLAMing on 186.176502481 meters Centerline goodness : 0.735471 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84739394 -0.27648524 -0.45329837 4.51553661] [ 0.2963728 0.95465459 -0.02824496 -0.41368378] [ 0.44055269 -0.1104107 0.89091122 0.9725376 ] [ 0. 0. 0. 1. ]] SLAMing on 186.206502481 meters Centerline goodness : 0.735778 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.97 [[ 0.84769618 -0.276079 -0.45298077 4.51391735] [ 0.29636472 0.95468615 -0.02724522 -0.4158083 ] [ 0.4399763 -0.11115184 0.89110388 0.97313723] [ 0. 0. 0. 1. ]] SLAMing on 186.23650248099997 meters Centerline goodness : 0.735767 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.97 [[ 0.84776003 -0.27597629 -0.45292386 4.5137888 ] [ 0.29645641 0.95467004 -0.02680892 -0.41691004] [ 0.43979146 -0.11154465 0.89114604 0.97329146] [ 0. 0. 0. 1. ]] SLAMing on 186.26650248099997 meters Centerline goodness : 0.738048 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.97 [[ 0.84763517 -0.27620548 -0.45301782 4.513831 ] [ 0.29710093 0.95449059 -0.02605269 -0.41870143] [ 0.43959714 -0.11250884 0.89112071 0.97391816] [ 0. 0. 0. 1. ]] SLAMing on 186.29650248099998 meters Centerline goodness : 0.335036 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.97 [[ 0.84688885 -0.28066083 -0.4516733 4.5136079 ] [ 0.30028193 0.95339752 -0.02939275 -0.41943827] [ 0.43887359 -0.11073694 0.89169911 0.97352838] [ 0. 0. 0. 1. ]] SLAMing on 186.32650248099998 meters Centerline goodness : 0.577431 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.97 [[ 0.84682305 -0.28061482 -0.45182524 4.51442893] [ 0.30053826 0.95333454 -0.02880996 -0.421071 ] [ 0.4388251 -0.11139383 0.89164115 0.97370237] [ 0. 0. 0. 1. ]] SLAMing on 186.35650248099998 meters Centerline goodness : 0.277878 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.97 [[ 0.84671578 -0.280948 -0.45181923 4.516249 ] [ 0.30109962 0.9531688 -0.02842967 -0.42292056] [ 0.43864725 -0.11197075 0.8916564 0.97325161] [ 0. 0. 0. 1. ]] SLAMing on 186.38650248099998 meters Centerline goodness : 0.569153 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.97 [[ 0.84659358 -0.28070149 -0.45220126 4.51805279] [ 0.30129622 0.95313175 -0.02757634 -0.42432556] [ 0.4387481 -0.11290058 0.89148952 0.97324307] [ 0. 0. 0. 1. ]] SLAMing on 186.41650248099998 meters Centerline goodness : 0.563149 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84658185 -0.28066995 -0.45224281 4.51820172] [ 0.30144382 0.95309543 -0.02721632 -0.4251278 ] [ 0.43866936 -0.11328495 0.89147951 0.97344615] [ 0. 0. 0. 1. ]] SLAMing on 186.44650248099998 meters Centerline goodness : 0.327881 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84652265 -0.28033396 -0.45256191 4.51858361] [ 0.30167654 0.9530539 -0.02606792 -0.42715814] [ 0.43862361 -0.11446023 0.89135189 0.9741573 ] [ 0. 0. 0. 1. ]] SLAMing on 186.47650248099998 meters Centerline goodness : 0.687646 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84654086 -0.28028784 -0.45255641 4.51876915] [ 0.30181518 0.95302056 -0.025679 -0.42836369] [ 0.43849307 -0.11485007 0.89136597 0.97430272] [ 0. 0. 0. 1. ]] SLAMing on 186.50650248099998 meters Centerline goodness : 0.159690 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84648054 -0.28024978 -0.45269279 4.51941584] [ 0.30206186 0.95295702 -0.02513076 -0.42972045] [ 0.43843966 -0.11546852 0.89131234 0.97447397] [ 0. 0. 0. 1. ]] SLAMing on 186.53650248099999 meters Centerline goodness : 0.481786 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84638166 -0.28026285 -0.45286955 4.52043739] [ 0.30242421 0.95285911 -0.0244766 -0.43150892] [ 0.43838076 -0.11624218 0.89124075 0.97466113] [ 0. 0. 0. 1. ]] SLAMing on 186.566502481 meters Centerline goodness : 0.154379 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84630643 -0.28021407 -0.45304029 4.52113529] [ 0.30249737 0.95284125 -0.02426729 -0.43134776] [ 0.43847551 -0.11650593 0.89115969 0.97456798] [ 0. 0. 0. 1. ]] SLAMing on 186.596502481 meters Centerline goodness : 0.215068 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84621422 -0.28046833 -0.45305519 4.52159437] [ 0.30265677 0.95278391 -0.02452955 -0.43095409] [ 0.43854346 -0.11636296 0.89114494 0.97437302] [ 0. 0. 0. 1. ]] SLAMing on 186.626502481 meters Centerline goodness : 0.741052 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84622019 -0.28066472 -0.45292241 4.52205022] [ 0.30279857 0.95273572 -0.02465111 -0.43126707] [ 0.43843405 -0.11628399 0.89120908 0.97403574] [ 0. 0. 0. 1. ]] SLAMing on 186.656502481 meters Centerline goodness : 0.231952 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84627355 -0.28064356 -0.45283582 4.52195219] [ 0.30286565 0.95271982 -0.02444041 -0.43210056] [ 0.4382847 -0.11646514 0.89125888 0.97410534] [ 0. 0. 0. 1. ]] SLAMing on 186.686502481 meters Centerline goodness : 0.739100 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84636223 -0.28073546 -0.45261305 4.52116976] [ 0.303121 0.95264818 -0.0240646 -0.43353491] [ 0.43793679 -0.11682915 0.89138225 0.97445373] [ 0. 0. 0. 1. ]] SLAMing on 186.716502481 meters Centerline goodness : 0.738923 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.8463396 -0.28063404 -0.45271826 4.5208514 ] [ 0.30326564 0.95261452 -0.0235695 -0.43426335] [ 0.43788039 -0.11734609 0.89134205 0.97494553] [ 0. 0. 0. 1. ]] SLAMing on 186.746502481 meters Centerline goodness : 0.737071 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84610084 -0.28056507 -0.45320702 4.52099215] [ 0.30378489 0.95247486 -0.022503 -0.43605874] [ 0.43798185 -0.11863764 0.89112121 0.97617882] [ 0. 0. 0. 1. ]] SLAMing on 186.776502481 meters Centerline goodness : 0.735040 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84585793 -0.28062597 -0.45362256 4.52214432] [ 0.30436137 0.95231178 -0.02159712 -0.43802421] [ 0.43805082 -0.11979709 0.89093217 0.97682876] [ 0. 0. 0. 1. ]] SLAMing on 186.806502481 meters Centerline goodness : 0.735328 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84563963 -0.28062583 -0.45402948 4.52292202] [ 0.30466528 0.95222564 -0.02110452 -0.43900864] [ 0.43826098 -0.1204802 0.89073668 0.97739336] [ 0. 0. 0. 1. ]] SLAMing on 186.836502481 meters Centerline goodness : 0.735958 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84543721 -0.28070893 -0.45435494 4.52369122] [ 0.30504037 0.95211587 -0.02063355 -0.44015469] [ 0.43839057 -0.12115223 0.89058174 0.97788011] [ 0. 0. 0. 1. ]] SLAMing on 186.866502481 meters Centerline goodness : 0.734652 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84549781 -0.28060721 -0.45430501 4.52359752] [ 0.30506546 0.95211427 -0.02033425 -0.44084477] [ 0.43825622 -0.12140021 0.8906141 0.97796081] [ 0. 0. 0. 1. ]] SLAMing on 186.896502481 meters Centerline goodness : 0.251292 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84577857 -0.28003288 -0.45413676 4.5229344 ] [ 0.30465493 0.95225693 -0.0198016 -0.44210501] [ 0.43799997 -0.12160724 0.89071191 0.97808527] [ 0. 0. 0. 1. ]] SLAMing on 186.926502481 meters Centerline goodness : 0.273859 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.8459637 -0.27971596 -0.45398722 4.52258126] [ 0.30443415 0.95233421 -0.01947817 -0.44275904] [ 0.43779592 -0.12173138 0.89079527 0.97803835] [ 0. 0. 0. 1. ]] SLAMing on 186.956502481 meters Centerline goodness : 0.546813 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84605466 -0.2791947 -0.45413857 4.52222595] [ 0.30415899 0.95243394 -0.01889155 -0.44364348] [ 0.43781141 -0.12214704 0.89073075 0.97851174] [ 0. 0. 0. 1. ]] SLAMing on 186.98650248099997 meters Centerline goodness : 0.159450 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84622291 -0.27883242 -0.45404764 4.521849 ] [ 0.30403819 0.95248447 -0.01827884 -0.44531836] [ 0.43757006 -0.12257985 0.89078989 0.97879417] [ 0. 0. 0. 1. ]] SLAMing on 187.01650248099997 meters Centerline goodness : 0.580267 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84626441 -0.27856523 -0.45413431 4.5219108 ] [ 0.30416327 0.95246028 -0.01743926 -0.44757937] [ 0.43740286 -0.12337275 0.89076254 0.97933639] [ 0. 0. 0. 1. ]] SLAMing on 187.04650248099998 meters Centerline goodness : 0.552063 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84615618 -0.27864803 -0.45428515 4.52221036] [ 0.30453731 0.9523502 -0.01691533 -0.44868255] [ 0.43735198 -0.12403377 0.89069572 0.97976974] [ 0. 0. 0. 1. ]] SLAMing on 187.07650248099998 meters Centerline goodness : 0.580631 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84567704 -0.27929197 -0.45478164 4.52320961] [ 0.30585425 0.95194608 -0.01586911 -0.45117027] [ 0.43735972 -0.12567676 0.89046158 0.98107173] [ 0. 0. 0. 1. ]] SLAMing on 187.10650248099998 meters Centerline goodness : 0.237539 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84544708 -0.27949153 -0.4550865 4.52372329] [ 0.30644213 0.95176747 -0.01522862 -0.45255704] [ 0.4373928 -0.12658268 0.890317 0.98182168] [ 0. 0. 0. 1. ]] SLAMing on 187.13650248099998 meters Centerline goodness : 0.163504 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84424329 -0.28390312 -0.45459024 4.52407784] [ 0.31032424 0.95047379 -0.01727561 -0.45467589] [ 0.43698071 -0.12648555 0.89053314 0.98310692] [ 0. 0. 0. 1. ]] SLAMing on 187.16650248099998 meters Centerline goodness : 0.502686 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.98 [[ 0.84393614 -0.28415509 -0.45500295 4.52509301] [ 0.31115598 0.95021917 -0.01629404 -0.45685133] [ 0.43698256 -0.12782576 0.89034084 0.98402433] [ 0. 0. 0. 1. ]] SLAMing on 187.19650248099998 meters Centerline goodness : 0.597055 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.8424603 -0.28898343 -0.45469685 4.52662225] [ 0.31553069 0.94873777 -0.01835821 -0.45981076] [ 0.43669329 -0.12800475 0.89045705 0.98542116] [ 0. 0. 0. 1. ]] SLAMing on 187.22650248099998 meters Centerline goodness : 0.602019 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.84212455 -0.28922091 -0.45516755 4.52757827] [ 0.31640391 0.94846718 -0.01727944 -0.46193105] [ 0.43670906 -0.12946536 0.89023813 0.98646757] [ 0. 0. 0. 1. ]] SLAMing on 187.25650248099998 meters Centerline goodness : 0.605638 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.84080829 -0.29368087 -0.45474494 4.52751684] [ 0.32040097 0.94708678 -0.0192316 -0.46412566] [ 0.43633087 -0.12953063 0.89041405 0.98825027] [ 0. 0. 0. 1. ]] SLAMing on 187.28650248099999 meters Centerline goodness : 0.624889 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.84017505 -0.29500631 -0.45505732 4.52692749] [ 0.3223518 0.94644105 -0.01840238 -0.46719733] [ 0.43611375 -0.13122733 0.89027197 0.99046127] [ 0. 0. 0. 1. ]] SLAMing on 187.316502481 meters Centerline goodness : 0.197991 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83987176 -0.29527542 -0.45544248 4.52740179] [ 0.32294624 0.94624728 -0.01793891 -0.46816562] [ 0.43625813 -0.13201705 0.89008446 0.9913245 ] [ 0. 0. 0. 1. ]] SLAMing on 187.346502481 meters Centerline goodness : 0.561807 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83950171 -0.295507 -0.45597422 4.52825757] [ 0.32382507 0.94596672 -0.01686079 -0.47021952] [ 0.43631892 -0.13350123 0.88983325 0.99255574] [ 0. 0. 0. 1. ]] SLAMing on 187.376502481 meters Centerline goodness : 0.655343 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83919681 -0.29574432 -0.45638143 4.5291133 ] [ 0.32428625 0.94581322 -0.01660651 -0.47061776] [ 0.43656287 -0.13406209 0.88962926 0.99309944] [ 0. 0. 0. 1. ]] SLAMing on 187.406502481 meters Centerline goodness : 0.161006 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83896507 -0.29583968 -0.45674554 4.52993487] [ 0.32478977 0.94565214 -0.01592606 -0.47160631] [ 0.43663395 -0.13498487 0.88945482 0.99372121] [ 0. 0. 0. 1. ]] SLAMing on 187.436502481 meters Centerline goodness : 0.533223 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83879597 -0.29594953 -0.4569849 4.53039963] [ 0.32509261 0.94555276 -0.01564499 -0.47215964] [ 0.43673346 -0.13543946 0.88933685 0.99412147] [ 0. 0. 0. 1. ]] SLAMing on 187.466502481 meters Centerline goodness : 0.159031 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83856003 -0.29576412 -0.45753761 4.53204262] [ 0.32525663 0.94550555 -0.01507943 -0.47289191] [ 0.4370643 -0.13617213 0.8890624 0.99441014] [ 0. 0. 0. 1. ]] SLAMing on 187.496502481 meters Centerline goodness : 0.156894 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83841112 -0.29607405 -0.45761004 4.53321644] [ 0.32544484 0.94543508 -0.01543284 -0.47246728] [ 0.43720984 -0.13598776 0.88901906 0.99396037] [ 0. 0. 0. 1. ]] SLAMing on 187.526502481 meters Centerline goodness : 0.161684 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.47, Z:0.99 [[ 0.83821588 -0.29611251 -0.4579427 4.53502851] [ 0.32529462 0.94547831 -0.01594268 -0.47104572] [ 0.43769571 -0.13560289 0.88883875 0.99329139] [ 0. 0. 0. 1. ]] SLAMing on 187.556502481 meters Centerline goodness : 0.664090 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.47, Z:0.99 [[ 0.83830746 -0.29561825 -0.45809438 4.53500395] [ 0.32471102 0.94567711 -0.01604854 -0.46966264] [ 0.43795361 -0.13529468 0.88875868 0.99305406] [ 0. 0. 0. 1. ]] SLAMing on 187.586502481 meters Centerline goodness : 0.491442 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83829157 -0.2955531 -0.45816548 4.53495168] [ 0.32452187 0.9457376 -0.01630794 -0.46857507] [ 0.43812418 -0.13501391 0.8887173 0.99294917] [ 0. 0. 0. 1. ]] SLAMing on 187.616502481 meters Centerline goodness : 0.536831 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.47, Z:0.99 [[ 0.83909623 -0.29166479 -0.45918316 4.53572889] [ 0.32163402 0.94676603 -0.01362511 -0.46749546] [ 0.43871298 -0.13625614 0.88823712 0.99249453] [ 0. 0. 0. 1. ]] SLAMing on 187.646502481 meters Centerline goodness : 0.232942 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.47, Z:0.99 [[ 0.83908507 -0.2917427 -0.45915405 4.5357174 ] [ 0.32143426 0.94682546 -0.01419726 -0.46612044] [ 0.43888069 -0.13567514 0.88824321 0.99212133] [ 0. 0. 0. 1. ]] SLAMing on 187.676502481 meters Centerline goodness : 0.228608 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.46, Z:0.99 [[ 0.84023246 -0.28714664 -0.45995241 4.53531762] [ 0.31780744 0.94808766 -0.01132303 -0.46442586] [ 0.43932657 -0.13666232 0.88787137 0.99151152] [ 0. 0. 0. 1. ]] SLAMing on 187.706502481 meters Centerline goodness : 0.451827 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.84147697 -0.28266163 -0.46045511 4.53444106] [ 0.31389402 0.94941362 -0.00918269 -0.46114295] [ 0.43975795 -0.13680708 0.88763549 0.99030527] [ 0. 0. 0. 1. ]] SLAMing on 187.73650248099997 meters Centerline goodness : 0.446736 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.8422992 -0.27842803 -0.46152995 4.53466876] [ 0.31084899 0.95043993 -0.00606951 -0.46038311] [ 0.44034641 -0.13835378 0.88710387 0.99028583] [ 0. 0. 0. 1. ]] SLAMing on 187.76650248099997 meters Centerline goodness : 0.644172 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.84340622 -0.2744919 -0.46186594 4.53415905] [ 0.30721736 0.95162845 -0.00455819 -0.45698082] [ 0.44077596 -0.13804883 0.88693803 0.98877193] [ 0. 0. 0. 1. ]] SLAMing on 187.79650248099998 meters Centerline goodness : 0.624247 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.46, Z:0.99 [[ 8.44033232e-01 -2.70705095e-01 -4.62954268e-01 4.53500978e+00] [ 3.04505021e-01 9.52509016e-01 -1.80727577e-03 -4.55788412e-01] [ 4.41457353e-01 -1.39446498e-01 8.86380324e-01 9.88569826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82650248099998 meters Centerline goodness : 0.641812 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.45, Z:0.99 [[ 8.44682692e-01 -2.67461445e-01 -4.63654531e-01 4.53578694e+00] [ 3.01524049e-01 9.53458320e-01 -6.92745283e-04 -4.50985583e-01] [ 4.42260553e-01 -1.39217842e-01 8.86015799e-01 9.87020126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85650248099998 meters Centerline goodness : 0.696596 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.45, Z:0.99 [[ 8.45296454e-01 -2.63488747e-01 -4.64809193e-01 4.53630786e+00] [ 2.98794908e-01 9.54314312e-01 2.40785683e-03 -4.49939126e-01] [ 4.42939622e-01 -1.40917973e-01 8.85407599e-01 9.87157593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88650248099998 meters Centerline goodness : 0.556842 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.45, Z:0.99 [[ 8.45723500e-01 -2.60297896e-01 -4.65829118e-01 4.53602428e+00] [ 2.96332973e-01 9.55074928e-01 4.31867532e-03 -4.45755874e-01] [ 4.43777569e-01 -1.41692933e-01 8.84864160e-01 9.87036043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91650248099998 meters Centerline goodness : 0.663459 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.44, Z:0.99 [[ 8.45423113e-01 -2.60748839e-01 -4.66122091e-01 4.53686491e+00] [ 2.96458452e-01 9.55039525e-01 3.44840857e-03 -4.43135081e-01] [ 4.44265852e-01 -1.41101198e-01 8.84713685e-01 9.86699521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94650248099998 meters Centerline goodness : 0.663459 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.44, Z:0.99 [[ 8.45423113e-01 -2.60748839e-01 -4.66122091e-01 4.53686491e+00] [ 2.96458452e-01 9.55039525e-01 3.44840857e-03 -4.43135081e-01] [ 4.44265852e-01 -1.41101198e-01 8.84713685e-01 9.86699521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97650248099998 meters Centerline goodness : 0.730113 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.44, Z:0.99 [[ 8.44700374e-01 -2.62243330e-01 -4.66593735e-01 4.53921506e+00] [ 2.97213263e-01 9.54810062e-01 1.42218797e-03 -4.37373612e-01] [ 4.45135434e-01 -1.39879169e-01 8.84470612e-01 9.85586595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00650248099998 meters Centerline goodness : 0.724920 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.44, Z:0.99 [[ 8.44377846e-01 -2.63092197e-01 -4.66699634e-01 4.53972771e+00] [ 2.97700591e-01 9.54659185e-01 4.46543517e-04 -4.35106749e-01] [ 4.45421610e-01 -1.39313808e-01 8.84415769e-01 9.85322822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03650248099999 meters Centerline goodness : 0.689562 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.43, Z:0.99 [[ 8.43741774e-01 -2.64809982e-01 -4.66878456e-01 4.53982827e+00] [ 2.98791890e-01 9.54317401e-01 -1.30563837e-03 -4.31132355e-01] [ 4.45895981e-01 -1.38397875e-01 8.84320532e-01 9.85383331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.066502481 meters Centerline goodness : 0.473836 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.43, Z:0.99 [[ 8.43026118e-01 -2.66113138e-01 -4.67429954e-01 4.54031340e+00] [ 2.99826242e-01 9.53990883e-01 -2.37073974e-03 -4.27295377e-01] [ 4.46554800e-01 -1.38149171e-01 8.84026933e-01 9.85833396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.096502481 meters Centerline goodness : 0.552442 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.43, Z:0.99 [[ 8.42635217e-01 -2.66912248e-01 -4.67679103e-01 4.54020063e+00] [ 3.00461766e-01 9.53789173e-01 -2.98997132e-03 -4.25240547e-01] [ 4.46865325e-01 -1.38000234e-01 8.83893272e-01 9.86235468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.126502481 meters Centerline goodness : 0.278996 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.42, Z:0.99 [[ 8.42239690e-01 -2.67493461e-01 -4.68059348e-01 4.53835787e+00] [ 3.01078397e-01 9.53594006e-01 -3.20469112e-03 -4.22239027e-01] [ 4.47195823e-01 -1.38223440e-01 8.83691223e-01 9.87480582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.156502481 meters Centerline goodness : 0.726227 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.42, Z:0.99 [[ 8.42257435e-01 -2.67586678e-01 -4.67974127e-01 4.53671997e+00] [ 3.01056821e-01 9.53600048e-01 -3.42609395e-03 -4.20919869e-01] [ 4.47176927e-01 -1.38001150e-01 8.83735525e-01 9.87961630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.186502481 meters Centerline goodness : 0.727225 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.42, Z:0.99 [[ 8.43184144e-01 -2.64005599e-01 -4.68339132e-01 4.53353156e+00] [ 2.98434211e-01 9.54429932e-01 -7.25650949e-04 -4.18952277e-01] [ 4.47188462e-01 -1.39156562e-01 8.83548488e-01 9.88593655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.216502481 meters Centerline goodness : 0.590406 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.42, Z:0.99 [[ 8.43215981e-01 -2.64329249e-01 -4.68099197e-01 4.53207645e+00] [ 2.98325640e-01 9.54462842e-01 -1.57979073e-03 -4.16769117e-01] [ 4.47200874e-01 -1.38313888e-01 8.83674514e-01 9.88551957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.246502481 meters Centerline goodness : 0.628900 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.41, Z:0.99 [[ 8.43762001e-01 -2.60478681e-01 -4.69272355e-01 4.53122784e+00] [ 2.95430569e-01 9.55363791e-01 8.97535002e-04 -4.13807992e-01] [ 4.48092027e-01 -1.39394705e-01 8.83053029e-01 9.89091259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.276502481 meters Centerline goodness : 0.723023 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.41, Z:0.99 [[ 8.44142403e-01 -2.57341993e-01 -4.70317661e-01 4.53168262e+00] [ 2.92991815e-01 9.56111080e-01 2.72004222e-03 -4.10302666e-01] [ 4.48975946e-01 -1.40095328e-01 8.82493002e-01 9.88851135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.306502481 meters Centerline goodness : 0.724116 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.41, Z:0.99 [[ 8.43815972e-01 -2.58186169e-01 -4.70440759e-01 4.53253376e+00] [ 2.93329945e-01 9.56010149e-01 1.46223460e-03 -4.07343403e-01] [ 4.49368611e-01 -1.39228219e-01 8.82430368e-01 9.88300500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.336502481 meters Centerline goodness : 0.722376 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.41, Z:0.99 [[ 8.44131370e-01 -2.54954833e-01 -4.71635731e-01 4.53336604e+00] [ 2.91132549e-01 9.56674726e-01 3.91249570e-03 -4.05249841e-01] [ 4.50204474e-01 -1.40611173e-01 8.81784798e-01 9.88440259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.366502481 meters Centerline goodness : 0.720551 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.40, Z:0.99 [[ 8.43997306e-01 -2.55428035e-01 -4.71619621e-01 4.53282846e+00] [ 2.91321869e-01 9.56619611e-01 3.23863840e-03 -4.03560898e-01] [ 4.50333339e-01 -1.40126512e-01 8.81796147e-01 9.88527991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.396502481 meters Centerline goodness : 0.721422 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.40, Z:0.99 [[ 0.84447474 -0.25191294 -0.47265452 4.53241575] [ 0.28891926 0.95733488 0.00596625 -0.40171585] [ 0.45098568 -0.14159734 0.88122762 0.9890234 ] [ 0. 0. 0. 1. ]] SLAMing on 188.426502481 meters Centerline goodness : 0.720624 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.40, Z:0.99 [[ 0.84445537 -0.25238264 -0.47243849 4.53160313] [ 0.28900562 0.95731344 0.00517116 -0.40006056] [ 0.4509666 -0.14090419 0.88134847 0.9888819 ] [ 0. 0. 0. 1. ]] SLAMing on 188.456502481 meters Centerline goodness : 0.718993 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.40, Z:0.99 [[ 8.44464398e-01 -2.52340567e-01 -4.72444831e-01 4.53031546e+00] [ 2.88588081e-01 9.57443027e-01 4.44632681e-03 -3.97022669e-01] [ 4.51217021e-01 -1.40096712e-01 8.81349029e-01 9.88987203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48650248099997 meters Centerline goodness : 0.719071 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 8.44307114e-01 -2.52996408e-01 -4.72375184e-01 4.52974721e+00] [ 2.88866784e-01 9.57362673e-01 3.56276683e-03 -3.94727132e-01] [ 4.51333002e-01 -1.39461569e-01 8.81390374e-01 9.88944450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51650248099997 meters Centerline goodness : 0.717536 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 8.43951024e-01 -2.53589113e-01 -4.72693591e-01 4.52962141e+00] [ 2.89048665e-01 9.57311154e-01 2.49470385e-03 -3.90935960e-01] [ 4.51882218e-01 -1.38736859e-01 8.81223323e-01 9.88995627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54650248099998 meters Centerline goodness : 0.719438 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 8.43951968e-01 -2.54185443e-01 -4.72371502e-01 4.52812909e+00] [ 2.89193228e-01 9.57269458e-01 1.56917200e-03 -3.88816923e-01] [ 4.51787951e-01 -1.37930945e-01 8.81398152e-01 9.88985635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57650248099998 meters Centerline goodness : 0.719181 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 8.44119849e-01 -2.54215600e-01 -4.72055197e-01 4.52697791e+00] [ 2.89031570e-01 9.57318688e-01 1.29633093e-03 -3.88100370e-01] [ 4.51577715e-01 -1.37533113e-01 8.81568041e-01 9.88859844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60650248099998 meters Centerline goodness : 0.720079 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.44380931e-01 -2.54647513e-01 -4.71354949e-01 4.52409137e+00] [ 2.88909073e-01 9.57356481e-01 3.41280927e-04 -3.85524943e-01] [ 4.51167809e-01 -1.36466892e-01 8.81943533e-01 9.88794120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63650248099998 meters Centerline goodness : 0.721627 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.44438495e-01 -2.54971985e-01 -4.71076337e-01 4.52316244e+00] [ 2.88943428e-01 9.57346149e-01 -2.15452588e-04 -3.84400682e-01] [ 4.51038051e-01 -1.35932475e-01 8.82092421e-01 9.88677327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66650248099998 meters Centerline goodness : 0.719582 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.44603417e-01 -2.55109014e-01 -4.70706340e-01 4.52144533e+00] [ 2.88811577e-01 9.57385737e-01 -6.51120975e-04 -3.83088726e-01] [ 4.50813643e-01 -1.35395501e-01 8.82289701e-01 9.88716174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69650248099998 meters Centerline goodness : 0.720927 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.44622346e-01 -2.55769620e-01 -4.70313719e-01 4.52038735e+00] [ 2.89147548e-01 9.57283624e-01 -1.32589820e-03 -3.81803099e-01] [ 4.50562746e-01 -1.34870175e-01 8.82498299e-01 9.88562031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72650248099998 meters Centerline goodness : 0.718605 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.44559143e-01 -2.56112041e-01 -4.70240871e-01 4.52069334e+00] [ 2.89405686e-01 9.57205270e-01 -1.55574903e-03 -3.81919536e-01] [ 4.50515486e-01 -1.34776460e-01 8.82536743e-01 9.88409265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75650248099998 meters Centerline goodness : 0.717528 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.44365279e-01 -2.56627707e-01 -4.70307873e-01 4.52147820e+00] [ 2.89836661e-01 9.57074281e-01 -1.87912083e-03 -3.81746667e-01] [ 4.50601804e-01 -1.34725799e-01 8.82500410e-01 9.88261446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78650248099999 meters Centerline goodness : 0.718043 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.43972529e-01 -2.57104872e-01 -4.70752010e-01 4.52190491e+00] [ 2.90396720e-01 9.56904267e-01 -1.99233204e-03 -3.80807230e-01] [ 4.50976845e-01 -1.35023366e-01 8.82263326e-01 9.88874555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.816502481 meters Centerline goodness : 0.716797 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.43633295e-01 -2.57700273e-01 -4.71034429e-01 4.52211046e+00] [ 2.91135148e-01 9.56679918e-01 -1.96455339e-03 -3.80077297e-01] [ 4.51135445e-01 -1.35477315e-01 8.82112639e-01 9.89412067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.846502481 meters Centerline goodness : 0.716418 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.43405750e-01 -2.58328138e-01 -4.71097989e-01 4.52276883e+00] [ 2.91786735e-01 9.56481089e-01 -2.10437830e-03 -3.80208080e-01] [ 4.51139937e-01 -1.35685299e-01 8.82078373e-01 9.89463994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.876502481 meters Centerline goodness : 0.716331 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 0.84223875 -0.2637127 -0.47020155 4.52327352] [ 0.29561336 0.95528715 -0.00626184 -0.3792306 ] [ 0.45082882 -0.13372389 0.88253685 0.98937159] [ 0. 