+ python -m lidar_slam --no-model /working/bf93c59f-27bf-49ef-9b80-e53a775838a6 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/bf93c59f-27bf-49ef-9b80-e53a775838a6 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 0.026296757 Adjusted end_distance from 9.223372036854776e+18 to 238.266296757 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026296757 meters Centerline goodness : 0.234673 Centerline is valid? [0, False] SLAMing on 0.056296757 meters Centerline goodness : 0.156925 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:0.00 [[ 9.99685534e-01 2.13683094e-02 -1.31236082e-02 7.53574199e-02] [-2.14432699e-02 9.99754394e-01 -5.59796038e-03 5.29691867e-02] [ 1.30007660e-02 5.87761309e-03 9.99898212e-01 2.32873306e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.086296757 meters Centerline goodness : 0.154656 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:0.01 [[ 0.9995364 0.01351676 -0.02728162 0.13285687] [-0.01395609 0.99977494 -0.01597791 0.01878888] [ 0.02705951 0.01635125 0.99950008 0.01192387] [ 0. 0. 0. 1. ]] SLAMing on 0.11629675700000001 meters Centerline goodness : 0.153244 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.06, Z:0.01 [[ 0.99929825 0.00581481 -0.03700258 0.16174982] [-0.00647527 0.99982141 -0.01775444 -0.05726483] [ 0.03689274 0.01798158 0.99915744 0.00945194] [ 0. 0. 0. 1. ]] SLAMing on 0.146296757 meters Centerline goodness : 0.144154 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.10, Z:0.00 [[ 0.99950412 -0.00344241 -0.03129952 0.17341982] [ 0.00301406 0.9999013 -0.01372221 -0.10105706] [ 0.03134366 0.01362107 0.99941585 0.00172724] [ 0. 0. 0. 1. ]] SLAMing on 0.17629675700000003 meters Centerline goodness : 0.149877 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.15, Z:0.00 [[ 0.99948281 0.00189289 -0.03210178 0.21309039] [-0.0021808 0.99995769 -0.00893603 -0.14694415] [ 0.03208351 0.00900142 0.99944466 0.00259322] [ 0. 0. 0. 1. ]] SLAMing on 0.20629675700000003 meters Centerline goodness : 0.113913 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.22, Z:-0.00 [[ 9.99610210e-01 -1.15254251e-02 -2.54281921e-02 2.27862122e-01] [ 1.15088265e-02 9.99933452e-01 -7.99019598e-04 -2.19509136e-01] [ 2.54357090e-02 5.06059496e-04 9.99676332e-01 -2.07150601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23629675700000002 meters Centerline goodness : 0.113522 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.29, Z:-0.01 [[ 0.99983382 -0.00612215 -0.0171712 0.18498801] [ 0.00638103 0.99986619 0.01506269 -0.28806156] [ 0.01707669 -0.01516976 0.9997391 -0.00559254] [ 0. 0. 0. 1. ]] SLAMing on 0.266296757 meters Centerline goodness : 0.112766 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.22, Z:-0.01 [[ 0.99928909 -0.00852621 -0.03672347 0.27569396] [ 0.00894466 0.99989676 0.0112455 -0.22267867] [ 0.0366238 -0.01156599 0.99926219 -0.01074311] [ 0. 0. 0. 1. ]] SLAMing on 0.296296757 meters Centerline goodness : 0.129051 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.24, Z:-0.02 [[ 0.99909087 -0.02088232 -0.03716656 0.303553 ] [ 0.02140284 0.99967757 0.0136629 -0.24300507] [ 0.03686926 -0.01444595 0.99921568 -0.01563596] [ 0. 0. 0. 1. ]] SLAMing on 0.32629675700000005 meters Centerline goodness : 0.115924 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.24, Z:-0.02 [[ 0.9990892 -0.0209852 -0.03715354 0.30365797] [ 0.02150058 0.99967733 0.01352663 -0.24267538] [ 0.03685769 -0.01431313 0.99921802 -0.01582108] [ 0. 0. 0. 1. ]] SLAMing on 0.356296757 meters Centerline goodness : 0.128975 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.24, Z:-0.02 [[ 0.99908306 -0.02131078 -0.03713352 0.30350026] [ 0.02180462 0.99967844 0.01294523 -0.24121732] [ 0.03684571 -0.01374305 0.99922646 -0.01576867] [ 0. 0. 0. 1. ]] SLAMing on 0.38629675700000005 meters Centerline goodness : 0.114407 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.24, Z:-0.02 [[ 0.9990804 -0.02144033 -0.03713036 0.30363778] [ 0.02192449 0.99967919 0.0126817 -0.24071757] [ 0.03684655 -0.01348411 0.99922996 -0.01597921] [ 0. 0. 0. 1. ]] SLAMing on 0.416296757 meters Centerline goodness : 0.114337 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.24, Z:-0.02 [[ 0.99908697 -0.02142447 -0.03696245 0.30376277] [ 0.02190537 0.99967995 0.01265502 -0.24122978] [ 0.03667949 -0.01345314 0.99923652 -0.01648841] [ 0. 0. 0. 1. ]] SLAMing on 0.44629675700000004 meters Centerline goodness : 0.114305 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.24, Z:-0.02 [[ 0.99907147 -0.02217527 -0.03693866 0.30377252] [ 0.02261549 0.9996776 0.01154289 -0.23801699] [ 0.03667078 -0.01236755 0.99925087 -0.01653988] [ 0. 0. 0. 1. ]] SLAMing on 0.476296757 meters Centerline goodness : 0.114779 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.23, Z:-0.02 [[ 0.99904846 -0.02288989 -0.03712454 0.30382769] [ 0.02329519 0.99967326 0.01052169 -0.23454126] [ 0.03687157 -0.0113765 0.99925525 -0.01621676] [ 0. 0. 0. 1. ]] SLAMing on 0.506296757 meters Centerline goodness : 0.114684 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.23, Z:-0.02 [[ 0.99903503 -0.02331822 -0.03721929 0.30411299] [ 0.02370542 0.99966901 0.00999615 -0.23311486] [ 0.03697387 -0.0108688 0.99925712 -0.01628918] [ 0. 0. 0. 1. ]] SLAMing on 0.536296757 meters Centerline goodness : 0.127935 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.23, Z:-0.02 [[ 0.99902497 -0.02379909 -0.03718484 0.30481246] [ 0.02417219 0.99966156 0.00961634 -0.2333973 ] [ 0.03694339 -0.01050581 0.99926213 -0.01693299] [ 0. 0. 0. 1. ]] SLAMing on 0.566296757 meters Centerline goodness : 0.115394 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.23, Z:-0.02 [[ 0.99902037 -0.02413984 -0.03708872 0.30483397] [ 0.02449933 0.99965688 0.00926886 -0.23302562] [ 0.03685225 -0.01016843 0.99926899 -0.01699699] [ 0. 0. 0. 1. ]] SLAMing on 0.5962967570000001 meters Centerline goodness : 0.115893 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.02 [[ 0.99897592 -0.02530237 -0.03750881 0.30630828] [ 0.02563396 0.99963622 0.00838598 -0.23153528] [ 0.03728298 -0.0093389 0.99926111 -0.01727997] [ 0. 0. 0. 1. ]] SLAMing on 0.6262967570000001 meters Centerline goodness : 0.115907 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.02 [[ 0.99895713 -0.02591367 -0.03759156 0.30714954] [ 0.02622018 0.99962666 0.00768349 -0.22982526] [ 0.03737842 -0.00866114 0.99926365 -0.0179759 ] [ 0. 0. 0. 1. ]] SLAMing on 0.656296757 meters Centerline goodness : 0.115400 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.02 [[ 0.99889862 -0.02684496 -0.03848242 0.31191175] [ 0.02714154 0.99960563 0.00720535 -0.22574906] [ 0.03827382 -0.00824188 0.9992333 -0.02068435] [ 0. 0. 0. 1. ]] SLAMing on 0.686296757 meters Centerline goodness : 0.113868 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.02 [[ 0.99887646 -0.02744589 -0.03863333 0.31315658] [ 0.02770877 0.99959628 0.00628557 -0.22320579] [ 0.03844522 -0.00734899 0.99923369 -0.0215172 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7162967570000001 meters Centerline goodness : 0.115098 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.22, Z:-0.02 [[ 0.99885472 -0.02797176 -0.03881785 0.31458015] [ 0.02820314 0.99958749 0.00542586 -0.22086432] [ 0.03865007 -0.00651443 0.99923157 -0.02246148] [ 0. 0. 0. 1. ]] SLAMing on 0.7462967570000001 meters Centerline goodness : 0.115379 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.22, Z:-0.03 [[ 0.99879911 -0.02844581 -0.03988943 0.32029888] [ 0.02869543 0.99957195 0.00569927 -0.21556642] [ 0.03971024 -0.00683707 0.99918785 -0.02515797] [ 0. 0. 0. 1. ]] SLAMing on 0.7762967570000001 meters Centerline goodness : 0.115379 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.22, Z:-0.03 [[ 0.99879911 -0.02844581 -0.03988943 0.32029888] [ 0.02869543 0.99957195 0.00569927 -0.21556642] [ 0.03971024 -0.00683707 0.99918785 -0.02515797] [ 0. 0. 0. 1. ]] SLAMing on 0.806296757 meters Centerline goodness : 0.114962 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.21, Z:-0.03 [[ 0.99876176 -0.02936585 -0.04015715 0.3217825 ] [ 0.02957205 0.99955229 0.00455028 -0.21197872] [ 0.04000555 -0.00573218 0.99918302 -0.02571861] [ 0. 0. 0. 1. ]] SLAMing on 0.8362967570000001 meters Centerline goodness : 0.115240 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.03 [[ 0.99890504 -0.03107232 -0.03497481 0.33652358] [ 0.03149784 0.99943555 0.01168202 -0.20838775] [ 0.03459208 -0.01277086 0.99931992 -0.03203025] [ 0. 0. 0. 1. ]] SLAMing on 0.8662967570000001 meters Centerline goodness : 0.113633 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.03 [[ 0.99885561 -0.03183604 -0.03569227 0.33939284] [ 0.03224243 0.99942098 0.01086855 -0.20417573] [ 0.03532559 -0.01200692 0.99930373 -0.03310916] [ 0. 0. 0. 1. ]] SLAMing on 0.8962967570000001 meters Centerline goodness : 0.113914 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.03 [[ 0.99880886 -0.03296706 -0.03597266 0.34070988] [ 0.03332827 0.99939942 0.00948793 -0.19986668] [ 0.03563827 -0.01067554 0.99930773 -0.03349135] [ 0. 0. 0. 1. ]] SLAMing on 0.926296757 meters Centerline goodness : 0.111125 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.19, Z:-0.04 [[ 0.99897505 -0.02995168 -0.03393731 0.35554209] [ 0.03011605 0.99953698 0.0043425 -0.19320448] [ 0.03379153 -0.00536011 0.99941453 -0.03617133] [ 0. 0. 0. 1. ]] SLAMing on 0.956296757 meters Centerline goodness : 0.113607 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.19, Z:-0.04 [[ 0.99896486 -0.02983411 -0.03433857 0.35962511] [ 0.0299955 0.99954123 0.00419443 -0.19138031] [ 0.03419768 -0.00522009 0.99940146 -0.03934939] [ 0. 0. 0. 1. ]] SLAMing on 0.9862967570000001 meters Centerline goodness : 0.110492 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.05 [[ 0.99893019 -0.03020078 -0.03501997 0.36766336] [ 0.03037321 0.99952893 0.00440226 -0.18983942] [ 0.03487052 -0.00546122 0.99937692 -0.04517733] [ 0. 0. 0. 1. ]] SLAMing on 1.016296757 meters Centerline goodness : 0.111900 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.05 [[ 0.99891907 -0.02977371 -0.03569624 0.37261424] [ 0.0299611 0.99953989 0.00472592 -0.1876964 ] [ 0.03553911 -0.00579031 0.99935151 -0.04864777] [ 0. 0. 0. 1. ]] SLAMing on 1.046296757 meters Centerline goodness : 0.109764 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.05 [[ 0.99892798 -0.02839504 -0.03655973 0.37868397] [ 0.02864898 0.99956878 0.00644083 -0.18518513] [ 0.03636108 -0.00748133 0.99931071 -0.05291952] [ 0. 0. 0. 1. ]] SLAMing on 1.076296757 meters Centerline goodness : 0.109135 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.18, Z:-0.05 [[ 0.99883774 -0.02477953 -0.04134188 0.40244828] [ 0.0251651 0.99964429 0.00883207 -0.18107823] [ 0.04110832 -0.00986218 0.99910602 -0.05454522] [ 0. 0. 0. 1. ]] SLAMing on 1.106296757 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 1.136296757 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 1.166296757 meters Centerline goodness : 0.127191 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.06 [[ 0.99855689 -0.02733824 -0.04622511 0.43837404] [ 0.0278047 0.99956844 0.00947816 -0.17645872] [ 0.04594605 -0.01074975 0.99888608 -0.06404394] [ 0. 0. 0. 1. ]] SLAMing on 1.196296757 meters Centerline goodness : 0.619865 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.07 [[ 0.99846511 -0.02903571 -0.04716304 0.44436047] [ 0.02945733 0.99953183 0.00826922 -0.17535208] [ 0.04690086 -0.00964582 0.99885298 -0.06821515] [ 0. 0. 0. 1. ]] SLAMing on 1.226296757 meters Centerline goodness : 0.605970 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.17, Z:-0.08 [[ 0.99829997 -0.03248503 -0.04839317 0.45654532] [ 0.03284927 0.99943752 0.00675014 -0.17426156] [ 0.04814667 -0.00832835 0.99880556 -0.07665953] [ 0. 0. 0. 1. ]] SLAMing on 1.256296757 meters Centerline goodness : 0.290489 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.17, Z:-0.08 [[ 0.99822708 -0.03340317 -0.04926382 0.46248251] [ 0.03375407 0.99941026 0.006308 -0.17326608] [ 0.04902406 -0.00795968 0.99876588 -0.0807878 ] [ 0. 0. 0. 1. ]] SLAMing on 1.286296757 meters Centerline goodness : 0.126833 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.17, Z:-0.09 [[ 0.99811085 -0.03516083 -0.05038305 0.47084181] [ 0.03551729 0.99934985 0.006197 -0.17120496] [ 0.0501324 -0.00797476 0.99871074 -0.08568147] [ 0. 0. 0. 1. ]] SLAMing on 1.316296757 meters Centerline goodness : 0.122975 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.09 [[ 0.99804802 -0.03581722 -0.0511594 0.47642623] [ 0.0361605 0.99932916 0.00579999 -0.17007419] [ 0.05091734 -0.00763862 0.99867366 -0.08965448] [ 0. 0. 0. 1. ]] SLAMing on 1.346296757 meters Centerline goodness : 0.127413 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.09 [[ 0.99800265 -0.03608102 -0.05185423 0.48189793] [ 0.03642378 0.99932029 0.00568009 -0.16901327] [ 0.05161404 -0.00755747 0.99863851 -0.09364585] [ 0. 0. 0. 1. ]] SLAMing on 1.376296757 meters Centerline goodness : 0.127050 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.10 [[ 0.99796079 -0.03595565 -0.05273946 0.48773597] [ 0.0363112 0.99932371 0.00579856 -0.167546 ] [ 0.0524953 -0.00770177 0.99859147 -0.09772501] [ 0. 0. 0. 1. ]] SLAMing on 1.406296757 meters Centerline goodness : 0.205824 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.10 [[ 0.99784909 -0.03692833 -0.05416166 0.49886285] [ 0.03730994 0.99928542 0.00605125 -0.16429751] [ 0.0538995 -0.008059 0.99851384 -0.10497217] [ 0. 0. 0. 1. ]] SLAMing on 1.436296757 meters Centerline goodness : 0.217664 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.11 [[ 0.99776035 -0.03820793 -0.05490389 0.50405388] [ 0.03854264 0.9992442 0.00505008 -0.16259972] [ 0.05466944 -0.00715491 0.99847887 -0.10853754] [ 0. 0. 0. 1. ]] SLAMing on 1.466296757 meters Centerline goodness : 0.242198 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.12 [[ 0.99752519 -0.0452452 -0.05381797 0.52260622] [ 0.04559448 0.99894608 0.00527941 -0.15987556] [ 0.05352238 -0.00772014 0.99853681 -0.11586296] [ 0. 0. 0. 1. ]] SLAMing on 1.496296757 meters Centerline goodness : 0.246538 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.12 [[ 0.99741415 -0.04666979 -0.0546529 0.52799535] [ 0.04696521 0.99888798 0.00413285 -0.15767512] [ 0.05439924 -0.00668895 0.99849686 -0.11934068] [ 0. 0. 0. 1. ]] SLAMing on 1.5262967570000001 meters Centerline goodness : 0.235045 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.13 [[ 0.99733163 -0.049558 -0.05360613 0.54912273] [ 0.05002223 0.99872104 0.0073523 -0.15239604] [ 0.05317321 -0.01001418 0.99853509 -0.12708654] [ 0. 0. 0. 1. ]] SLAMing on 1.556296757 meters Centerline goodness : 0.613387 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.13 [[ 0.99765856 -0.0464342 -0.05021217 0.56145138] [ 0.04656741 0.99891405 0.00148572 -0.14724396] [ 0.05008865 -0.00382049 0.99873747 -0.12971429] [ 0. 0. 0. 1. ]] SLAMing on 1.586296757 meters Centerline goodness : 0.232323 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.14, Z:-0.13 [[ 9.98047586e-01 -4.46454987e-02 -4.36783282e-02 5.75484645e-01] [ 4.46576645e-02 9.99002105e-01 -6.97667552e-04 -1.42491116e-01] [ 4.36658895e-02 -1.25426671e-03 9.99045403e-01 -1.33574386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.616296757 meters Centerline goodness : 0.238596 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.14 [[ 0.99842533 -0.04143172 -0.03781907 0.58814984] [ 0.04126275 0.9991346 -0.00523795 -0.13745906] [ 0.03800336 0.00366918 0.99927087 -0.13796452] [ 0. 0. 0. 1. ]] SLAMing on 1.646296757 meters Centerline goodness : 0.465629 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.14 [[ 9.98646985e-01 -3.89491912e-02 -3.44551837e-02 6.09432728e-01] [ 3.89136703e-02 9.99241128e-01 -1.70117435e-03 -1.32492723e-01] [ 3.44952960e-02 3.58094979e-04 9.99404796e-01 -1.40157196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.676296757 meters Centerline goodness : 0.416875 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.14 [[ 0.99898708 -0.03485035 -0.02846506 0.62085374] [ 0.03469163 0.99937974 -0.00605129 -0.12777521] [ 0.02865829 0.00505766 0.99957647 -0.1435863 ] [ 0. 0. 0. 1. ]] SLAMing on 1.706296757 meters Centerline goodness : 0.760702 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.15 [[ 0.99913048 -0.03330365 -0.02508291 0.64223694] [ 0.03321117 0.99943997 -0.0040945 -0.12346147] [ 0.02520522 0.00325791 0.99967699 -0.14639859] [ 0. 0. 0. 1. ]] SLAMing on 1.736296757 meters Centerline goodness : 0.755703 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.15 [[ 0.999358 -0.02989512 -0.01974506 0.65444031] [ 0.02971176 0.99951322 -0.00951518 -0.11960451] [ 0.02001991 0.00892241 0.99975977 -0.15045912] [ 0. 0. 0. 1. ]] SLAMing on 1.766296757 meters Centerline goodness : 0.763508 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.15 [[ 0.99935599 -0.02913102 -0.02095194 0.65891394] [ 0.02895927 0.99954484 -0.00845438 -0.11819571] [ 0.02118869 0.00784218 0.99974474 -0.15239618] [ 0. 0. 0. 1. ]] SLAMing on 1.7962967570000001 meters Centerline goodness : 0.759366 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.16 [[ 0.9994437 -0.02870935 -0.01697264 0.6799824 ] [ 0.02864295 0.99958112 -0.0041424 -0.11642266] [ 0.01708446 0.00365395 0.99984737 -0.15514057] [ 0. 0. 0. 1. ]] SLAMing on 1.826296757 meters Centerline goodness : 0.763557 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.15 [[ 0.99941489 -0.02934994 -0.01756274 0.68212829] [ 0.02929106 0.99956444 -0.0036002 -0.11650919] [ 0.01766076 0.00308366 0.99983928 -0.15486558] [ 0. 0. 0. 1. ]] SLAMing on 1.856296757 meters Centerline goodness : 0.758977 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.16 [[ 0.99942165 -0.03250059 -0.01000354 0.694056 ] [ 0.03251674 0.99947013 0.00145577 -0.11836246] [ 0.00995093 -0.00178021 0.9999489 -0.15954429] [ 0. 0. 0. 1. ]] SLAMing on 1.886296757 meters Centerline goodness : 0.770333 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.16 [[ 0.99907646 -0.04086892 -0.01326519 0.70575249] [ 0.04092139 0.99915549 0.00370835 -0.11864246] [ 0.01310244 -0.00424775 0.99990514 -0.15697409] [ 0. 0. 0. 1. ]] SLAMing on 1.916296757 meters Centerline goodness : 0.769077 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.16 [[ 0.99895346 -0.04339519 -0.01445169 0.71061544] [ 0.04343116 0.99905403 0.00218456 -0.11886242] [ 0.01434322 -0.00280993 0.99989318 -0.1591419 ] [ 0. 0. 0. 1. ]] SLAMing on 1.946296757 meters Centerline goodness : 0.767311 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.16 [[ 0.99869286 -0.0498155 -0.01144482 0.73224717] [ 0.04983541 0.99875638 0.00146096 -0.12244145] [ 0.01135781 -0.00202941 0.99993344 -0.16233131] [ 0. 0. 0. 1. ]] SLAMing on 1.976296757 meters Centerline goodness : 0.779306 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.16 [[ 0.99861035 -0.05108351 -0.01295517 0.73675568] [ 0.05114473 0.99868139 0.00443911 -0.12684167] [ 0.01271132 -0.00509553 0.99990622 -0.16177593] [ 0. 0. 0. 1. ]] SLAMing on 2.0062967570000003 meters Centerline goodness : 0.779571 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.16 [[ 0.99842202 -0.05463481 -0.01298112 0.73775451] [ 0.05465723 0.99850422 0.00137901 -0.12889198] [ 0.01288636 -0.00208634 0.99991479 -0.16212454] [ 0. 0. 0. 1. ]] SLAMing on 2.036296757 meters Centerline goodness : 0.792823 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.14, Z:-0.16 [[ 0.99811649 -0.05864328 -0.01801216 0.75395795] [ 0.05895019 0.99811601 0.0170087 -0.141422 ] [ 0.01698078 -0.01803848 0.99969309 -0.16120108] [ 0. 0. 0. 1. ]] SLAMing on 2.066296757 meters Centerline goodness : 0.793768 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.16 [[ 0.99811531 -0.05847678 -0.01860888 0.75583739] [ 0.05881458 0.99810383 0.01815463 -0.14367451] [ 0.01751197 -0.01921489 0.999662 -0.16162835] [ 0. 0. 0. 1. ]] SLAMing on 2.096296757 meters Centerline goodness : 0.518515 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.16 [[ 0.99817075 -0.05757489 -0.01844661 0.75663831] [ 0.05795628 0.99810128 0.0208545 -0.14716882] [ 0.01721089 -0.02188545 0.99961233 -0.16098928] [ 0. 0. 0. 1. ]] SLAMing on 2.126296757 meters Centerline goodness : 0.755418 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.16 [[ 0.99817439 -0.05732613 -0.01901599 0.7573933 ] [ 0.05773517 0.9980959 0.02170761 -0.14772174] [ 0.01773537 -0.02276587 0.9995835 -0.16000685] [ 0. 0. 0. 1. ]] SLAMing on 2.1562967570000002 meters Centerline goodness : 0.744076 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.16 [[ 0.99818431 -0.0569668 -0.01956697 0.758243 ] [ 0.0574148 0.99808192 0.02315227 -0.14959155] [ 0.01821053 -0.02423366 0.99954045 -0.1588697 ] [ 0. 0. 0. 1. ]] SLAMing on 2.186296757 meters Centerline goodness : 0.802888 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.16 [[ 0.99818977 -0.05691777 -0.01943073 0.7578291 ] [ 0.0574236 0.99799678 0.02655084 -0.15606733] [ 0.0178806 -0.02761856 0.9994586 -0.15550133] [ 0. 0. 0. 1. ]] SLAMing on 2.2162967570000003 meters Centerline goodness : 0.783332 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.15 [[ 0.99830663 -0.05406547 -0.02146634 0.76181254] [ 0.05477983 0.99791206 0.03421548 -0.16204174] [ 0.01957165 -0.03533346 0.99918392 -0.15325789] [ 0. 0. 0. 1. ]] SLAMing on 2.246296757 meters Centerline goodness : 0.734052 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.15 [[ 0.99836886 -0.05551056 -0.0133488 0.77248635] [ 0.05591021 0.99793224 0.03170633 -0.16317353] [ 0.01156116 -0.03240094 0.99940808 -0.15278129] [ 0. 0. 0. 1. ]] SLAMing on 2.276296757 meters Centerline goodness : 0.811643 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.17, Z:-0.15 [[ 0.99849435 -0.05263766 -0.01543708 0.77619114] [ 0.05321642 0.99778776 0.03984473 -0.16937255] [ 0.01330559 -0.04060625 0.99908663 -0.14959032] [ 0. 0. 0. 1. ]] SLAMing on 2.306296757 meters Centerline goodness : 0.749931 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.17, Z:-0.15 [[ 0.99874337 -0.04824891 -0.01355468 0.78968356] [ 0.04862834 0.99838951 0.02921755 -0.17136399] [ 0.01212313 -0.02983997 0.99948117 -0.14601063] [ 0. 0. 0. 1. ]] SLAMing on 2.336296757 meters Centerline goodness : 0.821797 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.17, Z:-0.15 [[ 0.99874887 -0.04798743 -0.01406807 0.79074597] [ 0.04840166 0.9983544 0.03075338 -0.17463321] [ 0.01256914 -0.03139582 0.999428 -0.1453 ] [ 0. 0. 0. 1. ]] SLAMing on 2.366296757 meters Centerline goodness : 0.816518 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.18, Z:-0.14 [[ 0.99874908 -0.04783573 -0.01456112 0.7916098 ] [ 0.04828431 0.99831461 0.03219577 -0.17764598] [ 0.01299647 -0.03285857 0.99937551 -0.14428126] [ 0. 0. 0. 1. ]] SLAMing on 2.396296757 meters Centerline goodness : 0.755171 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.19, Z:-0.14 [[ 0.99875037 -0.04776807 -0.01469415 0.79224083] [ 0.04827173 0.9981824 0.03607968 -0.18518344] [ 0.01294398 -0.0367439 0.99924088 -0.14159851] [ 0. 0. 0. 1. ]] SLAMing on 2.4262967570000002 meters Centerline goodness : 0.760548 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.19, Z:-0.14 [[ 0.99861608 -0.05033363 -0.0152466 0.79378557] [ 0.05082159 0.99814526 0.03351427 -0.18616205] [ 0.01353143 -0.03424275 0.99932194 -0.14154257] [ 0. 0. 0. 1. ]] SLAMing on 2.456296757 meters Centerline goodness : 0.752229 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.19, Z:-0.14 [[ 0.99845113 -0.05343404 -0.01549639 0.79515405] [ 0.05392899 0.99798245 0.03350658 -0.19333325] [ 0.01367473 -0.03429039 0.99931835 -0.13919211] [ 0. 0. 0. 1. ]] SLAMing on 2.4862967570000003 meters Centerline goodness : 0.754138 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.14 [[ 0.99826401 -0.05672354 -0.01585604 0.79633462] [ 0.05719411 0.9978819 0.03099279 -0.19612218] [ 0.01406443 -0.03184586 0.99939383 -0.13859951] [ 0. 0. 0. 1. ]] SLAMing on 2.516296757 meters Centerline goodness : 0.759418 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.14 [[ 0.99806743 -0.06002801 -0.01606371 0.7973782 ] [ 0.06046512 0.99776991 0.02826966 -0.19902901] [ 0.01433091 -0.02918632 0.99947125 -0.13841191] [ 0. 0. 0. 1. ]] SLAMing on 2.546296757 meters Centerline goodness : 0.761124 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.14 [[ 0.99796885 -0.06144824 -0.01680123 0.80045731] [ 0.0618952 0.99770317 0.02752043 -0.20204045] [ 0.01507156 -0.02850445 0.99948004 -0.13945941] [ 0. 0. 0. 1. ]] SLAMing on 2.576296757 meters Centerline goodness : 0.762160 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.14 [[ 0.99788191 -0.06444735 -0.00884473 0.81163173] [ 0.06464911 0.99759931 0.02482166 -0.20415499] [ 0.00722381 -0.02534089 0.99965277 -0.13751049] [ 0. 0. 0. 1. ]] SLAMing on 2.606296757 meters Centerline goodness : 0.764768 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.21, Z:-0.14 [[ 0.99789405 -0.06414084 -0.00966533 0.81288025] [ 0.06437567 0.99757802 0.02634142 -0.20708917] [ 0.00795236 -0.02690816 0.99960628 -0.13598334] [ 0. 0. 0. 1. ]] SLAMing on 2.636296757 meters Centerline goodness : 0.785109 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.13 [[ 9.97862785e-01 -6.53440641e-02 -1.23420940e-04 8.20980712e-01] [ 6.53278250e-02 9.97568984e-01 2.42569250e-02 -2.13589146e-01] [-1.46192516e-03 -2.42131456e-02 9.99705750e-01 -1.34004101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.666296757 meters Centerline goodness : 0.785109 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.13 [[ 9.97862785e-01 -6.53440641e-02 -1.23420940e-04 8.20980712e-01] [ 6.53278250e-02 9.97568984e-01 2.42569250e-02 -2.13589146e-01] [-1.46192516e-03 -2.42131456e-02 9.99705750e-01 -1.34004101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6962967570000003 meters Centerline goodness : 0.782335 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.22, Z:-0.13 [[ 9.97910931e-01 -6.46019889e-02 -5.96889764e-04 8.21822606e-01] [ 6.45959484e-02 9.97579977e-01 2.57206600e-02 -2.17979100e-01] [-1.06616052e-03 -2.57054845e-02 9.99668991e-01 -1.33399946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.726296757 meters Centerline goodness : 0.783811 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.22, Z:-0.13 [[ 9.97952948e-01 -6.39438930e-02 -1.04516257e-03 8.22568708e-01] [ 6.39488269e-02 9.97589814e-01 2.69278785e-02 -2.21453639e-01] [-6.79229848e-04 -2.69395926e-02 9.99636833e-01 -1.32870744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7562967570000003 meters Centerline goodness : 0.786267 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.23, Z:-0.13 [[ 0.99815452 -0.06046859 -0.00557735 0.83314662] [ 0.0605915 0.99783893 0.0254191 -0.22808809] [ 0.00402824 -0.02571013 0.99966132 -0.13109629] [ 0. 0. 0. 1. ]] SLAMing on 2.786296757 meters Centerline goodness : 0.782575 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.23, Z:-0.13 [[ 0.99820989 -0.05949214 -0.00613939 0.83467203] [ 0.05963698 0.99785532 0.02698517 -0.23247639] [ 0.00452081 -0.02730299 0.99961698 -0.13137866] [ 0. 0. 0. 1. ]] SLAMing on 2.816296757 meters Centerline goodness : 0.780814 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.24, Z:-0.13 [[ 0.9982753 -0.0583281 -0.0066531 0.83630958] [ 0.05849587 0.99787573 0.02867518 -0.23681232] [ 0.0049664 -0.02901491 0.99956664 -0.13193191] [ 0. 0. 0. 1. ]] SLAMing on 2.846296757 meters Centerline goodness : 0.782110 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.13 [[ 0.99859174 -0.05191387 -0.01093121 0.84568572] [ 0.05223679 0.99813201 0.03168297 -0.24506543] [ 0.009266 -0.03220936 0.99943819 -0.13092366] [ 0. 0. 0. 1. ]] SLAMing on 2.876296757 meters Centerline goodness : 0.781920 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.25, Z:-0.13 [[ 0.9986477 -0.05069339 -0.01153042 0.84777941] [ 0.05105242 0.99813969 0.03332885 -0.24851597] [ 0.00981942 -0.03387244 0.99937792 -0.13198089] [ 0. 0. 0. 1. ]] SLAMing on 2.9062967570000002 meters Centerline goodness : 0.780117 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.13 [[ 0.99877178 -0.04694591 -0.01584345 0.85939633] [ 0.04744699 0.9983321 0.03289061 -0.25694654] [ 0.01427295 -0.03360194 0.99933337 -0.13228783] [ 0. 0. 0. 1. ]] SLAMing on 2.936296757 meters Centerline goodness : 0.778992 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.13 [[ 0.99867001 -0.04882183 -0.01657215 0.8622879 ] [ 0.0493202 0.99829779 0.03112945 -0.26089441] [ 0.01502414 -0.03190539 0.99937797 -0.13361832] [ 0. 0. 0. 1. ]] SLAMing on 2.9662967570000003 meters Centerline goodness : 0.778668 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.13 [[ 0.99854049 -0.05120189 -0.01718325 0.86467732] [ 0.05168524 0.998243 0.02897482 -0.26447347] [ 0.01566949 -0.02982065 0.99943244 -0.1345824 ] [ 0. 0. 0. 1. ]] SLAMing on 2.996296757 meters Centerline goodness : 0.780793 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.27, Z:-0.14 [[ 0.99843683 -0.05293657 -0.01793378 0.86823146] [ 0.05342638 0.99817823 0.02803279 -0.27059447] [ 0.01641715 -0.02894711 0.99944612 -0.13636496] [ 0. 0. 0. 1. ]] SLAMing on 3.0262967570000003 meters Centerline goodness : 0.777893 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.27, Z:-0.14 [[ 0.9983866 -0.05363294 -0.01864675 0.87130231] [ 0.05413826 0.998148 0.02774203 -0.27214553] [ 0.01712433 -0.02870677 0.99944118 -0.1382152 ] [ 0. 0. 0. 1. ]] SLAMing on 3.056296757 meters Centerline goodness : 0.779146 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.27, Z:-0.14 [[ 0.9982509 -0.05583371 -0.0194356 0.87571611] [ 0.05632699 0.99807813 0.02583251 -0.27450583] [ 0.01795592 -0.02688207 0.99947733 -0.14124302] [ 0. 0. 0. 1. ]] SLAMing on 3.086296757 meters Centerline goodness : 0.780004 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.28, Z:-0.14 [[ 0.99823426 -0.05595189 -0.01994375 0.8773044 ] [ 0.0564606 0.9980681 0.02592807 -0.27502508] [ 0.0184545 -0.02700832 0.99946485 -0.14196365] [ 0. 0. 0. 1. ]] SLAMing on 3.116296757 meters Centerline goodness : 0.780356 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.28, Z:-0.14 [[ 0.99821622 -0.05607496 -0.02049318 0.87864185] [ 0.05660252 0.99805454 0.02613969 -0.27591955] [ 0.01898753 -0.02725303 0.99944822 -0.14219049] [ 0. 0. 0. 1. ]] SLAMing on 3.146296757 meters Centerline goodness : 0.779598 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.28, Z:-0.14 [[ 0.99796601 -0.06026077 -0.02079608 0.87975064] [ 0.0607254 0.99790125 0.02248403 -0.27759742] [ 0.01939752 -0.02370114 0.99953089 -0.14178619] [ 0. 0. 0. 1. ]] SLAMing on 3.1762967570000002 meters Centerline goodness : 0.773981 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.28, Z:-0.14 [[ 0.99771051 -0.06430522 -0.02094215 0.88051595] [ 0.06469068 0.99773793 0.01827958 -0.27716078] [ 0.0197193 -0.0195925 0.99961357 -0.14178636] [ 0. 0. 0. 1. ]] SLAMing on 3.206296757 meters Centerline goodness : 0.775037 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.28, Z:-0.14 [[ 0.9974342 -0.06842258 -0.02105638 0.88103298] [ 0.06872403 0.99753829 0.0139415 -0.2763792 ] [ 0.02005063 -0.0153528 0.99968108 -0.14146706] [ 0. 0. 0. 1. ]] SLAMing on 3.2362967570000003 meters Centerline goodness : 0.779214 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.27, Z:-0.14 [[ 0.99712308 -0.07283721 -0.02098354 0.88108772] [ 0.07303796 0.99728888 0.00896406 -0.27282488] [ 0.02027374 -0.01047086 0.99973963 -0.14096952] [ 0. 0. 0. 1. ]] SLAMing on 3.266296757 meters Centerline goodness : 0.777424 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.27, Z:-0.14 [[ 0.99708672 -0.07322242 -0.02136691 0.88136101] [ 0.07341267 0.99726745 0.00825879 -0.27053881] [ 0.0207038 -0.00980334 0.99973759 -0.14041432] [ 0. 0. 0. 1. ]] SLAMing on 3.2962967570000004 meters Centerline goodness : 0.781743 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.27, Z:-0.14 [[ 0.99705343 -0.07364436 -0.02146999 0.88050937] [ 0.07381072 0.99724727 0.00706065 -0.26675208] [ 0.02089092 -0.00862456 0.99974456 -0.13874734] [ 0. 0. 0. 1. ]] SLAMing on 3.326296757 meters Centerline goodness : 0.781910 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.14 [[ 0.99705277 -0.07353866 -0.02185946 0.88054405] [ 0.07369625 0.9972596 0.00649218 -0.26475094] [ 0.02132213 -0.00808401 0.99973997 -0.13782588] [ 0. 0. 0. 1. ]] SLAMing on 3.356296757 meters Centerline goodness : 0.784279 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.14 [[ 0.99705007 -0.0734513 -0.02227233 0.88094727] [ 0.07360155 0.99726967 0.00600174 -0.26307051] [ 0.02177069 -0.00762331 0.99973393 -0.13734008] [ 0. 0. 0. 1. ]] SLAMing on 3.386296757 meters Centerline goodness : 0.784004 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.14 [[ 0.99708626 -0.07272886 -0.02301076 0.88289541] [ 0.07287266 0.99732624 0.00547235 -0.25993026] [ 0.02255124 -0.00713326 0.99972024 -0.13840211] [ 0. 0. 0. 1. ]] SLAMing on 3.416296757 meters Centerline goodness : 0.632496 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.14 [[ 0.99707609 -0.07278868 -0.02326097 0.88358189] [ 0.07291696 0.99732687 0.00471398 -0.25739716] [ 0.02285567 -0.00639632 0.99971831 -0.13879728] [ 0. 0. 0. 1. ]] SLAMing on 3.4462967570000003 meters Centerline goodness : 0.783798 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.14 [[ 0.99725919 -0.07003779 -0.02384979 0.88530046] [ 0.07021837 0.99750834 0.00681898 -0.25330753] [ 0.02331277 -0.00847498 0.9996923 -0.14012449] [ 0. 0. 0. 1. ]] SLAMing on 3.476296757 meters Centerline goodness : 0.782351 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.14 [[ 0.9972426 -0.07020788 -0.02404265 0.88560463] [ 0.07037385 0.99750187 0.00612672 -0.25087918] [ 0.02355244 -0.0078018 0.99969216 -0.14015023] [ 0. 0. 0. 1. ]] SLAMing on 3.5062967570000003 meters Centerline goodness : 0.784026 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.14 [[ 0.99722352 -0.07041429 -0.02422963 0.88646906] [ 0.07056785 0.99749159 0.00554126 -0.24896536] [ 0.02377867 -0.00723571 0.99969106 -0.14092135] [ 0. 0. 0. 1. ]] SLAMing on 3.536296757 meters Centerline goodness : 0.781628 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.14 [[ 0.99719854 -0.07055623 -0.0248371 0.89036461] [ 0.07070403 0.99748419 0.00512247 -0.24570129] [ 0.0244132 -0.0068642 0.99967839 -0.1443362 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5662967570000004 meters Centerline goodness : 0.782394 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.24, Z:-0.14 [[ 0.99716362 -0.07095021 -0.02511519 0.89133156] [ 0.07108902 0.99745901 0.00467679 -0.24472394] [ 0.02471955 -0.00644894 0.99967362 -0.14489297] [ 0. 0. 0. 1. ]] SLAMing on 3.596296757 meters Centerline goodness : 0.778748 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.24, Z:-0.15 [[ 0.99691756 -0.07423213 -0.02539631 0.89449855] [ 0.07429184 0.99723554 0.00141448 -0.24422287] [ 0.0252211 -0.00329685 0.99967646 -0.14744475] [ 0. 0. 0. 1. ]] SLAMing on 3.626296757 meters Centerline goodness : 0.781032 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.15 [[ 0.99689094 -0.07452266 -0.02558961 0.89541021] [ 0.07457995 0.9972142 0.00129029 -0.24405001] [ 0.02542217 -0.00319475 0.9996717 -0.14816586] [ 0. 0. 0. 1. ]] SLAMing on 3.6562967570000002 meters Centerline goodness : 0.778320 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.15 [[ 9.96858543e-01 -7.48904993e-02 -2.57770996e-02 8.96535265e-01] [ 7.49383779e-02 9.97187765e-01 8.95077851e-04 -2.42843961e-01] [ 2.56375755e-02 -2.82396004e-03 9.99667315e-01 -1.49215728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.686296757 meters Centerline goodness : 0.776379 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.15 [[ 9.96773481e-01 -7.57409885e-02 -2.65693382e-02 9.01594031e-01] [ 7.57704327e-02 9.97125284e-01 1.01747953e-04 -2.40686819e-01] [ 2.64852524e-02 -2.11458991e-03 9.99646968e-01 -1.53483265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7162967570000003 meters Centerline goodness : 0.776023 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.15 [[ 9.96764116e-01 -7.58087887e-02 -2.67268610e-02 9.02384953e-01] [ 7.58404379e-02 9.97119952e-01 1.71035801e-04 -2.41246768e-01] [ 2.66369204e-02 -2.19745919e-03 9.99642759e-01 -1.54090634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.746296757 meters Centerline goodness : 0.776557 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.15 [[ 9.96766361e-01 -7.57982181e-02 -2.66730655e-02 9.02671439e-01] [ 7.58267685e-02 9.97121005e-01 5.91125726e-05 -2.40446249e-01] [ 2.65917932e-02 -2.08145379e-03 9.99644209e-01 -1.54600493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7762967570000003 meters Centerline goodness : 0.775806 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.15 [[ 9.96771436e-01 -7.56969231e-02 -2.67708842e-02 9.02985481e-01] [ 7.57260716e-02 9.97128656e-01 7.52285483e-05 -2.40141816e-01] [ 2.66883212e-02 -2.10223956e-03 9.99641593e-01 -1.54707557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.806296757 meters Centerline goodness : 0.776886 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.15 [[ 9.96783811e-01 -7.55046448e-02 -2.68529760e-02 9.03069016e-01] [ 7.55344183e-02 9.97143191e-01 9.46992290e-05 -2.39791600e-01] [ 2.67691119e-02 -2.12271858e-03 9.99639389e-01 -1.54619938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8362967570000004 meters Centerline goodness : 0.777937 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.15 [[ 0.99708029 -0.07145278 -0.02693313 0.90270022] [ 0.07159206 0.99742498 0.00424163 -0.2405667 ] [ 0.0265607 -0.00615745 0.99962824 -0.1544267 ] [ 0. 0. 0. 1. ]] SLAMing on 3.866296757 meters Centerline goodness : 0.778452 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.15 [[ 0.99710669 -0.07109979 -0.02689001 0.90275209] [ 0.07123724 0.99745061 0.00418762 -0.23926276] [ 0.02652372 -0.00609107 0.99962963 -0.1547029 ] [ 0. 0. 0. 1. ]] SLAMing on 3.896296757 meters Centerline goodness : 0.777504 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.16 [[ 0.9973764 -0.06706797 -0.02724354 0.90361715] [ 0.06730371 0.99770182 0.00782914 -0.23794821] [ 0.02665585 -0.00964219 0.99959817 -0.15564524] [ 0. 0. 0. 1. ]] SLAMing on 3.9262967570000002 meters Centerline goodness : 0.777759 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.16 [[ 0.99738342 -0.06685352 -0.02751211 0.90480199] [ 0.06708696 0.9977178 0.00765036 -0.23668104] [ 0.02693787 -0.00947604 0.99959219 -0.15660917] [ 0. 0. 0. 1. ]] SLAMing on 3.956296757 meters Centerline goodness : 0.778356 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:-0.16 [[ 0.9973852 -0.06678492 -0.02761394 0.90535245] [ 0.06701585 0.99772355 0.00752245 -0.23607877] [ 0.02704869 -0.00935335 0.99959036 -0.15714758] [ 0. 0. 0. 1. ]] SLAMing on 3.9862967570000003 meters Centerline goodness : 0.778461 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:-0.16 [[ 0.9973924 -0.06664521 -0.02769135 0.90600498] [ 0.06687288 0.99773423 0.00737785 -0.23557168] [ 0.02713691 -0.00921041 0.99958929 -0.15774093] [ 0. 0. 0. 1. ]] SLAMing on 4.016296757 meters Centerline goodness : 0.777972 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:-0.16 [[ 0.99738963 -0.06665143 -0.02777606 0.90634696] [ 0.06687947 0.9977339 0.0073627 -0.23541917] [ 0.02722238 -0.00920113 0.99958706 -0.15798593] [ 0. 0. 0. 1. ]] SLAMing on 4.046296757 meters Centerline goodness : 0.778498 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:-0.16 [[ 0.99737276 -0.06680044 -0.02802295 0.90735308] [ 0.06702808 0.99772465 0.00726335 -0.23546214] [ 0.02747399 -0.00912259 0.99958089 -0.15865821] [ 0. 0. 0. 1. ]] SLAMing on 4.076296757000001 meters Centerline goodness : 0.778447 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:-0.16 [[ 0.99735521 -0.06709669 -0.02793962 0.90781202] [ 0.06731969 0.99770607 0.00711789 -0.23564503] [ 0.02739794 -0.00897996 0.99958427 -0.15939049] [ 0. 0. 0. 1. ]] SLAMing on 4.106296757 meters Centerline goodness : 0.780483 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:-0.16 [[ 0.99733853 -0.06729249 -0.02806379 0.90852446] [ 0.0675149 0.99769333 0.00705354 -0.23566989] [ 0.0275244 -0.00892949 0.99958125 -0.15995194] [ 0. 0. 0. 1. ]] SLAMing on 4.136296757 meters Centerline goodness : 0.779535 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:-0.16 [[ 0.99731263 -0.06773773 -0.02791278 0.90867944] [ 0.06795196 0.99766543 0.00679847 -0.23552538] [ 0.0273871 -0.00867693 0.99958724 -0.16044474] [ 0. 0. 0. 1. ]] SLAMing on 4.1662967570000005 meters Centerline goodness : 0.780780 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:-0.16 [[ 0.99729878 -0.06787909 -0.02806387 0.90886695] [ 0.06809113 0.99765682 0.00666908 -0.23568461] [ 0.02754542 -0.00856197 0.99958388 -0.16020626] [ 0. 0. 0. 1. ]] SLAMing on 4.196296757 meters Centerline goodness : 0.781485 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.23, Z:-0.16 [[ 0.99733389 -0.0673764 -0.02802735 0.90849603] [ 0.06758714 0.99769128 0.00663996 -0.23461028] [ 0.02751527 -0.00851654 0.9995851 -0.15977405] [ 0. 0. 0. 1. ]] SLAMing on 4.226296757 meters Centerline goodness : 0.781453 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.23, Z:-0.16 [[ 0.99734274 -0.06719031 -0.02815869 0.9091055 ] [ 0.06739806 0.99770503 0.00649397 -0.23385368] [ 0.02765774 -0.00837456 0.99958237 -0.16031697] [ 0. 0. 0. 1. ]] SLAMing on 4.256296757 meters Centerline goodness : 0.781863 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.23, Z:-0.16 [[ 0.99735152 -0.06699223 -0.02831944 0.90983114] [ 0.06719769 0.99771937 0.0063657 -0.23293542] [ 0.02782841 -0.00825184 0.99957865 -0.16097694] [ 0. 0. 0. 1. ]] SLAMing on 4.286296757000001 meters Centerline goodness : 0.780349 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.23, Z:-0.16 [[ 0.99736067 -0.06682082 -0.02840185 0.91069347] [ 0.06702222 0.99773223 0.00619812 -0.23169576] [ 0.02792328 -0.00808531 0.99957737 -0.16204924] [ 0. 0. 0. 1. ]] SLAMing on 4.316296757 meters Centerline goodness : 0.779023 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.23, Z:-0.17 [[ 0.99754645 -0.06377258 -0.0288816 0.91348943] [ 0.06405737 0.99790523 0.00904417 -0.22905043] [ 0.02824433 -0.01087206 0.99954192 -0.16514469] [ 0. 0. 0. 1. ]] SLAMing on 4.346296757 meters Centerline goodness : 0.779560 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.17 [[ 0.99756943 -0.06330131 -0.02912342 0.91538751] [ 0.0635934 0.99793336 0.00921386 -0.22756327] [ 0.02847998 -0.01104353 0.99953336 -0.16701911] [ 0. 0. 0. 1. ]] SLAMing on 4.376296757 meters Centerline goodness : 0.785580 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.17 [[ 0.99755886 -0.06340029 -0.02926993 0.91658795] [ 0.06368553 0.99793018 0.00891701 -0.2276928 ] [ 0.02864401 -0.01075932 0.99953177 -0.16813029] [ 0. 0. 0. 1. ]] SLAMing on 4.406296757000001 meters Centerline goodness : 0.787759 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.17 [[ 0.99755329 -0.0633854 -0.02949114 0.91757858] [ 0.06367124 0.99793164 0.00885532 -0.22813821] [ 0.02886884 -0.01071139 0.99952582 -0.16880522] [ 0. 0. 0. 1. ]] SLAMing on 4.436296757 meters Centerline goodness : 0.783645 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.17 [[ 0.99753922 -0.06349728 -0.02972525 0.9184223 ] [ 0.06378125 0.99792595 0.00870343 -0.22821179] [ 0.02911096 -0.01057793 0.99952021 -0.16923582] [ 0. 0. 0. 1. ]] SLAMing on 4.466296757 meters Centerline goodness : 0.800958 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.17 [[ 0.99751926 -0.06374357 -0.02986776 0.9192337 ] [ 0.06401831 0.99791393 0.0083337 -0.22740661] [ 0.02927423 -0.01022511 0.99951912 -0.16985137] [ 0. 0. 0. 1. ]] SLAMing on 4.4962967570000005 meters Centerline goodness : 0.810718 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.17 [[ 0.99750806 -0.06386954 -0.02997269 0.91961541] [ 0.06414109 0.99790726 0.00818689 -0.22677317] [ 0.02938707 -0.01008897 0.99951719 -0.17010565] [ 0. 0. 0. 1. ]] SLAMing on 4.526296757 meters Centerline goodness : 0.785248 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.22, Z:-0.17 [[ 0.99745134 -0.06469544 -0.03008873 0.92086101] [ 0.06494946 0.99786005 0.00754197 -0.22386208] [ 0.02953641 -0.009477 0.99951878 -0.17153304] [ 0. 0. 0. 1. ]] SLAMing on 4.556296757 meters Centerline goodness : 0.786168 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.22, Z:-0.17 [[ 0.99742168 -0.06509463 -0.03021065 0.92131902] [ 0.06534622 0.9978351 0.00741556 -0.22374456] [ 0.02966253 -0.00937059 0.99951605 -0.1718272 ] [ 0. 0. 0. 1. ]] SLAMing on 4.586296757 meters Centerline goodness : 0.786168 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.22, Z:-0.17 [[ 0.99742168 -0.06509463 -0.03021065 0.92131902] [ 0.06534622 0.9978351 0.00741556 -0.22374456] [ 0.02966253 -0.00937059 0.99951605 -0.1718272 ] [ 0. 0. 0. 1. ]] SLAMing on 4.616296757000001 meters Centerline goodness : 0.792559 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.22, Z:-0.17 [[ 0.99721602 -0.06798232 -0.03063665 0.92417151] [ 0.06815219 0.99766464 0.00453371 -0.22361405] [ 0.03025689 -0.00660904 0.99952031 -0.17373444] [ 0. 0. 0. 1. ]] SLAMing on 4.646296757 meters Centerline goodness : 0.784690 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.17 [[ 9.96890714e-01 -7.28043999e-02 -3.01400817e-02 9.24492773e-01] [ 7.28567311e-02 9.97342211e-01 6.40258014e-04 -2.27719665e-01] [ 3.00133621e-02 -2.83417510e-03 9.99545479e-01 -1.74094924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.676296757 meters Centerline goodness : 0.787569 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.17 [[ 0.9965878 -0.076883 -0.03002924 0.92518752] [ 0.0768177 0.99703961 -0.00332394 -0.22830615] [ 0.0301959 0.00100582 0.99954349 -0.17448489] [ 0. 0. 0. 1. ]] SLAMing on 4.7062967570000005 meters Centerline goodness : 0.786509 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.17 [[ 9.96543477e-01 -7.74729059e-02 -2.99841323e-02 9.25608412e-01] [ 7.74143073e-02 9.96994153e-01 -3.11202075e-03 -2.30697054e-01] [ 3.01351019e-02 7.80063145e-04 9.99545530e-01 -1.74965041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.736296757 meters Centerline goodness : 0.788475 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.23, Z:-0.17 [[ 0.99618165 -0.08118764 -0.03210429 0.8930708 ] [ 0.08057499 0.99654909 -0.01993935 -0.22829238] [ 0.03361233 0.01727641 0.99928561 -0.16791175] [ 0. 0. 0. 1. ]] SLAMing on 4.766296757 meters Centerline goodness : 0.788787 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.23, Z:-0.17 [[ 0.99628405 -0.08176265 -0.02707314 0.90248947] [ 0.08156272 0.99663272 -0.00841048 -0.23196793] [ 0.02766964 0.00617107 0.99959807 -0.17184062] [ 0. 0. 0. 1. ]] SLAMing on 4.796296757 meters Centerline goodness : 0.789280 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.23, Z:-0.17 [[ 0.9961901 -0.08296869 -0.02686053 0.90065076] [ 0.08273785 0.99652514 -0.00959621 -0.2325225 ] [ 0.02756338 0.00733727 0.99959313 -0.16960934] [ 0. 0. 0. 1. ]] SLAMing on 4.826296757000001 meters Centerline goodness : 0.790806 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.23, Z:-0.17 [[ 0.9961911 -0.08284859 -0.02719208 0.90123385] [ 0.0826144 0.99653508 -0.00962749 -0.232337 ] [ 0.02789549 0.00734437 0.99958386 -0.16951138] [ 0. 0. 0. 1. ]] SLAMing on 4.856296757 meters Centerline goodness : 0.789623 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.23, Z:-0.17 [[ 0.99617994 -0.08291486 -0.02739793 0.90172204] [ 0.08266734 0.99652653 -0.01004895 -0.23094006] [ 0.02813597 0.00774565 0.9995741 -0.16962475] [ 0. 0. 0. 1. ]] SLAMing on 4.886296757 meters Centerline goodness : 0.791764 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.23, Z:-0.17 [[ 0.9964512 -0.07946945 -0.027742 0.90163123] [ 0.07931903 0.9968282 -0.00648294 -0.23026084] [ 0.0281692 0.00425947 0.99959409 -0.16933379] [ 0. 0. 0. 1. ]] SLAMing on 4.9162967570000005 meters Centerline goodness : 0.793679 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.23, Z:-0.17 [[ 0.99686753 -0.07643308 -0.02032501 0.91275418] [ 0.07622507 0.99703192 -0.01082069 -0.2276361 ] [ 0.02109174 0.00923752 0.99973487 -0.17498197] [ 0. 0. 0. 1. ]] SLAMing on 4.946296757000001 meters Centerline goodness : 0.813979 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.18 [[ 0.99720267 -0.07356466 -0.01323146 0.92449319] [ 0.07334681 0.99717396 -0.01625866 -0.2255864 ] [ 0.01439013 0.01524269 0.99978027 -0.18072755] [ 0. 0. 0. 1. ]] SLAMing on 4.976296757 meters Centerline goodness : 0.798138 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.18 [[ 0.99742791 -0.07164675 -0.00207661 0.93167894] [ 0.07160523 0.99730786 -0.01580259 -0.22612212] [ 0.00320323 0.01561324 0.99987297 -0.18481345] [ 0. 0. 0. 1. ]] SLAMing on 5.006296757 meters Centerline goodness : 0.800118 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.18 [[ 0.99743931 -0.07148454 -0.00218531 0.9312561 ] [ 0.07144272 0.99732609 -0.01538184 -0.227267 ] [ 0.00327903 0.01518633 0.9998793 -0.18380308] [ 0. 0. 0. 1. ]] SLAMing on 5.036296757000001 meters Centerline goodness : 0.804176 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.18 [[ 0.99742811 -0.0716377 -0.0022816 0.93101916] [ 0.07159658 0.99732483 -0.01473466 -0.2296482 ] [ 0.00333106 0.01453341 0.99988884 -0.18290621] [ 0. 0. 0. 1. ]] SLAMing on 5.066296757 meters Centerline goodness : 0.804941 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.18 [[ 0.99738889 -0.07218423 -0.00219796 0.93076902] [ 0.07214367 0.99728269 -0.01491704 -0.23019091] [ 0.00326877 0.01471952 0.99988632 -0.18239161] [ 0. 0. 0. 1. ]] SLAMing on 5.096296757 meters Centerline goodness : 0.801554 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.18 [[ 0.99738338 -0.07224859 -0.0025557 0.93207386] [ 0.07220686 0.99729455 -0.01377494 -0.23388101] [ 0.003544 0.01355435 0.99990185 -0.18308562] [ 0. 0. 0. 1. ]] SLAMing on 5.126296757 meters Centerline goodness : 0.804308 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.24, Z:-0.18 [[ 0.99740619 -0.07192129 -0.00286601 0.93316399] [ 0.07187959 0.99733282 -0.01267157 -0.23674425] [ 0.00376972 0.0124327 0.99991561 -0.18367233] [ 0. 0. 0. 1. ]] SLAMing on 5.156296757000001 meters Centerline goodness : 0.799784 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.24, Z:-0.18 [[ 0.99742813 -0.07160537 -0.00312833 0.93401175] [ 0.07156494 0.99736917 -0.01154121 -0.24018785] [ 0.00394652 0.01128765 0.9999285 -0.1839697 ] [ 0. 0. 0. 1. ]] SLAMing on 5.186296757 meters Centerline goodness : 0.802513 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.24, Z:-0.18 [[ 0.99738163 -0.07226622 -0.00273618 0.93255642] [ 0.07223051 0.99732224 -0.0114503 -0.24447284] [ 0.00355632 0.01122268 0.9999307 -0.18261797] [ 0. 0. 0. 1. ]] SLAMing on 5.216296757 meters Centerline goodness : 0.803996 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.25, Z:-0.18 [[ 0.9972524 -0.07402759 -0.00275142 0.93325306] [ 0.07398909 0.99718512 -0.01214252 -0.25362918] [ 0.00364255 0.01190559 0.99992249 -0.18240507] [ 0. 0. 0. 1. ]] SLAMing on 5.2462967570000005 meters Centerline goodness : 0.803103 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.26, Z:-0.18 [[ 0.99731509 -0.07316364 -0.00311395 0.93412715] [ 0.07312729 0.99726717 -0.01051644 -0.25786644] [ 0.00387486 0.01026049 0.99993985 -0.18254753] [ 0. 0. 0. 1. ]] SLAMing on 5.276296757 meters Centerline goodness : 0.801380 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.26, Z:-0.18 [[ 0.9974711 -0.07097145 -0.00380273 0.93665821] [ 0.07094214 0.9974533 -0.00735653 -0.26353136] [ 0.00431515 0.00706815 0.99996571 -0.18413256] [ 0. 0. 0. 1. ]] SLAMing on 5.306296757 meters Centerline goodness : 0.802614 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.27, Z:-0.18 [[ 0.99752396 -0.07021162 -0.00403474 0.93726399] [ 0.07018605 0.99751487 -0.00616424 -0.26586318] [ 0.00445751 0.0058658 0.99997286 -0.18435208] [ 0. 0. 0. 1. ]] SLAMing on 5.336296757 meters Centerline goodness : 0.802593 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.27, Z:-0.18 [[ 0.99762618 -0.06873134 -0.00424253 0.93733273] [ 0.06871713 0.99763036 -0.00340912 -0.27350365] [ 0.00446679 0.00310949 0.99998519 -0.18343332] [ 0. 0. 0. 1. ]] SLAMing on 5.366296757000001 meters Centerline goodness : 0.802349 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.28, Z:-0.18 [[ 0.99766952 -0.06808271 -0.00450303 0.93771377] [ 0.06807537 0.99767862 -0.0017641 -0.27809402] [ 0.00461268 0.00145344 0.99998831 -0.18307667] [ 0. 0. 0. 1. ]] SLAMing on 5.396296757 meters Centerline goodness : 0.804127 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.28, Z:-0.18 [[ 9.97700628e-01 -6.76193669e-02 -4.59105393e-03 9.37783381e-01] [ 6.76181895e-02 9.97711186e-01 -4.11356080e-04 -2.81958780e-01] [ 4.60836150e-03 9.99714648e-05 9.99989376e-01 -1.82783651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.426296757 meters Centerline goodness : 0.806657 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.18 [[ 0.99746424 -0.07102864 -0.00447362 0.93815418] [ 0.0710151 0.99747038 -0.00311538 -0.28543757] [ 0.00468358 0.00278979 0.99998514 -0.182696 ] [ 0. 0. 0. 1. ]] SLAMing on 5.4562967570000005 meters Centerline goodness : 0.805723 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.18 [[ 0.99746 -0.07107232 -0.00471915 0.93883888] [ 0.07106116 0.99746884 -0.00249303 -0.28781183] [ 0.00488439 0.00215135 0.99998576 -0.18284584] [ 0. 0. 0. 1. ]] SLAMing on 5.486296757000001 meters Centerline goodness : 0.806432 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.18 [[ 0.99749742 -0.07053666 -0.00484502 0.93851237] [ 0.07052881 0.99750817 -0.00177327 -0.289277 ] [ 0.00495802 0.00142712 0.99998669 -0.18197925] [ 0. 0. 0. 1. ]] SLAMing on 5.516296757 meters Centerline goodness : 0.808358 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.18 [[ 0.99751276 -0.07031083 -0.00496888 0.93821601] [ 0.07030279 0.99752412 -0.00177434 -0.28861853] [ 0.00508133 0.00142061 0.99998608 -0.18122786] [ 0. 0. 0. 1. ]] SLAMing on 5.546296757 meters Centerline goodness : 0.808726 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.18 [[ 0.9975258 -0.07012927 -0.00491505 0.93752764] [ 0.07012179 0.99753703 -0.00167856 -0.28834232] [ 0.00502066 0.00132975 0.99998651 -0.18042842] [ 0. 0. 0. 1. ]] SLAMing on 5.576296757000001 meters Centerline goodness : 0.809110 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.18 [[ 0.99752074 -0.07019694 -0.00497525 0.9377581 ] [ 0.07018867 0.99753208 -0.00181862 -0.28758627] [ 0.00509063 0.0014649 0.99998597 -0.18060641] [ 0. 0. 0. 1. ]] SLAMing on 5.606296757 meters Centerline goodness : 0.807028 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.18 [[ 9.97564342e-01 -6.95328641e-02 -5.52854603e-03 9.40571710e-01] [ 6.95273079e-02 9.97579337e-01 -1.19115392e-03 -2.86564682e-01] [ 5.59798763e-03 8.03867750e-04 9.99984008e-01 -1.82971513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.636296757 meters Centerline goodness : 0.806476 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.18 [[ 9.97550821e-01 -6.97059892e-02 -5.78222144e-03 9.41637811e-01] [ 6.97004244e-02 9.97567295e-01 -1.15864273e-03 -2.87226317e-01] [ 5.84891934e-03 7.52781717e-04 9.99982612e-01 -1.83684535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6662967570000005 meters Centerline goodness : 0.806038 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.19 [[ 0.99748393 -0.0706092 -0.00633614 0.94476552] [ 0.07059959 0.99750324 -0.00172727 -0.28880446] [ 0.00644228 0.00127559 0.99997843 -0.18593311] [ 0. 0. 0. 1. ]] SLAMing on 5.696296757000001 meters Centerline goodness : 0.804110 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.19 [[ 0.99750467 -0.070284 -0.00667721 0.94598212] [ 0.07027532 0.99752647 -0.00152588 -0.28906356] [ 0.00676794 0.00105283 0.99997654 -0.18671911] [ 0. 0. 0. 1. ]] SLAMing on 5.726296757 meters Centerline goodness : 0.804786 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.19 [[ 9.97591713e-01 -6.89672608e-02 -7.36823522e-03 9.48421900e-01] [ 6.89641077e-02 9.97618909e-01 -6.81450506e-04 -2.89051149e-01] [ 7.39768856e-03 1.71665611e-04 9.99972622e-01 -1.88113291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.756296757 meters Centerline goodness : 0.803726 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.19 [[ 0.99796501 -0.06321036 -0.00838341 0.9510941 ] [ 0.06325027 0.99798717 0.00458338 -0.28859872] [ 0.00807682 -0.00510431 0.99995435 -0.1898954 ] [ 0. 0. 0. 1. ]] SLAMing on 5.786296757000001 meters Centerline goodness : 0.802589 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.19 [[ 0.99820881 -0.05917219 -0.0088215 0.9518133 ] [ 0.05924777 0.99820654 0.00856773 -0.28820442] [ 0.00829871 -0.00907504 0.99992438 -0.19036709] [ 0. 0. 0. 1. ]] SLAMing on 5.816296757 meters Centerline goodness : 0.801933 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.19 [[ 0.99843994 -0.05504639 -0.00935847 0.95259573] [ 0.05515938 0.99840209 0.01227652 -0.2866911 ] [ 0.00866773 -0.01277358 0.99988085 -0.19071121] [ 0. 0. 0. 1. ]] SLAMing on 5.846296757 meters Centerline goodness : 0.801901 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.19 [[ 0.99858569 -0.05262858 -0.00753955 0.9592914 ] [ 0.05264834 0.99861012 0.00244714 -0.28351041] [ 0.00740028 -0.00284063 0.99996858 -0.18855873] [ 0. 0. 0. 1. ]] SLAMing on 5.876296757 meters Centerline goodness : 0.803083 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.19 [[ 0.99859713 -0.05240402 -0.00758913 0.95900984] [ 0.05242655 0.99862086 0.00280032 -0.28455863] [ 0.00743191 -0.00319426 0.99996728 -0.18796173] [ 0. 0. 0. 1. ]] SLAMing on 5.906296757000001 meters Centerline goodness : 0.805824 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.18 [[ 0.99876365 -0.04929296 -0.00643188 0.96285937] [ 0.04925422 0.99876795 -0.00604972 -0.28232125] [ 0.00672217 0.00572545 0.99996102 -0.18191654] [ 0. 0. 0. 1. ]] SLAMing on 5.936296757 meters Centerline goodness : 0.808653 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.18 [[ 0.9988308 -0.04794278 -0.00620631 0.96050741] [ 0.04791344 0.99883999 -0.00479287 -0.28270546] [ 0.0064289 0.00448991 0.99996925 -0.17947264] [ 0. 0. 0. 1. ]] SLAMing on 5.966296757 meters Centerline goodness : 0.810252 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.18 [[ 0.99888111 -0.04693636 -0.00578841 0.95668231] [ 0.04691513 0.99889184 -0.00374962 -0.28445506] [ 0.00595799 0.00347386 0.99997622 -0.17530522] [ 0. 0. 0. 1. ]] SLAMing on 5.9962967570000005 meters Centerline goodness : 0.811847 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.17 [[ 0.99890134 -0.04649788 -0.00583556 0.95591719] [ 0.04647919 0.99891381 -0.00329961 -0.2849358 ] [ 0.00598265 0.00302475 0.99997753 -0.17406275] [ 0. 0. 0. 1. ]] SLAMing on 6.026296757000001 meters Centerline goodness : 0.813106 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.17 [[ 9.98997473e-01 -4.44144318e-02 -5.60420913e-03 9.53152630e-01] [ 4.44096430e-02 9.99012928e-01 -9.76116688e-04 -2.85301411e-01] [ 5.64203105e-03 7.26257177e-04 9.99983820e-01 -1.71155841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.056296757 meters Centerline goodness : 0.815659 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.28, Z:-0.17 [[ 0.99915777 -0.0406911 -0.00528954 0.94854045] [ 0.04070636 0.9991672 0.00281014 -0.28497951] [ 0.00517079 -0.0030231 0.99998206 -0.16594417] [ 0. 0. 0. 1. ]] SLAMing on 6.086296757 meters Centerline goodness : 0.816032 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.28, Z:-0.17 [[ 0.99916693 -0.04044371 -0.00545491 0.94850837] [ 0.04045967 0.99917712 0.00284659 -0.284574 ] [ 0.00533529 -0.00306493 0.99998107 -0.1654561 ] [ 0. 0. 0. 1. ]] SLAMing on 6.116296757000001 meters Centerline goodness : 0.817239 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.17 [[ 0.99916342 -0.04047132 -0.00587691 0.94940452] [ 0.04049139 0.99917432 0.00333668 -0.28694648] [ 0.00573702 -0.00357185 0.99997716 -0.1653188 ] [ 0. 0. 0. 1. ]] SLAMing on 6.146296757 meters Centerline goodness : 0.818197 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.17 [[ 0.9991688 -0.04029336 -0.00617725 0.95017559] [ 0.04031939 0.99917823 0.00414894 -0.28989962] [ 0.006005 -0.00439456 0.99997231 -0.16538908] [ 0. 0. 0. 1. ]] SLAMing on 6.176296757 meters Centerline goodness : 0.821616 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.99903504 -0.04347872 -0.0062125 0.9499412 ] [ 0.04348881 0.99905279 0.00149714 -0.29369126] [ 0.00614152 -0.00176587 0.99997958 -0.16428053] [ 0. 0. 0. 1. ]] SLAMing on 6.2062967570000005 meters Centerline goodness : 0.823646 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.99904428 -0.04325732 -0.00627161 0.94958912] [ 0.04327106 0.99906122 0.00207237 -0.29486117] [ 0.00617608 -0.00234177 0.99997819 -0.16353713] [ 0. 0. 0. 1. ]] SLAMing on 6.236296757000001 meters Centerline goodness : 0.825659 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.99904863 -0.04316004 -0.00624858 0.94902809] [ 0.04317431 0.9990652 0.0021676 -0.29434217] [ 0.00614918 -0.00243532 0.99997813 -0.16280682] [ 0. 0. 0. 1. ]] SLAMing on 6.266296757 meters Centerline goodness : 0.824482 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.9990807 -0.0424159 -0.00621681 0.94688045] [ 0.0424346 0.99909501 0.00290836 -0.29371194] [ 0.00608782 -0.0031695 0.99997645 -0.15999602] [ 0. 0. 0. 1. ]] SLAMing on 6.296296757 meters Centerline goodness : 0.825542 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.99908433 -0.04229046 -0.0064824 0.94713473] [ 0.04231108 0.99909974 0.00307851 -0.29417071] [ 0.00634637 -0.00334996 0.99997425 -0.15957934] [ 0. 0. 0. 1. ]] SLAMing on 6.326296757000001 meters Centerline goodness : 0.828345 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 9.98984348e-01 -4.46347765e-02 -6.16522463e-03 9.45825825e-01] [ 4.46373167e-02 9.99003220e-01 2.74952429e-04 -2.94321030e-01] [ 6.14680682e-03 -5.49872257e-04 9.99980957e-01 -1.58432934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.356296757 meters Centerline goodness : 0.823304 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.99882445 -0.04800007 -0.0067612 0.95057981] [ 0.0479794 0.99884324 -0.00318713 -0.29466004] [ 0.00690636 0.00285899 0.99997206 -0.16275846] [ 0. 0. 0. 1. ]] SLAMing on 6.386296757 meters Centerline goodness : 0.820831 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.99879273 -0.04861678 -0.00703485 0.95234415] [ 0.048591 0.99881157 -0.00379059 -0.29412205] [ 0.00721077 0.00344418 0.99996807 -0.16446494] [ 0. 0. 0. 1. ]] SLAMing on 6.4162967570000005 meters Centerline goodness : 0.821825 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.17 [[ 0.99875953 -0.04925471 -0.00730516 0.95337868] [ 0.04922401 0.9987784 -0.00432515 -0.29270353] [ 0.00750927 0.0039602 0.99996396 -0.16506037] [ 0. 0. 0. 1. ]] SLAMing on 6.446296757000001 meters Centerline goodness : 0.823287 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.99875476 -0.04933274 -0.00743099 0.95337475] [ 0.04930125 0.99877442 -0.00436328 -0.29244942] [ 0.00763713 0.00399149 0.99996287 -0.16464337] [ 0. 0. 0. 1. ]] SLAMing on 6.476296757 meters Centerline goodness : 0.823094 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.9987584 -0.04921889 -0.00769166 0.95361081] [ 0.04919002 0.99878183 -0.00389862 -0.29375038] [ 0.00787418 0.00351542 0.99996282 -0.16415811] [ 0. 0. 0. 1. ]] SLAMing on 6.506296757 meters Centerline goodness : 0.823094 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.9987584 -0.04921889 -0.00769166 0.95361081] [ 0.04919002 0.99878183 -0.00389862 -0.29375038] [ 0.00787418 0.00351542 0.99996282 -0.16415811] [ 0. 0. 0. 1. ]] SLAMing on 6.536296757000001 meters Centerline goodness : 0.821959 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.99863676 -0.05167624 -0.0073619 0.95211954] [ 0.05163078 0.99864677 -0.00623688 -0.29468001] [ 0.00767424 0.00584828 0.99995345 -0.16263697] [ 0. 0. 0. 1. ]] SLAMing on 6.566296757000001 meters Centerline goodness : 0.821574 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.99863778 -0.05164336 -0.00745262 0.95206608] [ 0.05159817 0.99864909 -0.00613395 -0.29461206] [ 0.00775933 0.00574106 0.99995342 -0.16227067] [ 0. 0. 0. 1. ]] SLAMing on 6.596296757 meters Centerline goodness : 0.822696 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.99864024 -0.05154726 -0.00778189 0.95253617] [ 0.05150165 0.99865518 -0.00595126 -0.29443124] [ 0.0080782 0.00554238 0.99995201 -0.16190441] [ 0. 0. 0. 1. ]] SLAMing on 6.626296757 meters Centerline goodness : 0.821692 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.16 [[ 0.99863368 -0.05165128 -0.00793267 0.95334736] [ 0.05160378 0.99864913 -0.00608037 -0.29428641] [ 0.00823601 0.0056627 0.99995005 -0.16259613] [ 0. 0. 0. 1. ]] SLAMing on 6.656296757000001 meters Centerline goodness : 0.823649 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.16 [[ 0.99859867 -0.05228515 -0.00818298 0.95527098] [ 0.0522288 0.99861093 -0.00695435 -0.29287879] [ 0.00853522 0.00651722 0.99994234 -0.16452604] [ 0. 0. 0. 1. ]] SLAMing on 6.686296757 meters Centerline goodness : 0.818701 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.17 [[ 0.99851856 -0.05366818 -0.00896774 0.96007142] [ 0.0535936 0.99852783 -0.00835998 -0.29236549] [ 0.0094032 0.00786698 0.99992484 -0.16846615] [ 0. 0. 0. 1. ]] SLAMing on 6.716296757 meters Centerline goodness : 0.817097 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.17 [[ 0.99850788 -0.05379476 -0.00938804 0.96184493] [ 0.05372219 0.99852531 -0.00781884 -0.29516234] [ 0.00979481 0.00730283 0.99992536 -0.16953864] [ 0. 0. 0. 1. ]] SLAMing on 6.7462967570000005 meters Centerline goodness : 0.817276 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.17 [[ 0.99850708 -0.05369696 -0.01001216 0.9657494 ] [ 0.0536249 0.99853423 -0.00733206 -0.29614598] [ 0.01039119 0.00678422 0.999923 -0.17278741] [ 0. 0. 0. 1. ]] SLAMing on 6.776296757000001 meters Centerline goodness : 0.817773 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.17 [[ 0.99849338 -0.0539235 -0.01015978 0.96691317] [ 0.05384696 0.9985198 -0.00766257 -0.2949037 ] [ 0.01055793 0.00710395 0.99991903 -0.17363362] [ 0. 0. 0. 1. ]] SLAMing on 6.806296757 meters Centerline goodness : 0.816209 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.17 [[ 0.99866441 -0.05054497 -0.01070567 0.96811038] [ 0.05051332 0.99871824 -0.00320665 -0.29746073] [ 0.01085403 0.00266159 0.99993755 -0.17406091] [ 0. 0. 0. 1. ]] SLAMing on 6.836296757 meters Centerline goodness : 0.817055 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.18 [[ 0.99863705 -0.05093221 -0.01139999 0.97151073] [ 0.05089971 0.99869888 -0.00312365 -0.30160275] [ 0.01154425 0.00253913 0.99993014 -0.17597119] [ 0. 0. 0. 1. ]] SLAMing on 6.866296757000001 meters Centerline goodness : 0.817517 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.18 [[ 0.99866077 -0.05041757 -0.01160786 0.97195651] [ 0.05039878 0.99872736 -0.00190614 -0.30526363] [ 0.01168919 0.00131857 0.99993081 -0.17579964] [ 0. 0. 0. 1. ]] SLAMing on 6.896296757 meters Centerline goodness : 0.818980 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.18 [[ 0.99859432 -0.05160847 -0.01208108 0.9738903 ] [ 0.05157742 0.99866488 -0.00286764 -0.30813156] [ 0.01221295 0.00224049 0.99992291 -0.17631306] [ 0. 0. 0. 1. ]] SLAMing on 6.926296757 meters Centerline goodness : 0.819752 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.18 [[ 0.99860812 -0.05130673 -0.01222471 0.97383931] [ 0.05128262 0.99868158 -0.00227755 -0.30964359] [ 0.01232545 0.00164746 0.99992268 -0.17569931] [ 0. 0. 0. 1. ]] SLAMing on 6.9562967570000005 meters Centerline goodness : 0.823659 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.31, Z:-0.17 [[ 0.99869497 -0.04984054 -0.01114788 0.99728035] [ 0.04971477 0.99869966 -0.01128812 -0.30666126] [ 0.01169599 0.01071917 0.99987414 -0.17199408] [ 0. 0. 0. 1. ]] SLAMing on 6.986296757000001 meters Centerline goodness : 0.824399 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.31, Z:-0.17 [[ 0.99873159 -0.04990341 -0.00669781 1.01442217] [ 0.04981025 0.99866852 -0.01342127 -0.30529897] [ 0.00735866 0.01307063 0.9998875 -0.17245958] [ 0. 0. 0. 1. ]] SLAMing on 7.016296757 meters Centerline goodness : 0.823249 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.31, Z:-0.17 [[ 0.99873841 -0.04972989 -0.00696646 1.01543477] [ 0.04963438 0.99867929 -0.01327037 -0.3052324 ] [ 0.0076172 0.01290786 0.99988768 -0.17301621] [ 0. 0. 0. 1. ]] SLAMing on 7.046296757 meters Centerline goodness : 0.821232 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.31, Z:-0.17 [[ 0.9987608 -0.04921398 -0.00740662 1.01746317] [ 0.04911885 0.99871446 -0.012521 -0.30751615] [ 0.00801331 0.01214168 0.99989418 -0.17427689] [ 0. 0. 0. 1. ]] SLAMing on 7.076296757000001 meters Centerline goodness : 0.820436 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.31, Z:-0.18 [[ 0.9987778 -0.04881596 -0.00774009 1.01877418] [ 0.04872217 0.99874177 -0.01187508 -0.30937741] [ 0.00831004 0.01148346 0.99989953 -0.17506177] [ 0. 0. 0. 1. ]] SLAMing on 7.106296757000001 meters Centerline goodness : 0.819492 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.31, Z:-0.18 [[ 0.99879627 -0.04839352 -0.0080049 1.01969689] [ 0.04830313 0.99877078 -0.01112349 -0.31169016] [ 0.00853337 0.01072343 0.99990609 -0.17546928] [ 0. 0. 0. 1. ]] SLAMing on 7.136296757 meters Centerline goodness : 0.823793 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.31, Z:-0.17 [[ 0.99894115 -0.04594684 -0.00233652 1.03473763] [ 0.04592349 0.9989024 -0.0092215 -0.31224077] [ 0.00275765 0.00910444 0.99995475 -0.17446814] [ 0. 0. 0. 1. ]] SLAMing on 7.1662967570000005 meters Centerline goodness : 0.824864 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.31, Z:-0.17 [[ 0.99911212 -0.04204859 -0.0026244 1.03438738] [ 0.04203638 0.99910574 -0.00454578 -0.3141581 ] [ 0.0028132 0.00443142 0.99998622 -0.17336231] [ 0. 0. 0. 1. ]] SLAMing on 7.196296757000001 meters Centerline goodness : 0.827616 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.32, Z:-0.17 [[ 9.99266300e-01 -3.81686759e-02 -3.16449997e-03 1.03472247e+00] [ 3.81697323e-02 9.99271233e-01 2.74077664e-04 -3.17454224e-01] [ 3.15173261e-03 -3.94664690e-04 9.99994955e-01 -1.72494566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.226296757 meters Centerline goodness : 0.828660 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.32, Z:-0.17 [[ 9.99448056e-01 -3.23369090e-02 -7.60967827e-03 1.04142748e+00] [ 3.23339682e-02 9.99476991e-01 -5.09197396e-04 -3.22066187e-01] [ 7.62216421e-03 2.62865253e-04 9.99970916e-01 -1.66506134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.256296757 meters Centerline goodness : 0.830225 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.32, Z:-0.17 [[ 0.99960478 -0.02798581 -0.00266035 1.04995545] [ 0.02796354 0.99957638 -0.008068 -0.32279984] [ 0.00288501 0.00799042 0.99996391 -0.1686062 ] [ 0. 0. 0. 1. ]] SLAMing on 7.286296757000001 meters Centerline goodness : 0.830074 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.32, Z:-0.17 [[ 9.99701832e-01 -2.44090907e-02 -6.65773024e-04 1.05955364e+00] [ 2.43947359e-02 9.99565374e-01 -1.65517398e-02 -3.20775988e-01] [ 1.06949658e-03 1.65305632e-02 9.99862789e-01 -1.69667042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.316296757000001 meters Centerline goodness : 0.829133 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.32, Z:-0.17 [[ 0.99976745 -0.02152223 -0.00135384 1.06268687] [ 0.02150246 0.9996813 -0.01322678 -0.32228533] [ 0.00163808 0.01319459 0.99991161 -0.17202378] [ 0. 0. 0. 1. ]] SLAMing on 7.346296757 meters Centerline goodness : 0.828154 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.32, Z:-0.17 [[ 0.99979024 -0.02039862 -0.00183889 1.06502247] [ 0.02037581 0.99972424 -0.01167374 -0.32446074] [ 0.00207651 0.01163383 0.99993017 -0.1738215 ] [ 0. 0. 0. 1. ]] SLAMing on 7.376296757 meters Centerline goodness : 0.824477 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.33, Z:-0.17 [[ 0.99984991 -0.01617123 -0.00621639 1.07552092] [ 0.01609514 0.99979723 -0.01210159 -0.33022594] [ 0.00641083 0.01199972 0.99990745 -0.17400944] [ 0. 0. 0. 1. ]] SLAMing on 7.406296757000001 meters Centerline goodness : 0.825479 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.33, Z:-0.18 [[ 0.99987885 -0.01410601 -0.00658072 1.0780078 ] [ 0.01404302 0.99985606 -0.00952106 -0.33463559] [ 0.00671408 0.0094275 0.99993302 -0.1760602 ] [ 0. 0. 0. 1. ]] SLAMing on 7.436296757 meters Centerline goodness : 0.827448 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.18 [[ 0.99988631 -0.01350036 -0.00671587 1.07861804] [ 0.0134415 0.99987151 -0.00873388 -0.33588954] [ 0.00683292 0.00864261 0.99993931 -0.17650255] [ 0. 0. 0. 1. ]] SLAMing on 7.466296757 meters Centerline goodness : 0.823960 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.18 [[ 0.99989288 -0.01300377 -0.00671746 1.07878057] [ 0.01294987 0.99988409 -0.00800609 -0.33718378] [ 0.00682079 0.00791824 0.99994539 -0.17661557] [ 0. 0. 0. 1. ]] SLAMing on 7.4962967570000005 meters Centerline goodness : 0.826058 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.18 [[ 0.99989337 -0.01284116 -0.00695326 1.07959581] [ 0.01278799 0.99988906 -0.00763755 -0.33805253] [ 0.00705056 0.00754782 0.99994666 -0.17696432] [ 0. 0. 0. 1. ]] SLAMing on 7.526296757000001 meters Centerline goodness : 0.825869 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.18 [[ 0.99989566 -0.01260734 -0.00705174 1.08042329] [ 0.01255443 0.99989308 -0.00749811 -0.33783333] [ 0.00714552 0.00740879 0.99994702 -0.17767744] [ 0. 0. 0. 1. ]] SLAMing on 7.556296757 meters Centerline goodness : 0.827957 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.18 [[ 0.99986612 -0.01496541 -0.00661659 1.07834531] [ 0.01490118 0.99984239 -0.00965165 -0.33967327] [ 0.00675999 0.00955177 0.99993153 -0.17577411] [ 0. 0. 0. 1. ]] SLAMing on 7.586296757 meters Centerline goodness : 0.826133 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.18 [[ 0.99985886 -0.01531864 -0.00689858 1.07925539] [ 0.01525197 0.99983746 -0.00961448 -0.34099563] [ 0.00704474 0.00950791 0.99992998 -0.17610912] [ 0. 0. 0. 1. ]] SLAMing on 7.616296757000001 meters Centerline goodness : 0.826681 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.18 [[ 0.99984609 -0.01599607 -0.00720605 1.08058118] [ 0.01592387 0.99982352 -0.00996834 -0.34151278] [ 0.00736424 0.00985206 0.99992435 -0.17701028] [ 0. 0. 0. 1. ]] SLAMing on 7.646296757000001 meters Centerline goodness : 0.826572 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.18 [[ 0.99983947 -0.01626421 -0.00751794 1.08158897] [ 0.01618931 0.99981975 -0.00991869 -0.34198085] [ 0.00767791 0.00979539 0.99992255 -0.17748681] [ 0. 0. 0. 1. ]] SLAMing on 7.676296757 meters Centerline goodness : 0.827273 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.18 [[ 0.99982925 -0.0168037 -0.00768807 1.08260967] [ 0.01672142 0.99980354 -0.01064351 -0.33965814] [ 0.00786541 0.01051314 0.9999138 -0.17825466] [ 0. 0. 0. 1. ]] SLAMing on 7.7062967570000005 meters Centerline goodness : 0.826647 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.18 [[ 0.99982425 -0.0170092 -0.00788368 1.08357028] [ 0.01692214 0.99979651 -0.01098121 -0.33856424] [ 0.00806886 0.01084587 0.99990863 -0.17907673] [ 0. 0. 0. 1. ]] SLAMing on 7.736296757000001 meters Centerline goodness : 0.827721 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.34, Z:-0.18 [[ 0.99984166 -0.01565249 -0.00846544 1.08734562] [ 0.01556933 0.99983075 -0.00980138 -0.33565878] [ 0.00861743 0.00966802 0.99991613 -0.18242768] [ 0. 0. 0. 1. ]] SLAMing on 7.766296757 meters Centerline goodness : 0.824958 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.33, Z:-0.18 [[ 0.99988665 -0.01432427 -0.00463637 1.09566747] [ 0.01422472 0.99968172 -0.02083552 -0.32998034] [ 0.00493335 0.02076721 0.99977217 -0.18397981] [ 0. 0. 0. 1. ]] SLAMing on 7.796296757 meters Centerline goodness : 0.823111 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.33, Z:-0.18 [[ 0.99987965 -0.01470355 -0.00494902 1.09690036] [ 0.01459266 0.99965708 -0.02174334 -0.32795962] [ 0.00526703 0.0216685 0.99975134 -0.18446491] [ 0. 0. 0. 1. ]] SLAMing on 7.826296757000001 meters Centerline goodness : 0.822458 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.33, Z:-0.19 [[ 0.99987606 -0.01470848 -0.00561408 1.10104697] [ 0.01458011 0.99964591 -0.02225907 -0.32645293] [ 0.00593949 0.02217446 0.99973647 -0.18832789] [ 0. 0. 0. 1. ]] SLAMing on 7.856296757000001 meters Centerline goodness : 0.819796 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.19 [[ 0.99988645 -0.0136672 -0.00634811 1.10522787] [ 0.01352943 0.99968244 -0.02125956 -0.32571839] [ 0.00663666 0.02117126 0.99975384 -0.19198811] [ 0. 0. 0. 1. ]] SLAMing on 7.886296757 meters Centerline goodness : 0.819151 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.32, Z:-0.20 [[ 0.99992647 -0.01011304 -0.00669152 1.10809216] [ 0.00998915 0.99978271 -0.01829591 -0.32247622] [ 0.0068751 0.01822772 0.99981022 -0.19500652] [ 0. 0. 0. 1. ]] SLAMing on 7.9162967570000005 meters Centerline goodness : 0.816978 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.32, Z:-0.20 [[ 0.99992952 -0.0096837 -0.00686846 1.10869549] [ 0.00955938 0.99979395 -0.01790714 -0.32301907] [ 0.00704046 0.01784022 0.99981606 -0.19543109] [ 0. 0. 0. 1. ]] SLAMing on 7.946296757000001 meters Centerline goodness : 0.817963 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.20 [[ 0.99993145 -0.0093401 -0.00706078 1.10932297] [ 0.00921754 0.99980967 -0.017195 -0.32522515] [ 0.00722003 0.01712874 0.99982722 -0.19576729] [ 0. 0. 0. 1. ]] SLAMing on 7.976296757000001 meters Centerline goodness : 0.817907 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.20 [[ 0.99993964 -0.00825003 -0.00725633 1.110027 ] [ 0.00813438 0.99984168 -0.01582583 -0.32862009] [ 0.00738574 0.01576585 0.99984843 -0.19610612] [ 0. 0. 0. 1. ]] SLAMing on 8.006296757000001 meters Centerline goodness : 0.819164 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.20 [[ 0.99994208 -0.00775007 -0.0074676 1.1105505 ] [ 0.00763301 0.99984951 -0.01557883 -0.32788099] [ 0.00758721 0.01552093 0.99985076 -0.19637003] [ 0. 0. 0. 1. ]] SLAMing on 8.036296757 meters Centerline goodness : 0.819343 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.20 [[ 0.99996207 -0.00420619 -0.00762627 1.11099175] [ 0.00411702 0.99992341 -0.01167174 -0.32807002] [ 0.00767478 0.0116399 0.9999028 -0.1963898 ] [ 0. 0. 0. 1. ]] SLAMing on 8.066296757000002 meters Centerline goodness : 0.819254 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.20 [[ 0.99996127 -0.0038995 -0.00789059 1.11171018] [ 0.00381153 0.99993077 -0.0111326 -0.32939671] [ 0.00793346 0.01110209 0.9999069 -0.19671074] [ 0. 0. 0. 1. ]] SLAMing on 8.096296757000001 meters Centerline goodness : 0.818076 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.20 [[ 0.99995923 -0.00413554 -0.00802705 1.11262733] [ 0.004051 0.99993646 -0.01051983 -0.3338141 ] [ 0.00807005 0.01048688 0.99991245 -0.19734438] [ 0. 0. 0. 1. ]] SLAMing on 8.126296757000002 meters Centerline goodness : 0.817943 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.20 [[ 0.99995992 -0.0039487 -0.00803587 1.11274294] [ 0.00386934 0.99994384 -0.00986664 -0.33607105] [ 0.00807438 0.00983515 0.99991903 -0.19735166] [ 0. 0. 0. 1. ]] SLAMing on 8.156296757000002 meters Centerline goodness : 0.819174 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.20 [[ 0.99995895 -0.00392759 -0.00816536 1.11289577] [ 0.00385024 0.99994778 -0.0094669 -0.33754029] [ 0.00820212 0.00943507 0.99992185 -0.19711228] [ 0. 0. 0. 1. ]] SLAMing on 8.186296757000001 meters Centerline goodness : 0.822371 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.20 [[ 0.99995804 -0.00380113 -0.00833508 1.1130946 ] [ 0.00372659 0.99995309 -0.00894057 -0.33865434] [ 0.00836867 0.00890914 0.99992529 -0.19661643] [ 0. 0. 0. 1. ]] SLAMing on 8.216296757000002 meters Centerline goodness : 0.821974 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.20 [[ 0.99995564 -0.00378184 -0.00862678 1.11373729] [ 0.0037066 0.9999551 -0.00872125 -0.33918426] [ 0.00865938 0.00868889 0.99992476 -0.19666953] [ 0. 0. 0. 1. ]] SLAMing on 8.246296757000001 meters Centerline goodness : 0.824113 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.20 [[ 0.99995314 -0.00376686 -0.00891788 1.11454151] [ 0.00369506 0.99996074 -0.00805422 -0.34143935] [ 0.00894787 0.00802089 0.9999278 -0.19676243] [ 0. 0. 0. 1. ]] SLAMing on 8.276296757 meters Centerline goodness : 0.824998 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.34, Z:-0.20 [[ 0.99995144 -0.00352051 -0.00920406 1.11513131] [ 0.00345164 0.99996601 -0.00748779 -0.34277965] [ 0.0092301 0.00745565 0.99992961 -0.19679384] [ 0. 0. 0. 1. ]] SLAMing on 8.306296757000002 meters Centerline goodness : 0.825368 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.34, Z:-0.20 [[ 0.99994774 -0.00366005 -0.00954526 1.11617822] [ 0.00358971 0.99996635 -0.00737592 -0.3437683 ] [ 0.00957193 0.00734127 0.99992724 -0.19733858] [ 0. 0. 0. 1. ]] SLAMing on 8.336296757000001 meters Centerline goodness : 0.825511 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.34, Z:-0.20 [[ 0.99997498 -0.00535602 -0.00462009 1.12749507] [ 0.00526311 0.99978826 -0.019893 -0.33978776] [ 0.00472566 0.01986819 0.99979144 -0.2018064 ] [ 0. 0. 0. 1. ]] SLAMing on 8.366296757 meters Centerline goodness : 0.824583 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.34, Z:-0.21 [[ 9.99965919e-01 -8.17350993e-03 1.16425960e-03 1.13915158e+00] [ 8.18853614e-03 9.99874718e-01 -1.35460535e-02 -3.41249109e-01] [-1.05339494e-03 1.35551255e-02 9.99907570e-01 -2.06883719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.396296757000002 meters Centerline goodness : 0.824583 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.34, Z:-0.21 [[ 0.99995305 -0.00700985 0.00669038 1.1523669 ] [ 0.00710014 0.99988272 -0.0135693 -0.3414971 ] [-0.00659448 0.01361617 0.99988555 -0.20551881] [ 0. 0. 0. 1. ]] SLAMing on 8.426296757000001 meters Centerline goodness : 0.824978 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.34, Z:-0.21 [[ 0.99992941 -0.01027574 0.00596579 1.15556183] [ 0.0103722 0.99981219 -0.01637052 -0.34239254] [-0.00579645 0.01643125 0.9998482 -0.20780991] [ 0. 0. 0. 1. ]] SLAMing on 8.456296757000002 meters Centerline goodness : 0.825395 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.34, Z:-0.21 [[ 0.99992728 -0.01074443 0.00547737 1.15703602] [ 0.01083258 0.99980804 -0.01632601 -0.34331611] [-0.0053009 0.01638416 0.99985172 -0.20860729] [ 0. 0. 0. 1. ]] SLAMing on 8.486296757000002 meters Centerline goodness : 0.823272 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.34, Z:-0.21 [[ 0.99992334 -0.01134463 0.00496199 1.15852806] [ 0.0114245 0.99980064 -0.01637568 -0.34391675] [-0.00477522 0.01643112 0.9998536 -0.20930069] [ 0. 0. 0. 1. ]] SLAMing on 8.516296757000001 meters Centerline goodness : 0.823701 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.34, Z:-0.21 [[ 0.99990955 -0.01269014 0.00445567 1.16040918] [ 0.01276577 0.99976751 -0.01737714 -0.34192681] [-0.00423411 0.01743245 0.99983908 -0.21043258] [ 0. 0. 0. 1. ]] SLAMing on 8.546296757000002 meters Centerline goodness : 0.823458 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.34, Z:-0.21 [[ 0.99990608 -0.01306712 0.00413205 1.16147404] [ 0.01313864 0.99975551 -0.01778455 -0.34061443] [-0.00389864 0.01783717 0.9998333 -0.21105877] [ 0. 0. 0. 1. ]] SLAMing on 8.576296757000001 meters Centerline goodness : 0.822806 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.34, Z:-0.21 [[ 0.99989493 -0.0140419 0.00359917 1.16397034] [ 0.01410691 0.9997252 -0.01872223 -0.33932209] [-0.00333529 0.01877104 0.99981825 -0.21297263] [ 0. 0. 0. 1. ]] SLAMing on 8.606296757 meters Centerline goodness : 0.823131 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:-0.21 [[ 0.99989696 -0.01400271 0.0031626 1.16528535] [ 0.01405921 0.99972793 -0.01861191 -0.339767 ] [-0.00290112 0.01865446 0.99982178 -0.21366395] [ 0. 0. 0. 1. ]] SLAMing on 8.636296757000002 meters Centerline goodness : 0.823121 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:-0.21 [[ 0.99989906 -0.01393277 0.00278261 1.1664526 ] [ 0.0139821 0.99972974 -0.01857269 -0.33981756] [-0.00252309 0.01860972 0.99982364 -0.21428896] [ 0. 0. 0. 1. ]] SLAMing on 8.666296757000001 meters Centerline goodness : 0.824267 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:-0.21 [[ 0.9999474 -0.00997158 0.0024024 1.16753002] [ 0.01000541 0.99984469 -0.01450805 -0.3406011 ] [-0.00225736 0.01453133 0.99989187 -0.21473542] [ 0. 0. 0. 1. ]] SLAMing on 8.696296757 meters Centerline goodness : 0.824894 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:-0.22 [[ 0.99997598 -0.00668761 0.00182227 1.1694206 ] [ 0.00670722 0.99991725 -0.01097723 -0.34007128] [-0.0017487 0.01098919 0.99993809 -0.21589232] [ 0. 0. 0. 1. ]] SLAMing on 8.726296757000002 meters Centerline goodness : 0.824756 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:-0.22 [[ 0.99999425 -0.00310068 0.00137496 1.17065549] [ 0.00311063 0.99996859 -0.00728995 -0.33939937] [-0.00135231 0.00729418 0.99997248 -0.21643058] [ 0. 0. 0. 1. ]] SLAMing on 8.756296757000001 meters Centerline goodness : 0.827365 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:-0.22 [[ 9.99999114e-01 5.24665838e-04 1.22374398e-03 1.17077261e+00] [-5.20061129e-04 9.99992796e-01 -3.76009206e-03 -3.38273062e-01] [-1.22570796e-03 3.75945230e-03 9.99992182e-01 -2.15761336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.786296757000002 meters Centerline goodness : 0.829135 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:-0.22 [[ 9.99999409e-01 5.64701954e-04 9.29114031e-04 1.17132590e+00] [-5.61253421e-04 9.99992969e-01 -3.70772031e-03 -3.38622465e-01] [-9.31201256e-04 3.70719665e-03 9.99992695e-01 -2.15694096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.816296757000002 meters Centerline goodness : 0.833129 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:-0.22 [[ 9.99995205e-01 -3.00933789e-03 7.30292220e-04 1.17168249e+00] [ 3.01520365e-03 9.99962091e-01 -8.16848548e-03 -3.37023578e-01] [-7.05682802e-04 8.17064829e-03 9.99966371e-01 -2.15471302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.846296757000001 meters Centerline goodness : 0.832192 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.33, Z:-0.22 [[ 0.99997803 -0.0049963 0.00435582 1.1887522 ] [ 0.00506147 0.99987346 -0.01508104 -0.33335365] [-0.00427992 0.01510275 0.99987679 -0.21683112] [ 0. 0. 0. 1. ]] SLAMing on 8.876296757000002 meters Centerline goodness : 0.833544 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.33, Z:-0.22 [[ 0.99998093 -0.00489623 0.00376495 1.19001163] [ 0.00495172 0.99987713 -0.01487314 -0.33408371] [-0.00369167 0.0148915 0.9998823 -0.21701806] [ 0. 0. 0. 1. ]] SLAMing on 8.906296757000002 meters Centerline goodness : 0.832680 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.33, Z:-0.22 [[ 0.99998896 -0.00377138 0.00280348 1.1946626 ] [ 0.00381113 0.99989036 -0.01430892 -0.33294148] [-0.00274921 0.01431945 0.99989369 -0.22038275] [ 0. 0. 0. 1. ]] SLAMing on 8.936296757000001 meters Centerline goodness : 0.832047 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.33, Z:-0.22 [[ 9.99997130e-01 1.87295833e-04 2.38852622e-03 1.19606474e+00] [-1.63542048e-04 9.99950571e-01 -9.94127507e-03 -3.33736174e-01] [-2.39027011e-03 9.94085591e-03 9.99947732e-01 -2.21302029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.966296757000002 meters Centerline goodness : 0.830351 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.33, Z:-0.22 [[ 0.99998456 0.00193282 0.00521017 1.2150611 ] [-0.00186601 0.99991638 -0.01279679 -0.32896253] [-0.00523447 0.01278687 0.99990454 -0.22374092] [ 0. 0. 0. 1. ]] SLAMing on 8.996296757000001 meters Centerline goodness : 0.830585 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.33, Z:-0.22 [[ 0.9999777 0.00493006 0.00450483 1.21734261] [-0.0048874 0.99994357 -0.0094325 -0.33013226] [-0.00455108 0.00941027 0.99994537 -0.22485187] [ 0. 0. 0. 1. ]] SLAMing on 9.026296757 meters Centerline goodness : 0.831212 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.33, Z:-0.23 [[ 0.99997757 0.0052929 0.00410398 1.21837408] [-0.00525398 0.99994167 -0.00943653 -0.32949817] [-0.00415369 0.00941475 0.99994705 -0.22524296] [ 0. 0. 0. 1. ]] SLAMing on 9.056296757000002 meters Centerline goodness : 0.830767 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.33, Z:-0.23 [[ 0.99997826 0.00545198 0.00370872 1.22006087] [-0.00541356 0.99993239 -0.01029112 -0.32712584] [-0.00376457 0.01027082 0.99994017 -0.22610969] [ 0. 0. 0. 1. ]] SLAMing on 9.086296757000001 meters Centerline goodness : 0.831935 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.33, Z:-0.23 [[ 0.99997738 0.0059108 0.00321006 1.22290593] [-0.00587776 0.99993064 -0.01020609 -0.32518213] [-0.00327017 0.01018699 0.99994276 -0.22851579] [ 0. 0. 0. 1. ]] SLAMing on 9.116296757 meters Centerline goodness : 0.830379 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.32, Z:-0.23 [[ 9.99959161e-01 8.97352863e-03 -1.07313289e-03 1.23478845e+00] [-8.99152907e-03 9.99794907e-01 -1.81465389e-02 -3.19255759e-01] [ 9.10074312e-04 1.81554469e-02 9.99834762e-01 -2.26685679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.146296757000002 meters Centerline goodness : 0.829335 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.32, Z:-0.23 [[ 0.99996186 0.00858744 -0.0015899 1.23649222] [-0.00861679 0.99977314 -0.01947855 -0.31721835] [ 0.00142227 0.01949151 0.99980901 -0.22719279] [ 0. 0. 0. 1. ]] SLAMing on 9.176296757000001 meters Centerline goodness : 0.829841 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.32, Z:-0.23 [[ 0.99996227 0.00841797 -0.0021451 1.23816403] [-0.00845932 0.99976298 -0.02006053 -0.31617554] [ 0.00197572 0.02007792 0.99979647 -0.22793968] [ 0. 0. 0. 1. ]] SLAMing on 9.206296757000002 meters Centerline goodness : 0.830092 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.31, Z:-0.23 [[ 0.99997108 0.00701432 -0.00293955 1.24166195] [-0.00707784 0.99972882 -0.02218546 -0.31235933] [ 0.00278313 0.02220562 0.99974955 -0.23056523] [ 0. 0. 0. 1. ]] SLAMing on 9.236296757000002 meters Centerline goodness : 0.829292 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.31, Z:-0.23 [[ 0.99996353 0.00782361 -0.0034253 1.24456963] [-0.00789487 0.99974177 -0.02130863 -0.31110529] [ 0.0032577 0.02133489 0.99976708 -0.23301686] [ 0. 0. 0. 1. ]] SLAMing on 9.266296757000001 meters Centerline goodness : 0.826842 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.31, Z:-0.24 [[ 0.99995739 0.008103 -0.00442281 1.24947637] [-0.00819412 0.99974611 -0.02098993 -0.30874382] [ 0.0042516 0.02102528 0.9997699 -0.23672864] [ 0. 0. 0. 1. ]] SLAMing on 9.296296757000002 meters Centerline goodness : 0.826076 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.31, Z:-0.24 [[ 0.99995508 0.00813927 -0.00485765 1.25067982] [-0.00823802 0.99975243 -0.02066905 -0.30977273] [ 0.00468822 0.02070814 0.99977457 -0.23722529] [ 0. 0. 0. 1. ]] SLAMing on 9.326296757000001 meters Centerline goodness : 0.825867 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.31, Z:-0.24 [[ 0.9999513 0.00838386 -0.00520748 1.25107483] [-0.00848533 0.99976837 -0.01977876 -0.31369611] [ 0.00504045 0.01982198 0.99979082 -0.23667193] [ 0. 0. 0. 1. ]] SLAMing on 9.356296757 meters Centerline goodness : 0.825992 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.32, Z:-0.24 [[ 0.99997162 0.00731846 -0.0017866 1.25782836] [-0.00733551 0.99992579 -0.00972631 -0.31749472] [ 0.00171529 0.00973914 0.9999511 -0.23562086] [ 0. 0. 0. 1. ]] SLAMing on 9.386296757000002 meters Centerline goodness : 0.826658 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.32, Z:-0.24 [[ 0.99996948 0.0075427 -0.00203501 1.25789956] [-0.00756129 0.9999283 -0.00928566 -0.31866282] [ 0.00196482 0.00930077 0.99995482 -0.23500268] [ 0. 0. 0. 1. ]] SLAMing on 9.416296757000001 meters Centerline goodness : 0.828145 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.32, Z:-0.24 [[ 0.99996917 0.00739732 -0.00263327 1.25948332] [-0.00742171 0.99992847 -0.0093794 -0.31880249] [ 0.0025637 0.00939865 0.99995255 -0.23544571] [ 0. 0. 0. 1. ]] SLAMing on 9.446296757 meters Centerline goodness : 0.829519 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.32, Z:-0.24 [[ 0.99996854 0.00737235 -0.00292656 1.26045759] [-0.00739994 0.99992719 -0.00953206 -0.31805208] [ 0.00285608 0.00955342 0.99995029 -0.23590734] [ 0. 0. 0. 1. ]] SLAMing on 9.476296757000002 meters Centerline goodness : 0.830461 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.32, Z:-0.24 [[ 0.99996255 0.00766168 -0.0040247 1.26453479] [-0.00769898 0.99992679 -0.00933455 -0.31643054] [ 0.00395289 0.00936519 0.99994833 -0.2381369 ] [ 0. 0. 0. 1. ]] SLAMing on 9.506296757000001 meters Centerline goodness : 0.831375 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.32, Z:-0.24 [[ 0.99996197 0.00752071 -0.0044151 1.26568758] [-0.00756313 0.99992463 -0.00967115 -0.31529115] [ 0.00434204 0.00970418 0.99994349 -0.23860404] [ 0. 0. 0. 1. ]] SLAMing on 9.536296757000002 meters Centerline goodness : 0.830619 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.32, Z:-0.24 [[ 0.99996161 0.00728213 -0.00487348 1.26700185] [-0.00732963 0.99992511 -0.00980021 -0.31549034] [ 0.00480174 0.00983556 0.9999401 -0.23911477] [ 0. 0. 0. 1. ]] SLAMing on 9.566296757000002 meters Centerline goodness : 0.834312 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.32, Z:-0.24 [[ 0.99997994 0.00330854 -0.00540195 1.26858204] [-0.00338313 0.99989826 -0.01385762 -0.31582282] [ 0.00535555 0.01387562 0.99988939 -0.23981541] [ 0. 0. 0. 1. ]] SLAMing on 9.596296757000001 meters Centerline goodness : 0.835065 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.32, Z:-0.24 [[ 0.99997957 0.00250418 -0.00588131 1.27063251] [-0.00258984 0.99989001 -0.01460321 -0.31509145] [ 0.00584409 0.01461815 0.99987607 -0.24125251] [ 0. 0. 0. 1. ]] SLAMing on 9.626296757000002 meters Centerline goodness : 0.834151 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.31, Z:-0.24 [[ 9.99992494e-01 -1.31629086e-04 -3.87219904e-03 1.28059473e+00] [ 1.07772122e-04 9.99981017e-01 -6.16065286e-03 -3.12428319e-01] [ 3.87293646e-03 6.16018931e-03 9.99973526e-01 -2.41632882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.656296757000002 meters Centerline goodness : 0.829765 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.31, Z:-0.24 [[ 9.99991109e-01 -5.35349540e-04 -4.18279753e-03 1.28121127e+00] [ 5.07503179e-04 9.99977723e-01 -6.65558087e-03 -3.10863218e-01] [ 4.18626741e-03 6.65339891e-03 9.99969103e-01 -2.41555545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.686296757000001 meters Centerline goodness : 0.831590 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.31, Z:-0.24 [[ 0.9999783 -0.00465536 -0.00466177 1.28207158] [ 0.00460577 0.99993329 -0.01059294 -0.31219322] [ 0.00471078 0.01057124 0.99993303 -0.24113396] [ 0. 0. 0. 1. ]] SLAMing on 9.716296757000002 meters Centerline goodness : 0.830896 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.32, Z:-0.24 [[ 0.99997589 -0.0049665 -0.00485231 1.28246671] [ 0.00491731 0.99993693 -0.010097 -0.31542415] [ 0.00490215 0.0100729 0.99993725 -0.24103248] [ 0. 0. 0. 1. ]] SLAMing on 9.746296757000001 meters Centerline goodness : 0.834146 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.32, Z:-0.24 [[ 9.99976541e-01 -6.76160705e-03 1.09450728e-03 1.29157616e+00] [ 6.76342664e-03 9.99975738e-01 -1.66739147e-03 -3.18572785e-01] [-1.08320648e-03 1.67475497e-03 9.99998011e-01 -2.43965903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.776296757 meters Centerline goodness : 0.835944 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.31, Z:-0.24 [[ 9.99975084e-01 -7.02190758e-03 7.23717323e-04 1.29299760e+00] [ 7.02362206e-03 9.99972468e-01 -2.39432872e-03 -3.14389243e-01] [-7.06884642e-04 2.39935218e-03 9.99996872e-01 -2.44568158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.806296757000002 meters Centerline goodness : 0.836846 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.31, Z:-0.25 [[ 9.99987490e-01 -5.00136959e-03 7.70089287e-05 1.29599884e+00] [ 5.00139332e-03 9.99987445e-01 -3.11102985e-04 -3.12765698e-01] [-7.54520208e-05 3.11484245e-04 9.99999949e-01 -2.46793014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.836296757000001 meters Centerline goodness : 0.838902 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.31, Z:-0.25 [[ 9.99999218e-01 1.20383609e-03 -3.40190826e-04 1.30634590e+00] [-1.20561887e-03 9.99985282e-01 -5.28985649e-03 -3.09108501e-01] [ 3.33817699e-04 5.29026249e-03 9.99985951e-01 -2.46539835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.866296757000002 meters Centerline goodness : 0.835412 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.31, Z:-0.25 [[ 0.99998933 0.0027111 0.00373943 1.32322832] [-0.00268677 0.99997528 -0.00649772 -0.3080297 ] [-0.00375696 0.0064876 0.9999719 -0.2473525 ] [ 0. 0. 0. 1. ]] SLAMing on 9.896296757000002 meters Centerline goodness : 0.833512 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.31, Z:-0.25 [[ 0.99996728 0.0036983 0.007195 1.34066575] [-0.00363215 0.99995122 -0.00918485 -0.30648315] [-0.00722861 0.00915841 0.99993193 -0.24876556] [ 0. 0. 0. 1. ]] SLAMing on 9.926296757000001 meters Centerline goodness : 0.837621 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.30, Z:-0.25 [[ 0.99992144 0.01099475 0.00601973 1.36803092] [-0.01090829 0.9998395 -0.01421208 -0.30391626] [-0.00617502 0.0141453 0.99988088 -0.24829036] [ 0. 0. 0. 1. ]] SLAMing on 9.956296757000002 meters Centerline goodness : 0.838813 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.30, Z:-0.25 [[ 0.99987819 0.01204599 0.00992507 1.38477751] [-0.01185819 0.99975354 -0.01876837 -0.29846468] [-0.0101487 0.01864839 0.9997746 -0.24965236] [ 0. 0. 0. 1. ]] SLAMing on 9.986296757000002 meters Centerline goodness : 0.836403 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.29, Z:-0.25 [[ 0.99979671 0.0179086 0.00926345 1.38841479] [-0.01778384 0.99975234 -0.01337903 -0.29363121] [-0.00950076 0.01321157 0.99986759 -0.25191738] [ 0. 0. 0. 1. ]] SLAMing on 10.016296757000001 meters Centerline goodness : 0.836276 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.29, Z:-0.25 [[ 0.99982223 0.0187565 0.00192304 1.37724471] [-0.01873264 0.99975545 -0.01175297 -0.28991567] [-0.00214302 0.01171485 0.99992908 -0.25366173] [ 0. 0. 0. 1. ]] SLAMing on 10.046296757000002 meters Centerline goodness : 0.834872 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.28, Z:-0.26 [[ 9.99830309e-01 1.83908173e-02 1.06328376e-03 1.38250442e+00] [-1.83747633e-02 9.99739648e-01 -1.35279171e-02 -2.83900928e-01] [-1.31179638e-03 1.35060840e-02 9.99907928e-01 -2.58644144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.076296757000001 meters Centerline goodness : 0.830234 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.28, Z:-0.26 [[ 9.99880924e-01 1.54300379e-02 2.28010158e-04 1.38682660e+00] [-1.54238445e-02 9.99733450e-01 -1.71794698e-02 -2.81522736e-01] [-4.93029252e-04 1.71739073e-02 9.99852396e-01 -2.62364885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.106296757 meters Centerline goodness : 0.831025 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.28, Z:-0.26 [[ 9.99937309e-01 1.11968614e-02 -9.45299493e-05 1.38814940e+00] [-1.11962228e-02 9.99694093e-01 -2.20536738e-02 -2.79201745e-01] [-1.52430897e-04 2.20533496e-02 9.99756784e-01 -2.63558565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.136296757000002 meters Centerline goodness : 0.830669 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.28, Z:-0.26 [[ 9.99983233e-01 5.77592732e-03 -4.16251565e-04 1.38858976e+00] [-5.78529578e-03 9.99593628e-01 -2.79125387e-02 -2.75369819e-01] [ 2.54861617e-04 2.79144789e-02 9.99610283e-01 -2.63032380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166296757000001 meters Centerline goodness : 0.832367 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.28, Z:-0.26 [[ 0.99999299 0.0028647 0.00241007 1.39615232] [-0.00281751 0.99980854 -0.01936359 -0.2754503 ] [-0.00246507 0.01935666 0.9998096 -0.26225814] [ 0. 0. 0. 1. ]] SLAMing on 10.196296757 meters Centerline goodness : 0.828769 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.27, Z:-0.26 [[ 9.99999325e-01 1.97182723e-04 1.14483413e-03 1.40035219e+00] [-1.71391479e-04 9.99747168e-01 -2.24849211e-02 -2.69580847e-01] [-1.14897832e-03 2.24847097e-02 9.99746527e-01 -2.64124375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.226296757000002 meters Centerline goodness : 0.827782 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.27, Z:-0.26 [[ 9.99992580e-01 -3.75096289e-03 8.77155683e-04 1.40167645e+00] [ 3.77435879e-03 9.99589646e-01 -2.83953181e-02 -2.65783393e-01] [-7.70285953e-04 2.83984182e-02 9.99596387e-01 -2.64032074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.256296757000001 meters Centerline goodness : 0.828248 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.27, Z:-0.26 [[ 9.99990610e-01 -4.30153001e-03 5.25530021e-04 1.40270639e+00] [ 4.31484404e-03 9.99578558e-01 -2.87069468e-02 -2.65956576e-01] [-4.01824747e-04 2.87089448e-02 9.99587733e-01 -2.64475816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.286296757000002 meters Centerline goodness : 0.829577 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.27, Z:-0.27 [[ 0.99992049 -0.01087255 0.00638766 1.41010979] [ 0.01102739 0.99963344 -0.02472623 -0.26970753] [-0.00611648 0.0247947 0.99967385 -0.26547142] [ 0. 0. 0. 1. ]] SLAMing on 10.316296757000002 meters Centerline goodness : 0.829577 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.27, Z:-0.27 [[ 0.99992049 -0.01087255 0.00638766 1.41010979] [ 0.01102739 0.99963344 -0.02472623 -0.26970753] [-0.00611648 0.0247947 0.99967385 -0.26547142] [ 0. 0. 0. 1. ]] SLAMing on 10.346296757000001 meters Centerline goodness : 0.830960 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.27, Z:-0.27 [[ 0.99986738 -0.0150924 0.00611853 1.41118899] [ 0.01526209 0.99947137 -0.02870615 -0.27060894] [-0.00568205 0.02879573 0.99956917 -0.26592266] [ 0. 0. 0. 1. ]] SLAMing on 10.376296757000002 meters Centerline goodness : 0.828246 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.27, Z:-0.27 [[ 0.99987329 -0.01448918 0.00659257 1.43231676] [ 0.01466561 0.99951279 -0.02755188 -0.26973575] [-0.00619015 0.02764507 0.99959864 -0.26816668] [ 0. 0. 0. 1. ]] SLAMing on 10.406296757000002 meters Centerline goodness : 0.827953 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.27, Z:-0.27 [[ 0.99990591 -0.01247166 0.0057127 1.43540554] [ 0.01261004 0.9996113 -0.0248642 -0.26873229] [-0.00540038 0.0249339 0.99967452 -0.27002493] [ 0. 0. 0. 1. ]] SLAMing on 10.436296757000001 meters Centerline goodness : 0.830787 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.27, Z:-0.27 [[ 0.99990043 -0.01218065 0.0071244 1.45728136] [ 0.01232947 0.99969855 -0.02123185 -0.27109206] [-0.00686364 0.02131758 0.99974919 -0.27275922] [ 0. 0. 0. 1. ]] SLAMing on 10.466296757000002 meters Centerline goodness : 0.830839 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.27, Z:-0.27 [[ 0.99985206 -0.0158163 0.00676024 1.45839821] [ 0.01597777 0.99957117 -0.02453955 -0.27330752] [-0.00636922 0.02464393 0.999676 -0.27309982] [ 0. 0. 0. 1. ]] SLAMing on 10.496296757000001 meters Centerline goodness : 0.828965 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.28, Z:-0.27 [[ 0.99977522 -0.02017399 0.00652135 1.45942357] [ 0.02034734 0.9994089 -0.02770997 -0.27881702] [-0.00595847 0.02783643 0.99959473 -0.27347252] [ 0. 0. 0. 1. ]] SLAMing on 10.526296757 meters Centerline goodness : 0.834464 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.28, Z:-0.27 [[ 0.99977292 -0.02040591 0.00614123 1.46063891] [ 0.02056505 0.99942188 -0.02707369 -0.28154916] [-0.00558521 0.02719383 0.99961458 -0.27406794] [ 0. 0. 0. 1. ]] SLAMing on 10.556296757000002 meters Centerline goodness : 0.835645 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.28, Z:-0.27 [[ 0.99977582 -0.02038211 0.00573391 1.46173588] [ 0.02052526 0.99944789 -0.0261271 -0.28473294] [-0.00519822 0.02623894 0.99964218 -0.27444187] [ 0. 0. 0. 1. ]] SLAMing on 10.586296757000001 meters Centerline goodness : 0.832903 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.29, Z:-0.27 [[ 9.99765989e-01 -2.16246224e-02 5.86252883e-04 1.45417313e+00] [ 2.16311760e-02 9.99641894e-01 -1.57535773e-02 -2.93902327e-01] [-2.45377782e-04 1.57625721e-02 9.99875733e-01 -2.71859373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.616296757000002 meters Centerline goodness : 0.835514 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.30, Z:-0.27 [[ 9.99872297e-01 -1.59785365e-02 2.74203155e-04 1.45404703e+00] [ 1.59804744e-02 9.99822765e-01 -9.95306592e-03 -2.98555145e-01] [-1.15119130e-04 9.95617679e-03 9.99950429e-01 -2.70488082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.646296757000002 meters Centerline goodness : 0.838434 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.30, Z:-0.27 [[ 0.99992974 -0.01056932 0.00536725 1.46951339] [ 0.01060118 0.99992615 -0.00594231 -0.29764401] [-0.00530405 0.00599879 0.99996794 -0.26993723] [ 0. 0. 0. 1. ]] SLAMing on 10.676296757000001 meters Centerline goodness : 0.836667 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.30, Z:-0.27 [[ 0.99993577 -0.00555453 0.00987991 1.48608924] [ 0.0055851 0.99997969 -0.00306894 -0.29517704] [-0.00986266 0.00312392 0.99994648 -0.27030383] [ 0. 0. 0. 1. ]] SLAMing on 10.706296757000002 meters Centerline goodness : 0.837490 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.30, Z:-0.27 [[ 0.99993304 0.00518056 0.010348 1.51265788] [-0.00513114 0.99997533 -0.00479653 -0.29567651] [-0.0103726 0.00474311 0.99993495 -0.26776028] [ 0. 0. 0. 1. ]] SLAMing on 10.736296757000002 meters Centerline goodness : 0.839930 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.30, Z:-0.26 [[ 0.99992785 0.01022739 0.00629973 1.5204468 ] [-0.01018607 0.99992662 -0.00655666 -0.29829976] [-0.00636633 0.00649202 0.99995866 -0.26377627] [ 0. 0. 0. 1. ]] SLAMing on 10.766296757000001 meters Centerline goodness : 0.842330 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.30, Z:-0.26 [[ 9.99851518e-01 1.60858245e-02 6.17960492e-03 1.52093999e+00] [-1.60793849e-02 9.99870124e-01 -1.09035845e-03 -3.02593099e-01] [-6.19634165e-03 9.90832305e-04 9.99980312e-01 -2.63349636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.796296757000002 meters Centerline goodness : 0.846280 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.30, Z:-0.26 [[ 0.99977222 0.02049528 0.00595454 1.52209162] [-0.02051646 0.99978333 0.00351667 -0.30421442] [-0.00588117 -0.00363803 0.99997609 -0.2639878 ] [ 0. 0. 0. 1. ]] SLAMing on 10.826296757000001 meters Centerline goodness : 0.844744 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.30, Z:-0.27 [[ 0.99964766 0.02476195 0.00955994 1.53139658] [-0.02471504 0.99968206 -0.00499457 -0.30132815] [-0.00968057 0.00475654 0.99994183 -0.26625523] [ 0. 0. 0. 1. ]] SLAMing on 10.856296757 meters Centerline goodness : 0.842206 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.30, Z:-0.27 [[ 0.9996263 0.02557078 0.0096646 1.53156381] [-0.02552226 0.99966119 -0.00511013 -0.30058176] [-0.009792 0.00486156 0.99994024 -0.26643294] [ 0. 0. 0. 1. ]] SLAMing on 10.886296757000002 meters Centerline goodness : 0.842644 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.30, Z:-0.27 [[ 0.99958797 0.02704578 0.0096132 1.53220859] [-0.02700495 0.99962583 -0.00435195 -0.29945129] [-0.0097273 0.00409056 0.99994432 -0.26710848] [ 0. 0. 0. 1. ]] SLAMing on 10.916296757000001 meters Centerline goodness : 0.842588 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.30, Z:-0.27 [[ 0.99959153 0.02700384 0.00935727 1.53318948] [-0.02696162 0.99962584 -0.00460977 -0.29864734] [-0.00947825 0.0043556 0.99994559 -0.26778216] [ 0. 0. 0. 1. ]] SLAMing on 10.946296757000002 meters Centerline goodness : 0.841630 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.30, Z:-0.27 [[ 0.99965854 0.02584969 0.00381979 1.51980641] [-0.02582965 0.9996528 -0.00520607 -0.29856646] [-0.00395304 0.00510562 0.99997915 -0.26915097] [ 0. 0. 0. 1. ]] SLAMing on 10.976296757000002 meters Centerline goodness : 0.840420 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.30, Z:-0.27 [[ 0.999668 0.02553277 0.00346032 1.52112753] [-0.0255132 0.99965888 -0.00558545 -0.29822591] [-0.00360175 0.00549531 0.99997841 -0.26997963] [ 0. 0. 0. 1. ]] SLAMing on 11.006296757000001 meters Centerline goodness : 0.843898 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.30, Z:-0.27 [[ 0.99962682 0.0270558 0.00377013 1.5202852 ] [-0.02704003 0.99962564 -0.00417278 -0.29651501] [-0.00388162 0.00406928 0.99998419 -0.269436 ] [ 0. 0. 0. 1. ]] SLAMing on 11.036296757000002 meters Centerline goodness : 0.845076 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:-0.27 [[ 0.99962683 0.0270696 0.00366668 1.52055668] [-0.0270521 0.99962278 -0.00474085 -0.29426327] [-0.00379362 0.00463989 0.99998204 -0.26955796] [ 0. 0. 0. 1. ]] SLAMing on 11.066296757000002 meters Centerline goodness : 0.847192 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:-0.27 [[ 0.99962992 0.0269122 0.00396876 1.51936691] [-0.0268903 0.9996234 -0.005474 -0.29161826] [-0.00411458 0.00536525 0.99997714 -0.26815147] [ 0. 0. 0. 1. ]] SLAMing on 11.096296757000001 meters Centerline goodness : 0.846358 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:-0.27 [[ 0.99963979 0.02661113 0.00348425 1.52010822] [-0.02659029 0.99962903 -0.00589562 -0.29078042] [-0.00363985 0.00580085 0.99997655 -0.26778178] [ 0. 0. 0. 1. ]] SLAMing on 11.126296757000002 meters Centerline goodness : 0.848827 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:-0.27 [[ 0.99965367 0.02610805 0.0033026 1.52025507] [-0.0260866 0.99963933 -0.00637999 -0.29031694] [-0.00346798 0.00629162 0.99997419 -0.26739242] [ 0. 0. 0. 1. ]] SLAMing on 11.156296757000002 meters Centerline goodness : 0.849227 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:-0.27 [[ 0.99969047 0.02467153 0.00320607 1.5203178 ] [-0.02464715 0.99966859 -0.00743172 -0.29029555] [-0.00338836 0.0073504 0.99996724 -0.26696331] [ 0. 0. 0. 1. ]] SLAMing on 11.186296757000001 meters Centerline goodness : 0.849716 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.29, Z:-0.27 [[ 0.99969 0.02481775 0.00199734 1.52526177] [-0.02480146 0.99966193 -0.00780528 -0.2890138 ] [-0.00219037 0.00775333 0.99996754 -0.27025046] [ 0. 0. 0. 1. ]] SLAMing on 11.216296757000002 meters Centerline goodness : 0.845150 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.29, Z:-0.27 [[ 9.99672244e-01 2.55781954e-02 1.07715965e-03 1.52889901e+00] [-2.55695538e-02 9.99645728e-01 -7.39028369e-03 -2.87376282e-01] [-1.26580816e-03 7.36031899e-03 9.99972111e-01 -2.72596037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.246296757000001 meters Centerline goodness : 0.845318 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.29, Z:-0.27 [[ 9.99684210e-01 2.51200070e-02 6.82347289e-04 1.52990434e+00] [-2.51135955e-02 9.99651164e-01 -8.17670963e-03 -2.85397619e-01] [-8.87508265e-04 8.15699132e-03 9.99966337e-01 -2.72965701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.276296757 meters Centerline goodness : 0.845243 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.28, Z:-0.27 [[ 9.99750329e-01 2.23317245e-02 7.56920317e-04 1.52917871e+00] [-2.23223795e-02 9.99693822e-01 -1.06758478e-02 -2.82795159e-01] [-9.95098656e-04 1.06562861e-02 9.99942725e-01 -2.72054749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.306296757000002 meters Centerline goodness : 0.844658 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.28, Z:-0.27 [[ 9.99776516e-01 2.11403150e-02 -7.68869098e-05 1.53156584e+00] [-2.11397876e-02 9.99709458e-01 -1.15805847e-02 -2.82153302e-01] [-1.67952637e-04 1.15796220e-02 9.99932940e-01 -2.73166907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.336296757000001 meters Centerline goodness : 0.845354 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.28, Z:-0.28 [[ 9.99831902e-01 1.82951517e-02 -1.20605403e-03 1.53558905e+00] [-1.83104237e-02 9.99731805e-01 -1.41790559e-02 -2.81619044e-01] [ 9.46322595e-04 1.41987558e-02 9.99898745e-01 -2.75547472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.366296757000002 meters Centerline goodness : 0.839923 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.28, Z:-0.28 [[ 9.99836312e-01 1.80179053e-02 -1.64464106e-03 1.53651096e+00] [-1.80392741e-02 9.99738361e-01 -1.40639656e-02 -2.83016534e-01] [ 1.39080756e-03 1.40913316e-02 9.99899745e-01 -2.75662053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.396296757000002 meters Centerline goodness : 0.847334 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.29, Z:-0.27 [[ 9.99880496e-01 1.53639692e-02 -1.71531129e-03 1.53564860e+00] [-1.53907390e-02 9.99739234e-01 -1.68697618e-02 -2.85388147e-01] [ 1.45567750e-03 1.68941457e-02 9.99856224e-01 -2.74100315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.426296757000001 meters Centerline goodness : 0.844710 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.29, Z:-0.27 [[ 0.99982734 0.01847063 -0.00203228 1.53626521] [-0.01849534 0.99974579 -0.01289516 -0.2878355 ] [ 0.00179358 0.01293052 0.99991479 -0.2738587 ] [ 0. 0. 0. 1. ]] SLAMing on 11.456296757000002 meters Centerline goodness : 0.847971 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.29, Z:-0.27 [[ 0.99982435 0.01858746 -0.00240211 1.53673269] [-0.01861768 0.99973906 -0.01323578 -0.28675472] [ 0.00215546 0.01327818 0.99990952 -0.27326532] [ 0. 0. 0. 1. ]] SLAMing on 11.486296757000002 meters Centerline goodness : 0.843597 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.29, Z:-0.27 [[ 9.99740802e-01 2.24076505e-02 -4.02809262e-03 1.56474115e+00] [-2.24131707e-02 9.99747908e-01 -1.33053651e-03 -2.90898942e-01] [ 3.99726298e-03 1.42047396e-03 9.99991002e-01 -2.72892237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.516296757000001 meters Centerline goodness : 0.844005 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.29, Z:-0.27 [[ 9.99727702e-01 2.28820340e-02 -4.57536546e-03 1.56654545e+00] [-2.28865195e-02 9.99737636e-01 -9.30427145e-04 -2.91735365e-01] [ 4.55287498e-03 1.03488798e-03 9.99989100e-01 -2.73904649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.546296757000002 meters Centerline goodness : 0.839188 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:-0.28 [[ 0.99965348 0.02575673 -0.00543234 1.57046473] [-0.02574582 0.99966638 0.00206848 -0.29663303] [ 0.0054838 -0.0019279 0.99998311 -0.2766164 ] [ 0. 0. 0. 1. ]] SLAMing on 11.576296757000001 meters Centerline goodness : 0.841123 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:-0.28 [[ 0.99952335 0.03029489 -0.00594059 1.57431071] [-0.03025374 0.99951845 0.00689738 -0.2986351 ] [ 0.00614669 -0.00671437 0.99995857 -0.2797669 ] [ 0. 0. 0. 1. ]] SLAMing on 11.606296757 meters Centerline goodness : 0.841149 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.30, Z:-0.28 [[ 0.99951149 0.03060593 -0.00632847 1.57528264] [-0.0305634 0.9995103 0.00671051 -0.29698935] [ 0.00653076 -0.00651382 0.99995746 -0.27999706] [ 0. 0. 0. 1. ]] SLAMing on 11.636296757000002 meters Centerline goodness : 0.844673 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.30, Z:-0.28 [[ 0.99947309 0.03174791 -0.00675417 1.57601183] [-0.03169708 0.99946934 0.0075051 -0.29737853] [ 0.00698886 -0.00728706 0.99994903 -0.27949211] [ 0. 0. 0. 1. ]] SLAMing on 11.666296757000001 meters Centerline goodness : 0.844673 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.30, Z:-0.28 [[ 0.99947309 0.03174791 -0.00675417 1.57601183] [-0.03169708 0.99946934 0.0075051 -0.29737853] [ 0.00698886 -0.00728706 0.99994903 -0.27949211] [ 0. 0. 0. 1. ]] SLAMing on 11.696296757000002 meters Centerline goodness : 0.844165 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.30, Z:-0.28 [[ 0.99935027 0.03567979 -0.00509716 1.59760712] [-0.03562049 0.99930165 0.01128709 -0.30112713] [ 0.00549632 -0.0110982 0.99992331 -0.28227409] [ 0. 0. 0. 1. ]] SLAMing on 11.726296757000002 meters Centerline goodness : 0.842776 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.30, Z:-0.28 [[ 0.999334 0.03608995 -0.00539248 1.5987598 ] [-0.03602696 0.99928631 0.01135472 -0.30079264] [ 0.00579843 -0.01115288 0.99992099 -0.28305869] [ 0. 0. 0. 1. ]] SLAMing on 11.756296757000001 meters Centerline goodness : 0.842335 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.30, Z:-0.28 [[ 0.99931607 0.03653483 -0.00570989 1.60008776] [-0.03646921 0.99927199 0.01120203 -0.29963911] [ 0.006115 -0.01098613 0.99992095 -0.28403777] [ 0. 0. 0. 1. ]] SLAMing on 11.786296757000002 meters Centerline goodness : 0.843934 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.30, Z:-0.29 [[ 0.9991284 0.04133654 -0.00580728 1.60197065] [-0.04124633 0.9990382 0.01487979 -0.29704126] [ 0.00641677 -0.01462729 0.99987243 -0.28579262] [ 0. 0. 0. 1. ]] SLAMing on 11.816296757000002 meters Centerline goodness : 0.841313 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.29, Z:-0.29 [[ 0.99893728 0.04568466 -0.00610183 1.60385675] [-0.04556773 0.99879736 0.01809486 -0.29327108] [ 0.00692115 -0.01779758 0.99981766 -0.28696079] [ 0. 0. 0. 1. ]] SLAMing on 11.846296757000001 meters Centerline goodness : 0.841073 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.29, Z:-0.29 [[ 0.99894035 0.04556106 -0.00650903 1.60523014] [-0.04544142 0.9988141 0.01747759 -0.29144522] [ 0.00729761 -0.01716329 0.99982607 -0.28776686] [ 0. 0. 0. 1. ]] SLAMing on 11.876296757000002 meters Centerline goodness : 0.842501 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.29, Z:-0.29 [[ 0.9989486 0.04531853 -0.00692207 1.60672268] [-0.04519424 0.99883072 0.01716585 -0.29094834] [ 0.00769191 -0.01683497 0.99982869 -0.28869448] [ 0. 0. 0. 1. ]] SLAMing on 11.906296757000002 meters Centerline goodness : 0.841413 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.29, Z:-0.29 [[ 0.9991244 0.04114134 -0.0076036 1.6085114 ] [-0.04104157 0.99907491 0.01284203 -0.29041944] [ 0.0081249 -0.01251873 0.99988863 -0.28963599] [ 0. 0. 0. 1. ]] SLAMing on 11.936296757000001 meters Centerline goodness : 0.840061 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.29, Z:-0.29 [[ 0.99923562 0.03818457 -0.00837343 1.61114432] [-0.03810225 0.99922599 0.00977971 -0.29033269] [ 0.00874038 -0.00945319 0.99991712 -0.29122455] [ 0. 0. 0. 1. ]] SLAMing on 11.966296757000002 meters Centerline goodness : 0.839413 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.29, Z:-0.30 [[ 0.99949863 0.03155901 -0.00255468 1.62293027] [-0.03152567 0.99942874 0.01217909 -0.29180858] [ 0.00293758 -0.01209244 0.99992257 -0.29577251] [ 0. 0. 0. 1. ]] SLAMing on 11.996296757000001 meters Centerline goodness : 0.840654 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.29, Z:-0.30 [[ 0.99961939 0.02742378 -0.00300059 1.62424917] [-0.02740004 0.99959501 0.00768409 -0.28943877] [ 0.0032101 -0.00759895 0.99996598 -0.29665557] [ 0. 0. 0. 1. ]] SLAMing on 12.026296757000003 meters Centerline goodness : 0.839235 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.29, Z:-0.30 [[ 0.99979287 0.0202505 0.00203271 1.63576371] [-0.02027136 0.99973584 0.01083184 -0.29156087] [-0.00181283 -0.01087081 0.99993927 -0.30037996] [ 0. 0. 0. 1. ]] SLAMing on 12.056296757000002 meters Centerline goodness : 0.839855 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.29, Z:-0.30 [[ 9.99863793e-01 1.64170458e-02 1.69561324e-03 1.63646840e+00] [-1.64279329e-02 9.99843138e-01 6.61985491e-03 -2.90389711e-01] [-1.58666880e-03 -6.64680867e-03 9.99976651e-01 -3.00493793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.086296757000001 meters Centerline goodness : 0.839270 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.29, Z:-0.30 [[ 9.99917750e-01 1.27500677e-02 1.38889409e-03 1.63689545e+00] [-1.27536876e-02 9.99915211e-01 2.62941238e-03 -2.90148328e-01] [-1.35525114e-03 -2.64690963e-03 9.99995579e-01 -3.00380511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.116296757000002 meters Centerline goodness : 0.842996 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.29, Z:-0.30 [[ 9.99976510e-01 6.68446908e-03 1.51591043e-03 1.63500719e+00] [-6.67935917e-03 9.99972077e-01 -3.35122552e-03 -2.94263526e-01] [-1.53826926e-03 3.34102149e-03 9.99993236e-01 -2.97739943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.146296757000002 meters Centerline goodness : 0.843984 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.29, Z:-0.30 [[ 9.99994919e-01 2.98252861e-03 1.12501540e-03 1.63573228e+00] [-2.97464353e-03 9.99971448e-01 -6.94660658e-03 -2.94845770e-01] [-1.14570173e-03 6.94322477e-03 9.99975239e-01 -2.97658753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.176296757000001 meters Centerline goodness : 0.846358 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.30, Z:-0.30 [[ 9.99998716e-01 -1.45392407e-03 6.74421673e-04 1.63686396e+00] [ 1.46065118e-03 9.99948091e-01 -1.00837615e-02 -2.97160655e-01] [-6.59725641e-04 1.00847337e-02 9.99948930e-01 -2.97677848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.206296757000002 meters Centerline goodness : 0.846358 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.30, Z:-0.30 [[ 9.99998716e-01 -1.45392407e-03 6.74421673e-04 1.63686396e+00] [ 1.46065118e-03 9.99948091e-01 -1.00837615e-02 -2.97160655e-01] [-6.59725641e-04 1.00847337e-02 9.99948930e-01 -2.97677848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.236296757000002 meters Centerline goodness : 0.846589 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.30, Z:-0.30 [[ 9.99998822e-01 -1.51508672e-03 2.46529387e-04 1.63785634e+00] [ 1.51733096e-03 9.99954920e-01 -9.37311717e-03 -2.99541377e-01] [-2.32317188e-04 9.37348020e-03 9.99956041e-01 -2.97821631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.266296757000001 meters Centerline goodness : 0.842643 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.30, Z:-0.30 [[ 9.99998463e-01 -1.75160456e-03 -7.36678049e-05 1.63916520e+00] [ 1.75086733e-03 9.99957635e-01 -9.03672406e-03 -3.01701415e-01] [ 8.94934511e-05 9.03658119e-03 9.99959165e-01 -2.98680195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.296296757000002 meters Centerline goodness : 0.844565 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.30, Z:-0.30 [[ 9.99996054e-01 -2.55708337e-03 -1.16289627e-03 1.64358688e+00] [ 2.54499364e-03 9.99943905e-01 -1.02815148e-02 -3.03370891e-01] [ 1.18912173e-03 1.02785146e-02 9.99946468e-01 -3.01772030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.326296757000001 meters Centerline goodness : 0.843953 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.30, Z:-0.30 [[ 9.99997333e-01 -1.84270560e-03 -1.39200517e-03 1.64481068e+00] [ 1.82866228e-03 9.99948093e-01 -1.00233427e-02 -3.04413952e-01] [ 1.41040299e-03 1.00207704e-02 9.99948796e-01 -3.02699439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.356296757000003 meters Centerline goodness : 0.842392 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.30, Z:-0.30 [[ 9.99997733e-01 -1.46675560e-03 -1.54380361e-03 1.64526694e+00] [ 1.45170932e-03 9.99951874e-01 -9.70264547e-03 -3.04708339e-01] [ 1.55796072e-03 9.70038231e-03 9.99951737e-01 -3.02866457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.386296757000002 meters Centerline goodness : 0.842729 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.30, Z:-0.30 [[ 9.99998135e-01 -8.99303203e-04 -1.70908927e-03 1.64580613e+00] [ 8.83374617e-04 9.99956383e-01 -9.29793949e-03 -3.04660948e-01] [ 1.71737639e-03 9.29641238e-03 9.99955313e-01 -3.03156687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.416296757000001 meters Centerline goodness : 0.844700 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.31, Z:-0.30 [[ 9.99998736e-01 6.87010157e-04 -1.43416699e-03 1.64469372e+00] [-6.97591328e-04 9.99972447e-01 -7.39050489e-03 -3.07265083e-01] [ 1.42905012e-03 7.39149601e-03 9.99971661e-01 -3.01875959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.446296757000002 meters Centerline goodness : 0.845947 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.31, Z:-0.30 [[ 0.9999955 0.00241424 -0.00178241 1.64649546] [-0.00242379 0.99998262 -0.00537526 -0.31185281] [ 0.0017694 0.00537956 0.99998396 -0.30307903] [ 0. 0. 0. 1. ]] SLAMing on 12.476296757000002 meters Centerline goodness : 0.844488 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.31, Z:-0.30 [[ 0.99999368 0.00302246 -0.00186975 1.64721986] [-0.00303182 0.99998279 -0.00502326 -0.31193727] [ 0.00185454 0.00502889 0.99998564 -0.30390084] [ 0. 0. 0. 1. ]] SLAMing on 12.506296757000001 meters Centerline goodness : 0.845175 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.31, Z:-0.31 [[ 0.9999713 0.00425179 -0.00627033 1.63257822] [-0.00427847 0.99998182 -0.00424814 -0.31117095] [ 0.00625215 0.00427485 0.99997132 -0.30556954] [ 0. 0. 0. 1. ]] SLAMing on 12.536296757000002 meters Centerline goodness : 0.844675 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.31, Z:-0.31 [[ 9.99927857e-01 1.04035943e-02 -6.00379881e-03 1.63246331e+00] [-1.03987126e-02 9.99945576e-01 8.43736891e-04 -3.11160149e-01] [ 6.01224995e-03 -7.81244243e-04 9.99981621e-01 -3.05906648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.566296757000002 meters Centerline goodness : 0.848876 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.31, Z:-0.31 [[ 9.99917358e-01 1.13206021e-02 -6.09269844e-03 1.63255696e+00] [-1.13150089e-02 9.99935530e-01 9.51713732e-04 -3.10012556e-01] [ 6.10307962e-03 -8.82696143e-04 9.99980986e-01 -3.05778339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.596296757000001 meters Centerline goodness : 0.844633 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.31, Z:-0.31 [[ 0.99985127 0.01617217 -0.0059915 1.63256913] [-0.01614043 0.99985564 0.00530907 -0.30939946] [ 0.00607649 -0.00521158 0.99996796 -0.30565917] [ 0. 0. 0. 1. ]] SLAMing on 12.626296757000002 meters Centerline goodness : 0.845350 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.31, Z:-0.31 [[ 0.99984411 0.01650624 -0.0062693 1.63354483] [-0.01647591 0.99985246 0.00485844 -0.3071534 ] [ 0.00634857 -0.00475439 0.99996855 -0.30633908] [ 0. 0. 0. 1. ]] SLAMing on 12.656296757000002 meters Centerline goodness : 0.843130 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.31, Z:-0.31 [[ 0.99976722 0.02032647 -0.00723464 1.63897219] [-0.0202665 0.99976042 0.00826893 -0.30650921] [ 0.00740098 -0.00812038 0.99993964 -0.31057568] [ 0. 0. 0. 1. ]] SLAMing on 12.686296757000001 meters Centerline goodness : 0.841719 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.31, Z:-0.31 [[ 0.99977514 0.01976441 -0.00768303 1.6411241 ] [-0.01970695 0.99977779 0.0074844 -0.30581553] [ 0.00782925 -0.0073313 0.99994248 -0.31226191] [ 0. 0. 0. 1. ]] SLAMing on 12.716296757000002 meters Centerline goodness : 0.841167 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.30, Z:-0.31 [[ 0.99983704 0.01614994 -0.00806684 1.64236094] [-0.01612682 0.99986568 0.00292246 -0.30351731] [ 0.00811295 -0.00279189 0.99996319 -0.31322573] [ 0. 0. 0. 1. ]] SLAMing on 12.746296757000001 meters Centerline goodness : 0.843549 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.30, Z:-0.32 [[ 9.99869926e-01 1.35442098e-02 -8.75698332e-03 1.64582325e+00] [-1.35453999e-02 9.99908254e-01 -7.66015893e-05 -3.01557811e-01] [ 8.75514239e-03 1.95208466e-04 9.99961654e-01 -3.15771880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.776296757000003 meters Centerline goodness : 0.841994 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.30, Z:-0.32 [[ 9.99873883e-01 1.30189652e-02 -9.09532544e-03 1.64649827e+00] [-1.30256147e-02 9.99914937e-01 -6.72242189e-04 -3.00550283e-01] [ 9.08579987e-03 7.90629613e-04 9.99958411e-01 -3.15787278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806296757000002 meters Centerline goodness : 0.844489 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.30, Z:-0.31 [[ 0.99991429 0.00945216 -0.0090594 1.6454385 ] [-0.00949004 0.99994637 -0.00414754 -0.2988929 ] [ 0.00901971 0.00423316 0.99995036 -0.3143578 ] [ 0. 0. 0. 1. ]] SLAMing on 12.836296757000001 meters Centerline goodness : 0.842870 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.30, Z:-0.31 [[ 9.99977361e-01 2.71745277e-03 -6.15570749e-03 1.65294570e+00] [-2.71686387e-03 9.99996304e-01 1.04026500e-04 -3.00948940e-01] [ 6.15596742e-03 -8.72999261e-05 9.99981048e-01 -3.13726636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.866296757000002 meters Centerline goodness : 0.841119 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.30, Z:-0.32 [[ 9.99978571e-01 1.71997148e-04 -6.54430401e-03 1.65490604e+00] [-1.86917005e-04 9.99997385e-01 -2.27928001e-03 -3.01391713e-01] [ 6.54389487e-03 2.28045441e-03 9.99975988e-01 -3.15078348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.896296757000002 meters Centerline goodness : 0.842345 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.30, Z:-0.31 [[ 9.99977655e-01 -1.54438242e-03 -6.50421916e-03 1.65389863e+00] [ 1.52195264e-03 9.99992884e-01 -3.45203492e-03 -3.02304474e-01] [ 6.50950413e-03 3.44205867e-03 9.99972889e-01 -3.13883418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.926296757000001 meters Centerline goodness : 0.842112 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.30, Z:-0.32 [[ 0.99996581 -0.00413199 -0.00716254 1.6569107 ] [ 0.00409442 0.99997782 -0.0052529 -0.30258036] [ 0.00718409 0.00522339 0.99996055 -0.31578613] [ 0. 0. 0. 1. ]] SLAMing on 12.956296757000002 meters Centerline goodness : 0.839327 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.30, Z:-0.32 [[ 0.99996173 -0.00436098 -0.00758371 1.65815837] [ 0.00432244 0.9999777 -0.00509003 -0.30324375] [ 0.00760573 0.00505705 0.99995829 -0.31637303] [ 0. 0. 0. 1. ]] SLAMing on 12.986296757000002 meters Centerline goodness : 0.838827 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.30, Z:-0.32 [[ 0.99995425 -0.00514176 -0.00806578 1.65974097] [ 0.0051015 0.99997447 -0.00500387 -0.30489233] [ 0.00809131 0.0049625 0.99995495 -0.31694144] [ 0. 0. 0. 1. ]] SLAMing on 13.016296757000001 meters Centerline goodness : 0.837796 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.31, Z:-0.32 [[ 0.99995129 -0.00515907 -0.00841428 1.66060521] [ 0.00512062 0.99997638 -0.00458474 -0.30642689] [ 0.00843774 0.00454143 0.99995409 -0.31713384] [ 0. 0. 0. 1. ]] SLAMing on 13.046296757000002 meters Centerline goodness : 0.838220 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.31, Z:-0.32 [[ 0.99993709 -0.00659801 -0.00907069 1.66363884] [ 0.00655039 0.99996466 -0.00527029 -0.30764196] [ 0.00910514 0.00521054 0.99994497 -0.31923357] [ 0. 0. 0. 1. ]] SLAMing on 13.076296757000001 meters Centerline goodness : 0.836497 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.31, Z:-0.32 [[ 0.99993257 -0.0067517 -0.00944821 1.66474864] [ 0.00670346 0.99996438 -0.00512826 -0.30819362] [ 0.0094825 0.00506457 0.99994221 -0.31972814] [ 0. 0. 0. 1. ]] SLAMing on 13.106296757000003 meters Centerline goodness : 0.839046 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.31, Z:-0.32 [[ 0.99992664 -0.0072064 -0.00973601 1.66587616] [ 0.00716087 0.9999633 -0.00470288 -0.31014878] [ 0.00976954 0.00463282 0.99994154 -0.32026837] [ 0. 0. 0. 1. ]] SLAMing on 13.136296757000002 meters Centerline goodness : 0.837286 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.31, Z:-0.32 [[ 0.9999239 -0.00735681 -0.00990277 1.66643993] [ 0.00731268 0.99996321 -0.00448434 -0.31125019] [ 0.00993539 0.00441159 0.99994091 -0.32043371] [ 0. 0. 0. 1. ]] SLAMing on 13.166296757000001 meters Centerline goodness : 0.837713 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.31, Z:-0.32 [[ 0.99992436 -0.00717182 -0.00999155 1.66696556] [ 0.0071323 0.99996662 -0.00398522 -0.31299025] [ 0.0100198 0.00391365 0.99994214 -0.3206675 ] [ 0. 0. 0. 1. ]] SLAMing on 13.196296757000002 meters Centerline goodness : 0.837912 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.31, Z:-0.32 [[ 0.99991952 -0.00703154 -0.0105595 1.66868911] [ 0.00699178 0.99996835 -0.00379775 -0.313908 ] [ 0.01058587 0.00372362 0.99993704 -0.32153211] [ 0. 0. 0. 1. ]] SLAMing on 13.226296757000002 meters Centerline goodness : 0.837189 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.31, Z:-0.32 [[ 0.99991469 -0.006923 -0.01107596 1.6706811 ] [ 0.00687965 0.99996854 -0.00394732 -0.31369866] [ 0.01110294 0.00387078 0.99993087 -0.32302418] [ 0. 0. 0. 1. ]] SLAMing on 13.256296757000001 meters Centerline goodness : 0.837661 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.31, Z:-0.33 [[ 9.99923322e-01 -3.43253911e-03 -1.18982264e-02 1.67445565e+00] [ 3.42261273e-03 9.99993778e-01 -8.54535310e-04 -3.13535194e-01] [ 1.19010856e-02 8.13746765e-04 9.99928848e-01 -3.25948295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.286296757000002 meters Centerline goodness : 0.838472 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.31, Z:-0.33 [[ 9.99925133e-01 -2.52532646e-03 -1.19728994e-02 1.67419056e+00] [ 2.51836949e-03 9.99996651e-01 -5.96100298e-04 -3.12218014e-01] [ 1.19743646e-02 5.65903485e-04 9.99928145e-01 -3.25459237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.316296757000002 meters Centerline goodness : 0.842582 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.31, Z:-0.32 [[ 0.99992853 0.00302005 -0.01156748 1.67220535] [-0.00297377 0.99998752 0.00401554 -0.30981271] [ 0.01157946 -0.00398085 0.99992503 -0.32358633] [ 0. 0. 0. 1. ]] SLAMing on 13.346296757000001 meters Centerline goodness : 0.842372 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.31, Z:-0.32 [[ 0.99992602 0.00326645 -0.01171688 1.67253626] [-0.00322951 0.99998976 0.00317067 -0.3058339 ] [ 0.01172712 -0.0031326 0.99992633 -0.32385541] [ 0. 