0. 0. 1. ]] SLAMing on 188.906502481 meters Centerline goodness : 0.717130 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 0.84226567 -0.26395955 -0.47001478 4.52258867] [ 0.29622389 0.9551024 -0.00555129 -0.38111794] [ 0.45037756 -0.13455394 0.88264109 0.98987882] [ 0. 0. 0. 1. ]] SLAMing on 188.936502481 meters Centerline goodness : 0.717862 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 0.84238204 -0.26399683 -0.46978525 4.52199541] [ 0.29638298 0.95505478 -0.00524438 -0.38195139] [ 0.45005515 -0.13481858 0.88276515 0.98999495] [ 0. 0. 0. 1. ]] SLAMing on 188.966502481 meters Centerline goodness : 0.719818 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.42554726e-01 -2.63652916e-01 -4.69668684e-01 4.52088729e+00] [ 2.96416428e-01 9.55048779e-01 -4.37400528e-03 -3.83345464e-01] [ 4.49709723e-01 -1.35532175e-01 8.82831918e-01 9.90569283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.996502481 meters Centerline goodness : 0.721427 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.42556443e-01 -2.63979390e-01 -4.69482185e-01 4.52061346e+00] [ 2.96688729e-01 9.54963626e-01 -4.50222563e-03 -3.83375427e-01] [ 4.49526905e-01 -1.35496694e-01 8.82930466e-01 9.90516824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.026502481 meters Centerline goodness : 0.720723 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 0.84238653 -0.26425385 -0.46963265 4.52216191] [ 0.29701538 0.95486198 -0.00452312 -0.38396387] [ 0.44962962 -0.1356779 0.88285034 0.99021628] [ 0. 0. 0. 1. ]] SLAMing on 189.056502481 meters Centerline goodness : 0.721393 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.42531676e-01 -2.64066113e-01 -4.69477862e-01 4.52268240e+00] [ 2.97036984e-01 9.54857556e-01 -4.00967796e-03 -3.86034824e-01] [ 4.49343304e-01 -1.36074008e-01 8.82935139e-01 9.90023574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.086502481 meters Centerline goodness : 0.723130 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.42839982e-01 -2.63626996e-01 -4.69171154e-01 4.52146559e+00] [ 2.96799555e-01 9.54933774e-01 -3.39277186e-03 -3.87453899e-01] [ 4.48921808e-01 -1.36390226e-01 8.83100740e-01 9.90232072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.116502481 meters Centerline goodness : 0.723386 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.43766197e-01 -2.62759015e-01 -4.67991779e-01 4.51791334e+00] [ 2.96080530e-01 9.55159797e-01 -2.46607839e-03 -3.90088527e-01] [ 4.47654917e-01 -1.36482461e-01 8.83729378e-01 9.90216478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.146502481 meters Centerline goodness : 0.722847 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.43948046e-01 -2.62459560e-01 -4.67831888e-01 4.51768634e+00] [ 2.95932856e-01 9.55206580e-01 -2.03308871e-03 -3.91237875e-01] [ 4.47409701e-01 -1.36731005e-01 8.83815134e-01 9.90153286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.176502481 meters Centerline goodness : 0.720504 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.43965066e-01 -2.62329455e-01 -4.67874154e-01 4.51925657e+00] [ 2.95914711e-01 9.55212683e-01 -1.79267051e-03 -3.92685337e-01] [ 4.47389596e-01 -1.36937894e-01 8.83793280e-01 9.89663212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.206502481 meters Centerline goodness : 0.722066 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.43857135e-01 -2.62441842e-01 -4.68005786e-01 4.52058128e+00] [ 2.96151543e-01 9.55139588e-01 -1.62177636e-03 -3.93628946e-01] [ 4.47436476e-01 -1.37232088e-01 8.83723913e-01 9.89482414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23650248099997 meters Centerline goodness : 0.721113 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.84306388 -0.26705115 -0.4668265 4.52158761] [ 0.29922649 0.95416655 -0.00545004 -0.39411278] [ 0.44688567 -0.13509213 0.88433213 0.98862798] [ 0. 0. 0. 1. ]] SLAMing on 189.26650248099997 meters Centerline goodness : 0.722240 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84304236 -0.26698201 -0.4669049 4.522058 ] [ 0.29945698 0.95409739 -0.00486592 -0.39611334] [ 0.44677186 -0.13571576 0.88429415 0.98893017] [ 0. 0. 0. 1. ]] SLAMing on 189.29650248099998 meters Centerline goodness : 0.722498 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84218048 -0.27137176 -0.46592855 4.52180215] [ 0.30262465 0.95307541 -0.00809819 -0.39713807] [ 0.44626266 -0.13418133 0.88478529 0.98920477] [ 0. 0. 0. 1. ]] SLAMing on 189.32650248099998 meters Centerline goodness : 0.722091 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84160131 -0.27508579 -0.46479571 4.52143133] [ 0.30518691 0.95222928 -0.01097048 -0.39823613] [ 0.44560991 -0.1326168 0.88534999 0.98900842] [ 0. 0. 0. 1. ]] SLAMing on 189.35650248099998 meters Centerline goodness : 0.722113 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84169349 -0.2747725 -0.46481409 4.52082477] [ 0.30522556 0.9522255 -0.01019551 -0.39982373] [ 0.44540928 -0.13329165 0.8853496 0.98957083] [ 0. 0. 0. 1. ]] SLAMing on 189.38650248099998 meters Centerline goodness : 0.722291 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84200341 -0.27397683 -0.46472246 4.51916498] [ 0.30509044 0.95228416 -0.00864301 -0.40295823] [ 0.44491582 -0.13450493 0.88541422 0.99064094] [ 0. 0. 0. 1. ]] SLAMing on 189.41650248099998 meters Centerline goodness : 0.723551 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84203308 -0.27379715 -0.46477458 4.51927488] [ 0.30515119 0.95226916 -0.00813552 -0.40431972] [ 0.44481798 -0.13497614 0.88539167 0.99090769] [ 0. 0. 0. 1. ]] SLAMing on 189.44650248099998 meters Centerline goodness : 0.724340 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84139806 -0.27764026 -0.46364338 4.51901275] [ 0.30775892 0.9513983 -0.01121274 -0.40572594] [ 0.44422263 -0.13325601 0.88595095 0.99074592] [ 0. 0. 0. 1. ]] SLAMing on 189.47650248099998 meters Centerline goodness : 0.725584 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84152416 -0.27751453 -0.46348977 4.5193401 ] [ 0.3077317 0.95141038 -0.01093128 -0.40715558] [ 0.44400257 -0.13343156 0.88603484 0.9905517 ] [ 0. 0. 0. 1. ]] SLAMing on 189.50650248099998 meters Centerline goodness : 0.724774 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84187383 -0.27678026 -0.46329379 4.51972275] [ 0.30724637 0.95157559 -0.0101764 -0.40937905] [ 0.44367569 -0.13377809 0.88614632 0.99017735] [ 0. 0. 0. 1. ]] SLAMing on 189.53650248099999 meters Centerline goodness : 0.725415 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84212341 -0.27651347 -0.46299942 4.51937905] [ 0.30701613 0.95165247 -0.00993362 -0.41025516] [ 0.44336133 -0.13378296 0.88630291 0.98987892] [ 0. 0. 0. 1. ]] SLAMing on 189.566502481 meters Centerline goodness : 0.726977 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84234542 -0.27577526 -0.46303585 4.51881402] [ 0.3066884 0.95176805 -0.00893346 -0.41242459] [ 0.44316635 -0.13448267 0.88629453 0.99045512] [ 0. 0. 0. 1. ]] SLAMing on 189.596502481 meters Centerline goodness : 0.728433 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84225054 -0.27571809 -0.46324245 4.51975882] [ 0.30705667 0.95165643 -0.00813881 -0.41485529] [ 0.44309167 -0.13538676 0.88619422 0.99089193] [ 0. 0. 0. 1. ]] SLAMing on 189.626502481 meters Centerline goodness : 0.728147 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84204233 -0.27594021 -0.46348863 4.52111652] [ 0.30752149 0.9515092 -0.00779639 -0.41620509] [ 0.44316503 -0.13596782 0.88606857 0.99106926] [ 0. 0. 0. 1. ]] SLAMing on 189.656502481 meters Centerline goodness : 0.470815 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84145378 -0.27715794 -0.4638308 4.52370833] [ 0.30900116 0.95103042 -0.00770848 -0.41820913] [ 0.44325367 -0.13683792 0.88589027 0.99134182] [ 0. 0. 0. 1. ]] SLAMing on 189.686502481 meters Centerline goodness : 0.561151 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.8413785 -0.27726706 -0.46390214 4.52437175] [ 0.30924508 0.95095286 -0.00749241 -0.41895983] [ 0.44322647 -0.1371555 0.88585477 0.9913586 ] [ 0. 0. 0. 1. ]] SLAMing on 189.716502481 meters Centerline goodness : 0.524763 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.42, Z:0.99 [[ 0.84095138 -0.27762909 -0.46445976 4.52584786] [ 0.30994764 0.9507271 -0.00710203 -0.41963001] [ 0.44354621 -0.13798574 0.88556575 0.99197437] [ 0. 0. 0. 1. ]] SLAMing on 189.746502481 meters Centerline goodness : 0.512425 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.42, Z:0.99 [[ 0.84091186 -0.27773304 -0.46446916 4.52648149] [ 0.3101147 0.95067333 -0.00700641 -0.42043886] [ 0.44350435 -0.13814694 0.88556158 0.99188414] [ 0. 0. 0. 1. ]] SLAMing on 189.776502481 meters Centerline goodness : 0.574391 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.42, Z:0.99 [[ 0.8412859 -0.27707469 -0.46418493 4.52630379] [ 0.30959709 0.95084593 -0.00645363 -0.42220709] [ 0.44315649 -0.13828096 0.8857148 0.99156876] [ 0. 0. 0. 1. ]] SLAMing on 189.806502481 meters Centerline goodness : 0.478374 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84176712 -0.27615373 -0.46386122 4.52474125] [ 0.30855207 0.95118627 -0.00634814 -0.42175743] [ 0.44297149 -0.13778169 0.88588513 0.99132359] [ 0. 0. 0. 1. ]] SLAMing on 189.836502481 meters Centerline goodness : 0.478374 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84176712 -0.27615373 -0.46386122 4.52474125] [ 0.30855207 0.95118627 -0.00634814 -0.42175743] [ 0.44297149 -0.13778169 0.88588513 0.99132359] [ 0. 0. 0. 1. ]] SLAMing on 189.866502481 meters Centerline goodness : 0.730485 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84201342 -0.27574835 -0.46365531 4.52366479] [ 0.30799731 0.95136523 -0.00646931 -0.42120041] [ 0.44288944 -0.13735735 0.88599204 0.99118939] [ 0. 0. 0. 1. ]] SLAMing on 189.896502481 meters Centerline goodness : 0.730452 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84276249 -0.27482497 -0.46284189 4.52231462] [ 0.30647924 0.95185059 -0.00713657 -0.41996978] [ 0.44251764 -0.135837 0.88641212 0.98968494] [ 0. 0. 0. 1. ]] SLAMing on 189.926502481 meters Centerline goodness : 0.536376 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84298825 -0.27474987 -0.4624752 4.52151408] [ 0.3060954 0.95197043 -0.00760888 -0.41925875] [ 0.44235326 -0.13514733 0.88659957 0.98919993] [ 0. 0. 0. 1. ]] SLAMing on 189.956502481 meters Centerline goodness : 0.508562 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84357065 -0.27438637 -0.46162829 4.51997513] [ 0.30513965 0.95227046 -0.00841194 -0.4187523 ] [ 0.44190311 -0.13376503 0.88703357 0.98811895] [ 0. 0. 0. 1. ]] SLAMing on 189.98650248099997 meters Centerline goodness : 0.438325 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84387696 -0.27404503 -0.46127107 4.51951696] [ 0.30468413 0.95241614 -0.00843102 -0.41872089] [ 0.44163249 -0.13342723 0.8872192 0.98755615] [ 0. 0. 0. 1. ]] SLAMing on 190.01650248099997 meters Centerline goodness : 0.638644 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84399305 -0.2742772 -0.46092054 4.51863036] [ 0.30453095 0.95245853 -0.00914615 -0.41727692] [ 0.44151628 -0.13264528 0.88739428 0.98714977] [ 0. 0. 0. 1. ]] SLAMing on 190.04650248099998 meters Centerline goodness : 0.607016 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84404933 -0.27436897 -0.46076285 4.51820099] [ 0.30451971 0.9524604 -0.00932348 -0.41682254] [ 0.44141645 -0.13244189 0.88747432 0.98701565] [ 0. 0. 0. 1. ]] SLAMing on 190.07650248099998 meters Centerline goodness : 0.311216 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84365091 -0.27516375 -0.46101849 4.51844335] [ 0.30535514 0.95219081 -0.00953381 -0.41643332] [ 0.44160093 -0.13273116 0.88733931 0.98755973] [ 0. 0. 0. 1. ]] SLAMing on 190.10650248099998 meters Centerline goodness : 0.285753 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84316247 -0.27652177 -0.46109952 4.51943824] [ 0.30665206 0.95176878 -0.01003531 -0.41656845] [ 0.44163511 -0.13293572 0.88729168 0.98774499] [ 0. 0. 0. 1. ]] SLAMing on 190.13650248099998 meters Centerline goodness : 0.601128 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84295417 -0.27708009 -0.4611452 4.52017159] [ 0.307159 0.95160248 -0.01029859 -0.41653334] [ 0.44168045 -0.13296366 0.88726492 0.98765764] [ 0. 0. 0. 1. ]] SLAMing on 190.16650248099998 meters Centerline goodness : 0.430243 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84215615 -0.2784164 -0.46179792 4.52136236] [ 0.30869441 0.95110367 -0.01046771 -0.41613058] [ 0.44213208 -0.13373899 0.88692339 0.98870799] [ 0. 0. 0. 1. ]] SLAMing on 190.19650248099998 meters Centerline goodness : 0.536621 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84164854 -0.27927891 -0.46220236 4.52174525] [ 0.30968336 0.95078092 -0.01057657 -0.41563967] [ 0.442407 -0.13423462 0.8867114 0.98948621] [ 0. 0. 0. 1. ]] SLAMing on 190.22650248099998 meters Centerline goodness : 0.494132 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8414239 -0.27986114 -0.46225919 4.5220182 ] [ 0.31018338 0.95061411 -0.01091215 -0.4149831 ] [ 0.442484 -0.13420338 0.88667771 0.98955369] [ 0. 0. 0. 1. ]] SLAMing on 190.25650248099998 meters Centerline goodness : 0.562937 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.8410973 -0.28050698 -0.46246206 4.52263159] [ 0.310957 0.95036155 -0.01089377 -0.41509633] [ 0.44256194 -0.1346431 0.88657214 0.98987061] [ 0. 0. 0. 1. ]] SLAMing on 190.28650248099999 meters Centerline goodness : 0.448056 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84098572 -0.28069022 -0.46255381 4.52242819] [ 0.31128221 0.95025741 -0.01068864 -0.41584478] [ 0.44254538 -0.13499578 0.88652678 0.99041059] [ 0. 0. 0. 1. ]] SLAMing on 190.316502481 meters Centerline goodness : 0.628352 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84130075 -0.28092744 -0.46183636 4.52016094] [ 0.31160831 0.95015455 -0.01032438 -0.4170053 ] [ 0.44171632 -0.13522614 0.88690506 0.99067792] [ 0. 0. 0. 1. ]] SLAMing on 190.346502481 meters Centerline goodness : 0.500881 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84120809 -0.28099814 -0.46196211 4.51961713] [ 0.31201785 0.95002666 -0.00970594 -0.41730286] [ 0.44160368 -0.13597571 0.88684655 0.9913779 ] [ 0. 0. 0. 1. ]] SLAMing on 190.376502481 meters Centerline goodness : 0.552715 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84107813 -0.28124869 -0.46204626 4.5196375 ] [ 0.31238091 0.94990868 -0.0095744 -0.41754638] [ 0.44159454 -0.13628161 0.88680414 0.99169574] [ 0. 0. 0. 1. ]] SLAMing on 190.406502481 meters Centerline goodness : 0.470638 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84103184 -0.28176607 -0.46181525 4.51955563] [ 0.31283399 0.9497577 -0.00975748 -0.41788215] [ 0.44136191 -0.13626516 0.88692247 0.99158406] [ 0. 0. 0. 1. ]] SLAMing on 190.436502481 meters Centerline goodness : 0.412505 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84091557 -0.28216407 -0.46178397 4.519393 ] [ 0.31318572 0.94963985 -0.00994294 -0.41781602] [ 0.441334 -0.13626297 0.8869367 0.9917655 ] [ 0. 0. 0. 1. ]] SLAMing on 190.466502481 meters Centerline goodness : 0.733604 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84086941 -0.28275429 -0.46150694 4.5194206 ] [ 0.31349455 0.94953122 -0.01056549 -0.41722115] [ 0.44120268 -0.13579571 0.88707368 0.9913224 ] [ 0. 0. 0. 1. ]] SLAMing on 190.496502481 meters Centerline goodness : 0.143039 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84092661 -0.28272451 -0.46142094 4.51934962] [ 0.31332636 0.94958402 -0.0108062 -0.41650215] [ 0.44121313 -0.13548812 0.88711552 0.99102638] [ 0. 0. 0. 1. ]] SLAMing on 190.526502481 meters Centerline goodness : 0.354843 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84102042 -0.2823851 -0.46145781 4.51904008] [ 0.3126382 0.94980349 -0.01143168 -0.41379756] [ 0.44152237 -0.13465507 0.8870885 0.99052597] [ 0. 0. 0. 1. ]] SLAMing on 190.556502481 meters Centerline goodness : 0.450245 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84109856 -0.28281065 -0.4610546 4.51855059] [ 0.31253294 0.94982506 -0.01247062 -0.4118915 ] [ 0.44144804 -0.13360573 0.88728414 0.98976458] [ 0. 0. 0. 1. ]] SLAMing on 190.586502481 meters Centerline goodness : 0.142401 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84159097 -0.28299067 -0.46004448 4.51769231] [ 0.31174951 0.95005951 -0.01411257 -0.40948425] [ 0.44106336 -0.13154163 0.88778371 0.98789749] [ 0. 0. 0. 1. ]] SLAMing on 190.616502481 meters Centerline goodness : 0.318677 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84192999 -0.28288522 -0.45948868 4.51672988] [ 0.31109249 0.95026111 -0.01500956 -0.40813758] [ 0.4408802 -0.13030648 0.88805679 0.98699905] [ 0. 0. 0. 1. ]] SLAMing on 190.646502481 meters Centerline goodness : 0.734129 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84209866 -0.28302965 -0.45909048 4.51623228] [ 0.31093878 0.9503033 -0.0155152 -0.40769669] [ 0.44066646 -0.1296837 0.88825402 0.98648475] [ 0. 0. 0. 1. ]] SLAMing on 190.676502481 meters Centerline goodness : 0.735932 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84198704 -0.28341551 -0.45905715 4.51589304] [ 0.31127117 0.95019124 -0.01571187 -0.40749158] [ 0.44064508 -0.12966206 0.88826779 0.98669367] [ 0. 0. 0. 1. ]] SLAMing on 190.706502481 meters Centerline goodness : 0.571507 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8419596 -0.28347318 -0.45907188 4.51540939] [ 0.31146957 0.95013055 -0.01544798 -0.40791537] [ 0.4405573 -0.12998035 0.88826481 0.98711667] [ 0. 0. 0. 1. ]] SLAMing on 190.73650248099997 meters Centerline goodness : 0.735526 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84175295 -0.28390569 -0.45918354 4.51502078] [ 0.31222766 0.94988982 -0.01494081 -0.40869531] [ 0.44041555 -0.13079333 0.88821577 0.98790654] [ 0. 0. 0. 1. ]] SLAMing on 190.76650248099997 meters Centerline goodness : 0.735266 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84151445 -0.28417781 -0.45945228 4.5156534 ] [ 0.31273559 0.94972761 -0.01462609 -0.40936996] [ 0.44051093 -0.13137901 0.88808202 0.98832712] [ 0. 0. 0. 1. ]] SLAMing on 190.79650248099998 meters Centerline goodness : 0.546027 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84085373 -0.28509075 -0.46009594 4.51727343] [ 0.31421399 0.94924981 -0.01394129 -0.41084342] [ 0.44072052 -0.132846 0.88775974 0.98932751] [ 0. 0. 0. 1. ]] SLAMing on 190.82650248099998 meters Centerline goodness : 0.228451 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84062785 -0.28531072 -0.46037225 4.51774824] [ 0.3148361 0.94905311 -0.01328278 -0.41196635] [ 0.44070744 -0.13377593 0.88762659 0.98997569] [ 0. 0. 0. 1. ]] SLAMing on 190.85650248099998 meters Centerline goodness : 0.553062 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83959121 -0.28995698 -0.45935994 4.51790442] [ 0.31843052 0.94780665 -0.01626545 -0.41257967] [ 0.44010068 -0.1326179 0.88810128 0.9900938 ] [ 0. 0. 0. 1. ]] SLAMing on 190.88650248099998 meters Centerline goodness : 0.415938 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8382764 -0.29479334 -0.45868242 4.51964199] [ 0.32200383 0.94653035 -0.01984516 -0.41186052] [ 0.44000705 -0.13106177 0.88837864 0.98986312] [ 0. 0. 0. 1. ]] SLAMing on 190.91650248099998 meters Centerline goodness : 0.682641 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83807539 -0.29491896 -0.45896891 4.51993116] [ 0.32238617 0.94640827 -0.01945627 -0.41206481] [ 0.44010999 -0.13165941 0.88823927 0.99034438] [ 0. 0. 0. 1. ]] SLAMing on 190.94650248099998 meters Centerline goodness : 0.420478 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83770555 -0.29541821 -0.45932287 4.51988499] [ 0.32321408 0.94613424 -0.01904339 -0.41196277] [ 0.44020686 -0.13250687 0.88806523 0.99126478] [ 0. 0. 0. 1. ]] SLAMing on 190.97650248099998 meters Centerline goodness : 0.417396 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83735957 -0.29602049 -0.45956591 4.52013167] [ 0.32387432 0.94590595 -0.01916653 -0.41180341] [ 0.44037981 -0.13279232 0.88793683 0.99178912] [ 0. 0. 0. 1. ]] SLAMing on 191.00650248099998 meters Centerline goodness : 0.649428 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83701547 -0.29672597 -0.45973776 4.52073754] [ 0.32474471 0.94560929 -0.01907716 -0.41222549] [ 0.44039299 -0.13332953 0.88784979 0.99216061] [ 0. 0. 0. 1. ]] SLAMing on 191.03650248099999 meters Centerline goodness : 0.671172 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8368286 -0.2970703 -0.45985555 4.5208898 ] [ 0.32510485 0.94548354 -0.01917568 -0.41197254] [ 0.44048238 -0.13345452 0.88778667 0.99240326] [ 0. 0. 0. 1. ]] SLAMing on 191.066502481 meters Centerline goodness : 0.286943 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83651959 -0.29770623 -0.46000649 4.52097102] [ 0.32551575 0.9453283 -0.01984715 -0.40973202] [ 0.44076577 -0.13313682 0.88769371 0.99242494] [ 0. 0. 0. 1. ]] SLAMing on 191.096502481 meters Centerline goodness : 0.350042 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83615551 -0.2982171 -0.4603374 4.52144157] [ 0.32583431 0.94520502 -0.02048095 -0.40750807] [ 0.44122099 -0.13286846 0.88750775 0.9925332 ] [ 0. 0. 0. 1. ]] SLAMing on 191.126502481 meters Centerline goodness : 0.250410 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83618611 -0.2984224 -0.46014874 4.52069344] [ 0.32591318 0.94517251 -0.02072497 -0.40686467] [ 0.44110474 -0.13263861 0.88759992 0.99252713] [ 0. 0. 0. 1. ]] SLAMing on 191.156502481 meters Centerline goodness : 0.484696 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83693024 -0.29456949 -0.46127714 4.52042411] [ 0.3233846 0.94610692 -0.01743829 -0.40644208] [ 0.44155428 -0.13457529 0.88708472 0.99299741] [ 0. 0. 0. 1. ]] SLAMing on 191.186502481 meters Centerline goodness : 0.400572 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83699747 -0.29474589 -0.4610424 4.51972937] [ 0.32325586 0.94614008 -0.01801692 -0.40519134] [ 0.44152111 -0.13395454 0.88719518 0.99272046] [ 0. 0. 0. 1. ]] SLAMing on 191.216502481 meters Centerline goodness : 0.639179 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83802144 -0.29019594 -0.4620675 4.51952187] [ 0.32013953 0.94726246 -0.01430079 -0.40539997] [ 0.44184923 -0.1359417 0.88672945 0.99285351] [ 0. 0. 0. 1. ]] SLAMing on 191.246502481 meters Centerline goodness : 0.728927 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83818062 -0.29011692 -0.46182835 4.51888687] [ 0.31981538 0.94736601 -0.01468914 -0.40435267] [ 0.44178204 -0.13538766 0.88684768 0.99249791] [ 0. 0. 0. 1. ]] SLAMing on 191.276502481 meters Centerline goodness : 0.729811 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83858626 -0.28974993 -0.46132207 4.51786342] [ 0.31896324 0.94764208 -0.0153928 -0.40262339] [ 0.44162827 -0.13423659 0.88709921 0.99156495] [ 0. 0. 0. 1. ]] SLAMing on 191.306502481 meters Centerline goodness : 0.728601 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.8387163 -0.28971294 -0.46110886 4.51736091] [ 0.318709 0.94772181 -0.01574647 -0.40178562] [ 0.44156487 -0.13375272 0.88720385 0.99124157] [ 0. 0. 0. 1. ]] SLAMing on 191.336502481 meters Centerline goodness : 0.729171 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83991567 -0.28523841 -0.46171497 4.51687276] [ 0.31540891 0.94887446 -0.01242878 -0.40200636] [ 0.44165471 -0.13518989 0.88694127 0.99082046] [ 0. 0. 0. 1. ]] SLAMing on 191.366502481 meters Centerline goodness : 0.728482 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84007773 -0.2854201 -0.46130768 4.51605556] [ 0.31511639 0.94896 -0.0132883 -0.40047762] [ 0.44155528 -0.1342024 0.88714071 0.99024933] [ 0. 0. 0. 1. ]] SLAMing on 191.396502481 meters Centerline goodness : 0.726704 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83999655 -0.28568005 -0.4612946 4.51659561] [ 0.31513312 0.94894656 -0.01384011 -0.39943579] [ 0.44169777 -0.13374356 0.88713908 0.98980842] [ 0. 0. 0. 1. ]] SLAMing on 191.426502481 meters Centerline goodness : 0.725954 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.8397644 -0.28596335 -0.46154167 4.51858407] [ 0.31503489 0.94896525 -0.014764 -0.39669463] [ 0.44220897 -0.13300344 0.88699567 0.98873856] [ 0. 0. 0. 1. ]] SLAMing on 191.456502481 meters Centerline goodness : 0.724792 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83959846 -0.28637375 -0.46158911 4.51892187] [ 0.31524353 0.9488876 -0.01529176 -0.39561336] [ 0.44237534 -0.13267404 0.88696204 0.98858124] [ 0. 0. 0. 1. ]] SLAMing on 191.48650248099997 meters Centerline goodness : 0.723514 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.8398011 -0.28612723 -0.4613733 4.5176554 ] [ 0.31491586 0.94899599 -0.01531711 -0.39513221] [ 0.44222405 -0.13243044 0.88707388 0.98863268] [ 0. 0. 0. 1. ]] SLAMing on 191.51650248099997 meters Centerline goodness : 0.720886 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.8398621 -0.28586643 -0.46142393 4.51631929] [ 0.31476286 0.94905102 -0.01505001 -0.39503284] [ 0.44221714 -0.13259918 0.88705212 0.98932696] [ 0. 0. 0. 1. ]] SLAMing on 191.54650248099998 meters Centerline goodness : 0.722752 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83972859 -0.28621179 -0.46145283 4.51594797] [ 0.31495643 0.9489803 -0.0154543 -0.39411433] [ 0.44233285 -0.13236011 0.88703013 0.98949261] [ 0. 0. 0. 1. ]] SLAMing on 191.57650248099998 meters Centerline goodness : 0.721629 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83972349 -0.28635291 -0.46137454 4.5155247 ] [ 0.31492888 0.9489837 -0.01580292 -0.39315488] [ 0.44236214 -0.13203008 0.88706471 0.9894479 ] [ 0. 0. 0. 1. ]] SLAMing on 191.60650248099998 meters Centerline goodness : 0.721806 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83972113 -0.28654977 -0.4612566 4.51448752] [ 0.3149115 0.94898202 -0.01624418 -0.39204604] [ 0.44237898 -0.13161443 0.88711807 0.98960313] [ 0. 0. 0. 1. ]] SLAMing on 191.63650248099998 meters Centerline goodness : 0.721620 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83972317 -0.28692748 -0.46101802 4.51459118] [ 0.3150903 0.94891543 -0.01666159 -0.39180393] [ 0.44224778 -0.13127118 0.88723434 0.98919229] [ 0. 0. 0. 1. ]] SLAMing on 191.66650248099998 meters Centerline goodness : 0.719960 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.8395496 -0.28721448 -0.46115541 4.51515831] [ 0.31541068 0.94880804 -0.01671561 -0.39185367] [ 0.44234892 -0.13141976 0.88716192 0.98927684] [ 0. 0. 0. 1. ]] SLAMing on 191.69650248099998 meters Centerline goodness : 0.719803 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83944672 -0.28733819 -0.46126562 4.51614061] [ 0.31567462 0.94872396 -0.01650373 -0.39278565] [ 0.4423559 -0.13175585 0.88710859 0.98918907] [ 0. 0. 0. 1. ]] SLAMing on 191.72650248099998 meters Centerline goodness : 0.720362 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83946017 -0.28700157 -0.46145068 4.51639376] [ 0.31562534 0.94875064 -0.01590207 -0.39349733] [ 0.44236554 -0.13229638 0.88702333 0.98941397] [ 0. 0. 0. 1. ]] SLAMing on 191.75650248099998 meters Centerline goodness : 0.720362 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83946017 -0.28700157 -0.46145068 4.51639376] [ 0.31562534 0.94875064 -0.01590207 -0.39349733] [ 0.44236554 -0.13229638 0.88702333 0.98941397] [ 0. 0. 0. 1. ]] SLAMing on 191.78650248099999 meters Centerline goodness : 0.719213 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83938176 -0.28686647 -0.46167726 4.51544941] [ 0.31589606 0.94867316 -0.0151299 -0.39416134] [ 0.44232108 -0.13314226 0.88691894 0.99045959] [ 0. 0. 0. 1. ]] SLAMing on 191.816502481 meters Centerline goodness : 0.718896 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83905457 -0.28677073 -0.46233102 4.51638739] [ 0.31646966 0.94849951 -0.0139869 -0.39597951] [ 0.44253178 -0.13457797 0.88659709 0.99148435] [ 0. 0. 0. 1. ]] SLAMing on 191.846502481 meters Centerline goodness : 0.719208 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83882038 -0.28699854 -0.46261454 4.51721226] [ 0.31694244 0.94834649 -0.01365344 -0.39679499] [ 0.4426374 -0.1351694 0.88645438 0.99185525] [ 0. 0. 0. 1. ]] SLAMing on 191.876502481 meters Centerline goodness : 0.718255 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83873475 -0.28691277 -0.46282294 4.51743137] [ 0.31724297 0.94825615 -0.01292957 -0.39824454] [ 0.44258436 -0.13598285 0.88635645 0.99238045] [ 0. 0. 0. 1. ]] SLAMing on 191.906502481 meters Centerline goodness : 0.718444 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83883087 -0.28685761 -0.46268292 4.51714821] [ 0.31721063 0.94826844 -0.01282076 -0.39857558] [ 0.44242534 -0.13601349 0.88643113 0.99230782] [ 0. 0. 0. 1. ]] SLAMing on 191.936502481 meters Centerline goodness : 0.718306 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83891017 -0.28707062 -0.46240696 4.51760553] [ 0.31713031 0.94828774 -0.01336853 -0.39798077] [ 0.44233256 -0.13542827 0.88656702 0.991489 ] [ 0. 0. 0. 1. ]] SLAMing on 191.966502481 meters Centerline goodness : 0.716486 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83907639 -0.28721442 -0.46201591 4.51792067] [ 0.31664634 0.94843238 -0.01452976 -0.39594462] [ 0.442364 -0.13410407 0.88675261 0.99017131] [ 0. 0. 0. 1. ]] SLAMing on 191.996502481 meters Centerline goodness : 0.716136 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83940977 -0.28713779 -0.46145761 4.51702482] [ 0.31616112 0.94858472 -0.01513852 -0.39514603] [ 0.44207848 -0.13318754 0.88703309 0.98941852] [ 0. 0. 0. 1. ]] SLAMing on 192.026502481 meters Centerline goodness : 0.718110 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83997037 -0.2866128 -0.46076336 4.51553933] [ 0.3154028 0.9488356 -0.01523432 -0.39509997] [ 0.44155503 -0.13252968 0.88739227 0.98870709] [ 0. 0. 0. 1. ]] SLAMing on 192.056502481 meters Centerline goodness : 0.716729 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84098458 -0.28564782 -0.45951089 4.51272589] [ 0.31382922 0.94934822 -0.01578574 -0.39469781] [ 0.440745 -0.13093238 0.88803184 0.98742866] [ 0. 0. 0. 1. ]] SLAMing on 192.086502481 meters Centerline goodness : 0.716970 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84178149 -0.28506293 -0.45841362 4.51067208] [ 0.31263098 0.94973125 -0.01650519 -0.39378669] [ 0.44007476 -0.12942053 0.88858569 0.98604974] [ 0. 0. 0. 1. ]] SLAMing on 192.116502481 meters Centerline goodness : 0.719010 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84210503 -0.28488376 -0.45793051 4.5097991 ] [ 0.31226136 0.94984973 -0.01668353 -0.39349586] [ 0.43971804 -0.12894472 0.88883143 0.98546717] [ 0. 0. 0. 1. ]] SLAMing on 192.146502481 meters Centerline goodness : 0.586434 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84237306 -0.28464993 -0.45758283 4.50922916] [ 0.31195998 0.94994943 -0.01664477 -0.39398028] [ 0.43941848 -0.12872643 0.88901119 0.98516005] [ 0. 0. 0. 1. ]] SLAMing on 192.176502481 meters Centerline goodness : 0.627299 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84235549 -0.28472166 -0.45757054 4.50966494] [ 0.31212591 0.949898 -0.01646864 -0.39484082] [ 0.43933432 -0.12894717 0.8890208 0.98510707] [ 0. 0. 0. 1. ]] SLAMing on 192.206502481 meters Centerline goodness : 0.632696 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.98 [[ 0.84197427 -0.285219 -0.45796228 4.51225797] [ 0.31282539 0.94967046 -0.01631823 -0.39590759] [ 0.43956752 -0.1295227 0.88882184 0.98489151] [ 0. 0. 0. 1. ]] SLAMing on 192.23650248099997 meters Centerline goodness : 0.719759 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.98 [[ 0.84180131 -0.28532572 -0.45821369 4.51366221] [ 0.31318286 0.94955935 -0.01592264 -0.39681857] [ 0.43964424 -0.13010098 0.88869943 0.984874 ] [ 0. 0. 0. 1. ]] SLAMing on 192.26650248099997 meters Centerline goodness : 0.644750 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.98 [[ 0.84184997 -0.28540808 -0.45807298 4.51366177] [ 0.31334953 0.94950764 -0.01572644 -0.3973311 ] [ 0.43943224 -0.13029765 0.88877546 0.98477307] [ 0. 0. 0. 1. ]] SLAMing on 192.29650248099998 meters Centerline goodness : 0.724173 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84194703 -0.285122 -0.45807274 4.51305075] [ 0.31333967 0.94952116 -0.01509359 -0.39857897] [ 0.43925327 -0.13082436 0.88878656 0.98528854] [ 0. 0. 0. 1. ]] SLAMing on 192.32650248099998 meters Centerline goodness : 0.723139 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84207653 -0.28496236 -0.45793403 4.51251916] [ 0.31321178 0.94956576 -0.01494148 -0.39899147] [ 0.43909624 -0.13084846 0.8888606 0.98535932] [ 0. 0. 0. 1. ]] SLAMing on 192.35650248099998 meters Centerline goodness : 0.599714 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84227819 -0.28464422 -0.45776099 4.5125169 ] [ 0.31296089 0.94965279 -0.01466496 -0.4001551 ] [ 0.43888829 -0.13090931 0.88895434 0.98516101] [ 0. 0. 0. 1. ]] SLAMing on 192.38650248099998 meters Centerline goodness : 0.725518 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.98 [[ 0.84237509 -0.28464299 -0.4575834 4.51261152] [ 0.31300623 0.94964022 -0.01451052 -0.40102209] [ 0.43866992 -0.13100316 0.8890483 0.98497676] [ 0. 0. 0. 1. ]] SLAMing on 192.41650248099998 meters Centerline goodness : 0.635793 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84234295 -0.28458374 -0.45767942 4.51249078] [ 0.31311352 0.94960969 -0.0141901 -0.4012364 ] [ 0.43865508 -0.13135268 0.88900404 0.98525092] [ 0. 0. 0. 1. ]] SLAMing on 192.44650248099998 meters Centerline goodness : 0.544207 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84229637 -0.28469955 -0.45769312 4.5130044 ] [ 0.31332729 0.94954162 -0.01402607 -0.40137775] [ 0.43859189 -0.13159364 0.88899959 0.98512651] [ 0. 0. 0. 1. ]] SLAMing on 192.47650248099998 meters Centerline goodness : 0.352925 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84226447 -0.28472829 -0.45773394 4.5134172 ] [ 0.31345351 0.94950254 -0.0138497 -0.40197364] [ 0.43856294 -0.1318132 0.88898134 0.98513932] [ 0. 0. 0. 1. ]] SLAMing on 192.50650248099998 meters Centerline goodness : 0.630428 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84222056 -0.28477447 -0.457786 4.5140159 ] [ 0.31376054 0.94940828 -0.01335048 -0.4035115 ] [ 0.4384277 -0.13239114 0.88896217 0.98526613] [ 0. 0. 0. 1. ]] SLAMing on 192.53650248099999 meters Centerline goodness : 0.501761 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84223333 -0.28477916 -0.45775959 4.51441346] [ 0.31384223 0.94938357 -0.01318656 -0.40433794] [ 0.4383447 -0.13255813 0.88897822 0.98521926] [ 0. 0. 0. 1. ]] SLAMing on 192.566502481 meters Centerline goodness : 0.637431 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84204433 -0.28494533 -0.45800383 4.51437765] [ 0.31410101 0.94929884 -0.01312499 -0.40419215] [ 0.43852241 -0.13280765 0.88885332 0.98573092] [ 0. 0. 0. 1. ]] SLAMing on 192.596502481 meters Centerline goodness : 0.564253 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84207844 -0.28479765 -0.45803298 4.5128154 ] [ 0.31416637 0.94928346 -0.01266496 -0.40423229] [ 0.43841008 -0.13323367 0.88884498 0.98659385] [ 0. 0. 0. 1. ]] SLAMing on 192.626502481 meters Centerline goodness : 0.635752 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84197175 -0.28483185 -0.4582078 4.51298206] [ 0.31433735 0.94922962 -0.01245647 -0.40471038] [ 0.43849242 -0.13354383 0.88875781 0.98692182] [ 0. 0. 0. 1. ]] SLAMing on 192.656502481 meters Centerline goodness : 0.652123 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84158868 -0.28546529 -0.45851723 4.51494798] [ 0.31489414 0.94903938 -0.01288166 -0.40487904] [ 0.43882818 -0.13354333 0.88859215 0.9867109 ] [ 0. 0. 0. 1. ]] SLAMing on 192.686502481 meters Centerline goodness : 0.430852 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84124733 -0.28630543 -0.4586198 4.51688836] [ 0.31544748 0.94884393 -0.01371468 -0.40376313] [ 0.4390852 -0.13313302 0.88852675 0.98595314] [ 0. 0. 0. 1. ]] SLAMing on 192.716502481 meters Centerline goodness : 0.686622 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84131101 -0.28640272 -0.45844221 4.51675392] [ 0.31551003 0.94882262 -0.01374943 -0.40351383] [ 0.43891821 -0.13307557 0.88861786 0.98569793] [ 0. 0. 0. 1. ]] SLAMing on 192.746502481 meters Centerline goodness : 0.664960 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84135198 -0.28645052 -0.45833716 4.51620581] [ 0.31550418 0.94882333 -0.01383452 -0.40304477] [ 0.43884389 -0.13296759 0.88867072 0.98577519] [ 0. 0. 0. 1. ]] SLAMing on 192.776502481 meters Centerline goodness : 0.590033 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84154316 -0.28624198 -0.45811641 4.51468899] [ 0.31525169 0.94890784 -0.0137942 -0.4025511 ] [ 0.43865873 -0.13281356 0.88878517 0.98601528] [ 0. 0. 0. 1. ]] SLAMing on 192.806502481 meters Centerline goodness : 0.620304 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84176866 -0.2860286 -0.4578353 4.51343903] [ 0.31510392 0.94896101 -0.01351007 -0.40314845] [ 0.43833211 -0.13289334 0.88893437 0.98621658] [ 0. 0. 0. 1. ]] SLAMing on 192.836502481 meters Centerline goodness : 0.594226 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84176627 -0.28605486 -0.45782329 4.51303614] [ 0.31522844 0.94892243 -0.01331346 -0.40371965] [ 0.43824717 -0.1331121 0.88894352 0.98654686] [ 0. 0. 0. 1. ]] SLAMing on 192.866502481 meters Centerline goodness : 0.634576 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84152274 -0.28659559 -0.45793279 4.51302673] [ 0.31593585 0.94868939 -0.01315258 -0.40414575] [ 0.43820545 -0.13360919 0.88888951 0.98710769] [ 0. 0. 0. 1. ]] SLAMing on 192.896502481 meters Centerline goodness : 0.507268 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84116935 -0.28710561 -0.45826247 4.5138895 ] [ 0.31654789 0.94848481 -0.01319098 -0.40401673] [ 0.4384422 -0.13396616 0.88871902 0.98744913] [ 0. 0. 0. 1. ]] SLAMing on 192.926502481 meters Centerline goodness : 0.625518 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.8405393 -0.28807164 -0.45881197 4.51581359] [ 0.31758849 0.94813283 -0.01347953 -0.40328546] [ 0.43889776 -0.13438333 0.88843113 0.98769682] [ 0. 0. 0. 1. ]] SLAMing on 192.956502481 meters Centerline goodness : 0.539847 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84012167 -0.28868654 -0.45919022 4.51681782] [ 0.31834032 0.94788047 -0.01349273 -0.40331239] [ 0.43915261 -0.13484323 0.88823549 0.98813146] [ 0. 0. 0. 1. ]] SLAMing on 192.98650248099997 meters Centerline goodness : 0.339858 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84000616 -0.28900716 -0.45919986 4.51686023] [ 0.31857879 0.94779672 -0.01374542 -0.40296047] [ 0.43920064 -0.1347451 0.88822663 0.98821027] [ 0. 0. 0. 1. ]] SLAMing on 193.01650248099997 meters Centerline goodness : 0.661830 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84008109 -0.28923879 -0.45891685 4.51550538] [ 0.31853888 0.94780258 -0.01425701 -0.40175036] [ 0.43908626 -0.13420582 0.88836482 0.98820009] [ 0. 0. 0. 1. ]] SLAMing on 193.04650248099998 meters Centerline goodness : 0.656405 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84016957 -0.28916113 -0.4588038 4.5148708 ] [ 0.31833662 0.9478676 -0.01445002 -0.40115395] [ 0.43906364 -0.13391359 0.8884201 0.98817637] [ 0. 0. 0. 1. ]] SLAMing on 193.07650248099998 meters Centerline goodness : 0.230906 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84039716 -0.28914229 -0.45839869 4.51371294] [ 0.31772638 0.94805569 -0.0155032 -0.3987045 ] [ 0.43907011 -0.13261651 0.88861144 0.98753117] [ 0. 0. 0. 1. ]] SLAMing on 193.10650248099998 meters Centerline goodness : 0.657174 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84128124 -0.28485783 -0.45945825 4.51394571] [ 0.31459819 0.94914371 -0.0124178 -0.39797344] [ 0.43962921 -0.13409787 0.88811256 0.9874129 ] [ 0. 0. 0. 1. ]] SLAMing on 193.13650248099998 meters Centerline goodness : 0.228955 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84137526 -0.285154 -0.45910224 4.51379195] [ 0.31456766 0.94914559 -0.01303242 -0.3971848 ] [ 0.43947111 -0.13345356 0.88828784 0.98677984] [ 0. 0. 0. 1. ]] SLAMing on 193.16650248099998 meters Centerline goodness : 0.653484 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84123658 -0.28590625 -0.45888848 4.51321313] [ 0.31490983 0.94901858 -0.01398308 -0.39560258] [ 0.43949154 -0.13274541 0.88838384 0.98664937] [ 0. 0. 0. 1. ]] SLAMing on 193.19650248099998 meters Centerline goodness : 0.622369 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84082574 -0.28673138 -0.45912656 4.51204638] [ 0.31576222 0.94873175 -0.01422302 -0.39415079] [ 0.43966613 -0.13301574 0.88825701 0.98771213] [ 0. 0. 0. 1. ]] SLAMing on 193.22650248099998 meters Centerline goodness : 0.460811 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84067285 -0.28699974 -0.45923883 4.51190752] [ 0.31615897 0.94860186 -0.0140716 -0.39416817] [ 0.43967336 -0.13336287 0.88820138 0.98809431] [ 0. 0. 0. 1. ]] SLAMing on 193.25650248099998 meters Centerline goodness : 0.253657 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84020392 -0.28778695 -0.45960423 4.51193421] [ 0.31725597 0.94823988 -0.01377567 -0.39470684] [ 0.43977952 -0.13423781 0.888017 0.98917882] [ 0. 0. 0. 1. ]] SLAMing on 193.28650248099999 meters Centerline goodness : 0.657684 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83987155 -0.28804563 -0.46004945 4.51233782] [ 0.31780254 0.94806201 -0.01341552 -0.3950969 ] [ 0.44001969 -0.13493757 0.88779194 0.99000603] [ 0. 0. 0. 1. ]] SLAMing on 193.316502481 meters Centerline goodness : 0.273479 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83944675 -0.28884046 -0.46032635 4.51234717] [ 0.31893093 0.94768817 -0.01304542 -0.39587012] [ 0.44001389 -0.13586138 0.88765391 0.99101757] [ 0. 0. 0. 1. ]] SLAMing on 193.346502481 meters Centerline goodness : 0.621770 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83884911 -0.28954057 -0.46097552 4.51290591] [ 0.32003978 0.9473199 -0.01263074 -0.39601871] [ 0.4403484 -0.13693522 0.88732296 0.992209 ] [ 0. 0. 0. 1. ]] SLAMing on 193.376502481 meters Centerline goodness : 0.654658 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83846181 -0.29003515 -0.46136905 4.51341807] [ 0.32066631 0.94710799 -0.0126323 -0.39551768] [ 0.44063013 -0.13735381 0.88711838 0.99271974] [ 0. 0. 0. 1. ]] SLAMing on 193.406502481 meters Centerline goodness : 0.658402 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83812275 -0.2904812 -0.46170438 4.51379143] [ 0.3212664 0.94690561 -0.01255695 -0.39525854] [ 0.44083802 -0.13780584 0.88694498 0.99327018] [ 0. 0. 0. 1. ]] SLAMing on 193.436502481 meters Centerline goodness : 0.666033 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83706621 -0.29221021 -0.46252929 4.51498881] [ 0.32327446 0.94621948 -0.01274052 -0.39502612] [ 0.44137714 -0.13885925 0.88651245 0.9948077 ] [ 0. 0. 0. 1. ]] SLAMing on 193.466502481 meters Centerline goodness : 0.652723 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 0.83657143 -0.29329759 -0.46273618 4.51524972] [ 0.32455838 0.94578034 -0.01270448 -0.39493464] [ 0.44137298 -0.1395567 0.886405 0.99547203] [ 0. 0. 0. 1. ]] SLAMing on 193.496502481 meters Centerline goodness : 0.233112 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 0.83627735 -0.29382791 -0.46293125 4.51511885] [ 0.3251006 0.94559159 -0.01288946 -0.39433343] [ 0.44153119 -0.13972006 0.88630047 0.99598309] [ 0. 0. 0. 1. ]] SLAMing on 193.526502481 meters Centerline goodness : 0.629438 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:1.00 [[ 0.83620373 -0.29389758 -0.46302002 4.51465499] [ 0.32504652 0.94560607 -0.01318782 -0.39266243] [ 0.44171041 -0.13947534 0.88624971 0.99604361] [ 0. 0. 0. 1. ]] SLAMing on 193.556502481 meters Centerline goodness : 0.631214 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:1.00 [[ 0.83618951 -0.29414882 -0.46288613 4.5140219 ] [ 0.32510754 0.94557943 -0.0135877 -0.39152175] [ 0.44169241 -0.13912588 0.88631361 0.99598893] [ 0. 0. 0. 1. ]] SLAMing on 193.586502481 meters Centerline goodness : 0.585495 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:1.00 [[ 0.83641547 -0.29413167 -0.46248862 4.5126678 ] [ 0.32473881 0.94569792 -0.0141477 -0.38961044] [ 0.44153581 -0.13835465 0.88651234 0.99558848] [ 0. 0. 0. 1. ]] SLAMing on 193.616502481 meters Centerline goodness : 0.635813 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83726019 -0.29176779 -0.46245749 4.51137114] [ 0.32277449 0.94639049 -0.01271474 -0.38869634] [ 0.44137513 -0.13862393 0.88655028 0.99491272] [ 0. 0. 0. 1. ]] SLAMing on 193.646502481 meters Centerline goodness : 0.635813 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83726019 -0.29176779 -0.46245749 4.51137114] [ 0.32277449 0.94639049 -0.01271474 -0.38869634] [ 0.44137513 -0.13862393 0.88655028 0.99491272] [ 0. 0. 0. 1. ]] SLAMing on 193.676502481 meters Centerline goodness : 0.304548 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83749405 -0.29182455 -0.461998 4.51073673] [ 0.32233431 0.9465287 -0.01356553 -0.38739251] [ 0.44125312 -0.13755676 0.88677721 0.99414823] [ 0. 0. 0. 1. ]] SLAMing on 193.706502481 meters Centerline goodness : 0.629592 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83782955 -0.29158018 -0.46154377 4.51015087] [ 0.3216442 0.94675355 -0.01423821 -0.38638164] [ 0.44111978 -0.13652368 0.88700317 0.99329324] [ 0. 0. 0. 1. ]] SLAMing on 193.73650248099997 meters Centerline goodness : 0.575812 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83921867 -0.28654471 -0.46217329 4.50901667] [ 0.31761699 0.94815391 -0.01111786 -0.38551001] [ 0.44139718 -0.13746377 0.88671993 0.99277863] [ 0. 0. 0. 1. ]] SLAMing on 193.76650248099997 meters Centerline goodness : 0.591477 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84018293 -0.28202673 -0.46319928 4.50896241] [ 0.31448641 0.9492322 -0.00751888 -0.38573336] [ 0.4418042 -0.13935264 0.88622226 0.99288407] [ 0. 0. 0. 1. ]] SLAMing on 193.79650248099998 meters Centerline goodness : 0.573187 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.99 [[ 0.84067329 -0.28175044 -0.46247714 4.50771239] [ 0.31342147 0.94957359 -0.00877388 -0.38369159] [ 0.44162812 -0.1375743 0.88658779 0.99167455] [ 0. 0. 0. 1. ]] SLAMing on 193.82650248099998 meters Centerline goodness : 0.710206 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.99 [[ 0.84103248 -0.28163407 -0.46189459 4.50642214] [ 0.31318606 0.94965122 -0.00877795 -0.3846998 ] [ 0.44111093 -0.13727641 0.88689139 0.99144526] [ 0. 0. 0. 1. ]] SLAMing on 193.85650248099998 meters Centerline goodness : 0.712596 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84115264 -0.2816387 -0.46167291 4.50596353] [ 0.31326818 0.94962626 -0.00854533 -0.38538447] [ 0.44082341 -0.1374395 0.88700908 0.99145192] [ 0. 0. 0. 1. ]] SLAMing on 193.88650248099998 meters Centerline goodness : 0.290571 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84073089 -0.28181686 -0.46233196 4.50612412] [ 0.31395503 0.9494058 -0.00780147 -0.3859504 ] [ 0.44113923 -0.13859251 0.8866726 0.99275256] [ 0. 0. 0. 1. ]] SLAMing on 193.91650248099998 meters Centerline goodness : 0.584421 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83955369 -0.28586243 -0.46198732 4.5084877 ] [ 0.31703645 0.94835333 -0.01067013 -0.38507476] [ 0.4411774 -0.13750867 0.88682234 0.99238373] [ 0. 0. 0. 1. ]] SLAMing on 193.94650248099998 meters Centerline goodness : 0.323811 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83925709 -0.28621514 -0.46230772 4.51028317] [ 0.31759684 0.94816817 -0.01045773 -0.38610229] [ 0.44133862 -0.13805075 0.88665789 0.99242966] [ 0. 0. 0. 1. ]] SLAMing on 193.97650248099998 meters Centerline goodness : 0.247338 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83823741 -0.29092331 -0.46121761 4.51119292] [ 0.32082576 0.94703061 -0.01427771 -0.3862662 ] [ 0.44094091 -0.13600238 0.88717217 0.99190839] [ 0. 0. 0. 1. ]] SLAMing on 194.00650248099998 meters Centerline goodness : 0.282519 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83839411 -0.29049822 -0.46120072 4.51141564] [ 0.32064797 0.94709989 -0.01366318 -0.3875748 ] [ 0.44077228 -0.13642794 0.88719063 0.99188916] [ 0. 0. 0. 1. ]] SLAMing on 194.03650248099999 meters Centerline goodness : 0.241086 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83844278 -0.29022284 -0.4612856 4.5108888 ] [ 0.32043672 0.94717384 -0.01349191 -0.38744046] [ 0.44083331 -0.13650065 0.88714912 0.99221341] [ 0. 0. 0. 1. ]] SLAMing on 194.066502481 meters Centerline goodness : 0.278083 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83982714 -0.28521088 -0.46189298 4.50850831] [ 0.31703607 0.94836927 -0.00915739 -0.38927658] [ 0.4406569 -0.13874611 0.88688839 0.99293782] [ 0. 0. 0. 1. ]] SLAMing on 194.096502481 meters Centerline goodness : 0.275225 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.8401537 -0.28497124 -0.46144681 4.50726264] [ 0.31663535 0.94850213 -0.00926102 -0.38967199] [ 0.4403224 -0.13832969 0.88711954 0.99278402] [ 0. 0. 0. 1. ]] SLAMing on 194.126502481 meters Centerline goodness : 0.251631 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.8405508 -0.28465632 -0.46091771 4.50662172] [ 0.31608326 0.94868419 -0.00947005 -0.39061017] [ 0.43996106 -0.13772831 0.88739235 0.99224865] [ 0. 0. 0. 1. ]] SLAMing on 194.156502481 meters Centerline goodness : 0.296500 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84054869 -0.28477069 -0.46085091 4.50673005] [ 0.31603508 0.94869685 -0.00980399 -0.39054114] [ 0.43999969 -0.13740432 0.88742342 0.9920766 ] [ 0. 0. 0. 1. ]] SLAMing on 194.186502481 meters Centerline goodness : 0.355566 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84056651 -0.28461065 -0.46091725 4.50662558] [ 0.31581344 0.94876955 -0.00991006 -0.3900247 ] [ 0.44012476 -0.1372338 0.88738778 0.99209113] [ 0. 0. 0. 1. ]] SLAMing on 194.216502481 meters Centerline goodness : 0.619920 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84070715 -0.28389246 -0.46110363 4.50651266] [ 0.31541534 0.94890966 -0.00914408 -0.39100466] [ 0.44014163 -0.13775167 0.88729917 0.99244937] [ 0. 0. 0. 1. ]] SLAMing on 194.246502481 meters Centerline goodness : 0.462745 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84064557 -0.28392469 -0.46119605 4.50697125] [ 0.3157123 0.94881552 -0.00865144 -0.39221056] [ 0.44004633 -0.13833247 0.88725608 0.99265389] [ 0. 0. 0. 1. ]] SLAMing on 194.276502481 meters Centerline goodness : 0.624698 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83982322 -0.28800458 -0.46016337 4.50719436] [ 0.31876602 0.94776468 -0.0114165 -0.39394725] [ 0.43941459 -0.1370966 0.88776086 0.99275082] [ 0. 0. 0. 1. ]] SLAMing on 194.306502481 meters Centerline goodness : 0.619309 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8396222 -0.28786274 -0.46061872 4.50799936] [ 0.31916437 0.94764176 -0.01044956 -0.39575305] [ 0.43950957 -0.1382394 0.88753659 0.99352005] [ 0. 0. 0. 1. ]] SLAMing on 194.336502481 meters Centerline goodness : 0.233021 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83836394 -0.29252171 -0.45997494 4.50903659] [ 0.32297768 0.94631533 -0.01314188 -0.3969413 ] [ 0.43912563 -0.13754396 0.88783464 0.99403165] [ 0. 0. 0. 1. ]] SLAMing on 194.366502481 meters Centerline goodness : 0.513817 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83812319 -0.29259664 -0.46036586 4.50969589] [ 0.32364933 0.94609981 -0.01209388 -0.39882551] [ 0.43909068 -0.13886094 0.8876469 0.99486208] [ 0. 0. 0. 1. ]] SLAMing on 194.396502481 meters Centerline goodness : 0.588288 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83704399 -0.29700324 -0.45950674 4.50951094] [ 0.3273126 0.94480577 -0.01444013 -0.40073164] [ 0.43843338 -0.13831532 0.88805689 0.99575089] [ 0. 0. 0. 1. ]] SLAMing on 194.426502481 meters Centerline goodness : 0.622404 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83680495 -0.29714859 -0.45984801 4.51026698] [ 0.32794892 0.94459748 -0.01360564 -0.40245183] [ 0.43841417 -0.13942139 0.8878934 0.99646084] [ 0. 0. 0. 1. ]] SLAMing on 194.456502481 meters Centerline goodness : 0.261139 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83639993 -0.29771851 -0.46021608 4.51160023] [ 0.32893959 0.944261 -0.01303504 -0.40394026] [ 0.43844487 -0.14048078 0.88771124 0.99702332] [ 0. 0. 0. 1. ]] SLAMing on 194.48650248099997 meters Centerline goodness : 0.231780 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83628607 -0.29807234 -0.46019396 4.51166171] [ 0.32927672 0.94414185 -0.01315323 -0.40351949] [ 0.43840899 -0.14053129 0.88772097 0.99699855] [ 0. 0. 0. 1. ]] SLAMing on 194.51650248099997 meters Centerline goodness : 0.371287 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83636149 -0.29825844 -0.45993626 4.51146563] [ 0.32935946 0.94411068 -0.01331795 -0.40340381] [ 0.43820292 -0.14034574 0.88785206 0.99666987] [ 0. 0. 0. 1. ]] SLAMing on 194.54650248099998 meters Centerline goodness : 0.707843 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83654234 -0.29844005 -0.45948934 4.51101717] [ 0.32927676 0.94413348 -0.01373982 -0.40322619] [ 0.43791978 -0.13980522 0.888077 0.99613007] [ 0. 0. 0. 1. ]] SLAMing on 194.57650248099998 meters Centerline goodness : 0.380185 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83675407 -0.29850862 -0.45905907 4.51028776] [ 0.32908639 0.94419412 -0.01412827 -0.40273143] [ 0.43765829 -0.13924821 0.8882934 0.99566077] [ 0. 0. 0. 1. ]] SLAMing on 194.60650248099998 meters Centerline goodness : 0.709986 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8374002 -0.29816513 -0.45810311 4.5083197 ] [ 0.32798235 0.94456087 -0.01524249 -0.40078847] [ 0.43725106 -0.13748567 0.88876836 0.99441288] [ 0. 0. 0. 1. ]] SLAMing on 194.63650248099998 meters Centerline goodness : 0.707996 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83844866 -0.29355405 -0.45916212 4.50836501] [ 0.32459615 0.94577742 -0.01193387 -0.40011019] [ 0.4377684 -0.13903632 0.88827233 0.99421098] [ 0. 0. 0. 1. ]] SLAMing on 194.66650248099998 meters Centerline goodness : 0.708764 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83853508 -0.29373849 -0.45888627 4.50774371] [ 0.32444159 0.94582219 -0.01257114 -0.39895204] [ 0.43771745 -0.13834045 0.88840607 0.9938229 ] [ 0. 0. 0. 