0. 0. 1. ]] SLAMing on 13.376296757000002 meters Centerline goodness : 0.843045 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.30, Z:-0.33 [[ 0.99990518 0.00646043 -0.01216105 1.67443764] [-0.00639608 0.99996538 0.00532281 -0.30173903] [ 0.01219502 -0.00524452 0.99991188 -0.32522979] [ 0. 0. 0. 1. ]] SLAMing on 13.406296757000002 meters Centerline goodness : 0.843322 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.30, Z:-0.33 [[ 0.99990177 0.00643554 -0.01245136 1.67517937] [-0.00637764 0.99996869 0.00468373 -0.30026622] [ 0.01248111 -0.00460386 0.99991151 -0.32557895] [ 0. 0. 0. 1. ]] SLAMing on 13.436296757000003 meters Centerline goodness : 0.844836 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.30, Z:-0.33 [[ 0.99989929 0.0064088 -0.01266271 1.67567441] [-0.00635572 0.99997087 0.00422749 -0.29944888] [ 0.01268944 -0.00414658 0.99991089 -0.32577083] [ 0. 0. 0. 1. ]] SLAMing on 13.466296757000002 meters Centerline goodness : 0.846885 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.30, Z:-0.33 [[ 0.999901 0.0063907 -0.01253626 1.67555703] [-0.00634882 0.99997414 0.00337692 -0.29735352] [ 0.01255752 -0.00329699 0.99991572 -0.32570041] [ 0. 0. 0. 1. ]] SLAMing on 13.496296757000001 meters Centerline goodness : 0.846773 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.30, Z:-0.33 [[ 0.99990011 0.00605639 -0.01277104 1.67607965] [-0.00602374 0.99997849 0.00259359 -0.29546827] [ 0.01278647 -0.0025164 0.99991508 -0.32584555] [ 0. 0. 0. 1. ]] SLAMing on 13.526296757000003 meters Centerline goodness : 0.848435 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.33 [[ 9.99898747e-01 5.56338799e-03 -1.30975213e-02 1.67735357e+00] [-5.54552208e-03 9.99983643e-01 1.39999115e-03 -2.91391836e-01] [ 1.31050957e-02 -1.32721681e-03 9.99913244e-01 -3.26772346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.556296757000002 meters Centerline goodness : 0.847911 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.33 [[ 9.99895994e-01 5.12799746e-03 -1.34797685e-02 1.67843170e+00] [-5.11883184e-03 9.99986644e-01 7.14367518e-04 -2.89409876e-01] [ 1.34832517e-02 -6.45292552e-04 9.99908889e-01 -3.27322517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.586296757000001 meters Centerline goodness : 0.847821 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.33 [[ 9.99893205e-01 4.74315933e-03 -1.38232401e-02 1.67936245e+00] [-4.74106447e-03 9.99988744e-01 1.84312557e-04 -2.88168665e-01] [ 1.38239588e-02 -1.18756001e-04 9.99904437e-01 -3.27699849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.616296757000002 meters Centerline goodness : 0.845729 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.33 [[ 9.99891423e-01 4.03651793e-03 -1.41721244e-02 1.68066921e+00] [-4.04558444e-03 9.99991630e-01 -6.11132166e-04 -2.86423429e-01] [ 1.41695389e-02 6.68400337e-04 9.99899384e-01 -3.28508433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.646296757000002 meters Centerline goodness : 0.844407 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.33 [[ 9.99887283e-01 3.02090512e-03 -1.47070184e-02 1.68227097e+00] [-3.04477150e-03 9.99994084e-01 -1.60066845e-03 -2.85354680e-01] [ 1.47020960e-02 1.64526754e-03 9.99890565e-01 -3.29200607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.676296757000001 meters Centerline goodness : 0.844269 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.33 [[ 9.99890600e-01 1.27946893e-03 -1.47360502e-02 1.68151999e+00] [-1.32560067e-03 9.99994250e-01 -3.12119413e-03 -2.86327648e-01] [ 1.47319720e-02 3.14038679e-03 9.99886547e-01 -3.28256931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.706296757000002 meters Centerline goodness : 0.849301 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.33 [[ 0.99988322 -0.00253069 -0.01507128 1.68183044] [ 0.00242419 0.99997199 -0.00708079 -0.2864383 ] [ 0.01508877 0.00704343 0.99986135 -0.32785599] [ 0. 0. 0. 1. ]] SLAMing on 13.736296757000002 meters Centerline goodness : 0.853153 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.33 [[ 0.99986302 -0.00652806 -0.01520958 1.68189644] [ 0.00636304 0.99992065 -0.01087264 -0.28727979] [ 0.01527935 0.01077437 0.99982521 -0.32731799] [ 0. 0. 0. 1. ]] SLAMing on 13.766296757000001 meters Centerline goodness : 0.853314 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.33 [[ 0.99985939 -0.0056628 -0.0157838 1.68472696] [ 0.00550701 0.99993587 -0.00989626 -0.28658788] [ 0.01583883 0.00980794 0.99982645 -0.32930463] [ 0. 0. 0. 1. ]] SLAMing on 13.796296757000002 meters Centerline goodness : 0.853920 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.29, Z:-0.33 [[ 0.9998668 -0.00259071 -0.0161143 1.68561083] [ 0.00249025 0.99997736 -0.00625131 -0.28689837] [ 0.01613013 0.00621035 0.99985061 -0.32950805] [ 0. 0. 0. 1. ]] SLAMing on 13.826296757000001 meters Centerline goodness : 0.853779 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.29, Z:-0.33 [[ 0.99986167 -0.00256676 -0.01643335 1.68595012] [ 0.00246094 0.99997613 -0.00645653 -0.28558803] [ 0.01644953 0.00641519 0.99984412 -0.3291571 ] [ 0. 0. 0. 1. ]] SLAMing on 13.856296757000003 meters Centerline goodness : 0.853951 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.29, Z:-0.33 [[ 0.99985961 -0.0025675 -0.01655788 1.68584199] [ 0.00246718 0.99997849 -0.00607643 -0.28700221] [ 0.01657312 0.00603472 0.99984444 -0.3284119 ] [ 0. 0. 0. 1. ]] SLAMing on 13.886296757000002 meters Centerline goodness : 0.854498 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.29, Z:-0.33 [[ 0.99985714 -0.00256729 -0.0167067 1.68601373] [ 0.00247618 0.99998196 -0.00547206 -0.28941577] [ 0.01672044 0.0054299 0.99984546 -0.32817664] [ 0. 0. 0. 1. ]] SLAMing on 13.916296757000001 meters Centerline goodness : 0.855647 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.29, Z:-0.33 [[ 0.99983723 -0.0064062 -0.01686643 1.68644472] [ 0.00625129 0.99993794 -0.00922124 -0.28969185] [ 0.01692446 0.0091143 0.99981523 -0.32824953] [ 0. 0. 0. 1. ]] SLAMing on 13.946296757000002 meters Centerline goodness : 0.854199 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.29, Z:-0.33 [[ 0.99980097 -0.00920645 -0.01769915 1.69010274] [ 0.00899282 0.99988621 -0.01211203 -0.28960525] [ 0.01780864 0.01195046 0.99976999 -0.33071301] [ 0. 0. 0. 1. ]] SLAMing on 13.976296757000002 meters Centerline goodness : 0.853332 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.29, Z:-0.33 [[ 0.99979257 -0.0091151 -0.01821345 1.69169792] [ 0.00890273 0.99989183 -0.01170771 -0.29105978] [ 0.01831819 0.01154314 0.99976557 -0.33152592] [ 0. 0. 0. 1. ]] SLAMing on 14.006296757000001 meters Centerline goodness : 0.851940 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.29, Z:-0.33 [[ 0.99978875 -0.00822321 -0.01883694 1.69473495] [ 0.00802321 0.9999109 -0.01066845 -0.29216037] [ 0.01892299 0.01051506 0.99976565 -0.33382925] [ 0. 0. 0. 1. ]] SLAMing on 14.036296757000002 meters Centerline goodness : 0.850654 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.29, Z:-0.34 [[ 0.99978748 -0.00613052 -0.01968299 1.69906509] [ 0.00596323 0.9999457 -0.00854662 -0.29132285] [ 0.01973431 0.00842743 0.99976974 -0.33736727] [ 0. 0. 0. 1. ]] SLAMing on 14.066296757000002 meters Centerline goodness : 0.848729 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.29, Z:-0.34 [[ 0.99977938 -0.0059445 -0.02014599 1.7006983 ] [ 0.00577454 0.99994734 -0.0084842 -0.29104592] [ 0.02019536 0.00836599 0.99976105 -0.33845069] [ 0. 0. 0. 1. ]] SLAMing on 14.096296757000001 meters Centerline goodness : 0.846697 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.29, Z:-0.34 [[ 0.99977831 -0.00520701 -0.02040132 1.70120014] [ 0.00505261 0.99995826 -0.00761208 -0.29246212] [ 0.02044011 0.00750731 0.99976289 -0.33834705] [ 0. 0. 0. 1. ]] SLAMing on 14.126296757000002 meters Centerline goodness : 0.846697 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.29, Z:-0.34 [[ 0.99977831 -0.00520701 -0.02040132 1.70120014] [ 0.00505261 0.99995826 -0.00761208 -0.29246212] [ 0.02044011 0.00750731 0.99976289 -0.33834705] [ 0. 0. 0. 1. ]] SLAMing on 14.156296757000002 meters Centerline goodness : 0.850497 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.29, Z:-0.34 [[ 0.99977622 -0.00470522 -0.0206244 1.70086922] [ 0.00456032 0.99996463 -0.00706699 -0.29320603] [ 0.02065692 0.00697136 0.99976232 -0.33723804] [ 0. 0. 0. 1. ]] SLAMing on 14.186296757000003 meters Centerline goodness : 0.853011 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.29, Z:-0.34 [[ 0.99977595 -0.00421906 -0.02074243 1.70033188] [ 0.0040843 0.99997031 -0.00653484 -0.29381246] [ 0.02076939 0.00644866 0.9997635 -0.33611747] [ 0. 0. 0. 1. ]] SLAMing on 14.216296757000002 meters Centerline goodness : 0.859601 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.34 [[ 9.99967534e-01 -1.05232828e-03 -7.98892117e-03 1.70259316e+00] [ 1.01104284e-03 9.99986124e-01 -5.17011861e-03 -2.95167205e-01] [ 7.99425098e-03 5.16187362e-03 9.99954722e-01 -3.37183089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.246296757000001 meters Centerline goodness : 0.859818 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.33 [[ 9.99970097e-01 4.83936873e-04 -7.71824166e-03 1.70040096e+00] [-5.12349046e-04 9.99993099e-01 -3.67961950e-03 -2.96404835e-01] [ 7.71640769e-03 3.68346391e-03 9.99963444e-01 -3.34891202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.276296757000003 meters Centerline goodness : 0.859926 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.33 [[ 9.99969560e-01 3.21950219e-03 -7.10725609e-03 1.69731633e+00] [-3.22879625e-03 9.99993947e-01 -1.29659889e-03 -2.97260954e-01] [ 7.10303866e-03 1.31950731e-03 9.99973903e-01 -3.32007746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.306296757000002 meters Centerline goodness : 0.862770 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.33 [[ 9.99967193e-01 3.50862293e-03 -7.30088932e-03 1.69763023e+00] [-3.52082814e-03 9.99992425e-01 -1.65956195e-03 -2.95356737e-01] [ 7.29501123e-03 1.68521268e-03 9.99971971e-01 -3.31991379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.336296757000001 meters Centerline goodness : 0.861071 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.29, Z:-0.34 [[ 9.99952253e-01 5.41963424e-03 -8.13140109e-03 1.70162184e+00] [-5.42299547e-03 9.99985219e-01 -3.91372278e-04 -2.93728655e-01] [ 8.12915981e-03 4.35450143e-04 9.99966863e-01 -3.35222446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.366296757000002 meters Centerline goodness : 0.859794 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.29, Z:-0.34 [[ 9.99950937e-01 4.59451335e-03 -8.77571288e-03 1.70472431e+00] [-4.60693535e-03 9.99988414e-01 -1.39580760e-03 -2.93425718e-01] [ 8.76919814e-03 1.43616826e-03 9.99960519e-01 -3.37728038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.396296757000002 meters Centerline goodness : 0.860022 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.30, Z:-0.34 [[ 0.99994821 0.00387133 -0.00941212 1.70879121] [-0.00388964 0.99999058 -0.00192777 -0.29547411] [ 0.00940457 0.00196428 0.99995385 -0.34146447] [ 0. 0. 0. 1. ]] SLAMing on 14.426296757000001 meters Centerline goodness : 0.861507 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:-0.34 [[ 0.99994584 0.00391738 -0.00964202 1.70931676] [-0.00393796 0.99999001 -0.00211568 -0.29447206] [ 0.00963364 0.00215353 0.99995128 -0.34163336] [ 0. 0. 0. 1. ]] SLAMing on 14.456296757000002 meters Centerline goodness : 0.863234 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:-0.34 [[ 0.99994465 0.00397222 -0.00974282 1.70915677] [-0.00399678 0.99998888 -0.00250255 -0.29233799] [ 0.00973277 0.00254136 0.99994941 -0.34112622] [ 0. 0. 0. 1. ]] SLAMing on 14.486296757000002 meters Centerline goodness : 0.866047 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:-0.34 [[ 0.99994293 0.00425342 -0.00980051 1.70835065] [-0.00427668 0.99998808 -0.0023541 -0.2917481 ] [ 0.00979038 0.00239588 0.9999492 -0.33935296] [ 0. 0. 0. 1. ]] SLAMing on 14.516296757000003 meters Centerline goodness : 0.869451 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:-0.34 [[ 0.99994841 0.00313595 -0.00966129 1.70647716] [-0.00316746 0.99998971 -0.0032483 -0.29262084] [ 0.00965101 0.00327874 0.99994805 -0.33736537] [ 0. 0. 0. 1. ]] SLAMing on 14.546296757000002 meters Centerline goodness : 0.871940 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:-0.34 [[ 0.99994764 0.00321936 -0.00971399 1.70666342] [-0.00324735 0.99999062 -0.00286683 -0.29431031] [ 0.00970467 0.00289823 0.99994871 -0.33729326] [ 0. 0. 0. 1. ]] SLAMing on 14.576296757000001 meters Centerline goodness : 0.874008 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:-0.34 [[ 0.99994538 0.00320341 -0.00994858 1.70725885] [-0.00323312 0.99999036 -0.00297212 -0.29401189] [ 0.00993896 0.00300412 0.99994609 -0.3375456 ] [ 0. 0. 0. 1. ]] SLAMing on 14.606296757000003 meters Centerline goodness : 0.874686 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:-0.34 [[ 0.99994313 0.00328452 -0.01014633 1.70859994] [-0.0033204 0.99998829 -0.00352181 -0.29103334] [ 0.01013465 0.0035553 0.99994232 -0.33892762] [ 0. 0. 0. 1. ]] SLAMing on 14.636296757000002 meters Centerline goodness : 0.874639 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:-0.34 [[ 0.99994134 0.00308884 -0.01038142 1.70943446] [-0.0031328 0.99998618 -0.00422097 -0.28858339] [ 0.01036824 0.00425325 0.9999372 -0.33954019] [ 0. 0. 0. 1. ]] SLAMing on 14.666296757000001 meters Centerline goodness : 0.873115 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:-0.34 [[ 0.99994012 0.00291975 -0.01054681 1.71010178] [-0.00297065 0.999984 -0.00481352 -0.2866909 ] [ 0.01053259 0.00484456 0.9999328 -0.34011051] [ 0. 0. 0. 1. ]] SLAMing on 14.696296757000002 meters Centerline goodness : 0.870968 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:-0.34 [[ 0.99993834 0.00301916 -0.01068635 1.71057323] [-0.00307348 0.99998242 -0.00507059 -0.28581634] [ 0.01067086 0.00510312 0.99993004 -0.34034583] [ 0. 0. 0. 1. ]] SLAMing on 14.726296757000002 meters Centerline goodness : 0.870670 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:-0.34 [[ 0.99993586 0.00306929 -0.0109023 1.71098186] [-0.00312511 0.99998208 -0.00510655 -0.28592419] [ 0.01088644 0.00514029 0.99992753 -0.34026771] [ 0. 0. 0. 1. ]] SLAMing on 14.756296757000001 meters Centerline goodness : 0.877594 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.28, Z:-0.34 [[ 0.99993329 0.00494549 -0.01043816 1.7080842 ] [-0.00498281 0.99998128 -0.00355211 -0.28400373] [ 0.0104204 0.00360389 0.99993921 -0.33750293] [ 0. 0. 0. 1. ]] SLAMing on 14.786296757000002 meters Centerline goodness : 0.875664 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.28, Z:-0.34 [[ 0.99993054 0.0058322 -0.01024182 1.70633645] [-0.00586567 0.99997754 -0.003241 -0.28112914] [ 0.01022268 0.00330085 0.9999423 -0.33577515] [ 0. 0. 0. 1. ]] SLAMing on 14.816296757000002 meters Centerline goodness : 0.876676 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.28, Z:-0.34 [[ 9.99906295e-01 8.86750607e-03 -1.04292206e-02 1.70667248e+00] [-8.87826645e-03 9.99960101e-01 -9.85907624e-04 -2.76115662e-01] [ 1.04200619e-02 1.07840864e-03 9.99945128e-01 -3.35638488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.846296757000001 meters Centerline goodness : 0.880697 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.27, Z:-0.34 [[ 0.99990774 0.00832912 -0.0107304 1.70746271] [-0.00835353 0.99996262 -0.00223152 -0.27267453] [ 0.01071142 0.00232096 0.99993994 -0.33600437] [ 0. 0. 0. 1. ]] SLAMing on 14.876296757000002 meters Centerline goodness : 0.873335 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.27, Z:-0.34 [[ 0.99991174 0.00695785 -0.0113185 1.71005644] [-0.00701211 0.99996408 -0.00476058 -0.26690333] [ 0.01128497 0.00483953 0.99992461 -0.33812122] [ 0. 0. 0. 1. ]] SLAMing on 14.906296757000002 meters Centerline goodness : 0.873761 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.27, Z:-0.34 [[ 0.99991205 0.00633298 -0.01165286 1.71147401] [-0.00639947 0.9999634 -0.0056777 -0.26529776] [ 0.01161648 0.00575177 0.99991598 -0.33922611] [ 0. 0. 0. 1. ]] SLAMing on 14.936296757000003 meters Centerline goodness : 0.874589 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.26, Z:-0.34 [[ 0.99990939 0.00573974 -0.01217623 1.71298089] [-0.00581998 0.99996152 -0.00656445 -0.26362362] [ 0.01213809 0.00663472 0.99990432 -0.33995926] [ 0. 0. 0. 1. ]] SLAMing on 14.966296757000002 meters Centerline goodness : 0.872558 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.26, Z:-0.34 [[ 0.99991158 0.00396941 -0.01269167 1.7146666 ] [-0.00408624 0.9999494 -0.00919244 -0.25701019] [ 0.01265454 0.00924349 0.9998772 -0.3408633 ] [ 0. 0. 0. 1. ]] SLAMing on 14.996296757000001 meters Centerline goodness : 0.875116 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.25, Z:-0.34 [[ 0.99991048 0.00314494 -0.01300561 1.71535218] [-0.00328561 0.99993619 -0.01080848 -0.25183197] [ 0.01297079 0.01085025 0.99985701 -0.34103383] [ 0. 0. 0. 1. ]] SLAMing on 15.026296757000003 meters Centerline goodness : 0.875432 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.24, Z:-0.34 [[ 0.99989915 0.00428731 -0.01353936 1.71638493] [-0.00442934 0.9999353 -0.0104773 -0.24364475] [ 0.01349356 0.01053621 0.99985345 -0.34097808] [ 0. 0. 0. 1. ]] SLAMing on 15.056296757000002 meters Centerline goodness : 0.874887 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.24, Z:-0.34 [[ 0.99989672 0.003858 -0.01384444 1.71653422] [-0.00401543 0.99992739 -0.01136193 -0.24141015] [ 0.01379961 0.01141635 0.99983961 -0.34040039] [ 0. 0. 0. 1. ]] SLAMing on 15.086296757000001 meters Centerline goodness : 0.879021 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.24, Z:-0.34 [[ 0.99989496 0.0033925 -0.01409103 1.71651417] [-0.00356032 0.99992283 -0.01190227 -0.24059211] [ 0.01404957 0.01195119 0.99982987 -0.33965023] [ 0. 0. 0. 1. ]] SLAMing on 15.116296757000002 meters Centerline goodness : 0.882511 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.24, Z:-0.34 [[ 9.99899142e-01 -1.07983866e-03 -1.41612098e-02 1.71547822e+00] [ 8.49530893e-04 9.99867449e-01 -1.62592266e-02 -2.40465098e-01] [ 1.41768901e-02 1.62455563e-02 9.99767522e-01 -3.37660728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.146296757000002 meters Centerline goodness : 0.875931 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.24, Z:-0.34 [[ 9.99896545e-01 -1.55381224e-03 -1.42998113e-02 1.71525485e+00] [ 1.32431464e-03 9.99870402e-01 -1.60444939e-02 -2.42015628e-01] [ 1.43228882e-02 1.60238966e-02 9.99769018e-01 -3.36837295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.176296757000001 meters Centerline goodness : 0.885989 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.24, Z:-0.34 [[ 0.99992532 -0.00649267 -0.01035368 1.72123933] [ 0.0063975 0.99993723 -0.00919797 -0.24354979] [ 0.01041275 0.00913104 0.99990409 -0.33508917] [ 0. 0. 0. 1. ]] SLAMing on 15.206296757000002 meters Centerline goodness : 0.877987 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.24, Z:-0.33 [[ 0.99992123 -0.00676694 -0.01057129 1.72139426] [ 0.00666981 0.99993547 -0.00919603 -0.24348472] [ 0.01063284 0.00912479 0.99990184 -0.3346576 ] [ 0. 0. 0. 1. ]] SLAMing on 15.236296757000002 meters Centerline goodness : 0.880727 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.24, Z:-0.34 [[ 0.9999165 -0.00685154 -0.01095626 1.7224387 ] [ 0.00675085 0.99993488 -0.00920117 -0.24334367] [ 0.01101859 0.00912644 0.99989764 -0.33503804] [ 0. 0. 0. 1. ]] SLAMing on 15.266296757000003 meters Centerline goodness : 0.876543 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.24, Z:-0.34 [[ 0.99990558 -0.00754437 -0.01148557 1.72514244] [ 0.00743365 0.99992578 -0.0096524 -0.24365509] [ 0.01155753 0.00956611 0.99988745 -0.33719737] [ 0. 0. 0. 1. ]] SLAMing on 15.296296757000002 meters Centerline goodness : 0.877206 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.24, Z:-0.34 [[ 0.99990133 -0.00757714 -0.0118287 1.72631752] [ 0.00746422 0.99992643 -0.00956157 -0.24407225] [ 0.01190028 0.00947234 0.99988432 -0.33792753] [ 0. 0. 0. 1. ]] SLAMing on 15.326296757000001 meters Centerline goodness : 0.877239 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.24, Z:-0.34 [[ 0.99989995 -0.0076252 -0.01191418 1.72701508] [ 0.00750661 0.99992215 -0.009967 -0.24249159] [ 0.01198925 0.00987657 0.99987935 -0.33858737] [ 0. 0. 0. 1. ]] SLAMing on 15.356296757000003 meters Centerline goodness : 0.879312 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.24, Z:-0.34 [[ 0.99991861 -0.00445393 -0.01195535 1.72698453] [ 0.00438151 0.99997194 -0.00607692 -0.24428227] [ 0.01198208 0.00602404 0.99991007 -0.338321 ] [ 0. 0. 0. 1. ]] SLAMing on 15.386296757000002 meters Centerline goodness : 0.880075 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.25, Z:-0.34 [[ 0.99991808 -0.00410436 -0.01212372 1.72710574] [ 0.00403592 0.99997581 -0.00566492 -0.24529902] [ 0.01214668 0.00561553 0.99991046 -0.33788919] [ 0. 0. 0. 1. ]] SLAMing on 15.416296757000001 meters Centerline goodness : 0.880934 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.24, Z:-0.34 [[ 0.99991701 -0.00390928 -0.01227571 1.72756117] [ 0.00384013 0.99997665 -0.00565205 -0.24471741] [ 0.01229752 0.00560444 0.99990868 -0.33812279] [ 0. 0. 0. 1. ]] SLAMing on 15.446296757000002 meters Centerline goodness : 0.879326 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.25, Z:-0.34 [[ 9.99921315e-01 -3.01573575e-04 -1.25408273e-02 1.72827067e+00] [ 2.81614150e-04 9.99998691e-01 -1.59329109e-03 -2.45414056e-01] [ 1.25412914e-02 1.58963404e-03 9.99920091e-01 -3.38370310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.476296757000002 meters Centerline goodness : 0.876799 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.24, Z:-0.34 [[ 9.99910207e-01 2.56964871e-03 -1.31519800e-02 1.73112498e+00] [-2.55670783e-03 9.99996231e-01 1.00066791e-03 -2.43611693e-01] [ 1.31545018e-02 -9.66952290e-04 9.99913008e-01 -3.40454990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.506296757000001 meters Centerline goodness : 0.875507 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.24, Z:-0.34 [[ 9.99900806e-01 3.38331217e-03 -1.36723132e-02 1.73361349e+00] [-3.36082827e-03 9.99992963e-01 1.66712594e-03 -2.44143448e-01] [ 1.36778574e-02 -1.62101027e-03 9.99905140e-01 -3.42293854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.536296757000002 meters Centerline goodness : 0.872597 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.25, Z:-0.34 [[ 0.99989502 0.0046951 -0.01370778 1.73537123] [-0.00466292 0.9999863 0.00237897 -0.24521819] [ 0.01371876 -0.0023148 0.99990321 -0.34434814] [ 0. 0. 0. 1. ]] SLAMing on 15.566296757000002 meters Centerline goodness : 0.877419 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.25, Z:-0.34 [[ 0.99993811 0.00699308 -0.00865296 1.75140194] [-0.00695447 0.99996576 0.00448435 -0.24544331] [ 0.00868402 -0.0044239 0.99995251 -0.34407008] [ 0. 0. 0. 1. ]] SLAMing on 15.596296757000003 meters Centerline goodness : 0.878773 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.25, Z:-0.34 [[ 0.99992713 0.00912983 -0.00789808 1.74821404] [-0.00907969 0.99993855 0.00636043 -0.2464119 ] [ 0.00795566 -0.00628825 0.99994858 -0.34120855] [ 0. 0. 0. 1. ]] SLAMing on 15.626296757000002 meters Centerline goodness : 0.880127 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.24, Z:-0.34 [[ 0.99992421 0.00942117 -0.00792536 1.74784978] [-0.00937314 0.99993761 0.00607591 -0.24483314] [ 0.00798211 -0.00600116 0.99995013 -0.34062603] [ 0. 0. 0. 1. ]] SLAMing on 15.656296757000002 meters Centerline goodness : 0.877388 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.24, Z:-0.34 [[ 0.99987536 0.01350762 -0.00817327 1.74841059] [-0.0134299 0.99986478 0.00948992 -0.24214472] [ 0.00830035 -0.00937897 0.99992157 -0.34060107] [ 0. 0. 0. 1. ]] SLAMing on 15.686296757000003 meters Centerline goodness : 0.874021 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.24, Z:-0.34 [[ 0.99987532 0.01334575 -0.0084405 1.74931394] [-0.01327247 0.99987424 0.00867989 -0.24008974] [ 0.00855528 -0.00856678 0.99992671 -0.34130484] [ 0. 0. 0. 1. ]] SLAMing on 15.716296757000002 meters Centerline goodness : 0.869774 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.24, Z:-0.35 [[ 0.99986296 0.01366597 -0.00934334 1.75440776] [-0.01358717 0.99987202 0.00844625 -0.23998708] [ 0.00945758 -0.00831814 0.99992068 -0.3454045 ] [ 0. 0. 0. 1. ]] SLAMing on 15.746296757000001 meters Centerline goodness : 0.869367 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.24, Z:-0.35 [[ 0.99990153 0.01010868 -0.00973375 1.7556924 ] [-0.01007276 0.9999423 0.00373226 -0.23742605] [ 0.00977091 -0.00363385 0.99994566 -0.34673141] [ 0. 0. 0. 1. ]] SLAMing on 15.776296757000003 meters Centerline goodness : 0.868157 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.24, Z:-0.35 [[ 0.99989998 0.00995711 -0.01004445 1.75713588] [-0.00992364 0.99994506 0.00337656 -0.2369999 ] [ 0.01007752 -0.00327655 0.99994385 -0.3478566 ] [ 0. 0. 0. 1. ]] SLAMing on 15.806296757000002 meters Centerline goodness : 0.865849 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.24, Z:-0.35 [[ 0.99995318 0.00898135 -0.00360299 1.76810327] [-0.00894491 0.99990992 0.01000729 -0.23721888] [ 0.00369254 -0.00997459 0.99994343 -0.35145768] [ 0. 0. 0. 1. ]] SLAMing on 15.836296757000001 meters Centerline goodness : 0.868084 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.24, Z:-0.35 [[ 0.99995076 0.00925867 -0.00357247 1.76782433] [-0.00922467 0.99991307 0.00942117 -0.23507462] [ 0.00365939 -0.00938775 0.99994924 -0.35111092] [ 0. 0. 0. 1. ]] SLAMing on 15.866296757000002 meters Centerline goodness : 0.860371 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.23, Z:-0.35 [[ 0.99995109 0.00915345 -0.00374592 1.76839468] [-0.00911929 0.99991758 0.00903688 -0.23416071] [ 0.00382833 -0.00900228 0.99995215 -0.35142522] [ 0. 0. 0. 1. ]] SLAMing on 15.896296757000002 meters Centerline goodness : 0.861085 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.23, Z:-0.35 [[ 0.9999512 0.00907331 -0.00390732 1.76883861] [-0.00903914 0.99992151 0.0086754 -0.23333443] [ 0.00398573 -0.00863966 0.99995473 -0.3516462 ] [ 0. 0. 0. 1. ]] SLAMing on 15.926296757000003 meters Centerline goodness : 0.860414 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.23, Z:-0.35 [[ 0.99995176 0.00887902 -0.00419965 1.7698398 ] [-0.00884557 0.99992955 0.00791585 -0.23115088] [ 0.00426964 -0.00787832 0.99995985 -0.3523196 ] [ 0. 0. 0. 1. ]] SLAMing on 15.956296757000002 meters Centerline goodness : 0.858123 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.23, Z:-0.35 [[ 0.99997333 0.00581888 -0.00441372 1.77020362] [-0.00580223 0.99997604 0.00377492 -0.22817827] [ 0.00443558 -0.00374921 0.99998313 -0.35262711] [ 0. 0. 0. 1. ]] SLAMing on 15.986296757000002 meters Centerline goodness : 0.856447 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.23, Z:-0.35 [[ 0.9999743 0.00522957 -0.00490451 1.77137827] [-0.00521374 0.99998118 0.00323433 -0.22808219] [ 0.00492133 -0.00320867 0.99998274 -0.35266459] [ 0. 0. 0. 1. ]] SLAMing on 16.016296757000003 meters Centerline goodness : 0.856447 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.23, Z:-0.35 [[ 0.9999743 0.00522957 -0.00490451 1.77137827] [-0.00521374 0.99998118 0.00323433 -0.22808219] [ 0.00492133 -0.00320867 0.99998274 -0.35266459] [ 0. 0. 0. 1. ]] SLAMing on 16.046296757 meters Centerline goodness : 0.857510 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.23, Z:-0.35 [[ 0.99997352 0.00503575 -0.00525408 1.77208874] [-0.00501788 0.99998161 0.0034072 -0.22923714] [ 0.00527114 -0.00338075 0.99998039 -0.35257083] [ 0. 0. 0. 1. ]] SLAMing on 16.076296757 meters Centerline goodness : 0.854153 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.23, Z:-0.35 [[ 0.99997428 0.00403296 -0.00593122 1.7749289 ] [-0.00401813 0.99998878 0.0025102 -0.22978954] [ 0.00594128 -0.0024863 0.99997926 -0.35445047] [ 0. 0. 0. 1. ]] SLAMing on 16.106296757000003 meters Centerline goodness : 0.851267 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.23, Z:-0.36 [[ 9.99976040e-01 2.28919894e-03 -6.53291397e-03 1.77764209e+00] [-2.28260243e-03 9.99996878e-01 1.01701142e-03 -2.28643768e-01] [ 6.53522171e-03 -1.00207501e-03 9.99978143e-01 -3.56376221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.136296757000004 meters Centerline goodness : 0.852718 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.23, Z:-0.36 [[ 9.99975245e-01 1.70959609e-03 -6.82538515e-03 1.77854395e+00] [-1.70710790e-03 9.99998474e-01 3.70359256e-04 -2.27000701e-01] [ 6.82600790e-03 -3.58698419e-04 9.99976638e-01 -3.56868904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.166296757 meters Centerline goodness : 0.853130 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.23, Z:-0.36 [[ 9.99970398e-01 -5.06607611e-06 -7.69435381e-03 1.78102718e+00] [-1.38907775e-06 9.99999648e-01 -8.38941271e-04 -2.25481039e-01] [ 7.69435535e-03 8.38927125e-04 9.99970046e-01 -3.57693800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.196296757000002 meters Centerline goodness : 0.854869 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.23, Z:-0.36 [[ 0.99995825 -0.00415836 -0.00813612 1.78195624] [ 0.00412377 0.99998241 -0.00426389 -0.22875423] [ 0.00815371 0.00423016 0.99995781 -0.35742831] [ 0. 0. 0. 1. ]] SLAMing on 16.226296757000004 meters Centerline goodness : 0.854969 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.23, Z:-0.36 [[ 0.99995565 -0.00415913 -0.00844985 1.78266386] [ 0.00413026 0.99998558 -0.00343119 -0.23182408] [ 0.008464 0.00339614 0.99995841 -0.35746451] [ 0. 0. 0. 1. ]] SLAMing on 16.256296757 meters Centerline goodness : 0.856579 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.23, Z:-0.36 [[ 0.99995275 -0.00416715 -0.00878283 1.78364223] [ 0.0041416 0.99998714 -0.00292591 -0.23362054] [ 0.00879491 0.0028894 0.99995715 -0.35783205] [ 0. 0. 0. 1. ]] SLAMing on 16.286296757000002 meters Centerline goodness : 0.854946 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.23, Z:-0.36 [[ 0.9999484 -0.004304 -0.00920148 1.78538725] [ 0.00428074 0.9999876 -0.00254516 -0.23483475] [ 0.00921232 0.00250564 0.99995443 -0.35889743] [ 0. 0. 0. 1. ]] SLAMing on 16.316296757000003 meters Centerline goodness : 0.852868 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.23, Z:-0.36 [[ 9.99946019e-01 -3.52015987e-03 -9.77591095e-03 1.78879505e+00] [ 3.50347597e-03 9.99992378e-01 -1.72323499e-03 -2.34431733e-01] [ 9.78190250e-03 1.68889230e-03 9.99950730e-01 -3.61755186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.346296757 meters Centerline goodness : 0.843506 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.23, Z:-0.37 [[ 9.99943484e-01 -6.60729715e-04 -1.06109216e-02 1.79416128e+00] [ 6.75313601e-04 9.99998832e-01 1.37089802e-03 -2.34000895e-01] [ 1.06100035e-02 -1.37798625e-03 9.99942763e-01 -3.66517447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.376296757000002 meters Centerline goodness : 0.842796 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.24, Z:-0.37 [[ 9.99940106e-01 -2.52359488e-04 -1.09416725e-02 1.79567387e+00] [ 2.72648841e-04 9.99998246e-01 1.85286719e-03 -2.35336731e-01] [ 1.09411857e-02 -1.85573945e-03 9.99938421e-01 -3.67678077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.406296757000003 meters Centerline goodness : 0.844182 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.24, Z:-0.37 [[ 0.99998681 0.0019586 -0.00474875 1.80645007] [-0.00198568 0.99998175 -0.00570519 -0.23700104] [ 0.00473749 0.00571454 0.99997245 -0.37147758] [ 0. 0. 0. 1. ]] SLAMing on 16.436296757 meters Centerline goodness : 0.846033 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.24, Z:-0.37 [[ 0.99998438 0.00256739 -0.00496431 1.80661424] [-0.00259325 0.99998307 -0.00520828 -0.23762206] [ 0.00495086 0.00522107 0.99997411 -0.37106557] [ 0. 0. 0. 1. ]] SLAMing on 16.466296757000002 meters Centerline goodness : 0.846885 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.24, Z:-0.37 [[ 0.99997157 0.00526885 -0.00539404 1.80824055] [-0.00528105 0.99998353 -0.00224935 -0.237698 ] [ 0.0053821 0.00227778 0.99998292 -0.37181496] [ 0. 0. 0. 1. ]] SLAMing on 16.496296757000003 meters Centerline goodness : 0.847838 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.24, Z:-0.37 [[ 0.99996453 0.00639483 -0.00548224 1.80735891] [-0.00640527 0.9999777 -0.00188929 -0.2366429 ] [ 0.00547003 0.00192434 0.99998319 -0.37008531] [ 0. 0. 0. 1. ]] SLAMing on 16.526296757 meters Centerline goodness : 0.846919 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.24, Z:-0.37 [[ 9.99956830e-01 7.28196902e-03 -5.77160776e-03 1.80792466e+00] [-7.28469406e-03 9.99973364e-01 -4.51264574e-04 -2.41361151e-01] [ 5.76816793e-03 4.93289489e-04 9.99983242e-01 -3.69744239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.556296757000002 meters Centerline goodness : 0.853282 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.24, Z:-0.37 [[ 9.99950797e-01 7.83872286e-03 -6.07930367e-03 1.80945110e+00] [-7.83469683e-03 9.99969073e-01 6.85785247e-04 -2.44238875e-01] [ 6.08449133e-03 -6.38122003e-04 9.99981286e-01 -3.70886817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.586296757000003 meters Centerline goodness : 0.847311 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.25, Z:-0.37 [[ 9.99948912e-01 7.97597339e-03 -6.20942884e-03 1.81033060e+00] [-7.96922594e-03 9.99967628e-01 1.11063104e-03 -2.45198809e-01] [ 6.21808619e-03 -1.06108996e-03 9.99980105e-01 -3.71723305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.616296757 meters Centerline goodness : 0.847336 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.24, Z:-0.37 [[ 9.99946505e-01 8.09070296e-03 -6.44415396e-03 1.81139205e+00] [-8.08372951e-03 9.99966713e-01 1.10744925e-03 -2.43444240e-01] [ 6.45289949e-03 -1.05529721e-03 9.99978623e-01 -3.72451765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.646296757 meters Centerline goodness : 0.846367 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.24, Z:-0.37 [[ 9.99943995e-01 7.98142938e-03 -6.95015438e-03 1.81291183e+00] [-7.97429380e-03 9.99967650e-01 1.05378768e-03 -2.43512684e-01] [ 6.95834027e-03 -9.98306089e-04 9.99975292e-01 -3.73210687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.676296757000003 meters Centerline goodness : 0.843102 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.25, Z:-0.38 [[ 0.99998146 0.00336211 -0.00507772 1.82607812] [-0.00333094 0.99997563 0.00613623 -0.2476001 ] [ 0.00509822 -0.00611921 0.99996828 -0.37738026] [ 0. 0. 0. 1. ]] SLAMing on 16.706296757 meters Centerline goodness : 0.843147 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.25, Z:-0.38 [[ 9.99985948e-01 -3.62129466e-04 -5.28887580e-03 1.82683035e+00] [ 3.75948605e-04 9.99996518e-01 2.61210863e-03 -2.49637449e-01] [ 5.28791146e-03 -2.61406027e-03 9.99982602e-01 -3.77869214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.736296757 meters Centerline goodness : 0.843005 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.25, Z:-0.38 [[ 9.99975774e-01 -4.37342209e-03 -5.41515771e-03 1.82811600e+00] [ 4.36973593e-03 9.99990213e-01 -6.92354955e-04 -2.54065456e-01] [ 5.41813267e-03 6.68675373e-04 9.99985098e-01 -3.79120550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.766296757000003 meters Centerline goodness : 0.845437 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.25, Z:-0.38 [[ 9.99975354e-01 -4.26808656e-03 -5.57443411e-03 1.82859363e+00] [ 4.26523371e-03 9.99990767e-01 -5.23562150e-04 -2.54272488e-01] [ 5.57661725e-03 4.99772982e-04 9.99984326e-01 -3.79342488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.796296757 meters Centerline goodness : 0.844343 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.25, Z:-0.38 [[ 9.99980592e-01 -3.11438355e-03 -5.39592470e-03 1.82721938e+00] [ 3.11826644e-03 9.99994885e-01 7.11333285e-04 -2.51979265e-01] [ 5.39368173e-03 -7.28145410e-04 9.99985189e-01 -3.77922823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.826296757 meters Centerline goodness : 0.845702 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.25, Z:-0.38 [[ 9.99979013e-01 -3.15360255e-03 -5.65942169e-03 1.82732539e+00] [ 3.15864262e-03 9.99994623e-01 8.81844924e-04 -2.52086205e-01] [ 5.65661027e-03 -8.99702507e-04 9.99983597e-01 -3.77313086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.856296757000003 meters Centerline goodness : 0.844826 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.26, Z:-0.38 [[ 9.99959264e-01 -6.63948594e-03 -6.11447229e-03 1.82819881e+00] [ 6.63108319e-03 9.99977043e-01 -1.39349032e-03 -2.57434046e-01] [ 6.12358399e-03 1.35288798e-03 9.99980336e-01 -3.76837853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.886296757000004 meters Centerline goodness : 0.843755 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.26, Z:-0.38 [[ 0.99992832 -0.01020515 -0.00626239 1.82859129] [ 0.01017675 0.99993786 -0.0045513 -0.25991808] [ 0.00630845 0.00448724 0.99997003 -0.3768669 ] [ 0. 0. 0. 1. ]] SLAMing on 16.916296757 meters Centerline goodness : 0.845610 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.38 [[ 0.99988832 -0.01333854 -0.00673981 1.83121119] [ 0.01329499 0.99989071 -0.0064658 -0.26523504] [ 0.00682532 0.00637547 0.99995638 -0.37881443] [ 0. 0. 0. 1. ]] SLAMing on 16.946296757000002 meters Centerline goodness : 0.843747 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.38 [[ 0.99988758 -0.01325778 -0.00700434 1.83206606] [ 0.01321693 0.99989556 -0.00584716 -0.26670619] [ 0.00708112 0.00575393 0.99995837 -0.37932259] [ 0. 0. 0. 1. ]] SLAMing on 16.976296757000004 meters Centerline goodness : 0.844807 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.38 [[ 0.99989262 -0.01278173 -0.00716783 1.83275057] [ 0.01274555 0.99990591 -0.00507113 -0.26671497] [ 0.00723197 0.00497923 0.99996145 -0.37974961] [ 0. 0. 0. 1. ]] SLAMing on 17.006296757 meters Centerline goodness : 0.842456 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.38 [[ 0.99989805 -0.01217272 -0.00746389 1.83351646] [ 0.01214135 0.99991733 -0.0042339 -0.26827861] [ 0.00751481 0.00414285 0.99996318 -0.38003436] [ 0. 0. 0. 1. ]] SLAMing on 17.036296757000002 meters Centerline goodness : 0.842362 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.38 [[ 0.99990064 -0.01167911 -0.00789405 1.83461411] [ 0.01165427 0.99992701 -0.00318526 -0.27156016] [ 0.00793068 0.00309295 0.99996377 -0.38033347] [ 0. 0. 0. 1. ]] SLAMing on 17.066296757000003 meters Centerline goodness : 0.840469 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.28, Z:-0.38 [[ 0.99987463 -0.01324007 -0.00868432 1.83811508] [ 0.01320629 0.99990505 -0.00393549 -0.28058065] [ 0.00873561 0.00382031 0.99995455 -0.3825968 ] [ 0. 0. 0. 1. ]] SLAMing on 17.096296757 meters Centerline goodness : 0.840044 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.29, Z:-0.38 [[ 0.99988145 -0.01256364 -0.00890136 1.83903079] [ 0.01254399 0.99991877 -0.00226052 -0.28548083] [ 0.00892904 0.0021486 0.99995783 -0.38317574] [ 0. 0. 0. 1. ]] SLAMing on 17.126296757000002 meters Centerline goodness : 0.840252 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.29, Z:-0.38 [[ 9.99887515e-01 -1.19583938e-02 -9.05288567e-03 1.83935566e+00] [ 1.19498360e-02 9.99928099e-01 -9.98810954e-04 -2.88366265e-01] [ 9.06417894e-03 8.90518103e-04 9.99958523e-01 -3.83133892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.156296757000003 meters Centerline goodness : 0.840721 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.29, Z:-0.38 [[ 9.99898723e-01 -1.08514407e-02 -9.20818317e-03 1.83939420e+00] [ 1.08654067e-02 9.99939892e-01 1.46802300e-03 -2.92896875e-01] [ 9.19169953e-03 -1.56792498e-03 9.99956526e-01 -3.82439922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.186296757 meters Centerline goodness : 0.841458 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.30, Z:-0.38 [[ 9.99877794e-01 -1.26173590e-02 -9.23031427e-03 1.83869809e+00] [ 1.26282841e-02 9.99919626e-01 1.12629084e-03 -3.00467786e-01] [ 9.21536157e-03 -1.24271623e-03 9.99956765e-01 -3.80984313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.216296757000002 meters Centerline goodness : 0.841566 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.31, Z:-0.38 [[ 0.99988071 -0.01224676 -0.00941153 1.83901111] [ 0.01227429 0.99992054 0.00287267 -0.30698502] [ 0.0093756 -0.00298784 0.99995158 -0.38059316] [ 0. 0. 0. 1. ]] SLAMing on 17.246296757000003 meters Centerline goodness : 0.844399 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.32, Z:-0.38 [[ 0.99985195 -0.01429019 -0.00958442 1.83872072] [ 0.01431369 0.9998947 0.00238758 -0.3160309 ] [ 0.00954929 -0.00252442 0.99995122 -0.37915119] [ 0. 0. 0. 1. ]] SLAMing on 17.276296757 meters Centerline goodness : 0.845939 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.32, Z:-0.38 [[ 0.99985535 -0.01372026 -0.01005193 1.84018145] [ 0.0137588 0.99989822 0.00377446 -0.32010985] [ 0.00999912 -0.00391221 0.99994235 -0.37971413] [ 0. 0. 0. 1. ]] SLAMing on 17.306296757000002 meters Centerline goodness : 0.843408 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.32, Z:-0.38 [[ 0.99985849 -0.01321871 -0.01040468 1.84130641] [ 0.01326933 0.99990038 0.00481159 -0.32298715] [ 0.01034004 -0.00494898 0.99993429 -0.38024781] [ 0. 0. 0. 1. ]] SLAMing on 17.336296757000003 meters Centerline goodness : 0.841479 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.33, Z:-0.38 [[ 0.99987943 -0.01059799 -0.01134955 1.8457456 ] [ 0.01068487 0.99991386 0.00762211 -0.32625266] [ 0.01126779 -0.00774246 0.99990654 -0.38379488] [ 0. 0. 0. 1. ]] SLAMing on 17.366296757 meters Centerline goodness : 0.839224 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.33, Z:-0.39 [[ 0.99987996 -0.01003333 -0.01180705 1.84781204] [ 0.01012936 0.99991587 0.00810217 -0.32708428] [ 0.01172477 -0.0082208 0.99989747 -0.38547765] [ 0. 0. 0. 1. ]] SLAMing on 17.396296757 meters Centerline goodness : 0.836425 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.39 [[ 0.99984393 -0.00453945 -0.0170739 1.8610809 ] [ 0.00465587 0.99996614 0.00678469 -0.33134484] [ 0.01704252 -0.00686312 0.99983121 -0.38638068] [ 0. 0. 0. 1. ]] SLAMing on 17.426296757000003 meters Centerline goodness : 0.837032 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.39 [[ 0.99984194 -0.00407957 -0.01730479 1.86193351] [ 0.00420864 0.99996355 0.00742871 -0.3331925 ] [ 0.01727385 -0.00750037 0.99982266 -0.38687297] [ 0. 0. 0. 1. ]] SLAMing on 17.456296757 meters Centerline goodness : 0.836816 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.34, Z:-0.39 [[ 9.99921404e-01 -1.42369394e-03 -1.24563063e-02 1.86993818e+00] [ 1.40539303e-03 9.99997920e-01 -1.47783807e-03 -3.35133188e-01] [ 1.24583843e-02 1.46021591e-03 9.99921325e-01 -3.88290432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.486296757 meters Centerline goodness : 0.838894 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.34, Z:-0.39 [[ 0.99992077 -0.00248734 -0.01233977 1.8681697 ] [ 0.00245983 0.99999446 -0.00224466 -0.33859726] [ 0.01234528 0.00221413 0.99992134 -0.38632674] [ 0. 0. 0. 1. ]] SLAMing on 17.516296757000003 meters Centerline goodness : 0.841628 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.35, Z:-0.38 [[ 9.99921649e-01 -1.71810575e-03 -1.23993905e-02 1.86748295e+00] [ 1.71699725e-03 9.99998521e-01 -1.00044498e-04 -3.46095776e-01] [ 1.23995440e-02 7.87469403e-05 9.99923120e-01 -3.84754730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.546296757000004 meters Centerline goodness : 0.844657 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.35, Z:-0.38 [[ 9.99919229e-01 -1.46092789e-03 -1.26253838e-02 1.86798204e+00] [ 1.46959504e-03 9.99998691e-01 6.77236165e-04 -3.48173307e-01] [ 1.26243779e-02 -6.95735665e-04 9.99920067e-01 -3.84668337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.576296757 meters Centerline goodness : 0.844724 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.35, Z:-0.38 [[ 9.99916240e-01 -1.20261188e-03 -1.28866760e-02 1.86841209e+00] [ 1.22155530e-03 9.99998185e-01 1.46223002e-03 -3.49927742e-01] [ 1.28848942e-02 -1.47784933e-03 9.99915894e-01 -3.84454505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.606296757000003 meters Centerline goodness : 0.844481 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.35, Z:-0.39 [[ 9.99906147e-01 -3.01446117e-03 -1.33645035e-02 1.87046638e+00] [ 3.01787659e-03 9.99995418e-01 2.35399506e-04 -3.54128862e-01] [ 1.33637326e-02 -2.75709835e-04 9.99910663e-01 -3.85660565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.636296757000004 meters Centerline goodness : 0.843542 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.36, Z:-0.39 [[ 0.99988083 -0.00623457 -0.01412268 1.8720731 ] [ 0.006201 0.99997785 -0.00241906 -0.36379491] [ 0.01413745 0.0023312 0.99989734 -0.3855852 ] [ 0. 0. 0. 1. ]] SLAMing on 17.666296757 meters Centerline goodness : 0.843989 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.37, Z:-0.39 [[ 9.99880506e-01 -5.92402067e-03 -1.42786564e-02 1.87237268e+00] [ 5.91314518e-03 9.99982194e-01 -8.03758584e-04 -3.70563292e-01] [ 1.42831636e-02 7.19230771e-04 9.99897732e-01 -3.85167304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.696296757000002 meters Centerline goodness : 0.843344 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:-0.39 [[ 9.99966213e-01 -7.27637321e-03 -3.82450248e-03 1.88080266e+00] [ 7.27269021e-03 9.99973077e-01 -9.76029154e-04 -3.74712833e-01] [ 3.83150147e-03 9.48181755e-04 9.99992210e-01 -3.88743138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.726296757000004 meters Centerline goodness : 0.846980 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.37, Z:-0.39 [[ 9.99953736e-01 -9.61513670e-03 2.72514759e-04 1.89729470e+00] [ 9.61666108e-03 9.99933970e-01 -6.29088230e-03 -3.74609815e-01] [-2.12009072e-04 6.29321195e-03 9.99980175e-01 -3.89353613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.756296757 meters Centerline goodness : 0.843908 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.38, Z:-0.39 [[ 9.99963149e-01 -8.58305363e-03 -1.80536853e-04 1.89922224e+00] [ 8.58243376e-03 9.99958075e-01 -3.19217706e-03 -3.81079302e-01] [ 2.07927911e-04 3.19050998e-03 9.99994889e-01 -3.90145739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.786296757000002 meters Centerline goodness : 0.841096 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.39, Z:-0.39 [[ 9.99967478e-01 -8.00778417e-03 -9.58331045e-04 1.90265036e+00] [ 8.00728296e-03 9.99967803e-01 -5.25702192e-04 -3.89134129e-01] [ 9.62509899e-04 5.18011467e-04 9.99999403e-01 -3.92408574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.816296757000003 meters Centerline goodness : 0.841023 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.39, Z:-0.40 [[ 9.99956730e-01 -9.27546533e-03 7.09199245e-04 1.92226922e+00] [ 9.27982623e-03 9.99936363e-01 -6.41516044e-03 -3.89161171e-01] [-6.49650515e-04 6.42146411e-03 9.99979171e-01 -3.95423781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.846296757 meters Centerline goodness : 0.838424 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.39, Z:-0.40 [[ 9.99956405e-01 -9.33733174e-03 -3.79250586e-05 1.92537104e+00] [ 9.33693884e-03 9.99938581e-01 -5.97123539e-03 -3.92901284e-01] [ 9.36781350e-05 5.97062097e-03 9.99982171e-01 -3.97530870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.876296757000002 meters Centerline goodness : 0.840968 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.40, Z:-0.40 [[ 9.99946275e-01 -1.03375942e-02 -7.62379728e-04 1.92700116e+00] [ 1.03327083e-02 9.99927666e-01 -6.15615769e-03 -4.02443390e-01] [ 8.25964442e-04 6.14794950e-03 9.99980760e-01 -3.97536854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.906296757000003 meters Centerline goodness : 0.840335 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.41, Z:-0.39 [[ 9.99986002e-01 -5.13925264e-03 -1.25854569e-03 1.95141362e+00] [ 5.12576307e-03 9.99931770e-01 -1.04967720e-02 -4.07151952e-01] [ 1.31240538e-03 1.04901741e-02 9.99944115e-01 -3.94918769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.936296757 meters Centerline goodness : 0.840335 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.40, Z:-0.40 [[ 0.99998311 -0.00531105 0.00235911 1.96652388] [ 0.00534868 0.99985376 -0.01624348 -0.40444183] [-0.0022725 0.01625583 0.99986528 -0.39583726] [ 0. 0. 0. 1. ]] SLAMing on 17.966296757000002 meters Centerline goodness : 0.841618 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.40, Z:-0.40 [[ 0.99997556 -0.00400416 0.00573188 1.98327639] [ 0.00411757 0.99979326 -0.01991207 -0.40315313] [-0.00565096 0.01993518 0.9997853 -0.39719357] [ 0. 0. 0. 1. ]] SLAMing on 17.996296757000003 meters Centerline goodness : 0.841817 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.40, Z:-0.40 [[ 0.99995266 -0.00201293 0.00951963 1.99946507] [ 0.0022297 0.9997372 -0.02281579 -0.40201334] [-0.0094712 0.02283593 0.99969436 -0.39833752] [ 0. 0. 0. 1. ]] SLAMing on 18.026296757 meters Centerline goodness : 0.842656 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.41, Z:-0.40 [[ 9.99958252e-01 2.11466303e-03 8.88943552e-03 2.00148061e+00] [-1.95896972e-03 9.99845175e-01 -1.74867902e-02 -4.06985489e-01] [-8.92503789e-03 1.74686460e-02 9.99807577e-01 -3.99125578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.056296757000002 meters Centerline goodness : 0.840368 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.41, Z:-0.40 [[ 0.99996045 0.00251188 0.00853146 2.00249904] [-0.00236882 0.99985711 -0.01673783 -0.40911789] [-0.00857228 0.01671695 0.99982351 -0.39956701] [ 0. 0. 0. 1. ]] SLAMing on 18.086296757000003 meters Centerline goodness : 0.840041 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.42, Z:-0.40 [[ 0.99996321 0.00373836 0.00772084 2.00549736] [-0.00362451 0.99988527 -0.01470724 -0.41561622] [-0.00777493 0.01467871 0.99986203 -0.40132907] [ 0. 0. 0. 1. ]] SLAMing on 18.116296757 meters Centerline goodness : 0.839710 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.42, Z:-0.40 [[ 0.99996223 0.00455722 0.00740126 2.00609035] [-0.00445836 0.99990136 -0.0133192 -0.41926581] [-0.00746122 0.0132857 0.9998839 -0.40130028] [ 0. 0. 0. 1. ]] SLAMing on 18.146296757 meters Centerline goodness : 0.843235 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.42, Z:-0.40 [[ 0.99996316 0.00491031 0.00704021 2.00732704] [-0.00482225 0.99991061 -0.01247076 -0.42189625] [-0.00710081 0.01243635 0.99989745 -0.40200504] [ 0. 0. 0. 1. ]] SLAMing on 18.176296757000003 meters Centerline goodness : 0.839565 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.42, Z:-0.40 [[ 0.99996643 0.00542992 0.00613676 2.01130832] [-0.00536067 0.9999224 -0.01124553 -0.42493918] [-0.00619735 0.01121226 0.99991794 -0.4048627 ] [ 0. 0. 0. 1. ]] SLAMing on 18.206296757 meters Centerline goodness : 0.837820 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.43, Z:-0.41 [[ 0.99996953 0.00535532 0.00567949 2.0128066 ] [-0.0052919 0.99992412 -0.01112421 -0.4252863 ] [-0.00573863 0.01109382 0.99992199 -0.4057398 ] [ 0. 0. 0. 1. ]] SLAMing on 18.236296757 meters Centerline goodness : 0.838866 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.43, Z:-0.41 [[ 0.99997386 0.00518406 0.00504009 2.01406757] [-0.0051319 0.99993371 -0.01030763 -0.42826155] [-0.00509319 0.0102815 0.99993417 -0.40544423] [ 0. 0. 0. 1. ]] SLAMing on 18.266296757000003 meters Centerline goodness : 0.838685 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.43, Z:-0.41 [[ 0.99998197 0.00425708 0.0042344 2.01632695] [-0.00421236 0.99993585 -0.01051458 -0.43125893] [-0.00427889 0.01049655 0.99993575 -0.40616076] [ 0. 0. 0. 1. ]] SLAMing on 18.296296757000004 meters Centerline goodness : 0.837742 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.44, Z:-0.41 [[ 9.99992436e-01 1.27350531e-03 3.67517278e-03 2.01857306e+00] [-1.22695828e-03 9.99919361e-01 -1.26398457e-02 -4.37205621e-01] [-3.69097333e-03 1.26352408e-02 9.99913360e-01 -4.07539325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.326296757 meters Centerline goodness : 0.837481 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.44, Z:-0.41 [[ 0.99998846 0.00299474 0.00375606 2.03960701] [-0.00294033 0.99989189 -0.01440701 -0.43759105] [-0.0037988 0.0143958 0.99988916 -0.41009348] [ 0. 0. 0. 1. ]] SLAMing on 18.356296757000003 meters Centerline goodness : 0.837531 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.44, Z:-0.41 [[ 0.99998946 0.00304362 0.00343624 2.04088084] [-0.00299447 0.99989443 -0.01421867 -0.43806117] [-0.00347915 0.01420823 0.99989301 -0.41106021] [ 0. 0. 0. 1. ]] SLAMing on 18.386296757000004 meters Centerline goodness : 0.839794 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.44, Z:-0.41 [[ 0.99996507 0.00568198 0.00612904 2.06056319] [-0.00558817 0.9998686 -0.01521708 -0.43672272] [-0.0062147 0.0151823 0.99986543 -0.41309252] [ 0. 0. 0. 1. ]] SLAMing on 18.416296757 meters Centerline goodness : 0.837951 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.44, Z:-0.41 [[ 0.99996411 0.00610224 0.00587743 2.06091274] [-0.00601567 0.99987477 -0.01463728 -0.43781895] [-0.00596601 0.0146014 0.9998756 -0.41283798] [ 0. 0. 0. 1. ]] SLAMing on 18.446296757000002 meters Centerline goodness : 0.843029 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.44, Z:-0.41 [[ 0.9999592 0.00704258 0.00565683 2.06071281] [-0.00696856 0.9998912 -0.01300069 -0.44246712] [-0.00574777 0.01296074 0.99989949 -0.41169623] [ 0. 0. 0. 1. ]] SLAMing on 18.476296757000004 meters Centerline goodness : 0.841053 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.44, Z:-0.41 [[ 0.99993443 0.00795005 0.00824156 2.07919101] [-0.00781482 0.9998364 -0.01631272 -0.44226399] [-0.00836989 0.01624724 0.99983297 -0.41351111] [ 0. 0. 0. 1. ]] SLAMing on 18.506296757 meters Centerline goodness : 0.842637 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.44, Z:-0.42 [[ 0.99994088 0.00764814 0.00772978 2.08135981] [-0.00751979 0.99983561 -0.01649857 -0.44245995] [-0.0078547 0.01643947 0.99983401 -0.41518962] [ 0. 0. 0. 1. ]] SLAMing on 18.536296757000002 meters Centerline goodness : 0.841387 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.44, Z:-0.42 [[ 0.9999437 0.00828124 0.00663528 2.08640989] [-0.00818007 0.99985204 -0.0151325 -0.44354514] [-0.00675961 0.01507737 0.99986348 -0.41898267] [ 0. 0. 0. 1. ]] SLAMing on 18.566296757000003 meters Centerline goodness : 0.841456 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.44, Z:-0.42 [[ 0.99991094 0.00952656 0.00934621 2.10485991] [-0.00936499 0.99980853 -0.01718162 -0.44433609] [-0.00950811 0.01709256 0.9998087 -0.42042805] [ 0. 0. 0. 1. ]] SLAMing on 18.596296757 meters Centerline goodness : 0.840899 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.45, Z:-0.42 [[ 0.99993864 0.00648562 0.00898066 2.10548176] [-0.00630934 0.99978956 -0.01951998 -0.44910077] [-0.00910537 0.01946212 0.99976913 -0.42035626] [ 0. 0. 0. 1. ]] SLAMing on 18.626296757000002 meters Centerline goodness : 0.842444 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.45, Z:-0.42 [[ 0.99994489 0.00626796 0.00842225 2.1068254 ] [-0.00610674 0.99980021 -0.01903275 -0.4520403 ] [-0.00853986 0.01898027 0.99978339 -0.42065214] [ 0. 0. 0. 1. ]] SLAMing on 18.656296757000003 meters Centerline goodness : 0.838880 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.45, Z:-0.42 [[ 0.99995153 0.00591384 0.00787225 2.1083871 ] [-0.00576379 0.99980383 -0.01894929 -0.45375764] [-0.00798277 0.018903 0.99978945 -0.42129672] [ 0. 0. 0. 1. ]] SLAMing on 18.686296757 meters Centerline goodness : 0.845937 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.45, Z:-0.42 [[ 0.99995669 0.0058395 0.00724722 2.10982617] [-0.00570365 0.99981025 -0.01862625 -0.45499484] [-0.00735461 0.01858411 0.99980025 -0.42153045] [ 0. 0. 0. 1. ]] SLAMing on 18.716296757000002 meters Centerline goodness : 0.841396 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.46, Z:-0.42 [[ 0.99994525 0.00818822 0.00651547 2.11250997] [-0.00808527 0.99984447 -0.01567336 -0.45620375] [-0.0066428 0.01561983 0.99985594 -0.42285587] [ 0. 0. 0. 1. ]] SLAMing on 18.746296757000003 meters Centerline goodness : 0.842076 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.45, Z:-0.42 [[ 0.99988562 0.01197781 0.00923413 2.13164602] [-0.01182299 0.9997916 -0.01664223 -0.45386592] [-0.00943155 0.01653115 0.99981887 -0.42460515] [ 0. 0. 0. 1. ]] SLAMing on 18.776296757 meters Centerline goodness : 0.843563 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.45, Z:-0.43 [[ 0.99985894 0.01449719 0.00848168 2.13459841] [-0.01437951 0.99980171 -0.01377565 -0.45388526] [-0.00867971 0.01365174 0.99986914 -0.42634794] [ 0. 0. 0. 1. ]] SLAMing on 18.806296757000002 meters Centerline goodness : 0.839967 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.45, Z:-0.43 [[ 0.99979909 0.01722382 0.01025278 2.15360567] [-0.01704895 0.99971172 -0.01690586 -0.45138455] [-0.01054101 0.01672766 0.99980452 -0.42923507] [ 0. 0. 0. 1. ]] SLAMing on 18.836296757000003 meters Centerline goodness : 0.841722 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.45, Z:-0.43 [[ 0.99978822 0.01833416 0.0093476 2.15751111] [-0.01818492 0.99970965 -0.0158089 -0.45203175] [-0.00963473 0.01563556 0.99983134 -0.43201955] [ 0. 0. 0. 1. ]] SLAMing on 18.866296757 meters Centerline goodness : 0.839802 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.45, Z:-0.43 [[ 0.99979414 0.01821099 0.00894675 2.1586601 ] [-0.01806828 0.99971221 -0.01578091 -0.45295156] [-0.00923156 0.01561601 0.99983545 -0.43250337] [ 0. 0. 0. 1. ]] SLAMing on 18.896296757 meters Centerline goodness : 0.840141 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.45, Z:-0.43 [[ 0.99981069 0.01750588 0.00849236 2.16021327] [-0.0173676 0.99971967 -0.01609178 -0.4524424 ] [-0.00877168 0.01594125 0.99983445 -0.43317714] [ 0. 0. 0. 1. ]] SLAMing on 18.926296757000003 meters Centerline goodness : 0.837873 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.45, Z:-0.43 [[ 0.99982149 0.01707532 0.00808852 2.16122474] [-0.01694097 0.99972204 -0.0163967 -0.45153728] [-0.00836625 0.01625675 0.99983285 -0.43340371] [ 0. 0. 0. 1. ]] SLAMing on 18.956296757 meters Centerline goodness : 0.837444 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.45, Z:-0.43 [[ 0.99983342 0.01659822 0.00759207 2.16240889] [-0.01647059 0.99972696 -0.01657509 -0.45134579] [-0.00786512 0.01644728 0.9998338 -0.43358989] [ 0. 0. 0. 1. ]] SLAMing on 18.986296757 meters Centerline goodness : 0.836262 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.45, Z:-0.43 [[ 0.99991198 0.01152501 0.00657358 2.16507635] [-0.01138548 0.99971712 -0.02088169 -0.45269002] [-0.00681239 0.020805 0.99976034 -0.43446952] [ 0. 0. 0. 1. ]] SLAMing on 19.016296757000003 meters Centerline goodness : 0.834641 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.46, Z:-0.44 [[ 0.99999337 0.00252427 0.00262461 2.16686905] [-0.00248824 0.99990386 -0.01364074 -0.45584078] [-0.00265879 0.01363412 0.99990352 -0.43665899] [ 0. 0. 0. 1. ]] SLAMing on 19.046296757000004 meters Centerline goodness : 0.834639 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.46, Z:-0.44 [[ 9.99996319e-01 1.81050150e-03 2.02075780e-03 2.16884254e+00] [-1.78200975e-03 9.99900220e-01 -1.40133829e-02 -4.56155565e-01] [-2.04592742e-03 1.40097304e-02 9.99899766e-01 -4.37629882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.076296757 meters Centerline goodness : 0.833556 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.46, Z:-0.44 [[ 9.99997755e-01 1.44967345e-03 1.54534628e-03 2.17010980e+00] [-1.42758858e-03 9.99898187e-01 -1.41977754e-02 -4.56179893e-01] [-1.56577109e-03 1.41955374e-02 9.99898012e-01 -4.38045736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.106296757000003 meters Centerline goodness : 0.836295 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.46, Z:-0.44 [[ 9.99998453e-01 1.30372459e-03 1.18043514e-03 2.17083225e+00] [-1.28659928e-03 9.99895574e-01 -1.43939766e-02 -4.55603568e-01] [-1.19907765e-03 1.43924356e-02 9.99895705e-01 -4.37995074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.136296757000004 meters Centerline goodness : 0.836833 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.45, Z:-0.44 [[ 9.99991628e-01 4.06796498e-03 4.41958769e-04 2.17270002e+00] [-4.06263674e-03 9.99926157e-01 -1.14532254e-02 -4.54311560e-01] [-4.88517453e-04 1.14513340e-02 9.99934312e-01 -4.38094199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.166296757 meters Centerline goodness : 0.836321 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.45, Z:-0.44 [[ 9.99975814e-01 6.94712376e-03 -3.31038405e-04 2.17522984e+00] [-6.94972472e-03 9.99938531e-01 -8.63917712e-03 -4.53177893e-01] [ 2.71000624e-04 8.64126880e-03 9.99962627e-01 -4.39149320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.196296757000002 meters Centerline goodness : 0.835640 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.45, Z:-0.44 [[ 9.99965260e-01 8.27103504e-03 -1.03340905e-03 2.17872697e+00] [-8.27860357e-03 9.99937246e-01 -7.54781111e-03 -4.52669296e-01] [ 9.70915985e-04 7.55610409e-03 9.99970981e-01 -4.41738022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.226296757000004 meters Centerline goodness : 0.835609 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.45, Z:-0.44 [[ 9.99933777e-01 1.13545711e-02 -1.87501818e-03 2.18182963e+00] [-1.13635248e-02 9.99923740e-01 -4.83571180e-03 -4.51675478e-01] [ 1.81996776e-03 4.85669838e-03 9.99986550e-01 -4.43427757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.256296757 meters Centerline goodness : 0.832696 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.45, Z:-0.44 [[ 0.99993284 0.01136969 -0.00224652 2.18313864] [-0.01138194 0.99991999 -0.00551884 -0.44950563] [ 0.00218359 0.00554404 0.99998225 -0.44434318] [ 0. 0. 0. 1. ]] SLAMing on 19.286296757000002 meters Centerline goodness : 0.832428 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.45, Z:-0.45 [[ 0.99989569 0.01415324 -0.00287979 2.18603087] [-0.01416123 0.99989588 -0.00277132 -0.44865648] [ 0.00284027 0.00281181 0.99999201 -0.44634608] [ 0. 0. 0. 1. ]] SLAMing on 19.316296757000003 meters Centerline goodness : 0.829587 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.44, Z:-0.45 [[ 9.99840671e-01 1.74588633e-02 -3.71755951e-03 2.18959100e+00] [-1.74593749e-02 9.99847568e-01 -1.05215242e-04 -4.44924480e-01] [ 3.71515590e-03 1.70104744e-04 9.99993084e-01 -4.48884422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.346296757 meters Centerline goodness : 0.827405 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.44, Z:-0.45 [[ 0.99979131 0.019949 -0.00440196 2.19267274] [-0.01993842 0.99979824 0.0024353 -0.4440986 ] [ 0.00444965 -0.00234703 0.99998735 -0.45093763] [ 0. 0. 0. 1. ]] SLAMing on 19.376296757000002 meters Centerline goodness : 0.825334 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.44, Z:-0.45 [[ 9.99796909e-01 2.01431768e-02 -6.26332298e-04 2.20877579e+00] [-2.01462711e-02 9.99782434e-01 -5.40492348e-03 -4.38891000e-01] [ 5.17323700e-04 5.41644405e-03 9.99985197e-01 -4.54356033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.406296757000003 meters Centerline goodness : 0.826706 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.44, Z:-0.45 [[ 9.99795637e-01 2.01965684e-02 -8.84560256e-04 2.20937963e+00] [-2.02011839e-02 9.99780456e-01 -5.56340695e-03 -4.37998738e-01] [ 7.72004327e-04 5.58013916e-03 9.99984133e-01 -4.54457666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.436296757 meters Centerline goodness : 0.826903 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.44, Z:-0.45 [[ 0.99979919 0.01965029 0.00393042 2.22371958] [-0.01960719 0.99975029 -0.01072019 -0.43530672] [-0.00414009 0.01064097 0.99993481 -0.4528141 ] [ 0. 0. 0. 1. ]] SLAMing on 19.466296757000002 meters Centerline goodness : 0.829064 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.43, Z:-0.45 [[ 0.99980925 0.01924219 0.00334744 2.2250813 ] [-0.0192035 0.99975253 -0.0112299 -0.43453866] [-0.0035627 0.01116347 0.99993134 -0.45296519] [ 0. 0. 0. 1. ]] SLAMing on 19.496296757000003 meters Centerline goodness : 0.826991 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.43, Z:-0.46 [[ 0.99979607 0.02003267 0.00255339 2.22900581] [-0.02000458 0.99974382 -0.01058847 -0.43358198] [-0.00276485 0.01053523 0.99994068 -0.4559368 ] [ 0. 0. 0. 1. ]] SLAMing on 19.526296757 meters Centerline goodness : 0.824826 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.43, Z:-0.46 [[ 9.99767961e-01 2.14753413e-02 1.68341486e-03 2.23328856e+00] [-2.14587468e-02 9.99726261e-01 -9.32336308e-03 -4.31680864e-01] [-1.88317645e-03 9.28507572e-03 9.99955120e-01 -4.59141723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.556296757000002 meters Centerline goodness : 0.821588 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.43, Z:-0.46 [[ 0.9997111 0.02391275 0.0024295 2.25550881] [-0.02387855 0.99962708 -0.01324821 -0.42590443] [-0.00274539 0.01318637 0.99990929 -0.46350001] [ 0. 0. 0. 1. ]] SLAMing on 19.586296757000003 meters Centerline goodness : 0.822973 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.42, Z:-0.46 [[ 9.99647750e-01 2.64906543e-02 1.61926677e-03 2.25850555e+00] [-2.64716051e-02 9.99590900e-01 -1.08299107e-02 -4.24360591e-01] [-1.90549574e-03 1.07832313e-02 9.99940044e-01 -4.64994680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.616296757 meters Centerline goodness : 0.822122 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.42, Z:-0.47 [[ 0.99959417 0.02799291 0.00528202 2.27576668] [-0.02791028 0.99949612 -0.01511715 -0.41958299] [-0.00570253 0.01496359 0.99987178 -0.46705043] [ 0. 0. 0. 1. ]] SLAMing on 19.646296757 meters Centerline goodness : 0.823721 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.42, Z:-0.47 [[ 0.99950154 0.03118542 0.00491272 2.27687768] [-0.03112462 0.99944346 -0.01200158 -0.41784008] [-0.00528426 0.01184269 0.99991591 -0.46703631] [ 0. 0. 0. 1. ]] SLAMing on 19.676296757000003 meters Centerline goodness : 0.821099 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.41, Z:-0.47 [[ 0.99949763 0.03136058 0.004582 2.27740882] [-0.03130051 0.99943007 -0.01264178 -0.41422939] [-0.00497584 0.01249201 0.99990959 -0.46687431] [ 0. 0. 0. 1. ]] SLAMing on 19.706296757000004 meters Centerline goodness : 0.823310 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.41, Z:-0.47 [[ 0.9994819 0.03146244 0.00678636 2.29729287] [-0.03132287 0.99931366 -0.01977576 -0.40632537] [-0.0074039 0.01955294 0.99978141 -0.47010685] [ 0. 0. 0. 1. ]] SLAMing on 19.736296757 meters Centerline goodness : 0.821992 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.39, Z:-0.47 [[ 0.9995277 0.02931716 0.00921255 2.31470655] [-0.02900175 0.99904484 -0.032685 -0.39457472] [-0.01016198 0.03240239 0.99942324 -0.47273161] [ 0. 0. 0. 1. ]] SLAMing on 19.766296757000003 meters Centerline goodness : 0.822946 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.39, Z:-0.48 [[ 0.99949654 0.02954871 0.01155563 2.33294429] [-0.02907151 0.99879712 -0.03948619 -0.38763492] [-0.01270849 0.03913037 0.9991533 -0.47508891] [ 0. 0. 0. 1. ]] SLAMing on 19.796296757000004 meters Centerline goodness : 0.822525 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.38, Z:-0.48 [[ 0.99950266 0.02826531 0.01398262 2.34843429] [-0.02751536 0.99830951 -0.05119602 -0.37955986] [-0.01540606 0.05078583 0.99859073 -0.47632419] [ 0. 0. 0. 1. ]] SLAMing on 19.826296757 meters Centerline goodness : 0.822525 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.38, Z:-0.48 [[ 0.99950706 0.02804978 0.0141011 2.34834006] [-0.02729611 0.99832227 -0.05106436 -0.38021093] [-0.01550979 0.05065429 0.99859581 -0.47616427] [ 0. 0. 0. 1. ]] SLAMing on 19.856296757000003 meters Centerline goodness : 0.822437 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.37, Z:-0.48 [[ 0.99955249 0.02698999 0.01289821 2.35161645] [-0.02626439 0.9982249 -0.05345312 -0.37498789] [-0.01431802 0.05309044 0.99848706 -0.47690983] [ 0. 0. 0. 1. ]] SLAMing on 19.886296757000004 meters Centerline goodness : 0.822867 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.37, Z:-0.48 [[ 0.99957992 0.02624327 0.01229908 2.35298441] [-0.02553755 0.99819281 -0.05439622 -0.37300254] [-0.01370439 0.05405928 0.99844368 -0.47706856] [ 0. 0. 0. 1. ]] SLAMing on 19.916296757 meters Centerline goodness : 0.820074 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.37, Z:-0.47 [[ 0.99974811 0.02096064 0.00802269 2.3621527 ] [-0.02048475 0.99825411 -0.05539948 -0.36896974] [-0.00916989 0.05522118 0.99843204 -0.47397188] [ 0. 0. 0. 1. ]] SLAMing on 19.946296757000002 meters Centerline goodness : 0.822717 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.37, Z:-0.47 [[ 0.99982263 0.01829156 0.00448561 2.3712464 ] [-0.01803306 0.99847735 -0.0521324 -0.36880972] [-0.00543236 0.05204226 0.99863011 -0.47177804] [ 0. 0. 0. 1. ]] SLAMing on 19.976296757000004 meters Centerline goodness : 0.823592 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.37, Z:-0.47 [[ 9.99868868e-01 1.61670697e-02 9.34578628e-04 2.37878977e+00] [-1.60989035e-02 9.98584045e-01 -5.07023769e-02 -3.68412067e-01] [-1.75296417e-03 5.06806825e-02 9.98713370e-01 -4.70467389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.006296757 meters Centerline goodness : 0.824220 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.37, Z:-0.47 [[ 0.9999252 0.01118573 0.00494696 2.38253166] [-0.01096103 0.9990008 -0.04332734 -0.36688842] [-0.00542667 0.04326987 0.99904868 -0.46990989] [ 0. 0. 0. 1. ]] SLAMing on 20.036296757000002 meters Centerline goodness : 0.819860 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.37, Z:-0.47 [[ 0.99993243 0.01004819 0.00584621 2.4065439 ] [-0.00979685 0.99908886 -0.04153873 -0.36586878] [-0.00625828 0.04147865 0.99911979 -0.46889227] [ 0. 0. 0. 1. ]] SLAMing on 20.066296757000003 meters Centerline goodness : 0.822338 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.36, Z:-0.47 [[ 0.9999524 0.00754545 0.00618576 2.43313191] [-0.0072942 0.99918583 -0.0396795 -0.36229271] [-0.00648012 0.03963249 0.99919331 -0.46705197] [ 0. 0. 0. 1. ]] SLAMing on 20.096296757 meters Centerline goodness : 0.820319 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.36, Z:-0.47 [[ 0.99995757 0.00732306 0.00558811 2.43466489] [-0.00709469 0.99918057 -0.03984781 -0.36127877] [-0.00587534 0.03980647 0.99919013 -0.46746865] [ 0. 0. 0. 1. ]] SLAMing on 20.126296757000002 meters Centerline goodness : 0.825763 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.36, Z:-0.47 [[ 9.99998734e-01 1.19076107e-03 1.05525846e-03 2.43469282e+00] [-1.15899468e-03 9.99560890e-01 -2.96088415e-02 -3.62988180e-01] [-1.09005214e-03 2.96075809e-02 9.99561005e-01 -4.66329645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.156296757000003 meters Centerline goodness : 0.824983 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.36, Z:-0.47 [[ 9.99999859e-01 4.07461942e-04 3.39795688e-04 2.43671007e+00] [-3.97039806e-04 9.99545985e-01 -3.01275113e-02 -3.62932790e-01] [-3.51917230e-04 3.01273721e-02 9.99546006e-01 -4.67150265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.186296757 meters Centerline goodness : 0.825955 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.36, Z:-0.47 [[ 9.99998719e-01 -1.49877577e-03 -5.62248205e-04 2.43988639e+00] [ 1.48029190e-03 9.99501127e-01 -3.15484708e-02 -3.63054097e-01] [ 6.09251798e-04 3.15475981e-02 9.99502065e-01 -4.68874472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.216296757000002 meters Centerline goodness : 0.825996 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.36, Z:-0.47 [[ 9.99998368e-01 -1.53553839e-03 -9.51725826e-04 2.44092248e+00] [ 1.50491500e-03 9.99506308e-01 -3.13827382e-02 -3.63954570e-01] [ 9.99445366e-04 3.13812547e-02 9.99506987e-01 -4.69199716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.246296757000003 meters Centerline goodness : 0.825226 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.36, Z:-0.47 [[ 9.99997784e-01 -1.62087475e-03 -1.34333802e-03 2.44194924e+00] [ 1.57776498e-03 9.99502693e-01 -3.14940770e-02 -3.63830463e-01] [ 1.39371793e-03 3.14918878e-02 9.99503036e-01 -4.69532622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.276296757 meters Centerline goodness : 0.825156 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.36, Z:-0.47 [[ 9.99997927e-01 -2.75439511e-04 -2.01741697e-03 2.44459092e+00] [ 2.14522987e-04 9.99545859e-01 -3.01335230e-02 -3.64707741e-01] [ 2.02480075e-03 3.01330277e-02 9.99543846e-01 -4.71230724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.306296757000002 meters Centerline goodness : 0.824314 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.37, Z:-0.47 [[ 9.99997257e-01 3.21214588e-06 -2.34202157e-03 2.44544952e+00] [-7.26969466e-05 9.99559768e-01 -2.96692466e-02 -3.65877651e-01] [ 2.34089523e-03 2.96693355e-02 9.99557027e-01 -4.71580422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.336296757000003 meters Centerline goodness : 0.824725 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.37, Z:-0.47 [[ 0.99999117 0.00305178 -0.00289047 2.44765214] [-0.00312528 0.99966284 -0.0257768 -0.36938496] [ 0.00281083 0.0257856 0.99966354 -0.4727264 ] [ 0. 0. 0. 1. ]] SLAMing on 20.366296757 meters Centerline goodness : 0.826454 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.37, Z:-0.47 [[ 0.99997094 0.00682761 -0.00339206 2.44904414] [-0.0068988 0.99974634 -0.02143968 -0.37062185] [ 0.00324482 0.02146246 0.99976439 -0.47317581] [ 0. 0. 0. 1. ]] SLAMing on 20.396296757 meters Centerline goodness : 0.826362 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.37, Z:-0.47 [[ 0.99993358 0.01107852 -0.00317721 2.47542508] [-0.01112271 0.99983667 -0.0142452 -0.37039129] [ 0.00301888 0.0142796 0.99989348 -0.47252611] [ 0. 0. 0. 1. ]] SLAMing on 20.426296757000003 meters Centerline goodness : 0.825893 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.37, Z:-0.47 [[ 9.99909623e-01 1.34256923e-02 7.04027464e-04 2.49208164e+00] [-1.34132064e-02 9.99790491e-01 -1.54615394e-02 -3.70344270e-01] [-9.11461835e-04 1.54506987e-02 9.99880215e-01 -4.72774346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.456296757000004 meters Centerline goodness : 0.829232 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.37, Z:-0.47 [[ 0.99985581 0.01637905 0.00448205 2.50961118] [-0.01630445 0.9997358 -0.01620183 -0.37149983] [-0.00474624 0.01612642 0.9998587 -0.47417476] [ 0. 0. 0. 1. ]] SLAMing on 20.486296757 meters Centerline goodness : 0.831626 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.37, Z:-0.48 [[ 0.99976477 0.01988383 0.00866291 2.52670794] [-0.01973654 0.99966459 -0.01676843 -0.37355994] [-0.00899342 0.0165935 0.99982187 -0.4753127 ] [ 0. 0. 0. 1. ]] SLAMing on 20.516296757000003 meters Centerline goodness : 0.831189 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.37, Z:-0.48 [[ 0.99965208 0.02340713 0.01215805 2.54480089] [-0.02320301 0.99959183 -0.01666715 -0.37306306] [-0.01254321 0.01637925 0.99978717 -0.47678876] [ 0. 0. 0. 1. ]] SLAMing on 20.546296757000004 meters Centerline goodness : 0.830744 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.37, Z:-0.48 [[ 0.99947635 0.03030708 0.01133635 2.57191008] [-0.03002133 0.99924698 -0.02458031 -0.36913046] [-0.01207277 0.02422711 0.99963358 -0.47564717] [ 0. 0. 0. 1. ]] SLAMing on 20.576296757 meters Centerline goodness : 0.830461 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.37, Z:-0.48 [[ 0.99943638 0.03183287 0.01065808 2.57408208] [-0.03157901 0.9992321 -0.02319427 -0.37028095] [-0.01138823 0.02284463 0.99967416 -0.47675294] [ 0. 0. 0. 1. ]] SLAMing on 20.606296757000003 meters Centerline goodness : 0.828175 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.37, Z:-0.48 [[ 0.99935286 0.0344932 0.01020224 2.57676011] [-0.03428363 0.99921104 -0.0200484 -0.37272152] [-0.01088572 0.01968566 0.99974696 -0.47883483] [ 0. 0. 0. 1. ]] SLAMing on 20.636296757000004 meters Centerline goodness : 0.825918 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.37, Z:-0.48 [[ 0.99930497 0.03597697 0.00975869 2.57946353] [-0.03578895 0.99918249 -0.01880166 -0.37443923] [-0.01042714 0.01843934 0.99977561 -0.48137582] [ 0. 0. 0. 1. ]] SLAMing on 20.666296757 meters Centerline goodness : 0.827271 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.37, Z:-0.48 [[ 0.99928951 0.03644092 0.00961977 2.58018357] [-0.03625616 0.99916702 -0.01872838 -0.37366439] [-0.01029424 0.0183663 0.99977833 -0.48204027] [ 0. 0. 0. 1. ]] SLAMing on 20.696296757000002 meters Centerline goodness : 0.829445 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.37, Z:-0.48 [[ 0.99910587 0.04112997 0.00978696 2.57980688] [-0.04098944 0.99905938 -0.01414992 -0.37378577] [-0.01035974 0.01373611 0.99985199 -0.48111038] [ 0. 0. 0. 1. ]] SLAMing on 20.726296757000004 meters Centerline goodness : 0.831773 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.37, Z:-0.48 [[ 0.99903809 0.04267447 0.01008846 2.57810786] [-0.0425431 0.9990114 -0.01289617 -0.37356621] [-0.01062882 0.01245457 0.99986595 -0.47951526] [ 0. 0. 0. 1. ]] SLAMing on 20.756296757 meters Centerline goodness : 0.834417 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.37, Z:-0.48 [[ 0.99899976 0.04355814 0.01010784 2.57761602] [-0.04343255 0.99898028 -0.01232926 -0.37341356] [-0.01063457 0.01187792 0.9998729 -0.47888892] [ 0. 0. 0. 1. ]] SLAMing on 20.786296757000002 meters Centerline goodness : 0.835347 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.38, Z:-0.48 [[ 0.99894952 0.04467188 0.01021205 2.57723198] [-0.0445572 0.99894411 -0.01119482 -0.37576294] [-0.01070136 0.01072804 0.99988519 -0.47850684] [ 0. 0. 0. 1. ]] SLAMing on 20.816296757000003 meters Centerline goodness : 0.835793 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.38, Z:-0.48 [[ 0.99894726 0.04474393 0.01011719 2.57770411] [-0.04463456 0.99894512 -0.01078925 -0.37748215] [-0.01058927 0.01032632 0.99989061 -0.47889033] [ 0. 0. 0. 1. ]] SLAMing on 20.846296757 meters Centerline goodness : 0.834940 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.38, Z:-0.48 [[ 0.99905455 0.04243873 0.00943211 2.58137853] [-0.04232013 0.99902669 -0.01243686 -0.3801676 ] [-0.00995074 0.01202593 0.99987817 -0.48216935] [ 0. 0. 0. 1. ]] SLAMing on 20.876296757000002 meters Centerline goodness : 0.834041 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.38, Z:-0.48 [[ 0.99908466 0.04180351 0.00907289 2.58305084] [-0.04168743 0.99905091 -0.01262691 -0.38079996] [-0.00959213 0.01223712 0.99987911 -0.48350429] [ 0. 0. 0. 1. ]] SLAMing on 20.906296757000003 meters Centerline goodness : 0.833441 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.38, Z:-0.49 [[ 0.99915542 0.04017566 0.00862294 2.58571957] [-0.04005838 0.99910792 -0.01336766 -0.3817727 ] [-0.0091523 0.01301095 0.99987347 -0.48571825] [ 0. 0. 0. 1. ]] SLAMing on 20.936296757 meters Centerline goodness : 0.833842 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.38, Z:-0.49 [[ 0.99929236 0.0367001 0.00823909 2.58610587] [-0.03655708 0.99918891 -0.01688517 -0.38272516] [-0.0088521 0.01657202 0.99982349 -0.48565073] [ 0. 0. 0. 1. ]] SLAMing on 20.966296757000002 meters Centerline goodness : 0.833407 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.38, Z:-0.49 [[ 0.99942521 0.0329895 0.00780637 2.58684857] [-0.03282369 0.99925106 -0.02049206 -0.38399922] [-0.00847654 0.02022405 0.99975954 -0.4859169 ] [ 0. 0. 0. 1. ]] SLAMing on 20.996296757000003 meters Centerline goodness : 0.834479 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.39, Z:-0.49 [[ 0.9995343 0.02957279 0.00752572 2.58675108] [-0.02939401 0.99930671 -0.02284946 -0.38825238] [-0.00819622 0.02261761 0.99971059 -0.48504959] [ 0. 0. 0. 1. ]] SLAMing on 21.026296757 meters Centerline goodness : 0.837478 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.39, Z:-0.48 [[ 0.99953594 0.02960096 0.00718907 2.58716857] [-0.02943558 0.99932206 -0.02211267 -0.390331 ] [-0.00783875 0.0218908 0.99972964 -0.48453922] [ 0. 0. 0. 1. ]] SLAMing on 21.056296757000002 meters Centerline goodness : 0.835252 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.39, Z:-0.48 [[ 0.99954984 0.02922837 0.00676842 2.58792767] [-0.02908068 0.99935694 -0.02097686 -0.393309 ] [-0.00737719 0.02077058 0.99975705 -0.48395405] [ 0. 0. 0. 1. ]] SLAMing on 21.086296757000003 meters Centerline goodness : 0.834991 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.39, Z:-0.48 [[ 0.99957537 0.02852596 0.00594537 2.59026313] [-0.02839425 0.99937259 -0.02117039 -0.39413087] [-0.00654554 0.02099259 0.9997582 -0.48498814] [ 0. 0. 0. 1. ]] SLAMing on 21.116296757000004 meters Centerline goodness : 0.833536 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.40, Z:-0.49 [[ 0.9996033 0.02768883 0.005154 2.59304593] [-0.02757262 0.99939077 -0.0213972 -0.39567521] [-0.00574332 0.02124661 0.99975777 -0.48674329] [ 0. 0. 0. 1. ]] SLAMing on 21.146296757 meters Centerline goodness : 0.827646 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.40, Z:-0.49 [[ 0.99969761 0.02423619 0.00415949 2.59715225] [-0.02412918 0.9994185 -0.0240926 -0.40002082] [-0.00474098 0.02398495 0.99970108 -0.48978196] [ 0. 0. 0. 1. ]] SLAMing on 21.176296757000003 meters Centerline goodness : 0.830504 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.40, Z:-0.49 [[ 0.99972702 0.02312259 0.00335016 2.59981391] [-0.02303384 0.9994352 -0.02446865 -0.40269618] [-0.00391404 0.02438481 0.99969498 -0.49123423] [ 0. 0. 0. 1. ]] SLAMing on 21.206296757000004 meters Centerline goodness : 0.830272 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.41, Z:-0.49 [[ 0.99981179 0.01869229 0.00519486 2.60835734] [-0.01859451 0.9996601 -0.01827349 -0.40866639] [-0.00553466 0.01817346 0.99981953 -0.48998008] [ 0. 0. 0. 1. ]] SLAMing on 21.236296757 meters Centerline goodness : 0.831780 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.41, Z:-0.49 [[ 0.99981282 0.01872562 0.00486634 2.60875552] [-0.01863626 0.99966783 -0.01780223 -0.40998995] [-0.00519808 0.01770821 0.99982969 -0.48946593] [ 0. 0. 0. 1. ]] SLAMing on 21.266296757000003 meters Centerline goodness : 0.833033 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.41, Z:-0.49 [[ 0.99974783 0.02084173 0.00836099 2.6269083 ] [-0.02067753 0.99960054 -0.01926656 -0.40853846] [-0.0087592 0.01908882 0.99977942 -0.49047567] [ 0. 0. 0. 1. ]] SLAMing on 21.296296757000004 meters Centerline goodness : 0.831977 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.41, Z:-0.49 [[ 0.99968217 0.02401426 0.00767262 2.62940435] [-0.02389199 0.99959206 -0.0156488 -0.40960898] [-0.00804529 0.01546051 0.99984811 -0.49173135] [ 0. 0. 0. 1. ]] SLAMing on 21.326296757 meters Centerline goodness : 0.830897 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.41, Z:-0.49 [[ 0.9996439 0.02430939 0.01100543 2.64531599] [-0.02405096 0.99944532 -0.02303477 -0.40636739] [-0.01155929 0.02276188 0.99967409 -0.49439975] [ 0. 0. 0. 1. ]] SLAMing on 21.356296757000003 meters Centerline goodness : 0.831720 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.40, Z:-0.49 [[ 0.99957064 0.02790088 0.00894813 2.66997527] [-0.02757323 0.99901183 -0.03485807 -0.40420177] [-0.00991186 0.03459637 0.99935221 -0.49306649] [ 0. 0. 0. 1. ]] SLAMing on 21.386296757000004 meters Centerline goodness : 0.828339 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.41, Z:-0.49 [[ 0.99956896 0.02811058 0.00846668 2.67148354] [-0.02780481 0.99902498 -0.03429263 -0.40626391] [-0.00942241 0.03404244 0.99937597 -0.49383289] [ 0. 0. 0. 1. ]] SLAMing on 21.416296757 meters Centerline goodness : 0.825215 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.41, Z:-0.50 [[ 0.9996019 0.02715204 0.00766891 2.67486701] [-0.02687227 0.99904368 -0.03449064 -0.4120969 ] [-0.00859806 0.03427082 0.9993756 -0.4964897 ] [ 0. 0. 0. 1. ]] SLAMing on 21.446296757000002 meters Centerline goodness : 0.823571 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.41, Z:-0.50 [[ 0.9996242 0.02652645 0.00691351 2.67767754] [-0.02627563 0.99907143 -0.03414481 -0.41487669] [-0.00781284 0.03395032 0.99939298 -0.49853355] [ 0. 0. 0. 1. ]] SLAMing on 21.476296757000004 meters Centerline goodness : 0.823264 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.42, Z:-0.50 [[ 0.99967075 0.02469869 0.00695462 2.69062543] [-0.02453848 0.99945126 -0.02224939 -0.42009647] [-0.00750033 0.02207141 0.99972826 -0.49561158] [ 0. 0. 0. 1. ]] SLAMing on 21.506296757 meters Centerline goodness : 0.823732 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.42, Z:-0.50 [[ 0.99961271 0.02575394 0.01054358 2.70807419] [-0.02549929 0.99939591 -0.02361349 -0.42114897] [-0.01114536 0.02333549 0.99966556 -0.49620562] [ 0. 0. 0. 1. ]] SLAMing on 21.536296757000002 meters Centerline goodness : 0.825209 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.42, Z:-0.50 [[ 0.99961663 0.02580738 0.01002843 2.70917958] [-0.02557267 0.99941138 -0.02286775 -0.42376062] [-0.01061269 0.02260253 0.9996882 -0.49622474] [ 0. 0. 0. 1. ]] SLAMing on 21.566296757000003 meters Centerline goodness : 0.825328 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.43, Z:-0.50 [[ 0.99969662 0.02270297 0.0095525 2.7096918 ] [-0.0224568 0.99943185 -0.02513299 -0.42853388] [-0.01011766 0.02491085 0.99963848 -0.4957309 ] [ 0. 0. 0. 1. ]] SLAMing on 21.596296757 meters Centerline goodness : 0.823830 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.43, Z:-0.50 [[ 0.99970124 0.02270564 0.00904892 2.71097839] [-0.02247743 0.99944537 -0.02457079 -0.43088932] [-0.0096018 0.02436005 0.99965714 -0.49607224] [ 0. 0. 0. 1. ]] SLAMing on 21.626296757000002 meters Centerline goodness : 0.823957 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.43, Z:-0.50 [[ 0.99969952 0.02292836 0.00866931 2.71242183] [-0.02271462 0.99945392 -0.02399826 -0.43255339] [-0.00921482 0.02379413 0.99967441 -0.49684811] [ 0. 0. 0. 1. ]] SLAMing on 21.656296757000003 meters Centerline goodness : 0.825071 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.43, Z:-0.50 [[ 0.99969977 0.02303201 0.00835992 2.71327857] [-0.02282754 0.99945656 -0.02378012 -0.43312952] [-0.00890308 0.02358214 0.99968226 -0.4971657 ] [ 0. 0. 0. 1. ]] SLAMing on 21.686296757 meters Centerline goodness : 0.820652 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.44, Z:-0.50 [[ 0.99969523 0.02335072 0.008012 2.71407948] [-0.0231644 0.99947599 -0.02260893 -0.43714135] [-0.00853574 0.02241645 0.99971228 -0.49696535] [ 0. 0. 0. 1. ]] SLAMing on 21.716296757000002 meters Centerline goodness : 0.821537 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.44, Z:-0.50 [[ 0.99969023 0.02366361 0.00771235 2.71443457] [-0.02349083 0.99948695 -0.02177183 -0.43937661] [-0.0082236 0.02158392 0.99973322 -0.49653604] [ 0. 0. 0. 1. ]] SLAMing on 21.746296757000003 meters Centerline goodness : 0.821537 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.44, Z:-0.50 [[ 0.99969023 0.02366361 0.00771235 2.71443457] [-0.02349083 0.99948695 -0.02177183 -0.43937661] [-0.0082236 0.02158392 0.99973322 -0.49653604] [ 0. 0. 0. 1. ]] SLAMing on 21.776296757 meters Centerline goodness : 0.822180 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.44, Z:-0.50 [[ 0.9996916 0.02368854 0.00745414 2.71510711] [-0.02352424 0.99949405 -0.02140673 -0.44018251] [-0.00795746 0.02122478 0.99974306 -0.4966483 ] [ 0. 0. 0. 1. ]] SLAMing on 21.806296757000002 meters Centerline goodness : 0.821754 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.44, Z:-0.50 [[ 0.99965684 0.0253107 0.00675016 2.71836445] [-0.02518086 0.99950851 -0.0186726 -0.44094585] [-0.00721946 0.01849622 0.99980287 -0.49819802] [ 0. 0. 0. 1. ]] SLAMing on 21.836296757000003 meters Centerline goodness : 0.818586 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.44, Z:-0.50 [[ 0.99966942 0.02494539 0.00622753 2.7201987 ] [-0.0248231 0.99951134 -0.01899743 -0.44115801] [-0.00669839 0.01883656 0.99980014 -0.49927658] [ 0. 0. 0. 1. ]] SLAMing on 21.866296757000004 meters Centerline goodness : 0.817774 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.44, Z:-0.50 [[ 0.99968329 0.02455114 0.00552757 2.72316544] [-0.02444189 0.99952004 -0.01903373 -0.44434612] [-0.00599222 0.0188926 0.99980356 -0.50119494] [ 0. 0. 0. 1. ]] SLAMing on 21.896296757 meters Centerline goodness : 0.817209 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.45, Z:-0.50 [[ 0.99968461 0.02457304 0.00518147 2.72438241] [-0.02447121 0.99952231 -0.01887622 -0.4453447 ] [-0.00564284 0.01874347 0.9998084 -0.50187035] [ 0. 0. 0. 1. ]] SLAMing on 21.926296757000003 meters Centerline goodness : 0.818362 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.45, Z:-0.50 [[ 0.99962783 0.02689141 0.0045892 2.72710732] [-0.02681563 0.99951484 -0.01584306 -0.44686513] [-0.00501302 0.0157141 0.99986396 -0.50346528] [ 0. 0. 0. 1. ]] SLAMing on 21.956296757000004 meters Centerline goodness : 0.816267 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.45, Z:-0.51 [[ 0.99956953 0.02910234 0.00371468 2.73090855] [-0.02905252 0.99949558 -0.01282705 -0.44690565] [-0.0040861 0.01271361 0.99991083 -0.50539208] [ 0. 0. 0. 1. ]] SLAMing on 21.986296757 meters Centerline goodness : 0.815196 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.45, Z:-0.51 [[ 9.99543661e-01 3.00968740e-02 2.57838735e-03 2.73595975e+00] [-3.00666857e-02 9.99486919e-01 -1.10405318e-02 -4.47547361e-01] [-2.90934992e-03 1.09579700e-02 9.99935727e-01 -5.08436990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.016296757000003 meters Centerline goodness : 0.816131 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.45, Z:-0.51 [[ 9.99560196e-01 2.95928168e-02 1.91813617e-03 2.73844374e+00] [-2.95692629e-02 9.99498590e-01 -1.13237247e-02 -4.48552384e-01] [-2.25227531e-03 1.12620266e-02 9.99934045e-01 -5.10040860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.046296757000004 meters Centerline goodness : 0.814371 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.45, Z:-0.51 [[ 9.99586477e-01 2.87359789e-02 1.05713724e-03 2.74153562e+00] [-2.87215877e-02 9.99518327e-01 -1.17552167e-02 -4.50703745e-01] [-1.39442571e-03 1.17199930e-02 9.99930346e-01 -5.11960265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.076296757 meters Centerline goodness : 0.811462 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.46, Z:-0.51 [[ 9.99654741e-01 2.62749326e-02 1.61832487e-04 2.74548385e+00] [-2.62703499e-02 9.99563592e-01 -1.35090669e-02 -4.55516919e-01] [-5.16711685e-04 1.35001514e-02 9.99908735e-01 -5.14832523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.106296757000003 meters Centerline goodness : 0.813584 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.46, Z:-0.52 [[ 9.99668087e-01 2.57605520e-02 -3.31523966e-04 2.74762578e+00] [-2.57626775e-02 9.99575081e-01 -1.36360563e-02 -4.56703452e-01] [-1.98892426e-05 1.36400713e-02 9.99906970e-01 -5.16327075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.136296757000004 meters Centerline goodness : 0.816713 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.46, Z:-0.52 [[ 9.99669101e-01 2.57155916e-02 -6.29960311e-04 2.74894748e+00] [-2.57215833e-02 9.99585800e-01 -1.29084987e-02 -4.57990538e-01] [ 2.97749701e-04 1.29204309e-02 9.99916483e-01 -5.16892862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.166296757 meters Centerline goodness : 0.815856 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.46, Z:-0.52 [[ 9.99664737e-01 2.58787561e-02 -8.39184993e-04 2.74952299e+00] [-2.58872298e-02 9.99586711e-01 -1.25003107e-02 -4.58785994e-01] [ 5.15345676e-04 1.25178440e-02 9.99921516e-01 -5.16916604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.196296757000002 meters Centerline goodness : 0.818303 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.46, Z:-0.52 [[ 9.99658739e-01 2.61018240e-02 -1.04917883e-03 2.74974919e+00] [-2.61125694e-02 9.99586578e-01 -1.20335315e-02 -4.59810615e-01] [ 7.34647955e-04 1.20568216e-02 9.99927044e-01 -5.16587171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.226296757000004 meters Centerline goodness : 0.822041 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.46, Z:-0.51 [[ 9.99642618e-01 2.67131459e-02 -1.02155795e-03 2.74859057e+00] [-2.67220595e-02 9.99592572e-01 -1.00310554e-02 -4.64539498e-01] [ 7.53180692e-04 1.00547687e-02 9.99949166e-01 -5.13797915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.256296757 meters Centerline goodness : 0.821159 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.47, Z:-0.51 [[ 9.99649319e-01 2.64428313e-02 -1.41959570e-03 2.74954180e+00] [-2.64555608e-02 9.99601397e-01 -9.85650867e-03 -4.66726185e-01] [ 1.15839585e-03 9.89060838e-03 9.99950416e-01 -5.13804531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.286296757000002 meters Centerline goodness : 0.818250 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.47, Z:-0.52 [[ 9.99668665e-01 2.56367949e-02 -2.30547905e-03 2.75276193e+00] [-2.56584369e-02 9.99621681e-01 -9.90656945e-03 -4.70074575e-01] [ 2.05063416e-03 9.96244205e-03 9.99948271e-01 -5.15518780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.316296757000003 meters Centerline goodness : 0.819024 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.47, Z:-0.52 [[ 9.99652193e-01 2.62016635e-02 -2.99428011e-03 2.75705723e+00] [-2.62280250e-02 9.99614267e-01 -9.13276631e-03 -4.70975879e-01] [ 2.75383145e-03 9.20812393e-03 9.99953812e-01 -5.19144099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.346296757 meters Centerline goodness : 0.817544 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.47, Z:-0.52 [[ 0.99963787 0.02664519 -0.00376239 2.76156122] [-0.02667666 0.99960731 -0.00857788 -0.47091486] [ 0.00353236 0.00867514 0.99995613 -0.52294296] [ 0. 0. 0. 1. ]] SLAMing on 22.376296757000002 meters Centerline goodness : 0.812567 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.47, Z:-0.53 [[ 0.99961069 0.02747529 -0.00485662 2.76715032] [-0.02751091 0.99959392 -0.00742645 -0.47187507] [ 0.0046506 0.00755717 0.99996063 -0.52727187] [ 0. 0. 0. 1. ]] SLAMing on 22.406296757000003 meters Centerline goodness : 0.812565 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.47, Z:-0.53 [[ 0.99961577 0.02719822 -0.0053459 2.768931 ] [-0.02723751 0.99960145 -0.00742025 -0.47414765] [ 0.00514195 0.00756301 0.99995818 -0.52828673] [ 0. 0. 0. 1. ]] SLAMing on 22.436296757 meters Centerline goodness : 0.814187 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.48, Z:-0.53 [[ 0.99961745 0.02698446 -0.00606553 2.77075499] [-0.02702839 0.99960815 -0.00728034 -0.47983371] [ 0.0058667 0.00744149 0.9999551 -0.52873536] [ 0. 0. 0. 1. ]] SLAMing on 22.466296757000002 meters Centerline goodness : 0.813858 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.48, Z:-0.53 [[ 0.99961687 0.02695119 -0.00630387 2.77200187] [-0.02699707 0.99960879 -0.00730946 -0.48002955] [ 0.0061044 0.00747684 0.99995342 -0.52975599] [ 0. 0. 0. 1. ]] SLAMing on 22.496296757000003 meters Centerline goodness : 0.813750 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.48, Z:-0.53 [[ 0.99953509 0.02968476 -0.00695803 2.77517081] [-0.02971464 0.99954947 -0.00423134 -0.48041262] [ 0.00682929 0.00443613 0.99996684 -0.53177457] [ 0. 0. 0. 1. ]] SLAMing on 22.526296757 meters Centerline goodness : 0.811198 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.48, Z:-0.54 [[ 9.99403372e-01 3.35188201e-02 -8.33000911e-03 2.78173594e+00] [-3.35176765e-02 9.99438086e-01 2.76897249e-04 -4.81618426e-01] [ 8.33460964e-03 2.47050611e-06 9.99965267e-01 -5.36226205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.556296757000002 meters Centerline goodness : 0.811360 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.48, Z:-0.54 [[ 9.99410636e-01 3.31485194e-02 -8.91948807e-03 2.78456499e+00] [-3.31505568e-02 9.99450366e-01 -8.06354211e-05 -4.82626459e-01] [ 8.91191267e-03 3.76273893e-04 9.99960217e-01 -5.38552807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.586296757000003 meters Centerline goodness : 0.809807 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.49, Z:-0.54 [[ 9.99404779e-01 3.31568460e-02 -9.52421506e-03 2.78728050e+00] [-3.31569186e-02 9.99450147e-01 1.50319319e-04 -4.86692602e-01] [ 9.52396226e-03 1.65563778e-04 9.99954632e-01 -5.40567968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.616296757000004 meters Centerline goodness : 0.810711 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.54 [[ 0.99939116 0.03461125 -0.00440212 2.8011212 ] [-0.03464127 0.99937574 -0.00693696 -0.48583483] [ 0.00415927 0.00708523 0.99996625 -0.54430301] [ 0. 0. 0. 1. ]] SLAMing on 22.646296757 meters Centerline goodness : 0.811957 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.54 [[ 0.99937192 0.03513162 -0.00463965 2.801856 ] [-0.03516097 0.99936115 -0.00640361 -0.48717805] [ 0.00441172 0.00656273 0.99996873 -0.54462874] [ 0. 0. 0. 1. ]] SLAMing on 22.676296757000003 meters Centerline goodness : 0.810545 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.55 [[ 0.99929691 0.03712053 -0.0052673 2.80470826] [-0.037143 0.99930099 -0.00423448 -0.48898959] [ 0.00510644 0.00442715 0.99997716 -0.54647029] [ 0. 0. 0. 1. ]] SLAMing on 22.706296757000004 meters Centerline goodness : 0.810942 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.55 [[ 9.99165454e-01 4.04195237e-02 -5.88704416e-03 2.80795752e+00] [-4.04214778e-02 9.99182695e-01 -2.13291436e-04 -4.92204556e-01] [ 5.87361151e-03 4.51076460e-04 9.99982648e-01 -5.48443956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.736296757 meters Centerline goodness : 0.811320 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.50, Z:-0.55 [[ 0.99906654 0.042661 -0.00678841 2.81260845] [-0.04264055 0.99908558 0.00312934 -0.49509862] [ 0.00691571 -0.00283696 0.99997206 -0.55143139] [ 0. 0. 0. 1. ]] SLAMing on 22.766296757000003 meters Centerline goodness : 0.810243 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.49, Z:-0.56 [[ 9.99095260e-01 4.22808352e-02 4.58177921e-03 2.81927501e+00] [-4.22833786e-02 9.99105552e-01 4.59619489e-04 -4.92934068e-01] [-4.55824795e-03 -6.52936758e-04 9.99989398e-01 -5.58957101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.796296757000004 meters Centerline goodness : 0.812241 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.49, Z:-0.56 [[ 0.99898564 0.04483903 0.00414253 2.82136943] [-0.04485534 0.99898576 0.00393185 -0.49421114] [-0.00396202 -0.00411368 0.99998369 -0.5596156 ] [ 0. 0. 0. 1. ]] SLAMing on 22.826296757 meters Centerline goodness : 0.815098 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.49, Z:-0.56 [[ 9.98953786e-01 4.46628765e-02 9.82650704e-03 2.83411120e+00] [-4.46528444e-02 9.99001797e-01 -1.23807584e-03 -4.94083090e-01] [-9.87199422e-03 7.97999062e-04 9.99950952e-01 -5.57902431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.856296757000003 meters Centerline goodness : 0.815481 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.49, Z:-0.56 [[ 0.9991267 0.0407445 0.0092591 2.83499567] [-0.04069494 0.99915659 -0.00547938 -0.49367691] [-0.00947455 0.00509779 0.99994212 -0.55818553] [ 0. 0. 0. 1. ]] SLAMing on 22.886296757000004 meters Centerline goodness : 0.814261 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.49, Z:-0.56 [[ 0.99932976 0.03578366 0.00771706 2.84146404] [-0.03570789 0.99931479 -0.00974138 -0.49445966] [-0.00806036 0.0094593 0.99992277 -0.56258541] [ 0. 0. 0. 1. ]] SLAMing on 22.916296757 meters Centerline goodness : 0.813176 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.49, Z:-0.57 [[ 0.99939499 0.03408172 0.00693468 2.8453493 ] [-0.03400297 0.99935927 -0.01117397 -0.49416656] [-0.00731106 0.01093141 0.99991352 -0.56572929] [ 0. 0. 0. 1. ]] SLAMing on 22.946296757000002 meters Centerline goodness : 0.812510 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.49, Z:-0.57 [[ 0.99944174 0.03280924 0.00630564 2.84826873] [-0.03273102 0.99939058 -0.01213053 -0.49378646] [-0.00669979 0.01191737 0.99990654 -0.56788444] [ 0. 0. 0. 1. ]] SLAMing on 22.976296757000004 meters Centerline goodness : 0.811266 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.49, Z:-0.57 [[ 0.99952918 0.03021674 0.00532557 2.85245001] [-0.030141 0.99945081 -0.01376977 -0.49294844] [-0.00573872 0.01360277 0.99989101 -0.57020319] [ 0. 0. 0. 1. ]] SLAMing on 23.006296757 meters Centerline goodness : 0.810740 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.49, Z:-0.57 [[ 0.99956822 0.02901697 0.0046258 2.85487495] [-0.02894674 0.99947451 -0.01458762 -0.49290617] [-0.00504666 0.01444742 0.99988289 -0.57138997] [ 0. 0. 0. 1. ]] SLAMing on 23.036296757000002 meters Centerline goodness : 0.812383 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.49, Z:-0.57 [[ 0.99969258 0.02447943 0.00393696 2.8565458 ] [-0.02440098 0.99952409 -0.0188727 -0.49286781] [-0.00439708 0.01877083 0.99981414 -0.57175654] [ 0. 0. 0. 1. ]] SLAMing on 23.066296757000003 meters Centerline goodness : 0.809785 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.49, Z:-0.57 [[ 0.99972042 0.02341679 0.003277 2.85884111] [-0.02334844 0.99953644 -0.01953873 -0.49322791] [-0.00373301 0.01945675 0.99980373 -0.57293572] [ 0. 0. 0. 1. ]] SLAMing on 23.096296757 meters Centerline goodness : 0.813817 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.49, Z:-0.57 [[ 9.99735619e-01 2.28261858e-02 2.76702201e-03 2.86056992e+00] [-2.27666911e-02 9.99542653e-01 -1.99038227e-02 -4.93287131e-01] [-3.22008487e-03 1.98355645e-02 9.99798070e-01 -5.73809856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.126296757000002 meters Centerline goodness : 0.814082 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.49, Z:-0.58 [[ 9.99754917e-01 2.20522970e-02 1.95007811e-03 2.86356029e+00] [-2.20074365e-02 9.99545030e-01 -2.06253716e-02 -4.92617916e-01] [-2.40402770e-03 2.05774004e-02 9.99785373e-01 -5.75549570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.156296757000003 meters Centerline goodness : 0.814731 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.58 [[ 9.99695262e-01 2.46564050e-02 1.20209191e-03 2.86647574e+00] [-2.46316226e-02 9.99543475e-01 -1.74964136e-02 -4.93745243e-01] [-1.63294178e-03 1.74614723e-02 9.99846203e-01 -5.77044292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.186296757 meters Centerline goodness : 0.815880 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.58 [[ 9.99600189e-01 2.82701057e-02 5.13003251e-04 2.86911834e+00] [-2.82601801e-02 9.99502873e-01 -1.39774770e-02 -4.93185153e-01] [-9.07892976e-04 1.39573911e-02 9.99902179e-01 -5.78346521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.216296757000002 meters Centerline goodness : 0.815799 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.58 [[ 9.99511769e-01 3.12444913e-02 -7.16903822e-05 2.87162428e+00] [-3.12434474e-02 9.99453632e-01 -1.07834818e-02 -4.93360758e-01] [-2.65273190e-04 1.07804568e-02 9.99941854e-01 -5.79692106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.246296757000003 meters Centerline goodness : 0.818328 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.58 [[ 9.99381293e-01 3.51704648e-02 -2.63049863e-04 2.87232299e+00] [-3.51714397e-02 9.99358390e-01 -6.76596683e-03 -4.93919909e-01] [ 2.49188890e-05 6.77103252e-03 9.99977076e-01 -5.79255236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.276296757000004 meters Centerline goodness : 0.817425 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.58 [[ 9.99375268e-01 3.53376934e-02 -5.67013856e-04 2.87293897e+00] [-3.53408103e-02 9.99350575e-01 -7.03252146e-03 -4.92848241e-01] [ 3.18132536e-04 7.04816675e-03 9.99975111e-01 -5.79343677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.306296757000002 meters Centerline goodness : 0.820101 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.58 [[ 9.99372753e-01 3.54026037e-02 -8.69903084e-04 2.87360466e+00] [-3.54080695e-02 9.99345681e-01 -7.38096424e-03 -4.91399715e-01] [ 6.08028537e-04 7.40713614e-03 9.99972382e-01 -5.79431871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.336296757000003 meters Centerline goodness : 0.822442 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.49, Z:-0.58 [[ 9.99256232e-01 3.85324622e-02 -1.49411353e-03 2.87620053e+00] [-3.85386916e-02 9.99247454e-01 -4.39257671e-03 -4.90382812e-01] [ 1.32373235e-03 4.44689083e-03 9.99989236e-01 -5.80716863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.366296757000004 meters Centerline goodness : 0.821420 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.49, Z:-0.58 [[ 9.99276314e-01 3.79824044e-02 -2.04589118e-03 2.87839974e+00] [-3.79928530e-02 9.99263762e-01 -5.33645870e-03 -4.88790320e-01] [ 1.84169338e-03 5.41032602e-03 9.99983668e-01 -5.82379560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.396296757 meters Centerline goodness : 0.821251 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.49, Z:-0.59 [[ 9.99241868e-01 3.88149049e-02 -3.01540855e-03 2.88308681e+00] [-3.88290459e-02 9.99234427e-01 -4.78180434e-03 -4.88140535e-01] [ 2.82749475e-03 4.89526454e-03 9.99984021e-01 -5.85942846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.426296757000003 meters Centerline goodness : 0.820524 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.49, Z:-0.59 [[ 0.99926098 0.03827727 -0.00351435 2.88489663] [-0.03829615 0.99925144 -0.00547375 -0.48783568] [ 0.0033022 0.00560429 0.99997884 -0.58715231] [ 0. 0. 0. 1. ]] SLAMing on 23.456296757000004 meters Centerline goodness : 0.823864 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.49, Z:-0.59 [[ 0.99929035 0.03742812 -0.00423423 2.8874538 ] [-0.03745394 0.99927917 -0.00619156 -0.48861858] [ 0.00399944 0.00634575 0.99997187 -0.58848289] [ 0. 0. 0. 1. ]] SLAMing on 23.486296757 meters Centerline goodness : 0.824504 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.49, Z:-0.59 [[ 0.99930665 0.03694462 -0.00461622 2.88893309] [-0.03697537 0.99929329 -0.00676389 -0.48794749] [ 0.00436307 0.00692988 0.99996647 -0.58946708] [ 0. 0. 0. 1. ]] SLAMing on 23.516296757000003 meters Centerline goodness : 0.826450 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.49, Z:-0.59 [[ 0.99924558 0.0384962 -0.00513025 2.89211366] [-0.03852145 0.99924568 -0.00491555 -0.48737365] [ 0.00493715 0.00510947 0.99997476 -0.59166719] [ 0. 0. 0. 1. ]] SLAMing on 23.546296757000004 meters Centerline goodness : 0.829942 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.59 [[ 9.99154323e-01 4.07127033e-02 -5.75454347e-03 2.89507734e+00] [-4.07290700e-02 9.99166426e-01 -2.75610935e-03 -4.83977418e-01] [ 5.63753797e-03 2.98815577e-03 9.99979644e-01 -5.93225672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.576296757 meters Centerline goodness : 0.832092 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.59 [[ 0.9991819 0.03991922 -0.00648019 2.8974147 ] [-0.03994446 0.99919463 -0.00381223 -0.48279868] [ 0.00632279 0.00406796 0.99997174 -0.59450079] [ 0. 0. 0. 1. ]] SLAMing on 23.606296757000003 meters Centerline goodness : 0.830460 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.60 [[ 0.99921691 0.03889692 -0.00725166 2.90012643] [-0.03893221 0.99923038 -0.00478923 -0.48320437] [ 0.0070598 0.0050678 0.99996224 -0.59614164] [ 0. 0. 0. 1. ]] SLAMing on 23.636296757000004 meters Centerline goodness : 0.830460 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.60 [[ 0.99921691 0.03889692 -0.00725166 2.90012643] [-0.03893221 0.99923038 -0.00478923 -0.48320437] [ 0.0070598 0.0050678 0.99996224 -0.59614164] [ 0. 0. 0. 1. ]] SLAMing on 23.666296757 meters Centerline goodness : 0.829845 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.60 [[ 0.99934124 0.03526399 -0.0085756 2.90476499] [-0.0353362 0.99934002 -0.00841917 -0.48474669] [ 0.00827305 0.00871665 0.99992779 -0.5991619 ] [ 0. 0. 0. 1. ]] SLAMing on 23.696296757000002 meters Centerline goodness : 0.830371 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.48, Z:-0.60 [[ 0.99937427 0.03408911 -0.00943442 2.90776316] [-0.03417847 0.9993708 -0.00947799 -0.48438724] [ 0.00910539 0.00979451 0.99991058 -0.60096185] [ 0. 0. 0. 1. ]] SLAMing on 23.726296757000004 meters Centerline goodness : 0.832458 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.60 [[ 0.99938824 0.03271609 -0.01236132 2.9170552 ] [-0.03280084 0.99943934 -0.00671678 -0.4826922 ] [ 0.01213465 0.00711813 0.99990104 -0.60133835] [ 0. 0. 0. 1. ]] SLAMing on 23.756296757 meters Centerline goodness : 0.834409 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.60 [[ 0.99940914 0.03180368 -0.01303441 2.91927145] [-0.03190376 0.99946248 -0.00754331 -0.48132288] [ 0.0127875 0.0079547 0.99988659 -0.60245664] [ 0. 0. 0. 1. ]] SLAMing on 23.786296757000002 meters Centerline goodness : 0.834379 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.60 [[ 0.99942717 0.03091578 -0.0137676 2.92156956] [-0.03103201 0.99948384 -0.00831043 -0.48056979] [ 0.01350357 0.00873291 0.99987069 -0.60355879] [ 0. 0. 0. 1. ]] SLAMing on 23.816296757000003 meters Centerline goodness : 0.834662 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.61 [[ 0.99947412 0.0288999 -0.01470668 2.92484268] [-0.02904383 0.99953137 -0.00966935 -0.48325134] [ 0.01442035 0.0100914 0.9998451 -0.60505233] [ 0. 0. 0. 1. ]] SLAMing on 23.846296757 meters Centerline goodness : 0.834231 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.49, Z:-0.61 [[ 0.99949213 0.02782817 -0.0155265 2.92761572] [-0.02798865 0.99955603 -0.01021613 -0.48562363] [ 0.01523531 0.01064551 0.99982726 -0.60647262] [ 0. 0. 0. 1. ]] SLAMing on 23.876296757000002 meters Centerline goodness : 0.837071 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.49, Z:-0.61 [[ 0.99957801 0.02419086 -0.0160814 2.9289405 ] [-0.02440901 0.99961075 -0.0135107 -0.48830566] [ 0.01574831 0.01389753 0.9997794 -0.60707447] [ 0. 0. 0. 1. ]] SLAMing on 23.906296757000003 meters Centerline goodness : 0.836587 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.49, Z:-0.61 [[ 0.99957742 0.02383657 -0.01663705 2.93094976] [-0.02406556 0.99961648 -0.01370215 -0.4887346 ] [ 0.01630406 0.01409673 0.9997677 -0.60832362] [ 0. 0. 0. 1. ]] SLAMing on 23.936296757 meters Centerline goodness : 0.835229 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.49, Z:-0.61 [[ 0.9995059 0.02626994 -0.01725794 2.93428107] [-0.02645425 0.99959446 -0.01053967 -0.49009705] [ 0.01697407 0.01099101 0.99979552 -0.61050829] [ 0. 0. 0. 1. ]] SLAMing on 23.966296757000002 meters Centerline goodness : 0.836521 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.49, Z:-0.61 [[ 0.99941311 0.0290722 -0.01811751 2.93809204] [-0.02920719 0.99954722 -0.00723111 -0.49027041] [ 0.01789908 0.00775603 0.99980972 -0.61280502] [ 0. 0. 0. 1. ]] SLAMing on 23.996296757000003 meters Centerline goodness : 0.835058 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.49, Z:-0.61 [[ 0.99939678 0.02926963 -0.01869137 2.93941155] [-0.02940318 0.99954375 -0.00691038 -0.49108322] [ 0.01848058 0.00745579 0.99980142 -0.61309487] [ 0. 0. 0. 1. ]] SLAMing on 24.026296757000004 meters Centerline goodness : 0.836893 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.50, Z:-0.61 [[ 0.99937126 0.02966403 -0.01941961 2.94130169] [-0.02978634 0.99953804 -0.00603927 -0.49633506] [ 0.01923149 0.00661392 0.99979318 -0.61359307] [ 0. 0. 0. 1. ]] SLAMing on 24.056296757000002 meters Centerline goodness : 0.838166 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.50, Z:-0.61 [[ 0.99935683 0.02995034 -0.01972047 2.94211596] [-0.03006424 0.99953281 -0.00550461 -0.49869399] [ 0.0195464 0.00609395 0.99979038 -0.61386716] [ 0. 0. 0. 1. ]] SLAMing on 24.086296757000003 meters Centerline goodness : 0.839181 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.50, Z:-0.61 [[ 0.99934315 0.03013908 -0.02012232 2.94344655] [-0.03025023 0.99952861 -0.00524263 -0.50005847] [ 0.01995483 0.00584789 0.99978378 -0.61465192] [ 0. 0. 0. 1. ]] SLAMing on 24.116296757000004 meters Centerline goodness : 0.839708 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.50, Z:-0.62 [[ 9.99220950e-01 3.37102696e-02 -2.05209987e-02 2.94568713e+00] [-3.37440247e-02 9.99429662e-01 -1.30076814e-03 -5.01707698e-01] [ 2.04654456e-02 1.99221586e-03 9.99788576e-01 -6.15893414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.146296757 meters Centerline goodness : 0.841193 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.50, Z:-0.62 [[ 9.99206871e-01 3.38459599e-02 -2.09780946e-02 2.94705492e+00] [-3.38833266e-02 9.99424775e-01 -1.42824384e-03 -5.01094531e-01] [ 2.09176872e-02 2.13791869e-03 9.99778915e-01 -6.16663384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.176296757000003 meters Centerline goodness : 0.838293 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.50, Z:-0.62 [[ 9.99181508e-01 3.40605880e-02 -2.18217812e-02 2.94992320e+00] [-3.40906372e-02 9.99418239e-01 -1.00639632e-03 -5.03593255e-01] [ 2.17748077e-02 1.74949102e-03 9.99761370e-01 -6.18319826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.206296757000004 meters Centerline goodness : 0.838477 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.51, Z:-0.62 [[ 9.99180840e-01 3.36629754e-02 -2.24600321e-02 2.95225820e+00] [-3.36958144e-02 9.99431546e-01 -1.08515505e-03 -5.05797442e-01] [ 2.24107350e-02 1.84107521e-03 9.99747153e-01 -6.19708834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.236296757 meters Centerline goodness : 0.837248 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.51, Z:-0.62 [[ 9.99183530e-01 3.30848849e-02 -2.31875915e-02 2.95472130e+00] [-3.31230459e-02 9.99450483e-01 -1.26350899e-03 -5.09025304e-01] [ 2.31330465e-02 2.03052103e-03 9.99730333e-01 -6.21005044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.266296757000003 meters Centerline goodness : 0.837017 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.52, Z:-0.63 [[ 9.99459388e-01 2.98299038e-02 -1.38242237e-02 2.96150860e+00] [-2.98288965e-02 9.99554980e-01 2.79096966e-04 -5.16373747e-01] [ 1.38263970e-02 1.33415253e-04 9.99904402e-01 -6.25073824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.296296757000004 meters Centerline goodness : 0.837337 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.52, Z:-0.63 [[ 0.9995481 0.02655902 -0.01407884 2.96218279] [-0.02660742 0.99964064 -0.00326159 -0.51623949] [ 0.01398715 0.00363472 0.99989557 -0.625769 ] [ 0. 0. 0. 1. ]] SLAMing on 24.326296757 meters Centerline goodness : 0.839364 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.52, Z:-0.63 [[ 9.99507422e-01 2.77442928e-02 -1.46685981e-02 2.96559774e+00] [-2.77698154e-02 9.99613159e-01 -1.53909670e-03 -5.17969978e-01] [ 1.46202226e-02 1.94568284e-03 9.99891226e-01 -6.28154407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.356296757000003 meters Centerline goodness : 0.837926 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.52, Z:-0.63 [[ 9.99498279e-01 2.79020580e-02 -1.49888349e-02 2.96676933e+00] [-2.79273939e-02 9.99608853e-01 -1.48363477e-03 -5.17838309e-01] [ 1.49415756e-02 1.90148950e-03 9.99886560e-01 -6.28904884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.386296757000004 meters Centerline goodness : 0.838408 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.52, Z:-0.63 [[ 9.99481712e-01 2.82376895e-02 -1.54576833e-02 2.96786158e+00] [-2.82638457e-02 9.99599408e-01 -1.47623569e-03 -5.17550380e-01] [ 1.54098055e-02 1.91236414e-03 9.99879433e-01 -6.29277850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.416296757 meters Centerline goodness : 0.833337 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.52, Z:-0.63 [[ 9.99437672e-01 2.94392396e-02 -1.60521114e-02 2.96920683e+00] [-2.94591978e-02 9.99565475e-01 -1.00825225e-03 -5.18567794e-01] [ 1.60154541e-02 1.48056760e-03 9.99870648e-01 -6.29936972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.446296757000002 meters Centerline goodness : 0.833420 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.52, Z:-0.63 [[ 9.99428838e-01 2.94117812e-02 -1.66416749e-02 2.97130889e+00] [-2.94368592e-02 9.99565843e-01 -1.26394016e-03 -5.19391189e-01] [ 1.65972751e-02 1.75309689e-03 9.99860719e-01 -6.31268345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.476296757000004 meters Centerline goodness : 0.832519 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.64 [[ 0.99936898 0.03356547 -0.01161911 2.98445699] [-0.03365709 0.99940315 -0.00778139 -0.51969374] [ 0.01135099 0.00816755 0.99990222 -0.63671849] [ 0. 0. 0. 1. ]] SLAMing on 24.506296757 meters Centerline goodness : 0.833361 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.52, Z:-0.64 [[ 0.99925704 0.03655186 -0.01222015 2.98686464] [-0.03660651 0.9993206 -0.00427898 -0.52076738] [ 0.01205545 0.00472314 0.99991618 -0.63772225] [ 0. 0. 0. 1. ]] SLAMing on 24.536296757000002 meters Centerline goodness : 0.835424 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.52, Z:-0.64 [[ 9.99285775e-01 3.77607041e-02 -1.43876238e-03 2.99480330e+00] [-3.77616910e-02 9.99286552e-01 -6.65028980e-04 -5.18221123e-01] [ 1.41262393e-03 7.18884099e-04 9.99998744e-01 -6.42682247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.566296757000003 meters Centerline goodness : 0.834372 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.52, Z:-0.64 [[ 9.99290357e-01 3.76151221e-02 -1.97129061e-03 2.99617935e+00] [-3.76168396e-02 9.99291882e-01 -8.41573430e-04 -5.18356496e-01] [ 1.93823882e-03 9.15129936e-04 9.99997703e-01 -6.43193198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.596296757 meters Centerline goodness : 0.832928 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.52, Z:-0.64 [[ 9.99303454e-01 3.72240539e-02 -2.64122016e-03 2.99824073e+00] [-3.72270429e-02 9.99306237e-01 -1.09166531e-03 -5.20156551e-01] [ 2.59875157e-03 1.18922973e-03 9.99995916e-01 -6.44246261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.626296757000002 meters Centerline goodness : 0.832463 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.52, Z:-0.65 [[ 9.99317470e-01 3.67808718e-02 -3.42964068e-03 3.00119556e+00] [-3.67854242e-02 9.99322375e-01 -1.27384143e-03 -5.24021926e-01] [ 3.38046367e-03 1.39913278e-03 9.99993307e-01 -6.46238230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.656296757000003 meters Centerline goodness : 0.832268 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.52, Z:-0.65 [[ 9.99330452e-01 3.63601285e-02 -4.07284673e-03 3.00357265e+00] [-3.63678039e-02 9.99336803e-01 -1.82657893e-03 -5.23612733e-01] [ 4.00373099e-03 1.97347644e-03 9.99990038e-01 -6.47886886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.686296757000004 meters Centerline goodness : 0.830326 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.52, Z:-0.65 [[ 9.99215680e-01 3.93204381e-02 -4.68269221e-03 3.00697795e+00] [-3.93131247e-02 9.99225588e-01 1.64376008e-03 -5.24709907e-01] [ 4.74369925e-03 -1.45837959e-03 9.99987685e-01 -6.50329742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.716296757000002 meters Centerline goodness : 0.831656 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.52, Z:-0.66 [[ 0.99927994 0.0376923 0.00434734 3.01509753] [-0.03770816 0.99928222 0.0036256 -0.52476122] [-0.00420756 -0.00378692 0.99998398 -0.65702756] [ 0. 0. 0. 1. ]] SLAMing on 24.746296757000003 meters Centerline goodness : 0.832123 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.53, Z:-0.66 [[ 0.99928382 0.03764759 0.00380908 3.01615641] [-0.03766241 0.99928292 0.00389669 -0.52584216] [-0.00365965 -0.00403736 0.99998515 -0.65697282] [ 0. 0. 0. 1. ]] SLAMing on 24.776296757000004 meters Centerline goodness : 0.832017 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.53, Z:-0.66 [[ 9.99272955e-01 3.75023049e-02 6.86572864e-03 3.03378284e+00] [-3.74818747e-02 9.99292559e-01 -3.08059311e-03 -5.25857290e-01] [-6.97640089e-03 2.82101300e-03 9.99971685e-01 -6.59336575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.806296757000002 meters Centerline goodness : 0.832321 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.53, Z:-0.66 [[ 0.99929533 0.03703337 0.00611293 3.03594444] [-0.03701296 0.99930893 -0.00342026 -0.52653966] [-0.00623537 0.00319159 0.99997547 -0.66048575] [ 0. 0. 0. 1. ]] SLAMing on 24.836296757000003 meters Centerline goodness : 0.830792 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.53, Z:-0.66 [[ 0.99931228 0.03667127 0.00549479 3.03777981] [-0.03665025 0.99932063 -0.00387799 -0.52664518] [-0.00563327 0.00367394 0.99997738 -0.66143104] [ 0. 0. 0. 1. ]] SLAMing on 24.866296757000004 meters Centerline goodness : 0.829212 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.53, Z:-0.66 [[ 0.99933856 0.03606743 0.00464563 3.04007092] [-0.03604842 0.99934158 -0.00411286 -0.52826479] [-0.00479091 0.00394267 0.99998075 -0.66222172] [ 0. 0. 0. 1. ]] SLAMing on 24.896296757 meters Centerline goodness : 0.829178 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.53, Z:-0.66 [[ 0.99935962 0.03554832 0.00408366 3.04196358] [-0.03552945 0.99935803 -0.00460387 -0.52861644] [-0.0042447 0.00445583 0.99998106 -0.66336322] [ 0. 0. 0. 1. ]] SLAMing on 24.926296757000003 meters Centerline goodness : 0.829977 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.53, Z:-0.66 [[ 0.99936883 0.0353375 0.00363494 3.04324029] [-0.03531992 0.99936457 -0.00479078 -0.52833691] [-0.00380193 0.00465937 0.99998192 -0.66389198] [ 0. 0. 0. 1. ]] SLAMing on 24.956296757000004 meters Centerline goodness : 0.831639 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.53, Z:-0.66 [[ 9.99428703e-01 3.37828609e-02 9.92762100e-04 3.05509153e+00] [-3.37853740e-02 9.99425640e-01 2.63429124e-03 -5.29078719e-01] [-9.03198002e-04 -2.66632712e-03 9.99996037e-01 -6.60466126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.986296757 meters Centerline goodness : 0.829605 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.53, Z:-0.67 [[ 9.99492989e-01 3.02185301e-02 1.00302277e-02 3.06592646e+00] [-3.02461343e-02 9.99539068e-01 2.61188633e-03 -5.28671093e-01] [-9.94667706e-03 -2.91393769e-03 9.99946285e-01 -6.67103440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.016296757000003 meters Centerline goodness : 0.831429 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.53, Z:-0.67 [[ 9.99525696e-01 2.93309805e-02 9.38495024e-03 3.06807303e+00] [-2.93502600e-02 9.99567338e-01 1.92317711e-03 -5.29226213e-01] [-9.32448106e-03 -2.19771566e-03 9.99954111e-01 -6.68211808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.046296757000004 meters Centerline goodness : 0.829838 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.53, Z:-0.67 [[ 9.99558964e-01 2.84058402e-02 8.65937816e-03 3.07050786e+00] [-2.84176643e-02 9.99595361e-01 1.24546528e-03 -5.30144228e-01] [-8.62049574e-03 -1.49099529e-03 9.99961731e-01 -6.69496690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.076296757 meters Centerline goodness : 0.831064 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.53, Z:-0.67 [[ 9.99585221e-01 2.76433515e-02 8.07661561e-03 3.07264679e+00] [-2.76488049e-02 9.99617539e-01 5.64309113e-04 -5.30228981e-01] [-8.05792723e-03 -7.87383819e-04 9.99967224e-01 -6.70759259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.106296757000003 meters Centerline goodness : 0.830993 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.53, Z:-0.67 [[ 9.99627667e-01 2.63232094e-02 7.18439478e-03 3.07572811e+00] [-2.63173730e-02 9.99653228e-01 -9.05712025e-04 -5.27109226e-01] [-7.20574468e-03 7.16300401e-04 9.99973782e-01 -6.72398510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.136296757000004 meters Centerline goodness : 0.830065 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-0.67 [[ 9.99645214e-01 2.57436118e-02 6.83469285e-03 3.07725624e+00] [-2.57306926e-02 9.99666967e-01 -1.97150607e-03 -5.24403719e-01] [-6.88317036e-03 1.79494522e-03 9.99974700e-01 -6.73584539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.166296757 meters Centerline goodness : 0.826443 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-0.67 [[ 0.99967104 0.02493789 0.00599279 3.07979347] [-0.02491752 0.99968355 -0.00345092 -0.52082567] [-0.00607696 0.00330046 0.99997609 -0.67478317] [ 0. 0. 0. 1. ]] SLAMing on 25.196296757000002 meters Centerline goodness : 0.825714 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-0.68 [[ 0.99969253 0.024208 0.00536853 3.08190706] [-0.02418393 0.99969738 -0.00450402 -0.51954343] [-0.00547594 0.00437281 0.99997545 -0.67602842] [ 0. 0. 0. 1. ]] SLAMing on 25.226296757000004 meters Centerline goodness : 0.824695 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-0.68 [[ 0.99970813 0.02366691 0.00485061 3.08365259] [-0.02364108 0.99970638 -0.00531446 -0.5186011 ] [-0.00497496 0.00519823 0.99997411 -0.67704544] [ 0. 0. 0. 1. ]] SLAMing on 25.256296757 meters Centerline goodness : 0.823132 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-0.68 [[ 0.99972122 0.02321786 0.00429132 3.08532664] [-0.02319051 0.99971111 -0.0063166 -0.51638616] [-0.00443673 0.00621532 0.99997084 -0.67779905] [ 0. 0. 0. 1. ]] SLAMing on 25.286296757000002 meters Centerline goodness : 0.823074 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.51, Z:-0.68 [[ 0.99967065 0.0254132 0.00357241 3.08882487] [-0.02539811 0.99966856 -0.00420801 -0.51201641] [-0.00367816 0.00411589 0.99998477 -0.67995538] [ 0. 0. 0. 1. ]] SLAMing on 25.316296757000003 meters Centerline goodness : 0.823136 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.51, Z:-0.68 [[ 9.99608483e-01 2.78340347e-02 2.85431459e-03 3.09207365e+00] [-2.78294100e-02 9.99611330e-01 -1.64737638e-03 -5.10602850e-01] [-2.89905833e-03 1.56729751e-03 9.99994570e-01 -6.81952930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.346296757 meters Centerline goodness : 0.823344 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.51, Z:-0.68 [[ 9.99626727e-01 2.72194383e-02 2.34718661e-03 3.09414937e+00] [-2.72131201e-02 9.99626054e-01 -2.68302771e-03 -5.08521844e-01] [-2.41933940e-03 2.61815194e-03 9.99993646e-01 -6.83573899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.376296757000002 meters Centerline goodness : 0.821205 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.51, Z:-0.68 [[ 9.99647722e-01 2.64917402e-02 1.61848580e-03 3.09657011e+00] [-2.64858234e-02 9.99642800e-01 -3.57389036e-03 -5.07939818e-01] [-1.71258625e-03 3.52976443e-03 9.99992304e-01 -6.84988025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.406296757000003 meters Centerline goodness : 0.819122 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.51, Z:-0.69 [[ 9.99735262e-01 2.29869855e-02 1.00206323e-03 3.09777407e+00] [-2.29790963e-02 9.99709448e-01 -7.27875690e-03 -5.09342124e-01] [-1.16908876e-03 7.25380343e-03 9.99973007e-01 -6.85420796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.436296757000004 meters Centerline goodness : 0.820876 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.51, Z:-0.69 [[ 9.99765771e-01 2.16416556e-02 2.02690210e-04 3.10039035e+00] [-2.16393688e-02 9.99734394e-01 -7.92968307e-03 -5.10958957e-01] [-3.74247844e-04 7.92343962e-03 9.99968539e-01 -6.86213575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.466296757000002 meters Centerline goodness : 0.824808 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.51, Z:-0.69 [[ 9.99780695e-01 2.09400054e-02 -2.80466310e-04 3.10217901e+00] [-2.09416691e-02 9.99741402e-01 -8.86424087e-03 -5.08801694e-01] [ 9.47765301e-05 8.86817033e-03 9.99960673e-01 -6.87360283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.496296757000003 meters Centerline goodness : 0.823795 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.51, Z:-0.69 [[ 9.99727831e-01 2.33058861e-02 -1.04908803e-03 3.10531503e+00] [-2.33119274e-02 9.99709194e-01 -6.17108877e-03 -5.07222553e-01] [ 9.04960256e-04 6.19386546e-03 9.99980408e-01 -6.88995087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.526296757000004 meters Centerline goodness : 0.823920 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.50, Z:-0.69 [[ 9.99670389e-01 2.56064765e-02 -1.84984053e-03 3.10805347e+00] [-2.56129207e-02 9.99665638e-01 -3.54824857e-03 -5.04043967e-01] [ 1.75836387e-03 3.59445885e-03 9.99991994e-01 -6.89446757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.556296757000002 meters Centerline goodness : 0.823920 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.50, Z:-0.69 [[ 9.99670389e-01 2.56064765e-02 -1.84984053e-03 3.10805347e+00] [-2.56129207e-02 9.99665638e-01 -3.54824857e-03 -5.04043967e-01] [ 1.75836387e-03 3.59445885e-03 9.99991994e-01 -6.89446757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.586296757000003 meters Centerline goodness : 0.822909 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.50, Z:-0.69 [[ 9.99679887e-01 2.51882549e-02 -2.38233730e-03 3.10907506e+00] [-2.51974950e-02 9.99674762e-01 -3.93151170e-03 -5.04099297e-01] [ 2.28253456e-03 3.99028210e-03 9.99989434e-01 -6.89286296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.616296757000004 meters Centerline goodness : 0.821613 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.51, Z:-0.69 [[ 9.99701856e-01 2.42288677e-02 -3.02662952e-03 3.11125364e+00] [-2.42432177e-02 9.99694576e-01 -4.79813495e-03 -5.05188194e-01] [ 2.90945174e-03 4.87007966e-03 9.99983909e-01 -6.90368034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.646296757 meters Centerline goodness : 0.820213 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-0.69 [[ 0.99976139 0.02145668 -0.0040965 3.11599673] [-0.02148776 0.99973946 -0.00769944 -0.505227 ] [ 0.00393023 0.00778563 0.99996197 -0.69384507] [ 0. 0. 0. 1. ]] SLAMing on 25.676296757000003 meters Centerline goodness : 0.819490 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.50, Z:-0.70 [[ 0.99978091 0.02039352 -0.0047159 3.11877869] [-0.02043537 0.99975064 -0.00900324 -0.50320555] [ 0.00453111 0.00909764 0.99994835 -0.69594956] [ 0. 0. 0. 1. ]] SLAMing on 25.706296757000004 meters Centerline goodness : 0.817691 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-0.70 [[ 0.99978286 0.01958152 -0.00712742 3.12770184] [-0.01963611 0.99977776 -0.00767137 -0.49851875] [ 0.00697562 0.00780966 0.99994517 -0.69873298] [ 0. 0. 0. 1. ]] SLAMing on 25.736296757 meters Centerline goodness : 0.817013 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-0.70 [[ 0.99979181 0.01897446 -0.00750424 3.12901215] [-0.01903881 0.99978178 -0.00859794 -0.4956447 ] [ 0.00733946 0.00873902 0.99993488 -0.69935532] [ 0. 0. 0. 1. ]] SLAMing on 25.766296757000003 meters Centerline goodness : 0.818074 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-0.70 [[ 0.99977101 0.01908724 -0.00967484 3.13430389] [-0.01912961 0.99980774 -0.00430504 -0.49481497] [ 0.00959081 0.00448913 0.99994393 -0.69551402] [ 0. 0. 0. 1. ]] SLAMing on 25.796296757000004 meters Centerline goodness : 0.818144 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-0.70 [[ 0.99978502 0.01801276 -0.01026866 3.13622131] [-0.01806766 0.99982283 -0.00527882 -0.49455015] [ 0.01017175 0.00546322 0.99993334 -0.69627521] [ 0. 0. 0. 1. ]] SLAMing on 25.826296757 meters Centerline goodness : 0.815874 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-0.70 [[ 0.99980092 0.01665101 -0.01099347 3.13891056] [-0.0167229 0.99983917 -0.00647985 -0.4942321 ] [ 0.01088381 0.0066624 0.99991857 -0.69770428] [ 0. 0. 0. 1. ]] SLAMing on 25.856296757000003 meters Centerline goodness : 0.814852 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-0.70 [[ 0.99982937 0.01370689 -0.01238324 3.14467756] [-0.013819 0.99986388 -0.00901382 -0.49197526] [ 0.012258 0.00918341 0.9998827 -0.70113601] [ 0. 0. 0. 1. ]] SLAMing on 25.886296757000004 meters Centerline goodness : 0.815151 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.49, Z:-0.70 [[ 0.99981313 0.01408089 -0.01324549 3.1494389 ] [-0.01419396 0.99986328 -0.0084821 -0.49090493] [ 0.01312425 0.00866852 0.9998763 -0.70465943] [ 0. 0. 0. 1. ]] SLAMing on 25.916296757 meters Centerline goodness : 0.814113 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.49, Z:-0.71 [[ 0.99978732 0.01500064 -0.01415266 3.15381366] [-0.01510456 0.99985953 -0.00726488 -0.48983543] [ 0.01404169 0.0074771 0.99987345 -0.7074551 ] [ 0. 0. 0. 1. ]] SLAMing on 25.946296757000002 meters Centerline goodness : 0.814603 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.49, Z:-0.71 [[ 0.99976884 0.01490385 -0.01549679 3.15992062] [-0.01500648 0.99986609 -0.00652757 -0.48734788] [ 0.01539743 0.00675862 0.99985861 -0.71071557] [ 0. 0. 0. 1. ]] SLAMing on 25.976296757000004 meters Centerline goodness : 0.815171 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.49, Z:-0.71 [[ 0.99977265 0.01390944 -0.01616119 3.16224254] [-0.01402997 0.99987442 -0.00736888 -0.48596879] [ 0.01605667 0.00759394 0.99984225 -0.71165497] [ 0. 0. 0. 1. ]] SLAMing on 26.006296757 meters Centerline goodness : 0.813993 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.49, Z:-0.71 [[ 0.99977122 0.01344367 -0.01663633 3.16352789] [-0.01357377 0.99987798 -0.00773194 -0.48582984] [ 0.01653036 0.00795599 0.99983171 -0.71200642] [ 0. 0. 0. 1. ]] SLAMing on 26.036296757000002 meters Centerline goodness : 0.813428 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.49, Z:-0.71 [[ 0.99976664 0.01321819 -0.01708656 3.1648592 ] [-0.01335428 0.99987982 -0.0078749 -0.4861441 ] [ 0.01698042 0.00810124 0.999823 -0.71251943] [ 0. 0. 0. 1. ]] SLAMing on 26.066296757000003 meters Centerline goodness : 0.815408 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.49, Z:-0.71 [[ 0.99972819 0.01496403 -0.01787802 3.1683403 ] [-0.01507277 0.99986862 -0.00596321 -0.48571204] [ 0.01778644 0.00623106 0.99982239 -0.71429518] [ 0. 0. 0. 