1. ]] SLAMing on 194.69650248099998 meters Centerline goodness : 0.709051 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8386838 -0.2937615 -0.45859968 4.50729515] [ 0.32426246 0.94587939 -0.01288547 -0.39852317] [ 0.43756524 -0.13789983 0.88854955 0.99345936] [ 0. 0. 0. 1. ]] SLAMing on 194.72650248099998 meters Centerline goodness : 0.712086 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83928477 -0.29366727 -0.4575594 4.5053693 ] [ 0.323803 0.94603195 -0.01323477 -0.39885854] [ 0.43675243 -0.13705137 0.88908056 0.99265512] [ 0. 0. 0. 1. ]] SLAMing on 194.75650248099998 meters Centerline goodness : 0.712073 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83976318 -0.29352287 -0.45677361 4.50280842] [ 0.32359636 0.94610527 -0.01304635 -0.39991727] [ 0.43598532 -0.13685444 0.8894873 0.99278629] [ 0. 0. 0. 1. ]] SLAMing on 194.78650248099999 meters Centerline goodness : 0.713228 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83983378 -0.29343202 -0.45670217 4.5025339 ] [ 0.32362435 0.94609967 -0.0127551 -0.40027048] [ 0.43582853 -0.13708778 0.88952821 0.99284858] [ 0. 0. 0. 1. ]] SLAMing on 194.816502481 meters Centerline goodness : 0.714329 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83963645 -0.29400181 -0.45669856 4.50329463] [ 0.32424185 0.94588757 -0.01280358 -0.40038671] [ 0.43574976 -0.13733044 0.88952937 0.99267582] [ 0. 0. 0. 1. ]] SLAMing on 194.846502481 meters Centerline goodness : 0.712164 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83944192 -0.29447889 -0.45674878 4.5042924 ] [ 0.32477963 0.94570282 -0.01282077 -0.40072696] [ 0.43572405 -0.1375804 0.88950334 0.99248024] [ 0. 0. 0. 1. ]] SLAMing on 194.876502481 meters Centerline goodness : 0.711905 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8381447 -0.29952991 -0.45584568 4.50623164] [ 0.32843064 0.94438101 -0.01666782 -0.40004317] [ 0.43548452 -0.13574364 0.88990274 0.99180093] [ 0. 0. 0. 1. ]] SLAMing on 194.906502481 meters Centerline goodness : 0.713801 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83764113 -0.30064067 -0.45604004 4.50805833] [ 0.32980593 0.94390484 -0.01648358 -0.40130646] [ 0.43541404 -0.13659739 0.88980659 0.99192694] [ 0. 0. 0. 1. ]] SLAMing on 194.936502481 meters Centerline goodness : 0.587392 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83743285 -0.30093496 -0.45622842 4.50856792] [ 0.33034514 0.94372244 -0.01612613 -0.40197742] [ 0.43540591 -0.13720829 0.88971657 0.99228126] [ 0. 0. 0. 1. ]] SLAMing on 194.966502481 meters Centerline goodness : 0.591445 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83707719 -0.3014948 -0.4565114 4.50843305] [ 0.33116926 0.94343853 -0.01583219 -0.40235329] [ 0.43546377 -0.13792978 0.88957669 0.99320898] [ 0. 0. 0. 1. ]] SLAMing on 194.996502481 meters Centerline goodness : 0.716129 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83711466 -0.30120241 -0.4566357 4.5080069 ] [ 0.33106846 0.94348091 -0.01540935 -0.40245037] [ 0.4354684 -0.13827828 0.88952032 0.99357432] [ 0. 0. 0. 1. ]] SLAMing on 195.026502481 meters Centerline goodness : 0.719780 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8375304 -0.3013435 -0.45577948 4.50509998] [ 0.33081231 0.94356173 -0.01595251 -0.40184412] [ 0.43486326 -0.13741675 0.88994977 0.99352892] [ 0. 0. 0. 1. ]] SLAMing on 195.056502481 meters Centerline goodness : 0.717535 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83851413 -0.29683291 -0.45692919 4.50523338] [ 0.32756546 0.9447443 -0.01261231 -0.40159565] [ 0.435425 -0.13909862 0.88941365 0.99356809] [ 0. 0. 0. 1. ]] SLAMing on 195.086502481 meters Centerline goodness : 0.721506 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83854351 -0.29703574 -0.45674342 4.50522319] [ 0.32742455 0.94478371 -0.01330024 -0.40039908] [ 0.43547439 -0.13839618 0.88949904 0.99304396] [ 0. 0. 0. 1. ]] SLAMing on 195.116502481 meters Centerline goodness : 0.718607 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83965917 -0.29287116 -0.45738273 4.50533457] [ 0.32426944 0.94590768 -0.01039232 -0.40017567] [ 0.43568544 -0.13958923 0.88920922 0.99233976] [ 0. 0. 0. 1. ]] SLAMing on 195.146502481 meters Centerline goodness : 0.719075 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83986186 -0.29272145 -0.45710633 4.50466666] [ 0.32389966 0.94603089 -0.01070334 -0.39943633] [ 0.43556981 -0.13906726 0.88934765 0.99194952] [ 0. 0. 0. 1. ]] SLAMing on 195.176502481 meters Centerline goodness : 0.717622 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84061094 -0.29184639 -0.45628822 4.50273356] [ 0.32264347 0.94645708 -0.01096335 -0.39912675] [ 0.43505683 -0.1380025 0.8897645 0.99107448] [ 0. 0. 0. 1. ]] SLAMing on 195.206502481 meters Centerline goodness : 0.719819 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84093979 -0.29157294 -0.45585687 4.50157975] [ 0.32218304 0.94661206 -0.01112173 -0.39906824] [ 0.43476241 -0.13751665 0.88998361 0.99077682] [ 0. 0. 0. 1. ]] SLAMing on 195.23650248099997 meters Centerline goodness : 0.720171 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.8414767 -0.29094073 -0.45526966 4.50020209] [ 0.32118834 0.94694559 -0.01149328 -0.39825717] [ 0.43445946 -0.13655598 0.89027942 0.99003809] [ 0. 0. 0. 1. ]] SLAMing on 195.26650248099997 meters Centerline goodness : 0.717726 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84158464 -0.29064785 -0.4552572 4.50010659] [ 0.32096552 0.94702382 -0.01127008 -0.39832174] [ 0.43441504 -0.13663714 0.89028864 0.98999199] [ 0. 0. 0. 1. ]] SLAMing on 195.29650248099998 meters Centerline goodness : 0.719185 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84113889 -0.29121924 -0.45571562 4.50256261] [ 0.32182235 0.94673623 -0.01099482 -0.39958434] [ 0.43464439 -0.1374113 0.89005752 0.98998808] [ 0. 0. 0. 1. ]] SLAMing on 195.32650248099998 meters Centerline goodness : 0.719195 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84086942 -0.2915617 -0.45599386 4.50445961] [ 0.32239881 0.94654342 -0.01070301 -0.40062599] [ 0.43473858 -0.13801204 0.88991856 0.98987686] [ 0. 0. 0. 1. ]] SLAMing on 195.35650248099998 meters Centerline goodness : 0.719417 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83939311 -0.29644355 -0.45556604 4.50621818] [ 0.32618974 0.94520002 -0.01404195 -0.40063519] [ 0.43476368 -0.13681425 0.89009123 0.99021258] [ 0. 0. 0. 1. ]] SLAMing on 195.38650248099998 meters Centerline goodness : 0.717974 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83877689 -0.29678511 -0.45647774 4.50732941] [ 0.32724722 0.94484946 -0.01299042 -0.40164485] [ 0.43515811 -0.13848501 0.88964 0.9916739 ] [ 0. 0. 0. 1. ]] SLAMing on 195.41650248099998 meters Centerline goodness : 0.716650 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83862428 -0.29684778 -0.45671733 4.5076034 ] [ 0.32759599 0.94473511 -0.01250789 -0.40217206] [ 0.43518983 -0.13912935 0.88952394 0.99214784] [ 0. 0. 0. 1. ]] SLAMing on 195.44650248099998 meters Centerline goodness : 0.716751 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83830492 -0.2972004 -0.45707415 4.50767251] [ 0.32832416 0.94448938 -0.01196054 -0.40332412] [ 0.43525636 -0.14004191 0.88934817 0.99319254] [ 0. 0. 0. 1. ]] SLAMing on 195.47650248099998 meters Centerline goodness : 0.717412 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83823404 -0.29722096 -0.45719076 4.50777592] [ 0.3284477 0.94444848 -0.01179779 -0.40369962] [ 0.43529966 -0.14027394 0.8892904 0.99346022] [ 0. 0. 0. 1. ]] SLAMing on 195.50650248099998 meters Centerline goodness : 0.717454 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83814783 -0.29775685 -0.45700008 4.50722369] [ 0.32879787 0.94432091 -0.01224684 -0.40311978] [ 0.43520131 -0.13999599 0.88938234 0.99352206] [ 0. 0. 0. 1. ]] SLAMing on 195.53650248099999 meters Centerline goodness : 0.717181 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83814347 -0.29773005 -0.45702553 4.5068328 ] [ 0.32884815 0.9443054 -0.01209158 -0.40319477] [ 0.43517171 -0.14015753 0.88937138 0.99380833] [ 0. 0. 0. 1. ]] SLAMing on 195.566502481 meters Centerline goodness : 0.717181 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83814347 -0.29773005 -0.45702553 4.5068328 ] [ 0.32884815 0.9443054 -0.01209158 -0.40319477] [ 0.43517171 -0.14015753 0.88937138 0.99380833] [ 0. 0. 0. 1. ]] SLAMing on 195.596502481 meters Centerline goodness : 0.714907 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83766144 -0.29816829 -0.45762319 4.50706836] [ 0.32948663 0.94408381 -0.01201339 -0.40270256] [ 0.43561666 -0.14071757 0.88906507 0.99481174] [ 0. 0. 0. 1. ]] SLAMing on 195.626502481 meters Centerline goodness : 0.716891 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.8372139 -0.29904816 -0.45786797 4.50774909] [ 0.33032437 0.9437858 -0.01241679 -0.40159663] [ 0.4358425 -0.14084944 0.88893349 0.99503035] [ 0. 0. 0. 1. ]] SLAMing on 195.656502481 meters Centerline goodness : 0.715380 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83694782 -0.2995049 -0.45805584 4.50799542] [ 0.33080955 0.94361414 -0.01254592 -0.40109999] [ 0.43598553 -0.14102897 0.88883488 0.99531867] [ 0. 0. 0. 1. ]] SLAMing on 195.686502481 meters Centerline goodness : 0.713703 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83680882 -0.29964316 -0.45821935 4.50755352] [ 0.33120758 0.94348017 -0.01211202 -0.40190853] [ 0.43595016 -0.14163027 0.88875662 0.99611999] [ 0. 0. 0. 1. ]] SLAMing on 195.716502481 meters Centerline goodness : 0.714654 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83684741 -0.29958074 -0.45818968 4.50704769] [ 0.33125752 0.9434659 -0.01185583 -0.4024844 ] [ 0.43583812 -0.14185726 0.88877537 0.99647385] [ 0. 0. 0. 1. ]] SLAMing on 195.746502481 meters Centerline goodness : 0.711567 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83699793 -0.29905039 -0.45826119 4.50682468] [ 0.33079546 0.94363112 -0.01160505 -0.40234048] [ 0.43590001 -0.14187732 0.88874181 0.99649529] [ 0. 0. 0. 1. ]] SLAMing on 195.776502481 meters Centerline goodness : 0.712478 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83705828 -0.29895824 -0.45821109 4.5069915 ] [ 0.3306525 0.94368047 -0.01166633 -0.40190301] [ 0.4358926 -0.14174325 0.88876684 0.99616099] [ 0. 0. 0. 1. ]] SLAMing on 195.806502481 meters Centerline goodness : 0.711949 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83708424 -0.29902824 -0.45811798 4.50714519] [ 0.33053443 0.94371721 -0.01203387 -0.40091712] [ 0.43593229 -0.14135041 0.88880993 0.99573613] [ 0. 0. 0. 1. ]] SLAMing on 195.836502481 meters Centerline goodness : 0.710463 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83714608 -0.29898892 -0.45803065 4.50749989] [ 0.33046314 0.94374188 -0.01205692 -0.40086754] [ 0.43586759 -0.14126885 0.88885463 0.99536715] [ 0. 0. 0. 1. ]] SLAMing on 195.866502481 meters Centerline goodness : 0.710964 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83728854 -0.29917914 -0.45764587 4.50796146] [ 0.33046908 0.94373612 -0.01234182 -0.40089265] [ 0.43558935 -0.14090414 0.8890489 0.99453562] [ 0. 0. 0. 1. ]] SLAMing on 195.896502481 meters Centerline goodness : 0.709868 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83716769 -0.29960467 -0.45758857 4.50853239] [ 0.33077336 0.94362505 -0.01267886 -0.40040526] [ 0.43559068 -0.14074378 0.88907364 0.99420871] [ 0. 0. 0. 1. ]] SLAMing on 195.926502481 meters Centerline goodness : 0.710190 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83742956 -0.29947987 -0.45719091 4.50767835] [ 0.33045376 0.94373402 -0.01289962 -0.39965489] [ 0.4353298 -0.14027793 0.88927502 0.99372712] [ 0. 0. 0. 1. ]] SLAMing on 195.956502481 meters Centerline goodness : 0.709493 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83765396 -0.29944452 -0.45680283 4.50686121] [ 0.33027478 0.94379471 -0.01304321 -0.39905504] [ 0.43503381 -0.13994475 0.88947234 0.99331902] [ 0. 0. 0. 1. ]] SLAMing on 195.98650248099997 meters Centerline goodness : 0.709808 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83802737 -0.29951337 -0.45607221 4.50548896] [ 0.32991532 0.9439115 -0.01367339 -0.39793578] [ 0.43458717 -0.13900654 0.88983772 0.99246436] [ 0. 0. 0. 1. ]] SLAMing on 196.01650248099997 meters Centerline goodness : 0.710012 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.8381349 -0.29958415 -0.45582807 4.50461324] [ 0.32983874 0.94393487 -0.01390561 -0.39779347] [ 0.43443791 -0.13869498 0.88995921 0.99248539] [ 0. 0. 0. 1. ]] SLAMing on 196.04650248099998 meters Centerline goodness : 0.709765 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83857287 -0.29946692 -0.455099 4.5030899 ] [ 0.3295131 0.94404659 -0.01404087 -0.39827634] [ 0.43383944 -0.13818679 0.89033014 0.99207782] [ 0. 0. 0. 1. ]] SLAMing on 196.07650248099998 meters Centerline goodness : 0.709836 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83849832 -0.29987308 -0.4549689 4.50329945] [ 0.32978769 0.94394577 -0.01436912 -0.39783115] [ 0.43377488 -0.13799466 0.89039139 0.99177759] [ 0. 0. 0. 1. ]] SLAMing on 196.10650248099998 meters Centerline goodness : 0.709668 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83808515 -0.30057125 -0.45526938 4.50443712] [ 0.33044582 0.94370987 -0.01473923 -0.39710534] [ 0.43407239 -0.13808913 0.89023174 0.99184184] [ 0. 0. 0. 1. ]] SLAMing on 196.13650248099998 meters Centerline goodness : 0.707389 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83779664 -0.30111516 -0.45544093 4.50467958] [ 0.33115497 0.94346338 -0.01460258 -0.39752936] [ 0.4340889 -0.13858754 0.89014624 0.99234097] [ 0. 0. 0. 1. ]] SLAMing on 196.16650248099998 meters Centerline goodness : 0.706434 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83769259 -0.3012931 -0.45551465 4.50496491] [ 0.33150908 0.94334344 -0.01431386 -0.39813 ] [ 0.43401942 -0.13901662 0.89011321 0.99253508] [ 0. 0. 0. 1. ]] SLAMing on 196.19650248099998 meters Centerline goodness : 0.707813 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83748764 -0.30175789 -0.45558383 4.50546675] [ 0.33223307 0.94309449 -0.01392741 -0.39924465] [ 0.43386131 -0.13969598 0.89008393 0.99281742] [ 0. 0. 0. 1. ]] SLAMing on 196.22650248099998 meters Centerline goodness : 0.708390 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83732501 -0.3020186 -0.45571 4.5052054 ] [ 0.3326837 0.94293966 -0.01365108 -0.39964137] [ 0.43382991 -0.1401769 0.89002362 0.99336852] [ 0. 0. 0. 1. ]] SLAMing on 196.25650248099998 meters Centerline goodness : 0.706317 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83713758 -0.30221161 -0.45592632 4.50468103] [ 0.3332698 0.94274224 -0.01297352 -0.40025611] [ 0.43374175 -0.14108585 0.88992296 0.99430875] [ 0. 0. 0. 1. ]] SLAMing on 196.28650248099999 meters Centerline goodness : 0.705365 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83702889 -0.30225031 -0.45610019 4.50498679] [ 0.33352871 0.9426558 -0.01259557 -0.40096419] [ 0.43375251 -0.14157965 0.88983929 0.99463179] [ 0. 0. 0. 1. ]] SLAMing on 196.316502481 meters Centerline goodness : 0.706257 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83603694 -0.30690327 -0.45481053 4.50566816] [ 0.33667355 0.94147813 -0.01642706 -0.40033568] [ 0.43323568 -0.13938905 0.89043671 0.99386574] [ 0. 0. 0. 1. ]] SLAMing on 196.346502481 meters Centerline goodness : 0.704012 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8360669 -0.30690955 -0.45475122 4.50655786] [ 0.33681361 0.94143313 -0.01613214 -0.40179602] [ 0.43306898 -0.13967885 0.89047239 0.99358547] [ 0. 0. 0. 1. ]] SLAMing on 196.376502481 meters Centerline goodness : 0.703917 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83622246 -0.30669138 -0.45461237 4.50632607] [ 0.33660608 0.94150955 -0.0160033 -0.40197727] [ 0.43292996 -0.13964297 0.89054561 0.99341364] [ 0. 0. 0. 1. ]] SLAMing on 196.406502481 meters Centerline goodness : 0.704739 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83739478 -0.30185239 -0.45569192 4.50581396] [ 0.33348661 0.94268333 -0.0116115 -0.40325688] [ 0.43307813 -0.14224374 0.89006182 0.99385875] [ 0. 0. 0. 1. ]] SLAMing on 196.436502481 meters Centerline goodness : 0.703236 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83811081 -0.30114863 -0.45484038 4.50388005] [ 0.33257557 0.94300598 -0.01154203 -0.40317511] [ 0.43239306 -0.1415953 0.89049818 0.99302092] [ 0. 0. 0. 1. ]] SLAMing on 196.466502481 meters Centerline goodness : 0.704388 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83856646 -0.30078057 -0.4542437 4.50281674] [ 0.33206443 0.94318633 -0.0115225 -0.40364143] [ 0.43190219 -0.14117579 0.89080295 0.99245206] [ 0. 0. 0. 1. ]] SLAMing on 196.496502481 meters Centerline goodness : 0.706063 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83885291 -0.30068251 -0.45377949 4.50206128] [ 0.33180735 0.94327517 -0.01165498 -0.40389217] [ 0.43154337 -0.14079056 0.89103779 0.99199368] [ 0. 0. 0. 1. ]] SLAMing on 196.526502481 meters Centerline goodness : 0.705130 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83917519 -0.30034048 -0.45340997 4.50208896] [ 0.33132259 0.94344466 -0.01172653 -0.40381645] [ 0.43128917 -0.14038435 0.89122494 0.99112051] [ 0. 0. 0. 1. ]] SLAMing on 196.556502481 meters Centerline goodness : 0.704033 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83927921 -0.30044749 -0.45314645 4.50335076] [ 0.33111529 0.94351004 -0.01230737 -0.40341375] [ 0.43124594 -0.1397144 0.89135112 0.98993199] [ 0. 0. 0. 1. ]] SLAMing on 196.586502481 meters Centerline goodness : 0.702359 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83932411 -0.30032476 -0.45314466 4.50408758] [ 0.33098855 0.94355482 -0.01228351 -0.4036343 ] [ 0.43125587 -0.13967585 0.89135236 0.98952122] [ 0. 0. 0. 1. ]] SLAMing on 196.616502481 meters Centerline goodness : 0.702075 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83923108 -0.30065821 -0.45309584 4.50544256] [ 0.33124647 0.94346136 -0.01250745 -0.40385183] [ 0.43123888 -0.13958976 0.89137407 0.98890448] [ 0. 0. 0. 1. ]] SLAMing on 196.646502481 meters Centerline goodness : 0.591431 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.83907441 -0.30102968 -0.45313934 4.506872 ] [ 0.33173516 0.94329137 -0.01237635 -0.40506103] [ 0.43116808 -0.13993757 0.89135378 0.98858657] [ 0. 0. 0. 1. ]] SLAMing on 196.676502481 meters Centerline goodness : 0.577026 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.83901081 -0.30097211 -0.45329532 4.50740247] [ 0.33188387 0.94324402 -0.01199215 -0.40607796] [ 0.4311774 -0.14037986 0.89127972 0.98879353] [ 0. 0. 0. 1. ]] SLAMing on 196.706502481 meters Centerline goodness : 0.703671 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.83938686 -0.30034448 -0.45301533 4.50642823] [ 0.33150008 0.94338842 -0.01122411 -0.40746055] [ 0.43074052 -0.14075325 0.89143207 0.98893368] [ 0. 0. 0. 1. ]] SLAMing on 196.73650248099997 meters Centerline goodness : 0.589616 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.8396237 -0.29994082 -0.45284385 4.50564574] [ 0.33118259 0.94350397 -0.01087925 -0.40774504] [ 0.43052309 -0.14083953 0.89152347 0.98895572] [ 0. 0. 0. 1. ]] SLAMing on 196.76650248099997 meters Centerline goodness : 0.579477 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.83995577 -0.29926214 -0.45267701 4.50511811] [ 0.33054317 0.94373176 -0.01056281 -0.40825704] [ 0.43036672 -0.140757 0.891612 0.98876037] [ 0. 0. 0. 1. ]] SLAMing on 196.79650248099998 meters Centerline goodness : 0.582255 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.84013892 -0.29909937 -0.45244465 4.50528221] [ 0.33033414 0.9438053 -0.01053168 -0.40863761] [ 0.43016968 -0.14060984 0.8917303 0.98826314] [ 0. 0. 0. 1. ]] SLAMing on 196.82650248099998 meters Centerline goodness : 0.706264 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.84027378 -0.29883961 -0.45236585 4.50507923] [ 0.33032884 0.9438139 -0.0099086 -0.40990991] [ 0.42991026 -0.14110355 0.89177741 0.98844585] [ 0. 0. 0. 1. ]] SLAMing on 196.85650248099998 meters Centerline goodness : 0.590722 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.8402625 -0.29876434 -0.45243652 4.5052217 ] [ 0.33048313 0.9437647 -0.00943925 -0.41099249] [ 0.42981373 -0.14159119 0.89174665 0.98872882] [ 0. 0. 0. 1. ]] SLAMing on 196.88650248099998 meters Centerline goodness : 0.598044 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.84029021 -0.29866176 -0.45245278 4.50569868] [ 0.33089772 0.94362972 -0.00834563 -0.41369176] [ 0.42944042 -0.14270284 0.89174931 0.98908137] [ 0. 0. 0. 1. ]] SLAMing on 196.91650248099998 meters Centerline goodness : 0.623306 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84028345 -0.29830545 -0.45270032 4.50666157] [ 0.33104581 0.94358645 -0.00729989 -0.41595507] [ 0.42933948 -0.14373056 0.89163285 0.98941187] [ 0. 0. 0. 1. ]] SLAMing on 196.94650248099998 meters Centerline goodness : 0.622562 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84013158 -0.29810381 -0.45311484 4.50745343] [ 0.33118387 0.94354245 -0.00669934 -0.41659121] [ 0.42953018 -0.144436 0.89142698 0.98983465] [ 0. 0. 0. 1. ]] SLAMing on 196.97650248099998 meters Centerline goodness : 0.575904 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84003017 -0.29769048 -0.45357435 4.50854008] [ 0.33122248 0.94353467 -0.00583015 -0.41738605] [ 0.42969871 -0.14533652 0.89119937 0.99014249] [ 0. 0. 0. 1. ]] SLAMing on 197.00650248099998 meters Centerline goodness : 0.621920 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84005167 -0.29746953 -0.45367947 4.50891571] [ 0.33114176 0.94356485 -0.00552286 -0.41792072] [ 0.42971889 -0.14559273 0.89114782 0.99018305] [ 0. 0. 0. 1. ]] SLAMing on 197.03650248099999 meters Centerline goodness : 0.296630 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84037745 -0.29721621 -0.45324196 4.50840542] [ 0.33088214 0.94365718 -0.00530471 -0.41946091] [ 0.42928167 -0.14551171 0.89137174 0.98990159] [ 0. 0. 0. 1. ]] SLAMing on 197.066502481 meters Centerline goodness : 0.229911 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84063187 -0.29710063 -0.45284575 4.50767881] [ 0.33063528 0.94374318 -0.00539729 -0.42003421] [ 0.42897363 -0.14518964 0.89157254 0.98966598] [ 0. 0. 0. 1. ]] SLAMing on 197.096502481 meters Centerline goodness : 0.621083 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41708243e-01 -2.92293442e-01 -4.53973323e-01 4.50843879e+00] [ 3.27365383e-01 9.44896773e-01 -1.41195219e-03 -4.21701758e-01] [ 4.29370633e-01 -1.47426699e-01 8.91014157e-01 9.89655924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.126502481 meters Centerline goodness : 0.300301 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41635823e-01 -2.92388996e-01 -4.54046050e-01 4.50923915e+00] [ 3.27227101e-01 9.44943715e-01 -1.94934832e-03 -4.20643542e-01] [ 4.29617929e-01 -1.46935531e-01 8.90976085e-01 9.89139733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.156502481 meters Centerline goodness : 0.621567 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41752370e-01 -2.92015432e-01 -4.54070408e-01 4.51076779e+00] [ 3.26417135e-01 9.45221768e-01 -2.76817336e-03 -4.18873363e-01] [ 4.30005583e-01 -1.45886245e-01 8.90961504e-01 9.87785597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.186502481 meters Centerline goodness : 0.409987 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41775728e-01 -2.92174057e-01 -4.53925042e-01 4.51173589e+00] [ 3.26209600e-01 9.45290941e-01 -3.51195916e-03 -4.18039102e-01] [ 4.30117334e-01 -1.45118424e-01 8.91032952e-01 9.86834529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.216502481 meters Centerline goodness : 0.228139 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41801731e-01 -2.92272390e-01 -4.53813503e-01 4.51189798e+00] [ 3.26277397e-01 9.45267370e-01 -3.55801683e-03 -4.18432096e-01] [ 4.30015006e-01 -1.45073944e-01 8.91089583e-01 9.86667543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.246502481 meters Centerline goodness : 0.233650 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41820519e-01 -2.92224752e-01 -4.53809331e-01 4.51227892e+00] [ 3.26444936e-01 9.45211143e-01 -3.09831944e-03 -4.19869490e-01] [ 4.29851042e-01 -1.45535529e-01 8.91093425e-01 9.86748638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.276502481 meters Centerline goodness : 0.233422 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41602773e-01 -2.92235547e-01 -4.54206073e-01 4.51222953e+00] [ 3.26836158e-01 9.45077804e-01 -2.46388737e-03 -4.20337509e-01] [ 4.29980113e-01 -1.46377353e-01 8.90893244e-01 9.87654439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.306502481 meters Centerline goodness : 0.557243 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41536948e-01 -2.92421367e-01 -4.54208443e-01 4.51202568e+00] [ 3.27133713e-01 9.44975308e-01 -2.28059469e-03 -4.20377870e-01] [ 4.29882658e-01 -1.46667690e-01 8.90892524e-01 9.87861356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.336502481 meters Centerline goodness : 0.251949 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41267715e-01 -2.92766051e-01 -4.54485062e-01 4.51152718e+00] [ 3.27815174e-01 9.44740205e-01 -1.77681780e-03 -4.21125039e-01] [ 4.29890503e-01 -1.47492320e-01 8.90752587e-01 9.88974143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.366502481 meters Centerline goodness : 0.229715 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41059635e-01 -2.93088970e-01 -4.54662013e-01 4.51189972e+00] [ 3.28290727e-01 9.44575356e-01 -1.61117284e-03 -4.21566431e-01] [ 4.29934750e-01 -1.47906231e-01 8.90662595e-01 9.89348485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.396502481 meters Centerline goodness : 0.233729 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40618195e-01 -2.93759134e-01 -4.55045736e-01 4.51356340e+00] [ 3.29054982e-01 9.44309169e-01 -1.73573493e-03 -4.21942817e-01] [ 4.30213749e-01 -1.48275976e-01 8.90466375e-01 9.89499705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.426502481 meters Centerline goodness : 0.461914 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40502944e-01 -2.94147723e-01 -4.55007603e-01 4.51435853e+00] [ 3.29276082e-01 9.44231204e-01 -2.16687092e-03 -4.21303403e-01] [ 4.30269757e-01 -1.48001859e-01 8.90484916e-01 9.89012463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.456502481 meters Centerline goodness : 0.461914 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40502944e-01 -2.94147723e-01 -4.55007603e-01 4.51435853e+00] [ 3.29276082e-01 9.44231204e-01 -2.16687092e-03 -4.21303403e-01] [ 4.30269757e-01 -1.48001859e-01 8.90484916e-01 9.89012463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48650248099997 meters Centerline goodness : 0.554315 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40562929e-01 -2.93805061e-01 -4.55118170e-01 4.51426900e+00] [ 3.29051975e-01 9.44309947e-01 -1.87676511e-03 -4.21148616e-01] [ 4.30324018e-01 -1.48179993e-01 8.90429070e-01 9.89126866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51650248099997 meters Centerline goodness : 0.555487 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40696842e-01 -2.93474252e-01 -4.55084259e-01 4.51368676e+00] [ 3.28774620e-01 9.44406938e-01 -1.66855822e-03 -4.20932096e-01] [ 4.30274411e-01 -1.48217403e-01 8.90446816e-01 9.89233397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54650248099998 meters Centerline goodness : 0.279752 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40853055e-01 -2.93149026e-01 -4.55005262e-01 4.51293743e+00] [ 3.28454408e-01 9.44518563e-01 -1.54460701e-03 -4.20581681e-01] [ 4.30213716e-01 -1.48149697e-01 8.90487409e-01 9.89333975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57650248099998 meters Centerline goodness : 0.551645 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40968771e-01 -2.93187796e-01 -4.54766360e-01 4.51275186e+00] [ 3.28288420e-01 9.44575649e-01 -1.88611994e-03 -4.20512731e-01] [ 4.30114217e-01 -1.47708362e-01 8.90608781e-01 9.88988855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60650248099998 meters Centerline goodness : 0.285379 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41068257e-01 -2.93225102e-01 -4.54558277e-01 4.51287531e+00] [ 3.28163270e-01 9.44618567e-01 -2.15190401e-03 -4.20237683e-01] [ 4.30015181e-01 -1.47359433e-01 8.90714400e-01 9.88532873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63650248099998 meters Centerline goodness : 0.544666 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40818716e-01 -2.93804748e-01 -4.54645639e-01 4.51370192e+00] [ 3.28385503e-01 9.44538784e-01 -3.07338671e-03 -4.18341262e-01] [ 4.30333414e-01 -1.46714876e-01 8.90667108e-01 9.88040807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66650248099998 meters Centerline goodness : 0.339843 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40602236e-01 -2.94261951e-01 -4.54750244e-01 4.51457997e+00] [ 3.28676954e-01 9.44435648e-01 -3.57315832e-03 -4.17231642e-01] [ 4.30533786e-01 -1.46462320e-01 8.90611839e-01 9.87688947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69650248099998 meters Centerline goodness : 0.331675 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84002171 -0.29528262 -0.45516118 4.51588347] [ 0.32940382 0.94417794 -0.00459832 -0.41463675] [ 0.43111095 -0.14606915 0.89039719 0.98755447] [ 0. 0. 0. 1. ]] SLAMing on 197.72650248099998 meters Centerline goodness : 0.550080 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83939137 -0.29631558 -0.4556525 4.51668595] [ 0.33028611 0.94386564 -0.00536105 -0.41293009] [ 0.4316633 -0.14599567 0.89014159 0.98805083] [ 0. 0. 0. 1. ]] SLAMing on 197.75650248099998 meters Centerline goodness : 0.328185 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8389823 -0.29684437 -0.45606153 4.51692298] [ 0.33090481 0.9436483 -0.00546726 -0.41254248] [ 0.43198461 -0.14632602 0.88993145 0.98881467] [ 0. 0. 0. 1. ]] SLAMing on 197.78650248099999 meters Centerline goodness : 0.353608 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8383177 -0.29765499 -0.45675479 4.51756602] [ 0.33198308 0.94326994 -0.00538958 -0.41166636] [ 0.4324473 -0.14711668 0.88957631 0.98988544] [ 0. 0. 0. 1. ]] SLAMing on 197.816502481 meters Centerline goodness : 0.352783 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83736633 -0.29895169 -0.45765218 4.51848594] [ 0.33364991 0.94268211 -0.00530798 -0.41120555] [ 0.43300735 -0.14825089 0.88911546 0.99151833] [ 0. 0. 0. 1. ]] SLAMing on 197.846502481 meters Centerline goodness : 0.352523 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83690255 -0.29967187 -0.45802935 4.51927515] [ 0.33454417 0.94236527 -0.00528239 -0.4112121 ] [ 0.43321394 -0.1488102 0.88892137 0.99211637] [ 0. 0. 0. 1. ]] SLAMing on 197.876502481 meters Centerline goodness : 0.346119 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83650566 -0.30007054 -0.45849314 4.52016312] [ 0.33520747 0.94213095 -0.00502253 -0.41142766] [ 0.43346769 -0.14948895 0.88868375 0.99273032] [ 0. 0. 0. 1. ]] SLAMing on 197.906502481 meters Centerline goodness : 0.356049 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83599339 -0.30108267 -0.45876385 4.51922014] [ 0.33645826 0.94168563 -0.00490088 -0.41137934] [ 0.43348689 -0.15025778 0.88854472 0.99418446] [ 0. 0. 0. 1. ]] SLAMing on 197.936502481 meters Centerline goodness : 0.306892 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83590628 -0.30116657 -0.4588675 4.51876247] [ 0.33666152 0.94161391 -0.00471847 -0.41131453] [ 0.43349707 -0.15053883 0.88849218 0.99467451] [ 0. 0. 0. 1. ]] SLAMing on 197.966502481 meters Centerline goodness : 0.260416 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:1.00 [[ 0.83553659 -0.30163895 -0.45923038 4.51907492] [ 0.33708103 0.94146187 -0.00509119 -0.4096256 ] [ 0.4338836 -0.15054398 0.88830261 0.995005 ] [ 0. 0. 0. 1. ]] SLAMing on 197.996502481 meters Centerline goodness : 0.285378 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:1.00 [[ 8.36116754e-01 -2.97981913e-01 -4.60560043e-01 4.51941900e+00] [ 3.34787128e-01 9.42291915e-01 -1.87775926e-03 -4.09017688e-01] [ 4.34541543e-01 -1.52619548e-01 8.87626566e-01 9.95514662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.026502481 meters Centerline goodness : 0.584857 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:1.00 [[ 8.36188820e-01 -2.98184443e-01 -4.60298049e-01 4.51853130e+00] [ 3.34600287e-01 9.42356499e-01 -2.62227638e-03 -4.07511514e-01] [ 4.34546781e-01 -1.51823141e-01 8.87760570e-01 9.95243940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.056502481 meters Centerline goodness : 0.252293 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 8.36294960e-01 -2.98218834e-01 -4.60082891e-01 4.51869296e+00] [ 3.34412808e-01 9.42421919e-01 -2.99993697e-03 -4.07048991e-01] [ 4.34486839e-01 -1.51348780e-01 8.87870899e-01 9.94680377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.086502481 meters Centerline goodness : 0.591693 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 8.37043407e-01 -2.94348178e-01 -4.61213058e-01 4.52021154e+00] [ 3.31652499e-01 9.43401606e-01 -1.75638340e-04 -4.06151977e-01] [ 4.35160838e-01 -1.52815446e-01 8.87289403e-01 9.94099123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.116502481 meters Centerline goodness : 0.591672 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 8.37800282e-01 -2.90173678e-01 -4.62482349e-01 4.52099261e+00] [ 3.28993960e-01 9.44325586e-01 3.48727615e-03 -4.06645459e-01] [ 4.35722000e-01 -1.55075540e-01 8.86621630e-01 9.94418149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.146502481 meters Centerline goodness : 0.515649 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 8.37888646e-01 -2.90316858e-01 -4.62232343e-01 4.52042393e+00] [ 3.28758749e-01 9.44409845e-01 2.78025596e-03 -4.05117719e-01] [ 4.35729620e-01 -1.54292472e-01 8.86754493e-01 9.93990881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.176502481 meters Centerline goodness : 0.490958 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.38007084e-01 -2.90302879e-01 -4.62026368e-01 4.52034076e+00] [ 3.28569790e-01 9.44476359e-01 2.50982536e-03 -4.04763563e-01] [ 4.35644373e-01 -1.53911158e-01 8.86862636e-01 9.93581053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.206502481 meters Centerline goodness : 0.584799 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37992461e-01 -2.90442197e-01 -4.61965330e-01 4.52011064e+00] [ 3.28338588e-01 9.44558484e-01 1.74389691e-03 -4.03233353e-01] [ 4.35846771e-01 -1.53142417e-01 8.86896269e-01 9.93354328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23650248099997 meters Centerline goodness : 0.575432 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37871413e-01 -2.90595624e-01 -4.62088388e-01 4.51985602e+00] [ 3.28417782e-01 9.44531364e-01 1.50445191e-03 -4.02189846e-01] [ 4.36019789e-01 -1.53018581e-01 8.86832599e-01 9.93553854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26650248099997 meters Centerline goodness : 0.694083 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37876320e-01 -2.90937308e-01 -4.61864435e-01 4.51957325e+00] [ 3.28510364e-01 9.44499839e-01 9.97727553e-04 -4.00758166e-01] [ 4.35940608e-01 -1.52563226e-01 8.86949969e-01 9.93120935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29650248099998 meters Centerline goodness : 0.693094 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37560468e-01 -2.91627957e-01 -4.62001728e-01 4.51983505e+00] [ 3.29135323e-01 9.44282554e-01 6.31042261e-04 -3.99965863e-01] [ 4.36076142e-01 -1.52589624e-01 8.86878799e-01 9.93352994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32650248099998 meters Centerline goodness : 0.692162 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37251913e-01 -2.92163072e-01 -4.62222861e-01 4.52034954e+00] [ 3.29651040e-01 9.44102779e-01 3.65615121e-04 -3.99509531e-01] [ 4.36279069e-01 -1.52678359e-01 8.86763719e-01 9.93612086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35650248099998 meters Centerline goodness : 0.694912 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37038409e-01 -2.92810827e-01 -4.62199656e-01 4.52025141e+00] [ 3.30331218e-01 9.43865039e-01 2.72640177e-04 -3.98941435e-01] [ 4.36174264e-01 -1.52907185e-01 8.86775848e-01 9.93773364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38650248099998 meters Centerline goodness : 0.693816 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.36771991e-01 -2.93100542e-01 -4.62498331e-01 4.52028031e+00] [ 3.30760958e-01 9.43714499e-01 3.63837221e-04 -3.98290099e-01] [ 4.36359740e-01 -1.53280840e-01 8.86620077e-01 9.94305549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41650248099998 meters Centerline goodness : 0.561233 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.36307421e-01 -2.94272867e-01 -4.62594182e-01 4.51987227e+00] [ 3.31722425e-01 9.43376949e-01 -4.07080469e-04 -3.96598204e-01] [ 4.36520481e-01 -1.53112420e-01 8.86570052e-01 9.94845701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44650248099998 meters Centerline goodness : 0.558179 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:1.00 [[ 8.35817036e-01 -2.95364198e-01 -4.62784909e-01 4.51982274e+00] [ 3.32742008e-01 9.43017457e-01 -9.12207188e-04 -3.95377727e-01] [ 4.36683682e-01 -1.53225542e-01 8.86470132e-01 9.95385446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47650248099998 meters Centerline goodness : 0.694616 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.35438571e-01 -2.96080802e-01 -4.63010315e-01 4.52046022e+00] [ 3.33428510e-01 9.42774559e-01 -1.24923741e-03 -3.94679666e-01] [ 4.36884221e-01 -1.53337178e-01 8.86352011e-01 9.95640097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50650248099998 meters Centerline goodness : 0.561338 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.34874451e-01 -2.97319486e-01 -4.63234037e-01 4.52132750e+00] [ 3.34515164e-01 9.42388310e-01 -1.96929539e-03 -3.93254565e-01] [ 4.37131851e-01 -1.53314695e-01 8.86233800e-01 9.95764736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53650248099999 meters Centerline goodness : 0.697385 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.35174868e-01 -2.94295143e-01 -4.64621684e-01 4.52147961e+00] [ 3.32866496e-01 9.42973376e-01 1.05300127e-03 -3.92443720e-01] [ 4.37815985e-01 -1.55536432e-01 8.85508657e-01 9.96655829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.566502481 meters Centerline goodness : 0.695445 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.34882119e-01 -2.94644600e-01 -4.64926238e-01 4.52150324e+00] [ 3.33056241e-01 9.42906821e-01 5.16848176e-04 -3.90673824e-01] [ 4.38229835e-01 -1.55278092e-01 8.85349268e-01 9.96961162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.596502481 meters Centerline goodness : 0.697448 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.35508093e-01 -2.91233020e-01 -4.65950163e-01 4.52136423e+00] [ 3.30635055e-01 9.43753932e-01 2.99593442e-03 -3.88893816e-01] [ 4.38869784e-01 -1.56562585e-01 8.84805894e-01 9.97044224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.626502481 meters Centerline goodness : 0.694024 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.35438223e-01 -2.91381127e-01 -4.65982847e-01 4.52103418e+00] [ 3.30576775e-01 9.43775717e-01 2.52807858e-03 -3.87304502e-01] [ 4.39046662e-01 -1.56155161e-01 8.84790142e-01 9.96967606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.656502481 meters Centerline goodness : 0.694036 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 0.83645438 -0.28715425 -0.46678316 4.52083078] [ 0.32745875 0.94484922 0.00554185 -0.38663045] [ 0.43944834 -0.15748773 0.88435444 0.99665487] [ 0. 0. 0. 1. ]] SLAMing on 198.686502481 meters Centerline goodness : 0.695104 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 0.83655847 -0.28711786 -0.46661897 4.52026003] [ 0.32719372 0.94494321 0.00515754 -0.38555039] [ 0.4394476 -0.15698937 0.88444341 0.99646228] [ 0. 0. 0. 1. ]] SLAMing on 198.716502481 meters Centerline goodness : 0.696555 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:1.00 [[ 8.36418896e-01 -2.87449186e-01 -4.66665186e-01 4.51971885e+00] [ 3.27128371e-01 9.44970332e-01 4.25443829e-03 -3.82695153e-01] [ 4.39761821e-01 -1.56217914e-01 8.84423826e-01 9.96382960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.746502481 meters Centerline goodness : 0.696658 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:1.00 [[ 8.36234281e-01 -2.87975397e-01 -4.66671616e-01 4.51997163e+00] [ 3.27341619e-01 9.44899634e-01 3.48518285e-03 -3.80745419e-01] [ 4.39954193e-01 -1.55675472e-01 8.84423799e-01 9.96064275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.776502481 meters Centerline goodness : 0.697484 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:1.00 [[ 8.36223456e-01 -2.88230704e-01 -4.66533379e-01 4.51934473e+00] [ 3.27313725e-01 9.44911260e-01 2.90435091e-03 -3.78961815e-01] [ 4.39995520e-01 -1.55131465e-01 8.84498825e-01 9.95855623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.806502481 meters Centerline goodness : 0.698849 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:1.00 [[ 8.36084801e-01 -2.88230044e-01 -4.66782227e-01 4.51878934e+00] [ 3.27218105e-01 9.44945223e-01 2.61466775e-03 -3.76711472e-01] [ 4.40330010e-01 -1.54925680e-01 8.84368428e-01 9.96119775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.836502481 meters Centerline goodness : 0.699547 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:1.00 [[ 8.36025057e-01 -2.88475305e-01 -4.66737723e-01 4.51870982e+00] [ 3.27259401e-01 9.44932074e-01 2.15858174e-03 -3.75474266e-01] [ 4.40412747e-01 -1.54548936e-01 8.84393147e-01 9.95957268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.866502481 meters Centerline goodness : 0.700055 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.37, Z:1.00 [[ 8.35917071e-01 -2.88640865e-01 -4.66828770e-01 4.51855395e+00] [ 3.27012480e-01 9.45019191e-01 1.25133148e-03 -3.72534705e-01] [ 4.40800961e-01 -1.53704843e-01 8.84346840e-01 9.95662444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.896502481 meters Centerline goodness : 0.698475 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.37, Z:1.00 [[ 8.36611515e-01 -2.84451351e-01 -4.68154463e-01 4.51834541e+00] [ 3.23980726e-01 9.46054610e-01 4.14285072e-03 -3.70484781e-01] [ 4.41721249e-01 -1.55138979e-01 8.83636936e-01 9.96067951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.926502481 meters Centerline goodness : 0.699211 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.37, Z:1.00 [[ 8.36560327e-01 -2.84669397e-01 -4.68113398e-01 4.51810980e+00] [ 3.23832757e-01 9.46108339e-01 3.37000988e-03 -3.68362271e-01] [ 4.41926650e-01 -1.54409669e-01 8.83661977e-01 9.95783513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.956502481 meters Centerline goodness : 0.697620 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:1.00 [[ 8.36511258e-01 -2.85204893e-01 -4.67875074e-01 4.51729082e+00] [ 3.23539480e-01 9.46213204e-01 1.66664611e-03 -3.64685087e-01] [ 4.42234237e-01 -1.52770226e-01 8.83793040e-01 9.95234427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98650248099997 meters Centerline goodness : 0.697020 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:0.99 [[ 8.36530580e-01 -2.85586206e-01 -4.67607857e-01 4.51695013e+00] [ 3.23480792e-01 9.46234406e-01 7.91433453e-04 -3.62944672e-01] [ 4.42240621e-01 -1.51924218e-01 8.83935668e-01 9.94756628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01650248099997 meters Centerline goodness : 0.697735 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:0.99 [[ 8.37064083e-01 -2.82246614e-01 -4.68679602e-01 4.51700540e+00] [ 3.21090532e-01 9.47043286e-01 3.14413293e-03 -3.61019772e-01] [ 4.42972450e-01 -1.53120424e-01 8.83362635e-01 9.94888828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04650248099998 meters Centerline goodness : 0.695603 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:0.99 [[ 8.36861837e-01 -2.82739652e-01 -4.68743591e-01 4.51731488e+00] [ 3.21269285e-01 9.46984932e-01 2.36336886e-03 -3.59153217e-01] [ 4.43224900e-01 -1.52570732e-01 8.83331116e-01 9.94655303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07650248099998 meters Centerline goodness : 0.695922 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:1.00 [[ 8.36479929e-01 -2.81577929e-01 -4.70122535e-01 4.51836260e+00] [ 3.20891628e-01 9.47108732e-01 3.68944515e-03 -3.55516953e-01] [ 4.44218292e-01 -1.53944533e-01 8.82593445e-01 9.95213737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10650248099998 meters Centerline goodness : 0.697362 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:0.99 [[ 8.35991648e-01 -2.83017788e-01 -4.70126468e-01 4.51851937e+00] [ 3.21717293e-01 9.46833469e-01 2.08934212e-03 -3.51914244e-01] [ 4.44540154e-01 -1.52994487e-01 8.82596589e-01 9.94862527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13650248099998 meters Centerline goodness : 0.693276 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:0.99 [[ 8.35775028e-01 -2.83580477e-01 -4.70172538e-01 4.51842876e+00] [ 3.22085966e-01 9.46709177e-01 1.53808887e-03 -3.50565396e-01] [ 4.44680484e-01 -1.52721472e-01 8.82573181e-01 9.94918745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16650248099998 meters Centerline goodness : 0.698173 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.00 [[ 8.35258175e-01 -2.84645792e-01 -4.70447185e-01 4.51816346e+00] [ 3.23055049e-01 9.46379688e-01 9.59458844e-04 -3.47952518e-01] [ 4.44948554e-01 -1.52781734e-01 8.82427632e-01 9.95358548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19650248099998 meters Centerline goodness : 0.696148 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.00 [[ 8.35024748e-01 -2.85349994e-01 -4.70434960e-01 4.51730498e+00] [ 3.23737107e-01 9.46146789e-01 7.34459734e-04 -3.47098379e-01] [ 4.44890949e-01 -1.52910545e-01 8.82434365e-01 9.95849149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22650248099998 meters Centerline goodness : 0.699320 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.00 [[ 8.34787726e-01 -2.86571391e-01 -4.70113061e-01 4.51500712e+00] [ 3.25143058e-01 9.45664409e-01 9.04184587e-04 -3.46847893e-01] [ 4.44310077e-01 -1.53608801e-01 8.82605740e-01 9.96858815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25650248099998 meters Centerline goodness : 0.703365 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.00 [[ 8.34520916e-01 -2.87324941e-01 -4.70126812e-01 4.51477555e+00] [ 3.25957947e-01 9.45383912e-01 8.21793141e-04 -3.46589934e-01] [ 4.44214203e-01 -1.53927374e-01 8.82598496e-01 9.97193643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28650248099999 meters Centerline goodness : 0.699082 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.00 [[ 8.33580546e-01 -2.89158300e-01 -4.70670745e-01 4.51575231e+00] [ 3.27755437e-01 9.44762600e-01 5.22829057e-05 -3.44442948e-01] [ 4.44656999e-01 -1.54308478e-01 8.82308929e-01 9.97861341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.316502481 meters Centerline goodness : 0.700742 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.00 [[ 8.33065285e-01 -2.90224354e-01 -4.70926805e-01 4.51646810e+00] [ 3.28662245e-01 9.44447304e-01 -6.46601332e-04 -3.42682591e-01] [ 4.44953211e-01 -1.54237200e-01 8.82172050e-01 9.97958694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.346502481 meters Centerline goodness : 0.697406 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.00 [[ 8.31716630e-01 -2.93220068e-01 -4.71454598e-01 4.51822952e+00] [ 3.31095258e-01 9.43593287e-01 -2.76390473e-03 -3.36217665e-01] [ 4.45671826e-01 -1.53797596e-01 8.81886003e-01 9.97432779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.376502481 meters Centerline goodness : 0.697406 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.00 [[ 8.31716630e-01 -2.93220068e-01 -4.71454598e-01 4.51822952e+00] [ 3.31095258e-01 9.43593287e-01 -2.76390473e-03 -3.36217665e-01] [ 4.45671826e-01 -1.53797596e-01 8.81886003e-01 9.97432779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.406502481 meters Centerline goodness : 0.698443 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.33, Z:1.00 [[ 8.31425063e-01 -2.94151090e-01 -4.71388905e-01 4.51812162e+00] [ 3.31646214e-01 9.43396425e-01 -3.73813000e-03 -3.33957805e-01] [ 4.45806183e-01 -1.53226371e-01 8.81917528e-01 9.97225801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.436502481 meters Centerline goodness : 0.701454 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.33, Z:1.00 [[ 8.31992041e-01 -2.91486002e-01 -4.72043594e-01 4.51775853e+00] [ 3.29711248e-01 9.44080030e-01 -1.84088796e-03 -3.30589612e-01] [ 4.46183523e-01 -1.54106478e-01 8.81573285e-01 9.96599786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.466502481 meters Centerline goodness : 0.700517 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.33, Z:1.00 [[ 8.32000285e-01 -2.92346064e-01 -4.71496878e-01 4.51634553e+00] [ 3.29891733e-01 9.44013351e-01 -3.19953576e-03 -3.27402505e-01] [ 4.46034719e-01 -1.52880908e-01 8.81861927e-01 9.96004564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.496502481 meters Centerline goodness : 0.702166 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.32, Z:1.00 [[ 8.32603105e-01 -2.89667047e-01 -4.72085874e-01 4.51497060e+00] [ 3.27647002e-01 9.44798386e-01 -1.85781238e-03 -3.22415045e-01] [ 4.46564119e-01 -1.53130701e-01 8.81550609e-01 9.95540103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.526502481 meters Centerline goodness : 0.699306 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.32, Z:1.00 [[ 8.33145788e-01 -2.86184415e-01 -4.73251072e-01 4.51556603e+00] [ 3.25287656e-01 9.45614750e-01 8.27967914e-04 -3.20882026e-01] [ 4.47276243e-01 -1.54632550e-01 8.80927203e-01 9.95516504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.556502481 meters Centerline goodness : 0.703343 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.31, Z:0.99 [[ 8.33674947e-01 -2.84093362e-01 -4.73578974e-01 4.51575682e+00] [ 3.23110551e-01 9.46360604e-01 1.08620923e-03 -3.14971251e-01] [ 4.47867899e-01 -1.53923909e-01 8.80750688e-01 9.93806783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.586502481 meters Centerline goodness : 0.702041 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.31, Z:0.99 [[ 8.33623797e-01 -2.85090510e-01 -4.73069516e-01 4.51519754e+00] [ 3.23070289e-01 9.46374421e-01 -1.02159622e-03 -3.10881009e-01] [ 4.47992136e-01 -1.51983078e-01 8.81024511e-01 9.92842416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.616502481 meters Centerline goodness : 0.700099 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.31, Z:0.99 [[ 8.34965781e-01 -2.78648238e-01 -4.74539044e-01 4.51502754e+00] [ 3.18220777e-01 9.48011065e-01 3.24914526e-03 -3.05573127e-01] [ 4.48962896e-01 -1.53721108e-01 8.80228458e-01 9.91633898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.646502481 meters Centerline goodness : 0.701789 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.30, Z:0.99 [[ 0.83732578 -0.26959691 -0.47560807 4.51408417] [ 0.31168795 0.9501302 0.01016004 -0.30274431] [ 0.44915048 -0.15674857 0.87959862 0.98947318] [ 0. 0. 0. 1. ]] SLAMing on 199.676502481 meters Centerline goodness : 0.701571 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.30, Z:0.99 [[ 0.83869896 -0.26510761 -0.4757121 4.51366417] [ 0.30844261 0.95114375 0.0137374 -0.30240438] [ 0.44882871 -0.15825143 0.87949376 0.98795025] [ 0. 0. 0. 1. ]] SLAMing on 199.706502481 meters Centerline goodness : 0.700342 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.30, Z:0.99 [[ 0.84005456 -0.26173714 -0.47518629 4.51199907] [ 0.3058507 0.95193894 0.01635886 -0.2994442 ] [ 0.44806661 -0.15907839 0.87973313 0.98576574] [ 0. 0. 0. 1. ]] SLAMing on 199.73650248099997 meters Centerline goodness : 0.702120 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.30, Z:0.99 [[ 0.83987713 -0.26211549 -0.47529137 4.51216636] [ 0.30594206 0.95192142 0.01565437 -0.29633343] [ 0.44833678 -0.15855937 0.87968918 0.98557983] [ 0. 0. 0. 1. ]] SLAMing on 199.76650248099997 meters Centerline goodness : 0.697294 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.29, Z:0.98 [[ 0.84088143 -0.25754216 -0.47601517 4.51310755] [ 0.30255163 0.95294603 0.0188781 -0.29287544] [ 0.44875486 -0.15989341 0.87923442 0.98397223] [ 0. 0. 0. 1. ]] SLAMing on 199.79650248099998 meters Centerline goodness : 0.701542 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.29, Z:0.98 [[ 0.84201699 -0.2529744 -0.47645707 4.5134512 ] [ 0.2993288 0.95388414 0.02252388 -0.29226001] [ 0.44878688 -0.16158281 0.87890917 0.9825019 ] [ 0. 0. 0. 1. ]] SLAMing on 199.82650248099998 meters Centerline goodness : 0.701111 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.29, Z:0.98 [[ 0.84301098 -0.24837724 -0.47711763 4.51343386] [ 0.29588721 0.95487684 0.02570959 -0.28837357] [ 0.4492029 -0.16284647 0.87846331 0.98115251] [ 0. 0. 0. 1. ]] SLAMing on 199.85650248099998 meters Centerline goodness : 0.699036 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.29, Z:0.98 [[ 0.84462991 -0.24003134 -0.47852405 4.51128822] [ 0.28490653 0.9582984 0.02219098 -0.28853249] [ 0.4532423 -0.15507779 0.87779399 0.97867954] [ 0. 0. 0. 1. ]] SLAMing on 199.88650248099998 meters Centerline goodness : 0.697739 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.29, Z:0.98 [[ 0.84441821 -0.24016431 -0.47883087 4.51208009] [ 0.2848693 0.95832054 0.02170795 -0.28578831] [ 0.45365998 -0.1547348 0.87763874 0.97854509] [ 0. 0. 0. 1. ]] SLAMing on 199.91650248099998 meters Centerline goodness : 0.698838 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.28, Z:0.98 [[ 0.8456289 -0.2362018 -0.4786653 4.51091809] [ 0.28201926 0.95908408 0.02495741 -0.28313033] [ 0.45318528 -0.15609754 0.87764267 0.97634431] [ 0. 0. 0. 1. ]] SLAMing on 199.94650248099998 meters Centerline goodness : 0.697267 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.28, Z:0.97 [[ 0.84792877 -0.2299802 -0.47762529 4.50882709] [ 0.27247051 0.96194501 0.02053342 -0.28104288] [ 0.45472698 -0.14754968 0.87832367 0.97304465] [ 0. 0. 0. 1. ]] SLAMing on 199.97650248099998 meters Centerline goodness : 0.697418 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.28, Z:0.97 [[ 0.84986575 -0.22248685 -0.47773195 4.50544842] [ 0.26195731 0.96493623 0.01662633 -0.28345167] [ 0.45728173 -0.13927552 0.87834831 0.97054803] [ 0. 0. 0. 1. ]] SLAMing on 200.00650248099998 meters Centerline goodness : 0.695857 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.28, Z:0.97 [[ 0.85074275 -0.21811025 -0.47818897 4.5050426 ] [ 0.25861082 0.96578309 0.01958241 -0.27850145] [ 0.45755569 -0.14032443 0.87803863 0.9691836 ] [ 0. 0. 0. 1. ]] SLAMing on 200.03650248099999 meters Centerline goodness : 0.693810 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.28, Z:0.97 [[ 0.85180212 -0.21343666 -0.4784119 4.5040272 ] [ 0.25527202 0.96658906 0.02327642 -0.27781407] [ 0.45745966 -0.14195207 0.87782701 0.96817234] [ 0. 