1. ]] SLAMing on 26.096296757 meters Centerline goodness : 0.818017 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.48, Z:-0.72 [[ 0.99967312 0.01768296 -0.01846508 3.17098897] [-0.01774539 0.99983734 -0.00322289 -0.48437793] [ 0.01840508 0.0035495 0.99982431 -0.71584593] [ 0. 0. 0. 1. ]] SLAMing on 26.126296757000002 meters Centerline goodness : 0.818894 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.48, Z:-0.72 [[ 0.99966747 0.02233067 -0.01289521 3.18539879] [-0.02242184 0.99972431 -0.00696926 -0.47858934] [ 0.01273602 0.00725607 0.99989257 -0.71966139] [ 0. 0. 0. 1. ]] SLAMing on 26.156296757000003 meters Centerline goodness : 0.817599 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.48, Z:-0.72 [[ 0.99966512 0.02231382 -0.01310494 3.18601223] [-0.02240927 0.99972308 -0.00718269 -0.47814992] [ 0.01294104 0.00747396 0.99988833 -0.71995388] [ 0. 0. 0. 1. ]] SLAMing on 26.186296757000004 meters Centerline goodness : 0.818493 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.48, Z:-0.72 [[ 0.99966328 0.02223178 -0.0133822 3.18674211] [-0.02232858 0.99972528 -0.00712792 -0.4793821 ] [ 0.01322006 0.00742433 0.99988505 -0.72009767] [ 0. 0. 0. 1. ]] SLAMing on 26.216296757000002 meters Centerline goodness : 0.818725 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.48, Z:-0.72 [[ 0.99967238 0.02144889 -0.01396722 3.18898415] [-0.02155391 0.99974021 -0.00741289 -0.48132866] [ 0.0138046 0.0077115 0.99987498 -0.72118249] [ 0. 0. 0. 1. ]] SLAMing on 26.246296757000003 meters Centerline goodness : 0.819066 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.48, Z:-0.72 [[ 0.99967564 0.02112197 -0.01422976 3.18995695] [-0.02123226 0.99974534 -0.00764481 -0.48099975] [ 0.01406466 0.00794446 0.99986953 -0.72168997] [ 0. 0. 0. 1. ]] SLAMing on 26.276296757000004 meters Centerline goodness : 0.822291 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.48, Z:-0.72 [[ 0.99965313 0.02170356 -0.01491914 3.19407672] [-0.02179724 0.99974352 -0.00614588 -0.48026552] [ 0.01478193 0.00646895 0.99986982 -0.7240868 ] [ 0. 0. 0. 1. ]] SLAMing on 26.306296757000002 meters Centerline goodness : 0.819903 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.48, Z:-0.73 [[ 0.9996555 0.021316 -0.01531377 3.19559878] [-0.02141781 0.99974938 -0.0065156 -0.47939737] [ 0.01517105 0.00684134 0.99986151 -0.72508243] [ 0. 0. 0. 1. ]] SLAMing on 26.336296757000003 meters Centerline goodness : 0.819623 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.48, Z:-0.73 [[ 0.99966433 0.02034414 -0.01604212 3.19873731] [-0.02046567 0.99976281 -0.00744809 -0.47882421] [ 0.01588679 0.0077739 0.99984358 -0.72734956] [ 0. 0. 0. 1. ]] SLAMing on 26.366296757000004 meters Centerline goodness : 0.819128 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.48, Z:-0.73 [[ 0.99967018 0.01935038 -0.01688457 3.20186572] [-0.01949148 0.99977613 -0.00823266 -0.47942473] [ 0.01672148 0.00855905 0.99982355 -0.72922977] [ 0. 0. 0. 1. ]] SLAMing on 26.396296757 meters Centerline goodness : 0.821196 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.48, Z:-0.73 [[ 0.99973316 0.01543861 -0.01718308 3.20210962] [-0.01563613 0.99981252 -0.0114208 -0.48286946] [ 0.01700353 0.01168643 0.99978713 -0.72869619] [ 0. 0. 0. 1. ]] SLAMing on 26.426296757000003 meters Centerline goodness : 0.823027 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.49, Z:-0.73 [[ 0.99974024 0.01458062 -0.01751729 3.20305972] [-0.01476991 0.99983339 -0.0107255 -0.48632972] [ 0.01735799 0.01098145 0.99978903 -0.72787535] [ 0. 0. 0. 1. ]] SLAMing on 26.456296757000004 meters Centerline goodness : 0.823249 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.49, Z:-0.73 [[ 0.99968856 0.0171264 -0.01815142 3.20560454] [-0.01726303 0.99982362 -0.00739749 -0.48742965] [ 0.01802152 0.00770853 0.99980788 -0.72889219] [ 0. 0. 0. 1. ]] SLAMing on 26.486296757 meters Centerline goodness : 0.824251 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.49, Z:-0.73 [[ 0.99962548 0.01988082 -0.01880542 3.20824666] [-0.01996315 0.99979189 -0.0042001 -0.48764794] [ 0.018718 0.00457395 0.99981434 -0.73014098] [ 0. 0. 0. 1. ]] SLAMing on 26.516296757000003 meters Centerline goodness : 0.824825 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.49, Z:-0.74 [[ 0.99978452 0.01912032 -0.00808253 3.21274919] [-0.0191474 0.99981127 -0.00328616 -0.48621371] [ 0.00801817 0.00344021 0.99996194 -0.73732044] [ 0. 0. 0. 1. ]] SLAMing on 26.546296757000004 meters Centerline goodness : 0.825226 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.49, Z:-0.74 [[ 9.99714731e-01 2.22118550e-02 -8.78007238e-03 3.21548091e+00] [-2.22144431e-02 9.99753209e-01 -1.97350514e-04 -4.87330093e-01] [ 8.77352202e-03 3.92338635e-04 9.99961435e-01 -7.38850851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.576296757 meters Centerline goodness : 0.822833 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.49, Z:-0.74 [[ 9.99699454e-01 2.25095169e-02 -9.71199870e-03 3.21788300e+00] [-2.25147094e-02 9.99746421e-01 -4.25635874e-04 -4.88594532e-01] [ 9.69995509e-03 6.44170779e-04 9.99952747e-01 -7.40152514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.606296757000003 meters Centerline goodness : 0.824618 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.49, Z:-0.74 [[ 9.99693069e-01 2.25955467e-02 -1.01591579e-02 3.21900593e+00] [-2.26019651e-02 9.99744409e-01 -5.17399776e-04 -4.88960733e-01] [ 1.01448704e-02 7.46857903e-04 9.99948261e-01 -7.40636647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.636296757000004 meters Centerline goodness : 0.823337 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.49, Z:-0.74 [[ 9.99689571e-01 2.25677611e-02 -1.05573121e-02 3.22006933e+00] [-2.25779323e-02 9.99744729e-01 -8.45218539e-04 -4.88099669e-01] [ 1.05355424e-02 1.08331844e-03 9.99943913e-01 -7.41159671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.666296757 meters Centerline goodness : 0.825812 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.49, Z:-0.74 [[ 9.99688151e-01 2.24666342e-02 -1.09018988e-02 3.22118795e+00] [-2.24837582e-02 9.99746156e-01 -1.45071174e-03 -4.85997165e-01] [ 1.08665388e-02 1.69537499e-03 9.99939520e-01 -7.41951843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.696296757000002 meters Centerline goodness : 0.825177 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.48, Z:-0.74 [[ 9.99600228e-01 2.57448181e-02 -1.16871483e-02 3.22377018e+00] [-2.57275756e-02 9.99667673e-01 1.62331979e-03 -4.84035191e-01] [ 1.17250564e-02 -1.32198884e-03 9.99930385e-01 -7.43061758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726296757000004 meters Centerline goodness : 0.824092 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.49, Z:-0.74 [[ 9.99603695e-01 2.51856660e-02 -1.25752072e-02 3.22627508e+00] [-2.51723654e-02 9.99682388e-01 1.21487189e-03 -4.85805483e-01] [ 1.26018106e-02 -8.97842722e-04 9.99920191e-01 -7.44121042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.756296757 meters Centerline goodness : 0.824140 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.49, Z:-0.74 [[ 9.99682423e-01 2.15568285e-02 -1.30520791e-02 3.22718785e+00] [-2.15917713e-02 9.99763638e-01 -2.54220223e-03 -4.87300685e-01] [ 1.29941922e-02 2.82321239e-03 9.99911586e-01 -7.44622939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.786296757000002 meters Centerline goodness : 0.823534 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.49, Z:-0.75 [[ 0.9996942 0.02052403 -0.01379364 3.22998883] [-0.02057089 0.99978307 -0.00326349 -0.49020163] [ 0.01372367 0.00354624 0.99989954 -0.74645422] [ 0. 0. 0. 1. ]] SLAMing on 26.816296757000003 meters Centerline goodness : 0.824852 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.49, Z:-0.75 [[ 0.9996973 0.01998622 -0.0143479 3.23245009] [-0.02003879 0.99979297 -0.00352949 -0.49073324] [ 0.01427438 0.00381593 0.99989083 -0.74828088] [ 0. 0. 0. 1. ]] SLAMing on 26.846296757000005 meters Centerline goodness : 0.826745 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.49, Z:-0.75 [[ 9.99639126e-01 2.22540330e-02 -1.50457927e-02 3.23558209e+00] [-2.22671651e-02 9.99751807e-01 -7.05829610e-04 -4.91217308e-01] [ 1.50263509e-02 1.04060205e-03 9.99886557e-01 -7.50016025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.876296757000002 meters Centerline goodness : 0.823172 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.49, Z:-0.75 [[ 9.99650604e-01 2.11855101e-02 -1.58064273e-02 3.23814092e+00] [-2.12018595e-02 9.99774839e-01 -8.67478404e-04 -4.94726990e-01] [ 1.57844903e-02 1.20230096e-03 9.99874694e-01 -7.51045913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.906296757000003 meters Centerline goodness : 0.822512 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.50, Z:-0.75 [[ 0.99971276 0.01766314 -0.01619883 3.23873356] [-0.01773173 0.99983437 -0.00410028 -0.49723015] [ 0.01612372 0.00438633 0.99986038 -0.75113093] [ 0. 0. 0. 1. ]] SLAMing on 26.936296757000004 meters Centerline goodness : 0.823616 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.50, Z:-0.75 [[ 0.99971729 0.01663162 -0.01699189 3.24120359] [-0.0167086 0.99985073 -0.00439869 -0.50155596] [ 0.01691619 0.00468136 0.99984595 -0.75213901] [ 0. 0. 0. 1. ]] SLAMing on 26.966296757000002 meters Centerline goodness : 0.822481 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.51, Z:-0.75 [[ 0.99971761 0.01625126 -0.01733779 3.24222708] [-0.01631371 0.99986091 -0.00346677 -0.50635991] [ 0.01727904 0.00374864 0.99984368 -0.75178495] [ 0. 0. 0. 1. ]] SLAMing on 26.996296757000003 meters Centerline goodness : 0.823391 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.51, Z:-0.75 [[ 0.99971403 0.01616642 -0.01762113 3.24307984] [-0.01622804 0.99986267 -0.00335907 -0.50672147] [ 0.01756441 0.00364406 0.99983909 -0.75207101] [ 0. 0. 0. 1. ]] SLAMing on 27.026296757000004 meters Centerline goodness : 0.827082 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.51, Z:-0.75 [[ 9.99703763e-01 1.63653799e-02 -1.80155698e-02 3.24396039e+00] [-1.64133306e-02 9.99862124e-01 -2.51698472e-03 -5.08686883e-01] [ 1.79718945e-02 2.81193460e-03 9.99834538e-01 -7.51880061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.056296757000002 meters Centerline goodness : 0.824642 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.51, Z:-0.75 [[ 9.99700910e-01 1.57077596e-02 -1.87445074e-02 3.24636952e+00] [-1.57649624e-02 9.99871497e-01 -2.90784177e-03 -5.09937251e-01] [ 1.86964230e-02 3.20247852e-03 9.99820078e-01 -7.53088746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.086296757000003 meters Centerline goodness : 0.827917 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.51, Z:-0.75 [[ 0.99969591 0.01508545 -0.01950674 3.24892634] [-0.01515168 0.99987992 -0.00325213 -0.51161533] [ 0.01945534 0.00354671 0.99980444 -0.75436677] [ 0. 0. 0. 1. ]] SLAMing on 27.116296757000004 meters Centerline goodness : 0.825126 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.52, Z:-0.76 [[ 0.99970471 0.01310073 -0.02046603 3.25141103] [-0.01320866 0.99989951 -0.00514751 -0.51559526] [ 0.02039653 0.00541632 0.9997773 -0.75532814] [ 0. 0. 0. 1. ]] SLAMing on 27.146296757 meters Centerline goodness : 0.827202 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-0.76 [[ 0.99989169 0.01142595 -0.00927674 3.25521787] [-0.01146653 0.99992487 -0.004333 -0.51676597] [ 0.00922654 0.0044389 0.99994758 -0.76186122] [ 0. 0. 0. 1. ]] SLAMing on 27.176296757000003 meters Centerline goodness : 0.829900 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-0.76 [[ 9.99849915e-01 1.42280820e-02 -9.88476353e-03 3.25826272e+00] [-1.42400168e-02 9.99897958e-01 -1.13806240e-03 -5.17868705e-01] [ 9.86756242e-03 1.27865080e-03 9.99950497e-01 -7.63846721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.206296757000004 meters Centerline goodness : 0.829883 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-0.77 [[ 9.99849664e-01 1.39219303e-02 -1.03357859e-02 3.26015640e+00] [-1.39428820e-02 9.99900877e-01 -1.95782294e-03 -5.15665761e-01] [ 1.03075047e-02 2.10163926e-03 9.99944668e-01 -7.65414973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.236296757 meters Centerline goodness : 0.831556 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-0.77 [[ 9.99847563e-01 1.37456806e-02 -1.07660463e-02 3.26172879e+00] [-1.37739736e-02 9.99901862e-01 -2.55825265e-03 -5.14178753e-01] [ 1.07298248e-02 2.70615391e-03 9.99938772e-01 -7.66577003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.266296757000003 meters Centerline goodness : 0.831937 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.51, Z:-0.77 [[ 0.99982653 0.0180229 -0.0046999 3.27240462] [-0.01806503 0.99979558 -0.00908064 -0.51430745] [ 0.00453528 0.00916397 0.99994773 -0.77068416] [ 0. 0. 0. 1. ]] SLAMing on 27.296296757000004 meters Centerline goodness : 0.832046 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.52, Z:-0.77 [[ 0.99982027 0.01827374 -0.00504904 3.27318528] [-0.01831784 0.99979322 -0.00883085 -0.51600185] [ 0.00488662 0.00892175 0.99994826 -0.77079169] [ 0. 0. 0. 1. ]] SLAMing on 27.326296757 meters Centerline goodness : 0.832088 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.52, Z:-0.77 [[ 0.99980888 0.01876423 -0.00548759 3.27488336] [-0.01880887 0.99978947 -0.00820006 -0.51933244] [ 0.00533257 0.00830171 0.99995132 -0.7719692 ] [ 0. 0. 0. 1. ]] SLAMing on 27.356296757000003 meters Centerline goodness : 0.834218 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.52, Z:-0.77 [[ 0.9997703 0.02051048 -0.00621894 3.27865682] [-0.02054906 0.99976959 -0.00620585 -0.52051873] [ 0.00609022 0.00633221 0.99996141 -0.77463727] [ 0. 0. 0. 1. ]] SLAMing on 27.386296757000004 meters Centerline goodness : 0.834538 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.52, Z:-0.78 [[ 0.99976202 0.02077836 -0.00664504 3.27994331] [-0.02081921 0.99976441 -0.00613884 -0.51954375] [ 0.00651592 0.00627572 0.99995908 -0.77541562] [ 0. 0. 0. 1. ]] SLAMing on 27.416296757 meters Centerline goodness : 0.834538 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.52, Z:-0.78 [[ 0.99976202 0.02077836 -0.00664504 3.27994331] [-0.02081921 0.99976441 -0.00613884 -0.51954375] [ 0.00651592 0.00627572 0.99995908 -0.77541562] [ 0. 0. 0. 1. ]] SLAMing on 27.446296757000002 meters Centerline goodness : 0.835322 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.52, Z:-0.78 [[ 0.99974442 0.02221865 -0.00417446 3.29839387] [-0.02226322 0.99969216 -0.01095187 -0.51961668] [ 0.00392984 0.01104201 0.99993131 -0.77788901] [ 0. 0. 0. 1. ]] SLAMing on 27.476296757000004 meters Centerline goodness : 0.836092 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.52, Z:-0.78 [[ 0.99975025 0.02179954 -0.00492088 3.30056651] [-0.02185088 0.99970469 -0.01063364 -0.52258949] [ 0.00468762 0.01073851 0.99993135 -0.778788 ] [ 0. 0. 0. 1. ]] SLAMing on 27.506296757 meters Centerline goodness : 0.834279 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.53, Z:-0.78 [[ 9.99754031e-01 2.18874649e-02 -3.58007576e-03 3.32089323e+00] [-2.19410641e-02 9.99636165e-01 -1.56884432e-02 -5.26372178e-01] [ 3.23539295e-03 1.57631350e-02 9.99870520e-01 -7.81549936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.536296757000002 meters Centerline goodness : 0.836075 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.53, Z:-0.78 [[ 9.99718289e-01 2.37319579e-02 -3.68943619e-04 3.33824616e+00] [-2.37346316e-02 9.99526497e-01 -1.95818670e-02 -5.27327509e-01] [-9.59471194e-05 1.95851073e-02 9.99808189e-01 -7.83495192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.566296757000003 meters Centerline goodness : 0.835141 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.53, Z:-0.78 [[ 9.99735508e-01 2.29879229e-02 6.85191707e-04 3.36515874e+00] [-2.29716278e-02 9.99570015e-01 -1.82233021e-02 -5.28206635e-01] [-1.10381295e-03 1.82027422e-02 9.99833707e-01 -7.81849331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.596296757000005 meters Centerline goodness : 0.833831 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.53, Z:-0.78 [[ 9.99663192e-01 2.59496656e-02 3.41267268e-04 3.36691485e+00] [-2.59419792e-02 9.99558018e-01 -1.45183474e-02 -5.29734625e-01] [-7.17862693e-04 1.45046043e-02 9.99894545e-01 -7.82598608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.626296757000002 meters Centerline goodness : 0.831740 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.53, Z:-0.78 [[ 9.99615542e-01 2.77237468e-02 -4.02605756e-04 3.37031328e+00] [-2.77265970e-02 9.99540839e-01 -1.22207293e-02 -5.30559701e-01] [ 6.36164891e-05 1.22271939e-02 9.99925243e-01 -7.84608157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.656296757000003 meters Centerline goodness : 0.829919 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.53, Z:-0.79 [[ 9.99624376e-01 2.73918848e-02 -8.89440232e-04 3.37178848e+00] [-2.74008927e-02 9.99545832e-01 -1.25427275e-02 -5.30728196e-01] [ 5.45467331e-04 1.25623876e-02 9.99920941e-01 -7.85358361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.686296757000004 meters Centerline goodness : 0.828360 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.53, Z:-0.79 [[ 9.99652696e-01 2.62973085e-02 -1.71459139e-03 3.37409313e+00] [-2.63179270e-02 9.99564070e-01 -1.33804570e-02 -5.34719439e-01] [ 1.36197395e-03 1.34209344e-02 9.99909008e-01 -7.86248951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.716296757000002 meters Centerline goodness : 0.830145 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.53, Z:-0.79 [[ 9.99674495e-01 2.53065415e-02 3.23782232e-03 3.38406697e+00] [-2.52095954e-02 9.99314336e-01 -2.71170322e-02 -5.34197177e-01] [-3.92184057e-03 2.70265813e-02 9.99627022e-01 -7.90793227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746296757000003 meters Centerline goodness : 0.834262 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.53, Z:-0.79 [[ 9.99678337e-01 2.51983199e-02 2.87531930e-03 3.38515581e+00] [-2.51104911e-02 9.99311317e-01 -2.73195056e-02 -5.33732596e-01] [-3.56174476e-03 2.72385173e-02 9.99622617e-01 -7.91323257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.776296757000004 meters Centerline goodness : 0.830314 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.53, Z:-0.79 [[ 9.99575393e-01 2.90115911e-02 2.71308979e-03 3.38582816e+00] [-2.89411643e-02 9.99313167e-01 -2.31430943e-02 -5.33821624e-01] [-3.38264434e-03 2.30547476e-02 9.99728481e-01 -7.91239547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.806296757000002 meters Centerline goodness : 0.832498 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.53, Z:-0.79 [[ 9.99465627e-01 3.26091458e-02 2.25912652e-03 3.38784882e+00] [-3.25572467e-02 9.99267671e-01 -2.01034237e-02 -5.29925213e-01] [-2.91302757e-03 2.00191301e-02 9.99795353e-01 -7.92542983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.836296757000003 meters Centerline goodness : 0.831522 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.53, Z:-0.79 [[ 9.99466190e-01 3.26230130e-02 1.75343586e-03 3.38926795e+00] [-3.25800790e-02 9.99257155e-01 -2.05834190e-02 -5.28804206e-01] [-2.42362648e-03 2.05153042e-02 9.99786601e-01 -7.93437134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.866296757000004 meters Centerline goodness : 0.830134 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.53, Z:-0.79 [[ 0.99934003 0.03592983 -0.00534432 3.40131149] [-0.03606166 0.99898342 -0.02704967 -0.53149941] [ 0.004367 0.02722455 0.9996198 -0.79147862] [ 0. 0. 0. 1. ]] SLAMing on 27.896296757 meters Centerline goodness : 0.829478 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.53, Z:-0.79 [[ 0.99933086 0.03613659 -0.00565413 3.40170621] [-0.03627472 0.9989876 -0.02660676 -0.53301654] [ 0.00468693 0.02679405 0.99962999 -0.79114754] [ 0. 0. 0. 1. ]] SLAMing on 27.926296757000003 meters Centerline goodness : 0.831102 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.53, Z:-0.79 [[ 0.99933887 0.0358584 -0.00600006 3.40294168] [-0.03600719 0.99899038 -0.02686465 -0.53315539] [ 0.00503068 0.02706294 0.99962107 -0.79190187] [ 0. 0. 0. 1. ]] SLAMing on 27.956296757000004 meters Centerline goodness : 0.830433 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.53, Z:-0.79 [[ 0.99935637 0.03519446 -0.00694294 3.40569204] [-0.03537436 0.99898851 -0.02775977 -0.531211 ] [ 0.00595892 0.0279875 0.99959051 -0.79301373] [ 0. 0. 0. 1. ]] SLAMing on 27.986296757 meters Centerline goodness : 0.831057 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.53, Z:-0.79 [[ 0.99936665 0.0348249 -0.00731607 3.40699184] [-0.03501966 0.99898203 -0.02843464 -0.52969091] [ 0.00631839 0.02867284 0.99956888 -0.79371198] [ 0. 0. 0. 1. ]] SLAMing on 28.016296757000003 meters Centerline goodness : 0.826801 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.53, Z:-0.79 [[ 0.99936236 0.03488886 -0.00759278 3.40706925] [-0.03509215 0.99897682 -0.0285282 -0.52877977] [ 0.00658969 0.02877646 0.99956415 -0.79297772] [ 0. 0. 0. 1. ]] SLAMing on 28.046296757000004 meters Centerline goodness : 0.827787 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.53, Z:-0.79 [[ 0.99936031 0.03488584 -0.0078707 3.40724623] [-0.03509664 0.9989787 -0.02845677 -0.52890858] [ 0.00686992 0.0287148 0.99956404 -0.79239242] [ 0. 0. 0. 1. ]] SLAMing on 28.076296757 meters Centerline goodness : 0.826953 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.53, Z:-0.79 [[ 0.99935999 0.03485192 -0.0080588 3.407264 ] [-0.03506789 0.99898068 -0.02842256 -0.52905429] [ 0.00706 0.02868698 0.99956351 -0.79180197] [ 0. 0. 0. 1. ]] SLAMing on 28.106296757000003 meters Centerline goodness : 0.824536 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.53, Z:-0.79 [[ 0.99946769 0.03162629 -0.00800773 3.40638848] [-0.03187011 0.99896634 -0.03241212 -0.52733904] [ 0.00697438 0.03265008 0.99944251 -0.7911511 ] [ 0. 0. 0. 1. ]] SLAMing on 28.136296757000004 meters Centerline goodness : 0.825782 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.52, Z:-0.79 [[ 0.99958257 0.02751996 -0.0087945 3.40894881] [-0.02782748 0.99892766 -0.03700214 -0.52324258] [ 0.00776678 0.03723142 0.99927649 -0.79264738] [ 0. 0. 0. 1. ]] SLAMing on 28.166296757 meters Centerline goodness : 0.823656 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.52, Z:-0.79 [[ 0.99959577 0.02684349 -0.00936628 3.41095224] [-0.02717603 0.99893099 -0.03739436 -0.52228492] [ 0.00835247 0.03763379 0.99925669 -0.7936998 ] [ 0. 0. 0. 1. ]] SLAMing on 28.196296757000002 meters Centerline goodness : 0.825084 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.52, Z:-0.80 [[ 0.99959171 0.02724698 -0.00860329 3.43238786] [-0.02759035 0.99870704 -0.04269689 -0.52119776] [ 0.00742881 0.04291682 0.99905103 -0.79625949] [ 0. 0. 0. 1. ]] SLAMing on 28.226296757000004 meters Centerline goodness : 0.824308 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.52, Z:-0.80 [[ 0.99959466 0.02699023 -0.00905728 3.43358274] [-0.02735156 0.9987231 -0.04247432 -0.52205569] [ 0.00789932 0.04270483 0.9990565 -0.79655823] [ 0. 0. 0. 1. ]] SLAMing on 28.256296757000005 meters Centerline goodness : 0.824628 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.52, Z:-0.79 [[ 0.99963828 0.02494349 -0.01005645 3.44541752] [-0.0252728 0.9990999 -0.0340688 -0.52316766] [ 0.0091976 0.03431063 0.99936889 -0.79288574] [ 0. 0. 0. 1. ]] SLAMing on 28.286296757000002 meters Centerline goodness : 0.827385 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.52, Z:-0.79 [[ 0.999618 0.02427067 -0.01322079 3.45443233] [-0.02464855 0.9992693 -0.02921161 -0.52188253] [ 0.01250214 0.02952633 0.99948581 -0.7899826 ] [ 0. 0. 0. 1. ]] SLAMing on 28.316296757000003 meters Centerline goodness : 0.827494 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.52, Z:-0.79 [[ 0.99955131 0.02649543 -0.01397027 3.45718382] [-0.02685517 0.99929529 -0.02622466 -0.52258259] [ 0.01326559 0.02658807 0.99955845 -0.79083557] [ 0. 0. 0. 1. ]] SLAMing on 28.346296757000005 meters Centerline goodness : 0.827442 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.52, Z:-0.79 [[ 0.99948056 0.02868071 -0.01469755 3.46027508] [-0.02901956 0.99930526 -0.02338517 -0.52319362] [ 0.01401664 0.02379954 0.99961849 -0.79213733] [ 0. 0. 0. 1. ]] SLAMing on 28.376296757000002 meters Centerline goodness : 0.826197 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.52, Z:-0.79 [[ 0.99939292 0.0313503 -0.01519724 3.4624113 ] [-0.03165363 0.99929582 -0.02014745 -0.52400358] [ 0.01455491 0.02061626 0.99968151 -0.79287812] [ 0. 0. 0. 1. ]] SLAMing on 28.406296757000003 meters Centerline goodness : 0.824914 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-0.79 [[ 0.99931936 0.03319709 -0.01608623 3.46644716] [-0.03348475 0.99927793 -0.01795522 -0.52297884] [ 0.01547855 0.01848164 0.99970938 -0.79497946] [ 0. 0. 0. 1. ]] SLAMing on 28.436296757000004 meters Centerline goodness : 0.823949 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-0.80 [[ 0.99924366 0.03497905 -0.01698739 3.47086384] [-0.03525127 0.99925041 -0.01599864 -0.52085372] [ 0.01641504 0.01658537 0.9997277 -0.79749165] [ 0. 0. 0. 1. ]] SLAMing on 28.466296757000002 meters Centerline goodness : 0.822111 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-0.80 [[ 0.99924606 0.03481146 -0.01718928 3.47143025] [-0.03509409 0.99924905 -0.01642373 -0.51906218] [ 0.01660464 0.01701459 0.99971735 -0.79770488] [ 0. 0. 0. 1. ]] SLAMing on 28.496296757000003 meters Centerline goodness : 0.822111 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-0.80 [[ 0.99914282 0.03732375 -0.01790417 3.47425044] [-0.03756636 0.99920415 -0.01341065 -0.51949578] [ 0.01738938 0.01407174 0.99974977 -0.79878981] [ 0. 0. 0. 1. ]] SLAMing on 28.526296757000004 meters Centerline goodness : 0.822779 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-0.80 [[ 0.9991434 0.03720595 -0.01811605 3.47495504] [-0.03745971 0.9992018 -0.01387531 -0.51717252] [ 0.01758535 0.01454204 0.99973961 -0.79911398] [ 0. 0. 0. 1. ]] SLAMing on 28.556296757000002 meters Centerline goodness : 0.822841 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.52, Z:-0.80 [[ 0.99906242 0.03900464 -0.01878631 3.47810124] [-0.03922918 0.99916132 -0.01173555 -0.51770531] [ 0.01831282 0.01246152 0.99975465 -0.80083848] [ 0. 0. 0. 1. ]] SLAMing on 28.586296757000003 meters Centerline goodness : 0.825380 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.52, Z:-0.80 [[ 0.99894085 0.04176592 -0.01930768 3.47996587] [-0.04193351 0.99908544 -0.00835792 -0.51790233] [ 0.01894095 0.00915871 0.99977865 -0.80070831] [ 0. 0. 0. 1. ]] SLAMing on 28.616296757000004 meters Centerline goodness : 0.831990 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.52, Z:-0.80 [[ 0.99882709 0.04414032 -0.0199016 3.48249723] [-0.04425673 0.99900534 -0.0054472 -0.51821351] [ 0.01964136 0.00632159 0.9997871 -0.80159786] [ 0. 0. 0. 1. ]] SLAMing on 28.646296757 meters Centerline goodness : 0.832287 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.52, Z:-0.80 [[ 9.98715233e-01 4.62992563e-02 -2.05976434e-02 3.48531685e+00] [-4.63633471e-02 9.98921141e-01 -2.64472073e-03 -5.18599369e-01] [ 2.04529729e-02 3.59629857e-03 9.99784348e-01 -8.02562879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.676296757000003 meters Centerline goodness : 0.834551 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.52, Z:-0.80 [[ 9.98734056e-01 4.56946861e-02 -2.10304669e-02 3.48648612e+00] [-4.57723690e-02 9.98946683e-01 -3.22715613e-03 -5.17823437e-01] [ 2.08608513e-02 4.18568502e-03 9.99773627e-01 -8.02870989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.706296757000004 meters Centerline goodness : 0.836064 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.52, Z:-0.80 [[ 0.99878203 0.04417061 -0.0219866 3.48974703] [-0.04427851 0.99900934 -0.00444481 -0.51725825] [ 0.02176849 0.00541293 0.99974838 -0.80437956] [ 0. 0. 0. 1. ]] SLAMing on 28.736296757 meters Centerline goodness : 0.835055 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.52, Z:-0.81 [[ 0.99883346 0.04253521 -0.0228577 3.49352557] [-0.04267923 0.9990717 -0.0058499 -0.51741874] [ 0.02258765 0.00681863 0.99972161 -0.80695488] [ 0. 0. 0. 1. ]] SLAMing on 28.766296757000003 meters Centerline goodness : 0.834871 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.52, Z:-0.81 [[ 0.99885133 0.04181834 -0.02339347 3.49557543] [-0.04198171 0.999097 -0.00653657 -0.51732004] [ 0.023099 0.00751116 0.99970497 -0.80827371] [ 0. 0. 0. 1. ]] SLAMing on 28.796296757000004 meters Centerline goodness : 0.835287 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.52, Z:-0.81 [[ 0.99886791 0.04124638 -0.02369863 3.49712104] [-0.04142922 0.99911495 -0.00727639 -0.51640783] [ 0.02337753 0.00824997 0.99969267 -0.809505 ] [ 0. 0. 0. 1. ]] SLAMing on 28.826296757 meters Centerline goodness : 0.835478 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.51, Z:-0.81 [[ 0.99887569 0.04089974 -0.02396998 3.49830711] [-0.04110033 0.99912351 -0.00793627 -0.51442082] [ 0.02362437 0.00891252 0.99968118 -0.81039836] [ 0. 0. 0. 1. ]] SLAMing on 28.856296757000003 meters Centerline goodness : 0.841158 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.51, Z:-0.81 [[ 0.99876062 0.04337083 -0.02441704 3.50135059] [-0.04351657 0.99903774 -0.00546919 -0.51086786] [ 0.02415634 0.00652496 0.9996869 -0.8122786 ] [ 0. 0. 0. 1. ]] SLAMing on 28.886296757000004 meters Centerline goodness : 0.838653 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.51, Z:-0.81 [[ 0.99877635 0.04273235 -0.02489459 3.50312171] [-0.04290301 0.99905899 -0.00636174 -0.50901049] [ 0.02459931 0.00742201 0.99966984 -0.81338057] [ 0. 0. 0. 1. ]] SLAMing on 28.916296757 meters Centerline goodness : 0.837702 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.51, Z:-0.81 [[ 0.99880477 0.04174698 -0.025421 3.50476939] [-0.04193085 0.99909776 -0.00674332 -0.51121251] [ 0.02511655 0.00780118 0.99965409 -0.81368949] [ 0. 0. 0. 1. ]] SLAMing on 28.946296757000002 meters Centerline goodness : 0.839293 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.51, Z:-0.81 [[ 0.9988141 0.0413019 -0.02577887 3.5056962 ] [-0.04149592 0.99911389 -0.00703728 -0.51180239] [ 0.02546538 0.00809865 0.9996429 -0.81385504] [ 0. 0. 0. 1. ]] SLAMing on 28.976296757000004 meters Centerline goodness : 0.841021 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.51, Z:-0.82 [[ 0.9987244 0.04301977 -0.02643618 3.50949098] [-0.04316644 0.99905537 -0.00500222 -0.50950117] [ 0.02619601 0.00613699 0.99963799 -0.81614813] [ 0. 0. 0. 1. ]] SLAMing on 29.006296757000005 meters Centerline goodness : 0.841224 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.51, Z:-0.82 [[ 9.98602954e-01 4.53265515e-02 -2.71596153e-02 3.51292844e+00] [-4.54117588e-02 9.98965154e-01 -2.52842101e-03 -5.08144953e-01] [ 2.70169047e-02 3.75825459e-03 9.99627912e-01 -8.18092437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.036296757000002 meters Centerline goodness : 0.841262 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.51, Z:-0.82 [[ 9.98535529e-01 4.63471105e-02 -2.79059679e-02 3.51667600e+00] [-4.64089819e-02 9.98921284e-01 -1.57321679e-03 -5.07526022e-01] [ 2.78029512e-02 2.86600042e-03 9.99609315e-01 -8.20610505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.066296757000003 meters Centerline goodness : 0.840563 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.51, Z:-0.82 [[ 9.98556042e-01 4.53985493e-02 -2.87193689e-02 3.51952553e+00] [-4.54923301e-02 9.98961252e-01 -2.62016349e-03 -5.07165624e-01] [ 2.85705850e-02 3.92289110e-03 9.99584080e-01 -8.22234063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.096296757000005 meters Centerline goodness : 0.839752 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.51, Z:-0.82 [[ 9.98568427e-01 4.48128112e-02 -2.92045930e-02 3.52140176e+00] [-4.49253680e-02 9.98985192e-01 -3.20905831e-03 -5.07199352e-01] [ 2.90311491e-02 4.51649140e-03 9.99568304e-01 -8.23412120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.126296757000002 meters Centerline goodness : 0.841441 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.51, Z:-0.82 [[ 0.99856908 0.0445102 -0.02964167 3.52319486] [-0.04464093 0.99899601 -0.00376293 -0.50623016] [ 0.02944442 0.00508078 0.99955351 -0.82463194] [ 0. 0. 0. 1. ]] SLAMing on 29.156296757000003 meters Centerline goodness : 0.841081 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.51, Z:-0.83 [[ 9.98436952e-01 4.70257940e-02 -3.02031217e-02 3.52628241e+00] [-4.70775673e-02 9.98890731e-01 -1.00496260e-03 -5.06234954e-01] [ 3.01223591e-02 2.42528129e-03 9.99543276e-01 -8.26515283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.186296757000004 meters Centerline goodness : 0.841233 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.51, Z:-0.83 [[ 9.98302921e-01 4.93773795e-02 -3.08731809e-02 3.53036584e+00] [-4.93499884e-02 9.98780186e-01 1.64902599e-03 -5.06525162e-01] [ 3.09169460e-02 -1.22636344e-04 9.99521949e-01 -8.29438385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.216296757000002 meters Centerline goodness : 0.840010 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.51, Z:-0.83 [[ 9.98312899e-01 4.88640048e-02 -3.13634313e-02 3.53249457e+00] [-4.88491348e-02 9.98805398e-01 1.24062741e-03 -5.07089316e-01] [ 3.13865865e-02 2.93542138e-04 9.99507277e-01 -8.30960026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.246296757000003 meters Centerline goodness : 0.843058 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.51, Z:-0.83 [[ 9.98319683e-01 4.84318568e-02 -3.18145605e-02 3.53407019e+00] [-4.84247927e-02 9.98826338e-01 9.92958566e-04 -5.07868857e-01] [ 3.18253118e-02 5.49323416e-04 9.99493296e-01 -8.31797938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.276296757000004 meters Centerline goodness : 0.839463 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.51, Z:-0.84 [[ 9.98730828e-01 4.68352885e-02 -1.85253423e-02 3.53637128e+00] [-4.69052050e-02 9.98893702e-01 -3.35753148e-03 -5.08414022e-01] [ 1.83475968e-02 4.22220517e-03 9.99822754e-01 -8.37168812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.306296757000002 meters Centerline goodness : 0.847326 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.51, Z:-0.84 [[ 9.98739171e-01 4.65265380e-02 -1.88507362e-02 3.53732205e+00] [-4.65991295e-02 9.98907782e-01 -3.42984274e-03 -5.09274982e-01] [ 1.86705684e-02 4.30394619e-03 9.99816426e-01 -8.37515890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.336296757000003 meters Centerline goodness : 0.842136 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.51, Z:-0.84 [[ 0.99875169 0.04609319 -0.01924766 3.53874705] [-0.04617341 0.99892642 -0.003744 -0.509577 ] [ 0.01905443 0.00462806 0.99980774 -0.83835544] [ 0. 0. 0. 1. ]] SLAMing on 29.366296757000004 meters Centerline goodness : 0.842136 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.51, Z:-0.84 [[ 0.99875169 0.04609319 -0.01924766 3.53874705] [-0.04617341 0.99892642 -0.003744 -0.509577 ] [ 0.01905443 0.00462806 0.99980774 -0.83835544] [ 0. 0. 0. 1. ]] SLAMing on 29.396296757 meters Centerline goodness : 0.848463 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.51, Z:-0.84 [[ 0.99877873 0.04527457 -0.01978049 3.54115263] [-0.04536986 0.99896059 -0.00439515 -0.5099745 ] [ 0.01956094 0.00528722 0.99979469 -0.84014099] [ 0. 0. 0. 1. ]] SLAMing on 29.426296757000003 meters Centerline goodness : 0.842306 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.51, Z:-0.84 [[ 0.99879584 0.04466235 -0.02030146 3.54296859] [-0.04477101 0.99898511 -0.00492957 -0.51020219] [ 0.02006069 0.00583255 0.99978175 -0.84117226] [ 0. 0. 0. 1. ]] SLAMing on 29.456296757000004 meters Centerline goodness : 0.846359 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.51, Z:-0.84 [[ 0.99878307 0.0449356 -0.02032658 3.54267905] [-0.04503145 0.99897639 -0.00428234 -0.51205436] [ 0.02011334 0.00519246 0.99978422 -0.84025749] [ 0. 0. 0. 1. ]] SLAMing on 29.486296757 meters Centerline goodness : 0.847743 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.51, Z:-0.85 [[ 0.99898237 0.04438866 -0.00799182 3.54697183] [-0.04443218 0.99899806 -0.0053525 -0.51102164] [ 0.00774622 0.00570215 0.99995374 -0.84710956] [ 0. 0. 0. 1. ]] SLAMing on 29.516296757000003 meters Centerline goodness : 0.849963 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.51, Z:-0.85 [[ 0.99899093 0.04414856 -0.00824838 3.54803101] [-0.04419802 0.99900529 -0.00591297 -0.50970189] [ 0.00797912 0.00627156 0.9999485 -0.84797336] [ 0. 0. 0. 1. ]] SLAMing on 29.546296757000004 meters Centerline goodness : 0.850188 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.51, Z:-0.85 [[ 0.99888221 0.04640417 -0.00899932 3.55224439] [-0.04644007 0.99891377 -0.00382094 -0.50748345] [ 0.00881224 0.0042346 0.99995221 -0.8512583 ] [ 0. 0. 0. 1. ]] SLAMing on 29.576296757 meters Centerline goodness : 0.849428 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.51, Z:-0.85 [[ 0.99890745 0.04573495 -0.00960343 3.55453937] [-0.04578346 0.9989394 -0.00489367 -0.5060271 ] [ 0.00936943 0.00532801 0.99994191 -0.8529625 ] [ 0. 0. 0. 1. ]] SLAMing on 29.606296757000003 meters Centerline goodness : 0.848401 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.51, Z:-0.85 [[ 0.99894578 0.0447283 -0.01032999 3.55717022] [-0.04478848 0.9989804 -0.00566947 -0.50869622] [ 0.01006587 0.00612616 0.99993057 -0.85463809] [ 0. 0. 0. 1. ]] SLAMing on 29.636296757000004 meters Centerline goodness : 0.847177 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.51, Z:-0.86 [[ 0.99897205 0.04397812 -0.01098987 3.55950329] [-0.04404815 0.99901009 -0.00621296 -0.51007607] [ 0.01070576 0.00669066 0.99992031 -0.85607236] [ 0. 0. 0. 1. ]] SLAMing on 29.666296757 meters Centerline goodness : 0.848761 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.51, Z:-0.86 [[ 0.99899851 0.04320963 -0.01161446 3.56186991] [-0.04329228 0.9990382 -0.0069613 -0.50992084] [ 0.01130249 0.00745715 0.99990832 -0.85767237] [ 0. 0. 0. 1. ]] SLAMing on 29.696296757000002 meters Centerline goodness : 0.847652 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.51, Z:-0.86 [[ 0.99902146 0.04250377 -0.01222915 3.56422839] [-0.04260179 0.99906114 -0.00786975 -0.50873129] [ 0.01188317 0.00838303 0.99989425 -0.85934698] [ 0. 0. 0. 1. ]] SLAMing on 29.726296757000004 meters Centerline goodness : 0.845417 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.51, Z:-0.86 [[ 0.99896974 0.04344515 -0.01311404 3.56845577] [-0.04353424 0.99903023 -0.00658582 -0.51000156] [ 0.0128152 0.00714994 0.99989232 -0.86234663] [ 0. 0. 0. 1. ]] SLAMing on 29.756296757000005 meters Centerline goodness : 0.845607 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.51, Z:-0.86 [[ 0.99897097 0.04455441 -0.00847973 3.58341882] [-0.0446474 0.998941 -0.01111234 -0.51324018] [ 0.00797564 0.0114795 0.9999023 -0.86292713] [ 0. 0. 0. 1. ]] SLAMing on 29.786296757000002 meters Centerline goodness : 0.849102 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.52, Z:-0.86 [[ 0.99895679 0.04482768 -0.00870735 3.58363864] [-0.04491594 0.99893849 -0.01022015 -0.51581615] [ 0.00823996 0.01060058 0.99990986 -0.86240056] [ 0. 0. 0. 1. ]] SLAMing on 29.816296757000003 meters Centerline goodness : 0.850981 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.52, Z:-0.86 [[ 0.99893843 0.04517504 -0.00901276 3.5844088 ] [-0.04525988 0.99893062 -0.00944202 -0.51757847] [ 0.00857658 0.00983992 0.99991481 -0.86243346] [ 0. 0. 0. 1. ]] SLAMing on 29.846296757000005 meters Centerline goodness : 0.853144 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.52, Z:-0.87 [[ 9.98954336e-01 4.56710498e-02 -2.09541322e-03 3.59620349e+00] [-4.56752254e-02 9.98954360e-01 -1.99008770e-03 -5.20997442e-01] [ 2.00233278e-03 2.08371521e-03 9.99995824e-01 -8.67667612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.876296757000002 meters Centerline goodness : 0.851533 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.52, Z:-0.87 [[ 9.98960767e-01 4.55039797e-02 -2.60253210e-03 3.59779530e+00] [-4.55090507e-02 9.98962074e-01 -1.92359809e-03 -5.22252126e-01] [ 2.51229949e-03 2.04003779e-03 9.99994763e-01 -8.68559832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.906296757000003 meters Centerline goodness : 0.849923 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.53, Z:-0.87 [[ 9.98995677e-01 4.46671924e-02 -3.53252599e-03 3.60033368e+00] [-4.46713967e-02 9.99001107e-01 -1.12031309e-03 -5.28434957e-01] [ 3.47895613e-03 1.27699080e-03 9.99993133e-01 -8.69063894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.936296757000004 meters Centerline goodness : 0.850195 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.53, Z:-0.87 [[ 9.99028051e-01 4.38779805e-02 -4.20427473e-03 3.60270646e+00] [-4.38841007e-02 9.99035683e-01 -1.37464497e-03 -5.30427863e-01] [ 4.13990383e-03 1.55780970e-03 9.99990217e-01 -8.70433278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.966296757000002 meters Centerline goodness : 0.850901 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.53, Z:-0.87 [[ 9.99060013e-01 4.30736546e-02 -4.87338072e-03 3.60496702e+00] [-4.30821376e-02 9.99070172e-01 -1.64925321e-03 -5.31581570e-01] [ 4.79780995e-03 1.85765859e-03 9.99986765e-01 -8.71642560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.996296757000003 meters Centerline goodness : 0.848888 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.54, Z:-0.87 [[ 9.99133552e-01 4.12217393e-02 -5.73702733e-03 3.60771496e+00] [-4.12363125e-02 9.99146429e-01 -2.44547952e-03 -5.36036064e-01] [ 5.63132345e-03 2.67993449e-03 9.99980553e-01 -8.72917194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.026296757000004 meters Centerline goodness : 0.848687 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.54, Z:-0.87 [[ 9.99162590e-01 4.03964848e-02 -6.49951507e-03 3.61012986e+00] [-4.04146010e-02 9.99179401e-01 -2.68049272e-03 -5.38564671e-01] [ 6.38589909e-03 2.94092335e-03 9.99975285e-01 -8.74106790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.056296757000002 meters Centerline goodness : 0.846086 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.54, Z:-0.88 [[ 9.99206695e-01 3.91440604e-02 -7.32967516e-03 3.61395081e+00] [-3.91686124e-02 9.99227374e-01 -3.23658011e-03 -5.41374256e-01] [ 7.19731918e-03 3.52110572e-03 9.99967900e-01 -8.77059707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.086296757000003 meters Centerline goodness : 0.847353 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.54, Z:-0.88 [[ 0.99916741 0.04048328 -0.00505881 3.63312439] [-0.04052719 0.99913878 -0.00890224 -0.54053663] [ 0.00469406 0.00909984 0.99994758 -0.88114211] [ 0. 0. 0. 1. ]] SLAMing on 30.116296757000004 meters Centerline goodness : 0.847234 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.54, Z:-0.88 [[ 0.99917296 0.04029771 -0.00543029 3.634597 ] [-0.04034421 0.99914756 -0.00874575 -0.54144482] [ 0.00507323 0.0089576 0.99994701 -0.88216683] [ 0. 0. 0. 1. ]] SLAMing on 30.146296757 meters Centerline goodness : 0.848239 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.55, Z:-0.89 [[ 0.99922916 0.0390556 0.00396805 3.64437936] [-0.03903474 0.99922429 -0.00520694 -0.54560609] [-0.00416833 0.00504803 0.99997857 -0.88834778] [ 0. 0. 0. 1. ]] SLAMing on 30.176296757000003 meters Centerline goodness : 0.848502 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.55, Z:-0.89 [[ 9.99231074e-01 3.90453271e-02 3.56704041e-03 3.64549344e+00] [-3.90281115e-02 9.99226705e-01 -4.77476951e-03 -5.46989978e-01] [-3.75071447e-03 4.63188321e-03 9.99982239e-01 -8.88759856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.206296757000004 meters Centerline goodness : 0.850655 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.55, Z:-0.89 [[ 0.99920618 0.03941132 0.00581028 3.664942 ] [-0.03934682 0.99916695 -0.01082711 -0.54803012] [-0.00623215 0.0105899 0.9999245 -0.89205419] [ 0. 0. 0. 1. ]] SLAMing on 30.236296757 meters Centerline goodness : 0.850455 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.55, Z:-0.89 [[ 0.99914515 0.04038366 0.00883918 3.68180166] [-0.04022652 0.99904104 -0.01728692 -0.54791205] [-0.00952882 0.01691658 0.9998115 -0.89435033] [ 0. 0. 0. 1. ]] SLAMing on 30.266296757000003 meters Centerline goodness : 0.848823 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.55, Z:-0.89 [[ 0.99913038 0.04079565 0.00861388 3.68170851] [-0.04064959 0.99903721 -0.01650042 -0.54991332] [-0.00927873 0.01613592 0.99982675 -0.89355589] [ 0. 0. 0. 1. ]] SLAMing on 30.296296757000004 meters Centerline goodness : 0.849955 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.55, Z:-0.89 [[ 0.9991486 0.04053316 0.00769051 3.68413451] [-0.04040216 0.99904748 -0.01648642 -0.55090983] [-0.00835144 0.01616167 0.99983451 -0.89446267] [ 0. 0. 0. 1. ]] SLAMing on 30.326296757 meters Centerline goodness : 0.849326 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.55, Z:-0.90 [[ 0.99907566 0.04183519 0.00988188 3.70078636] [-0.04156943 0.9988045 -0.0257207 -0.54844169] [-0.0109461 0.02528614 0.99962033 -0.90018349] [ 0. 0. 0. 1. ]] SLAMing on 30.356296757000003 meters Centerline goodness : 0.847420 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.55, Z:-0.90 [[ 0.99908545 0.04173254 0.00930961 3.70233281] [-0.04147998 0.99880498 -0.02584619 -0.54876189] [-0.01037711 0.02543639 0.99962258 -0.90093343] [ 0. 0. 0. 1. ]] SLAMing on 30.386296757000004 meters Centerline goodness : 0.847479 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.55, Z:-0.90 [[ 0.99908823 0.04178545 0.00875701 3.70384401] [-0.04154804 0.99880501 -0.02573556 -0.54978973] [-0.00982192 0.02534826 0.99963043 -0.90175441] [ 0. 0. 0. 1. ]] SLAMing on 30.416296757000005 meters Centerline goodness : 0.847431 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.55, Z:-0.90 [[ 0.99909803 0.041633 0.0083561 3.70522725] [-0.04140301 0.99880339 -0.02603045 -0.54983821] [-0.00942982 0.025661 0.99962623 -0.90280403] [ 0. 0. 0. 1. ]] SLAMing on 30.446296757000002 meters Centerline goodness : 0.851036 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.55, Z:-0.91 [[ 0.99910827 0.04147605 0.00789922 3.7075566 ] [-0.0412492 0.99878426 -0.02699094 -0.54800139] [-0.00900909 0.02664103 0.99960447 -0.90541808] [ 0. 0. 0. 1. ]] SLAMing on 30.476296757000004 meters Centerline goodness : 0.844309 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.55, Z:-0.91 [[ 0.99910688 0.04153604 0.00775917 3.7085303 ] [-0.0413102 0.99877347 -0.02729514 -0.54696295] [-0.00888339 0.02695023 0.9995973 -0.90661933] [ 0. 0. 0. 1. ]] SLAMing on 30.506296757000005 meters Centerline goodness : 0.844704 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.55, Z:-0.91 [[ 0.99910264 0.04173405 0.00722366 3.71036487] [-0.04152264 0.99876485 -0.0272883 -0.5471255 ] [-0.00835359 0.02696387 0.9996015 -0.90805054] [ 0. 0. 0. 1. ]] SLAMing on 30.536296757000002 meters Centerline goodness : 0.845977 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.55, Z:-0.91 [[ 0.99909951 0.04186648 0.00688279 3.71092626] [-0.04166812 0.99877196 -0.02680201 -0.54867927] [-0.00799644 0.02649109 0.99961707 -0.90789013] [ 0. 0. 0. 1. ]] SLAMing on 30.566296757000003 meters Centerline goodness : 0.845549 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.55, Z:-0.91 [[ 0.99910655 0.0417488 0.00656863 3.71111935] [-0.04156804 0.99880778 -0.02559508 -0.55284778] [-0.00762937 0.02529917 0.99965081 -0.90656664] [ 0. 0. 0. 1. ]] SLAMing on 30.596296757000005 meters Centerline goodness : 0.845635 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.56, Z:-0.91 [[ 0.99911052 0.04171372 0.00617581 3.71163906] [-0.04154769 0.99882535 -0.02493407 -0.55509947] [-0.00720865 0.0246553 0.99967002 -0.90596418] [ 0. 0. 0. 1. ]] SLAMing on 30.626296757000002 meters Centerline goodness : 0.842736 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.56, Z:-0.91 [[ 0.99911489 0.04166139 0.00581034 3.71233161] [-0.0415084 0.99884147 -0.02434686 -0.55699877] [-0.00681793 0.02408413 0.99968669 -0.90573464] [ 0. 0. 0. 1. ]] SLAMing on 30.656296757000003 meters Centerline goodness : 0.846413 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.55, Z:-0.90 [[ 0.9993465 0.03498029 -0.00910782 3.71544263] [-0.03522711 0.99897233 -0.02851918 -0.5547413 ] [ 0.00810085 0.02882139 0.99955175 -0.9010848 ] [ 0. 0. 0. 1. ]] SLAMing on 30.686296757000004 meters Centerline goodness : 0.832261 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.56, Z:-0.90 [[ 0.99937952 0.03393985 -0.00941551 3.71655398] [-0.03419025 0.99902729 -0.02784798 -0.55915183] [ 0.0084612 0.02815262 0.99956783 -0.90077094] [ 0. 0. 0. 1. ]] SLAMing on 30.716296757000002 meters Centerline goodness : 0.847693 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.56, Z:-0.90 [[ 0.99938539 0.0336734 -0.0097441 3.71725068] [-0.03392605 0.99905841 -0.02704287 -0.56237043] [ 0.0088243 0.02735683 0.99958678 -0.90035864] [ 0. 0. 0. 1. ]] SLAMing on 30.746296757000003 meters Centerline goodness : 0.841767 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.57, Z:-0.90 [[ 0.9995143 0.02941119 -0.01030255 3.71844317] [-0.02971078 0.99910082 -0.03024589 -0.56545892] [ 0.00940372 0.0305373 0.99948939 -0.90050764] [ 0. 0. 0. 1. ]] SLAMing on 30.776296757000004 meters Centerline goodness : 0.840856 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.57, Z:-0.90 [[ 0.9995426 0.02814865 -0.01105612 3.72115168] [-0.02847513 0.9991268 -0.03057461 -0.56760669] [ 0.01018583 0.03087545 0.99947134 -0.90178748] [ 0. 0. 0. 1. ]] SLAMing on 30.806296757000002 meters Centerline goodness : 0.829375 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.57, Z:-0.90 [[ 0.9995582 0.02721842 -0.01193963 3.72395187] [-0.02757105 0.99915633 -0.03043804 -0.57002926] [ 0.01110108 0.03075378 0.99946534 -0.90288069] [ 0. 0. 0. 1. ]] SLAMing on 30.836296757000003 meters Centerline goodness : 0.837058 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.57, Z:-0.90 [[ 0.99957198 0.0264523 -0.01249571 3.72605687] [-0.02681983 0.99918331 -0.03022261 -0.57285548] [ 0.01168605 0.03054481 0.99946508 -0.90381571] [ 0. 0. 0. 1. ]] SLAMing on 30.866296757000004 meters Centerline goodness : 0.834720 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.58, Z:-0.90 [[ 0.99950247 0.02864877 -0.01319286 3.72876522] [-0.02899561 0.99921763 -0.02689576 -0.57546343] [ 0.012412 0.02726491 0.99955118 -0.90470177] [ 0. 0. 0. 1. ]] SLAMing on 30.896296757 meters Centerline goodness : 0.829394 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.58, Z:-0.90 [[ 0.99940231 0.03171512 -0.01375413 3.73062324] [-0.03202381 0.99922619 -0.0228365 -0.57843452] [ 0.01301923 0.02326331 0.9996446 -0.9046777 ] [ 0. 0. 0. 1. ]] SLAMing on 30.926296757000003 meters Centerline goodness : 0.829222 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.58, Z:-0.91 [[ 0.99935801 0.03453173 -0.009546 3.74596325] [-0.03478077 0.99902242 -0.02728567 -0.57840507] [ 0.00859445 0.02760017 0.9995821 -0.9066452 ] [ 0. 0. 0. 1. ]] SLAMing on 30.956296757000004 meters Centerline goodness : 0.831286 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.58, Z:-0.91 [[ 0.99929991 0.03686439 -0.00637955 3.7628553 ] [-0.03704863 0.99881102 -0.03168512 -0.5784694 ] [ 0.00520392 0.03189929 0.99947754 -0.90841783] [ 0. 0. 0. 1. ]] SLAMing on 30.986296757 meters Centerline goodness : 0.828811 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.58, Z:-0.91 [[ 0.99914768 0.04070388 -0.00686419 3.7645731 ] [-0.04087736 0.998789 -0.02737835 -0.58028132] [ 0.00574147 0.0276356 0.99960158 -0.90882113] [ 0. 0. 0. 1. ]] SLAMing on 31.016296757000003 meters Centerline goodness : 0.829183 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.58, Z:-0.91 [[ 0.99901187 0.04379013 -0.00759691 3.76754755] [-0.04395965 0.99874968 -0.02380411 -0.58142633] [ 0.00654502 0.02411455 0.99968778 -0.91034917] [ 0. 0. 0. 1. ]] SLAMing on 31.046296757000004 meters Centerline goodness : 0.827246 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.58, Z:-0.92 [[ 0.99876261 0.04941207 -0.00563026 3.78369401] [-0.04956074 0.99831003 -0.03034497 -0.57810253] [ 0.00412134 0.03058646 0.99952363 -0.91742064] [ 0. 0. 0. 1. ]] SLAMing on 31.076296757 meters Centerline goodness : 0.827935 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.58, Z:-0.92 [[ 0.99856662 0.05321128 -0.00576812 3.78508177] [-0.05334541 0.99822871 -0.02633845 -0.57876986] [ 0.0043564 0.0266084 0.99963644 -0.91827954] [ 0. 0. 0. 1. ]] SLAMing on 31.106296757000003 meters Centerline goodness : 0.822318 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.58, Z:-0.92 [[ 0.99835691 0.05688645 -0.00688573 3.78780942] [-0.05704076 0.99806395 -0.0247932 -0.57945777] [ 0.005462 0.02514523 0.99966889 -0.91825445] [ 0. 0. 0. 1. ]] SLAMing on 31.136296757000004 meters Centerline goodness : 0.823515 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.58, Z:-0.92 [[ 0.99811972 0.06069687 -0.00853876 3.79048781] [-0.06089108 0.99783877 -0.02469945 -0.58107426] [ 0.00702113 0.02517294 0.99965846 -0.91640268] [ 0. 0. 0. 1. ]] SLAMing on 31.166296757000005 meters Centerline goodness : 0.825295 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.58, Z:-0.92 [[ 0.99806308 0.06146743 -0.009583 3.79204993] [-0.061693 0.99777313 -0.02535263 -0.58190564] [ 0.0080033 0.02589473 0.99963264 -0.91547407] [ 0. 0. 0. 1. ]] SLAMing on 31.196296757000002 meters Centerline goodness : 0.823607 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.58, Z:-0.92 [[ 0.99811655 0.0603824 -0.01083181 3.79464675] [-0.06064783 0.99781723 -0.02612711 -0.58397343] [ 0.00923055 0.02673482 0.99959994 -0.91632907] [ 0. 0. 0. 1. ]] SLAMing on 31.226296757000004 meters Centerline goodness : 0.825660 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.59, Z:-0.92 [[ 0.99814257 0.05985595 -0.01134361 3.79579693] [-0.06013438 0.99785056 -0.02604076 -0.58506266] [ 0.00976054 0.02667453 0.99959652 -0.91691824] [ 0. 0. 0. 1. ]] SLAMing on 31.256296757000005 meters Centerline goodness : 0.825660 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.59, Z:-0.92 [[ 0.99814257 0.05985595 -0.01134361 3.79579693] [-0.06013438 0.99785056 -0.02604076 -0.58506266] [ 0.00976054 0.02667453 0.99959652 -0.91691824] [ 0. 0. 0. 1. ]] SLAMing on 31.286296757000002 meters Centerline goodness : 0.824476 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.59, Z:-0.92 [[ 0.99815756 0.05953178 -0.01172432 3.79649611] [-0.0598176 0.99787693 -0.02575825 -0.58610925] [ 0.01016599 0.02641211 0.99959945 -0.91710153] [ 0. 0. 0. 1. ]] SLAMing on 31.316296757000003 meters Centerline goodness : 0.820763 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.59, Z:-0.92 [[ 0.99822316 0.05835296 -0.01206072 3.79721916] [-0.05864294 0.99795889 -0.0252796 -0.58853424] [ 0.01056096 0.02594196 0.99960766 -0.91790515] [ 0. 0. 0. 1. ]] SLAMing on 31.346296757000005 meters Centerline goodness : 0.817868 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.59, Z:-0.92 [[ 0.99824687 0.05790213 -0.01226912 3.79717926] [-0.05819647 0.99798776 -0.02517129 -0.58986275] [ 0.01078696 0.02584118 0.99960786 -0.91755328] [ 0. 0. 0. 1. ]] SLAMing on 31.376296757000002 meters Centerline goodness : 0.818905 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.59, Z:-0.92 [[ 0.99844322 0.05411616 -0.01351193 3.79873354] [-0.05449208 0.99808701 -0.02920492 -0.59199187] [ 0.01190562 0.02989575 0.99948212 -0.91709368] [ 0. 0. 0. 1. ]] SLAMing on 31.406296757000003 meters Centerline goodness : 0.819882 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.59, Z:-0.92 [[ 0.99860288 0.05077429 -0.01463758 3.80042748] [-0.05123586 0.99813783 -0.03310222 -0.59261312] [ 0.01292958 0.03380594 0.99934478 -0.91694556] [ 0. 0. 0. 1. ]] SLAMing on 31.436296757000004 meters Centerline goodness : 0.826696 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.59, Z:-0.92 [[ 0.99878389 0.04703806 -0.01477005 3.80016302] [-0.04754451 0.99821847 -0.03604739 -0.59315231] [ 0.01304814 0.03670579 0.99924093 -0.91676638] [ 0. 0. 0. 1. ]] SLAMing on 31.466296757000002 meters Centerline goodness : 0.819123 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.59, Z:-0.92 [[ 0.99877793 0.0471439 -0.01483562 3.80047717] [-0.04764768 0.99822726 -0.03566556 -0.59319375] [ 0.01312791 0.03632885 0.99925366 -0.91703057] [ 0. 0. 0. 1. ]] SLAMing on 31.496296757000003 meters Centerline goodness : 0.816469 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.59, Z:-0.92 [[ 0.99872092 0.04821492 -0.01522636 3.8015607 ] [-0.04872284 0.99820018 -0.03496411 -0.59341246] [ 0.01351316 0.03566126 0.99927257 -0.91736104] [ 0. 0. 0. 1. ]] SLAMing on 31.526296757000004 meters Centerline goodness : 0.809323 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.60, Z:-0.92 [[ 0.99861809 0.05003832 -0.01606465 3.80313766] [-0.05057322 0.99811304 -0.03482392 -0.59502522] [ 0.0142918 0.03558824 0.99926434 -0.91675846] [ 0. 0. 0. 1. ]] SLAMing on 31.556296757000002 meters Centerline goodness : 0.813513 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.59, Z:-0.92 [[ 0.99855077 0.05096248 -0.0172968 3.80511655] [-0.05155776 0.99802388 -0.0359185 -0.59497916] [ 0.01543213 0.03675823 0.99920502 -0.91563212] [ 0. 0. 0. 1. ]] SLAMing on 31.586296757000003 meters Centerline goodness : 0.809690 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.59, Z:-0.92 [[ 0.99844722 0.05324162 -0.01638511 3.80371444] [-0.05375662 0.99801574 -0.03278415 -0.59317144] [ 0.01460712 0.03361405 0.99932814 -0.91536113] [ 0. 0. 0. 1. ]] SLAMing on 31.616296757000004 meters Centerline goodness : 0.811885 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.59, Z:-0.92 [[ 0.9984286 0.05348811 -0.0167138 3.80538952] [-0.05400863 0.99801401 -0.03242086 -0.59180358] [ 0.01494647 0.0332726 0.99933455 -0.91666269] [ 0. 0. 0. 1. ]] SLAMing on 31.646296757 meters Centerline goodness : 0.810482 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.59, Z:-0.92 [[ 0.99838349 0.05391434 -0.01799046 3.80843806] [-0.05448677 0.9979687 -0.03301023 -0.59280789] [ 0.01617419 0.03393711 0.99929308 -0.91726286] [ 0. 0. 0. 1. ]] SLAMing on 31.676296757000003 meters Centerline goodness : 0.809493 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.59, Z:-0.92 [[ 0.99833967 0.0543799 -0.01899314 3.80922057] [-0.0550025 0.99790853 -0.03396005 -0.59372305] [ 0.01710667 0.03494833 0.9992427 -0.91538182] [ 0. 0. 0. 1. ]] SLAMing on 31.706296757000004 meters Centerline goodness : 0.807798 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.59, Z:-0.91 [[ 0.9983026 0.05470374 -0.01998566 3.81024433] [-0.05537944 0.9978523 -0.03498436 -0.59393977] [ 0.01802896 0.03603177 0.999188 -0.91378621] [ 0. 0. 0. 1. ]] SLAMing on 31.736296757 meters Centerline goodness : 0.810684 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.59, Z:-0.91 [[ 0.99823581 0.05567177 -0.02063783 3.81147606] [-0.05637116 0.99779563 -0.03501673 -0.59364451] [ 0.01864289 0.03611833 0.99917361 -0.91332061] [ 0. 0. 0. 1. ]] SLAMing on 31.766296757000003 meters Centerline goodness : 0.808407 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.59, Z:-0.92 [[ 0.9978758 0.0613741 -0.0218427 3.81615286] [-0.06203151 0.99759845 -0.03081282 -0.59289572] [ 0.01989914 0.0321023 0.99928648 -0.91539804] [ 0. 0. 0. 1. ]] SLAMing on 31.796296757000004 meters Centerline goodness : 0.808311 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.59, Z:-0.92 [[ 0.99740965 0.06801389 -0.02341149 3.82096084] [-0.06864036 0.99727375 -0.02708454 -0.59245942] [ 0.02150554 0.02862135 0.99935896 -0.91624471] [ 0. 0. 0. 1. ]] SLAMing on 31.826296757000005 meters Centerline goodness : 0.808774 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.59, Z:-0.91 [[ 0.99722803 0.07022681 -0.02458576 3.82301465] [-0.07089893 0.99710089 -0.02762536 -0.59262211] [ 0.02257444 0.02929189 0.99931596 -0.91499198] [ 0. 0. 0. 1. ]] SLAMing on 31.856296757000003 meters Centerline goodness : 0.808702 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.9970836 0.07173894 -0.02603494 3.8251024 ] [-0.07247466 0.9969627 -0.02850946 -0.59336647] [ 0.02391063 0.03031319 0.99925442 -0.91327814] [ 0. 0. 0. 1. ]] SLAMing on 31.886296757000004 meters Centerline goodness : 0.810379 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.99703777 0.07213204 -0.02669555 3.82596503] [-0.07290082 0.99691629 -0.02904106 -0.59377642] [ 0.02451844 0.03090116 0.99922168 -0.91238888] [ 0. 0. 0. 1. ]] SLAMing on 31.916296757000005 meters Centerline goodness : 0.809400 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.99708009 0.07174324 -0.02615722 3.82539271] [-0.07247852 0.99696733 -0.02833739 -0.59331158] [ 0.02404487 0.03015048 0.99925612 -0.9130601 ] [ 0. 0. 0. 1. ]] SLAMing on 31.946296757000002 meters Centerline goodness : 0.811737 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.99713847 0.0707941 -0.02651552 3.82645368] [-0.07156124 0.99700884 -0.0291951 -0.59245245] [ 0.02436937 0.03100904 0.99922198 -0.91355758] [ 0. 0. 0. 1. ]] SLAMing on 31.976296757000004 meters Centerline goodness : 0.811813 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.99730571 0.068163 -0.02711324 3.8264195 ] [-0.06903769 0.99707634 -0.03275014 -0.592538 ] [ 0.02480162 0.03453374 0.99909574 -0.91195738] [ 0. 0. 0. 1. ]] SLAMing on 32.006296757 meters Centerline goodness : 0.814616 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.99734064 0.06755354 -0.02735257 3.82615291] [-0.0684386 0.99711507 -0.03282838 -0.59382196] [ 0.02505599 0.03461305 0.99908665 -0.91114557] [ 0. 0. 0. 1. ]] SLAMing on 32.036296757 meters Centerline goodness : 0.813278 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.99736959 0.06697482 -0.02771789 3.82645367] [-0.06787541 0.99714999 -0.03293663 -0.59466378] [ 0.02543296 0.03473136 0.99907302 -0.91080058] [ 0. 0. 0. 1. ]] SLAMing on 32.066296756999996 meters Centerline goodness : 0.812206 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.59, Z:-0.91 [[ 0.99737722 0.06749222 -0.02614335 3.82465039] [-0.06822969 0.99726461 -0.02842535 -0.59433593] [ 0.02415335 0.03013455 0.99925398 -0.91282826] [ 0. 0. 0. 1. ]] SLAMing on 32.096296757 meters Centerline goodness : 0.814473 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.92 [[ 0.99737589 0.06732263 -0.02662713 3.82762166] [-0.068071 0.99727973 -0.02827492 -0.59295874] [ 0.02465116 0.03001326 0.99924548 -0.91572568] [ 0. 0. 0. 1. ]] SLAMing on 32.126296757 meters Centerline goodness : 0.811995 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.92 [[ 0.99746073 0.06636667 -0.02583711 3.82663004] [-0.06707392 0.99736778 -0.0275427 -0.59247174] [ 0.02394118 0.02920576 0.99928667 -0.91660957] [ 0. 0. 0. 1. ]] SLAMing on 32.156296757 meters Centerline goodness : 0.811757 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.99750495 0.06551023 -0.02631123 3.82643594] [-0.0662661 0.99738153 -0.02896367 -0.59260641] [ 0.02434492 0.03063495 0.99923412 -0.91480804] [ 0. 0. 0. 1. ]] SLAMing on 32.186296757 meters Centerline goodness : 0.817957 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.99758605 0.06417356 -0.02652979 3.82545186] [-0.06497477 0.99741978 -0.0305298 -0.59238705] [ 0.02450213 0.03217987 0.99918172 -0.91277224] [ 0. 0. 0. 1. ]] SLAMing on 32.216296757 meters Centerline goodness : 0.813438 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.99771129 0.06204866 -0.02687291 3.8254492 ] [-0.06291856 0.99747839 -0.03283462 -0.59078021] [ 0.0247678 0.03445028 0.99909946 -0.91165488] [ 0. 0. 0. 1. ]] SLAMing on 32.246296757 meters Centerline goodness : 0.815452 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.99769084 0.06223013 -0.02721042 3.82717798] [-0.06309943 0.99748283 -0.03234915 -0.58990003] [ 0.02512883 0.03399141 0.99910616 -0.91310394] [ 0. 0. 0. 1. ]] SLAMing on 32.276296757 meters Centerline goodness : 0.812192 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.92 [[ 0.9974992 0.06572819 -0.02598375 3.82784659] [-0.06636793 0.99749251 -0.02457631 -0.58845496] [ 0.02430324 0.02623934 0.99936022 -0.91712352] [ 0. 0. 0. 1. ]] SLAMing on 32.306296757 meters Centerline goodness : 0.814084 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.92 [[ 0.99732071 0.06838301 -0.02598376 3.82858085] [-0.06894168 0.99739436 -0.0212494 -0.58783619] [ 0.02446296 0.02298383 0.99943649 -0.91755953] [ 0. 0. 0. 1. ]] SLAMing on 32.336296757 meters Centerline goodness : 0.811286 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.92 [[ 0.99721069 0.06970613 -0.02668146 3.8300523 ] [-0.07030191 0.9972813 -0.02208287 -0.58675146] [ 0.02506961 0.02389704 0.99940004 -0.91688223] [ 0. 0. 0. 1. ]] SLAMing on 32.366296757 meters Centerline goodness : 0.810887 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.59, Z:-0.91 [[ 0.99702573 0.07134022 -0.02915933 3.83264001] [-0.07214411 0.99701464 -0.02751413 -0.58567768] [ 0.02710941 0.02953597 0.99919603 -0.91189935] [ 0. 0. 0. 1. ]] SLAMing on 32.396296757 meters Centerline goodness : 0.811871 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.58, Z:-0.91 [[ 0.99695558 0.07192787 -0.03009889 3.83384892] [-0.07279232 0.99693458 -0.02868301 -0.58495277] [ 0.02794352 0.03078666 0.9991353 -0.91039061] [ 0. 0. 0. 1. ]] SLAMing on 32.426296757 meters Centerline goodness : 0.813607 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.58, Z:-0.91 [[ 0.99686857 0.07272809 -0.0310433 3.83619861] [-0.07364721 0.99684593 -0.02956819 -0.58382513] [ 0.02879495 0.03176185 0.9990806 -0.91054077] [ 0. 0. 0. 1. ]] SLAMing on 32.456296757 meters Centerline goodness : 0.813599 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.58, Z:-0.91 [[ 0.99657094 0.076634 -0.03120242 3.83722413] [-0.07744546 0.9966657 -0.02568432 -0.58373636] [ 0.02913009 0.02801273 0.99918303 -0.9106002 ] [ 0. 0. 0. 1. ]] SLAMing on 32.486296757 meters Centerline goodness : 0.813792 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.58, Z:-0.91 [[ 0.99649181 0.0774543 -0.03170031 3.83890669] [-0.07825443 0.99662419 -0.0248286 -0.58407968] [ 0.02967021 0.02722219 0.99918899 -0.9115193 ] [ 0. 0. 0. 1. ]] SLAMing on 32.516296757 meters Centerline goodness : 0.812819 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.58, Z:-0.91 [[ 0.99645114 0.07779674 -0.03213706 3.84053593] [-0.07857136 0.99662942 -0.02358678 -0.58418239] [ 0.03019377 0.02602812 0.99920512 -0.91271879] [ 0. 0. 0. 1. ]] SLAMing on 32.546296757 meters Centerline goodness : 0.814531 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.58, Z:-0.91 [[ 0.99643677 0.07764144 -0.03294797 3.84237182] [-0.07846517 0.99661602 -0.02448949 -0.58348663] [ 0.03093508 0.0269875 0.99915699 -0.91292866] [ 0. 0. 0. 1. ]] SLAMing on 32.576296757 meters Centerline goodness : 0.815154 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.58, Z:-0.91 [[ 0.99647045 0.07717278 -0.03303036 3.84120178] [-0.07802622 0.99662824 -0.02537825 -0.58372966] [ 0.03096048 0.02786591 0.99913209 -0.91067222] [ 0. 0. 0. 1. ]] SLAMing on 32.606296757 meters Centerline goodness : 0.817011 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.58, Z:-0.91 [[ 0.99653322 0.07615418 -0.0334974 3.84152766] [-0.07705964 0.99667095 -0.02662376 -0.58315599] [ 0.03135838 0.02911276 0.99908413 -0.90971925] [ 0. 0. 0. 1. ]] SLAMing on 32.636296757 meters Centerline goodness : 0.820244 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.58, Z:-0.91 [[ 0.99661058 0.07504246 -0.03370441 3.84100744] [-0.07599441 0.99671755 -0.02791016 -0.58241685] [ 0.03149933 0.03037691 0.99904206 -0.90800547] [ 0. 0. 0. 1. ]] SLAMing on 32.666296757 meters Centerline goodness : 0.821184 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.58, Z:-0.91 [[ 0.99659289 0.07504034 -0.03422811 3.84233663] [-0.07601347 0.9967115 -0.0280737 -0.58193536] [ 0.03200889 0.03057984 0.99901967 -0.90835484] [ 0. 0. 0. 1. ]] SLAMing on 32.696296757 meters Centerline goodness : 0.820190 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.58, Z:-0.91 [[ 0.99657127 0.07517653 -0.034557 3.84398482] [-0.07614646 0.99671282 -0.02766345 -0.58147754] [ 0.03236376 0.03019999 0.99901979 -0.90974101] [ 0. 0. 0. 1. ]] SLAMing on 32.726296757 meters Centerline goodness : 0.821081 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.58, Z:-0.91 [[ 0.99657184 0.07540852 -0.03403108 3.84435986] [-0.07627898 0.99677186 -0.0250474 -0.58045971] [ 0.03203243 0.02755738 0.99910686 -0.91162991] [ 0. 0. 0. 1. ]] SLAMing on 32.756296757 meters Centerline goodness : 0.821961 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.58, Z:-0.91 [[ 0.99661888 0.07419705 -0.03529311 3.84718801] [-0.0751778 0.99679575 -0.02732285 -0.58020843] [ 0.03315274 0.02988372 0.99900343 -0.91217176] [ 0. 0. 0. 1. ]] SLAMing on 32.786296757 meters Centerline goodness : 0.823772 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.58, Z:-0.91 [[ 0.996751 0.07186835 -0.03636455 3.847705 ] [-0.07302478 0.99683132 -0.03153897 -0.57983497] [ 0.03398267 0.03409201 0.99884078 -0.9099052 ] [ 0. 0. 0. 1. ]] SLAMing on 32.816296756999996 meters Centerline goodness : 0.823129 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.58, Z:-0.91 [[ 0.99671431 0.0720538 -0.03699788 3.84903512] [-0.07323671 0.99681135 -0.03167836 -0.57994587] [ 0.03459736 0.03428387 0.99881312 -0.90993359] [ 0. 0. 0. 1. ]] SLAMing on 32.846296757 meters Centerline goodness : 0.823417 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.58, Z:-0.91 [[ 0.9966979 0.07214167 -0.03726757 3.84999794] [-0.073323 0.99681484 -0.03136746 -0.57965946] [ 0.03488596 0.03399645 0.9988129 -0.91054412] [ 0. 0. 0. 1. ]] SLAMing on 32.876296757 meters Centerline goodness : 0.823732 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.58, Z:-0.91 [[ 0.9965151 0.07418332 -0.03813787 3.85378021] [-0.07527905 0.99676525 -0.02814412 -0.58056463] [ 0.03592668 0.03091702 0.99887607 -0.91174266] [ 0. 0. 0. 1. ]] SLAMing on 32.906296757 meters Centerline goodness : 0.825138 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.58, Z:-0.91 [[ 0.99635503 0.07568821 -0.0393441 3.85853391] [-0.07670702 0.99673863 -0.02506247 -0.58147551] [ 0.03731885 0.02798908 0.99891136 -0.91285461] [ 0. 0. 0. 1. ]] SLAMing on 32.936296757 meters Centerline goodness : 0.820618 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.58, Z:-0.91 [[ 0.99638439 0.0748601 -0.04017592 3.86122399] [-0.0759143 0.99679111 -0.02538689 -0.58180653] [ 0.03814653 0.02834502 0.99887006 -0.91401127] [ 0. 0. 0. 1. ]] SLAMing on 32.966296757 meters Centerline goodness : 0.825080 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.58, Z:-0.92 [[ 0.99627535 0.0751125 -0.04235025 3.88985013] [-0.07629054 0.99672215 -0.02692057 -0.58338513] [ 0.04018936 0.03005122 0.99874008 -0.91534942] [ 0. 0. 0. 1. ]] SLAMing on 32.996296757 meters Centerline goodness : 0.821515 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.58, Z:-0.92 [[ 0.99605804 0.07755376 -0.04305572 3.89327653] [-0.07862055 0.9966238 -0.02366016 -0.58445073] [ 0.04107542 0.02695196 0.99879247 -0.91671327] [ 0. 0. 0. 1. ]] SLAMing on 33.026296757 meters Centerline goodness : 0.825711 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.58, Z:-0.92 [[ 0.99649884 0.07698587 -0.03260736 3.90349425] [-0.07773614 0.99672227 -0.02240129 -0.58350254] [ 0.0307759 0.02485763 0.99921716 -0.92348817] [ 0. 0. 0. 1. ]] SLAMing on 33.056296757 meters Centerline goodness : 0.824819 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.58, Z:-0.92 [[ 0.99632655 0.07921385 -0.03253557 3.90402714] [-0.0798845 0.99660634 -0.01985619 -0.58242582] [ 0.03085227 0.02238234 0.99927332 -0.92347352] [ 0. 0. 0. 1. ]] SLAMing on 33.086296757 meters Centerline goodness : 0.824709 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.58, Z:-0.92 [[ 0.99627683 0.07959052 -0.03313336 3.9046224 ] [-0.08028274 0.99656921 -0.02011181 -0.58302359] [ 0.03141897 0.02269696 0.99924857 -0.92251569] [ 0. 0. 0. 1. ]] SLAMing on 33.116296757 meters Centerline goodness : 0.826138 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.58, Z:-0.92 [[ 0.99641793 0.07656311 -0.03590832 3.90972962] [-0.07751687 0.99665287 -0.02596506 -0.5831931 ] [ 0.03380017 0.02865556 0.99901772 -0.92255624] [ 0. 0. 0. 1. ]] SLAMing on 33.146296757 meters Centerline goodness : 0.823431 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.58, Z:-0.92 [[ 0.99645564 0.07599596 -0.03606617 3.90931364] [-0.07696794 0.99668474 -0.02637182 -0.58333519] [ 0.03394245 0.02905429 0.99900138 -0.9215914 ] [ 0. 0. 0. 1. ]] SLAMing on 33.176296757 meters Centerline goodness : 0.823431 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.58, Z:-0.92 [[ 0.99645564 0.07599596 -0.03606617 3.90931364] [-0.07696794 0.99668474 -0.02637182 -0.58333519] [ 0.03394245 0.02905429 0.99900138 -0.9215914 ] [ 0. 0. 0. 1. ]] SLAMing on 33.206296757 meters Centerline goodness : 0.825014 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.58, Z:-0.92 [[ 0.99652559 0.07454141 -0.03715287 3.91156033] [-0.07562045 0.99672829 -0.02853547 -0.58337656] [ 0.03490424 0.03124585 0.99890209 -0.92198482] [ 0. 0. 0. 1. ]] SLAMing on 33.236296757 meters Centerline goodness : 0.827366 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.58, Z:-0.92 [[ 0.99651809 0.07389083 -0.03862446 3.91356468] [-0.07514147 0.99665942 -0.03199636 -0.58354966] [ 0.0361312 0.03478725 0.9987414 -0.92049328] [ 0. 0. 0. 1. ]] SLAMing on 33.266296757 meters Centerline goodness : 0.827452 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.58, Z:-0.92 [[ 0.99643003 0.07454763 -0.03962116 3.91542444] [-0.07586529 0.99657641 -0.03286213 -0.58374952] [ 0.03703572 0.03575069 0.99867424 -0.91999327] [ 0. 0. 0. 1. ]] SLAMing on 33.296296757 meters Centerline goodness : 0.827199 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.58, Z:-0.92 [[ 0.99611522 0.07729254 -0.04219388 3.92099735] [-0.07875039 0.9963125 -0.03405541 -0.58418302] [ 0.03940606 0.03724589 0.99852887 -0.91992188] [ 0. 0. 0. 1. ]] SLAMing on 33.326296757 meters Centerline goodness : 0.829710 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.58, Z:-0.92 [[ 0.99594759 0.07893624 -0.04309839 3.9234071 ] [-0.08042492 0.99618154 -0.03397302 -0.58378337] [ 0.04025211 0.03730153 0.99849305 -0.92024479] [ 0. 0. 0. 1. ]] SLAMing on 33.356296757 meters Centerline goodness : 0.827660 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.58, Z:-0.92 [[ 0.99575302 0.08096616 -0.04382233 3.9249708 ] [-0.08246231 0.9960316 -0.03348153 -0.58399271] [ 0.04093755 0.03695302 0.99847814 -0.91984772] [ 0. 0. 0. 1. ]] SLAMing on 33.386296757 meters Centerline goodness : 0.827396 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.59, Z:-0.92 [[ 0.99541978 0.08397875 -0.04568395 3.92794505] [-0.08554281 0.99577352 -0.03342943 -0.5853536 ] [ 0.04268351 0.03718425 0.99839644 -0.91813469] [ 0. 0. 0. 1. ]] SLAMing on 33.416296757 meters Centerline goodness : 0.826955 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.59, Z:-0.92 [[ 0.99528569 0.08504912 -0.04661585 3.9291258 ] [-0.08666296 0.99566536 -0.03376415 -0.58633802] [ 0.04354218 0.03764484 0.9983421 -0.91690701] [ 0. 0. 0. 1. ]] SLAMing on 33.446296757 meters Centerline goodness : 0.833786 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.59, Z:-0.92 [[ 0.99516114 0.08591334 -0.04767818 3.93058599] [-0.08758633 0.9955703 -0.03418205 -0.5873526 ] [ 0.04453029 0.0381926 0.99827771 -0.91550591] [ 0. 0. 0. 1. ]] SLAMing on 33.476296757 meters Centerline goodness : 0.824125 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.59, Z:-0.92 [[ 0.99510597 0.08632782 -0.0480792 3.93130481] [-0.08802193 0.99552761 -0.03430621 -0.5872808 ] [ 0.04490259 0.03837034 0.99825421 -0.91519205] [ 0. 0. 0. 1. ]] SLAMing on 33.506296757 meters Centerline goodness : 0.832246 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.59, Z:-0.91 [[ 0.99507393 0.08650783 -0.04841762 3.9319571 ] [-0.08821729 0.9955086 -0.03435602 -0.58695113] [ 0.0452281 0.03845805 0.99823614 -0.91498009] [ 0. 0. 0. 1. ]] SLAMing on 33.536296757 meters Centerline goodness : 0.822198 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.59, Z:-0.91 [[ 0.9949925 0.08712754 -0.04897659 3.93276965] [-0.08889006 0.995425 -0.03503736 -0.58617569] [ 0.0456998 0.03921544 0.99818519 -0.91393734] [ 0. 0. 0. 1. ]] SLAMing on 33.566296756999996 meters Centerline goodness : 0.822009 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.59, Z:-0.91 [[ 0.99495824 0.08738087 -0.04922079 3.9326581 ] [-0.08919338 0.99536665 -0.03591336 -0.58510838] [ 0.04585459 0.04012246 0.99814205 -0.91259418] [ 0. 0. 0. 1. ]] SLAMing on 33.596296757 meters Centerline goodness : 0.823614 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.58, Z:-0.91 [[ 0.99482415 0.08880992 -0.04937313 3.93213758] [-0.090682 0.99519001 -0.03706249 -0.58245567] [ 0.04584413 0.04134791 0.99809251 -0.91014426] [ 0. 0. 0. 1. ]] SLAMing on 33.626296757 meters Centerline goodness : 0.826656 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.58, Z:-0.91 [[ 0.99463587 0.09127915 -0.04865811 3.9306626 ] [-0.09299049 0.9950813 -0.03414648 -0.58151493] [ 0.04530191 0.03848805 0.99823164 -0.90916504] [ 0. 0. 0. 1. ]] SLAMing on 33.656296757 meters Centerline goodness : 0.825392 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.58, Z:-0.91 [[ 0.99432346 0.09482285 -0.04826467 3.93119578] [-0.09638244 0.99485909 -0.03107751 -0.57934254] [ 0.04506969 0.03555297 0.998351 -0.90948927] [ 0. 0. 0. 1. ]] SLAMing on 33.686296757 meters Centerline goodness : 0.824798 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.58, Z:-0.91 [[ 0.99412352 0.09655337 -0.04894762 3.93310243] [-0.09813218 0.99469219 -0.03094397 -0.57843074] [ 0.04570007 0.03556546 0.99832189 -0.90945358] [ 0. 0. 0. 1. ]] SLAMing on 33.716296757 meters Centerline goodness : 0.824001 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.58, Z:-0.91 [[ 0.99384283 0.09947117 -0.04880478 3.93271409] [-0.10092674 0.9944907 -0.02832028 -0.57876031] [ 0.04571885 0.03307161 0.99840676 -0.90842643] [ 0. 0. 0. 1. ]] SLAMing on 33.746296757 meters Centerline goodness : 0.826691 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.58, Z:-0.91 [[ 0.99369503 0.10070103 -0.0492898 3.93346469] [-0.10219094 0.99435078 -0.0286972 -0.57819773] [ 0.04612152 0.03355324 0.99837217 -0.90732168] [ 0. 0. 0. 1. ]] SLAMing on 33.776296757 meters Centerline goodness : 0.826351 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.58, Z:-0.91 [[ 0.99364699 0.10101878 -0.04960711 3.93402359] [-0.10253572 0.99430521 -0.02904429 -0.57721414] [ 0.04639058 0.03394627 0.99834641 -0.90685321] [ 0. 0. 0. 1. ]] SLAMing on 33.806296757 meters Centerline goodness : 0.827777 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.58, Z:-0.91 [[ 0.99349736 0.10319892 -0.04809345 3.93257476] [-0.1044698 0.99422129 -0.02469997 -0.57588035] [ 0.04526652 0.02956367 0.9985374 -0.9079664 ] [ 0. 0. 0. 1. ]] SLAMing on 33.836296757 meters Centerline goodness : 0.826820 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.91 [[ 0.99340275 0.10402463 -0.04826862 3.9336867 ] [-0.10527857 0.99414826 -0.02420044 -0.57467492] [ 0.04546873 0.02912244 0.99854118 -0.90857839] [ 0. 0. 0. 1. ]] SLAMing on 33.866296757 meters Centerline goodness : 0.828135 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.91 [[ 0.99337418 0.10422065 -0.04843337 3.93450866] [-0.10550858 0.99410819 -0.02483628 -0.57268085] [ 0.04555955 0.02978186 0.99851759 -0.90868513] [ 0. 0. 0. 1. ]] SLAMing on 33.896296757 meters Centerline goodness : 0.830338 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.91 [[ 0.9933035 0.10464672 -0.04896138 3.93473866] [-0.10599818 0.99402986 -0.02586534 -0.57184444] [ 0.04596235 0.03088195 0.99846571 -0.90702811] [ 0. 0. 0. 1. ]] SLAMing on 33.926296757 meters Centerline goodness : 0.831372 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.57, Z:-0.91 [[ 0.99326622 0.10449065 -0.05003917 3.93631901] [-0.1059545 0.99398933 -0.0275472 -0.57149509] [ 0.04685998 0.03266358 0.99836728 -0.90596165] [ 0. 0. 0. 1. ]] SLAMing on 33.956296757 meters Centerline goodness : 0.832021 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.90 [[ 0.99339056 0.10344642 -0.04973962 3.93468699] [-0.10493405 0.99407691 -0.02828333 -0.57171365] [ 0.0465192 0.03331577 0.99836167 -0.90451592] [ 0. 0. 0. 1. ]] SLAMing on 33.986296757 meters Centerline goodness : 0.833382 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.91 [[ 0.99342337 0.10328308 -0.04942276 3.93452785] [-0.10473365 0.99411409 -0.02771368 -0.57079437] [ 0.04626951 0.03270765 0.99839338 -0.90508343] [ 0. 0. 0. 1. ]] SLAMing on 34.016296757 meters Centerline goodness : 0.834384 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.91 [[ 0.9936854 0.10157368 -0.04766662 3.93246937] [-0.1028645 0.99436972 -0.02545085 -0.56865285] [ 0.04481311 0.03019334 0.99853901 -0.90724328] [ 0. 0. 0. 1. ]] SLAMing on 34.046296757 meters Centerline goodness : 0.834507 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.91 [[ 0.99382421 0.10028517 -0.0475008 3.93192759] [-0.10158068 0.99449561 -0.02568741 -0.56832353] [ 0.04466327 0.03035393 0.99854085 -0.90720783] [ 0. 0. 0. 1. ]] SLAMing on 34.076296757 meters Centerline goodness : 0.834093 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.91 [[ 0.99428705 0.09527778 -0.0481186 3.93256111] [-0.09679802 0.99484231 -0.03031364 -0.56786566] [ 0.0449822 0.03479824 0.99838153 -0.90740713] [ 0. 0. 0. 1. ]] SLAMing on 34.106296757 meters Centerline goodness : 0.835062 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.91 [[ 0.99437246 0.09431091 -0.04825839 3.93191037] [-0.09583798 0.99493357 -0.03036886 -0.56878165] [ 0.04514977 0.03482294 0.99837311 -0.90660944] [ 0. 0. 0. 1. ]] SLAMing on 34.136296757 meters Centerline goodness : 0.831679 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.91 [[ 0.99446021 0.09326598 -0.04848034 3.93224112] [-0.09482502 0.9950138 -0.03091511 -0.56933568] [ 0.04535528 0.035341 0.99834559 -0.9068053 ] [ 0. 0. 0. 1. ]] SLAMing on 34.166296757 meters Centerline goodness : 0.828753 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.91 [[ 0.99447784 0.09300517 -0.0486195 3.93240261] [-0.09455383 0.99504989 -0.03058253 -0.570026 ] [ 0.04553449 0.03501081 0.99834906 -0.9068975 ] [ 0. 0. 0. 1. ]] SLAMing on 34.196296757 meters Centerline goodness : 0.830130 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:-0.91 [[ 0.99451477 0.0927037 -0.04843953 3.93373233] [-0.09417474 0.99513265 -0.02901951 -0.57074109] [ 0.04551355 0.03342211 0.99840447 -0.90949558] [ 0. 0. 0. 1. ]] SLAMing on 34.226296757 meters Centerline goodness : 0.827181 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.57, Z:-0.91 [[ 0.99452592 0.09252698 -0.04854849 3.93511236] [-0.09397181 0.99517059 -0.02836881 -0.5710634 ] [ 0.04568915 0.0327757 0.99841788 -0.91120009] [ 0. 0. 0. 1. ]] SLAMing on 34.256296757 meters Centerline goodness : 0.829070 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.57, Z:-0.91 [[ 0.99445299 0.09302468 -0.04908826 3.93613084] [-0.09450553 0.99510892 -0.02875657 -0.57103661] [ 0.0461731 0.03323617 0.99838039 -0.91086696] [ 0. 0. 0. 1. ]] SLAMing on 34.286296757 meters Centerline goodness : 0.829925 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.57, Z:-0.91 [[ 0.99434717 0.09369243 -0.0499544 3.93842068] [-0.09524455 0.99501231 -0.02964767 -0.57062259] [ 0.04692748 0.03423796 0.99831136 -0.91118585] [ 0. 0. 0. 1. ]] SLAMing on 34.316296756999996 meters Centerline goodness : 0.830635 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.57, Z:-0.91 [[ 0.99420336 0.09484056 -0.0506453 3.94013931] [-0.09642077 0.9948968 -0.02972199 -0.57048618] [ 0.047568 0.03443296 0.99827434 -0.91116069] [ 0. 0. 0. 1. ]] SLAMing on 34.346296757 meters Centerline goodness : 0.830013 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.57, Z:-0.91 [[ 0.99389366 0.0974548 -0.05174891 3.94239561] [-0.099081 0.99463177 -0.02984284 -0.57089773] [ 0.04856278 0.03478794 0.99821413 -0.91031245] [ 0. 0. 0. 1. ]] SLAMing on 34.376296757 meters Centerline goodness : 0.831203 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.57, Z:-0.91 [[ 0.99372331 0.09884468 -0.05238037 3.94347312] [-0.10049352 0.99449034 -0.02983321 -0.57075909] [ 0.04914292 0.03490984 0.99818148 -0.90948821] [ 0. 0. 0. 1. ]] SLAMing on 34.406296757 meters Centerline goodness : 0.833718 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.57, Z:-0.91 [[ 0.99335358 0.10216602 -0.05301667 3.94511993] [-0.10377004 0.99419483 -0.02843281 -0.57132908] [ 0.04980403 0.03374538 0.99818876 -0.90894003] [ 0. 0. 0. 1. ]] SLAMing on 34.436296757 meters Centerline goodness : 0.832994 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.57, Z:-0.91 [[ 0.99314187 0.10366146 -0.05406972 3.94701213] [-0.10531783 0.9940234 -0.02873391 -0.57204733] [ 0.05076797 0.03423135 0.99812365 -0.9080835 ] [ 0. 0. 0. 1. ]] SLAMing on 34.466296757 meters Centerline goodness : 0.834826 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.57, Z:-0.91 [[ 0.99295018 0.10509624 -0.05481535 3.94762583] [-0.10679011 0.99386037 -0.02893841 -0.57286092] [ 0.05143749 0.03458814 0.99807707 -0.90650003] [ 0. 0. 0. 1. ]] SLAMing on 34.496296757 meters Centerline goodness : 0.833345 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.57, Z:-0.91 [[ 0.99281527 0.10598303 -0.05554662 3.9488271 ] [-0.10772972 0.99374401 -0.0294474 -0.57311309] [ 0.0520782 0.03521985 0.99802176 -0.90575246] [ 0. 0. 0. 1. ]] SLAMing on 34.526296757 meters Centerline goodness : 0.834679 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.57, Z:-0.91 [[ 0.99275542 0.10642973 -0.05576194 3.94925902] [-0.10817454 0.99370127 -0.02925832 -0.57319933] [ 0.05229676 0.03507838 0.99801531 -0.90556134] [ 0. 0. 0. 1. ]] SLAMing on 34.556296757 meters Centerline goodness : 0.834676 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.57, Z:-0.90 [[ 0.99281586 0.10598603 -0.05553048 3.94775835] [-0.10774844 0.99373267 -0.02975984 -0.57363809] [ 0.05202832 0.03552936 0.99801339 -0.90391392] [ 0. 0. 0. 1. ]] SLAMing on 34.586296757 meters Centerline goodness : 0.836547 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.57, Z:-0.90 [[ 0.99283254 0.10576935 -0.05564522 3.9476653 ] [-0.10754258 0.99375099 -0.02989247 -0.57452553] [ 0.05213578 0.03566245 0.99800303 -0.90357445] [ 0. 0. 0. 1. ]] SLAMing on 34.616296757 meters Centerline goodness : 0.835438 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.58, Z:-0.90 [[ 0.99282231 0.1057193 -0.05592218 3.94729946] [-0.10749794 0.99375837 -0.02980765 -0.57612956] [ 0.05242189 0.03560522 0.99799009 -0.90256916] [ 0. 0. 0. 1. ]] SLAMing on 34.646296757 meters Centerline goodness : 0.834287 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.58, Z:-0.90 [[ 0.99294066 0.10408456 -0.05687926 3.94879386] [-0.10599975 0.99385904 -0.03175305 -0.5785527 ] [ 0.05322496 0.03755808 0.99787599 -0.90276764] [ 0. 0. 0. 1. ]] SLAMing on 34.676296757 meters Centerline goodness : 0.832454 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.58, Z:-0.90 [[ 0.99294386 0.10411317 -0.05677087 3.94933294] [-0.1059642 0.99389823 -0.03062495 -0.57916276] [ 0.053236 0.03642454 0.99791742 -0.90398573] [ 0. 0. 0. 1. ]] SLAMing on 34.706296757 meters Centerline goodness : 0.832786 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.58, Z:-0.91 [[ 0.9928737 0.10548717 -0.05544604 3.94885807] [-0.10700438 0.99394069 -0.02513881 -0.58104426] [ 0.05245825 0.03089263 0.99814517 -0.90695058] [ 0. 0. 0. 1. ]] SLAMing on 34.736296757 meters Centerline goodness : 0.830034 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.58, Z:-0.91 [[ 0.99284413 0.10519695 -0.05651667 3.95149488] [-0.10677704 0.99395085 -0.02569775 -0.58284424] [ 0.05347147 0.03154854 0.99807089 -0.90794483] [ 0. 0. 0. 1. ]] SLAMing on 34.766296757 meters Centerline goodness : 0.830294 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.59, Z:-0.91 [[ 0.99283166 0.10508544 -0.05694153 3.95123457] [-0.10669371 0.99395264 -0.02597303 -0.585153 ] [ 0.0538678 0.03186215 0.99803961 -0.90671517] [ 0. 0. 0. 1. ]] SLAMing on 34.796296757 meters Centerline goodness : 0.827581 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.59, Z:-0.91 [[ 0.99327874 0.10555257 -0.04749746 3.95670647] [-0.10698776 0.99384441 -0.02875588 -0.59210139] [ 0.04416983 0.03364425 0.99845736 -0.90788735] [ 0. 0. 0. 1. ]] SLAMing on 34.826296757 meters Centerline goodness : 0.835918 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.59, Z:-0.91 [[ 0.99353478 0.10273849 -0.04830583 3.95765336] [-0.10434068 0.99402988 -0.03190027 -0.59196117] [ 0.04474005 0.03673429 0.99832305 -0.90767909] [ 0. 0. 0. 1. ]] SLAMing on 34.856296757 meters Centerline goodness : 0.837547 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.59, Z:-0.91 [[ 0.99338715 0.10389805 -0.04885855 3.95942998] [-0.10549678 0.99392499 -0.03136145 -0.59144882] [ 0.04530334 0.03630849 0.99831323 -0.90818039] [ 0. 0. 0. 1. ]] SLAMing on 34.886296757 meters Centerline goodness : 0.829963 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.59, Z:-0.91 [[ 0.99316653 0.10555033 -0.04979326 3.96229393] [-0.10715992 0.99376339 -0.03083943 -0.5912606 ] [ 0.04622761 0.03596453 0.99828331 -0.90908984] [ 0. 0. 0. 1. ]] SLAMing on 34.916296757 meters Centerline goodness : 0.827265 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.59, Z:-0.91 [[ 0.99241519 0.11169473 -0.05134567 3.96532056] [-0.1131987 0.99319526 -0.02737209 -0.59464634] [ 0.04793895 0.03297674 0.99830576 -0.90779353] [ 0. 0. 0. 1. ]] SLAMing on 34.946296757 meters Centerline goodness : 0.824207 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.60, Z:-0.91 [[ 0.99211464 0.11347884 -0.05320797 3.96924421] [-0.11508635 0.9929557 -0.02817987 -0.59559731] [ 0.04963534 0.03408118 0.99818576 -0.90763285] [ 0. 0. 0. 1. ]] SLAMing on 34.976296757 meters Centerline goodness : 0.825448 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.60, Z:-0.91 [[ 0.99182309 0.11552528 -0.05422969 3.97117302] [-0.11716613 0.99271439 -0.02811132 -0.59619717] [ 0.05058703 0.03423534 0.9981327 -0.90694094] [ 0. 0. 0. 1. ]] SLAMing on 35.006296757 meters Centerline goodness : 0.823566 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.60, Z:-0.91 [[ 0.99124295 0.12015068 -0.05478338 3.97296623] [-0.12166099 0.99225405 -0.02510972 -0.59609735] [ 0.05134208 0.03155483 0.99818249 -0.90620894] [ 0. 0. 0. 1. ]] SLAMing on 35.036296757 meters Centerline goodness : 0.823487 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.60, Z:-0.91 [[ 0.99088924 0.12326439 -0.05426243 3.9723868 ] [-0.12458729 0.99197134 -0.02169941 -0.59549943] [ 0.05115201 0.02826212 0.9982909 -0.9056149 ] [ 0. 0. 0. 1. ]] SLAMing on 35.066296757 meters Centerline goodness : 0.823487 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.60, Z:-0.91 [[ 0.99088924 0.12326439 -0.05426243 3.9723868 ] [-0.12458729 0.99197134 -0.02169941 -0.59549943] [ 0.05115201 0.02826212 0.9982909 -0.9056149 ] [ 0. 0. 0. 1. ]] SLAMing on 35.096296757 meters Centerline goodness : 0.824426 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.59, Z:-0.90 [[ 0.99056354 0.12522488 -0.05570104 3.9751985 ] [-0.12663724 0.99169207 -0.0225797 -0.59422076] [ 0.05241074 0.02942045 0.99819214 -0.90468633] [ 0. 0. 0. 1. ]] SLAMing on 35.126296757 meters Centerline goodness : 0.824570 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.59, Z:-0.90 [[ 0.99064465 0.1236732 -0.05768988 3.97802985] [-0.12538517 0.99173928 -0.02705119 -0.59378293] [ 0.05386781 0.03403157 0.99796799 -0.90356342] [ 0. 0. 0. 1. ]] SLAMing on 35.156296757 meters Centerline goodness : 0.824832 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.59, Z:-0.90 [[ 0.99066923 0.1234208 -0.05780818 3.97670146] [-0.12516594 0.99175198 -0.02759517 -0.59465315] [ 0.05392556 0.0345733 0.99794625 -0.90152062] [ 0. 0. 0. 1. ]] SLAMing on 35.186296757 meters Centerline goodness : 0.824789 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.59, Z:-0.90 [[ 0.9908828 0.12162836 -0.05794662 3.97753783] [-0.12341441 0.99195167 -0.02829781 -0.59411424] [ 0.05403843 0.03519126 0.99791855 -0.90256813] [ 0. 0. 0. 1. ]] SLAMing on 35.216296757 meters Centerline goodness : 0.824590 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.59, Z:-0.90 [[ 0.99088229 0.12168125 -0.05784429 3.97804809] [-0.12341731 0.99197542 -0.02743948 -0.59425043] [ 0.05404124 0.03432828 0.99794845 -0.90360221] [ 0. 0. 0. 1. ]] SLAMing on 35.246296757 meters Centerline goodness : 0.824946 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.60, Z:-0.90 [[ 0.9910132 0.12063707 -0.05778878 3.97820962] [-0.12232594 0.99213279 -0.02662497 -0.59605581] [ 0.05412219 0.03345477 0.99797373 -0.90452363] [ 0. 0. 0. 1. ]] SLAMing on 35.276296757 meters Centerline goodness : 0.824559 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.60, Z:-0.91 [[ 0.99110692 0.11955486 -0.05842698 3.97968864] [-0.12129752 0.99224242 -0.02723754 -0.59706284] [ 0.05471735 0.03408237 0.99792004 -0.90528738] [ 0. 0. 0. 1. ]] SLAMing on 35.306296757 meters Centerline goodness : 0.827584 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.60, Z:-0.91 [[ 0.99119036 0.11888892 -0.05837033 3.97931088] [-0.12062592 0.99232578 -0.02718348 -0.59698556] [ 0.05469057 0.03398497 0.99792483 -0.90511207] [ 0. 0. 0. 1. ]] SLAMing on 35.336296757 meters Centerline goodness : 0.825662 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.60, Z:-0.90 [[ 0.99123795 0.11859492 -0.05815986 3.97847043] [-0.12028606 0.99238601 -0.02648167 -0.59819994] [ 0.05457644 0.03324545 0.99795599 -0.90474258] [ 0. 0. 0. 1. ]] SLAMing on 35.366296757 meters Centerline goodness : 0.826626 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.60, Z:-0.90 [[ 0.99111449 0.11943715 -0.05853915 3.97928655] [-0.12111876 0.99229587 -0.02606068 -0.59881848] [ 0.05497554 0.0329193 0.99794489 -0.90468476] [ 0. 0. 0. 1. ]] SLAMing on 35.396296757 meters Centerline goodness : 0.828396 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.60, Z:-0.91 [[ 0.99096689 0.12016004 -0.05954987 3.9820283 ] [-0.12188937 0.99219521 -0.02629907 -0.59922731] [ 0.055925 0.03332 0.99787884 -0.90541324] [ 0. 0. 0. 1. ]] SLAMing on 35.426296757 meters Centerline goodness : 0.825330 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.60, Z:-0.90 [[ 0.9910082 0.11970074 -0.0597869 3.98194938] [-0.12148437 0.9922224 -0.02713392 -0.59857099] [ 0.05607395 0.03415311 0.99784231 -0.90460405] [ 0. 0. 0. 1. ]] SLAMing on 35.456296757 meters Centerline goodness : 0.827147 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.60, Z:-0.90 [[ 0.99110805 0.11915196 -0.05922542 3.97970566] [-0.1209868 0.9922474 -0.02841289 -0.59598617] [ 0.05538082 0.03532573 0.9978402 -0.90260073] [ 0. 0. 0. 1. ]] SLAMing on 35.486296757 meters Centerline goodness : 0.826806 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.59, Z:-0.90 [[ 0.99107931 0.11928169 -0.05944476 3.98086906] [-0.12113577 0.99222339 -0.02861604 -0.59476465] [ 0.05556911 0.03556165 0.99782135 -0.90328703] [ 0. 0. 0. 1. ]] SLAMing on 35.516296757 meters Centerline goodness : 0.828392 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.59, Z:-0.90 [[ 0.99094486 0.11995789 -0.06031908 3.98327561] [-0.12186907 0.99212071 -0.02905913 -0.59389532] [ 0.05635794 0.03614703 0.99775607 -0.90373156] [ 0. 0. 0. 1. ]] SLAMing on 35.546296757 meters Centerline goodness : 0.824466 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.59, Z:-0.90 [[ 0.99047906 0.12403303 -0.05972472 3.98313186] [-0.1257076 0.9917489 -0.02513398 -0.59404656] [ 0.05611448 0.03240253 0.99789841 -0.90367653] [ 0. 0. 0. 1. ]] SLAMing on 35.576296757 meters Centerline goodness : 0.829878 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.59, Z:-0.90 [[ 0.99026542 0.12504332 -0.06114374 3.9866106 ] [-0.1268187 0.99158359 -0.02605774 -0.59396391] [ 0.05737078 0.03355825 0.99778877 -0.90409237] [ 0. 0. 0. 1. ]] SLAMing on 35.606296757 meters Centerline goodness : 0.825445 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.59, Z:-0.90 [[ 0.98992151 0.12730256 -0.06204411 3.98759547] [-0.12913134 0.99127604 -0.02639922 -0.59401285] [ 0.05814215 0.03414499 0.99772422 -0.90219264] [ 0. 0. 0. 1. ]] SLAMing on 35.636296757 meters Centerline goodness : 0.824969 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.59, Z:-0.90 [[ 0.98974611 0.12846915 -0.0624365 3.98879584] [-0.13029953 0.99112925 -0.0261693 -0.59340828] [ 0.0585207 0.03403641 0.99770579 -0.90223279] [ 0. 0. 0. 1. ]] SLAMing on 35.666296757 meters Centerline goodness : 0.822919 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.59, Z:-0.90 [[ 0.98931076 0.13199129 -0.06198806 3.98968146] [-0.13358745 0.99078533 -0.02233451 -0.59202219] [ 0.0584689 0.0303766 0.99782696 -0.90315007] [ 0. 0. 0. 1. ]] SLAMing on 35.696296757 meters Centerline goodness : 0.825752 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.59, Z:-0.90 [[ 0.9891818 0.13251422 -0.0629234 3.99198776] [-0.13417721 0.99069124 -0.022964 -0.59154762] [ 0.0592946 0.03115846 0.99775413 -0.90349426] [ 0. 0. 0. 1. ]] SLAMing on 35.726296757 meters Centerline goodness : 0.825014 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.59, Z:-0.90 [[ 0.98913147 0.13278177 -0.06315012 3.99196044] [-0.1344491 0.99065561 -0.0229109 -0.59208053] [ 0.05951787 0.03115237 0.99774102 -0.90274084] [ 0. 0. 0. 1. ]] SLAMing on 35.756296757 meters Centerline goodness : 0.823408 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.59, Z:-0.90 [[ 0.98922897 0.13121394 -0.06487647 3.99453477] [-0.13314747 0.99074409 -0.02641788 -0.59243174] [ 0.06080958 0.03477147 0.99754355 -0.90225609] [ 0. 0. 0. 1. ]] SLAMing on 35.786296757 meters Centerline goodness : 0.822119 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.98945316 0.12851721 -0.06682638 3.99566118] [-0.13073745 0.990964 -0.02996795 -0.59670956] [ 0.06237114 0.03838859 0.99731447 -0.90016687] [ 0. 0. 0. 1. ]] SLAMing on 35.816296757 meters Centerline goodness : 0.819858 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.98977382 0.12624651 -0.06640482 3.99558852] [-0.12837744 0.99130567 -0.02884952 -0.59938523] [ 0.06218532 0.03707938 0.99737561 -0.90224816] [ 0. 0. 0. 1. ]] SLAMing on 35.846296757 meters Centerline goodness : 0.815300 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.98988379 0.12522033 -0.06670803 3.99775962] [-0.12732629 0.99145716 -0.02829707 -0.59959118] [ 0.06259478 0.0365045 0.9973712 -0.90476085] [ 0. 0. 0. 1. ]] SLAMing on 35.876296757 meters Centerline goodness : 0.816218 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.91 [[ 0.99001107 0.12453928 -0.06609125 3.99760207] [-0.12654942 0.99158903 -0.0271374 -0.59927367] [ 0.06215569 0.03523014 0.99744449 -0.90626214] [ 0. 0. 0. 1. ]] SLAMing on 35.906296757 meters Centerline goodness : 0.816834 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.91 [[ 0.9901427 0.12369319 -0.06570709 3.99718817] [-0.12566288 0.99171296 -0.02672537 -0.59916816] [ 0.06185683 0.03471887 0.99748099 -0.90688274] [ 0. 0. 0. 1. ]] SLAMing on 35.936296757 meters Centerline goodness : 0.810778 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.91 [[ 0.99044325 0.12022407 -0.06758958 3.9992392 ] [-0.12257521 0.99195053 -0.03177214 -0.59911906] [ 0.06322575 0.03975331 0.99720719 -0.90544871] [ 0. 0. 0. 1. ]] SLAMing on 35.966296757 meters Centerline goodness : 0.807701 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.990614 0.11804269 -0.068919 4.00008687] [-0.12072611 0.99202742 -0.03614962 -0.5993637 ] [ 0.06410234 0.04413064 0.99696709 -0.90373228] [ 0. 0. 0. 1. ]] SLAMing on 35.996296757 meters Centerline goodness : 0.808531 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.99091541 0.114948 -0.0698112 3.99911828] [-0.11797537 0.99217392 -0.04089895 -0.59943091] [ 0.0645636 0.0487634 0.99672146 -0.9007319 ] [ 0. 0. 0. 1. ]] SLAMing on 36.026296757 meters Centerline goodness : 0.808853 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.99093706 0.11481797 -0.06971788 3.99924086] [-0.11782628 0.99220074 -0.0406776 -0.59918539] [ 0.06450361 0.04852354 0.99673705 -0.90100582] [ 0. 0. 0. 1. ]] SLAMing on 36.056296757 meters Centerline goodness : 0.806531 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.99090613 0.11596814 -0.06823811 3.99913382] [-0.11862924 0.99227422 -0.03631763 -0.59836734] [ 0.06349923 0.04408239 0.99700782 -0.90392748] [ 0. 0. 0. 1. ]] SLAMing on 36.086296757 meters Centerline goodness : 0.803328 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.99071796 0.11822276 -0.06709172 3.99813496] [-0.12057686 0.99218222 -0.03218181 -0.59883536] [ 0.06276259 0.03997281 0.99722767 -0.90485672] [ 0. 0. 0. 1. ]] SLAMing on 36.116296757 meters Centerline goodness : 0.802359 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.99050862 0.11964579 -0.06765761 3.99916313] [-0.12202933 0.99200229 -0.03225359 -0.59925945] [ 0.0632575 0.04020367 0.99718712 -0.90414075] [ 0. 0. 0. 1. ]] SLAMing on 36.146296757 meters Centerline goodness : 0.806395 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.99038373 0.12026329 -0.06838717 3.99922959] [-0.12274292 0.99188041 -0.03327807 -0.59952924] [ 0.06382976 0.0413521 0.99710369 -0.90206567] [ 0. 0. 0. 1. ]] SLAMing on 36.176296757 meters Centerline goodness : 0.802471 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.99026953 0.12091105 -0.06889681 3.99903994] [-0.12345757 0.9917682 -0.03397163 -0.5995916 ] [ 0.06422212 0.0421469 0.99704521 -0.90022849] [ 0. 0. 0. 1. ]] SLAMing on 36.206296757 meters Centerline goodness : 0.800080 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.98994212 0.12408386 -0.06795438 3.99749607] [-0.12640151 0.99149704 -0.03092374 -0.59857687] [ 0.06353943 0.03920225 0.99720907 -0.89917597] [ 0. 0. 0. 1. ]] SLAMing on 36.236296757 meters Centerline goodness : 0.801472 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.9896717 0.12608484 -0.06820949 3.99978552] [-0.12827456 0.99132277 -0.02871932 -0.59803744] [ 0.06399655 0.03717224 0.99725757 -0.90069573] [ 0. 0. 0. 1. ]] SLAMing on 36.266296757 meters Centerline goodness : 0.800790 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.98905424 0.13142129 -0.06708317 4.00076278] [-0.13314151 0.99085656 -0.02183152 -0.59786184] [ 0.06360067 0.03052411 0.99750851 -0.90296684] [ 0. 0. 0. 1. ]] SLAMing on 36.296296757 meters Centerline goodness : 0.801901 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.60, Z:-0.90 [[ 0.98882803 0.13243843 -0.06840464 4.00385233] [-0.13423645 0.99069673 -0.0223734 -0.59813241] [ 0.06480516 0.03130584 0.99740676 -0.90324485] [ 0. 0. 0. 1. ]] SLAMing on 36.326296757 meters Centerline goodness : 0.800448 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.60, Z:-0.90 [[ 0.98860268 0.13350256 -0.06958305 4.00505332] [-0.13537918 0.99052759 -0.02296898 -0.59976446] [ 0.06585751 0.03212729 0.9973117 -0.9015859 ] [ 0. 0. 0. 1. ]] SLAMing on 36.356296757 meters Centerline goodness : 0.802693 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.60, Z:-0.90 [[ 0.98866383 0.13165796 -0.07218049 4.00786699] [-0.13390271 0.99062181 -0.02717532 -0.60171145] [ 0.06792572 0.03653242 0.9970213 -0.89923517] [ 0. 0. 0. 1. ]] SLAMing on 36.386296757 meters Centerline goodness : 0.805927 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.60, Z:-0.90 [[ 0.98878353 0.13083974 -0.07202845 4.00759995] [-0.13307682 0.99073329 -0.02716813 -0.60146593] [ 0.06780631 0.03644872 0.99703249 -0.89938744] [ 0. 0. 0. 1. ]] SLAMing on 36.416296757 meters Centerline goodness : 0.807470 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.60, Z:-0.90 [[ 0.98927478 0.12844838 -0.06954436 4.0050808 ] [-0.13044897 0.99113941 -0.0250146 -0.59889077] [ 0.06571507 0.0338183 0.99726519 -0.90245728] [ 0. 0. 0. 1. ]] SLAMing on 36.446296757 meters Centerline goodness : 0.809469 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.60, Z:-0.90 [[ 0.9892511 0.12833753 -0.07008379 4.00649149] [-0.13037371 0.99114265 -0.02527732 -0.59854128] [ 0.066219 0.0341427 0.9972208 -0.90283365] [ 0. 0. 0. 1. ]] SLAMing on 36.476296757 meters Centerline goodness : 0.805922 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.60, Z:-0.90 [[ 0.98913885 0.12889804 -0.07063737 4.00721039] [-0.13095913 0.99106363 -0.02534922 -0.59946552] [ 0.06673866 0.03432451 0.99717991 -0.90222756] [ 0. 0. 0. 1. ]] SLAMing on 36.506296757 meters Centerline goodness : 0.806868 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.60, Z:-0.90 [[ 0.98890106 0.12998587 -0.07196092 4.00817316] [-0.1321357 0.99089198 -0.02594701 -0.60208342] [ 0.06793275 0.03516763 0.9970699 -0.89991527] [ 0. 0. 0. 1. ]] SLAMing on 36.536296757 meters Centerline goodness : 0.806872 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.60, Z:-0.90 [[ 0.98885346 0.13018372 -0.07225677 4.00852774] [-0.1323698 0.99085094 -0.02631823 -0.6017707 ] [ 0.06816948 0.03558949 0.99703877 -0.89933316] [ 0. 0. 0. 1. ]] SLAMing on 36.566296757 meters Centerline goodness : 0.805534 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.60, Z:-0.90 [[ 0.98896454 0.12970133 -0.07160106 4.00808901] [-0.13184955 0.99092557 -0.02611923 -0.59927105] [ 0.06756362 0.03527156 0.99709131 -0.8998699 ] [ 0. 0. 0. 1. ]] SLAMing on 36.596296757 meters Centerline goodness : 0.803610 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.60, Z:-0.90 [[ 0.98896517 0.13034951 -0.07040524 4.00669677] [-0.13231013 0.99091966 -0.02392183 -0.59742749] [ 0.06664774 0.03297318 0.99723159 -0.90041281] [ 0. 0. 0. 1. ]] SLAMing on 36.626296757 meters Centerline goodness : 0.804082 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.60, Z:-0.90 [[ 0.98893421 0.13056295 -0.07044466 4.00763457] [-0.13252555 0.99089079 -0.02392539 -0.59522561] [ 0.06667919 0.03299635 0.99722872 -0.90103541] [ 0. 0. 0. 1. ]] SLAMing on 36.656296757 meters Centerline goodness : 0.802627 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.59, Z:-0.90 [[ 0.98899522 0.13016688 -0.0703209 4.00666054] [-0.13219953 0.99090656 -0.02504936 -0.59322746] [ 0.06642085 0.03407009 0.99720986 -0.89943944] [ 0. 0. 0. 1. ]] SLAMing on 36.686296757 meters Centerline goodness : 0.803157 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.59, Z:-0.90 [[ 0.98893676 0.13008271 -0.07129215 4.00729249] [-0.13225758 0.99085663 -0.02666592 -0.59364404] [ 0.06717152 0.03579984 0.99709897 -0.89769917] [ 0. 0. 0. 1. ]] SLAMing on 36.716296757 meters Centerline goodness : 0.801368 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.59, Z:-0.90 [[ 0.98869922 0.13117232 -0.0725788 4.00872179] [-0.13349065 0.99065304 -0.02805004 -0.59372996] [ 0.06822102 0.03742165 0.99696816 -0.89563565] [ 0. 0. 0. 1. ]] SLAMing on 36.746296757 meters Centerline goodness : 0.802797 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.59, Z:-0.90 [[ 0.98856692 0.13180854 -0.07322534 4.01122263] [-0.13416027 0.99055938 -0.02816265 -0.59287076] [ 0.06882197 0.0376646 0.99691771 -0.89682437] [ 0. 0. 0. 1. ]] SLAMing on 36.776296757 meters Centerline goodness : 0.803085 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.59, Z:-0.90 [[ 0.98826316 0.13454235 -0.07234832 4.01055672] [-0.13662947 0.99031436 -0.02469512 -0.59233026] [ 0.06832504 0.03429019 0.99707365 -0.89710709] [ 0. 0. 0. 1. ]] SLAMing on 36.806296757 meters Centerline goodness : 0.805121 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.59, Z:-0.90 [[ 0.9876492 0.13869776 -0.07288332 4.01334658] [-0.14068064 0.98979267 -0.0227911 -0.58978714] [ 0.0689783 0.03276289 0.99708003 -0.89739487] [ 0. 0. 0. 1. ]] SLAMing on 36.836296757 meters Centerline goodness : 0.806264 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.59, Z:-0.90 [[ 0.9874055 0.13990058 -0.07387964 4.01587357] [-0.14199115 0.98958127 -0.02382052 -0.58828542] [ 0.0697774 0.03401077 0.99698264 -0.89741059] [ 0. 0. 0. 1. ]] SLAMing on 36.866296757 meters Centerline goodness : 0.806435 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.59, Z:-0.89 [[ 0.98661389 0.1450409 -0.07453965 4.01673672] [-0.14703861 0.98888558 -0.02202155 -0.58751908] [ 0.07051716 0.03268697 0.99697487 -0.89463023] [ 0. 0. 0. 1. ]] SLAMing on 36.896296757 meters Centerline goodness : 0.810287 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.59, Z:-0.89 [[ 0.98623336 0.14706041 -0.07561083 4.01901192] [-0.14910762 0.9885728 -0.02215275 -0.58725303] [ 0.07148902 0.03312193 0.9968913 -0.89409278] [ 0. 0. 0. 1. ]] SLAMing on 36.926296757 meters Centerline goodness : 0.811973 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.59, Z:-0.89 [[ 0.98586665 0.14884418 -0.0768919 4.02202001] [-0.1509683 0.98828113 -0.02256057 -0.58693553] [ 0.0726328 0.03384995 0.99678416 -0.89393851] [ 0. 0. 0. 1. ]] SLAMing on 36.956296757 meters Centerline goodness : 0.811973 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.59, Z:-0.89 [[ 0.98586665 0.14884418 -0.0768919 4.02202001] [-0.1509683 0.98828113 -0.02256057 -0.58693553] [ 0.0726328 0.03384995 0.99678416 -0.89393851] [ 0. 0. 0. 1. ]] SLAMing on 36.986296757 meters Centerline goodness : 0.811113 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.59, Z:-0.89 [[ 0.98529981 0.15248354 -0.07702637 4.02317378] [-0.15443444 0.98780049 -0.02000498 -0.5861017 ] [ 0.07303625 0.03160643 0.99682834 -0.89341482] [ 0. 0. 0. 1. ]] SLAMing on 37.016296757 meters Centerline goodness : 0.814365 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.59, Z:-0.89 [[ 0.98510874 0.15352811 -0.07739442 4.02402474] [-0.15548528 0.98763785 -0.0198947 -0.58567553] [ 0.07338327 0.03163214 0.99680204 -0.89308338] [ 0. 0. 0. 1. ]] SLAMing on 37.046296757 meters Centerline goodness : 0.816049 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.59, Z:-0.89 [[ 0.9847407 0.15632716 -0.07646943 4.02337184] [-0.15799724 0.98730562 -0.01626312 -0.58513352] [ 0.07295633 0.02809691 0.99693928 -0.89309972] [ 0. 0. 0. 1. ]] SLAMing on 37.076296757 meters Centerline goodness : 0.816423 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.58, Z:-0.89 [[ 0.98475113 0.15615501 -0.07668648 4.02460407] [-0.157861 0.98732054 -0.01667496 -0.58360695] [ 0.07311026 0.02852649 0.99691581 -0.89381292] [ 0. 0. 0. 1. ]] SLAMing on 37.106296757 meters Centerline goodness : 0.815115 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.58, Z:-0.89 [[ 0.98492226 0.15507554 -0.07667935 4.02357553] [-0.15687431 0.98745485 -0.01798275 -0.58181907] [ 0.07292871 0.02974063 0.99689362 -0.89213793] [ 0. 0. 0. 1. ]] SLAMing on 37.136296757 meters Centerline goodness : 0.815246 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.58, Z:-0.89 [[ 0.98519929 0.1526728 -0.07793182 4.02467458] [-0.15481081 0.98769609 -0.02213696 -0.58090288] [ 0.07359324 0.03387401 0.99671289 -0.89100768] [ 0. 0. 0. 1. ]] SLAMing on 37.166296757 meters Centerline goodness : 0.814415 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.58, Z:-0.89 [[ 0.98555306 0.14967024 -0.07927165 4.02611761] [-0.15216348 0.98800347 -0.02637093 -0.5804133 ] [ 0.07437372 0.0380522 0.99650418 -0.89040138] [ 0. 0. 0. 1. ]] SLAMing on 37.196296757 meters Centerline goodness : 0.816117 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.58, Z:-0.89 [[ 0.9862624 0.14472873 -0.07962462 4.02562081] [-0.14745498 0.98862977 -0.02946541 -0.58145592] [ 0.07445477 0.04080167 0.99638934 -0.89063328] [ 0. 0. 0. 1. ]] SLAMing on 37.226296757 meters Centerline goodness : 0.816732 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.58, Z:-0.89 [[ 0.98654093 0.14296687 -0.07935663 4.02536868] [-0.14566376 0.98890092 -0.02927526 -0.58212442] [ 0.07429045 0.04044062 0.99641632 -0.89174505] [ 0. 0. 0. 1. ]] SLAMing on 37.256296757 meters Centerline goodness : 0.819625 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.58, Z:-0.89 [[ 0.98704569 0.14004245 -0.07828739 4.02442363] [-0.1425603 0.98940325 -0.0275277 -0.5843193 ] [ 0.07360275 0.03833178 0.99655071 -0.89456494] [ 0. 0. 0. 1. ]] SLAMing on 37.286296757 meters Centerline goodness : 0.819050 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.58, Z:-0.90 [[ 0.98718784 0.13935743 -0.07771535 4.0241112 ] [-0.14174279 0.98956083 -0.02604515 -0.58492728] [ 0.07327448 0.03672705 0.99663533 -0.89599654] [ 0. 0. 0. 1. ]] SLAMing on 37.316296757 meters Centerline goodness : 0.819646 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.58, Z:-0.90 [[ 0.98728107 0.13883029 -0.07747414 4.02414512] [-0.14114913 0.9896656 -0.02527692 -0.58498136] [ 0.07316429 0.03589084 0.99667389 -0.89691765] [ 0. 0. 0. 1. ]] SLAMing on 37.346296757 meters Centerline goodness : 0.817050 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.59, Z:-0.90 [[ 0.98765035 0.13640382 -0.07707651 4.02233182] [-0.1387125 0.99000657 -0.02541333 -0.58741336] [ 0.07283978 0.03579096 0.99670125 -0.89640361] [ 0. 0. 0. 1. ]] SLAMing on 37.376296757 meters Centerline goodness : 0.816297 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.59, Z:-0.90 [[ 0.98778791 0.13434429 -0.0789092 4.02408764] [-0.1369956 0.99014173 -0.02918168 -0.58929046] [ 0.0742109 0.03963552 0.9964546 -0.89509244] [ 0. 0. 0. 1. ]] SLAMing on 37.406296757 meters Centerline goodness : 0.816393 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.59, Z:-0.89 [[ 0.98781311 0.13291037 -0.08099437 4.02620855] [-0.13593715 0.99016591 -0.03305387 -0.59177113] [ 0.07580466 0.04366119 0.99616633 -0.89328739] [ 0. 0. 0. 1. ]] SLAMing on 37.436296757 meters Centerline goodness : 0.816774 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.59, Z:-0.89 [[ 0.98761314 0.13406736 -0.08152436 4.02691922] [-0.1371053 0.99001133 -0.0328588 -0.59228639] [ 0.07630474 0.0436292 0.99612955 -0.89248959] [ 0. 0. 0. 1. ]] SLAMing on 37.466296757 meters Centerline goodness : 0.817850 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.59, Z:-0.89 [[ 0.98736312 0.13551607 -0.08215512 4.02841455] [-0.13855849 0.98982047 -0.03251116 -0.59272276] [ 0.07691303 0.04348361 0.99608913 -0.89239506] [ 0. 0. 0. 1. ]] SLAMing on 37.496296757 meters Centerline goodness : 0.815627 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.59, Z:-0.89 [[ 0.98671115 0.13959237 -0.08315693 4.03261968] [-0.1424373 0.98937027 -0.02929322 -0.59433892] [ 0.07818388 0.04074859 0.99610583 -0.89444119] [ 0. 0. 0. 1. ]] SLAMing on 37.526296757 meters Centerline goodness : 0.817663 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.60, Z:-0.89 [[ 0.9864341 0.14124252 -0.08365598 4.03406831] [-0.14402891 0.98917057 -0.02823576 -0.59543331] [ 0.07876194 0.0399016 0.99609458 -0.89474607] [ 0. 0. 0. 1. ]] SLAMing on 37.556296757 meters Centerline goodness : 0.813509 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.60, Z:-0.90 [[ 0.98622602 0.14192556 -0.08494333 4.03677264] [-0.14481054 0.98904036 -0.02879353 -0.59701576] [ 0.07992585 0.04069762 0.99596966 -0.89507548] [ 0. 0. 0. 1. ]] SLAMing on 37.586296757 meters Centerline goodness : 0.813250 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.60, Z:-0.89 [[ 0.98598144 0.1419316 -0.08772692 4.03972062] [-0.14526913 0.98884578 -0.03287704 -0.60100096] [ 0.08208211 0.04516016 0.99560187 -0.89267292] [ 0. 0. 0. 1. ]] SLAMing on 37.616296757 meters Centerline goodness : 0.813130 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.61, Z:-0.90 [[ 0.98621788 0.14775554 -0.07444866 4.03867789] [-0.15039239 0.98813638 -0.03112277 -0.60645246] [ 0.06896687 0.04189034 0.99673907 -0.89569736] [ 0. 0. 0. 1. ]] SLAMing on 37.646296757 meters Centerline goodness : 0.812663 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.61, Z:-0.90 [[ 0.98589894 0.14879571 -0.07657099 4.04298628] [-0.15156022 0.98794199 -0.03162462 -0.60971392] [ 0.07094209 0.0427838 0.99656248 -0.89640527] [ 0. 0. 0. 1. ]] SLAMing on 37.676296757 meters Centerline goodness : 0.808880 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.61, Z:-0.90 [[ 0.98571608 0.14979937 -0.07696729 4.04423001] [-0.15251311 0.98782613 -0.03064788 -0.61076292] [ 0.07143927 0.04194863 0.99656246 -0.89688498] [ 0. 0. 0. 1. ]] SLAMing on 37.706296757 meters Centerline goodness : 0.809570 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.61, Z:-0.90 [[ 0.98536448 0.15126254 -0.07859064 4.04857984] [-0.15396507 0.98763542 -0.02951331 -0.61451387] [ 0.07315465 0.04118158 0.99647001 -0.89882224] [ 0. 0. 0. 1. ]] SLAMing on 37.736296757 meters Centerline goodness : 0.806830 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.62, Z:-0.90 [[ 0.98526836 0.15139 -0.07954454 4.05016487] [-0.15413721 0.98760664 -0.02957767 -0.61639731] [ 0.07408095 0.04140272 0.99639241 -0.89876742] [ 0. 0. 0. 1. ]] SLAMing on 37.766296757 meters Centerline goodness : 0.806648 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.62, Z:-0.90 [[ 0.98526124 0.1509897 -0.0803891 4.05044641] [-0.15379983 0.98764775 -0.029959 -0.61877436] [ 0.07487261 0.04188127 0.99631323 -0.89760459] [ 0. 0. 0. 1. ]] SLAMing on 37.796296757 meters Centerline goodness : 0.809348 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.62, Z:-0.89 [[ 0.98563602 0.14690742 -0.08330578 4.05119419] [-0.15031866 0.98797321 -0.03623867 -0.62373643] [ 0.07698015 0.04824055 0.9958649 -0.89401039] [ 0. 0. 0. 1. ]] SLAMing on 37.826296757 meters Centerline goodness : 0.812851 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.63, Z:-0.89 [[ 0.98567054 0.14632186 -0.08392558 4.05106691] [-0.14979763 0.98803537 -0.03669842 -0.62643788] [ 0.07755166 0.04874441 0.99579602 -0.89297884] [ 0. 0. 0. 1. ]] SLAMing on 37.856296757 meters Centerline goodness : 0.813484 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.63, Z:-0.89 [[ 0.98595585 0.14346032 -0.08549974 4.05322031] [-0.14724308 0.98830403 -0.03968157 -0.62888417] [ 0.07880701 0.05171352 0.99554767 -0.89335758] [ 0. 0. 0. 1. ]] SLAMing on 37.886296757 meters Centerline goodness : 0.809494 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.63, Z:-0.89 [[ 0.98586308 0.14414746 -0.0854137 4.05222851] [-0.14782873 0.98826587 -0.03843491 -0.63133643] [ 0.07887115 0.05051816 0.99560397 -0.89222378] [ 0. 0. 0. 1. ]] SLAMing on 37.916296757 meters Centerline goodness : 0.807672 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.63, Z:-0.89 [[ 0.98577191 0.14477081 -0.08541169 4.05178514] [-0.1483645 0.9882286 -0.03731229 -0.63383057] [ 0.07900454 0.04945347 0.99564684 -0.8916379 ] [ 0. 0. 0. 1. ]] SLAMing on 37.946296757 meters Centerline goodness : 0.807430 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.64, Z:-0.89 [[ 0.9856746 0.14514935 -0.08589095 4.05334635] [-0.14867831 0.98822313 -0.03619116 -0.63831872] [ 0.0796263 0.04844283 0.995647 -0.89260074] [ 0. 0. 0. 1. ]] SLAMing on 37.976296757 meters Centerline goodness : 0.805982 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.64, Z:-0.89 [[ 0.98559071 0.14571442 -0.08589679 4.05330893] [-0.14917438 0.98818036 -0.03530695 -0.64079532] [ 0.07973679 0.0476118 0.99567824 -0.89268492] [ 0. 0. 0. 1. ]] SLAMing on 38.006296757 meters Centerline goodness : 0.807027 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.64, Z:-0.89 [[ 0.98545968 0.14662232 -0.08585516 4.05294925] [-0.14997169 0.9881082 -0.03392154 -0.64483174] [ 0.07986053 0.04630415 0.99572999 -0.89258073] [ 0. 0. 0. 1. ]] SLAMing on 38.036296757 meters Centerline goodness : 0.807279 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.65, Z:-0.89 [[ 0.98500726 0.14985621 -0.08546235 4.05413352] [-0.15285939 0.98780112 -0.02971448 -0.64780434] [ 0.07996691 0.0423327 0.99589821 -0.89283839] [ 0. 0. 0. 1. ]] SLAMing on 38.066296757 meters Centerline goodness : 0.808658 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.65, Z:-0.89 [[ 0.98497642 0.15006113 -0.0854582 4.05418958] [-0.15304087 0.98778191 -0.0294176 -0.64817172] [ 0.07999963 0.04205424 0.99590738 -0.89284043] [ 0. 0. 0. 1. ]] SLAMing on 38.096296757 meters Centerline goodness : 0.808248 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.65, Z:-0.89 [[ 0.98486576 0.15083541 -0.08537046 4.05308175] [-0.15369998 0.9877207 -0.02800254 -0.65206115] [ 0.08009839 0.04070018 0.99595569 -0.89164091] [ 0. 0. 0. 1. ]] SLAMing on 38.126296757 meters Centerline goodness : 0.810060 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.65, Z:-0.89 [[ 0.98478984 0.1511924 -0.0856144 4.05323379] [-0.15401057 0.98769224 -0.0272908 -0.65446316] [ 0.08043452 0.04006123 0.99595451 -0.89136844] [ 0. 0. 0. 1. ]] SLAMing on 38.156296757 meters Centerline goodness : 0.809977 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98454245 0.15263028 -0.08590784 4.05581135] [-0.15534145 0.98752458 -0.02577289 -0.65726087] [ 0.08090238 0.03871956 0.99596968 -0.89346827] [ 0. 0. 0. 1. ]] SLAMing on 38.186296757 meters Centerline goodness : 0.810603 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98400789 0.15599429 -0.0859899 4.05816522] [-0.15840837 0.9871294 -0.02196233 -0.65878396] [ 0.08145716 0.03523263 0.99605391 -0.89428128] [ 0. 0. 0. 1. ]] SLAMing on 38.216296757 meters Centerline goodness : 0.810865 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98340785 0.15983499 -0.08580084 4.05971275] [-0.16191468 0.98664407 -0.01780772 -0.6598143 ] [ 0.08180859 0.03140467 0.99615315 -0.89460452] [ 0. 0. 0. 1. ]] SLAMing on 38.246296757 meters Centerline goodness : 0.810060 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98270585 0.16437608 -0.08526267 4.05967303] [-0.16609386 0.98601874 -0.01341161 -0.65954679] [ 0.08186604 0.02734127 0.99626824 -0.89380018] [ 0. 0. 0. 1. ]] SLAMing on 38.276296757 meters Centerline goodness : 0.810511 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.9824672 0.16614913 -0.08457339 4.05628314] [-0.16773639 0.98575919 -0.01197141 -0.66076056] [ 0.08137996 0.02594755 0.99634534 -0.89139057] [ 0. 0. 0. 1. ]] SLAMing on 38.306296757 meters Centerline goodness : 0.807970 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98237466 0.16670972 -0.08454526 4.05536214] [-0.16824931 0.98567885 -0.01137393 -0.66168681] [ 0.08143833 0.02539814 0.99635472 -0.89031341] [ 0. 0. 0. 1. ]] SLAMing on 38.336296757 meters Centerline goodness : 0.812222 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.66, Z:-0.89 [[ 0.98231566 0.1670183 -0.08462164 4.0548807 ] [-0.16852134 0.98563784 -0.01089075 -0.66255242] [ 0.08158733 0.02495871 0.99635364 -0.88941178] [ 0. 0. 0. 1. ]] SLAMing on 38.366296757 meters Centerline goodness : 0.813151 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.66, Z:-0.89 [[ 0.98230319 0.16704763 -0.08470854 4.05486595] [-0.16853378 0.98563827 -0.01065693 -0.66289431] [ 0.08171177 0.02474459 0.99634878 -0.88900382] [ 0. 0. 0. 1. ]] SLAMing on 38.396296757 meters Centerline goodness : 0.814562 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.9823752 0.1664855 -0.0849797 4.05598755] [-0.16801696 0.98572106 -0.01114887 -0.66092642] [ 0.08191016 0.02523041 0.99632031 -0.88922158] [ 0. 0. 0. 1. ]] SLAMing on 38.426296757 meters Centerline goodness : 0.809397 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98240815 0.16619561 -0.08516602 4.05674457] [-0.16775827 0.98576129 -0.01148213 -0.65937388] [ 0.08204509 0.02556744 0.99630061 -0.88936589] [ 0. 0. 0. 1. ]] SLAMing on 38.456296757 meters Centerline goodness : 0.805977 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98239237 0.16618069 -0.08537686 4.05638882] [-0.16771473 0.98577341 -0.01107056 -0.66071705] [ 0.08232252 0.0251946 0.99628722 -0.88814323] [ 0. 0. 0. 1. ]] SLAMing on 38.486296757 meters Centerline goodness : 0.810279 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98232569 0.16647656 -0.08556746 4.05587416] [-0.16796128 0.98573869 -0.01040453 -0.66251738] [ 0.08261504 0.02459266 0.99627805 -0.88697918] [ 0. 0. 0. 1. ]] SLAMing on 38.516296757 meters Centerline goodness : 0.813069 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98230952 0.16651847 -0.08567149 4.0558465 ] [-0.168 0.98573283 -0.01033343 -0.66251009] [ 0.0827285 0.02454344 0.99626985 -0.88659181] [ 0. 0. 0. 1. ]] SLAMing on 38.546296757 meters Centerline goodness : 0.807660 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.9818084 0.1695482 -0.08547325 4.05803729] [-0.17077804 0.98528296 -0.00723462 -0.65965867] [ 0.08298872 0.02169997 0.9963142 -0.88709949] [ 0. 0. 0. 1. ]] SLAMing on 38.576296757 meters Centerline goodness : 0.803869 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98138111 0.17198731 -0.08550716 4.0614604 ] [-0.17300237 0.9849109 -0.00455031 -0.65669992] [ 0.08343434 0.01925853 0.99632716 -0.88849368] [ 0. 0. 0. 1. ]] SLAMing on 38.606296757 meters Centerline goodness : 0.804083 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98139375 0.1718161 -0.0857061 4.06185062] [-0.17283427 0.98494042 -0.00454866 -0.65698052] [ 0.08363387 0.01927698 0.99631008 -0.88835703] [ 0. 0. 0. 1. ]] SLAMing on 38.636296757000004 meters Centerline goodness : 0.806537 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98136977 0.17181892 -0.08597464 4.06182988] [-0.17281182 0.98494596 -0.00418663 -0.65890427] [ 0.08396103 0.01896607 0.99628853 -0.88772044] [ 0. 0. 0. 1. ]] SLAMing on 38.666296757 meters Centerline goodness : 0.814734 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98191155 0.16840671 -0.0865383 4.06083801] [-0.16972603 0.98545826 -0.00806765 -0.65860145] [ 0.08392124 0.02260952 0.99621586 -0.88735892] [ 0. 0. 0. 1. ]] SLAMing on 38.696296757 meters Centerline goodness : 0.815126 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.66, Z:-0.89 [[ 0.98194373 0.16810461 -0.08676031 4.06221866] [-0.16948526 0.9854939 -0.00874733 -0.6565241 ] [ 0.08403129 0.02329398 0.99619081 -0.88840372] [ 0. 0. 0. 1. ]] SLAMing on 38.726296757 meters Centerline goodness : 0.809603 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.65, Z:-0.89 [[ 0.98136657 0.17158121 -0.08648438 4.06483539] [-0.1727351 0.98495014 -0.00598399 -0.65068742] [ 0.08415607 0.02081138 0.99623523 -0.88959027] [ 0. 0. 0. 1. ]] SLAMing on 38.756296757 meters Centerline goodness : 0.809800 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.65, Z:-0.89 [[ 0.98114843 0.1725751 -0.08698043 4.06684859] [-0.17375876 0.98476893 -0.00616847 -0.64811949] [ 0.0845911 0.02116579 0.99619092 -0.88997259] [ 0. 0. 0. 1. ]] SLAMing on 38.786296757 meters Centerline goodness : 0.807823 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.65, Z:-0.89 [[ 0.98086224 0.17377692 -0.08781147 4.0674579 ] [-0.17505969 0.98453247 -0.00706532 -0.64697172] [ 0.08522546 0.02230236 0.99611206 -0.8881234 ] [ 0. 0. 0. 1. ]] SLAMing on 38.816296757 meters Centerline goodness : 0.813053 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.65, Z:-0.88 [[ 0.98084199 0.17410026 -0.08739614 4.06209651] [-0.17540341 0.98446883 -0.00740022 -0.64812796] [ 0.0847504 0.02258803 0.99614615 -0.88429562] [ 0. 0. 0. 1. ]] SLAMing on 38.846296757 meters Centerline goodness : 0.813053 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.65, Z:-0.88 [[ 0.98084199 0.17410026 -0.08739614 4.06209651] [-0.17540341 0.98446883 -0.00740022 -0.64812796] [ 0.0847504 0.02258803 0.99614615 -0.88429562] [ 0. 0. 0. 1. ]] SLAMing on 38.876296757 meters Centerline goodness : 0.815920 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.65, Z:-0.88 [[ 0.98078496 0.17448028 -0.0872783 4.06166199] [-0.17577142 0.98440413 -0.00727395 -0.64767115] [ 0.08464795 0.02247521 0.99615741 -0.88401893] [ 0. 0. 0. 1. ]] SLAMing on 38.906296757 meters Centerline goodness : 0.815160 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.64, Z:-0.88 [[ 0.97997202 0.17346594 -0.09779783 4.05956207] [-0.17481797 0.98458616 -0.00536369 -0.63907856] [ 0.09535998 0.02235308 0.99519185 -0.88247837] [ 0. 0. 0. 1. ]] SLAMing on 38.936296757 meters Centerline goodness : 0.815990 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.64, Z:-0.88 [[ 9.79502908e-01 1.76302731e-01 -9.74238164e-02 4.06166496e+00] [-1.77349135e-01 9.84145718e-01 -2.11873869e-03 -6.38033611e-01] [ 9.55056924e-02 1.93533403e-02 9.95240730e-01 -8.84412036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.966296757 meters Centerline goodness : 0.817852 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.64, Z:-0.88 [[ 9.79001996e-01 1.79476948e-01 -9.66597970e-02 4.06145483e+00] [-1.80205110e-01 9.83628305e-01 1.21502290e-03 -6.37090289e-01] [ 9.52953808e-02 1.62290795e-02 9.95316737e-01 -8.84272588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.996296757 meters Centerline goodness : 0.826572 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.64, Z:-0.88 [[ 9.78734128e-01 1.79871453e-01 -9.86193015e-02 4.06364250e+00] [-1.80932812e-01 9.83493715e-01 -1.85232431e-03 -6.35164550e-01] [ 9.66582829e-02 1.96564005e-02 9.95123511e-01 -8.81987643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.026296757 meters Centerline goodness : 0.826894 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.63, Z:-0.88 [[ 0.97891988 0.17815156 -0.09988936 4.06382681] [-0.17959876 0.98372393 -0.00561466 -0.63394908] [ 0.09726329 0.02343631 0.99498271 -0.87974525] [ 0. 0. 0. 1. ]] SLAMing on 39.056296757 meters Centerline goodness : 0.815287 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.63, Z:-0.88 [[ 0.97965253 0.17344912 -0.10097688 4.06444901] [-0.17541223 0.98443551 -0.01082985 -0.63116413] [ 0.09752679 0.02832207 0.99482983 -0.8791402 ] [ 0. 0. 0. 1. ]] SLAMing on 39.086296757 meters Centerline goodness : 0.828348 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.63, Z:-0.88 [[ 0.97978442 0.17300189 -0.10046315 4.06437642] [-0.17492335 0.98452526 -0.01057554 -0.62954599] [ 0.09707892 0.0279351 0.99488457 -0.8799936 ] [ 0. 0. 0. 1. ]] SLAMing on 39.116296757 meters Centerline goodness : 0.811377 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.63, Z:-0.88 [[ 0.97982851 0.1728784 -0.10024544 4.0656649 ] [-0.17479347 0.98454829 -0.01057897 -0.62769101] [ 0.0968676 0.02788783 0.9949065 -0.88174125] [ 0. 0. 0. 1. ]] SLAMing on 39.146296757 meters Centerline goodness : 0.813025 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.63, Z:-0.88 [[ 0.97938049 0.17610981 -0.09899081 4.06518885] [-0.17766741 0.98406515 -0.00707614 -0.62536325] [ 0.09616723 0.02451767 0.99506319 -0.88219333] [ 0. 0. 0. 1. ]] SLAMing on 39.176296757 meters Centerline goodness : 0.811446 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.62, Z:-0.88 [[ 0.97941363 0.17545051 -0.09983017 4.0664593 ] [-0.17717641 0.98414133 -0.00862358 -0.62394045] [ 0.09673398 0.0261336 0.99496712 -0.88172075] [ 0. 0. 0. 1. ]] SLAMing on 39.206296757 meters Centerline goodness : 0.811121 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.62, Z:-0.88 [[ 0.97945104 0.17482842 -0.10055191 4.0674235 ] [-0.17664182 0.98423075 -0.00935349 -0.6248584 ] [ 0.09733102 0.02692296 0.99488785 -0.88147427] [ 0. 0. 0. 1. ]] SLAMing on 39.236296757 meters Centerline goodness : 0.813351 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.62, Z:-0.88 [[ 0.97970288 0.17245125 -0.10219014 4.06933148] [-0.17468772 0.98453422 -0.01328805 -0.62470769] [ 0.09831815 0.0308697 0.99467613 -0.88095195] [ 0. 0. 0. 1. ]] SLAMing on 39.266296757 meters Centerline goodness : 0.816673 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.63, Z:-0.88 [[ 0.98009531 0.1694709 -0.10340595 4.0713262 ] [-0.17199385 0.98496929 -0.01592494 -0.62585742] [ 0.09915287 0.03339315 0.99451174 -0.88182826] [ 0. 0. 0. 1. ]] SLAMing on 39.296296757 meters Centerline goodness : 0.814933 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.63, Z:-0.88 [[ 0.98023551 0.16890041 -0.10300968 4.07205593] [-0.17138406 0.98507932 -0.01569212 -0.62513693] [ 0.0988223 0.03303619 0.99455657 -0.88364362] [ 0. 0. 0. 1. ]] SLAMing on 39.326296757 meters Centerline goodness : 0.813533 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.62, Z:-0.89 [[ 0.98020063 0.16992515 -0.1016473 4.07230795] [-0.1720386 0.98501297 -0.01233545 -0.62422944] [ 0.0980278 0.02957847 0.99474402 -0.88630945] [ 0. 0. 0. 1. ]] SLAMing on 39.356296757 meters Centerline goodness : 0.818265 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.62, Z:-0.89 [[ 0.98012667 0.16989222 -0.10241266 4.07448518] [-0.17206854 0.9850026 -0.01273945 -0.62440087] [ 0.0987124 0.03010827 0.99466042 -0.88717019] [ 0. 0. 0. 1. ]] SLAMing on 39.386296757000004 meters Centerline goodness : 0.813542 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.89 [[ 0.97999119 0.17035222 -0.10294358 4.07530996] [-0.17256113 0.98491458 -0.01288091 -0.62497141] [ 0.09919634 0.03038723 0.99460379 -0.88681031] [ 0. 0. 0. 1. ]] SLAMing on 39.416296757 meters Centerline goodness : 0.818810 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97970886 0.17058786 -0.10521568 4.07706958] [-0.17316393 0.98476648 -0.01578687 -0.62812611] [ 0.10091983 0.0336861 0.99432411 -0.88436751] [ 0. 0. 0. 1. ]] SLAMing on 39.446296757 meters Centerline goodness : 0.817135 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97960465 0.17056942 -0.10621116 4.07736373] [-0.17335141 0.98470512 -0.01746774 -0.62937979] [ 0.10160721 0.03552333 0.99419016 -0.8826801 ] [ 0. 0. 0. 1. ]] SLAMing on 39.476296757 meters Centerline goodness : 0.820164 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97952899 0.17111861 -0.10602537 4.07807523] [-0.17381829 0.98463616 -0.01669863 -0.62838097] [ 0.10153897 0.03478594 0.9942232 -0.88352208] [ 0. 0. 0. 1. ]] SLAMing on 39.506296757 meters Centerline goodness : 0.815569 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.89 [[ 0.97935325 0.1725441 -0.10533632 4.07900432] [-0.17496105 0.98447464 -0.01408231 -0.62747277] [ 0.10127112 0.03222131 0.99433694 -0.88533546] [ 0. 0. 0. 1. ]] SLAMing on 39.536296757 meters Centerline goodness : 0.809324 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.89 [[ 0.97899378 0.17568159 -0.1034754 4.07740329] [-0.17760007 0.98405635 -0.0095557 -0.62691877] [ 0.10014687 0.0277322 0.99458611 -0.88627127] [ 0. 0. 0. 1. ]] SLAMing on 39.566296757 meters Centerline goodness : 0.812342 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.89 [[ 0.97883058 0.1760141 -0.10444967 4.07837219] [-0.17806533 0.98396183 -0.01057578 -0.62760024] [ 0.10091301 0.02895076 0.99447394 -0.88513581] [ 0. 0. 0. 1. ]] SLAMing on 39.596296757 meters Centerline goodness : 0.809331 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97903183 0.1736259 -0.1065398 4.07825539] [-0.17624873 0.98422133 -0.01564482 -0.6299275 ] [ 0.1021424 0.03409428 0.99418535 -0.8814676 ] [ 0. 0. 0. 1. ]] SLAMing on 39.626296757 meters Centerline goodness : 0.811979 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.9791208 0.17321876 -0.10638474 4.07666738] [-0.17586953 0.9842836 -0.01599039 -0.63056373] [ 0.10194292 0.03436635 0.99419646 -0.88009744] [ 0. 0. 0. 1. ]] SLAMing on 39.656296757 meters Centerline goodness : 0.810358 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97917145 0.17302122 -0.10623998 4.07671841] [-0.17568782 0.98431256 -0.01620415 -0.62963609] [ 0.10176968 0.03453171 0.99420848 -0.88027685] [ 0. 0. 0. 1. ]] SLAMing on 39.686296757 meters Centerline goodness : 0.809121 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97903203 0.1751698 -0.1039799 4.07527344] [-0.17733664 0.98407829 -0.01190093 -0.62787885] [ 0.10023968 0.03009084 0.99450819 -0.88230995] [ 0. 0. 0. 1. ]] SLAMing on 39.716296757 meters Centerline goodness : 0.808973 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97888886 0.17581727 -0.10423474 4.07631258] [-0.1779795 0.9839641 -0.01174536 -0.62760306] [ 0.1004982 0.03004905 0.99448337 -0.88264579] [ 0. 0. 0. 1. ]] SLAMing on 39.746296757 meters Centerline goodness : 0.811060 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97863148 0.17648937 -0.10550791 4.07819237] [-0.17880139 0.98380197 -0.012796 -0.62823406] [ 0.10154053 0.03138753 0.99433613 -0.88183502] [ 0. 0. 0. 1. ]] SLAMing on 39.776296757 meters Centerline goodness : 0.808163 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97857159 0.17660279 -0.10587301 4.0783203 ] [-0.17899732 0.98375718 -0.01348251 -0.62816291] [ 0.10177228 0.03214459 0.99428825 -0.88098262] [ 0. 0. 0. 1. ]] SLAMing on 39.806296757 meters Centerline goodness : 0.807914 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.9785211 0.17675167 -0.10609104 4.07832421] [-0.17921296 0.98370988 -0.01405672 -0.62753494] [ 0.10187825 0.03276769 0.99425706 -0.88021364] [ 0. 0. 0. 1. ]] SLAMing on 39.836296757 meters Centerline goodness : 0.810377 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97841073 0.17728165 -0.10622456 4.07840765] [-0.17977338 0.98360436 -0.01428296 -0.62621122] [ 0.10195083 0.03307094 0.99423958 -0.87952369] [ 0. 0. 0. 1. ]] SLAMing on 39.866296757 meters Centerline goodness : 0.806007 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97813066 0.17989421 -0.1043958 4.07691567] [-0.18190864 0.9832643 -0.01002781 -0.62526525] [ 0.10084472 0.028799 0.99448527 -0.88048254] [ 0. 0. 0. 1. ]] SLAMing on 39.896296757 meters Centerline goodness : 0.807065 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97811091 0.17986876 -0.10462447 4.07777033] [-0.1818756 0.98327182 -0.00988902 -0.62548982] [ 0.10109556 0.0287012 0.99446263 -0.88096563] [ 0. 0. 0. 1. ]] SLAMing on 39.926296757 meters Centerline goodness : 0.808532 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97820347 0.17928636 -0.10475867 4.07691091] [-0.18137793 0.9833551 -0.01071378 -0.62616853] [ 0.10109414 0.02948117 0.99443996 -0.87980526] [ 0. 0. 0. 1. ]] SLAMing on 39.956296757 meters Centerline goodness : 0.808974 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97827579 0.178973 -0.10461901 4.07701081] [-0.18106406 0.98341238 -0.01076588 -0.62585205] [ 0.10095683 0.02947474 0.9944541 -0.88024129] [ 0. 0. 0. 1. ]] SLAMing on 39.986296757 meters Centerline goodness : 0.808898 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97834015 0.17926214 -0.10351636 4.07730864] [-0.18106985 0.98343554 -0.00826091 -0.6256542 ] [ 0.1003208 0.02682567 0.99459344 -0.88274503] [ 0. 0. 0. 1. ]] SLAMing on 40.016296757 meters Centerline goodness : 0.820949 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97831913 0.17933244 -0.1035932 4.07769754] [-0.18112353 0.98342723 -0.00807207 -0.62574039] [ 0.10042879 0.02666023 0.99458699 -0.88296136] [ 0. 0. 0. 1. ]] SLAMing on 40.046296757 meters Centerline goodness : 0.822344 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.97881756 0.1756567 -0.10517087 4.07918919] [-0.17795705 0.98395462 -0.01282928 -0.62505029] [ 0.10122981 0.03127342 0.99437141 -0.88235346] [ 0. 0. 0. 1. ]] SLAMing on 40.076296757 meters Centerline goodness : 0.823311 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.88 [[ 0.9790172 0.17479745 -0.10474337 4.07742217] [-0.17710197 0.98410602 -0.01304762 -0.62506039] [ 0.10079789 0.0313241 0.99441369 -0.88138978] [ 0. 0. 0. 1. ]] SLAMing on 40.106296757 meters Centerline goodness : 0.813709 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97918681 0.1741497 -0.10423567 4.07565529] [-0.17644235 0.9842235 -0.01312214 -0.62488523] [ 0.10030598 0.03124061 0.99446605 -0.88052788] [ 0. 0. 0. 1. ]] SLAMing on 40.136296757000004 meters Centerline goodness : 0.806375 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.62, Z:-0.88 [[ 0.97951207 0.17285611 -0.10332898 4.07392312] [-0.17509226 0.98446741 -0.01290803 -0.62358339] [ 0.09949279 0.03073567 0.99456347 -0.88055176] [ 0. 0. 0. 1. ]] SLAMing on 40.166296757 meters Centerline goodness : 0.818512 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.62, Z:-0.88 [[ 0.97947503 0.17310956 -0.1032557 4.0747019 ] [-0.17531713 0.98443097 -0.01263216 -0.6230725 ] [ 0.09946136 0.03047538 0.99457463 -0.88144884] [ 0. 0. 0. 1. ]] SLAMing on 40.196296757 meters Centerline goodness : 0.806886 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97937515 0.17388529 -0.10289911 4.07586127] [-0.17597702 0.98432661 -0.01154139 -0.62252345] [ 0.09927945 0.02941123 0.99462484 -0.88319887] [ 0. 0. 0. 1. ]] SLAMing on 40.226296757 meters Centerline goodness : 0.806523 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97929892 0.17416039 -0.10315901 4.0764328 ] [-0.17628195 0.9842696 -0.0117483 -0.62256595] [ 0.09949019 0.02969017 0.99459549 -0.88311693] [ 0. 0. 0. 1. ]] SLAMing on 40.256296757 meters Centerline goodness : 0.807744 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97932325 0.17383802 -0.10347134 4.07621219] [-0.17603876 0.98430437 -0.01246074 -0.62253447] [ 0.09968115 0.03041806 0.99455438 -0.88214794] [ 0. 0. 0. 1. ]] SLAMing on 40.286296757 meters Centerline goodness : 0.807823 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97970016 0.17114116 -0.10439491 4.07513972] [-0.17378255 0.98464268 -0.01668576 -0.62182665] [ 0.09993606 0.03448905 0.99439594 -0.87950395] [ 0. 0. 0. 1. ]] SLAMing on 40.316296757 meters Centerline goodness : 0.807371 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.62, Z:-0.88 [[ 0.97980348 0.17063954 -0.10424626 4.07452945] [-0.17328974 0.98472673 -0.01685027 -0.62106441] [ 0.09977875 0.03457476 0.99440876 -0.8791045 ] [ 0. 0. 0. 1. ]] SLAMing on 40.346296757 meters Centerline goodness : 0.808723 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.62, Z:-0.88 [[ 0.97966576 0.17248499 -0.10248864 4.07354091] [-0.17473758 0.98452447 -0.01335493 -0.61928294] [ 0.09859905 0.03099198 0.99464452 -0.88072521] [ 0. 0. 0. 1. ]] SLAMing on 40.376296757 meters Centerline goodness : 0.809408 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.62, Z:-0.88 [[ 0.97949503 0.17336883 -0.10262912 4.07467599] [-0.1756173 0.98436968 -0.01322488 -0.61808519] [ 0.09873221 0.03097716 0.99463177 -0.88116354] [ 0. 0. 0. 1. ]] SLAMing on 40.406296757 meters Centerline goodness : 0.809172 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97924188 0.17460606 -0.10294691 4.07562926] [-0.17685888 0.98414895 -0.01310635 -0.6174334 ] [ 0.09902665 0.03104136 0.9946005 -0.88093029] [ 0. 0. 0. 1. ]] SLAMing on 40.436296757 meters Centerline goodness : 0.807950 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97890593 0.17615218 -0.1035065 4.07521202] [-0.17854169 0.9838296 -0.01421926 -0.61623948] [ 0.09932801 0.03239955 0.99452713 -0.87824188] [ 0. 0. 0. 1. ]] SLAMing on 40.466296757 meters Centerline goodness : 0.808823 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97878667 0.17646333 -0.10410259 4.07594724] [-0.17897056 0.98373729 -0.01518153 -0.61575789] [ 0.09973061 0.03349078 0.99445069 -0.87746319] [ 0. 0. 0. 1. ]] SLAMing on 40.496296757 meters Centerline goodness : 0.807882 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.62, Z:-0.88 [[ 0.97835708 0.17938258 -0.10314702 4.07497291] [-0.18156776 0.9833037 -0.01212389 -0.61536838] [ 0.09925003 0.03058967 0.99459223 -0.87709703] [ 0. 0. 0. 1. ]] SLAMing on 40.526296757 meters Centerline goodness : 0.805835 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.61, Z:-0.88 [[ 0.97820487 0.17977112 -0.10391138 4.07727449] [-0.18203725 0.98320995 -0.01267401 -0.61471925] [ 0.09988829 0.03131352 0.9945058 -0.87773703] [ 0. 0. 0. 1. ]] SLAMing on 40.556296757 meters Centerline goodness : 0.807830 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.61, Z:-0.88 [[ 0.97812948 0.17982737 -0.10452197 4.07941219] [-0.18218644 0.9831727 -0.0133997 -0.61388809] [ 0.10035352 0.03214912 0.9944323 -0.87856518] [ 0. 0. 0. 1. ]] SLAMing on 40.586296757 meters Centerline goodness : 0.808121 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.61, Z:-0.88 [[ 0.9776461 0.1828924 -0.10372307 4.07983039] [-0.18485824 0.98271845 -0.00958518 -0.6148563 ] [ 0.10017752 0.02854498 0.99456003 -0.87975904] [ 0. 0. 0. 1. ]] SLAMing on 40.616296757 meters Centerline goodness : 0.806696 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97743825 0.18387176 -0.10395024 4.08092555] [-0.18574469 0.98256084 -0.00854992 -0.61628218] [ 0.10056534 0.02766523 0.99454575 -0.88043665] [ 0. 0. 0. 1. ]] SLAMing on 40.646296757 meters Centerline goodness : 0.808515 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97749307 0.18366802 -0.10379475 4.08063122] [-0.18551648 0.98260558 -0.00836122 -0.61664528] [ 0.10045362 0.02742867 0.99456359 -0.88049043] [ 0. 0. 0. 1. ]] SLAMing on 40.676296757 meters Centerline goodness : 0.809799 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97773309 0.18231613 -0.10391745 4.08100557] [-0.18426495 0.98283175 -0.00939064 -0.61571911] [ 0.1004213 0.02832989 0.99454159 -0.88088889] [ 0. 0. 0. 1. ]] SLAMing on 40.706296757 meters Centerline goodness : 0.810521 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97840715 0.17961656 -0.10226116 4.07743978] [-0.18150314 0.98334567 -0.00937606 -0.6153625 ] [ 0.09887398 0.02773433 0.9947134 -0.88109526] [ 0. 0. 0. 1. ]] SLAMing on 40.736296757 meters Centerline goodness : 0.807485 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97883368 0.17720325 -0.10238958 4.07793671] [-0.1791792 0.9837619 -0.01036076 -0.61565985] [ 0.09889101 0.02848754 0.99469042 -0.88222955] [ 0. 0. 0. 1. ]] SLAMing on 40.766296757 meters Centerline goodness : 0.807485 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97883368 0.17720325 -0.10238958 4.07793671] [-0.1791792 0.9837619 -0.01036076 -0.61565985] [ 0.09889101 0.02848754 0.99469042 -0.88222955] [ 0. 0. 0. 1. ]] SLAMing on 40.796296757 meters Centerline goodness : 0.806020 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.97969376 0.17255669 -0.10209959 4.07701049] [-0.17470028 0.98454393 -0.01237156 -0.61620583] [ 0.09838674 0.02995717 0.99469725 -0.88353907] [ 0. 0. 0. 1. ]] SLAMing on 40.826296757 meters Centerline goodness : 0.806743 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.9799341 0.17129591 -0.10191601 4.07619391] [-0.17345061 0.98476192 -0.01260331 -0.61730608] [ 0.09820411 0.03002781 0.99471317 -0.88355161] [ 0. 0. 0. 1. ]] SLAMing on 40.856296757 meters Centerline goodness : 0.808731 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.98025764 0.16824783 -0.10386349 4.07920878] [-0.17084343 0.98515906 -0.01655727 -0.61831218] [ 0.09953633 0.03397478 0.99445374 -0.88399552] [ 0. 0. 0. 1. ]] SLAMing on 40.886296757000004 meters Centerline goodness : 0.808517 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.9807951 0.16479578 -0.10432321 4.07806666] [-0.16768338 0.9856484 -0.01948122 -0.61987553] [ 0.09961558 0.03660035 0.99435263 -0.88318008] [ 0. 0. 0. 1. ]] SLAMing on 40.916296757 meters Centerline goodness : 0.808610 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.98093029 0.16439175 -0.10368764 4.07741497] [-0.16722011 0.98573375 -0.01914184 -0.61956013] [ 0.09906164 0.03611547 0.9944257 -0.88393916] [ 0. 0. 0. 1. ]] SLAMing on 40.946296757 meters Centerline goodness : 0.807649 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.9806859 0.16694157 -0.10191016 4.07552578] [-0.16928447 0.98545715 -0.0147299 -0.61957711] [ 0.09796906 0.03169721 0.99468455 -0.8847235 ] [ 0. 0. 0. 1. ]] SLAMing on 40.976296757 meters Centerline goodness : 0.813786 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.98048189 0.16789315 -0.10230912 4.07660917] [-0.17023203 0.98529713 -0.01451269 -0.61994449] [ 0.0983683 0.03164572 0.99464678 -0.88474087] [ 0. 0. 0. 1. ]] SLAMing on 41.006296757 meters Centerline goodness : 0.813961 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.88 [[ 0.98019277 0.16897663 -0.103291 4.07659958] [-0.17143521 0.98507592 -0.01534253 -0.62197409] [ 0.09915695 0.03274635 0.99453284 -0.88239424] [ 0. 0. 0. 1. ]] SLAMing on 41.036296757 meters Centerline goodness : 0.813698 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.89 [[ 0.98028684 0.17470726 -0.09227721 4.07872704] [-0.17705716 0.98403849 -0.01786073 -0.62563465] [ 0.08768393 0.03384698 0.99557316 -0.88714427] [ 0. 0. 0. 1. ]] SLAMing on 41.066296757 meters Centerline goodness : 0.814647 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.63, Z:-0.89 [[ 0.98009262 0.17536916 -0.09308121 4.07985606] [-0.17781376 0.98388858 -0.0185885 -0.62543201] [ 0.08832169 0.03476958 0.99548499 -0.88629903] [ 0. 0. 0. 1. ]] SLAMing on 41.096296757 meters Centerline goodness : 0.810911 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.89 [[ 0.97938554 0.1794347 -0.09277471 4.08237235] [-0.1815447 0.98327195 -0.01475782 -0.6248323 ] [ 0.0885747 0.03129635 0.99557775 -0.8882841 ] [ 0. 0. 0. 1. ]] SLAMing on 41.126296757 meters Centerline goodness : 0.809594 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.62, Z:-0.89 [[ 0.97872466 0.18329997 -0.09219092 4.08328404] [-0.18505817 0.98266794 -0.01082525 -0.62486533] [ 0.0886088 0.02765562 0.9956825 -0.88913635] [ 0. 0. 0. 1. ]] SLAMing on 41.156296757 meters Centerline goodness : 0.809217 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.63, Z:-0.89 [[ 0.97803126 0.18690028 -0.09232083 4.08583371] [-0.18838505 0.98206614 -0.00756095 -0.62535973] [ 0.08925202 0.0247867 0.99570061 -0.89035755] [ 0. 0. 0. 1. ]] SLAMing on 41.186296757 meters Centerline goodness : 0.808630 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.63, Z:-0.89 [[ 0.97691255 0.19245954 -0.09274268 4.08844579] [-0.19368628 0.98105397 -0.00432776 -0.62541862] [ 0.09015266 0.02219083 0.9956807 -0.89011511] [ 0. 0. 0. 1. ]] SLAMing on 41.216296757 meters Centerline goodness : 0.807536 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.63, Z:-0.89 [[ 0.97645022 0.19404669 -0.09429134 4.09072441] [-0.19540386 0.98070859 -0.00529094 -0.62595952] [ 0.09144564 0.02359123 0.99553059 -0.88868858] [ 0. 0. 0. 1. ]] SLAMing on 41.246296757 meters Centerline goodness : 0.809365 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.63, Z:-0.89 [[ 0.97602125 0.19531877 -0.09608896 4.09240598] [-0.19688343 0.980402 -0.0069883 -0.62673107] [ 0.09284087 0.02573906 0.99534822 -0.88611389] [ 0. 0. 0. 1. ]] SLAMing on 41.276296757 meters Centerline goodness : 0.806325 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.63, Z:-0.89 [[ 0.97598807 0.19522678 -0.09661153 4.09456931] [-0.19681213 0.98041574 -0.00706838 -0.62634725] [ 0.09333953 0.02591298 0.99529707 -0.88734081] [ 0. 0. 0. 1. ]] SLAMing on 41.306296757 meters Centerline goodness : 0.807590 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.63, Z:-0.89 [[ 0.97635371 0.19359283 -0.09620415 4.09476918] [-0.19517003 0.98074319 -0.00717356 -0.62581187] [ 0.09296281 0.0257801 0.99533577 -0.88891194] [ 0. 0. 0. 1. ]] SLAMing on 41.336296757 meters Centerline goodness : 0.808489 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97644328 0.19263052 -0.09722143 4.09557778] [-0.19437064 0.98088987 -0.00866656 -0.62663262] [ 0.09369408 0.0273594 0.99522504 -0.88809328] [ 0. 0. 0. 1. ]] SLAMing on 41.366296757 meters Centerline goodness : 0.807278 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97665059 0.1903917 -0.09952194 4.09890516] [-0.19259096 0.98119447 -0.01288949 -0.62746917] [ 0.09519632 0.03175555 0.99495188 -0.88794583] [ 0. 0. 0. 1. ]] SLAMing on 41.396296757 meters Centerline goodness : 0.810689 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97678571 0.18879615 -0.10122101 4.10066763] [-0.19133692 0.98139529 -0.01592074 -0.62916746] [ 0.09633205 0.03491847 0.99473657 -0.88729334] [ 0. 0. 0. 1. ]] SLAMing on 41.426296757 meters Centerline goodness : 0.805354 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97687794 0.18828625 -0.10128067 4.10172731] [-0.19081508 0.98149882 -0.01580077 -0.62920613] [ 0.09643179 0.0347613 0.99473241 -0.88847728] [ 0. 0. 0. 1. ]] SLAMing on 41.456296757 meters Centerline goodness : 0.808196 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97725919 0.18687687 -0.10020733 4.10006535] [-0.18924829 0.98182041 -0.01462076 -0.62960732] [ 0.09565332 0.03325234 0.99485915 -0.88939512] [ 0. 0. 0. 1. ]] SLAMing on 41.486296757 meters Centerline goodness : 0.808775 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97748646 0.1857068 -0.10016584 4.09969405] [-0.18811808 0.98203023 -0.0151067 -0.63047768] [ 0.09556047 0.0336096 0.99485607 -0.88956773] [ 0. 0. 0. 1. ]] SLAMing on 41.516296757 meters Centerline goodness : 0.808006 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97762819 0.18495899 -0.10016636 4.09867654] [-0.18737115 0.98217232 -0.01515203 -0.63152033] [ 0.09557813 0.03358134 0.99485532 -0.88874112] [ 0. 0. 0. 1. ]] SLAMing on 41.546296757 meters Centerline goodness : 0.810575 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97782857 0.18411708 -0.09976067 4.09799467] [-0.18650138 0.9823395 -0.01504498 -0.63144496] [ 0.0952288 0.03331691 0.99489771 -0.8889326 ] [ 0. 0. 0. 1. ]] SLAMing on 41.576296757 meters Centerline goodness : 0.810460 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97780772 0.18432322 -0.09958426 4.09814495] [-0.18668663 0.98230684 -0.01487857 -0.63043379] [ 0.09507983 0.03313943 0.99491789 -0.88912984] [ 0. 0. 0. 1. ]] SLAMing on 41.606296757 meters Centerline goodness : 0.808594 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97757434 0.18535312 -0.09996311 4.09876701] [-0.18775944 0.98209829 -0.01514392 -0.62925483] [ 0.09536663 0.03357333 0.99487589 -0.88828749] [ 0. 0. 0. 1. ]] SLAMing on 41.636296757000004 meters Centerline goodness : 0.809530 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97727855 0.18633823 -0.10101834 4.10068607] [-0.18887806 0.98186849 -0.0161044 -0.62929241] [ 0.09618586 0.03481863 0.99475421 -0.88779089] [ 0. 0. 0. 1. ]] SLAMing on 41.666296757 meters Centerline goodness : 0.808912 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97661823 0.18922803 -0.10202738 4.10179762] [-0.19186495 0.98128106 -0.01659288 -0.62891118] [ 0.0969777 0.03578039 0.9946432 -0.88555867] [ 0. 0. 0. 1. ]] SLAMing on 41.696296757 meters Centerline goodness : 0.809730 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.9763102 0.19029047 -0.10299482 4.10410371] [-0.19300912 0.98104943 -0.01701458 -0.62856573] [ 0.09780529 0.03649045 0.99453636 -0.88553004] [ 0. 0. 0. 1. ]] SLAMing on 41.726296757 meters Centerline goodness : 0.811767 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.63, Z:-0.89 [[ 0.97583888 0.19296696 -0.10248043 4.10403726] [-0.19543384 0.98060959 -0.01450704 -0.62815888] [ 0.09769391 0.03418468 0.99462923 -0.88533503] [ 0. 0. 0. 1. ]] SLAMing on 41.756296757 meters Centerline goodness : 0.813724 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.63, Z:-0.89 [[ 0.97487118 0.19768056 -0.10270623 4.10781187] [-0.1998583 0.9797601 -0.01126097 -0.62670613] [ 0.09840139 0.03150468 0.99464799 -0.88703673] [ 0. 0. 0. 1. ]] SLAMing on 41.786296757 meters Centerline goodness : 0.812323 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.63, Z:-0.89 [[ 0.97455844 0.19908201 -0.10296697 4.10974012] [-0.20119541 0.9794953 -0.01045763 -0.62599806] [ 0.09877374 0.03090805 0.9946298 -0.8879714 ] [ 0. 0. 0. 1. ]] SLAMing on 41.816296757 meters Centerline goodness : 0.812271 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.63, Z:-0.89 [[ 0.97427354 0.19985329 -0.10416202 4.11100192] [-0.20204798 0.97931548 -0.01085404 -0.62716424] [ 0.09983826 0.03162053 0.99450111 -0.88652014] [ 0. 0. 0. 1. ]] SLAMing on 41.846296757 meters Centerline goodness : 0.813940 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.63, Z:-0.89 [[ 0.9741519 0.19968887 -0.10560506 4.11304393] [-0.20202464 0.97930942 -0.01179393 -0.62923011] [ 0.10106491 0.0328239 0.99433821 -0.88612173] [ 0. 0. 0. 1. ]] SLAMing on 41.876296757 meters Centerline goodness : 0.812830 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.63, Z:-0.89 [[ 0.9741342 0.19936737 -0.10637301 4.11400492] [-0.20177117 0.97935638 -0.01222581 -0.63026704] [ 0.10173966 0.03337259 0.99425113 -0.88570302] [ 0. 0. 0. 1. ]] SLAMing on 41.906296757 meters Centerline goodness : 0.809380 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.63, Z:-0.89 [[ 0.97452264 0.19743354 -0.10642188 4.11465416] [-0.19981695 0.97975838 -0.0121119 -0.63164728] [ 0.10187644 0.03306822 0.9942473 -0.88718438] [ 0. 0. 0. 1. ]] SLAMing on 41.936296757 meters Centerline goodness : 0.817544 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.63, Z:-0.89 [[ 0.97481284 0.1962622 -0.10592958 4.11416548] [-0.19858452 0.9800135 -0.01173545 -0.63140695] [ 0.10150919 0.03247584 0.99430438 -0.88794873] [ 0. 0. 0. 1. ]] SLAMing on 41.966296757 meters Centerline goodness : 0.806312 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.63, Z:-0.89 [[ 0.97555994 0.1926415 -0.10569793 4.11458991] [-0.19505363 0.98070799 -0.01288061 -0.63122498] [ 0.10117747 0.03318258 0.99431486 -0.89011606] [ 0. 0. 0. 1. ]] SLAMing on 41.996296757 meters Centerline goodness : 0.804655 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.63, Z:-0.89 [[ 0.97584158 0.19032131 -0.10728939 4.1164922 ] [-0.19313344 0.98103605 -0.016363 -0.63143762] [ 0.10214053 0.03668887 0.99409317 -0.88973067] [ 0. 0. 0. 1. ]] SLAMing on 42.026296757 meters Centerline goodness : 0.804735 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.63, Z:-0.89 [[ 0.976174 0.18723273 -0.1096733 4.11761483] [-0.19066747 0.98141654 -0.02162176 -0.63374064] [ 0.10358689 0.04201773 0.99373249 -0.88728567] [ 0. 0. 0. 1. ]] SLAMing on 42.056296757 meters Centerline goodness : 0.803924 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.63, Z:-0.89 [[ 0.97617373 0.18683725 -0.11034806 4.11832592] [-0.1903959 0.98144837 -0.02255009 -0.63449441] [ 0.10408773 0.04302263 0.99363716 -0.8868062 ] [ 0. 0. 0. 1. ]] SLAMing on 42.086296757 meters Centerline goodness : 0.805721 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.63, Z:-0.89 [[ 0.9760889 0.18723958 -0.11041649 4.11851358] [-0.19074064 0.98139499 -0.02195181 -0.63472506] [ 0.10425194 0.04248783 0.99364295 -0.88670812] [ 0. 0. 0. 1. ]] SLAMing on 42.116296757 meters Centerline goodness : 0.800122 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.64, Z:-0.89 [[ 0.97584988 0.18911458 -0.10932838 4.11977914] [-0.19217098 0.98119575 -0.01803379 -0.63518632] [ 0.10386209 0.03860802 0.99384208 -0.88974259] [ 0. 0. 0. 1. ]] SLAMing on 42.146296757 meters Centerline goodness : 0.796095 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.64, Z:-0.89 [[ 0.9756815 0.19002957 -0.10924457 4.11993008] [-0.19302802 0.98103784 -0.0174623 -0.63522177] [ 0.10385471 0.03812491 0.99386151 -0.88971967] [ 0. 0. 0. 1. ]] SLAMing on 42.176296757 meters Centerline goodness : 0.801564 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.64, Z:-0.89 [[ 0.97551623 0.1905386 -0.10983228 4.12014534] [-0.1936166 0.98091256 -0.01797673 -0.63554911] [ 0.1043106 0.03880194 0.99378756 -0.88842214] [ 0. 0. 0. 1. ]] SLAMing on 42.206296757000004 meters Centerline goodness : 0.794932 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.64, Z:-0.89 [[ 0.97521993 0.19167667 -0.11048137 4.12049437] [-0.19481107 0.98067175 -0.01820881 -0.63595204] [ 0.10485576 0.03928059 0.99371138 -0.88691901] [ 0. 0. 0. 1. ]] SLAMing on 42.236296757 meters Centerline goodness : 0.800491 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.64, Z:-0.88 [[ 0.97434815 0.19530406 -0.11181242 4.12228001] [-0.19854281 0.9799177 -0.01849451 -0.6354506 ] [ 0.10595491 0.04021964 0.99355721 -0.88459089] [ 0. 0. 0. 1. ]] SLAMing on 42.266296757 meters Centerline goodness : 0.797967 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.63, Z:-0.88 [[ 0.97393536 0.19668677 -0.11297888 4.12406313] [-0.20007849 0.97958783 -0.01939781 -0.63465074] [ 0.10685745 0.04149686 0.99340802 -0.88333977] [ 0. 0. 0. 1. ]] SLAMing on 42.296296757 meters Centerline goodness : 0.799039 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.63, Z:-0.88 [[ 0.97270231 0.20266427 -0.11303717 4.12610296] [-0.20576583 0.97846453 -0.01635835 -0.63270001] [ 0.10728761 0.03917099 0.99345609 -0.88270281] [ 0. 0. 0. 1. ]] SLAMing on 42.326296757 meters Centerline goodness : 0.799058 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.63, Z:-0.88 [[ 0.97179208 0.20713901 -0.11275455 4.12769737] [-0.20987175 0.97764514 -0.01279998 -0.63214641] [ 0.10758256 0.03610291 0.99354042 -0.88305179] [ 0. 0. 0. 1. ]] SLAMing on 42.356296757 meters Centerline goodness : 0.797831 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.63, Z:-0.88 [[ 0.97096293 0.2108616 -0.11299726 4.13000092] [-0.21331766 0.97693207 -0.00996556 -0.63199028] [ 0.10828929 0.0337805 0.99354532 -0.88339449] [ 0. 0. 0. 1. ]] SLAMing on 42.386296757000004 meters Centerline goodness : 0.796016 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.63, Z:-0.88 [[ 0.9701775 0.21342171 -0.11492077 4.1331674 ] [-0.21601505 0.976334 -0.01045993 -0.63223909] [ 0.10996868 0.0349726 0.99331959 -0.88185959] [ 0. 0. 0. 1. ]] SLAMing on 42.416296757 meters Centerline goodness : 0.796835 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.63, Z:-0.88 [[ 0.96991427 0.2139227 -0.11620412 4.13536505] [-0.21663626 0.97618932 -0.01109728 -0.63292621] [ 0.11106327 0.03593743 0.99316336 -0.88138778] [ 0. 0. 0. 1. ]] SLAMing on 42.446296757 meters Centerline goodness : 0.794688 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.63, Z:-0.88 [[ 0.96990668 0.21396195 -0.11619518 4.13598158] [-0.21658975 0.97620804 -0.01033155 -0.63380228] [ 0.11122011 0.03518733 0.99317266 -0.88214269] [ 0. 0. 0. 1. ]] SLAMing on 42.476296757 meters Centerline goodness : 0.797159 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.63, Z:-0.88 [[ 0.97014325 0.21254316 -0.11682245 4.13797871] [-0.2152441 0.97649984 -0.01086473 -0.63453266] [ 0.11176788 0.03568569 0.99309339 -0.88369524] [ 0. 0. 0. 1. ]] SLAMing on 42.506296757 meters Centerline goodness : 0.797154 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.88 [[ 0.97042308 0.21150487 -0.11638187 4.13687891] [-0.21413112 0.97674955 -0.01040099 -0.63554079] [ 0.11147608 0.03501434 0.99315008 -0.88388559] [ 0. 0. 0. 1. ]] SLAMing on 42.536296757 meters Centerline goodness : 0.805104 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.64, Z:-0.88 [[ 0.97167685 0.20575071 -0.11623571 4.13490204] [-0.20859987 0.97791769 -0.01277057 -0.63768628] [ 0.1110414 0.03665562 0.99313955 -0.88443296] [ 0. 0. 0. 1. ]] SLAMing on 42.566296757 meters Centerline goodness : 0.807148 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.88 [[ 0.97237625 0.2020001 -0.11696322 4.1351771 ] [-0.20514603 0.97861042 -0.01538706 -0.63870582] [ 0.11135324 0.03895655 0.99301704 -0.88487985] [ 0. 0. 0. 1. ]] SLAMing on 42.596296757 meters Centerline goodness : 0.805020 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.64, Z:-0.89 [[ 0.97359625 0.19595969 -0.11709035 4.13379792] [-0.19939157 0.97975019 -0.01823666 -0.6417406 ] [ 0.11114565 0.04110197 0.99295381 -0.885721 ] [ 0. 0. 0. 1. ]] SLAMing on 42.626296757 meters Centerline goodness : 0.807181 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.65, Z:-0.89 [[ 0.97459134 0.19863562 -0.10351625 4.13262149] [-0.20153415 0.9793118 -0.01823125 -0.64725779] [ 0.09775331 0.03863007 0.99446066 -0.88995773] [ 0. 0. 0. 1. ]] SLAMing on 42.656296757 meters Centerline goodness : 0.807181 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.65, Z:-0.89 [[ 0.97459134 0.19863562 -0.10351625 4.13262149] [-0.20153415 0.9793118 -0.01823125 -0.64725779] [ 0.09775331 0.03863007 0.99446066 -0.88995773] [ 0. 0. 0. 1. ]] SLAMing on 42.686296757 meters Centerline goodness : 0.804989 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.65, Z:-0.89 [[ 0.97480734 0.19739123 -0.10386216 4.1311754 ] [-0.2003725 0.97953564 -0.01899476 -0.64895065] [ 0.09798729 0.03932736 0.9944103 -0.88822292] [ 0. 0. 0. 1. ]] SLAMing on 42.716296757 meters Centerline goodness : 0.805388 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.65, Z:-0.89 [[ 0.97479714 0.19692864 -0.10483153 4.13238763] [-0.1999188 0.97963364 -0.01871905 -0.65098024] [ 0.09901017 0.03920507 0.99431381 -0.88790486] [ 0. 0. 0. 1. ]] SLAMing on 42.746296757 meters Centerline goodness : 0.805565 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.65, Z:-0.89 [[ 0.97460704 0.19772336 -0.1051028 4.13344028] [-0.20066154 0.97949431 -0.01805123 -0.65117543] [ 0.09937844 0.03868295 0.99429752 -0.88825291] [ 0. 0. 0. 1. ]] SLAMing on 42.776296757 meters Centerline goodness : 0.795055 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.65, Z:-0.89 [[ 0.9743616 0.19836336 -0.10616711 4.13591919] [-0.20137961 0.97934084 -0.01837872 -0.6513179 ] [ 0.10032813 0.03928741 0.99417844 -0.88848897] [ 0. 0. 0. 1. ]] SLAMing on 42.806296757 meters Centerline goodness : 0.795208 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.65, Z:-0.89 [[ 0.97364912 0.2006543 -0.10837543 4.13931096] [-0.20382262 0.97882577 -0.01887989 -0.65253266] [ 0.10229234 0.04047175 0.99393074 -0.88695207] [ 0. 0. 0. 1. ]] SLAMing on 42.836296757 meters Centerline goodness : 0.796721 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.65, Z:-0.89 [[ 0.97319841 0.20219981 -0.10954496 4.1413741 ] [-0.20541835 0.97849328 -0.0188202 -0.65314957] [ 0.10338357 0.04081833 0.99380365 -0.88625188] [ 0. 0. 0. 1. ]] SLAMing on 42.866296757 meters Centerline goodness : 0.796898 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.65, Z:-0.89 [[ 0.97224316 0.20547853 -0.11190087 4.14672653] [-0.20881001 0.97777577 -0.01878605 -0.65456087] [ 0.10555383 0.04163063 0.99354179 -0.88644505] [ 0. 0. 0. 1. ]] SLAMing on 42.896296757 meters Centerline goodness : 0.798547 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.66, Z:-0.89 [[ 0.9716144 0.20869582 -0.111407 4.14617645] [-0.21168376 0.97721421 -0.01556873 -0.65567892] [ 0.10561937 0.03870986 0.9936529 -0.885667 ] [ 0. 0. 0. 1. ]] SLAMing on 42.926296757 meters Centerline goodness : 0.798507 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.66, Z:-0.89 [[ 0.97119642 0.21023305 -0.11215872 4.14801908] [-0.21322128 0.97688551 -0.01521172 -0.6558499 ] [ 0.10636822 0.03868819 0.99357386 -0.88553769] [ 0. 0. 0. 1. ]] SLAMing on 42.956296757000004 meters Centerline goodness : 0.795608 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.66, Z:-0.89 [[ 0.97030133 0.2142632 -0.11227912 4.15085725] [-0.21681441 0.97615219 -0.01088196 -0.65813358] [ 0.10726991 0.03490251 0.99361712 -0.88700303] [ 0. 0. 0. 1. ]] SLAMing on 42.986296757 meters Centerline goodness : 0.799060 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.66, Z:-0.89 [[ 0.97026969 0.21440984 -0.11227262 4.15082015] [-0.21689456 0.97614112 -0.01026033 -0.66048334] [ 0.107394 0.03430661 0.99362447 -0.88694466] [ 0. 0. 0. 1. ]] SLAMing on 43.016296757 meters Centerline goodness : 0.800318 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.66, Z:-0.89 [[ 0.9701813 0.21486584 -0.11216469 4.14978794] [-0.2172345 0.97607613 -0.00919569 -0.66346482] [ 0.10750544 0.03328753 0.99364708 -0.88599523] [ 0. 0. 0. 1. ]] SLAMing on 43.046296757 meters Centerline goodness : 0.801334 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.67, Z:-0.89 [[ 0.97012693 0.21517583 -0.1120406 4.14902748] [-0.21744351 0.97603776 -0.00828339 -0.66622572] [ 0.10757347 0.03239844 0.99366911 -0.88538807] [ 0. 0. 0. 1. ]] SLAMing on 43.076296757 meters Centerline goodness : 0.800408 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.67, Z:-0.88 [[ 0.9700687 0.21550426 -0.11191346 4.1483445 ] [-0.21766563 0.97599594 -0.00732105 -0.66906327] [ 0.10764936 0.03146163 0.99369099 -0.88487997] [ 0. 0. 0. 1. ]] SLAMing on 43.106296757 meters Centerline goodness : 0.802052 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.68, Z:-0.88 [[ 0.97005608 0.21597187 -0.11111869 4.14566524] [-0.21782305 0.97597719 -0.0046523 -0.67526611] [ 0.10744454 0.0287172 0.99379625 -0.8820304 ] [ 0. 0. 0. 1. ]] SLAMing on 43.136296757000004 meters Centerline goodness : 0.803291 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.68, Z:-0.88 [[ 9.69939057e-01 2.16621122e-01 -1.10876125e-01 4.14412929e+00] [-2.18324128e-01 9.75870701e-01 -3.30902541e-03 -6.78309591e-01] [ 1.07483957e-01 2.74164862e-02 9.93828725e-01 -8.80685824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.166296757 meters Centerline goodness : 0.803059 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.68, Z:-0.88 [[ 9.69813925e-01 2.17476091e-01 -1.10295515e-01 4.14229242e+00] [-2.18984495e-01 9.75727020e-01 -1.60399946e-03 -6.81934846e-01] [ 1.07269483e-01 2.57085887e-02 9.93897543e-01 -8.79557104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.196296757 meters Centerline goodness : 0.800059 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.68, Z:-0.88 [[ 9.69741654e-01 2.17816288e-01 -1.10259643e-01 4.14220655e+00] [-2.19266967e-01 9.75664326e-01 -1.05868025e-03 -6.83244845e-01] [ 1.07345803e-01 2.52029439e-02 9.93902254e-01 -8.79555361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.226296757 meters Centerline goodness : 0.799557 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.69, Z:-0.88 [[ 9.69644587e-01 2.18319848e-01 -1.10117299e-01 4.14156756e+00] [-2.19685348e-01 9.75570742e-01 -2.74729672e-04 -6.85226905e-01] [ 1.07367236e-01 2.44575471e-02 9.93918561e-01 -8.79208039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.256296757 meters Centerline goodness : 0.800567 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.69, Z:-0.88 [[ 9.70127342e-01 2.16322623e-01 -1.09806478e-01 4.13719176e+00] [-2.17880433e-01 9.75972882e-01 -2.24714767e-03 -6.88346890e-01] [ 1.06682036e-01 2.61047024e-02 9.93950445e-01 -8.77479578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.286296757 meters Centerline goodness : 0.801476 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.69, Z:-0.88 [[ 9.69885403e-01 2.17729601e-01 -1.09161008e-01 4.13504799e+00] [-2.19163436e-01 9.75687464e-01 -1.16685257e-03 -6.90693518e-01] [ 1.06252969e-01 2.50558149e-02 9.94023396e-01 -8.77025337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.316296757 meters Centerline goodness : 0.800730 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.69, Z:-0.88 [[ 9.69761687e-01 2.18411710e-01 -1.08897175e-01 4.13476330e+00] [-2.19843051e-01 9.75534555e-01 -1.16805904e-03 -6.89173377e-01] [ 1.05977840e-01 2.50730262e-02 9.94052333e-01 -8.77352468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.346296757 meters Centerline goodness : 0.799581 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.69, Z:-0.88 [[ 9.68860501e-01 2.22778432e-01 -1.08069887e-01 4.13523874e+00] [-2.23789027e-01 9.74633471e-01 2.84045923e-03 -6.88815171e-01] [ 1.05961323e-01 2.14328461e-02 9.94139241e-01 -8.77443523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.376296757 meters Centerline goodness : 0.798979 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.69, Z:-0.88 [[ 0.96769199 0.22862067 -0.106324 4.13300417] [-0.22916927 0.97336 0.00719452 -0.68577 ] [ 0.10513635 0.01740411 0.99430551 -0.87642992] [ 0. 0. 0. 1. ]] SLAMing on 43.406296757 meters Centerline goodness : 0.799593 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.68, Z:-0.88 [[ 0.96748383 0.2297269 -0.10583284 4.13138892] [-0.23023729 0.97310533 0.00753652 -0.68465412] [ 0.10471784 0.01707521 0.99435537 -0.87578529] [ 0. 0. 0. 1. ]] SLAMing on 43.436296757 meters Centerline goodness : 0.801643 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.69, Z:-0.88 [[ 0.96717545 0.23125702 -0.10531783 4.12922369] [-0.23170266 0.97275249 0.00815355 -0.68564266] [ 0.10433374 0.01651651 0.99440519 -0.87520442] [ 0. 0. 0. 1. ]] SLAMing on 43.466296757 meters Centerline goodness : 0.798594 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.69, Z:-0.88 [[ 0.9670724 0.23170003 -0.10529045 4.12892809] [-0.23214009 0.97264757 0.0082267 -0.68524591] [ 0.10431662 0.01648632 0.99440748 -0.87503835] [ 0. 0. 0. 1. ]] SLAMing on 43.496296757 meters Centerline goodness : 0.804431 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.68, Z:-0.88 [[ 0.96698011 0.23215003 -0.10514674 4.12891495] [-0.2326028 0.97253803 0.0081073 -0.68324456] [ 0.10414131 0.01661782 0.99442367 -0.87520994] [ 0. 0. 0. 1. ]] SLAMing on 43.526296757 meters Centerline goodness : 0.803042 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.68, Z:-0.88 [[ 0.96620311 0.23551663 -0.10480199 4.13205241] [-0.23569047 0.97176704 0.01090082 -0.67905428] [ 0.10441044 0.01416842 0.99443336 -0.87661818] [ 0. 0. 0. 1. ]] SLAMing on 43.556296757 meters Centerline goodness : 0.796509 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.68, Z:-0.88 [[ 0.96620117 0.23546564 -0.10493446 4.13271392] [-0.23567137 0.97177486 0.01061269 -0.67696394] [ 0.10447159 0.01447605 0.99442251 -0.87672816] [ 0. 0. 0. 1. ]] SLAMing on 43.586296757 meters Centerline goodness : 0.798241 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.68, Z:-0.88 [[ 0.96701264 0.23176917 -0.10568633 4.13187018] [-0.23237229 0.97260355 0.00674238 -0.67547459] [ 0.10435357 0.0180386 0.99437666 -0.87624139] [ 0. 0. 0. 1. ]] SLAMing on 43.616296757 meters Centerline goodness : 0.798952 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.67, Z:-0.88 [[ 9.67816161e-01 2.28108652e-01 -1.06293567e-01 4.13081187e+00] [-2.29097254e-01 9.73398978e-01 2.97951514e-03 -6.74697436e-01] [ 1.04145703e-01 2.14679414e-02 9.94330327e-01 -8.75884184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.646296757 meters Centerline goodness : 0.801172 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.68, Z:-0.88 [[ 9.67864873e-01 2.27751210e-01 -1.06616009e-01 4.13139823e+00] [-2.28736295e-01 9.73483612e-01 3.06001031e-03 -6.75656528e-01] [ 1.04485859e-01 2.14252744e-02 9.94295561e-01 -8.75727100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.676296757 meters Centerline goodness : 0.800960 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.67, Z:-0.88 [[ 9.68106181e-01 2.26502155e-01 -1.07084991e-01 4.13367711e+00] [-2.27596498e-01 9.73753370e-01 2.05127090e-03 -6.73199312e-01] [ 1.04738988e-01 2.23863210e-02 9.94247754e-01 -8.76662895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.706296757000004 meters Centerline goodness : 0.800384 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.67, Z:-0.88 [[ 9.68215885e-01 2.26101544e-01 -1.06939662e-01 4.13408971e+00] [-2.27238076e-01 9.73837927e-01 1.59663839e-03 -6.71446332e-01] [ 1.04502901e-01 2.27548723e-02 9.94264230e-01 -8.77108592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.736296757 meters Centerline goodness : 0.803249 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.67, Z:-0.87 [[ 9.68905557e-01 2.23424695e-01 -1.06317579e-01 4.13047217e+00] [-2.24762347e-01 9.74413417e-01 -6.15770217e-04 -6.68649525e-01] [ 1.03459697e-01 2.44928118e-02 9.94332034e-01 -8.74269930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.766296757 meters Centerline goodness : 0.805283 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.67, Z:-0.87 [[ 0.96966142 0.21960075 -0.10738823 4.12982589] [-0.22139536 0.97517164 -0.00493643 -0.66697214] [ 0.10363792 0.02856192 0.99420491 -0.87250896] [ 0. 0. 0. 1. ]] SLAMing on 43.796296757 meters Centerline goodness : 0.802920 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.67, Z:-0.87 [[ 0.97044632 0.21578052 -0.10804028 4.12874112] [-0.2179753 0.97591468 -0.0087926 -0.66580919] [ 0.10354082 0.03208286 0.99410763 -0.87177181] [ 0. 0. 0. 1. ]] SLAMing on 43.826296757 meters Centerline goodness : 0.804290 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.67, Z:-0.87 [[ 0.97065783 0.21446013 -0.10876682 4.13119501] [-0.21675916 0.97617758 -0.00963347 -0.66544671] [ 0.10410973 0.03292701 0.99402061 -0.87275025] [ 0. 0. 0. 1. ]] SLAMing on 43.856296757 meters Centerline goodness : 0.803406 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.66, Z:-0.87 [[ 0.9706899 0.21438725 -0.1086242 4.13228817] [-0.21664811 0.97620529 -0.00931806 -0.66398795] [ 0.10404185 0.03257817 0.99403921 -0.87390798] [ 0. 0. 0. 1. ]] SLAMing on 43.886296757000004 meters Centerline goodness : 0.802628 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.66, Z:-0.87 [[ 0.97059649 0.21478436 -0.1086744 4.13371933] [-0.21700491 0.97612998 -0.0088958 -0.66087876] [ 0.10416966 0.03221711 0.99403759 -0.87435345] [ 0. 0. 0. 1. ]] SLAMing on 43.916296757 meters Centerline goodness : 0.802145 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.66, Z:-0.87 [[ 0.9704375 0.21495178 -0.10975785 4.13582959] [-0.21729766 0.97605683 -0.00973642 -0.65989915] [ 0.10503704 0.03329871 0.99391067 -0.87409569] [ 0. 0. 0. 1. ]] SLAMing on 43.946296757 meters Centerline goodness : 0.805224 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.66, Z:-0.87 [[ 0.97023936 0.21532228 -0.11077858 4.13783251] [-0.21778194 0.9759414 -0.01045949 -0.65896389] [ 0.10586124 0.03427378 0.99379007 -0.87374602] [ 0. 0. 0. 1. ]] SLAMing on 43.976296757 meters Centerline goodness : 0.804761 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.66, Z:-0.87 [[ 0.96966992 0.21838983 -0.10975484 4.13722213] [-0.22047443 0.97536705 -0.00708108 -0.65877631] [ 0.10550482 0.03106444 0.99393347 -0.87350055] [ 0. 0. 0. 1. ]] SLAMing on 44.006296757 meters Centerline goodness : 0.802560 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.65, Z:-0.87 [[ 0.96916394 0.21193576 -0.1257159 4.14222617] [-0.21490806 0.97657876 -0.01041382 -0.65350368] [ 0.12056442 0.03711006 0.99201163 -0.86894042] [ 0. 0. 0. 1. ]] SLAMing on 44.036296757 meters Centerline goodness : 0.806988 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.65, Z:-0.87 [[ 0.96875882 0.21379524 -0.12568986 4.14484346] [-0.21651174 0.97624555 -0.00820278 -0.65265828] [ 0.12095045 0.03515984 0.99203567 -0.87061217] [ 0. 0. 0. 1. ]] SLAMing on 44.066296757 meters Centerline goodness : 0.805570 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.65, Z:-0.87 [[ 0.96875351 0.21378295 -0.12575167 4.14591215] [-0.21656871 0.97622813 -0.00875357 -0.6513026 ] [ 0.12089095 0.03571393 0.99202313 -0.8713964 ] [ 0. 0. 0. 1. ]] SLAMing on 44.096296757 meters Centerline goodness : 0.803357 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.65, Z:-0.87 [[ 0.96875558 0.21380228 -0.12570291 4.14542692] [-0.21664297 0.97620738 -0.00921799 -0.65002227] [ 0.12074128 0.03616263 0.9920251 -0.87058647] [ 0. 0. 0. 1. ]] SLAMing on 44.126296757 meters Centerline goodness : 0.803527 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.65, Z:-0.87 [[ 0.96875686 0.21337953 -0.12640937 4.14693714] [-0.21633157 0.97626933 -0.00994235 -0.64990851] [ 0.1212881 0.03697806 0.99192833 -0.87080029] [ 0. 0. 0. 1. ]] SLAMing on 44.156296757 meters Centerline goodness : 0.804501 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.65, Z:-0.87 [[ 0.96880942 0.21323922 -0.12624316 4.14700385] [-0.21614711 0.97631321 -0.00964086 -0.64962745] [ 0.12119706 0.03662725 0.99195248 -0.87110323] [ 0. 0. 0. 1. ]] SLAMing on 44.186296757 meters Centerline goodness : 0.805413 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.65, Z:-0.87 [[ 0.96913797 0.21192388 -0.12593593 4.14606088] [-0.21488502 0.97658551 -0.01025479 -0.64932811] [ 0.12081397 0.03700005 0.99198537 -0.8710001 ] [ 0. 0. 0. 1. ]] SLAMing on 44.216296757 meters Centerline goodness : 0.805385 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.65, Z:-0.87 [[ 0.96928172 0.21123908 -0.12598017 4.14496721] [-0.2142909 0.97670762 -0.011029 -0.64926079] [ 0.12071604 0.03768661 0.99197145 -0.86984541] [ 0. 0. 0. 1. ]] SLAMing on 44.246296757 meters Centerline goodness : 0.810656 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.65, Z:-0.87 [[ 0.96985646 0.20922395 -0.12491511 4.14242967] [-0.21234239 0.9771211 -0.01204426 -0.64787704] [ 0.11953724 0.03820597 0.99209433 -0.86954428] [ 0. 0. 0. 1. ]] SLAMing on 44.276296757 meters Centerline goodness : 0.810705 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.65, Z:-0.87 [[ 0.97009916 0.20841507 -0.12438157 4.14190672] [-0.21152585 0.97729622 -0.0122027 -0.64647726] [ 0.11901441 0.03814775 0.99215942 -0.87006361] [ 0. 0. 0. 1. ]] SLAMing on 44.306296757 meters Centerline goodness : 0.807640 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.97023975 0.20802587 -0.12393573 4.14176761] [-0.21109887 0.97739037 -0.01205492 -0.6449662 ] [ 0.11862586 0.03785886 0.99221702 -0.87067154] [ 0. 0. 0. 1. ]] SLAMing on 44.336296757 meters Centerline goodness : 0.806340 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.97037027 0.20772078 -0.12342454 4.14079382] [-0.21079642 0.97745309 -0.01226066 -0.64350652] [ 0.1180949 0.03791483 0.99227822 -0.87035295] [ 0. 0. 0. 1. ]] SLAMing on 44.366296757 meters Centerline goodness : 0.810174 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.97028132 0.2078431 -0.12391696 4.14068061] [-0.21105065 0.97738601 -0.01319883 -0.64334596] [ 0.11837142 0.03895933 0.99220481 -0.86904976] [ 0. 0. 0. 1. ]] SLAMing on 44.396296757 meters Centerline goodness : 0.812949 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.97012414 0.20813527 -0.12465497 4.14140109] [-0.21160656 0.97723769 -0.01513784 -0.64166047] [ 0.11866682 0.0410634 0.99208467 -0.8678487 ] [ 0. 0. 0. 1. ]] SLAMing on 44.426296757 meters Centerline goodness : 0.812354 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.96965778 0.21095005 -0.12354706 4.14052135] [-0.21400502 0.97676069 -0.01184904 -0.64101842] [ 0.11817635 0.03792921 0.99226797 -0.86771396] [ 0. 0. 0. 1. ]] SLAMing on 44.456296757000004 meters Centerline goodness : 0.808917 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.96913707 0.21405691 -0.12228239 4.14090253] [-0.21667974 0.9762065 -0.00841179 -0.63981258] [ 0.11757226 0.03464829 0.9924597 -0.86919097] [ 0. 0. 0. 1. ]] SLAMing on 44.486296757 meters Centerline goodness : 0.808195 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.96815744 0.21860537 -0.12199531 4.14419968] [-0.22085558 0.97529334 -0.00507077 -0.63850636] [ 0.11787272 0.03185265 0.99251772 -0.87140663] [ 0. 0. 0. 1. ]] SLAMing on 44.516296757 meters Centerline goodness : 0.808907 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.96794377 0.21921549 -0.12259459 4.14479473] [-0.22157438 0.97512634 -0.00578119 -0.63791809] [ 0.11827789 0.03275969 0.99244 -0.87038637] [ 0. 0. 0. 1. ]] SLAMing on 44.546296757 meters Centerline goodness : 0.810440 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.96772498 0.21921664 -0.12430778 4.14475471] [-0.22203772 0.97499523 -0.00914079 -0.6362577 ] [ 0.11919568 0.03644679 0.9922016 -0.86635358] [ 0. 0. 0. 1. ]] SLAMing on 44.576296757 meters Centerline goodness : 0.811934 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.64, Z:-0.86 [[ 0.96744035 0.22003129 -0.12508158 4.14506144] [-0.22300485 0.97476486 -0.0101144 -0.63556803] [ 0.11969965 0.03767888 0.9920949 -0.86452816] [ 0. 0. 0. 1. ]] SLAMing on 44.606296757 meters Centerline goodness : 0.811934 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.64, Z:-0.86 [[ 0.96744035 0.22003129 -0.12508158 4.14506144] [-0.22300485 0.97476486 -0.0101144 -0.63556803] [ 0.11969965 0.03767888 0.9920949 -0.86452816] [ 0. 0. 0. 1. ]] SLAMing on 44.636296757000004 meters Centerline goodness : 0.815107 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.63, Z:-0.86 [[ 0.96708024 0.2213269 -0.12557954 4.1460979 ] [-0.22434907 0.97445466 -0.01027651 -0.63484536] [ 0.1200971 0.03811186 0.99203033 -0.86393022] [ 0. 0. 0. 1. ]] SLAMing on 44.666296757 meters Centerline goodness : 0.813354 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.63, Z:-0.87 [[ 0.9665376 0.22472199 -0.12371375 4.14688767] [-0.2271093 0.97385452 -0.00536038 -0.63401536] [ 0.1192746 0.03327755 0.99230347 -0.86708788] [ 0. 0. 0. 1. ]] SLAMing on 44.696296757 meters Centerline goodness : 0.812680 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.63, Z:-0.87 [[ 0.96649905 0.22477899 -0.12391125 4.14949171] [-0.22711967 0.97385446 -0.00491419 -0.63360234] [ 0.11956691 0.03289224 0.99228114 -0.86948929] [ 0. 0. 0. 1. ]] SLAMing on 44.726296757 meters Centerline goodness : 0.812615 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.64, Z:-0.87 [[ 0.96708952 0.22243927 -0.12352586 4.14800315] [-0.22481122 0.97438721 -0.0054288 -0.6350265 ] [ 0.11915444 0.03302014 0.9923265 -0.86972775] [ 0. 0. 0. 1. ]] SLAMing on 44.756296757 meters Centerline goodness : 0.811054 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.64, Z:-0.87 [[ 0.96761309 0.21905264 -0.12546252 4.14907535] [-0.2219841 0.97500196 -0.00970784 -0.63660099] [ 0.12019967 0.03724412 0.99205086 -0.86860273] [ 0. 0. 0. 1. ]] SLAMing on 44.786296757 meters Centerline goodness : 0.810847 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.64, Z:-0.87 [[ 0.9683057 0.21530931 -0.12659374 4.14884013] [-0.21868789 0.97570479 -0.0132582 -0.63762738] [ 0.1206635 0.04052251 0.99186604 -0.86777838] [ 0. 0. 0. 1. ]] SLAMing on 44.816296757 meters Centerline goodness : 0.815095 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.64, Z:-0.87 [[ 0.96975842 0.20929586 -0.1255542 4.14692179] [-0.21280019 0.97698016 -0.01502837 -0.63795931] [ 0.11951859 0.04129184 0.99197293 -0.87014402] [ 0. 0. 0. 1. ]] SLAMing on 44.846296757 meters Centerline goodness : 0.815213 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.64, Z:-0.87 [[ 0.97021114 0.20795764 -0.12427375 4.14539081] [-0.21126692 0.97732922 -0.01392438 -0.63736035] [ 0.11856069 0.03976452 0.99215026 -0.87137345] [ 0. 0. 0. 1. ]] SLAMing on 44.876296757 meters Centerline goodness : 0.813863 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.97090031 0.20570915 -0.12262273 4.14350471] [-0.2088593 0.97785561 -0.0132742 -0.63646488] [ 0.1171767 0.03849882 0.99236458 -0.87319998] [ 0. 0. 0. 1. ]] SLAMing on 44.906296757 meters Centerline goodness : 0.816638 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.97102654 0.20523729 -0.12241372 4.14239222] [-0.20837352 0.97795951 -0.01325388 -0.6367043 ] [ 0.11699547 0.03837765 0.99239066 -0.87256138] [ 0. 0. 0. 1. ]] SLAMing on 44.936296757 meters Centerline goodness : 0.816704 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.97137793 0.20282709 -0.12363696 4.14100825] [-0.20651164 0.97828554 -0.01761641 -0.63669481] [ 0.11737916 0.04264466 0.99217114 -0.8692856 ] [ 0. 0. 0. 1. ]] SLAMing on 44.966296757 meters Centerline goodness : 0.816460 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.9719294 0.20811064 -0.10974154 4.13940864] [-0.21122978 0.97728016 -0.01747773 -0.63980862] [ 0.10361092 0.04016781 0.99380648 -0.87268899] [ 0. 0. 0. 1. ]] SLAMing on 44.996296757 meters Centerline goodness : 0.816984 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.97179413 0.20844539 -0.11030271 4.14048843] [-0.2116544 0.97717696 -0.01809995 -0.63904138] [ 0.10401241 0.04093547 0.99373322 -0.87236213] [ 0. 0. 0. 1. ]] SLAMing on 45.026296757 meters Centerline goodness : 0.818405 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.87 [[ 0.9708489 0.2138602 -0.10824156 4.14128404] [-0.21633135 0.97625241 -0.01148842 -0.63810791] [ 0.10321417 0.03456956 0.99405824 -0.87490857] [ 0. 0. 0. 1. ]] SLAMing on 45.056296757 meters Centerline goodness : 0.813687 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.64, Z:-0.88 [[ 0.97006014 0.21746006 -0.10814082 4.14338742] [-0.21965138 0.9755402 -0.00863701 -0.63772225] [ 0.10361752 0.0321317 0.99409807 -0.87571314] [ 0. 0. 0. 1. ]] SLAMing on 45.086296757 meters Centerline goodness : 0.813100 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.64, Z:-0.88 [[ 0.96926387 0.22050986 -0.10910063 4.14597468] [-0.22269611 0.97485406 -0.00812426 -0.63700781] [ 0.10456571 0.03217084 0.99399751 -0.87510524] [ 0. 0. 0. 1. ]] SLAMing on 45.116296757 meters Centerline goodness : 0.812529 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.64, Z:-0.87 [[ 0.96774867 0.22610477 -0.11108166 4.14932446] [-0.22844851 0.97351733 -0.00867676 -0.63533598] [ 0.10617806 0.03377336 0.9937734 -0.87209739] [ 0. 0. 0. 1. ]] SLAMing on 45.146296757 meters Centerline goodness : 0.813454 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.63, Z:-0.87 [[ 0.96623199 0.23214445 -0.11182442 4.1514129 ] [-0.23433014 0.97213446 -0.00663231 -0.63374623] [ 0.10716872 0.03261218 0.99370585 -0.86971791] [ 0. 0. 0. 1. ]] SLAMing on 45.176296757 meters Centerline goodness : 0.814097 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.63, Z:-0.87 [[ 0.96546379 0.23478163 -0.11294806 4.15504811] [-0.2369814 0.97149397 -0.00626851 -0.63287721] [ 0.10825663 0.03281861 0.99358112 -0.8699919 ] [ 0. 0. 0. 1. ]] SLAMing on 45.206296757000004 meters Centerline goodness : 0.816043 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.63, Z:-0.87 [[ 9.64512287e-01 2.38539637e-01 -1.13202868e-01 4.15803285e+00] [-2.40457231e-01 9.70653790e-01 -3.39700945e-03 -6.33125824e-01] [ 1.09070472e-01 3.04969056e-02 9.93566088e-01 -8.70936798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.236296757 meters Centerline goodness : 0.812316 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.63, Z:-0.87 [[ 9.63744244e-01 2.41833494e-01 -1.12754569e-01 4.15979889e+00] [-2.43349024e-01 9.69938731e-01 3.32152413e-04 -6.33442153e-01] [ 1.09445349e-01 2.71186044e-02 9.93622814e-01 -8.72172800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.266296757 meters Centerline goodness : 0.813125 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.63, Z:-0.87 [[ 9.62885462e-01 2.45504685e-01 -1.12156304e-01 4.16058536e+00] [-2.46621805e-01 9.69103464e-01 4.02019282e-03 -6.33872919e-01] [ 1.09678039e-01 2.37892049e-02 9.93682445e-01 -8.72427433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.296296757 meters Centerline goodness : 0.809557 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.64, Z:-0.87 [[ 9.63138286e-01 2.43248189e-01 -1.14869323e-01 4.16211645e+00] [-2.44902280e-01 9.69547722e-01 -2.96291629e-04 -6.36466175e-01] [ 1.11299218e-01 2.84171290e-02 9.93380567e-01 -8.70122988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.326296757 meters Centerline goodness : 0.806289 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.64, Z:-0.87 [[ 0.96359096 0.24037051 -0.11710887 4.16461792] [-0.24252363 0.97013605 -0.00428213 -0.6374651 ] [ 0.11258224 0.03252789 0.99310985 -0.86975675] [ 0. 0. 0. 1. ]] SLAMing on 45.356296757 meters Centerline goodness : 0.806568 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.64, Z:-0.87 [[ 0.9638875 0.23905283 -0.11736538 4.16430059] [-0.2412591 0.97044909 -0.00475465 -0.63811698] [ 0.11276051 0.03289841 0.99307742 -0.86947927] [ 0. 0. 0. 1. ]] SLAMing on 45.386296757000004 meters Centerline goodness : 0.808564 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.64, Z:-0.87 [[ 9.64951266e-01 2.35286977e-01 -1.16228624e-01 4.16470893e+00] [-2.37341080e-01 9.71418300e-01 -3.96202136e-03 -6.38283313e-01] [ 1.11974400e-01 3.14089847e-02 9.93214584e-01 -8.73811287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.416296757 meters Centerline goodness : 0.806508 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.64, Z:-0.87 [[ 9.65250850e-01 2.34417356e-01 -1.15495889e-01 4.16357361e+00] [-2.36340593e-01 9.71665477e-01 -3.05383972e-03 -6.38466670e-01] [ 1.11507495e-01 3.02440882e-02 9.93303264e-01 -8.74408994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.446296757 meters Centerline goodness : 0.804794 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.64, Z:-0.87 [[ 0.96605036 0.23023406 -0.11721338 4.16472615] [-0.23259484 0.97255072 -0.00668889 -0.6406213 ] [ 0.11245595 0.03372503 0.99308423 -0.87444977] [ 0. 0. 0. 1. ]] SLAMing on 45.476296757 meters Centerline goodness : 0.805535 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.64, Z:-0.87 [[ 0.9665145 0.22713901 -0.11940517 4.1659852 ] [-0.23008139 0.97310604 -0.01127804 -0.64171288] [ 0.11363221 0.03837329 0.99278155 -0.87290881] [ 0. 0. 0. 1. ]] SLAMing on 45.506296757 meters Centerline goodness : 0.806494 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.64, Z:-0.87 [[ 0.96693928 0.22435288 -0.12121967 4.16677217] [-0.22780113 0.97358906 -0.01519842 -0.64265241] [ 0.11460833 0.04230993 0.99250934 -0.87143646] [ 0. 0. 0. 1. ]] SLAMing on 45.536296757 meters Centerline goodness : 0.805014 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.64, Z:-0.87 [[ 0.96750684 0.2223083 -0.1204555 4.16449025] [-0.22570904 0.97407632 -0.0151906 -0.64349283] [ 0.11395585 0.04188491 0.9926025 -0.87123696] [ 0. 0. 0. 1. ]] SLAMing on 45.566296757 meters Centerline goodness : 0.807932 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.64, Z:-0.87 [[ 0.96759882 0.22215152 -0.12000508 4.1649412 ] [-0.22542118 0.9741576 -0.01422175 -0.6430017 ] [ 0.11374448 0.04081263 0.99267141 -0.87254268] [ 0. 0. 0. 1. ]] SLAMing on 45.596296757 meters Centerline goodness : 0.805611 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.64, Z:-0.87 [[ 0.96775404 0.22186263 -0.11928572 4.16501485] [-0.22499426 0.97426947 -0.01328836 -0.64248692] [ 0.11326824 0.03969847 0.99277104 -0.87398963] [ 0. 0. 0. 1. ]] SLAMing on 45.626296757 meters Centerline goodness : 0.804022 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.64, Z:-0.87 [[ 0.96762343 0.22175745 -0.12053437 4.16655804] [-0.2251053 0.97422303 -0.01473396 -0.64322813] [ 0.11416 0.04138985 0.99259981 -0.87326723] [ 0. 0. 0. 1. ]] SLAMing on 45.656296757 meters Centerline goodness : 0.803209 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.64, Z:-0.87 [[ 0.96743523 0.22085582 -0.12365999 4.1700868 ] [-0.22488599 0.97419065 -0.01946431 -0.64433944] [ 0.1161696 0.04663986 0.99213373 -0.87137764] [ 0. 0. 0. 1. ]] SLAMing on 45.686296757 meters Centerline goodness : 0.805001 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.64, Z:-0.87 [[ 0.96719399 0.22167174 -0.12408636 4.17063449] [-0.22572703 0.97399627 -0.01945722 -0.64464432] [ 0.11654654 0.04682855 0.99208064 -0.87079971] [ 0. 0. 0. 1. ]] SLAMing on 45.716296757 meters Centerline goodness : 0.803591 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.64, Z:-0.87 [[ 0.96703729 0.22209406 -0.12455164 4.1727431 ] [-0.22619891 0.97388262 -0.01966443 -0.64410166] [ 0.11693133 0.04718968 0.99201824 -0.8718068 ] [ 0. 0. 0. 1. ]] SLAMing on 45.746296757 meters Centerline goodness : 0.803693 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.64, Z:-0.87 [[ 0.96629648 0.22578206 -0.12366717 4.17402625] [-0.22947098 0.97317972 -0.01625713 -0.64296378] [ 0.11667982 0.04408724 0.99219057 -0.87318406] [ 0. 0. 0. 1. ]] SLAMing on 45.776296757000004 meters Centerline goodness : 0.802851 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.64, Z:-0.87 [[ 0.96580029 0.22733113 -0.12470107 4.17754407] [-0.23104801 0.97281067 -0.01600703 -0.64284718] [ 0.11767163 0.04427152 0.99206523 -0.87415408] [ 0. 0. 0. 1. ]] SLAMing on 45.806296757 meters Centerline goodness : 0.801677 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.65, Z:-0.87 [[ 0.96432895 0.23351854 -0.12465462 4.17879408] [-0.23673842 0.97150578 -0.01146445 -0.64513209] [ 0.11842553 0.04056604 0.99213396 -0.87337025] [ 0. 0. 0. 1. ]] SLAMing on 45.836296757 meters Centerline goodness : 0.800784 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.65, Z:-0.87 [[ 0.96369195 0.23520095 -0.12640547 4.18223365] [-0.23851485 0.97107034 -0.01153568 -0.64766189] [ 0.1200354 0.04126642 0.99191158 -0.87327251] [ 0. 0. 0. 1. ]] SLAMing on 45.866296757 meters Centerline goodness : 0.799234 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.65, Z:-0.87 [[ 0.96314142 0.23641583 -0.12832052 4.18432181] [-0.2398436 0.97074071 -0.0117272 -0.6528167 ] [ 0.12179346 0.0420718 0.99166341 -0.8722891 ] [ 0. 0. 0. 1. ]] SLAMing on 45.896296757 meters Centerline goodness : 0.798402 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.66, Z:-0.87 [[ 0.96308498 0.23592074 -0.12964847 4.18659095] [-0.23946979 0.97082619 -0.01227723 -0.65519993] [ 0.12296968 0.04287091 0.99148401 -0.87268769] [ 0. 0. 0. 1. ]] SLAMing on 45.926296757 meters Centerline goodness : 0.797581 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.66, Z:-0.87 [[ 0.96387822 0.23201638 -0.13079439 4.1877676 ] [-0.23591713 0.97165824 -0.01494529 -0.65719757] [ 0.1236199 0.04526208 0.99129686 -0.87367826] [ 0. 0. 0. 1. ]] SLAMing on 45.956296757000004 meters Centerline goodness : 0.797497 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.66, Z:-0.87 [[ 0.96417007 0.23088987 -0.1306367 4.18633162] [-0.23477947 0.97193312 -0.01498677 -0.65835531] [ 0.12350984 0.04512061 0.99131703 -0.87306795] [ 0. 0. 0. 1. ]] SLAMing on 45.986296757 meters Centerline goodness : 0.798338 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.66, Z:-0.87 [[ 0.9646652 0.22819982 -0.13170381 4.18678478] [-0.2324552 0.97244628 -0.01768645 -0.65890807] [ 0.12403884 0.04767674 0.99113132 -0.87265181] [ 0. 0. 0. 1. ]] SLAMing on 46.016296757 meters Centerline goodness : 0.797148 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.66, Z:-0.87 [[ 0.96520876 0.22515064 -0.13296331 4.18543137] [-0.22975117 0.97304113 -0.02013346 -0.66273927] [ 0.12484571 0.04998147 0.99091644 -0.87074063] [ 0. 0. 0. 1. ]] SLAMing on 46.046296757 meters Centerline goodness : 0.795705 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.67, Z:-0.87 [[ 0.96509881 0.22483 -0.13429725 4.18778581] [-0.22954673 0.97308104 -0.02053261 -0.66585304] [ 0.12606576 0.05064349 0.99072835 -0.8713371 ] [ 0. 0. 0. 1. ]] SLAMing on 46.076296757 meters Centerline goodness : 0.793733 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.67, Z:-0.87 [[ 0.96482191 0.22582408 -0.13461862 4.18930307] [-0.23021195 0.97297833 -0.01776574 -0.67174363] [ 0.12696907 0.04813159 0.99073821 -0.87314 ] [ 0. 0. 0. 1. ]] SLAMing on 46.106296757 meters Centerline goodness : 0.796070 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.67, Z:-0.87 [[ 0.96478612 0.22582082 -0.13488028 4.19017099] [-0.23016995 0.97299551 -0.0173645 -0.67379394] [ 0.12731664 0.04779842 0.99070974 -0.87370418] [ 0. 0. 0. 1. ]] SLAMing on 46.136296757000004 meters Centerline goodness : 0.794773 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.68, Z:-0.87 [[ 0.96477877 0.22585487 -0.13487589 4.19063088] [-0.23012495 0.97301694 -0.01674914 -0.67690617] [ 0.12745365 0.04719752 0.99072093 -0.87454002] [ 0. 0. 0. 1. ]] SLAMing on 46.166296757 meters Centerline goodness : 0.793633 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.68, Z:-0.87 [[ 0.96470915 0.22619871 -0.13479761 4.19016549] [-0.23037806 0.97296883 -0.01605024 -0.67840051] [ 0.12752333 0.04653823 0.99074315 -0.87404812] [ 0. 0. 0. 1. ]] SLAMing on 46.196296757 meters Centerline goodness : 0.792774 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.68, Z:-0.87 [[ 0.96459667 0.22689546 -0.13443109 4.18816242] [-0.23090869 0.97286216 -0.01484583 -0.68153075] [ 0.12741447 0.04536155 0.99081173 -0.87269075] [ 0. 0. 0. 1. ]] SLAMing on 46.226296757 meters Centerline goodness : 0.793893 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.68, Z:-0.87 [[ 0.96446859 0.227589 -0.13417743 4.18667202] [-0.23147965 0.97273992 -0.01393633 -0.68359801] [ 0.12734798 0.0445005 0.99085932 -0.87167443] [ 0. 0. 0. 1. ]] SLAMing on 46.256296757 meters Centerline goodness : 0.792341 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.69, Z:-0.87 [[ 0.96433703 0.22819952 -0.13408605 4.18559437] [-0.23199453 0.97262775 -0.01318356 -0.68516732] [ 0.12740733 0.04382062 0.99088199 -0.87075924] [ 0. 0. 0. 1. ]] SLAMing on 46.286296757 meters Centerline goodness : 0.790466 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.69, Z:-0.87 [[ 0.96338015 0.23280166 -0.13304917 4.18511424] [-0.23599877 0.97171561 -0.00856467 -0.6874155 ] [ 0.12729208 0.03965047 0.99107243 -0.87027546] [ 0. 0. 0. 1. ]] SLAMing on 46.316296757 meters Centerline goodness : 0.790050 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.69, Z:-0.87 [[ 0.96248074 0.23671889 -0.13264612 4.1866106 ] [-0.23940375 0.97090996 -0.00443866 -0.68925946] [ 0.12773673 0.0360281 0.99115352 -0.87058509] [ 0. 0. 0. 1. ]] SLAMing on 46.346296757 meters Centerline goodness : 0.789059 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.69, Z:-0.87 [[ 9.61543385e-01 2.40723538e-01 -1.32236518e-01 4.18896925e+00] [-2.42926392e-01 9.70044573e-01 -5.42235568e-04 -6.91511812e-01] [ 1.28144788e-01 3.26451232e-02 9.91218043e-01 -8.72315866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.376296757 meters Centerline goodness : 0.788132 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.69, Z:-0.87 [[ 9.61487512e-01 2.40837292e-01 -1.32435507e-01 4.19015660e+00] [-2.43075394e-01 9.70007104e-01 -7.55626821e-04 -6.90728491e-01] [ 1.28281400e-01 3.29183389e-02 9.91191336e-01 -8.73239704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.406296757 meters Centerline goodness : 0.788742 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.69, Z:-0.87 [[ 9.60458167e-01 2.45339533e-01 -1.31638232e-01 4.19121721e+00] [-2.47058560e-01 9.68994700e-01 3.36752559e-03 -6.92049656e-01] [ 1.28382936e-01 2.92879845e-02 9.91292104e-01 -8.74131100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.436296757 meters Centerline goodness : 0.786052 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.69, Z:-0.87 [[ 9.60308599e-01 2.46037709e-01 -1.31426181e-01 4.18993494e+00] [-2.47667121e-01 9.68836684e-01 4.05924666e-03 -6.93202954e-01] [ 1.28329233e-01 2.86518146e-02 9.91317649e-01 -8.73199157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.466296757 meters Centerline goodness : 0.788934 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.70, Z:-0.87 [[ 0.96013499 0.24687379 -0.13112637 4.18792701] [-0.24835151 0.9686559 0.00522225 -0.69560161] [ 0.12830557 0.02755137 0.99135191 -0.87164618] [ 0. 0. 0. 1. ]] SLAMing on 46.496296757 meters Centerline goodness : 0.788934 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.70, Z:-0.87 [[ 0.96013499 0.24687379 -0.13112637 4.18792701] [-0.24835151 0.9686559 0.00522225 -0.69560161] [ 0.12830557 0.02755137 0.99135191 -0.87164618] [ 0. 0. 0. 1. ]] SLAMing on 46.526296757000004 meters Centerline goodness : 0.792262 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.70, Z:-0.87 [[ 9.60698358e-01 2.44737545e-01 -1.31004577e-01 4.18352488e+00] [-2.46477609e-01 9.69143790e-01 3.01697886e-03 -6.96321199e-01] [ 1.27700640e-01 2.93912883e-02 9.91377173e-01 -8.69242815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.556296757 meters Centerline goodness : 0.794663 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.70, Z:-0.87 [[ 9.60634773e-01 2.44954057e-01 -1.31066178e-01 4.18340577e+00] [-2.46642328e-01 9.69100446e-01 3.44779865e-03 -6.96833118e-01] [ 1.27860844e-01 2.90143920e-02 9.91367626e-01 -8.68798458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.586296757 meters Centerline goodness : 0.791886 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.70, Z:-0.87 [[ 9.60663310e-01 2.44719377e-01 -1.31295204e-01 4.18466019e+00] [-2.46387124e-01 9.69164648e-01 3.64292437e-03 -6.98055583e-01] [ 1.28138165e-01 2.88498240e-02 9.91336622e-01 -8.69647895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.616296757 meters Centerline goodness : 0.791394 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.70, Z:-0.87 [[ 9.60675061e-01 2.44517558e-01 -1.31584920e-01 4.18563382e+00] [-2.46175048e-01 9.69218037e-01 3.77397408e-03 -6.98830031e-01] [ 1.28457281e-01 2.87673613e-02 9.91297718e-01 -8.70011020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.646296757 meters Centerline goodness : 0.789793 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.70, Z:-0.87 [[ 9.60899728e-01 2.43364995e-01 -1.32080247e-01 4.18747308e+00] [-2.45029882e-01 9.69508277e-01 3.74946212e-03 -7.02108705e-01] [ 1.28965380e-01 2.87607501e-02 9.91231936e-01 -8.71034086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.676296757 meters Centerline goodness : 0.792026 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.70, Z:-0.87 [[ 9.60937514e-01 2.42986764e-01 -1.32501041e-01 4.18849020e+00] [-2.44610027e-01 9.69612718e-01 4.13661273e-03 -7.04455533e-01] [ 1.29479837e-01 2.84360569e-02 9.91174234e-01 -8.71186376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.706296757000004 meters Centerline goodness : 0.790389 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.71, Z:-0.87 [[ 9.61183043e-01 2.41938321e-01 -1.32638630e-01 4.18979112e+00] [-2.43565656e-01 9.69875899e-01 4.06343173e-03 -7.06732144e-01] [ 1.29626110e-01 2.84005132e-02 9.91156134e-01 -8.72170964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.736296757 meters Centerline goodness : 0.790991 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.71, Z:-0.87 [[ 0.96120649 0.24179332 -0.13273307 4.18988483] [-0.24340505 0.96991566 0.00419352 -0.7067786 ] [ 0.12975385 0.02827706 0.99114295 -0.87177649] [ 0. 0. 0. 1. ]] SLAMing on 46.766296757 meters Centerline goodness : 0.790767 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.71, Z:-0.87 [[ 0.96119673 0.24190357 -0.13260284 4.18915691] [-0.2434697 0.96989797 0.00452101 -0.70687626] [ 0.12970488 0.02793919 0.99115894 -0.87091897] [ 0. 0. 0. 1. ]] SLAMing on 46.796296757 meters Centerline goodness : 0.793597 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.70, Z:-0.87 [[ 9.61462520e-01 2.40991582e-01 -1.32336241e-01 4.18467509e+00] [-2.42672371e-01 9.70101912e-01 3.52136990e-03 -7.04880513e-01] [ 1.29228261e-01 2.87286843e-02 9.91198627e-01 -8.67108131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.826296757 meters Centerline goodness : 0.795852 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.70, Z:-0.87 [[ 9.61406520e-01 2.41205284e-01 -1.32353744e-01 4.18412701e+00] [-2.42857652e-01 9.70054658e-01 3.75794920e-03 -7.04699376e-01] [ 1.29296803e-01 2.85302026e-02 9.91195422e-01 -8.66231347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.856296757 meters Centerline goodness : 0.797028 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.70, Z:-0.87 [[ 9.61414668e-01 2.41005877e-01 -1.32657466e-01 4.18442272e+00] [-2.42697341e-01 9.70095697e-01 3.51265728e-03 -7.03468303e-01] [ 1.29537008e-01 2.88184942e-02 9.91155718e-01 -8.65528546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.886296757000004 meters Centerline goodness : 0.803128 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.70, Z:-0.87 [[ 9.61448069e-01 2.40734740e-01 -1.32907467e-01 4.18556768e+00] [-2.42485507e-01 9.70150085e-01 3.09693570e-03 -7.02158390e-01] [ 1.29685731e-01 2.92505917e-02 9.91123612e-01 -8.66038222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.916296757 meters Centerline goodness : 0.793968 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.70, Z:-0.87 [[ 9.61583840e-01 2.39890014e-01 -1.33451488e-01 4.18828213e+00] [-2.41790001e-01 9.70326488e-01 2.02528008e-03 -6.99929078e-01] [ 1.29977358e-01 3.03197589e-02 9.91053277e-01 -8.67665803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.946296757 meters Centerline goodness : 0.791716 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.70, Z:-0.87 [[ 9.61126647e-01 2.41380813e-01 -1.34055477e-01 4.19420889e+00] [-2.43061673e-01 9.70002870e-01 3.93143761e-03 -6.99116569e-01] [ 1.30983171e-01 2.88051390e-02 9.90966030e-01 -8.70358473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.976296757 meters Centerline goodness : 0.794379 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.87 [[ 9.61156407e-01 2.41065960e-01 -1.34408202e-01 4.19512211e+00] [-2.42773116e-01 9.70075696e-01 3.78915338e-03 -6.99486632e-01] [ 1.31299566e-01 2.89887289e-02 9.90918805e-01 -8.70620633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.006296757 meters Centerline goodness : 0.795110 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.87 [[ 9.61192720e-01 2.40757764e-01 -1.34700608e-01 4.19550261e+00] [-2.42499382e-01 9.70144980e-01 3.57307491e-03 -6.99106743e-01] [ 1.31539364e-01 2.92304006e-02 9.90879902e-01 -8.70164547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.036296757 meters Centerline goodness : 0.796680 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.87 [[ 9.60996298e-01 2.41352614e-01 -1.35037146e-01 4.19632930e+00] [-2.43155022e-01 9.69982052e-01 3.23338816e-03 -6.97854488e-01] [ 1.31763994e-01 2.97276861e-02 9.90835261e-01 -8.69846037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.066296757 meters Centerline goodness : 0.797090 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.87 [[ 0.95988256 0.2459817 -0.1346049 4.19716576] [-0.24740646 0.96889128 0.00630267 -0.69651709] [ 0.13196785 0.0272523 0.99087931 -0.86913481] [ 0. 0. 0. 1. ]] SLAMing on 47.096296757 meters Centerline goodness : 0.796329 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.87 [[ 0.95951916 0.24662359 -0.13601392 4.20123356] [-0.24818404 0.96869652 0.00563232 -0.69537282] [ 0.13314528 0.02835217 0.99069092 -0.87006921] [ 0. 0. 0. 1. ]] SLAMing on 47.126296757 meters Centerline goodness : 0.796625 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.69, Z:-0.87 [[ 0.95904289 0.24813761 -0.13661796 4.20268879] [-0.2496933 0.96830697 0.00590543 -0.6949623 ] [ 0.13375348 0.02844903 0.99060621 -0.8696096 ] [ 0. 0. 0. 1. ]] SLAMing on 47.156296757 meters Centerline goodness : 0.796984 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.87 [[ 0.9584761 0.24959065 -0.13794231 4.20338775] [-0.25130276 0.96789485 0.00514573 -0.69552034] [ 0.13479798 0.02973322 0.9904269 -0.86722041] [ 0. 0. 0. 1. ]] SLAMing on 47.186296757 meters Centerline goodness : 0.796810 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.86 [[ 9.58521312e-01 2.48128164e-01 -1.40247314e-01 4.20473313e+00] [-2.50436851e-01 9.68132162e-01 1.22495632e-03 -6.95646566e-01] [ 1.36081882e-01 3.39489489e-02 9.90115746e-01 -8.64990213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.216296757 meters Centerline goodness : 0.804389 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.87 [[ 9.58606591e-01 2.47827712e-01 -1.40195678e-01 4.20489971e+00] [-2.50112713e-01 9.68215769e-01 1.36240824e-03 -6.95490369e-01] [ 1.36077309e-01 3.37587080e-02 9.90122879e-01 -8.65198303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.246296757 meters Centerline goodness : 0.792143 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.69, Z:-0.87 [[ 9.58842194e-01 2.47249971e-01 -1.39603362e-01 4.20552654e+00] [-2.49407501e-01 9.68396343e-01 2.10261902e-03 -6.94874541e-01] [ 1.35711258e-01 3.28020459e-02 9.90205272e-01 -8.66920986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.276296757000004 meters Centerline goodness : 0.795972 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.69, Z:-0.87 [[ 0.9590166 0.247698 -0.1375967 4.20519618] [-0.24930691 0.9684078 0.00569207 -0.69487174] [ 0.13465963 0.02884502 0.99047198 -0.86981959] [ 0. 0. 0. 1. ]] SLAMing on 47.306296757 meters Centerline goodness : 0.793100 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 9.59358599e-01 2.45035201e-01 -1.39960096e-01 4.20879031e+00] [-2.47223717e-01 9.68956750e-01 1.80274706e-03 -6.95087624e-01] [ 1.36057016e-01 3.28719744e-02 9.90155504e-01 -8.70267847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.336296757 meters Centerline goodness : 0.793569 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 9.60321448e-01 2.40706983e-01 -1.40864703e-01 4.20750606e+00] [-2.43310000e-01 9.69947711e-01 -1.29645241e-03 -6.98403489e-01] [ 1.36319331e-01 3.55188021e-02 9.90028007e-01 -8.69147259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.366296757 meters Centerline goodness : 0.795775 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 0.96124365 0.2365054 -0.14168924 4.2071272 ] [-0.23963375 0.97084949 -0.00518932 -0.69787866] [ 0.13633162 0.03894172 0.98989759 -0.86906377] [ 0. 0. 0. 1. ]] SLAMing on 47.396296757 meters Centerline goodness : 0.796145 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.87 [[ 0.96256458 0.23244578 -0.13942161 4.20382723] [-0.23533849 0.97190351 -0.00440122 -0.69726805] [ 0.1344813 0.03704773 0.99022333 -0.87102751] [ 0. 0. 0. 1. ]] SLAMing on 47.426296757 meters Centerline goodness : 0.797841 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 0.96264938 0.23185728 -0.13981552 4.20506119] [-0.23477311 0.97203976 -0.00450375 -0.69716742] [ 0.13486202 0.03716045 0.99016733 -0.87109028] [ 0. 0. 0. 1. ]] SLAMing on 47.456296757000004 meters Centerline goodness : 0.795953 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 0.96269635 0.23161016 -0.13990164 4.20575824] [-0.23453195 0.9720978 -0.00454123 -0.69701916] [ 0.13494629 0.03718323 0.99015499 -0.87140186] [ 0. 0. 0. 1. ]] SLAMing on 47.486296757 meters Centerline goodness : 0.796097 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.87 [[ 9.62794571e-01 2.31577064e-01 -1.39279137e-01 4.20485688e+00] [-2.34402770e-01 9.72131302e-01 -4.00922862e-03 -6.97215531e-01] [ 1.34469164e-01 3.65074791e-02 9.90245044e-01 -8.71671285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.516296757 meters Centerline goodness : 0.795097 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.87 [[ 9.62725082e-01 2.31844832e-01 -1.39313997e-01 4.20445046e+00] [-2.34619482e-01 9.72080606e-01 -3.60477434e-03 -6.98169461e-01] [ 1.34588687e-01 3.61561845e-02 9.90241696e-01 -8.71152832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.546296757 meters Centerline goodness : 0.795798 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.70, Z:-0.87 [[ 9.62574764e-01 2.32536329e-01 -1.39200145e-01 4.20323206e+00] [-2.35208736e-01 9.71940749e-01 -2.83376078e-03 -7.00363726e-01] [ 1.34635341e-01 3.54687967e-02 9.90260213e-01 -8.70269954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.576296757 meters Centerline goodness : 0.796372 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 9.62326415e-01 2.33132135e-01 -1.39918831e-01 4.20530435e+00] [-2.35919563e-01 9.71766490e-01 -3.44221146e-03 -6.99501227e-01] [ 1.35165941e-01 3.63221205e-02 9.90156994e-01 -8.70611408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.606296757 meters Centerline goodness : 0.797014 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 9.61277887e-01 2.38037407e-01 -1.38863303e-01 4.20642688e+00] [-2.40278747e-01 9.70703720e-01 6.42003953e-04 -6.98798644e-01] [ 1.34947946e-01 3.27487562e-02 9.90311350e-01 -8.71603347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.636296757000004 meters Centerline goodness : 0.795030 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 9.60437896e-01 2.41779140e-01 -1.38209606e-01 4.20578650e+00] [-2.43593229e-01 9.69869672e-01 3.89327048e-03 -6.99692899e-01] [ 1.34986617e-01 2.99276796e-02 9.90395349e-01 -8.70706077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.666296757 meters Centerline goodness : 0.795245 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 0.9593441 0.24612604 -0.1381335 4.20654722] [-0.2476359 0.9688319 0.0064193 -0.69987285] [ 0.1354081 0.0280485 0.99039282 -0.86975372] [ 0. 0. 0. 1. ]] SLAMing on 47.696296757 meters Centerline goodness : 0.795311 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 0.95897018 0.24695852 -0.13923963 4.20904273] [-0.24864065 0.96858041 0.00545982 -0.69884297] [ 0.13621312 0.02938483 0.99024367 -0.86969135] [ 0. 0. 0. 1. ]] SLAMing on 47.726296757 meters Centerline goodness : 0.796537 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 0.95845473 0.24853381 -0.13998386 4.21022826] [-0.25028429 0.96815819 0.00524261 -0.69819762] [ 0.13682949 0.03001095 0.99013991 -0.86871565] [ 0. 0. 0. 1. ]] SLAMing on 47.756296757 meters Centerline goodness : 0.797536 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 0.95727262 0.25287306 -0.14030089 4.21073486] [-0.25444493 0.96706251 0.00692004 -0.69797134] [ 0.13742962 0.02907449 0.99008473 -0.86673252] [ 0. 0. 0. 1. ]] SLAMing on 47.786296757 meters Centerline goodness : 0.795273 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.70, Z:-0.87 [[ 0.95585204 0.25732513 -0.14188251 4.21388793] [-0.25895121 0.96586355 0.00720262 -0.69776316] [ 0.13889256 0.029856 0.9898573 -0.86528976] [ 0. 0. 0. 1. ]] SLAMing on 47.816296757 meters Centerline goodness : 0.797107 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.70, Z:-0.86 [[ 0.95529076 0.25895778 -0.14269002 4.21536911] [-0.26064034 0.96540986 0.00709996 -0.69727007] [ 0.13959294 0.03040825 0.98974196 -0.86446867] [ 0. 0. 0. 1. ]] SLAMing on 47.846296757 meters Centerline goodness : 0.799099 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.70, Z:-0.86 [[ 0.9548494 0.26011806 -0.14353128 4.21696078] [-0.26188958 0.96507427 0.00674509 -0.69638939] [ 0.14027286 0.0311488 0.98962279 -0.8637938 ] [ 0. 0. 0. 1. ]] SLAMing on 47.876296757 meters Centerline goodness : 0.795840 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.70, Z:-0.86 [[ 0.95408433 0.26231361 -0.14461902 4.22031595] [-0.26411281 0.96446667 0.00696203 -0.69558423] [ 0.14130646 0.03155337 0.98946292 -0.86407749] [ 0. 0. 0. 1. ]] SLAMing on 47.906296757 meters Centerline goodness : 0.798781 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.70, Z:-0.86 [[ 0.9536396 0.26324638 -0.1458522 4.22374573] [-0.26512059 0.96419135 0.0067904 -0.69509062] [ 0.14241697 0.03219283 0.98928309 -0.8646864 ] [ 0. 0. 0. 1. ]] SLAMing on 47.936296757 meters Centerline goodness : 0.800400 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.69, Z:-0.86 [[ 0.95285451 0.26671799 -0.14467132 4.2224713 ] [-0.26817343 0.9633217 0.00971145 -0.69416848] [ 0.14195524 0.02954341 0.98943211 -0.86354617] [ 0. 0. 0. 1. ]] SLAMing on 47.966296757 meters Centerline goodness : 0.795563 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.69, Z:-0.86 [[ 0.95275997 0.26681722 -0.14511034 4.22269086] [-0.26834451 0.963278 0.00931191 -0.69377378] [ 0.14226617 0.03006754 0.98937166 -0.86264618] [ 0. 0. 0. 1. ]] SLAMing on 47.996296757 meters Centerline goodness : 0.796355 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.86 [[ 0.95322413 0.26413831 -0.14695138 4.22513924] [-0.26625075 0.9638883 0.00546565 -0.69232231] [ 0.14308841 0.03391592 0.98912862 -0.86262213] [ 0. 0. 0. 1. ]] SLAMing on 48.026296757000004 meters Centerline goodness : 0.796738 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.86 [[ 9.53480304e-01 2.62673415e-01 -1.47912090e-01 4.22635910e+00] [-2.65002594e-01 9.64239018e-01 4.09163500e-03 -6.92005876e-01] [ 1.43697372e-01 3.52957940e-02 9.88992049e-01 -8.62398813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.056296757 meters Centerline goodness : 0.806634 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.86 [[ 0.95356375 0.26249975 -0.14768225 4.22657152] [-0.26476813 0.96430188 0.00444002 -0.69142052] [ 0.14357577 0.03486771 0.98902489 -0.86284908] [ 0. 0. 0. 1. ]] SLAMing on 48.086296757 meters Centerline goodness : 0.793800 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.87 [[ 0.95390675 0.26135249 -0.14750186 4.22859205] [-0.2635896 0.96462431 0.00452239 -0.69019647] [ 0.14346582 0.03456602 0.98905144 -0.8653433 ] [ 0. 0. 0. 1. ]] SLAMing on 48.116296757 meters Centerline goodness : 0.797351 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.87 [[ 0.95399142 0.26113027 -0.14734774 4.22820983] [-0.26336745 0.96468525 0.00446719 -0.68970083] [ 0.14331071 0.03454494 0.98907466 -0.86509701] [ 0. 0. 0. 1. ]] SLAMing on 48.146296757 meters Centerline goodness : 0.797981 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.86 [[ 9.54564761e-01 2.57488107e-01 -1.50019972e-01 4.23062533e+00] [-2.60562845e-01 9.65456496e-01 -8.70179339e-04 -6.88520805e-01] [ 1.44613696e-01 3.99202733e-02 9.88682583e-01 -8.63824737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.176296757 meters Centerline goodness : 0.797295 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.86 [[ 9.54685219e-01 2.57016137e-01 -1.50062779e-01 4.22914061e+00] [-2.60172218e-01 9.65561138e-01 -1.45124323e-03 -6.88575386e-01] [ 1.44521795e-01 4.04276466e-02 9.88675405e-01 -8.62341473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.206296757000004 meters Centerline goodness : 0.797505 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.86 [[ 9.54812229e-01 2.56188158e-01 -1.50669291e-01 4.22999423e+00] [-2.59473268e-01 9.65747729e-01 -2.22419102e-03 -6.88593056e-01] [ 1.44938715e-01 4.12183382e-02 9.88581720e-01 -8.62229411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.236296757 meters Centerline goodness : 0.798025 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.86 [[ 9.55011709e-01 2.55803143e-01 -1.50057946e-01 4.23045040e+00] [-2.58951643e-01 9.65889130e-01 -1.49526181e-03 -6.87557278e-01] [ 1.44556846e-01 4.02857443e-02 9.88676073e-01 -8.63628129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.266296757 meters Centerline goodness : 0.796695 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.86 [[ 9.55112832e-01 2.55534770e-01 -1.49871476e-01 4.23110157e+00] [-2.58702386e-01 9.65955582e-01 -1.69965891e-03 -6.86153079e-01] [ 1.44334867e-01 4.03954744e-02 9.88704026e-01 -8.64303510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.296296757 meters Centerline goodness : 0.798350 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.86 [[ 9.55004745e-01 2.55837107e-01 -1.50044367e-01 4.23135645e+00] [-2.59008192e-01 9.65873714e-01 -1.65094786e-03 -6.85763103e-01] [ 1.44501537e-01 4.04393833e-02 9.88677886e-01 -8.63903019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.326296757 meters Centerline goodness : 0.797326 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.86 [[ 9.54887773e-01 2.56247741e-01 -1.50088097e-01 4.23183590e+00] [-2.59417097e-01 9.65764064e-01 -1.59475496e-03 -6.85070443e-01] [ 1.44541038e-01 4.04582305e-02 9.88671341e-01 -8.63952069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.356296757 meters Centerline goodness : 0.796791 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.69, Z:-0.87 [[ 9.54016325e-01 2.59852353e-01 -1.49430940e-01 4.23344135e+00] [-2.62535056e-01 9.64920710e-01 1.83487311e-03 -6.85315210e-01] [ 1.44665805e-01 3.74803614e-02 9.88770462e-01 -8.65078151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.386296757000004 meters Centerline goodness : 0.799976 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.68, Z:-0.87 [[ 9.53660825e-01 2.60733294e-01 -1.50163842e-01 4.23584228e+00] [-2.63484005e-01 9.64662382e-01 1.63305961e-03 -6.84813416e-01] [ 1.45283203e-01 3.80083857e-02 9.88659776e-01 -8.65568634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.416296757 meters Centerline goodness : 0.799976 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.68, Z:-0.87 [[ 9.53660825e-01 2.60733294e-01 -1.50163842e-01 4.23584228e+00] [-2.63484005e-01 9.64662382e-01 1.63305961e-03 -6.84813416e-01] [ 1.45283203e-01 3.80083857e-02 9.88659776e-01 -8.65568634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.446296757 meters Centerline goodness : 0.799457 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.68, Z:-0.87 [[ 9.52986417e-01 2.62565307e-01 -1.51249292e-01 4.23826632e+00] [-2.65459531e-01 9.64121382e-01 1.09421933e-03 -6.84405102e-01] [ 1.46109980e-01 3.91077898e-02 9.88495045e-01 -8.65187845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.476296757 meters Centerline goodness : 0.801099 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.68, Z:-0.86 [[ 9.52665830e-01 2.63510457e-01 -1.51624719e-01 4.23925328e+00] [-2.66445197e-01 9.63849554e-01 9.97210615e-04 -6.83455958e-01] [ 1.46406194e-01 3.94496698e-02 9.88437631e-01 -8.64848042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.506296757 meters Centerline goodness : 0.797832 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.68, Z:-0.86 [[ 9.52114270e-01 2.66238927e-01 -1.50317168e-01 4.23834590e+00] [-2.68774247e-01 9.63196584e-01 3.56997509e-03 -6.81829014e-01] [ 1.45735449e-01 3.70023594e-02 9.88631379e-01 -8.64561495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.536296757 meters Centerline goodness : 0.797309 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.68, Z:-0.86 [[ 9.52097792e-01 2.65947651e-01 -1.50935884e-01 4.23928106e+00] [-2.68608256e-01 9.63245261e-01 2.85874923e-03 -6.81844454e-01] [ 1.46148552e-01 3.78208156e-02 9.88539421e-01 -8.64372510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.566296757 meters Centerline goodness : 0.798004 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.68, Z:-0.86 [[ 9.52185160e-01 2.65239292e-01 -1.51629614e-01 4.23951718e+00] [-2.68062282e-01 9.63399731e-01 1.88970502e-03 -6.82580645e-01] [ 1.46581153e-01 3.88468313e-02 9.88435577e-01 -8.63672953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.596296757 meters Centerline goodness : 0.800024 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.68, Z:-0.86 [[ 9.52900945e-01 2.61537616e-01 -1.53550852e-01 4.24143440e+00] [-2.64943472e-01 9.64262294e-01 -1.78457213e-03 -6.83795412e-01] [ 1.47596564e-01 4.23828163e-02 9.88139136e-01 -8.63960666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.626296757 meters Centerline goodness : 0.800282 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.86 [[ 9.53393987e-01 2.60138109e-01 -1.52866184e-01 4.23942989e+00] [-2.63405423e-01 9.64684523e-01 -1.16401273e-03 -6.85624843e-01] [ 1.47164838e-01 4.13755445e-02 9.88246212e-01 -8.63930690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.656296757 meters Centerline goodness : 0.797945 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.86 [[ 9.53722877e-01 2.59049861e-01 -1.52662517e-01 4.23815818e+00] [-2.62274659e-01 9.64992724e-01 -1.02259361e-03 -6.87241196e-01] [ 1.47053315e-01 4.10147805e-02 9.88277851e-01 -8.63726411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.686296757 meters Centerline goodness : 0.799703 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.86 [[ 9.54095823e-01 2.57585813e-01 -1.52809391e-01 4.23757793e+00] [-2.60862663e-01 9.65374838e-01 -1.44699921e-03 -6.88502871e-01] [ 1.47145615e-01 4.12428407e-02 9.88254621e-01 -8.63643607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.716296757 meters Centerline goodness : 0.801871 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.87 [[ 9.54690261e-01 2.55606236e-01 -1.52420333e-01 4.23799491e+00] [-2.58776959e-01 9.65936584e-01 -1.00004873e-03 -6.90478809e-01] [ 1.46972757e-01 4.03976070e-02 9.88315254e-01 -8.65992900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.746296757 meters Centerline goodness : 0.798601 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.87 [[ 9.54796055e-01 2.55345355e-01 -1.52194752e-01 4.23824574e+00] [-2.58430043e-01 9.66029844e-01 -5.04302061e-04 -6.91001096e-01] [ 1.46895901e-01 3.98132018e-02 9.88350395e-01 -8.66887339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.776296757000004 meters Centerline goodness : 0.799586 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.87 [[ 9.55166186e-01 2.54530333e-01 -1.51234477e-01 4.23617965e+00] [-2.57454746e-01 9.66290324e-01 2.52126788e-04 -6.91893161e-01] [ 1.46200586e-01 3.86952108e-02 9.88497885e-01 -8.66958602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.806296757 meters Centerline goodness : 0.795252 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.87 [[ 9.55195726e-01 2.53877017e-01 -1.52143307e-01 4.23688704e+00] [-2.57002227e-01 9.66410385e-01 -9.07324672e-04 -6.92430561e-01] [ 1.46802523e-01 3.99678414e-02 9.88358028e-01 -8.66243250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.836296757 meters Centerline goodness : 0.794451 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.86 [[ 9.54811861e-01 2.54852338e-01 -1.52920229e-01 4.23578050e+00] [-2.58123081e-01 9.66110730e-01 -1.59168411e-03 -6.94053394e-01] [ 1.47332230e-01 4.09919995e-02 9.88237254e-01 -8.63593828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.866296757 meters Centerline goodness : 0.798150 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.86 [[ 9.54426785e-01 2.55930286e-01 -1.53522639e-01 4.23669381e+00] [-2.59210716e-01 9.65819777e-01 -1.40122394e-03 -6.94633583e-01] [ 1.47916585e-01 4.11320788e-02 9.88144137e-01 -8.63013886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.896296757 meters Centerline goodness : 0.797863 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.86 [[ 9.53513233e-01 2.60195834e-01 -1.52021851e-01 4.23718940e+00] [-2.62869680e-01 9.64827859e-01 2.59482912e-03 -6.94080746e-01] [ 1.47350080e-01 3.74877314e-02 9.88373727e-01 -8.64352838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.926296757 meters Centerline goodness : 0.796064 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.87 [[ 0.95282078 0.26319151 -0.15120444 4.23820079] [-0.26541387 0.96411796 0.00565997 -0.69366841] [ 0.14726858 0.03473881 0.98848631 -0.86522331] [ 0. 0. 0. 1. ]] SLAMing on 48.956296757000004 meters Centerline goodness : 0.796892 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.87 [[ 0.95231893 0.26456587 -0.15196562 4.24032802] [-0.26686097 0.96371954 0.0054653 -0.69286085] [ 0.14789816 0.03534899 0.98837067 -0.86512216] [ 0. 0. 0. 1. ]] SLAMing on 48.986296757 meters Centerline goodness : 0.799263 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.86 [[ 0.95157491 0.26636137 -0.15348229 4.24117825] [-0.26881872 0.96317832 0.00490187 -0.69422396] [ 0.14913649 0.03659442 0.98813924 -0.86261324] [ 0. 0. 0. 1. ]] SLAMing on 49.016296757 meters Centerline goodness : 0.796710 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.95124973 0.2670532 -0.15429367 4.24101804] [-0.26958311 0.96296575 0.00468085 -0.69558499] [ 0.14982956 0.03714231 0.98801394 -0.8608409 ] [ 0. 0. 0. 1. ]] SLAMing on 49.046296757 meters Centerline goodness : 0.801546 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 9.50923723e-01 2.67413044e-01 -1.55673814e-01 4.24309564e+00] [-2.70083522e-01 9.62828012e-01 4.13647853e-03 -6.97182012e-01] [ 1.50993257e-01 3.81114564e-02 9.87799855e-01 -8.60440935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.076296757 meters Centerline goodness : 0.797805 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.95041086 0.26988546 -0.15453492 4.24267629] [-0.27208079 0.96224769 0.00717071 -0.69738811] [ 0.15063614 0.03523086 0.9879613 -0.86088866] [ 0. 0. 0. 1. ]] SLAMing on 49.106296757 meters Centerline goodness : 0.800976 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.70, Z:-0.86 [[ 0.94975122 0.27175823 -0.1553064 4.24642589] [-0.27391067 0.96172362 0.00778666 -0.69691979] [ 0.15147792 0.03514469 0.98783566 -0.86245788] [ 0. 0. 0. 1. ]] SLAMing on 49.136296757000004 meters Centerline goodness : 0.801446 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.70, Z:-0.86 [[ 0.94962783 0.2723371 -0.1550467 4.24542363] [-0.27439565 0.96158031 0.0083862 -0.69769061] [ 0.15137372 0.03458037 0.98787155 -0.86189818] [ 0. 0. 0. 1. ]] SLAMing on 49.166296757 meters Centerline goodness : 0.804264 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.94950374 0.27281661 -0.15496372 4.24455744] [-0.27474095 0.96147348 0.00928199 -0.69990797] [ 0.15152578 0.0337616 0.98787656 -0.86117271] [ 0. 0. 0. 1. ]] SLAMing on 49.196296757 meters Centerline goodness : 0.800807 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.94953235 0.27271953 -0.15495926 4.24456858] [-0.27454829 0.96152239 0.00989582 -0.70246198] [ 0.15169558 0.0331474 0.9878713 -0.86112369] [ 0. 0. 0. 1. ]] SLAMing on 49.226296757 meters Centerline goodness : 0.798599 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.94954549 0.2725799 -0.15512433 4.24497537] [-0.27438842 0.9615664 0.0100525 -0.7024764 ] [ 0.15190245 0.03301901 0.98784381 -0.86087764] [ 0. 0. 0. 1. ]] SLAMing on 49.256296757 meters Centerline goodness : 0.797023 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.95046017 0.26900673 -0.15575894 4.24320609] [-0.27129086 0.96247333 0.00680952 -0.70179329] [ 0.15174563 0.0357838 0.98777162 -0.85968762] [ 0. 0. 0. 1. ]] SLAMing on 49.286296757 meters Centerline goodness : 0.799937 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 9.51398836e-01 2.65167681e-01 -1.56608929e-01 4.24211813e+00] [-2.67974501e-01 9.63420342e-01 3.30319164e-03 -7.01952794e-01] [ 1.51756128e-01 3.88245470e-02 9.87655169e-01 -8.59145121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.316296757 meters Centerline goodness : 0.799785 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 9.52349010e-01 2.61441951e-01 -1.57097005e-01 4.24005573e+00] [-2.64689984e-01 9.64333525e-01 2.54579564e-04 -7.04171358e-01] [ 1.51560466e-01 4.13395551e-02 9.87583144e-01 -8.58479090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.346296757000005 meters Centerline goodness : 0.800868 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 9.52335829e-01 2.61494276e-01 -1.57089824e-01 4.23975039e+00] [-2.64695368e-01 9.64331917e-01 5.62694267e-04 -7.04589048e-01] [ 1.51633873e-01 4.10450749e-02 9.87584159e-01 -8.57953810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.376296757 meters Centerline goodness : 0.800915 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 9.52307175e-01 2.61642162e-01 -1.57017270e-01 4.23975045e+00] [-2.64827420e-01 9.64295600e-01 6.58105332e-04 -7.03715179e-01] [ 1.51583251e-01 4.09557601e-02 9.87595638e-01 -8.57768914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.406296757 meters Centerline goodness : 0.798960 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 9.51469388e-01 2.64909669e-01 -1.56616957e-01 4.24232649e+00] [-2.67577116e-01 9.63527337e-01 4.19030396e-03 -7.03939153e-01] [ 1.52014772e-01 3.79201678e-02 9.87650530e-01 -8.58518105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.436296757 meters Centerline goodness : 0.794293 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.71, Z:-0.86 [[ 0.95140073 0.26518968 -0.15656016 4.24181361] [-0.26778729 0.96346682 0.00465273 -0.70521307] [ 0.15207438 0.03749821 0.98765746 -0.85813723] [ 0. 0. 0. 1. ]] SLAMing on 49.466296757 meters Centerline goodness : 0.796313 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.71, Z:-0.86 [[ 0.95134449 0.2654093 -0.15652973 4.24116376] [-0.267947 0.96342041 0.00505229 -0.70609791] [ 0.15214486 0.0371352 0.98766033 -0.85743281] [ 0. 0. 0. 1. ]] SLAMing on 49.496296757 meters Centerline goodness : 0.798162 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.71, Z:-0.86 [[ 0.95129007 0.26566548 -0.15642584 4.2404679 ] [-0.26815441 0.96336101 0.00536445 -0.70682704] [ 0.15211971 0.03684313 0.98767514 -0.85694609] [ 0. 0. 0. 1. ]] SLAMing on 49.526296757000004 meters Centerline goodness : 0.800277 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.71, Z:-0.86 [[ 0.951267 0.26561201 -0.15665684 4.24068987] [-0.26809537 0.96337695 0.00545273 -0.70674494] [ 0.1523679 0.03681197 0.98763804 -0.85646106] [ 0. 0. 0. 1. ]] SLAMing on 49.556296757 meters Centerline goodness : 0.800054 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.71, Z:-0.86 [[ 0.95130185 0.26523351 -0.15708587 4.24247436] [-0.26780315 0.96346084 0.00496838 -0.70511214] [ 0.15266387 0.03734166 0.98757245 -0.85711817] [ 0. 0. 0. 1. ]] SLAMing on 49.586296757 meters Centerline goodness : 0.794995 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.95132193 0.26502145 -0.15732201 4.2436799 ] [-0.26765292 0.96350437 0.00460988 -0.70399754] [ 0.15280216 0.03772222 0.9875366 -0.85774421] [ 0. 0. 0. 1. ]] SLAMing on 49.616296757 meters Centerline goodness : 0.795284 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.95130376 0.26504285 -0.15739583 4.2441658 ] [-0.26769352 0.96349358 0.00450604 -0.7032384 ] [ 0.15284416 0.03784723 0.98752532 -0.85792259] [ 0. 0. 0. 1. ]] SLAMing on 49.646296757 meters Centerline goodness : 0.796917 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.95122106 0.26538345 -0.15732171 4.24371897] [-0.26797829 0.96341261 0.00487644 -0.70371486] [ 0.15285984 0.03752023 0.98753537 -0.85751823] [ 0. 0. 0. 1. ]] SLAMing on 49.676296757 meters Centerline goodness : 0.797312 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.95117927 0.26545987 -0.15744541 4.24370076] [-0.2680146 0.96340097 0.00517235 -0.70457332] [ 0.15305611 0.03727784 0.98751415 -0.85719809] [ 0. 0. 0. 1. ]] SLAMing on 49.706296757000004 meters Centerline goodness : 0.799781 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.951178 0.26547788 -0.1574227 4.24356517] [-0.26801104 0.96340122 0.00530744 -0.70407465] [ 0.15307023 0.0371427 0.98751705 -0.85669633] [ 0. 0. 0. 1. ]] SLAMing on 49.736296757 meters Centerline goodness : 0.800779 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.95121032 0.26557597 -0.15706153 4.24384905] [-0.26802066 0.96339571 0.00579856 -0.70323021] [ 0.15285236 0.03658009 0.9875718 -0.85733004] [ 0. 0. 0. 1. ]] SLAMing on 49.766296757 meters Centerline goodness : 0.802072 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.95128006 0.2654766 -0.15680693 4.24337316] [-0.2678562 0.96343927 0.00614971 -0.70322107] [ 0.15270656 0.03615161 0.98761013 -0.85723092] [ 0. 0. 0. 1. ]] SLAMing on 49.796296757 meters Centerline goodness : 0.816658 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.9512674 0.26531362 -0.15715919 4.24268132] [-0.26780416 0.96345764 0.00550437 -0.70372939] [ 0.15287661 0.03685176 0.98755794 -0.85604663] [ 0. 0. 0. 1. ]] SLAMing on 49.826296757 meters Centerline goodness : 0.817243 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.86 [[ 0.95131669 0.26472388 -0.15785382 4.24284761] [-0.2673982 0.96357588 0.00444192 -0.70380044] [ 0.15328001 0.03798415 0.9874525 -0.85508408] [ 0. 0. 0. 1. ]] SLAMing on 49.856296757 meters Centerline goodness : 0.816091 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.85 [[ 9.51578088e-01 2.63942296e-01 -1.57586821e-01 4.24155560e+00] [-2.66782917e-01 9.63751215e-01 3.23587056e-03 -7.01316194e-01] [ 1.52728574e-01 3.89622883e-02 9.87499834e-01 -8.53956103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.886296757000004 meters Centerline goodness : 0.812091 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.85 [[ 0.95129684 0.26589454 -0.15599491 4.23991793] [-0.26827682 0.96332336 0.00597154 -0.69988863] [ 0.15186134 0.03616911 0.98773981 -0.85379474] [ 0. 0. 0. 1. ]] SLAMing on 49.916296757 meters Centerline goodness : 0.811859 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.70, Z:-0.85 [[ 0.95092288 0.26727588 -0.15591431 4.240285 ] [-0.26974004 0.96291729 0.00553247 -0.69608112] [ 0.15161128 0.03679538 0.98775509 -0.8528686 ] [ 0. 0. 0. 1. ]] SLAMing on 49.946296757 meters Centerline goodness : 0.811682 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.85 [[ 0.95067561 0.2677101 -0.15667545 4.24040917] [-0.2703899 0.96274105 0.00435565 -0.69491631] [ 0.15200394 0.03822265 0.98764054 -0.85102836] [ 0. 0. 0. 1. ]] SLAMing on 49.976296757 meters Centerline goodness : 0.815781 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.85 [[ 9.50081424e-01 2.69077666e-01 -1.57931937e-01 4.23959155e+00] [-2.72132173e-01 9.62256966e-01 2.36896964e-03 -6.93106331e-01] [ 1.52608543e-01 4.07276471e-02 9.87447159e-01 -8.46836763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.006296757 meters Centerline goodness : 0.817422 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.85 [[ 9.49625116e-01 2.69892060e-01 -1.59280931e-01 4.24252683e+00] [-2.73192100e-01 9.61958720e-01 1.22388313e-03 -6.91986708e-01] [ 1.53551997e-01 4.23520618e-02 9.87232540e-01 -8.46598965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.036296757 meters Centerline goodness : 0.807332 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.85 [[ 0.94879246 0.2735408 -0.15801362 4.2420876 ] [-0.27632551 0.96105355 0.00450468 -0.69108417] [ 0.15309176 0.03938919 0.98742666 -0.84649291] [ 0. 0. 0. 1. ]] SLAMing on 50.066296757 meters Centerline goodness : 0.807027 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.69, Z:-0.85 [[ 0.9470146 0.28082224 -0.15589167 4.24294147] [-0.28273123 0.95914437 0.01025368 -0.68830639] [ 0.15240208 0.03436506 0.98772094 -0.84708947] [ 0. 0. 0. 1. ]] SLAMing on 50.096296757000005 meters Centerline goodness : 0.809000 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.69, Z:-0.85 [[ 0.94558168 0.28547262 -0.15614311 4.24650953] [-0.28715382 0.95780717 0.01217048 -0.68554879] [ 0.15302933 0.03332891 0.98765946 -0.84727129] [ 0. 0. 0. 1. ]] SLAMing on 50.126296757 meters Centerline goodness : 0.807328 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.68, Z:-0.85 [[ 0.94518691 0.28661143 -0.15644679 4.24751747] [-0.28838258 0.95744313 0.01175295 -0.68384133] [ 0.15315743 0.0340078 0.98761646 -0.84675253] [ 0. 0. 0. 1. ]] SLAMing on 50.156296757 meters Centerline goodness : 0.809120 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.68, Z:-0.85 [[ 0.94506113 0.28649005 -0.15742589 4.2495847 ] [-0.28850822 0.95742117 0.01037782 -0.68214277] [ 0.15369602 0.03561099 0.98747627 -0.84650594] [ 0. 0. 0. 1. ]] SLAMing on 50.186296757 meters Centerline goodness : 0.813031 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.68, Z:-0.84 [[ 0.94500433 0.28655923 -0.15764081 4.24895101] [-0.2888385 0.95733779 0.00875629 -0.67915761] [ 0.1534247 0.03725801 0.9874577 -0.8446824 ] [ 0. 0. 0. 1. ]] SLAMing on 50.216296757 meters Centerline goodness : 0.815279 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.68, Z:-0.85 [[ 0.94486802 0.28827261 -0.15531685 4.24752081] [-0.29002518 0.9569468 0.01175686 -0.67662974] [ 0.15201914 0.03393712 0.98779474 -0.84580453] [ 0. 0. 0. 1. ]] SLAMing on 50.246296757 meters Centerline goodness : 0.811447 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.67, Z:-0.85 [[ 0.94491453 0.28863908 -0.15435032 4.24840668] [-0.2901215 0.95689695 0.01333224 -0.67479356] [ 0.15154555 0.03218252 0.98792623 -0.84761319] [ 0. 0. 0. 1. ]] SLAMing on 50.276296757000004 meters Centerline goodness : 0.808811 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.67, Z:-0.85 [[ 0.94502015 0.28822001 -0.15448669 4.25071631] [-0.28977799 0.95700783 0.01283455 -0.67278657] [ 0.15154414 0.03263793 0.9879115 -0.84930898] [ 0. 0. 0. 1. ]] SLAMing on 50.306296757 meters Centerline goodness : 0.808811 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.67, Z:-0.85 [[ 0.94502015 0.28822001 -0.15448669 4.25071631] [-0.28977799 0.95700783 0.01283455 -0.67278657] [ 0.15154414 0.03263793 0.9879115 -0.84930898] [ 0. 0. 0. 1. ]] SLAMing on 50.336296757 meters Centerline goodness : 0.808732 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.67, Z:-0.85 [[ 0.94536668 0.28795459 -0.15285286 4.24873152] [-0.28940014 0.95711725 0.01319609 -0.66905699] [ 0.15009799 0.03176049 0.98816085 -0.84941984] [ 0. 0. 0. 1. ]] SLAMing on 50.366296757 meters Centerline goodness : 0.813149 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.67, Z:-0.85 [[ 0.9454607 0.28753471 -0.15306162 4.24849499] [-0.28913426 0.9572109 0.01219301 -0.66746984] [ 0.15001817 0.03272735 0.98814142 -0.84852033] [ 0. 0. 0. 1. ]] SLAMing on 50.396296757 meters Centerline goodness : 0.809374 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.66, Z:-0.85 [[ 0.94605492 0.28604253 -0.1521833 4.24680767] [-0.28773801 0.95764319 0.01124112 -0.66428428] [ 0.14895274 0.0331542 0.98828836 -0.84821079] [ 0. 0. 0. 1. ]] SLAMing on 50.426296757 meters Centerline goodness : 0.811159 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.66, Z:-0.85 [[ 0.94621576 0.28565609 -0.151909 4.24668322] [-0.28736645 0.95775698 0.01104904 -0.66299407] [ 0.14864813 0.03319877 0.98833272 -0.84833639] [ 0. 0. 0. 1. ]] SLAMing on 50.456296757000004 meters Centerline goodness : 0.812423 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.66, Z:-0.85 [[ 0.94664363 0.2848601 -0.15073343 4.24489294] [-0.28658436 0.95799609 0.01062538 -0.65910395] [ 0.14742879 0.0331394 0.98851734 -0.84807155] [ 0. 0. 0. 1. ]] SLAMing on 50.486296757 meters Centerline goodness : 0.810282 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.66, Z:-0.85 [[ 0.94684195 0.28414935 -0.15082925 4.2458968 ] [-0.28597478 0.95818588 0.00991172 -0.65741829] [ 0.14733886 0.03374853 0.98851014 -0.84872657] [ 0. 0. 0. 1. ]] SLAMing on 50.516296757 meters Centerline goodness : 0.810321 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.65, Z:-0.85 [[ 0.94722696 0.28374806 -0.14915804 4.24373873] [-0.28538316 0.95835286 0.01078141 -0.65427561] [ 0.14600524 0.03235475 0.98875459 -0.8489476 ] [ 0. 0. 0. 1. ]] SLAMing on 50.546296757 meters Centerline goodness : 0.811517 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.65, Z:-0.85 [[ 0.94733305 0.28336839 -0.14920605 4.24477136] [-0.28503722 0.95845857 0.01053362 -0.65326537] [ 0.14599271 0.03255043 0.98875002 -0.84976617] [ 0. 0. 0. 1. ]] SLAMing on 50.576296757 meters Centerline goodness : 0.810455 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.65, Z:-0.85 [[ 0.94750653 0.2831452 -0.14852666 4.24567287] [-0.28468808 0.95855456 0.01121889 -0.65178206] [ 0.14554748 0.03165379 0.98884476 -0.85152982] [ 0. 0. 0. 1. ]] SLAMing on 50.606296757 meters Centerline goodness : 0.807229 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.65, Z:-0.85 [[ 0.94763272 0.28259248 -0.14877408 4.24736426] [-0.28418856 0.9587068 0.01086853 -0.65141691] [ 0.14570209 0.03198051 0.98881148 -0.85285984] [ 0. 0. 0. 1. ]] SLAMing on 50.636296757000004 meters Centerline goodness : 0.808914 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.65, Z:-0.85 [[ 0.94759933 0.28259507 -0.14898166 4.24788324] [-0.28420819 0.95870177 0.01079927 -0.65110311] [ 0.1458808 0.03210842 0.98878099 -0.85285761] [ 0. 0. 0. 1. ]] SLAMing on 50.666296757 meters Centerline goodness : 0.809632 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.65, Z:-0.85 [[ 0.94780372 0.28224713 -0.14833969 4.24749005] [-0.28379299 0.95882148 0.01108647 -0.6499395 ] [ 0.14536041 0.03158997 0.98887432 -0.85343702] [ 0. 0. 0. 1. ]] SLAMing on 50.696296757 meters Centerline goodness : 0.807666 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.65, Z:-0.85 [[ 0.94776152 0.28215589 -0.14878224 4.24917749] [-0.28377786 0.95883079 0.01065999 -0.64939696] [ 0.14566477 0.03211797 0.98881253 -0.85418141] [ 0. 0. 0. 1. ]] SLAMing on 50.726296757 meters Centerline goodness : 0.807214 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.65, Z:-0.86 [[ 0.94772512 0.28254043 -0.14828355 4.25046706] [-0.2840572 0.9587408 0.01129519 -0.64775476] [ 0.14535683 0.03141628 0.98888038 -0.85573749] [ 0. 0. 0. 1. ]] SLAMing on 50.756296757 meters Centerline goodness : 0.807609 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.65, Z:-0.86 [[ 0.94761679 0.28267211 -0.14872424 4.2520447 ] [-0.28423275 0.958691 0.01110436 -0.64756701] [ 0.14571948 0.03174962 0.98881636 -0.85632899] [ 0. 0. 0. 1. ]] SLAMing on 50.786296757 meters Centerline goodness : 0.805850 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.65, Z:-0.86 [[ 0.94745606 0.28270374 -0.14968505 4.25382898] [-0.28443057 0.95864241 0.01019693 -0.64745832] [ 0.14637714 0.03291386 0.98868115 -0.85621423] [ 0. 0. 0. 1. ]] SLAMing on 50.816296757 meters Centerline goodness : 0.807893 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.65, Z:-0.86 [[ 0.94733398 0.2825055 -0.1508276 4.25525255] [-0.28443225 0.95865296 0.0090991 -0.647899 ] [ 0.14716187 0.03428035 0.98851821 -0.85556171] [ 0. 0. 0. 1. ]] SLAMing on 50.846296757000005 meters Centerline goodness : 0.804631 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.65, Z:-0.85 [[ 0.94725519 0.28170223 -0.15281185 4.257642 ] [-0.28409768 0.95877408 0.00638556 -0.64883405] [ 0.14831087 0.03736474 0.98823467 -0.85498442] [ 0. 0. 0. 1. ]] SLAMing on 50.876296757 meters Centerline goodness : 0.806888 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.65, Z:-0.85 [[ 0.94705934 0.28153187 -0.15433215 4.26001388] [-0.28419642 0.95875314 0.00498079 -0.65030438] [ 0.14936868 0.03914354 0.98800647 -0.85498442] [ 0. 0. 0. 1. ]] SLAMing on 50.906296757 meters Centerline goodness : 0.805915 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.65, Z:-0.86 [[ 0.9462993 0.28466903 -0.15323572 4.26162195] [-0.28673399 0.95796865 0.00892634 -0.6513031 ] [ 0.14933607 0.0354909 0.98814935 -0.8572855 ] [ 0. 0. 0. 1. ]] SLAMing on 50.936296757 meters Centerline goodness : 0.805744 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.65, Z:-0.86 [[ 0.94600002 0.28552075 -0.15349876 4.26321 ] [-0.28753279 0.95772458 0.0094086 -0.65164185] [ 0.14969588 0.0352354 0.98810405 -0.85803378] [ 0. 0. 0. 1. ]] SLAMing on 50.966296757 meters Centerline goodness : 0.803927 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.65, Z:-0.86 [[ 0.94575135 0.28597856 -0.15417733 4.26461862] [-0.28802731 0.95757639 0.00936647 -0.65242315] [ 0.15031518 0.03554893 0.9879988 -0.85806332] [ 0. 0. 0. 1. ]] SLAMing on 50.996296757 meters Centerline goodness : 0.803577 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.65, Z:-0.86 [[ 0.94582091 0.28410698 -0.15718148 4.2677435 ] [-0.28689829 0.95794735 0.00512229 -0.65386362] [ 0.15202687 0.04025033 0.98755645 -0.85692119] [ 0. 0. 0. 1. ]] SLAMing on 51.026296757000004 meters Centerline goodness : 0.803779 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.65, Z:-0.86 [[ 0.94575708 0.28412439 -0.15753373 4.26767003] [-0.28698858 0.95792225 0.00474563 -0.65449042] [ 0.15225342 0.04072217 0.9875022 -0.85625051] [ 0. 0. 0. 1. ]] SLAMing on 51.056296757 meters Centerline goodness : 0.801142 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.66, Z:-0.86 [[ 9.45924291e-01 2.82658290e-01 -1.59158807e-01 4.26986580e+00] [-2.85962421e-01 9.58238234e-01 2.23161375e-03 -6.55907051e-01] [ 1.53142839e-01 4.34025001e-02 9.87250472e-01 -8.56632592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.086296757 meters Centerline goodness : 0.803033 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.66, Z:-0.86 [[ 9.46001782e-01 2.82351621e-01 -1.59242554e-01 4.27006936e+00] [-2.85676925e-01 9.58323699e-01 2.09347198e-03 -6.56545159e-01] [ 1.53197008e-01 4.35114949e-02 9.87237270e-01 -8.56934549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.116296757 meters Centerline goodness : 0.801767 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.66, Z:-0.86 [[ 9.46094884e-01 2.81553928e-01 -1.60099518e-01 4.27259422e+00] [-2.84910282e-01 9.58551946e-01 2.07311951e-03 -6.58906101e-01] [ 1.54047399e-01 4.36526311e-02 9.87098702e-01 -8.58685161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.146296757 meters Centerline goodness : 0.802000 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.66, Z:-0.86 [[ 9.46142524e-01 2.81564462e-01 -1.59799182e-01 4.27197405e+00] [-2.84845682e-01 9.58570205e-01 2.46992163e-03 -6.59842951e-01] [ 1.53874177e-01 4.31812090e-02 9.87146454e-01 -8.58864717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.176296757 meters Centerline goodness : 0.801764 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.66, Z:-0.86 [[ 9.46143555e-01 2.81418372e-01 -1.60050220e-01 4.27138625e+00] [-2.84731418e-01 9.58604514e-01 2.32505705e-03 -6.61902743e-01] [ 1.54079177e-01 4.33714883e-02 9.87106135e-01 -8.58369681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.206296757000004 meters Centerline goodness : 0.803639 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.66, Z:-0.86 [[ 9.46087379e-01 2.81604735e-01 -1.60054503e-01 4.27117969e+00] [-2.84886863e-01 9.58557783e-01 2.54004472e-03 -6.62418930e-01] [ 1.54136778e-01 4.31943208e-02 9.87104911e-01 -8.58159507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.236296757 meters Centerline goodness : 0.799786 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.66, Z:-0.86 [[ 9.46259516e-01 2.79822458e-01 -1.62149068e-01 4.27335022e+00] [-2.83696034e-01 9.58913954e-01 -7.67268397e-04 -6.64300995e-01] [ 1.55272305e-01 4.67270826e-02 9.86765976e-01 -8.57823943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.266296757 meters Centerline goodness : 0.802136 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.67, Z:-0.86 [[ 9.46248337e-01 2.79453601e-01 -1.62848916e-01 4.27362960e+00] [-2.83474675e-01 9.58978519e-01 -1.51943773e-03 -6.65514703e-01] [ 1.55744000e-01 4.76013089e-02 9.86649848e-01 -8.57261498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.296296757 meters Centerline goodness : 0.802467 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.67, Z:-0.86 [[ 9.46196330e-01 2.79593096e-01 -1.62911648e-01 4.27344059e+00] [-2.83596682e-01 9.58942660e-01 -1.37738667e-03 -6.66275484e-01] [ 1.55837822e-01 4.75044812e-02 9.86639700e-01 -8.57055013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.326296757 meters Centerline goodness : 0.800932 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.67, Z:-0.86 [[ 9.45881510e-01 2.80771769e-01 -1.62712576e-01 4.27536416e+00] [-2.84526311e-01 9.58668202e-01 2.38400873e-04 -6.67981954e-01] [ 1.56054309e-01 4.60705100e-02 9.86673482e-01 -8.59197108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.356296757 meters Centerline goodness : 0.798763 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.67, Z:-0.86 [[ 9.45385126e-01 2.82018403e-01 -1.63439847e-01 4.27703472e+00] [-2.85698175e-01 9.58319094e-01 1.03288736e-03 -6.71363391e-01] [ 1.56918820e-01 4.57179898e-02 9.86552761e-01 -8.59784308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.386296757000004 meters Centerline goodness : 0.799467 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.67, Z:-0.86 [[ 9.44986957e-01 2.82637133e-01 -1.64669067e-01 4.27826423e+00] [-2.86496902e-01 9.58081113e-01 3.24669156e-04 -6.74104209e-01] [ 1.57858087e-01 4.68703696e-02 9.86348819e-01 -8.59091394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.416296757 meters Centerline goodness : 0.799420 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.68, Z:-0.86 [[ 9.44878942e-01 2.82850628e-01 -1.64922127e-01 4.27756248e+00] [-2.86677069e-01 9.58027069e-01 6.27155333e-04 -6.76078014e-01] [ 1.58177254e-01 4.66868063e-02 9.86306392e-01 -8.58240897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.446296757 meters Centerline goodness : 0.797861 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.68, Z:-0.86 [[ 9.44876547e-01 2.83423543e-01 -1.63949399e-01 4.27779791e+00] [-2.86789433e-01 9.57988070e-01 3.26785624e-03 -6.77987461e-01] [ 1.57987756e-01 4.39312346e-02 9.86463337e-01 -8.60368655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.476296757 meters Centerline goodness : 0.798576 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.68, Z:-0.86 [[ 0.9448288 0.28378343 -0.16360168 4.27900125] [-0.28696328 0.95793164 0.004364 -0.67900506] [ 0.15795765 0.04282445 0.98651683 -0.86229303] [ 0. 0. 0. 1. ]] SLAMing on 51.506296757 meters Centerline goodness : 0.798870 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.68, Z:-0.86 [[ 0.94491089 0.28375566 -0.16317515 4.27773235] [-0.286672 0.95801067 0.00589216 -0.68226287] [ 0.15799546 0.04121018 0.98657952 -0.86244737] [ 0. 0. 0. 1. ]] SLAMing on 51.536296757 meters Centerline goodness : 0.795964 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.68, Z:-0.86 [[ 9.45120623e-01 2.81847846e-01 -1.65253745e-01 4.27905318e+00] [-2.85301628e-01 9.58433234e-01 2.95237200e-03 -6.84108238e-01] [ 1.59216801e-01 4.43568148e-02 9.86246665e-01 -8.61246652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.566296757 meters Centerline goodness : 0.798726 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.69, Z:-0.87 [[ 9.45978985e-01 2.86048023e-01 -1.52644321e-01 4.27785848e+00] [-2.89432719e-01 9.57198359e-01 4.86639107e-05 -6.88871124e-01] [ 1.46124814e-01 4.41342259e-02 9.88281189e-01 -8.65018146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.596296757000005 meters Centerline goodness : 0.799054 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.69, Z:-0.86 [[ 9.46457381e-01 2.83541054e-01 -1.54346674e-01 4.27885093e+00] [-2.87442026e-01 9.57793032e-01 -3.09680028e-03 -6.90253709e-01] [ 1.46954099e-01 4.72967100e-02 9.88011900e-01 -8.64531899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.626296757 meters Centerline goodness : 0.799086 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.69, Z:-0.87 [[ 9.46545900e-01 2.83456112e-01 -1.53959383e-01 4.27918351e+00] [-2.87197121e-01 9.57869083e-01 -2.15258780e-03 -6.90224235e-01] [ 1.46862769e-01 4.62542147e-02 9.88074833e-01 -8.65489884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.656296757 meters Centerline goodness : 0.800243 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.69, Z:-0.87 [[ 9.46430875e-01 2.83533477e-01 -1.54523027e-01 4.28029800e+00] [-2.87344960e-01 9.57824056e-01 -2.43948308e-03 -6.90781899e-01] [ 1.47314197e-01 4.67102151e-02 9.87986176e-01 -8.65636847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.686296757 meters Centerline goodness : 0.797755 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.69, Z:-0.87 [[ 9.46308826e-01 2.83779253e-01 -1.54819057e-01 4.28014821e+00] [-2.87623827e-01 9.57740075e-01 -2.54621844e-03 -6.91959124e-01] [ 1.47553851e-01 4.69391586e-02 9.87939561e-01 -8.65079601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.716296757 meters Centerline goodness : 0.797007 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.70, Z:-0.86 [[ 0.94608316 0.28302124 -0.15756151 4.28181569] [-0.28741721 0.95779045 -0.00536638 -0.69515799] [ 0.14939211 0.05036293 0.98749459 -0.86285241] [ 0. 0. 0. 1. ]] SLAMing on 51.746296757 meters Centerline goodness : 0.796332 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.70, Z:-0.86 [[ 0.94568944 0.2837256 -0.15865455 4.28290911] [-0.28819737 0.95755561 -0.00543426 -0.69782017] [ 0.15037871 0.05086295 0.9873192 -0.86221099] [ 0. 0. 0. 1. ]] SLAMing on 51.776296757000004 meters Centerline goodness : 0.794060 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.70, Z:-0.86 [[ 0.94531343 0.2846804 -0.15918416 4.28484429] [-0.28911753 0.95728082 -0.00494772 -0.69847231] [ 0.15097543 0.05070008 0.98723651 -0.86282322] [ 0. 0. 0. 1. ]] SLAMing on 51.806296757 meters Centerline goodness : 0.800754 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.70, Z:-0.86 [[ 9.44852466e-01 2.86608828e-01 -1.58458821e-01 4.28564686e+00] [-2.90573351e-01 9.56850758e-01 -1.93786920e-03 -6.99658776e-01] [ 1.51066032e-01 4.78749110e-02 9.87363685e-01 -8.64062203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.836296757 meters Centerline goodness : 0.793164 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.70, Z:-0.86 [[ 9.44059328e-01 2.88285515e-01 -1.60135716e-01 4.28815874e+00] [-2.92378140e-01 9.56300504e-01 -2.09026963e-03 -7.01872967e-01] [ 1.52535271e-01 4.87935214e-02 9.87092794e-01 -8.63249143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.866296757 meters Centerline goodness : 0.793452 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.70, Z:-0.86 [[ 9.43597855e-01 2.88797573e-01 -1.61922975e-01 4.28873617e+00] [-2.93190265e-01 9.56048095e-01 -3.39257387e-03 -7.03796717e-01] [ 1.53826384e-01 5.06754652e-02 9.86797568e-01 -8.60779386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.896296757 meters Centerline goodness : 0.794174 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.71, Z:-0.86 [[ 0.94289126 0.28911391 -0.16543643 4.29149456] [-0.29419972 0.95572142 -0.00656438 -0.70666002] [ 0.15621329 0.05486085 0.98619861 -0.85784898] [ 0. 0. 0. 1. ]] SLAMing on 51.926296757 meters Centerline goodness : 0.793978 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.71, Z:-0.86 [[ 0.94242183 0.29001599 -0.16652871 4.29437358] [-0.29512641 0.95543775 -0.00625324 -0.70808893] [ 0.15729428 0.05504021 0.98601678 -0.85844232] [ 0. 0. 0. 1. ]] SLAMing on 51.956296757000004 meters Centerline goodness : 0.791385 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.71, Z:-0.86 [[ 9.41197009e-01 2.94539018e-01 -1.65514218e-01 4.29516321e+00] [-2.98951156e-01 9.54266656e-01 -1.83168735e-03 -7.10001911e-01] [ 1.57405196e-01 5.12046455e-02 9.86205703e-01 -8.58791644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.986296757 meters Centerline goodness : 0.789694 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.71, Z:-0.86 [[ 9.41051744e-01 2.95002155e-01 -1.65515389e-01 4.29518323e+00] [-2.99350898e-01 9.54142074e-01 -1.39393374e-03 -7.10270352e-01] [ 1.57513983e-01 5.08589443e-02 9.86206222e-01 -8.58634435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.016296757 meters Centerline goodness : 0.789103 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.71, Z:-0.86 [[ 9.40170381e-01 2.96160030e-01 -1.68430669e-01 4.29947523e+00] [-3.00817233e-01 9.53679171e-01 -2.24306032e-03 -7.14956220e-01] [ 1.59964516e-01 5.27757066e-02 9.85710951e-01 -8.58289135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.046296757 meters Centerline goodness : 0.789878 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 9.40092963e-01 2.96413116e-01 -1.68417591e-01 4.29925013e+00] [-3.00984116e-01 9.53627649e-01 -1.69404048e-03 -7.16902270e-01] [ 1.60105536e-01 5.22835754e-02 9.85714282e-01 -8.58277021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.076296757 meters Centerline goodness : 0.791605 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 9.40159468e-01 2.96407374e-01 -1.68056072e-01 4.29941146e+00] [-3.00786058e-01 9.53691434e-01 -6.28881764e-04 -7.17768717e-01] [ 1.60087231e-01 5.11401726e-02 9.85777237e-01 -8.59078839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.106296757 meters Centerline goodness : 0.790638 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 9.40296944e-01 2.95759472e-01 -1.68428003e-01 4.30034253e+00] [-3.00197425e-01 9.53876638e-01 -9.30187110e-04 -7.17933909e-01] [ 1.60384425e-01 5.14363047e-02 9.85713520e-01 -8.59454153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.136296757000004 meters Centerline goodness : 0.789108 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 0.94140044 0.2913851 -0.16988213 4.29853252] [-0.29657818 0.95499295 -0.00546331 -0.71719448] [ 0.16064431 0.0555265 0.98544925 -0.85681897] [ 0. 0. 0. 1. ]] SLAMing on 52.166296757 meters Centerline goodness : 0.791285 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 0.94138066 0.29147988 -0.1698291 4.29756908] [-0.29655475 0.95500405 -0.00474855 -0.71912327] [ 0.16080337 0.05483382 0.98546209 -0.85580898] [ 0. 0. 0. 1. ]] SLAMing on 52.196296757 meters Centerline goodness : 0.791285 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 0.94138066 0.29147988 -0.1698291 4.29756908] [-0.29655475 0.95500405 -0.00474855 -0.71912327] [ 0.16080337 0.05483382 0.98546209 -0.85580898] [ 0. 0. 0. 1. ]] SLAMing on 52.226296757 meters Centerline goodness : 0.793104 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.72, Z:-0.86 [[ 0.94218137 0.28941263 -0.16892185 4.29432405] [-0.29446178 0.95564972 -0.005087 -0.72000138] [ 0.15995788 0.0545339 0.98561632 -0.85515201] [ 0. 0. 0. 1. ]] SLAMing on 52.256296757 meters Centerline goodness : 0.792126 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 0.9429324 0.28568705 -0.17105964 4.29766182] [-0.29144027 0.95654692 -0.00897584 -0.71957267] [ 0.16106229 0.05831728 0.98521979 -0.85616019] [ 0. 0. 0. 1. ]] SLAMing on 52.286296757 meters Centerline goodness : 0.795159 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 0.94361012 0.28392076 -0.17026142 4.29591155] [-0.2895795 0.9571131 -0.00884444 -0.71987556] [ 0.16044831 0.05764992 0.98535924 -0.85644795] [ 0. 0. 0. 1. ]] SLAMing on 52.316296757 meters Centerline goodness : 0.793001 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 0.94357041 0.28412587 -0.17013929 4.2961976 ] [-0.28969209 0.95708388 -0.00830257 -0.72010877] [ 0.1604786 0.05712206 0.98538505 -0.85677666] [ 0. 0. 0. 1. ]] SLAMing on 52.346296757000005 meters Centerline goodness : 0.793447 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 0.94336683 0.2845318 -0.1705892 4.29758793] [-0.29011084 0.95695807 -0.00818304 -0.72007797] [ 0.16091837 0.05720938 0.98530826 -0.85701325] [ 0. 0. 0. 1. ]] SLAMing on 52.376296757 meters Centerline goodness : 0.790686 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 0.94234249 0.28862067 -0.16937751 4.29742626] [-0.29357265 0.95592663 -0.00440314 -0.72017693] [ 0.16064163 0.05387387 0.98554141 -0.85703244] [ 0. 0. 0. 