0. 0. 1. ]] SLAMing on 200.066502481 meters Centerline goodness : 0.693934 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.28, Z:0.96 [[ 0.85505292 -0.20426929 -0.47661155 4.49869519] [ 0.24348347 0.96967274 0.0212267 -0.27810693] [ 0.45782126 -0.13419699 0.8788577 0.96436753] [ 0. 0. 0. 1. ]] SLAMing on 200.096502481 meters Centerline goodness : 0.693981 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.28, Z:0.96 [[ 0.8558441 -0.20123427 -0.47648259 4.49870447] [ 0.24125003 0.97017627 0.02358891 -0.27677161] [ 0.4575252 -0.13513987 0.8788674 0.96299077] [ 0. 0. 0. 1. ]] SLAMing on 200.126502481 meters Centerline goodness : 0.692379 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.28, Z:0.96 [[ 0.85855216 -0.19364812 -0.47475109 4.49484203] [ 0.23062449 0.97283199 0.02025495 -0.27563919] [ 0.45793071 -0.12687916 0.879887 0.95920876] [ 0. 0. 0. 1. ]] SLAMing on 200.156502481 meters Centerline goodness : 0.691129 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.28, Z:0.96 [[ 0.86107959 -0.18602799 -0.47321827 4.49039898] [ 0.22012885 0.97532019 0.01714135 -0.27872819] [ 0.45835056 -0.11892905 0.88077843 0.95556774] [ 0. 0. 0. 1. ]] SLAMing on 200.186502481 meters Centerline goodness : 0.692238 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.28, Z:0.95 [[ 0.86193801 -0.18190536 -0.47325819 4.49039103] [ 0.21712427 0.97593229 0.0203279 -0.27630374] [ 0.45817019 -0.12027723 0.8806892 0.95380291] [ 0. 0. 0. 1. ]] SLAMing on 200.216502481 meters Centerline goodness : 0.693956 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.27, Z:0.95 [[ 0.862857 -0.17721613 -0.4733627 4.48943813] [ 0.21372383 0.97660014 0.0239643 -0.2743296 ] [ 0.45803922 -0.12184666 0.88054158 0.95258645] [ 0. 0. 0. 1. ]] SLAMing on 200.246502481 meters Centerline goodness : 0.691671 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.27, Z:0.95 [[ 0.86371826 -0.17265206 -0.47347865 4.4891292 ] [ 0.21061816 0.97717054 0.02788772 -0.27498572] [ 0.45785452 -0.12381033 0.8803637 0.9512668 ] [ 0. 0. 0. 1. ]] SLAMing on 200.276502481 meters Centerline goodness : 0.695103 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.28, Z:0.95 [[ 0.86624386 -0.16555198 -0.47139592 4.48328218] [ 0.20048598 0.97939122 0.02445841 -0.27697617] [ 0.45763189 -0.11569523 0.88158248 0.94712203] [ 0. 0. 0. 1. ]] SLAMing on 200.306502481 meters Centerline goodness : 0.692571 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.28, Z:0.95 [[ 0.86613145 -0.16574507 -0.47153461 4.48367192] [ 0.2005266 0.97939236 0.02407659 -0.27532601] [ 0.45782682 -0.11540873 0.88151882 0.9471124 ] [ 0. 0. 0. 1. ]] SLAMing on 200.336502481 meters Centerline goodness : 0.691273 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.27, Z:0.95 [[ 0.86604721 -0.16621849 -0.47152268 4.48406422] [ 0.20078156 0.97935317 0.02354014 -0.27244521] [ 0.45787443 -0.11505994 0.88153969 0.94651544] [ 0. 0. 0. 1. ]] SLAMing on 200.366502481 meters Centerline goodness : 0.691398 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.27, Z:0.95 [[ 0.86596619 -0.16585815 -0.47179829 4.48456946] [ 0.20091079 0.97930326 0.02449462 -0.27415649] [ 0.45797097 -0.11600088 0.88136621 0.94602504] [ 0. 0. 0. 1. ]] SLAMing on 200.396502481 meters Centerline goodness : 0.693140 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.27, Z:0.95 [[ 0.86594353 -0.16551972 -0.4719587 4.48511168] [ 0.20077275 0.97932085 0.02491945 -0.27471942] [ 0.45807434 -0.11633528 0.88126841 0.94589821] [ 0. 0. 0. 1. ]] SLAMing on 200.426502481 meters Centerline goodness : 0.691948 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.28, Z:0.94 [[ 0.86784976 -0.15952578 -0.4705192 4.47968674] [ 0.19170205 0.98123047 0.02090674 -0.28004653] [ 0.45835261 -0.1083434 0.88214205 0.94231024] [ 0. 0. 0. 1. ]] SLAMing on 200.45650248099997 meters Centerline goodness : 0.691716 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.28, Z:0.94 [[ 0.86791193 -0.15945275 -0.47042927 4.48034669] [ 0.19168111 0.98123151 0.02104942 -0.280295 ] [ 0.45824363 -0.10844144 0.88218662 0.94178336] [ 0. 0. 0. 1. ]] SLAMing on 200.48650248099997 meters Centerline goodness : 0.689300 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.86981496 -0.15321682 -0.46898459 4.47450138] [ 0.18221548 0.98311564 0.01676792 -0.28576854] [ 0.45849695 -0.10004123 0.88304717 0.93878957] [ 0. 0. 0. 1. ]] SLAMing on 200.51650248099997 meters Centerline goodness : 0.689687 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87072082 -0.14830613 -0.46888223 4.47283193] [ 0.17864153 0.98369858 0.0205987 -0.28619817] [ 0.45818387 -0.10169756 0.88302047 0.93824004] [ 0. 0. 0. 1. ]] SLAMing on 200.54650248099998 meters Centerline goodness : 0.691662 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87164746 -0.1430449 -0.46879512 4.47201648] [ 0.174993 0.98425113 0.02504314 -0.28836678] [ 0.45782984 -0.10386465 0.88295185 0.93723653] [ 0. 0. 0. 1. ]] SLAMing on 200.57650248099998 meters Centerline goodness : 0.690559 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.29, Z:0.93 [[ 0.87510533 -0.13403269 -0.46500097 4.46445979] [ 0.16386058 0.9861887 0.02411552 -0.29346202] [ 0.45534644 -0.09729895 0.88498166 0.9322053 ] [ 0. 0. 0. 1. ]] SLAMing on 200.60650248099998 meters Centerline goodness : 0.689856 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.29, Z:0.93 [[ 0.87490696 -0.13419931 -0.46532607 4.46467525] [ 0.16377352 0.98621794 0.02350357 -0.29200204] [ 0.45575875 -0.09677152 0.88482723 0.93303631] [ 0. 0. 0. 1. ]] SLAMing on 200.63650248099998 meters Centerline goodness : 0.689993 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.29, Z:0.93 [[ 0.87478553 -0.13390103 -0.4656402 4.46489319] [ 0.16347205 0.98626813 0.02349595 -0.29247882] [ 0.45609996 -0.09667307 0.88466216 0.93386835] [ 0. 0. 0. 1. ]] SLAMing on 200.66650248099998 meters Centerline goodness : 0.687579 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.93 [[ 0.87465119 -0.13354876 -0.46599358 4.46593917] [ 0.16260859 0.98643389 0.02250841 -0.29141066] [ 0.45666589 -0.09546157 0.88450175 0.93416679] [ 0. 0. 0. 1. ]] SLAMing on 200.69650248099998 meters Centerline goodness : 0.681982 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.93 [[ 0.87470064 -0.13340885 -0.46594084 4.46590352] [ 0.16215282 0.98652164 0.02194369 -0.29070242] [ 0.45673323 -0.09474778 0.88454373 0.93417582] [ 0. 0. 0. 1. ]] SLAMing on 200.72650248099998 meters Centerline goodness : 0.683386 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87431722 -0.13349198 -0.46663615 4.46641351] [ 0.16151281 0.98666051 0.02036311 -0.28837776] [ 0.45769315 -0.09317153 0.88421493 0.93542552] [ 0. 0. 0. 1. ]] SLAMing on 200.75650248099998 meters Centerline goodness : 0.677855 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87411418 -0.13338995 -0.46704551 4.46664245] [ 0.16116752 0.98672792 0.01982509 -0.28745532] [ 0.45820238 -0.09260196 0.884011 0.93611737] [ 0. 0. 0. 1. ]] SLAMing on 200.78650248099999 meters Centerline goodness : 0.677190 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87382279 -0.13350096 -0.4675588 4.46666783] [ 0.16078084 0.98681255 0.0187218 -0.28652955] [ 0.45889352 -0.09153403 0.88376369 0.93743343] [ 0. 0. 0. 1. ]] SLAMing on 200.816502481 meters Centerline goodness : 0.676235 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87379679 -0.13338391 -0.46764078 4.46654632] [ 0.16054416 0.98685523 0.01850217 -0.2866015 ] [ 0.45902585 -0.09124413 0.88372494 0.93784688] [ 0. 0. 0. 1. ]] SLAMing on 200.846502481 meters Centerline goodness : 0.674843 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87398046 -0.13352942 -0.46725587 4.46516057] [ 0.16004901 0.98695714 0.01731791 -0.28528368] [ 0.45884907 -0.08991935 0.88395251 0.93815088] [ 0. 0. 0. 1. ]] SLAMing on 200.876502481 meters Centerline goodness : 0.668460 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87390551 -0.13397561 -0.46726833 4.46410375] [ 0.15990753 0.98700115 0.01607212 -0.28372108] [ 0.45904111 -0.08876524 0.88396945 0.93902989] [ 0. 0. 0. 1. ]] SLAMing on 200.906502481 meters Centerline goodness : 0.671066 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87389252 -0.13412195 -0.46725064 4.4639357 ] [ 0.1598866 0.98701025 0.0157174 -0.28352701] [ 0.45907312 -0.08844243 0.88398518 0.93921643] [ 0. 0. 0. 1. ]] SLAMing on 200.936502481 meters Centerline goodness : 0.669992 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87378833 -0.13410448 -0.46745048 4.46322803] [ 0.1598571 0.98701602 0.01565513 -0.28342651] [ 0.45928169 -0.08840455 0.88388063 0.94012872] [ 0. 0. 0. 1. ]] SLAMing on 200.966502481 meters Centerline goodness : 0.673457 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87384426 -0.13399015 -0.4673787 4.46271099] [ 0.15982937 0.98701714 0.01586595 -0.28386834] [ 0.45918491 -0.08856521 0.88391483 0.940328 ] [ 0. 0. 0. 1. ]] SLAMing on 200.996502481 meters Centerline goodness : 0.673665 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87353324 -0.13860981 -0.46661226 4.46060127] [ 0.16312632 0.98652813 0.01233097 -0.28202355] [ 0.45861693 -0.08688826 0.88437602 0.94074891] [ 0. 0. 0. 1. ]] SLAMing on 201.026502481 meters Centerline goodness : 0.671990 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87339739 -0.13845386 -0.46691276 4.46023351] [ 0.16355241 0.98644327 0.01342729 -0.2836877 ] [ 0.45872389 -0.08809207 0.88420144 0.94164172] [ 0. 0. 0. 1. ]] SLAMing on 201.056502481 meters Centerline goodness : 0.676474 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.8727328 -0.14404456 -0.46646396 4.45938395] [ 0.16772547 0.98578898 0.00939403 -0.28064234] [ 0.45848187 -0.08643637 0.88449032 0.9418558 ] [ 0. 0. 0. 1. ]] SLAMing on 201.086502481 meters Centerline goodness : 0.677410 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87181948 -0.1494416 -0.46647401 4.46006667] [ 0.17155352 0.98516204 0.0050153 -0.2786878 ] [ 0.45880299 -0.08439769 0.88452069 0.94254216] [ 0. 0. 0. 1. ]] SLAMing on 201.116502481 meters Centerline goodness : 0.680418 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87168815 -0.1495619 -0.46668085 4.46060214] [ 0.17178057 0.98512179 0.00514783 -0.27908349] [ 0.45896755 -0.08465401 0.88441081 0.94273568] [ 0. 0. 0. 1. ]] SLAMing on 201.146502481 meters Centerline goodness : 0.679602 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87152882 -0.15009184 -0.46680826 4.4604697 ] [ 0.17223583 0.98504383 0.00484449 -0.27839985] [ 0.45909948 -0.08462323 0.88434528 0.9431626 ] [ 0. 0. 0. 1. ]] SLAMing on 201.176502481 meters Centerline goodness : 0.677897 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87163704 -0.15034414 -0.46652493 4.45994559] [ 0.17235482 0.98502427 0.0045833 -0.2779055 ] [ 0.4588493 -0.0844028 0.88449617 0.94292758] [ 0. 0. 0. 1. ]] SLAMing on 201.20650248099997 meters Centerline goodness : 0.679857 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 8.71793843e-01 -1.50785469e-01 -4.66089302e-01 4.45932669e+00] [ 1.72421516e-01 9.85015773e-01 3.84035875e-03 -2.76284595e-01] [ 4.58526244e-01 -8.37118250e-02 8.84729345e-01 9.42336357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23650248099997 meters Centerline goodness : 0.679379 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71856210e-01 -1.51910899e-01 -4.65606946e-01 4.45804480e+00] [ 1.72986878e-01 9.84920760e-01 2.57617553e-03 -2.74261835e-01] [ 4.58194598e-01 -8.27899466e-02 8.84987873e-01 9.42228543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26650248099997 meters Centerline goodness : 0.679379 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71856210e-01 -1.51910899e-01 -4.65606946e-01 4.45804480e+00] [ 1.72986878e-01 9.84920760e-01 2.57617553e-03 -2.74261835e-01] [ 4.58194598e-01 -8.27899466e-02 8.84987873e-01 9.42228543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29650248099998 meters Centerline goodness : 0.677939 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71707789e-01 -1.52200753e-01 -4.65790147e-01 4.45833242e+00] [ 1.73145520e-01 9.84893767e-01 2.21285367e-03 -2.73463863e-01] [ 4.58417014e-01 -8.25784391e-02 8.84892447e-01 9.42372882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32650248099998 meters Centerline goodness : 0.680039 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71534936e-01 -1.53415505e-01 -4.65715082e-01 4.45789601e+00] [ 1.73789220e-01 9.84782531e-01 8.21248350e-04 -2.71054455e-01] [ 4.58502085e-01 -8.16520077e-02 8.84934341e-01 9.42518506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35650248099998 meters Centerline goodness : 0.675713 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71349574e-01 -1.53794365e-01 -4.65936920e-01 4.45807200e+00] [ 1.74450273e-01 9.84665222e-01 1.22593486e-03 -2.71204821e-01] [ 4.58603339e-01 -8.23510409e-02 8.84817090e-01 9.42856818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38650248099998 meters Centerline goodness : 0.678164 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71124379e-01 -1.53943747e-01 -4.66308524e-01 4.45858244e+00] [ 1.74861186e-01 9.84591768e-01 1.61715931e-03 -2.72055373e-01] [ 4.58874583e-01 -8.29480083e-02 8.84620679e-01 9.43368564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41650248099998 meters Centerline goodness : 0.677384 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.70548951e-01 -1.58926073e-01 -4.65711314e-01 4.45794119e+00] [ 1.78250927e-01 9.83981667e-01 -2.58568992e-03 -2.70842287e-01] [ 4.58662328e-01 -8.07625037e-02 8.84932928e-01 9.43706197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44650248099998 meters Centerline goodness : 0.675344 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.70397726e-01 -1.59347511e-01 -4.65849942e-01 4.45761412e+00] [ 1.78768098e-01 9.83887973e-01 -2.53462270e-03 -2.71265722e-01] [ 4.58748041e-01 -8.10729782e-02 8.84860106e-01 9.44262108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47650248099998 meters Centerline goodness : 0.679960 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.70561041e-01 -1.59722712e-01 -4.65416082e-01 4.45657597e+00] [ 1.78989986e-01 9.83846802e-01 -2.83825629e-03 -2.71348610e-01] [ 4.58351458e-01 -8.08339429e-02 8.85087462e-01 9.44199875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50650248099998 meters Centerline goodness : 0.677722 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.70599164e-01 -1.59588443e-01 -4.65390830e-01 4.45609978e+00] [ 1.79098998e-01 9.83828299e-01 -2.32963073e-03 -2.72469388e-01] [ 4.58236451e-01 -8.13228566e-02 8.85102225e-01 9.44472080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53650248099999 meters Centerline goodness : 0.677606 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.27, Z:0.94 [[ 8.70854529e-01 -1.59656353e-01 -4.64889491e-01 4.45474565e+00] [ 1.79355845e-01 9.83782468e-01 -1.88059880e-03 -2.73700846e-01] [ 4.57650380e-01 -8.17429195e-02 8.85366717e-01 9.44390368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.566502481 meters Centerline goodness : 0.676350 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.27, Z:0.94 [[ 8.70750321e-01 -1.59930582e-01 -4.64990417e-01 4.45488022e+00] [ 1.80035736e-01 9.83659356e-01 -1.18505393e-03 -2.74670732e-01] [ 4.57581700e-01 -8.26830057e-02 8.85314920e-01 9.44443778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.596502481 meters Centerline goodness : 0.674670 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 8.70494150e-01 -1.60321453e-01 -4.65335327e-01 4.45533077e+00] [ 1.80619944e-01 9.83552477e-01 -9.79846897e-04 -2.75094100e-01] [ 4.57838804e-01 -8.31958897e-02 8.85133930e-01 9.44931206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.626502481 meters Centerline goodness : 0.670496 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69603625e-01 -1.61213644e-01 -4.66690151e-01 4.45823584e+00] [ 1.81790481e-01 9.83336832e-01 -9.46349564e-04 -2.74829702e-01] [ 4.59066179e-01 -8.40168782e-02 8.84420379e-01 9.45973800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.656502481 meters Centerline goodness : 0.667192 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69312461e-01 -1.61764394e-01 -4.67041888e-01 4.45970344e+00] [ 1.82348863e-01 9.83233230e-01 -1.14334296e-03 -2.74717063e-01] [ 4.59396057e-01 -8.41706349e-02 8.84234453e-01 9.45918301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.686502481 meters Centerline goodness : 0.666627 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 0.86785979 -0.16751515 -0.46771579 4.46139946] [ 0.1870843 0.98233268 -0.00468803 -0.27143573] [ 0.46023782 -0.08343373 0.88386649 0.94681431] [ 0. 0. 0. 1. ]] SLAMing on 201.716502481 meters Centerline goodness : 0.665280 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.67760608e-01 -1.67714778e-01 -4.67828260e-01 4.46150360e+00] [ 1.87544816e-01 9.82246806e-01 -4.26075360e-03 -2.71891074e-01] [ 4.60237405e-01 -8.40414510e-02 8.83809123e-01 9.46916469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.746502481 meters Centerline goodness : 0.663305 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68742281e-01 -1.62605688e-01 -4.67810047e-01 4.45980826e+00] [ 1.84020247e-01 9.82922450e-01 7.99197716e-05 -2.73934483e-01] [ 4.59808002e-01 -8.61559500e-02 8.83829030e-01 9.46272087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.776502481 meters Centerline goodness : 0.663731 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68699764e-01 -1.62652573e-01 -4.67872696e-01 4.45964330e+00] [ 1.83958320e-01 9.82934033e-01 -1.54316721e-04 -2.73802701e-01] [ 4.59913096e-01 -8.59350202e-02 8.83795857e-01 9.46794495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.806502481 meters Centerline goodness : 0.662861 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68566384e-01 -1.63247817e-01 -4.67913011e-01 4.45890684e+00] [ 1.84444900e-01 9.82842717e-01 -5.22080566e-04 -2.73916604e-01] [ 4.59970124e-01 -8.58507069e-02 8.83774372e-01 9.47535191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.836502481 meters Centerline goodness : 0.657613 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68524669e-01 -1.63349057e-01 -4.67955110e-01 4.45845233e+00] [ 1.84393741e-01 9.82852088e-01 -8.49331114e-04 -2.73865438e-01] [ 4.60069394e-01 -8.55503281e-02 8.83751828e-01 9.48287440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.866502481 meters Centerline goodness : 0.662261 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68603431e-01 -1.63264685e-01 -4.67838352e-01 4.45879958e+00] [ 1.84372605e-01 9.82856183e-01 -6.81917630e-04 -2.74378705e-01] [ 4.59929150e-01 -8.56642598e-02 8.83813788e-01 9.47910771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.896502481 meters Centerline goodness : 0.660921 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.95 [[ 8.68599044e-01 -1.63197881e-01 -4.67869804e-01 4.45938981e+00] [ 1.84257412e-01 9.82877725e-01 -7.64635279e-04 -2.75044319e-01] [ 4.59983595e-01 -8.55443179e-02 8.83797071e-01 9.48135848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.926502481 meters Centerline goodness : 0.659460 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68494527e-01 -1.63229883e-01 -4.68052627e-01 4.45920236e+00] [ 1.84170335e-01 9.82893792e-01 -1.03986305e-03 -2.74910576e-01] [ 4.60215758e-01 -8.52982938e-02 8.83699981e-01 9.48904132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95650248099997 meters Centerline goodness : 0.662228 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.95 [[ 8.69604843e-01 -1.58229030e-01 -4.67708234e-01 4.45761452e+00] [ 1.80710254e-01 9.83530984e-01 3.25706993e-03 -2.76756589e-01] [ 4.59490176e-01 -8.73520373e-02 8.83876914e-01 9.47689658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98650248099997 meters Centerline goodness : 0.660892 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.95 [[ 8.69586984e-01 -1.58553739e-01 -4.67631467e-01 4.45688305e+00] [ 1.80714118e-01 9.83532297e-01 2.57450872e-03 -2.76276311e-01] [ 4.59522453e-01 -8.67463673e-02 8.83919783e-01 9.48702107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01650248099997 meters Centerline goodness : 0.660937 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.95 [[ 8.69947511e-01 -1.58812115e-01 -4.66872617e-01 4.45561503e+00] [ 1.80689915e-01 9.83537813e-01 2.12696576e-03 -2.75276499e-01] [ 4.58849085e-01 -8.62095222e-02 8.84322020e-01 9.47901715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04650248099998 meters Centerline goodness : 0.661833 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69627442e-01 -1.59589136e-01 -4.67203832e-01 4.45650529e+00] [ 1.80949604e-01 9.83491989e-01 8.64942788e-04 -2.72860418e-01] [ 4.59353190e-01 -8.52925262e-02 8.84149213e-01 9.48043415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07650248099998 meters Centerline goodness : 0.658421 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69488262e-01 -1.60258043e-01 -4.67233906e-01 4.45714377e+00] [ 1.81319195e-01 9.83424291e-01 1.13988350e-04 -2.71805947e-01] [ 4.59470905e-01 -8.48175870e-02 8.84133737e-01 9.47786088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10650248099998 meters Centerline goodness : 0.654751 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69190758e-01 -1.61225231e-01 -4.67454651e-01 4.45913042e+00] [ 1.81794881e-01 9.83335835e-01 -1.12121444e-03 -2.70084976e-01] [ 4.59845678e-01 -8.40063134e-02 8.84016341e-01 9.47084515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13650248099998 meters Centerline goodness : 0.656737 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68987455e-01 -1.61476065e-01 -4.67745960e-01 4.45994790e+00] [ 1.82096265e-01 9.83280038e-01 -1.14767652e-03 -2.69779369e-01] [ 4.60110588e-01 -8.41774758e-02 8.83862206e-01 9.47204889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16650248099998 meters Centerline goodness : 0.656956 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69203242e-01 -1.61572898e-01 -4.67311377e-01 4.45921007e+00] [ 1.82251736e-01 9.83251425e-01 -9.69337062e-04 -2.70220118e-01] [ 4.59641196e-01 -8.43257591e-02 8.84092267e-01 9.46871909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19650248099998 meters Centerline goodness : 0.656911 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69917673e-01 -1.61041381e-01 -4.66164044e-01 4.45662252e+00] [ 1.81814134e-01 9.83332826e-01 -4.16050932e-04 -2.71446366e-01] [ 4.58461409e-01 -8.43932819e-02 8.84698203e-01 9.46244999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22650248099998 meters Centerline goodness : 0.657121 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.28, Z:0.94 [[ 8.72025940e-01 -1.56144622e-01 -4.63885349e-01 4.44431941e+00] [ 1.74686798e-01 9.84619349e-01 -3.04298600e-03 -2.78813698e-01] [ 4.57225636e-01 -7.83810836e-02 8.85890018e-01 9.40167419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25650248099998 meters Centerline goodness : 0.661605 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.29, Z:0.93 [[ 0.87401842 -0.15383225 -0.46089852 4.42811043] [ 0.17066137 0.98531584 -0.00523363 -0.28686229] [ 0.45493572 -0.07408329 0.88743741 0.93032785] [ 0. 0. 0. 1. ]] SLAMing on 202.28650248099999 meters Centerline goodness : 0.656623 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.29, Z:0.93 [[ 0.87406635 -0.15381186 -0.46081441 4.42788788] [ 0.17072021 0.98530656 -0.00505853 -0.28849093] [ 0.45482153 -0.07424884 0.88748211 0.93043737] [ 0. 0. 0. 1. ]] SLAMing on 202.316502481 meters Centerline goodness : 0.660877 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.30, Z:0.92 [[ 0.87591075 -0.15079687 -0.45830192 4.41041373] [ 0.1671988 0.98591129 -0.00484639 -0.29728962] [ 0.45257586 -0.07238253 0.88878336 0.91919776] [ 0. 0. 0. 1. ]] SLAMing on 202.346502481 meters Centerline goodness : 0.663381 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.30, Z:0.92 [[ 0.87608527 -0.1509244 -0.45792622 4.41114725] [ 0.16752023 0.98585869 -0.00442892 -0.30097563] [ 0.45211898 -0.0728318 0.88897917 0.91830762] [ 0. 0. 0. 1. ]] SLAMing on 202.376502481 meters Centerline goodness : 0.664492 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.30, Z:0.92 [[ 8.76282218e-01 -1.50655173e-01 -4.57637950e-01 4.41168509e+00] [ 1.67578112e-01 9.85851983e-01 -3.66661414e-03 -3.03416739e-01] [ 4.51715675e-01 -7.34771149e-02 8.89131072e-01 9.17274854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.406502481 meters Centerline goodness : 0.665945 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.31, Z:0.92 [[ 8.76492791e-01 -1.51185234e-01 -4.57059529e-01 4.41088542e+00] [ 1.68323201e-01 9.85726446e-01 -3.26699570e-03 -3.07719775e-01] [ 4.51029587e-01 -7.40702247e-02 8.89430106e-01 9.16546410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.436502481 meters Centerline goodness : 0.667673 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.31, Z:0.92 [[ 8.76669723e-01 -1.51029703e-01 -4.56771525e-01 4.41075887e+00] [ 1.68435145e-01 9.85709182e-01 -2.64765433e-03 -3.09460466e-01] [ 4.50643760e-01 -7.46152594e-02 8.89580106e-01 9.15794491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.466502481 meters Centerline goodness : 0.666992 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.31, Z:0.91 [[ 8.76769154e-01 -1.50744222e-01 -4.56674973e-01 4.41125684e+00] [ 1.68765126e-01 9.85655379e-01 -1.34405548e-03 -3.13205706e-01] [ 4.50326752e-01 -7.58923828e-02 8.89632600e-01 9.14623087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.496502481 meters Centerline goodness : 0.668674 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.32, Z:0.91 [[ 8.76970118e-01 -1.50646887e-01 -4.56321080e-01 4.41120269e+00] [ 1.69026540e-01 9.85611350e-01 -5.43601871e-04 -3.15572094e-01] [ 4.49837127e-01 -7.66536505e-02 8.89815024e-01 9.13576189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.526502481 meters Centerline goodness : 0.668183 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.32, Z:0.91 [[ 8.76290782e-01 -1.55636073e-01 -4.55951617e-01 4.41201656e+00] [ 1.73131100e-01 9.84892756e-01 -3.44697562e-03 -3.17975650e-01] [ 4.49599919e-01 -7.59188521e-02 8.89997888e-01 9.12933353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.556502481 meters Centerline goodness : 0.666941 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.32, Z:0.91 [[ 0.87558773 -0.1604923 -0.45561864 4.41357524] [ 0.1771869 0.98415794 -0.00616108 -0.32096333] [ 0.44938951 -0.07533509 0.89015375 0.912014 ] [ 0. 0. 0. 1. ]] SLAMing on 202.586502481 meters Centerline goodness : 0.668256 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.32, Z:0.91 [[ 0.87579517 -0.16051696 -0.45521108 4.41358332] [ 0.17766392 0.98407752 -0.00519303 -0.32379396] [ 0.44879655 -0.07632656 0.89036841 0.91057975] [ 0. 0. 0. 1. ]] SLAMing on 202.616502481 meters Centerline goodness : 0.668256 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 0.87578824 -0.16114382 -0.45500289 4.41292403] [ 0.17871597 0.98389059 -0.00446272 -0.32741132] [ 0.4483922 -0.07740788 0.89047878 0.90974851] [ 0. 0. 0. 