1. ]] SLAMing on 52.406296757 meters Centerline goodness : 0.790411 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.86 [[ 9.40979408e-01 2.93243013e-01 -1.69015647e-01 4.29721304e+00] [-2.97732789e-01 9.54648389e-01 -1.28067569e-03 -7.21655085e-01] [ 1.60974966e-01 5.15265895e-02 9.85612536e-01 -8.55436661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.436296757 meters Centerline goodness : 0.791362 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.40478062e-01 2.94487033e-01 -1.69641984e-01 4.29801644e+00] [-2.99023779e-01 9.54244837e-01 -1.25307187e-03 -7.21602319e-01] [ 1.61510974e-01 5.19054737e-02 9.85504961e-01 -8.54504968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.466296757 meters Centerline goodness : 0.790883 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.40403765e-01 2.94800271e-01 -1.69509759e-01 4.29803461e+00] [-2.99332923e-01 9.54147921e-01 -1.24324895e-03 -7.20612800e-01] [ 1.61370874e-01 5.19090076e-02 9.85527725e-01 -8.54586394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.496296757 meters Centerline goodness : 0.789791 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.40296270e-01 2.95153261e-01 -1.69491819e-01 4.29842197e+00] [-2.99691450e-01 9.54035360e-01 -1.25141440e-03 -7.18962403e-01] [ 1.61331830e-01 5.19719494e-02 9.85530800e-01 -8.54640573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.526296757000004 meters Centerline goodness : 0.790600 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.40083902e-01 2.95262739e-01 -1.70476307e-01 4.30020182e+00] [-2.99906884e-01 9.53967198e-01 -1.56424009e-03 -7.19546137e-01] [ 1.62166943e-01 5.25975350e-02 9.85360534e-01 -8.54520363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.556296757 meters Centerline goodness : 0.791869 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39888085e-01 2.94884835e-01 -1.72201400e-01 4.30107834e+00] [-2.99822708e-01 9.53990827e-01 -2.80115982e-03 -7.21616930e-01] [ 1.63452536e-01 5.42626667e-02 9.85057781e-01 -8.52758973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.586296757 meters Centerline goodness : 0.792433 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39757413e-01 2.95070010e-01 -1.72596912e-01 4.30053140e+00] [-2.99997935e-01 9.53936331e-01 -2.59147545e-03 -7.23200219e-01] [ 1.63881798e-01 5.42140755e-02 9.84989132e-01 -8.51686665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.616296757 meters Centerline goodness : 0.792059 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.73, Z:-0.85 [[ 9.39584097e-01 2.95662806e-01 -1.72526026e-01 4.30093263e+00] [-3.00383003e-01 9.53817763e-01 -1.31374698e-03 -7.25344399e-01] [ 1.64169962e-01 5.30582616e-02 9.85004083e-01 -8.52342391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.646296757 meters Centerline goodness : 0.793176 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.73, Z:-0.85 [[ 9.39614388e-01 2.95641548e-01 -1.72397441e-01 4.30178454e+00] [-3.00228315e-01 9.53867207e-01 -5.57239540e-04 -7.25609318e-01] [ 1.64279522e-01 5.22821835e-02 9.85027315e-01 -8.53220936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.676296757 meters Centerline goodness : 0.793982 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.73, Z:-0.85 [[ 9.39642353e-01 2.95731828e-01 -1.72089900e-01 4.30204984e+00] [-3.00212982e-01 9.53872195e-01 -1.43251340e-05 -7.25384831e-01] [ 1.64147534e-01 5.16770824e-02 9.85081249e-01 -8.53793957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.706296757000004 meters Centerline goodness : 0.795730 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39652485e-01 2.95720497e-01 -1.72054047e-01 4.30182019e+00] [-3.00202809e-01 9.53875397e-01 -3.37652176e-05 -7.24918517e-01] [ 1.64108138e-01 5.16828360e-02 9.85087511e-01 -8.53248294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.736296757 meters Centerline goodness : 0.793413 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39641413e-01 2.95686157e-01 -1.72173493e-01 4.30121185e+00] [-3.00243226e-01 9.53862571e-01 -4.47286756e-04 -7.24637279e-01] [ 1.64097594e-01 5.21142140e-02 9.85066540e-01 -8.52310121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.766296757 meters Centerline goodness : 0.797490 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39751844e-01 2.95027384e-01 -1.72700070e-01 4.30021026e+00] [-2.99864934e-01 9.53979532e-01 -2.01817478e-03 -7.23130019e-01] [ 1.64156915e-01 5.36832787e-02 9.84972392e-01 -8.50029531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.796296757 meters Centerline goodness : 0.795044 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39871940e-01 2.94293645e-01 -1.73297393e-01 4.30098844e+00] [-2.99325154e-01 9.54146302e-01 -3.04747748e-03 -7.21743773e-01] [ 1.64454214e-01 5.47365075e-02 9.84864826e-01 -8.49462219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.826296757 meters Centerline goodness : 0.793647 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.40161093e-01 2.94263029e-01 -1.71774236e-01 4.29947665e+00] [-2.99155085e-01 9.54200614e-01 -2.72455991e-03 -7.17399428e-01] [ 1.63105345e-01 5.39486616e-02 9.85132574e-01 -8.49447684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.856296757 meters Centerline goodness : 0.789849 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39973614e-01 2.94692413e-01 -1.72063904e-01 4.30041147e+00] [-2.99626911e-01 9.54052212e-01 -2.84453523e-03 -7.16285433e-01] [ 1.63319685e-01 5.42287641e-02 9.85081683e-01 -8.49229740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.886296757000004 meters Centerline goodness : 0.790815 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39521857e-01 2.95767072e-01 -1.72686188e-01 4.30131327e+00] [-3.00768263e-01 9.53692727e-01 -2.93857873e-03 -7.16259800e-01] [ 1.63820427e-01 5.46993837e-02 9.84972510e-01 -8.48330391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.916296757000005 meters Centerline goodness : 0.791948 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39315927e-01 2.96189288e-01 -1.73082334e-01 4.30192892e+00] [-3.01232236e-01 9.53546035e-01 -3.01657566e-03 -7.16276737e-01] [ 1.64148496e-01 5.49714960e-02 9.84902739e-01 -8.47905897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.946296757 meters Centerline goodness : 0.793713 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.38746554e-01 2.98855444e-01 -1.71581852e-01 4.30113937e+00] [-3.03383049e-01 9.52868666e-01 -1.73699859e-04 -7.15064885e-01] [ 1.63443059e-01 5.22180855e-02 9.85169852e-01 -8.47970559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.976296757 meters Centerline goodness : 0.793884 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.71, Z:-0.85 [[ 9.38658349e-01 2.98925051e-01 -1.71942776e-01 4.30354973e+00] [-3.03489854e-01 9.52834631e-01 -2.74187627e-04 -7.13997149e-01] [ 1.63751070e-01 5.24402566e-02 9.85106901e-01 -8.49132444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.006296757 meters Centerline goodness : 0.793716 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.71, Z:-0.85 [[ 9.38591950e-01 2.99273271e-01 -1.71699331e-01 4.30466032e+00] [-3.03711454e-01 9.52763957e-01 4.40655233e-04 -7.13317392e-01] [ 1.63720811e-01 5.17334580e-02 9.85149301e-01 -8.50150410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.036296757 meters Centerline goodness : 0.795692 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.85 [[ 9.38799401e-01 2.99039024e-01 -1.70971774e-01 4.30533004e+00] [-3.03258832e-01 9.52907035e-01 1.50422958e-03 -7.13636959e-01] [ 1.63370030e-01 5.04365306e-02 9.85274779e-01 -8.52071546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.066296757 meters Centerline goodness : 0.798046 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.85 [[ 9.38971817e-01 2.98437978e-01 -1.71075131e-01 4.30513510e+00] [-3.02674705e-01 9.53092922e-01 1.38013416e-03 -7.14157159e-01] [ 1.63462381e-01 5.04842076e-02 9.85257020e-01 -8.51995173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.096296757000005 meters Centerline goodness : 0.800732 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.85 [[ 9.39691073e-01 2.95149222e-01 -1.72822521e-01 4.30528219e+00] [-3.00020136e-01 9.53930409e-01 -2.16652903e-03 -7.14876875e-01] [ 1.64221209e-01 5.38861042e-02 9.84950599e-01 -8.50582120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.126296757 meters Centerline goodness : 0.800864 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39736125e-01 2.94966064e-01 -1.72890242e-01 4.30486619e+00] [-2.99780733e-01 9.54006387e-01 -1.82356124e-03 -7.15689575e-01] [ 1.64400506e-01 5.35428299e-02 9.84939409e-01 -8.50180041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.156296757 meters Centerline goodness : 0.801704 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.71, Z:-0.85 [[ 9.39722210e-01 2.96323057e-01 -1.70630638e-01 4.30393206e+00] [-3.00386969e-01 9.53815123e-01 2.09286520e-03 -7.14983566e-01] [ 1.63370247e-01 4.92885080e-02 9.85332840e-01 -8.52024938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.186296757 meters Centerline goodness : 0.799023 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.85 [[ 9.39596143e-01 2.96767130e-01 -1.70553095e-01 4.30531347e+00] [-3.00694177e-01 9.53716100e-01 2.93457296e-03 -7.14795123e-01] [ 1.63530118e-01 4.85270092e-02 9.85344118e-01 -8.53093840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.216296757 meters Centerline goodness : 0.798503 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39458353e-01 2.96688617e-01 -1.71446396e-01 4.30441288e+00] [-3.00821348e-01 9.53678492e-01 1.96227314e-03 -7.15401914e-01] [ 1.64086925e-01 4.97312622e-02 9.85191495e-01 -8.50611195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.246296757 meters Centerline goodness : 0.801529 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.85 [[ 9.39387835e-01 2.95636454e-01 -1.73636349e-01 4.30478986e+00] [-3.00426815e-01 9.53803884e-01 -1.37124192e-03 -7.15617748e-01] [ 1.65209635e-01 5.34531433e-02 9.84808884e-01 -8.47663757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.276296757000004 meters Centerline goodness : 0.799557 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.72, Z:-0.84 [[ 0.93942938 0.29445838 -0.17540443 4.30406265] [-0.29988284 0.9539647 -0.00465126 -0.71500729] [ 0.16596003 0.05697031 0.98448548 -0.84414562] [ 0. 0. 0. 1. ]] SLAMing on 53.306296757 meters Centerline goodness : 0.798829 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.71, Z:-0.84 [[ 9.39319012e-01 2.94890062e-01 -1.75270205e-01 4.30495375e+00] [-3.00209653e-01 9.53864704e-01 -4.03612978e-03 -7.14544169e-01] [ 1.65993847e-01 5.64090207e-02 9.84512095e-01 -8.44744183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.336296757 meters Centerline goodness : 0.798751 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.71, Z:-0.85 [[ 9.38730024e-01 2.97979420e-01 -1.73188356e-01 4.30493802e+00] [-3.02494559e-01 9.53151052e-01 3.38780096e-04 -7.14042964e-01] [ 1.65175613e-01 5.20705124e-02 9.84888663e-01 -8.46497378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.366296757 meters Centerline goodness : 0.798523 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.71, Z:-0.85 [[ 9.38001056e-01 3.00837706e-01 -1.72193767e-01 4.30440063e+00] [-3.04855220e-01 9.52393128e-01 3.25938238e-03 -7.14201062e-01] [ 1.64976706e-01 4.94368647e-02 9.85057705e-01 -8.46173961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.396296757 meters Centerline goodness : 0.795828 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.85 [[ 9.37375472e-01 3.02286333e-01 -1.73061251e-01 4.30624462e+00] [-3.06343086e-01 9.51915015e-01 3.42309395e-03 -7.14230095e-01] [ 1.65774358e-01 4.98073932e-02 9.84905115e-01 -8.45577269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.426296757 meters Centerline goodness : 0.796402 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36832511e-01 3.03316983e-01 -1.74194297e-01 4.30808230e+00] [-3.07574148e-01 9.51520342e-01 2.67986931e-03 -7.13662472e-01] [ 1.66562267e-01 5.10670737e-02 9.84707655e-01 -8.44439624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.456296757000004 meters Centerline goodness : 0.796225 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36826038e-01 3.03233665e-01 -1.74374077e-01 4.30848314e+00] [-3.07654667e-01 9.51496458e-01 1.75974812e-03 -7.11601081e-01] [ 1.66449931e-01 5.19984207e-02 9.84677909e-01 -8.43819456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.486296757 meters Centerline goodness : 0.792569 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36885104e-01 3.03009855e-01 -1.74445779e-01 4.30872489e+00] [-3.07549346e-01 9.51531542e-01 1.06068850e-03 -7.10136715e-01] [ 1.66312060e-01 5.26569421e-02 9.84666210e-01 -8.43485906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.516296757 meters Centerline goodness : 0.792792 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36751589e-01 3.03169217e-01 -1.74885352e-01 4.30919878e+00] [-3.07821047e-01 9.51444112e-01 5.53001671e-04 -7.09071207e-01] [ 1.66561291e-01 5.33153668e-02 9.84588649e-01 -8.42660128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.546296757 meters Centerline goodness : 0.791871 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36658960e-01 3.03185035e-01 -1.75353437e-01 4.30906681e+00] [-3.08072152e-01 9.51362751e-01 -6.82010085e-04 -7.07285404e-01] [ 1.66617953e-01 5.46603217e-02 9.84505311e-01 -8.41090379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.576296757 meters Centerline goodness : 0.790670 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36565034e-01 3.03137763e-01 -1.75935880e-01 4.31047956e+00] [-3.08119792e-01 9.51346986e-01 -1.05166645e-03 -7.07407439e-01] [ 1.67057269e-01 5.51942808e-02 9.84401067e-01 -8.41348813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.606296757 meters Centerline goodness : 0.789813 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36491805e-01 3.03342461e-01 -1.75972869e-01 4.31062870e+00] [-3.08286513e-01 9.51293221e-01 -7.96523853e-04 -7.07821438e-01] [ 1.67160178e-01 5.49960002e-02 9.84394695e-01 -8.41337419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.636296757000004 meters Centerline goodness : 0.789329 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36699710e-01 3.03095365e-01 -1.75290767e-01 4.30991573e+00] [-3.07876405e-01 9.51426357e-01 -8.45489166e-05 -7.08247305e-01] [ 1.66750629e-01 5.40470880e-02 9.84516704e-01 -8.41884008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.666296757000005 meters Centerline goodness : 0.788701 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36602511e-01 3.03438061e-01 -1.75217236e-01 4.31041271e+00] [-3.08147986e-01 9.51338374e-01 3.42969062e-04 -7.08281357e-01] [ 1.66794950e-01 5.36716127e-02 9.84529737e-01 -8.42316210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.696296757 meters Centerline goodness : 0.788365 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36559803e-01 3.03813587e-01 -1.74794280e-01 4.31074781e+00] [-3.08307014e-01 9.51285697e-01 1.51929179e-03 -7.09139368e-01] [ 1.66740880e-01 5.24673948e-02 9.84603804e-01 -8.43312344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.726296757 meters Centerline goodness : 0.789522 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36816930e-01 3.03023527e-01 -1.74787817e-01 4.30943328e+00] [-3.07448970e-01 9.51562781e-01 1.84515246e-03 -7.11919865e-01] [ 1.66880706e-01 5.20097642e-02 9.84604395e-01 -8.42895909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.756296757 meters Centerline goodness : 0.788297 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 9.36811526e-01 3.02738559e-01 -1.75309808e-01 4.30997276e+00] [-3.07222884e-01 9.51636180e-01 1.63725509e-03 -7.13138833e-01] [ 1.67326816e-01 5.23253854e-02 9.84511956e-01 -8.42788352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.786296757 meters Centerline goodness : 0.789030 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 0.93629225 0.30510811 -0.17397089 4.3090626 ] [-0.30902737 0.95104117 0.00477346 -0.713633 ] [ 0.1669099 0.04929242 0.98473923 -0.84304725] [ 0. 0. 0. 1. ]] SLAMing on 53.816296757 meters Centerline goodness : 0.789382 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 0.93583384 0.30583687 -0.17515374 4.31238396] [-0.3098675 0.9507689 0.00454277 -0.71364843] [ 0.16792008 0.05002318 0.98453061 -0.8436071 ] [ 0. 0. 0. 1. ]] SLAMing on 53.846296757000005 meters Centerline goodness : 0.790533 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.71, Z:-0.84 [[ 0.93540972 0.30686156 -0.17562644 4.31272606] [-0.31089069 0.9504336 0.00479066 -0.71454584] [ 0.16839134 0.05011939 0.98444523 -0.84278747] [ 0. 0. 0. 1. ]] SLAMing on 53.876296757 meters Centerline goodness : 0.789387 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.72, Z:-0.84 [[ 9.35077286e-01 3.07251581e-01 -1.76711447e-01 4.31412849e+00] [-3.11427799e-01 9.50260089e-01 4.29996859e-03 -7.15221534e-01] [ 1.69243007e-01 5.10120540e-02 9.84253308e-01 -8.42058433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.906296757 meters Centerline goodness : 0.793367 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 9.34772441e-01 3.07357672e-01 -1.78134064e-01 4.31590253e+00] [-3.11731996e-01 9.50163246e-01 3.60113170e-03 -7.15919220e-01] [ 1.70363276e-01 5.21638487e-02 9.83999638e-01 -8.40967553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.936296757 meters Centerline goodness : 0.794008 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 9.34403642e-01 3.08211215e-01 -1.78593621e-01 4.31638167e+00] [-3.12596702e-01 9.49878495e-01 3.76110202e-03 -7.16307622e-01] [ 1.70801453e-01 5.23133893e-02 9.83915735e-01 -8.40234963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.966296757 meters Centerline goodness : 0.795618 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 9.33694074e-01 3.09391391e-01 -1.80256327e-01 4.32038701e+00] [-3.13899512e-01 9.49449038e-01 3.69054681e-03 -7.17594866e-01] [ 1.72286020e-01 5.31365315e-02 9.83612747e-01 -8.40759674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.996296757 meters Centerline goodness : 0.795252 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 9.33228518e-01 3.10386422e-01 -1.80955249e-01 4.32165085e+00] [-3.14882336e-01 9.49121967e-01 4.07501737e-03 -7.18482002e-01] [ 1.73013432e-01 5.31766892e-02 9.83482889e-01 -8.40318387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.026296757000004 meters Centerline goodness : 0.797580 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 9.32591452e-01 3.11704186e-01 -1.81971656e-01 4.32307034e+00] [-3.16270880e-01 9.48659978e-01 4.12024279e-03 -7.19494285e-01] [ 1.73913524e-01 5.37098324e-02 9.83295144e-01 -8.39315519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.056296757 meters Centerline goodness : 0.796104 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 9.32313648e-01 3.12221631e-01 -1.82507301e-01 4.32369433e+00] [-3.16801541e-01 9.48482261e-01 4.26436496e-03 -7.20446412e-01] [ 1.74436364e-01 5.38428686e-02 9.83195250e-01 -8.38820179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.086296757 meters Centerline goodness : 0.796104 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 9.32313648e-01 3.12221631e-01 -1.82507301e-01 4.32369433e+00] [-3.16801541e-01 9.48482261e-01 4.26436496e-03 -7.20446412e-01] [ 1.74436364e-01 5.38428686e-02 9.83195250e-01 -8.38820179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.116296757 meters Centerline goodness : 0.794207 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 0.93219229 0.31241189 -0.18280136 4.32401483] [-0.31699147 0.94841829 0.00437712 -0.72128572] [ 0.17473962 0.05386615 0.98314012 -0.83859349] [ 0. 0. 0. 1. ]] SLAMing on 54.146296757 meters Centerline goodness : 0.794138 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 9.32417927e-01 3.11801210e-01 -1.82693228e-01 4.32322671e+00] [-3.16397780e-01 9.48617366e-01 4.18778993e-03 -7.21999083e-01] [ 1.74611727e-01 5.38989614e-02 9.83161048e-01 -8.38238996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.176296757 meters Centerline goodness : 0.794997 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 9.32675776e-01 3.11269772e-01 -1.82282818e-01 4.32233901e+00] [-3.15828290e-01 9.48806971e-01 4.22164681e-03 -7.21797747e-01] [ 1.74265280e-01 5.36326431e-02 9.83237078e-01 -8.37969211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.206296757000004 meters Centerline goodness : 0.795242 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 0.93267196 0.31128085 -0.18228345 4.32251165] [-0.31578836 0.94881893 0.00451067 -0.72251732] [ 0.17435807 0.05335602 0.98323568 -0.83818416] [ 0. 0. 0. 1. ]] SLAMing on 54.236296757 meters Centerline goodness : 0.795135 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.72, Z:-0.84 [[ 0.93259265 0.31133039 -0.18260429 4.32306371] [-0.31583665 0.94880232 0.00462231 -0.72376676] [ 0.17469444 0.05336239 0.98317562 -0.83835637] [ 0. 0. 0. 1. ]] SLAMing on 54.266296757 meters Centerline goodness : 0.795624 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.73, Z:-0.84 [[ 0.93267719 0.31124544 -0.18231712 4.32347318] [-0.31562231 0.94887036 0.00525373 -0.72575945] [ 0.17463051 0.05264332 0.98322575 -0.83953964] [ 0. 0. 0. 1. ]] SLAMing on 54.296296757 meters Centerline goodness : 0.796921 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.73, Z:-0.84 [[ 0.93258856 0.31147403 -0.18238009 4.32417421] [-0.31575136 0.9488239 0.00585537 -0.72647922] [ 0.17487039 0.05212611 0.98321067 -0.83998441] [ 0. 0. 0. 1. ]] SLAMing on 54.326296757 meters Centerline goodness : 0.792584 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.73, Z:-0.84 [[ 0.93199964 0.3142258 -0.18066218 4.32431577] [-0.31766581 0.94814638 0.01033774 -0.72883983] [ 0.17454258 0.04775543 0.98349088 -0.84186628] [ 0. 0. 0. 1. ]] SLAMing on 54.356296757 meters Centerline goodness : 0.794556 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.73, Z:-0.84 [[ 0.93172102 0.3149522 -0.18083433 4.32513606] [-0.3183291 0.94791861 0.01081179 -0.72918592] [ 0.17482142 0.04749126 0.98345414 -0.84197867] [ 0. 0. 0. 1. ]] SLAMing on 54.386296757000004 meters Centerline goodness : 0.798432 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.73, Z:-0.84 [[ 0.93136318 0.31575446 -0.1812781 4.32506199] [-0.31917631 0.94763426 0.01076073 -0.72975449] [ 0.17518308 0.04783753 0.983373 -0.84058803] [ 0. 0. 0. 1. ]] SLAMing on 54.416296757000005 meters Centerline goodness : 0.797648 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.73, Z:-0.84 [[ 0.9311132 0.31584889 -0.18239432 4.32620747] [-0.31946002 0.94754674 0.01002304 -0.72988269] [ 0.17599291 0.04893511 0.98317437 -0.83938971] [ 0. 0. 0. 1. ]] SLAMing on 54.446296757 meters Centerline goodness : 0.797317 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.73, Z:-0.84 [[ 0.93062923 0.31672282 -0.18334636 4.32654462] [-0.32048815 0.94720467 0.00952126 -0.73048049] [ 0.17668213 0.04989957 0.98300227 -0.83742894] [ 0. 0. 0. 1. ]] SLAMing on 54.476296757 meters Centerline goodness : 0.795554 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.73, Z:-0.84 [[ 0.93034542 0.31735757 -0.18368877 4.32777303] [-0.32107324 0.94700201 0.00995837 -0.73070358] [ 0.177114 0.04971282 0.98293401 -0.83750444] [ 0. 0. 0. 1. ]] SLAMing on 54.506296757 meters Centerline goodness : 0.794223 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.73, Z:-0.84 [[ 0.9299703 0.31810852 -0.1842884 4.33042591] [-0.32179088 0.94675377 0.01038852 -0.73063596] [ 0.17778042 0.04964131 0.98281731 -0.8382677 ] [ 0. 0. 0. 1. ]] SLAMing on 54.536296757 meters Centerline goodness : 0.799688 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.73, Z:-0.84 [[ 0.92856779 0.3224182 -0.1838705 4.33359095] [-0.32548424 0.94544225 0.0141056 -0.73161035] [ 0.17838684 0.04674894 0.98284926 -0.83957248] [ 0. 0. 0. 1. ]] SLAMing on 54.566296757 meters Centerline goodness : 0.797955 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.73, Z:-0.84 [[ 0.92808818 0.32301551 -0.18523853 4.33700972] [-0.32621221 0.9451956 0.01381542 -0.73216338] [ 0.17954924 0.04760514 0.98259647 -0.83994556] [ 0. 0. 0. 1. ]] SLAMing on 54.596296757000005 meters Centerline goodness : 0.800560 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.73, Z:-0.84 [[ 0.92771546 0.32357959 -0.18611897 4.33814525] [-0.32683801 0.94498 0.0137738 -0.73208038] [ 0.18033563 0.04805259 0.98243066 -0.83851989] [ 0. 0. 0. 1. ]] SLAMing on 54.626296757 meters Centerline goodness : 0.802096 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.73, Z:-0.84 [[ 0.92748004 0.32386789 -0.18678965 4.33915178] [-0.32717975 0.94486288 0.0136949 -0.73183551] [ 0.18092594 0.04841204 0.98230447 -0.83764311] [ 0. 0. 0. 1. ]] SLAMing on 54.656296757 meters Centerline goodness : 0.803747 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.73, Z:-0.84 [[ 0.92707882 0.32438546 -0.18788009 4.34079224] [-0.32783538 0.94464125 0.01329915 -0.73117722] [ 0.18179333 0.04926438 0.98210193 -0.83636356] [ 0. 0. 0. 1. ]] SLAMing on 54.686296757 meters Centerline goodness : 0.803834 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.73, Z:-0.84 [[ 0.92686821 0.32451043 -0.18870161 4.34232016] [-0.32809795 0.94455701 0.01279817 -0.73070662] [ 0.18239257 0.05005039 0.98195107 -0.83591283] [ 0. 0. 0. 1. ]] SLAMing on 54.716296757 meters Centerline goodness : 0.808101 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.73, Z:-0.84 [[ 0.92662608 0.32466696 -0.18961926 4.34405381] [-0.32841508 0.94445458 0.01220982 -0.72987645] [ 0.1830509 0.05095988 0.98178178 -0.83527979] [ 0. 0. 0. 1. ]] SLAMing on 54.746296757 meters Centerline goodness : 0.799111 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.73, Z:-0.83 [[ 0.92618394 0.32535586 -0.19059611 4.34669454] [-0.32920077 0.94418317 0.01204146 -0.72875754] [ 0.1838754 0.05159178 0.98159468 -0.83485236] [ 0. 0. 0. 1. ]] SLAMing on 54.776296757000004 meters Centerline goodness : 0.807056 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.73, Z:-0.83 [[ 0.92605798 0.32546299 -0.19102479 4.34781021] [-0.32936487 0.94412809 0.01187167 -0.72747531] [ 0.18421566 0.051923 0.98151342 -0.83440239] [ 0. 0. 0. 1. ]] SLAMing on 54.806296757 meters Centerline goodness : 0.807551 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.73, Z:-0.83 [[ 0.92597249 0.32500347 -0.19221784 4.34827021] [-0.32926356 0.94418224 0.01026705 -0.72626436] [ 0.18482549 0.05378332 0.98129857 -0.83214851] [ 0. 0. 0. 1. ]] SLAMing on 54.836296757 meters Centerline goodness : 0.800552 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.73, Z:-0.83 [[ 0.92570363 0.32513367 -0.19328964 4.34901816] [-0.32964583 0.94405919 0.00926634 -0.72556165] [ 0.18548966 0.05513924 0.98109798 -0.83045142] [ 0. 0. 0. 1. ]] SLAMing on 54.866296757 meters Centerline goodness : 0.801206 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.73, Z:-0.83 [[ 0.92481661 0.32838457 -0.19203596 4.34926693] [-0.33227775 0.94309857 0.01251347 -0.72528622] [ 0.18521807 0.05223661 0.98130811 -0.83055801] [ 0. 0. 0. 1. ]] SLAMing on 54.896296757 meters Centerline goodness : 0.796266 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.73, Z:-0.83 [[ 0.92412584 0.3308146 -0.19118872 4.35013148] [-0.33414721 0.94239344 0.01550005 -0.72561401] [ 0.18530263 0.04956118 0.98143091 -0.83116037] [ 0. 0. 0. 1. ]] SLAMing on 54.926296757 meters Centerline goodness : 0.798253 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.72, Z:-0.83 [[ 0.92383401 0.33150149 -0.1914092 4.35253688] [-0.33471844 0.94217817 0.01624371 -0.72495271] [ 0.18572639 0.0490617 0.9813759 -0.83210189] [ 0. 0. 0. 1. ]] SLAMing on 54.956296757000004 meters Centerline goodness : 0.793305 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.72, Z:-0.83 [[ 0.92366853 0.3330104 -0.18957986 4.35328299] [-0.33559697 0.94180871 0.01926225 -0.72380516] [ 0.18496249 0.0458305 0.98167634 -0.83419375] [ 0. 0. 0. 1. ]] SLAMing on 54.986296757 meters Centerline goodness : 0.794647 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.72, Z:-0.83 [[ 0.92454955 0.32909668 -0.19210287 4.35414386] [-0.33252869 0.94297314 0.01504443 -0.72400396] [ 0.18609892 0.04997039 0.98125947 -0.83213881] [ 0. 0. 0. 1. ]] SLAMing on 55.016296757 meters Centerline goodness : 0.795308 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.72, Z:-0.83 [[ 0.92482901 0.32790568 -0.19279305 4.35340144] [-0.33157363 0.94332742 0.01386724 -0.72433993] [ 0.18641412 0.05110027 0.98114145 -0.83060638] [ 0. 0. 0. 1. ]] SLAMing on 55.046296757 meters Centerline goodness : 0.796927 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.72, Z:-0.83 [[ 0.92508078 0.32711314 -0.19293146 4.35318739] [-0.33084316 0.94358924 0.01349596 -0.72397431] [ 0.18646276 0.0513452 0.98111942 -0.83012131] [ 0. 0. 0. 1. ]] SLAMing on 55.076296757 meters Centerline goodness : 0.798105 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.72, Z:-0.83 [[ 0.92509848 0.32844487 -0.19056959 4.35298141] [-0.33149685 0.94331075 0.01657314 -0.7221185 ] [ 0.18520971 0.04784143 0.98153378 -0.83235564] [ 0. 0. 0. 1. ]] SLAMing on 55.106296757 meters Centerline goodness : 0.799039 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.72, Z:-0.83 [[ 0.92490461 0.32875204 -0.19098054 4.35625784] [-0.33169359 0.94322859 0.01729703 -0.72273411] [ 0.18582473 0.04734892 0.98144141 -0.8345199 ] [ 0. 0. 0. 1. ]] SLAMing on 55.136296757000004 meters Centerline goodness : 0.800795 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.72, Z:-0.83 [[ 0.92484322 0.3286056 -0.19152905 4.35741024] [-0.33157068 0.94327175 0.01730018 -0.7236443 ] [ 0.18634888 0.04750546 0.98133446 -0.83468099] [ 0. 0. 0. 1. ]] SLAMing on 55.166296757000005 meters Centerline goodness : 0.799957 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.73, Z:-0.84 [[ 0.92561732 0.33455287 -0.17693769 4.35462554] [-0.33696852 0.94136008 0.01712931 -0.72769646] [ 0.17229274 0.04376725 0.98407298 -0.83869889] [ 0. 0. 0. 1. ]] SLAMing on 55.196296757 meters Centerline goodness : 0.800199 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.73, Z:-0.84 [[ 0.92536269 0.33469028 -0.1780065 4.35446886] [-0.33724681 0.94126958 0.01661827 -0.728988 ] [ 0.17311408 0.0446542 0.98388898 -0.83643564] [ 0. 0. 0. 1. ]] SLAMing on 55.226296757 meters Centerline goodness : 0.801828 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.73, Z:-0.84 [[ 0.92516147 0.33495356 -0.17855633 4.35548448] [-0.33751796 0.94117016 0.01674368 -0.72948143] [ 0.17366025 0.04477536 0.98378722 -0.83620293] [ 0. 0. 0. 1. ]] SLAMing on 55.256296757 meters Centerline goodness : 0.801255 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.73, Z:-0.84 [[ 0.92484629 0.33571826 -0.17875289 4.35718095] [-0.33813025 0.94093226 0.01773192 -0.72993249] [ 0.17414729 0.04404246 0.9837342 -0.83685405] [ 0. 0. 0. 1. ]] SLAMing on 55.286296757 meters Centerline goodness : 0.801816 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.73, Z:-0.84 [[ 0.92468 0.33593521 -0.17920502 4.35918902] [-0.33829004 0.94086605 0.01819148 -0.7299185 ] [ 0.17471908 0.04380197 0.98364355 -0.83746035] [ 0. 0. 0. 1. ]] SLAMing on 55.316296757 meters Centerline goodness : 0.798531 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.73, Z:-0.84 [[ 0.92434697 0.33601143 -0.18077335 4.36265767] [-0.33852055 0.94079182 0.01773693 -0.73134028] [ 0.1760299 0.04480042 0.98336483 -0.83797857] [ 0. 0. 0. 1. ]] SLAMing on 55.346296757000005 meters Centerline goodness : 0.801695 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.73, Z:-0.84 [[ 0.92405945 0.33608973 -0.18209288 4.3633739 ] [-0.33880298 0.94070459 0.01695322 -0.73238188] [ 0.17699341 0.04602783 0.98313517 -0.83637608] [ 0. 0. 0. 1. ]] SLAMing on 55.376296757 meters Centerline goodness : 0.797318 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.73, Z:-0.83 [[ 0.92380551 0.33458401 -0.18610996 4.36735075] [-0.33818471 0.94098968 0.01302024 -0.73441185] [ 0.17948392 0.05091138 0.98244265 -0.83423961] [ 0. 0. 0. 1. ]] SLAMing on 55.406296757 meters Centerline goodness : 0.797192 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.74, Z:-0.83 [[ 0.92344312 0.33519035 -0.18681607 4.36900629] [-0.33882413 0.94075845 0.01310562 -0.73512634] [ 0.18014167 0.05119549 0.98230749 -0.83427162] [ 0. 0. 0. 1. ]] SLAMing on 55.436296757 meters Centerline goodness : 0.794450 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.74, Z:-0.83 [[ 0.92226496 0.33907856 -0.1856154 4.36954409] [-0.3419997 0.93954531 0.01705321 -0.73586608] [ 0.18017646 0.04775283 0.98247448 -0.83451113] [ 0. 0. 0. 1. ]] SLAMing on 55.466296757 meters Centerline goodness : 0.795442 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.74, Z:-0.83 [[ 0.92161884 0.3403514 -0.18649299 4.37245145] [-0.34327904 0.93907255 0.01738522 -0.73607639] [ 0.18104753 0.04799659 0.98230246 -0.83488883] [ 0. 0. 0. 1. ]] SLAMing on 55.496296757 meters Centerline goodness : 0.792425 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.74, Z:-0.83 [[ 0.9204519 0.3429298 -0.18752988 4.37435831] [-0.34585583 0.93811614 0.01794021 -0.73699562] [ 0.18207704 0.0483452 0.98209505 -0.83366249] [ 0. 0. 0. 1. ]] SLAMing on 55.526296757000004 meters Centerline goodness : 0.793608 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.74, Z:-0.83 [[ 0.91990369 0.34332982 -0.18947781 4.37676772] [-0.34658657 0.93786859 0.01674073 -0.7376348 ] [ 0.18345288 0.05027061 0.98174228 -0.83227796] [ 0. 0. 0. 1. ]] SLAMing on 55.556296757 meters Centerline goodness : 0.793404 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.74, Z:-0.83 [[ 0.91920791 0.34434145 -0.19101253 4.37772784] [-0.34790996 0.93739785 0.01561864 -0.73768883] [ 0.18443287 0.05209838 0.98146333 -0.82980404] [ 0. 0. 0. 1. ]] SLAMing on 55.586296757 meters Centerline goodness : 0.794861 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.74, Z:-0.83 [[ 0.91886205 0.34463355 -0.19214642 4.37973163] [-0.34834579 0.93724261 0.0152151 -0.73760933] [ 0.18533145 0.05295282 0.98124831 -0.82921199] [ 0. 0. 0. 1. ]] SLAMing on 55.616296757 meters Centerline goodness : 0.795855 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.74, Z:-0.83 [[ 0.91841804 0.34551907 -0.19267815 4.38131259] [-0.34924278 0.93690566 0.01540344 -0.73738839] [ 0.18584343 0.05314465 0.9811411 -0.82907923] [ 0. 0. 0. 1. ]] SLAMing on 55.646296757 meters Centerline goodness : 0.795709 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.74, Z:-0.83 [[ 0.91773298 0.34828799 -0.19094933 4.38189479] [-0.35131249 0.93606737 0.01890532 -0.73661862] [ 0.18532594 0.04973285 0.98141782 -0.83031133] [ 0. 0. 0. 1. ]] SLAMing on 55.676296757 meters Centerline goodness : 0.793403 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.74, Z:-0.83 [[ 0.9173077 0.34896581 -0.1917536 4.38258106] [-0.35207951 0.93578274 0.01872683 -0.73724407] [ 0.18597473 0.05033425 0.98126442 -0.82908446] [ 0. 0. 0. 1. ]] SLAMing on 55.706296757000004 meters Centerline goodness : 0.795063 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.74, Z:-0.83 [[ 0.9170055 0.34865058 -0.19376195 4.38475903] [-0.35212842 0.935791 0.0173428 -0.73874613] [ 0.18736727 0.05232564 0.98089527 -0.82803025] [ 0. 0. 0. 1. ]] SLAMing on 55.736296757 meters Centerline goodness : 0.794993 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.74, Z:-0.83 [[ 0.91688369 0.34825431 -0.19504674 4.38643118] [-0.35190216 0.93588635 0.01678109 -0.73992264] [ 0.18838567 0.05325106 0.98065038 -0.82749879] [ 0. 0. 0. 1. ]] SLAMing on 55.766296757 meters Centerline goodness : 0.795518 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.74, Z:-0.83 [[ 0.91679021 0.34863507 -0.19480582 4.38799361] [-0.35201275 0.93581904 0.0181591 -0.74062487] [ 0.18863389 0.05192605 0.98067372 -0.82900985] [ 0. 0. 0. 1. ]] SLAMing on 55.796296757 meters Centerline goodness : 0.797788 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.74, Z:-0.83 [[ 0.91685872 0.34956763 -0.19280185 4.38823793] [-0.3522786 0.93565531 0.02118808 -0.74016573] [ 0.18780274 0.04849349 0.98100893 -0.83146619] [ 0. 0. 0. 1. ]] SLAMing on 55.826296757 meters Centerline goodness : 0.796627 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.74, Z:-0.83 [[ 0.9169309 0.34921469 -0.19309797 4.38915725] [-0.35197409 0.93577469 0.02097563 -0.74012097] [ 0.18802119 0.04873228 0.98095525 -0.83180453] [ 0. 0. 0. 1. ]] SLAMing on 55.856296757 meters Centerline goodness : 0.797542 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.74, Z:-0.83 [[ 0.91681517 0.34917105 -0.19372538 4.38855377] [-0.35203934 0.93575914 0.02057031 -0.74084931] [ 0.18846285 0.04933978 0.98084012 -0.8302211 ] [ 0. 0. 0. 1. ]] SLAMing on 55.886296757000004 meters Centerline goodness : 0.798264 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:-0.83 [[ 0.91702352 0.35394183 -0.18382884 4.38898288] [-0.35665302 0.93403885 0.01923645 -0.74797037] [ 0.17851186 0.04792283 0.98277002 -0.82839213] [ 0. 0. 0. 1. ]] SLAMing on 55.916296757000005 meters Centerline goodness : 0.796598 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:-0.83 [[ 0.91668467 0.35447427 -0.18449174 4.38952314] [-0.35721451 0.93382269 0.0193128 -0.74857185] [ 0.17912846 0.04819938 0.9826443 -0.82745373] [ 0. 0. 0. 1. ]] SLAMing on 55.946296757 meters Centerline goodness : 0.794768 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.75, Z:-0.83 [[ 0.91607919 0.35571336 -0.1851133 4.39325166] [-0.3582566 0.93339396 0.02068617 -0.74896897] [ 0.18014198 0.04736789 0.98249944 -0.82867913] [ 0. 0. 0. 1. ]] SLAMing on 55.976296757 meters Centerline goodness : 0.794297 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.75, Z:-0.83 [[ 0.91547465 0.3566044 -0.18638525 4.3966884 ] [-0.35924384 0.9330164 0.02059775 -0.7492961 ] [ 0.18124575 0.04810104 0.9822608 -0.82900053] [ 0. 0. 0. 1. ]] SLAMing on 56.006296757 meters Centerline goodness : 0.793865 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.75, Z:-0.83 [[ 0.91471251 0.35772065 -0.18798126 4.39982366] [-0.36044368 0.93255135 0.02069637 -0.75056732] [ 0.1827057 0.04882543 0.98195453 -0.82869709] [ 0. 0. 0. 1. ]] SLAMing on 56.036296757 meters Centerline goodness : 0.793865 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.75, Z:-0.83 [[ 0.91471251 0.35772065 -0.18798126 4.39982366] [-0.36044368 0.93255135 0.02069637 -0.75056732] [ 0.1827057 0.04882543 0.98195453 -0.82869709] [ 0. 0. 0. 1. ]] SLAMing on 56.066296757 meters Centerline goodness : 0.795122 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.75, Z:-0.83 [[ 0.91450582 0.35759971 -0.18921299 4.40127829] [-0.36050504 0.93254186 0.02004481 -0.75137459] [ 0.18361705 0.04988114 0.98173146 -0.82789696] [ 0. 0. 0. 1. ]] SLAMing on 56.096296757000005 meters Centerline goodness : 0.793992 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.75, Z:-0.83 [[ 0.91447164 0.35745425 -0.18965254 4.40103319] [-0.36044155 0.93257346 0.01971383 -0.75133221] [ 0.18391172 0.05033091 0.98165334 -0.82674502] [ 0. 0. 0. 1. ]] SLAMing on 56.126296757 meters Centerline goodness : 0.791997 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.75, Z:-0.83 [[ 0.91406386 0.35786624 -0.19083766 4.40314758] [-0.3610313 0.93235717 0.01914449 -0.75079719] [ 0.18478003 0.05139908 0.98143491 -0.82594845] [ 0. 0. 0. 1. ]] SLAMing on 56.156296757 meters Centerline goodness : 0.793662 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.75, Z:-0.83 [[ 0.9130162 0.35958172 -0.19261986 4.40801445] [-0.36291647 0.93162917 0.01893992 -0.75128176] [ 0.18626073 0.05261247 0.98109065 -0.82655103] [ 0. 0. 0. 1. ]] SLAMing on 56.186296757 meters Centerline goodness : 0.791244 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.75, Z:-0.83 [[ 0.91259378 0.35983701 -0.19413892 4.41040911] [-0.36342682 0.93144747 0.01807066 -0.7513528 ] [ 0.1873327 0.05406411 0.98080759 -0.82573649] [ 0. 0. 0. 1. ]] SLAMing on 56.216296757 meters Centerline goodness : 0.794683 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.75, Z:-0.82 [[ 0.91201067 0.360663 -0.19534262 4.41142858] [-0.36444431 0.93106041 0.01751762 -0.75133909] [ 0.18819373 0.05521525 0.9805786 -0.82401692] [ 0. 0. 0. 1. ]] SLAMing on 56.246296757 meters Centerline goodness : 0.794147 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.75, Z:-0.82 [[ 0.91105655 0.36251099 -0.19637142 4.41365926] [-0.36641617 0.93028863 0.01738544 -0.75044059] [ 0.18898452 0.05611455 0.98037544 -0.82291316] [ 0. 0. 0. 1. ]] SLAMing on 56.276296757000004 meters Centerline goodness : 0.794092 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.91053351 0.36344169 -0.1970758 4.41540177] [-0.36741864 0.92989419 0.01733003 -0.74993922] [ 0.1895581 0.05662975 0.98023507 -0.82241238] [ 0. 0. 0. 1. ]] SLAMing on 56.306296757 meters Centerline goodness : 0.797037 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.90978461 0.3648116 -0.19800118 4.4164889 ] [-0.36895201 0.92929439 0.01692169 -0.74915269] [ 0.19017462 0.05765784 0.98005571 -0.82077362] [ 0. 0. 0. 1. ]] SLAMing on 56.336296757 meters Centerline goodness : 0.795349 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.9092826 0.36549072 -0.19905196 4.41876614] [-0.36970845 0.92899364 0.01692571 -0.74967986] [ 0.1911042 0.05820094 0.97984276 -0.82054163] [ 0. 0. 0. 1. ]] SLAMing on 56.366296757 meters Centerline goodness : 0.800311 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.90821658 0.36870515 -0.19798774 4.41892166] [-0.37225744 0.92790592 0.02037151 -0.75082118] [ 0.19122508 0.05520067 0.97999278 -0.82053581] [ 0. 0. 0. 1. ]] SLAMing on 56.396296757 meters Centerline goodness : 0.797791 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.90801872 0.36904454 -0.1982628 4.42084135] [-0.37252759 0.92778699 0.02084451 -0.75090278] [ 0.1916382 0.05493116 0.97992723 -0.82131778] [ 0. 0. 0. 1. ]] SLAMing on 56.426296757 meters Centerline goodness : 0.799367 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.90804532 0.36916329 -0.19791957 4.42230482] [-0.37257516 0.92776162 0.02112175 -0.7498379 ] [ 0.19141956 0.05456041 0.97999067 -0.82272527] [ 0. 0. 0. 1. ]] SLAMing on 56.456296757000004 meters Centerline goodness : 0.800268 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.90803209 0.36908585 -0.19812463 4.42255307] [-0.37252446 0.92778393 0.02103605 -0.74945924] [ 0.19158096 0.05470486 0.97995108 -0.82235422] [ 0. 0. 0. 1. ]] SLAMing on 56.486296757000005 meters Centerline goodness : 0.800367 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.90913768 0.36533435 -0.19999871 4.42186148] [-0.36963401 0.92902583 0.01678432 -0.74807526] [ 0.19193586 0.05866707 0.97965239 -0.82022256] [ 0. 0. 0. 1. ]] SLAMing on 56.516296757 meters Centerline goodness : 0.801412 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.90957554 0.36387624 -0.20066494 4.42100311] [-0.36844887 0.9295198 0.01543909 -0.74806645] [ 0.19213996 0.05989175 0.97953827 -0.81900666] [ 0. 0. 0. 1. ]] SLAMing on 56.546296757 meters Centerline goodness : 0.803614 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.90987305 0.36297966 -0.20093979 4.41995634] [-0.36773751 0.92981685 0.01448272 -0.74721408] [ 0.19209414 0.06071567 0.97949653 -0.81756233] [ 0. 0. 0. 1. ]] SLAMing on 56.576296757 meters Centerline goodness : 0.812269 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.90965967 0.36330646 -0.20131491 4.42129895] [-0.36809586 0.92967509 0.01447983 -0.74670474] [ 0.19241808 0.06093147 0.97941954 -0.81765631] [ 0. 0. 0. 1. ]] SLAMing on 56.606296757 meters Centerline goodness : 0.802218 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.90909451 0.36445563 -0.20179016 4.42411734] [-0.36931936 0.9291912 0.01438508 -0.74557974] [ 0.19274437 0.06144762 0.97932313 -0.8185084 ] [ 0. 0. 0. 1. ]] SLAMing on 56.636296757000004 meters Centerline goodness : 0.803336 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.90827341 0.36716927 -0.20056455 4.4231043 ] [-0.37147399 0.92828512 0.01714076 -0.74568044] [ 0.19247465 0.05893602 0.97953053 -0.81795498] [ 0. 0. 0. 1. ]] SLAMing on 56.666296757000005 meters Centerline goodness : 0.805535 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.75, Z:-0.82 [[ 0.90697829 0.36970931 -0.20175582 4.42658548] [-0.37405398 0.92723996 0.01759759 -0.74640052] [ 0.19358206 0.05950694 0.97927775 -0.81780657] [ 0. 0. 0. 1. ]] SLAMing on 56.696296757 meters Centerline goodness : 0.803388 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.75, Z:-0.82 [[ 0.90632056 0.37093475 -0.202461 4.42800355] [-0.37531029 0.92672826 0.01780231 -0.74688949] [ 0.19422982 0.0598511 0.9791285 -0.81724756] [ 0. 0. 0. 1. ]] SLAMing on 56.726296757 meters Centerline goodness : 0.803036 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.75, Z:-0.82 [[ 0.90583024 0.3718997 -0.20288466 4.4281405 ] [-0.3763041 0.92632327 0.0179004 -0.74767642] [ 0.19459393 0.0601316 0.97903901 -0.81629695] [ 0. 0. 0. 1. ]] SLAMing on 56.756296757 meters Centerline goodness : 0.803305 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.75, Z:-0.82 [[ 0.90583298 0.37195341 -0.20277396 4.42819769] [-0.37629468 0.92632147 0.01818924 -0.74784024] [ 0.19459942 0.05982635 0.97905662 -0.81637913] [ 0. 0. 0. 1. ]] SLAMing on 56.786296757 meters Centerline goodness : 0.805955 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.75, Z:-0.82 [[ 0.90599629 0.37191884 -0.20210666 4.42826217] [-0.37603563 0.92640818 0.0191076 -0.74786481] [ 0.19433974 0.05868789 0.9791771 -0.81737294] [ 0. 0. 0. 1. ]] SLAMing on 56.816296757 meters Centerline goodness : 0.805513 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.75, Z:-0.82 [[ 0.90678541 0.37124484 -0.19979362 4.42780694] [-0.37483668 0.92685328 0.02098699 -0.74724788] [ 0.19297069 0.05585928 0.97961322 -0.82061752] [ 0. 0. 0. 1. ]] SLAMing on 56.846296757000005 meters Centerline goodness : 0.806234 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.75, Z:-0.82 [[ 0.90713641 0.37046768 -0.19964275 4.42734612] [-0.37404539 0.92717426 0.0209269 -0.74758759] [ 0.19285636 0.05569189 0.97964526 -0.82075834] [ 0. 0. 0. 1. ]] SLAMing on 56.876296757 meters Centerline goodness : 0.806605 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.75, Z:-0.82 [[ 0.90820151 0.366552 -0.20201397 4.4254161 ] [-0.37101719 0.92847559 0.01671278 -0.7499552 ] [ 0.19369114 0.05977209 0.97924003 -0.81773274] [ 0. 0. 0. 1. ]] SLAMing on 56.906296757 meters Centerline goodness : 0.808159 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.75, Z:-0.82 [[ 0.90911033 0.36318537 -0.20399705 4.42599837] [-0.36834144 0.92959274 0.01348783 -0.75101889] [ 0.19453276 0.06287864 0.97887858 -0.81694355] [ 0. 0. 0. 1. ]] SLAMing on 56.936296757 meters Centerline goodness : 0.807496 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.91104037 0.35977955 -0.20140536 4.4227933 ] [-0.36446033 0.93110341 0.01466637 -0.75086608] [ 0.19280588 0.06004261 0.97939817 -0.81954732] [ 0. 0. 0. 1. ]] SLAMing on 56.966296757 meters Centerline goodness : 0.809549 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.91172925 0.35932399 -0.19908804 4.42222719] [-0.36329581 0.93150927 0.0175109 -0.75027119] [ 0.19174444 0.05636265 0.97982515 -0.8224661 ] [ 0. 0. 0. 1. ]] SLAMing on 56.996296757 meters Centerline goodness : 0.809181 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.83 [[ 0.91232226 0.35877108 -0.19736108 4.42215521] [-0.36220307 0.93189084 0.01970781 -0.75012829] [ 0.19098958 0.05350492 0.98013275 -0.82512638] [ 0. 0. 0. 1. ]] SLAMing on 57.026296757000004 meters Centerline goodness : 0.809522 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.75, Z:-0.82 [[ 0.91365678 0.35449377 -0.19891068 4.42112254] [-0.35863902 0.93333858 0.01603602 -0.75154494] [ 0.19133568 0.05668571 0.97988642 -0.82421901] [ 0. 0. 0. 1. ]] SLAMing on 57.056296757 meters Centerline goodness : 0.816085 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.76, Z:-0.82 [[ 0.91549775 0.35470548 -0.18986281 4.41923585] [-0.35977955 0.93300101 0.00823333 -0.75719004] [ 0.1800626 0.06077117 0.98177611 -0.82255194] [ 0. 0. 0. 1. ]] SLAMing on 57.086296757 meters Centerline goodness : 0.810010 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.76, Z:-0.82 [[ 0.91554502 0.35444057 -0.19012944 4.41857724] [-0.35961809 0.93306753 0.00773392 -0.75695008] [ 0.18014482 0.06129323 0.98172857 -0.82146211] [ 0. 0. 0. 1. ]] SLAMing on 57.116296757 meters Centerline goodness : 0.815879 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.76, Z:-0.82 [[ 0.91508979 0.356316 -0.18881097 4.41858063] [-0.36096387 0.93252213 0.01037122 -0.75632457] [ 0.17976584 0.05866334 0.98195868 -0.8221486 ] [ 0. 0. 0. 1. ]] SLAMing on 57.146296757 meters Centerline goodness : 0.816259 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.76, Z:-0.83 [[ 0.91329624 0.3629021 -0.18491091 4.42021323] [-0.36602831 0.93042616 0.01817806 -0.75546799] [ 0.17864281 0.05108068 0.98258715 -0.82578451] [ 0. 0. 0. 1. ]] SLAMing on 57.176296757 meters Centerline goodness : 0.816805 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.76, Z:-0.83 [[ 0.91188772 0.36686325 -0.18404388 4.42173935] [-0.3694218 0.92901396 0.02146162 -0.75589197] [ 0.17885281 0.04841923 0.9826837 -0.82633614] [ 0. 0. 0. 1. ]] SLAMing on 57.206296757000004 meters Centerline goodness : 0.807269 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.76, Z:-0.82 [[ 0.90958835 0.37092183 -0.18725927 4.42601628] [-0.37380289 0.92726975 0.02102878 -0.75830664] [ 0.18143989 0.05087052 0.98208541 -0.82330824] [ 0. 0. 0. 1. ]] SLAMing on 57.236296757000005 meters Centerline goodness : 0.813538 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.76, Z:-0.82 [[ 0.90870727 0.37195663 -0.18947125 4.42811899] [-0.37522434 0.92672469 0.01969853 -0.75923541] [ 0.18291468 0.05319403 0.98168865 -0.82110123] [ 0. 0. 0. 1. ]] SLAMing on 57.266296757 meters Centerline goodness : 0.814353 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.76, Z:-0.82 [[ 0.90792136 0.37336902 -0.19045834 4.4293715 ] [-0.37676308 0.92610508 0.01946727 -0.75947841] [ 0.18365291 0.05408292 0.98150224 -0.81986689] [ 0. 0. 0. 1. ]] SLAMing on 57.296296757 meters Centerline goodness : 0.815135 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.76, Z:-0.82 [[ 0.90628687 0.37721099 -0.19067241 4.43294553] [-0.38021095 0.92463707 0.02204341 -0.76002659] [ 0.1846178 0.05251809 0.98140619 -0.82039114] [ 0. 0. 0. 1. ]] SLAMing on 57.326296757 meters Centerline goodness : 0.804020 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.76, Z:-0.82 [[ 0.90485318 0.38079399 -0.19035931 4.43593497] [-0.38331275 0.92328306 0.0248944 -0.76047251] [ 0.18523516 0.05044137 0.9813988 -0.82136684] [ 0. 0. 0. 1. ]] SLAMing on 57.356296757 meters Centerline goodness : 0.804880 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.76, Z:-0.82 [[ 0.90432738 0.38173561 -0.19097096 4.4371146 ] [-0.38423626 0.92288913 0.0252618 -0.76112834] [ 0.18588835 0.05053303 0.98127057 -0.82088462] [ 0. 0. 0. 1. ]] SLAMing on 57.386296757000004 meters Centerline goodness : 0.807899 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.76, Z:-0.82 [[ 0.90387937 0.38195023 -0.19265544 4.4390855 ] [-0.38469362 0.92271963 0.02448072 -0.7624783 ] [ 0.18711737 0.0519857 0.98096105 -0.81994185] [ 0. 0. 0. 1. ]] SLAMing on 57.416296757000005 meters Centerline goodness : 0.814411 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.76, Z:-0.82 [[ 0.90428128 0.37955063 -0.19549088 4.4392119 ] [-0.3830789 0.92347801 0.02095023 -0.76419427] [ 0.18848321 0.05594353 0.98048172 -0.81721829] [ 0. 0. 0. 1. ]] SLAMing on 57.446296757 meters Centerline goodness : 0.808576 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.77, Z:-0.82 [[ 0.90434147 0.37915155 -0.19598624 4.43852745] [-0.38270948 0.92363226 0.02090224 -0.76572184] [ 0.18894433 0.05610303 0.98038385 -0.81624011] [ 0. 0. 0. 1. ]] SLAMing on 57.476296757 meters Centerline goodness : 0.802604 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.77, Z:-0.82 [[ 0.90494722 0.37798436 -0.19544397 4.43763394] [-0.38131173 0.92418927 0.02180725 -0.76755949] [ 0.18887002 0.05479067 0.98047238 -0.81708503] [ 0. 0. 0. 1. ]] SLAMing on 57.506296757 meters Centerline goodness : 0.814132 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.77, Z:-0.82 [[ 0.90522544 0.37698782 -0.19607927 4.43929186] [-0.38041483 0.92456904 0.02136931 -0.76843121] [ 0.18934479 0.05524741 0.98035518 -0.81806568] [ 0. 0. 0. 1. ]] SLAMing on 57.536296757 meters Centerline goodness : 0.802174 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.77, Z:-0.82 [[ 0.90554477 0.375369 -0.19770377 4.44013386] [-0.37926717 0.92508697 0.01924884 -0.76991255] [ 0.1901186 0.05755186 0.9800728 -0.8174676 ] [ 0. 0. 0. 1. ]] SLAMing on 57.566296757 meters Centerline goodness : 0.802042 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.77, Z:-0.82 [[ 0.9054665 0.37504236 -0.19867978 4.4397376 ] [-0.37915772 0.92514912 0.01839893 -0.77043956] [ 0.1907088 0.05867136 0.97989174 -0.81569149] [ 0. 0. 0. 1. ]] SLAMing on 57.596296757000005 meters Centerline goodness : 0.802864 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.77, Z:-0.81 [[ 0.90523737 0.37521764 -0.19939163 4.43968408] [-0.3794658 0.92503139 0.01796203 -0.77091895] [ 0.19118318 0.0594024 0.97975525 -0.81435174] [ 0. 0. 0. 1. ]] SLAMing on 57.626296757 meters Centerline goodness : 0.802501 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.77, Z:-0.81 [[ 0.90441823 0.37724093 -0.19929113 4.44020356] [-0.38134785 0.92423879 0.01888069 -0.77075686] [ 0.19131517 0.0589232 0.97975842 -0.81373917] [ 0. 0. 0. 1. ]] SLAMing on 57.656296757 meters Centerline goodness : 0.805000 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.77, Z:-0.81 [[ 0.90256626 0.38234627 -0.19795323 4.44149391] [-0.38574105 0.922328 0.02269127 -0.77025981] [ 0.19125373 0.05587831 0.97994879 -0.81381052] [ 0. 0. 0. 1. ]] SLAMing on 57.686296757 meters Centerline goodness : 0.806484 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.77, Z:-0.81 [[ 0.90171508 0.38391086 -0.19880233 4.44356618] [-0.38737454 0.92164121 0.02276937 -0.76991619] [ 0.19196583 0.05647948 0.97977507 -0.81312201] [ 0. 0. 0. 1. ]] SLAMing on 57.716296757 meters Centerline goodness : 0.806837 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.90090685 0.384957 -0.20043691 4.44562635] [-0.38866678 0.92111253 0.02213239 -0.77031563] [ 0.19314496 0.05796395 0.97945659 -0.81163129] [ 0. 0. 0. 1. ]] SLAMing on 57.746296757 meters Centerline goodness : 0.805736 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89977384 0.38701054 -0.20156853 4.44579465] [-0.39097598 0.92015151 0.02142389 -0.76978823] [ 0.19376486 0.0595318 0.97924009 -0.80881146] [ 0. 0. 0. 1. ]] SLAMing on 57.776296757000004 meters Centerline goodness : 0.807107 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89944624 0.38769157 -0.20172186 4.44657428] [-0.39163562 0.91986546 0.02165803 -0.76937322] [ 0.19395361 0.05952123 0.97920336 -0.80864955] [ 0. 0. 0. 1. ]] SLAMing on 57.806296757 meters Centerline goodness : 0.809358 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.8988891 0.38977424 -0.20018598 4.44688558] [-0.39313749 0.91915693 0.02436079 -0.76810895] [ 0.19349754 0.05680297 0.97945501 -0.80947342] [ 0. 0. 0. 1. ]] SLAMing on 57.836296757 meters Centerline goodness : 0.809376 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89839369 0.39074479 -0.20051753 4.44800862] [-0.39402073 0.91876115 0.02501225 -0.76863357] [ 0.19400112 0.05653722 0.97937077 -0.80930693] [ 0. 0. 0. 1. ]] SLAMing on 57.866296757 meters Centerline goodness : 0.809850 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89741159 0.39247906 -0.20152576 4.44928839] [-0.39576277 0.91799943 0.02547295 -0.77022022] [ 0.19499813 0.05689668 0.97915193 -0.80817387] [ 0. 0. 0. 1. ]] SLAMing on 57.896296757 meters Centerline goodness : 0.808081 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89717585 0.39241097 -0.20270454 4.4510869 ] [-0.39586043 0.91797063 0.02498871 -0.771321 ] [ 0.19588266 0.05782344 0.97892106 -0.80796956] [ 0. 0. 0. 1. ]] SLAMing on 57.926296757 meters Centerline goodness : 0.808081 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89717585 0.39241097 -0.20270454 4.4510869 ] [-0.39586043 0.91797063 0.02498871 -0.771321 ] [ 0.19588266 0.05782344 0.97892106 -0.80796956] [ 0. 0. 0. 1. ]] SLAMing on 57.956296757000004 meters Centerline goodness : 0.809268 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89695856 0.39262012 -0.20326036 4.45142982] [-0.39610605 0.91786439 0.02499908 -0.77220561] [ 0.19638059 0.05808952 0.97880553 -0.80734108] [ 0. 0. 0. 1. ]] SLAMing on 57.986296757000005 meters Centerline goodness : 0.808546 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89732703 0.39230003 -0.20224956 4.45029975] [-0.39548877 0.91809868 0.02614283 -0.7728975 ] [ 0.19594088 0.05652876 0.97898502 -0.80805216] [ 0. 0. 0. 1. ]] SLAMing on 58.016296757 meters Centerline goodness : 0.805587 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.8978778 0.39107475 -0.20217813 4.45129058] [-0.3941782 0.91865459 0.02640623 -0.77345127] [ 0.19605867 0.05598465 0.97899271 -0.8095866 ] [ 0. 0. 0. 1. ]] SLAMing on 58.046296757 meters Centerline goodness : 0.807146 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89789357 0.39084535 -0.20255136 4.45160025] [-0.39398246 0.918741 0.02632091 -0.77362658] [ 0.19637964 0.05616831 0.97891785 -0.80922154] [ 0. 0. 0. 1. ]] SLAMing on 58.076296757 meters Centerline goodness : 0.808940 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89779795 0.39074273 -0.20317224 4.452503 ] [-0.39394329 0.91876196 0.02617523 -0.77374843] [ 0.1968947 0.05653828 0.97879308 -0.80883851] [ 0. 0. 0. 1. ]] SLAMing on 58.106296757 meters Centerline goodness : 0.808986 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89764875 0.39107983 -0.20318288 4.45232045] [-0.39428458 0.91861494 0.02619662 -0.7734374 ] [ 0.1968918 0.05659651 0.9787903 -0.80829241] [ 0. 0. 0. 1. ]] SLAMing on 58.136296757000004 meters Centerline goodness : 0.805610 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89767203 0.3907998 -0.20361838 4.45228659] [-0.39410423 0.91870362 0.02579752 -0.77318303] [ 0.19714661 0.05708915 0.9787104 -0.80745909] [ 0. 0. 0. 1. ]] SLAMing on 58.166296757000005 meters Centerline goodness : 0.809079 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89765184 0.39033351 -0.20459943 4.45113093] [-0.39387039 0.91882909 0.02488422 -0.77421351] [ 0.19770505 0.05824829 0.97852943 -0.80525946] [ 0. 0. 0. 1. ]] SLAMing on 58.196296757 meters Centerline goodness : 0.805646 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.80 [[ 0.89774196 0.38976548 -0.20528575 4.45179046] [-0.39343921 0.91902813 0.02434925 -0.77407708] [ 0.19815388 0.05890812 0.97839914 -0.80475081] [ 0. 0. 0. 1. ]] SLAMing on 58.226296757 meters Centerline goodness : 0.806495 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89769366 0.39020778 -0.20465575 4.45435191] [-0.3935557 0.91893809 0.0258206 -0.77276674] [ 0.19814136 0.05736445 0.97849339 -0.80686172] [ 0. 0. 0. 1. ]] SLAMing on 58.256296757 meters Centerline goodness : 0.807662 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89707017 0.39256383 -0.20287618 4.45387401] [-0.39526774 0.91811541 0.02876635 -0.77174999] [ 0.19755638 0.05438497 0.97878177 -0.80735376] [ 0. 0. 0. 1. ]] SLAMing on 58.286296757 meters Centerline goodness : 0.806960 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89663192 0.39357275 -0.20285877 4.45463019] [-0.39618841 0.91770111 0.02931586 -0.77149307] [ 0.19770165 0.05408476 0.97876907 -0.80727713] [ 0. 0. 0. 1. ]] SLAMing on 58.316296757 meters Centerline goodness : 0.807607 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.89654699 0.39337749 -0.2036115 4.45379201] [-0.39613703 0.91773982 0.02879368 -0.77230321] [ 0.19818917 0.05484317 0.97862826 -0.8053883 ] [ 0. 0. 0. 1. ]] SLAMing on 58.346296757000005 meters Centerline goodness : 0.811279 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.80 [[ 0.89650792 0.39320156 -0.2041227 4.45349984] [-0.39607554 0.91778005 0.02835395 -0.77252297] [ 0.19848856 0.05542847 0.97853461 -0.80432105] [ 0. 0. 0. 1. ]] SLAMing on 58.376296757 meters Centerline goodness : 0.808059 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.77, Z:-0.81 [[ 0.8967443 0.3929266 -0.20361323 4.45359129] [-0.39563474 0.91795012 0.02899526 -0.77278343] [ 0.19829979 0.05455514 0.97862195 -0.80518982] [ 0. 0. 0. 1. ]] SLAMing on 58.406296757 meters Centerline goodness : 0.807106 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.81 [[ 0.89671386 0.39270249 -0.20417887 4.45559542] [-0.39545213 0.91803105 0.02892403 -0.77300392] [ 0.19880108 0.05480639 0.9785062 -0.80597379] [ 0. 0. 0. 1. ]] SLAMing on 58.436296757 meters Centerline goodness : 0.806420 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.81 [[ 0.89708861 0.39253189 -0.20285645 4.45506023] [-0.39490113 0.91822012 0.03041248 -0.77312875] [ 0.19820474 0.05282555 0.97873609 -0.80748291] [ 0. 0. 0. 1. ]] SLAMing on 58.466296757 meters Centerline goodness : 0.804637 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.81 [[ 0.89701421 0.39222377 -0.20377933 4.45685266] [-0.39472207 0.91831088 0.02999347 -0.77331056] [ 0.19889693 0.05353163 0.97855729 -0.80750733] [ 0. 0. 0. 1. ]] SLAMing on 58.496296757 meters Centerline goodness : 0.808210 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.81 [[ 0.89754681 0.39100603 -0.2037744 4.45585602] [-0.39363398 0.91880301 0.02921171 -0.77259363] [ 0.19865048 0.05399365 0.97858197 -0.80689057] [ 0. 0. 0. 1. ]] SLAMing on 58.526296757000004 meters Centerline goodness : 0.804322 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.81 [[ 0.89768874 0.39003354 -0.2050092 4.45682685] [-0.39291991 0.91914098 0.0281745 -0.77358319] [ 0.19942136 0.05526026 0.97835445 -0.80638109] [ 0. 0. 0. 1. ]] SLAMing on 58.556296757 meters Centerline goodness : 0.807172 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.81 [[ 0.89759346 0.39012466 -0.20525286 4.45600289] [-0.39301036 0.91909976 0.02825761 -0.7744655 ] [ 0.19967184 0.05530265 0.97830096 -0.80539696] [ 0. 0. 0. 1. ]] SLAMing on 58.586296757 meters Centerline goodness : 0.805179 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.78, Z:-0.81 [[ 0.89792027 0.38918695 -0.20560328 4.45801461] [-0.39203734 0.91951023 0.02841935 -0.7753181 ] [ 0.20011476 0.05508585 0.97822269 -0.80698142] [ 0. 0. 0. 1. ]] SLAMing on 58.616296757 meters Centerline goodness : 0.803978 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.81 [[ 0.89859653 0.38854928 -0.20384734 4.45751398] [-0.39094125 0.91992313 0.03010596 -0.77463547] [ 0.19922153 0.05263922 0.97853967 -0.8090761 ] [ 0. 0. 0. 1. ]] SLAMing on 58.646296757 meters Centerline goodness : 0.803748 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.78, Z:-0.81 [[ 0.89884335 0.38791032 -0.20397603 4.45757878] [-0.39029431 0.92019781 0.03010543 -0.77552728] [ 0.19937651 0.05255062 0.97851287 -0.80938885] [ 0. 0. 0. 1. ]] SLAMing on 58.676296757 meters Centerline goodness : 0.803975 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.78, Z:-0.81 [[ 0.89929328 0.38643852 -0.20478491 4.45679638] [-0.38907976 0.92075086 0.02889272 -0.7761517 ] [ 0.19972114 0.05369464 0.97838047 -0.80821814] [ 0. 0. 0. 1. ]] SLAMing on 58.706296757000004 meters Centerline goodness : 0.802667 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.78, Z:-0.81 [[ 0.8992365 0.38619748 -0.20548776 4.45815564] [-0.38897692 0.92081017 0.02838284 -0.77611271] [ 0.2001766 0.05440711 0.97824802 -0.80819125] [ 0. 0. 0. 1. ]] SLAMing on 58.736296757000005 meters Centerline goodness : 0.802122 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.78, Z:-0.81 [[ 0.89911725 0.3865652 -0.20531807 4.4588593 ] [-0.38927303 0.9206743 0.02872883 -0.77511904] [ 0.20013663 0.0540942 0.97827355 -0.80839777] [ 0. 0. 0. 1. ]] SLAMing on 58.766296757 meters Centerline goodness : 0.802976 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.81 [[ 0.89827551 0.3889124 -0.20456843 4.46058071] [-0.39129496 0.91976341 0.03038944 -0.77374655] [ 0.19997339 0.05274851 0.97838042 -0.80919757] [ 0. 0. 0. 1. ]] SLAMing on 58.796296757 meters Centerline goodness : 0.801536 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.81 [[ 0.89762796 0.39005359 -0.20523704 4.46155848] [-0.39253862 0.91923944 0.0302041 -0.77321975] [ 0.2004432 0.05345142 0.97824612 -0.80808756] [ 0. 0. 0. 1. ]] SLAMing on 58.826296757 meters Centerline goodness : 0.802221 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.80 [[ 0.8967077 0.39125355 -0.20696848 4.46175605] [-0.39419946 0.91858027 0.02858454 -0.77278287] [ 0.20130097 0.05595488 0.97792994 -0.80466129] [ 0. 0. 0. 1. ]] SLAMing on 58.856296757 meters Centerline goodness : 0.802611 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.80 [[ 0.89605246 0.39216233 -0.2080834 4.46207282] [-0.39533494 0.9181128 0.02791385 -0.77287034] [ 0.20199079 0.05725036 0.9777127 -0.80265012] [ 0. 0. 0. 1. ]] SLAMing on 58.886296757000004 meters Centerline goodness : 0.801940 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.80 [[ 0.89429053 0.39620313 -0.20800848 4.46398324] [-0.39900858 0.9164514 0.03014935 -0.77292319] [ 0.20257493 0.05603489 0.97766226 -0.80198804] [ 0. 0. 0. 1. ]] SLAMing on 58.916296757000005 meters Centerline goodness : 0.801608 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.80 [[ 0.89303406 0.39979718 -0.20652455 4.46403842] [-0.40199123 0.9150443 0.03312085 -0.77226629] [ 0.20222073 0.05344301 0.97788068 -0.80202983] [ 0. 0. 0. 1. ]] SLAMing on 58.946296757 meters Centerline goodness : 0.800813 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.77, Z:-0.80 [[ 0.89027024 0.40721276 -0.20395262 4.46406221] [-0.40830705 0.91202562 0.03866024 -0.77100592] [ 0.20175296 0.04885723 0.97821711 -0.80130624] [ 0. 0. 0. 1. ]] SLAMing on 58.976296757 meters Centerline goodness : 0.800536 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.77, Z:-0.80 [[ 0.88917534 0.40877179 -0.20560361 4.4684262 ] [-0.41003091 0.91126026 0.03846292 -0.77115812] [ 0.20308096 0.05010356 0.97787921 -0.80136511] [ 0. 0. 0. 1. ]] SLAMing on 59.006296757 meters Centerline goodness : 0.794603 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.77, Z:-0.80 [[ 0.8876951 0.4124712 -0.20460916 4.46826407] [-0.41327862 0.90968862 0.0408337 -0.77011351] [ 0.20297335 0.04831272 0.97799167 -0.8001172 ] [ 0. 0. 0. 1. ]] SLAMing on 59.036296757 meters Centerline goodness : 0.797396 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.77, Z:-0.80 [[ 0.88738548 0.41217747 -0.2065351 4.4707099 ] [-0.41338965 0.9097043 0.03933297 -0.77041062] [ 0.20409803 0.05047596 0.97764829 -0.79924374] [ 0. 0. 0. 1. ]] SLAMing on 59.066296757 meters Centerline goodness : 0.799671 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.77, Z:-0.80 [[ 0.88718952 0.41190944 -0.20790711 4.47131107] [-0.41339822 0.90974319 0.03833075 -0.77055826] [ 0.20493087 0.05194179 0.97739725 -0.79755091] [ 0. 0. 0. 1. ]] SLAMing on 59.096296757000005 meters Centerline goodness : 0.798455 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.77, Z:-0.80 [[ 0.88744662 0.41069603 -0.20920626 4.47174721] [-0.41257482 0.91018536 0.036669 -0.76975458] [ 0.20547629 0.05377145 0.97718377 -0.79607161] [ 0. 0. 0. 1. ]] SLAMing on 59.126296757 meters Centerline goodness : 0.797343 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.77, Z:-0.80 [[ 0.88776989 0.41016492 -0.20887645 4.47435572] [-0.41192731 0.91046236 0.03707006 -0.76767151] [ 0.20537898 0.05313223 0.97723919 -0.79799406] [ 0. 0. 0. 1. ]] SLAMing on 59.156296757 meters Centerline goodness : 0.795936 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.77, Z:-0.80 [[ 0.88756271 0.41043939 -0.20921743 4.4766847 ] [-0.41220372 0.91033257 0.03718473 -0.76689863] [ 0.20571952 0.05323642 0.97716189 -0.79875174] [ 0. 0. 0. 1. ]] SLAMing on 59.186296757 meters Centerline goodness : 0.795290 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.77, Z:-0.80 [[ 0.88703905 0.41106371 -0.21021023 4.48008782] [-0.41295081 0.91000372 0.03694402 -0.76670469] [ 0.20647844 0.0540357 0.97695793 -0.7994646 ] [ 0. 0. 0. 1. ]] SLAMing on 59.216296757 meters Centerline goodness : 0.794701 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.77, Z:-0.80 [[ 0.88673719 0.41114828 -0.21131551 4.48109118] [-0.41327367 0.90988989 0.03612856 -0.76679789] [ 0.20712804 0.0552946 0.97674996 -0.79840864] [ 0. 0. 0. 1. ]] SLAMing on 59.246296757 meters Centerline goodness : 0.798019 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.77, Z:-0.80 [[ 0.88647731 0.4113646 -0.21198386 4.48143459] [-0.41365903 0.90973781 0.03554321 -0.7664791 ] [ 0.20747095 0.05618079 0.9766266 -0.79730641] [ 0. 0. 0. 1. ]] SLAMing on 59.276296757000004 meters Centerline goodness : 0.799477 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.76, Z:-0.80 [[ 0.88650311 0.41176885 -0.21108921 4.48196612] [-0.41395845 0.90958997 0.03583965 -0.7629663 ] [ 0.20676228 0.0556102 0.97680953 -0.79762506] [ 0. 0. 0. 1. ]] SLAMing on 59.306296757 meters Centerline goodness : 0.798900 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.76, Z:-0.80 [[ 0.88633127 0.41238845 -0.2106007 4.48221916] [-0.41448835 0.90933413 0.03620552 -0.76082731] [ 0.20643714 0.05520145 0.97690148 -0.79742512] [ 0. 0. 0. 1. ]] SLAMing on 59.336296757 meters Centerline goodness : 0.797712 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.76, Z:-0.80 [[ 0.88589617 0.41259929 -0.21201366 4.48561104] [-0.4150475 0.90912705 0.03497972 -0.75903394] [ 0.20717996 0.05700734 0.97664048 -0.79709013] [ 0. 0. 0. 1. ]] SLAMing on 59.366296757 meters Centerline goodness : 0.800654 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.76, Z:-0.80 [[ 0.88556185 0.41290082 -0.21282178 4.48718288] [-0.41551248 0.90893382 0.03447732 -0.75828413] [ 0.20767663 0.05789831 0.97648257 -0.79654634] [ 0. 0. 0. 1. ]] SLAMing on 59.396296757 meters Centerline goodness : 0.800446 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.76, Z:-0.80 [[ 0.88492756 0.41356447 -0.21416732 4.48993528] [-0.41645707 0.90853314 0.03363112 -0.75718653] [ 0.20848675 0.05943039 0.97621786 -0.79580665] [ 0. 0. 0. 1. ]] SLAMing on 59.426296757 meters Centerline goodness : 0.803210 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.76, Z:-0.80 [[ 0.88461236 0.41362752 -0.2153445 4.49224552] [-0.41673166 0.90843045 0.03299763 -0.75764883] [ 0.20927422 0.06055076 0.97598048 -0.79578119] [ 0. 0. 0. 1. ]] SLAMing on 59.456296757000004 meters Centerline goodness : 0.797255 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.76, Z:-0.80 [[ 0.8842545 0.41416687 -0.21577716 4.49381097] [-0.41728399 0.90817192 0.03313361 -0.75776854] [ 0.2096856 0.06074181 0.97588031 -0.79596238] [ 0. 0. 0. 1. ]] SLAMing on 59.486296757000005 meters Centerline goodness : 0.802924 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.76, Z:-0.80 [[ 0.88339766 0.41763343 -0.21258151 4.49519157] [-0.41967197 0.9068931 0.0376874 -0.75588812] [ 0.20852822 0.05592154 0.97641629 -0.79920938] [ 0. 0. 0. 1. ]] SLAMing on 59.516296757 meters Centerline goodness : 0.798600 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.76, Z:-0.80 [[ 0.88303109 0.41847325 -0.21245288 4.49728184] [-0.42036543 0.9065402 0.03844183 -0.75529555] [ 0.20868395 0.05536251 0.97641487 -0.80023233] [ 0. 0. 0. 1. ]] SLAMing on 59.546296757 meters Centerline goodness : 0.801544 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.76, Z:-0.80 [[ 0.88242604 0.41908938 -0.21374841 4.49919227] [-0.42124666 0.9061648 0.03763783 -0.75555662] [ 0.2094649 0.0568282 0.97616341 -0.79936099] [ 0. 0. 0. 1. ]] SLAMing on 59.576296757 meters Centerline goodness : 0.796605 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.76, Z:-0.80 [[ 0.88222184 0.41870707 -0.21533465 4.50092097] [-0.4212572 0.90621802 0.03621147 -0.75644467] [ 0.21030214 0.05876473 0.9758687 -0.79867527] [ 0. 0. 0. 1. ]] SLAMing on 59.606296757 meters Centerline goodness : 0.802979 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.76, Z:-0.80 [[ 0.88255638 0.41658974 -0.21805327 4.50257136] [-0.42009209 0.90690496 0.03234231 -0.75621429] [ 0.21122707 0.06305855 0.97540081 -0.79701987] [ 0. 0. 0. 1. ]] SLAMing on 59.636296757000004 meters Centerline goodness : 0.802961 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.76, Z:-0.80 [[ 0.88240205 0.41670717 -0.21845312 4.50418726] [-0.42031914 0.9068128 0.03197447 -0.75553471] [ 0.21142007 0.06360568 0.97532347 -0.79738921] [ 0. 0. 0. 1. ]] SLAMing on 59.666296757000005 meters Centerline goodness : 0.800394 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.75, Z:-0.80 [[ 0.88207208 0.41752677 -0.21822065 4.50476123] [-0.42103931 0.90646117 0.03246614 -0.75490943] [ 0.21136403 0.06324199 0.97535927 -0.79752517] [ 0. 0. 0. 1. ]] SLAMing on 59.696296757 meters Centerline goodness : 0.802041 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.75, Z:-0.80 [[ 0.88182531 0.41822925 -0.21787246 4.50547823] [-0.42158942 0.9061806 0.03315247 -0.75454398] [ 0.21129713 0.06261804 0.97541402 -0.79803289] [ 0. 0. 0. 1. ]] SLAMing on 59.726296757 meters Centerline goodness : 0.801151 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.76, Z:-0.80 [[ 0.88114202 0.41892792 -0.21929009 4.50838629] [-0.42247646 0.90577988 0.03280915 -0.75538219] [ 0.21237322 0.06373538 0.9751079 -0.79788408] [ 0. 0. 0. 1. ]] SLAMing on 59.756296757 meters Centerline goodness : 0.799737 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.76, Z:-0.80 [[ 0.88049716 0.41976964 -0.2202685 4.50960816] [-0.42343352 0.90533711 0.03269199 -0.75661047] [ 0.21314035 0.06448386 0.97489129 -0.79716082] [ 0. 0. 0. 1. ]] SLAMing on 59.786296757 meters Centerline goodness : 0.799832 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.76, Z:-0.80 [[ 0.8796735 0.42024101 -0.22264774 4.51251078] [-0.42434146 0.90495367 0.03151483 -0.75897085] [ 0.21472971 0.06675591 0.97438945 -0.7961576 ] [ 0. 0. 0. 1. ]] SLAMing on 59.816296757 meters Centerline goodness : 0.799809 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.76, Z:-0.80 [[ 0.87969699 0.42004573 -0.22292326 4.51394182] [-0.42421889 0.90502039 0.03124782 -0.75868012] [ 0.21487561 0.06707965 0.97433505 -0.7968372 ] [ 0. 0. 0. 1. ]] SLAMing on 59.846296757000005 meters Centerline goodness : 0.799809 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.76, Z:-0.80 [[ 0.87969699 0.42004573 -0.22292326 4.51394182] [-0.42421889 0.90502039 0.03124782 -0.75868012] [ 0.21487561 0.06707965 0.97433505 -0.7968372 ] [ 0. 0. 0. 1. ]] SLAMing on 59.876296757 meters Centerline goodness : 0.801854 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.76, Z:-0.80 [[ 0.88027771 0.41984015 -0.22100996 4.51370334] [-0.42354627 0.90528267 0.0327391 -0.75608122] [ 0.21382168 0.06478845 0.97472188 -0.79859321] [ 0. 0. 0. 1. ]] SLAMing on 59.906296757 meters Centerline goodness : 0.801701 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.76, Z:-0.80 [[ 0.88066044 0.41912415 -0.22084414 4.51466825] [-0.42284257 0.90561879 0.03253868 -0.75513124] [ 0.21363835 0.06472678 0.97476618 -0.79964315] [ 0. 0. 0. 1. ]] SLAMing on 59.936296757 meters Centerline goodness : 0.800208 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.75, Z:-0.80 [[ 0.88101222 0.41824818 -0.22110163 4.51549606] [-0.42207774 0.90599473 0.03199889 -0.75455412] [ 0.21370039 0.06513066 0.97472567 -0.80005672] [ 0. 0. 0. 1. ]] SLAMing on 59.966296757 meters Centerline goodness : 0.801794 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.75, Z:-0.80 [[ 0.88207271 0.4146642 -0.22360977 4.5148434 ] [-0.41953593 0.90731905 0.02759956 -0.75421676] [ 0.21432995 0.06946751 0.97428791 -0.79757409] [ 0. 0. 0. 1. ]] SLAMing on 59.996296757 meters Centerline goodness : 0.800935 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.75, Z:-0.80 [[ 0.88317301 0.41124028 -0.22558119 4.51429629] [-0.41704476 0.90857971 0.02359195 -0.75344399] [ 0.21466045 0.07324168 0.97393868 -0.79583889] [ 0. 0. 0. 1. ]] SLAMing on 60.026296757000004 meters Centerline goodness : 0.801632 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.75, Z:-0.80 [[ 0.88320627 0.41141924 -0.22512417 4.51547476] [-0.41706334 0.90855563 0.0241836 -0.75261627] [ 0.21448743 0.07253193 0.97402991 -0.79703979] [ 0. 0. 0. 1. ]] SLAMing on 60.056296757000005 meters Centerline goodness : 0.801902 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.75, Z:-0.80 [[ 0.88294759 0.41361503 -0.22209494 4.51470155] [-0.41827667 0.90789048 0.02791947 -0.75121331] [ 0.2131858 0.0682457 0.97462523 -0.79930959] [ 0. 0. 0. 1. ]] SLAMing on 60.086296757 meters Centerline goodness : 0.803398 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.75, Z:-0.80 [[ 0.88256636 0.41526188 -0.22053162 4.51722272] [-0.41928283 0.90734119 0.03055929 -0.74980262] [ 0.21278753 0.06549452 0.97490099 -0.8021022 ] [ 0. 0. 0. 1. ]] SLAMing on 60.116296757 meters Centerline goodness : 0.802991 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.75, Z:-0.80 [[ 0.88227948 0.41568514 -0.22088184 4.51690174] [-0.4197804 0.90711697 0.03038459 -0.74973424] [ 0.21299609 0.06591417 0.97482716 -0.80096995] [ 0. 0. 0. 1. ]] SLAMing on 60.146296757 meters Centerline goodness : 0.805874 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.75, Z:-0.80 [[ 0.88232121 0.41363998 -0.22452448 4.51900697] [-0.41891572 0.90765455 0.02593921 -0.75055166] [ 0.21452016 0.07117012 0.97412315 -0.79853549] [ 0. 0. 0. 1. ]] SLAMing on 60.176296757 meters Centerline goodness : 0.805164 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.75, Z:-0.80 [[ 0.88207681 0.41390483 -0.22499621 4.51868799] [-0.41930103 0.90748657 0.02558872 -0.75071206] [ 0.21477233 0.07176992 0.97402357 -0.79736382] [ 0. 0. 0. 1. ]] SLAMing on 60.206296757000004 meters Centerline goodness : 0.806117 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.75, Z:-0.80 [[ 0.88165194 0.41476481 -0.22507778 4.52072617] [-0.42010889 0.90710216 0.02596541 -0.7506741 ] [ 0.21493808 0.07166472 0.97399476 -0.79839509] [ 0. 0. 0. 1. ]] SLAMing on 60.236296757000005 meters Centerline goodness : 0.803978 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.75, Z:-0.80 [[ 0.88117198 0.41583647 -0.22497993 4.52187092] [-0.42102032 0.90665526 0.02679798 -0.75073053] [ 0.21512282 0.0711075 0.97399481 -0.79880043] [ 0. 0. 0. 1. ]] SLAMing on 60.266296757 meters Centerline goodness : 0.806593 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.75, Z:-0.80 [[ 0.88055262 0.41639952 -0.22635927 4.52510925] [-0.42176978 0.90631557 0.02650163 -0.75239514] [ 0.2161882 0.07213542 0.97368329 -0.79929147] [ 0. 0. 0. 1. ]] SLAMing on 60.296296757 meters Centerline goodness : 0.804457 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.75, Z:-0.80 [[ 0.88038173 0.41647892 -0.22687734 4.52482593] [-0.42196193 0.90623538 0.02618312 -0.75314359] [ 0.21650899 0.07268246 0.97357132 -0.79835146] [ 0. 0. 0. 1. ]] SLAMing on 60.326296757 meters Centerline goodness : 0.804675 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.75, Z:-0.80 [[ 0.88044974 0.4163226 -0.2269003 4.52292444] [-0.42185691 0.90629128 0.02593973 -0.75406593] [ 0.21643706 0.07288083 0.97357249 -0.79708152] [ 0. 0. 0. 1. ]] SLAMing on 60.356296757 meters Centerline goodness : 0.805601 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.76, Z:-0.80 [[ 0.88039614 0.41581945 -0.2280281 4.52495725] [-0.42158419 0.90643816 0.02523164 -0.75501284] [ 0.21718518 0.07391921 0.97332757 -0.79736297] [ 0. 0. 0. 1. ]] SLAMing on 60.386296757000004 meters Centerline goodness : 0.808973 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.76, Z:-0.80 [[ 0.8806494 0.41572688 -0.2272175 4.52481289] [-0.42126935 0.9065647 0.02593423 -0.75535605] [ 0.21676892 0.07288081 0.97349865 -0.79866991] [ 0. 0. 0. 1. ]] SLAMing on 60.416296757000005 meters Centerline goodness : 0.812582 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.76, Z:-0.80 [[ 0.88043798 0.41591183 -0.22769784 4.52640562] [-0.42146178 0.90647074 0.02609138 -0.75615557] [ 0.21725314 0.07299409 0.97338221 -0.79918239] [ 0. 0. 0. 1. ]] SLAMing on 60.446296757 meters Centerline goodness : 0.809760 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.76, Z:-0.80 [[ 0.88040698 0.41584166 -0.22794575 4.52634203] [-0.42144329 0.90648378 0.02593648 -0.75683916] [ 0.21741459 0.07323155 0.97332833 -0.798927 ] [ 0. 0. 0. 1. ]] SLAMing on 60.476296757 meters Centerline goodness : 0.809903 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.76, Z:-0.80 [[ 0.88045896 0.41413766 -0.23082896 4.52823119] [-0.42063367 0.90694548 0.02274235 -0.75900692] [ 0.21876775 0.07707072 0.97272852 -0.79771944] [ 0. 0. 0. 1. ]] SLAMing on 60.506296757 meters Centerline goodness : 0.815842 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.76, Z:-0.80 [[ 0.8802913 0.41438209 -0.23102968 4.52747265] [-0.4209007 0.90682146 0.02274754 -0.75940117] [ 0.21892884 0.0772161 0.97268075 -0.79669829] [ 0. 0. 0. 1. ]] SLAMing on 60.536296757 meters Centerline goodness : 0.812404 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.76, Z:-0.80 [[ 0.88132635 0.42050522 -0.21549762 4.52317399] [-0.42615401 0.90438565 0.02189415 -0.76075095] [ 0.20409956 0.07253928 0.97625889 -0.80027553] [ 0. 0. 0. 1. ]] SLAMing on 60.566296757 meters Centerline goodness : 0.815126 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.76, Z:-0.80 [[ 0.88125291 0.4204934 -0.21582081 4.52402449] [-0.42621679 0.90436185 0.02165405 -0.75999951] [ 0.20428549 0.07290376 0.97619285 -0.80011241] [ 0. 0. 0. 1. ]] SLAMing on 60.596296757000005 meters Centerline goodness : 0.816512 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.76, Z:-0.80 [[ 0.88149362 0.42029643 -0.21522062 4.52313192] [-0.42601576 0.90446192 0.02142891 -0.75829814] [ 0.20366535 0.07279793 0.97633032 -0.79981069] [ 0. 0. 0. 1. ]] SLAMing on 60.626296757 meters Centerline goodness : 0.813917 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.76, Z:-0.80 [[ 0.88141406 0.4201567 -0.21581846 4.52349057] [-0.42602136 0.90447084 0.02093549 -0.75840248] [ 0.20399769 0.07349044 0.97620904 -0.79914997] [ 0. 0. 0. 1. ]] SLAMing on 60.656296757 meters Centerline goodness : 0.818309 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.76, Z:-0.80 [[ 0.88095223 0.42022838 -0.21755754 4.52541754] [-0.42652347 0.90426539 0.01954047 -0.75963905] [ 0.20494121 0.07557918 0.97585188 -0.79828183] [ 0. 0. 0. 1. ]] SLAMing on 60.686296757 meters Centerline goodness : 0.817304 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.76, Z:-0.80 [[ 0.88059614 0.42078059 -0.2179315 4.52613913] [-0.42709879 0.90399161 0.01964186 -0.75983072] [ 0.20527316 0.07578173 0.9757664 -0.79789521] [ 0. 0. 0. 1. ]] SLAMing on 60.716296757 meters Centerline goodness : 0.816099 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.76, Z:-0.80 [[ 0.88011918 0.42145801 -0.21854835 4.52929182] [-0.42779724 0.90365648 0.01986156 -0.76025879] [ 0.20586345 0.07601384 0.97562397 -0.79905194] [ 0. 0. 0. 1. ]] SLAMing on 60.746296757 meters Centerline goodness : 0.813076 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.76, Z:-0.80 [[ 0.87992558 0.42201365 -0.21825548 4.53026437] [-0.42822489 0.90344128 0.02042798 -0.75987705] [ 0.20580189 0.07548733 0.97567784 -0.7997948 ] [ 0. 0. 0. 1. ]] SLAMing on 60.776296757000004 meters Centerline goodness : 0.813842 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.76, Z:-0.80 [[ 0.87928888 0.42410393 -0.21676468 4.53096545] [-0.42973718 0.90266402 0.02288306 -0.75931998] [ 0.20537047 0.07303102 0.97595566 -0.80098401] [ 0. 0. 0. 1. ]] SLAMing on 60.806296757000005 meters Centerline goodness : 0.814903 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.76, Z:-0.80 [[ 0.87901584 0.424333 -0.21742275 4.53299284] [-0.43005024 0.90251817 0.02275416 -0.75966941] [ 0.20588333 0.07350144 0.97581227 -0.8014754 ] [ 0. 0. 0. 1. ]] SLAMing on 60.836296757 meters Centerline goodness : 0.813367 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.76, Z:-0.80 [[ 0.87850462 0.42494687 -0.21828832 4.53484533] [-0.43075629 0.90218241 0.02271401 -0.76038909] [ 0.20658813 0.0740747 0.97561995 -0.80133045] [ 0. 0. 0. 1. ]] SLAMing on 60.866296757 meters Centerline goodness : 0.811786 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.76, Z:-0.80 [[ 0.87737833 0.4262793 -0.22021178 4.53844864] [-0.43247687 0.9013821 0.02177313 -0.76124656] [ 0.20777639 0.07613323 0.97520906 -0.80072265] [ 0. 0. 0. 1. ]] SLAMing on 60.896296757 meters Centerline goodness : 0.809495 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.76, Z:-0.80 [[ 0.87656298 0.42661749 -0.22278881 4.54145382] [-0.43346273 0.90095451 0.01977463 -0.76279588] [ 0.20915879 0.07923694 0.97466615 -0.79943615] [ 0. 0. 0. 1. ]] SLAMing on 60.926296757 meters Centerline goodness : 0.812547 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.76, Z:-0.80 [[ 0.87623568 0.4267983 -0.22372804 4.54361276] [-0.43377989 0.90080717 0.01953065 -0.7635251 ] [ 0.20987147 0.07993527 0.97445591 -0.79968282] [ 0. 0. 0. 1. ]] SLAMing on 60.956296757000004 meters Centerline goodness : 0.811699 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.76, Z:-0.80 [[ 0.8756461 0.42768724 -0.22433799 4.54666923] [-0.43464586 0.90037954 0.01999161 -0.76430234] [ 0.21053949 0.080002 0.97430632 -0.80077415] [ 0. 0. 0. 1. ]] SLAMing on 60.986296757000005 meters Centerline goodness : 0.811989 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.77, Z:-0.80 [[ 0.8743521 0.43115328 -0.22274481 4.54983467] [-0.43726203 0.89901999 0.02376911 -0.76507717] [ 0.21050016 0.07661528 0.97458698 -0.8038047 ] [ 0. 0. 0. 1. ]] SLAMing on 61.016296757 meters Centerline goodness : 0.809186 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.77, Z:-0.80 [[ 0.87383415 0.43157553 -0.22395632 4.55009296] [-0.43795325 0.89870251 0.02303799 -0.76666359] [ 0.21121274 0.07795101 0.97432685 -0.80223497] [ 0. 0. 0. 1. ]] SLAMing on 61.046296757 meters Centerline goodness : 0.807483 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.77, Z:-0.80 [[ 0.87422034 0.42936744 -0.22667685 4.55188884] [-0.43663492 0.89942285 0.01970981 -0.76806763] [ 0.21234109 0.08174431 0.97377057 -0.80134812] [ 0. 0. 0. 1. ]] SLAMing on 61.076296757 meters Centerline goodness : 0.811159 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.77, Z:-0.80 [[ 0.87482912 0.42687879 -0.22901641 4.55399325] [-0.43486927 0.90033283 0.01701491 -0.76938387] [ 0.21345429 0.08470706 0.97327385 -0.80123401] [ 0. 0. 0. 1. ]] SLAMing on 61.106296757 meters Centerline goodness : 0.809660 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.77, Z:-0.80 [[ 0.87593065 0.42471479 -0.22882928 4.55440095] [-0.43258159 0.90143042 0.01721529 -0.77123588] [ 0.21358526 0.08390793 0.97331433 -0.80346481] [ 0. 0. 0. 1. ]] SLAMing on 61.136296757000004 meters Centerline goodness : 0.810156 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.77, Z:-0.80 [[ 0.8764181 0.424179 -0.227955 4.55370907] [-0.43177394 0.90180157 0.01803337 -0.77150041] [ 0.21321955 0.08262026 0.97350466 -0.80451943] [ 0. 0. 0. 1. ]] SLAMing on 61.166296757000005 meters Centerline goodness : 0.810007 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.77, Z:-0.81 [[ 0.87763558 0.42260799 -0.22618194 4.5514989 ] [-0.42971964 0.90275523 0.01933986 -0.77244679] [ 0.21236011 0.08022147 0.97389306 -0.80639296] [ 0. 0. 0. 1. ]] SLAMing on 61.196296757 meters Centerline goodness : 0.809748 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.77, Z:-0.81 [[ 0.8784183 0.42073308 -0.22663841 4.55208775] [-0.42790519 0.90362402 0.01899396 -0.77439127] [ 0.2127873 0.08029511 0.97379375 -0.80759687] [ 0. 0. 0. 1. ]] SLAMing on 61.226296757 meters Centerline goodness : 0.812324 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.78, Z:-0.81 [[ 0.88096513 0.41451831 -0.2281995 4.54882093] [-0.42251543 0.90623123 0.01502227 -0.77617983] [ 0.21302852 0.08318371 0.97349849 -0.80634418] [ 0. 0. 0. 1. ]] SLAMing on 61.256296757 meters Centerline goodness : 0.809832 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.78, Z:-0.81 [[ 0.88244158 0.41059225 -0.22958845 4.54833359] [-0.41923661 0.90779613 0.0121184 -0.77667536] [ 0.21339522 0.0855581 0.97321236 -0.80615669] [ 0. 0. 0. 1. ]] SLAMing on 61.286296757 meters Centerline goodness : 0.809619 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.78, Z:-0.81 [[ 0.88360136 0.40833078 -0.22916067 4.54703348] [-0.416961 0.90884893 0.01171098 -0.77657959] [ 0.21305439 0.08520323 0.97331816 -0.80677951] [ 0. 0. 0. 1. ]] SLAMing on 61.316296757 meters Centerline goodness : 0.809231 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.78, Z:-0.81 [[ 0.88517704 0.40570436 -0.22774017 4.5443078 ] [-0.41405802 0.91017065 0.01205559 -0.77662778] [ 0.21217342 0.08362632 0.97364731 -0.80801634] [ 0. 0. 0. 1. ]] SLAMing on 61.346296757000005 meters Centerline goodness : 0.808050 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.78, Z:-0.81 [[ 0.88593776 0.4043823 -0.22713263 4.54255115] [-0.41258053 0.91083736 0.01235332 -0.77748744] [ 0.21187635 0.08276623 0.97378548 -0.80825754] [ 0. 0. 0. 1. ]] SLAMing on 61.376296757 meters Centerline goodness : 0.807293 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.78, Z:-0.81 [[ 0.88593078 0.40386412 -0.22807988 4.54416947] [-0.41224386 0.91099667 0.01183508 -0.77936079] [ 0.21255978 0.08353947 0.97357049 -0.80890688] [ 0. 0. 0. 1. ]] SLAMing on 61.406296757 meters Centerline goodness : 0.807090 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.78, Z:-0.81 [[ 0.88576418 0.40387612 -0.2287048 4.54378692] [-0.41237346 0.91094165 0.01155175 -0.78045263] [ 0.21300221 0.08407966 0.97342728 -0.80787748] [ 0. 0. 0. 1. ]] SLAMing on 61.436296757 meters Centerline goodness : 0.807778 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.79, Z:-0.81 [[ 0.8865003 0.41038114 -0.21378621 4.53960492] [-0.41770122 0.90850665 0.01188915 -0.78526273] [ 0.19910528 0.07875902 0.97680812 -0.81069211] [ 0. 0. 0. 1. ]] SLAMing on 61.466296757 meters Centerline goodness : 0.805139 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.79, Z:-0.81 [[ 0.88602232 0.41081562 -0.21493018 4.54231397] [-0.41826 0.90825072 0.01179866 -0.7865279 ] [ 0.20005757 0.07944282 0.97655814 -0.81115359] [ 0. 0. 0. 1. ]] SLAMing on 61.496296757 meters Centerline goodness : 0.804912 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.79, Z:-0.81 [[ 0.88437417 0.41368373 -0.21621309 4.54619757] [-0.42110592 0.90692141 0.01278108 -0.78850959] [ 0.20137561 0.07974535 0.97626254 -0.81138947] [ 0. 0. 0. 1. ]] SLAMing on 61.526296757000004 meters Centerline goodness : 0.802018 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.79, Z:-0.81 [[ 0.88215808 0.41710912 -0.21867121 4.55029589] [-0.42473659 0.90522044 0.01322025 -0.79186272] [ 0.20345994 0.08121531 0.97570904 -0.8100809 ] [ 0. 0. 0. 1. ]] SLAMing on 61.556296757000005 meters Centerline goodness : 0.799421 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.79, Z:-0.81 [[ 0.88083758 0.41907201 -0.2202358 4.55360982] [-0.42677966 0.90425147 0.0137258 -0.79390577] [ 0.20490064 0.08190196 0.97535009 -0.80961803] [ 0. 0. 0. 1. ]] SLAMing on 61.586296757 meters Centerline goodness : 0.799039 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.80, Z:-0.81 [[ 0.8793327 0.42140159 -0.2217988 4.55694038] [-0.42915749 0.90311433 0.01443469 -0.79629328] [ 0.20639248 0.08249372 0.97498561 -0.80914453] [ 0. 0. 0. 1. ]] SLAMing on 61.616296757 meters Centerline goodness : 0.796119 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.80, Z:-0.81 [[ 0.87695683 0.42470315 -0.22488653 4.562073 ] [-0.43270712 0.90141027 0.01496898 -0.80177634] [ 0.2090724 0.08418286 0.97426997 -0.80847605] [ 0. 0. 0. 1. ]] SLAMing on 61.646296757 meters Centerline goodness : 0.795942 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.80, Z:-0.81 [[ 0.87603987 0.42613163 -0.22575647 4.56293915] [-0.43409226 0.90073133 0.015716 -0.80417399] [ 0.21004301 0.08423129 0.97405699 -0.80764552] [ 0. 0. 0. 1. ]] SLAMing on 61.676296757 meters Centerline goodness : 0.794181 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.81, Z:-0.81 [[ 0.87527293 0.42679592 -0.22746986 4.56550775] [-0.43484642 0.90036079 0.01609449 -0.80829454] [ 0.21167401 0.08482738 0.97365211 -0.80779231] [ 0. 0. 0. 1. ]] SLAMing on 61.706296757000004 meters Centerline goodness : 0.795366 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.81, Z:-0.81 [[ 0.8750239 0.42696312 -0.22811326 4.5659647 ] [-0.43500623 0.9002778 0.01641539 -0.80995479] [ 0.21237407 0.08486683 0.97349621 -0.80734369] [ 0. 0. 0. 1. ]] SLAMing on 61.736296757000005 meters Centerline goodness : 0.795366 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.81, Z:-0.81 [[ 0.8750239 0.42696312 -0.22811326 4.5659647 ] [-0.43500623 0.9002778 0.01641539 -0.80995479] [ 0.21237407 0.08486683 0.97349621 -0.80734369] [ 0. 0. 0. 1. ]] SLAMing on 61.766296757 meters Centerline goodness : 0.794603 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.81, Z:-0.81 [[ 0.87557802 0.42435721 -0.23083346 4.5669821 ] [-0.43322608 0.90118515 0.0134347 -0.81188569] [ 0.2137248 0.08823994 0.97290052 -0.80606178] [ 0. 0. 0. 1. ]] SLAMing on 61.796296757 meters Centerline goodness : 0.793855 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.81, Z:-0.80 [[ 0.8754394 0.42416016 -0.23171967 4.56657124] [-0.43314672 0.90122602 0.0132508 -0.81315424] [ 0.21445226 0.08876834 0.97269235 -0.80462963] [ 0. 0. 0. 1. ]] SLAMing on 61.826296757 meters Centerline goodness : 0.793896 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.82, Z:-0.80 [[ 0.87498546 0.42438502 -0.23301888 4.56674639] [-0.43352679 0.90104497 0.01313348 -0.81588514] [ 0.21553414 0.08952832 0.97238352 -0.80327102] [ 0. 0. 0. 1. ]] SLAMing on 61.856296757 meters Centerline goodness : 0.792963 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.82, Z:-0.80 [[ 0.87468838 0.42502175 -0.2329737 4.56625375] [-0.43402858 0.90079327 0.01380831 -0.81709506] [ 0.21572998 0.08903927 0.972385 -0.80292396] [ 0. 0. 0. 1. ]] SLAMing on 61.886296757000004 meters Centerline goodness : 0.793243 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.82, Z:-0.80 [[ 0.87427914 0.4253393 -0.23392835 4.5675861 ] [-0.43439958 0.90061121 0.01401649 -0.81846592] [ 0.21664026 0.08936405 0.9721528 -0.80250894] [ 0. 0. 0. 1. ]] SLAMing on 61.916296757000005 meters Centerline goodness : 0.798956 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.82, Z:-0.80 [[ 0.87364809 0.42634492 -0.23445476 4.56928417] [-0.43525913 0.90017976 0.01502956 -0.82011703] [ 0.2174592 0.08891802 0.97201084 -0.80266098] [ 0. 0. 0. 1. ]] SLAMing on 61.946296757 meters Centerline goodness : 0.794916 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.82, Z:-0.80 [[ 0.87314325 0.42725004 -0.23468759 4.56999888] [-0.43610111 0.89976362 0.01553256 -0.82057217] [ 0.21779964 0.08878537 0.97194675 -0.80238872] [ 0. 0. 0. 1. ]] SLAMing on 61.976296757 meters Centerline goodness : 0.797826 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.82, Z:-0.80 [[ 0.87243444 0.42814766 -0.23568567 4.57018107] [-0.43718103 0.899244 0.01526366 -0.82136299] [ 0.21847402 0.08972076 0.97170947 -0.8005955 ] [ 0. 0. 0. 1. ]] SLAMing on 62.006296757 meters Centerline goodness : 0.798699 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.82, Z:-0.80 [[ 0.87221174 0.42778108 -0.23717087 4.57092824] [-0.43715329 0.89927265 0.01434237 -0.8220462 ] [ 0.21941668 0.09117044 0.97136207 -0.79904021] [ 0. 0. 0. 1. ]] SLAMing on 62.036296757 meters Centerline goodness : 0.796938 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.82, Z:-0.80 [[ 0.87168201 0.42782354 -0.23903452 4.57146194] [-0.43762148 0.89906132 0.0132735 -0.82279869] [ 0.22058541 0.09303637 0.97092034 -0.79652741] [ 0. 0. 0. 1. ]] SLAMing on 62.066296757 meters Centerline goodness : 0.799111 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.82, Z:-0.80 [[ 0.87112578 0.42854513 -0.23976853 4.57333078] [-0.43834942 0.89870076 0.01366465 -0.82334421] [ 0.22133608 0.09319876 0.97073391 -0.79631174] [ 0. 0. 0. 1. ]] SLAMing on 62.096296757000005 meters Centerline goodness : 0.793999 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.83, Z:-0.80 [[ 0.86952446 0.43244082 -0.23858363 4.57302936] [-0.44143413 0.89712773 0.01725546 -0.82514559] [ 0.22150195 0.09031492 0.97096864 -0.79582189] [ 0. 0. 0. 1. ]] SLAMing on 62.126296757 meters Centerline goodness : 0.790656 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.83, Z:-0.80 [[ 0.86880981 0.43319888 -0.23980877 4.57538177] [-0.44231774 0.89669099 0.01732858 -0.82617459] [ 0.22254108 0.09101643 0.97066548 -0.79543081] [ 0. 0. 0. 1. ]] SLAMing on 62.156296757 meters Centerline goodness : 0.790408 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.83, Z:-0.80 [[ 0.86665762 0.43797533 -0.23891877 4.57569175] [-0.44621153 0.89466983 0.02147462 -0.8295836 ] [ 0.22315877 0.08799717 0.97080207 -0.79501542] [ 0. 0. 0. 1. ]] SLAMing on 62.186296757 meters Centerline goodness : 0.789306 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.83, Z:-0.79 [[ 0.8658047 0.43891357 -0.24028546 4.57817339] [-0.44721839 0.89415748 0.02186592 -0.83152052] [ 0.22445028 0.08852846 0.97045597 -0.7945916 ] [ 0. 0. 0. 1. ]] SLAMing on 62.216296757 meters Centerline goodness : 0.790407 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.84, Z:-0.79 [[ 0.86408745 0.44148468 -0.24175227 4.57988056] [-0.44972494 0.89286818 0.02310608 -0.83511771] [ 0.22605389 0.08875635 0.97006286 -0.79320793] [ 0. 0. 0. 1. ]] SLAMing on 62.246296757 meters Centerline goodness : 0.789775 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.84, Z:-0.79 [[ 0.86347662 0.44228247 -0.24247544 4.58104804] [-0.4504975 0.89246514 0.02362148 -0.83677406] [ 0.22684824 0.08883798 0.96986993 -0.79288291] [ 0. 0. 0. 1. ]] SLAMing on 62.276296757000004 meters Centerline goodness : 0.787467 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.84, Z:-0.79 [[ 0.86353644 0.44192176 -0.2429197 4.58202979] [-0.45005437 0.89267587 0.02410072 -0.83867169] [ 0.22749919 0.08851522 0.96974697 -0.7934168 ] [ 0. 0. 0. 1. ]] SLAMing on 62.306296757000005 meters Centerline goodness : 0.787009 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.84, Z:-0.79 [[ 0.86367021 0.44146595 -0.24327264 4.58238295] [-0.44957329 0.89291328 0.02428448 -0.8393912 ] [ 0.22794214 0.0883951 0.9696539 -0.7932622 ] [ 0. 0. 0. 1. ]] SLAMing on 62.336296757 meters Centerline goodness : 0.786806 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.83, Z:-0.80 [[ 0.8665443 0.43844131 -0.23847473 4.5589584 ] [-0.44587099 0.89475186 0.02486309 -0.83237035] [ 0.22427671 0.084784 0.97083038 -0.79557838] [ 0. 0. 0. 1. ]] SLAMing on 62.366296757 meters Centerline goodness : 0.788698 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.82, Z:-0.80 [[ 0.86695807 0.43799 -0.23779922 4.52932578] [-0.4455246 0.89494581 0.02407985 -0.82256078] [ 0.22336415 0.08506918 0.9710158 -0.80134212] [ 0. 0. 0. 1. ]] SLAMing on 62.396296757 meters Centerline goodness : 0.791633 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.81, Z:-0.81 [[ 0.8697784 0.43597472 -0.23110946 4.49182303] [-0.44245292 0.8964184 0.02587421 -0.81075908] [ 0.21845127 0.07975023 0.97258364 -0.81168266] [ 0. 0. 0. 1. ]] SLAMing on 62.426296757 meters Centerline goodness : 0.791199 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.80, Z:-0.82 [[ 0.87077108 0.43582458 -0.22762834 4.45374638] [-0.44055356 0.89714148 0.03239935 -0.79585715] [ 0.21833526 0.07207006 0.97320893 -0.82034198] [ 0. 0. 0. 1. ]] SLAMing on 62.456296757000004 meters Centerline goodness : 0.787913 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.78, Z:-0.83 [[ 0.87104356 0.43752361 -0.22328505 4.42066339] [-0.43973285 0.89712323 0.04248443 -0.78161373] [ 0.21890214 0.06117998 0.97382692 -0.82981097] [ 0. 0. 0. 1. ]] SLAMing on 62.486296757000005 meters Centerline goodness : 0.786763 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.76, Z:-0.84 [[ 0.8718148 0.4379771 -0.21935136 4.38093915] [-0.4387581 0.89733068 0.04784327 -0.76465003] [ 0.21778496 0.05453172 0.97447217 -0.84030974] [ 0. 0. 0. 1. ]] SLAMing on 62.516296757 meters Centerline goodness : 0.787197 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.75, Z:-0.85 [[ 0.87175155 0.43811807 -0.21932122 4.35340822] [-0.43910389 0.89720942 0.04693647 -0.75377941] [ 0.21734078 0.05538786 0.97452305 -0.84757713] [ 0. 0. 0. 1. ]] SLAMing on 62.546296757 meters Centerline goodness : 0.789770 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.74, Z:-0.86 [[ 0.87411305 0.434665 -0.21677803 4.31799779] [-0.43707777 0.89856473 0.03929946 -0.74218403] [ 0.21187119 0.06039669 0.97542957 -0.85645276] [ 0. 0. 0. 1. ]] SLAMing on 62.576296757 meters Centerline goodness : 0.787099 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.73, Z:-0.86 [[ 0.87561485 0.43262694 -0.21478492 4.28775993] [-0.43585236 0.89935054 0.03466012 -0.72979116] [ 0.20816183 0.0632656 0.97604616 -0.86435889] [ 0. 0. 0. 1. ]] SLAMing on 62.606296757 meters Centerline goodness : 0.789989 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.72, Z:-0.87 [[ 0.8777268 0.43109562 -0.20917033 4.25958921] [-0.43447083 0.90011783 0.03198426 -0.71715822] [ 0.20206622 0.06280496 0.97735601 -0.87208853] [ 0. 0. 0. 1. ]] SLAMing on 62.636296757000004 meters Centerline goodness : 0.788665 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.70, Z:-0.88 [[ 0.87789728 0.43361612 -0.20315862 4.22304634] [-0.43467439 0.89961773 0.04178649 -0.70044846] [ 0.2008844 0.05162361 0.97825378 -0.87894773] [ 0. 0. 0. 1. ]] SLAMing on 62.666296757000005 meters Centerline goodness : 0.791549 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.70, Z:-0.88 [[ 0.87750208 0.43433957 -0.20332052 4.22378394] [-0.43533062 0.89927902 0.04224334 -0.70077155] [ 0.20118984 0.05144303 0.97820052 -0.87884301] [ 0. 0. 0. 1. ]] SLAMing on 62.696296757 meters Centerline goodness : 0.785358 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.70, Z:-0.87 [[ 0.87714885 0.42809284 -0.21759232 4.22495626] [-0.42919834 0.90210621 0.04464486 -0.69777382] [ 0.21540353 0.05423007 0.97501816 -0.87022096] [ 0. 0. 0. 1. ]] SLAMing on 62.726296757 meters Centerline goodness : 0.788570 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.69, Z:-0.88 [[ 0.87789447 0.42669802 -0.21732489 4.19115221] [-0.42919744 0.90240943 0.03803639 -0.68589425] [ 0.21234608 0.05988335 0.97535795 -0.8803323 ] [ 0. 0. 0. 1. ]] SLAMing on 62.756296757 meters Centerline goodness : 0.789080 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.68, Z:-0.88 [[ 0.87640341 0.42276857 -0.23061615 4.19531945] [-0.42500014 0.90419643 0.04246996 -0.6828398 ] [ 0.22647726 0.06079108 0.97211753 -0.87524306] [ 0. 0. 0. 1. ]] SLAMing on 62.786296757 meters Centerline goodness : 0.809696 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.67, Z:-0.88 [[ 0.87629761 0.42467537 -0.22749361 4.15669784] [-0.42514255 0.90377244 0.04948928 -0.66602005] [ 0.22661933 0.05334987 0.97252119 -0.88499683] [ 0. 0. 0. 1. ]] SLAMing on 62.816296757 meters Centerline goodness : 0.787377 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.67, Z:-0.88 [[ 0.87526405 0.42606495 -0.22887007 4.16038614] [-0.426581 0.90307712 0.04980334 -0.66661611] [ 0.22790678 0.05404055 0.97218214 -0.88498779] [ 0. 0. 0. 1. ]] SLAMing on 62.846296757000005 meters Centerline goodness : 0.805605 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.65, Z:-0.90 [[ 0.87521097 0.42744796 -0.22648178 4.1172402 ] [-0.42701788 0.90266093 0.05346936 -0.64947676] [ 0.22729162 0.04991479 0.97254667 -0.89575865] [ 0. 0. 0. 1. ]] SLAMing on 62.876296757 meters Centerline goodness : 0.788690 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.64, Z:-0.91 [[ 0.87539547 0.42759376 -0.22549135 4.08892397] [-0.42770526 0.90248226 0.05093113 -0.63792472] [ 0.22527977 0.05185895 0.97291298 -0.9051783 ] [ 0. 0. 0. 1. ]] SLAMing on 62.906296757 meters Centerline goodness : 0.784759 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.62, Z:-0.92 [[ 0.87649499 0.42678985 -0.22272621 4.04736929] [-0.42605787 0.90309207 0.05384614 -0.62151817] [ 0.22412326 0.04769838 0.97339284 -0.91643466] [ 0. 0. 0. 1. ]] SLAMing on 62.936296757 meters Centerline goodness : 0.787822 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.61, Z:-0.93 [[ 0.87712199 0.42594888 -0.22186611 4.01949379] [-0.42584349 0.90336922 0.05080728 -0.60965651] [ 0.22206832 0.04991605 0.97375256 -0.92548962] [ 0. 0. 0. 1. ]] SLAMing on 62.966296757 meters Centerline goodness : 0.787492 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.60, Z:-0.93 [[ 0.87837331 0.42355494 -0.22149841 3.99142181] [-0.42417189 0.90434946 0.04722568 -0.59957475] [ 0.22031464 0.05247162 0.97401652 -0.93460839] [ 0. 0. 0. 1. ]] SLAMing on 62.996296757 meters Centerline goodness : 0.788905 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.59, Z:-0.94 [[ 0.87946711 0.42280039 -0.21858049 3.96165676] [-0.42380387 0.90465147 0.04467659 -0.58788412] [ 0.21662844 0.05334367 0.97479566 -0.942885 ] [ 0. 0. 0. 1. ]] SLAMing on 63.026296757000004 meters Centerline goodness : 0.786470 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.57, Z:-0.95 [[ 0.8819418 0.41996329 -0.21403152 3.92282698] [-0.41954372 0.90637513 0.04967086 -0.5729101 ] [ 0.21485278 0.04598877 0.97556308 -0.95019567] [ 0. 0. 0. 1. ]] SLAMing on 63.056296757000005 meters Centerline goodness : 0.787326 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.56, Z:-0.96 [[ 0.88282827 0.41925841 -0.21174662 3.89313147] [-0.41938696 0.90661291 0.04655765 -0.56064964] [ 0.21149191 0.04770136 0.97621501 -0.95852446] [ 0. 0. 0. 1. ]] SLAMing on 63.086296757 meters Centerline goodness : 0.788722 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.54, Z:-0.97 [[ 0.88603911 0.41681094 -0.20298604 3.85553116] [-0.41681472 0.90788477 0.04484132 -0.54497558] [ 0.20297829 0.04487641 0.97815435 -0.971459 ] [ 0. 0. 0. 1. ]] SLAMing on 63.116296757 meters Centerline goodness : 0.786118 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.53, Z:-0.98 [[ 0.89007135 0.41259092 -0.1937569 3.81549674] [-0.41269163 0.90991183 0.04178618 -0.52941491] [ 0.19354229 0.04276917 0.98015926 -0.98331583] [ 0. 0. 0. 1. ]] SLAMing on 63.146296757 meters Centerline goodness : 0.786544 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.52, Z:-0.99 [[ 0.89276215 0.40802108 -0.19103544 3.79382562] [-0.40787701 0.91207402 0.04192035 -0.52160711] [ 0.19134285 0.04049406 0.98068759 -0.98569101] [ 0. 0. 0. 1. ]] SLAMing on 63.176296757 meters Centerline goodness : 0.788462 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.51, Z:-0.99 [[ 0.89361466 0.40641016 -0.1904826 3.77489328] [-0.40530835 0.91299564 0.04651985 -0.51461524] [ 0.19281592 0.03563337 0.98058772 -0.9867907 ] [ 0. 0. 0. 1. ]] SLAMing on 63.206296757000004 meters Centerline goodness : 0.787484 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.50, Z:-1.00 [[ 0.89477981 0.40523867 -0.18748524 3.73560194] [-0.40314695 0.91371773 0.05091602 -0.49794173] [ 0.19194173 0.03002547 0.98094691 -0.99607712] [ 0. 0. 0. 1. ]] SLAMing on 63.236296757000005 meters Centerline goodness : 0.785317 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.48, Z:-1.01 [[ 0.89558938 0.40451258 -0.18517354 3.69543359] [-0.40168082 0.91416944 0.05428403 -0.47947181] [ 0.19123857 0.02576446 0.98120538 -1.00696253] [ 0. 0. 0. 1. ]] SLAMing on 63.266296757 meters Centerline goodness : 0.787589 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.47, Z:-1.02 [[ 0.89540183 0.4042802 -0.18658262 3.66788347] [-0.40220778 0.91415075 0.0505699 -0.46718323] [ 0.19100905 0.0297646 0.9811369 -1.0164777 ] [ 0. 0. 0. 1. ]] SLAMing on 63.296296757 meters Centerline goodness : 0.786228 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.45, Z:-1.03 [[ 0.89540287 0.4040483 -0.18707934 3.63783538] [-0.40300088 0.9140757 0.04534217 -0.45439622] [ 0.1893251 0.03479363 0.98129782 -1.02679611] [ 0. 0. 0. 1. ]] SLAMing on 63.326296757 meters Centerline goodness : 0.787613 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.43, Z:-1.04 [[ 0.89613335 0.40417243 -0.18327482 3.59492 ] [-0.40248512 0.91416629 0.0480179 -0.43449416] [ 0.18695118 0.03073494 0.98188829 -1.03605383] [ 0. 0. 0. 1. ]] SLAMing on 63.356296757 meters Centerline goodness : 0.791929 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.43, Z:-1.03 [[ 0.89555298 0.39818497 -0.19857894 3.60049043] [-0.39672783 0.91663575 0.048846 -0.42975264] [ 0.2014743 0.03503761 0.97886693 -1.03227994] [ 0. 0. 0. 1. ]] SLAMing on 63.386296757000004 meters Centerline goodness : 0.786214 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.43, Z:-1.03 [[ 0.89452791 0.39339836 -0.21226761 3.60345754] [-0.39155215 0.91865704 0.05249908 -0.42541014] [ 0.21565418 0.03615194 0.97580034 -1.02546244] [ 0. 0. 0. 1. ]] SLAMing on 63.416296757000005 meters Centerline goodness : 0.786124 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.43, Z:-1.02 [[ 0.89320629 0.39526239 -0.2143599 3.60564985] [-0.39373695 0.91777086 0.05165136 -0.42588417] [ 0.21714911 0.03826609 0.97538811 -1.02315253] [ 0. 0. 0. 1. ]] SLAMing on 63.446296757 meters Centerline goodness : 0.789312 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.41, Z:-1.03 [[ 0.89293203 0.39697018 -0.21233715 3.57269235] [-0.39616639 0.91691212 0.04821155 -0.41347555] [ 0.21383306 0.0410712 0.97600644 -1.03233981] [ 0. 0. 0. 1. ]] SLAMing on 63.476296757 meters Centerline goodness : 0.788992 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-1.03 [[ 0.89249058 0.39738902 -0.21340698 3.575078 ] [-0.39661808 0.91671085 0.04832516 -0.41414953] [ 0.21483638 0.04151131 0.97576746 -1.03231443] [ 0. 0. 0. 1. ]] SLAMing on 63.506296757 meters Centerline goodness : 0.787066 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-1.03 [[ 0.89203958 0.39816731 -0.2138415 3.57753445] [-0.39722721 0.91639656 0.04927368 -0.41490416] [ 0.21558278 0.04098959 0.97562489 -1.03310872] [ 0. 0. 0. 1. ]] SLAMing on 63.536296757 meters Centerline goodness : 0.783632 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-1.03 [[ 0.89089846 0.393566 -0.22672834 3.58226067] [-0.39181444 0.91841946 0.0546548 -0.41335706] [ 0.22974198 0.04014356 0.97242332 -1.03042248] [ 0. 0. 0. 1. ]] SLAMing on 63.566296757 meters Centerline goodness : 0.780527 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-1.03 [[ 0.89096312 0.39347634 -0.22662985 3.58213278] [-0.39166543 0.91846979 0.05487662 -0.41425567] [ 0.22974533 0.03987003 0.97243378 -1.03068763] [ 0. 0. 0. 1. ]] SLAMing on 63.596296757000005 meters Centerline goodness : 0.782865 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-1.03 [[ 0.89293373 0.38835781 -0.22770059 3.57966783] [-0.38737509 0.92051616 0.05089736 -0.41422262] [ 0.22936846 0.04275756 0.97240007 -1.0297231 ] [ 0. 0. 0. 1. ]] SLAMing on 63.626296757000006 meters Centerline goodness : 0.785940 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-1.03 [[ 0.89379072 0.38542924 -0.22930863 3.57897855] [-0.38518491 0.92160559 0.04770444 -0.41370073] [ 0.2297188 0.04568844 0.97218406 -1.02813807] [ 0. 0. 0. 1. ]] SLAMing on 63.656296757 meters Centerline goodness : 0.785940 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-1.03 [[ 0.89379072 0.38542924 -0.22930863 3.57897855] [-0.38518491 0.92160559 0.04770444 -0.41370073] [ 0.2297188 0.04568844 0.97218406 -1.02813807] [ 0. 0. 0. 1. ]] SLAMing on 63.686296757 meters Centerline goodness : 0.789914 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.40, Z:-1.03 [[ 0.89601371 0.38205249 -0.22626382 3.55060742] [-0.38220494 0.92298432 0.04493691 -0.40373329] [ 0.22600622 0.04621507 0.97302896 -1.03377414] [ 0. 0. 0. 1. ]] SLAMing on 63.716296757 meters Centerline goodness : 0.789036 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.40, Z:-1.03 [[ 0.89639354 0.38113722 -0.226303 3.55040045] [-0.38137403 0.92335089 0.04446327 -0.40374611] [ 0.22590368 0.0464495 0.97304161 -1.03395205] [ 0. 0. 0. 1. ]] SLAMing on 63.746296757 meters Centerline goodness : 0.791207 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.40, Z:-1.03 [[ 0.89637109 0.38138744 -0.22597012 3.54979814] [-0.38155747 0.92326303 0.04471317 -0.4038893 ] [ 0.22568289 0.046141 0.97310752 -1.03381638] [ 0. 0. 0. 1. ]] SLAMing on 63.776296757000004 meters Centerline goodness : 0.791626 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.40, Z:-1.03 [[ 0.89593744 0.3823048 -0.22613965 3.55069633] [-0.38236917 0.92289743 0.04532269 -0.40403747] [ 0.22603079 0.04586254 0.97303993 -1.03369959] [ 0. 0. 0. 1. ]] SLAMing on 63.806296757000005 meters Centerline goodness : 0.791538 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.40, Z:-1.03 [[ 0.89543277 0.38338073 -0.22631697 3.55197731] [-0.38330207 0.92247114 0.0461142 -0.40435117] [ 0.22645017 0.04545559 0.97296151 -1.03383305] [ 0. 0. 0. 1. ]] SLAMing on 63.836296757 meters Centerline goodness : 0.792279 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-1.03 [[ 0.89494811 0.38420252 -0.2268398 3.55268287] [-0.38415478 0.92211223 0.0461967 -0.40529742] [ 0.22692064 0.04579794 0.97283584 -1.03333065] [ 0. 0. 0. 1. ]] SLAMing on 63.866296757 meters Centerline goodness : 0.788610 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.39, Z:-1.04 [[ 0.89563839 0.38326014 -0.22570674 3.52054425] [-0.38424636 0.92230346 0.041365 -0.39402187] [ 0.22402366 0.04967891 0.9733167 -1.04275289] [ 0. 0. 0. 1. ]] SLAMing on 63.896296757 meters Centerline goodness : 0.791738 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.39, Z:-1.04 [[ 0.89549024 0.38259238 -0.22742096 3.52266107] [-0.38395756 0.92248246 0.04003375 -0.39492453] [ 0.22510846 0.05147017 0.97297328 -1.04228664] [ 0. 0. 0. 1. ]] SLAMing on 63.926296757 meters Centerline goodness : 0.789724 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.38, Z:-1.05 [[ 0.89797922 0.38148735 -0.21931878 3.4878675 ] [-0.38150992 0.9233178 0.043982 -0.38045575] [ 0.21927951 0.04417737 0.97466141 -1.05411293] [ 0. 0. 0. 1. ]] SLAMing on 63.956296757000004 meters Centerline goodness : 0.789031 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.37, Z:-1.06 [[ 0.89898667 0.38083225 -0.21630941 3.45016975] [-0.37927205 0.92391321 0.05036961 -0.36539668] [ 0.21903349 0.03675851 0.97502469 -1.06238508] [ 0. 0. 0. 1. ]] SLAMing on 63.986296757000005 meters Centerline goodness : 0.789320 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.35, Z:-1.08 [[ 0.9017243 0.37858011 -0.20873519 3.41601457] [-0.37672526 0.92496568 0.05016541 -0.35170049] [ 0.21206451 0.03340045 0.97668473 -1.0751674 ] [ 0. 0. 0. 1. ]] SLAMing on 64.016296757 meters Centerline goodness : 0.788918 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.34, Z:-1.08 [[ 0.90246577 0.37644118 -0.2093981 3.39219282] [-0.37476222 0.92581405 0.0492099 -0.34342811] [ 0.21238834 0.03406425 0.97659143 -1.08171494] [ 0. 0. 0. 1. ]] SLAMing on 64.04629675700001 meters Centerline goodness : 0.789694 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.34, Z:-1.08 [[ 0.90275509 0.37452155 -0.21158181 3.37655217] [-0.37149786 0.92677802 0.05542423 -0.33954729] [ 0.21684694 0.02856769 0.97578752 -1.08180273] [ 0. 0. 0. 1. ]] SLAMing on 64.07629675700001 meters Centerline goodness : 0.789450 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.34, Z:-1.08 [[ 0.90272239 0.37450938 -0.21174278 3.37729853] [-0.37147298 0.92678335 0.05550172 -0.3394404 ] [ 0.21702559 0.02855408 0.9757482 -1.08195667] [ 0. 0. 0. 1. ]] SLAMing on 64.106296757 meters Centerline goodness : 0.791828 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.32, Z:-1.10 [[ 0.90506053 0.37307003 -0.20416706 3.34039771] [-0.36996526 0.92743678 0.0546509 -0.32455227] [ 0.20974065 0.02607234 0.97740938 -1.09607585] [ 0. 0. 0. 1. ]] SLAMing on 64.136296757 meters Centerline goodness : 0.793711 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.32, Z:-1.10 [[ 0.90508706 0.37202793 -0.20594329 3.32405113] [-0.36743772 0.92800738 0.06157784 -0.32101488] [ 0.21402557 0.01993803 0.97662456 -1.09583619] [ 0. 0. 0. 1. ]] SLAMing on 64.166296757 meters Centerline goodness : 0.792858 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.31, Z:-1.10 [[ 0.90548071 0.37128444 -0.20555424 3.29661245] [-0.36724701 0.92825527 0.05892192 -0.31126774] [ 0.2126836 0.02213652 0.97687034 -1.10493475] [ 0. 0. 0. 1. ]] SLAMing on 64.196296757 meters Centerline goodness : 0.793877 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.31, Z:-1.11 [[ 0.90505312 0.37171718 -0.20665236 3.27526561] [-0.36683486 0.92815471 0.06293668 -0.30615209] [ 0.2152 0.01884625 0.97638813 -1.10937412] [ 0. 0. 0. 1. ]] SLAMing on 64.226296757 meters Centerline goodness : 0.790518 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.30, Z:-1.11 [[ 0.90514382 0.37143053 -0.20677049 3.2566722 ] [-0.36521609 0.92836789 0.06892223 -0.30099895] [ 0.2175589 0.01313138 0.97595886 -1.11100991] [ 0. 0. 0. 1. ]] SLAMing on 64.256296757 meters Centerline goodness : 0.794819 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.29, Z:-1.12 [[ 0.9068966 0.37053195 -0.20061067 3.2332401 ] [-0.36390147 0.92877443 0.07038309 -0.29389274] [ 0.21240124 0.00917233 0.97713949 -1.11567908] [ 0. 0. 0. 1. ]] SLAMing on 64.286296757 meters Centerline goodness : 0.793553 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.28, Z:-1.12 [[ 0.90767712 0.37027951 -0.19752299 3.20375615] [-0.36422738 0.92885925 0.06751969 -0.28326521] [ 0.20847222 0.0106572 0.97797022 -1.12458669] [ 0. 0. 0. 1. ]] SLAMing on 64.316296757 meters Centerline goodness : 0.795996 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.28, Z:-1.13 [[ 0.90795236 0.36977681 -0.19719947 3.18503782] [-0.36254375 0.92910583 0.07296844 -0.27868914] [ 0.21020121 0.00524157 0.97764409 -1.12665146] [ 0. 0. 0. 1. ]] SLAMing on 64.346296757 meters Centerline goodness : 0.795150 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.27, Z:-1.14 [[ 0.90839875 0.36952461 -0.19561 3.15671421] [-0.36291166 0.92919139 0.06998917 -0.26806781] [ 0.20762185 0.00741108 0.97818109 -1.13602586] [ 0. 0. 0. 1. ]] SLAMing on 64.376296757 meters Centerline goodness : 0.796862 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.26, Z:-1.14 [[ 0.90934265 0.36890625 -0.19236456 3.13069853] [-0.36260052 0.92943549 0.06834128 -0.25788013] [ 0.20400198 0.00760584 0.97894093 -1.14354729] [ 0. 0. 0. 1. ]] SLAMing on 64.406296757 meters Centerline goodness : 0.798281 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.26, Z:-1.14 [[ 0.90916787 0.36946774 -0.19211294 3.12961708] [-0.36307363 0.92921577 0.06881562 -0.25829047] [ 0.20393952 0.00718619 0.97895711 -1.14293292] [ 0. 0. 0. 1. ]] SLAMing on 64.43629675700001 meters Centerline goodness : 0.799569 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.25, Z:-1.15 [[ 0.91031497 0.3683701 -0.18875945 3.10305697] [-0.36225697 0.92965142 0.06721701 -0.2494482 ] [ 0.20024123 0.00719077 0.97972024 -1.14956863] [ 0. 0. 0. 1. ]] SLAMing on 64.46629675700001 meters Centerline goodness : 0.800950 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.24, Z:-1.16 [[ 0.91093338 0.36765684 -0.18715988 3.07658883] [-0.36185724 0.92992691 0.06553832 -0.23982899] [ 0.19814062 0.00802412 0.98014076 -1.15719967] [ 0. 0. 0. 1. ]] SLAMing on 64.496296757 meters Centerline goodness : 0.797694 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.23, Z:-1.17 [[ 0.91106167 0.36805317 -0.18575118 3.04839622] [-0.36258345 0.92975967 0.0638764 -0.2300733 ] [ 0.19621387 0.00915496 0.98051839 -1.16554201] [ 0. 0. 0. 1. ]] SLAMing on 64.526296757 meters Centerline goodness : 0.799585 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.22, Z:-1.17 [[ 0.91026583 0.37003039 -0.18572462 3.02185847] [-0.36443368 0.92897817 0.06471208 -0.22163604] [ 0.19647956 0.00877911 0.98046862 -1.17370242] [ 0. 0. 0. 1. ]] SLAMing on 64.556296757 meters Centerline goodness : 0.794092 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.21, Z:-1.18 [[ 0.9103626 0.37007073 -0.18516911 2.99445596] [-0.36471569 0.92895248 0.06348033 -0.21240519] [ 0.19550551 0.00974397 0.98065419 -1.1820894 ] [ 0. 0. 0. 1. ]] SLAMing on 64.586296757 meters Centerline goodness : 0.795062 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.20, Z:-1.19 [[ 0.91175506 0.36705597 -0.18431667 2.97168871] [-0.36169936 0.93015434 0.06313854 -0.20447611] [ 0.19461833 0.00910033 0.98083683 -1.18708776] [ 0. 0. 0. 1. ]] SLAMing on 64.616296757 meters Centerline goodness : 0.796023 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-1.20 [[ 0.91278786 0.36507308 -0.1831392 2.94320229] [-0.36034949 0.9309074 0.05966278 -0.19512209] [ 0.19226691 0.01153466 0.98127488 -1.19524059] [ 0. 0. 0. 1. ]] SLAMing on 64.646296757 meters Centerline goodness : 0.795885 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.19, Z:-1.20 [[ 0.91353412 0.3640371 -0.18147288 2.91332657] [-0.35989937 0.93128283 0.05643348 -0.18555449] [ 0.18954645 0.01375807 0.98177536 -1.20388722] [ 0. 0. 0. 1. ]] SLAMing on 64.676296757 meters Centerline goodness : 0.795341 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.18, Z:-1.21 [[ 0.91381186 0.36401258 -0.18011865 2.8860176 ] [-0.36012413 0.93127994 0.05502988 -0.17553995] [ 0.18777245 0.01457812 0.98210437 -1.21180259] [ 0. 0. 0. 1. ]] SLAMing on 64.706296757 meters Centerline goodness : 0.795895 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.17, Z:-1.22 [[ 0.91419249 0.3635934 -0.17903054 2.85624212] [-0.36015486 0.93141239 0.05253035 -0.16629349] [ 0.18585095 0.01645587 0.98244014 -1.21990346] [ 0. 0. 0. 1. ]] SLAMing on 64.736296757 meters Centerline goodness : 0.794493 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.16, Z:-1.23 [[ 0.91444876 0.36350772 -0.17789212 2.82593536] [-0.36066054 0.93139518 0.04926442 -0.15573348] [ 0.18359585 0.01910888 0.98281606 -1.22864016] [ 0. 0. 0. 1. ]] SLAMing on 64.766296757 meters Centerline goodness : 0.795895 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.15, Z:-1.24 [[ 0.91463916 0.3638817 -0.17614004 2.7976528 ] [-0.36117344 0.93124354 0.04836551 -0.14596724] [ 0.18162859 0.01938011 0.98317621 -1.23585206] [ 0. 0. 0. 1. ]] SLAMing on 64.79629675700001 meters Centerline goodness : 0.797363 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:-1.24 [[ 0.91520232 0.36244734 -0.17617219 2.77973684] [-0.35870032 0.93190002 0.05381851 -0.14060645] [ 0.18368124 0.01393819 0.98288704 -1.23676621] [ 0. 0. 0. 1. ]] SLAMing on 64.82629675700001 meters Centerline goodness : 0.799183 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-1.24 [[ 0.9160459 0.3617341 -0.1732292 2.74861562] [-0.3585469 0.93214616 0.05047439 -0.13025436] [ 0.17973324 0.01587393 0.9835873 -1.2448812 ] [ 0. 0. 0. 1. ]] SLAMing on 64.856296757 meters Centerline goodness : 0.798656 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-1.25 [[ 0.91680532 0.36077313 -0.17120386 2.71919128] [-0.35811112 0.93248073 0.04728754 -0.11954906] [ 0.17670438 0.01795654 0.98410016 -1.25266707] [ 0. 0. 0. 1. ]] SLAMing on 64.886296757 meters Centerline goodness : 0.800417 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.11, Z:-1.26 [[ 0.91770402 0.3590522 -0.17000251 2.69358293] [-0.35669434 0.93312256 0.04529271 -0.10993733] [ 0.17489563 0.01907363 0.98440221 -1.25974086] [ 0. 0. 0. 1. ]] SLAMing on 64.916296757 meters Centerline goodness : 0.801880 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.10, Z:-1.27 [[ 0.91761422 0.35940911 -0.16973282 2.66536159] [-0.35731797 0.93295565 0.04379064 -0.09969398] [ 0.17409194 0.02046567 0.98451671 -1.26729545] [ 0. 0. 0. 1. ]] SLAMing on 64.946296757 meters Centerline goodness : 0.801624 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.09, Z:-1.27 [[ 0.9171223 0.36027023 -0.1705639 2.63967466] [-0.35816421 0.93261862 0.04405588 -0.08992176] [ 0.1749431 0.02068525 0.98436123 -1.27393773] [ 0. 0. 0. 1. ]] SLAMing on 64.976296757 meters Centerline goodness : 0.801213 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.08, Z:-1.28 [[ 0.91725998 0.35874615 -0.17301829 2.6246498 ] [-0.35566012 0.93329756 0.04961388 -0.08494737] [ 0.17927634 0.01602688 0.9836682 -1.27543194] [ 0. 0. 0. 1. ]] SLAMing on 65.006296757 meters Centerline goodness : 0.797494 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.08, Z:-1.28 [[ 0.91698563 0.3583542 -0.17527016 2.60313994] [-0.35503001 0.93345879 0.05107235 -0.07756132] [ 0.18190946 0.01539356 0.98319479 -1.28152278] [ 0. 0. 0. 1. ]] SLAMing on 65.036296757 meters Centerline goodness : 0.796296 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.07, Z:-1.29 [[ 0.91731384 0.35888381 -0.17244634 2.57244008] [-0.35623761 0.93320513 0.04714814 -0.06576927] [ 0.17784851 0.01818223 0.98388989 -1.29149222] [ 0. 0. 0. 1. ]] SLAMing on 65.066296757 meters Centerline goodness : 0.798748 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.05, Z:-1.30 [[ 0.91746923 0.36098897 -0.1671442 2.53940662] [-0.35881072 0.93236652 0.04413096 -0.0526072 ] [ 0.17177044 0.01948434 0.9849443 -1.29938594] [ 0. 0. 0. 1. ]] SLAMing on 65.096296757 meters Centerline goodness : 0.800296 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.04, Z:-1.31 [[ 0.91766437 0.36190923 -0.16405429 2.51110515] [-0.35996424 0.93199762 0.04249922 -0.0409704 ] [ 0.16827907 0.02005366 0.98553539 -1.30693477] [ 0. 0. 0. 1. ]] SLAMing on 65.126296757 meters Centerline goodness : 0.798603 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.03, Z:-1.31 [[ 0.91770635 0.36249853 -0.16251117 2.4832052 ] [-0.36090206 0.93173249 0.04030211 -0.02912897] [ 0.16602639 0.02166511 0.98588329 -1.31459356] [ 0. 0. 0. 1. ]] SLAMing on 65.156296757 meters Centerline goodness : 0.800234 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.02, Z:-1.32 [[ 0.91826825 0.36142384 -0.1617289 2.45653316] [-0.36013022 0.93211589 0.03829097 -0.01957858] [ 0.16458934 0.02308208 0.98609207 -1.32160896] [ 0. 0. 0. 1. ]] SLAMing on 65.18629675700001 meters Centerline goodness : 0.800117 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:-1.33 [[ 0.91875629 0.36039548 -0.16125126 2.42867673] [-0.35956308 0.93245094 0.03535021 -0.00974755] [ 0.16309895 0.02550177 0.98628008 -1.32940131] [ 0. 0. 0. 1. ]] SLAMing on 65.21629675700001 meters Centerline goodness : 0.801360 Centerline is valid? [False, False] Translation: X:2.40, Y:0.00, Z:-1.34 [[ 9.19410475e-01 3.59640921e-01 -1.59194175e-01 2.39838700e+00] [-3.59315935e-01 9.32672715e-01 3.18380989e-02 7.22341972e-04] [ 1.59926347e-01 2.79287224e-02 9.86733779e-01 -1.33737837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.246296757 meters Centerline goodness : 0.800077 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-1.34 [[ 0.92020086 0.35843976 -0.15732551 2.37822762] [-0.35753613 0.93324322 0.03500017 0.00900419] [ 0.15936842 0.02404237 0.98692638 -1.33991039] [ 0. 0. 0. 1. ]] SLAMing on 65.276296757 meters Centerline goodness : 0.797842 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:-1.34 [[ 0.92035034 0.35795316 -0.15755885 2.35724772] [-0.35657827 0.9334965 0.0378975 0.0167751 ] [ 0.16064617 0.02130308 0.98678214 -1.34338723] [ 0. 0. 0. 1. ]] SLAMing on 65.306296757 meters Centerline goodness : 0.797950 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:-1.34 [[ 0.92082633 0.35643386 -0.15822062 2.3404469 ] [-0.35416816 0.93418022 0.04326933 0.02288091] [ 0.16322923 0.01619317 0.98645527 -1.34402721] [ 0. 0. 0. 1. ]] SLAMing on 65.336296757 meters Centerline goodness : 0.799192 Centerline is valid? [False, False] Translation: X:2.31, Y:0.03, Z:-1.35 [[ 0.92183538 0.35482609 -0.15594226 2.31016896] [-0.35329043 0.93472499 0.03840648 0.03463763] [ 0.15939075 0.01968845 0.98701923 -1.35173249] [ 0. 0. 0. 1. ]] SLAMing on 65.366296757 meters Centerline goodness : 0.799264 Centerline is valid? [False, False] Translation: X:2.28, Y:0.05, Z:-1.36 [[ 0.92246744 0.35383748 -0.1544437 2.27827257] [-0.3530389 0.93500863 0.0335022 0.04621894] [ 0.15626052 0.02361994 0.98743341 -1.3595626 ] [ 0. 0. 0. 1. ]] SLAMing on 65.396296757 meters Centerline goodness : 0.800567 Centerline is valid? [False, False] Translation: X:2.26, Y:0.06, Z:-1.36 [[ 0.92377146 0.35087163 -0.15341247 2.2562051 ] [-0.3500637 0.9361391 0.03315115 0.05554832] [ 0.1552472 0.02308005 0.987606 -1.36317432] [ 0. 0. 0. 1. ]] SLAMing on 65.426296757 meters Centerline goodness : 0.797773 Centerline is valid? [False, False] Translation: X:2.23, Y:0.07, Z:-1.37 [[ 0.9243295 0.35015731 -0.15167347 2.22927802] [-0.34957578 0.93638276 0.03137039 0.06607048] [ 0.15300899 0.02402479 0.98793272 -1.36970858] [ 0. 0. 0. 1. ]] SLAMing on 65.456296757 meters Centerline goodness : 0.799462 Centerline is valid? [False, False] Translation: X:2.20, Y:0.08, Z:-1.38 [[ 0.92465356 0.35015435 -0.1496921 2.20112989] [-0.34975702 0.93636482 0.02984887 0.07658277] [ 0.15061813 0.024756 0.988282 -1.37612861] [ 0. 0. 0. 1. ]] SLAMing on 65.486296757 meters Centerline goodness : 0.800138 Centerline is valid? [False, False] Translation: X:2.17, Y:0.09, Z:-1.38 [[ 0.92498181 0.35009817 -0.14778338 2.17484635] [-0.34966255 0.93640224 0.02978152 0.08654753] [ 0.14881115 0.02412695 0.98857126 -1.38129077] [ 0. 0. 0. 1. ]] SLAMing on 65.516296757 meters Centerline goodness : 0.796450 Centerline is valid? [False, False] Translation: X:2.16, Y:0.09, Z:-1.38 [[ 0.9254149 0.34875336 -0.14825101 2.15550579] [-0.34789606 0.93696856 0.03253087 0.09435874] [ 0.15025179 0.02147139 0.98841458 -1.38449117] [ 0. 0. 0. 1. ]] SLAMing on 65.54629675700001 meters Centerline goodness : 0.796450 Centerline is valid? [False, False] Translation: X:2.14, Y:0.10, Z:-1.39 [[ 0.92670541 0.34533796 -0.14818492 2.14008425] [-0.34396541 0.93830649 0.03561926 0.10087919] [ 0.15134356 0.01796192 0.98831801 -1.38662425] [ 0. 0. 0. 1. ]] SLAMing on 65.57629675700001 meters Centerline goodness : 0.796224 Centerline is valid? [False, False] Translation: X:2.11, Y:0.11, Z:-1.39 [[ 0.92726376 0.34416726 -0.14741377 2.11153536] [-0.34331982 0.93867426 0.03197072 0.11090707] [ 0.14937679 0.02096478 0.98855807 -1.39467676] [ 0. 0. 0. 1. ]] SLAMing on 65.606296757 meters Centerline goodness : 0.797741 Centerline is valid? [False, False] Translation: X:2.08, Y:0.12, Z:-1.40 [[ 0.92826983 0.34198341 -0.14615907 2.08435874] [-0.34150498 0.93942793 0.02914632 0.12002866] [ 0.14727347 0.0228584 0.98883164 -1.40099457] [ 0. 0. 0. 1. ]] SLAMing on 65.636296757 meters Centerline goodness : 0.797174 Centerline is valid? [False, False] Translation: X:2.06, Y:0.13, Z:-1.41 [[ 0.92905298 0.34061743 -0.14436179 2.05996853] [-0.34005019 0.93994889 0.02935908 0.12878503] [ 0.14569292 0.02181411 0.98908934 -1.40518346] [ 0. 0. 0. 1. ]] SLAMing on 65.666296757 meters Centerline goodness : 0.796854 Centerline is valid? [False, False] Translation: X:2.03, Y:0.14, Z:-1.41 [[ 0.92937456 0.3410351 -0.14127276 2.03018648] [-0.34064499 0.93978401 0.02769502 0.13938799] [ 0.14221085 0.02238482 0.98958324 -1.4110679 ] [ 0. 0. 0. 1. ]] SLAMing on 65.696296757 meters Centerline goodness : 0.796785 Centerline is valid? [False, False] Translation: X:2.01, Y:0.15, Z:-1.41 [[ 0.93005703 0.33981597 -0.13971048 2.00887259] [-0.33893821 0.94030532 0.03077008 0.14621293] [ 0.14182668 0.01873529 0.98971419 -1.41286133] [ 0. 0. 0. 1. ]] SLAMing on 65.726296757 meters Centerline goodness : 0.797907 Centerline is valid? [False, False] Translation: X:1.98, Y:0.16, Z:-1.42 [[ 0.92963137 0.34151908 -0.13838439 1.97818296] [-0.34088195 0.93965795 0.02902466 0.15663144] [ 0.13994647 0.0201905 0.98995319 -1.41968949] [ 0. 0. 0. 1. ]] SLAMing on 65.756296757 meters Centerline goodness : 0.796976 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-1.42 [[ 0.9291764 0.34203443 -0.14015584 1.96364488] [-0.34016779 0.93960384 0.03782205 0.16028305] [ 0.14462741 0.01253315 0.98940681 -1.41877685] [ 0. 0. 0. 1. ]] SLAMing on 65.786296757 meters Centerline goodness : 0.794088 Centerline is valid? [False, False] Translation: X:1.94, Y:0.17, Z:-1.43 [[ 0.92822616 0.34527431 -0.13849854 1.93527109] [-0.34344755 0.93841695 0.03764851 0.17148637] [ 0.14296844 0.01262065 0.98964678 -1.42661651] [ 0. 0. 0. 1. ]] SLAMing on 65.816296757 meters Centerline goodness : 0.794945 Centerline is valid? [False, False] Translation: X:1.92, Y:0.18, Z:-1.43 [[ 0.92851813 0.34397505 -0.13976856 1.91833317] [-0.34141639 0.93894374 0.04265562 0.17737355] [ 0.14590729 0.00811276 0.989265 -1.42766851] [ 0. 0. 0. 1. ]] SLAMing on 65.846296757 meters Centerline goodness : 0.795973 Centerline is valid? [False, False] Translation: X:1.89, Y:0.19, Z:-1.43 [[ 0.92890242 0.34315456 -0.13923086 1.89023688] [-0.340995 0.93922058 0.0398385 0.18705728] [ 0.14443926 0.01047095 0.98945827 -1.43457102] [ 0. 0. 0. 1. ]] SLAMing on 65.876296757 meters Centerline goodness : 0.792425 Centerline is valid? [False, False] Translation: X:1.86, Y:0.19, Z:-1.44 [[ 0.92957842 0.34112981 -0.13969398 1.85957943] [-0.3396343 0.93990026 0.03515747 0.19499849] [ 0.14329167 0.01476324 0.98957038 -1.44169382] [ 0. 0. 0. 1. ]] SLAMing on 65.906296757 meters Centerline goodness : 0.794252 Centerline is valid? [False, False] Translation: X:1.84, Y:0.20, Z:-1.45 [[ 0.93043256 0.3388892 -0.13946097 1.83579369] [-0.33734182 0.94071939 0.03532046 0.20234163] [ 0.14316336 0.01418271 0.98959744 -1.44510259] [ 0. 0. 0. 1. ]] SLAMing on 65.93629675700001 meters Centerline goodness : 0.793462 Centerline is valid? [False, False] Translation: X:1.79, Y:0.22, Z:-1.45 [[ 0.93096217 0.33883091 -0.13602591 1.79454826] [-0.33625599 0.9408251 0.04219059 0.21542692] [ 0.14227207 0.00646169 0.9898065 -1.45124345] [ 0. 0. 0. 1. ]] SLAMing on 65.96629675700001 meters Centerline goodness : 0.792879 Centerline is valid? [False, False] Translation: X:1.78, Y:0.22, Z:-1.45 [[ 9.31163880e-01 3.37851945e-01 -1.37076230e-01 1.77742808e+00] [-3.34417113e-01 9.41198645e-01 4.80656395e-02 2.21424676e-01] [ 1.45255032e-01 1.08364978e-03 9.89393653e-01 -1.45142632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.996296757 meters Centerline goodness : 0.791492 Centerline is valid? [False, False] Translation: X:1.75, Y:0.23, Z:-1.46 [[ 9.31376806e-01 3.37965173e-01 -1.35339525e-01 1.74970876e+00] [-3.34653457e-01 9.41157695e-01 4.72149972e-02 2.31351901e-01] [ 1.43332860e-01 1.31688672e-03 9.89673662e-01 -1.45680891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.026296757 meters Centerline goodness : 0.793711 Centerline is valid? [False, False] Translation: X:1.73, Y:0.24, Z:-1.46 [[ 0.93237708 0.33584559 -0.13371878 1.72555217] [-0.33272298 0.94191523 0.04572878 0.24075083] [ 0.14130957 0.00185484 0.98996372 -1.46200413] [ 0. 0. 0. 1. ]] SLAMing on 66.056296757 meters Centerline goodness : 0.794323 Centerline is valid? [False, False] Translation: X:1.70, Y:0.25, Z:-1.47 [[ 0.93312038 0.33442795 -0.13207688 1.69517946] [-0.33187035 0.94240791 0.04158606 0.25112188] [ 0.13837783 0.0050276 0.99036675 -1.46838483] [ 0. 0. 0. 1. ]] SLAMing on 66.086296757 meters Centerline goodness : 0.796697 Centerline is valid? [False, False] Translation: X:1.69, Y:0.25, Z:-1.47 [[ 0.93384291 0.33222427 -0.13253094 1.69390331] [-0.32996289 0.9431744 0.03932606 0.2526306 ] [ 0.13806486 0.00700593 0.99039841 -1.46759084] [ 0. 0. 0. 1. ]] SLAMing on 66.116296757 meters Centerline goodness : 0.794753 Centerline is valid? [False, False] Translation: X:1.66, Y:0.26, Z:-1.48 [[ 0.9342004 0.3312502 -0.13244966 1.66358947] [-0.32956367 0.9434805 0.03510458 0.26240887] [ 0.13659207 0.01085588 0.9905679 -1.4751869 ] [ 0. 0. 0. 1. ]] SLAMing on 66.146296757 meters Centerline goodness : 0.796622 Centerline is valid? [False, False] Translation: X:1.65, Y:0.27, Z:-1.48 [[ 0.93421193 0.33030127 -0.13471874 1.64514316] [-0.32808365 0.94384357 0.0389928 0.26874179] [ 0.14003279 0.00777147 0.99011637 -1.47771651] [ 0. 0. 0. 1. ]] SLAMing on 66.176296757 meters Centerline goodness : 0.797841 Centerline is valid? [False, False] Translation: X:1.63, Y:0.28, Z:-1.48 [[ 0.93399085 0.33074188 -0.13516987 1.62694355] [-0.32783635 0.94371535 0.04387103 0.27718275] [ 0.14207187 0.00333846 0.98985072 -1.47999269] [ 0. 0. 0. 1. ]] SLAMing on 66.206296757 meters Centerline goodness : 0.799150 Centerline is valid? [False, False] Translation: X:1.61, Y:0.29, Z:-1.48 [[ 9.34387960e-01 3.29950839e-01 -1.34356186e-01 1.60562885e+00] [-3.26697996e-01 9.43997853e-01 4.62219844e-02 2.85468320e-01] [ 1.42082934e-01 7.04631194e-04 9.89854506e-01 -1.48269778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.236296757 meters Centerline goodness : 0.797479 Centerline is valid? [False, False] Translation: X:1.58, Y:0.30, Z:-1.49 [[ 0.93471651 0.32956643 -0.13300758 1.57614882] [-0.32683942 0.94412487 0.04247622 0.29638135] [ 0.1395745 0.0037689 0.9902044 -1.49022199] [ 0. 0. 0. 1. ]] SLAMing on 66.266296757 meters Centerline goodness : 0.800521 Centerline is valid? [False, False] Translation: X:1.55, Y:0.31, Z:-1.50 [[ 0.93558189 0.32797939 -0.13082832 1.54782237] [-0.32570919 0.94466506 0.03900569 0.30683117] [ 0.136382 0.00611896 0.99063742 -1.49598735] [ 0. 0. 0. 1. ]] SLAMing on 66.29629675700001 meters Centerline goodness : 0.802343 Centerline is valid? [False, False] Translation: X:1.53, Y:0.31, Z:-1.50 [[ 0.9364648 0.3250389 -0.13184608 1.53100435] [-0.32211403 0.94569913 0.04353981 0.31256271] [ 0.13883886 0.00169597 0.99031353 -1.49537169] [ 0. 0. 0. 1. ]] SLAMing on 66.32629675700001 meters Centerline goodness : 0.801615 Centerline is valid? [False, False] Translation: X:1.50, Y:0.32, Z:-1.50 [[ 0.93665303 0.32433638 -0.13223846 1.50270946] [-0.32181251 0.94593112 0.04063272 0.322109 ] [ 0.13826714 0.00449723 0.99038476 -1.50239572] [ 0. 0. 0. 1. ]] SLAMing on 66.356296757 meters Centerline goodness : 0.801534 Centerline is valid? [False, False] Translation: X:1.51, Y:0.32, Z:-1.50 [[ 0.93691669 0.32315697 -0.13325424 1.50576644] [-0.32068869 0.94633173 0.0401872 0.32116003] [ 0.13908949 0.00508107 0.99026678 -1.50350314] [ 0. 0. 0. 1. ]] SLAMing on 66.386296757 meters Centerline goodness : 0.803145 Centerline is valid? [False, False] Translation: X:1.51, Y:0.32, Z:-1.50 [[ 0.93697493 0.32280134 -0.13370591 1.50684495] [-0.32032463 0.94645285 0.04023834 0.32040586] [ 0.13953533 0.00512698 0.99020382 -1.50361536] [ 0. 0. 0. 1. ]] SLAMing on 66.416296757 meters Centerline goodness : 0.802606 Centerline is valid? [False, False] Translation: X:1.49, Y:0.32, Z:-1.50 [[ 9.37382961e-01 3.20698666e-01 -1.35888008e-01 1.48980551e+00] [-3.17498983e-01 9.47180954e-01 4.51955363e-02 3.24918080e-01] [ 1.43204681e-01 7.78778625e-04 9.89692787e-01 -1.50404340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.446296757 meters Centerline goodness : 0.805640 Centerline is valid? [False, False] Translation: X:1.47, Y:0.33, Z:-1.50 [[ 0.93787056 0.31844756 -0.13780409 1.47423753] [-0.31426304 0.94792623 0.0517165 0.32898 ] [ 0.14709711 -0.00519665 0.9891084 -1.5028026 ] [ 0. 0. 0. 1. ]] SLAMing on 66.476296757 meters Centerline goodness : 0.816261 Centerline is valid? [False, False] Translation: X:1.47, Y:0.33, Z:-1.50 [[ 0.93789161 0.31841137 -0.13774441 1.47362179] [-0.31417142 0.94793622 0.05208877 0.32920018] [ 0.14715857 -0.00557826 0.98909718 -1.50154768] [ 0. 0. 0. 1. ]] SLAMing on 66.506296757 meters Centerline goodness : 0.808483 Centerline is valid? [False, False] Translation: X:1.47, Y:0.33, Z:-1.50 [[ 0.9378858 0.31832636 -0.13798024 1.4738715 ] [-0.3140469 0.94796371 0.05233872 0.32868773] [ 0.14746106 -0.00575548 0.98905112 -1.50100652] [ 0. 0. 0. 1. ]] SLAMing on 66.536296757 meters Centerline goodness : 0.816881 Centerline is valid? [False, False] Translation: X:1.47, Y:0.33, Z:-1.50 [[ 0.93897766 0.31457261 -0.13915828 1.47397161] [-0.31081529 0.94923059 0.04852982 0.33045848] [ 0.14735944 -0.0023159 0.9890803 -1.50111332] [ 0. 0. 0. 1. ]] SLAMing on 66.566296757 meters Centerline goodness : 0.817527 Centerline is valid? [False, False] Translation: X:1.47, Y:0.33, Z:-1.50 [[ 9.40210539e-01 3.10231400e-01 -1.40572476e-01 1.47463158e+00] [-3.07018186e-01 9.50660227e-01 4.45529495e-02 3.31135093e-01] [ 1.47458386e-01 1.26915409e-03 9.89067446e-01 -1.50144604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.596296757 meters Centerline goodness : 0.820094 Centerline is valid? [False, False] Translation: X:1.48, Y:0.33, Z:-1.50 [[ 9.40253625e-01 3.10016196e-01 -1.40758937e-01 1.47504134e+00] [-3.06801187e-01 9.50730392e-01 4.45505760e-02 3.31182855e-01] [ 1.47635199e-01 1.29616818e-03 9.89041034e-01 -1.50126411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.626296757 meters Centerline goodness : 0.818531 Centerline is valid? [False, False] Translation: X:1.48, Y:0.33, Z:-1.50 [[ 9.40304869e-01 3.09878549e-01 -1.40719714e-01 1.47539097e+00] [-3.06695969e-01 9.50774995e-01 4.43225954e-02 3.33355796e-01] [ 1.47527407e-01 1.48141680e-03 9.89056859e-01 -1.50098788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.656296757 meters Centerline goodness : 0.810935 Centerline is valid? [False, False] Translation: X:1.48, Y:0.33, Z:-1.50 [[ 0.94026702 0.30998973 -0.14072775 1.47534275] [-0.30681067 0.9507387 0.04430732 0.33404065] [ 0.14753013 0.00151607 0.9890564 -1.5007304 ] [ 0. 0. 0. 1. ]] SLAMing on 66.68629675700001 meters Centerline goodness : 0.810027 Centerline is valid? [False, False] Translation: X:1.47, Y:0.34, Z:-1.50 [[ 0.94018989 0.31029763 -0.14056438 1.47470098] [-0.3071268 0.9506382 0.04427344 0.33523865] [ 0.14736382 0.00154565 0.98908115 -1.50014626] [ 0. 0. 0. 1. ]] SLAMing on 66.71629675700001 meters Centerline goodness : 0.809716 Centerline is valid? [False, False] Translation: X:1.48, Y:0.34, Z:-1.49 [[ 0.93981888 0.30417058 -0.15563012 1.47906938] [-0.30092582 0.95260481 0.04458382 0.34059189] [ 0.16181508 0.00493241 0.98680877 -1.49481639] [ 0. 0. 0. 1. ]] SLAMing on 66.746296757 meters Centerline goodness : 0.808962 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.93885094 0.30062275 -0.16788349 1.48096851] [-0.29724421 0.95371616 0.04551236 0.34875743] [ 0.17379525 0.00717307 0.98475569 -1.49299974] [ 0. 0. 0. 1. ]] SLAMing on 66.776296757 meters Centerline goodness : 0.810242 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.9388393 0.30078885 -0.16765092 1.48128657] [-0.29746065 0.95366202 0.04523181 0.35089015] [ 0.17348754 0.00740415 0.98480823 -1.49313109] [ 0. 0. 0. 1. ]] SLAMing on 66.806296757 meters Centerline goodness : 0.810895 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.9386724 0.30067748 -0.16878145 1.48295587] [-0.29769361 0.9536778 0.04332628 0.35277335] [ 0.17399036 0.00957598 0.9847008 -1.49246518] [ 0. 0. 0. 1. ]] SLAMing on 66.836296757 meters Centerline goodness : 0.811073 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.49 [[ 0.93843667 0.30064525 -0.1701442 1.48509473] [-0.29788106 0.95367129 0.04216565 0.35282983] [ 0.17493854 0.01111295 0.98451664 -1.49199582] [ 0. 0. 0. 1. ]] SLAMing on 66.866296757 meters Centerline goodness : 0.815023 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.49 [[ 0.93840032 0.30110712 -0.16952682 1.48559967] [-0.29829251 0.95352994 0.04245268 0.35443001] [ 0.1744317 0.01073097 0.9846108 -1.49290178] [ 0. 0. 0. 1. ]] SLAMing on 66.896296757 meters Centerline goodness : 0.813566 Centerline is valid? [False, False] Translation: X:1.49, Y:0.36, Z:-1.49 [[ 0.93838258 0.30142988 -0.16905079 1.48597127] [-0.29847931 0.95343695 0.04322134 0.3550077 ] [ 0.17420747 0.00990001 0.9846592 -1.49372669] [ 0. 0. 0. 1. ]] SLAMing on 66.926296757 meters Centerline goodness : 0.815823 Centerline is valid? [False, False] Translation: X:1.49, Y:0.36, Z:-1.50 [[ 0.93844688 0.30105311 -0.16936492 1.48809357] [-0.29812329 0.95355436 0.0430882 0.3555024 ] [ 0.17447049 0.01005564 0.98461106 -1.49509453] [ 0. 0. 0. 1. ]] SLAMing on 66.956296757 meters Centerline goodness : 0.816198 Centerline is valid? [False, False] Translation: X:1.49, Y:0.36, Z:-1.50 [[ 0.93887253 0.30033533 -0.16827672 1.48820576] [-0.29719346 0.95379539 0.04416346 0.3553739 ] [ 0.17376541 0.00854688 0.98474999 -1.49731684] [ 0. 0. 0. 1. ]] SLAMing on 66.986296757 meters Centerline goodness : 0.827520 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.93952235 0.29795957 -0.16887227 1.48935939] [-0.29504858 0.95452887 0.04267292 0.35389441] [ 0.17390826 0.00973336 0.98471375 -1.49879424] [ 0. 0. 0. 1. ]] SLAMing on 67.016296757 meters Centerline goodness : 0.830094 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.93961847 0.29764953 -0.16888425 1.48886093] [-0.29472619 0.95462656 0.04271549 0.35338147] [ 0.17393563 0.00963835 0.98470985 -1.49841365] [ 0. 0. 0. 1. ]] SLAMing on 67.04629675700001 meters Centerline goodness : 0.821382 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.93969099 0.29736139 -0.16898833 1.48887023] [-0.29448706 0.95471362 0.04241788 0.35325818] [ 0.1739489 0.00990518 0.98470486 -1.49836823] [ 0. 0. 0. 1. ]] SLAMing on 67.07629675700001 meters Centerline goodness : 0.829142 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.93970369 0.29678644 -0.1699258 1.49121734] [-0.29395944 0.9548879 0.04215377 0.352065 ] [ 0.17477076 0.01033924 0.98455486 -1.49921869] [ 0. 0. 0. 1. ]] SLAMing on 67.106296757 meters Centerline goodness : 0.830594 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.93972153 0.29692655 -0.16958206 1.49155687] [-0.29399727 0.95485096 0.04272295 0.35176689] [ 0.17461117 0.00970899 0.9845896 -1.50012284] [ 0. 0. 0. 1. ]] SLAMing on 67.136296757 meters Centerline goodness : 0.827871 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94004088 0.29628832 -0.1689271 1.49110842] [-0.29320006 0.95505972 0.04352763 0.35104273] [ 0.17423219 0.00861169 0.98466694 -1.50108607] [ 0. 0. 0. 1. ]] SLAMing on 67.166296757 meters Centerline goodness : 0.832023 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94022656 0.29504597 -0.17006437 1.49132316] [-0.29226337 0.95542596 0.04175362 0.35034718] [ 0.17480315 0.01044572 0.98454799 -1.50003869] [ 0. 0. 0. 1. ]] SLAMing on 67.196296757 meters Centerline goodness : 0.832427 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94097051 0.29108574 -0.17275297 1.49262611] [-0.28910314 0.95657883 0.03709877 0.34872977] [ 0.17605076 0.01503458 0.98426627 -1.49866894] [ 0. 0. 0. 1. ]] SLAMing on 67.226296757 meters Centerline goodness : 0.834673 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94092297 0.2913195 -0.17261784 1.49255592] [-0.28919891 0.95651925 0.03788029 0.34787892] [ 0.17614755 0.01427845 0.98426021 -1.49876025] [ 0. 0. 0. 1. ]] SLAMing on 67.256296757 meters Centerline goodness : 0.832787 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94090741 0.29134213 -0.17266443 1.49317986] [-0.28921249 0.9565129 0.03793674 0.34826142] [ 0.17620833 0.01424175 0.98424987 -1.49905066] [ 0. 0. 0. 1. ]] SLAMing on 67.286296757 meters Centerline goodness : 0.831603 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94071108 0.29225874 -0.17218449 1.49418424] [-0.2899501 0.95624746 0.03898383 0.34829648] [ 0.17604434 0.01325239 0.98429303 -1.50047455] [ 0. 0. 0. 1. ]] SLAMing on 67.316296757 meters Centerline goodness : 0.836672 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94139662 0.28980474 -0.17258511 1.49128996] [-0.28791743 0.956962 0.03643205 0.34851906] [ 0.17571557 0.01539325 0.98432062 -1.49903042] [ 0. 0. 0. 1. ]] SLAMing on 67.346296757 meters Centerline goodness : 0.835641 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94134943 0.28987028 -0.17273236 1.49120682] [-0.2879079 0.95694804 0.03687125 0.34681029] [ 0.17598377 0.01502228 0.98427844 -1.49858831] [ 0. 0. 0. 1. ]] SLAMing on 67.376296757 meters Centerline goodness : 0.838344 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94129894 0.28988532 -0.17298211 1.49162461] [-0.28787471 0.95694672 0.03716364 0.34579577] [ 0.17630785 0.01481508 0.98422358 -1.49844018] [ 0. 0. 0. 1. ]] SLAMing on 67.406296757 meters Centerline goodness : 0.834021 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94129697 0.28981197 -0.17311569 1.49278298] [-0.28782939 0.95696623 0.03701186 0.34608157] [ 0.17639235 0.01498863 0.98420581 -1.49929355] [ 0. 0. 0. 1. ]] SLAMing on 67.43629675700001 meters Centerline goodness : 0.832728 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94126032 0.28985807 -0.17323774 1.49370008] [-0.28791084 0.95694876 0.03682959 0.347068 ] [ 0.17645499 0.01521079 0.98419117 -1.49987118] [ 0. 0. 0. 1. ]] SLAMing on 67.46629675700001 meters Centerline goodness : 0.832728 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94126032 0.28985807 -0.17323774 1.49370008] [-0.28791084 0.95694876 0.03682959 0.347068 ] [ 0.17645499 0.01521079 0.98419117 -1.49987118] [ 0. 0. 0. 1. ]] SLAMing on 67.496296757 meters Centerline goodness : 0.838528 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94108347 0.29067606 -0.17282747 1.49249996] [-0.28864933 0.9567075 0.03731381 0.34731354] [ 0.17619157 0.01477113 0.98424506 -1.49929939] [ 0. 0. 0. 1. ]] SLAMing on 67.526296757 meters Centerline goodness : 0.833953 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94090628 0.2913574 -0.17264485 1.4910384 ] [-0.28919898 0.95651061 0.03809733 0.34590763] [ 0.17623657 0.0140827 0.9842471 -1.49818249] [ 0. 0. 0. 1. ]] SLAMing on 67.556296757 meters Centerline goodness : 0.824427 Centerline is valid? [False, False] Translation: X:1.49, Y:0.34, Z:-1.50 [[ 0.94069272 0.29234418 -0.17213975 1.48898932] [-0.29005361 0.95622 0.0388872 0.34498437] [ 0.17597192 0.01334885 0.98430467 -1.49714506] [ 0. 0. 0. 1. ]] SLAMing on 67.586296757 meters Centerline goodness : 0.824456 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94061297 0.29261721 -0.17211164 1.48927587] [-0.29033406 0.95613564 0.03886872 0.3458047 ] [ 0.17593573 0.01340945 0.98431032 -1.49742692] [ 0. 0. 0. 1. ]] SLAMing on 67.616296757 meters Centerline goodness : 0.823872 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94037979 0.29343896 -0.17198672 1.48965635] [-0.29112305 0.95588552 0.03911831 0.34683995] [ 0.17587845 0.01328323 0.98432227 -1.49798424] [ 0. 0. 0. 1. ]] SLAMing on 67.646296757 meters Centerline goodness : 0.824898 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94026362 0.29392909 -0.1717848 1.48933318] [-0.2915699 0.95573814 0.0393904 0.3467513 ] [ 0.17575927 0.01304992 0.98434668 -1.49807483] [ 0. 0. 0. 1. ]] SLAMing on 67.676296757 meters Centerline goodness : 0.824510 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.50 [[ 0.94005014 0.29487347 -0.17133409 1.48824891] [-0.29240306 0.95545542 0.04006742 0.345797 ] [ 0.1755169 0.01243323 0.9843979 -1.49802189] [ 0. 0. 0. 1. ]] SLAMing on 67.706296757 meters Centerline goodness : 0.826346 Centerline is valid? [False, False] Translation: X:1.49, Y:0.34, Z:-1.50 [[ 0.93985148 0.29577659 -0.17086662 1.4865896 ] [-0.2931663 0.9551861 0.04090269 0.34441764] [ 0.17530748 0.01164988 0.9844448 -1.49733692] [ 0. 0. 0. 1. ]] SLAMing on 67.736296757 meters Centerline goodness : 0.820637 Centerline is valid? [False, False] Translation: X:1.49, Y:0.34, Z:-1.50 [[ 0.93980254 0.29591482 -0.17089649 1.48676827] [-0.2932605 0.95514594 0.04116452 0.34387884] [ 0.17541228 0.01143067 0.9844287 -1.49735356] [ 0. 0. 0. 1. ]] SLAMing on 67.766296757 meters Centerline goodness : 0.822627 Centerline is valid? [False, False] Translation: X:1.49, Y:0.34, Z:-1.50 [[ 0.93980551 0.29578776 -0.17109997 1.48746218] [-0.29312371 0.95518549 0.04122093 0.34358669] [ 0.17562486 0.0114138 0.984391 -1.49750848] [ 0. 0. 0. 1. ]] SLAMing on 67.79629675700001 meters Centerline goodness : 0.822263 Centerline is valid? [False, False] Translation: X:1.46, Y:0.35, Z:-1.50 [[ 0.94102325 0.29333336 -0.16861432 1.46240057] [-0.2907434 0.95594705 0.04041689 0.35028185] [ 0.17304198 0.01099027 0.98485313 -1.50281689] [ 0. 0. 0. 1. ]] SLAMing on 67.82629675700001 meters Centerline goodness : 0.823788 Centerline is valid? [False, False] Translation: X:1.46, Y:0.35, Z:-1.50 [[ 0.94096084 0.29357577 -0.16854068 1.46170515] [-0.29088924 0.95587855 0.04098356 0.348751 ] [ 0.1731362 0.01046275 0.98484232 -1.50223032] [ 0. 0. 0. 1. ]] SLAMing on 67.856296757 meters Centerline goodness : 0.824060 Centerline is valid? [False, False] Translation: X:1.46, Y:0.35, Z:-1.50 [[ 0.94182887 0.29071967 -0.16864299 1.45813258] [-0.28846708 0.95672512 0.03825948 0.34802496] [ 0.17246777 0.01261407 0.98493439 -1.50088887] [ 0. 0. 0. 1. ]] SLAMing on 67.886296757 meters Centerline goodness : 0.823082 Centerline is valid? [False, False] Translation: X:1.46, Y:0.35, Z:-1.50 [[ 0.94174223 0.29104182 -0.16857113 1.45754854] [-0.28868363 0.95663453 0.03888617 0.34664765] [ 0.17257847 0.01204298 0.98492215 -1.50031801] [ 0. 0. 0. 1. ]] SLAMing on 67.916296757 meters Centerline goodness : 0.819598 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-1.50 [[ 0.94136855 0.29097661 -0.17075672 1.443948 ] [-0.28696712 0.95672354 0.04826954 0.34865216] [ 0.17741228 0.00356213 0.98413017 -1.49925394] [ 0. 0. 0. 1. ]] SLAMing on 67.946296757 meters Centerline goodness : 0.819183 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-1.50 [[ 0.94135888 0.29095582 -0.17084544 1.44466985] [-0.28696304 0.95672943 0.04817681 0.34933713] [ 0.17747019 0.00367466 0.98411932 -1.49962882] [ 0. 0. 0. 1. ]] SLAMing on 67.976296757 meters Centerline goodness : 0.829730 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-1.50 [[ 0.94131115 0.29109539 -0.17087069 1.44414892] [-0.28703003 0.95668833 0.04859227 0.34846635] [ 0.17761498 0.00330457 0.98409451 -1.4988134 ] [ 0. 0. 0. 1. ]] SLAMing on 68.006296757 meters Centerline goodness : 0.832670 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-1.50 [[ 0.94214778 0.28798749 -0.17152485 1.44228914] [-0.28446014 0.95761493 0.04534402 0.34984223] [ 0.17731327 0.00607122 0.98413574 -1.49790369] [ 0. 0. 0. 1. ]] SLAMing on 68.036296757 meters Centerline goodness : 0.823874 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-1.50 [[ 0.94308494 0.28458278 -0.17205652 1.44031791] [-0.2816386 0.95860901 0.04181468 0.35135208] [ 0.17683467 0.00902296 0.98419921 -1.49712633] [ 0. 0. 0. 1. ]] SLAMing on 68.066296757 meters Centerline goodness : 0.829073 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-1.50 [[ 0.94311656 0.28431355 -0.17232808 1.44093542] [-0.28138526 0.95868771 0.04171579 0.35171864] [ 0.17706918 0.00914773 0.98415589 -1.49694002] [ 0. 0. 0. 1. ]] SLAMing on 68.096296757 meters Centerline goodness : 0.811953 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-1.50 [[ 0.94323154 0.28363374 -0.17281832 1.44279772] [-0.28079142 0.95888401 0.04120243 0.35295815] [ 0.17739912 0.00966247 0.98409156 -1.49745671] [ 0. 0. 0. 1. ]] SLAMing on 68.126296757 meters Centerline goodness : 0.813910 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-1.50 [[ 0.94327806 0.28316966 -0.17332469 1.44443985] [-0.28037058 0.95901802 0.04094849 0.35338171] [ 0.17781687 0.00996933 0.9840131 -1.49781263] [ 0. 0. 0. 1. ]] SLAMing on 68.156296757 meters Centerline goodness : 0.810811 Centerline is valid? [False, False] Translation: X:1.45, Y:0.35, Z:-1.50 [[ 0.94332717 0.28281922 -0.1736293 1.44571155] [-0.28007268 0.95911805 0.04064316 0.35364941] [ 0.17802566 0.01028903 0.98397205 -1.49843552] [ 0. 0. 0. 1. ]] SLAMing on 68.18629675700001 meters Centerline goodness : 0.814118 Centerline is valid? [False, False] Translation: X:1.45, Y:0.35, Z:-1.50 [[ 0.94345586 0.28206677 -0.17415333 1.44792388] [-0.27940806 0.95933389 0.04012005 0.3540959 ] [ 0.17838772 0.01080835 0.98390091 -1.49944806] [ 0. 0. 0. 1. ]] SLAMing on 68.21629675700001 meters Centerline goodness : 0.814933 Centerline is valid? [False, False] Translation: X:1.45, Y:0.35, Z:-1.50 [[ 0.94345325 0.28191974 -0.17440534 1.44837483] [-0.27925555 0.95937696 0.04015211 0.35391497] [ 0.17864013 0.01082202 0.98385496 -1.49926293] [ 0. 0. 0. 1. ]] SLAMing on 68.246296757 meters Centerline goodness : 0.813260 Centerline is valid? [False, False] Translation: X:1.45, Y:0.35, Z:-1.50 [[ 0.94350064 0.28168226 -0.17453265 1.44865102] [-0.27902185 0.95944642 0.0401171 0.3541009 ] [ 0.178755 0.01084791 0.98383381 -1.49897253] [ 0. 0. 0. 1. ]] SLAMing on 68.276296757 meters Centerline goodness : 0.814030 Centerline is valid? [False, False] Translation: X:1.45, Y:0.35, Z:-1.50 [[ 0.94350265 0.28160569 -0.17464529 1.44894601] [-0.27895868 0.95946787 0.04004317 0.35484872] [ 0.17884293 0.01093798 0.98381684 -1.49879791] [ 0. 0. 0. 1. ]] SLAMing on 68.306296757 meters Centerline goodness : 0.817730 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-1.50 [[ 0.94347804 0.28176467 -0.17452181 1.44862845] [-0.2791154 0.95942148 0.0400628 0.35668731] [ 0.17872826 0.01091336 0.98383795 -1.49817359] [ 0. 0. 0. 1. ]] SLAMing on 68.336296757 meters Centerline goodness : 0.817547 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-1.50 [[ 0.94346001 0.28176033 -0.17462624 1.44881718] [-0.2791244 0.95942167 0.03999548 0.35758773] [ 0.17880934 0.01100831 0.98382216 -1.4979286 ] [ 0. 0. 0. 1. ]] SLAMing on 68.366296757 meters Centerline goodness : 0.814219 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-1.50 [[ 0.94344138 0.2818949 -0.17450966 1.4480206 ] [-0.27920379 0.95938564 0.04030442 0.35708622] [ 0.17878368 0.0106989 0.98383023 -1.49711685] [ 0. 0. 0. 1. ]] SLAMing on 68.396296757 meters Centerline goodness : 0.816385 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-1.50 [[ 0.94344437 0.28191528 -0.1744606 1.44763931] [-0.27918757 0.95938192 0.04050473 0.35657237] [ 0.17879325 0.01049327 0.98383071 -1.49666924] [ 0. 0. 0. 1. ]] SLAMing on 68.426296757 meters Centerline goodness : 0.820171 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-1.50 [[ 0.94341335 0.28201359 -0.17446943 1.44766372] [-0.27927092 0.95935377 0.04059673 0.35709735] [ 0.17882674 0.01042474 0.98382535 -1.49644926] [ 0. 0. 0. 1. ]] SLAMing on 68.456296757 meters Centerline goodness : 0.818586 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-1.50 [[ 0.94339719 0.28210742 -0.17440514 1.44770838] [-0.27937183 0.95932583 0.0405627 0.35820322] [ 0.17875439 0.01045714 0.98383815 -1.49633379] [ 0. 0. 0. 1. ]] SLAMing on 68.486296757 meters Centerline goodness : 0.814661 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-1.50 [[ 0.94329612 0.28265517 -0.17406459 1.44721236] [-0.27991383 0.95916519 0.04062497 0.36098429] [ 0.17843955 0.01040171 0.98389589 -1.49591388] [ 0. 0. 0. 1. ]] SLAMing on 68.516296757 meters Centerline goodness : 0.816314 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-1.50 [[ 0.94325591 0.28266652 -0.17426398 1.44773022] [-0.27995342 0.95915967 0.04048231 0.36182224] [ 0.17858997 0.01060062 0.98386648 -1.49590127] [ 0. 0. 0. 1. ]] SLAMing on 68.54629675700001 meters Centerline goodness : 0.820118 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-1.50 [[ 0.94323518 0.28263938 -0.17442009 1.4476392 ] [-0.27992179 0.95916756 0.04051397 0.36137847] [ 0.17874893 0.01060978 0.98383751 -1.49550757] [ 0. 0. 0. 1. ]] SLAMing on 68.57629675700001 meters Centerline goodness : 0.819376 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-1.50 [[ 0.94317152 0.28285131 -0.17442081 1.44718508] [-0.28009549 0.95910711 0.04074403 0.36098224] [ 0.17881274 0.01042588 0.98382788 -1.49501384] [ 0. 0. 0. 1. ]] SLAMing on 68.606296757 meters Centerline goodness : 0.830153 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-1.49 [[ 0.94306556 0.28337637 -0.17414127 1.44663456] [-0.2806609 0.95894986 0.04055386 0.36349812] [ 0.17848475 0.0106297 0.98388526 -1.49481314] [ 0. 0. 0. 1. ]] SLAMing on 68.636296757 meters Centerline goodness : 0.816960 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-1.49 [[ 0.94301377 0.28351364 -0.17419831 1.44719672] [-0.28087023 0.95890461 0.04017287 0.3662771 ] [ 0.17842912 0.01104355 0.98389079 -1.49491138] [ 0. 0. 0. 1. ]] SLAMing on 68.666296757 meters Centerline goodness : 0.824894 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-1.49 [[ 0.94296445 0.28365511 -0.174235 1.44758836] [-0.28106835 0.95885895 0.03987591 0.36864936] [ 0.17837779 0.01137038 0.98389638 -1.49487951] [ 0. 0. 0. 1. ]] SLAMing on 68.696296757 meters Centerline goodness : 0.824830 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-1.49 [[ 0.94257772 0.28455045 -0.17486647 1.44931835] [-0.28219022 0.95857539 0.03875436 0.37132692] [ 0.17865027 0.01281661 0.98382916 -1.49466521] [ 0. 0. 0. 1. ]] SLAMing on 68.726296757 meters Centerline goodness : 0.811994 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-1.49 [[ 0.9421909 0.28543457 -0.175509 1.44949048] [-0.28330543 0.95829178 0.03761514 0.37329116] [ 0.1789255 0.01428201 0.98375896 -1.49287325] [ 0. 0. 0. 1. ]] SLAMing on 68.756296757 meters Centerline goodness : 0.812133 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-1.49 [[ 0.94185642 0.28611207 -0.17619981 1.45006527] [-0.2841266 0.95807459 0.03694806 0.37414901] [ 0.17938385 0.01526329 0.98366075 -1.49164888] [ 0. 0. 0. 1. ]] SLAMing on 68.786296757 meters Centerline goodness : 0.826136 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-1.49 [[ 0.94176552 0.28603668 -0.176807 1.45197374] [-0.28418549 0.95808343 0.03625936 0.37484295] [ 0.17976736 0.01609817 0.98357742 -1.49217875] [ 0. 0. 0. 1. ]] SLAMing on 68.816296757 meters Centerline goodness : 0.828457 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-1.49 [[ 0.94143155 0.28813315 -0.17517398 1.45089516] [-0.28571775 0.95750288 0.03941574 0.37552585] [ 0.17908657 0.01294309 0.98374818 -1.49254463] [ 0. 0. 0. 1. ]] SLAMing on 68.846296757 meters Centerline goodness : 0.824559 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-1.49 [[ 0.94165897 0.28804961 -0.17408562 1.4515982 ] [-0.28547779 0.95754217 0.04019245 0.3778101 ] [ 0.17827174 0.01185 0.98390994 -1.49458552] [ 0. 0. 0. 1. ]] SLAMing on 68.876296757 meters Centerline goodness : 0.813368 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-1.49 [[ 0.94170617 0.28788481 -0.17410289 1.45173025] [-0.28536454 0.95758841 0.03989373 0.37910824] [ 0.17820371 0.01211462 0.98391904 -1.49436225] [ 0. 0. 0. 1. ]] SLAMing on 68.906296757 meters Centerline goodness : 0.812411 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-1.50 [[ 0.94209187 0.29276306 -0.16356254 1.45470344] [-0.29097088 0.95607835 0.03535731 0.37627054] [ 0.16672992 0.0142821 0.98589916 -1.50068087] [ 0. 0. 0. 1. ]] SLAMing on 68.93629675700001 meters Centerline goodness : 0.814105 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-1.50 [[ 0.94181553 0.2932536 -0.16427363 1.45472807] [-0.29167264 0.95590597 0.03421754 0.37765206] [ 0.16706456 0.01568751 0.98582115 -1.49880917] [ 0. 0. 0. 1. ]] SLAMing on 68.96629675700001 meters Centerline goodness : 0.815278 Centerline is valid? [False, False] Translation: X:1.46, Y:0.38, Z:-1.50 [[ 0.94160454 0.29372886 -0.16463368 1.45550969] [-0.29220713 0.95575244 0.03394517 0.37856039] [ 0.16731972 0.01614421 0.9857705 -1.4984148 ] [ 0. 0. 0. 1. ]] SLAMing on 68.996296757 meters Centerline goodness : 0.812428 Centerline is valid? [False, False] Translation: X:1.46, Y:0.38, Z:-1.50 [[ 0.94085073 0.29689998 -0.16324924 1.45554074] [-0.29494385 0.95481095 0.03666306 0.38033048] [ 0.16675743 0.01365489 0.9859034 -1.49885141] [ 0. 0. 0. 1. ]] SLAMing on 69.026296757 meters Centerline goodness : 0.809582 Centerline is valid? [False, False] Translation: X:1.46, Y:0.38, Z:-1.50 [[ 0.94035676 0.29797745 -0.16412981 1.4590714 ] [-0.29606969 0.95446689 0.03654716 0.38087854] [ 0.1675467 0.01422649 0.98576149 -1.50005704] [ 0. 0. 0. 1. ]] SLAMing on 69.056296757 meters Centerline goodness : 0.812355 Centerline is valid? [False, False] Translation: X:1.46, Y:0.38, Z:-1.50 [[ 0.93930191 0.30194463 -0.16291519 1.45950729] [-0.29946763 0.95326117 0.04015325 0.38120071] [ 0.16742478 0.01107181 0.98582268 -1.50047449] [ 0. 0. 0. 1. ]] SLAMing on 69.086296757 meters Centerline goodness : 0.809747 Centerline is valid? [False, False] Translation: X:1.46, Y:0.38, Z:-1.50 [[ 0.9389922 0.30220447 -0.16421357 1.46160457] [-0.29986852 0.95316494 0.03943953 0.38081006] [ 0.16844142 0.01220906 0.98563605 -1.50005167] [ 0. 0. 0. 1. ]] SLAMing on 69.116296757 meters Centerline goodness : 0.818935 Centerline is valid? [False, False] Translation: X:1.46, Y:0.38, Z:-1.50 [[ 0.93869483 0.30220557 -0.16590301 1.46220414] [-0.30034292 0.95312049 0.03681653 0.38182454] [ 0.16925172 0.01526831 0.98545458 -1.49739553] [ 0. 0. 0. 1. ]] SLAMing on 69.146296757 meters Centerline goodness : 0.816748 Centerline is valid? [False, False] Translation: X:1.46, Y:0.38, Z:-1.50 [[ 0.93842849 0.30222931 -0.16736014 1.46433959] [-0.30059732 0.95308576 0.03561993 0.38210179] [ 0.17027395 0.01688125 0.98525215 -1.4966108 ] [ 0. 0. 0. 1. ]] SLAMing on 69.176296757 meters Centerline goodness : 0.818808 Centerline is valid? [False, False] Translation: X:1.47, Y:0.38, Z:-1.50 [[ 0.93800212 0.3029455 -0.16845189 1.46687473] [-0.30143878 0.95284018 0.03507488 0.38208068] [ 0.1711335 0.01787762 0.98508564 -1.49684767] [ 0. 0. 0. 1. ]] SLAMing on 69.206296757 meters Centerline goodness : 0.817356 Centerline is valid? [False, False] Translation: X:1.47, Y:0.38, Z:-1.50 [[ 0.93761923 0.3035025 -0.16957714 1.46947059] [-0.30204526 0.95265223 0.03496274 0.38148291] [ 0.17215932 0.01843823 0.98489654 -1.49704012] [ 0. 0. 0. 1. ]] SLAMing on 69.236296757 meters Centerline goodness : 0.814498 Centerline is valid? [False, False] Translation: X:1.47, Y:0.38, Z:-1.50 [[ 0.93701647 0.30514055 -0.16996875 1.47007847] [-0.30364169 0.95212868 0.03539362 0.38068904] [ 0.17263215 0.01844519 0.98481364 -1.49643285] [ 0. 0. 0. 1. ]] SLAMing on 69.266296757 meters Centerline goodness : 0.814336 Centerline is valid? [False, False] Translation: X:1.47, Y:0.38, Z:-1.50 [[ 0.93686233 0.30494011 -0.17117393 1.4719252 ] [-0.30357547 0.95217366 0.03474546 0.38009895] [ 0.17358259 0.01941249 0.98462797 -1.49609047] [ 0. 0. 0. 1. ]] SLAMing on 69.29629675700001 meters Centerline goodness : 0.813462 Centerline is valid? [False, False] Translation: X:1.47, Y:0.38, Z:-1.50 [[ 0.93685918 0.30446471 -0.1720352 1.47299817] [-0.30333277 0.95229619 0.03348434 0.38090713] [ 0.17402326 0.0208138 0.98452155 -1.49555069] [ 0. 0. 0. 1. ]] SLAMing on 69.32629675700001 meters Centerline goodness : 0.813972 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93676601 0.3043163 -0.17280346 1.47516775] [-0.30328282 0.95232868 0.03300918 0.3810783 ] [ 0.17461092 0.02148644 0.98440305 -1.49609517] [ 0. 0. 0. 1. ]] SLAMing on 69.35629675700001 meters Centerline goodness : 0.813972 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93676601 0.3043163 -0.17280346 1.47516775] [-0.30328282 0.95232868 0.03300918 0.3810783 ] [ 0.17461092 0.02148644 0.98440305 -1.49609517] [ 0. 0. 0. 1. ]] SLAMing on 69.386296757 meters Centerline goodness : 0.813112 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93655338 0.30435708 -0.17388081 1.47804629] [-0.303437 0.95229666 0.03251242 0.38114543] [ 0.1754815 0.02231226 0.98422985 -1.49670231] [ 0. 0. 0. 1. ]] SLAMing on 69.416296757 meters Centerline goodness : 0.812966 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93620185 0.30522601 -0.17425032 1.47884005] [-0.30430958 0.95201444 0.0326219 0.38038757] [ 0.17584587 0.02248536 0.98416088 -1.4965228 ] [ 0. 0. 0. 1. ]] SLAMing on 69.446296757 meters Centerline goodness : 0.804868 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93630523 0.30441761 -0.17510689 1.47954484] [-0.30378241 0.95223409 0.03108829 0.38009824] [ 0.17620658 0.02408626 0.98405848 -1.49603693] [ 0. 0. 0. 1. ]] SLAMing on 69.476296757 meters Centerline goodness : 0.806178 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.9364419 0.3037816 -0.1754802 1.48037919] [-0.30327158 0.95241971 0.03038161 0.38035125] [ 0.17636018 0.02476754 0.98401405 -1.49633428] [ 0. 0. 0. 1. ]] SLAMing on 69.506296757 meters Centerline goodness : 0.804984 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93664261 0.30287223 -0.17598023 1.48149832] [-0.30251406 0.95268765 0.02952078 0.38088447] [ 0.17659522 0.02558607 0.98395095 -1.49666739] [ 0. 0. 0. 1. ]] SLAMing on 69.536296757 meters Centerline goodness : 0.803451 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93699017 0.30224559 -0.17520569 1.48066636] [-0.30183066 0.95289992 0.02966476 0.38160499] [ 0.17591953 0.02508686 0.98408484 -1.49725676] [ 0. 0. 0. 1. ]] SLAMing on 69.566296757 meters Centerline goodness : 0.804011 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93698916 0.30213315 -0.17540486 1.48178849] [-0.30169459 0.95293832 0.029815 0.38103479] [ 0.17615811 0.02498236 0.98404482 -1.49808553] [ 0. 0. 0. 1. ]] SLAMing on 69.596296757 meters Centerline goodness : 0.804319 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93680352 0.30258926 -0.1756101 1.48203404] [-0.30209936 0.95279876 0.03017437 0.38030662] [ 0.17645153 0.02478425 0.98399726 -1.49772996] [ 0. 0. 0. 1. ]] SLAMing on 69.626296757 meters Centerline goodness : 0.806896 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.9365171 0.30342136 -0.17570203 1.48140018] [-0.30280383 0.95254933 0.03097774 0.37825315] [ 0.17676416 0.02419206 0.98395588 -1.49698185] [ 0. 0. 0. 1. ]] SLAMing on 69.656296757 meters Centerline goodness : 0.802268 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93621317 0.3044085 -0.17561425 1.48132013] [-0.30364968 0.95225139 0.03184589 0.37677995] [ 0.17692308 0.02351067 0.98394384 -1.49688508] [ 0. 0. 0. 1. ]] SLAMing on 69.68629675700001 meters Centerline goodness : 0.803139 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93584292 0.30541924 -0.17583267 1.48216656] [-0.30456757 0.95193654 0.03248727 0.37608077] [ 0.17730378 0.02314995 0.98388386 -1.49693682] [ 0. 0. 0. 1. ]] SLAMing on 69.71629675700001 meters Centerline goodness : 0.802253 Centerline is valid? [False, False] Translation: X:1.48, Y:0.38, Z:-1.50 [[ 0.93548135 0.30637644 -0.17609123 1.48353043] [-0.30547112 0.95163244 0.03291037 0.37513581] [ 0.17765709 0.02300375 0.98382355 -1.49760988] [ 0. 0. 0. 1. ]] SLAMing on 69.746296757 meters Centerline goodness : 0.798749 Centerline is valid? [False, False] Translation: X:1.48, Y:0.37, Z:-1.50 [[ 0.93424816 0.31026242 -0.17583405 1.48439837] [-0.30894982 0.95041551 0.03550175 0.37300015] [ 0.17813026 0.02115646 0.98377945 -1.49762877] [ 0. 0. 0. 1. ]] SLAMing on 69.776296757 meters Centerline goodness : 0.798090 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-1.50 [[ 0.93360375 0.31167712 -0.1767524 1.48562972] [-0.31048747 0.94993021 0.03507306 0.37237386] [ 0.17883392 0.02213506 0.98363025 -1.49676155] [ 0. 0. 0. 1. ]] SLAMing on 69.806296757 meters Centerline goodness : 0.799957 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-1.49 [[ 0.9332816 0.3121449 -0.17762607 1.48516759] [-0.311113 0.94975143 0.03436453 0.3716443 ] [ 0.17942732 0.02318999 0.98349787 -1.49473064] [ 0. 0. 0. 1. ]] SLAMing on 69.836296757 meters Centerline goodness : 0.801403 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-1.49 [[ 0.93282599 0.31230106 -0.17973238 1.48649959] [-0.31168363 0.94963309 0.03240838 0.37025881] [ 0.18080099 0.02578826 0.98318155 -1.49269954] [ 0. 0. 0. 1. ]] SLAMing on 69.866296757 meters Centerline goodness : 0.802164 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-1.49 [[ 0.93225188 0.31365743 -0.18034816 1.48692772] [-0.31310921 0.9491692 0.03225603 0.36988794] [ 0.18129826 0.02639793 0.9830738 -1.49157541] [ 0. 0. 0. 1. ]] SLAMing on 69.896296757 meters Centerline goodness : 0.809435 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-1.49 [[ 0.93181147 0.31462796 -0.18093269 1.48932458] [-0.3140834 0.94884173 0.03241882 0.36979239] [ 0.18187635 0.02661972 0.98296103 -1.49232435] [ 0. 0. 0. 1. ]] SLAMing on 69.926296757 meters Centerline goodness : 0.814462 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-1.49 [[ 0.93076892 0.31756309 -0.18117091 1.49041152] [-0.31671937 0.94789685 0.03435709 0.36808085] [ 0.18264188 0.02540183 0.98285131 -1.4918496 ] [ 0. 0. 0. 1. ]] SLAMing on 69.956296757 meters Centerline goodness : 0.811989 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-1.49 [[ 0.93037371 0.31800259 -0.18242565 1.49231952] [-0.31727007 0.9477261 0.03398441 0.36648188] [ 0.18369668 0.02626 0.98263215 -1.49153146] [ 0. 0. 0. 1. ]] SLAMing on 69.986296757 meters Centerline goodness : 0.811886 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-1.49 [[ 0.93119314 0.31537932 -0.18279833 1.48943629] [-0.31510326 0.94853997 0.03133453 0.36600956] [ 0.18327378 0.02842185 0.98265097 -1.49053363] [ 0. 0. 0. 1. ]] SLAMing on 70.016296757 meters Centerline goodness : 0.811957 Centerline is valid? [False, False] Translation: X:1.49, Y:0.36, Z:-1.49 [[ 0.93109683 0.31565963 -0.18280508 1.48886775] [-0.31529227 0.9484599 0.03185291 0.3648184 ] [ 0.18343796 0.02797889 0.98263304 -1.48992324] [ 0. 0. 0. 1. ]] SLAMing on 70.04629675700001 meters Centerline goodness : 0.812238 Centerline is valid? [False, False] Translation: X:1.49, Y:0.36, Z:-1.49 [[ 0.93107691 0.31571403 -0.18281259 1.48867963] [-0.3152923 0.94844984 0.03215067 0.36398128] [ 0.18353899 0.02770465 0.98262195 -1.48967397] [ 0. 0. 0. 1. ]] SLAMing on 70.07629675700001 meters Centerline goodness : 0.804698 Centerline is valid? [False, False] Translation: X:1.49, Y:0.36, Z:-1.49 [[ 0.93113115 0.31550654 -0.18289452 1.48879153] [-0.31501626 0.94852934 0.03250918 0.36237542] [ 0.18373768 0.02734444 0.9825949 -1.48952104] [ 0. 0. 0. 1. ]] SLAMing on 70.10629675700001 meters Centerline goodness : 0.802102 Centerline is valid? [False, False] Translation: X:1.49, Y:0.36, Z:-1.49 [[ 0.93109457 0.3157614 -0.18264074 1.48785942] [-0.31514965 0.94846298 0.03314635 0.36073136] [ 0.18369431 0.02669678 0.98262082 -1.4889636 ] [ 0. 0. 0. 1. ]] SLAMing on 70.136296757 meters Centerline goodness : 0.803891 Centerline is valid? [False, False] Translation: X:1.49, Y:0.36, Z:-1.49 [[ 0.93102035 0.31593306 -0.18272224 1.48775423] [-0.31526329 0.94841329 0.03348564 0.36026181] [ 0.18387542 0.0264298 0.98259417 -1.48853054] [ 0. 0. 0. 1. ]] SLAMing on 70.166296757 meters Centerline goodness : 0.800232 Centerline is valid? [False, False] Translation: X:1.47, Y:0.36, Z:-1.49 [[ 0.9311039 0.3148452 -0.18416846 1.47332582] [-0.31257578 0.9489636 0.04200559 0.36254866] [ 0.18799443 0.01845503 0.98199669 -1.48712321] [ 0. 0. 0. 1. ]] SLAMing on 70.196296757 meters Centerline goodness : 0.802362 Centerline is valid? [False, False] Translation: X:1.47, Y:0.36, Z:-1.49 [[ 0.93113924 0.31472023 -0.18420341 1.4736701 ] [-0.3123977 0.94901033 0.04227386 0.36158115] [ 0.18811538 0.01818187 0.98197863 -1.4872157 ] [ 0. 0. 0. 1. ]] SLAMing on 70.226296757 meters Centerline goodness : 0.800102 Centerline is valid? [False, False] Translation: X:1.48, Y:0.36, Z:-1.49 [[ 0.93128735 0.31399447 -0.18469257 1.47522275] [-0.31165111 0.94925203 0.04235768 0.35887814] [ 0.18861987 0.01811247 0.98188313 -1.48793152] [ 0. 0. 0. 1. ]] SLAMing on 70.256296757 meters Centerline goodness : 0.799578 Centerline is valid? [False, False] Translation: X:1.48, Y:0.36, Z:-1.49 [[ 0.9312814 0.31377613 -0.1850932 1.47573278] [-0.31136961 0.94932893 0.04270295 0.35699614] [ 0.1891135 0.01786394 0.98179273 -1.48768214] [ 0. 0. 0. 1. ]] SLAMing on 70.286296757 meters Centerline goodness : 0.799874 Centerline is valid? [False, False] Translation: X:1.48, Y:0.36, Z:-1.49 [[ 0.93128373 0.31374816 -0.18512892 1.4756406 ] [-0.31127355 0.94934445 0.04305689 0.35551999] [ 0.18926013 0.01752756 0.98177054 -1.48757359] [ 0. 0. 0. 1. ]] SLAMing on 70.316296757 meters Centerline goodness : 0.797955 Centerline is valid? [False, False] Translation: X:1.48, Y:0.36, Z:-1.49 [[ 0.93147639 0.31251043 -0.18624976 1.47847045] [-0.31024562 0.94973019 0.04195505 0.3558739 ] [ 0.18999841 0.01870304 0.98160623 -1.48858821] [ 0. 0. 0. 1. ]] SLAMing on 70.346296757 meters Centerline goodness : 0.800538 Centerline is valid? [False, False] Translation: X:1.48, Y:0.36, Z:-1.49 [[ 0.93147235 0.31247452 -0.18633018 1.4789361 ] [-0.31022328 0.94974038 0.04188942 0.35630131] [ 0.19005468 0.01878513 0.98159378 -1.48874771] [ 0. 0. 0. 1. ]] SLAMing on 70.376296757 meters Centerline goodness : 0.797048 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.93109689 0.31329671 -0.18682547 1.47926869] [-0.31098763 0.94947125 0.0423208 0.35498774] [ 0.19064438 0.01869565 0.98148112 -1.48800709] [ 0. 0. 0. 1. ]] SLAMing on 70.406296757 meters Centerline goodness : 0.800366 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.93101115 0.31317509 -0.18745558 1.4799695 ] [-0.31095922 0.94949952 0.04189314 0.35436418] [ 0.19110887 0.01928806 0.98137932 -1.48768187] [ 0. 0. 0. 1. ]] SLAMing on 70.43629675700001 meters Centerline goodness : 0.799809 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.93094941 0.31301921 -0.18802171 1.48087926] [-0.31081545 0.94954745 0.0418735 0.35304027] [ 0.19164274 0.01945795 0.98127185 -1.48780145] [ 0. 0. 0. 1. ]] SLAMing on 70.46629675700001 meters Centerline goodness : 0.802949 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.93079028 0.31296822 -0.18889243 1.48340231] [-0.31080441 0.94955628 0.04175502 0.35230726] [ 0.19243199 0.01984343 0.98110966 -1.48869565] [ 0. 0. 0. 1. ]] SLAMing on 70.496296757 meters Centerline goodness : 0.802196 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.9305624 0.31363643 -0.18890687 1.48435997] [-0.31132386 0.94934932 0.04258314 0.35141507] [ 0.19269423 0.01918495 0.98107129 -1.48934382] [ 0. 0. 0. 1. ]] SLAMing on 70.526296757 meters Centerline goodness : 0.799534 Centerline is valid? [False, False] Translation: X:1.49, Y:0.35, Z:-1.49 [[ 0.93054169 0.31336313 -0.18946161 1.48574298] [-0.31100893 0.94944176 0.04282275 0.34945114] [ 0.19330183 0.01907589 0.98095388 -1.49010356] [ 0. 0. 0. 1. ]] SLAMing on 70.556296757 meters Centerline goodness : 0.802171 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.93048046 0.31342831 -0.18965441 1.48485971] [-0.31107515 0.94941912 0.04284362 0.34839351] [ 0.19348993 0.01913163 0.98091571 -1.48905151] [ 0. 0. 0. 1. ]] SLAMing on 70.586296757 meters Centerline goodness : 0.800580 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.9311534 0.31054369 -0.19109151 1.48479825] [-0.30883072 0.95029814 0.0394592 0.34762253] [ 0.19384771 0.02227236 0.98077878 -1.4882997 ] [ 0. 0. 0. 1. ]] SLAMing on 70.616296757 meters Centerline goodness : 0.808784 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.9310832 0.31080119 -0.1910149 1.48441606] [-0.30899176 0.95022465 0.03996499 0.34677169] [ 0.19392824 0.0218113 0.98077322 -1.48788299] [ 0. 0. 0. 1. ]] SLAMing on 70.646296757 meters Centerline goodness : 0.802288 Centerline is valid? [False, False] Translation: X:1.48, Y:0.35, Z:-1.49 [[ 0.93104583 0.31112134 -0.19067559 1.48340351] [-0.30917365 0.95013602 0.04065942 0.3457515 ] [ 0.19381776 0.02109609 0.9808107 -1.48712059] [ 0. 0. 0. 1. ]] SLAMing on 70.676296757 meters Centerline goodness : 0.799758 Centerline is valid? [False, False] Translation: X:1.48, Y:0.34, Z:-1.49 [[ 0.9309983 0.31127568 -0.19065577 1.48318949] [-0.30925382 0.95009321 0.04104848 0.34470869] [ 0.19391815 0.02074496 0.98079835 -1.48690057] [ 0. 0. 0. 1. ]] SLAMing on 70.706296757 meters Centerline goodness : 0.799612 Centerline is valid? [False, False] Translation: X:1.48, Y:0.34, Z:-1.49 [[ 0.9309544 0.31138062 -0.19069873 1.48309106] [-0.30925651 0.95006918 0.04158086 0.3421566 ] [ 0.19412446 0.02026494 0.98076757 -1.48691224] [ 0. 0. 0. 1. ]] SLAMing on 70.736296757 meters Centerline goodness : 0.798967 Centerline is valid? [False, False] Translation: X:1.48, Y:0.34, Z:-1.49 [[ 0.93088786 0.3115751 -0.19070594 1.48295373] [-0.30939125 0.95001113 0.04190357 0.34126827] [ 0.19422888 0.01999523 0.98075243 -1.48679338] [ 0. 0. 0. 1. ]] SLAMing on 70.766296757 meters Centerline goodness : 0.799732 Centerline is valid? [False, False] Translation: X:1.48, Y:0.34, Z:-1.49 [[ 0.93084643 0.31192344 -0.19033836 1.48201779] [-0.3096918 0.94990261 0.04214275 0.34118359] [ 0.19394821 0.01971781 0.98081359 -1.48656646] [ 0. 0. 0. 1. ]] SLAMing on 70.79629675700001 meters Centerline goodness : 0.797619 Centerline is valid? [False, False] Translation: X:1.48, Y:0.34, Z:-1.49 [[ 0.93082658 0.3119635 -0.19036978 1.48230519] [-0.30973771 0.94988863 0.04212062 0.34150014] [ 0.19397018 0.01975771 0.98080844 -1.48671905] [ 0. 0. 0. 1. ]] SLAMing on 70.82629675700001 meters Centerline goodness : 0.796490 Centerline is valid? [False, False] Translation: X:1.48, Y:0.34, Z:-1.49 [[ 0.93076486 0.31206662 -0.19050247 1.48255749] [-0.30982235 0.94985579 0.04223846 0.3415177 ] [ 0.19413108 0.01970785 0.98077761 -1.48658323] [ 0. 0. 0. 1. ]] SLAMing on 70.85629675700001 meters Centerline goodness : 0.795996 Centerline is valid? [False, False] Translation: X:1.45, Y:0.35, Z:-1.50 [[ 0.93135696 0.3115005 -0.18852493 1.45436399] [-0.30981955 0.94999132 0.03909388 0.3502153 ] [ 0.19127481 0.02199836 0.98128998 -1.49533759] [ 0. 0. 0. 1. ]] SLAMing on 70.886296757 meters Centerline goodness : 0.799213 Centerline is valid? [False, False] Translation: X:1.45, Y:0.35, Z:-1.49 [[ 0.93113711 0.31253268 -0.18790156 1.45249175] [-0.31074831 0.94966451 0.03965862 0.35046215] [ 0.19083806 0.02146248 0.98138687 -1.49464999] [ 0. 0. 0. 1. ]] SLAMing on 70.916296757 meters Centerline goodness : 0.796363 Centerline is valid? [False, False] Translation: X:1.45, Y:0.35, Z:-1.49 [[ 0.93107556 0.3126686 -0.18798047 1.45308385] [-0.3109052 0.9496167 0.03957373 0.35120243] [ 0.19088286 0.02159797 0.98137519 -1.49499677] [ 0. 0. 0. 1. ]] SLAMing on 70.946296757 meters Centerline goodness : 0.794265 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-1.50 [[ 0.93043859 0.31319444 -0.19024531 1.43894643] [-0.30980606 0.94958292 0.04808833 0.35441205] [ 0.1957147 0.01419591 0.98055812 -1.49516569] [ 0. 0. 0. 1. ]] SLAMing on 70.976296757 meters Centerline goodness : 0.791659 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-1.50 [[ 0.9292618 0.31706077 -0.18959157 1.44100232] [-0.3130278 0.94833749 0.0516681 0.35410145] [ 0.19617873 0.01133424 0.98050265 -1.49574969] [ 0. 0. 0. 1. ]] SLAMing on 71.006296757 meters Centerline goodness : 0.792811 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-1.50 [[ 0.92971063 0.31601998 -0.18912832 1.41848853] [-0.31179701 0.94869799 0.05248567 0.36135246] [ 0.19601218 0.01017316 0.98054869 -1.50105382] [ 0. 0. 0. 1. ]] SLAMing on 71.036296757 meters Centerline goodness : 0.792326 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-1.50 [[ 0.92952476 0.3167052 -0.18889556 1.41747882] [-0.31243043 0.94847199 0.05280262 0.36095329] [ 0.19588501 0.00993537 0.98057654 -1.50075854] [ 0. 0. 0. 1. ]] SLAMing on 71.066296757 meters Centerline goodness : 0.793493 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-1.50 [[ 0.9294519 0.31687586 -0.18896787 1.41793819] [-0.3126383 0.94841266 0.0526376 0.36187473] [ 0.1958991 0.01015447 0.98057148 -1.50106635] [ 0. 0. 0. 1. ]] SLAMing on 71.096296757 meters Centerline goodness : 0.791279 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-1.50 [[ 0.92873 0.31785254 -0.19086736 1.4024018 ] [-0.31230327 0.94812935 0.05930774 0.36785365] [ 0.19981807 0.00452763 0.97982256 -1.50323363] [ 0. 0. 0. 1. ]] SLAMing on 71.126296757 meters Centerline goodness : 0.790494 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-1.50 [[ 0.92867438 0.31794467 -0.19098452 1.40284286] [-0.31241076 0.94809788 0.05924459 0.36861379] [ 0.19990852 0.00464668 0.97980355 -1.50329212] [ 0. 0. 0. 1. ]] SLAMing on 71.156296757 meters Centerline goodness : 0.791674 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-1.50 [[ 0.92862654 0.31813076 -0.19090725 1.40265455] [-0.31258494 0.94803574 0.05932021 0.36912213] [ 0.19985848 0.00458841 0.97981403 -1.50311435] [ 0. 0. 0. 1. ]] SLAMing on 71.18629675700001 meters Centerline goodness : 0.791898 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-1.50 [[ 0.92857882 0.318205 -0.19101557 1.40255348] [-0.31262095 0.94801149 0.05951769 0.36871241] [ 0.20002378 0.0044486 0.97978094 -1.50273448] [ 0. 0. 0. 1. ]] SLAMing on 71.21629675700001 meters Centerline goodness : 0.796721 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-1.50 [[ 0.92856377 0.31818449 -0.19112289 1.40247792] [-0.31255616 0.9480192 0.05973472 0.36803085] [ 0.20019483 0.00426914 0.97974681 -1.50235174] [ 0. 0. 0. 1. ]] SLAMing on 71.246296757 meters Centerline goodness : 0.796721 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-1.50 [[ 0.92856377 0.31818449 -0.19112289 1.40247792] [-0.31255616 0.9480192 0.05973472 0.36803085] [ 0.20019483 0.00426914 0.97974681 -1.50235174] [ 0. 0. 0. 1. ]] SLAMing on 71.276296757 meters Centerline goodness : 0.792277 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-1.50 [[ 0.92867689 0.31768063 -0.1914112 1.40302617] [-0.31205214 0.94818803 0.05969012 0.36712151] [ 0.2004562 0.00429745 0.97969324 -1.50226493] [ 0. 0. 0. 1. ]] SLAMing on 71.306296757 meters Centerline goodness : 0.795535 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-1.50 [[ 0.92877649 0.31709842 -0.19189272 1.40424189] [-0.31147302 0.94838247 0.05962584 0.36669405] [ 0.20089495 0.00439033 0.97960295 -1.50219575] [ 0. 0. 0. 1. ]] SLAMing on 71.336296757 meters Centerline goodness : 0.789935 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-1.50 [[ 0.92880332 0.31688864 -0.1921093 1.40486402] [-0.3112519 0.94845265 0.0596643 0.36640055] [ 0.20111351 0.00437798 0.97955816 -1.50222691] [ 0. 0. 0. 1. ]] SLAMing on 71.366296757 meters Centerline goodness : 0.789815 Centerline is valid? [False, False] Translation: X:1.41, Y:0.37, Z:-1.50 [[ 0.92883971 0.31664829 -0.19232953 1.40551572] [-0.31099452 0.94853311 0.05972735 0.36597817] [ 0.20134349 0.0043363 0.9795111 -1.50224343] [ 0. 0. 0. 1. ]] SLAMing on 71.396296757 meters Centerline goodness : 0.789131 Centerline is valid? [False, False] Translation: X:1.41, Y:0.37, Z:-1.50 [[ 0.92891822 0.31631959 -0.19249119 1.40568909] [-0.31062564 0.94864357 0.05989224 0.36543228] [ 0.20155062 0.0041577 0.97946928 -1.50177387] [ 0. 0. 0. 1. ]] SLAMing on 71.426296757 meters Centerline goodness : 0.790166 Centerline is valid? [False, False] Translation: X:1.41, Y:0.37, Z:-1.50 [[ 0.92888592 0.31630968 -0.19266328 1.40563867] [-0.3105772 0.94864744 0.06008194 0.36531476] [ 0.20177403 0.00402755 0.97942382 -1.50117335] [ 0. 0. 0. 1. ]] SLAMing on 71.456296757 meters Centerline goodness : 0.789853 Centerline is valid? [False, False] Translation: X:1.41, Y:0.37, Z:-1.50 [[ 0.92885911 0.31620477 -0.19296452 1.4061725 ] [-0.31048955 0.94868172 0.05999363 0.36542819] [ 0.20203219 0.00418783 0.97936993 -1.50107008] [ 0. 0. 0. 1. ]] SLAMing on 71.486296757 meters Centerline goodness : 0.791475 Centerline is valid? [False, False] Translation: X:1.38, Y:0.38, Z:-1.51 [[ 0.92962569 0.314258 -0.19245255 1.38179261] [-0.30903872 0.94931772 0.05736662 0.37541269] [ 0.20072653 0.0061458 0.97962804 -1.50880471] [ 0. 0. 0. 1. ]] SLAMing on 71.516296757 meters Centerline goodness : 0.792120 Centerline is valid? [False, False] Translation: X:1.38, Y:0.38, Z:-1.51 [[ 0.92960482 0.31422454 -0.19260794 1.38216409] [-0.30902463 0.94932793 0.0572736 0.37596828] [ 0.20084487 0.00627878 0.97960294 -1.5087198 ] [ 0. 0. 0. 1. ]] SLAMing on 71.54629675700001 meters Centerline goodness : 0.790799 Centerline is valid? [False, False] Translation: X:1.38, Y:0.38, Z:-1.51 [[ 0.9295441 0.31431449 -0.19275418 1.38277279] [-0.30913678 0.94929709 0.05717937 0.37641232] [ 0.20095329 0.00643666 0.97957968 -1.50900871] [ 0. 0. 0. 1. ]] SLAMing on 71.57629675700001 meters Centerline goodness : 0.792778 Centerline is valid? [False, False] Translation: X:1.36, Y:0.39, Z:-1.52 [[ 0.92910997 0.31571411 -0.19255978 1.35625034] [-0.31085665 0.94882015 0.05575359 0.38692461] [ 0.2003068 0.00805727 0.97970009 -1.51868362] [ 0. 0. 0. 1. ]] SLAMing on 71.60629675700001 meters Centerline goodness : 0.790763 Centerline is valid? [False, False] Translation: X:1.35, Y:0.39, Z:-1.52 [[ 0.92896779 0.31646487 -0.19201255 1.35493867] [-0.31160408 0.94857073 0.0558253 0.38943162] [ 0.19980424 0.00797199 0.97980341 -1.51806018] [ 0. 0. 0. 1. ]] SLAMing on 71.636296757 meters Centerline goodness : 0.789907 Centerline is valid? [False, False] Translation: X:1.35, Y:0.39, Z:-1.52 [[ 0.92886883 0.31684843 -0.19185871 1.35420792] [-0.31195224 0.94844408 0.05603236 0.3898094 ] [ 0.19972102 0.00780404 0.97982172 -1.51751546] [ 0. 0. 0. 1. ]] SLAMing on 71.666296757 meters Centerline goodness : 0.791227 Centerline is valid? [False, False] Translation: X:1.35, Y:0.39, Z:-1.52 [[ 0.92881584 0.31693251 -0.19197633 1.35437857] [-0.31204321 0.94841536 0.056012 0.39010773] [ 0.19982533 0.00788008 0.97979985 -1.51742482] [ 0. 0. 0. 1. ]] SLAMing on 71.696296757 meters Centerline goodness : 0.792157 Centerline is valid? [False, False] Translation: X:1.36, Y:0.39, Z:-1.52 [[ 0.92886762 0.31663083 -0.19222345 1.35554797] [-0.3118304 0.94851221 0.05555537 0.39122992] [ 0.19991683 0.00833753 0.9797774 -1.5179824 ] [ 0. 0. 0. 1. ]] SLAMing on 71.726296757 meters Centerline goodness : 0.793709 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:-1.52 [[ 0.92908608 0.31484662 -0.1940893 1.33885019] [-0.30895139 0.94913601 0.06074435 0.3961406 ] [ 0.2033423 0.00352743 0.97910136 -1.51875559] [ 0. 0. 0. 1. ]] SLAMing on 71.756296757 meters Centerline goodness : 0.791573 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:-1.52 [[ 0.92914769 0.31459314 -0.19420539 1.33910265] [-0.30870828 0.94921985 0.06067016 0.39674094] [ 0.20343002 0.00358127 0.97908294 -1.51838429] [ 0. 0. 0. 1. ]] SLAMing on 71.786296757 meters Centerline goodness : 0.794374 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.52 [[ 0.92962557 0.31247986 -0.19532701 1.32249159] [-0.30540827 0.94992264 0.06612686 0.40184797] [ 0.20620886 -0.00181874 0.97850631 -1.51881912] [ 0. 0. 0. 1. ]] SLAMing on 71.816296757 meters Centerline goodness : 0.800671 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.52 [[ 9.30676423e-01 3.08586912e-01 -1.96508304e-01 1.32216650e+00] [-3.02186926e-01 9.51195414e-01 6.25327640e-02 4.04325051e-01] [ 2.06214590e-01 1.18447110e-03 9.78506076e-01 -1.51801806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.846296757 meters Centerline goodness : 0.799800 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.52 [[ 9.30896368e-01 3.07905213e-01 -1.96535826e-01 1.32226308e+00] [-3.01573505e-01 9.51415969e-01 6.21375583e-02 4.03894934e-01] [ 2.06119802e-01 1.42637060e-03 9.78525724e-01 -1.51815712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.876296757 meters Centerline goodness : 0.802578 Centerline is valid? [False, False] Translation: X:1.32, Y:0.41, Z:-1.52 [[ 0.93206284 0.30346754 -0.1979048 1.32281639] [-0.29788214 0.95282992 0.05814955 0.40514272] [ 0.20621611 0.00475327 0.97849493 -1.51835534] [ 0. 0. 0. 1. ]] SLAMing on 71.906296757 meters Centerline goodness : 0.803696 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.52 [[ 0.93211632 0.30307941 -0.19824738 1.32370224] [-0.29747187 0.95295369 0.05822152 0.40419907] [ 0.20656632 0.0047038 0.97842129 -1.51842419] [ 0. 0. 0. 1. ]] SLAMing on 71.93629675700001 meters Centerline goodness : 0.805291 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.53 [[ 9.33783681e-01 3.07754763e-01 -1.82578868e-01 1.32209030e+00] [-3.02155311e-01 9.51465529e-01 5.84424136e-02 4.00178481e-01] [ 1.91703431e-01 5.94602685e-04 9.81452720e-01 -1.52746379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96629675700001 meters Centerline goodness : 0.805977 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.54 [[ 9.34500764e-01 3.13041130e-01 -1.69450800e-01 1.32330750e+00] [-3.07885065e-01 9.49739305e-01 5.65865558e-02 3.96381380e-01] [ 1.78648004e-01 -7.08809073e-04 9.83912795e-01 -1.53608741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.996296757 meters Centerline goodness : 0.806172 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.54 [[ 9.35327695e-01 3.10913704e-01 -1.68803947e-01 1.32196038e+00] [-3.05867085e-01 9.50437984e-01 5.57939484e-02 3.97817870e-01] [ 1.77784786e-01 -5.54053997e-04 9.84069237e-01 -1.53661815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.026296757 meters Centerline goodness : 0.801355 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.54 [[ 0.93576081 0.30895721 -0.16999162 1.32211531] [-0.3044165 0.95107312 0.05282537 0.39862395] [ 0.17799523 0.00231635 0.98402862 -1.53556292] [ 0. 0. 0. 1. ]] SLAMing on 72.056296757 meters Centerline goodness : 0.803669 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.53 [[ 0.9361474 0.30759407 -0.17033476 1.3213174 ] [-0.30330877 0.9515107 0.05129504 0.39911872] [ 0.1778534 0.0036443 0.98405025 -1.53467009] [ 0. 0. 0. 1. ]] SLAMing on 72.086296757 meters Centerline goodness : 0.799503 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.54 [[ 0.93607869 0.30780123 -0.17033818 1.32241788] [-0.30350043 0.95144393 0.0513997 0.39993617] [ 0.17788812 0.00358355 0.98404419 -1.53536963] [ 0. 0. 0. 1. ]] SLAMing on 72.116296757 meters Centerline goodness : 0.804755 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.54 [[ 9.35385787e-01 3.10765980e-01 -1.68754065e-01 1.32221774e+00] [-3.05976128e-01 9.50486129e-01 5.43574005e-02 4.01232234e-01] [ 1.77290829e-01 7.89575440e-04 9.84158188e-01 -1.53615581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.146296757 meters Centerline goodness : 0.803097 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-1.54 [[ 9.34943893e-01 3.11745991e-01 -1.69394079e-01 1.32374953e+00] [-3.06991201e-01 9.50164620e-01 5.42549198e-02 4.01702498e-01] [ 1.77866014e-01 1.27718587e-03 9.84053886e-01 -1.53587924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.176296757 meters Centerline goodness : 0.812205 Centerline is valid? [False, False] Translation: X:1.33, Y:0.40, Z:-1.53 [[ 0.93409385 0.31316875 -0.17144681 1.32714268] [-0.30864688 0.9496918 0.0531281 0.40156513] [ 0.17945969 0.00328989 0.98375983 -1.53498245] [ 0. 0. 0. 1. ]] SLAMing on 72.206296757 meters Centerline goodness : 0.813035 Centerline is valid? [False, False] Translation: X:1.33, Y:0.40, Z:-1.53 [[ 0.93362713 0.31406742 -0.17234281 1.32856927] [-0.3096417 0.94939157 0.05270354 0.4015509 ] [ 0.18017327 0.00415906 0.98362609 -1.53429702] [ 0. 0. 0. 1. ]] SLAMing on 72.236296757 meters Centerline goodness : 0.813282 Centerline is valid? [False, False] Translation: X:1.33, Y:0.40, Z:-1.53 [[ 0.93242277 0.31653689 -0.1743335 1.33183453] [-0.3123056 0.94856109 0.05193337 0.40110243] [ 0.1818048 0.00602147 0.9833162 -1.53299855] [ 0. 0. 0. 1. ]] SLAMing on 72.266296757 meters Centerline goodness : 0.819420 Centerline is valid? [False, False] Translation: X:1.33, Y:0.40, Z:-1.53 [[ 0.93171519 0.31831238 -0.17488292 1.3332526 ] [-0.31402072 0.94796655 0.05244428 0.40069943] [ 0.18247682 0.00605373 0.98319152 -1.53263501] [ 0. 0. 0. 1. ]] SLAMing on 72.29629675700001 meters Centerline goodness : 0.819849 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:-1.53 [[ 0.93088287 0.32011219 -0.17602632 1.33603435] [-0.3158185 0.94735688 0.05266519 0.39986989] [ 0.18361852 0.00656725 0.98297564 -1.5325594 ] [ 0. 0. 0. 1. ]] SLAMing on 72.32629675700001 meters Centerline goodness : 0.820976 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:-1.53 [[ 0.9295934 0.32354865 -0.17655702 1.33834283] [-0.31903643 0.94619273 0.05417637 0.39855888] [ 0.18458566 0.00596612 0.98279832 -1.53259432] [ 0. 0. 0. 1. ]] SLAMing on 72.35629675700001 meters Centerline goodness : 0.823677 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:-1.53 [[ 0.9294705 0.32220502 -0.17963436 1.34184925] [-0.31832774 0.94661764 0.0508183 0.39726619] [ 0.18641897 0.00994849 0.98241997 -1.53168985] [ 0. 0. 0. 1. ]] SLAMing on 72.386296757 meters Centerline goodness : 0.816078 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:-1.53 [[ 0.92959411 0.32145603 -0.18033525 1.34234941] [-0.31765434 0.94686689 0.05038652 0.39617935] [ 0.18695053 0.01044526 0.9823138 -1.53137954] [ 0. 0. 0. 1. ]] SLAMing on 72.416296757 meters Centerline goodness : 0.814963 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:-1.53 [[ 0.92985091 0.32086733 -0.18005952 1.34140131] [-0.31703393 0.94706981 0.05048039 0.39582445] [ 0.18672645 0.01014574 0.98235956 -1.53124744] [ 0. 0. 0. 1. ]] SLAMing on 72.446296757 meters Centerline goodness : 0.815365 Centerline is valid? [False, False] Translation: X:1.34, Y:0.39, Z:-1.53 [[ 0.93119269 0.31664325 -0.18060238 1.34224048] [-0.31314464 0.94847447 0.04833845 0.3942999 ] [ 0.18660279 0.01154226 0.98236764 -1.53338375] [ 0. 0. 0. 1. ]] SLAMing on 72.476296757 meters Centerline goodness : 0.815363 Centerline is valid? [False, False] Translation: X:1.34, Y:0.39, Z:-1.53 [[ 0.93204366 0.31353476 -0.18163307 1.34242925] [-0.31051606 0.94947473 0.04557984 0.39345057] [ 0.18674687 0.01391758 0.98230948 -1.53357838] [ 0. 0. 0. 1. ]] SLAMing on 72.506296757 meters Centerline goodness : 0.817541 Centerline is valid? [False, False] Translation: X:1.34, Y:0.39, Z:-1.53 [[ 0.93390321 0.30784738 -0.18180972 1.33970725] [-0.30527875 0.95130687 0.04266291 0.39182211] [ 0.1860905 0.01565962 0.98240781 -1.5335242 ] [ 0. 0. 0. 1. ]] SLAMing on 72.536296757 meters Centerline goodness : 0.816571 Centerline is valid? [False, False] Translation: X:1.34, Y:0.39, Z:-1.54 [[ 0.93493176 0.31170359 -0.16953899 1.34067691] [-0.30958784 0.95005149 0.03946561 0.38649258] [ 0.17337234 0.01558956 0.98473296 -1.54070956] [ 0. 0. 0. 1. ]] SLAMing on 72.566296757 meters Centerline goodness : 0.815595 Centerline is valid? [False, False] Translation: X:1.34, Y:0.38, Z:-1.54 [[ 0.9358485 0.30929735 -0.16888677 1.34103406] [-0.30692049 0.95086566 0.04067307 0.38371347] [ 0.1731687 0.01377098 0.9847959 -1.54344454] [ 0. 0. 0. 1. ]] SLAMing on 72.596296757 meters Centerline goodness : 0.814977 Centerline is valid? [False, False] Translation: X:1.34, Y:0.38, Z:-1.54 [[ 0.93598004 0.30847509 -0.16965992 1.3426851 ] [-0.30610572 0.95113062 0.04061811 0.38140451] [ 0.17389842 0.01391613 0.98466526 -1.54434751] [ 0. 0. 0. 1. ]] SLAMing on 72.626296757 meters Centerline goodness : 0.816390 Centerline is valid? [False, False] Translation: X:1.34, Y:0.38, Z:-1.54 [[ 0.93709967 0.30459126 -0.17049448 1.34154668] [-0.30273695 0.95233935 0.0374179 0.37986938] [ 0.17376577 0.01655067 0.98464792 -1.54418156] [ 0. 0. 0. 1. ]] SLAMing on 72.656296757 meters Centerline goodness : 0.818263 Centerline is valid? [False, False] Translation: X:1.34, Y:0.38, Z:-1.54 [[ 0.93705129 0.30475062 -0.17047562 1.34119139] [-0.30277972 0.95229906 0.03809112 0.37794784] [ 0.17395207 0.01592323 0.98462538 -1.54361459] [ 0. 0. 0. 1. ]] SLAMing on 72.68629675700001 meters Centerline goodness : 0.816589 Centerline is valid? [False, False] Translation: X:1.32, Y:0.38, Z:-1.54 [[ 0.93731758 0.30305655 -0.17202464 1.32253485] [-0.30014263 0.95290904 0.04334474 0.38115242] [ 0.17705974 0.01100414 0.98413859 -1.54402056] [ 0. 0. 0. 1. ]] SLAMing on 72.71629675700001 meters Centerline goodness : 0.813606 Centerline is valid? [False, False] Translation: X:1.32, Y:0.38, Z:-1.54 [[ 0.93726698 0.30314825 -0.17213875 1.32278344] [-0.30019573 0.95288182 0.04357478 0.38068378] [ 0.1772375 0.01083411 0.98410847 -1.54392276] [ 0. 0. 0. 1. ]] SLAMing on 72.746296757 meters Centerline goodness : 0.820878 Centerline is valid? [False, False] Translation: X:1.32, Y:0.38, Z:-1.54 [[ 0.93715563 0.30359144 -0.17196387 1.32256293] [-0.30060944 0.9527425 0.04376873 0.38098578] [ 0.1771251 0.01067585 0.98413044 -1.54397584] [ 0. 0. 0. 1. ]] SLAMing on 72.776296757 meters Centerline goodness : 0.813138 Centerline is valid? [False, False] Translation: X:1.32, Y:0.38, Z:-1.54 [[ 0.93704019 0.30394 -0.17197723 1.32241997] [-0.30093308 0.95263243 0.04394019 0.38107768] [ 0.17718627 0.01057991 0.98412047 -1.54377651] [ 0. 0. 0. 1. ]] SLAMing on 72.806296757 meters Centerline goodness : 0.822015 Centerline is valid? [False, False] Translation: X:1.32, Y:0.38, Z:-1.54 [[ 0.93686218 0.30441993 -0.17209812 1.32296026] [-0.30142658 0.95247748 0.04391662 0.38064802] [ 0.17728868 0.01073113 0.98410038 -1.54463568] [ 0. 0. 0. 1. ]] SLAMing on 72.836296757 meters Centerline goodness : 0.821449 Centerline is valid? [False, False] Translation: X:1.32, Y:0.38, Z:-1.54 [[ 0.93676125 0.30468554 -0.17217747 1.32317999] [-0.30168667 0.95239236 0.0439767 0.38067401] [ 0.17737957 0.01074798 0.98408382 -1.5447883 ] [ 0. 0. 0. 1. ]] SLAMing on 72.866296757 meters Centerline goodness : 0.819978 Centerline is valid? [False, False] Translation: X:1.32, Y:0.38, Z:-1.54 [[ 0.93667846 0.30492306 -0.17220742 1.32334 ] [-0.30192677 0.95231583 0.04398628 0.38092501] [ 0.17740828 0.01079303 0.98407815 -1.54494532] [ 0. 0. 0. 1. ]] SLAMing on 72.896296757 meters Centerline goodness : 0.808697 Centerline is valid? [False, False] Translation: X:1.32, Y:0.38, Z:-1.54 [[ 0.93647173 0.3056706 -0.17200633 1.32265705] [-0.30262323 0.95207896 0.04432655 0.38073425] [ 0.17731293 0.01054255 0.98409805 -1.54482975] [ 0. 0. 0. 1. ]] SLAMing on 72.926296757 meters Centerline goodness : 0.815971 Centerline is valid? [False, False] Translation: X:1.32, Y:0.38, Z:-1.54 [[ 0.93622552 0.30673503 -0.17145087 1.32119954] [-0.30358767 0.95174274 0.04494766 0.38003688] [ 0.17696414 0.00996923 0.98416681 -1.54476199] [ 0. 0. 0. 1. ]] SLAMing on 72.956296757 meters Centerline goodness : 0.814291 Centerline is valid? [False, False] Translation: X:1.32, Y:0.38, Z:-1.54 [[ 0.9360408 0.30753953 -0.17101773 1.31972786] [-0.30428387 0.95148932 0.04560034 0.37953988] [ 0.17674545 0.00935416 0.98421214 -1.54408069] [ 0. 0. 0. 1. ]] SLAMing on 72.986296757 meters Centerline goodness : 0.810114 Centerline is valid? [False, False] Translation: X:1.32, Y:0.38, Z:-1.54 [[ 0.93585788 0.30831618 -0.17061992 1.31803817] [-0.30492193 0.95124524 0.04642307 0.37870854] [ 0.17661437 0.00858036 0.98424272 -1.54299805] [ 0. 0. 0. 1. ]] SLAMing on 73.016296757 meters Centerline goodness : 0.805161 Centerline is valid? [False, False] Translation: X:1.31, Y:0.38, Z:-1.54 [[ 0.93554826 0.30970028 -0.16980928 1.31466991] [-0.30600983 0.95080918 0.04816522 0.3759032 ] [ 0.17637301 0.00690242 0.9842992 -1.54091945] [ 0. 0. 0. 1. ]] SLAMing on 73.04629675700001 meters Centerline goodness : 0.814035 Centerline is valid? [False, False] Translation: X:1.31, Y:0.37, Z:-1.54 [[ 0.93546071 0.31000464 -0.16973624 1.31442251] [-0.30615139 0.95071589 0.04909818 0.37320118] [ 0.1765916 0.00603557 0.98426571 -1.54070064] [ 0. 0. 0. 1. ]] SLAMing on 73.07629675700001 meters Centerline goodness : 0.806635 Centerline is valid? [False, False] Translation: X:1.32, Y:0.37, Z:-1.54 [[ 0.9354914 0.30977755 -0.16998147 1.31519404] [-0.30588808 0.95079083 0.04928765 0.3720357 ] [ 0.17688503 0.00588713 0.98421391 -1.54089566] [ 0. 0. 0. 1. ]] SLAMing on 73.10629675700001 meters Centerline goodness : 0.809795 Centerline is valid? [False, False] Translation: X:1.32, Y:0.37, Z:-1.54 [[ 0.93665287 0.30555802 -0.1712183 1.31560847] [-0.30226895 0.95213065 0.04561471 0.37197681] [ 0.17696013 0.00902883 0.98417661 -1.54139033] [ 0. 0. 0. 1. ]] SLAMing on 73.136296757 meters Centerline goodness : 0.809795 Centerline is valid? [False, False] Translation: X:1.32, Y:0.37, Z:-1.54 [[ 0.93665287 0.30555802 -0.1712183 1.31560847] [-0.30226895 0.95213065 0.04561471 0.37197681] [ 0.17696013 0.00902883 0.98417661 -1.54139033] [ 0. 0. 0. 1. ]] SLAMing on 73.166296757 meters Centerline goodness : 0.797883 Centerline is valid? [False, False] Translation: X:1.32, Y:0.37, Z:-1.54 [[ 0.93774462 0.30165173 -0.17216637 1.31504612] [-0.29900237 0.95333851 0.04175235 0.372943 ] [ 0.1767275 0.01232511 0.98418265 -1.5416501 ] [ 0. 0. 0. 1. ]] SLAMing on 73.196296757 meters Centerline goodness : 0.795066 Centerline is valid? [False, False] Translation: X:1.31, Y:0.37, Z:-1.54 [[ 0.93878453 0.29788165 -0.17306102 1.31412507] [-0.2958491 0.9544771 0.03803663 0.37400692] [ 0.1765132 0.01549175 0.98417635 -1.54148006] [ 0. 0. 0. 1. ]] SLAMing on 73.226296757 meters Centerline goodness : 0.790741 Centerline is valid? [False, False] Translation: X:1.31, Y:0.37, Z:-1.54 [[ 0.93997442 0.29350541 -0.17407659 1.31370994] [-0.29210096 0.95577493 0.0342245 0.37422283] [ 0.17642311 0.01867779 0.9841372 -1.54141035] [ 0. 0. 0. 1. ]] SLAMing on 73.256296757 meters Centerline goodness : 0.789412 Centerline is valid? [False, False] Translation: X:1.31, Y:0.37, Z:-1.54 [[ 0.94115938 0.28898531 -0.17523277 1.31409593] [-0.28824577 0.95707928 0.03022632 0.37493661] [ 0.17644661 0.02206232 0.98406293 -1.54180123] [ 0. 0. 0. 1. ]] SLAMing on 73.286296757 meters Centerline goodness : 0.808716 Centerline is valid? [False, False] Translation: X:1.31, Y:0.37, Z:-1.54 [[ 0.94120266 0.28879285 -0.17531756 1.31429827] [-0.28800103 0.95714394 0.03051031 0.37398463] [ 0.1766153 0.02177526 0.98403906 -1.54155363] [ 0. 0. 0. 1. ]] SLAMing on 73.316296757 meters Centerline goodness : 0.808758 Centerline is valid? [False, False] Translation: X:1.31, Y:0.37, Z:-1.54 [[ 0.94120375 0.28872924 -0.17541643 1.31419545] [-0.28787473 0.95717054 0.03086569 0.37322 ] [ 0.17681527 0.02144705 0.98401036 -1.54096303] [ 0. 0. 0. 1. ]] SLAMing on 73.346296757 meters Centerline goodness : 0.810303 Centerline is valid? [False, False] Translation: X:1.31, Y:0.37, Z:-1.54 [[ 0.94219103 0.28529274 -0.17573875 1.31113319] [-0.28493153 0.95814367 0.02783393 0.37334994] [ 0.17632379 0.02384863 0.98404327 -1.53932919] [ 0. 0. 0. 1. ]] SLAMing on 73.376296757 meters Centerline goodness : 0.790170 Centerline is valid? [False, False] Translation: X:1.31, Y:0.37, Z:-1.54 [[ 0.94217767 0.28534331 -0.17572829 1.31063222] [-0.28487898 0.95814231 0.02841253 0.37192111] [ 0.17648004 0.02329165 0.9840286 -1.53851808] [ 0. 0. 0. 1. ]] SLAMing on 73.406296757 meters Centerline goodness : 0.786275 Centerline is valid? [False, False] Translation: X:1.30, Y:0.37, Z:-1.54 [[ 0.94210523 0.28386808 -0.17848428 1.29773267] [-0.28191538 0.95873497 0.03675566 0.37424373] [ 0.18155288 0.01568976 0.98325601 -1.53726096] [ 0. 0. 0. 1. ]] SLAMing on 73.43629675700001 meters Centerline goodness : 0.787237 Centerline is valid? [False, False] Translation: X:1.30, Y:0.37, Z:-1.54 [[ 0.94209353 0.28373414 -0.17875881 1.29879536] [-0.28180686 0.9587717 0.0366295 0.37456492] [ 0.18178192 0.01586705 0.98321085 -1.5376619 ] [ 0. 0. 0. 1. ]] SLAMing on 73.46629675700001 meters Centerline goodness : 0.807578 Centerline is valid? [False, False] Translation: X:1.30, Y:0.37, Z:-1.54 [[ 0.94199617 0.28408544 -0.17871394 1.29871378] [-0.28214411 0.95866847 0.03673519 0.37445588] [ 0.18176336 0.01581868 0.98321506 -1.53778652] [ 0. 0. 0. 1. ]] SLAMing on 73.496296757 meters Centerline goodness : 0.786518 Centerline is valid? [False, False] Translation: X:1.30, Y:0.37, Z:-1.54 [[ 0.9418809 0.28448934 -0.17867898 1.29811512] [-0.28249222 0.95855296 0.03707244 0.37401441] [ 0.18181998 0.0155576 0.98320876 -1.53726847] [ 0. 0. 0. 1. ]] SLAMing on 73.526296757 meters Centerline goodness : 0.806708 Centerline is valid? [False, False] Translation: X:1.30, Y:0.37, Z:-1.54 [[ 0.94177096 0.28494117 -0.17853847 1.29742731] [-0.28290677 0.95842166 0.03730518 0.37405938] [ 0.18174492 0.01537681 0.98322548 -1.53687373] [ 0. 0. 0. 1. ]] SLAMing on 73.556296757 meters Centerline goodness : 0.817860 Centerline is valid? [False, False] Translation: X:1.30, Y:0.38, Z:-1.54 [[ 0.94142918 0.28646156 -0.17790691 1.29544669] [-0.28437934 0.95797206 0.03765546 0.37518727] [ 0.18121668 0.0151431 0.9833266 -1.53664306] [ 0. 0. 0. 1. ]] SLAMing on 73.586296757 meters Centerline goodness : 0.820306 Centerline is valid? [False, False] Translation: X:1.29, Y:0.37, Z:-1.54 [[ 0.94011286 0.29153966 -0.17661379 1.29498169] [-0.28873568 0.95648901 0.041958 0.37479333] [ 0.18116157 0.01154944 0.98338553 -1.5363115 ] [ 0. 0. 0. 1. ]] SLAMing on 73.616296757 meters Centerline goodness : 0.806699 Centerline is valid? [False, False] Translation: X:1.29, Y:0.38, Z:-1.54 [[ 0.93989321 0.29252265 -0.17615692 1.29363633] [-0.28966575 0.95619229 0.04230905 0.37603242] [ 0.18081625 0.01126064 0.98345243 -1.53578036] [ 0. 0. 0. 1. ]] SLAMing on 73.646296757 meters Centerline goodness : 0.810856 Centerline is valid? [False, False] Translation: X:1.29, Y:0.37, Z:-1.54 [[ 0.93854276 0.29760918 -0.17483212 1.29304541] [-0.29401125 0.95465811 0.04674706 0.37492102] [ 0.18081725 0.0075285 0.9834879 -1.53538343] [ 0. 0. 0. 1. ]] SLAMing on 73.676296757 meters Centerline goodness : 0.818243 Centerline is valid? [False, False] Translation: X:1.29, Y:0.38, Z:-1.54 [[ 0.93842801 0.29798565 -0.17480683 1.29306796] [-0.29439045 0.9545403 0.04676629 0.37536059] [ 0.18079584 0.00757467 0.98349148 -1.53556939] [ 0. 0. 0. 1. ]] SLAMing on 73.706296757 meters Centerline goodness : 0.817340 Centerline is valid? [False, False] Translation: X:1.29, Y:0.38, Z:-1.54 [[ 0.93831631 0.29840401 -0.17469272 1.29283406] [-0.29478898 0.95441032 0.04690842 0.37512055] [ 0.1807262 0.00748256 0.98350498 -1.53576355] [ 0. 0. 0. 1. ]] SLAMing on 73.736296757 meters Centerline goodness : 0.820769 Centerline is valid? [False, False] Translation: X:1.29, Y:0.37, Z:-1.54 [[ 0.93811721 0.29931929 -0.17419545 1.29132031] [-0.2956176 0.95412743 0.04744553 0.3741711 ] [ 0.18040602 0.00698578 0.98356742 -1.53558915] [ 0. 0. 0. 1. ]] SLAMing on 73.766296757 meters Centerline goodness : 0.810469 Centerline is valid? [False, False] Translation: X:1.29, Y:0.37, Z:-1.54 [[ 0.93801817 0.29968898 -0.17409319 1.29068752] [-0.29591901 0.95401388 0.04784813 0.37383018] [ 0.18042688 0.00663506 0.98356602 -1.5350135 ] [ 0. 0. 0. 1. ]] SLAMing on 73.79629675700001 meters Centerline goodness : 0.800864 Centerline is valid? [False, False] Translation: X:1.29, Y:0.37, Z:-1.53 [[ 0.93786837 0.30051111 -0.17348197 1.28848044] [-0.29659274 0.95376088 0.0487128 0.37323623] [ 0.18009905 0.0057673 0.98363157 -1.53366755] [ 0. 0. 0. 1. ]] SLAMing on 73.82629675700001 meters Centerline goodness : 0.807424 Centerline is valid? [False, False] Translation: X:1.29, Y:0.37, Z:-1.53 [[ 0.9377511 0.30110684 -0.17308251 1.2868517 ] [-0.29707363 0.95357672 0.04938309 0.37288914] [ 0.17991704 0.0051092 0.98366852 -1.53243206] [ 0. 0. 0. 1. ]] SLAMing on 73.85629675700001 meters Centerline goodness : 0.811881 Centerline is valid? [False, False] Translation: X:1.26, Y:0.38, Z:-1.54 [[ 0.93856873 0.29967018 -0.17113304 1.25854011] [-0.29604289 0.95402006 0.04695036 0.3813516 ] [ 0.17733397 0.00659658 0.98412862 -1.53934894] [ 0. 0. 0. 1. ]] SLAMing on 73.886296757 meters Centerline goodness : 0.812508 Centerline is valid? [False, False] Translation: X:1.26, Y:0.38, Z:-1.54 [[ 0.93852957 0.29963147 -0.17141538 1.25897338] [-0.29593418 0.95403427 0.04734527 0.37984918] [ 0.17772228 0.00629273 0.98406056 -1.53913987] [ 0. 0. 0. 1. ]] SLAMing on 73.916296757 meters Centerline goodness : 0.816351 Centerline is valid? [False, False] Translation: X:1.26, Y:0.38, Z:-1.54 [[ 0.93864219 0.29903273 -0.1718437 1.26034105] [-0.29532314 0.95422217 0.0473739 0.37793813] [ 0.17814341 0.00628228 0.98398448 -1.53969835] [ 0. 0. 0. 1. ]] SLAMing on 73.946296757 meters Centerline goodness : 0.810136 Centerline is valid? [False, False] Translation: X:1.24, Y:0.38, Z:-1.54 [[ 0.9387842 0.29779162 -0.17321774 1.24075867] [-0.29325483 0.95462849 0.05182706 0.38275804] [ 0.18079226 0.00214251 0.98351897 -1.54154888] [ 0. 0. 0. 1. ]] SLAMing on 73.976296757 meters Centerline goodness : 0.808192 Centerline is valid? [False, False] Translation: X:1.24, Y:0.38, Z:-1.54 [[ 0.93890245 0.2973235 -0.17338089 1.24168409] [-0.29278493 0.95477442 0.05179569 0.38224118] [ 0.18093972 0.00213221 0.98349188 -1.54190314] [ 0. 0. 0. 1. ]] SLAMing on 74.006296757 meters Centerline goodness : 0.814293 Centerline is valid? [False, False] Translation: X:1.24, Y:0.38, Z:-1.54 [[ 0.93980793 0.29430611 -0.17362308 1.23859937] [-0.29031201 0.9556993 0.04855701 0.38326617] [ 0.18022208 0.00477061 0.98361438 -1.54083207] [ 0. 0. 0. 1. ]] SLAMing on 74.036296757 meters Centerline goodness : 0.808537 Centerline is valid? [False, False] Translation: X:1.24, Y:0.38, Z:-1.54 [[ 0.93973189 0.29468688 -0.17338863 1.2375122 ] [-0.29062139 0.95558389 0.04897584 0.38285265] [ 0.18011992 0.00436629 0.98363497 -1.54005802] [ 0. 0. 0. 1. ]] SLAMing on 74.066296757 meters Centerline goodness : 0.810290 Centerline is valid? [False, False] Translation: X:1.24, Y:0.38, Z:-1.54 [[ 0.93965179 0.29509859 -0.1731223 1.23661731] [-0.2910109 0.9554575 0.04912857 0.3833112 ] [ 0.17990877 0.00421673 0.98367426 -1.53967942] [ 0. 0. 0. 1. ]] SLAMing on 74.096296757 meters Centerline goodness : 0.810611 Centerline is valid? [False, False] Translation: X:1.24, Y:0.39, Z:-1.54 [[ 0.93950563 0.29582925 -0.17266799 1.23566742] [-0.29176903 0.95523111 0.04903431 0.38599748] [ 0.17944361 0.00431116 0.98375881 -1.53945503] [ 0. 0. 0. 1. ]] SLAMing on 74.126296757 meters Centerline goodness : 0.811047 Centerline is valid? [False, False] Translation: X:1.21, Y:0.39, Z:-1.54 [[ 0.93912434 0.2977328 -0.17146619 1.21269961] [-0.29322337 0.9546476 0.05165279 0.3946475 ] [ 0.17906852 0.0017695 0.98383501 -1.54471804] [ 0. 0. 0. 1. ]] SLAMing on 74.156296757 meters Centerline goodness : 0.808696 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.54 [[ 0.93903905 0.29792631 -0.17159712 1.21312762] [-0.29347677 0.95458646 0.05134279 0.39602186] [ 0.17910066 0.00214689 0.98382841 -1.54498443] [ 0. 0. 0. 1. ]] SLAMing on 74.18629675700001 meters Centerline goodness : 0.809043 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.93893597 0.29826629 -0.1715706 1.21314759] [-0.29384154 0.95447991 0.05123714 0.39683612] [ 0.179043 0.00230617 0.98383855 -1.54520051] [ 0. 0. 0. 1. ]] SLAMing on 74.21629675700001 meters Centerline goodness : 0.809561 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.93869996 0.29918203 -0.17126734 1.21240558] [-0.29477043 0.95419308 0.05124405 0.3981845 ] [ 0.17875341 0.00238176 0.98389102 -1.54539997] [ 0. 0. 0. 1. ]] SLAMing on 74.246296757 meters Centerline goodness : 0.809351 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.93862947 0.29941751 -0.17124217 1.21257578] [-0.29504448 0.95411864 0.05105276 0.39918954] [ 0.17867144 0.00260443 0.98390535 -1.54570493] [ 0. 0. 0. 1. ]] SLAMing on 74.276296757 meters Centerline goodness : 0.812218 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.93842362 0.30023751 -0.17093434 1.21222026] [-0.29589381 0.95386049 0.05096087 0.40117599] [ 0.17834788 0.00275553 0.98396364 -1.54612453] [ 0. 0. 0. 1. ]] SLAMing on 74.306296757 meters Centerline goodness : 0.811197 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.93834948 0.30049102 -0.1708959 1.21210293] [-0.29613712 0.95378078 0.05103953 0.40142116] [ 0.17833414 0.00271571 0.98396624 -1.54609254] [ 0. 0. 0. 1. ]] SLAMing on 74.336296757 meters Centerline goodness : 0.811432 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.93828198 0.30063132 -0.1710197 1.21233793] [-0.29624028 0.95373697 0.05125897 0.40061956] [ 0.17851786 0.00256756 0.98393332 -1.54609921] [ 0. 0. 0. 1. ]] SLAMing on 74.366296757 meters Centerline goodness : 0.811061 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.93829113 0.30042867 -0.17132536 1.21321867] [-0.29603192 0.95380073 0.05127647 0.39993695] [ 0.17881518 0.00260552 0.98387923 -1.5463341 ] [ 0. 0. 0. 1. ]] SLAMing on 74.396296757 meters Centerline goodness : 0.811346 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.93832313 0.30024328 -0.17147503 1.21390854] [-0.29583564 0.95385919 0.05132171 0.39923829] [ 0.17897203 0.00257208 0.9838508 -1.54667125] [ 0. 0. 0. 1. ]] SLAMing on 74.426296757 meters Centerline goodness : 0.811492 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.93833072 0.30009971 -0.17168465 1.21442788] [-0.29567005 0.95390456 0.05143264 0.39889487] [ 0.17920569 0.00250118 0.98380845 -1.54656678] [ 0. 0. 0. 1. ]] SLAMing on 74.456296757 meters Centerline goodness : 0.811345 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.93837317 0.29987479 -0.17184558 1.21484196] [-0.29538301 0.95397604 0.05175505 0.39766177] [ 0.17945661 0.00219471 0.98376344 -1.54637794] [ 0. 0. 0. 1. ]] SLAMing on 74.486296757 meters Centerline goodness : 0.808932 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.93836402 0.29978143 -0.17205828 1.21498194] [-0.29523319 0.95400592 0.05205822 0.39713204] [ 0.17975071 0.00194775 0.98371027 -1.54572265] [ 0. 0. 0. 1. ]] SLAMing on 74.516296757 meters Centerline goodness : 0.810825 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.54 [[ 0.93941389 0.29618441 -0.17255822 1.21292049] [-0.29219365 0.95511927 0.04868308 0.39871506] [ 0.17923285 0.00468685 0.98379552 -1.54467268] [ 0. 0. 0. 1. ]] SLAMing on 74.54629675700001 meters Centerline goodness : 0.808886 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.54 [[ 0.94044865 0.29240694 -0.17336237 1.21196625] [-0.28904784 0.95626143 0.04489341 0.40073536] [ 0.17890689 0.00789007 0.98383437 -1.54440006] [ 0. 0. 0. 1. ]] SLAMing on 74.57629675700001 meters Centerline goodness : 0.809279 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.54 [[ 0.94170327 0.28768392 -0.1744503 1.21228721] [-0.28502251 0.95765735 0.04067633 0.40186387] [ 0.17876554 0.01141723 0.98382546 -1.54480284] [ 0. 0. 0. 1. ]] SLAMing on 74.60629675700001 meters Centerline goodness : 0.809915 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.94180926 0.28702297 -0.17496611 1.21373212] [-0.28438271 0.95785366 0.04053201 0.40110406] [ 0.17922554 0.01158391 0.98373981 -1.54501782] [ 0. 0. 0. 1. ]] SLAMing on 74.636296757 meters Centerline goodness : 0.807172 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.94189617 0.28652973 -0.17530633 1.21488802] [-0.28389657 0.95800051 0.04046934 0.40038114] [ 0.17953922 0.01165095 0.98368182 -1.54533241] [ 0. 0. 0. 1. ]] SLAMing on 74.666296757 meters Centerline goodness : 0.807335 Centerline is valid? [False, False] Translation: X:1.22, Y:0.40, Z:-1.55 [[ 0.94204921 0.28602614 -0.17530642 1.21551149] [-0.2834664 0.95814676 0.04001979 0.40099695] [ 0.17941598 0.01199287 0.9837002 -1.54587073] [ 0. 0. 0. 1. ]] SLAMing on 74.696296757 meters Centerline goodness : 0.811101 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.55 [[ 0.94193501 0.2868175 -0.17462578 1.21367367] [-0.28424691 0.95791184 0.04010732 0.40303592] [ 0.17877958 0.01185835 0.98381769 -1.54522044] [ 0. 0. 0. 1. ]] SLAMing on 74.726296757 meters Centerline goodness : 0.810981 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.54 [[ 0.9418099 0.28734539 -0.17443261 1.21285605] [-0.28476312 0.9577543 0.04020779 0.40411829] [ 0.1786171 0.01180388 0.98384785 -1.54469968] [ 0. 0. 0. 1. ]] SLAMing on 74.756296757 meters Centerline goodness : 0.811399 Centerline is valid? [False, False] Translation: X:1.21, Y:0.40, Z:-1.54 [[ 0.94061627 0.29175568 -0.17355016 1.2135632 ] [-0.28857108 0.95645235 0.0438821 0.40498547] [ 0.17879531 0.00880534 0.98384689 -1.54457326] [ 0. 0. 0. 1. ]] SLAMing on 74.786296757 meters Centerline goodness : 0.809847 Centerline is valid? [False, False] Translation: X:1.21, Y:0.41, Z:-1.55 [[ 0.9405481 0.29191555 -0.17365077 1.21445596] [-0.28882833 0.95639823 0.04336623 0.40711972] [ 0.17873857 0.00936724 0.98385201 -1.54531356] [ 0. 0. 0. 1. ]] SLAMing on 74.816296757 meters Centerline goodness : 0.808999 Centerline is valid? [False, False] Translation: X:1.19, Y:0.42, Z:-1.55 [[ 0.94040521 0.29311188 -0.17240494 1.18871542] [-0.29010117 0.95603005 0.04298665 0.41603791] [ 0.1774242 0.00959001 0.98408774 -1.55355737] [ 0. 0. 0. 1. ]] SLAMing on 74.846296757 meters Centerline goodness : 0.808005 Centerline is valid? [False, False] Translation: X:1.19, Y:0.42, Z:-1.55 [[ 0.93920326 0.29728347 -0.17181323 1.19069713] [-0.29374696 0.95476341 0.04625532 0.41697577] [ 0.17779193 0.00702646 0.98404302 -1.55441624] [ 0. 0. 0. 1. ]] SLAMing on 74.876296757 meters Centerline goodness : 0.806514 Centerline is valid? [False, False] Translation: X:1.16, Y:0.43, Z:-1.56 [[ 0.93930122 0.29892267 -0.16839968 1.16121741] [-0.29573068 0.9542424 0.04432607 0.42699319] [ 0.17394418 0.00816542 0.98472166 -1.5635191 ] [ 0. 0. 0. 1. ]] SLAMing on 74.906296757 meters Centerline goodness : 0.807679 Centerline is valid? [False, False] Translation: X:1.16, Y:0.43, Z:-1.56 [[ 0.93922568 0.29927627 -0.16819288 1.16072732] [-0.29608174 0.95413185 0.04436245 0.42811815] [ 0.17375482 0.00813249 0.98475536 -1.56326695] [ 0. 0. 0. 1. ]] SLAMing on 74.93629675700001 meters Centerline goodness : 0.809271 Centerline is valid? [False, False] Translation: X:1.13, Y:0.44, Z:-1.57 [[ 0.9399507 0.29992242 -0.16290866 1.12954081] [-0.29700462 0.95392683 0.04256584 0.43821736] [ 0.1681694 0.00837483 0.98572254 -1.56980856] [ 0. 0. 0. 1. ]] SLAMing on 74.96629675700001 meters Centerline goodness : 0.809890 Centerline is valid? [False, False] Translation: X:1.13, Y:0.44, Z:-1.57 [[ 0.9398522 0.30032517 -0.16273486 1.12867836] [-0.29736249 0.95380237 0.04285539 0.4385327 ] [ 0.16808745 0.00811351 0.9857387 -1.5690828 ] [ 0. 0. 0. 1. ]] SLAMing on 74.996296757 meters Centerline goodness : 0.807574 Centerline is valid? [False, False] Translation: X:1.13, Y:0.44, Z:-1.57 [[ 0.93979358 0.30050397 -0.16274331 1.12871408] [-0.29752792 0.95374653 0.04294977 0.43918225] [ 0.16812244 0.00805676 0.9857332 -1.56883376] [ 0. 0. 0. 1. ]] SLAMing on 75.026296757 meters Centerline goodness : 0.803905 Centerline is valid? [False, False] Translation: X:1.11, Y:0.45, Z:-1.57 [[ 0.94036078 0.29978541 -0.16078031 1.1064164 ] [-0.29656857 0.95398717 0.04422173 0.44708206] [ 0.16663938 0.00609801 0.98599905 -1.57378438] [ 0. 0. 0. 1. ]] SLAMing on 75.056296757 meters Centerline goodness : 0.803905 Centerline is valid? [False, False] Translation: X:1.11, Y:0.45, Z:-1.57 [[ 0.94036078 0.29978541 -0.16078031 1.1064164 ] [-0.29656857 0.95398717 0.04422173 0.44708206] [ 0.16663938 0.00609801 0.98599905 -1.57378438] [ 0. 0. 0. 1. ]] SLAMing on 75.086296757 meters Centerline goodness : 0.805401 Centerline is valid? [False, False] Translation: X:1.10, Y:0.45, Z:-1.57 [[ 0.94023996 0.30046766 -0.16021238 1.10451953] [-0.29719476 0.95377505 0.04459182 0.44752222] [ 0.16620497 0.00568727 0.98607483 -1.57283757] [ 0. 0. 0. 1. ]] SLAMing on 75.116296757 meters Centerline goodness : 0.816074 Centerline is valid? [False, False] Translation: X:1.10, Y:0.45, Z:-1.57 [[ 0.94016242 0.30074698 -0.16014331 1.10396776] [-0.29743841 0.95368816 0.04482496 0.44811105] [ 0.16620775 0.00549003 0.98607548 -1.57208018] [ 0. 0. 0. 1. ]] SLAMing on 75.146296757 meters Centerline goodness : 0.804264 Centerline is valid? [False, False] Translation: X:1.09, Y:0.46, Z:-1.58 [[ 0.94178568 0.29811469 -0.15545857 1.08582879] [-0.29450956 0.95452752 0.04627467 0.45627534] [ 0.16218464 0.00220322 0.98675797 -1.57625854] [ 0. 0. 0. 1. ]] SLAMing on 75.176296757 meters Centerline goodness : 0.803860 Centerline is valid? [False, False] Translation: X:1.09, Y:0.46, Z:-1.58 [[ 0.9418275 0.2978451 -0.15572173 1.08694729] [-0.294298 0.95461069 0.04590347 0.4572775 ] [ 0.16232575 0.00259544 0.98673381 -1.57673588] [ 0. 0. 0. 1. ]] SLAMing on 75.206296757 meters Centerline goodness : 0.805511 Centerline is valid? [False, False] Translation: X:1.07, Y:0.46, Z:-1.58 [[ 9.42062482e-01 2.96569666e-01 -1.56731343e-01 1.07026975e+00] [-2.92320943e-01 9.55010305e-01 5.00378161e-02 4.64419153e-01] [ 1.64519747e-01 -1.32289512e-03 9.86372903e-01 -1.57936025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.236296757 meters Centerline goodness : 0.802125 Centerline is valid? [False, False] Translation: X:1.07, Y:0.47, Z:-1.58 [[ 9.42054337e-01 2.96609695e-01 -1.56704544e-01 1.07031623e+00] [-2.92399393e-01 9.54998151e-01 4.98109029e-02 4.65896473e-01] [ 1.64426947e-01 -1.10426357e-03 9.86388645e-01 -1.57925004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.266296757 meters Centerline goodness : 0.800679 Centerline is valid? [False, False] Translation: X:1.07, Y:0.47, Z:-1.58 [[ 9.42089897e-01 2.96361245e-01 -1.56960624e-01 1.07087153e+00] [-2.92197664e-01 9.55075603e-01 4.95087689e-02 4.67252092e-01] [ 1.64581743e-01 -7.78183213e-04 9.86363140e-01 -1.57898217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29629675700001 meters Centerline goodness : 0.800040 Centerline is valid? [False, False] Translation: X:1.07, Y:0.47, Z:-1.58 [[ 9.42161366e-01 2.95958873e-01 -1.57290516e-01 1.07193473e+00] [-2.91847073e-01 9.55200593e-01 4.91641477e-02 4.67992957e-01] [ 1.64794560e-01 -4.15783736e-04 9.86327826e-01 -1.57923155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32629675700001 meters Centerline goodness : 0.800324 Centerline is valid? [False, False] Translation: X:1.07, Y:0.47, Z:-1.58 [[ 9.42320712e-01 2.95279208e-01 -1.57613022e-01 1.07339670e+00] [-2.91278532e-01 9.55410970e-01 4.84427042e-02 4.70721501e-01] [ 1.64889333e-01 2.60726026e-04 9.86312040e-01 -1.57947307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35629675700001 meters Centerline goodness : 0.797149 Centerline is valid? [False, False] Translation: X:1.07, Y:0.47, Z:-1.58 [[ 9.42381400e-01 2.94988812e-01 -1.57793844e-01 1.07407680e+00] [-2.91040464e-01 9.55500525e-01 4.81060857e-02 4.72069413e-01] [ 1.64962858e-01 5.90113181e-04 9.86299603e-01 -1.57951340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.386296757 meters Centerline goodness : 0.800947 Centerline is valid? [False, False] Translation: X:1.08, Y:0.47, Z:-1.58 [[ 9.42431468e-01 2.94648692e-01 -1.58129935e-01 1.07504948e+00] [-2.90758579e-01 9.55605128e-01 4.77314228e-02 4.72877279e-01] [ 1.65173778e-01 9.94040482e-04 9.86263978e-01 -1.57972382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.416296757 meters Centerline goodness : 0.800579 Centerline is valid? [False, False] Translation: X:1.07, Y:0.48, Z:-1.58 [[ 0.94336214 0.29113646 -0.15908312 1.07453277] [-0.28783579 0.95667166 0.04393062 0.47574478] [ 0.16498012 0.00434733 0.98628731 -1.57934811] [ 0. 0. 0. 1. ]] SLAMing on 75.446296757 meters Centerline goodness : 0.801815 Centerline is valid? [False, False] Translation: X:1.07, Y:0.48, Z:-1.58 [[ 0.94335896 0.291034 -0.15928927 1.07476762] [-0.28773368 0.95670261 0.04392541 0.47630779] [ 0.16517625 0.00439546 0.98625427 -1.57880795] [ 0. 0. 0. 1. ]] SLAMing on 75.476296757 meters Centerline goodness : 0.809029 Centerline is valid? [False, False] Translation: X:1.07, Y:0.48, Z:-1.58 [[ 0.94328535 0.29137525 -0.15910128 1.07440912] [-0.28809709 0.95659823 0.04381668 0.47972759] [ 0.1649631 0.00450498 0.98628945 -1.5779844 ] [ 0. 0. 0. 1. ]] SLAMing on 75.506296757 meters Centerline goodness : 0.814776 Centerline is valid? [False, False] Translation: X:1.08, Y:0.48, Z:-1.58 [[ 0.94260959 0.29388148 -0.15849555 1.07683683] [-0.29016826 0.95583967 0.04661449 0.48079981] [ 0.16519547 0.00205111 0.98625871 -1.57961023] [ 0. 0. 0. 1. ]] SLAMing on 75.536296757 meters Centerline goodness : 0.814085 Centerline is valid? [False, False] Translation: X:1.08, Y:0.48, Z:-1.58 [[ 0.94222166 0.29435702 -0.15991338 1.07990902] [-0.29071538 0.9556911 0.04625035 0.48095759] [ 0.16644191 0.0029112 0.98604696 -1.57956184] [ 0. 0. 0. 1. ]] SLAMing on 75.566296757 meters Centerline goodness : 0.816573 Centerline is valid? [False, False] Translation: X:1.08, Y:0.49, Z:-1.57 [[ 0.94136179 0.28839951 -0.17511052 1.08352706] [-0.28483861 0.95748559 0.04569792 0.48566546] [ 0.18084506 0.00685996 0.98348767 -1.57378794] [ 0. 0. 0. 1. ]] SLAMing on 75.596296757 meters Centerline goodness : 0.820383 Centerline is valid? [False, False] Translation: X:1.09, Y:0.49, Z:-1.57 [[ 0.94065195 0.28971421 -0.17674723 1.08808866] [-0.28636774 0.9570751 0.04472993 0.48694662] [ 0.18211927 0.00853941 0.98323937 -1.57460771] [ 0. 0. 0. 1. ]] SLAMing on 75.626296757 meters Centerline goodness : 0.820468 Centerline is valid? [False, False] Translation: X:1.09, Y:0.49, Z:-1.57 [[ 0.93970344 0.29328053 -0.175909 1.08750668] [-0.28948665 0.95600542 0.04744598 0.48813924] [ 0.18208494 0.00633815 0.98326238 -1.5733379 ] [ 0. 0. 0. 1. ]] SLAMing on 75.656296757 meters Centerline goodness : 0.815928 Centerline is valid? [False, False] Translation: X:1.09, Y:0.49, Z:-1.57 [[ 0.93936544 0.29364641 -0.17709987 1.09007513] [-0.29001883 0.95588422 0.04663078 0.48917897] [ 0.18297993 0.00755895 0.98308759 -1.57316171] [ 0. 0. 0. 1. ]] SLAMing on 75.68629675700001 meters Centerline goodness : 0.818446 Centerline is valid? [False, False] Translation: X:1.09, Y:0.49, Z:-1.57 [[ 0.93904141 0.29402704 -0.17818341 1.09299895] [-0.29058953 0.95575597 0.0456973 0.49055164] [ 0.1837361 0.00886658 0.98293562 -1.57350612] [ 0. 0. 0. 1. ]] SLAMing on 75.71629675700001 meters Centerline goodness : 0.819710 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.57 [[ 0.93822963 0.29568721 -0.17970595 1.0972892 ] [-0.29242082 0.95522922 0.04502452 0.49222222] [ 0.18497355 0.01030642 0.98268945 -1.57385539] [ 0. 0. 0. 1. ]] SLAMing on 75.746296757 meters Centerline goodness : 0.819616 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.57 [[ 0.93800579 0.29620489 -0.18002164 1.09751281] [-0.2929758 0.95506526 0.04489466 0.4924555 ] [ 0.18523043 0.01063054 0.98263761 -1.57312041] [ 0. 0. 0. 1. ]] SLAMing on 75.776296757 meters Centerline goodness : 0.821725 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.57 [[ 0.93823422 0.29408046 -0.18229985 1.09858632] [-0.29156058 0.95566922 0.04109456 0.49295398] [ 0.18630347 0.01459513 0.98238384 -1.57093258] [ 0. 0. 0. 1. ]] SLAMing on 75.806296757 meters Centerline goodness : 0.807297 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.57 [[ 0.93872494 0.29130605 -0.18421803 1.10065269] [-0.28948475 0.95645491 0.03731744 0.49365827] [ 0.18706704 0.0182975 0.98217673 -1.57071615] [ 0. 0. 0. 1. ]] SLAMing on 75.836296757 meters Centerline goodness : 0.806887 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.57 [[ 0.9395102 0.28857439 -0.18451399 1.10189764] [-0.28692157 0.95727016 0.03619186 0.49441686] [ 0.18707379 0.01893842 0.98216329 -1.57194878] [ 0. 0. 0. 1. ]] SLAMing on 75.866296757 meters Centerline goodness : 0.807243 Centerline is valid? [False, False] Translation: X:1.10, Y:0.50, Z:-1.57 [[ 0.93989807 0.28736932 -0.18441935 1.10273733] [-0.28576013 0.95763099 0.03583335 0.49528786] [ 0.18690309 0.01902 0.98219421 -1.57304238] [ 0. 0. 0. 1. ]] SLAMing on 75.896296757 meters Centerline goodness : 0.806257 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.57 [[ 0.94059541 0.28502747 -0.18449829 1.10340768] [-0.28348922 0.95832784 0.03523665 0.49477092] [ 0.18685325 0.01915985 0.98220098 -1.57436314] [ 0. 0. 0. 1. ]] SLAMing on 75.926296757 meters Centerline goodness : 0.807885 Centerline is valid? [False, False] Translation: X:1.11, Y:0.49, Z:-1.58 [[ 0.94158315 0.28897168 -0.17296399 1.105286 ] [-0.28789298 0.95713277 0.03185105 0.49005095] [ 0.17475355 0.01980471 0.98441301 -1.58045497] [ 0. 0. 0. 1. ]] SLAMing on 75.956296757 meters Centerline goodness : 0.808875 Centerline is valid? [False, False] Translation: X:1.11, Y:0.49, Z:-1.58 [[ 0.94256236 0.28497613 -0.17425499 1.10501521] [-0.28450552 0.95825908 0.02821596 0.48965302] [ 0.1750223 0.02298121 0.98429622 -1.57962228] [ 0. 0. 0. 1. ]] SLAMing on 75.986296757 meters Centerline goodness : 0.810644 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.58 [[ 0.94338718 0.28313302 -0.17278984 1.10321209] [-0.2825267 0.95883243 0.02861889 0.49062114] [ 0.17377945 0.02181905 0.98454285 -1.58070057] [ 0. 0. 0. 1. ]] SLAMing on 76.016296757 meters Centerline goodness : 0.820905 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.59 [[ 0.94429913 0.2886988 -0.15796249 1.10203818] [-0.28778729 0.9572515 0.02912131 0.48757684] [ 0.15961711 0.01796037 0.9870156 -1.58745989] [ 0. 0. 0. 1. ]] SLAMing on 76.04629675700001 meters Centerline goodness : 0.821168 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.59 [[ 0.94498627 0.287139 -0.15669126 1.10165532] [-0.28608424 0.9577429 0.02973785 0.48892455] [ 0.15860883 0.01672504 0.98719983 -1.58958977] [ 0. 0. 0. 1. ]] SLAMing on 76.07629675700001 meters Centerline goodness : 0.818311 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.59 [[ 0.94506141 0.28686114 -0.15674699 1.1015945 ] [-0.2858142 0.95782557 0.02967177 0.48880052] [ 0.15864796 0.01675887 0.98719297 -1.58943766] [ 0. 0. 0. 1. ]] SLAMing on 76.10629675700001 meters Centerline goodness : 0.819894 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.59 [[ 0.94523548 0.28591537 -0.15742388 1.10130612] [-0.28509671 0.95808241 0.02824834 0.48877303] [ 0.15890168 0.0181797 0.98712702 -1.58825893] [ 0. 0. 0. 1. ]] SLAMing on 76.136296757 meters Centerline goodness : 0.813859 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.59 [[ 0.9460022 0.28215956 -0.15958016 1.10078109] [-0.28224664 0.95907565 0.02259946 0.48994923] [ 0.15942609 0.02366183 0.98692626 -1.58526688] [ 0. 0. 0. 1. ]] SLAMing on 76.166296757 meters Centerline goodness : 0.811907 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.59 [[ 0.94611658 0.28195772 -0.15925848 1.10075194] [-0.28201497 0.95914098 0.02271881 0.49115681] [ 0.15915708 0.02341864 0.98697548 -1.58551765] [ 0. 0. 0. 1. ]] SLAMing on 76.196296757 meters Centerline goodness : 0.807690 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.59 [[ 0.94521635 0.28726972 -0.15505533 1.09975213] [-0.28609384 0.95772128 0.03033594 0.49353228] [ 0.15721439 0.01568635 0.98743991 -1.58867904] [ 0. 0. 0. 1. ]] SLAMing on 76.226296757 meters Centerline goodness : 0.806932 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-1.59 [[ 0.94370617 0.29151007 -0.15633471 1.10377331] [-0.29021147 0.95644115 0.03158525 0.49277448] [ 0.15873237 0.01556293 0.98719898 -1.58869224] [ 0. 0. 0. 1. ]] SLAMing on 76.256296757 meters Centerline goodness : 0.808086 Centerline is valid? [False, False] Translation: X:1.11, Y:0.49, Z:-1.59 [[ 0.94294608 0.29259856 -0.15886715 1.10643768] [-0.29167239 0.95605869 0.02964777 0.49146892] [ 0.16056121 0.01838091 0.98685472 -1.58652534] [ 0. 0. 0. 1. ]] SLAMing on 76.286296757 meters Centerline goodness : 0.808347 Centerline is valid? [False, False] Translation: X:1.11, Y:0.49, Z:-1.58 [[ 0.94235809 0.2938506 -0.16004079 1.10687266] [-0.29306931 0.95565106 0.02900761 0.49065842] [ 0.16146705 0.01956749 0.9866841 -1.58443686] [ 0. 0. 0. 1. ]] SLAMing on 76.316296757 meters Centerline goodness : 0.808287 Centerline is valid? [False, False] Translation: X:1.11, Y:0.49, Z:-1.59 [[ 0.94102687 0.29806107 -0.16008757 1.10956437] [-0.29686538 0.9543863 0.03190196 0.48982035] [ 0.16229412 0.01750386 0.98658717 -1.58504335] [ 0. 0. 0. 1. ]] SLAMing on 76.346296757 meters Centerline goodness : 0.808623 Centerline is valid? [False, False] Translation: X:1.11, Y:0.49, Z:-1.59 [[ 0.94006519 0.30115354 -0.15994993 1.11256592] [-0.2995405 0.95345285 0.0346865 0.48982043] [ 0.16295067 0.01530391 0.98651552 -1.58638305] [ 0. 0. 0. 1. ]] SLAMing on 76.376296757 meters Centerline goodness : 0.808960 Centerline is valid? [False, False] Translation: X:1.12, Y:0.49, Z:-1.59 [[ 0.93844315 0.30634917 -0.15960778 1.11513127] [-0.30425654 0.95183181 0.03800209 0.49109335] [ 0.16356167 0.01289891 0.98644878 -1.5865667 ] [ 0. 0. 0. 1. ]] SLAMing on 76.406296757 meters Centerline goodness : 0.821191 Centerline is valid? [False, False] Translation: X:1.12, Y:0.49, Z:-1.58 [[ 0.93760972 0.30753277 -0.16220853 1.11809607] [-0.30588048 0.95140048 0.03569677 0.49129693] [ 0.1653032 0.01614678 0.98611061 -1.58426931] [ 0. 0. 0. 1. ]] SLAMing on 76.43629675700001 meters Centerline goodness : 0.823321 Centerline is valid? [False, False] Translation: X:1.12, Y:0.49, Z:-1.58 [[ 0.93730014 0.30760778 -0.1638472 1.11928104] [-0.30626331 0.95133784 0.0340456 0.49133369] [ 0.16634673 0.01826944 0.98589806 -1.58238428] [ 0. 0. 0. 1. ]] SLAMing on 76.46629675700001 meters Centerline goodness : 0.810399 Centerline is valid? [False, False] Translation: X:1.12, Y:0.49, Z:-1.58 [[ 0.93713448 0.30720906 -0.16553415 1.12089347] [-0.30619221 0.9514225 0.03227325 0.49151877] [ 0.16740755 0.02044089 0.98567585 -1.58092388] [ 0. 0. 0. 1. ]] SLAMing on 76.49629675700001 meters Centerline goodness : 0.824375 Centerline is valid? [False, False] Translation: X:1.12, Y:0.49, Z:-1.58 [[ 0.93708457 0.30669141 -0.16677199 1.12247778] [-0.30594782 0.95155056 0.03078098 0.49222521] [ 0.16813224 0.02217914 0.98551491 -1.58016152] [ 0. 0. 0. 1. ]] SLAMing on 76.526296757 meters Centerline goodness : 0.807759 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93680408 0.30715024 -0.16750181 1.12533199] [-0.30636592 0.95140375 0.03115814 0.49187231] [ 0.16893208 0.02212778 0.98537927 -1.58135455] [ 0. 0. 0. 1. ]] SLAMing on 76.556296757 meters Centerline goodness : 0.810662 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93689702 0.30647815 -0.16821151 1.12747884] [-0.30580197 0.95160447 0.03056284 0.49195736] [ 0.16943767 0.02280518 0.98527702 -1.58219911] [ 0. 0. 0. 1. ]] SLAMing on 76.586296757 meters Centerline goodness : 0.809661 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93711847 0.30576746 -0.16827131 1.12754514] [-0.3051946 0.95182033 0.02990522 0.4927325 ] [ 0.1693081 0.02333076 0.98528699 -1.5821986 ] [ 0. 0. 0. 1. ]] SLAMing on 76.616296757 meters Centerline goodness : 0.808520 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93837909 0.30170268 -0.16858285 1.12547631] [-0.30169286 0.95304244 0.0262968 0.49467568] [ 0.16860042 0.02618387 0.98533664 -1.58116124] [ 0. 0. 0. 1. ]] SLAMing on 76.646296757 meters Centerline goodness : 0.808625 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93904418 0.29837408 -0.17078914 1.12809647] [-0.29907513 0.95397076 0.02222267 0.49473843] [ 0.16955852 0.03021072 0.98505696 -1.58128951] [ 0. 0. 0. 1. ]] SLAMing on 76.676296757 meters Centerline goodness : 0.811109 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93963685 0.29690306 -0.17009165 1.12667606] [-0.29751094 0.95445314 0.02250439 0.49423804] [ 0.16902613 0.02945817 0.98517125 -1.58169736] [ 0. 0. 0. 1. ]] SLAMing on 76.706296757 meters Centerline goodness : 0.808870 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93971824 0.29692333 -0.16960591 1.12710672] [-0.29738459 0.95447399 0.02327673 0.49453777] [ 0.16879584 0.02856462 0.98523704 -1.58279536] [ 0. 0. 0. 1. ]] SLAMing on 76.736296757 meters Centerline goodness : 0.805319 Centerline is valid? [False, False] Translation: X:1.13, Y:0.50, Z:-1.58 [[ 0.93982974 0.29690893 -0.16901226 1.12716316] [-0.29724708 0.95450157 0.02389409 0.49522332] [ 0.16841683 0.02778202 0.98532428 -1.58358773] [ 0. 0. 0. 1. ]] SLAMing on 76.766296757 meters Centerline goodness : 0.806987 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93997388 0.29612291 -0.16958869 1.12706707] [-0.29668206 0.95470817 0.02262875 0.49497558] [ 0.1686086 0.02904349 0.9852551 -1.58284293] [ 0. 0. 0. 1. ]] SLAMing on 76.79629675700001 meters Centerline goodness : 0.807240 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93986212 0.29617674 -0.17011331 1.12766851] [-0.29683668 0.95467161 0.02213807 0.4948619 ] [ 0.16895913 0.02968914 0.9851758 -1.58242233] [ 0. 0. 0. 1. ]] SLAMing on 76.82629675700001 meters Centerline goodness : 0.808685 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93962744 0.29682858 -0.17027353 1.12833035] [-0.29749299 0.95446585 0.02220054 0.49491712] [ 0.16911002 0.02979494 0.98514672 -1.58242519] [ 0. 0. 0. 1. ]] SLAMing on 76.85629675700001 meters Centerline goodness : 0.807137 Centerline is valid? [False, False] Translation: X:1.13, Y:0.50, Z:-1.58 [[ 0.93886378 0.30036836 -0.16826658 1.12750665] [-0.30037924 0.95346531 0.02600408 0.49580747] [ 0.16824715 0.0261295 0.98539847 -1.58316218] [ 0. 0. 0. 1. ]] SLAMing on 76.886296757 meters Centerline goodness : 0.806219 Centerline is valid? [False, False] Translation: X:1.13, Y:0.50, Z:-1.58 [[ 0.93834471 0.30177386 -0.16864677 1.12862439] [-0.3017517 0.95302136 0.02638543 0.49583251] [ 0.16868641 0.02613082 0.98532334 -1.58284769] [ 0. 0. 0. 1. ]] SLAMing on 76.916296757 meters Centerline goodness : 0.805315 Centerline is valid? [False, False] Translation: X:1.13, Y:0.50, Z:-1.58 [[ 0.93745329 0.30381681 -0.16993137 1.13071109] [-0.30397517 0.95233247 0.02572856 0.49594923] [ 0.16964794 0.02753559 0.98511998 -1.58167335] [ 0. 0. 0. 1. ]] SLAMing on 76.946296757 meters Centerline goodness : 0.805315 Centerline is valid? [False, False] Translation: X:1.13, Y:0.50, Z:-1.58 [[ 0.93745329 0.30381681 -0.16993137 1.13071109] [-0.30397517 0.95233247 0.02572856 0.49594923] [ 0.16964794 0.02753559 0.98511998 -1.58167335] [ 0. 0. 0. 1. ]] SLAMing on 76.976296757 meters Centerline goodness : 0.809406 Centerline is valid? [False, False] Translation: X:1.13, Y:0.50, Z:-1.58 [[ 0.93688843 0.30471295 -0.17143537 1.13361904] [-0.30504438 0.95200828 0.0250631 0.49541947] [ 0.17084494 0.02881406 0.98487652 -1.5813294 ] [ 0. 0. 0. 1. ]] SLAMing on 77.006296757 meters Centerline goodness : 0.810182 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93590495 0.30846191 -0.17009753 1.13302697] [-0.30817243 0.95089519 0.02877667 0.49451682] [ 0.17062143 0.02548714 0.98500697 -1.58134741] [ 0. 0. 0. 1. ]] SLAMing on 77.036296757 meters Centerline goodness : 0.816795 Centerline is valid? [False, False] Translation: X:1.13, Y:0.49, Z:-1.58 [[ 0.93540177 0.30957403 -0.17084337 1.1348884 ] [-0.3092995 0.95052522 0.02890731 0.49380859] [ 0.17133988 0.02580182 0.98487406 -1.58137212] [ 0. 0. 0. 1. ]] SLAMing on 77.066296757 meters Centerline goodness : 0.816784 Centerline is valid? [False, False] Translation: X:1.14, Y:0.49, Z:-1.58 [[ 0.93425892 0.31238028 -0.17198497 1.13659707] [-0.31213271 0.94958994 0.02919095 0.49340042] [ 0.17243388 0.02641023 0.98466698 -1.57974132] [ 0. 0. 0. 1. ]] SLAMing on 77.096296757 meters Centerline goodness : 0.815291 Centerline is valid? [False, False] Translation: X:1.14, Y:0.49, Z:-1.58 [[ 0.93395682 0.31281652 -0.17283081 1.13831933] [-0.31266343 0.94942646 0.0288267 0.49331892] [ 0.17310761 0.02711498 0.9845296 -1.57961286] [ 0. 0. 0. 1. ]] SLAMing on 77.126296757 meters Centerline goodness : 0.804114 Centerline is valid? [False, False] Translation: X:1.14, Y:0.49, Z:-1.58 [[ 0.93391577 0.31282477 -0.17303755 1.13781059] [-0.31275087 0.94941021 0.02841035 0.49336967] [ 0.17317108 0.02758477 0.98450539 -1.57864208] [ 0. 0. 0. 1. ]] SLAMing on 77.156296757 meters Centerline goodness : 0.805154 Centerline is valid? [False, False] Translation: X:1.14, Y:0.49, Z:-1.58 [[ 0.93389355 0.31287934 -0.17305884 1.1377122 ] [-0.31280116 0.94939265 0.02844328 0.49285175] [ 0.17320011 0.02757001 0.98450069 -1.57863328] [ 0. 0. 0. 1. ]] SLAMing on 77.18629675700001 meters Centerline goodness : 0.810013 Centerline is valid? [False, False] Translation: X:1.14, Y:0.49, Z:-1.58 [[ 0.93421364 0.31167857 -0.17349739 1.13934177] [-0.31161026 0.94978714 0.02834472 0.49180843] [ 0.17362003 0.02758354 0.98442635 -1.57999666] [ 0. 0. 0. 1. ]] SLAMing on 77.21629675700001 meters Centerline goodness : 0.803684 Centerline is valid? [False, False] Translation: X:1.14, Y:0.49, Z:-1.58 [[ 0.934067 0.31173415 -0.17418569 1.14005886] [-0.31175367 0.94975134 0.02796508 0.49134183] [ 0.17415077 0.02818177 0.98431565 -1.57943746] [ 0. 0. 0. 1. ]] SLAMing on 77.24629675700001 meters Centerline goodness : 0.802798 Centerline is valid? [False, False] Translation: X:1.14, Y:0.49, Z:-1.58 [[ 0.93421399 0.31022347 -0.17608415 1.14189619] [-0.3106085 0.95017992 0.02608585 0.4887167 ] [ 0.17540407 0.03032347 0.98402942 -1.57909041] [ 0. 0. 0. 1. ]] SLAMing on 77.276296757 meters Centerline goodness : 0.802180 Centerline is valid? [False, False] Translation: X:1.14, Y:0.49, Z:-1.58 [[ 0.93440477 0.30976215 -0.1758839 1.14137712] [-0.31008965 0.95034266 0.02632952 0.48795953] [ 0.17530586 0.02993734 0.98405874 -1.57924251] [ 0. 0. 0. 1. ]] SLAMing on 77.306296757 meters Centerline goodness : 0.808361 Centerline is valid? [False, False] Translation: X:1.14, Y:0.49, Z:-1.58 [[ 0.93543202 0.30749711 -0.17439169 1.13942583] [-0.30769968 0.95111269 0.02656244 0.4884683 ] [ 0.17403402 0.02881291 0.98431803 -1.58077624] [ 0. 0. 0. 1. ]] SLAMing on 77.336296757 meters Centerline goodness : 0.806477 Centerline is valid? [False, False] Translation: X:1.14, Y:0.49, Z:-1.58 [[ 0.93653249 0.30309783 -0.17617777 1.14034366] [-0.30399679 0.95240658 0.02253119 0.48763016] [ 0.17462202 0.03245629 0.98410047 -1.58081493] [ 0. 0. 0. 1. ]] SLAMing on 77.366296757 meters Centerline goodness : 0.805922 Centerline is valid? [False, False] Translation: X:1.14, Y:0.49, Z:-1.58 [[ 0.93657931 0.30277478 -0.1764841 1.13932658] [-0.3037204 0.9525003 0.02229564 0.48618346] [ 0.17485171 0.03272019 0.98405095 -1.57974482] [ 0. 0. 0. 1. ]] SLAMing on 77.396296757 meters Centerline goodness : 0.799688 Centerline is valid? [False, False] Translation: X:1.14, Y:0.48, Z:-1.58 [[ 0.93634616 0.30300025 -0.17733219 1.14004896] [-0.30398329 0.95241706 0.02226908 0.48416238] [ 0.17564174 0.03305446 0.98389907 -1.57923642] [ 0. 0. 0. 1. ]] SLAMing on 77.426296757 meters Centerline goodness : 0.800250 Centerline is valid? [False, False] Translation: X:1.14, Y:0.48, Z:-1.58 [[ 0.93597968 0.3040335 -0.17749835 1.14280824] [-0.30485316 0.95211397 0.02331393 0.48299155] [ 0.17608688 0.03228957 0.9838449 -1.58135494] [ 0. 0. 0. 1. ]] SLAMing on 77.456296757 meters Centerline goodness : 0.797263 Centerline is valid? [False, False] Translation: X:1.14, Y:0.48, Z:-1.58 [[ 0.93549494 0.30619511 -0.17633424 1.14305345] [-0.3065116 0.95150828 0.02612725 0.48263214] [ 0.17578353 0.02960658 0.98398354 -1.58251608] [ 0. 0. 0. 1. ]] SLAMing on 77.486296757 meters Centerline goodness : 0.796652 Centerline is valid? [False, False] Translation: X:1.15, Y:0.48, Z:-1.58 [[ 0.93493029 0.3075042 -0.1770495 1.14603839] [-0.30778972 0.95108395 0.02654841 0.48240696] [ 0.17655268 0.0296731 0.98384382 -1.58354184] [ 0. 0. 0. 1. ]] SLAMing on 77.516296757 meters Centerline goodness : 0.799580 Centerline is valid? [False, False] Translation: X:1.15, Y:0.48, Z:-1.58 [[ 0.93456404 0.3078338 -0.17840515 1.14749191] [-0.30831918 0.95093558 0.02570611 0.48153671] [ 0.17756502 0.03098172 0.98362127 -1.5824953 ] [ 0. 0. 0. 1. ]] SLAMing on 77.54629675700001 meters Centerline goodness : 0.796556 Centerline is valid? [False, False] Translation: X:1.15, Y:0.48, Z:-1.58 [[ 0.93385058 0.30891478 -0.18026298 1.1467646 ] [-0.30979333 0.9505014 0.02398302 0.47998114] [ 0.17874892 0.03344771 0.98332603 -1.5785601 ] [ 0. 0. 0. 1. ]] SLAMing on 77.57629675700001 meters Centerline goodness : 0.800115 Centerline is valid? [False, False] Translation: X:1.15, Y:0.48, Z:-1.58 [[ 0.93336621 0.30980344 -0.1812439 1.14820098] [-0.31078237 0.95018538 0.023708 0.47936905] [ 0.17956012 0.03419916 0.98315237 -1.57782145] [ 0. 0. 0. 1. ]] SLAMing on 77.60629675700001 meters Centerline goodness : 0.796502 Centerline is valid? [False, False] Translation: X:1.15, Y:0.48, Z:-1.58 [[ 0.93170567 0.31533831 -0.18023955 1.14977606] [-0.31553392 0.94849056 0.02835484 0.47762199] [ 0.17989688 0.03045333 0.98321397 -1.57871432] [ 0. 0. 0. 1. ]] SLAMing on 77.636296757 meters Centerline goodness : 0.797100 Centerline is valid? [False, False] Translation: X:1.15, Y:0.48, Z:-1.58 [[ 0.93117174 0.31634252 -0.18123631 1.15353928] [-0.31649261 0.94815545 0.0288734 0.47653097] [ 0.18097408 0.03047385 0.98301563 -1.58008896] [ 0. 0. 0. 1. ]] SLAMing on 77.666296757 meters Centerline goodness : 0.796269 Centerline is valid? [False, False] Translation: X:1.16, Y:0.47, Z:-1.58 [[ 0.93081289 0.31676433 -0.18233959 1.1566617 ] [-0.31691797 0.94800687 0.02908546 0.47473874] [ 0.18207242 0.03071357 0.98280533 -1.58111892] [ 0. 0. 0. 1. ]] SLAMing on 77.696296757 meters Centerline goodness : 0.794943 Centerline is valid? [False, False] Translation: X:1.16, Y:0.47, Z:-1.58 [[ 0.93156666 0.31364596 -0.18387433 1.15824906] [-0.31428134 0.94896129 0.02645206 0.47254381] [ 0.1827862 0.03314641 0.98259377 -1.5820517 ] [ 0. 0. 0. 1. ]] SLAMing on 77.726296757 meters Centerline goodness : 0.805863 Centerline is valid? [False, False] Translation: X:1.16, Y:0.47, Z:-1.58 [[ 0.93318484 0.30856323 -0.18426826 1.15570497] [-0.30953734 0.95057943 0.02419465 0.46988417] [ 0.1826272 0.03445983 0.98257815 -1.58168536] [ 0. 0. 0. 1. ]] SLAMing on 77.756296757 meters Centerline goodness : 0.803916 Centerline is valid? [False, False] Translation: X:1.16, Y:0.47, Z:-1.58 [[ 0.93437796 0.30431571 -0.18528296 1.15512502] [-0.30590896 0.951837 0.02064064 0.46968297] [ 0.18264045 0.03739356 0.98246842 -1.58154159] [ 0. 0. 0. 1. ]] SLAMing on 77.786296757 meters Centerline goodness : 0.793457 Centerline is valid? [False, False] Translation: X:1.15, Y:0.47, Z:-1.59 [[ 0.93803721 0.29674708 -0.17896189 1.14656877] [-0.29834947 0.95427683 0.01852887 0.47003604] [ 0.17627758 0.03601242 0.98368151 -1.58546387] [ 0. 0. 0. 1. ]] SLAMing on 77.816296757 meters Centerline goodness : 0.793685 Centerline is valid? [False, False] Translation: X:1.15, Y:0.47, Z:-1.58 [[ 0.93913399 0.29260911 -0.18002016 1.14598104] [-0.29478677 0.95544298 0.01514852 0.46975038] [ 0.17643159 0.03884107 0.98354627 -1.5849588 ] [ 0. 0. 0. 1. ]] SLAMing on 77.846296757 meters Centerline goodness : 0.794265 Centerline is valid? [False, False] Translation: X:1.15, Y:0.47, Z:-1.59 [[ 0.94041707 0.28756736 -0.18144075 1.14655531] [-0.29029774 0.95686222 0.01191242 0.46631405] [ 0.17703942 0.04146919 0.98332973 -1.58502976] [ 0. 0. 0. 1. ]] SLAMing on 77.876296757 meters Centerline goodness : 0.794646 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.58 [[ 0.94047249 0.2872426 -0.18166779 1.14706498] [-0.28988228 0.95698149 0.01243778 0.46375842] [ 0.17742537 0.04096488 0.9832813 -1.5849902 ] [ 0. 0. 0. 1. ]] SLAMing on 77.906296757 meters Centerline goodness : 0.794788 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.59 [[ 0.9407222 0.2862423 -0.18195355 1.14817264] [-0.28882394 0.95729761 0.01272844 0.46072313] [ 0.17782712 0.04057861 0.98322474 -1.58523631] [ 0. 0. 0. 1. ]] SLAMing on 77.93629675700001 meters Centerline goodness : 0.795760 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.59 [[ 0.9407277 0.28619974 -0.18199205 1.14834186] [-0.28872954 0.95732217 0.01301968 0.45995592] [ 0.17795125 0.04029851 0.9832138 -1.58509642] [ 0. 0. 0. 1. ]] SLAMing on 77.96629675700001 meters Centerline goodness : 0.793417 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.59 [[ 0.94090431 0.28603521 -0.18133653 1.14751867] [-0.28835862 0.95742019 0.01399614 0.45914336] [ 0.17761864 0.03912093 0.9833215 -1.58558584] [ 0. 0. 0. 1. ]] SLAMing on 77.99629675700001 meters Centerline goodness : 0.795184 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.59 [[ 0.94164573 0.29244673 -0.16666802 1.14401245] [-0.29406068 0.95566148 0.0154744 0.45420481] [ 0.16380365 0.03443911 0.98589163 -1.5880908 ] [ 0. 0. 0. 1. ]] SLAMing on 78.026296757 meters Centerline goodness : 0.794714 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.59 [[ 0.94155943 0.29295713 -0.16625869 1.14216659] [-0.29436901 0.95554678 0.01665067 0.45135746] [ 0.16374589 0.03326381 0.98594158 -1.58668072] [ 0. 0. 0. 1. ]] SLAMing on 78.056296757 meters Centerline goodness : 0.794865 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.59 [[ 0.94135013 0.29355132 -0.16639576 1.14251394] [-0.29493656 0.95536751 0.01689239 0.45122798] [ 0.16392789 0.03317454 0.98591435 -1.58648106] [ 0. 0. 0. 1. ]] SLAMing on 78.086296757 meters Centerline goodness : 0.800996 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.59 [[ 0.94038783 0.29765818 -0.16453068 1.14226236] [-0.29834087 0.95422542 0.02113209 0.45207844] [ 0.16328949 0.02921387 0.98614557 -1.58727186] [ 0. 0. 0. 1. ]] SLAMing on 78.116296757 meters Centerline goodness : 0.792785 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.59 [[ 0.93946744 0.30130815 -0.16313896 1.14164999] [-0.30142234 0.95317195 0.02465382 0.45245552] [ 0.16292788 0.02601227 0.98629502 -1.58720701] [ 0. 0. 0. 1. ]] SLAMing on 78.146296757 meters Centerline goodness : 0.792882 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.59 [[ 0.93781546 0.30633392 -0.16328405 1.14372465] [-0.30616966 0.95159955 0.02680348 0.45373589] [ 0.16359185 0.02485591 0.98621493 -1.58624735] [ 0. 0. 0. 1. ]] SLAMing on 78.176296757 meters Centerline goodness : 0.796675 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.58 [[ 0.93693221 0.30833624 -0.16458068 1.14477445] [-0.30840663 0.95090529 0.02577736 0.45451652] [ 0.16444874 0.02660613 0.98602674 -1.58397689] [ 0. 0. 0. 1. ]] SLAMing on 78.206296757 meters Centerline goodness : 0.794951 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.58 [[ 0.93603193 0.31021145 -0.16617183 1.146393 ] [-0.31056431 0.95023585 0.02452842 0.45548115] [ 0.16551142 0.02864765 0.9857917 -1.58172087] [ 0. 0. 0. 1. ]] SLAMing on 78.236296757 meters Centerline goodness : 0.792473 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.58 [[ 0.93425779 0.3152149 -0.1667392 1.14780079] [-0.315456 0.9485909 0.02574533 0.45802711] [ 0.1662826 0.0285461 0.98566486 -1.57893764] [ 0. 0. 0. 1. ]] SLAMing on 78.266296757 meters Centerline goodness : 0.791738 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.58 [[ 0.93251228 0.32056663 -0.1663066 1.14911031] [-0.32044877 0.94684346 0.02828514 0.46059952] [ 0.16653359 0.0269165 0.98566834 -1.57760816] [ 0. 0. 0. 1. ]] SLAMing on 78.29629675700001 meters Centerline goodness : 0.792321 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.58 [[ 0.93182165 0.32200405 -0.16739716 1.15223303] [-0.32190787 0.9463429 0.02846836 0.46092268] [ 0.16758204 0.02735902 0.98547843 -1.57771694] [ 0. 0. 0. 1. ]] SLAMing on 78.32629675700001 meters Centerline goodness : 0.791844 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.58 [[ 0.93117369 0.32365632 -0.1678158 1.15350497] [-0.32354039 0.9457758 0.02880545 0.46107348] [ 0.16803919 0.02747231 0.98539743 -1.57730497] [ 0. 0. 0. 1. ]] SLAMing on 78.35629675700001 meters Centerline goodness : 0.790056 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.58 [[ 0.93046805 0.32517039 -0.16879993 1.15483612] [-0.32506537 0.9452454 0.02904545 0.4601743 ] [ 0.16900208 0.02784515 0.98522228 -1.57618617] [ 0. 0. 0. 1. ]] SLAMing on 78.386296757 meters Centerline goodness : 0.792398 Centerline is valid? [False, False] Translation: X:1.16, Y:0.46, Z:-1.58 [[ 0.93022123 0.3255219 -0.16948142 1.15571922] [-0.32548117 0.94510924 0.02881887 0.4606589 ] [ 0.16955963 0.02835508 0.98511193 -1.57532068] [ 0. 0. 0. 1. ]] SLAMing on 78.416296757 meters Centerline goodness : 0.792230 Centerline is valid? [False, False] Translation: X:1.16, Y:0.46, Z:-1.58 [[ 0.92993707 0.32725961 -0.16768479 1.15502053] [-0.3266905 0.94459734 0.03176766 0.46227445] [ 0.16879087 0.0252391 0.98532869 -1.57600848] [ 0. 0. 0. 1. ]] SLAMing on 78.446296757 meters Centerline goodness : 0.791629 Centerline is valid? [False, False] Translation: X:1.16, Y:0.46, Z:-1.58 [[ 0.92997468 0.32699011 -0.16800168 1.15659637] [-0.32643154 0.94468814 0.03172953 0.46255161] [ 0.16908444 0.02533339 0.98527594 -1.57678112] [ 0. 0. 0. 1. ]] SLAMing on 78.476296757 meters Centerline goodness : 0.792316 Centerline is valid? [False, False] Translation: X:1.16, Y:0.46, Z:-1.58 [[ 0.93049029 0.32528163 -0.1684627 1.15694338] [-0.32484074 0.94526194 0.03095752 0.46244169] [ 0.16931129 0.02591788 0.98522178 -1.5768042 ] [ 0. 0. 0. 1. ]] SLAMing on 78.506296757 meters Centerline goodness : 0.792202 Centerline is valid? [False, False] Translation: X:1.16, Y:0.46, Z:-1.58 [[ 0.93084636 0.32376366 -0.16941706 1.15747692] [-0.32348914 0.94575614 0.03000157 0.46186411] [ 0.16994064 0.02687773 0.98508769 -1.5762566 ] [ 0. 0. 0. 1. ]] SLAMing on 78.536296757 meters Centerline goodness : 0.806555 Centerline is valid? [False, False] Translation: X:1.16, Y:0.46, Z:-1.58 [[ 0.93247087 0.31853663 -0.17038924 1.15623291] [-0.31886784 0.94743789 0.02616771 0.46226071] [ 0.1697686 0.02993102 0.98502932 -1.5757815 ] [ 0. 0. 0. 1. ]] SLAMing on 78.566296757 meters Centerline goodness : 0.807044 Centerline is valid? [False, False] Translation: X:1.16, Y:0.46, Z:-1.58 [[ 0.93337391 0.31463893 -0.17267163 1.15900302] [-0.31566023 0.9486115 0.02224504 0.46222484] [ 0.17079745 0.03374263 0.98472822 -1.57623484] [ 0. 0. 0. 1. ]] SLAMing on 78.596296757 meters Centerline goodness : 0.812165 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.58 [[ 0.93582389 0.30992902 -0.16786199 1.15132115] [-0.311144 0.95015871 0.01969338 0.46494793] [ 0.16559908 0.03379971 0.98561378 -1.57749531] [ 0. 0. 0. 1. ]] SLAMing on 78.626296757 meters Centerline goodness : 0.809252 Centerline is valid? [False, False] Translation: X:1.15, Y:0.47, Z:-1.58 [[ 0.93647273 0.30819878 -0.16742861 1.15058681] [-0.30941087 0.95072924 0.01946348 0.46543802] [ 0.1651779 0.03357721 0.98569206 -1.57798742] [ 0. 0. 0. 1. ]] SLAMing on 78.656296757 meters Centerline goodness : 0.813517 Centerline is valid? [False, False] Translation: X:1.15, Y:0.47, Z:-1.58 [[ 0.93753895 0.3060426 -0.16540447 1.14866021] [-0.30701701 0.9514878 0.02028602 0.46733282] [ 0.16358872 0.03176305 0.98601716 -1.57991254] [ 0. 0. 0. 1. ]] SLAMing on 78.68629675700001 meters Centerline goodness : 0.801645 Centerline is valid? [False, False] Translation: X:1.15, Y:0.47, Z:-1.58 [[ 0.93776438 0.30557906 -0.16498306 1.14890063] [-0.30643142 0.9516633 0.02089859 0.4674986 ] [ 0.16339449 0.03095804 0.98607497 -1.58080208] [ 0. 0. 0. 1. ]] SLAMing on 78.71629675700001 meters Centerline goodness : 0.800155 Centerline is valid? [False, False] Translation: X:1.15, Y:0.47, Z:-1.58 [[ 0.93830385 0.30407377 -0.16469677 1.14946711] [-0.30492708 0.95215064 0.02070342 0.46750994] [ 0.16311151 0.03079441 0.98612694 -1.58226749] [ 0. 0. 0. 1. ]] SLAMing on 78.74629675700001 meters Centerline goodness : 0.801389 Centerline is valid? [False, False] Translation: X:1.15, Y:0.47, Z:-1.58 [[ 0.9382763 0.30412702 -0.1647554 1.14943743] [-0.3050143 0.9521268 0.02051402 0.46805388] [ 0.1631069 0.03100494 0.9861211 -1.58186613] [ 0. 0. 0. 1. ]] SLAMing on 78.776296757 meters Centerline goodness : 0.800854 Centerline is valid? [False, False] Translation: X:1.15, Y:0.47, Z:-1.58 [[ 0.9380503 0.30490488 -0.1646045 1.14905239] [-0.30590382 0.95185488 0.01987811 0.47098745] [ 0.16274052 0.03170648 0.98615933 -1.5806033 ] [ 0. 0. 0. 1. ]] SLAMing on 78.806296757 meters Centerline goodness : 0.803342 Centerline is valid? [False, False] Translation: X:1.15, Y:0.47, Z:-1.58 [[ 0.93771568 0.30569842 -0.1650387 1.15003981] [-0.30677748 0.95158045 0.0195505 0.47244713] [ 0.16302415 0.03229734 0.98609331 -1.57994892] [ 0. 0. 0. 1. ]] SLAMing on 78.836296757 meters Centerline goodness : 0.800678 Centerline is valid? [False, False] Translation: X:1.15, Y:0.48, Z:-1.58 [[ 0.93628886 0.31038654 -0.16438785 1.14984051] [-0.31115322 0.95011126 0.02173184 0.47507024] [ 0.16293201 0.03080253 0.98615636 -1.57788887] [ 0. 0. 0. 1. ]] SLAMing on 78.866296757 meters Centerline goodness : 0.800678 Centerline is valid? [False, False] Translation: X:1.15, Y:0.48, Z:-1.58 [[ 0.93628886 0.31038654 -0.16438785 1.14984051] [-0.31115322 0.95011126 0.02173184 0.47507024] [ 0.16293201 0.03080253 0.98615636 -1.57788887] [ 0. 0. 0. 1. ]] SLAMing on 78.896296757 meters Centerline goodness : 0.800702 Centerline is valid? [False, False] Translation: X:1.15, Y:0.48, Z:-1.58 [[ 0.93555856 0.31215494 -0.16519526 1.15284478] [-0.31295828 0.94951609 0.02182468 0.47544844] [ 0.16366824 0.03128096 0.98601938 -1.57837253] [ 0. 0. 0. 1. ]] SLAMing on 78.926296757 meters Centerline goodness : 0.797653 Centerline is valid? [False, False] Translation: X:1.16, Y:0.48, Z:-1.58 [[ 0.9333718 0.31888862 -0.16470315 1.15537256] [-0.31911619 0.9473643 0.02580187 0.47587907] [ 0.16426181 0.0284767 0.98600565 -1.57819618] [ 0. 0. 0. 1. ]] SLAMing on 78.956296757 meters Centerline goodness : 0.797027 Centerline is valid? [False, False] Translation: X:1.16, Y:0.48, Z:-1.58 [[ 0.93202857 0.32265793 -0.16496847 1.15776645] [-0.3225593 0.94613089 0.02813962 0.4750933 ] [ 0.16516124 0.02698519 0.98589734 -1.57803034] [ 0. 0. 0. 1. ]] SLAMing on 78.986296757 meters Centerline goodness : 0.797379 Centerline is valid? [False, False] Translation: X:1.16, Y:0.47, Z:-1.58 [[ 0.93017124 0.3269542 -0.16698031 1.16073615] [-0.326905 0.9446251 0.02857532 0.47342147] [ 0.16707661 0.02800676 0.98554606 -1.57561067] [ 0. 0. 0. 1. ]] SLAMing on 79.016296757 meters Centerline goodness : 0.797086 Centerline is valid? [False, False] Translation: X:1.16, Y:0.47, Z:-1.57 [[ 0.9294864 0.32831768 -0.16811462 1.16227805] [-0.32832789 0.94413236 0.02854621 0.47262867] [ 0.16809468 0.0286634 0.98535404 -1.57447662] [ 0. 0. 0. 1. ]] SLAMing on 79.04629675700001 meters Centerline goodness : 0.798415 Centerline is valid? [False, False] Translation: X:1.17, Y:0.47, Z:-1.58 [[ 0.92848879 0.33048135 -0.16938313 1.16661987] [-0.33037788 0.9433836 0.02962825 0.47115801] [ 0.16958485 0.02845094 0.98510483 -1.57554195] [ 0. 0. 0. 1. ]] SLAMing on 79.07629675700001 meters Centerline goodness : 0.808169 Centerline is valid? [False, False] Translation: X:1.17, Y:0.47, Z:-1.58 [[ 0.92822969 0.3309742 -0.16984031 1.16838861] [-0.33078562 0.94322114 0.03024504 0.47033339] [ 0.1702073 0.02810639 0.98500736 -1.57611102] [ 0. 0. 0. 1. ]] SLAMing on 79.10629675700001 meters Centerline goodness : 0.806541 Centerline is valid? [False, False] Translation: X:1.17, Y:0.47, Z:-1.58 [[ 0.92873302 0.32820316 -0.17244612 1.17126126] [-0.32858748 0.94408336 0.02714533 0.4682742 ] [ 0.1717127 0.03145287 0.98464484 -1.5760929 ] [ 0. 0. 0. 1. ]] SLAMing on 79.136296757 meters Centerline goodness : 0.807067 Centerline is valid? [False, False] Translation: X:1.17, Y:0.47, Z:-1.57 [[ 0.92912995 0.32579141 -0.17486423 1.17289032] [-0.32677293 0.94479868 0.02397731 0.46715329] [ 0.1730231 0.03486286 0.98430056 -1.57485428] [ 0. 0. 0. 1. ]] SLAMing on 79.166296757 meters Centerline goodness : 0.808766 Centerline is valid? [False, False] Translation: X:1.17, Y:0.47, Z:-1.57 [[ 0.93026909 0.32173248 -0.17631685 1.17240772] [-0.3231729 0.94610046 0.02128831 0.46504172] [ 0.17366259 0.03717698 0.98410323 -1.57418084] [ 0. 0. 0. 1. ]] SLAMing on 79.196296757 meters Centerline goodness : 0.807652 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.57 [[ 0.9308734 0.31996258 -0.17634813 1.17220593] [-0.32143697 0.9466996 0.020932 0.46415734] [ 0.17364616 0.03719977 0.98410527 -1.57481206] [ 0. 0. 0. 1. ]] SLAMing on 79.226296757 meters Centerline goodness : 0.807342 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.58 [[ 0.93204836 0.31682855 -0.1757997 1.17139337] [-0.31823235 0.94778206 0.02091286 0.46296384] [ 0.17324559 0.03645335 0.9842038 -1.57623451] [ 0. 0. 0. 1. ]] SLAMing on 79.256296757 meters Centerline goodness : 0.805695 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.58 [[ 0.93242013 0.31558854 -0.17605846 1.17140739] [-0.31706291 0.94818403 0.02044876 0.46235678] [ 0.17338922 0.03675478 0.9841673 -1.57632078] [ 0. 0. 0. 1. ]] SLAMing on 79.286296757 meters Centerline goodness : 0.806371 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.58 [[ 0.93307679 0.31368279 -0.17598524 1.1692037 ] [-0.31521411 0.94881135 0.01992675 0.46089013] [ 0.17322747 0.03687984 0.9841911 -1.57537728] [ 0. 0. 0. 1. ]] SLAMing on 79.316296757 meters Centerline goodness : 0.807426 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.58 [[ 0.93324522 0.31265161 -0.17692466 1.17019975] [-0.31439749 0.94910491 0.01881714 0.46062846] [ 0.17380327 0.03806366 0.9840445 -1.57502081] [ 0. 0. 0. 1. ]] SLAMing on 79.346296757 meters Centerline goodness : 0.797075 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.58 [[ 0.93333218 0.31211763 -0.17740807 1.17161489] [-0.31399125 0.94925234 0.01815163 0.46097279] [ 0.17407047 0.03876308 0.98396997 -1.57549523] [ 0. 0. 0. 1. ]] SLAMing on 79.376296757 meters Centerline goodness : 0.796545 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.57 [[ 0.93278548 0.31449273 -0.17608401 1.16995731] [-0.31591078 0.94856375 0.02066861 0.46138734] [ 0.17352703 0.03634745 0.98415813 -1.57475758] [ 0. 0. 0. 1. ]] SLAMing on 79.406296757 meters Centerline goodness : 0.795649 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.58 [[ 0.93261261 0.31496372 -0.1761578 1.17049654] [-0.31639053 0.94840359 0.0206799 0.46209398] [ 0.17358211 0.03644832 0.98414469 -1.57518203] [ 0. 0. 0. 1. ]] SLAMing on 79.43629675700001 meters Centerline goodness : 0.795310 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.58 [[ 0.93254075 0.31504165 -0.1763987 1.17111006] [-0.31646128 0.94837781 0.02077945 0.46143959] [ 0.17383901 0.03644568 0.98409944 -1.57544495] [ 0. 0. 0. 1. ]] SLAMing on 79.46629675700001 meters Centerline goodness : 0.793608 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.57 [[ 0.93176279 0.31667607 -0.17757922 1.17256082] [-0.31809953 0.94782099 0.02116757 0.45966608] [ 0.17501657 0.03676471 0.98387883 -1.57418063] [ 0. 0. 0. 1. ]] SLAMing on 79.49629675700001 meters Centerline goodness : 0.795346 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.57 [[ 0.93136125 0.31750104 -0.17821143 1.17420255] [-0.31890456 0.94754307 0.02149448 0.45890803] [ 0.17568752 0.03681331 0.98375743 -1.57428913] [ 0. 0. 0. 1. ]] SLAMing on 79.526296757 meters Centerline goodness : 0.805318 Centerline is valid? [False, False] Translation: X:1.18, Y:0.46, Z:-1.57 [[ 0.93013982 0.32157222 -0.17728852 1.17569939] [-0.32231913 0.94629087 0.0253767 0.45805076] [ 0.17592695 0.03353961 0.98383169 -1.57481789] [ 0. 0. 0. 1. ]] SLAMing on 79.556296757 meters Centerline goodness : 0.795291 Centerline is valid? [False, False] Translation: X:1.18, Y:0.46, Z:-1.58 [[ 0.93002139 0.32189268 -0.17732826 1.17616053] [-0.3226334 0.94618179 0.02545016 0.45849538] [ 0.17597699 0.03354282 0.98382263 -1.57512479] [ 0. 0. 0. 1. ]] SLAMing on 79.586296757 meters Centerline goodness : 0.806666 Centerline is valid? [False, False] Translation: X:1.18, Y:0.46, Z:-1.58 [[ 0.92989716 0.32224774 -0.17733488 1.17638542] [-0.32297038 0.94606313 0.02558695 0.45843582] [ 0.17601533 0.03348069 0.98381789 -1.57538464] [ 0. 0. 0. 1. ]] SLAMing on 79.616296757 meters Centerline goodness : 0.805923 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.58 [[ 0.929515 0.3237739 -0.17655689 1.17410363] [-0.32437007 0.94556475 0.02629374 0.45816719] [ 0.1754592 0.03282935 0.98393918 -1.57502244] [ 0. 0. 0. 1. ]] SLAMing on 79.646296757 meters Centerline goodness : 0.806660 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.57 [[ 0.92930307 0.32458245 -0.17618749 1.17287479] [-0.32509292 0.94530274 0.02678302 0.45809641] [ 0.17524382 0.03238776 0.98399219 -1.57454044] [ 0. 0. 0. 1. ]] SLAMing on 79.676296757 meters Centerline goodness : 0.794863 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.57 [[ 0.92892989 0.32605362 -0.17543743 1.16996477] [-0.3263474 0.94483497 0.02800433 0.45661825] [ 0.17489033 0.03123949 0.9840922 -1.57319749] [ 0. 0. 0. 1. ]] SLAMing on 79.706296757 meters Centerline goodness : 0.796290 Centerline is valid? [False, False] Translation: X:1.17, Y:0.46, Z:-1.57 [[ 0.92873976 0.32670393 -0.17523415 1.16886558] [-0.3268564 0.94463431 0.0288255 0.45512681] [ 0.1749496 0.03050502 0.98410471 -1.57245728] [ 0. 0. 0. 1. ]] SLAMing on 79.736296757 meters Centerline goodness : 0.796363 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.57 [[ 0.928554 0.32709439 -0.17548999 1.14699755] [-0.32613677 0.9446705 0.0351064 0.45778753] [ 0.17726332 0.02463555 0.98385507 -1.57290129] [ 0. 0. 0. 1. ]] SLAMing on 79.766296757 meters Centerline goodness : 0.799178 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.57 [[ 0.92849459 0.3272734 -0.17547056 1.14700132] [-0.32625308 0.9446168 0.0354688 0.45710429] [ 0.17736043 0.02431522 0.98384554 -1.57281577] [ 0. 0. 0. 1. ]] SLAMing on 79.79629675700001 meters Centerline goodness : 0.795905 Centerline is valid? [False, False] Translation: X:1.15, Y:0.46, Z:-1.57 [[ 0.92843448 0.32749775 -0.17537002 1.14708267] [-0.32636903 0.94455368 0.03607768 0.45556835] [ 0.17746176 0.02373958 0.98384133 -1.57292214] [ 0. 0. 0. 1. ]] SLAMing on 79.82629675700001 meters Centerline goodness : 0.793290 Centerline is valid? [False, False] Translation: X:1.15, Y:0.45, Z:-1.57 [[ 0.9283625 0.3276489 -0.17546872 1.14707649] [-0.32645992 0.94450838 0.03643942 0.45452533] [ 0.17767101 0.02345451 0.9838104 -1.57267118] [ 0. 0. 0. 1. ]] SLAMing on 79.85629675700001 meters Centerline goodness : 0.794755 Centerline is valid? [False, False] Translation: X:1.15, Y:0.45, Z:-1.57 [[ 0.92834274 0.32759447 -0.17567474 1.14718158] [-0.32633469 0.9445356 0.03685329 0.45281375] [ 0.17800398 0.02311628 0.98375821 -1.57233222] [ 0. 0. 0. 1. ]] SLAMing on 79.886296757 meters Centerline goodness : 0.795996 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.57 [[ 0.92942149 0.32429886 -0.17608503 1.1441551 ] [-0.32351766 0.94561311 0.03394373 0.45122177] [ 0.17751623 0.02541859 0.98378955 -1.57143961] [ 0. 0. 0. 1. ]] SLAMing on 79.916296757 meters Centerline goodness : 0.796993 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.57 [[ 0.93036702 0.32169784 -0.17586276 1.14357489] [-0.32117494 0.94647144 0.03222538 0.45164907] [ 0.17681591 0.02650128 0.98388709 -1.57139241] [ 0. 0. 0. 1. ]] SLAMing on 79.946296757 meters Centerline goodness : 0.793859 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.57 [[ 0.93056876 0.3212598 -0.17559589 1.14328499] [-0.32072681 0.94662429 0.03219879 0.45118669] [ 0.17656751 0.02635513 0.98393563 -1.57136341] [ 0. 0. 0. 1. ]] SLAMing on 79.976296757 meters Centerline goodness : 0.795910 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.57 [[ 0.93186047 0.31688654 -0.17668895 1.14253816] [-0.31690567 0.94801739 0.02887613 0.44981308] [ 0.17665466 0.02908521 0.98384307 -1.57090234] [ 0. 0. 0. 1. ]] SLAMing on 80.006296757 meters Centerline goodness : 0.790272 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.57 [[ 0.93301145 0.31301036 -0.17752224 1.14132806] [-0.31365224 0.94920407 0.02517755 0.45035152] [ 0.17638566 0.03218931 0.98379467 -1.57076118] [ 0. 0. 0. 1. ]] SLAMing on 80.036296757 meters Centerline goodness : 0.793524 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.57 [[ 0.9342287 0.30879315 -0.17850356 1.14073015] [-0.31005023 0.95047641 0.02152777 0.44986769] [ 0.17631106 0.03523321 0.98370373 -1.57090128] [ 0. 0. 0. 1. ]] SLAMing on 80.066296757 meters Centerline goodness : 0.793497 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:-1.57 [[ 0.93423338 0.30863472 -0.17875289 1.14134809] [-0.30985558 0.95053449 0.02176481 0.44908298] [ 0.17662817 0.03505417 0.98365324 -1.57082154] [ 0. 0. 0. 1. ]] SLAMing on 80.096296757 meters Centerline goodness : 0.791303 Centerline is valid? [False, False] Translation: X:1.13, Y:0.45, Z:-1.57 [[ 0.93380566 0.30881105 -0.180673 1.12768556] [-0.30831738 0.95076082 0.03153174 0.45161481] [ 0.18151416 0.02626011 0.98303765 -1.5695576 ] [ 0. 0. 0. 1. ]] SLAMing on 80.126296757 meters Centerline goodness : 0.791179 Centerline is valid? [False, False] Translation: X:1.13, Y:0.45, Z:-1.57 [[ 0.93377502 0.30872002 -0.18098664 1.12868395] [-0.30822795 0.95078887 0.03156035 0.45187098] [ 0.1818234 0.02631487 0.98297903 -1.5696311 ] [ 0. 0. 0. 1. ]] SLAMing on 80.156296757 meters Centerline goodness : 0.788641 Centerline is valid? [False, False] Translation: X:1.13, Y:0.45, Z:-1.57 [[ 0.93369253 0.30897008 -0.18098551 1.12866427] [-0.30844101 0.9507123 0.03178477 0.45148464] [ 0.1818857 0.02614615 0.98297201 -1.5696279 ] [ 0. 0. 0. 1. ]] SLAMing on 80.18629675700001 meters Centerline goodness : 0.793491 Centerline is valid? [False, False] Translation: X:1.13, Y:0.45, Z:-1.57 [[ 0.93356361 0.3094158 -0.18088907 1.12838748] [-0.30884553 0.95057248 0.03203731 0.45088973] [ 0.18186102 0.02595791 0.98298156 -1.56969283] [ 0. 0. 0. 