1. ]] SLAMing on 202.646502481 meters Centerline goodness : 0.670051 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.76066907e-01 -1.61365677e-01 -4.54387382e-01 4.41206379e+00] [ 1.79133460e-01 9.83816617e-01 -4.00833751e-03 -3.28835604e-01] [ 4.47680665e-01 -7.78844121e-02 8.90795173e-01 9.08662274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.676502481 meters Centerline goodness : 0.671859 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.76254496e-01 -1.61737043e-01 -4.53893366e-01 4.41103486e+00] [ 1.79741763e-01 9.83707495e-01 -3.53037351e-03 -3.30571650e-01] [ 4.47069298e-01 -7.84900883e-02 8.91049016e-01 9.07759830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70650248099997 meters Centerline goodness : 0.673601 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.76381083e-01 -1.61721067e-01 -4.53654597e-01 4.41099920e+00] [ 1.79848905e-01 9.83688931e-01 -3.23383833e-03 -3.31005059e-01] [ 4.46777986e-01 -7.87552077e-02 8.91171728e-01 9.07120579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73650248099997 meters Centerline goodness : 0.675778 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.76473048e-01 -1.61938942e-01 -4.53399134e-01 4.41024734e+00] [ 1.80128379e-01 9.83638182e-01 -3.11349805e-03 -3.31066324e-01] [ 4.46484896e-01 -7.89411539e-02 8.91302155e-01 9.06773359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76650248099997 meters Centerline goodness : 0.676703 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.76500115e-01 -1.61944125e-01 -4.53344956e-01 4.41003123e+00] [ 1.80165016e-01 9.83631698e-01 -3.04120985e-03 -3.30854028e-01] [ 4.46416975e-01 -7.90112804e-02 8.91329963e-01 9.06639578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79650248099998 meters Centerline goodness : 0.679647 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.77409046e-01 -1.57656755e-01 -4.53097907e-01 4.40885655e+00] [ 1.77259025e-01 9.84163897e-01 8.13479306e-04 -3.32057437e-01] [ 4.45794352e-01 -8.10294476e-02 8.91460389e-01 9.05278418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82650248099998 meters Centerline goodness : 0.681662 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.90 [[ 0.87838455 -0.15284185 -0.45285754 4.40835396] [ 0.17393416 0.98474452 0.00501461 -0.3332648 ] [ 0.44518253 -0.08317215 0.89156879 0.9036025 ] [ 0. 0. 0. 1. ]] SLAMing on 202.85650248099998 meters Centerline goodness : 0.680121 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.90 [[ 0.87829511 -0.15272311 -0.45307101 4.40881169] [ 0.1737842 0.98477139 0.00493623 -0.3324513 ] [ 0.44541749 -0.08307205 0.89146076 0.9037885 ] [ 0. 0. 0. 1. ]] SLAMing on 202.88650248099998 meters Centerline goodness : 0.680702 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.80115923e-01 -1.43864330e-01 -4.52436755e-01 4.40378329e+00] [ 1.62486945e-01 9.86707937e-01 2.33241594e-03 -3.36187587e-01] [ 4.46087386e-01 -7.55678624e-02 8.91793442e-01 9.00242454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91650248099998 meters Centerline goodness : 0.681721 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.80134763e-01 -1.43375748e-01 -4.52555184e-01 4.40455195e+00] [ 1.62234777e-01 9.86747923e-01 2.90074178e-03 -3.37326706e-01] [ 4.46141992e-01 -7.59732331e-02 8.91731681e-01 8.99927852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94650248099998 meters Centerline goodness : 0.676683 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.34, Z:0.90 [[ 8.80000893e-01 -1.42444146e-01 -4.53109362e-01 4.40716398e+00] [ 1.61463857e-01 9.86872969e-01 3.34148972e-03 -3.36641696e-01] [ 4.46685406e-01 -7.61012990e-02 8.91448675e-01 8.99699224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97650248099998 meters Centerline goodness : 0.679324 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.34, Z:0.90 [[ 8.79884984e-01 -1.42079356e-01 -4.53448863e-01 4.40859191e+00] [ 1.60996554e-01 9.86949907e-01 3.16076216e-03 -3.35069000e-01] [ 4.47082234e-01 -7.57848117e-02 8.91276690e-01 8.99841150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00650248099998 meters Centerline goodness : 0.679971 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.80896088e-01 -1.30233088e-01 -4.55040025e-01 4.40364509e+00] [ 1.46850646e-01 9.89157967e-01 1.18465084e-03 -3.37089963e-01] [ 4.49952186e-01 -6.78664760e-02 8.90470197e-01 8.98509312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03650248099999 meters Centerline goodness : 0.683771 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 0.8816671 -0.12471472 -0.4550927 4.40413093] [ 0.14295593 0.98971247 0.00573033 -0.33916329] [ 0.44969626 -0.07011044 0.89042563 0.89727118] [ 0. 0. 0. 1. ]] SLAMing on 203.066502481 meters Centerline goodness : 0.681952 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88462642 -0.11188853 -0.45267765 4.39951678] [ 0.12884031 0.99164288 0.006676 -0.34373206] [ 0.4481476 -0.0642289 0.89164925 0.89215479] [ 0. 0. 0. 1. ]] SLAMing on 203.096502481 meters Centerline goodness : 0.681986 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88518701 -0.10646426 -0.45288996 4.39929395] [ 0.12474097 0.99213291 0.01058181 -0.34327451] [ 0.44820045 -0.06586081 0.89150362 0.89196052] [ 0. 0. 0. 1. ]] SLAMing on 203.126502481 meters Centerline goodness : 0.682917 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88514626 -0.1064625 -0.45297002 4.39878346] [ 0.12468742 0.99214087 0.01046604 -0.34313075] [ 0.44829583 -0.06574364 0.89146431 0.89247725] [ 0. 0. 0. 1. ]] SLAMing on 203.156502481 meters Centerline goodness : 0.684193 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.8852341 -0.10681243 -0.45271592 4.39789684] [ 0.12477064 0.99213629 0.00989304 -0.34226127] [ 0.44809919 -0.06524331 0.89159992 0.89281571] [ 0. 0. 0. 1. ]] SLAMing on 203.186502481 meters Centerline goodness : 0.684193 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.8852341 -0.10681243 -0.45271592 4.39789684] [ 0.12477064 0.99213629 0.00989304 -0.34226127] [ 0.44809919 -0.06524331 0.89159992 0.89281571] [ 0. 0. 0. 1. ]] SLAMing on 203.216502481 meters Centerline goodness : 0.685484 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88526346 -0.10675862 -0.45267119 4.39816177] [ 0.12469606 0.99214588 0.00987193 -0.34216853] [ 0.44806194 -0.06518557 0.89162287 0.89267498] [ 0. 0. 0. 1. ]] SLAMing on 203.246502481 meters Centerline goodness : 0.684044 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88522232 -0.10715745 -0.4526574 4.39757947] [ 0.12477685 0.99214268 0.00914548 -0.34055852] [ 0.44812072 -0.06457694 0.89163761 0.89329262] [ 0. 0. 0. 1. ]] SLAMing on 203.276502481 meters Centerline goodness : 0.684133 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88521157 -0.107034 -0.45270763 4.39803149] [ 0.12468788 0.99215303 0.00923565 -0.34035894] [ 0.44816671 -0.06462266 0.89161119 0.8930987 ] [ 0. 0. 0. 1. ]] SLAMing on 203.306502481 meters Centerline goodness : 0.688152 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88530135 -0.10680852 -0.4525853 4.39882208] [ 0.12472259 0.99214298 0.00982743 -0.34108108] [ 0.44797967 -0.06514784 0.89166696 0.89199393] [ 0. 0. 0. 1. ]] SLAMing on 203.336502481 meters Centerline goodness : 0.689068 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.8852398 -0.1078979 -0.45244727 4.39861883] [ 0.12546579 0.99205803 0.008899 -0.3399191 ] [ 0.44789377 -0.0646444 0.89174675 0.89202195] [ 0. 0. 0. 1. ]] SLAMing on 203.366502481 meters Centerline goodness : 0.689408 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88520469 -0.10778207 -0.45254357 4.39830062] [ 0.12549703 0.9920513 0.00920401 -0.34061153] [ 0.44795441 -0.06494031 0.89169479 0.89217106] [ 0. 0. 0. 1. ]] SLAMing on 203.396502481 meters Centerline goodness : 0.685669 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88526839 -0.10829428 -0.45229661 4.39701456] [ 0.12621839 0.99195663 0.00953782 -0.34045825] [ 0.44762573 -0.06553168 0.89181658 0.8923899 ] [ 0. 0. 0. 1. ]] SLAMing on 203.426502481 meters Centerline goodness : 0.687303 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88507221 -0.10834731 -0.4526677 4.39711378] [ 0.12660517 0.99190148 0.01012854 -0.34137974] [ 0.44790436 -0.06627456 0.89162176 0.89311648] [ 0. 0. 0. 1. ]] SLAMing on 203.45650248099997 meters Centerline goodness : 0.688761 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88419517 -0.11386741 -0.45302662 4.39722926] [ 0.13165533 0.99126482 0.00780582 -0.34423411] [ 0.44818052 -0.06654524 0.89146282 0.89477046] [ 0. 0. 0. 1. ]] SLAMing on 203.48650248099997 meters Centerline goodness : 0.685630 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.90 [[ 0.88414012 -0.11289924 -0.45337623 4.39783943] [ 0.13152803 0.99126546 0.00965223 -0.34730626] [ 0.44832647 -0.06816561 0.89126698 0.89514066] [ 0. 0. 0. 1. ]] SLAMing on 203.51650248099997 meters Centerline goodness : 0.686314 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.90 [[ 0.88409953 -0.11223168 -0.45362106 4.39868971] [ 0.13113764 0.99131043 0.01032202 -0.3488707 ] [ 0.44852083 -0.06861249 0.89113489 0.89510566] [ 0. 0. 0. 1. ]] SLAMing on 203.54650248099998 meters Centerline goodness : 0.685563 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.89 [[ 0.88390449 -0.11733838 -0.45270802 4.39797698] [ 0.13401256 0.99096798 0.00480602 -0.34651858] [ 0.44805523 -0.06491662 0.89164586 0.89477321] [ 0. 0. 0. 1. ]] SLAMing on 203.57650248099998 meters Centerline goodness : 0.687131 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.89 [[ 0.88408218 -0.11648777 -0.45258072 4.39763045] [ 0.13286011 0.9911249 0.00443088 -0.34542403] [ 0.44804787 -0.06404719 0.89171243 0.89466096] [ 0. 0. 0. 1. ]] SLAMing on 203.60650248099998 meters Centerline goodness : 0.683988 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.89 [[ 0.88522395 -0.11051411 -0.45184642 4.39593124] [ 0.12794363 0.99174842 0.0080925 -0.34626097] [ 0.44722363 -0.06497455 0.89205904 0.8935571 ] [ 0. 0. 0. 1. ]] SLAMing on 203.63650248099998 meters Centerline goodness : 0.683903 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.89 [[ 0.88535094 -0.10995986 -0.45173283 4.39558969] [ 0.1267824 0.99190562 0.00703317 -0.34505916] [ 0.44730296 -0.06349859 0.89212555 0.89359487] [ 0. 0. 0. 1. ]] SLAMing on 203.66650248099998 meters Centerline goodness : 0.689542 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88540882 -0.10995552 -0.45162042 4.39529886] [ 0.12635425 0.99196577 0.00620666 -0.3438519 ] [ 0.44730953 -0.06255959 0.89218859 0.89365326] [ 0. 0. 0. 1. ]] SLAMing on 203.69650248099998 meters Centerline goodness : 0.682672 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88544513 -0.1099404 -0.45155291 4.39539932] [ 0.12569952 0.99205604 0.00494512 -0.34237482] [ 0.44742212 -0.06113862 0.89223064 0.89362498] [ 0. 0. 0. 1. ]] SLAMing on 203.72650248099998 meters Centerline goodness : 0.683754 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 8.85229677e-01 -1.09939069e-01 -4.51975464e-01 4.39628231e+00] [ 1.25452644e-01 9.92089888e-01 4.39175347e-03 -3.42075066e-01] [ 4.47917462e-01 -6.05892275e-02 8.92019559e-01 8.94021632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75650248099998 meters Centerline goodness : 0.680916 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 8.84718746e-01 -1.10000222e-01 -4.52959923e-01 4.39881384e+00] [ 1.25237222e-01 9.92120006e-01 3.67868462e-03 -3.41286697e-01] [ 4.48985945e-01 -5.99820436e-02 8.91523290e-01 8.94441929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78650248099999 meters Centerline goodness : 0.676973 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 8.84554513e-01 -1.10269382e-01 -4.53215155e-01 4.39979649e+00] [ 1.25328171e-01 9.92110109e-01 3.22193631e-03 -3.40633897e-01] [ 4.49284056e-01 -5.96506046e-02 8.91395335e-01 8.94394170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.816502481 meters Centerline goodness : 0.680597 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.84452266e-01 -1.09629239e-01 -4.53569860e-01 4.39938665e+00] [ 1.24580946e-01 9.92204569e-01 3.11146871e-03 -3.40372656e-01] [ 4.49692980e-01 -5.92581079e-02 8.91215294e-01 8.95396615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.846502481 meters Centerline goodness : 0.680482 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.84604831e-01 -1.09519755e-01 -4.53298706e-01 4.39850949e+00] [ 1.24082589e-01 9.92268975e-01 2.40680741e-03 -3.39205135e-01] [ 4.49530649e-01 -5.83755506e-02 8.91355423e-01 8.95461507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.876502481 meters Centerline goodness : 0.679190 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.84815642e-01 -1.09213717e-01 -4.52960973e-01 4.39674175e+00] [ 1.22923060e-01 9.92415851e-01 8.36324344e-04 -3.36573140e-01] [ 4.49434311e-01 -5.64193415e-02 8.91529953e-01 8.96009614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.906502481 meters Centerline goodness : 0.676710 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.90 [[ 8.85040595e-01 -1.08866303e-01 -4.52604985e-01 4.39462068e+00] [ 1.22000432e-01 9.92530032e-01 -1.71762068e-04 -3.35382563e-01] [ 4.49242739e-01 -5.50659874e-02 8.91711107e-01 8.96748558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.936502481 meters Centerline goodness : 0.677703 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85181111e-01 -1.09121169e-01 -4.52268693e-01 4.39376299e+00] [ 1.21752495e-01 9.92559784e-01 -1.18574352e-03 -3.34658591e-01] [ 4.49033106e-01 -5.40152443e-02 8.91880947e-01 8.96813409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.966502481 meters Centerline goodness : 0.677664 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85307824e-01 -1.08829738e-01 -4.52090859e-01 4.39319975e+00] [ 1.21105204e-01 9.92638048e-01 -1.79865151e-03 -3.34766880e-01] [ 4.48958335e-01 -5.31581955e-02 8.91970078e-01 8.97006145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.996502481 meters Centerline goodness : 0.677466 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85360963e-01 -1.08763962e-01 -4.52002617e-01 4.39269094e+00] [ 1.20918719e-01 9.92660375e-01 -2.01096675e-03 -3.34867437e-01] [ 4.48903808e-01 -5.28751459e-02 8.92014344e-01 8.97299596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.026502481 meters Centerline goodness : 0.676191 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85287522e-01 -1.08656803e-01 -4.52172205e-01 4.39173187e+00] [ 1.20624225e-01 9.92695388e-01 -2.37959385e-03 -3.34074310e-01] [ 4.49127822e-01 -5.24362971e-02 8.91927483e-01 8.98313920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.056502481 meters Centerline goodness : 0.677077 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85089719e-01 -1.08515586e-01 -4.52593147e-01 4.39132597e+00] [ 1.20335680e-01 9.92729607e-01 -2.69284300e-03 -3.33167076e-01] [ 4.49594832e-01 -5.20796963e-02 8.91713066e-01 8.99434332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.086502481 meters Centerline goodness : 0.674735 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85027155e-01 -1.08336440e-01 -4.52758380e-01 4.39116730e+00] [ 1.20001447e-01 9.92769249e-01 -2.97851275e-03 -3.32464605e-01] [ 4.49807278e-01 -5.16955961e-02 8.91628273e-01 8.99905422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.116502481 meters Centerline goodness : 0.674947 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 0.88483921 -0.10903502 -0.45295798 4.39134443] [ 0.11985265 0.99277984 -0.00485133 -0.32921616] [ 0.45021651 -0.04999557 0.89151867 0.90025139] [ 0. 0. 0. 1. ]] SLAMing on 204.146502481 meters Centerline goodness : 0.669376 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 0.88458678 -0.1101029 -0.45319265 4.39232882] [ 0.11995905 0.99275387 -0.00704091 -0.32621054] [ 0.45068398 -0.04813627 0.89138479 0.90030156] [ 0. 0. 0. 1. ]] SLAMing on 204.176502481 meters Centerline goodness : 0.669979 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 0.88401039 -0.10995738 -0.4543512 4.39364139] [ 0.12058989 0.99268654 -0.00561349 -0.32805214] [ 0.45164556 -0.04982778 0.89080496 0.90181656] [ 0. 0. 0. 1. ]] SLAMing on 204.20650248099997 meters Centerline goodness : 0.668048 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.33, Z:0.90 [[ 0.88314395 -0.11085304 -0.45581616 4.39555723] [ 0.12169355 0.9925519 -0.00560418 -0.32757343] [ 0.45304243 -0.05052059 0.8900563 0.9036174 ] [ 0. 0. 0. 1. ]] SLAMing on 204.23650248099997 meters Centerline goodness : 0.670080 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.33, Z:0.90 [[ 0.88284421 -0.11107365 -0.45634279 4.39621685] [ 0.12194719 0.99252046 -0.0056591 -0.32762266] [ 0.45355813 -0.05065362 0.88978606 0.90435764] [ 0. 0. 0. 1. ]] SLAMing on 204.26650248099997 meters Centerline goodness : 0.664894 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.32, Z:0.90 [[ 0.88255715 -0.11667724 -0.45549895 4.39387862] [ 0.12583407 0.99199792 -0.01029162 -0.32382276] [ 0.45305481 -0.04823434 0.89017683 0.90473102] [ 0. 0. 0. 1. ]] SLAMing on 204.29650248099998 meters Centerline goodness : 0.666260 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.32, Z:0.91 [[ 0.88231094 -0.1169345 -0.45590979 4.39393943] [ 0.12633924 0.99193752 -0.00991693 -0.32454267] [ 0.45339366 -0.04884949 0.88997074 0.90557758] [ 0. 0. 0. 1. ]] SLAMing on 204.32650248099998 meters Centerline goodness : 0.665215 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.91 [[ 0.88161618 -0.11708207 -0.45721407 4.39491162] [ 0.12795461 0.99175361 -0.00723886 -0.32740991] [ 0.45429124 -0.05212075 0.88932722 0.90744357] [ 0. 0. 0. 1. ]] SLAMing on 204.35650248099998 meters Centerline goodness : 0.665673 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.91 [[ 0.88131399 -0.11659897 -0.45791957 4.39460077] [ 0.1286151 0.9916821 -0.00497647 -0.3302605 ] [ 0.45469089 -0.05450954 0.8889797 0.90892826] [ 0. 0. 0. 1. ]] SLAMing on 204.38650248099998 meters Centerline goodness : 0.665149 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.91 [[ 8.81348522e-01 -1.16612556e-01 -4.57849642e-01 4.39297304e+00] [ 1.29650662e-01 9.91555282e-01 -2.97122820e-03 -3.33167920e-01] [ 4.54329714e-01 -5.67418219e-02 8.89024677e-01 9.09837750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41650248099998 meters Centerline goodness : 0.665194 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.91 [[ 0.8806895 -0.12201212 -0.45771066 4.39276126] [ 0.13390916 0.99097225 -0.0065068 -0.33398473] [ 0.45437247 -0.05556118 0.88907739 0.91069774] [ 0. 0. 0. 1. ]] SLAMing on 204.44650248099998 meters Centerline goodness : 0.668464 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.88040244 -0.12199917 -0.45826601 4.39416754] [ 0.13445423 0.9909046 -0.00548962 -0.3359181 ] [ 0.45476763 -0.05678273 0.88879814 0.91099801] [ 0. 0. 0. 1. ]] SLAMing on 204.47650248099998 meters Centerline goodness : 0.667976 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.33, Z:0.91 [[ 0.87935186 -0.12804417 -0.45863383 4.39614798] [ 0.13899833 0.99024256 -0.00995641 -0.33392726] [ 0.4554336 -0.05499415 0.88856957 0.91145503] [ 0. 0. 0. 1. ]] SLAMing on 204.50650248099998 meters Centerline goodness : 0.664496 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.33, Z:0.91 [[ 0.87884704 -0.12843034 -0.45949268 4.39795439] [ 0.13969616 0.99014825 -0.00956168 -0.33435259] [ 0.45619389 -0.05578611 0.88813008 0.9121037 ] [ 0. 0. 0. 1. ]] SLAMing on 204.53650248099999 meters Centerline goodness : 0.663309 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.33, Z:0.91 [[ 0.87800368 -0.12947707 -0.46080931 4.40077196] [ 0.1411284 0.98994805 -0.00925398 -0.33408824] [ 0.45737546 -0.05690825 0.88745092 0.91295667] [ 0. 0. 0. 1. ]] SLAMing on 204.566502481 meters Centerline goodness : 0.659728 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87649104 -0.12721692 -0.46430519 4.38748385] [ 0.13670692 0.99052186 -0.01332906 -0.33698664] [ 0.46160012 -0.05179093 0.88557497 0.90765188] [ 0. 0. 0. 1. ]] SLAMing on 204.596502481 meters Centerline goodness : 0.660833 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87576717 -0.13270255 -0.46413565 4.38835876] [ 0.14078248 0.98988794 -0.0173828 -0.33589233] [ 0.46174902 -0.05011888 0.88559355 0.90777896] [ 0. 0. 0. 1. ]] SLAMing on 204.626502481 meters Centerline goodness : 0.661437 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87651358 -0.12548301 -0.46473429 4.38529748] [ 0.13018948 0.99124277 -0.0221014 -0.34034356] [ 0.46343785 -0.04113134 0.88517432 0.90652038] [ 0. 0. 0. 1. ]] SLAMing on 204.656502481 meters Centerline goodness : 0.659483 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87647299 -0.12528276 -0.46486485 4.38679632] [ 0.12996602 0.99127193 -0.02210875 -0.33984428] [ 0.46357732 -0.04103891 0.88510557 0.90614978] [ 0. 0. 0. 1. ]] SLAMing on 204.686502481 meters Centerline goodness : 0.659127 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87652948 -0.12571193 -0.46464243 4.38650678] [ 0.13025923 0.99122569 -0.02245347 -0.34008178] [ 0.46338818 -0.04084284 0.88521368 0.90606472] [ 0. 0. 0. 1. ]] SLAMing on 204.716502481 meters Centerline goodness : 0.658926 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87745325 -0.12087307 -0.46418261 4.38505572] [ 0.12672735 0.99176132 -0.01869934 -0.34151443] [ 0.4626186 -0.04241684 0.88554212 0.90531254] [ 0. 0. 0. 1. ]] SLAMing on 204.746502481 meters Centerline goodness : 0.664071 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.34, Z:0.91 [[ 0.87770275 -0.12167763 -0.46350021 4.3822009 ] [ 0.1271434 0.99169119 -0.01957392 -0.34069755] [ 0.46203078 -0.04175091 0.88588059 0.90615197] [ 0. 0. 0. 1. ]] SLAMing on 204.776502481 meters Centerline goodness : 0.663944 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.34, Z:0.91 [[ 0.87779333 -0.12201451 -0.46324003 4.38138404] [ 0.12727684 0.99166514 -0.02002152 -0.34040391] [ 0.4618219 -0.04138497 0.88600667 0.90643994] [ 0. 0. 0. 1. ]] SLAMing on 204.806502481 meters Centerline goodness : 0.667526 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.34, Z:0.91 [[ 0.87865905 -0.11865171 -0.46247167 4.3790653 ] [ 0.12477359 0.99203168 -0.01745579 -0.34298105] [ 0.46085771 -0.04236656 0.88646221 0.90613178] [ 0. 0. 0. 1. ]] SLAMing on 204.836502481 meters Centerline goodness : 0.675335 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.91 [[ 0.87908515 -0.1186341 -0.46166573 4.37730227] [ 0.12516015 0.99199786 -0.01658851 -0.34615318] [ 0.45993938 -0.04319944 0.88689885 0.90503089] [ 0. 0. 0. 1. ]] SLAMing on 204.866502481 meters Centerline goodness : 0.675172 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 0.87924613 -0.11866167 -0.46135198 4.37709535] [ 0.12526337 0.9919877 -0.01641607 -0.34678705] [ 0.45960345 -0.04335674 0.88706531 0.904474 ] [ 0. 0. 0. 1. ]] SLAMing on 204.896502481 meters Centerline goodness : 0.677539 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 0.87959266 -0.11926013 -0.46053639 4.37625722] [ 0.12576974 0.99191964 -0.01665519 -0.34704308] [ 0.45880139 -0.04327176 0.88748456 0.90339947] [ 0. 0. 0. 1. ]] SLAMing on 204.926502481 meters Centerline goodness : 0.677162 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 0.8803691 -0.11428903 -0.46031322 4.37649639] [ 0.12223923 0.99242048 -0.01261562 -0.34882446] [ 0.45826609 -0.04516193 0.88766694 0.90207514] [ 0. 0. 0. 1. ]] SLAMing on 204.95650248099997 meters Centerline goodness : 0.676337 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 0.88106807 -0.10889763 -0.46028292 4.37712534] [ 0.11823483 0.99294845 -0.00859646 -0.3495354 ] [ 0.45797335 -0.0468474 0.88773066 0.90135499] [ 0. 0. 0. 1. ]] SLAMing on 204.98650248099997 meters Centerline goodness : 0.676734 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 8.81502163e-01 -1.03679576e-01 -4.60656577e-01 4.37804044e+00] [ 1.14666350e-01 9.93395352e-01 -4.15965570e-03 -3.52224290e-01] [ 4.58045373e-01 -4.91550628e-02 8.87568710e-01 9.00612678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01650248099997 meters Centerline goodness : 0.675108 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 8.81451712e-01 -1.03228206e-01 -4.60854443e-01 4.37944863e+00] [ 1.14369365e-01 9.93431129e-01 -3.77351317e-03 -3.52398393e-01] [ 4.58216683e-01 -4.93814604e-02 8.87467714e-01 9.00208555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04650248099998 meters Centerline goodness : 0.675953 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 8.81470766e-01 -1.02359093e-01 -4.61011828e-01 4.38179324e+00] [ 1.13954174e-01 9.93482339e-01 -2.69988350e-03 -3.53987974e-01] [ 4.58283467e-01 -5.01543535e-02 8.87389883e-01 8.98968083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07650248099998 meters Centerline goodness : 0.675953 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 8.81471553e-01 -1.02394674e-01 -4.61002420e-01 4.38174763e+00] [ 1.13980161e-01 9.93479286e-01 -2.72605438e-03 -3.54006249e-01] [ 4.58275488e-01 -5.01421908e-02 8.87394691e-01 8.98977397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10650248099998 meters Centerline goodness : 0.677044 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 8.81504365e-01 -1.02080819e-01 -4.61009285e-01 4.38264897e+00] [ 1.13864645e-01 9.93493689e-01 -2.26561056e-03 -3.54759682e-01] [ 4.58241090e-01 -5.04955131e-02 8.87392420e-01 8.98347081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13650248099998 meters Centerline goodness : 0.678208 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.81649045e-01 -1.01485786e-01 -4.60863968e-01 4.38375353e+00] [ 1.13626436e-01 9.93522544e-01 -1.40991332e-03 -3.56142112e-01] [ 4.58021828e-01 -5.11232813e-02 8.87469670e-01 8.97194256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16650248099998 meters Centerline goodness : 0.677846 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.81837592e-01 -1.01517882e-01 -4.60496017e-01 4.38321409e+00] [ 1.13723154e-01 9.93511697e-01 -1.24615759e-03 -3.57214604e-01] [ 4.57634686e-01 -5.12701509e-02 8.87660896e-01 8.96876562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19650248099998 meters Centerline goodness : 0.678788 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.81984183e-01 -1.01754555e-01 -4.60162919e-01 4.38212787e+00] [ 1.13882001e-01 9.93493278e-01 -1.41328917e-03 -3.57505517e-01] [ 4.57312575e-01 -5.11577750e-02 8.87833369e-01 8.96990995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22650248099998 meters Centerline goodness : 0.680748 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.82159005e-01 -1.01942544e-01 -4.59786045e-01 4.38092851e+00] [ 1.14026764e-01 9.93476552e-01 -1.49589259e-03 -3.57485943e-01] [ 4.56939149e-01 -5.11082996e-02 8.88028465e-01 8.96916578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25650248099998 meters Centerline goodness : 0.680041 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.83060591e-01 -9.87004155e-02 -4.58761617e-01 4.37703732e+00] [ 1.11831305e-01 9.93726124e-01 1.46620142e-03 -3.60259425e-01] [ 4.55738689e-01 -5.25986550e-02 8.88558174e-01 8.96375362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28650248099999 meters Centerline goodness : 0.682992 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.83249659e-01 -9.89810891e-02 -4.58336976e-01 4.37589977e+00] [ 1.12121258e-01 9.93693444e-01 1.47097795e-03 -3.60819330e-01] [ 4.55300849e-01 -5.26885591e-02 8.88777280e-01 8.96075596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.316502481 meters Centerline goodness : 0.683688 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.83336057e-01 -9.86449979e-02 -4.58242922e-01 4.37651118e+00] [ 1.12005425e-01 9.93705592e-01 1.99532648e-03 -3.61822133e-01] [ 4.55161725e-01 -5.30882369e-02 8.88824754e-01 8.95445732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.346502481 meters Centerline goodness : 0.683966 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.89 [[ 8.83415943e-01 -9.80039113e-02 -4.58226478e-01 4.37795825e+00] [ 1.11821315e-01 9.93723660e-01 3.04636982e-03 -3.63731865e-01] [ 4.55051937e-01 -5.39306992e-02 8.88830251e-01 8.94172534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.376502481 meters Centerline goodness : 0.683553 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.89 [[ 8.83422943e-01 -9.75348062e-02 -4.58313065e-01 4.37915243e+00] [ 1.11593409e-01 9.93747355e-01 3.62028068e-03 -3.64335072e-01] [ 4.55094292e-01 -5.43429562e-02 8.88783454e-01 8.93473799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.406502481 meters Centerline goodness : 0.684879 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88342349 -0.09685722 -0.45845568 4.38016146] [ 0.11128572 0.99377832 0.00448858 -0.36548389] [ 0.45516856 -0.05498489 0.88870594 0.89284465] [ 0. 