1. ]] SLAMing on 80.21629675700001 meters Centerline goodness : 0.789917 Centerline is valid? [False, False] Translation: X:1.11, Y:0.45, Z:-1.57 [[ 0.93311171 0.30939539 -0.18324035 1.11351705] [-0.30746991 0.95073505 0.0395615 0.45459812] [ 0.18645317 0.0194256 0.98227179 -1.57009836] [ 0. 0. 0. 1. ]] SLAMing on 80.24629675700001 meters Centerline goodness : 0.794031 Centerline is valid? [False, False] Translation: X:1.11, Y:0.46, Z:-1.57 [[ 0.9331064 0.30929269 -0.18344065 1.11449687] [-0.30741566 0.95076272 0.03931754 0.45529893] [ 0.18656916 0.01970508 0.98224419 -1.57064541] [ 0. 0. 0. 1. ]] SLAMing on 80.276296757 meters Centerline goodness : 0.794867 Centerline is valid? [False, False] Translation: X:1.11, Y:0.46, Z:-1.57 [[ 0.93301063 0.30956275 -0.18347227 1.11462741] [-0.30767446 0.95067529 0.03940711 0.4560897 ] [ 0.18662153 0.01968249 0.9822347 -1.57047652] [ 0. 0. 0. 1. ]] SLAMing on 80.306296757 meters Centerline goodness : 0.795246 Centerline is valid? [False, False] Translation: X:1.11, Y:0.46, Z:-1.57 [[ 0.93278593 0.31046924 -0.18308267 1.11317555] [-0.30849361 0.95038856 0.03991596 0.45622057] [ 0.18639235 0.01924679 0.98228685 -1.56973574] [ 0. 0. 0. 1. ]] SLAMing on 80.336296757 meters Centerline goodness : 0.794130 Centerline is valid? [False, False] Translation: X:1.11, Y:0.46, Z:-1.57 [[ 0.93271957 0.31067248 -0.18307596 1.11310492] [-0.30865285 0.95032626 0.04016726 0.45563715] [ 0.18646075 0.01904212 0.98227786 -1.56963379] [ 0. 0. 0. 1. ]] SLAMing on 80.366296757 meters Centerline goodness : 0.793948 Centerline is valid? [False, False] Translation: X:1.11, Y:0.46, Z:-1.57 [[ 0.93270495 0.31057651 -0.18331316 1.11439236] [-0.30856165 0.9503563 0.04015731 0.45570284] [ 0.18668473 0.01910849 0.98223402 -1.57018467] [ 0. 0. 0. 1. ]] SLAMing on 80.396296757 meters Centerline goodness : 0.792109 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93266012 0.31064565 -0.18342406 1.11516073] [-0.3086481 0.95033129 0.04008476 0.45723444] [ 0.18676578 0.01922803 0.98221628 -1.57025082] [ 0. 0. 0. 1. ]] SLAMing on 80.426296757 meters Centerline goodness : 0.792731 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93264162 0.31062556 -0.18355208 1.11535402] [-0.30860402 0.9503398 0.04022225 0.45733469] [ 0.1869309 0.01913196 0.98218675 -1.56988752] [ 0. 0. 0. 1. ]] SLAMing on 80.456296757 meters Centerline goodness : 0.793999 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93259991 0.31071866 -0.18360646 1.11501885] [-0.30862971 0.95031577 0.04059116 0.45651713] [ 0.18709654 0.0188111 0.98216141 -1.56927881] [ 0. 0. 0. 1. ]] SLAMing on 80.486296757 meters Centerline goodness : 0.792994 Centerline is valid? [False, False] Translation: X:1.11, Y:0.46, Z:-1.57 [[ 0.9336793 0.3070311 -0.18432271 1.11317774] [-0.30554383 0.95145339 0.03714048 0.45725142] [ 0.18677775 0.02164137 0.9821638 -1.56837087] [ 0. 0. 0. 1. ]] SLAMing on 80.516296757 meters Centerline goodness : 0.794221 Centerline is valid? [False, False] Translation: X:1.11, Y:0.46, Z:-1.57 [[ 0.93475178 0.30318216 -0.18525576 1.11241378] [-0.30235445 0.95261013 0.03340266 0.45915991] [ 0.1866036 0.02478971 0.98212248 -1.56797979] [ 0. 0. 0. 1. ]] SLAMing on 80.54629675700001 meters Centerline goodness : 0.795571 Centerline is valid? [False, False] Translation: X:1.11, Y:0.46, Z:-1.57 [[ 0.93596992 0.2985298 -0.18665549 1.11264599] [-0.29835882 0.95399215 0.02968147 0.46005461] [ 0.18692868 0.02790935 0.98197695 -1.56725857] [ 0. 0. 0. 1. ]] SLAMing on 80.57629675700001 meters Centerline goodness : 0.797745 Centerline is valid? [False, False] Translation: X:1.11, Y:0.46, Z:-1.57 [[ 0.9360239 0.29813025 -0.18702305 1.11336049] [-0.29790599 0.95412444 0.02997613 0.45875986] [ 0.18738006 0.02765692 0.98189806 -1.56687176] [ 0. 0. 0. 1. ]] SLAMing on 80.60629675700001 meters Centerline goodness : 0.804697 Centerline is valid? [False, False] Translation: X:1.11, Y:0.46, Z:-1.57 [[ 0.93715692 0.29382171 -0.18816403 1.11338486] [-0.29426577 0.95536392 0.02621891 0.46016696] [ 0.18746881 0.030799 0.98178759 -1.56650683] [ 0. 0. 0. 1. ]] SLAMing on 80.636296757 meters Centerline goodness : 0.797614 Centerline is valid? [False, False] Translation: X:1.11, Y:0.46, Z:-1.57 [[ 0.93716674 0.29358109 -0.18849043 1.11413418] [-0.29400871 0.95543987 0.026335 0.45988968] [ 0.18782273 0.03073755 0.98172187 -1.56624872] [ 0. 0. 0. 1. ]] SLAMing on 80.666296757 meters Centerline goodness : 0.797337 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93723638 0.29306274 -0.18895023 1.11550939] [-0.29349282 0.95559817 0.02634591 0.45955367] [ 0.1882815 0.03076319 0.98163318 -1.56613684] [ 0. 0. 0. 1. ]] SLAMing on 80.696296757 meters Centerline goodness : 0.797803 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93719393 0.29300419 -0.18925138 1.1160407 ] [-0.29342118 0.95561706 0.02645821 0.45941319] [ 0.18860422 0.03073389 0.98157215 -1.56584007] [ 0. 0. 0. 1. ]] SLAMing on 80.726296757 meters Centerline goodness : 0.804897 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93722521 0.29260239 -0.18971757 1.11775846] [-0.29308489 0.95572862 0.02615432 0.45947678] [ 0.18897133 0.03109087 0.98149029 -1.5665016 ] [ 0. 0. 0. 1. ]] SLAMing on 80.756296757 meters Centerline goodness : 0.804897 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93722521 0.29260239 -0.18971757 1.11775846] [-0.29308489 0.95572862 0.02615432 0.45947678] [ 0.18897133 0.03109087 0.98149029 -1.5665016 ] [ 0. 0. 0. 1. ]] SLAMing on 80.786296757 meters Centerline goodness : 0.803954 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93724728 0.29236504 -0.18997425 1.11888942] [-0.29289402 0.95579319 0.02593191 0.45982134] [ 0.18915768 0.03133771 0.98144655 -1.56699382] [ 0. 0. 0. 1. ]] SLAMing on 80.816296757 meters Centerline goodness : 0.792982 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93724617 0.29229444 -0.19008836 1.11943885] [-0.29283632 0.95581236 0.02587704 0.46035847] [ 0.18925251 0.03141162 0.9814259 -1.56702321] [ 0. 0. 0. 1. ]] SLAMing on 80.846296757 meters Centerline goodness : 0.796252 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93718798 0.29261234 -0.18988605 1.11835894] [-0.29310272 0.95572347 0.02614268 0.46044726] [ 0.18912823 0.03115551 0.98145802 -1.56612651] [ 0. 0. 0. 1. ]] SLAMing on 80.876296757 meters Centerline goodness : 0.794236 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.9371078 0.2928625 -0.18989609 1.11782607] [-0.29328979 0.95565631 0.02649735 0.45992382] [ 0.18923548 0.03086371 0.98144657 -1.56542243] [ 0. 0. 0. 1. ]] SLAMing on 80.906296757 meters Centerline goodness : 0.797305 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93703871 0.29319657 -0.18972143 1.11731253] [-0.29359236 0.95555871 0.02666612 0.45986403] [ 0.18910839 0.03071357 0.98147577 -1.56526412] [ 0. 0. 0. 1. ]] SLAMing on 80.93629675700001 meters Centerline goodness : 0.795517 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93697347 0.29331676 -0.18985781 1.11776651] [-0.29371805 0.9555199 0.02667252 0.46058017] [ 0.18923641 0.03077322 0.98144923 -1.56519138] [ 0. 0. 0. 1. ]] SLAMing on 80.96629675700001 meters Centerline goodness : 0.795282 Centerline is valid? [False, False] Translation: X:1.12, Y:0.46, Z:-1.57 [[ 0.93581865 0.29752554 -0.18900266 1.11946108] [-0.29726339 0.95431116 0.03040864 0.46080071] [ 0.1894147 0.0277266 0.98150563 -1.56579286] [ 0. 0. 0. 1. ]] SLAMing on 80.99629675700001 meters Centerline goodness : 0.794918 Centerline is valid? [False, False] Translation: X:1.10, Y:0.46, Z:-1.57 [[ 0.9352063 0.2981374 -0.19105829 1.10485349] [-0.29630401 0.95430611 0.03877856 0.46421055] [ 0.19388943 0.02034539 0.9808124 -1.56595686] [ 0. 0. 0. 1. ]] SLAMing on 81.026296757 meters Centerline goodness : 0.792955 Centerline is valid? [False, False] Translation: X:1.10, Y:0.46, Z:-1.57 [[ 0.93498735 0.29887695 -0.19097442 1.10470218] [-0.29701853 0.95407606 0.03897265 0.46410869] [ 0.19385215 0.02028401 0.98082103 -1.56636531] [ 0. 0. 0. 1. ]] SLAMing on 81.056296757 meters Centerline goodness : 0.794621 Centerline is valid? [False, False] Translation: X:1.10, Y:0.46, Z:-1.57 [[ 0.93487146 0.29927329 -0.19092105 1.10457121] [-0.29737849 0.95395494 0.03919195 0.46336251] [ 0.19385918 0.02013638 0.98082269 -1.56658688] [ 0. 0. 0. 1. ]] SLAMing on 81.086296757 meters Centerline goodness : 0.793499 Centerline is valid? [False, False] Translation: X:1.10, Y:0.46, Z:-1.57 [[ 0.93479019 0.299616 -0.1907814 1.10436121] [-0.2976861 0.95385082 0.03939026 0.46288195] [ 0.19377895 0.01997134 0.98084192 -1.56678369] [ 0. 0. 0. 1. ]] SLAMing on 81.116296757 meters Centerline goodness : 0.793209 Centerline is valid? [False, False] Translation: X:1.10, Y:0.46, Z:-1.57 [[ 0.93463241 0.30038734 -0.190341 1.10338927] [-0.29839194 0.95361509 0.03975564 0.46348532] [ 0.19345414 0.01963931 0.98091273 -1.56656501] [ 0. 0. 0. 1. ]] SLAMing on 81.146296757 meters Centerline goodness : 0.794021 Centerline is valid? [False, False] Translation: X:1.08, Y:0.47, Z:-1.57 [[ 0.93468543 0.3015075 -0.18829863 1.08075054] [-0.2986944 0.95334151 0.04383624 0.47099444] [ 0.19272986 0.01527065 0.98113302 -1.5701462 ] [ 0. 0. 0. 1. ]] SLAMing on 81.176296757 meters Centerline goodness : 0.790204 Centerline is valid? [False, False] Translation: X:1.08, Y:0.47, Z:-1.57 [[ 0.93464685 0.30158843 -0.1883605 1.08110683] [-0.29876932 0.95331602 0.04388007 0.47107401] [ 0.1928008 0.01526397 0.98111919 -1.57029688] [ 0. 0. 0. 1. ]] SLAMing on 81.206296757 meters Centerline goodness : 0.792856 Centerline is valid? [False, False] Translation: X:1.08, Y:0.47, Z:-1.57 [[ 0.93460446 0.30173369 -0.18833822 1.08095265] [-0.2988654 0.95327375 0.04414329 0.47002981] [ 0.1928574 0.01503126 0.98111166 -1.57027126] [ 0. 0. 0. 1. ]] SLAMing on 81.236296757 meters Centerline goodness : 0.794991 Centerline is valid? [False, False] Translation: X:1.08, Y:0.47, Z:-1.57 [[ 0.93554281 0.29855403 -0.18874624 1.0779375 ] [-0.29622518 0.95423312 0.04110709 0.46963026] [ 0.19238061 0.01745395 0.98116516 -1.56910852] [ 0. 0. 0. 1. ]] SLAMing on 81.266296757 meters Centerline goodness : 0.794021 Centerline is valid? [False, False] Translation: X:1.05, Y:0.48, Z:-1.57 [[ 0.93696905 0.29587311 -0.18587118 1.05386051] [-0.29341566 0.95509498 0.04124108 0.47711416] [ 0.18972675 0.0158959 0.98170825 -1.57344609] [ 0. 0. 0. 1. ]] SLAMing on 81.29629675700001 meters Centerline goodness : 0.798873 Centerline is valid? [False, False] Translation: X:1.05, Y:0.48, Z:-1.57 [[ 0.93736061 0.2947456 -0.18568823 1.05392726] [-0.29232801 0.95544284 0.04090628 0.47707483] [ 0.18947144 0.01593794 0.98175687 -1.57320259] [ 0. 0. 0. 1. ]] SLAMing on 81.32629675700001 meters Centerline goodness : 0.798831 Centerline is valid? [False, False] Translation: X:1.05, Y:0.48, Z:-1.57 [[ 0.9385902 0.29015981 -0.18669687 1.05327904] [-0.28834236 0.95679548 0.03743115 0.47659463] [ 0.18949174 0.0187001 0.98170423 -1.57246173] [ 0. 0. 0. 1. ]] SLAMing on 81.35629675700001 meters Centerline goodness : 0.798689 Centerline is valid? [False, False] Translation: X:1.05, Y:0.48, Z:-1.57 [[ 0.93969252 0.28598936 -0.18758478 1.05262269] [-0.28484072 0.95798435 0.03364153 0.47725105] [ 0.1893244 0.02181909 0.98167214 -1.57238993] [ 0. 0. 0. 1. ]] SLAMing on 81.386296757 meters Centerline goodness : 0.799223 Centerline is valid? [False, False] Translation: X:1.05, Y:0.48, Z:-1.57 [[ 0.93976456 0.28556482 -0.18787043 1.05330112] [-0.28432992 0.95812063 0.03407861 0.47523918] [ 0.18973419 0.02139131 0.98160244 -1.57203514] [ 0. 0. 0. 1. ]] SLAMing on 81.416296757 meters Centerline goodness : 0.798043 Centerline is valid? [False, False] Translation: X:1.05, Y:0.48, Z:-1.57 [[ 0.94091144 0.28106947 -0.18890638 1.05350052] [-0.28049954 0.95937545 0.0303109 0.47571417] [ 0.18975162 0.02446828 0.98152719 -1.57217911] [ 0. 0. 0. 1. ]] SLAMing on 81.446296757 meters Centerline goodness : 0.795270 Centerline is valid? [False, False] Translation: X:1.05, Y:0.47, Z:-1.57 [[ 0.94098134 0.28055699 -0.18931957 1.05479207] [-0.27994076 0.959531 0.03055203 0.47441938] [ 0.19022958 0.02424937 0.9814401 -1.57217843] [ 0. 0. 0. 1. ]] SLAMing on 81.476296757 meters Centerline goodness : 0.797185 Centerline is valid? [False, False] Translation: X:1.06, Y:0.47, Z:-1.57 [[ 0.94099204 0.28038563 -0.18952011 1.055811 ] [-0.27979082 0.95957797 0.03045025 0.47456921] [ 0.19039714 0.02437254 0.98140456 -1.57266548] [ 0. 0. 0. 1. ]] SLAMing on 81.506296757 meters Centerline goodness : 0.793967 Centerline is valid? [False, False] Translation: X:1.06, Y:0.48, Z:-1.57 [[ 0.94098673 0.28018619 -0.18984116 1.05705946] [-0.27962924 0.95963055 0.03027704 0.47528777] [ 0.19066058 0.02459484 0.98134787 -1.57301328] [ 0. 0. 0. 1. ]] SLAMing on 81.536296757 meters Centerline goodness : 0.796716 Centerline is valid? [False, False] Translation: X:1.06, Y:0.48, Z:-1.57 [[ 0.94093708 0.28021939 -0.19003815 1.05807469] [-0.27973713 0.95961023 0.02992217 0.47668194] [ 0.19074733 0.02500584 0.98132062 -1.57357949] [ 0. 0. 0. 1. ]] SLAMing on 81.566296757 meters Centerline goodness : 0.792201 Centerline is valid? [False, False] Translation: X:1.06, Y:0.48, Z:-1.57 [[ 0.9408646 0.28048607 -0.19000362 1.05784897] [-0.27997896 0.959535 0.03007262 0.47652641] [ 0.19075007 0.02490276 0.98132271 -1.57342723] [ 0. 0. 0. 1. ]] SLAMing on 81.596296757 meters Centerline goodness : 0.790804 Centerline is valid? [False, False] Translation: X:1.06, Y:0.48, Z:-1.57 [[ 0.94074729 0.2808775 -0.19000622 1.05755117] [-0.28040296 0.95941516 0.02994534 0.47753602] [ 0.19070581 0.02510731 0.9813261 -1.573216 ] [ 0. 0. 0. 1. ]] SLAMing on 81.626296757 meters Centerline goodness : 0.795051 Centerline is valid? [False, False] Translation: X:1.06, Y:0.48, Z:-1.57 [[ 0.94067225 0.28112245 -0.19001549 1.05765251] [-0.28068365 0.95933799 0.02978768 0.47889684] [ 0.19066306 0.0253138 0.9813291 -1.57319928] [ 0. 0. 0. 1. ]] SLAMing on 81.656296757 meters Centerline goodness : 0.790917 Centerline is valid? [False, False] Translation: X:1.06, Y:0.48, Z:-1.57 [[ 0.93957271 0.28532362 -0.18919182 1.05916402] [-0.28429982 0.95816314 0.03312104 0.48045772] [ 0.19072684 0.02266757 0.9813814 -1.57375657] [ 0. 0. 0. 1. ]] SLAMing on 81.68629675700001 meters Centerline goodness : 0.792283 Centerline is valid? [False, False] Translation: X:1.06, Y:0.48, Z:-1.57 [[ 0.93942447 0.28597243 -0.18894824 1.05854377] [-0.28496333 0.95796738 0.0330817 0.48236756] [ 0.1904667 0.02276556 0.98142965 -1.57355806] [ 0. 0. 0. 1. ]] SLAMing on 81.71629675700001 meters Centerline goodness : 0.792783 Centerline is valid? [False, False] Translation: X:1.06, Y:0.48, Z:-1.57 [[ 0.9392822 0.28650743 -0.18884501 1.05803699] [-0.2854852 0.9578082 0.03319127 0.48335666] [ 0.19038684 0.02273649 0.98144582 -1.57318976] [ 0. 0. 0. 1. ]] SLAMing on 81.74629675700001 meters Centerline goodness : 0.796002 Centerline is valid? [False, False] Translation: X:1.06, Y:0.48, Z:-1.57 [[ 0.93898653 0.28781124 -0.18833214 1.05540978] [-0.28666647 0.95743069 0.03389415 0.48343688] [ 0.19007009 0.02216236 0.98152035 -1.57173064] [ 0. 0. 0. 1. ]] SLAMing on 81.776296757 meters Centerline goodness : 0.792115 Centerline is valid? [False, False] Translation: X:1.05, Y:0.49, Z:-1.57 [[ 0.93872778 0.288869 -0.18800228 1.05450539] [-0.28769204 0.95711469 0.03412864 0.48518718] [ 0.18979845 0.02204926 0.98157546 -1.57144571] [ 0. 0. 0. 1. ]] SLAMing on 81.806296757 meters Centerline goodness : 0.793164 Centerline is valid? [False, False] Translation: X:1.06, Y:0.49, Z:-1.57 [[ 0.93865354 0.28908066 -0.18804763 1.05504866] [-0.28793502 0.95704643 0.03399347 0.48673925] [ 0.18979717 0.02223741 0.98157146 -1.57165633] [ 0. 0. 0. 1. ]] SLAMing on 81.836296757 meters Centerline goodness : 0.792384 Centerline is valid? [False, False] Translation: X:1.06, Y:0.49, Z:-1.57 [[ 0.93858139 0.28926426 -0.18812537 1.05559717] [-0.28813868 0.95698782 0.03391764 0.48823247] [ 0.18984485 0.02237173 0.98155919 -1.57171689] [ 0. 0. 0. 1. ]] SLAMing on 81.866296757 meters Centerline goodness : 0.792085 Centerline is valid? [False, False] Translation: X:1.06, Y:0.49, Z:-1.57 [[ 0.93844134 0.2896731 -0.18819497 1.0555765 ] [-0.28853173 0.95686473 0.03404909 0.48949162] [ 0.18994024 0.02234715 0.98154129 -1.57123435] [ 0. 0. 0. 1. ]] SLAMing on 81.896296757 meters Centerline goodness : 0.791893 Centerline is valid? [False, False] Translation: X:1.05, Y:0.49, Z:-1.57 [[ 0.93943243 0.28577403 -0.18920864 1.05451926] [-0.28527978 0.95796082 0.03043858 0.4894199 ] [ 0.18995302 0.02538241 0.98146502 -1.57073899] [ 0. 0. 0. 1. ]] SLAMing on 81.926296757 meters Centerline goodness : 0.801043 Centerline is valid? [False, False] Translation: X:1.06, Y:0.49, Z:-1.57 [[ 0.93954853 0.28498135 -0.18982675 1.05617421] [-0.2845177 0.95819233 0.03028425 0.48810625] [ 0.19052098 0.02555555 0.98135043 -1.57103867] [ 0. 0. 0. 1. ]] SLAMing on 81.956296757 meters Centerline goodness : 0.792161 Centerline is valid? [False, False] Translation: X:1.06, Y:0.49, Z:-1.57 [[ 0.93963797 0.28435471 -0.19032309 1.05781375] [-0.28391207 0.95837524 0.03017997 0.48746237] [ 0.19098275 0.02567678 0.9812575 -1.57141741] [ 0. 0. 0. 1. ]] SLAMing on 81.986296757 meters Centerline goodness : 0.788998 Centerline is valid? [False, False] Translation: X:1.05, Y:0.49, Z:-1.57 [[ 0.93999646 0.28147916 -0.19281116 1.04578568] [-0.27946312 0.95939812 0.0381525 0.49045069] [ 0.1957218 0.01802039 0.98049388 -1.56966214] [ 0. 0. 0. 1. ]] SLAMing on 82.016296757 meters Centerline goodness : 0.790397 Centerline is valid? [False, False] Translation: X:1.05, Y:0.49, Z:-1.57 [[ 0.94003991 0.28128337 -0.192885 1.04579724] [-0.27923467 0.95945865 0.03830276 0.49054937] [ 0.19583911 0.01785406 0.9804735 -1.56904 ] [ 0. 0. 0. 1. ]] SLAMing on 82.04629675700001 meters Centerline goodness : 0.789119 Centerline is valid? [False, False] Translation: X:1.04, Y:0.49, Z:-1.57 [[ 0.94108501 0.27746544 -0.19331822 1.04362233] [-0.27604444 0.96051451 0.03480423 0.49264811] [ 0.19534193 0.02061069 0.9805186 -1.56767857] [ 0. 0. 0. 1. ]] SLAMing on 82.07629675700001 meters Centerline goodness : 0.791309 Centerline is valid? [False, False] Translation: X:1.04, Y:0.49, Z:-1.57 [[ 0.94201908 0.27382009 -0.19396551 1.04212165] [-0.27306229 0.96149127 0.03116916 0.49483406] [ 0.19503089 0.02360273 0.98051306 -1.56695963] [ 0. 0. 0. 1. ]] SLAMing on 82.10629675700001 meters Centerline goodness : 0.792901 Centerline is valid? [False, False] Translation: X:1.04, Y:0.50, Z:-1.57 [[ 0.94295527 0.27017911 -0.1945215 1.04015805] [-0.27006401 0.96244587 0.02762929 0.49729529] [ 0.19468127 0.02648007 0.98050906 -1.56559349] [ 0. 0. 0. 1. ]] SLAMing on 82.136296757 meters Centerline goodness : 0.790599 Centerline is valid? [False, False] Translation: X:1.04, Y:0.50, Z:-1.57 [[ 0.94299332 0.26996088 -0.19463997 1.04057345] [-0.26985487 0.96250602 0.02757726 0.49763141] [ 0.19478693 0.02651937 0.98048701 -1.56544782] [ 0. 0. 0. 1. ]] SLAMing on 82.166296757 meters Centerline goodness : 0.791958 Centerline is valid? [False, False] Translation: X:1.04, Y:0.50, Z:-1.57 [[ 0.94299309 0.2696236 -0.19510806 1.0419708 ] [-0.26955191 0.96259498 0.02743474 0.49782992] [ 0.19520709 0.02672098 0.98039797 -1.56565462] [ 0. 0. 0. 1. ]] SLAMing on 82.196296757 meters Centerline goodness : 0.789082 Centerline is valid? [False, False] Translation: X:1.05, Y:0.50, Z:-1.57 [[ 0.94303936 0.26883022 -0.19597727 1.0452048 ] [-0.2689545 0.96278846 0.02649264 0.49962144] [ 0.19580667 0.02772536 0.9802505 -1.56702725] [ 0. 0. 0. 1. ]] SLAMing on 82.226296757 meters Centerline goodness : 0.789219 Centerline is valid? [False, False] Translation: X:1.05, Y:0.50, Z:-1.57 [[ 0.94304324 0.26861372 -0.19625524 1.04660751] [-0.26882643 0.96283582 0.02606792 0.50081559] [ 0.19596378 0.02817542 0.98020628 -1.56778304] [ 0. 0. 0. 1. ]] SLAMing on 82.256296757 meters Centerline goodness : 0.789623 Centerline is valid? [False, False] Translation: X:1.05, Y:0.50, Z:-1.57 [[ 0.94289628 0.26920719 -0.19614815 1.04659637] [-0.26947497 0.96266069 0.02583875 0.50329031] [ 0.19578009 0.02849375 0.98023378 -1.56793423] [ 0. 0. 0. 1. ]] SLAMing on 82.286296757 meters Centerline goodness : 0.785535 Centerline is valid? [False, False] Translation: X:1.05, Y:0.50, Z:-1.57 [[ 0.94280777 0.26953447 -0.19612415 1.0463929 ] [-0.26981663 0.96256609 0.0257976 0.5045627 ] [ 0.1957358 0.02859538 0.98023967 -1.56763264] [ 0. 0. 0. 1. ]] SLAMing on 82.316296757 meters Centerline goodness : 0.788033 Centerline is valid? [False, False] Translation: X:1.05, Y:0.51, Z:-1.57 [[ 0.94257683 0.27050764 -0.19589422 1.04564537] [-0.27079013 0.9622909 0.02586364 0.5068646 ] [ 0.19550354 0.02866776 0.9802839 -1.56724403] [ 0. 0. 0. 1. ]] SLAMing on 82.346296757 meters Centerline goodness : 0.787301 Centerline is valid? [False, False] Translation: X:1.05, Y:0.51, Z:-1.57 [[ 0.94244813 0.27093671 -0.19592043 1.04572835] [-0.271235 0.96216642 0.02583338 0.50831815] [ 0.19550727 0.02879386 0.98027946 -1.56711457] [ 0. 0. 0. 1. ]] SLAMing on 82.376296757 meters Centerline goodness : 0.787714 Centerline is valid? [False, False] Translation: X:1.05, Y:0.51, Z:-1.57 [[ 0.94231818 0.27143109 -0.19586123 1.04568904] [-0.2717423 0.96202385 0.02581152 0.50989873] [ 0.19542922 0.02890112 0.98029187 -1.56706451] [ 0. 0. 0. 1. ]] SLAMing on 82.406296757 meters Centerline goodness : 0.787482 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.57 [[ 0.94200987 0.27264488 -0.19565833 1.04483794] [-0.27289335 0.96168684 0.02622307 0.51130452] [ 0.19531163 0.02869146 0.98032146 -1.56663184] [ 0. 0. 0. 1. ]] SLAMing on 82.43629675700001 meters Centerline goodness : 0.791231 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.57 [[ 0.94176725 0.27393685 -0.19502063 1.04241412] [-0.27399285 0.96134613 0.02723116 0.51075009] [ 0.19494194 0.02778884 0.98042104 -1.56540036] [ 0. 0. 0. 1. ]] SLAMing on 82.46629675700001 meters Centerline goodness : 0.788439 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.57 [[ 0.94172851 0.27420205 -0.19483493 1.04206497] [-0.27422377 0.96127536 0.02740443 0.51102255] [ 0.19480436 0.02762083 0.98045313 -1.5652898 ] [ 0. 0. 0. 1. ]] SLAMing on 82.49629675700001 meters Centerline goodness : 0.788355 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.57 [[ 0.94165188 0.27440136 -0.19492469 1.04225092] [-0.27437823 0.96122386 0.0276638 0.5111784 ] [ 0.19495724 0.02743342 0.98042801 -1.56502848] [ 0. 0. 0. 1. ]] SLAMing on 82.526296757 meters Centerline goodness : 0.787025 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94163137 0.27448006 -0.19491297 1.04233074] [-0.27441498 0.96120708 0.02788133 0.51117645] [ 0.1950046 0.0272331 0.98042418 -1.56482986] [ 0. 0. 0. 1. ]] SLAMing on 82.556296757 meters Centerline goodness : 0.790785 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94159054 0.27465906 -0.19485805 1.04176053] [-0.27452168 0.96116568 0.0282557 0.5104597 ] [ 0.19505155 0.02688746 0.98042438 -1.56421805] [ 0. 0. 0. 1. ]] SLAMing on 82.586296757 meters Centerline goodness : 0.791647 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94255303 0.27086188 -0.19551888 1.03986585] [-0.27133266 0.96216354 0.02489788 0.51087593] [ 0.19486503 0.02958308 0.98038383 -1.56313215] [ 0. 0. 0. 1. ]] SLAMing on 82.616296757 meters Centerline goodness : 0.790259 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.9425535 0.27071323 -0.19572236 1.03996505] [-0.27113755 0.96221206 0.02514728 0.50998431] [ 0.19513411 0.02936503 0.98033687 -1.56264353] [ 0. 0. 0. 1. ]] SLAMing on 82.646296757 meters Centerline goodness : 0.789969 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94267869 0.27002095 -0.19607542 1.04096519] [-0.27046474 0.96240442 0.02503125 0.51008701] [ 0.19546281 0.02943506 0.98026928 -1.56235481] [ 0. 0. 0. 1. ]] SLAMing on 82.676296757 meters Centerline goodness : 0.789969 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94267869 0.27002095 -0.19607542 1.04096519] [-0.27046474 0.96240442 0.02503125 0.51008701] [ 0.19546281 0.02943506 0.98026928 -1.56235481] [ 0. 0. 0. 1. ]] SLAMing on 82.706296757 meters Centerline goodness : 0.790045 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94270907 0.26975873 -0.19629017 1.04180174] [-0.27023157 0.96247355 0.02489113 0.51075768] [ 0.1956387 0.02957871 0.98022987 -1.56241708] [ 0. 0. 0. 1. ]] SLAMing on 82.736296757 meters Centerline goodness : 0.795569 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94276583 0.26947869 -0.19640218 1.04207944] [-0.26997039 0.96254959 0.02478457 0.51156092] [ 0.19572575 0.02965673 0.98021014 -1.56201483] [ 0. 0. 0. 1. ]] SLAMing on 82.766296757 meters Centerline goodness : 0.791051 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94272209 0.26947999 -0.19661026 1.04208633] [-0.26993807 0.96255347 0.02498508 0.51129018] [ 0.19598087 0.0295186 0.98016333 -1.56137829] [ 0. 0. 0. 1. ]] SLAMing on 82.79629675700001 meters Centerline goodness : 0.797228 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94265607 0.2696327 -0.19671739 1.04182526] [-0.27003847 0.96251763 0.02527901 0.51087056] [ 0.19616 0.02929186 0.9801343 -1.56072329] [ 0. 0. 0. 1. ]] SLAMing on 82.82629675700001 meters Centerline goodness : 0.799596 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94257151 0.27005048 -0.19654945 1.04122592] [-0.27040185 0.96240794 0.02556937 0.51111946] [ 0.19606577 0.02904637 0.98016046 -1.56020624] [ 0. 0. 0. 1. ]] SLAMing on 82.85629675700001 meters Centerline goodness : 0.798390 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94252362 0.27014457 -0.19664979 1.04165349] [-0.27051449 0.96237808 0.02550178 0.51200566] [ 0.19614062 0.02916058 0.98014209 -1.56022708] [ 0. 0. 0. 1. ]] SLAMing on 82.886296757 meters Centerline goodness : 0.799946 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94145577 0.2744105 -0.19585686 1.04271744] [-0.27408159 0.96125918 0.02932707 0.51209846] [ 0.19631686 0.02607062 0.98019387 -1.56029063] [ 0. 0. 0. 1. ]] SLAMing on 82.916296757 meters Centerline goodness : 0.798044 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94133238 0.27488953 -0.19577816 1.04255552] [-0.27457081 0.96111989 0.02931585 0.51388836] [ 0.1962249 0.02615901 0.98020992 -1.56004309] [ 0. 0. 0. 1. ]] SLAMing on 82.946296757 meters Centerline goodness : 0.791906 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.94100947 0.27613836 -0.19557296 1.04185195] [-0.27578507 0.96076372 0.02959182 0.51630891] [ 0.19607084 0.02608992 0.98024259 -1.55952603] [ 0. 0. 0. 1. ]] SLAMing on 82.976296757 meters Centerline goodness : 0.790475 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.94088996 0.27651176 -0.19562037 1.04187692] [-0.27616022 0.96065482 0.02962869 0.51673806] [ 0.19611633 0.02614523 0.98023202 -1.55949199] [ 0. 0. 0. 1. ]] SLAMing on 83.006296757 meters Centerline goodness : 0.793658 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.94071448 0.27682509 -0.19602075 1.04342463] [-0.27659456 0.96054564 0.02911238 0.51875144] [ 0.19634591 0.02683183 0.9801675 -1.5604229 ] [ 0. 0. 0. 1. ]] SLAMing on 83.036296757 meters Centerline goodness : 0.793466 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.94070255 0.27669919 -0.19625561 1.04485422] [-0.27658543 0.96056516 0.02854941 0.52073223] [ 0.1964159 0.02742494 0.98013707 -1.5612327 ] [ 0. 0. 0. 1. ]] SLAMing on 83.066296757 meters Centerline goodness : 0.794656 Centerline is valid? [False, False] Translation: X:1.05, Y:0.52, Z:-1.56 [[ 0.93962856 0.28087798 -0.19546285 1.04594214] [-0.28010503 0.95943016 0.03217042 0.52100156] [ 0.19656892 0.02452188 0.98018332 -1.56138295] [ 0. 0. 0. 1. ]] SLAMing on 83.096296757 meters Centerline goodness : 0.791768 Centerline is valid? [False, False] Translation: X:1.05, Y:0.52, Z:-1.56 [[ 0.93954674 0.28121303 -0.19537438 1.04514787] [-0.28038166 0.95933873 0.03248573 0.52110384] [ 0.19656562 0.02425753 0.98019056 -1.56057546] [ 0. 0. 0. 1. ]] SLAMing on 83.126296757 meters Centerline goodness : 0.794041 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.93952408 0.28156541 -0.19497543 1.04322522] [-0.28062515 0.95924942 0.03301632 0.52088969] [ 0.19632632 0.02369538 0.98025227 -1.55903363] [ 0. 0. 0. 1. ]] SLAMing on 83.156296757 meters Centerline goodness : 0.795649 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.93947385 0.28182714 -0.19483928 1.0424635 ] [-0.28080954 0.95918171 0.0334133 0.52055178] [ 0.19630305 0.02332181 0.98026588 -1.55834258] [ 0. 0. 0. 1. ]] SLAMing on 83.18629675700001 meters Centerline goodness : 0.791245 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.93974163 0.28144946 -0.19409241 1.04103504] [-0.28024143 0.95931879 0.0342374 0.51988044] [ 0.19583259 0.02221843 0.98038561 -1.55840163] [ 0. 0. 0. 1. ]] SLAMing on 83.21629675700001 meters Centerline goodness : 0.789852 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.93977189 0.28119971 -0.19430779 1.04164726] [-0.27995897 0.95939545 0.03439985 0.51870921] [ 0.19609124 0.0220702 0.98033725 -1.55849539] [ 0. 0. 0. 1. ]] SLAMing on 83.24629675700001 meters Centerline goodness : 0.789634 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.93980529 0.28090483 -0.1945726 1.04241786] [-0.27961975 0.95948642 0.03462077 0.51724679] [ 0.19641491 0.02186956 0.98027695 -1.55864131] [ 0. 0. 0. 1. ]] SLAMing on 83.276296757 meters Centerline goodness : 0.789864 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.94092574 0.27651794 -0.19543945 1.04209683] [-0.27588497 0.96069027 0.03101128 0.51760379] [ 0.19633195 0.02473949 0.98022534 -1.55854292] [ 0. 0. 0. 1. ]] SLAMing on 83.306296757 meters Centerline goodness : 0.787749 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.94108353 0.27587393 -0.19558977 1.04273463] [-0.27519377 0.96088243 0.03119839 0.5166342 ] [ 0.19654559 0.02446479 0.98018942 -1.55827392] [ 0. 0. 0. 1. ]] SLAMing on 83.336296757 meters Centerline goodness : 0.789444 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.94106691 0.27597214 -0.19553121 1.04237534] [-0.27522036 0.96086306 0.03155842 0.51592587] [ 0.19658796 0.02411559 0.98018958 -1.55783029] [ 0. 0. 0. 1. ]] SLAMing on 83.366296757 meters Centerline goodness : 0.792906 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94101218 0.27619163 -0.1954847 1.04177468] [-0.27534855 0.9608107 0.0320308 0.51484297] [ 0.19667043 0.02368505 0.98018353 -1.55721488] [ 0. 0. 0. 1. ]] SLAMing on 83.396296757 meters Centerline goodness : 0.789107 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94183615 0.27325531 -0.19564305 1.03820483] [-0.2729406 0.96159049 0.02910599 0.51479118] [ 0.19608186 0.02598586 0.98024315 -1.55578324] [ 0. 0. 0. 1. ]] SLAMing on 83.426296757 meters Centerline goodness : 0.792654 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.55 [[ 0.94168215 0.27416347 -0.19511307 1.03646777] [-0.27373852 0.96134604 0.0296817 0.51516412] [ 0.19570882 0.02545924 0.98033152 -1.55494555] [ 0. 0. 0. 1. ]] SLAMing on 83.456296757 meters Centerline goodness : 0.791057 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.55 [[ 0.9416031 0.2744701 -0.19506348 1.03638862] [-0.27404209 0.96125829 0.02972251 0.51628955] [ 0.19566433 0.0254688 0.98034015 -1.55477942] [ 0. 0. 0. 1. ]] SLAMing on 83.486296757 meters Centerline goodness : 0.790303 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.55 [[ 0.94148549 0.27497169 -0.19492472 1.03598723] [-0.27451613 0.96111769 0.02989463 0.51716665] [ 0.19556578 0.02536462 0.98036252 -1.5545352 ] [ 0. 0. 0. 1. ]] SLAMing on 83.516296757 meters Centerline goodness : 0.790473 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.9411755 0.27636082 -0.19445663 1.0345072 ] [-0.27580963 0.9607296 0.03045794 0.51799781] [ 0.19523763 0.02496674 0.98043813 -1.55410835] [ 0. 0. 0. 1. ]] SLAMing on 83.54629675700001 meters Centerline goodness : 0.789630 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94103368 0.27694771 -0.19430793 1.03411899] [-0.27637142 0.9605628 0.03062587 0.51867301] [ 0.19512674 0.02488118 0.98046238 -1.55398878] [ 0. 0. 0. 1. ]] SLAMing on 83.57629675700001 meters Centerline goodness : 0.789950 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94068936 0.27844137 -0.19383996 1.03269287] [-0.27780167 0.96013685 0.03103977 0.51967171] [ 0.19475565 0.02465028 0.98054199 -1.55386001] [ 0. 0. 0. 1. ]] SLAMing on 83.60629675700001 meters Centerline goodness : 0.790566 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94054427 0.27897361 -0.19377872 1.03258656] [-0.27833095 0.95998153 0.03110211 0.52086824] [ 0.19470066 0.02468171 0.98055212 -1.55377397] [ 0. 0. 0. 1. ]] SLAMing on 83.63629675700001 meters Centerline goodness : 0.790826 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.9393165 0.28367587 -0.19290547 1.03336114] [-0.28234204 0.95867641 0.03496443 0.52182939] [ 0.19485249 0.02162266 0.98059419 -1.55365252] [ 0. 0. 0. 1. ]] SLAMing on 83.666296757 meters Centerline goodness : 0.789604 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.93920127 0.28402477 -0.19295313 1.03354344] [-0.28270704 0.95857028 0.03492502 0.52297343] [ 0.19487871 0.02174758 0.98058622 -1.5536207 ] [ 0. 0. 0. 1. ]] SLAMing on 83.696296757 meters Centerline goodness : 0.792322 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.93903724 0.28461815 -0.19287708 1.0332949 ] [-0.283283 0.95839509 0.0350656 0.52348626] [ 0.19483275 0.0217109 0.98059616 -1.5536105 ] [ 0. 0. 0. 1. ]] SLAMing on 83.726296757 meters Centerline goodness : 0.793564 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.93896158 0.28477968 -0.19300693 1.03351573] [-0.28340721 0.95835032 0.03528482 0.52316658] [ 0.19501665 0.02156847 0.98056275 -1.55344933] [ 0. 0. 0. 1. ]] SLAMing on 83.756296757 meters Centerline goodness : 0.792356 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.93891816 0.2848123 -0.19317001 1.03378921] [-0.28342611 0.95834139 0.03537555 0.52300168] [ 0.19519821 0.02153468 0.98052737 -1.55331058] [ 0. 0. 0. 1. ]] SLAMing on 83.786296757 meters Centerline goodness : 0.793680 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.93894115 0.28459409 -0.19337971 1.0341509 ] [-0.28317374 0.95840961 0.03554784 0.52257912] [ 0.19545368 0.02138273 0.9804798 -1.5529391 ] [ 0. 0. 0. 1. ]] SLAMing on 83.816296757 meters Centerline goodness : 0.802569 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94000428 0.28036854 -0.19438474 1.03385079] [-0.27963639 0.95958002 0.03177536 0.52413029] [ 0.19543653 0.02448808 0.98041058 -1.55261216] [ 0. 0. 0. 1. ]] SLAMing on 83.846296757 meters Centerline goodness : 0.806054 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94005676 0.28003938 -0.19460534 1.03402176] [-0.27924434 0.95968391 0.03208421 0.52286672] [ 0.19574445 0.02418147 0.98035675 -1.55204025] [ 0. 0. 0. 1. ]] SLAMing on 83.876296757 meters Centerline goodness : 0.799254 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94118732 0.27564796 -0.19540886 1.03259786] [-0.27543699 0.96088746 0.02880559 0.52144568] [ 0.19570613 0.02671137 0.98029874 -1.55115331] [ 0. 0. 0. 1. ]] SLAMing on 83.906296757 meters Centerline goodness : 0.792266 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94215173 0.27185782 -0.19606998 1.0311598 ] [-0.27225868 0.96188778 0.02543848 0.52222069] [ 0.19551297 0.02941485 0.98025989 -1.55040498] [ 0. 0. 0. 1. ]] SLAMing on 83.93629675700001 meters Centerline goodness : 0.791072 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94218521 0.27162882 -0.19622642 1.03124907] [-0.27195716 0.9619634 0.02580166 0.52092017] [ 0.1957711 0.02905524 0.98021909 -1.54992443] [ 0. 0. 0. 1. ]] SLAMing on 83.96629675700001 meters Centerline goodness : 0.792708 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94225834 0.27126803 -0.19637436 1.03178435] [-0.2715419 0.96207377 0.02605858 0.52031443] [ 0.19599548 0.02876996 0.98018267 -1.54963932] [ 0. 0. 0. 1. ]] SLAMing on 83.99629675700001 meters Centerline goodness : 0.792658 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94226867 0.27113763 -0.19650482 1.03239248] [-0.27137574 0.96211564 0.02624309 0.52013985] [ 0.19617585 0.0285986 0.9801516 -1.54956482] [ 0. 0. 0. 1. ]] SLAMing on 84.026296757 meters Centerline goodness : 0.789924 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94227191 0.27103087 -0.19663652 1.03294879] [-0.27127321 0.9621449 0.02623033 0.5201738 ] [ 0.19630206 0.02862611 0.98012553 -1.54970866] [ 0. 0. 0. 1. ]] SLAMing on 84.056296757 meters Centerline goodness : 0.788313 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94224503 0.27116031 -0.19658686 1.03275578] [-0.27136305 0.96211398 0.02643432 0.51973916] [ 0.1963069 0.0284388 0.98013001 -1.54949487] [ 0. 0. 0. 1. ]] SLAMing on 84.086296757 meters Centerline goodness : 0.789594 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94217457 0.27139778 -0.19659683 1.03252959] [-0.27156147 0.96205189 0.02665579 0.51964314] [ 0.19637068 0.02827371 0.98012201 -1.54912856] [ 0. 0. 0. 1. ]] SLAMing on 84.116296757 meters Centerline goodness : 0.786932 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94214847 0.27152788 -0.19654231 1.03262007] [-0.2717088 0.96201251 0.02657538 0.52044419] [ 0.19629212 0.02836432 0.98013513 -1.54919016] [ 0. 0. 0. 1. ]] SLAMing on 84.146296757 meters Centerline goodness : 0.788316 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94110609 0.27562405 -0.19583339 1.03382071] [-0.27514142 0.96092874 0.03021856 0.52112494] [ 0.1965109 0.025443 0.98017148 -1.54907402] [ 0. 0. 0. 1. ]] SLAMing on 84.176296757 meters Centerline goodness : 0.798100 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94082847 0.27672844 -0.1956097 1.03296507] [-0.27622338 0.96061202 0.03041692 0.52375678] [ 0.19632225 0.02541487 0.98021001 -1.54838594] [ 0. 0. 0. 1. ]] SLAMing on 84.206296757 meters Centerline goodness : 0.800395 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.94068537 0.27719726 -0.19563411 1.03271264] [-0.27664716 0.96048124 0.03069417 0.52385381] [ 0.19641124 0.02524807 0.98019649 -1.54803458] [ 0. 0. 0. 1. ]] SLAMing on 84.236296757 meters Centerline goodness : 0.804279 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.55 [[ 0.9404531 0.27820154 -0.19532504 1.03213124] [-0.27762434 0.96019282 0.03089442 0.52487652] [ 0.19614457 0.02517223 0.98025184 -1.54819577] [ 0. 0. 0. 1. ]] SLAMing on 84.266296757 meters Centerline goodness : 0.807629 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.55 [[ 0.94035614 0.27856266 -0.19527717 1.03247565] [-0.27800871 0.96008433 0.03080976 0.52616138] [ 0.196065 0.02531661 0.98026404 -1.54853384] [ 0. 0. 0. 1. ]] SLAMing on 84.29629675700001 meters Centerline goodness : 0.809081 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.55 [[ 0.94023481 0.27910753 -0.1950833 1.03227117] [-0.278533 0.95992803 0.03094433 0.52751652] [ 0.19590272 0.0252422 0.9802984 -1.54847217] [ 0. 0. 0. 1. ]] SLAMing on 84.32629675700001 meters Centerline goodness : 0.805066 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.55 [[ 0.9400568 0.27995228 -0.19473041 1.03129756] [-0.27931457 0.95968927 0.03130297 0.52884648] [ 0.19564402 0.02496447 0.98035718 -1.54793368] [ 0. 0. 0. 1. ]] SLAMing on 84.35629675700001 meters Centerline goodness : 0.806338 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.55 [[ 0.94003138 0.28013463 -0.19459085 1.030256 ] [-0.27934536 0.9596552 0.03206346 0.52709726] [ 0.1957222 0.02421739 0.98036031 -1.54673886] [ 0. 0. 0. 1. ]] SLAMing on 84.38629675700001 meters Centerline goodness : 0.803377 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.55 [[ 0.94003832 0.28007756 -0.19463948 1.02992882] [-0.27921225 0.95968114 0.03244428 0.52590923] [ 0.19587875 0.02384686 0.98033813 -1.54608592] [ 0. 0. 0. 1. ]] SLAMing on 84.416296757 meters Centerline goodness : 0.790321 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.94099963 0.27646732 -0.19515513 1.02812496] [-0.27618844 0.96065993 0.02919654 0.52748949] [ 0.1955496 0.02642565 0.98033772 -1.54492925] [ 0. 0. 0. 1. ]] SLAMing on 84.446296757 meters Centerline goodness : 0.790882 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.94102 0.27635493 -0.19521606 1.02819735] [-0.27605219 0.96069555 0.02931276 0.52773935] [ 0.19564393 0.02630593 0.98032212 -1.54448762] [ 0. 0. 0. 1. ]] SLAMing on 84.476296757 meters Centerline goodness : 0.787187 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.94105168 0.27614891 -0.19535483 1.02844405] [-0.27582307 0.96075791 0.02942589 0.52777912] [ 0.19581462 0.02619209 0.98029108 -1.54401343] [ 0. 0. 0. 1. ]] SLAMing on 84.506296757 meters Centerline goodness : 0.787085 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.94110303 0.2758804 -0.19548681 1.02826357] [-0.27547265 0.96084612 0.02982535 0.52605914] [ 0.19606097 0.02578255 0.9802527 -1.54320763] [ 0. 0. 0. 1. ]] SLAMing on 84.536296757 meters Centerline goodness : 0.788229 Centerline is valid? [False, False] Translation: X:1.03, Y:0.52, Z:-1.54 [[ 0.94104334 0.27599529 -0.19561194 1.02820445] [-0.27551616 0.9608216 0.03021082 0.5249027 ] [ 0.19628622 0.02546456 0.98021593 -1.54285424] [ 0. 0. 0. 1. ]] SLAMing on 84.566296757 meters Centerline goodness : 0.789639 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.94096715 0.27661824 -0.19509787 1.02721322] [-0.27607507 0.96065111 0.03052849 0.52536685] [ 0.19586572 0.02513535 0.98030854 -1.54267094] [ 0. 0. 0. 1. ]] SLAMing on 84.596296757 meters Centerline goodness : 0.789639 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.94096715 0.27661824 -0.19509787 1.02721322] [-0.27607507 0.96065111 0.03052849 0.52536685] [ 0.19586572 0.02513535 0.98030854 -1.54267094] [ 0. 0. 0. 1. ]] SLAMing on 84.626296757 meters Centerline goodness : 0.788234 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.94089944 0.27690592 -0.1950163 1.02714676] [-0.27636312 0.96056773 0.03054608 0.52676639] [ 0.19578476 0.02515452 0.98032422 -1.54245308] [ 0. 0. 0. 1. ]] SLAMing on 84.656296757 meters Centerline goodness : 0.787625 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.93981765 0.2810838 -0.19425418 1.028713 ] [-0.27984753 0.95942942 0.0343592 0.52678808] [ 0.19603099 0.02207017 0.9803493 -1.54280908] [ 0. 0. 0. 1. ]] SLAMing on 84.68629675700001 meters Centerline goodness : 0.787498 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.93971873 0.28139452 -0.19428289 1.0288986 ] [-0.2801496 0.95933843 0.03443819 0.52733614] [ 0.19607376 0.02206606 0.98034084 -1.54282925] [ 0. 0. 0. 1. ]] SLAMing on 84.71629675700001 meters Centerline goodness : 0.786984 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.93959331 0.28188334 -0.19418081 1.0284543 ] [-0.28058903 0.95919967 0.03472449 0.52711392] [ 0.19604642 0.02185811 0.98035097 -1.54262569] [ 0. 0. 0. 1. ]] SLAMing on 84.74629675700001 meters Centerline goodness : 0.795815 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.9393892 0.28287406 -0.19372714 1.02676078] [-0.28150113 0.95891615 0.03517002 0.52642591] [ 0.19571677 0.02149607 0.98042484 -1.54221272] [ 0. 0. 0. 1. ]] SLAMing on 84.776296757 meters Centerline goodness : 0.786842 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.93918914 0.2837045 -0.19348262 1.02621288] [-0.28232597 0.95867043 0.03525703 0.52846112] [ 0.19548864 0.02151215 0.98047 -1.54197768] [ 0. 0. 0. 1. ]] SLAMing on 84.806296757 meters Centerline goodness : 0.786428 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.93910502 0.28393044 -0.19355948 1.02688688] [-0.2825993 0.95859742 0.03505158 0.53003791] [ 0.19549783 0.02178266 0.98046219 -1.5423275 ] [ 0. 0. 0. 1. ]] SLAMing on 84.836296757 meters Centerline goodness : 0.785906 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.93900634 0.28419016 -0.19365703 1.02767309] [-0.28290697 0.95851404 0.03484935 0.53174462] [ 0.19552682 0.02206316 0.98045014 -1.54275343] [ 0. 0. 0. 1. ]] SLAMing on 84.866296757 meters Centerline goodness : 0.786999 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.93781057 0.28885631 -0.19254445 1.02840546] [-0.28690283 0.95718264 0.03857673 0.53253821] [ 0.19544333 0.01906388 0.98052969 -1.54321833] [ 0. 0. 0. 1. ]] SLAMing on 84.896296757 meters Centerline goodness : 0.783893 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.93753655 0.29023986 -0.19179688 1.02629236] [-0.28822267 0.95677026 0.03896612 0.53374325] [ 0.19481507 0.01874805 0.9806608 -1.54276809] [ 0. 0. 0. 1. ]] SLAMing on 84.926296757 meters Centerline goodness : 0.785451 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.54 [[ 0.93740574 0.29081212 -0.19156927 1.02529895] [-0.28873096 0.9566023 0.03932514 0.53380857] [ 0.19469183 0.01844837 0.98069096 -1.54217971] [ 0. 0. 0. 1. ]] SLAMing on 84.956296757 meters Centerline goodness : 0.785140 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.93734022 0.29124717 -0.19122864 1.02463808] [-0.28918545 0.95646855 0.03923894 0.53561893] [ 0.19433241 0.01852031 0.98076088 -1.54202167] [ 0. 0. 0. 1. ]] SLAMing on 84.986296757 meters Centerline goodness : 0.783527 Centerline is valid? [False, False] Translation: X:1.03, Y:0.54, Z:-1.54 [[ 0.93735011 0.29117534 -0.19128954 1.02526556] [-0.2891587 0.956486 0.03900997 0.53683304] [ 0.19432451 0.01874704 0.98075814 -1.54228245] [ 0. 0. 0. 1. ]] SLAMing on 85.016296757 meters Centerline goodness : 0.783790 Centerline is valid? [False, False] Translation: X:1.03, Y:0.54, Z:-1.54 [[ 0.93735871 0.29101938 -0.19148462 1.02593447] [-0.28903346 0.95653003 0.03885818 0.53780744] [ 0.19446927 0.0189214 0.9807261 -1.54225601] [ 0. 0. 0. 1. ]] SLAMing on 85.04629675700001 meters Centerline goodness : 0.786134 Centerline is valid? [False, False] Translation: X:1.03, Y:0.54, Z:-1.54 [[ 0.93740641 0.29090908 -0.19141872 1.02560231] [-0.28891803 0.95656458 0.03886615 0.53807391] [ 0.19441088 0.01887095 0.98073865 -1.54174395] [ 0. 0. 0. 1. ]] SLAMing on 85.07629675700001 meters Centerline goodness : 0.786244 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.93836719 0.28723867 -0.19225236 1.02461623] [-0.28590601 0.95760898 0.0352532 0.5395967 ] [ 0.19422867 0.02188566 0.98071211 -1.54133094] [ 0. 0. 0. 1. ]] SLAMing on 85.10629675700001 meters Centerline goodness : 0.786003 Centerline is valid? [False, False] Translation: X:1.03, Y:0.54, Z:-1.54 [[ 0.93838523 0.28698503 -0.19254288 1.02542079] [-0.2856523 0.95768442 0.03526071 0.53901467] [ 0.19451461 0.02191218 0.98065484 -1.54147735] [ 0. 0. 0. 1. ]] SLAMing on 85.13629675700001 meters Centerline goodness : 0.785573 Centerline is valid? [False, False] Translation: X:1.03, Y:0.54, Z:-1.54 [[ 0.93842412 0.28671806 -0.19275095 1.02615505] [-0.28540128 0.95776235 0.03517657 0.53881568] [ 0.19469536 0.02200082 0.98061699 -1.54167451] [ 0. 0. 0. 1. ]] SLAMing on 85.166296757 meters Centerline goodness : 0.786671 Centerline is valid? [False, False] Translation: X:1.03, Y:0.54, Z:-1.54 [[ 0.93886013 0.28562753 -0.19224612 1.02756005] [-0.28427252 0.95809717 0.03519858 0.54001736] [ 0.19424414 0.02160375 0.9807153 -1.54396585] [ 0. 0. 0. 1. ]] SLAMing on 85.196296757 meters Centerline goodness : 0.784713 Centerline is valid? [False, False] Translation: X:1.03, Y:0.54, Z:-1.54 [[ 0.93892832 0.28554345 -0.19203787 1.02804152] [-0.28409906 0.95813313 0.03561789 0.54041133] [ 0.19416829 0.02111513 0.98074096 -1.54460336] [ 0. 0. 0. 1. ]] SLAMing on 85.226296757 meters Centerline goodness : 0.784826 Centerline is valid? [False, False] Translation: X:1.03, Y:0.54, Z:-1.55 [[ 0.94006574 0.29073863 -0.17817814 1.0278121 ] [-0.28909346 0.9566344 0.03571546 0.53608734] [ 0.1808352 0.01793525 0.98334986 -1.55040203] [ 0. 0. 0. 1. ]] SLAMing on 85.256296757 meters Centerline goodness : 0.787303 Centerline is valid? [False, False] Translation: X:1.03, Y:0.54, Z:-1.55 [[ 0.94048767 0.28823566 -0.18000876 1.02947581] [-0.28724429 0.95731835 0.03212943 0.53616312] [ 0.18158654 0.02148916 0.98314014 -1.54994755] [ 0. 0. 0. 1. ]] SLAMing on 85.286296757 meters Centerline goodness : 0.793190 Centerline is valid? [False, False] Translation: X:1.03, Y:0.53, Z:-1.55 [[ 0.94091452 0.29205676 -0.17141389 1.03345828] [-0.2917207 0.95610177 0.02772088 0.53058154] [ 0.1719852 0.023922 0.98480903 -1.55369525] [ 0. 0. 0. 1. ]] SLAMing on 85.316296757 meters Centerline goodness : 0.792568 Centerline is valid? [False, False] Translation: X:1.04, Y:0.53, Z:-1.55 [[ 0.94034066 0.29331621 -0.17240953 1.03691029] [-0.29293423 0.95571545 0.02824017 0.52897022] [ 0.17305775 0.02394927 0.98462046 -1.55486609] [ 0. 0. 0. 1. ]] SLAMing on 85.346296757 meters Centerline goodness : 0.791391 Centerline is valid? [False, False] Translation: X:1.04, Y:0.53, Z:-1.56 [[ 0.93999002 0.29423298 -0.17275914 1.04005517] [-0.29375499 0.95544317 0.02891968 0.52892443] [ 0.17357067 0.02356465 0.98453945 -1.55663779] [ 0. 0. 0. 1. ]] SLAMing on 85.376296757 meters Centerline goodness : 0.789611 Centerline is valid? [False, False] Translation: X:1.04, Y:0.53, Z:-1.56 [[ 0.93953737 0.29591492 -0.17234817 1.0417841 ] [-0.29508667 0.95496722 0.03100755 0.52882235] [ 0.17376244 0.0217249 0.98454794 -1.55799066] [ 0. 0. 0. 1. ]] SLAMing on 85.406296757 meters Centerline goodness : 0.786604 Centerline is valid? [False, False] Translation: X:1.04, Y:0.53, Z:-1.56 [[ 0.93898765 0.29721461 -0.17310597 1.04349799] [-0.29644577 0.95455 0.03089023 0.52940437] [ 0.17441933 0.02231099 0.98441867 -1.55736996] [ 0. 0. 0. 1. ]] SLAMing on 85.43629675700001 meters Centerline goodness : 0.782362 Centerline is valid? [False, False] Translation: X:1.04, Y:0.53, Z:-1.56 [[ 0.93883283 0.29787802 -0.17280507 1.04220384] [-0.29700959 0.95435558 0.03147591 0.52855849] [ 0.17429347 0.02177414 0.98445298 -1.55673016] [ 0. 0. 0. 1. ]] SLAMing on 85.46629675700001 meters Centerline goodness : 0.780258 Centerline is valid? [False, False] Translation: X:1.04, Y:0.53, Z:-1.56 [[ 0.93858326 0.29893714 -0.17233119 1.04036879] [-0.2979408 0.95403981 0.03223844 0.52777851] [ 0.17404809 0.02108603 0.98451137 -1.55585964] [ 0. 0. 0. 1. ]] SLAMing on 85.49629675700001 meters Centerline goodness : 0.787146 Centerline is valid? [False, False] Translation: X:1.04, Y:0.53, Z:-1.56 [[ 0.93844469 0.29950413 -0.17210123 1.03982992] [-0.29847683 0.95386548 0.03243821 0.52843852] [ 0.1738768 0.02092676 0.98454504 -1.55563818] [ 0. 0. 0. 1. ]] SLAMing on 85.526296757 meters Centerline goodness : 0.786067 Centerline is valid? [False, False] Translation: X:1.04, Y:0.53, Z:-1.56 [[ 0.93838144 0.29967351 -0.17215126 1.03988664] [-0.29862327 0.95381447 0.03258989 0.52861433] [ 0.17396669 0.02082662 0.98453128 -1.55541027] [ 0. 0. 0. 1. ]] SLAMing on 85.556296757 meters Centerline goodness : 0.786890 Centerline is valid? [False, False] Translation: X:1.04, Y:0.53, Z:-1.55 [[ 0.93831165 0.29994977 -0.17205055 1.03947592] [-0.29881919 0.95373699 0.0330581 0.52776321] [ 0.17400675 0.0203932 0.98453327 -1.55496731] [ 0. 0. 0. 1. ]] SLAMing on 85.586296757 meters Centerline goodness : 0.788243 Centerline is valid? [False, False] Translation: X:1.04, Y:0.53, Z:-1.55 [[ 0.93834232 0.29968404 -0.17234604 1.04013433] [-0.2985201 0.95382374 0.03325697 0.52653386] [ 0.17435432 0.02024234 0.98447489 -1.55494433] [ 0. 0. 0. 1. ]] SLAMing on 85.616296757 meters Centerline goodness : 0.790272 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.55 [[ 0.93841343 0.29926713 -0.172683 1.04079081] [-0.2980613 0.95395892 0.03349383 0.52496065] [ 0.17475609 0.02003906 0.98440781 -1.55473931] [ 0. 0. 0. 1. ]] SLAMing on 85.646296757 meters Centerline goodness : 0.788608 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.55 [[ 0.9396363 0.29467507 -0.17392593 1.04082378] [-0.29404691 0.95532107 0.02996766 0.52361728] [ 0.17498583 0.02298369 0.98430265 -1.5546506 ] [ 0. 0. 0. 1. ]] SLAMing on 85.676296757 meters Centerline goodness : 0.791055 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.94092241 0.28964091 -0.17542283 1.04195036] [-0.28960301 0.95678296 0.02639067 0.52104714] [ 0.17548539 0.02597141 0.9841394 -1.55517863] [ 0. 0. 0. 1. ]] SLAMing on 85.706296757 meters Centerline goodness : 0.784248 Centerline is valid? [False, False] Translation: X:1.04, Y:0.52, Z:-1.56 [[ 0.94113098 0.28865631 -0.17592616 1.04370773] [-0.28861141 0.95708194 0.0264122 0.51806867] [ 0.1759998 0.02591696 0.98404897 -1.55603826] [ 0. 0. 0. 1. ]] SLAMing on 85.736296757 meters Centerline goodness : 0.786249 Centerline is valid? [False, False] Translation: X:1.05, Y:0.52, Z:-1.56 [[ 0.94136492 0.28755559 -0.17647624 1.04563224] [-0.28751621 0.95741298 0.02635925 0.51535135] [ 0.17654039 0.02592611 0.98395189 -1.5569156 ] [ 0. 0. 0. 1. ]] SLAMing on 85.766296757 meters Centerline goodness : 0.782238 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94303332 0.28279739 -0.17525353 1.04367209] [-0.28332064 0.95875982 0.02256146 0.51450582] [ 0.17440636 0.02837673 0.98426479 -1.55913748] [ 0. 0. 0. 1. ]] SLAMing on 85.79629675700001 meters Centerline goodness : 0.786722 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94316805 0.28229705 -0.17533514 1.04405695] [-0.28274306 0.95892077 0.02296338 0.51208682] [ 0.174615 0.02791646 0.98424096 -1.55918846] [ 0. 0. 0. 1. ]] SLAMing on 85.82629675700001 meters Centerline goodness : 0.788703 Centerline is valid? [False, False] Translation: X:1.04, Y:0.51, Z:-1.56 [[ 0.94428238 0.27802621 -0.17615964 1.04279017] [-0.27888119 0.96010901 0.0203956 0.50733006] [ 0.17480297 0.0298684 0.98415029 -1.55863076] [ 0. 0. 0. 1. ]] SLAMing on 85.85629675700001 meters Centerline goodness : 0.785514 Centerline is valid? [False, False] Translation: X:1.04, Y:0.50, Z:-1.56 [[ 0.94529332 0.27398865 -0.17706143 1.04175246] [-0.27527415 0.96120182 0.01775417 0.50297935] [ 0.17505621 0.03195754 0.98403965 -1.55828301] [ 0. 0. 0. 1. ]] SLAMing on 85.88629675700001 meters Centerline goodness : 0.784436 Centerline is valid? [False, False] Translation: X:1.03, Y:0.50, Z:-1.56 [[ 0.94551467 0.27202245 -0.17890164 1.02502334] [-0.27217378 0.96194422 0.02418155 0.50415685] [ 0.17867132 0.02582833 0.98356975 -1.55825136] [ 0. 0. 0. 1. ]] SLAMing on 85.916296757 meters Centerline goodness : 0.781654 Centerline is valid? [False, False] Translation: X:1.03, Y:0.50, Z:-1.56 [[ 0.94549621 0.27200321 -0.17902838 1.02556897] [-0.27206423 0.96196217 0.02469499 0.50198979] [ 0.17893564 0.0253582 0.98353393 -1.55854696] [ 0. 0. 0. 1. ]] SLAMing on 85.946296757 meters Centerline goodness : 0.780844 Centerline is valid? [False, False] Translation: X:1.03, Y:0.50, Z:-1.56 [[ 0.94547159 0.27212599 -0.17897183 1.02606994] [-0.2720431 0.96194742 0.02548935 0.49834778] [ 0.17909781 0.02458859 0.98352396 -1.55940431] [ 0. 0. 0. 1. ]] SLAMing on 85.976296757 meters Centerline goodness : 0.778682 Centerline is valid? [False, False] Translation: X:1.03, Y:0.50, Z:-1.56 [[ 0.94534914 0.27271057 -0.17872872 1.02519509] [-0.27248039 0.96180126 0.02632068 0.49624886] [ 0.17907944 0.02381784 0.98354627 -1.55911892] [ 0. 0. 0. 1. ]] SLAMing on 86.006296757 meters Centerline goodness : 0.780022 Centerline is valid? [False, False] Translation: X:1.02, Y:0.49, Z:-1.56 [[ 0.94497492 0.2746743 -0.17769761 1.02137286] [-0.27410211 0.96128545 0.02825465 0.49158969] [ 0.17857895 0.02200736 0.98367944 -1.55801932] [ 0. 0. 0. 1. ]] SLAMing on 86.036296757 meters Centerline goodness : 0.781939 Centerline is valid? [False, False] Translation: X:1.02, Y:0.49, Z:-1.56 [[ 0.94474708 0.27580242 -0.17716091 1.01956852] [-0.27508478 0.96097955 0.02909754 0.49030193] [ 0.17827319 0.02124445 0.98375167 -1.55754456] [ 0. 0. 0. 1. ]] SLAMing on 86.066296757 meters Centerline goodness : 0.779940 Centerline is valid? [False, False] Translation: X:1.02, Y:0.49, Z:-1.56 [[ 0.94338807 0.281379 -0.17562692 1.01868829] [-0.27989506 0.95943937 0.03368752 0.48883127] [ 0.17798234 0.01737671 0.98388025 -1.55782481] [ 0. 0. 0. 1. ]] SLAMing on 86.096296757 meters Centerline goodness : 0.781129 Centerline is valid? [False, False] Translation: X:1.02, Y:0.49, Z:-1.56 [[ 0.94311488 0.28250403 -0.17528775 1.01784893] [-0.28098676 0.95911117 0.03394403 0.49010252] [ 0.17770976 0.01724042 0.98393191 -1.55787451] [ 0. 0. 0. 1. ]] SLAMing on 86.126296757 meters Centerline goodness : 0.782555 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.9424919 0.28522214 -0.17423358 1.01431844] [-0.28352278 0.95832265 0.03510756 0.49036058] [ 0.17698544 0.0163106 0.98407831 -1.55727193] [ 0. 0. 0. 1. ]] SLAMing on 86.156296757 meters Centerline goodness : 0.783619 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94226132 0.28621053 -0.17385956 1.01290437] [-0.28440667 0.95803707 0.03574665 0.4898025 ] [ 0.17679497 0.01576413 0.98412145 -1.55674293] [ 0. 0. 0. 1. ]] SLAMing on 86.18629675700001 meters Centerline goodness : 0.785250 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94199249 0.28742282 -0.17331554 1.01181976] [-0.28559669 0.95767596 0.03593439 0.49037412] [ 0.17630849 0.01564841 0.98421057 -1.55738462] [ 0. 0. 0. 1. ]] SLAMing on 86.21629675700001 meters Centerline goodness : 0.786479 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94188894 0.28784416 -0.17317898 1.01240904] [-0.28607986 0.95754365 0.03561574 0.49142866] [ 0.17607822 0.01599695 0.98424619 -1.55870709] [ 0. 0. 0. 1. ]] SLAMing on 86.24629675700001 meters Centerline goodness : 0.786813 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94181994 0.28806897 -0.17318047 1.01245409] [-0.28627858 0.95747803 0.03578249 0.49101326] [ 0.17612433 0.0158772 0.98423988 -1.55881347] [ 0. 0. 0. 1. ]] SLAMing on 86.276296757 meters Centerline goodness : 0.786385 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94174748 0.2883102 -0.1731731 1.01214263] [-0.28645231 0.95741108 0.03618139 0.49013734] [ 0.17622931 0.0155321 0.98422659 -1.55844304] [ 0. 0. 0. 1. ]] SLAMing on 86.306296757 meters Centerline goodness : 0.786944 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94264865 0.28519832 -0.17342271 1.00906712] [-0.28385007 0.95829841 0.03306496 0.49028989] [ 0.17562078 0.0180574 0.98429227 -1.5573763 ] [ 0. 0. 0. 1. ]] SLAMing on 86.336296757 meters Centerline goodness : 0.788619 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.9426206 0.28519589 -0.17357914 1.00925963] [-0.28378821 0.95830463 0.03341378 0.48926592] [ 0.17587116 0.0177632 0.98425292 -1.5570645 ] [ 0. 0. 0. 1. ]] SLAMing on 86.366296757 meters Centerline goodness : 0.788256 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94360289 0.28127543 -0.17463596 1.00893916] [-0.28047151 0.95940005 0.02978726 0.48973835] [ 0.17592417 0.02087307 0.9841824 -1.55703431] [ 0. 0. 0. 1. ]] SLAMing on 86.396296757 meters Centerline goodness : 0.789319 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94362919 0.28083682 -0.17519881 1.01016438] [-0.27995402 0.95953659 0.03025376 0.4867984 ] [ 0.17660604 0.02049928 0.98406813 -1.55697331] [ 0. 0. 0. 1. ]] SLAMing on 86.426296757 meters Centerline goodness : 0.787244 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94356833 0.28080575 -0.17557601 1.01085705] [-0.27985445 0.95955222 0.03067608 0.48558393] [ 0.17708837 0.02019075 0.98398783 -1.55666735] [ 0. 0. 0. 1. ]] SLAMing on 86.456296757 meters Centerline goodness : 0.786914 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94350509 0.28078415 -0.17595004 1.01160651] [-0.279717 0.95957021 0.03135942 0.48323593] [ 0.17764164 0.01962845 0.98389947 -1.55641533] [ 0. 0. 0. 1. ]] SLAMing on 86.486296757 meters Centerline goodness : 0.785922 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94346697 0.28082584 -0.17608785 1.0117823 ] [-0.27970655 0.95956314 0.03166734 0.48228582] [ 0.17786042 0.01937583 0.98386495 -1.55621475] [ 0. 0. 0. 1. ]] SLAMing on 86.516296757 meters Centerline goodness : 0.785922 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94346697 0.28082584 -0.17608785 1.0117823 ] [-0.27970655 0.95956314 0.03166734 0.48228582] [ 0.17786042 0.01937583 0.98386495 -1.55621475] [ 0. 0. 0. 1. ]] SLAMing on 86.54629675700001 meters Centerline goodness : 0.786815 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94340621 0.28101668 -0.17610891 1.0120041 ] [-0.27985952 0.95951093 0.03189712 0.48107008] [ 0.17794205 0.01919382 0.98385376 -1.55659445] [ 0. 0. 0. 1. ]] SLAMing on 86.57629675700001 meters Centerline goodness : 0.786221 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.943399 0.28095301 -0.17624906 1.01266835] [-0.27982046 0.95952652 0.03177052 0.4813587 ] [ 0.17804167 0.01934581 0.98383276 -1.55694131] [ 0. 0. 0. 1. ]] SLAMing on 86.60629675700001 meters Centerline goodness : 0.785774 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94334481 0.28115873 -0.17621108 1.01275078] [-0.280034 0.95946515 0.03174252 0.48201834] [ 0.17799307 0.01940095 0.98384047 -1.55705262] [ 0. 0. 0. 1. ]] SLAMing on 86.63629675700001 meters Centerline goodness : 0.786603 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.9431815 0.28199449 -0.17574913 1.01102048] [-0.2808577 0.95922123 0.03183692 0.48320683] [ 0.17756014 0.0193325 0.98392004 -1.55644833] [ 0. 0. 0. 1. ]] SLAMing on 86.666296757 meters Centerline goodness : 0.788446 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94299987 0.2827603 -0.17549317 1.00969904] [-0.28155748 0.95900235 0.032247 0.48276257] [ 0.17741653 0.01900249 0.98395238 -1.55584297] [ 0. 0. 0. 1. ]] SLAMing on 86.696296757 meters Centerline goodness : 0.787923 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94293893 0.2829971 -0.17543891 1.00979304] [-0.28181176 0.95893037 0.0321664 0.48370959] [ 0.1773367 0.01910979 0.98396469 -1.55598964] [ 0. 0. 0. 1. ]] SLAMing on 86.726296757 meters Centerline goodness : 0.788114 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.9428705 0.28323795 -0.17541805 1.0098881 ] [-0.28208654 0.95885519 0.03199847 0.48532215] [ 0.17726369 0.01931266 0.98397389 -1.55598613] [ 0. 0. 0. 1. ]] SLAMing on 86.756296757 meters Centerline goodness : 0.788626 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94262289 0.28440322 -0.17486249 1.00797722] [-0.28315959 0.95851996 0.03255963 0.48617897] [ 0.17686925 0.01882254 0.98405436 -1.5551743 ] [ 0. 0. 0. 1. ]] SLAMing on 86.786296757 meters Centerline goodness : 0.787910 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94253168 0.2848244 -0.17466852 1.00747417] [-0.28352319 0.95840089 0.0328987 0.48584985] [ 0.17677282 0.01851451 0.98407753 -1.5550484 ] [ 0. 0. 0. 1. ]] SLAMing on 86.816296757 meters Centerline goodness : 0.785742 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94251328 0.28473876 -0.17490725 1.00901474] [-0.28347127 0.95842207 0.03272864 0.48621834] [ 0.17695408 0.018734 0.9840408 -1.55605979] [ 0. 0. 0. 1. ]] SLAMing on 86.846296757 meters Centerline goodness : 0.785510 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94252864 0.28461969 -0.17501829 1.00931678] [-0.28329017 0.95846376 0.03307403 0.48459983] [ 0.17716221 0.01840774 0.9840095 -1.55600388] [ 0. 0. 0. 1. ]] SLAMing on 86.876296757 meters Centerline goodness : 0.785964 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94347619 0.28109639 -0.1756061 1.00753746] [-0.28034515 0.95944294 0.0295945 0.48546767] [ 0.17680295 0.02130861 0.98401558 -1.55546964] [ 0. 0. 0. 1. ]] SLAMing on 86.906296757 meters Centerline goodness : 0.784457 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94456634 0.27687559 -0.17644923 1.00657332] [-0.27668677 0.96060359 0.02617567 0.48424161] [ 0.17674517 0.02409651 0.98396164 -1.55515274] [ 0. 0. 0. 1. ]] SLAMing on 86.93629675700001 meters Centerline goodness : 0.784150 Centerline is valid? [False, False] Translation: X:1.01, Y:0.49, Z:-1.56 [[ 0.94561729 0.27272652 -0.17727999 1.00612093] [-0.27319794 0.96170098 0.02222849 0.48541518] [ 0.17655264 0.02741289 0.9839094 -1.55536168] [ 0. 0. 0. 1. ]] SLAMing on 86.96629675700001 meters Centerline goodness : 0.785521 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.9457144 0.27210685 -0.17771366 1.00742276] [-0.27255195 0.96188064 0.02238434 0.48404874] [ 0.17703026 0.02726701 0.98382763 -1.55535074] [ 0. 0. 0. 1. ]] SLAMing on 86.99629675700001 meters Centerline goodness : 0.784856 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94683856 0.26738918 -0.17888477 1.00806658] [-0.26852415 0.96309914 0.01829822 0.48449741] [ 0.17717651 0.03070942 0.98369986 -1.5558547 ] [ 0. 0. 0. 1. ]] SLAMing on 87.026296757 meters Centerline goodness : 0.787386 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94791396 0.26291589 -0.17981759 1.00848901] [-0.26474384 0.96421426 0.014197 0.48486749] [ 0.17711531 0.03414806 0.98359752 -1.55686775] [ 0. 0. 0. 1. ]] SLAMing on 87.056296757 meters Centerline goodness : 0.786998 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94794088 0.26249875 -0.1802845 1.00989906] [-0.26432051 0.96432913 0.0142828 0.48392117] [ 0.17760281 0.03411364 0.9835108 -1.55709 ] [ 0. 0. 0. 1. ]] SLAMing on 87.086296757 meters Centerline goodness : 0.788437 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94805721 0.26188134 -0.18057044 1.01106268] [-0.26365048 0.96450823 0.01457031 0.48201887] [ 0.17797737 0.033794 0.98345413 -1.55718273] [ 0. 0. 0. 1. ]] SLAMing on 87.116296757 meters Centerline goodness : 0.792152 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94802837 0.26189135 -0.1807073 1.01100266] [-0.26357786 0.96452066 0.01505377 0.48026851] [ 0.17823837 0.03335904 0.98342171 -1.55676075] [ 0. 0. 0. 1. ]] SLAMing on 87.146296757 meters Centerline goodness : 0.792380 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94893176 0.25828242 -0.18115933 1.00895271] [-0.26048414 0.96540414 0.01195219 0.47912185] [ 0.17797901 0.03584732 0.98338113 -1.55615264] [ 0. 0. 0. 1. ]] SLAMing on 87.176296757 meters Centerline goodness : 0.792281 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94886888 0.25843523 -0.18127072 1.00879026] [-0.26054215 0.96538138 0.01251291 0.47771555] [ 0.17822916 0.03535555 0.98335362 -1.55557192] [ 0. 0. 0. 1. ]] SLAMing on 87.206296757 meters Centerline goodness : 0.794891 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94878828 0.25877847 -0.18120291 1.0086826 ] [-0.26084823 0.96529579 0.01273725 0.47765992] [ 0.17821054 0.0351815 0.98336324 -1.55557576] [ 0. 0. 0. 1. ]] SLAMing on 87.236296757 meters Centerline goodness : 0.795181 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94874338 0.25882589 -0.18137024 1.00943189] [-0.26093482 0.96527472 0.01255941 0.47861539] [ 0.17832281 0.03541015 0.98333468 -1.55589839] [ 0. 0. 0. 1. ]] SLAMing on 87.266296757 meters Centerline goodness : 0.792126 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94768222 0.26287367 -0.18109626 1.01193087] [-0.2643632 0.96428534 0.01630584 0.47783341] [ 0.17891484 0.03242243 0.98333019 -1.55658949] [ 0. 0. 0. 1. ]] SLAMing on 87.29629675700001 meters Centerline goodness : 0.793771 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.9475718 0.26327078 -0.18109716 1.01187537] [-0.26476224 0.96417538 0.01633359 0.47845687] [ 0.17890958 0.03247045 0.98332956 -1.55658808] [ 0. 0. 0. 1. ]] SLAMing on 87.32629675700001 meters Centerline goodness : 0.796566 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94746652 0.26368563 -0.18104445 1.01153292] [-0.26516985 0.96406217 0.01640364 0.47876139] [ 0.17886351 0.03246563 0.98333811 -1.55648907] [ 0. 0. 0. 1. ]] SLAMing on 87.35629675700001 meters Centerline goodness : 0.799576 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94721096 0.26490651 -0.18059885 1.00968344] [-0.26633957 0.96373423 0.01672057 0.47994117] [ 0.17847868 0.03226271 0.9834147 -1.55583864] [ 0. 0. 0. 1. ]] SLAMing on 87.38629675700001 meters Centerline goodness : 0.798135 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.56 [[ 0.94712707 0.26531785 -0.18043489 1.00925341] [-0.26676161 0.96361835 0.01667087 0.48133646] [ 0.17829345 0.03234367 0.98344564 -1.55566941] [ 0. 0. 0. 1. ]] SLAMing on 87.416296757 meters Centerline goodness : 0.799653 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94595125 0.27023823 -0.17929731 1.00847902] [-0.27095496 0.96236389 0.02095582 0.48189604] [ 0.17821232 0.02875831 0.98357172 -1.55438689] [ 0. 0. 0. 1. ]] SLAMing on 87.446296757 meters Centerline goodness : 0.800635 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94562071 0.27171289 -0.17881159 1.0059666 ] [-0.27231242 0.96196495 0.02166533 0.48295322] [ 0.17789723 0.02820543 0.98364477 -1.55284323] [ 0. 0. 0. 1. ]] SLAMing on 87.476296757 meters Centerline goodness : 0.798048 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94549328 0.27212937 -0.17885207 1.00562915] [-0.27267486 0.96185444 0.02201034 0.48260711] [ 0.17801932 0.02795784 0.98362975 -1.5524054 ] [ 0. 0. 0. 1. ]] SLAMing on 87.506296757 meters Centerline goodness : 0.796804 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94545395 0.27203042 -0.17921013 1.00705416] [-0.27260923 0.96187615 0.02187427 0.48306122] [ 0.17832842 0.02817323 0.98356761 -1.55297233] [ 0. 0. 0. 1. ]] SLAMing on 87.536296757 meters Centerline goodness : 0.797896 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.9454898 0.27172392 -0.17948578 1.00853899] [-0.27236871 0.96195214 0.02152575 0.48386604] [ 0.17850579 0.02853394 0.98352504 -1.55373348] [ 0. 0. 0. 1. ]] SLAMing on 87.566296757 meters Centerline goodness : 0.796500 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94556014 0.27121637 -0.17988245 1.01031439] [-0.27192877 0.9620845 0.02116969 0.48448913] [ 0.17880368 0.02889799 0.98346029 -1.55439914] [ 0. 0. 0. 1. ]] SLAMing on 87.596296757 meters Centerline goodness : 0.795891 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94559211 0.27087165 -0.1802335 1.01104063] [-0.27156837 0.96218385 0.02128031 0.48357699] [ 0.17918199 0.02882323 0.98339363 -1.55420208] [ 0. 0. 0. 1. ]] SLAMing on 87.626296757 meters Centerline goodness : 0.795135 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94672852 0.26609481 -0.18137989 1.01138329] [-0.26748977 0.96340739 0.01718773 0.48414877] [ 0.17931629 0.03224515 0.98326289 -1.55430705] [ 0. 0. 0. 1. ]] SLAMing on 87.656296757 meters Centerline goodness : 0.795721 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94679911 0.2654525 -0.18195171 1.01272279] [-0.26682735 0.96358834 0.01734 0.48270407] [ 0.17992949 0.03213219 0.98315457 -1.55409927] [ 0. 0. 0. 1. ]] SLAMing on 87.68629675700001 meters Centerline goodness : 0.797423 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94788504 0.26080061 -0.18302183 1.01254029] [-0.26281996 0.96474942 0.01357283 0.48239868] [ 0.18011001 0.03523631 0.98301515 -1.55378566] [ 0. 0. 0. 1. ]] SLAMing on 87.71629675700001 meters Centerline goodness : 0.798137 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94789984 0.26066347 -0.18314053 1.01247381] [-0.26259234 0.96480419 0.01407649 0.48110519] [ 0.18036398 0.0347482 0.98298596 -1.55300479] [ 0. 0. 0. 1. ]] SLAMing on 87.74629675700001 meters Centerline goodness : 0.800667 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94791899 0.26058691 -0.18315038 1.01175324] [-0.26235773 0.96485515 0.01493171 0.47993558] [ 0.18060459 0.03389687 0.98297151 -1.5512333 ] [ 0. 0. 0. 1. ]] SLAMing on 87.776296757 meters Centerline goodness : 0.799634 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94787286 0.26073748 -0.18317482 1.01143991] [-0.2624132 0.96483161 0.01546833 0.47900143] [ 0.18076603 0.03340548 0.98295865 -1.55055236] [ 0. 0. 0. 1. ]] SLAMing on 87.806296757 meters Centerline goodness : 0.802968 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94790562 0.2603693 -0.18352863 1.01234442] [-0.26197204 0.96494456 0.0158949 0.47729531] [ 0.1812335 0.0330125 0.98288585 -1.55025314] [ 0. 0. 0. 1. ]] SLAMing on 87.836296757 meters Centerline goodness : 0.800103 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94787099 0.26026769 -0.18385135 1.01314798] [-0.26183479 0.96497778 0.01613766 0.47644931] [ 0.18161258 0.03284226 0.98282158 -1.55018765] [ 0. 0. 0. 1. ]] SLAMing on 87.866296757 meters Centerline goodness : 0.798451 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94790684 0.2598437 -0.18426576 1.01478395] [-0.26142618 0.96508937 0.0160894 0.475004 ] [ 0.18201365 0.03292064 0.98274476 -1.55104392] [ 0. 0. 0. 1. ]] SLAMing on 87.896296757 meters Centerline goodness : 0.800211 Centerline is valid? [False, False] Translation: X:1.02, Y:0.47, Z:-1.55 [[ 0.94789319 0.25978851 -0.18441377 1.01538732] [-0.26137563 0.96510311 0.01608623 0.47473197] [ 0.18215732 0.03295323 0.98271705 -1.55134404] [ 0. 0. 0. 1. ]] SLAMing on 87.926296757 meters Centerline goodness : 0.800065 Centerline is valid? [False, False] Translation: X:1.02, Y:0.48, Z:-1.55 [[ 0.94784271 0.26004278 -0.18431479 1.01552787] [-0.26164838 0.96503075 0.01599312 0.47559403] [ 0.18202834 0.0330667 0.98273713 -1.55168827] [ 0. 0. 0. 1. ]] SLAMing on 87.956296757 meters Centerline goodness : 0.798474 Centerline is valid? [False, False] Translation: X:1.02, Y:0.48, Z:-1.55 [[ 0.94777723 0.26037779 -0.18417853 1.01500923] [-0.26195809 0.96494432 0.01613737 0.47605364] [ 0.18192384 0.03295243 0.98276032 -1.55137617] [ 0. 0. 0. 1. ]] SLAMing on 87.986296757 meters Centerline goodness : 0.798876 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94758581 0.26144032 -0.18365753 1.01284929] [-0.2629266 0.96467209 0.01665413 0.47620558] [ 0.18152336 0.03250723 0.9828492 -1.5504752 ] [ 0. 0. 0. 1. ]] SLAMing on 88.016296757 meters Centerline goodness : 0.800173 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94746494 0.26210919 -0.18332744 1.01151637] [-0.2635333 0.96450056 0.01699634 0.47656763] [ 0.18127431 0.03220945 0.98290497 -1.54981907] [ 0. 0. 0. 1. ]] SLAMing on 88.04629675700001 meters Centerline goodness : 0.802716 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94726293 0.26302774 -0.18305558 1.01082491] [-0.26445622 0.96424762 0.01701283 0.47866798] [ 0.18098575 0.03229457 0.98295535 -1.54981318] [ 0. 0. 0. 1. ]] SLAMing on 88.07629675700001 meters Centerline goodness : 0.798858 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94720121 0.2633048 -0.18297663 1.01099921] [-0.26476518 0.96416565 0.0168521 0.47984367] [ 0.18085702 0.03248351 0.98297282 -1.55017975] [ 0. 0. 0. 1. ]] SLAMing on 88.10629675700001 meters Centerline goodness : 0.797504 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.9471031 0.26380944 -0.18275748 1.01108544] [-0.26531077 0.96401938 0.01663823 0.4810816 ] [ 0.18057107 0.03272941 0.98301723 -1.55105185] [ 0. 0. 0. 1. ]] SLAMing on 88.13629675700001 meters Centerline goodness : 0.798217 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94708843 0.26381942 -0.18281911 1.01154001] [-0.26532644 0.96401539 0.0166196 0.48111204] [ 0.18062501 0.03276651 0.98300608 -1.55135616] [ 0. 0. 0. 1. ]] SLAMing on 88.166296757 meters Centerline goodness : 0.796455 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94709141 0.26381178 -0.1828147 1.01192428] [-0.26526606 0.96402704 0.01690499 0.48015497] [ 0.18069805 0.03248396 0.98300204 -1.55155796] [ 0. 0. 0. 1. ]] SLAMing on 88.196296757 meters Centerline goodness : 0.795572 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94707346 0.26387015 -0.18282343 1.01185904] [-0.26526987 0.96402061 0.017209 0.47931665] [ 0.1807865 0.03219936 0.98299514 -1.55136046] [ 0. 0. 0. 1. ]] SLAMing on 88.226296757 meters Centerline goodness : 0.796274 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94798815 0.26040746 -0.18304762 1.00972654] [-0.26239561 0.96486299 0.01371005 0.47960764] [ 0.18018608 0.03503392 0.98300844 -1.55136947] [ 0. 0. 0. 1. ]] SLAMing on 88.256296757 meters Centerline goodness : 0.798092 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94795802 0.26043869 -0.18315915 1.00950802] [-0.26234695 0.96486956 0.01417054 0.47808026] [ 0.18041524 0.03461817 0.98298114 -1.55079394] [ 0. 0. 0. 1. ]] SLAMing on 88.286296757 meters Centerline goodness : 0.797746 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94872519 0.2576448 -0.18313839 1.00655093] [-0.2599842 0.96554389 0.01154208 0.47936277] [ 0.17980191 0.03666283 0.98301938 -1.54942012] [ 0. 0. 0. 1. ]] SLAMing on 88.316296757 meters Centerline goodness : 0.796658 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94870774 0.25767532 -0.18318585 1.00643628] [-0.25997487 0.96554361 0.01177263 0.47891681] [ 0.17990744 0.03645493 0.98300781 -1.54906778] [ 0. 0. 0. 1. ]] SLAMing on 88.346296757 meters Centerline goodness : 0.797989 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.94968018 0.25356898 -0.18387586 1.00546026] [-0.25650109 0.96651029 0.00806537 0.47966548] [ 0.17976303 0.03950483 0.98291638 -1.54873681] [ 0. 0. 0. 1. ]] SLAMing on 88.376296757 meters Centerline goodness : 0.796834 Centerline is valid? [False, False] Translation: X:1.00, Y:0.48, Z:-1.55 [[ 0.950621 0.2496802 -0.18433531 1.00435619] [-0.25328886 0.96738204 0.00409272 0.48078453] [ 0.17934454 0.04279945 0.98285489 -1.54920574] [ 0. 0. 0. 1. ]] SLAMing on 88.406296757 meters Centerline goodness : 0.796834 Centerline is valid? [False, False] Translation: X:1.00, Y:0.48, Z:-1.55 [[ 0.950621 0.2496802 -0.18433531 1.00435619] [-0.25328886 0.96738204 0.00409272 0.48078453] [ 0.17934454 0.04279945 0.98285489 -1.54920574] [ 0. 0. 0. 1. ]] SLAMing on 88.43629675700001 meters Centerline goodness : 0.798729 Centerline is valid? [False, False] Translation: X:1.00, Y:0.48, Z:-1.55 [[ 0.9506175 0.24951117 -0.18458207 1.00482785] [-0.25306129 0.96743998 0.00445647 0.47930278] [ 0.17968401 0.04247418 0.982807 -1.54896815] [ 0. 0. 0. 1. ]] SLAMing on 88.46629675700001 meters Centerline goodness : 0.796919 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.95075116 0.24864346 -0.18506395 1.00687365] [-0.25223498 0.96765663 0.00426231 0.47839546] [ 0.18013815 0.04262721 0.98271724 -1.54968169] [ 0. 0. 0. 1. ]] SLAMing on 88.49629675700001 meters Centerline goodness : 0.796443 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.95077217 0.24838203 -0.18530691 1.00788359] [-0.25198877 0.96772099 0.00421245 0.47832213] [ 0.18037168 0.04269017 0.98267167 -1.54997348] [ 0. 0. 0. 1. ]] SLAMing on 88.526296757 meters Centerline goodness : 0.796898 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.95081553 0.24873248 -0.18461306 1.0066226 ] [-0.25230677 0.96763794 0.00425644 0.47929274] [ 0.17969732 0.04253204 0.98280207 -1.54994079] [ 0. 0. 0. 1. ]] SLAMing on 88.556296757 meters Centerline goodness : 0.798764 Centerline is valid? [False, False] Translation: X:1.01, Y:0.48, Z:-1.55 [[ 0.95073533 0.24919608 -0.18440079 1.00551785] [-0.25269403 0.96753498 0.00466797 0.47932859] [ 0.17957745 0.04215898 0.98284005 -1.54907377] [ 0. 0. 0. 1. ]] SLAMing on 88.586296757 meters Centerline goodness : 0.800642 Centerline is valid? [False, False] Translation: X:1.00, Y:0.48, Z:-1.55 [[ 0.95057305 0.25030035 -0.18374058 1.00279097] [-0.25368412 0.9672729 0.00524359 0.47973209] [ 0.17903976 0.04162765 0.98296078 -1.54772535] [ 0. 0. 0. 1. ]] SLAMing on 88.616296757 meters Centerline goodness : 0.802708 Centerline is valid? [False, False] Translation: X:1.00, Y:0.48, Z:-1.55 [[ 0.95051252 0.25052392 -0.18374904 1.00250884] [-0.25390481 0.96721478 0.00528292 0.48045749] [ 0.17904828 0.04163328 0.98295899 -1.54730384] [ 0. 0. 0. 1. ]] SLAMing on 88.646296757 meters Centerline goodness : 0.798548 Centerline is valid? [False, False] Translation: X:1.00, Y:0.48, Z:-1.55 [[ 0.95048169 0.250732 -0.18362467 1.0024323 ] [-0.25414611 0.96715244 0.00509107 0.48291344] [ 0.17886954 0.04182852 0.98298325 -1.54698596] [ 0. 0. 0. 1. ]] SLAMing on 88.676296757 meters Centerline goodness : 0.799143 Centerline is valid? [False, False] Translation: X:1.00, Y:0.48, Z:-1.55 [[ 0.95042744 0.25098517 -0.18355962 1.00223585] [-0.25439016 0.96708796 0.00515005 0.48414656] [ 0.17881089 0.04180101 0.98299509 -1.5465966 ] [ 0. 0. 0. 1. ]] SLAMing on 88.706296757 meters Centerline goodness : 0.798629 Centerline is valid? [False, False] Translation: X:0.99, Y:0.49, Z:-1.55 [[ 0.94963139 0.25300039 -0.18490814 0.98608552] [-0.25499874 0.96684996 0.01329637 0.48966769] [ 0.18214241 0.03452469 0.98266586 -1.54788554] [ 0. 0. 0. 1. ]] SLAMing on 88.736296757 meters Centerline goodness : 0.793432 Centerline is valid? [False, False] Translation: X:0.99, Y:0.49, Z:-1.55 [[ 0.94959378 0.25319584 -0.18483377 0.98677489] [-0.25530179 0.96677774 0.01272011 0.49253989] [ 0.18191385 0.03510946 0.98268748 -1.54863855] [ 0. 0. 0. 1. ]] SLAMing on 88.766296757 meters Centerline goodness : 0.794296 Centerline is valid? [False, False] Translation: X:0.99, Y:0.50, Z:-1.55 [[ 0.94954792 0.25339554 -0.1847957 0.98693191] [-0.25557735 0.96671008 0.01232214 0.49515622] [ 0.18176624 0.03552913 0.98269971 -1.54866796] [ 0. 0. 0. 1. ]] SLAMing on 88.79629675700001 meters Centerline goodness : 0.793802 Centerline is valid? [False, False] Translation: X:0.98, Y:0.50, Z:-1.55 [[ 0.94942538 0.25428048 -0.18420882 0.98483423] [-0.25645022 0.96647845 0.01235696 0.49810892] [ 0.18117599 0.03550838 0.98280945 -1.54743966] [ 0. 0. 0. 1. ]] SLAMing on 88.82629675700001 meters Centerline goodness : 0.792641 Centerline is valid? [False, False] Translation: X:0.98, Y:0.50, Z:-1.55 [[ 0.94937556 0.25457465 -0.18405923 0.98389062] [-0.25672388 0.96640438 0.01246707 0.4988057 ] [ 0.18104944 0.03541647 0.98283609 -1.54664009] [ 0. 0. 0. 1. ]] SLAMing on 88.85629675700001 meters Centerline goodness : 0.793296 Centerline is valid? [False, False] Translation: X:0.98, Y:0.50, Z:-1.55 [[ 0.94934868 0.25482589 -0.18385006 0.98323864] [-0.25701094 0.96633079 0.01225512 0.50100216] [ 0.18078289 0.0356171 0.9828779 -1.54610445] [ 0. 0. 0. 1. ]] SLAMing on 88.88629675700001 meters Centerline goodness : 0.793604 Centerline is valid? [False, False] Translation: X:0.98, Y:0.50, Z:-1.55 [[ 0.94933662 0.25478034 -0.18397545 0.98448489] [-0.25707356 0.96632116 0.01168788 0.50469108] [ 0.18075721 0.03619949 0.98286135 -1.54652785] [ 0. 0. 0. 1. ]] SLAMing on 88.916296757 meters Centerline goodness : 0.792947 Centerline is valid? [False, False] Translation: X:0.99, Y:0.51, Z:-1.55 [[ 0.94935848 0.25451778 -0.18422587 0.98580269] [-0.25689549 0.96637366 0.0112545 0.50628603] [ 0.1808955 0.03664224 0.9828195 -1.54709791] [ 0. 0. 0. 1. ]] SLAMing on 88.946296757 meters Centerline goodness : 0.792027 Centerline is valid? [False, False] Translation: X:0.99, Y:0.51, Z:-1.55 [[ 0.94942263 0.25405871 -0.18452871 0.98730714] [-0.25652182 0.966478 0.0108088 0.50768615] [ 0.18108901 0.03707352 0.98276769 -1.54764041] [ 0. 0. 0. 1. ]] SLAMing on 88.976296757 meters Centerline goodness : 0.791926 Centerline is valid? [False, False] Translation: X:0.99, Y:0.51, Z:-1.55 [[ 0.9495732 0.25311395 -0.18505153 0.98902146] [-0.25564596 0.96671396 0.0104524 0.50816946] [ 0.18153754 0.03738235 0.98267323 -1.54768414] [ 0. 0. 0. 1. ]] SLAMing on 89.006296757 meters Centerline goodness : 0.791236 Centerline is valid? [False, False] Translation: X:0.98, Y:0.51, Z:-1.55 [[ 0.95185536 0.24862001 -0.1793306 0.98153635] [-0.25125649 0.96788555 0.00822989 0.5118108 ] [ 0.17561761 0.03722431 0.98375444 -1.55134573] [ 0. 0. 0. 1. ]] SLAMing on 89.036296757 meters Centerline goodness : 0.792670 Centerline is valid? [False, False] Translation: X:0.98, Y:0.51, Z:-1.55 [[ 0.95301059 0.24356695 -0.18012762 0.98088983] [-0.24685171 0.96904372 0.00430098 0.51200048] [ 0.17559911 0.04036593 0.98363385 -1.55054571] [ 0. 0. 0. 1. ]] SLAMing on 89.066296757 meters Centerline goodness : 0.792506 Centerline is valid? [False, False] Translation: X:0.98, Y:0.51, Z:-1.55 [[ 0.9531167 0.24272147 -0.18070653 0.98245669] [-0.24601394 0.96925669 0.00431316 0.51127703] [ 0.17619791 0.04034538 0.9835276 -1.55031919] [ 0. 0. 0. 1. ]] SLAMing on 89.096296757 meters Centerline goodness : 0.792689 Centerline is valid? [False, False] Translation: X:0.98, Y:0.51, Z:-1.55 [[ 0.95321092 0.24199246 -0.18118663 0.9838325 ] [-0.24532009 0.96943321 0.00415999 0.51109744] [ 0.17665502 0.04048338 0.98343993 -1.55028045] [ 0. 0. 0. 1. ]] SLAMing on 89.126296757 meters Centerline goodness : 0.791343 Centerline is valid? [False, False] Translation: X:0.98, Y:0.51, Z:-1.55 [[ 9.54134232e-01 2.38715428e-01 -1.80673217e-01 9.82414837e-01] [-2.42433688e-01 9.70166745e-01 1.54693066e-03 5.13689484e-01] [ 1.75652423e-01 4.23252948e-02 9.83541964e-01 -1.54983087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.156296757 meters Centerline goodness : 0.794394 Centerline is valid? [False, False] Translation: X:0.98, Y:0.51, Z:-1.55 [[ 9.54230867e-01 2.38126672e-01 -1.80939602e-01 9.82790612e-01] [-2.41872941e-01 9.70306921e-01 1.40009177e-03 5.14015953e-01] [ 1.75900347e-01 4.24283829e-02 9.83493213e-01 -1.54914457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18629675700001 meters Centerline goodness : 0.794650 Centerline is valid? [False, False] Translation: X:0.98, Y:0.51, Z:-1.55 [[ 9.54250396e-01 2.37824186e-01 -1.81234210e-01 9.83711703e-01] [-2.41613648e-01 9.70371784e-01 1.20264229e-03 5.14858397e-01] [ 1.76150581e-01 4.26410368e-02 9.83439228e-01 -1.54912900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21629675700001 meters Centerline goodness : 0.794378 Centerline is valid? [False, False] Translation: X:0.98, Y:0.52, Z:-1.55 [[ 9.54281337e-01 2.37468850e-01 -1.81536980e-01 9.84856662e-01] [-2.41337785e-01 9.70440844e-01 8.00537412e-04 5.16417995e-01] [ 1.76361003e-01 4.30477948e-02 9.83383793e-01 -1.54930273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24629675700001 meters Centerline goodness : 0.795954 Centerline is valid? [False, False] Translation: X:0.99, Y:0.52, Z:-1.55 [[ 9.54311516e-01 2.37320564e-01 -1.81572247e-01 9.85279820e-01] [-2.41296341e-01 9.70451460e-01 1.99427682e-04 5.19899988e-01] [ 1.76254381e-01 4.36224028e-02 9.83377587e-01 -1.54912117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.276296757 meters Centerline goodness : 0.795359 Centerline is valid? [False, False] Translation: X:0.99, Y:0.52, Z:-1.55 [[ 9.54314499e-01 2.37175659e-01 -1.81745822e-01 9.85673467e-01] [-2.41200058e-01 9.70475415e-01 -4.16293754e-05 5.20735850e-01] [ 1.76369979e-01 4.38768304e-02 9.83345542e-01 -1.54902677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.306296757 meters Centerline goodness : 0.796640 Centerline is valid? [False, False] Translation: X:0.99, Y:0.52, Z:-1.55 [[ 9.54293097e-01 2.37169907e-01 -1.81865664e-01 9.86057436e-01] [-2.41260830e-01 9.70460234e-01 -3.82596930e-04 5.21897736e-01] [ 1.76402654e-01 4.42421706e-02 9.83323311e-01 -1.54914957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.336296757 meters Centerline goodness : 0.796580 Centerline is valid? [False, False] Translation: X:0.99, Y:0.52, Z:-1.55 [[ 9.54281233e-01 2.37242099e-01 -1.81833755e-01 9.86408982e-01] [-2.41408420e-01 9.70423272e-01 -8.04420962e-04 5.23984172e-01] [ 1.76264865e-01 4.46638434e-02 9.83328957e-01 -1.54942194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.366296757 meters Centerline goodness : 0.793736 Centerline is valid? [False, False] Translation: X:0.99, Y:0.53, Z:-1.55 [[ 0.95345878 0.24113037 -0.18103178 0.987673 ] [-0.24480176 0.96957083 0.0021244 0.52737229] [ 0.17603539 0.04229137 0.98347495 -1.54975387] [ 0. 0. 0. 1. ]] SLAMing on 89.396296757 meters Centerline goodness : 0.792200 Centerline is valid? [False, False] Translation: X:0.99, Y:0.53, Z:-1.55 [[ 0.95343315 0.24105759 -0.18126356 0.9887116 ] [-0.24482129 0.9695668 0.00165894 0.53010873] [ 0.17614703 0.04279549 0.98343316 -1.54988886] [ 0. 0. 0. 1. ]] SLAMing on 89.426296757 meters Centerline goodness : 0.792133 Centerline is valid? [False, False] Translation: X:0.99, Y:0.53, Z:-1.55 [[ 9.53430726e-01 2.40829484e-01 -1.81579214e-01 9.90070965e-01] [-2.44709761e-01 9.69595791e-01 1.06537217e-03 5.32385275e-01] [ 1.76315015e-01 4.34184475e-02 9.83375744e-01 -1.55035947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.456296757 meters Centerline goodness : 0.787813 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 9.53379665e-01 2.40826468e-01 -1.81851109e-01 9.91510717e-01] [-2.44883114e-01 9.69552597e-01 1.50374965e-04 5.35659412e-01] [ 1.76350430e-01 4.43889016e-02 9.83326066e-01 -1.55130106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.486296757 meters Centerline goodness : 0.788376 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 9.53355480e-01 2.40862342e-01 -1.81930374e-01 9.91958834e-01] [-2.44982085e-01 9.69527589e-01 -1.77694603e-04 5.37101435e-01] [ 1.76343717e-01 4.47390885e-02 9.83311399e-01 -1.55146445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.516296757 meters Centerline goodness : 0.787086 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 9.53191816e-01 2.41858296e-01 -1.81466047e-01 9.90149292e-01] [-2.45969819e-01 9.69277475e-01 -1.57720336e-04 5.40319483e-01] [ 1.75852806e-01 4.47855086e-02 9.83397198e-01 -1.55024738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54629675700001 meters Centerline goodness : 0.787452 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 9.53085280e-01 2.42486244e-01 -1.81187391e-01 9.88741219e-01] [-2.46558867e-01 9.69127815e-01 4.71160337e-05 5.41968120e-01] [ 1.75605165e-01 4.46284522e-02 9.83448589e-01 -1.54906125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57629675700001 meters Centerline goodness : 0.788102 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 9.52897550e-01 2.43361319e-01 -1.81001457e-01 9.87150064e-01] [-2.47375868e-01 9.68919509e-01 4.07018294e-04 5.43975709e-01] [ 1.75474895e-01 4.43875457e-02 9.83482744e-01 -1.54734575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60629675700001 meters Centerline goodness : 0.783486 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 9.52801072e-01 2.43681090e-01 -1.81079108e-01 9.87259063e-01] [-2.47694496e-01 9.68838078e-01 4.63538681e-04 5.44858690e-01] [ 1.75549291e-01 4.44106384e-02 9.83468424e-01 -1.54715048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63629675700001 meters Centerline goodness : 0.782195 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.55 [[ 9.52715789e-01 2.43940008e-01 -1.81179189e-01 9.87545675e-01] [-2.47955997e-01 9.68771167e-01 4.99245824e-04 5.45692034e-01] [ 1.75642960e-01 4.44488271e-02 9.83449974e-01 -1.54706309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.666296757 meters Centerline goodness : 0.780430 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.95180948 0.24768208 -0.18086543 0.98969384] [-0.25106603 0.96796037 0.00430934 0.54409662] [ 0.17613792 0.04130749 0.98349841 -1.54758438] [ 0. 0. 0. 1. ]] SLAMing on 89.696296757 meters Centerline goodness : 0.782026 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.95183301 0.24739861 -0.18112936 0.99081277] [-0.25079032 0.96803187 0.00430205 0.54365023] [ 0.17640332 0.04133066 0.98344987 -1.54799927] [ 0. 0. 0. 1. ]] SLAMing on 89.726296757 meters Centerline goodness : 0.783090 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.95188693 0.24704528 -0.18132817 0.99149485] [-0.25044155 0.96812221 0.00429051 0.54341764] [ 0.17660778 0.04132803 0.98341328 -1.54803583] [ 0. 0. 0. 1. ]] SLAMing on 89.756296757 meters Centerline goodness : 0.784303 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.95193097 0.246719 -0.18154106 0.99210274] [-0.25010376 0.96820916 0.0043741 0.54292919] [ 0.17684889 0.04124026 0.98337364 -1.54795307] [ 0. 0. 0. 1. ]] SLAMing on 89.786296757 meters Centerline goodness : 0.784718 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 9.52951668e-01 2.41960142e-01 -1.82588083e-01 9.92370115e-01] [-2.46043941e-01 9.69258630e-01 2.95593956e-04 5.44165617e-01] [ 1.77046597e-01 4.46430049e-02 9.83189455e-01 -1.54777105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.816296757 meters Centerline goodness : 0.782666 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.9539591 0.23723512 -0.18352528 0.99215762] [-0.24202323 0.97026296 -0.00381315 0.54495762] [ 0.17716317 0.04805497 0.98300759 -1.54747669] [ 0. 0. 0. 1. ]] SLAMing on 89.846296757 meters Centerline goodness : 0.782714 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.95398912 0.23695847 -0.18372652 0.99225783] [-0.24170516 0.97034323 -0.00355445 0.54398511] [ 0.17743553 0.04779855 0.98297097 -1.54685135] [ 0. 0. 0. 1. ]] SLAMing on 89.876296757 meters Centerline goodness : 0.788216 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.95401373 0.23676696 -0.1838456 0.99239026] [-0.24148345 0.97039908 -0.00337289 0.54357213] [ 0.17760501 0.04761345 0.98294935 -1.54637319] [ 0. 0. 0. 1. ]] SLAMing on 89.906296757 meters Centerline goodness : 0.788730 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.95411338 0.23618577 -0.18407592 0.99310237] [-0.24088042 0.97054938 -0.00324475 0.54360059] [ 0.1778884 0.04743614 0.98290667 -1.54572364] [ 0. 0. 0. 1. ]] SLAMing on 89.93629675700001 meters Centerline goodness : 0.787559 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.95409345 0.23613857 -0.18423968 0.99317789] [-0.24078451 0.97057416 -0.00293598 0.54276032] [ 0.17812497 0.04716326 0.98287696 -1.54530003] [ 0. 0. 0. 1. ]] SLAMing on 89.96629675700001 meters Centerline goodness : 0.789549 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.54 [[ 0.95408408 0.2361084 -0.18432687 0.9927349 ] [-0.24062313 0.97061615 -0.0021921 0.54053266] [ 0.17839306 0.04644475 0.98286255 -1.54429135] [ 0. 0. 0. 1. ]] SLAMing on 89.99629675700001 meters Centerline goodness : 0.789644 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.54 [[ 0.95403814 0.23627118 -0.18435604 0.99270181] [-0.24073686 0.97058856 -0.00189874 0.54022202] [ 0.17848525 0.04619276 0.98285769 -1.54401035] [ 0. 0. 0. 1. ]] SLAMing on 90.026296757 meters Centerline goodness : 0.793123 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.54 [[ 0.95403378 0.23615199 -0.18453126 0.99354659] [-0.24063458 0.97061381 -0.00195704 0.54082623] [ 0.17864643 0.04627168 0.9828247 -1.54421398] [ 0. 0. 0. 1. ]] SLAMing on 90.056296757 meters Centerline goodness : 0.792707 Centerline is valid? [False, False] Translation: X:1.00, Y:0.54, Z:-1.54 [[ 0.95327112 0.23940312 -0.18428326 0.99620278] [-0.24327267 0.96995652 0.00165944 0.54021156] [ 0.17914403 0.04324919 0.98287177 -1.54461681] [ 0. 0. 0. 1. ]] SLAMing on 90.086296757 meters Centerline goodness : 0.793370 Centerline is valid? [False, False] Translation: X:1.00, Y:0.54, Z:-1.54 [[ 0.95322556 0.2394521 -0.18445521 0.99669816] [-0.24331764 0.96994512 0.00172835 0.54048492] [ 0.17932529 0.04323369 0.9828394 -1.54454995] [ 0. 0. 0. 1. ]] SLAMing on 90.116296757 meters Centerline goodness : 0.794620 Centerline is valid? [False, False] Translation: X:1.00, Y:0.54, Z:-1.54 [[ 0.95313237 0.23976423 -0.18453131 0.9962206 ] [-0.24359247 0.96987565 0.00198133 0.5396897 ] [ 0.17944748 0.04306196 0.98282464 -1.54400945] [ 0. 0. 0. 1. ]] SLAMing on 90.146296757 meters Centerline goodness : 0.795494 Centerline is valid? [False, False] Translation: X:1.00, Y:0.54, Z:-1.54 [[ 0.95306198 0.2400628 -0.18450667 0.99583385] [-0.24384369 0.96981191 0.00226341 0.53927374] [ 0.17948013 0.04283361 0.98282865 -1.54358387] [ 0. 0. 0. 1. ]] SLAMing on 90.176296757 meters Centerline goodness : 0.795102 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.95364827 0.24886984 -0.16917086 0.99172983] [-0.25162119 0.96781115 0.00532534 0.53698845] [ 0.16505076 0.03748847 0.98557235 -1.54582897] [ 0. 0. 0. 1. ]] SLAMing on 90.206296757 meters Centerline goodness : 0.795910 Centerline is valid? [False, False] Translation: X:0.99, Y:0.53, Z:-1.55 [[ 0.95404613 0.25810711 -0.15223898 0.98642244] [-0.25977981 0.96562455 0.00914775 0.53469683] [ 0.14936679 0.03082124 0.98830138 -1.54999278] [ 0. 0. 0. 1. ]] SLAMing on 90.236296757 meters Centerline goodness : 0.795988 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.95285624 0.26329511 -0.15080012 0.98524872] [-0.26436804 0.96433078 0.01325492 0.53704997] [ 0.14891115 0.0272367 0.98847541 -1.54891721] [ 0. 0. 0. 1. ]] SLAMing on 90.266296757 meters Centerline goodness : 0.797173 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95267014 0.26407731 -0.15060802 0.98410978] [-0.26510207 0.96412441 0.0136019 0.53814732] [ 0.14879682 0.02696838 0.98849998 -1.54786932] [ 0. 0. 0. 1. ]] SLAMing on 90.29629675700001 meters Centerline goodness : 0.795473 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95235246 0.26542214 -0.15025274 0.9825535 ] [-0.26636656 0.96376751 0.0141787 0.53845113] [ 0.14857205 0.02651918 0.98854594 -1.54715103] [ 0. 0. 0. 1. ]] SLAMing on 90.32629675700001 meters Centerline goodness : 0.795473 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95235246 0.26542214 -0.15025274 0.9825535 ] [-0.26636656 0.96376751 0.0141787 0.53845113] [ 0.14857205 0.02651918 0.98854594 -1.54715103] [ 0. 0. 0. 1. ]] SLAMing on 90.35629675700001 meters Centerline goodness : 0.797285 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95222239 0.26591512 -0.15020541 0.9825986 ] [-0.26686102 0.96363041 0.01419955 0.53926532] [ 0.14851837 0.02656284 0.98855284 -1.54732404] [ 0. 0. 0. 1. ]] SLAMing on 90.38629675700001 meters Centerline goodness : 0.796823 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95108969 0.27042153 -0.14933386 0.98371284] [-0.27081635 0.96246127 0.01807773 0.53965684] [ 0.14861667 0.02324851 0.98862156 -1.54778627] [ 0. 0. 0. 1. ]] SLAMing on 90.416296757 meters Centerline goodness : 0.799301 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95095948 0.27087973 -0.14933263 0.9841169 ] [-0.27129332 0.9623286 0.01798904 0.5413633 ] [ 0.14857993 0.02340609 0.98862337 -1.54807101] [ 0. 0. 0. 1. ]] SLAMing on 90.446296757 meters Centerline goodness : 0.794026 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95089438 0.27102318 -0.14948685 0.98490082] [-0.27146382 0.96228319 0.01784523 0.54276527] [ 0.14868515 0.02361134 0.98860267 -1.54834336] [ 0. 0. 0. 1. ]] SLAMing on 90.476296757 meters Centerline goodness : 0.791500 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.55 [[ 0.95089958 0.27088868 -0.14969739 0.98573005] [-0.27135156 0.96231716 0.01772066 0.54262112] [ 0.14885669 0.02377005 0.98857305 -1.5488026 ] [ 0. 0. 0. 1. ]] SLAMing on 90.506296757 meters Centerline goodness : 0.789911 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95174752 0.26749382 -0.15041181 0.9843195 ] [-0.26845216 0.96318716 0.01428033 0.54368737] [ 0.14869462 0.0267871 0.98852029 -1.54805581] [ 0. 0. 0. 1. ]] SLAMing on 90.536296757 meters Centerline goodness : 0.790264 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95274515 0.26359614 -0.15097603 0.98240045] [-0.26500834 0.96418272 0.01105759 0.54272719] [ 0.14848322 0.02947484 0.98847558 -1.54697415] [ 0. 0. 0. 1. ]] SLAMing on 90.566296757 meters Centerline goodness : 0.794045 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95282894 0.26321409 -0.15111368 0.98289205] [-0.26460972 0.96429095 0.0111649 0.54177367] [ 0.14865632 0.0293479 0.98845334 -1.54705222] [ 0. 0. 0. 1. ]] SLAMing on 90.596296757 meters Centerline goodness : 0.790184 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95314823 0.26212269 -0.15099719 0.98358333] [-0.26352334 0.96459006 0.01102099 0.54112067] [ 0.14853924 0.02928665 0.98847275 -1.54724751] [ 0. 0. 0. 1. ]] SLAMing on 90.626296757 meters Centerline goodness : 0.788162 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95317508 0.26189053 -0.15123037 0.9840769 ] [-0.2632338 0.96466436 0.01143002 0.53985602] [ 0.14887996 0.02891414 0.98843246 -1.54696059] [ 0. 0. 0. 1. ]] SLAMing on 90.656296757 meters Centerline goodness : 0.789119 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95413303 0.25792658 -0.15200011 0.98289196] [-0.25970722 0.96565115 0.00836754 0.53819361] [ 0.14893729 0.03149178 0.98834506 -1.54619377] [ 0. 0. 0. 1. ]] SLAMing on 90.68629675700001 meters Centerline goodness : 0.791021 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95414909 0.25777649 -0.15215388 0.98284746] [-0.25947269 0.96570899 0.00894779 0.53555491] [ 0.1492429 0.03094226 0.98831631 -1.54583496] [ 0. 0. 0. 1. ]] SLAMing on 90.71629675700001 meters Centerline goodness : 0.790951 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.55 [[ 0.95507995 0.25383208 -0.15294301 0.98218391] [-0.25600569 0.9666588 0.00564336 0.53506543] [ 0.14927618 0.03376442 0.9882189 -1.54549108] [ 0. 0. 0. 1. ]] SLAMing on 90.74629675700001 meters Centerline goodness : 0.790866 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.55 [[ 0.95510555 0.25371913 -0.15297056 0.98230804] [-0.25580788 0.96670774 0.006202 0.53349686] [ 0.14945139 0.03320751 0.98821128 -1.54516735] [ 0. 0. 0. 1. ]] SLAMing on 90.77629675700001 meters Centerline goodness : 0.791253 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95509982 0.25370492 -0.15302991 0.9822936 ] [-0.25570955 0.96672995 0.0067699 0.53189141] [ 0.14965615 0.03266528 0.98819837 -1.54474961] [ 0. 0. 0. 1. ]] SLAMing on 90.806296757 meters Centerline goodness : 0.792021 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95516904 0.25353615 -0.15287751 0.9819047 ] [-0.25540781 0.96680354 0.007601 0.52892439] [ 0.14972964 0.03178587 0.98821591 -1.54422061] [ 0. 0. 0. 1. ]] SLAMing on 90.836296757 meters Centerline goodness : 0.790798 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95513652 0.25398291 -0.15233813 0.98056878] [-0.25572159 0.96671397 0.008401 0.52712185] [ 0.14940111 0.03093204 0.98829273 -1.54364648] [ 0. 0. 0. 1. ]] SLAMing on 90.866296757 meters Centerline goodness : 0.790519 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95507648 0.25434834 -0.15210468 0.97988221] [-0.25603952 0.9666272 0.00869598 0.52712626] [ 0.14924033 0.03063948 0.98832613 -1.54326245] [ 0. 0. 0. 1. ]] SLAMing on 90.896296757 meters Centerline goodness : 0.789196 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95492593 0.25506474 -0.15185009 0.97921632] [-0.25672356 0.96644376 0.00891498 0.5280098 ] [ 0.14902847 0.03047035 0.98836333 -1.54301898] [ 0. 0. 0. 1. ]] SLAMing on 90.926296757 meters Centerline goodness : 0.788886 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95484049 0.25531897 -0.15196005 0.97951492] [-0.25698363 0.9663746 0.00891943 0.52872479] [ 0.14912763 0.03053461 0.98834639 -1.54294152] [ 0. 0. 0. 1. ]] SLAMing on 90.956296757 meters Centerline goodness : 0.787448 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95380827 0.25952773 -0.15131138 0.98114007] [-0.26067479 0.965345 0.01255708 0.52828634] [ 0.1493266 0.02746602 0.98840639 -1.54388778] [ 0. 0. 0. 1. ]] SLAMing on 90.986296757 meters Centerline goodness : 0.786249 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95367179 0.26013229 -0.15113339 0.98085709] [-0.26127961 0.9651813 0.01257054 0.52961779] [ 0.14914113 0.0274999 0.98843345 -1.54390103] [ 0. 0. 0. 1. ]] SLAMing on 91.016296757 meters Centerline goodness : 0.783693 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95349354 0.26096646 -0.15081965 0.97988773] [-0.26206335 0.96496427 0.0129134 0.53052109] [ 0.14890554 0.02721146 0.98847695 -1.54339503] [ 0. 0. 0. 1. ]] SLAMing on 91.04629675700001 meters Centerline goodness : 0.783218 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95312295 0.26277598 -0.15001811 0.97756132] [-0.26375443 0.96449258 0.01369889 0.53119958] [ 0.14829109 0.02651121 0.98858834 -1.54274785] [ 0. 0. 0. 1. ]] SLAMing on 91.07629675700001 meters Centerline goodness : 0.782237 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.952969 0.26344961 -0.14981455 0.977128 ] [-0.26439649 0.96431351 0.01392628 0.53167162] [ 0.14813706 0.02633913 0.98861603 -1.54277796] [ 0. 0. 0. 1. ]] SLAMing on 91.10629675700001 meters Centerline goodness : 0.782728 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95176784 0.26837113 -0.14871086 0.97751688] [-0.26869277 0.96305198 0.01830539 0.53089802] [ 0.14812892 0.02253505 0.98871128 -1.54300913] [ 0. 0. 0. 1. ]] SLAMing on 91.13629675700001 meters Centerline goodness : 0.782911 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95163392 0.26890169 -0.14860946 0.97755486] [-0.2692053 0.96290603 0.01845218 0.53170895] [ 0.14805876 0.02244673 0.9887238 -1.5431566 ] [ 0. 0. 0. 1. ]] SLAMing on 91.166296757 meters Centerline goodness : 0.781788 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95156608 0.26920547 -0.14849379 0.97780435] [-0.26949327 0.96282332 0.0185641 0.5319046 ] [ 0.14797085 0.02235311 0.98873908 -1.54361582] [ 0. 0. 0. 1. ]] SLAMing on 91.196296757 meters Centerline goodness : 0.779591 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95148683 0.26953884 -0.14839686 0.97766712] [-0.26975242 0.96274083 0.01907163 0.5299622 ] [ 0.14800826 0.02188401 0.98874397 -1.54382286] [ 0. 0. 0. 1. ]] SLAMing on 91.226296757 meters Centerline goodness : 0.781495 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95233029 0.26637252 -0.14870339 0.97541146] [-0.26699876 0.96356222 0.01610922 0.52819621] [ 0.14757602 0.02436232 0.98875062 -1.54352597] [ 0. 0. 0. 1. ]] SLAMing on 91.256296757 meters Centerline goodness : 0.782441 Centerline is valid? [False, False] Translation: X:0.98, Y:0.53, Z:-1.54 [[ 0.95230024 0.26653199 -0.14861004 0.97511227] [-0.26707948 0.96353094 0.01663387 0.5262837 ] [ 0.14762383 0.02385025 0.98875597 -1.54344714] [ 0. 0. 0. 1. ]] SLAMing on 91.286296757 meters Centerline goodness : 0.783580 Centerline is valid? [False, False] Translation: X:0.98, Y:0.52, Z:-1.54 [[ 0.95228356 0.2666057 -0.14858475 0.97507592] [-0.26708152 0.96352194 0.0171155 0.52490641] [ 0.14772776 0.02338543 0.98875155 -1.54331634] [ 0. 0. 0. 1. ]] SLAMing on 91.316296757 meters Centerline goodness : 0.784447 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95225076 0.26701476 -0.14805951 0.97357793] [-0.26732074 0.96343566 0.0182032 0.52329047] [ 0.14750633 0.02224537 0.98881091 -1.54204427] [ 0. 0. 0. 1. ]] SLAMing on 91.346296757 meters Centerline goodness : 0.786675 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95289691 0.26490643 -0.14768906 0.96870898] [-0.26548375 0.96397998 0.01615459 0.5222519 ] [ 0.14664875 0.02381539 0.9889019 -1.53988062] [ 0. 0. 0. 1. ]] SLAMing on 91.376296757 meters Centerline goodness : 0.785869 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95280906 0.2653581 -0.14744483 0.96740107] [-0.26579636 0.96387773 0.01708836 0.51989391] [ 0.14665332 0.02290835 0.98892265 -1.5388941 ] [ 0. 0. 0. 1. ]] SLAMing on 91.406296757 meters Centerline goodness : 0.789013 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95274801 0.26562335 -0.14736167 0.9667706 ] [-0.26596238 0.9638197 0.0177651 0.51815723] [ 0.14674891 0.02226699 0.98892312 -1.53825849] [ 0. 0. 0. 1. ]] SLAMing on 91.43629675700001 meters Centerline goodness : 0.791459 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95279568 0.26560957 -0.14707803 0.96681745] [-0.26590318 0.96383117 0.01802704 0.51722848] [ 0.14654654 0.02193243 0.98896061 -1.5387422 ] [ 0. 0. 0. 1. ]] SLAMing on 91.46629675700001 meters Centerline goodness : 0.789803 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95281465 0.26548777 -0.14717503 0.96761865] [-0.26578485 0.96386415 0.01800878 0.51729612] [ 0.14663785 0.02195787 0.98894651 -1.5392172 ] [ 0. 0. 0. 1. ]] SLAMing on 91.49629675700001 meters Centerline goodness : 0.790456 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.952829 0.26539264 -0.14725366 0.96854811] [-0.26569125 0.96389006 0.01800298 0.51692814] [ 0.1467142 0.02197025 0.98893491 -1.53993962] [ 0. 0. 0. 1. ]] SLAMing on 91.52629675700001 meters Centerline goodness : 0.792628 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95278034 0.2658108 -0.14681361 0.9674974 ] [-0.26608094 0.96377959 0.0181614 0.51696806] [ 0.14632346 0.02176047 0.98899744 -1.53976317] [ 0. 0. 0. 1. ]] SLAMing on 91.556296757 meters Centerline goodness : 0.793914 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95272698 0.26613566 -0.14657118 0.96674055] [-0.26637433 0.96369472 0.01836326 0.51722987] [ 0.14613699 0.02154763 0.98902967 -1.53932533] [ 0. 0. 0. 1. ]] SLAMing on 91.586296757 meters Centerline goodness : 0.795423 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.9526877 0.26632847 -0.14647623 0.96640894] [-0.2665565 0.96364295 0.01843614 0.51762286] [ 0.14606086 0.02148031 0.98904238 -1.53905718] [ 0. 0. 0. 1. ]] SLAMing on 91.616296757 meters Centerline goodness : 0.795772 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95259994 0.26671136 -0.14635027 0.9665584 ] [-0.26696284 0.96353328 0.01828819 0.51893423] [ 0.14589102 0.02164876 0.98906377 -1.53944706] [ 0. 0. 0. 1. ]] SLAMing on 91.646296757 meters Centerline goodness : 0.795595 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95253963 0.26686828 -0.14645671 0.9673271 ] [-0.2671528 0.96348432 0.01809254 0.51997403] [ 0.14593707 0.02189246 0.98905161 -1.54000899] [ 0. 0. 0. 1. ]] SLAMing on 91.676296757 meters Centerline goodness : 0.793207 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95155594 0.27058816 -0.14602513 0.96987777] [-0.2703842 0.96250958 0.02162643 0.51922364] [ 0.14640244 0.01890413 0.98904447 -1.54120665] [ 0. 0. 0. 1. ]] SLAMing on 91.706296757 meters Centerline goodness : 0.791607 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95152502 0.27064347 -0.14612409 0.97099513] [-0.27049089 0.96248695 0.02129665 0.52000486] [ 0.14640633 0.01926094 0.98903701 -1.54237754] [ 0. 0. 0. 1. ]] SLAMing on 91.736296757 meters Centerline goodness : 0.790773 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95137791 0.27115296 -0.14613742 0.97190301] [-0.27101881 0.96234027 0.02121362 0.52102944] [ 0.14638606 0.01942382 0.98903682 -1.54339969] [ 0. 0. 0. 1. ]] SLAMing on 91.766296757 meters Centerline goodness : 0.791140 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.9512904 0.27149783 -0.14606677 0.97183577] [-0.2713509 0.96224439 0.02131732 0.52108502] [ 0.14633953 0.01935638 0.98904503 -1.54357838] [ 0. 0. 0. 1. ]] SLAMing on 91.79629675700001 meters Centerline goodness : 0.791395 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95115141 0.27214528 -0.14576673 0.97081483] [-0.27190556 0.96207345 0.02195557 0.51974498] [ 0.14621341 0.01875172 0.98907533 -1.5431086 ] [ 0. 0. 0. 1. ]] SLAMing on 91.82629675700001 meters Centerline goodness : 0.790330 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95105094 0.27259058 -0.14559016 0.97000016] [-0.27227178 0.96195723 0.02250254 0.5187164 ] [ 0.14618549 0.01823903 0.98908905 -1.54257484] [ 0. 0. 0. 1. ]] SLAMing on 91.85629675700001 meters Centerline goodness : 0.788714 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95096061 0.27318683 -0.14506163 0.96879339] [-0.27277728 0.9617999 0.02309791 0.51820051] [ 0.14583031 0.01760431 0.98915298 -1.54216957] [ 0. 0. 0. 1. ]] SLAMing on 91.88629675700001 meters Centerline goodness : 0.787505 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95093175 0.27333643 -0.14496899 0.96889866] [-0.27291049 0.96175942 0.02320938 0.5185901 ] [ 0.14576926 0.01749302 0.98916395 -1.5422445 ] [ 0. 0. 0. 1. ]] SLAMing on 91.916296757 meters Centerline goodness : 0.785853 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95093165 0.27338912 -0.14487023 0.96928941] [-0.27292948 0.96174868 0.02343025 0.5178679 ] [ 0.14573433 0.0172588 0.98917321 -1.54275479] [ 0. 0. 0. 1. ]] SLAMing on 91.946296757 meters Centerline goodness : 0.786671 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95092563 0.27336285 -0.14495931 0.96951564] [-0.27286378 0.96176056 0.0237063 0.51644425] [ 0.14589657 0.01701122 0.98915358 -1.54286602] [ 0. 0. 0. 1. ]] SLAMing on 91.976296757 meters Centerline goodness : 0.784016 Centerline is valid? [False, False] Translation: X:0.97, Y:0.51, Z:-1.54 [[ 0.95094959 0.27326065 -0.14499482 0.96959185] [-0.27270486 0.96179617 0.02408692 0.51481166] [ 0.14603747 0.01663534 0.98913918 -1.54275612] [ 0. 0. 0. 1. ]] SLAMing on 92.006296757 meters Centerline goodness : 0.785968 Centerline is valid? [False, False] Translation: X:0.97, Y:0.51, Z:-1.54 [[ 0.952026 0.26912887 -0.1456576 0.96875518] [-0.26908269 0.9629011 0.02039555 0.51484838] [ 0.14574289 0.01977685 0.98912481 -1.54274379] [ 0. 0. 0. 1. ]] SLAMing on 92.036296757 meters Centerline goodness : 0.786208 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95274409 0.2670228 -0.14483619 0.96650629] [-0.26715783 0.96346778 0.01888211 0.51622986] [ 0.14458695 0.02070431 0.98927546 -1.54173574] [ 0. 0. 0. 1. ]] SLAMing on 92.066296757 meters Centerline goodness : 0.785192 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95275192 0.26699191 -0.14484162 0.96621269] [-0.26707934 0.96348314 0.01920614 0.51582336] [ 0.14468034 0.02038552 0.98926843 -1.54100024] [ 0. 0. 0. 1. ]] SLAMing on 92.096296757 meters Centerline goodness : 0.788110 Centerline is valid? [False, False] Translation: X:0.97, Y:0.51, Z:-1.54 [[ 0.95271863 0.26712855 -0.14480868 0.96551569] [-0.26713426 0.96345649 0.01977055 0.51483626] [ 0.14479814 0.01984759 0.98926213 -1.53989983] [ 0. 0. 0. 1. ]] SLAMing on 92.126296757 meters Centerline goodness : 0.789015 Centerline is valid? [False, False] Translation: X:0.96, Y:0.52, Z:-1.54 [[ 0.95355054 0.26384535 -0.14535128 0.96357991] [-0.26430048 0.96429881 0.01652473 0.51584113] [ 0.14452204 0.02265925 0.9892421 -1.53875986] [ 0. 0. 0. 1. ]] SLAMing on 92.156296757 meters Centerline goodness : 0.788462 Centerline is valid? [False, False] Translation: X:0.96, Y:0.52, Z:-1.54 [[ 0.95357852 0.26358788 -0.14563456 0.96467104] [-0.26405461 0.96436709 0.01647054 0.51591519] [ 0.14478661 0.02274952 0.98920134 -1.53904011] [ 0. 0. 0. 1. ]] SLAMing on 92.18629675700001 meters Centerline goodness : 0.787058 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95299718 0.26553307 -0.14590601 0.97007038] [-0.26564682 0.96388187 0.019066 0.51585459] [ 0.14569881 0.02058962 0.98911472 -1.5412423 ] [ 0. 0. 0. 1. ]] SLAMing on 92.21629675700001 meters Centerline goodness : 0.787058 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95299718 0.26553307 -0.14590601 0.97007038] [-0.26564682 0.96388187 0.019066 0.51585459] [ 0.14569881 0.02058962 0.98911472 -1.5412423 ] [ 0. 0. 0. 1. ]] SLAMing on 92.24629675700001 meters Centerline goodness : 0.785303 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95305404 0.26506917 -0.1463774 0.97223474] [-0.26528025 0.96399503 0.01843825 0.51702826] [ 0.1459945 0.02125838 0.98905697 -1.54252331] [ 0. 0. 0. 1. ]] SLAMing on 92.27629675700001 meters Centerline goodness : 0.783524 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95307698 0.26482034 -0.14667809 0.9737993 ] [-0.2651034 0.9640524 0.01797636 0.51734664] [ 0.14616587 0.02175201 0.98902092 -1.5438261 ] [ 0. 0. 0. 1. ]] SLAMing on 92.306296757 meters Centerline goodness : 0.783669 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95301727 0.2649705 -0.14679478 0.97376286] [-0.265216 0.96401611 0.01825956 0.51683769] [ 0.14635078 0.02153064 0.98899842 -1.54341775] [ 0. 0. 0. 1. ]] SLAMing on 92.336296757 meters Centerline goodness : 0.782922 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.9529802 0.26511499 -0.14677457 0.97374077] [-0.26535636 0.9639768 0.01829568 0.5169254 ] [ 0.14633774 0.02151214 0.98900075 -1.54335302] [ 0. 0. 0. 1. ]] SLAMing on 92.366296757 meters Centerline goodness : 0.784188 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95295285 0.2652335 -0.14673803 0.97389935] [-0.26549059 0.96394178 0.01819324 0.51790554] [ 0.14627237 0.02162026 0.98900807 -1.54342119] [ 0. 0. 0. 1. ]] SLAMing on 92.396296757 meters Centerline goodness : 0.783558 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95273809 0.26607237 -0.14661389 0.97377485] [-0.26632777 0.96370971 0.01825146 0.52088582] [ 0.14614944 0.02165849 0.9890254 -1.54308682] [ 0. 0. 0. 1. ]] SLAMing on 92.426296757 meters Centerline goodness : 0.783601 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95260255 0.26664365 -0.14645665 0.97314162] [-0.26688021 0.96355404 0.01839997 0.52195732] [ 0.14602513 0.02155852 0.98904595 -1.54259901] [ 0. 0. 0. 1. ]] SLAMing on 92.456296757 meters Centerline goodness : 0.783722 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.9523073 0.26808153 -0.14575009 0.97093572] [-0.2682471 0.96316494 0.0188889 0.52270521] [ 0.14544514 0.021109 0.9891411 -1.54193102] [ 0. 0. 0. 1. ]] SLAMing on 92.486296757 meters Centerline goodness : 0.782030 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95219505 0.26859526 -0.14553753 0.9703747 ] [-0.2687323 0.96302568 0.0190918 0.52340017] [ 0.14528434 0.02093151 0.9891685 -1.54165081] [ 0. 0. 0. 1. ]] SLAMing on 92.516296757 meters Centerline goodness : 0.781898 Centerline is valid? [False, False] Translation: X:0.97, Y:0.52, Z:-1.54 [[ 0.95110945 0.27281858 -0.1447786 0.97153659] [-0.2724208 0.96190435 0.02295498 0.52367601] [ 0.14552571 0.017608 0.98919777 -1.54177921] [ 0. 0. 0. 1. ]] SLAMing on 92.54629675700001 meters Centerline goodness : 0.781631 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.54 [[ 0.95100327 0.2731748 -0.14480441 0.97184558] [-0.272797 0.96180023 0.02284979 0.52516753] [ 0.1455149 0.01777199 0.98919643 -1.54194838] [ 0. 0. 0. 1. ]] SLAMing on 92.57629675700001 meters Centerline goodness : 0.780089 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.54 [[ 0.95079099 0.27394078 -0.14475129 0.97182009] [-0.27355169 0.96158278 0.02297902 0.52662301] [ 0.14548524 0.01774871 0.98920121 -1.54198016] [ 0. 0. 0. 1. ]] SLAMing on 92.60629675700001 meters Centerline goodness : 0.780524 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.54 [[ 0.9506421 0.27457629 -0.14452492 0.97083294] [-0.27411778 0.96140963 0.02347272 0.52665522] [ 0.1453927 0.01730269 0.98922271 -1.54109254] [ 0. 0. 0. 1. ]] SLAMing on 92.63629675700001 meters Centerline goodness : 0.781899 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.54 [[ 0.95063138 0.27454974 -0.14464583 0.97107822] [-0.27408833 0.96141724 0.02350486 0.52692454] [ 0.14551825 0.01730128 0.98920428 -1.54088313] [ 0. 0. 0. 1. ]] SLAMing on 92.666296757 meters Centerline goodness : 0.779395 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.54 [[ 0.95065898 0.27432421 -0.14489212 0.97202308] [-0.27388496 0.96147856 0.02336667 0.52825766] [ 0.14572071 0.01747004 0.98917151 -1.54075323] [ 0. 0. 0. 1. ]] SLAMing on 92.696296757 meters Centerline goodness : 0.782063 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.54 [[ 0.95067933 0.27409187 -0.14519799 0.97290472] [-0.27368098 0.96154083 0.02319368 0.52894825] [ 0.145971 0.01768818 0.98913073 -1.54080288] [ 0. 0. 0. 1. ]] SLAMing on 92.726296757 meters Centerline goodness : 0.779833 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.54 [[ 0.9507016 0.27386477 -0.1454804 0.97354596] [-0.27346768 0.96160336 0.02311738 0.52932766] [ 0.14622548 0.01780646 0.98909102 -1.54054518] [ 0. 0. 0. 1. ]] SLAMing on 92.756296757 meters Centerline goodness : 0.782101 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.54 [[ 0.9506897 0.27382317 -0.1456364 0.97380755] [-0.27342578 0.96161484 0.02313537 0.52966361] [ 0.14638113 0.01782619 0.98906764 -1.54028586] [ 0. 0. 0. 1. ]] SLAMing on 92.786296757 meters Centerline goodness : 0.783871 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.54 [[ 0.95072802 0.27374132 -0.14554011 0.97371007] [-0.27337926 0.96163422 0.0228782 0.53252669] [ 0.14621906 0.0180367 0.98908779 -1.53948468] [ 0. 0. 0. 1. ]] SLAMing on 92.816296757 meters Centerline goodness : 0.784489 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.54 [[ 0.9507753 0.27343426 -0.14580818 0.97471326] [-0.2731312 0.96171388 0.02248934 0.53444388] [ 0.14637511 0.01844246 0.98905723 -1.53949675] [ 0. 0. 0. 1. ]] SLAMing on 92.846296757 meters Centerline goodness : 0.785244 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.54 [[ 0.9507829 0.27323675 -0.14612855 0.97519246] [-0.27299448 0.96176161 0.02210471 0.53670579] [ 0.14658065 0.01887551 0.98901862 -1.53878331] [ 0. 0. 0. 1. ]] SLAMing on 92.876296757 meters Centerline goodness : 0.788876 Centerline is valid? [False, False] Translation: X:0.97, Y:0.54, Z:-1.54 [[ 0.95073479 0.27336363 -0.14620424 0.97464986] [-0.2731006 0.9617278 0.02226443 0.53672351] [ 0.14669497 0.0187609 0.98900385 -1.53789617] [ 0. 0. 0. 1. ]] SLAMing on 92.906296757 meters Centerline goodness : 0.789311 Centerline is valid? [False, False] Translation: X:0.97, Y:0.54, Z:-1.54 [[ 0.95070049 0.27335309 -0.14644682 0.97472269] [-0.27308312 0.96173097 0.02234169 0.53690708] [ 0.14694962 0.0187519 0.98896622 -1.53721105] [ 0. 0. 0. 1. ]] SLAMing on 92.93629675700001 meters Centerline goodness : 0.790495 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.54 [[ 0.95071976 0.27303762 -0.14690946 0.97647587] [-0.27289474 0.9618031 0.0215235 0.54012737] [ 0.1471747 0.019628 0.98891574 -1.5377194 ] [ 0. 0. 0. 1. ]] SLAMing on 92.96629675700001 meters Centerline goodness : 0.791011 Centerline is valid? [False, False] Translation: X:0.98, Y:0.54, Z:-1.54 [[ 0.95076012 0.27267163 -0.14732742 0.97831781] [-0.27264614 0.96189029 0.02076408 0.54319549] [ 0.14737459 0.02042659 0.9888698 -1.53833339] [ 0. 0. 0. 1. ]] SLAMing on 92.99629675700001 meters Centerline goodness : 0.789766 Centerline is valid? [False, False] Translation: X:0.98, Y:0.55, Z:-1.54 [[ 0.94983481 0.27601119 -0.14707703 0.98140075] [-0.27558805 0.96098469 0.02365703 0.54529753] [ 0.14786838 0.0180624 0.9888421 -1.53926456] [ 0. 0. 0. 1. ]] SLAMing on 93.02629675700001 meters Centerline goodness : 0.790371 Centerline is valid? [False, False] Translation: X:0.98, Y:0.55, Z:-1.54 [[ 0.94971539 0.27637015 -0.14717408 0.98173289] [-0.27598663 0.9608758 0.02343237 0.54615483] [ 0.14789202 0.018364 0.98883301 -1.53961413] [ 0. 0. 0. 1. ]] SLAMing on 93.056296757 meters Centerline goodness : 0.788980 Centerline is valid? [False, False] Translation: X:0.98, Y:0.55, Z:-1.54 [[ 0.9496719 0.27643441 -0.14733396 0.98224908] [-0.27607167 0.96085414 0.02331877 0.5464792 ] [ 0.14801256 0.01852955 0.98881188 -1.5398219 ] [ 0. 0. 0. 1. ]] SLAMing on 93.086296757 meters Centerline goodness : 0.790507 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94881236 0.27957062 -0.14695364 0.98530799] [-0.27877333 0.95999347 0.02641915 0.5466278 ] [ 0.14846056 0.01589994 0.9887905 -1.5412047 ] [ 0. 0. 0. 1. ]] SLAMing on 93.116296757 meters Centerline goodness : 0.790155 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94876901 0.27967495 -0.14703499 0.98609594] [-0.27892112 0.959958 0.02614678 0.5486524 ] [ 0.14846001 0.01620391 0.98878565 -1.54155685] [ 0. 0. 0. 1. ]] SLAMing on 93.146296757 meters Centerline goodness : 0.787174 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94866184 0.2799936 -0.14712004 0.98649337] [-0.27926363 0.95986179 0.02602237 0.55063881] [ 0.148501 0.01639885 0.98877628 -1.54142721] [ 0. 0. 0. 1. ]] SLAMing on 93.176296757 meters Centerline goodness : 0.788150 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94855771 0.28029392 -0.14721949 0.98619044] [-0.27951323 0.95977898 0.02639454 0.55016623] [ 0.1486964 0.01611305 0.98875161 -1.5407549 ] [ 0. 0. 0. 1. ]] SLAMing on 93.206296757 meters Centerline goodness : 0.788997 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.9484947 0.28054303 -0.14715102 0.98565371] [-0.2797063 0.95971207 0.02677924 0.54928199] [ 0.14873533 0.0157591 0.98875146 -1.54027452] [ 0. 0. 0. 1. ]] SLAMing on 93.236296757 meters Centerline goodness : 0.788273 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94844853 0.28060428 -0.14733169 0.98553176] [-0.27970029 0.95970058 0.02724985 0.54891925] [ 0.14904073 0.01536363 0.9887117 -1.53915437] [ 0. 0. 0. 1. ]] SLAMing on 93.266296757 meters Centerline goodness : 0.790252 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94843523 0.2806468 -0.14733629 0.98526137] [-0.27968111 0.95969435 0.02766275 0.54873035] [ 0.14916127 0.01497085 0.98869954 -1.53831408] [ 0. 0. 0. 1. ]] SLAMing on 93.29629675700001 meters Centerline goodness : 0.791165 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.9483939 0.28074874 -0.14740814 0.98515564] [-0.27973015 0.95966945 0.02802844 0.54811184] [ 0.14933204 0.0146525 0.98867854 -1.53783152] [ 0. 0. 0. 1. ]] SLAMing on 93.32629675700001 meters Centerline goodness : 0.790764 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94840287 0.28061408 -0.14760672 0.98544558] [-0.27956424 0.95971147 0.02824408 0.54768614] [ 0.14958555 0.01447879 0.98864277 -1.53736354] [ 0. 0. 0. 1. ]] SLAMing on 93.35629675700001 meters Centerline goodness : 0.789599 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94840981 0.28047803 -0.14782053 0.98623356] [-0.27944762 0.9597489 0.02812608 0.54834045] [ 0.14975934 0.01463305 0.98861419 -1.53750624] [ 0. 0. 0. 1. ]] SLAMing on 93.38629675700001 meters Centerline goodness : 0.788035 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94846171 0.28014974 -0.14810978 0.98765078] [-0.27918608 0.95983773 0.02768882 0.54984616] [ 0.14991837 0.01508841 0.98858324 -1.53802888] [ 0. 0. 0. 1. ]] SLAMing on 93.416296757 meters Centerline goodness : 0.789352 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94846526 0.27999637 -0.14837682 0.98837308] [-0.27904898 0.95988024 0.02759676 0.55014405] [ 0.15015097 0.01522983 0.98854577 -1.538081 ] [ 0. 0. 0. 1. ]] SLAMing on 93.446296757 meters Centerline goodness : 0.790372 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94847886 0.27979898 -0.14866199 0.98896432] [-0.27889607 0.95993266 0.02731801 0.55157578] [ 0.15034905 0.01555069 0.98851067 -1.53770165] [ 0. 0. 0. 1. ]] SLAMing on 93.476296757 meters Centerline goodness : 0.790094 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.54 [[ 0.94847585 0.27970585 -0.14885634 0.98954673] [-0.27883597 0.9599559 0.027114 0.55279427] [ 0.15047947 0.01578953 0.98848704 -1.53761501] [ 0. 0. 0. 1. ]] SLAMing on 93.506296757 meters Centerline goodness : 0.790449 Centerline is valid? [False, False] Translation: X:0.99, Y:0.56, Z:-1.54 [[ 0.94840686 0.27995112 -0.14883482 0.98933814] [-0.2791216 0.95987986 0.02686604 0.55542607] [ 0.15038472 0.01606308 0.98849705 -1.53692736] [ 0. 0. 0. 1. ]] SLAMing on 93.536296757 meters Centerline goodness : 0.787951 Centerline is valid? [False, False] Translation: X:0.99, Y:0.56, Z:-1.54 [[ 0.94834373 0.28013254 -0.14889569 0.98922244] [-0.27930585 0.9598262 0.02686845 0.55650337] [ 0.15044071 0.01610691 0.98848782 -1.53638279] [ 0. 0. 0. 1. ]] SLAMing on 93.566296757 meters Centerline goodness : 0.791463 Centerline is valid? [False, False] Translation: X:0.99, Y:0.56, Z:-1.54 [[ 0.94819928 0.28072114 -0.14870699 0.98841572] [-0.27988474 0.95965502 0.02695861 0.55819216] [ 0.15027527 0.01605868 0.98851376 -1.53558096] [ 0. 0. 0. 1. ]] SLAMing on 93.596296757 meters Centerline goodness : 0.799456 Centerline is valid? [False, False] Translation: X:0.99, Y:0.56, Z:-1.54 [[ 0.94825193 0.2803772 -0.14901978 0.98985571] [-0.27960478 0.95974816 0.02654498 0.56022923] [ 0.15046407 0.01649532 0.98847785 -1.53588588] [ 0. 0. 0. 1. ]] SLAMing on 93.626296757 meters Centerline goodness : 0.799052 Centerline is valid? [False, False] Translation: X:0.99, Y:0.56, Z:-1.54 [[ 0.94830313 0.27994149 -0.14951232 0.9913975 ] [-0.2792104 0.95986987 0.02629417 0.56095967] [ 0.1508732 0.01681055 0.98841018 -1.53612724] [ 0. 0. 0. 1. ]] SLAMing on 93.656296757 meters Centerline goodness : 0.801444 Centerline is valid? [False, False] Translation: X:0.99, Y:0.56, Z:-1.54 [[ 0.94820996 0.27961267 -0.15071372 0.99484284] [-0.2789598 0.95995358 0.02589489 0.5600889 ] [ 0.15191872 0.01748928 0.98823824 -1.53753736] [ 0. 0. 0. 1. ]] SLAMing on 93.68629675700001 meters Centerline goodness : 0.788882 Centerline is valid? [False, False] Translation: X:1.00, Y:0.56, Z:-1.54 [[ 0.94837392 0.27862812 -0.15150338 0.99723514] [-0.27805224 0.96022984 0.02540898 0.55891364] [ 0.15255772 0.01802864 0.98813011 -1.53855993] [ 0. 0. 0. 1. ]] SLAMing on 93.71629675700001 meters Centerline goodness : 0.787960 Centerline is valid? [False, False] Translation: X:1.00, Y:0.56, Z:-1.54 [[ 0.94834483 0.27858185 -0.15177034 0.9975195 ] [-0.27797308 0.96024635 0.02564973 0.55795381] [ 0.15288247 0.01786328 0.98808292 -1.53823878] [ 0. 0. 0. 1. ]] SLAMing on 93.74629675700001 meters Centerline goodness : 0.788714 Centerline is valid? [False, False] Translation: X:1.00, Y:0.56, Z:-1.54 [[ 0.94835168 0.27869869 -0.15151278 0.99668256] [-0.27803127 0.96021986 0.02600831 0.55745076] [ 0.15273406 0.01746027 0.98811307 -1.53753513] [ 0. 0. 0. 1. ]] SLAMing on 93.77629675700001 meters Centerline goodness : 0.790103 Centerline is valid? [False, False] Translation: X:1.00, Y:0.56, Z:-1.54 [[ 0.94830831 0.27882541 -0.15155109 0.99686246] [-0.2781318 0.96018574 0.02619239 0.55789293] [ 0.1528203 0.01731272 0.98810234 -1.5373063 ] [ 0. 0. 0. 1. ]] SLAMing on 93.806296757 meters Centerline goodness : 0.792588 Centerline is valid? [False, False] Translation: X:1.00, Y:0.56, Z:-1.54 [[ 0.94754287 0.28187633 -0.15069254 0.99912379] [-0.28069422 0.95934358 0.02950673 0.55839911] [ 0.15288317 0.01433964 0.98814023 -1.53931725] [ 0. 0. 0. 1. ]] SLAMing on 93.836296757 meters Centerline goodness : 0.791355 Centerline is valid? [False, False] Translation: X:1.00, Y:0.56, Z:-1.54 [[ 0.9471196 0.28257536 -0.15203825 1.00258258] [-0.28149892 0.95912278 0.02901456 0.55860189] [ 0.15402214 0.01531835 0.98794865 -1.53981629] [ 0. 0. 0. 1. ]] SLAMing on 93.866296757 meters Centerline goodness : 0.793855 Centerline is valid? [False, False] Translation: X:1.00, Y:0.56, Z:-1.54 [[ 0.94665625 0.28356593 -0.15307613 1.00230107] [-0.28270318 0.95880341 0.02783742 0.5596071 ] [ 0.15466366 0.01692264 0.98782224 -1.53687637] [ 0. 0. 0. 1. ]] SLAMing on 93.896296757 meters Centerline goodness : 0.791970 Centerline is valid? [False, False] Translation: X:1.00, Y:0.56, Z:-1.54 [[ 0.94648125 0.28345296 -0.1543621 1.00362095] [-0.2828279 0.95880554 0.0264635 0.55936765] [ 0.15550439 0.0186107 0.98765987 -1.53587129] [ 0. 0. 0. 1. ]] SLAMing on 93.926296757 meters Centerline goodness : 0.792822 Centerline is valid? [False, False] Translation: X:1.00, Y:0.56, Z:-1.53 [[ 0.94618859 0.28425262 -0.1546855 1.00343273] [-0.28369753 0.95855786 0.02612542 0.5600023 ] [ 0.15570122 0.01916432 0.98761828 -1.53448895] [ 0. 0. 0. 1. ]] SLAMing on 93.956296757 meters Centerline goodness : 0.797990 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.54 [[ 0.94609762 0.2841262 -0.15547216 1.00577885] [-0.28366014 0.95858174 0.02565093 0.56045064] [ 0.15632087 0.01983297 0.98750718 -1.53514979] [ 0. 0. 0. 1. ]] SLAMing on 93.986296757 meters Centerline goodness : 0.795465 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.54 [[ 0.94654219 0.28245385 -0.15581306 1.00718078] [-0.28209294 0.95906411 0.0248919 0.56134833] [ 0.15646552 0.02039253 0.98747288 -1.5361622 ] [ 0. 0. 0. 1. ]] SLAMing on 94.016296757 meters Centerline goodness : 0.795722 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.54 [[ 0.94677019 0.28164527 -0.15589148 1.00668689] [-0.28137098 0.95929165 0.02428806 0.56177658] [ 0.15638601 0.02086813 0.98747554 -1.53566168] [ 0. 0. 0. 1. ]] SLAMing on 94.04629675700001 meters Centerline goodness : 0.796191 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.54 [[ 0.94716454 0.2800367 -0.15639303 1.00694314] [-0.27996154 0.95973646 0.0229664 0.56192575] [ 0.15652753 0.02203107 0.98742785 -1.53552435] [ 0. 0. 0. 1. ]] SLAMing on 94.07629675700001 meters Centerline goodness : 0.795817 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.54 [[ 0.9472963 0.27954949 -0.15646661 1.00699807] [-0.27951471 0.95987347 0.02268149 0.56222776] [ 0.15652875 0.02224863 0.98742278 -1.5354799 ] [ 0. 0. 0. 1. ]] SLAMing on 94.10629675700001 meters Centerline goodness : 0.795588 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.54 [[ 0.94755212 0.27901825 -0.15586468 1.00680206] [-0.27889606 0.96004333 0.02310378 0.56302369] [ 0.15608323 0.02157801 0.98750819 -1.53620575] [ 0. 0. 0. 1. ]] SLAMing on 94.13629675700001 meters Centerline goodness : 0.795588 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.54 [[ 0.94755212 0.27901825 -0.15586468 1.00680206] [-0.27889606 0.96004333 0.02310378 0.56302369] [ 0.15608323 0.02157801 0.98750819 -1.53620575] [ 0. 0. 0. 1. ]] SLAMing on 94.166296757 meters Centerline goodness : 0.796687 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.54 [[ 0.94760729 0.27908881 -0.15540226 1.00727883] [-0.2788316 0.96004254 0.02390106 0.56333872] [ 0.1558633 0.02068224 0.98756209 -1.53733419] [ 0. 0. 0. 1. ]] SLAMing on 94.196296757 meters Centerline goodness : 0.795502 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.54 [[ 0.94802121 0.27775748 -0.15526286 1.00943211] [-0.27748965 0.96043281 0.02383907 0.56410499] [ 0.15574103 0.02048389 0.98758551 -1.54002078] [ 0. 0. 0. 1. ]] SLAMing on 94.226296757 meters Centerline goodness : 0.794755 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.54 [[ 0.948676 0.27583724 -0.15468572 1.00801844] [-0.27567018 0.960978 0.02296162 0.56492518] [ 0.15498324 0.0208591 0.98769686 -1.54022675] [ 0. 0. 0. 1. ]] SLAMing on 94.256296757 meters Centerline goodness : 0.789859 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94894608 0.27506757 -0.15439936 1.00658604] [-0.27496118 0.96119268 0.02247159 0.56514628] [ 0.15458874 0.0211295 0.98775294 -1.5395793 ] [ 0. 0. 0. 1. ]] SLAMing on 94.286296757 meters Centerline goodness : 0.796469 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94917488 0.2737255 -0.15537502 1.00762012] [-0.27393106 0.96153058 0.02051138 0.56549318] [ 0.15501232 0.02309315 0.98764259 -1.53927518] [ 0. 0. 0. 1. ]] SLAMing on 94.316296757 meters Centerline goodness : 0.798177 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94949162 0.27273374 -0.15518366 1.00684852] [-0.27312522 0.9617866 0.01921307 0.56746477] [ 0.15449362 0.02414192 0.98769878 -1.53885957] [ 0. 0. 0. 1. ]] SLAMing on 94.346296757 meters Centerline goodness : 0.796998 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94938666 0.27326313 -0.15489425 1.00720651] [-0.27353082 0.96165522 0.02000337 0.56771224] [ 0.15442104 0.02337742 0.98772852 -1.53940388] [ 0. 