0. 0. 1. ]] SLAMing on 205.436502481 meters Centerline goodness : 0.684732 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88357038 -0.09639922 -0.4582691 4.3808626 ] [ 0.11130408 0.99377086 0.00555624 -0.36761826] [ 0.45487886 -0.05591655 0.88879613 0.89154032] [ 0. 0. 0. 1. ]] SLAMing on 205.466502481 meters Centerline goodness : 0.684420 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88365016 -0.09575201 -0.45825097 4.38206576] [ 0.11109189 0.99378844 0.00656653 -0.36980695] [ 0.45477576 -0.05671049 0.88879859 0.89055484] [ 0. 0. 0. 1. ]] SLAMing on 205.496502481 meters Centerline goodness : 0.686193 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88370819 -0.09550247 -0.45819114 4.38311851] [ 0.11138572 0.99374743 0.00769796 -0.37316023] [ 0.45459109 -0.0578387 0.88882035 0.88921927] [ 0. 0. 0. 1. ]] SLAMing on 205.526502481 meters Centerline goodness : 0.686270 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88380016 -0.09508016 -0.45810156 4.38381363] [ 0.1113002 0.99375072 0.00847227 -0.37495613] [ 0.45443321 -0.05847459 0.88885948 0.888405 ] [ 0. 0. 0. 1. ]] SLAMing on 205.556502481 meters Centerline goodness : 0.688096 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88363424 -0.09413535 -0.45861647 4.38675431] [ 0.11101377 0.99376942 0.00991401 -0.37807522] [ 0.45482577 -0.05967311 0.888579 0.88727785] [ 0. 0. 0. 1. ]] SLAMing on 205.586502481 meters Centerline goodness : 0.689976 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88361443 -0.09357145 -0.45877001 4.38824658] [ 0.11080189 0.99378474 0.01071618 -0.37980616] [ 0.45491591 -0.06030155 0.88849043 0.88654768] [ 0. 0. 0. 1. ]] SLAMing on 205.616502481 meters Centerline goodness : 0.690952 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88369737 -0.09293101 -0.45874043 4.38978099] [ 0.11061979 0.99379308 0.01177185 -0.38235414] [ 0.45479909 -0.06114853 0.88849234 0.88535476] [ 0. 0. 0. 1. ]] SLAMing on 205.646502481 meters Centerline goodness : 0.690583 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88369507 -0.09273997 -0.45878352 4.38986994] [ 0.11055912 0.9937963 0.01206649 -0.38315293] [ 0.45481831 -0.0613858 0.88846614 0.88530309] [ 0. 0. 0. 1. ]] SLAMing on 205.676502481 meters Centerline goodness : 0.690850 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.89 [[ 0.88375051 -0.09235595 -0.4587542 4.38938444] [ 0.11047424 0.99379722 0.01274884 -0.38521077] [ 0.45473122 -0.06194732 0.88847175 0.88529021] [ 0. 0. 0. 1. ]] SLAMing on 205.70650248099997 meters Centerline goodness : 0.689180 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88370584 -0.09239644 -0.45883208 4.3889038 ] [ 0.11036159 0.9938138 0.0124279 -0.38452043] [ 0.45484536 -0.06162005 0.88843608 0.885955 ] [ 0. 0. 0. 1. ]] SLAMing on 205.73650248099997 meters Centerline goodness : 0.690775 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88364302 -0.09212727 -0.45900718 4.3899091 ] [ 0.11015323 0.99383493 0.01258551 -0.38434163] [ 0.4550179 -0.06168222 0.88834341 0.88576528] [ 0. 0. 0. 1. ]] SLAMing on 205.76650248099997 meters Centerline goodness : 0.689194 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88384114 -0.08409507 -0.46016613 4.38891017] [ 0.09884687 0.99507044 0.00800669 -0.38833305] [ 0.45722439 -0.05256262 0.88779673 0.88439426] [ 0. 0. 0. 1. ]] SLAMing on 205.79650248099998 meters Centerline goodness : 0.688565 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88354505 -0.08372551 -0.46080167 4.39068431] [ 0.09843018 0.99511241 0.00792359 -0.38719875] [ 0.45788605 -0.05235764 0.88746777 0.88481531] [ 0. 0. 0. 1. ]] SLAMing on 205.82650248099998 meters Centerline goodness : 0.687742 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88344971 -0.0717887 -0.46299351 4.38897925] [ 0.08398907 0.99645004 0.00575875 -0.3886957 ] [ 0.46093649 -0.04397396 0.88634296 0.88425156] [ 0. 0. 0. 1. ]] SLAMing on 205.85650248099998 meters Centerline goodness : 0.687320 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88381918 -0.06601051 -0.46314822 4.39041943] [ 0.07995894 0.99674261 0.0105231 -0.39062588] [ 0.46094493 -0.04633336 0.88621837 0.88292759] [ 0. 0. 0. 1. ]] SLAMing on 205.88650248099998 meters Centerline goodness : 0.684052 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88365812 -0.05786778 -0.46454241 4.39137687] [ 0.06768481 0.99769675 0.00446836 -0.38735546] [ 0.46321388 -0.03539097 0.8855396 0.88407759] [ 0. 0. 0. 1. ]] SLAMing on 205.91650248099998 meters Centerline goodness : 0.681730 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88398267 -0.05259114 -0.46455227 4.39085286] [ 0.06397127 0.99791332 0.00875702 -0.38832606] [ 0.46312236 -0.03745905 0.8855024 0.88358536] [ 0. 0. 0. 1. ]] SLAMing on 205.94650248099998 meters Centerline goodness : 0.679485 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.88 [[ 0.88413181 -0.05363985 -0.46414838 4.38911528] [ 0.06381792 0.99794208 0.00623505 -0.38419766] [ 0.46285875 -0.03513359 0.88573552 0.88392609] [ 0. 0. 0. 1. ]] SLAMing on 205.97650248099998 meters Centerline goodness : 0.676657 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88400938 -0.05435836 -0.46429795 4.38792858] [ 0.06405161 0.99793346 0.00511782 -0.38301215] [ 0.46306027 -0.03426323 0.88566428 0.8851177 ] [ 0. 0. 0. 1. ]] SLAMing on 206.00650248099998 meters Centerline goodness : 0.674251 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 8.83330597e-01 -6.06611189e-02 -4.64808869e-01 4.38782229e+00] [ 6.80994374e-02 9.97678228e-01 -7.87336292e-04 -3.79219819e-01] [ 4.63777449e-01 -3.09577442e-02 8.85410693e-01 8.86741909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03650248099999 meters Centerline goodness : 0.672518 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.37, Z:0.89 [[ 0.88279186 -0.0668335 -0.46498582 4.38733913] [ 0.07215587 0.99737306 -0.0063643 -0.37425725] [ 0.46418968 -0.0279331 0.88529525 0.88780955] [ 0. 0. 0. 1. ]] SLAMing on 206.066502481 meters Centerline goodness : 0.671924 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.37, Z:0.89 [[ 0.88287989 -0.06701851 -0.46479202 4.38593081] [ 0.07217981 0.9973691 -0.00670427 -0.37373471] [ 0.46401851 -0.02762954 0.88539451 0.88833216] [ 0. 0. 0. 1. ]] SLAMing on 206.096502481 meters Centerline goodness : 0.670141 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 8.83361693e-01 -6.20735128e-02 -4.64563234e-01 4.38285422e+00] [ 6.81077231e-02 9.97670738e-01 -3.79964146e-03 -3.71901619e-01] [ 4.63717002e-01 -2.82838864e-02 8.85531797e-01 8.89429910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.126502481 meters Centerline goodness : 0.664078 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 8.83143904e-01 -6.17549285e-02 -4.65019541e-01 4.38226936e+00] [ 6.81925070e-02 9.97667722e-01 -2.98288966e-03 -3.72617243e-01] [ 4.64119194e-01 -2.90765275e-02 8.85295391e-01 8.90679799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.156502481 meters Centerline goodness : 0.666179 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 8.83227824e-01 -6.20606804e-02 -4.64819409e-01 4.38128116e+00] [ 6.81780982e-02 9.97666470e-01 -3.65532642e-03 -3.71566960e-01] [ 4.63961591e-01 -2.84620173e-02 8.85397964e-01 8.91003725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.186502481 meters Centerline goodness : 0.665449 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.8830622 -0.06249035 -0.46507645 4.38104982] [ 0.06798055 0.99767424 -0.00497543 -0.37016743] [ 0.46430571 -0.02722254 0.88525654 0.89186082] [ 0. 0. 0. 1. ]] SLAMing on 206.216502481 meters Centerline goodness : 0.666728 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.8827512 -0.06831351 -0.46484791 4.38030764] [ 0.0712146 0.99739657 -0.01133896 -0.36607293] [ 0.46441231 -0.02309447 0.88531794 0.89261254] [ 0. 0. 0. 1. ]] SLAMing on 206.246502481 meters Centerline goodness : 0.662492 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88238648 -0.06802814 -0.46558164 4.38146065] [ 0.07090021 0.99741867 -0.01136461 -0.36556206] [ 0.46515294 -0.02298185 0.88493196 0.89346701] [ 0. 0. 0. 1. ]] SLAMing on 206.276502481 meters Centerline goodness : 0.663711 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.89 [[ 0.88239374 -0.06810009 -0.46555736 4.38170101] [ 0.07023394 0.99744861 -0.01278543 -0.36440141] [ 0.46524023 -0.02141615 0.88492535 0.89349191] [ 0. 0. 0. 1. ]] SLAMing on 206.306502481 meters Centerline goodness : 0.661872 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.89 [[ 0.88322234 -0.07003487 -0.46369539 4.37897435] [ 0.0685257 0.99744631 -0.02012655 -0.35495934] [ 0.46392082 -0.01399884 0.88576606 0.89232892] [ 0. 0. 0. 1. ]] SLAMing on 206.336502481 meters Centerline goodness : 0.660035 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.89 [[ 0.88343565 -0.07072568 -0.46318391 4.37722343] [ 0.06805905 0.99742773 -0.02249206 -0.35187138] [ 0.46358324 -0.01165358 0.88597673 0.89267108] [ 0. 0. 0. 1. ]] SLAMing on 206.366502481 meters Centerline goodness : 0.658799 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.89 [[ 0.88359889 -0.07045883 -0.46291312 4.37515513] [ 0.0679719 0.99744299 -0.02207493 -0.35101336] [ 0.46328482 -0.0119597 0.88612874 0.89335939] [ 0. 0. 0. 1. ]] SLAMing on 206.396502481 meters Centerline goodness : 0.661689 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.35, Z:0.89 [[ 0.88356618 -0.07075935 -0.46292972 4.37461084] [ 0.06788665 0.99743049 -0.02288724 -0.34938607] [ 0.4633597 -0.01120435 0.88609946 0.89376187] [ 0. 0. 0. 1. ]] SLAMing on 206.426502481 meters Centerline goodness : 0.664026 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 0.88375423 -0.07644444 -0.46166515 4.37233885] [ 0.07054711 0.99705572 -0.03005005 -0.34432746] [ 0.46260303 -0.00601229 0.88654514 0.89351502] [ 0. 0. 0. 1. ]] SLAMing on 206.45650248099997 meters Centerline goodness : 0.667235 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.35, Z:0.89 [[ 0.88379159 -0.07652955 -0.46157953 4.37240542] [ 0.07092263 0.99704512 -0.02951299 -0.34503638] [ 0.46247423 -0.0066531 0.88660776 0.89325897] [ 0. 0. 0. 1. ]] SLAMing on 206.48650248099997 meters Centerline goodness : 0.667558 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.35, Z:0.89 [[ 0.8842257 -0.07646097 -0.46075876 4.37098621] [ 0.07093301 0.99704974 -0.0293312 -0.34533761] [ 0.46164209 -0.0067476 0.88704061 0.89251793] [ 0. 0. 0. 1. ]] SLAMing on 206.51650248099997 meters Centerline goodness : 0.668676 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 0.88481273 -0.07663434 -0.45960158 4.36830208] [ 0.07038107 0.99704603 -0.03075249 -0.34281479] [ 0.46060063 -0.00513706 0.88759263 0.8919879 ] [ 0. 0. 0. 1. ]] SLAMing on 206.54650248099998 meters Centerline goodness : 0.668090 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.84947843e-01 -7.68979813e-02 -4.59297307e-01 4.36740792e+00] [ 7.02624447e-02 9.97029473e-01 -3.15502719e-02 -3.41203083e-01] [ 4.60359104e-01 -4.35100661e-03 8.87722121e-01 8.92070381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57650248099998 meters Centerline goodness : 0.669219 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85119663e-01 -7.69551618e-02 -4.58956517e-01 4.36738059e+00] [ 7.02703716e-02 9.97025573e-01 -3.16556713e-02 -3.40340112e-01] [ 4.60027452e-01 -4.23198792e-03 8.87894607e-01 8.91405609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60650248099998 meters Centerline goodness : 0.670807 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85241689e-01 -7.78278264e-02 -4.58573856e-01 4.36724193e+00] [ 7.05088317e-02 9.96962176e-01 -3.30896358e-02 -3.38275371e-01] [ 4.59756084e-01 -3.04118180e-03 8.88040030e-01 8.90926218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63650248099998 meters Centerline goodness : 0.671431 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85558181e-01 -7.75272389e-02 -4.58013358e-01 4.36655694e+00] [ 7.02626761e-02 9.96985599e-01 -3.29070165e-02 -3.38358013e-01] [ 4.59183912e-01 -3.04016653e-03 8.88336025e-01 8.90188281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66650248099998 meters Centerline goodness : 0.667812 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85747063e-01 -7.77480587e-02 -4.57610510e-01 4.36625301e+00] [ 7.05249022e-02 9.96968057e-01 -3.28775358e-02 -3.38497916e-01] [ 4.58779226e-01 -3.15175564e-03 8.88544703e-01 8.89560418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69650248099998 meters Centerline goodness : 0.674708 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.33, Z:0.89 [[ 8.85835097e-01 -8.36310850e-02 -4.56401165e-01 4.36500777e+00] [ 7.39062912e-02 9.96496330e-01 -3.91525790e-02 -3.34684008e-01] [ 4.58076459e-01 9.51811210e-04 8.88912286e-01 8.88699884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72650248099998 meters Centerline goodness : 0.670058 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85603443e-01 -8.36942377e-02 -4.56838939e-01 4.36623603e+00] [ 7.44909056e-02 9.96491454e-01 -3.81560955e-02 -3.35742581e-01] [ 4.58429544e-01 -2.39176698e-04 8.88730722e-01 8.88722142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75650248099998 meters Centerline goodness : 0.670621 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.89 [[ 8.86066133e-01 -8.38060006e-02 -4.55920347e-01 4.36462895e+00] [ 7.41602841e-02 9.96481782e-01 -3.90424266e-02 -3.34403652e-01] [ 4.57588309e-01 7.82989483e-04 8.89163836e-01 8.87950187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78650248099999 meters Centerline goodness : 0.673035 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85606536e-01 -8.35973133e-02 -4.56850689e-01 4.36631612e+00] [ 7.50184224e-02 9.96498375e-01 -3.69218697e-02 -3.36241505e-01] [ 4.58337538e-01 -1.57396882e-03 8.88776813e-01 8.88454188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.816502481 meters Centerline goodness : 0.676376 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.89 [[ 8.86222098e-01 -8.35483791e-02 -4.55664417e-01 4.36428304e+00] [ 7.42846329e-02 9.96503721e-01 -3.82377619e-02 -3.34810075e-01] [ 4.57265990e-01 3.82856053e-05 8.89329980e-01 8.87451538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.846502481 meters Centerline goodness : 0.673540 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85812313e-01 -8.32555975e-02 -4.56514021e-01 4.36507351e+00] [ 7.48124702e-02 9.96526681e-01 -3.65741600e-02 -3.37110216e-01] [ 4.57973406e-01 -1.75510035e-03 8.88964161e-01 8.88530775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.876502481 meters Centerline goodness : 0.676056 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.34, Z:0.89 [[ 8.86409846e-01 -8.26032860e-02 -4.55471494e-01 4.36331955e+00] [ 7.38938629e-02 9.96582083e-01 -3.69303182e-02 -3.36520872e-01] [ 4.56965296e-01 -9.21150383e-04 8.89484047e-01 8.87491956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.906502481 meters Centerline goodness : 0.677496 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.34, Z:0.89 [[ 8.86982772e-01 -8.73233468e-02 -4.53471273e-01 4.36085002e+00] [ 7.66266042e-02 9.96176981e-01 -4.19498023e-02 -3.35639755e-01] [ 4.55400841e-01 2.46078821e-03 8.90283111e-01 8.85945999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.936502481 meters Centerline goodness : 0.676077 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.89 [[ 0.88663125 -0.09242667 -0.45314714 4.3606806 ] [ 0.07961486 0.99570217 -0.04731447 -0.33325726] [ 0.45557271 0.00587324 0.8901792 0.88623205] [ 0. 0. 0. 1. ]] SLAMing on 206.966502481 meters Centerline goodness : 0.677532 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.88764975 -0.09222835 -0.45118937 4.35902318] [ 0.07842238 0.99570302 -0.0492486 -0.33264448] [ 0.45379273 0.00833217 0.89106831 0.88368291] [ 0. 0. 0. 1. ]] SLAMing on 206.996502481 meters Centerline goodness : 0.677532 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.88764975 -0.09222835 -0.45118937 4.35902318] [ 0.07842238 0.99570302 -0.0492486 -0.33264448] [ 0.45379273 0.00833217 0.89106831 0.88368291] [ 0. 0. 0. 1. ]] SLAMing on 207.026502481 meters Centerline goodness : 0.678394 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.88817158 -0.09141671 -0.4503268 4.35711441] [ 0.07783134 0.99577937 -0.04863866 -0.33258482] [ 0.45287253 0.00814994 0.89153803 0.88300903] [ 0. 0. 0. 1. ]] SLAMing on 207.056502481 meters Centerline goodness : 0.680299 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.8882939 -0.09113624 -0.45014234 4.35617524] [ 0.07730756 0.99579977 -0.04905473 -0.33056872] [ 0.45272231 0.00877561 0.89160838 0.88317358] [ 0. 0. 0. 1. ]] SLAMing on 207.086502481 meters Centerline goodness : 0.680584 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.88855001 -0.09045643 -0.44977385 4.35618909] [ 0.07752025 0.99587567 -0.04714088 -0.33320859] [ 0.45218303 0.00702045 0.89189754 0.88214058] [ 0. 0. 0. 1. ]] SLAMing on 207.116502481 meters Centerline goodness : 0.681486 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.8890984 -0.09047649 -0.4486848 4.35504689] [ 0.0770584 0.99586478 -0.04811808 -0.33261701] [ 0.45118294 0.00820677 0.89239375 0.88078547] [ 0. 0. 0. 1. ]] SLAMing on 207.146502481 meters Centerline goodness : 0.681520 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.33, Z:0.88 [[ 0.88929767 -0.09508412 -0.44733506 4.35474341] [ 0.08043639 0.99541928 -0.05167643 -0.33358948] [ 0.45019955 0.00997371 0.89287227 0.87898148] [ 0. 0. 0. 1. ]] SLAMing on 207.176502481 meters Centerline goodness : 0.678388 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.33, Z:0.88 [[ 0.88981134 -0.09521858 -0.44628377 4.35334859] [ 0.07998999 0.99539153 -0.05288959 -0.33237359] [ 0.44926316 0.01136352 0.8933272 0.87791802] [ 0. 0. 0. 1. ]] SLAMing on 207.20650248099997 meters Centerline goodness : 0.681177 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.8898595 -0.09461111 -0.44631693 4.35319472] [ 0.08049583 0.99547327 -0.05053103 -0.33587367] [ 0.44907737 0.00903886 0.89344715 0.87784482] [ 0. 0. 0. 1. ]] SLAMing on 207.23650248099997 meters Centerline goodness : 0.676652 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.88968675 -0.09443521 -0.44669842 4.35399779] [ 0.08096769 0.99550201 -0.04919327 -0.3373416 ] [ 0.44933476 0.00759846 0.89333115 0.87794766] [ 0. 0. 0. 1. ]] SLAMing on 207.26650248099997 meters Centerline goodness : 0.677764 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.89036912 -0.09467317 -0.44528622 4.35228308] [ 0.08040158 0.99546307 -0.0508809 -0.33520654] [ 0.44808305 0.00950106 0.89394145 0.87644748] [ 0. 0. 0. 1. ]] SLAMing on 207.29650248099998 meters Centerline goodness : 0.673377 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.88987253 -0.09483817 -0.44624276 4.35433107] [ 0.08125554 0.99546205 -0.04952622 -0.33659667] [ 0.44891471 0.00781232 0.89354046 0.87691785] [ 0. 0. 0. 1. ]] SLAMing on 207.32650248099998 meters Centerline goodness : 0.678019 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.89016805 -0.09498647 -0.44562137 4.35353384] [ 0.08120715 0.99544404 -0.04996551 -0.33567368] [ 0.44833719 0.00829006 0.89382607 0.87620248] [ 0. 0. 0. 1. ]] SLAMing on 207.35650248099998 meters Centerline goodness : 0.679127 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.88999653 -0.09483005 -0.44599712 4.35444323] [ 0.0817996 0.99547147 -0.04842911 -0.33827255] [ 0.44856995 0.00661935 0.89372322 0.8762124 ] [ 0. 0. 0. 1. ]] SLAMing on 207.38650248099998 meters Centerline goodness : 0.675595 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.89011807 -0.09467796 -0.44578684 4.35471272] [ 0.08176641 0.99548727 -0.04815965 -0.33901789] [ 0.44833478 0.00641739 0.89384268 0.87559811] [ 0. 0. 0. 1. ]] SLAMing on 207.41650248099998 meters Centerline goodness : 0.674166 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.34, Z:0.88 [[ 0.8900407 -0.09396163 -0.44609277 4.35537699] [ 0.08202506 0.99556614 -0.04604284 -0.34079031] [ 0.44844112 0.00438921 0.8938016 0.87558131] [ 0. 0. 0. 1. ]] SLAMing on 207.44650248099998 meters Centerline goodness : 0.675962 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 8.90203131e-01 -9.31841309e-02 -4.45931725e-01 4.35499512e+00] [ 8.17689647e-02 9.95642962e-01 -4.48210672e-02 -3.42840802e-01] [ 4.48165396e-01 3.43647892e-03 8.93944052e-01 8.75379528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47650248099998 meters Centerline goodness : 0.675058 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.35, Z:0.87 [[ 8.91542531e-01 -9.12517016e-02 -4.43649685e-01 4.35125192e+00] [ 8.00190568e-02 9.95820813e-01 -4.40211093e-02 -3.46870208e-01] [ 4.45812591e-01 3.74626185e-03 8.95118483e-01 8.73250395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50650248099998 meters Centerline goodness : 0.675768 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.35, Z:0.86 [[ 0.89318504 -0.08707325 -0.4411788 4.33281203] [ 0.07588805 0.99618984 -0.04297445 -0.35448977] [ 0.44323976 0.00490393 0.89638968 0.86113738] [ 0. 0. 0. 1. ]] SLAMing on 207.53650248099999 meters Centerline goodness : 0.676578 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.36, Z:0.86 [[ 0.89395882 -0.08565348 -0.4398876 4.33089229] [ 0.07463601 0.99631244 -0.04232016 -0.35599958] [ 0.44189036 0.00500102 0.89705513 0.8597734 ] [ 0. 0. 0. 1. ]] SLAMing on 207.566502481 meters Centerline goodness : 0.674132 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.36, Z:0.86 [[ 0.8951341 -0.08451714 -0.437712 4.32754132] [ 0.07264164 0.99639421 -0.04383789 -0.35605649] [ 0.43983876 0.00744467 0.8980459 0.85775386] [ 0. 0. 0. 1. ]] SLAMing on 207.596502481 meters Centerline goodness : 0.675220 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.35, Z:0.86 [[ 0.89585429 -0.0843613 -0.43626628 4.32568294] [ 0.07187154 0.99639424 -0.04508873 -0.35480733] [ 0.43849695 0.0090378 0.89868723 0.85623017] [ 0. 0. 0. 1. ]] SLAMing on 207.626502481 meters Centerline goodness : 0.671442 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.35, Z:0.85 [[ 0.89707468 -0.08465826 -0.43369344 4.32196319] [ 0.06995423 0.99630711 -0.04978506 -0.34849794] [ 0.43630657 0.01432223 0.89968408 0.85403666] [ 0. 0. 0. 1. ]] SLAMing on 207.656502481 meters Centerline goodness : 0.671400 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.35, Z:0.84 [[ 0.89744176 -0.07928777 -0.433949 4.3072138 ] [ 0.06396559 0.99670754 -0.04982457 -0.35484754] [ 0.43647072 0.01695685 0.89955866 0.84462704] [ 0. 0. 0. 1. ]] SLAMing on 207.686502481 meters Centerline goodness : 0.671665 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.36, Z:0.84 [[ 0.8973723 -0.07210649 -0.43534309 4.29291697] [ 0.05641367 0.99721004 -0.04888386 -0.35971565] [ 0.43765335 0.01930772 0.89893646 0.83579806] [ 0. 0. 0. 1. ]] SLAMing on 207.716502481 meters Centerline goodness : 0.671934 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.36, Z:0.84 [[ 0.89736889 -0.07188515 -0.43538672 4.29354304] [ 0.0562589 0.99722805 -0.04869442 -0.35953882] [ 0.43768025 0.01920248 0.89892561 0.83549521] [ 0. 0. 0. 1. ]] SLAMing on 207.746502481 meters Centerline goodness : 0.670737 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.36, Z:0.83 [[ 0.89707692 -0.06741868 -0.43670095 4.279841 ] [ 0.05004515 0.99743463 -0.05118234 -0.3627422 ] [ 0.4390313 0.02405973 0.89814957 0.82806642] [ 0. 0. 0. 1. ]] SLAMing on 207.776502481 meters Centerline goodness : 0.671414 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.36, Z:0.83 [[ 0.89728654 -0.0671017 -0.43631895 4.27907707] [ 0.05012524 0.99747449 -0.0503199 -0.36437335] [ 0.43859358 0.02328078 0.89838393 0.82716117] [ 0. 0. 0. 1. ]] SLAMing on 207.806502481 meters Centerline goodness : 0.670620 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.36, Z:0.83 [[ 0.89742357 -0.0675989 -0.43596022 4.27815023] [ 0.05046978 0.99743443 -0.05076772 -0.36306544] [ 0.43827358 0.02355733 0.89853287 0.82702572] [ 0. 0. 0. 1. ]] SLAMing on 207.836502481 meters Centerline goodness : 0.668991 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.37, Z:0.83 [[ 0.897826 -0.06792102 -0.43508069 4.27676045] [ 0.0511177 0.99742895 -0.05022422 -0.36551884] [ 0.43737336 0.02285229 0.89898961 0.82550567] [ 0. 0. 0. 1. ]] SLAMing on 207.866502481 meters Centerline goodness : 0.668810 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.37, Z:0.81 [[ 0.89939002 -0.06438009 -0.43238039 4.25824853] [ 0.04793237 0.99765562 -0.04884419 -0.37380953] [ 0.43451132 0.02320496 0.9003674 0.81254441] [ 0. 0. 0. 1. ]] SLAMing on 207.896502481 meters Centerline goodness : 0.669445 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.38, Z:0.81 [[ 0.89998774 -0.06489582 -0.43105754 4.2552949 ] [ 0.04881664 0.99764056 -0.04827272 -0.37744136] [ 0.43317318 0.02240207 0.90103226 0.81114841] [ 0. 0. 0. 1. ]] SLAMing on 207.926502481 meters Centerline goodness : 0.667180 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.39, Z:0.80 [[ 0.9015297 -0.06153648 -0.42831936 4.23814065] [ 0.04507934 0.99780679 -0.04847121 -0.38508733] [ 0.43036271 0.02438988 0.90232648 0.79911904] [ 0. 0. 0. 1. ]] SLAMing on 207.95650248099997 meters Centerline goodness : 0.662513 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.39, Z:0.80 [[ 0.90207088 -0.0622904 -0.42706912 4.23672214] [ 0.04586 0.99776193 -0.04866197 -0.38864625] [ 0.42914448 0.02431116 0.90290862 0.79760497] [ 0. 0. 0. 1. ]] SLAMing on 207.98650248099997 meters Centerline goodness : 0.662002 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.39, Z:0.80 [[ 0.90269827 -0.06296253 -0.42564252 4.23531917] [ 0.04650245 0.99771742 -0.04896394 -0.38931484] [ 0.42775385 0.02440625 0.9035657 0.79587906] [ 0. 0. 0. 1. ]] SLAMing on 208.01650248099997 meters Centerline goodness : 0.662090 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.39, Z:0.79 [[ 0.90376827 -0.05961668 -0.42384993 4.2198342 ] [ 0.0416247 0.9978005 -0.05159014 -0.3942578 ] [ 0.4259933 0.02898291 0.90426196 0.78649207] [ 0. 0. 0. 1. ]] SLAMing on 208.04650248099998 meters Centerline goodness : 0.656581 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.40, Z:0.77 [[ 0.90615793 -0.05569875 -0.41925583 4.20061743] [ 0.03817288 0.9980153 -0.05008289 -0.40189885] [ 0.42121329 0.02937881 0.90648566 0.77144305] [ 0. 0. 0. 1. ]] SLAMing on 208.07650248099998 meters Centerline goodness : 0.643030 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.41, Z:0.76 [[ 0.90913922 -0.05118443 -0.41333525 4.18254085] [ 0.03406071 0.99823269 -0.04869665 -0.40765789] [ 0.41509727 0.03019355 0.90927587 0.75700743] [ 0. 0. 0. 1. ]] Total time of SLAM: 13255.24 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%| | 0/6920 [00:00