0. 0. 1. ]] SLAMing on 94.376296757 meters Centerline goodness : 0.797412 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94919046 0.27419924 -0.1544417 1.00920221] [-0.27415471 0.96143368 0.0220106 0.56754093] [ 0.15452074 0.02144866 0.9877567 -1.54162046] [ 0. 0. 0. 1. ]] SLAMing on 94.406296757 meters Centerline goodness : 0.797658 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94898291 0.27489328 -0.15448342 1.00970617] [-0.27476651 0.96124536 0.02259896 0.5673275 ] [ 0.15470877 0.02100084 0.98773689 -1.54170663] [ 0. 0. 0. 1. ]] SLAMing on 94.43629675700001 meters Centerline goodness : 0.797105 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94881324 0.27540056 -0.15462201 1.00981986] [-0.27522944 0.96110477 0.02294275 0.56674619] [ 0.1549264 0.02078814 0.98770728 -1.5413091 ] [ 0. 0. 0. 1. ]] SLAMing on 94.46629675700001 meters Centerline goodness : 0.797737 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94880761 0.275227 -0.15496523 1.01071763] [-0.27513661 0.96114272 0.02246125 0.56677971] [ 0.15512565 0.02132521 0.98766455 -1.54161142] [ 0. 0. 0. 1. ]] SLAMing on 94.49629675700001 meters Centerline goodness : 0.792838 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94864744 0.27567806 -0.15514397 1.01162795] [-0.27562726 0.96100655 0.02227174 0.56766669] [ 0.15523421 0.02163387 0.98764078 -1.54168429] [ 0. 0. 0. 1. ]] SLAMing on 94.52629675700001 meters Centerline goodness : 0.791349 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94845966 0.27625166 -0.15527168 1.01218219] [-0.27618478 0.96084256 0.02243958 0.56768047] [ 0.15539061 0.02160064 0.98761691 -1.54165802] [ 0. 0. 0. 1. ]] SLAMing on 94.556296757 meters Centerline goodness : 0.800953 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94822763 0.27636903 -0.15647532 1.01412425] [-0.27649137 0.96077756 0.02142447 0.56737098] [ 0.15625903 0.02294881 0.98744948 -1.54128077] [ 0. 0. 0. 1. ]] SLAMing on 94.586296757 meters Centerline goodness : 0.801477 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94807738 0.27655644 -0.15705358 1.01492179] [-0.27675686 0.96070973 0.02103448 0.56714102] [ 0.15670012 0.02352335 0.98736605 -1.54093696] [ 0. 0. 0. 1. ]] SLAMing on 94.616296757 meters Centerline goodness : 0.799319 Centerline is valid? [False, False] Translation: X:1.01, Y:0.57, Z:-1.54 [[ 0.94767829 0.27761197 -0.15759904 1.01496334] [-0.27785015 0.96039553 0.02096931 0.5665417 ] [ 0.15717874 0.02391675 0.98728052 -1.53961525] [ 0. 0. 0. 1. ]] SLAMing on 94.646296757 meters Centerline goodness : 0.791517 Centerline is valid? [False, False] Translation: X:1.02, Y:0.57, Z:-1.54 [[ 0.94760647 0.27780745 -0.15768638 1.01503317] [-0.2780129 0.96034327 0.02120464 0.56644649] [ 0.15732386 0.0237452 0.98726155 -1.53936559] [ 0. 0. 0. 1. ]] SLAMing on 94.676296757 meters Centerline goodness : 0.799383 Centerline is valid? [False, False] Translation: X:1.02, Y:0.57, Z:-1.54 [[ 0.9475071 0.27765727 -0.15854571 1.01718345] [-0.27791508 0.96037615 0.0209965 0.56580144] [ 0.15809335 0.02416791 0.98712836 -1.5399506 ] [ 0. 0. 0. 1. ]] SLAMing on 94.706296757 meters Centerline goodness : 0.797340 Centerline is valid? [False, False] Translation: X:1.02, Y:0.56, Z:-1.54 [[ 0.94743785 0.27774308 -0.15880898 1.01855229] [-0.27795305 0.96035753 0.02134275 0.56447936] [ 0.15844121 0.02392051 0.98707862 -1.54101637] [ 0. 0. 0. 1. ]] SLAMing on 94.736296757 meters Centerline goodness : 0.799585 Centerline is valid? [False, False] Translation: X:1.02, Y:0.56, Z:-1.54 [[ 0.9474813 0.27740073 -0.15914777 1.0193345 ] [-0.27763441 0.96045246 0.02121803 0.56300386] [ 0.15873976 0.02408121 0.98702674 -1.54158797] [ 0. 0. 0. 1. ]] SLAMing on 94.766296757 meters Centerline goodness : 0.788373 Centerline is valid? [False, False] Translation: X:1.02, Y:0.56, Z:-1.54 [[ 0.94747724 0.27728459 -0.15937423 1.01893558] [-0.27756207 0.9604788 0.02097088 0.56234172] [ 0.15889047 0.02436681 0.98699548 -1.54089937] [ 0. 0. 0. 1. ]] SLAMing on 94.79629675700001 meters Centerline goodness : 0.789090 Centerline is valid? [False, False] Translation: X:1.02, Y:0.56, Z:-1.54 [[ 0.94776125 0.27607036 -0.15979292 1.01919953] [-0.27649569 0.9608067 0.02001559 0.56160786] [ 0.15905582 0.02521205 0.98694762 -1.54100562] [ 0. 0. 0. 1. ]] SLAMing on 94.82629675700001 meters Centerline goodness : 0.791609 Centerline is valid? [False, False] Translation: X:1.02, Y:0.56, Z:-1.54 [[ 0.94874625 0.27213436 -0.16069677 1.01831129] [-0.27309079 0.96184611 0.01653742 0.56095428] [ 0.15906596 0.02819499 0.98686527 -1.54042261] [ 0. 0. 0. 1. ]] SLAMing on 94.85629675700001 meters Centerline goodness : 0.801999 Centerline is valid? [False, False] Translation: X:1.02, Y:0.56, Z:-1.54 [[ 0.94915541 0.27105982 -0.16009556 1.01759784] [-0.27195419 0.96216486 0.01672403 0.56072463] [ 0.15857154 0.02766495 0.98695984 -1.54131843] [ 0. 0. 0. 1. ]] SLAMing on 94.88629675700001 meters Centerline goodness : 0.800719 Centerline is valid? [False, False] Translation: X:1.02, Y:0.56, Z:-1.54 [[ 0.94995938 0.26901367 -0.15877284 1.01648848] [-0.26966144 0.9627895 0.01786278 0.55929708] [ 0.15767016 0.025846 0.98715354 -1.54363836] [ 0. 0. 0. 1. ]] SLAMing on 94.916296757 meters Centerline goodness : 0.790212 Centerline is valid? [False, False] Translation: X:1.02, Y:0.56, Z:-1.54 [[ 0.95087511 0.26528341 -0.15956577 1.01685103] [-0.2663281 0.96376257 0.01520041 0.55761711] [ 0.15781594 0.02804316 0.98707027 -1.54459391] [ 0. 0. 0. 1. ]] SLAMing on 94.946296757 meters Centerline goodness : 0.791619 Centerline is valid? [False, False] Translation: X:1.02, Y:0.56, Z:-1.54 [[ 0.95123359 0.26393568 -0.15966407 1.01629741] [-0.26509709 0.96411458 0.01437382 0.55682721] [ 0.15772822 0.02865362 0.98706675 -1.54457492] [ 0. 0. 0. 1. ]] SLAMing on 94.976296757 meters Centerline goodness : 0.791130 Centerline is valid? [False, False] Translation: X:1.01, Y:0.56, Z:-1.54 [[ 0.95152419 0.26318739 -0.15916695 1.01411959] [-0.26428622 0.9643336 0.01461176 0.55505283] [ 0.15733567 0.02816219 0.98714354 -1.54393683] [ 0. 0. 0. 1. ]] SLAMing on 95.006296757 meters Centerline goodness : 0.793093 Centerline is valid? [False, False] Translation: X:1.01, Y:0.55, Z:-1.54 [[ 0.95135735 0.26374685 -0.15923813 1.01449391] [-0.264762 0.96419404 0.01519656 0.55420731] [ 0.1575445 0.02770285 0.98712324 -1.54408888] [ 0. 0. 0. 1. ]] SLAMing on 95.036296757 meters Centerline goodness : 0.790166 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.54 [[ 0.95105417 0.26480715 -0.15928949 1.0152136 ] [-0.26566853 0.96392734 0.01625771 0.55353826] [ 0.15784865 0.02685624 0.98709804 -1.54428339] [ 0. 0. 0. 1. ]] SLAMing on 95.066296757 meters Centerline goodness : 0.793297 Centerline is valid? [False, False] Translation: X:1.01, Y:0.55, Z:-1.54 [[ 0.95020821 0.26871581 -0.15778521 1.01416823] [-0.26892563 0.96294432 0.02042662 0.5522646 ] [ 0.15742732 0.02302294 0.98726216 -1.5443936 ] [ 0. 0. 0. 1. ]] SLAMing on 95.096296757 meters Centerline goodness : 0.793553 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.54 [[ 0.9494531 0.27015839 -0.15985383 1.01626537] [-0.27067095 0.96248481 0.01897964 0.55031107] [ 0.15898439 0.02524751 0.98695822 -1.54258106] [ 0. 0. 0. 1. ]] SLAMing on 95.126296757 meters Centerline goodness : 0.794536 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.55 [[ 0.94943436 0.27697848 -0.14784218 1.0175669 ] [-0.2774507 0.96057427 0.01783772 0.54564057] [ 0.14695406 0.02408318 0.98885009 -1.54681777] [ 0. 0. 0. 1. ]] SLAMing on 95.156296757 meters Centerline goodness : 0.793081 Centerline is valid? [False, False] Translation: X:1.01, Y:0.55, Z:-1.54 [[ 0.94874627 0.27591072 -0.15412266 1.01266961] [-0.27568812 0.96096601 0.02324614 0.54882386] [ 0.15452049 0.0204351 0.98777823 -1.53971808] [ 0. 0. 0. 1. ]] SLAMing on 95.18629675700001 meters Centerline goodness : 0.793594 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.54 [[ 0.94820819 0.27736748 -0.1548177 1.01546235] [-0.2771081 0.96054657 0.02369374 0.54832542] [ 0.15528148 0.02043464 0.98765889 -1.54069926] [ 0. 0. 0. 1. ]] SLAMing on 95.21629675700001 meters Centerline goodness : 0.794356 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.54 [[ 0.94744177 0.28002357 -0.15472845 1.01790246] [-0.27939552 0.95981741 0.02624282 0.54733341] [ 0.15585967 0.01836689 0.98760844 -1.54216398] [ 0. 0. 0. 1. ]] SLAMing on 95.24629675700001 meters Centerline goodness : 0.794863 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.54 [[ 0.94717916 0.28087864 -0.15478642 1.01775687] [-0.28017779 0.95957447 0.02678143 0.54647775] [ 0.15605142 0.0180009 0.98758489 -1.54164912] [ 0. 0. 0. 1. ]] SLAMing on 95.27629675700001 meters Centerline goodness : 0.792899 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94677816 0.28148946 -0.15612432 1.01768685] [-0.28089931 0.95937698 0.02629425 0.54473251] [ 0.15718363 0.0189604 0.98738737 -1.53891525] [ 0. 0. 0. 1. ]] SLAMing on 95.306296757 meters Centerline goodness : 0.792490 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94662077 0.28177339 -0.15656587 1.01740715] [-0.28119192 0.95929061 0.02631775 0.54381326] [ 0.15760781 0.01911213 0.98731682 -1.53779767] [ 0. 0. 0. 1. ]] SLAMing on 95.336296757 meters Centerline goodness : 0.792586 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94652748 0.28225096 -0.15626938 1.0164615 ] [-0.28155393 0.95916416 0.0270461 0.54265638] [ 0.15752177 0.01839838 0.98734411 -1.53720457] [ 0. 0. 0. 1. ]] SLAMing on 95.366296757 meters Centerline goodness : 0.793394 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94650813 0.28230581 -0.15628751 1.01672738] [-0.28158644 0.95915047 0.02719281 0.54295773] [ 0.15757992 0.01827023 0.98733721 -1.53716675] [ 0. 0. 0. 1. ]] SLAMing on 95.396296757 meters Centerline goodness : 0.794847 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94652184 0.28220956 -0.15637829 1.01713816] [-0.28144098 0.95918431 0.02750349 0.54192135] [ 0.15775734 0.0179786 0.98731423 -1.53728657] [ 0. 0. 0. 1. ]] SLAMing on 95.426296757 meters Centerline goodness : 0.794998 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94651852 0.28213488 -0.15653306 1.01718366] [-0.28131498 0.95921168 0.0278359 0.54049871] [ 0.15800182 0.0176879 0.98728039 -1.53699351] [ 0. 0. 0. 1. ]] SLAMing on 95.456296757 meters Centerline goodness : 0.795041 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94753666 0.27822343 -0.15737218 1.01627023] [-0.27792682 0.96029384 0.02433974 0.54020281] [ 0.15789543 0.02067515 0.98723937 -1.536713 ] [ 0. 0. 0. 1. ]] SLAMing on 95.486296757 meters Centerline goodness : 0.793862 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94755552 0.27802359 -0.15761164 1.01670474] [-0.2776949 0.96035546 0.0245549 0.5392354 ] [ 0.15819004 0.02050082 0.98719584 -1.53654177] [ 0. 0. 0. 1. ]] SLAMing on 95.516296757 meters Centerline goodness : 0.795451 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94771007 0.27723449 -0.15807167 1.01794607] [-0.27691589 0.96058213 0.02448586 0.53812851] [ 0.15862914 0.02056706 0.987124 -1.5366457 ] [ 0. 0. 0. 1. ]] SLAMing on 95.54629675700001 meters Centerline goodness : 0.795167 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94771398 0.27712377 -0.1582423 1.01830149] [-0.2767883 0.96061589 0.02460371 0.53790102] [ 0.15882834 0.02048233 0.98709373 -1.53644148] [ 0. 0. 0. 1. ]] SLAMing on 95.57629675700001 meters Centerline goodness : 0.796463 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94768034 0.27733394 -0.15807549 1.01775867] [-0.27695312 0.96056122 0.0248818 0.53795161] [ 0.15874175 0.0201995 0.98711349 -1.535849 ] [ 0. 0. 0. 1. ]] SLAMing on 95.60629675700001 meters Centerline goodness : 0.796921 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94762448 0.27748316 -0.15814848 1.0178915 ] [-0.2770827 0.96052011 0.02502588 0.53828879] [ 0.15884905 0.02010507 0.98709815 -1.53556367] [ 0. 0. 0. 1. ]] SLAMing on 95.63629675700001 meters Centerline goodness : 0.793871 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.9475915 0.27752838 -0.15826671 1.01883491] [-0.27717609 0.96050043 0.02474572 0.53942935] [ 0.15888288 0.02041891 0.98708627 -1.53619841] [ 0. 0. 0. 1. ]] SLAMing on 95.666296757 meters Centerline goodness : 0.797333 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94756106 0.27755168 -0.15840801 1.01950275] [-0.27722626 0.96048971 0.02459928 0.54024555] [ 0.15897683 0.02060554 0.98706726 -1.53644652] [ 0. 0. 0. 1. ]] SLAMing on 95.696296757 meters Centerline goodness : 0.794840 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94749649 0.27776424 -0.15842171 1.0198953 ] [-0.27745488 0.96042573 0.02451934 0.54103341] [ 0.15896289 0.02072289 0.98706705 -1.53677853] [ 0. 0. 0. 1. ]] SLAMing on 95.726296757 meters Centerline goodness : 0.792698 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94750513 0.27773855 -0.15841502 1.02020356] [-0.2774419 0.96043157 0.02443734 0.54107719] [ 0.15893398 0.02079646 0.98707016 -1.53710061] [ 0. 0. 0. 1. ]] SLAMing on 95.756296757 meters Centerline goodness : 0.791456 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94750775 0.27759845 -0.15864476 1.0210185 ] [-0.27730435 0.96047123 0.02444014 0.54048156] [ 0.15915827 0.02083566 0.98703319 -1.53750596] [ 0. 0. 0. 1. ]] SLAMing on 95.786296757 meters Centerline goodness : 0.788584 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94749296 0.27759211 -0.15874418 1.02155205] [-0.27728087 0.96047497 0.02455908 0.54012644] [ 0.15928722 0.02074717 0.98701425 -1.53774374] [ 0. 0. 0. 1. ]] SLAMing on 95.816296757 meters Centerline goodness : 0.787113 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94750477 0.2774958 -0.15884205 1.02251865] [-0.27720226 0.96050034 0.02445416 0.54049146] [ 0.15935377 0.02086094 0.98700111 -1.53842167] [ 0. 0. 0. 1. ]] SLAMing on 95.846296757 meters Centerline goodness : 0.787223 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94747078 0.27759037 -0.15887951 1.0227657 ] [-0.27727399 0.96047569 0.02460854 0.5407105 ] [ 0.15943101 0.02073728 0.98699125 -1.53832938] [ 0. 0. 0. 1. ]] SLAMing on 95.876296757 meters Centerline goodness : 0.789811 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94738217 0.27807903 -0.15855309 1.02092909] [-0.27764241 0.96034991 0.0253524 0.53969776] [ 0.15931642 0.02000265 0.98702491 -1.53680637] [ 0. 0. 0. 1. ]] SLAMing on 95.906296757 meters Centerline goodness : 0.791545 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94814179 0.27511859 -0.1591757 1.0190048 ] [-0.27515847 0.96114181 0.02223163 0.54081197] [ 0.15910676 0.0227198 0.98699992 -1.53574297] [ 0. 0. 0. 1. ]] SLAMing on 95.93629675700001 meters Centerline goodness : 0.789551 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94898023 0.27181592 -0.15985188 1.01772528] [-0.27232973 0.96201415 0.01911293 0.54059121] [ 0.15897497 0.02539463 0.98695596 -1.53536348] [ 0. 0. 0. 1. ]] SLAMing on 95.96629675700001 meters Centerline goodness : 0.791013 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94897494 0.27178663 -0.15993307 1.01829005] [-0.27227989 0.9620255 0.01925102 0.54009217] [ 0.15909187 0.02527782 0.98694012 -1.53569299] [ 0. 0. 0. 1. ]] SLAMing on 95.99629675700001 meters Centerline goodness : 0.791136 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94895663 0.27202168 -0.15964185 1.01836959] [-0.2724767 0.96196553 0.01946175 0.54044837] [ 0.15886398 0.02503033 0.98698314 -1.53609385] [ 0. 0. 0. 1. ]] SLAMing on 96.02629675700001 meters Centerline goodness : 0.791136 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94895663 0.27202168 -0.15964185 1.01836959] [-0.2724767 0.96196553 0.01946175 0.54044837] [ 0.15886398 0.02503033 0.98698314 -1.53609385] [ 0. 0. 0. 1. ]] SLAMing on 96.056296757 meters Centerline goodness : 0.790451 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94888355 0.27236285 -0.15949444 1.01798635] [-0.27278616 0.9618737 0.0196644 0.54103779] [ 0.15876936 0.02484865 0.98700296 -1.53572069] [ 0. 0. 0. 1. ]] SLAMing on 96.086296757 meters Centerline goodness : 0.792901 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.53 [[ 0.94869087 0.27338902 -0.15888385 1.0161022 ] [-0.27372886 0.96159527 0.02017525 0.54189934] [ 0.15829765 0.02435102 0.98709112 -1.53479978] [ 0. 0. 0. 1. ]] SLAMing on 96.116296757 meters Centerline goodness : 0.793312 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.53 [[ 0.94861434 0.2736667 -0.15886272 1.01575252] [-0.27398845 0.96151854 0.02030833 0.54229279] [ 0.15830716 0.02426177 0.98709179 -1.5343245 ] [ 0. 0. 0. 1. ]] SLAMing on 96.146296757 meters Centerline goodness : 0.790128 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.53 [[ 0.94853709 0.27394407 -0.15884597 1.01559272] [-0.27425288 0.961441 0.02040992 0.54268259] [ 0.15831221 0.0242044 0.98709239 -1.53408103] [ 0. 0. 0. 1. ]] SLAMing on 96.176296757 meters Centerline goodness : 0.790187 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.53 [[ 0.9484802 0.274141 -0.15884589 1.01613953] [-0.27452713 0.9613725 0.01994428 0.54489427] [ 0.15817761 0.02469076 0.98710192 -1.53456489] [ 0. 0. 0. 1. ]] SLAMing on 96.206296757 meters Centerline goodness : 0.790077 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94833144 0.27458337 -0.15897 1.01705515] [-0.27501124 0.96123832 0.01974111 0.54570749] [ 0.15822864 0.02499743 0.98708603 -1.53491267] [ 0. 0. 0. 1. ]] SLAMing on 96.236296757 meters Centerline goodness : 0.791510 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.54 [[ 0.94822222 0.27510834 -0.15871365 1.01726729] [-0.27550266 0.96109319 0.01995428 0.54664931] [ 0.15802819 0.02480494 0.98712299 -1.53502562] [ 0. 0. 0. 1. ]] SLAMing on 96.266296757 meters Centerline goodness : 0.788763 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94816318 0.27524967 -0.15882129 1.01737149] [-0.27567868 0.96104659 0.01976671 0.54684853] [ 0.15807544 0.02504158 0.98710945 -1.53480246] [ 0. 0. 0. 1. ]] SLAMing on 96.29629675700001 meters Centerline goodness : 0.789119 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94808928 0.27538939 -0.15902011 1.01726055] [-0.27590984 0.96099094 0.01924003 0.54684332] [ 0.15811539 0.02563394 0.98708785 -1.53419335] [ 0. 0. 0. 1. ]] SLAMing on 96.32629675700001 meters Centerline goodness : 0.789196 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94796601 0.27581483 -0.15901768 1.01722331] [-0.27630989 0.96087208 0.01943426 0.54713573] [ 0.15815591 0.02551514 0.98708444 -1.53385321] [ 0. 0. 0. 1. ]] SLAMing on 96.35629675700001 meters Centerline goodness : 0.790550 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94775432 0.27595867 -0.16002673 1.02000402] [-0.27655866 0.96080998 0.01896041 0.54724222] [ 0.15898757 0.02628697 0.98693057 -1.53461198] [ 0. 0. 0. 1. ]] SLAMing on 96.38629675700001 meters Centerline goodness : 0.787311 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.54 [[ 0.94733963 0.27784782 -0.15921123 1.02212181] [-0.27797013 0.96033873 0.02195763 0.54617255] [ 0.15899758 0.02345463 0.98700033 -1.53724665] [ 0. 0. 0. 1. ]] SLAMing on 96.416296757 meters Centerline goodness : 0.787611 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.54 [[ 0.94736773 0.27780135 -0.1591251 1.02223217] [-0.27786541 0.96036108 0.02230249 0.54500524] [ 0.15901322 0.0230867 0.98700648 -1.53767195] [ 0. 0. 0. 1. ]] SLAMing on 96.446296757 meters Centerline goodness : 0.788383 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94745951 0.27746394 -0.15916731 1.02119522] [-0.27754403 0.96045684 0.02218048 0.54445653] [ 0.15902762 0.02316083 0.98700243 -1.53669875] [ 0. 0. 0. 1. ]] SLAMing on 96.476296757 meters Centerline goodness : 0.790182 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94757229 0.27681872 -0.15961879 1.02156187] [-0.27697324 0.96063186 0.02173124 0.54365183] [ 0.15935051 0.02361821 0.98693951 -1.53656391] [ 0. 0. 0. 1. ]] SLAMing on 96.506296757 meters Centerline goodness : 0.790860 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94773247 0.27615369 -0.15981963 1.02238365] [-0.27628703 0.96082708 0.0218356 0.54195767] [ 0.15958901 0.02346178 0.9869047 -1.53683988] [ 0. 0. 0. 1. ]] SLAMing on 96.536296757 meters Centerline goodness : 0.790597 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94785411 0.27526953 -0.16062153 1.02424466] [-0.27546157 0.96107123 0.02151794 0.5409124 ] [ 0.16029197 0.02384919 0.98678149 -1.5375818 ] [ 0. 0. 0. 1. ]] SLAMing on 96.566296757 meters Centerline goodness : 0.792066 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94876769 0.27182703 -0.16108983 1.02223627] [-0.27249813 0.96198142 0.01834465 0.54143816] [ 0.15995199 0.02649187 0.98676924 -1.53657128] [ 0. 0. 0. 1. ]] SLAMing on 96.596296757 meters Centerline goodness : 0.793944 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94874659 0.27179065 -0.16127535 1.02242065] [-0.2724196 0.96199813 0.01863231 0.54056756] [ 0.16021068 0.02625722 0.98673355 -1.53626177] [ 0. 0. 0. 1. ]] SLAMing on 96.626296757 meters Centerline goodness : 0.793137 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94874162 0.27184379 -0.16121505 1.02254281] [-0.27244059 0.96198843 0.01882488 0.54037759] [ 0.16020444 0.02606157 0.98673975 -1.53623363] [ 0. 0. 0. 1. ]] SLAMing on 96.656296757 meters Centerline goodness : 0.797044 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94868717 0.27192808 -0.16139324 1.02296504] [-0.27250494 0.96196708 0.01898419 0.54042899] [ 0.16041732 0.0259704 0.98670757 -1.53608697] [ 0. 0. 0. 1. ]] SLAMing on 96.68629675700001 meters Centerline goodness : 0.795012 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94862842 0.27207664 -0.16148816 1.0232259 ] [-0.27263025 0.96192818 0.0191555 0.54009896] [ 0.16055177 0.02585511 0.98668873 -1.53607902] [ 0. 0. 0. 1. ]] SLAMing on 96.71629675700001 meters Centerline goodness : 0.791733 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94855513 0.27226601 -0.16159948 1.0235573 ] [-0.27283388 0.96187149 0.01910238 0.54109393] [ 0.16063887 0.02597015 0.98667153 -1.53598203] [ 0. 0. 0. 1. ]] SLAMing on 96.74629675700001 meters Centerline goodness : 0.795923 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94849152 0.27247434 -0.16162172 1.02362547] [-0.27303859 0.96181253 0.01914621 0.54186424] [ 0.16066665 0.02596895 0.98666704 -1.53576755] [ 0. 0. 0. 1. ]] SLAMing on 96.77629675700001 meters Centerline goodness : 0.795618 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94843575 0.27256692 -0.16179281 1.02401368] [-0.2731484 0.96178274 0.01907657 0.54275352] [ 0.16080917 0.02610055 0.98664035 -1.53556449] [ 0. 0. 0. 1. ]] SLAMing on 96.806296757 meters Centerline goodness : 0.795825 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94826027 0.2732205 -0.16171895 1.02406806] [-0.27382104 0.96159289 0.01900382 0.54438578] [ 0.16070002 0.02626149 0.98665386 -1.53573679] [ 0. 0. 0. 1. ]] SLAMing on 96.836296757 meters Centerline goodness : 0.794473 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94817274 0.27353061 -0.16170792 1.02420577] [-0.27413005 0.96150422 0.01903554 0.54491192] [ 0.16068965 0.02628002 0.98665505 -1.53582817] [ 0. 0. 0. 1. ]] SLAMing on 96.866296757 meters Centerline goodness : 0.794522 Centerline is valid? [False, False] Translation: X:1.02, Y:0.54, Z:-1.54 [[ 0.94797183 0.2744029 -0.16140776 1.02311112] [-0.27493971 0.9612648 0.01944604 0.54493539] [ 0.16049165 0.0259431 0.9866962 -1.53539555] [ 0. 0. 0. 1. ]] SLAMing on 96.896296757 meters Centerline goodness : 0.793619 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.54 [[ 0.94785466 0.27491378 -0.1612264 1.02244798] [-0.27540702 0.96112526 0.01972845 0.54500024] [ 0.16038238 0.02570318 0.98672024 -1.53501979] [ 0. 0. 0. 1. ]] SLAMing on 96.926296757 meters Centerline goodness : 0.793736 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94770141 0.27559705 -0.16096057 1.02139214] [-0.27601862 0.9609403 0.02018556 0.54507744] [ 0.16023658 0.02529823 0.9867544 -1.53434101] [ 0. 0. 0. 1. ]] SLAMing on 96.956296757 meters Centerline goodness : 0.793942 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94736712 0.27708321 -0.16037593 1.01938224] [-0.2773734 0.96053199 0.0210309 0.54609601] [ 0.15987352 0.02456003 0.98683193 -1.53312879] [ 0. 0. 0. 1. ]] SLAMing on 96.986296757 meters Centerline goodness : 0.795645 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94724592 0.27754671 -0.16029036 1.01922683] [-0.27780536 0.96040228 0.02125202 0.54672095] [ 0.15984166 0.02439863 0.9868411 -1.53293651] [ 0. 0. 0. 1. ]] SLAMing on 97.016296757 meters Centerline goodness : 0.797141 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94706619 0.27832079 -0.1600099 1.01869712] [-0.27852726 0.96018546 0.02159753 0.54747264] [ 0.15965022 0.02411283 0.98687911 -1.53281016] [ 0. 0. 0. 1. ]] SLAMing on 97.04629675700001 meters Centerline goodness : 0.797037 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.9469689 0.27865717 -0.16000028 1.01854945] [-0.27882063 0.96009367 0.02189073 0.54719627] [ 0.15971527 0.02388154 0.98687421 -1.53260267] [ 0. 0. 0. 1. ]] SLAMing on 97.07629675700001 meters Centerline goodness : 0.796432 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94682399 0.27930333 -0.15973096 1.01789647] [-0.27942829 0.95991119 0.02214338 0.5470903 ] [ 0.15951226 0.02366747 0.9869122 -1.53266221] [ 0. 0. 0. 1. ]] SLAMing on 97.10629675700001 meters Centerline goodness : 0.794931 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94674117 0.27964364 -0.15962639 1.01775542] [-0.27974764 0.95981486 0.02228648 0.54732026] [ 0.15944405 0.02355558 0.9869259 -1.53268053] [ 0. 0. 0. 1. ]] SLAMing on 97.13629675700001 meters Centerline goodness : 0.795718 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.9466837 0.27985068 -0.15960442 1.01790957] [-0.27994536 0.95975554 0.02235857 0.547639 ] [ 0.15943829 0.02351402 0.98692782 -1.53278781] [ 0. 0. 0. 1. ]] SLAMing on 97.166296757 meters Centerline goodness : 0.797108 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94658909 0.2802949 -0.1593859 1.01767196] [-0.2803729 0.95962819 0.02246727 0.54834061] [ 0.15924866 0.02342021 0.98696067 -1.53290222] [ 0. 0. 0. 1. ]] SLAMing on 97.196296757 meters Centerline goodness : 0.796583 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94651147 0.2806563 -0.15921082 1.01716285] [-0.28069493 0.95952818 0.02271613 0.54847354] [ 0.15914269 0.02318859 0.98698323 -1.53261609] [ 0. 0. 0. 1. ]] SLAMing on 97.226296757 meters Centerline goodness : 0.798379 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94637685 0.28127588 -0.15891738 1.01575084] [-0.28122504 0.9593594 0.02328125 0.54795728] [ 0.15900734 0.02265871 0.98701735 -1.53164363] [ 0. 0. 0. 1. ]] SLAMing on 97.256296757 meters Centerline goodness : 0.798710 Centerline is valid? [False, False] Translation: X:1.02, Y:0.55, Z:-1.53 [[ 0.94630815 0.28148713 -0.15895245 1.01558423] [-0.28140453 0.9593014 0.02350138 0.54777855] [ 0.15909864 0.02249039 0.98700649 -1.53128532] [ 0. 0. 0. 1. ]] SLAMing on 97.286296757 meters Centerline goodness : 0.799460 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.53 [[ 0.94657739 0.28079946 -0.15856518 0.99478984] [-0.28002461 0.9595938 0.02767605 0.55205879] [ 0.15992958 0.01820463 0.98696055 -1.53293792] [ 0. 0. 0. 1. ]] SLAMing on 97.316296757 meters Centerline goodness : 0.798622 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.53 [[ 0.94649604 0.28105194 -0.15860344 0.99485216] [-0.28025094 0.9595223 0.02786321 0.55219418] [ 0.16001455 0.01807634 0.98694913 -1.53277748] [ 0. 0. 0. 1. ]] SLAMing on 97.346296757 meters Centerline goodness : 0.799294 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.53 [[ 0.94636743 0.28157168 -0.15844899 0.99469195] [-0.28071618 0.95937569 0.02822594 0.55211407] [ 0.15995974 0.01776708 0.98696363 -1.53285476] [ 0. 0. 0. 1. ]] SLAMing on 97.376296757 meters Centerline goodness : 0.800378 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.53 [[ 0.94627462 0.28184925 -0.15850974 0.99475725] [-0.28094053 0.9592994 0.02858446 0.55149342] [ 0.16011481 0.01748306 0.98694356 -1.53273042] [ 0. 0. 0. 1. ]] SLAMing on 97.406296757 meters Centerline goodness : 0.802182 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.53 [[ 0.94613918 0.28229679 -0.15852181 0.99436504] [-0.28129013 0.95917758 0.02922718 0.55008556] [ 0.16030131 0.01693764 0.9869228 -1.53223888] [ 0. 0. 0. 1. ]] SLAMing on 97.43629675700001 meters Centerline goodness : 0.800221 Centerline is valid? [False, False] Translation: X:0.99, Y:0.55, Z:-1.53 [[ 0.94608177 0.28241791 -0.15864871 0.99450965] [-0.2813545 0.95914727 0.02960006 0.5488483 ] [ 0.16052706 0.01663245 0.98689129 -1.53213384] [ 0. 0. 0. 1. ]] SLAMing on 97.46629675700001 meters Centerline goodness : 0.800335 Centerline is valid? [False, False] Translation: X:1.00, Y:0.55, Z:-1.53 [[ 0.94606085 0.28233289 -0.15892455 0.99522478] [-0.28123453 0.95917513 0.0298362 0.54746588] [ 0.16086022 0.01646821 0.9868398 -1.53235882] [ 0. 0. 0. 1. ]] SLAMing on 97.49629675700001 meters Centerline goodness : 0.801900 Centerline is valid? [False, False] Translation: X:1.00, Y:0.55, Z:-1.53 [[ 0.94612014 0.28191562 -0.15931186 0.99663302] [-0.28078627 0.95930039 0.03003055 0.54543887] [ 0.16129401 0.01632007 0.98677145 -1.53302498] [ 0. 0. 0. 1. ]] SLAMing on 97.52629675700001 meters Centerline goodness : 0.799328 Centerline is valid? [False, False] Translation: X:1.00, Y:0.54, Z:-1.53 [[ 0.94618293 0.28167028 -0.15937288 0.99712788] [-0.28050898 0.95937584 0.03021127 0.54457577] [ 0.1614081 0.01612014 0.98675608 -1.53318963] [ 0. 0. 0. 1. ]] SLAMing on 97.556296757 meters Centerline goodness : 0.800757 Centerline is valid? [False, False] Translation: X:1.00, Y:0.54, Z:-1.53 [[ 0.94615432 0.28174839 -0.15940466 0.99711577] [-0.28053219 0.95935811 0.03055655 0.54344171] [ 0.16153542 0.01580692 0.98674032 -1.53305237] [ 0. 0. 0. 1. ]] SLAMing on 97.586296757 meters Centerline goodness : 0.798100 Centerline is valid? [False, False] Translation: X:1.00, Y:0.54, Z:-1.53 [[ 0.94702994 0.27847846 -0.15995012 0.99501233] [-0.27771791 0.96026754 0.02755018 0.54165873] [ 0.16126704 0.01833017 0.98674057 -1.53257446] [ 0. 0. 0. 1. ]] SLAMing on 97.616296757 meters Centerline goodness : 0.800984 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.53 [[ 0.94698781 0.2785886 -0.16000772 0.99474346] [-0.27773555 0.96024558 0.02813172 0.53918622] [ 0.16148388 0.01779944 0.98671482 -1.53231927] [ 0. 0. 0. 1. ]] SLAMing on 97.646296757 meters Centerline goodness : 0.798971 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.53 [[ 0.94693492 0.27878457 -0.15997943 0.99460307] [-0.27785646 0.96019665 0.02860383 0.53750323] [ 0.16158602 0.01736535 0.98670583 -1.53232832] [ 0. 0. 0. 1. ]] SLAMing on 97.676296757 meters Centerline goodness : 0.796680 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.53 [[ 0.94684442 0.27915759 -0.15986457 0.99471191] [-0.27814114 0.96009741 0.02916278 0.5365728 ] [ 0.16162657 0.01685229 0.98670809 -1.53250581] [ 0. 0. 0. 1. ]] SLAMing on 97.706296757 meters Centerline goodness : 0.797929 Centerline is valid? [False, False] Translation: X:0.99, Y:0.54, Z:-1.53 [[ 0.94678473 0.27939917 -0.15979605 0.99479706] [-0.27833363 0.96003206 0.02947589 0.53592184] [ 0.16164487 0.0165693 0.98670988 -1.53271692] [ 0. 0. 0. 1. ]] SLAMing on 97.736296757 meters Centerline goodness : 0.795384 Centerline is valid? [False, False] Translation: X:0.99, Y:0.53, Z:-1.53 [[ 0.94660682 0.28024105 -0.15937527 0.99320195] [-0.27899031 0.9598051 0.03063627 0.53245952] [ 0.16155474 0.01546365 0.98674259 -1.53215786] [ 0. 0. 0. 1. ]] SLAMing on 97.766296757 meters Centerline goodness : 0.795961 Centerline is valid? [False, False] Translation: X:0.99, Y:0.53, Z:-1.53 [[ 0.94645582 0.28093953 -0.15904201 0.99164076] [-0.27953985 0.95961479 0.0315741 0.53011988] [ 0.16148948 0.0145751 0.9867668 -1.53134686] [ 0. 0. 0. 1. ]] SLAMing on 97.79629675700001 meters Centerline goodness : 0.795776 Centerline is valid? [False, False] Translation: X:0.99, Y:0.53, Z:-1.53 [[ 0.94624952 0.28188662 -0.15859313 0.989619 ] [-0.28027367 0.95935553 0.03291857 0.52684876] [ 0.1614265 0.0133003 0.98679511 -1.53019821] [ 0. 0. 0. 1. ]] SLAMing on 97.82629675700001 meters Centerline goodness : 0.794222 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.53 [[ 0.94773646 0.27906379 -0.15465769 0.97123463] [-0.27696435 0.96022772 0.03540451 0.53163256] [ 0.15838671 0.00928052 0.98733354 -1.53412552] [ 0. 0. 0. 1. ]] SLAMing on 97.85629675700001 meters Centerline goodness : 0.795513 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.53 [[ 0.94770021 0.27912109 -0.1547764 0.97180008] [-0.27699411 0.96021236 0.03558774 0.53106075] [ 0.1585515 0.00914564 0.98730835 -1.53439824] [ 0. 0. 0. 1. ]] SLAMing on 97.88629675700001 meters Centerline goodness : 0.794004 Centerline is valid? [False, False] Translation: X:0.97, Y:0.53, Z:-1.53 [[ 0.94769654 0.27908138 -0.15487045 0.97238226] [-0.27691975 0.96022571 0.03580561 0.52960032] [ 0.15870327 0.00895383 0.98728572 -1.53490495] [ 0. 0. 0. 1. ]] SLAMing on 97.91629675700001 meters Centerline goodness : 0.792133 Centerline is valid? [False, False] Translation: X:0.95, Y:0.53, Z:-1.54 [[ 0.94900415 0.27532684 -0.15357818 0.94788886] [-0.27341237 0.96130028 0.03387395 0.5342009 ] [ 0.15696115 0.00984365 0.98755572 -1.54101094] [ 0. 0. 0. 1. ]] SLAMing on 97.946296757 meters Centerline goodness : 0.792133 Centerline is valid? [False, False] Translation: X:0.95, Y:0.53, Z:-1.54 [[ 0.94900415 0.27532684 -0.15357818 0.94788886] [-0.27341237 0.96130028 0.03387395 0.5342009 ] [ 0.15696115 0.00984365 0.98755572 -1.54101094] [ 0. 0. 0. 1. ]] SLAMing on 97.976296757 meters Centerline goodness : 0.792166 Centerline is valid? [False, False] Translation: X:0.95, Y:0.53, Z:-1.54 [[ 0.94896139 0.27548675 -0.15355561 0.94762132] [-0.27350214 0.96125868 0.03432674 0.53213432] [ 0.15706323 0.00942303 0.98754359 -1.54096856] [ 0. 0. 0. 1. ]] SLAMing on 98.006296757 meters Centerline goodness : 0.792468 Centerline is valid? [False, False] Translation: X:0.95, Y:0.53, Z:-1.54 [[ 0.94891172 0.27563224 -0.15360148 0.94760459] [-0.27358593 0.96122039 0.03472905 0.53075418] [ 0.15721731 0.0090684 0.98752239 -1.5408515 ] [ 0. 0. 0. 1. ]] SLAMing on 98.036296757 meters Centerline goodness : 0.791680 Centerline is valid? [False, False] Translation: X:0.93, Y:0.53, Z:-1.54 [[ 0.94875862 0.27492718 -0.15579516 0.93293054] [-0.27159549 0.96146338 0.04270898 0.53213507] [ 0.1615332 0.00179275 0.98686565 -1.54069485] [ 0. 0. 0. 1. ]] SLAMing on 98.066296757 meters Centerline goodness : 0.790811 Centerline is valid? [False, False] Translation: X:0.93, Y:0.53, Z:-1.54 [[ 0.9487393 0.27502041 -0.15574825 0.93320381] [-0.27167344 0.96143689 0.04280946 0.53208998] [ 0.16151559 0.00169765 0.9868687 -1.54097272] [ 0. 0. 0. 1. ]] SLAMing on 98.096296757 meters Centerline goodness : 0.791851 Centerline is valid? [False, False] Translation: X:0.93, Y:0.53, Z:-1.54 [[ 0.94947454 0.27228201 -0.15607887 0.93056031] [-0.26937844 0.96220841 0.03987772 0.53223134] [ 0.16103839 0.0041814 0.98693929 -1.54011613] [ 0. 0. 0. 1. ]] SLAMing on 98.126296757 meters Centerline goodness : 0.792308 Centerline is valid? [False, False] Translation: X:0.93, Y:0.53, Z:-1.54 [[ 0.95027872 0.26935945 -0.15625571 0.92778639] [-0.26694511 0.96301503 0.03663826 0.53262614] [ 0.16034545 0.00689514 0.98703687 -1.53960029] [ 0. 0. 0. 1. ]] SLAMing on 98.156296757 meters Centerline goodness : 0.794026 Centerline is valid? [False, False] Translation: X:0.93, Y:0.53, Z:-1.54 [[ 0.95115279 0.26610769 -0.15650901 0.92523455] [-0.26414825 0.96389743 0.03357746 0.53123444] [ 0.15979385 0.00940429 0.98710561 -1.53912812] [ 0. 0. 0. 1. ]] SLAMing on 98.18629675700001 meters Centerline goodness : 0.792092 Centerline is valid? [False, False] Translation: X:0.93, Y:0.53, Z:-1.54 [[ 0.95113817 0.26600218 -0.156777 0.92592682] [-0.26399115 0.96392908 0.0339028 0.52991724] [ 0.16014013 0.00914149 0.98705196 -1.53913995] [ 0. 0. 0. 1. ]] SLAMing on 98.21629675700001 meters Centerline goodness : 0.791134 Centerline is valid? [False, False] Translation: X:0.91, Y:0.53, Z:-1.54 [[ 0.95080218 0.26547245 -0.1596859 0.91220459] [-0.26207941 0.96411713 0.04233848 0.53110009] [ 0.16519561 0.00159487 0.98625953 -1.53913115] [ 0. 0. 0. 1. ]] SLAMing on 98.24629675700001 meters Centerline goodness : 0.791563 Centerline is valid? [False, False] Translation: X:0.91, Y:0.53, Z:-1.54 [[ 9.50793430e-01 2.65442531e-01 -1.59787720e-01 9.12736626e-01] [-2.62023113e-01 9.64125571e-01 4.24943602e-02 5.30429643e-01] [ 1.65335238e-01 1.46471741e-03 9.86236338e-01 -1.53940923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27629675700001 meters Centerline goodness : 0.790917 Centerline is valid? [False, False] Translation: X:0.91, Y:0.53, Z:-1.54 [[ 0.95164689 0.2621756 -0.16010046 0.91045678] [-0.25923505 0.96501172 0.03936466 0.52967929] [ 0.16481927 0.00404239 0.9863155 -1.53895802] [ 0. 0. 0. 1. ]] SLAMing on 98.306296757 meters Centerline goodness : 0.791251 Centerline is valid? [False, False] Translation: X:0.91, Y:0.53, Z:-1.54 [[ 0.95246572 0.25896726 -0.16045251 0.90833131] [-0.25653975 0.96586185 0.03603113 0.53029542] [ 0.16430585 0.00684403 0.9863857 -1.53849698] [ 0. 0. 0. 1. ]] SLAMing on 98.336296757 meters Centerline goodness : 0.791821 Centerline is valid? [False, False] Translation: X:0.91, Y:0.53, Z:-1.54 [[ 0.95327888 0.25559174 -0.16103487 0.90696283] [-0.25370309 0.96673475 0.03253716 0.53132679] [ 0.16399424 0.00983806 0.98641224 -1.53826905] [ 0. 0. 0. 1. ]] SLAMing on 98.366296757 meters Centerline goodness : 0.791464 Centerline is valid? [False, False] Translation: X:0.91, Y:0.53, Z:-1.54 [[ 0.9533265 0.25520939 -0.16135909 0.90808704] [-0.25327549 0.96683812 0.03279595 0.52941618] [ 0.16437796 0.00960306 0.98635068 -1.53858371] [ 0. 0. 0. 1. ]] SLAMing on 98.396296757 meters Centerline goodness : 0.790680 Centerline is valid? [False, False] Translation: X:0.91, Y:0.53, Z:-1.54 [[ 0.95336553 0.25485411 -0.16168966 0.909585 ] [-0.25292697 0.96693108 0.03274485 0.52885072] [ 0.16468792 0.00967786 0.98629824 -1.53929621] [ 0. 0. 0. 1. ]] SLAMing on 98.426296757 meters Centerline goodness : 0.787785 Centerline is valid? [False, False] Translation: X:0.91, Y:0.53, Z:-1.54 [[ 0.95335551 0.25475017 -0.1619124 0.90989256] [-0.25279103 0.96695998 0.03294065 0.52785571] [ 0.16495445 0.00952586 0.98625518 -1.53908199] [ 0. 0. 0. 1. ]] SLAMing on 98.456296757 meters Centerline goodness : 0.787942 Centerline is valid? [False, False] Translation: X:0.91, Y:0.53, Z:-1.54 [[ 0.95415199 0.25152594 -0.16226116 0.90789417] [-0.25009883 0.96777072 0.02950268 0.52863297] [ 0.16445229 0.01243129 0.9863067 -1.53874943] [ 0. 0. 0. 1. ]] SLAMing on 98.486296757 meters Centerline goodness : 0.787270 Centerline is valid? [False, False] Translation: X:0.91, Y:0.53, Z:-1.54 [[ 0.95501816 0.24806862 -0.16248775 0.90554332] [-0.24717128 0.96862177 0.02604263 0.52817381] [ 0.16384953 0.01529112 0.98636683 -1.53851935] [ 0. 0. 0. 1. ]] SLAMing on 98.516296757 meters Centerline goodness : 0.789370 Centerline is valid? [False, False] Translation: X:0.91, Y:0.53, Z:-1.54 [[ 0.95499447 0.2482629 -0.16233018 0.9050582 ] [-0.2473125 0.96857703 0.02636404 0.52748532] [ 0.1637745 0.01496877 0.98638423 -1.53825939] [ 0. 0. 0. 1. ]] SLAMing on 98.54629675700001 meters Centerline goodness : 0.789376 Centerline is valid? [False, False] Translation: X:0.90, Y:0.53, Z:-1.54 [[ 0.95491177 0.24887433 -0.16187983 0.90412123] [-0.2478596 0.96842623 0.02676291 0.52781354] [ 0.16342927 0.01456725 0.9864475 -1.5380915 ] [ 0. 0. 0. 1. ]] SLAMing on 98.57629675700001 meters Centerline goodness : 0.789185 Centerline is valid? [False, False] Translation: X:0.90, Y:0.53, Z:-1.54 [[ 0.95485855 0.24918697 -0.16171271 0.90402357] [-0.24816785 0.96834623 0.02680109 0.52843424] [ 0.16327238 0.01454065 0.98647387 -1.53830801] [ 0. 0. 0. 1. ]] SLAMing on 98.60629675700001 meters Centerline goodness : 0.790636 Centerline is valid? [False, False] Translation: X:0.90, Y:0.53, Z:-1.54 [[ 0.95461238 0.25044736 -0.16121823 0.90270283] [-0.24937198 0.96802558 0.02720458 0.53046252] [ 0.16287669 0.01423348 0.98654376 -1.53787692] [ 0. 0. 0. 1. ]] SLAMing on 98.63629675700001 meters Centerline goodness : 0.788766 Centerline is valid? [False, False] Translation: X:0.90, Y:0.53, Z:-1.54 [[ 0.95454382 0.25075662 -0.16114343 0.90247092] [-0.24968209 0.96794523 0.02721909 0.53109964] [ 0.16280339 0.01425281 0.98655558 -1.53780861] [ 0. 0. 0. 1. ]] SLAMing on 98.66629675700001 meters Centerline goodness : 0.788717 Centerline is valid? [False, False] Translation: X:0.90, Y:0.53, Z:-1.54 [[ 0.95450743 0.25084571 -0.16122031 0.90262759] [-0.24978351 0.96792076 0.02715879 0.53055672] [ 0.16286115 0.01434691 0.98654468 -1.53807879] [ 0. 0. 0. 1. ]] SLAMing on 98.696296757 meters Centerline goodness : 0.789124 Centerline is valid? [False, False] Translation: X:0.90, Y:0.53, Z:-1.54 [[ 0.95451995 0.2507325 -0.16132228 0.90312265] [-0.24968219 0.96794893 0.02708625 0.53028196] [ 0.16294313 0.01442493 0.98653001 -1.53840459] [ 0. 0. 0. 1. ]] SLAMing on 98.726296757 meters Centerline goodness : 0.787166 Centerline is valid? [False, False] Translation: X:0.90, Y:0.53, Z:-1.54 [[ 0.95451317 0.25080446 -0.16125052 0.90311179] [-0.24975774 0.96793006 0.02706424 0.53042043] [ 0.16286706 0.01444039 0.98654234 -1.53856549] [ 0. 0. 0. 1. ]] SLAMing on 98.756296757 meters Centerline goodness : 0.788140 Centerline is valid? [False, False] Translation: X:0.90, Y:0.53, Z:-1.54 [[ 0.95451569 0.25082321 -0.16120645 0.90334244] [-0.24981846 0.96792153 0.02680756 0.53249237] [ 0.16275915 0.01468411 0.98655655 -1.53855876] [ 0. 0. 0. 1. ]] SLAMing on 98.786296757 meters Centerline goodness : 0.786380 Centerline is valid? [False, False] Translation: X:0.90, Y:0.53, Z:-1.54 [[ 0.95452051 0.25083066 -0.16116628 0.90384344] [-0.24989056 0.96791378 0.02641237 0.53490566] [ 0.1626201 0.01506278 0.98657378 -1.53884858] [ 0. 0. 0. 1. ]] SLAMing on 98.816296757 meters Centerline goodness : 0.786241 Centerline is valid? [False, False] Translation: X:0.90, Y:0.54, Z:-1.54 [[ 0.95455625 0.25057837 -0.161347 0.90482725] [-0.24969298 0.96797389 0.02607623 0.53588262] [ 0.16271382 0.01539598 0.98655318 -1.5393464 ] [ 0. 0. 0. 1. ]] SLAMing on 98.846296757 meters Centerline goodness : 0.786000 Centerline is valid? [False, False] Translation: X:0.91, Y:0.54, Z:-1.54 [[ 0.95459742 0.25025244 -0.16160905 0.90591221] [-0.24942624 0.96805231 0.02571525 0.53652997] [ 0.16288132 0.01576182 0.98651976 -1.5398567 ] [ 0. 0. 0. 1. ]] SLAMing on 98.876296757 meters Centerline goodness : 0.789145 Centerline is valid? [False, False] Translation: X:0.91, Y:0.54, Z:-1.54 [[ 0.95464604 0.24996105 -0.16177271 0.90650017] [-0.24916214 0.96812493 0.02554125 0.53638323] [ 0.16300051 0.01592478 0.98649746 -1.54003451] [ 0. 0. 0. 1. ]] SLAMing on 98.906296757 meters Centerline goodness : 0.787993 Centerline is valid? [False, False] Translation: X:0.91, Y:0.54, Z:-1.54 [[ 0.95462693 0.24988662 -0.1620003 0.90681566] [-0.249068 0.96814557 0.02567653 0.53603616] [ 0.16325609 0.01583758 0.9864566 -1.53970065] [ 0. 0. 0. 1. ]] SLAMing on 98.93629675700001 meters Centerline goodness : 0.793650 Centerline is valid? [False, False] Translation: X:0.91, Y:0.54, Z:-1.54 [[ 0.95460313 0.24987873 -0.16215268 0.90683366] [-0.24900776 0.96815225 0.02600683 0.53579839] [ 0.16348703 0.01555108 0.98642291 -1.53895128] [ 0. 0. 0. 1. ]] SLAMing on 98.96629675700001 meters Centerline goodness : 0.792855 Centerline is valid? [False, False] Translation: X:0.91, Y:0.54, Z:-1.54 [[ 0.95460991 0.24975665 -0.16230074 0.90731259] [-0.24888356 0.96818374 0.02602335 0.53588865] [ 0.16363645 0.01555184 0.98639812 -1.53894046] [ 0. 0. 0. 1. ]] SLAMing on 98.99629675700001 meters Centerline goodness : 0.793281 Centerline is valid? [False, False] Translation: X:0.91, Y:0.54, Z:-1.54 [[ 0.95456221 0.24990753 -0.16234905 0.90766402] [-0.24901895 0.96814594 0.02613432 0.53671672] [ 0.16370873 0.01548116 0.98638724 -1.5388961 ] [ 0. 0. 0. 1. ]] SLAMing on 99.02629675700001 meters Centerline goodness : 0.793318 Centerline is valid? [False, False] Translation: X:0.91, Y:0.54, Z:-1.54 [[ 0.95453397 0.25005998 -0.16228035 0.90787321] [-0.24918326 0.96810541 0.02606927 0.53780143] [ 0.16362336 0.01555354 0.98640026 -1.53909608] [ 0. 0. 0. 1. ]] SLAMing on 99.056296757 meters Centerline goodness : 0.795916 Centerline is valid? [False, False] Translation: X:0.91, Y:0.54, Z:-1.54 [[ 0.95448005 0.2503494 -0.16215121 0.90806309] [-0.24949436 0.96802847 0.02595081 0.53996473] [ 0.16346376 0.01568628 0.98642462 -1.53927151] [ 0. 0. 0. 1. ]] SLAMing on 99.086296757 meters Centerline goodness : 0.794176 Centerline is valid? [False, False] Translation: X:0.91, Y:0.54, Z:-1.54 [[ 0.95445824 0.25042934 -0.16215613 0.90786676] [-0.24954953 0.96801003 0.02610761 0.54001832] [ 0.16350687 0.01554736 0.98641968 -1.53883868] [ 0. 0. 0. 1. ]] SLAMing on 99.116296757 meters Centerline goodness : 0.794788 Centerline is valid? [False, False] Translation: X:0.91, Y:0.54, Z:-1.54 [[ 0.95526351 0.24695545 -0.16274099 0.90634683] [-0.24664822 0.96884584 0.02241422 0.54173054] [ 0.16320625 0.01872829 0.9864142 -1.53837543] [ 0. 0. 0. 1. ]] SLAMing on 99.146296757 meters Centerline goodness : 0.793530 Centerline is valid? [False, False] Translation: X:0.91, Y:0.54, Z:-1.54 [[ 0.95529526 0.24666418 -0.16299616 0.90736098] [-0.24639462 0.96891549 0.02219154 0.5422803 ] [ 0.16340336 0.0189619 0.9863771 -1.53866838] [ 0. 0. 0. 1. ]] SLAMing on 99.176296757 meters Centerline goodness : 0.792667 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.54 [[ 0.95539755 0.24597636 -0.16343548 0.90991177] [-0.24586415 0.96907164 0.02123597 0.5458305 ] [ 0.16360424 0.01989413 0.98632544 -1.53982686] [ 0. 0. 0. 1. ]] SLAMing on 99.206296757 meters Centerline goodness : 0.789393 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.54 [[ 0.95543165 0.24562628 -0.16376231 0.9111173 ] [-0.24555623 0.96915502 0.0209923 0.54658203] [ 0.16386732 0.02015615 0.98627645 -1.540088 ] [ 0. 0. 0. 1. ]] SLAMing on 99.236296757 meters Centerline goodness : 0.789453 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.54 [[ 0.95627302 0.24166502 -0.16474201 0.91103841] [-0.24223826 0.9700694 0.01691084 0.54813093] [ 0.16389795 0.02373544 0.98619171 -1.54036525] [ 0. 0. 0. 1. ]] SLAMing on 99.266296757 meters Centerline goodness : 0.787914 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.54 [[ 0.95627573 0.24157337 -0.16486065 0.91103319] [-0.24210293 0.97009841 0.01718288 0.54757261] [ 0.16408198 0.02348168 0.98616718 -1.53970979] [ 0. 0. 0. 1. ]] SLAMing on 99.29629675700001 meters Centerline goodness : 0.789658 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.54 [[ 0.95627915 0.24150392 -0.16494252 0.91143125] [-0.24204934 0.97011336 0.01709346 0.54841061] [ 0.16414108 0.02357811 0.98615505 -1.5396906 ] [ 0. 0. 0. 1. ]] SLAMing on 99.32629675700001 meters Centerline goodness : 0.787490 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.54 [[ 0.95625756 0.24150104 -0.16507186 0.9118208 ] [-0.24205598 0.97011238 0.01705491 0.54976254] [ 0.16425704 0.02364774 0.98613407 -1.53936775] [ 0. 0. 0. 1. ]] SLAMing on 99.35629675700001 meters Centerline goodness : 0.788821 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.54 [[ 0.95614389 0.24226699 -0.16460733 0.91024611] [-0.24275234 0.96993093 0.01747242 0.55163266] [ 0.16389073 0.02325267 0.98620441 -1.53815621] [ 0. 0. 0. 1. ]] SLAMing on 99.38629675700001 meters Centerline goodness : 0.787569 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.54 [[ 0.95609766 0.24251107 -0.16451641 0.90974729] [-0.24296957 0.96987347 0.01764208 0.55194902] [ 0.1638385 0.02310493 0.98621656 -1.53764513] [ 0. 0. 0. 1. ]] SLAMing on 99.41629675700001 meters Centerline goodness : 0.789504 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.54 [[ 0.9560397 0.24258624 -0.16474226 0.91013186] [-0.24304237 0.96985426 0.01769514 0.55204785] [ 0.16406858 0.02312209 0.98617791 -1.53741377] [ 0. 0. 0. 1. ]] SLAMing on 99.446296757 meters Centerline goodness : 0.790111 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.54 [[ 0.95603759 0.2422386 -0.16526523 0.91220654] [-0.2428201 0.96992258 0.01698811 0.55444279] [ 0.16440965 0.02388844 0.98610284 -1.5382872 ] [ 0. 0. 0. 1. ]] SLAMing on 99.476296757 meters Centerline goodness : 0.789648 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.54 [[ 0.95605823 0.24197916 -0.16552565 0.91359306] [-0.24264306 0.96997513 0.01651026 0.55607723] [ 0.1645509 0.02437888 0.98606727 -1.53898888] [ 0. 0. 0. 1. ]] SLAMing on 99.506296757 meters Centerline goodness : 0.787770 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.54 [[ 0.95606349 0.24188455 -0.16563355 0.91437477] [-0.24260568 0.96999012 0.01617543 0.55753896] [ 0.1645755 0.0247189 0.9860547 -1.53941064] [ 0. 0. 0. 1. ]] SLAMing on 99.536296757 meters Centerline goodness : 0.786387 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.54 [[ 0.95602153 0.24195647 -0.16577061 0.91463953] [-0.24270386 0.96996772 0.01604537 0.55902556] [ 0.16467442 0.02489345 0.9860338 -1.5390733 ] [ 0. 0. 0. 1. ]] SLAMing on 99.566296757 meters Centerline goodness : 0.785224 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.54 [[ 0.95596906 0.2421152 -0.16584146 0.91432075] [-0.24282949 0.96993257 0.01626818 0.55900966] [ 0.16479381 0.02471932 0.98601823 -1.53837908] [ 0. 0. 0. 1. ]] SLAMing on 99.596296757 meters Centerline goodness : 0.785255 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.54 [[ 0.9559656 0.24198568 -0.16605028 0.91450189] [-0.24267516 0.96996835 0.01643688 0.55900684] [ 0.16504101 0.02458318 0.98598029 -1.53767064] [ 0. 0. 0. 1. ]] SLAMing on 99.626296757 meters Centerline goodness : 0.784648 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.54 [[ 0.95598814 0.24163683 -0.16642814 0.91552429] [-0.24234879 0.97005176 0.01632936 0.55944164] [ 0.16538969 0.02472298 0.98591837 -1.53756753] [ 0. 0. 0. 1. ]] SLAMing on 99.656296757 meters Centerline goodness : 0.785244 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.54 [[ 0.95604448 0.24096924 -0.16707117 0.91772625] [-0.24172062 0.97021175 0.016134 0.55989841] [ 0.16598221 0.02495973 0.98581282 -1.53791177] [ 0. 0. 0. 1. ]] SLAMing on 99.68629675700001 meters Centerline goodness : 0.782139 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.54 [[ 0.95605984 0.24075786 -0.1672879 0.91859799] [-0.24151603 0.97026313 0.01610811 0.55986369] [ 0.16619143 0.02500239 0.98577649 -1.53813709] [ 0. 0. 0. 1. ]] SLAMing on 99.71629675700001 meters Centerline goodness : 0.786601 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.54 [[ 0.95596507 0.24117619 -0.1672269 0.91828942] [-0.24187083 0.97016794 0.0165126 0.55996681] [ 0.16622062 0.02466184 0.98578015 -1.53760665] [ 0. 0. 0. 1. ]] SLAMing on 99.74629675700001 meters Centerline goodness : 0.788553 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.54 [[ 0.95588763 0.24149638 -0.16720746 0.91806759] [-0.24215715 0.97009264 0.01673869 0.56002593] [ 0.16624906 0.02449017 0.98577963 -1.53733123] [ 0. 0. 0. 1. ]] SLAMing on 99.77629675700001 meters Centerline goodness : 0.788673 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.54 [[ 0.95580968 0.24180096 -0.16721292 0.91792063] [-0.24244163 0.97001904 0.01688553 0.56059909] [ 0.16628265 0.02440002 0.9857762 -1.53702117] [ 0. 0. 0. 1. ]] SLAMing on 99.806296757 meters Centerline goodness : 0.788673 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.54 [[ 0.95580968 0.24180096 -0.16721292 0.91792063] [-0.24244163 0.97001904 0.01688553 0.56059909] [ 0.16628265 0.02440002 0.9857762 -1.53702117] [ 0. 0. 0. 1. ]] SLAMing on 99.836296757 meters Centerline goodness : 0.792640 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.54 [[ 0.95564719 0.24259047 -0.16699792 0.91715786] [-0.24318738 0.96982712 0.01718278 0.56250056] [ 0.16612749 0.02419111 0.98580751 -1.53629471] [ 0. 0. 0. 1. ]] SLAMing on 99.866296757 meters Centerline goodness : 0.793967 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.54 [[ 0.9554536 0.2436076 -0.16662458 0.91573501] [-0.24413446 0.96958106 0.01763345 0.56439906] [ 0.16585167 0.02383086 0.98586272 -1.53520714] [ 0. 0. 0. 1. ]] SLAMing on 99.896296757 meters Centerline goodness : 0.794638 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95536125 0.24391933 -0.16669806 0.91548432] [-0.24440961 0.96950706 0.01788892 0.56458259] [ 0.1659784 0.02365223 0.9858457 -1.53461485] [ 0. 0. 0. 1. ]] SLAMing on 99.926296757 meters Centerline goodness : 0.794287 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.53 [[ 0.95524116 0.24432038 -0.16679892 0.91492441] [-0.24476168 0.96941189 0.01822944 0.5643003 ] [ 0.16615068 0.02341248 0.9858224 -1.53368642] [ 0. 0. 0. 1. ]] SLAMing on 99.956296757 meters Centerline goodness : 0.792309 Centerline is valid? [False, False] Translation: X:0.92, Y:0.57, Z:-1.53 [[ 0.95521728 0.24426123 -0.16702216 0.91574621] [-0.24474741 0.96941996 0.01799018 0.56529285] [ 0.16630892 0.02369371 0.985789 -1.53391714] [ 0. 0. 0. 1. ]] SLAMing on 99.986296757 meters Centerline goodness : 0.793768 Centerline is valid? [False, False] Translation: X:0.92, Y:0.57, Z:-1.53 [[ 0.95520985 0.24423636 -0.16710099 0.91651403] [-0.24477831 0.96941807 0.01766891 0.56696591] [ 0.16630611 0.02402518 0.98578145 -1.53431798] [ 0. 0. 0. 1. ]] SLAMing on 100.016296757 meters Centerline goodness : 0.787951 Centerline is valid? [False, False] Translation: X:0.92, Y:0.57, Z:-1.53 [[ 0.95517637 0.24441295 -0.16703415 0.917229 ] [-0.24501134 0.96936514 0.01733987 0.56970017] [ 0.16615517 0.02436263 0.98579862 -1.5347536 ] [ 0. 0. 0. 1. ]] SLAMing on 100.04629675700001 meters Centerline goodness : 0.788950 Centerline is valid? [False, False] Translation: X:0.92, Y:0.57, Z:-1.53 [[ 0.95518649 0.24442831 -0.16695379 0.91713714] [-0.24505217 0.9693577 0.01717806 0.57043391] [ 0.16603675 0.02450414 0.98581507 -1.53465576] [ 0. 0. 0. 1. ]] SLAMing on 100.07629675700001 meters Centerline goodness : 0.790690 Centerline is valid? [False, False] Translation: X:0.92, Y:0.57, Z:-1.53 [[ 0.95515853 0.24449333 -0.16701855 0.91718456] [-0.24511952 0.96934064 0.0171797 0.57051362] [ 0.16609819 0.02453016 0.98580407 -1.534532 ] [ 0. 0. 0. 1. ]] SLAMing on 100.10629675700001 meters Centerline goodness : 0.790695 Centerline is valid? [False, False] Translation: X:0.92, Y:0.57, Z:-1.53 [[ 0.95511164 0.24475221 -0.1669075 0.9169003 ] [-0.24539445 0.96927266 0.01709046 0.5711147 ] [ 0.16596181 0.02463488 0.98582443 -1.534448 ] [ 0. 0. 0. 1. ]] SLAMing on 100.13629675700001 meters Centerline goodness : 0.791477 Centerline is valid? [False, False] Translation: X:0.92, Y:0.57, Z:-1.53 [[ 0.95508433 0.24486787 -0.1668941 0.91691637] [-0.24552116 0.96924158 0.017033 0.57197915] [ 0.16593153 0.02470808 0.98582769 -1.53431192] [ 0. 0. 0. 1. ]] SLAMing on 100.16629675700001 meters Centerline goodness : 0.792885 Centerline is valid? [False, False] Translation: X:0.92, Y:0.57, Z:-1.53 [[ 0.95507167 0.24497167 -0.16681422 0.91693112] [-0.24564412 0.96921247 0.01691615 0.57321877] [ 0.1658224 0.0248208 0.98584322 -1.53424067] [ 0. 0. 0. 1. ]] SLAMing on 100.196296757 meters Centerline goodness : 0.792874 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95497568 0.24560801 -0.16642761 0.9163163 ] [-0.24625838 0.96905432 0.01704488 0.57582014] [ 0.16546375 0.02470675 0.98590635 -1.5338516 ] [ 0. 0. 0. 1. ]] SLAMing on 100.226296757 meters Centerline goodness : 0.792052 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95492394 0.24588069 -0.16632185 0.9164145 ] [-0.24653722 0.96898393 0.01701602 0.57706536] [ 0.16534711 0.02475552 0.98592469 -1.533894 ] [ 0. 0. 0. 1. ]] SLAMing on 100.256296757 meters Centerline goodness : 0.791355 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95490461 0.24590018 -0.16640401 0.91675659] [-0.24655898 0.96897838 0.01701673 0.5770659 ] [ 0.1654263 0.02477905 0.98591082 -1.5340037 ] [ 0. 0. 0. 1. ]] SLAMing on 100.286296757 meters Centerline goodness : 0.792869 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95493213 0.2456511 -0.16661384 0.91765556] [-0.24632003 0.96904003 0.01696642 0.57634536] [ 0.1656233 0.02483855 0.98587624 -1.5344019 ] [ 0. 0. 0. 1. ]] SLAMing on 100.316296757 meters Centerline goodness : 0.791721 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95495962 0.24542702 -0.16678639 0.91856149] [-0.24612398 0.96909264 0.01680623 0.57670563] [ 0.16575617 0.02500086 0.98584981 -1.53476466] [ 0. 0. 0. 1. ]] SLAMing on 100.346296757 meters Centerline goodness : 0.791050 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.54 [[ 0.95499148 0.24523116 -0.16689206 0.91938416] [-0.24596194 0.96913726 0.01660414 0.57748219] [ 0.16581316 0.02519228 0.98583535 -1.53515536] [ 0. 0. 0. 1. ]] SLAMing on 100.376296757 meters Centerline goodness : 0.791298 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.54 [[ 0.95500356 0.24502893 -0.16711981 0.92045363] [-0.24580013 0.9691821 0.01638143 0.57903839] [ 0.16598345 0.02543375 0.9858005 -1.53519761] [ 0. 0. 0. 1. ]] SLAMing on 100.406296757 meters Centerline goodness : 0.791937 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95497467 0.24495071 -0.16739929 0.92031412] [-0.24569206 0.96920587 0.01659487 0.57862355] [ 0.1663093 0.025281 0.98574951 -1.53415337] [ 0. 0. 0. 1. ]] SLAMing on 100.43629675700001 meters Centerline goodness : 0.793259 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95498253 0.24475408 -0.16764191 0.9208107 ] [-0.24549631 0.96925522 0.01660969 0.57800794] [ 0.16655309 0.0252935 0.98570802 -1.53405604] [ 0. 0. 0. 1. ]] SLAMing on 100.46629675700001 meters Centerline goodness : 0.791074 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95502861 0.2444197 -0.16786709 0.92185182] [-0.24519072 0.96933538 0.01644461 0.57858753] [ 0.1667389 0.02545438 0.98567247 -1.53424787] [ 0. 0. 0. 1. ]] SLAMing on 100.49629675700001 meters Centerline goodness : 0.794121 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95502832 0.24438704 -0.16791631 0.92230189] [-0.24518389 0.96933961 0.01629669 0.58023021] [ 0.16675063 0.02560657 0.98566654 -1.53418836] [ 0. 0. 0. 1. ]] SLAMing on 100.52629675700001 meters Centerline goodness : 0.792606 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95499787 0.24457823 -0.16781107 0.92231375] [-0.24538513 0.96928967 0.01623779 0.58191352] [ 0.16662895 0.02567129 0.98568544 -1.53402279] [ 0. 0. 0. 1. ]] SLAMing on 100.556296757 meters Centerline goodness : 0.791326 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95490799 0.24499408 -0.16771592 0.92212182] [-0.24581206 0.96918222 0.01619414 0.58399013] [ 0.16651475 0.02576269 0.98570235 -1.5336107 ] [ 0. 0. 0. 1. ]] SLAMing on 100.586296757 meters Centerline goodness : 0.791556 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95486586 0.24505417 -0.16786795 0.92222056] [-0.2458534 0.96916939 0.01633417 0.58370814] [ 0.16669523 0.02567397 0.98567416 -1.53328039] [ 0. 0. 0. 1. ]] SLAMing on 100.616296757 meters Centerline goodness : 0.790126 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95564301 0.24166278 -0.16836134 0.92082336] [-0.24301085 0.96993822 0.01286725 0.5844959 ] [ 0.16640963 0.02861714 0.98564136 -1.53295298] [ 0. 0. 0. 1. ]] SLAMing on 100.646296757 meters Centerline goodness : 0.791684 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95562838 0.24164081 -0.16847585 0.92124689] [-0.24296726 0.9699472 0.01301324 0.58432848] [ 0.16655721 0.02849829 0.98561988 -1.5329178 ] [ 0. 0. 0. 1. ]] SLAMing on 100.676296757 meters Centerline goodness : 0.791399 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.53 [[ 0.95561784 0.24177595 -0.16834174 0.92157323] [-0.2431106 0.96991208 0.01295331 0.58639597] [ 0.16640849 0.02854725 0.98564358 -1.53296066] [ 0. 0. 0. 1. ]] SLAMing on 100.706296757 meters Centerline goodness : 0.793591 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.53 [[ 0.95556301 0.24203974 -0.16827385 0.92151404] [-0.2433475 0.96985037 0.01312424 0.58701926] [ 0.16637705 0.02840798 0.98565291 -1.53276708] [ 0. 0. 0. 1. ]] SLAMing on 100.736296757 meters Centerline goodness : 0.791718 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.53 [[ 0.95545471 0.24269746 -0.1679412 0.91998507] [-0.2438813 0.96970604 0.01385997 0.58643147] [ 0.16621738 0.02771514 0.98569958 -1.53150319] [ 0. 0. 0. 1. ]] SLAMing on 100.766296757 meters Centerline goodness : 0.793908 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.53 [[ 0.95541617 0.24280389 -0.16800659 0.91978503] [-0.24391474 0.96969105 0.01431295 0.58505532] [ 0.16638973 0.02730446 0.98568196 -1.53096685] [ 0. 0. 0. 1. ]] SLAMing on 100.79629675700001 meters Centerline goodness : 0.793202 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95543889 0.24255479 -0.16823701 0.92087907] [-0.24367726 0.96975153 0.01426054 0.58490082] [ 0.16660706 0.02737045 0.98564342 -1.53146709] [ 0. 0. 0. 1. ]] SLAMing on 100.82629675700001 meters Centerline goodness : 0.792843 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.53 [[ 0.9554771 0.24225003 -0.16845901 0.92216228] [-0.24340894 0.96982191 0.01405519 0.58520348] [ 0.1667801 0.02757502 0.98560845 -1.53216563] [ 0. 0. 0. 1. ]] SLAMing on 100.85629675700001 meters Centerline goodness : 0.792902 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.53 [[ 0.95555127 0.24177498 -0.16872054 0.92330846] [-0.24294671 0.96993888 0.01398119 0.58552512] [ 0.16702892 0.02763036 0.98556476 -1.53228996] [ 0. 0. 0. 1. ]] SLAMing on 100.88629675700001 meters Centerline goodness : 0.794134 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95552537 0.24178908 -0.16884701 0.92303791] [-0.24288104 0.9699481 0.01447385 0.58442532] [ 0.16727245 0.02717961 0.98553599 -1.53140118] [ 0. 0. 0. 1. ]] SLAMing on 100.91629675700001 meters Centerline goodness : 0.797099 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95642358 0.23771955 -0.16953861 0.92190313] [-0.23935437 0.97086959 0.011033 0.58396722] [ 0.16722264 0.03002759 0.98546179 -1.53071329] [ 0. 0. 0. 1. ]] SLAMing on 100.946296757 meters Centerline goodness : 0.796629 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95643541 0.23733615 -0.17000843 0.92298054] [-0.2389548 0.97096634 0.01117931 0.58280742] [ 0.16772572 0.02993204 0.98537919 -1.53065447] [ 0. 0. 0. 1. ]] SLAMing on 100.976296757 meters Centerline goodness : 0.799328 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.53 [[ 0.95655424 0.23647928 -0.17053311 0.924593 ] [-0.23812742 0.97117135 0.01102485 0.58225823] [ 0.16822402 0.03006274 0.98529027 -1.53078144] [ 0. 0. 0. 1. ]] SLAMing on 101.006296757 meters Centerline goodness : 0.798108 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95660911 0.23602142 -0.1708593 0.92579123] [-0.23769861 0.9712781 0.01087314 0.58211191] [ 0.16851819 0.03021167 0.98523544 -1.53115454] [ 0. 0. 0. 1. ]] SLAMing on 101.036296757 meters Centerline goodness : 0.798777 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95674763 0.2352474 -0.17115092 0.92688542] [-0.23692371 0.97146754 0.01086181 0.58132502] [ 0.16882278 0.0301577 0.98518495 -1.53115904] [ 0. 0. 0. 1. ]] SLAMing on 101.066296757 meters Centerline goodness : 0.799970 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95674684 0.23511154 -0.17134188 0.9272192 ] [-0.23673395 0.97150998 0.01119838 0.58011841] [ 0.16909322 0.02984843 0.98514799 -1.53084879] [ 0. 0. 0. 1. ]] SLAMing on 101.096296757 meters Centerline goodness : 0.801372 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.9576305 0.23100984 -0.1719834 0.92662197] [-0.23323375 0.9723922 0.00744497 0.58078917] [ 0.16895517 0.0329828 0.98507171 -1.530824 ] [ 0. 0. 0. 1. ]] SLAMing on 101.126296757 meters Centerline goodness : 0.802057 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95762373 0.23083188 -0.17225981 0.9273043 ] [-0.23302484 0.97244058 0.00766382 0.5799834 ] [ 0.16928148 0.03280176 0.98502174 -1.53064367] [ 0. 0. 0. 1. ]] SLAMing on 101.156296757 meters Centerline goodness : 0.801191 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.9576724 0.23034114 -0.1726457 0.92910653] [-0.23258833 0.97254727 0.00738054 0.58018819] [ 0.16960615 0.03308724 0.98495634 -1.53146053] [ 0. 0. 0. 1. ]] SLAMing on 101.18629675700001 meters Centerline goodness : 0.799374 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95767185 0.23010597 -0.17296203 0.93035816] [-0.23239585 0.97259483 0.00717445 0.58087102] [ 0.16987285 0.03332489 0.98490236 -1.53183075] [ 0. 0. 0. 1. ]] SLAMing on 101.21629675700001 meters Centerline goodness : 0.799088 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95764743 0.23011942 -0.17307932 0.93106065] [-0.23241435 0.97259044 0.00716977 0.58138749] [ 0.16998519 0.03336001 0.98488179 -1.53207394] [ 0. 0. 0. 1. ]] SLAMing on 101.24629675700001 meters Centerline goodness : 0.797330 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95761175 0.23025683 -0.17309401 0.9314697 ] [-0.23253653 0.97256047 0.0072734 0.58131925] [ 0.17001914 0.03328559 0.98487845 -1.53231952] [ 0. 0. 0. 1. ]] SLAMing on 101.27629675700001 meters Centerline goodness : 0.800752 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95755301 0.23075841 -0.17275067 0.93044328] [-0.23295076 0.97245759 0.00775725 0.58034154] [ 0.16978275 0.03281443 0.98493504 -1.53194054] [ 0. 0. 0. 1. ]] SLAMing on 101.306296757 meters Centerline goodness : 0.798378 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95747544 0.23124078 -0.17253545 0.92974268] [-0.23335717 0.97235652 0.00819956 0.57988793] [ 0.16966204 0.03241151 0.98496918 -1.5315574 ] [ 0. 0. 0. 1. ]] SLAMing on 101.336296757 meters Centerline goodness : 0.798634 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95739453 0.23167637 -0.17240006 0.92929572] [-0.23374669 0.97226055 0.00848023 0.57997151] [ 0.16958245 0.03217902 0.98499051 -1.5313115 ] [ 0. 0. 0. 1. ]] SLAMing on 101.366296757 meters Centerline goodness : 0.797492 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95651078 0.23589959 -0.17157655 0.93034031] [-0.23730989 0.971353 0.01254428 0.57863662] [ 0.16962059 0.02871808 0.98509092 -1.53190445] [ 0. 0. 0. 1. ]] SLAMing on 101.396296757 meters Centerline goodness : 0.798017 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95646697 0.23606443 -0.17159408 0.93081372] [-0.23746534 0.97131407 0.01261667 0.57895865] [ 0.16965009 0.02868022 0.98508695 -1.5322506 ] [ 0. 0. 0. 1. ]] SLAMing on 101.426296757 meters Centerline goodness : 0.796676 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95639928 0.23636821 -0.17155317 0.93075832] [-0.23768482 0.97125363 0.0131265 0.5776413 ] [ 0.16972433 0.02822141 0.98508741 -1.53222185] [ 0. 0. 0. 1. ]] SLAMing on 101.456296757 meters Centerline goodness : 0.796795 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95632461 0.23675475 -0.17143636 0.93009234] [-0.23796531 0.97117622 0.01375729 0.57587472] [ 0.16975202 0.02763947 0.98509914 -1.53180075] [ 0. 0. 0. 1. ]] SLAMing on 101.486296757 meters Centerline goodness : 0.797095 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95624004 0.23727679 -0.17118621 0.92870514] [-0.23831807 0.9710752 0.01474605 0.57299528] [ 0.16973358 0.026696 0.98512833 -1.53088398] [ 0. 0. 0. 1. ]] SLAMing on 101.516296757 meters Centerline goodness : 0.796281 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95620455 0.23752034 -0.17104662 0.92833068] [-0.23849249 0.97102621 0.01514718 0.57240889] [ 0.16968851 0.02630953 0.9851465 -1.53060347] [ 0. 0. 0. 1. ]] SLAMing on 101.54629675700001 meters Centerline goodness : 0.797332 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.9562075 0.23751294 -0.17104042 0.92868851] [-0.23844657 0.971034 0.01536916 0.57225475] [ 0.16973643 0.02608789 0.98514413 -1.53071978] [ 0. 0. 0. 1. ]] SLAMing on 101.57629675700001 meters Centerline goodness : 0.796080 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95617745 0.23756962 -0.17112968 0.92908955] [-0.23847185 0.97102458 0.01557031 0.57156802] [ 0.16987016 0.02592164 0.98512547 -1.53092592] [ 0. 0. 0. 1. ]] SLAMing on 101.60629675700001 meters Centerline goodness : 0.795771 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95611573 0.23773119 -0.17125007 0.92890159] [-0.23852325 0.97100096 0.01624166 0.56840953] [ 0.17014513 0.02531821 0.98509371 -1.53065021] [ 0. 0. 0. 1. ]] SLAMing on 101.63629675700001 meters Centerline goodness : 0.794280 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95604534 0.23809356 -0.1711396 0.92820835] [-0.23879833 0.97092448 0.01676312 0.5668925 ] [ 0.17015482 0.02484155 0.98510417 -1.53023667] [ 0. 0. 0. 1. ]] SLAMing on 101.66629675700001 meters Centerline goodness : 0.797849 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95598494 0.23847041 -0.1709522 0.92806296] [-0.23911411 0.97084048 0.0171231 0.5664713 ] [ 0.17005067 0.02450765 0.98513052 -1.53038191] [ 0. 0. 0. 1. ]] SLAMing on 101.696296757 meters Centerline goodness : 0.795482 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95594406 0.23852535 -0.17110411 0.92871381] [-0.23917384 0.97082578 0.0171226 0.56691461] [ 0.17019645 0.02455538 0.98510416 -1.53060723] [ 0. 0. 0. 1. ]] SLAMing on 101.726296757 meters Centerline goodness : 0.795482 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95594406 0.23852535 -0.17110411 0.92871381] [-0.23917384 0.97082578 0.0171226 0.56691461] [ 0.17019645 0.02455538 0.98510416 -1.53060723] [ 0. 0. 0. 1. ]] SLAMing on 101.756296757 meters Centerline goodness : 0.793508 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95589069 0.23869132 -0.17117082 0.92895243] [-0.23930128 0.97078997 0.01737022 0.56692086] [ 0.17031704 0.02435737 0.98508823 -1.53044795] [ 0. 0. 0. 1. ]] SLAMing on 101.786296757 meters Centerline goodness : 0.792577 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95585569 0.23884364 -0.17115381 0.92887149] [-0.23941279 0.97075802 0.0176175 0.56632244] [ 0.17035676 0.02413662 0.9850868 -1.53035069] [ 0. 0. 0. 1. ]] SLAMing on 101.816296757 meters Centerline goodness : 0.792999 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95583841 0.23889612 -0.17117704 0.92880426] [-0.23937523 0.97075755 0.01814598 0.56350197] [ 0.17050641 0.02363092 0.98507317 -1.53035057] [ 0. 0. 0. 1. ]] SLAMing on 101.846296757 meters Centerline goodness : 0.791025 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95585403 0.23873253 -0.17131796 0.92949968] [-0.23915705 0.97080529 0.01846612 0.56100918] [ 0.17072484 0.02332098 0.98504272 -1.5308363 ] [ 0. 0. 0. 1. ]] SLAMing on 101.876296757 meters Centerline goodness : 0.791413 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95585304 0.23864163 -0.1714501 0.93029187] [-0.23907117 0.9708268 0.01844724 0.56094491] [ 0.17085063 0.02335593 0.98502008 -1.53127688] [ 0. 0. 0. 1. ]] SLAMing on 101.906296757 meters Centerline goodness : 0.791424 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95584066 0.23863737 -0.17152502 0.93100512] [-0.23907722 0.97082625 0.01839787 0.56132981] [ 0.17091141 0.02342229 0.98500796 -1.53172875] [ 0. 0. 0. 1. ]] SLAMing on 101.93629675700001 meters Centerline goodness : 0.791726 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.9557753 0.2388389 -0.17160874 0.93177362] [-0.23927035 0.97077718 0.0184761 0.56186206] [ 0.17100666 0.02340188 0.98499192 -1.53219644] [ 0. 0. 0. 1. ]] SLAMing on 101.96629675700001 meters Centerline goodness : 0.792494 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95569252 0.23922829 -0.17152734 0.93156568] [-0.23961327 0.970687 0.01876776 0.56136621] [ 0.17098914 0.02316402 0.98500058 -1.53219366] [ 0. 0. 0. 1. ]] SLAMing on 101.99629675700001 meters Centerline goodness : 0.792549 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95551265 0.24020729 -0.17116086 0.93022696] [-0.24045346 0.97046263 0.01960654 0.55929725] [ 0.17081485 0.02242192 0.98504799 -1.53186912] [ 0. 0. 0. 1. ]] SLAMing on 102.02629675700001 meters Centerline goodness : 0.793888 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95540543 0.24074009 -0.17101077 0.92969186] [-0.24091409 0.9703393 0.020051 0.55849957] [ 0.17076555 0.02204207 0.98506511 -1.53170645] [ 0. 0. 0. 1. ]] SLAMing on 102.056296757 meters Centerline goodness : 0.792471 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95523214 0.24155068 -0.1708357 0.92960029] [-0.24168255 0.97014208 0.02034435 0.5589217 ] [ 0.17064909 0.02185443 0.98508947 -1.53209553] [ 0. 0. 0. 1. ]] SLAMing on 102.086296757 meters Centerline goodness : 0.792431 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95516472 0.24176472 -0.17090987 0.93015346] [-0.2418924 0.97008866 0.0203975 0.55931272] [ 0.17072912 0.02185882 0.98507551 -1.53242391] [ 0. 0. 0. 1. ]] SLAMing on 102.116296757 meters Centerline goodness : 0.789537 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95507419 0.24241558 -0.17049335 0.92961559] [-0.24249164 0.96993263 0.02070033 0.5592821 ] [ 0.17038514 0.02157286 0.98514137 -1.53284829] [ 0. 0. 0. 1. ]] SLAMing on 102.146296757 meters Centerline goodness : 0.791904 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.9549472 0.24303214 -0.17032684 0.92855943] [-0.24299867 0.96979124 0.02136798 0.55831459] [ 0.17037458 0.0209839 0.98515592 -1.53204558] [ 0. 0. 0. 1. ]] SLAMing on 102.176296757 meters Centerline goodness : 0.792158 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95554585 0.24075466 -0.17020378 0.92464311] [-0.24113786 0.97031006 0.01873277 0.55788493] [ 0.16966044 0.02314256 0.98523081 -1.53079828] [ 0. 0. 0. 1. ]] SLAMing on 102.206296757 meters Centerline goodness : 0.793663 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95544411 0.24120017 -0.17014415 0.92392957] [-0.24148659 0.97021169 0.01932644 0.55649976] [ 0.16973738 0.02262219 0.98522965 -1.53018815] [ 0. 0. 0. 1. ]] SLAMing on 102.236296757 meters Centerline goodness : 0.796373 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95532984 0.24168917 -0.17009188 0.92333667] [-0.24187358 0.97010255 0.01995532 0.55551446] [ 0.16982956 0.02207682 0.98522613 -1.52952516] [ 0. 0. 0. 1. ]] SLAMing on 102.266296757 meters Centerline goodness : 0.794717 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95525344 0.24188165 -0.17024729 0.92353132] [-0.24202815 0.97005867 0.02021274 0.55545559] [ 0.17003895 0.02189634 0.98519404 -1.52918585] [ 0. 0. 0. 1. ]] SLAMing on 102.29629675700001 meters Centerline goodness : 0.792499 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95515986 0.24246764 -0.16993846 0.92282693] [-0.24254774 0.96992052 0.02061022 0.55557011] [ 0.16982411 0.02153213 0.98523913 -1.52896968] [ 0. 0. 0. 1. ]] SLAMing on 102.32629675700001 meters Centerline goodness : 0.790194 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95512277 0.24266684 -0.1698626 0.92260456] [-0.2427131 0.96987478 0.0208147 0.5554749 ] [ 0.16979648 0.02134729 0.98524791 -1.52876509] [ 0. 0. 0. 1. ]] SLAMing on 102.35629675700001 meters Centerline goodness : 0.796349 Centerline is valid? [False, False] Translation: X:0.92, Y:0.55, Z:-1.53 [[ 0.95505692 0.24304957 -0.16968553 0.92179636] [-0.24300465 0.96979001 0.02135582 0.55440918] [ 0.16974986 0.02083835 0.98526684 -1.52808255] [ 0. 0. 0. 1. ]] SLAMing on 102.38629675700001 meters Centerline goodness : 0.794467 Centerline is valid? [False, False] Translation: X:0.92, Y:0.55, Z:-1.53 [[ 0.95502671 0.24321721 -0.16961535 0.92142677] [-0.24311466 0.96975488 0.02169661 0.55360252] [ 0.1697623 0.02051513 0.98527148 -1.52777448] [ 0. 0. 0. 1. ]] SLAMing on 102.41629675700001 meters Centerline goodness : 0.795673 Centerline is valid? [False, False] Translation: X:0.92, Y:0.55, Z:-1.53 [[ 0.95508284 0.24289775 -0.16975702 0.92222931] [-0.2428109 0.96983326 0.02159431 0.55352656] [ 0.16988122 0.0205945 0.98524933 -1.52806498] [ 0. 0. 0. 1. ]] SLAMing on 102.446296757 meters Centerline goodness : 0.794099 Centerline is valid? [False, False] Translation: X:0.92, Y:0.55, Z:-1.53 [[ 0.95508961 0.24277119 -0.16989993 0.9228653 ] [-0.24269988 0.96986291 0.02151051 0.55357336] [ 0.17000178 0.02069023 0.98522653 -1.52837024] [ 0. 0. 0. 1. ]] SLAMing on 102.476296757 meters Centerline goodness : 0.791291 Centerline is valid? [False, False] Translation: X:0.92, Y:0.55, Z:-1.53 [[ 0.95512282 0.24257073 -0.16999952 0.92374294] [-0.24254466 0.96990764 0.02124282 0.554223 ] [ 0.17003672 0.02094297 0.98521516 -1.52889086] [ 0. 0. 0. 1. ]] SLAMing on 102.506296757 meters Centerline goodness : 0.790048 Centerline is valid? [False, False] Translation: X:0.92, Y:0.55, Z:-1.53 [[ 0.9551106 0.2426336 -0.16997845 0.92387912] [-0.24261898 0.96989044 0.02117941 0.55476008] [ 0.16999931 0.02101132 0.98522016 -1.52899543] [ 0. 0. 0. 1. ]] SLAMing on 102.536296757 meters Centerline goodness : 0.791413 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95507815 0.24281335 -0.16990412 0.92396059] [-0.24282455 0.9698421 0.02103651 0.55627109] [ 0.16988811 0.02116538 0.98523604 -1.52902691] [ 0. 0. 0. 1. ]] SLAMing on 102.566296757 meters Centerline goodness : 0.791142 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95505524 0.24292923 -0.16986723 0.92410346] [-0.24296381 0.96981003 0.02090658 0.55705694] [ 0.16981777 0.02130466 0.98524517 -1.52924478] [ 0. 0. 0. 1. ]] SLAMing on 102.596296757 meters Centerline goodness : 0.790469 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95508855 0.24272376 -0.16997365 0.92506823] [-0.24283232 0.96985222 0.02047268 0.5586181 ] [ 0.16981853 0.02172188 0.98523592 -1.52985116] [ 0. 0. 0. 1. ]] SLAMing on 102.626296757 meters Centerline goodness : 0.790637 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95507219 0.24269266 -0.1701099 0.92546316] [-0.24280498 0.96985921 0.02046576 0.55888253] [ 0.16994955 0.02175725 0.98521255 -1.52980605] [ 0. 0. 0. 1. ]] SLAMing on 102.656296757 meters Centerline goodness : 0.790608 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95507355 0.24257273 -0.17027325 0.92585396] [-0.24267041 0.96989088 0.02056096 0.55824428] [ 0.170134 0.02168305 0.98518235 -1.52973406] [ 0. 0. 0. 1. ]] SLAMing on 102.68629675700001 meters Centerline goodness : 0.791868 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95505796 0.24243528 -0.17055623 0.92650826] [-0.24251273 0.96992731 0.02070217 0.5578101 ] [ 0.17044608 0.02159028 0.98513044 -1.52958695] [ 0. 0. 0. 1. ]] SLAMing on 102.71629675700001 meters Centerline goodness : 0.790236 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95506635 0.24216784 -0.17088887 0.92737639] [-0.24222953 0.96999573 0.0208118 0.55719438] [ 0.17080143 0.02151768 0.98507049 -1.52955968] [ 0. 0. 0. 1. ]] SLAMing on 102.74629675700001 meters Centerline goodness : 0.789694 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95523073 0.24107853 -0.17150919 0.92985277] [-0.24117612 0.970263 0.0205863 0.55600957] [ 0.17137193 0.02169926 0.98496741 -1.53041157] [ 0. 0. 0. 1. ]] SLAMing on 102.77629675700001 meters Centerline goodness : 0.787471 Centerline is valid? [False, False] Translation: X:0.93, Y:0.55, Z:-1.53 [[ 0.95536324 0.24042027 -0.17169498 0.93115573] [-0.24051502 0.9704275 0.02056688 0.5548606 ] [ 0.17156223 0.02164638 0.98493545 -1.53106554] [ 0. 0. 0. 1. ]] SLAMing on 102.806296757 meters Centerline goodness : 0.790215 Centerline is valid? [False, False] Translation: X:0.93, Y:0.55, Z:-1.53 [[ 0.95537572 0.24034597 -0.1717296 0.93116795] [-0.24039362 0.97045186 0.02083488 0.55401448] [ 0.17166289 0.02137756 0.98492378 -1.53083049] [ 0. 0. 0. 1. ]] SLAMing on 102.836296757 meters Centerline goodness : 0.790697 Centerline is valid? [False, False] Translation: X:0.93, Y:0.55, Z:-1.53 [[ 0.95627021 0.23632243 -0.17233398 0.9301312 ] [-0.23696224 0.97136743 0.01715267 0.55402772] [ 0.17145318 0.02443405 0.98488923 -1.53070021] [ 0. 0. 0. 1. ]] SLAMing on 102.866296757 meters Centerline goodness : 0.791376 Centerline is valid? [False, False] Translation: X:0.93, Y:0.55, Z:-1.53 [[ 0.95625044 0.23625755 -0.17253252 0.93036049] [-0.23684021 0.97139094 0.01750331 0.5528358 ] [ 0.17173182 0.02412509 0.98484829 -1.53033985] [ 0. 0. 0. 1. ]] SLAMing on 102.896296757 meters Centerline goodness : 0.792012 Centerline is valid? [False, False] Translation: X:0.93, Y:0.55, Z:-1.53 [[ 0.95623369 0.2363343 -0.17252022 0.93010143] [-0.23685232 0.97138114 0.01787912 0.55237695] [ 0.17180834 0.0237652 0.9848437 -1.52966235] [ 0. 0. 0. 1. ]] SLAMing on 102.926296757 meters Centerline goodness : 0.790572 Centerline is valid? [False, False] Translation: X:0.93, Y:0.55, Z:-1.53 [[ 0.95620765 0.23648341 -0.17246022 0.92991626] [-0.23699436 0.97134565 0.01792481 0.55276167] [ 0.17175741 0.02373226 0.98485338 -1.52952208] [ 0. 0. 0. 1. ]] SLAMing on 102.956296757 meters Centerline goodness : 0.793520 Centerline is valid? [False, False] Translation: X:0.93, Y:0.55, Z:-1.53 [[ 0.95611222 0.23704012 -0.17222487 0.92951109] [-0.23754896 0.97120962 0.01795435 0.55425328] [ 0.17152235 0.02374547 0.98489402 -1.52950019] [ 0. 0. 0. 1. ]] SLAMing on 102.986296757 meters Centerline goodness : 0.794553 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95605421 0.23714371 -0.17240418 0.92985786] [-0.23767541 0.97118047 0.01785782 0.55535709] [ 0.17167044 0.02390319 0.98486441 -1.52932365] [ 0. 0. 0. 1. ]] SLAMing on 103.016296757 meters Centerline goodness : 0.793231 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95593303 0.23787936 -0.17206238 0.92904239] [-0.23841899 0.97099869 0.0178305 0.55675343] [ 0.17131385 0.02397818 0.98492467 -1.52937515] [ 0. 0. 0. 1. ]] SLAMing on 103.04629675700001 meters Centerline goodness : 0.792464 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95585763 0.23811165 -0.17215989 0.92905856] [-0.23863692 0.97094299 0.01794793 0.55711979] [ 0.17143105 0.02392805 0.9849055 -1.52907624] [ 0. 0. 0. 1. ]] SLAMing on 103.07629675700001 meters Centerline goodness : 0.792664 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95581275 0.23809668 -0.1724296 0.93023339] [-0.23868115 0.97093767 0.01764512 0.55816244] [ 0.17161964 0.02429026 0.98486379 -1.52972221] [ 0. 0. 0. 1. ]] SLAMing on 103.10629675700001 meters Centerline goodness : 0.790842 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95581598 0.23796583 -0.17259223 0.93119128] [-0.23861112 0.97096095 0.01730788 0.55921066] [ 0.171699 0.02463928 0.98484129 -1.53028269] [ 0. 0. 0. 1. ]] SLAMing on 103.13629675700001 meters Centerline goodness : 0.790696 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95573369 0.23818763 -0.17274189 0.93205208] [-0.23889745 0.97089633 0.01697999 0.5614724 ] [ 0.17175889 0.02503925 0.98482076 -1.53068566] [ 0. 0. 0. 1. ]] SLAMing on 103.16629675700001 meters Centerline goodness : 0.790572 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95568866 0.23826118 -0.17288953 0.9324193 ] [-0.23899438 0.97087431 0.01687458 0.56235171] [ 0.17187456 0.02519279 0.98479666 -1.53063331] [ 0. 0. 0. 1. ]] SLAMing on 103.196296757 meters Centerline goodness : 0.788719 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95566256 0.23826132 -0.17303358 0.9329667 ] [-0.23903583 0.97086782 0.01665954 0.56341036] [ 0.17196206 0.02544032 0.98477502 -1.5307344 ] [ 0. 0. 0. 1. ]] SLAMing on 103.226296757 meters Centerline goodness : 0.788257 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95563048 0.23832381 -0.17312464 0.93315902] [-0.23911266 0.97084998 0.01659681 0.56392997] [ 0.17203347 0.02553587 0.98476008 -1.53066508] [ 0. 0. 0. 1. ]] SLAMing on 103.256296757 meters Centerline goodness : 0.789213 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95557678 0.23843578 -0.17326686 0.93385241] [-0.23930079 0.97081045 0.01619277 0.56645644] [ 0.17207021 0.02598947 0.98474179 -1.53079835] [ 0. 0. 0. 1. ]] SLAMing on 103.286296757 meters Centerline goodness : 0.788145 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95553167 0.23870212 -0.17314888 0.93379911] [-0.23960345 0.97073914 0.01599089 0.56791143] [ 0.17189946 0.02620727 0.98476584 -1.53096879] [ 0. 0. 0. 1. ]] SLAMing on 103.316296757 meters Centerline goodness : 0.790029 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95539041 0.23957926 -0.1727164 0.93266644] [-0.24047596 0.97052272 0.01603026 0.5706418 ] [ 0.1714657 0.02621898 0.98484114 -1.53046952] [ 0. 0. 0. 1. ]] SLAMing on 103.346296757 meters Centerline goodness : 0.789295 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95534711 0.23991213 -0.17249371 0.93200797] [-0.24080859 0.97044029 0.01602729 0.57191245] [ 0.17123999 0.02622634 0.98488022 -1.53007858] [ 0. 0. 0. 1. ]] SLAMing on 103.376296757 meters Centerline goodness : 0.787858 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95524659 0.2405584 -0.17214997 0.93068475] [-0.24143724 0.97028231 0.01613394 0.5739226 ] [ 0.17091522 0.02615152 0.98493862 -1.52915553] [ 0. 0. 0. 1. ]] SLAMing on 103.406296757 meters Centerline goodness : 0.787153 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.53 [[ 0.95519124 0.2408771 -0.1720114 0.93013029] [-0.24173533 0.97020598 0.0162602 0.5748084 ] [ 0.1708032 0.02604964 0.98496075 -1.5286475 ] [ 0. 0. 0. 1. ]] SLAMing on 103.43629675700001 meters Centerline goodness : 0.788934 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95510444 0.24142533 -0.17172456 0.92922312] [-0.24229845 0.97006685 0.01617933 0.57757673] [ 0.17049041 0.02615564 0.98501213 -1.52796716] [ 0. 0. 0. 1. ]] SLAMing on 103.46629675700001 meters Centerline goodness : 0.788280 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95506002 0.24160488 -0.17171908 0.92915811] [-0.24249859 0.97001856 0.0160757 0.57901354] [ 0.17045466 0.02628838 0.98501479 -1.52769804] [ 0. 0. 0. 1. ]] SLAMing on 103.49629675700001 meters Centerline goodness : 0.790269 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95507017 0.24152404 -0.1717763 0.92964134] [-0.24248958 0.97002757 0.01566231 0.58076798] [ 0.17041057 0.02669536 0.98501147 -1.52794016] [ 0. 0. 0. 1. ]] SLAMing on 103.52629675700001 meters Centerline goodness : 0.789538 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95537937 0.25066066 -0.15626738 0.92725778] [-0.25086947 0.96784007 0.01871096 0.57906511] [ 0.15593193 0.02132665 0.98753755 -1.53291266] [ 0. 0. 0. 1. ]] SLAMing on 103.556296757 meters Centerline goodness : 0.790687 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95539159 0.25045695 -0.15651911 0.92745619] [-0.25089224 0.9678605 0.01729537 0.58106383] [ 0.15582041 0.02274558 0.98752349 -1.532376 ] [ 0. 0. 0. 1. ]] SLAMing on 103.586296757 meters Centerline goodness : 0.793125 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95537798 0.2504307 -0.15664413 0.92756949] [-0.25091064 0.96786046 0.01702887 0.581658 ] [ 0.15587421 0.02303467 0.9875083 -1.53203505] [ 0. 0. 0. 1. ]] SLAMing on 103.616296757 meters Centerline goodness : 0.793125 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95537798 0.2504307 -0.15664413 0.92756949] [-0.25091064 0.96786046 0.01702887 0.581658 ] [ 0.15587421 0.02303467 0.9875083 -1.53203505] [ 0. 0. 0. 1. ]] SLAMing on 103.646296757 meters Centerline goodness : 0.794390 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95528187 0.25054238 -0.15705117 0.92849009] [-0.25108228 0.96782133 0.01672012 0.58236346] [ 0.15618657 0.02346034 0.98744892 -1.53184949] [ 0. 0. 0. 1. ]] SLAMing on 103.676296757 meters Centerline goodness : 0.795276 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.53 [[ 0.95534277 0.250671 -0.15647442 0.9290607 ] [-0.25114652 0.96779888 0.01705136 0.58477183] [ 0.15571005 0.02300811 0.98753481 -1.53280292] [ 0. 0. 0. 1. ]] SLAMing on 103.706296757 meters Centerline goodness : 0.793763 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.53 [[ 0.95566482 0.24970771 -0.15604748 0.92879407] [-0.25023153 0.9680437 0.01660078 0.58613115] [ 0.15520612 0.02318322 0.98761004 -1.53326371] [ 0. 0. 0. 1. ]] SLAMing on 103.736296757 meters Centerline goodness : 0.796791 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.53 [[ 0.95583799 0.24916562 -0.15585323 0.92856786] [-0.24968286 0.96818591 0.01656868 0.58662043] [ 0.15502325 0.02307691 0.98764126 -1.53339294] [ 0. 0. 0. 1. ]] SLAMing on 103.766296757 meters Centerline goodness : 0.798537 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.53 [[ 0.95608932 0.24806451 -0.15606799 0.93004441] [-0.24862849 0.96846323 0.01621288 0.58688207] [ 0.15516794 0.02330199 0.98761325 -1.53472749] [ 0. 0. 0. 1. ]] SLAMing on 103.79629675700001 meters Centerline goodness : 0.802344 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.95671855 0.2463557 -0.15491442 0.92942442] [-0.24672128 0.96893439 0.01716869 0.58719882] [ 0.15433151 0.02179508 0.9877787 -1.53661598] [ 0. 0. 0. 1. ]] SLAMing on 103.82629675700001 meters Centerline goodness : 0.806059 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.54 [[ 0.95771949 0.25171982 -0.13932163 0.9256567 ] [-0.25160402 0.96764889 0.01873602 0.58301913] [ 0.13953065 0.01711003 0.99006992 -1.54158578] [ 0. 0. 0. 1. ]] SLAMing on 103.85629675700001 meters Centerline goodness : 0.804195 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.54 [[ 0.95874421 0.24747279 -0.13988124 0.92491834] [-0.24778679 0.96869145 0.01544613 0.58354022] [ 0.13932425 0.01985184 0.99004781 -1.541224 ] [ 0. 0. 0. 1. ]] SLAMing on 103.88629675700001 meters Centerline goodness : 0.796386 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.54 [[ 0.95924292 0.24583848 -0.13934294 0.92338129] [-0.24620498 0.96910364 0.01487396 0.58419749] [ 0.13869435 0.02003918 0.99013247 -1.54102169] [ 0. 0. 0. 1. ]] SLAMing on 103.91629675700001 meters Centerline goodness : 0.804550 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.54 [[ 0.96041455 0.24224588 -0.13755303 0.9211439 ] [-0.2426006 0.97001882 0.01443748 0.58589092] [ 0.13692645 0.01950448 0.99038918 -1.54281577] [ 0. 0. 0. 1. ]] SLAMing on 103.946296757 meters Centerline goodness : 0.800103 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.54 [[ 0.96050104 0.2416778 -0.13794779 0.92232107] [-0.24205704 0.97015699 0.01427618 0.5861025 ] [ 0.13728125 0.01967895 0.99033661 -1.54284662] [ 0. 0. 0. 1. ]] SLAMing on 103.976296757 meters Centerline goodness : 0.799795 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.54 [[ 0.96063171 0.24079444 -0.13858126 0.92424282] [-0.24121267 0.97037096 0.01402349 0.58561026] [ 0.13785201 0.01995615 0.99025177 -1.5431239 ] [ 0. 0. 0. 1. ]] SLAMing on 104.006296757 meters Centerline goodness : 0.801341 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.54 [[ 0.96063461 0.24073637 -0.13866196 0.92447059] [-0.24113002 0.97038882 0.01420749 0.58485211] [ 0.13797627 0.01978735 0.99023785 -1.54303369] [ 0. 0. 0. 1. ]] SLAMing on 104.036296757 meters Centerline goodness : 0.799011 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.54 [[ 0.96058377 0.2406865 -0.1391001 0.92531937] [-0.24117704 0.97038621 0.01357373 0.58470255] [ 0.13824783 0.02050904 0.99018529 -1.54309055] [ 0. 0. 0. 1. ]] SLAMing on 104.066296757 meters Centerline goodness : 0.801512 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.96058214 0.24055882 -0.13933203 0.92615316] [-0.24108517 0.97041223 0.01334303 0.58621236] [ 0.13841929 0.02077381 0.99015582 -1.5430833 ] [ 0. 0. 0. 1. ]] SLAMing on 104.096296757 meters Centerline goodness : 0.799063 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.96049649 0.24078473 -0.13953213 0.92723843] [-0.24133774 0.97035142 0.01319952 0.5882375 ] [ 0.13857344 0.02099627 0.99012957 -1.54345929] [ 0. 0. 0. 1. ]] SLAMing on 104.126296757 meters Centerline goodness : 0.798221 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.96042283 0.24102043 -0.13963218 0.92763032] [-0.24157848 0.97029155 0.01319608 0.58894247] [ 0.13866445 0.02105831 0.99011551 -1.54356123] [ 0. 0. 0. 1. ]] SLAMing on 104.156296757 meters Centerline goodness : 0.801448 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.96021836 0.24198257 -0.13937409 0.92706117] [-0.24250359 0.97005669 0.01349185 0.58991963] [ 0.13846556 0.02084359 0.99014788 -1.54353315] [ 0. 0. 0. 1. ]] SLAMing on 104.18629675700001 meters Centerline goodness : 0.801901 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.96012181 0.24243087 -0.13926012 0.92659665] [-0.24291412 0.96994995 0.01377757 0.58982225] [ 0.13841545 0.02060011 0.99015999 -1.54325482] [ 0. 0. 0. 1. ]] SLAMing on 104.21629675700001 meters Centerline goodness : 0.801978 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.95999106 0.24298581 -0.1391943 0.92606736] [-0.2434137 0.96981854 0.01420436 0.58951007] [ 0.13844467 0.02024574 0.99016321 -1.5427481 ] [ 0. 0. 0. 1. ]] SLAMing on 104.24629675700001 meters Centerline goodness : 0.795242 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.95989277 0.24338068 -0.13918229 0.92575733] [-0.24375776 0.96972633 0.01459477 0.58912617] [ 0.13852082 0.01991735 0.99015922 -1.54231538] [ 0. 0. 0. 1. ]] SLAMing on 104.27629675700001 meters Centerline goodness : 0.793043 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.95985624 0.24345673 -0.1393012 0.92619637] [-0.24381956 0.96970891 0.01471948 0.58891542] [ 0.13866517 0.01983577 0.99014065 -1.54244122] [ 0. 0. 0. 1. ]] SLAMing on 104.306296757 meters Centerline goodness : 0.794914 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.95980244 0.24367033 -0.1392984 0.9262069 ] [-0.24401141 0.96965804 0.01488995 0.58868517] [ 0.13870006 0.01969899 0.9901385 -1.54244124] [ 0. 0. 0. 1. ]] SLAMing on 104.336296757 meters Centerline goodness : 0.792183 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.95969026 0.24425358 -0.13904962 0.92562998] [-0.24454682 0.96951773 0.01523896 0.58830654] [ 0.13853324 0.01937946 0.99016816 -1.54244491] [ 0. 0. 0. 1. ]] SLAMing on 104.366296757 meters Centerline goodness : 0.794287 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.95962673 0.2445016 -0.13905218 0.92559835] [-0.24477774 0.96945723 0.01537968 0.58826099] [ 0.13856549 0.01927813 0.99016562 -1.54242153] [ 0. 0. 0. 1. ]] SLAMing on 104.396296757 meters Centerline goodness : 0.792947 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.54 [[ 0.9595726 0.24487453 -0.13876919 0.92502181] [-0.24509733 0.96937055 0.01574897 0.58758702] [ 0.13837529 0.01889967 0.99019952 -1.54237803] [ 0. 0. 0. 1. ]] SLAMing on 104.426296757 meters Centerline goodness : 0.790827 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.54 [[ 0.95953991 0.24505361 -0.13867907 0.92451712] [-0.24522011 0.96933286 0.01615268 0.5865973 ] [ 0.13838445 0.01850776 0.99020564 -1.54190874] [ 0. 0. 0. 1. ]] SLAMing on 104.456296757 meters Centerline goodness : 0.794653 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.54 [[ 0.95955584 0.24507582 -0.13852952 0.92378606] [-0.24511354 0.96934434 0.01705574 0.5836971 ] [ 0.13846276 0.01758952 0.99021143 -1.54101727] [ 0. 0. 0. 1. ]] SLAMing on 104.486296757 meters Centerline goodness : 0.795338 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.54 [[ 0.95969667 0.24384619 -0.13971877 0.92561463] [-0.24414132 0.96961911 0.01529007 0.58203686] [ 0.13920242 0.01943729 0.99007317 -1.5415792 ] [ 0. 0. 0. 1. ]] SLAMing on 104.516296757 meters Centerline goodness : 0.794216 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.54 [[ 0.96004702 0.24303127 -0.13872823 0.92399058] [-0.24311871 0.96985489 0.01657688 0.57920641] [ 0.13857495 0.01781284 0.99019174 -1.5426032 ] [ 0. 0. 0. 1. ]] SLAMing on 104.54629675700001 meters Centerline goodness : 0.792391 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.54 [[ 0.96013826 0.24274723 -0.13859401 0.92386158] [-0.24281681 0.96992898 0.01666642 0.57831877] [ 0.13847208 0.01765089 0.99020903 -1.54297488] [ 0. 0. 0. 1. ]] SLAMing on 104.57629675700001 meters Centerline goodness : 0.794478 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.54 [[ 0.96014914 0.2427162 -0.13857302 0.92211988] [-0.24275828 0.96994032 0.01685811 0.57613299] [ 0.1384993 0.01745345 0.99020873 -1.54146913] [ 0. 0. 0. 1. ]] SLAMing on 104.60629675700001 meters Centerline goodness : 0.793263 Centerline is valid? [False, False] Translation: X:0.92, Y:0.57, Z:-1.54 [[ 0.95998634 0.24258039 -0.13993207 0.92363139] [-0.24284739 0.96994183 0.01542671 0.57485089] [ 0.13946819 0.0191727 0.99004092 -1.54072304] [ 0. 0. 0. 1. ]] SLAMing on 104.63629675700001 meters Centerline goodness : 0.791967 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.9594523 0.24395415 -0.14120078 0.92501323] [-0.24433746 0.96957599 0.01488627 0.57283738] [ 0.14053646 0.02021797 0.98986905 -1.53962551] [ 0. 0. 0. 1. ]] SLAMing on 104.66629675700001 meters Centerline goodness : 0.795075 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95898647 0.24545012 -0.14177162 0.92616362] [-0.24579747 0.96919993 0.01533307 0.57197794] [ 0.14116855 0.02014289 0.98978063 -1.5392995 ] [ 0. 0. 0. 1. ]] SLAMing on 104.696296757 meters Centerline goodness : 0.790256 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95764669 0.25069366 -0.14165275 0.92735074] [-0.2505765 0.96791116 0.01895786 0.56942122] [ 0.14185989 0.01733992 0.98973486 -1.53915799] [ 0. 0. 0. 1. ]] SLAMing on 104.726296757 meters Centerline goodness : 0.788559 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.9570274 0.25251987 -0.1425913 0.92929401] [-0.25239543 0.96743244 0.01926186 0.56872662] [ 0.14281145 0.01755526 0.98959421 -1.53871601] [ 0. 0. 0. 1. ]] SLAMing on 104.756296757 meters Centerline goodness : 0.789446 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95667026 0.25420128 -0.141999 0.92705314] [-0.25395453 0.96700593 0.02016492 0.5686903 ] [ 0.14243982 0.01677011 0.98966139 -1.53780222] [ 0. 0. 0. 1. ]] SLAMing on 104.786296757 meters Centerline goodness : 0.789987 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95650729 0.25492219 -0.14180438 0.92613306] [-0.25461644 0.96682256 0.0206061 0.56866885] [ 0.14235262 0.01639584 0.9896802 -1.53723912] [ 0. 0. 0. 1. ]] SLAMing on 104.816296757 meters Centerline goodness : 0.788524 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95543151 0.25922422 -0.14125663 0.92745967] [-0.25837108 0.96573068 0.02467074 0.56753688] [ 0.14281111 0.01292543 0.98966556 -1.53751605] [ 0. 0. 0. 1. ]] SLAMing on 104.846296757 meters Centerline goodness : 0.787016 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95536182 0.25934385 -0.14150814 0.92838696] [-0.25851452 0.96569567 0.02453808 0.56871122] [ 0.1430176 0.01313916 0.98963293 -1.53781846] [ 0. 0. 0. 1. ]] SLAMing on 104.876296757 meters Centerline goodness : 0.784149 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95530255 0.25933238 -0.1419287 0.93021327] [-0.2585523 0.96569317 0.02423638 0.56955583] [ 0.14334485 0.01354292 0.98958013 -1.53893742] [ 0. 0. 0. 1. ]] SLAMing on 104.906296757 meters Centerline goodness : 0.787967 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95526962 0.25929133 -0.14222505 0.93075289] [-0.25849161 0.96570538 0.02439694 0.56863611] [ 0.14367341 0.01345832 0.98953364 -1.53890613] [ 0. 0. 0. 1. ]] SLAMing on 104.93629675700001 meters Centerline goodness : 0.785299 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95524389 0.25920112 -0.14256189 0.93115047] [-0.25834957 0.96573368 0.02477809 0.56705701] [ 0.14409933 0.01316168 0.9894757 -1.53851936] [ 0. 0. 0. 1. ]] SLAMing on 104.96629675700001 meters Centerline goodness : 0.785629 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95618591 0.25527395 -0.14333082 0.9298066 ] [-0.25486355 0.96673731 0.02153004 0.56638841] [ 0.14405931 0.01594308 0.98944062 -1.53742167] [ 0. 0. 0. 1. ]] SLAMing on 104.99629675700001 meters Centerline goodness : 0.787798 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95723207 0.25079797 -0.1442468 0.92928219] [-0.25085857 0.96785512 0.01806787 0.56591517] [ 0.14414139 0.0188904 0.98937678 -1.53665577] [ 0. 0. 0. 1. ]] SLAMing on 105.02629675700001 meters Centerline goodness : 0.786648 Centerline is valid? [False, False] Translation: X:0.93, Y:0.57, Z:-1.54 [[ 0.95817596 0.24667807 -0.14508192 0.92883593] [-0.24724848 0.96884549 0.01437383 0.5669323 ] [ 0.14410767 0.02209862 0.98931523 -1.53624584] [ 0. 0. 0. 1. ]] SLAMing on 105.05629675700001 meters Centerline goodness : 0.786935 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.54 [[ 0.95829563 0.24606007 -0.14534075 0.92931552] [-0.24656758 0.96901262 0.01479756 0.56456795] [ 0.14447811 0.02165588 0.98927099 -1.53581232] [ 0. 0. 0. 1. ]] SLAMing on 105.086296757 meters Centerline goodness : 0.787425 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.95931589 0.24160351 -0.14608477 0.92801686] [-0.24250549 0.97007736 0.01187476 0.56153974] [ 0.14458251 0.02403471 0.9892008 -1.53457675] [ 0. 0. 0. 1. ]] SLAMing on 105.116296757 meters Centerline goodness : 0.787403 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.53 [[ 0.96017847 0.23790842 -0.14648167 0.92626358] [-0.23926728 0.97091625 0.00853252 0.56128758] [ 0.1442514 0.02685553 0.98917658 -1.53393916] [ 0. 0. 0. 1. ]] SLAMing on 105.146296757 meters Centerline goodness : 0.788073 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96104206 0.23418366 -0.14682023 0.9247141 ] [-0.23597989 0.97174342 0.00531145 0.56100539] [ 0.14391544 0.0295421 0.98914893 -1.53339858] [ 0. 0. 0. 1. ]] SLAMing on 105.176296757 meters Centerline goodness : 0.786881 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96101669 0.23426767 -0.14685226 0.9249014 ] [-0.23602612 0.97173067 0.00558413 0.56058886] [ 0.14400903 0.02929453 0.98914267 -1.53335408] [ 0. 0. 0. 1. ]] SLAMing on 105.206296757 meters Centerline goodness : 0.785465 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96090524 0.2348877 -0.14659089 0.9240514 ] [-0.23653638 0.971602 0.00633269 0.55933899] [ 0.14391548 0.02858896 0.98917693 -1.53290288] [ 0. 0. 0. 1. ]] SLAMing on 105.236296757 meters Centerline goodness : 0.785179 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96081206 0.23540649 -0.14636929 0.92328319] [-0.23697923 0.97149057 0.00685035 0.55848 ] [ 0.14380901 0.02810458 0.9892063 -1.53256195] [ 0. 0. 0. 1. ]] SLAMing on 105.266296757 meters Centerline goodness : 0.785833 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96058712 0.23654505 -0.14600964 0.92209349] [-0.23804868 0.97122547 0.00734252 0.55818628] [ 0.14354512 0.02770428 0.98925592 -1.53241851] [ 0. 0. 0. 1. ]] SLAMing on 105.29629675700001 meters Centerline goodness : 0.785888 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96048378 0.23709385 -0.14579926 0.92172238] [-0.23859687 0.97109091 0.0073475 0.55914907] [ 0.14332638 0.02773009 0.98928691 -1.53256957] [ 0. 0. 0. 1. ]] SLAMing on 105.32629675700001 meters Centerline goodness : 0.783305 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95938889 0.24200809 -0.14493114 0.92231477] [-0.24296939 0.96996812 0.0113019 0.55961914] [ 0.14331373 0.02437091 0.98937719 -1.53299808] [ 0. 0. 0. 1. ]] SLAMing on 105.35629675700001 meters Centerline goodness : 0.783603 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95926641 0.2425998 -0.14475252 0.92211667] [-0.24358626 0.96981523 0.0111422 0.56127767] [ 0.14308629 0.02457138 0.98940515 -1.53328198] [ 0. 0. 0. 1. ]] SLAMing on 105.38629675700001 meters Centerline goodness : 0.783655 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95810619 0.24779199 -0.14363721 0.92138228] [-0.24816227 0.96859253 0.01562037 0.56074324] [ 0.14299654 0.02067936 0.98950713 -1.53266519] [ 0. 0. 0. 1. ]] SLAMing on 105.41629675700001 meters Centerline goodness : 0.782747 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95796603 0.24850357 -0.14334244 0.92032337] [-0.24883624 0.96841519 0.01589179 0.56147388] [ 0.14276417 0.02044499 0.98954555 -1.53214247] [ 0. 0. 0. 1. ]] SLAMing on 105.446296757 meters Centerline goodness : 0.784670 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95776338 0.2496115 -0.14277043 0.91849204] [-0.24986142 0.96814156 0.01646807 0.56206739] [ 0.14233261 0.01990031 0.98961882 -1.53132667] [ 0. 0. 0. 1. ]] SLAMing on 105.476296757 meters Centerline goodness : 0.784885 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95773836 0.24969021 -0.14280065 0.91872334] [-0.24993682 0.96812153 0.01650125 0.56233621] [ 0.14236858 0.01988726 0.98961391 -1.53137194] [ 0. 0. 0. 1. ]] SLAMing on 105.506296757 meters Centerline goodness : 0.786957 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95779199 0.2492897 -0.14314034 0.91979867] [-0.24952491 0.96822612 0.01659799 0.56180363] [ 0.14272992 0.01981966 0.98956321 -1.53140904] [ 0. 0. 0. 1. ]] SLAMing on 105.536296757 meters Centerline goodness : 0.786957 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95779199 0.2492897 -0.14314034 0.91979867] [-0.24952491 0.96822612 0.01659799 0.56180363] [ 0.14272992 0.01981966 0.98956321 -1.53140904] [ 0. 0. 0. 1. ]] SLAMing on 105.566296757 meters Centerline goodness : 0.786574 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95780052 0.24912857 -0.14336358 0.92007819] [-0.2493103 0.96827466 0.01698722 0.56051204] [ 0.14304732 0.01947165 0.98952429 -1.53097178] [ 0. 0. 0. 1. ]] SLAMing on 105.596296757 meters Centerline goodness : 0.787425 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95876086 0.2449589 -0.14412758 0.91910832] [-0.24559624 0.96927635 0.0136324 0.55947774] [ 0.14303883 0.02232698 0.98946521 -1.53027361] [ 0. 0. 0. 1. ]] SLAMing on 105.626296757 meters Centerline goodness : 0.786543 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.95963414 0.24120584 -0.14464461 0.9179443 ] [-0.24234343 0.97013929 0.00997083 0.56037291] [ 0.14273044 0.02548532 0.98943343 -1.53002705] [ 0. 0. 0. 1. ]] SLAMing on 105.656296757 meters Centerline goodness : 0.787241 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96059317 0.2369827 -0.14525827 0.9173553 ] [-0.23861979 0.97109261 0.00630334 0.56048869] [ 0.14255302 0.02860655 0.98937369 -1.52992653] [ 0. 0. 0. 1. ]] SLAMing on 105.68629675700001 meters Centerline goodness : 0.788331 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96059129 0.23689817 -0.14540851 0.91759284] [-0.23849671 0.97112092 0.00659457 0.55957038] [ 0.14277149 0.02834477 0.98934972 -1.5296386 ] [ 0. 0. 0. 1. ]] SLAMing on 105.71629675700001 meters Centerline goodness : 0.785235 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.9605782 0.23700899 -0.14531434 0.91741136] [-0.23854612 0.97110587 0.00700972 0.55854982] [ 0.14277698 0.02793079 0.98936071 -1.52936369] [ 0. 0. 0. 1. ]] SLAMing on 105.74629675700001 meters Centerline goodness : 0.787532 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96054153 0.23723983 -0.14518002 0.91707205] [-0.23873719 0.97105695 0.00727649 0.55836168] [ 0.14270434 0.0276705 0.9893785 -1.52912685] [ 0. 0. 0. 1. ]] SLAMing on 105.77629675700001 meters Centerline goodness : 0.786255 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96047046 0.23772689 -0.14485307 0.91596023] [-0.23914505 0.97095253 0.00779943 0.55769141] [ 0.14249959 0.02714978 0.98942244 -1.52844134] [ 0. 0. 0. 1. ]] SLAMing on 105.80629675700001 meters Centerline goodness : 0.785314 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96041255 0.2379661 -0.14484426 0.91585347] [-0.23935572 0.97089887 0.00801402 0.55721237] [ 0.1425362 0.02697254 0.98942201 -1.52839883] [ 0. 0. 0. 1. ]] SLAMing on 105.836296757 meters Centerline goodness : 0.784852 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96035256 0.2382782 -0.1447289 0.91594299] [-0.23964165 0.9708268 0.00819729 0.55681175] [ 0.14245993 0.02681079 0.98943739 -1.52877996] [ 0. 0. 0. 1. ]] SLAMing on 105.866296757 meters Centerline goodness : 0.783695 Centerline is valid? [False, False] Translation: X:0.92, Y:0.56, Z:-1.53 [[ 0.96028579 0.23861288 -0.14462054 0.91564416] [-0.23994009 0.97075089 0.00845391 0.55681599] [ 0.14240773 0.0265821 0.98945108 -1.52858403] [ 0. 0. 0. 1. ]] SLAMing on 105.896296757 meters Centerline goodness : 0.784308 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.53 [[ 0.9601101 0.23958552 -0.14417825 0.91470584] [-0.24086006 0.97051986 0.00881077 0.55849544] [ 0.14203878 0.02626747 0.98951251 -1.52831754] [ 0. 0. 0. 1. ]] SLAMing on 105.926296757 meters Centerline goodness : 0.784423 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.53 [[ 0.96005613 0.23986493 -0.14407306 0.91465013] [-0.24115242 0.97044806 0.00872195 0.55966011] [ 0.14190751 0.02637 0.98952862 -1.52838856] [ 0. 0. 0. 1. ]] SLAMing on 105.956296757 meters Centerline goodness : 0.782751 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.53 [[ 0.95985462 0.24086951 -0.14373928 0.91353822] [-0.24211362 0.97020581 0.00903799 0.560829 ] [ 0.14163366 0.02612608 0.98957432 -1.52793406] [ 0. 0. 0. 1. ]] SLAMing on 105.986296757 meters Centerline goodness : 0.783044 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.53 [[ 0.95975819 0.24132452 -0.14361993 0.91292844] [-0.24254442 0.97009649 0.0092193 0.56127759] [ 0.14155003 0.02598591 0.98958998 -1.52751786] [ 0. 0. 0. 1. ]] SLAMing on 106.016296757 meters Centerline goodness : 0.785158 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.53 [[ 0.95950815 0.24257687 -0.14318017 0.91113959] [-0.24372211 0.96979605 0.00975514 0.56199367] [ 0.14122194 0.02553604 0.98964856 -1.5266342 ] [ 0. 0. 0. 1. ]] SLAMing on 106.04629675700001 meters Centerline goodness : 0.782515 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.53 [[ 0.95942911 0.24296535 -0.14305112 0.91066066] [-0.24408816 0.96970233 0.00991799 0.56239891] [ 0.14112673 0.02540148 0.9896656 -1.52634284] [ 0. 0. 0. 1. ]] SLAMing on 106.07629675700001 meters Centerline goodness : 0.783839 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.53 [[ 0.95935757 0.24326323 -0.14302465 0.91051179] [-0.24437349 0.96962937 0.01002352 0.56276774] [ 0.14111926 0.0253353 0.98966837 -1.52617935] [ 0. 0. 0. 1. ]] SLAMing on 106.10629675700001 meters Centerline goodness : 0.783664 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.53 [[ 0.95923016 0.2439424 -0.14272214 0.90953174] [-0.24500145 0.96946715 0.01037934 0.56374693] [ 0.14089639 0.02501096 0.98970837 -1.52549633] [ 0. 0. 0. 1. ]] SLAMing on 106.13629675700001 meters Centerline goodness : 0.784823 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 0.95916462 0.24433678 -0.14248781 0.90844371] [-0.24532842 0.96937941 0.01084097 0.56406858] [ 0.1407736 0.02455804 0.98973719 -1.5243461 ] [ 0. 0. 0. 1. ]] SLAMing on 106.16629675700001 meters Centerline goodness : 0.785565 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 0.95911371 0.24444748 -0.14264056 0.90838577] [-0.24539496 0.96935865 0.01118622 0.56332753] [ 0.1410043 0.02427442 0.98971134 -1.52379264] [ 0. 0. 0. 1. ]] SLAMing on 106.196296757 meters Centerline goodness : 0.785760 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 0.95912345 0.24423383 -0.1429407 0.90891278] [-0.24516404 0.96941525 0.01134328 0.56256133] [ 0.14133931 0.02416431 0.98966625 -1.52349314] [ 0. 0. 0. 1. ]] SLAMing on 106.226296757 meters Centerline goodness : 0.783897 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 0.9600291 0.24016602 -0.14375119 0.90830969] [-0.24163015 0.97033984 0.00744812 0.56342428] [ 0.14127629 0.02758421 0.98958583 -1.52325595] [ 0. 0. 0. 1. ]] SLAMing on 106.256296757 meters Centerline goodness : 0.785113 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 0.9608992 0.23621122 -0.14448874 0.90778106] [-0.23821148 0.97120683 0.00354858 0.56488306] [ 0.14116666 0.03100904 0.98950008 -1.52312787] [ 0. 0. 0. 1. ]] SLAMing on 106.286296757 meters Centerline goodness : 0.784594 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 0.96092687 0.23592008 -0.14478005 0.90855193] [-0.23792011 0.97127808 0.00359283 0.56455354] [ 0.14146931 0.03099364 0.98945734 -1.52306942] [ 0. 0. 0. 1. ]] SLAMing on 106.316296757 meters Centerline goodness : 0.784398 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 0.96093776 0.23580217 -0.14489983 0.90883521] [-0.2377832 0.97131104 0.00374323 0.56431062] [ 0.14162546 0.03085774 0.98943925 -1.52284796] [ 0. 0. 0. 1. ]] SLAMing on 106.346296757 meters Centerline goodness : 0.782034 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 0.96103922 0.23546213 -0.14477982 0.90851961] [-0.23738508 0.97140699 0.00409712 0.56330034] [ 0.14160485 0.03043108 0.98945541 -1.52214676] [ 0. 0. 0. 1. ]] SLAMing on 106.376296757 meters Centerline goodness : 0.783444 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 0.96104007 0.23535204 -0.14495313 0.9085912 ] [-0.23721124 0.97144734 0.00457119 0.56173086] [ 0.14189017 0.02999142 0.98942796 -1.52156301] [ 0. 0. 0. 1. ]] SLAMing on 106.406296757 meters Centerline goodness : 0.781757 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 9.61873106e-01 2.31598083e-01 -1.45473214e-01 9.07258825e-01] [-2.33950643e-01 9.72247999e-01 9.61973847e-04 5.62125289e-01] [ 1.41658833e-01 3.31082551e-02 9.89361723e-01 -1.52118758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43629675700001 meters Centerline goodness : 0.781454 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 9.61848484e-01 2.31652220e-01 -1.45549795e-01 9.07377062e-01] [-2.33968824e-01 9.72243315e-01 1.23507147e-03 5.61410795e-01] [ 1.41795922e-01 3.28661627e-02 9.89350156e-01 -1.52103690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46629675700001 meters Centerline goodness : 0.781203 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 9.61829373e-01 2.31656453e-01 -1.45669300e-01 9.07947123e-01] [-2.33980424e-01 9.72240553e-01 1.21201519e-03 5.62226204e-01] [ 1.41906372e-01 3.29180127e-02 9.89332596e-01 -1.52113377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49629675700001 meters Centerline goodness : 0.779254 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 9.61777432e-01 2.31914540e-01 -1.45601575e-01 9.07831051e-01] [-2.34227993e-01 9.72180840e-01 1.28895881e-03 5.62906023e-01] [ 1.41849989e-01 3.28642731e-02 9.89342469e-01 -1.52105128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52629675700001 meters Centerline goodness : 0.778701 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.52 [[ 9.61719324e-01 2.32140080e-01 -1.45625974e-01 9.07883536e-01] [-2.34457186e-01 9.72125596e-01 1.28622279e-03 5.63665131e-01] [ 1.41865321e-01 3.29060707e-02 9.89338881e-01 -1.52097172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55629675700001 meters Centerline goodness : 0.779026 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.52 [[ 9.61526946e-01 2.33159486e-01 -1.45267290e-01 9.06775380e-01] [-2.35446640e-01 9.71886138e-01 1.48818233e-03 5.65602401e-01] [ 1.41530249e-01 3.27717679e-02 9.89391328e-01 -1.52051345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.586296757 meters Centerline goodness : 0.778756 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.52 [[ 0.9614208 0.23375449 -0.1450134 0.90589783] [-0.23602023 0.97174679 0.00162343 0.5669439 ] [ 0.14129579 0.0326653 0.98942836 -1.51998119] [ 0. 0. 0. 1. ]] SLAMing on 106.616296757 meters Centerline goodness : 0.777749 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.52 [[ 0.96116289 0.23513515 -0.14449 0.90397491] [-0.23734988 0.97142225 0.00196292 0.56991526] [ 0.14082235 0.032408 0.98950431 -1.51880703] [ 0. 0. 0. 1. ]] SLAMing on 106.646296757 meters Centerline goodness : 0.777409 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.52 [[ 0.96109 0.23546891 -0.14443132 0.9035886 ] [-0.23768816 0.97133957 0.00194251 0.57116885] [ 0.14074926 0.03246269 0.98951292 -1.51836554] [ 0. 0. 0. 1. ]] SLAMing on 106.676296757 meters Centerline goodness : 0.777573 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.52 [[ 0.96102341 0.23580562 -0.14432503 0.90319417] [-0.23802449 0.9712572 0.00194558 0.57228506] [ 0.1406355 0.03248314 0.98952842 -1.51803432] [ 0. 0. 0. 1. ]] SLAMing on 106.706296757 meters Centerline goodness : 0.776852 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.52 [[ 0.96090831 0.23640497 -0.14411077 0.90284364] [-0.23863756 0.97110695 0.00184366 0.57518433] [ 0.14038282 0.03261866 0.98955984 -1.517745 ] [ 0. 0. 0. 1. ]] SLAMing on 106.736296757 meters Centerline goodness : 0.777250 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.52 [[ 0.96089372 0.23646245 -0.14411372 0.90322267] [-0.23873271 0.97108403 0.00158312 0.577487 ] [ 0.14032088 0.03288345 0.98955987 -1.51766093] [ 0. 0. 0. 1. ]] SLAMing on 106.766296757 meters Centerline goodness : 0.777638 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.52 [[ 9.60894924e-01 2.36333714e-01 -1.44316739e-01 9.03804961e-01] [-2.38622516e-01 9.71111256e-01 1.49092830e-03 5.78171164e-01] [ 1.40499967e-01 3.30045980e-02 9.89530422e-01 -1.51759988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79629675700001 meters Centerline goodness : 0.777175 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.52 [[ 9.60913245e-01 2.36129949e-01 -1.44528137e-01 9.04512427e-01] [-2.38423093e-01 9.71160230e-01 1.49526270e-03 5.78285687e-01] [ 1.40713055e-01 3.30220276e-02 9.89499561e-01 -1.51764549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82629675700001 meters Centerline goodness : 0.775110 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.52 [[ 9.61092704e-01 2.34873666e-01 -1.45379417e-01 9.07160831e-01] [-2.37249489e-01 9.71448214e-01 1.02387405e-03 5.78415703e-01] [ 1.41469056e-01 3.35071545e-02 9.89375448e-01 -1.51805453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85629675700001 meters Centerline goodness : 0.776560 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.52 [[ 9.61166845e-01 2.34235673e-01 -1.45917601e-01 9.08595330e-01] [-2.36619433e-01 9.71601844e-01 1.04893667e-03 5.77677096e-01] [ 1.42019508e-01 3.35187368e-02 9.89296191e-01 -1.51806556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88629675700001 meters Centerline goodness : 0.776269 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.52 [[ 0.96219883 0.22906794 -0.14731359 0.90988917] [-0.23202921 0.97270417 -0.00300643 0.57780044] [ 0.14260386 0.03707384 0.98908527 -1.51802849] [ 0. 0. 0. 1. ]] SLAMing on 106.91629675700001 meters Centerline goodness : 0.776401 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.52 [[ 0.96306809 0.22488015 -0.14808364 0.90941724] [-0.22837084 0.97355059 -0.00678308 0.57819463] [ 0.14264154 0.04035056 0.98895158 -1.51780673] [ 0. 0. 0. 1. ]] SLAMing on 106.946296757 meters Centerline goodness : 0.777117 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.52 [[ 0.96404007 0.22010665 -0.14892886 0.90880421] [-0.22405205 0.97452544 -0.01004249 0.57594338] [ 0.14292455 0.04304918 0.98879692 -1.51675677] [ 0. 0. 0. 1. ]] SLAMing on 106.976296757 meters Centerline goodness : 0.779566 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.52 [[ 0.96411269 0.21956 -0.14926527 0.90952857] [-0.22345247 0.97466739 -0.00961639 0.57391862] [ 0.14337261 0.04262498 0.98875043 -1.51637297] [ 0. 0. 0. 1. ]] SLAMing on 107.006296757 meters Centerline goodness : 0.776116 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.52 [[ 0.96435288 0.21839173 -0.14942751 0.91068675] [-0.22224766 0.97494489 -0.00940435 0.57123999] [ 0.14362975 0.04227903 0.98872796 -1.51666594] [ 0. 0. 0. 1. ]] SLAMing on 107.036296757 meters Centerline goodness : 0.775381 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.52 [[ 0.96435861 0.21827965 -0.1495542 0.9111351 ] [-0.22209195 0.97498349 -0.00907511 0.57013672] [ 0.14383196 0.04196644 0.98871188 -1.51667523] [ 0. 0. 0. 1. ]] SLAMing on 107.066296757 meters Centerline goodness : 0.777428 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.52 [[ 0.96428003 0.21875213 -0.14937046 0.91035498] [-0.22242545 0.97491574 -0.00813767 0.56789661] [ 0.14384348 0.04107078 0.98874782 -1.51611461] [ 0. 0. 0. 1. ]] SLAMing on 107.096296757 meters Centerline goodness : 0.778888 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.52 [[ 0.96418135 0.21925836 -0.14926516 0.90957999] [-0.22283542 0.97482747 -0.00746785 0.56678504] [ 0.14387039 0.04046193 0.988769 -1.51540541] [ 0. 0. 0. 1. ]] SLAMing on 107.126296757 meters Centerline goodness : 0.776625 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.51 [[ 0.96400067 0.22028227 -0.14892422 0.90793012] [-0.22372135 0.97463122 -0.00653728 0.56578628] [ 0.14370615 0.03961947 0.988827 -1.51434168] [ 0. 0. 0. 1. ]] SLAMing on 107.156296757 meters Centerline goodness : 0.779678 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.51 [[ 0.96391155 0.22073569 -0.14882969 0.9074934 ] [-0.22412589 0.97454052 -0.00619275 0.56568276] [ 0.1436736 0.03932585 0.98884345 -1.51400795] [ 0. 0. 0. 1. ]] SLAMing on 107.18629675700001 meters Centerline goodness : 0.778505 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.51 [[ 0.96382802 0.22113104 -0.14878378 0.90718774] [-0.22449145 0.97445777 -0.00597031 0.56593079] [ 0.14366329 0.03915504 0.98885173 -1.51370509] [ 0. 0. 0. 1. ]] SLAMing on 107.21629675700001 meters Centerline goodness : 0.776734 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.51 [[ 0.96295625 0.22516247 -0.14838165 0.90872578] [-0.22798711 0.97366192 -0.00208583 0.56394214] [ 0.14400391 0.03583767 0.98892797 -1.51434223] [ 0. 0. 0. 1. ]] SLAMing on 107.24629675700001 meters Centerline goodness : 0.775131 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.51 [[ 0.96197499 0.22977669 -0.14767122 0.9092603 ] [-0.23203409 0.97270562 0.00199148 0.56330197] [ 0.14409822 0.032349 0.9890345 -1.51442691] [ 0. 0. 0. 1. ]] SLAMing on 107.27629675700001 meters Centerline goodness : 0.774469 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.51 [[ 0.96186854 0.23037734 -0.14742861 0.90868764] [-0.23263152 0.97256288 0.00200439 0.56457035] [ 0.14384536 0.03236858 0.98907067 -1.51440632] [ 0. 0. 0. 1. ]] SLAMing on 107.30629675700001 meters Centerline goodness : 0.774206 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.51 [[ 0.96175604 0.23104216 -0.14712185 0.9078341 ] [-0.23327019 0.97240955 0.00216544 0.56562047] [ 0.143563 0.03223652 0.989116 -1.51412981] [ 0. 0. 0. 1. ]] SLAMing on 107.336296757 meters Centerline goodness : 0.774808 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.51 [[ 0.96152788 0.23249226 -0.14632665 0.90538589] [-0.23464957 0.97207659 0.0025845 0.56672258] [ 0.14284159 0.03185042 0.98923295 -1.51347652] [ 0. 0. 0. 1. ]] SLAMing on 107.366296757 meters Centerline goodness : 0.776015 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.51 [[ 0.96139486 0.23319762 -0.14607805 0.90416038] [-0.23528502 0.97192158 0.00306673 0.56647773] [ 0.14269156 0.03142164 0.98926832 -1.51272864] [ 0. 0. 0. 1. ]] SLAMing on 107.396296757 meters Centerline goodness : 0.777766 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.51 [[ 0.9611993 0.23427265 -0.14564421 0.90281412] [-0.23628289 0.97167768 0.00358792 0.56618102] [ 0.14235978 0.03096453 0.98933053 -1.51246592] [ 0. 0. 0. 1. ]] SLAMing on 107.426296757 meters Centerline goodness : 0.777766 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.51 [[ 0.9611993 0.23427265 -0.14564421 0.90281412] [-0.23628289 0.97167768 0.00358792 0.56618102] [ 0.14235978 0.03096453 0.98933053 -1.51246592] [ 0. 0. 0. 1. ]] SLAMing on 107.456296757 meters Centerline goodness : 0.776486 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.51 [[ 0.96112281 0.23469381 -0.14547084 0.9025395 ] [-0.23668491 0.97157936 0.00371478 0.56653013] [ 0.1422083 0.03086039 0.98935557 -1.51258785] [ 0. 0. 0. 1. ]] SLAMing on 107.486296757 meters Centerline goodness : 0.776192 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.51 [[ 0.96095504 0.23550353 -0.14527041 0.90226002] [-0.23747397 0.97138617 0.00387603 0.56814202] [ 0.14202649 0.03077325 0.9893844 -1.51265155] [ 0. 0. 0. 1. ]] SLAMing on 107.516296757 meters Centerline goodness : 0.775631 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.51 [[ 0.96086254 0.23600565 -0.14506728 0.9018153 ] [-0.23794972 0.97126902 0.00405334 0.56868465] [ 0.14185596 0.03062402 0.98941349 -1.5125947 ] [ 0. 0. 0. 1. ]] SLAMing on 107.54629675700001 meters Centerline goodness : 0.774363 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.51 [[ 0.9607678 0.23659236 -0.14473868 0.90085314] [-0.23848915 0.97113539 0.00435626 0.56863922] [ 0.14159151 0.03033325 0.98946033 -1.51232244] [ 0. 0. 0. 1. ]] SLAMing on 107.57629675700001 meters Centerline goodness : 0.774685 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.51 [[ 0.96070972 0.23684547 -0.14471029 0.90045469] [-0.23868997 0.97108428 0.00473458 0.56785536] [ 0.14164725 0.02999233 0.98946274 -1.51190763] [ 0. 0. 0. 1. ]] SLAMing on 107.60629675700001 meters Centerline goodness : 0.773566 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.51 [[ 0.96066575 0.23699406 -0.14475888 0.90019994] [-0.23878261 0.97105941 0.00514679 0.56700455] [ 0.14178923 0.02962156 0.98945357 -1.51138767] [ 0. 0. 0. 1. ]] SLAMing on 107.63629675700001 meters Centerline goodness : 0.774998 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.51 [[ 0.96068635 0.23692609 -0.14473342 0.90005689] [-0.23864489 0.97109062 0.00562291 0.56532399] [ 0.14188149 0.02913804 0.98945471 -1.51103261] [ 0. 0. 0. 1. ]] SLAMing on 107.66629675700001 meters Centerline goodness : 0.773165 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96069344 0.23672657 -0.14501254 0.90065916] [-0.23841524 0.97114554 0.00587533 0.56423824] [ 0.14221913 0.02892881 0.98941237 -1.51090811] [ 0. 0. 0. 1. ]] SLAMing on 107.696296757 meters Centerline goodness : 0.772306 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96079388 0.23636629 -0.14493479 0.90066753] [-0.23799277 0.97124672 0.00626479 0.56194621] [ 0.14224822 0.02847426 0.98942138 -1.51083729] [ 0. 0. 0. 1. ]] SLAMing on 107.726296757 meters Centerline goodness : 0.772675 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96080272 0.23629719 -0.14498887 0.90088861] [-0.23787325 0.97127364 0.00662096 0.56090382] [ 0.14238838 0.02812754 0.98941113 -1.51068886] [ 0. 0. 0. 1. ]] SLAMing on 107.756296757 meters Centerline goodness : 0.772959 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96077916 0.23645288 -0.14489113 0.90046741] [-0.23794824 0.97125134 0.00717413 0.55964901] [ 0.14242205 0.02758383 0.98942159 -1.5102535 ] [ 0. 0. 0. 1. ]] SLAMing on 107.786296757 meters Centerline goodness : 0.772415 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96080422 0.23633083 -0.14492407 0.90058481] [-0.23774184 0.97129741 0.00775689 0.5578745 ] [ 0.14259756 0.02700166 0.98941237 -1.50993492] [ 0. 0. 0. 1. ]] SLAMing on 107.816296757 meters Centerline goodness : 0.774039 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96080642 0.23635907 -0.14486343 0.90088608] [-0.2377223 0.97129956 0.00807898 0.55681776] [ 0.14261533 0.02667493 0.98941868 -1.51023745] [ 0. 0. 0. 1. ]] SLAMing on 107.846296757 meters Centerline goodness : 0.772135 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96078412 0.23652991 -0.14473246 0.90075735] [-0.23785779 0.97126442 0.00831259 0.55627784] [ 0.14253966 0.02643914 0.98943591 -1.5103588 ] [ 0. 0. 0. 1. ]] SLAMing on 107.876296757 meters Centerline goodness : 0.774277 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96071246 0.23689846 -0.14460532 0.90031357] [-0.23817086 0.97118429 0.00870192 0.55564067] [ 0.14249989 0.02608073 0.98945115 -1.51018398] [ 0. 0. 0. 1. ]] SLAMing on 107.906296757 meters Centerline goodness : 0.776233 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96066665 0.23722217 -0.14437874 0.8999017 ] [-0.2384624 0.97111087 0.00890821 0.55558481] [ 0.14232099 0.02587108 0.9894824 -1.51022502] [ 0. 0. 0. 1. ]] SLAMing on 107.93629675700001 meters Centerline goodness : 0.776498 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96066703 0.23726855 -0.14430004 0.90046876] [-0.23855565 0.971091 0.00857111 0.55681948] [ 0.14216212 0.0261896 0.98949686 -1.51104922] [ 0. 0. 0. 1. ]] SLAMing on 107.96629675700001 meters Centerline goodness : 0.775390 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96063841 0.23742077 -0.14424017 0.90045775] [-0.23870674 0.9710538 0.00857934 0.55725461] [ 0.14210188 0.02618946 0.98950552 -1.51109097] [ 0. 0. 0. 1. ]] SLAMing on 107.99629675700001 meters Centerline goodness : 0.777112 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96060732 0.23756639 -0.14420746 0.9003579 ] [-0.23886114 0.97101633 0.00852305 0.55744948] [ 0.14205259 0.02625826 0.98951077 -1.51115181] [ 0. 0. 0. 1. ]] SLAMing on 108.02629675700001 meters Centerline goodness : 0.777301 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96051121 0.23815771 -0.14387187 0.89945772] [-0.239429 0.97087518 0.00866858 0.55717699] [ 0.14174611 0.02612083 0.98955836 -1.51129582] [ 0. 0. 0. 1. ]] SLAMing on 108.05629675700001 meters Centerline goodness : 0.778262 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96049981 0.23820954 -0.14386216 0.8997411 ] [-0.2394973 0.97085933 0.00855566 0.55797213] [ 0.14170796 0.02623689 0.98956075 -1.51148901] [ 0. 0. 0. 1. ]] SLAMing on 108.086296757 meters Centerline goodness : 0.777669 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96037208 0.23897583 -0.14344346 0.899202 ] [-0.24025097 0.9706725 0.00862324 0.56076265] [ 0.14129737 0.02618091 0.98962094 -1.51145947] [ 0. 0. 0. 1. ]] SLAMing on 108.116296757 meters Centerline goodness : 0.778335 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.9602765 0.23954017 -0.1431417 0.89851965] [-0.24079216 0.97053707 0.0087715 0.56174671] [ 0.14102545 0.02604434 0.98966333 -1.51129852] [ 0. 0. 0. 1. ]] SLAMing on 108.146296757 meters Centerline goodness : 0.777625 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96027824 0.23941008 -0.14334755 0.89916029] [-0.24066467 0.97056859 0.00878189 0.56121004] [ 0.1412311 0.02606564 0.98963345 -1.51154707] [ 0. 0. 0. 1. ]] SLAMing on 108.176296757 meters Centerline goodness : 0.775483 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96032534 0.23885663 -0.14395397 0.90096069] [-0.24012663 0.97070218 0.0087456 0.56021801] [ 0.14182538 0.02616856 0.98954574 -1.51199047] [ 0. 0. 0. 1. ]] SLAMing on 108.206296757 meters Centerline goodness : 0.775082 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96130142 0.23432354 -0.14488637 0.90157291] [-0.23614761 0.97170571 0.00472426 0.56025426] [ 0.14189392 0.02967314 0.98943702 -1.5127871 ] [ 0. 0. 0. 1. ]] SLAMing on 108.236296757 meters Centerline goodness : 0.775659 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96135407 0.23382857 -0.14533599 0.90259542] [-0.23561278 0.97183385 0.00505872 0.55862522] [ 0.14242531 0.0293798 0.98936942 -1.51251135] [ 0. 0. 0. 1. ]] SLAMing on 108.266296757 meters Centerline goodness : 0.776578 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 9.62341861e-01 2.29026963e-01 -1.46440409e-01 9.03414837e-01] [-2.31330371e-01 9.72874337e-01 1.33539135e-03 5.58508707e-01] [ 1.42773957e-01 3.25910111e-02 9.89218592e-01 -1.51259432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29629675700001 meters Centerline goodness : 0.777991 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.51 [[ 0.96243411 0.22829484 -0.14697635 0.90474496] [-0.23057157 0.97305407 0.0015872 0.55702911] [ 0.14337829 0.032361 0.98913873 -1.51229372] [ 0. 0. 0. 1. ]] SLAMing on 108.32629675700001 meters Centerline goodness : 0.779585 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.51 [[ 0.96343793 0.22320235 -0.14821627 0.90579587] [-0.22602045 0.97412 -0.00223191 0.55577294] [ 0.14388226 0.03565021 0.98895245 -1.51250181] [ 0. 0. 0. 1. ]] SLAMing on 108.35629675700001 meters Centerline goodness : 0.778783 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.51 [[ 0.96429443 0.21887696 -0.14909436 0.90572845] [-0.22224203 0.97497252 -0.00608833 0.55583478] [ 0.14403031 0.03900597 0.98880423 -1.51255815] [ 0. 0. 0. 1. ]] SLAMing on 108.38629675700001 meters Centerline goodness : 0.781514 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.51 [[ 0.96519055 0.21430261 -0.14993866 0.90565891] [-0.21817337 0.97586217 -0.00966436 0.55453138] [ 0.14424837 0.04204057 0.98864807 -1.51248307] [ 0. 0. 0. 1. ]] SLAMing on 108.41629675700001 meters Centerline goodness : 0.783499 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.51 [[ 0.96520874 0.21403259 -0.15020698 0.90628497] [-0.21787162 0.97593227 -0.00938896 0.55350145] [ 0.1445823 0.04178814 0.98860999 -1.51228233] [ 0. 0. 0. 1. ]] SLAMing on 108.446296757 meters Centerline goodness : 0.779893 Centerline is valid? [False, False] Translation: X:0.91, Y:0.55, Z:-1.51 [[ 0.96522679 0.2138648 -0.15032996 0.9069076 ] [-0.21770804 0.97596872 -0.0093945 0.55428427] [ 0.14470819 0.04179586 0.98859124 -1.51224636] [ 0. 0. 0. 1. ]] SLAMing on 108.476296757 meters Centerline goodness : 0.781298 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.51 [[ 0.96520036 0.21393744 -0.15039628 0.90721337] [-0.21780919 0.97594451 -0.00956433 0.55575145] [ 0.14473225 0.04198919 0.98857953 -1.51220771] [ 0. 0. 0. 1. ]] SLAMing on 108.506296757 meters Centerline goodness : 0.781413 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.51 [[ 0.96498625 0.21504555 -0.1501897 0.905905 ] [-0.21891338 0.97569791 -0.00951401 0.55840284] [ 0.14449383 0.04205943 0.98861142 -1.51139048] [ 0. 0. 0. 1. ]] SLAMing on 108.536296757 meters Centerline goodness : 0.782620 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.51 [[ 0.96488686 0.215586 -0.15005339 0.90520454] [-0.21944979 0.97557768 -0.00948547 0.55936509] [ 0.14434381 0.04208159 0.98863239 -1.51102661] [ 0. 0. 0. 1. ]] SLAMing on 108.566296757 meters Centerline goodness : 0.786246 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.51 [[ 0.96397363 0.21996494 -0.1495669 0.90583152] [-0.22332253 0.9747272 -0.00582496 0.56011103] [ 0.14450564 0.03901677 0.98873445 -1.51071909] [ 0. 0. 0. 1. ]] SLAMing on 108.596296757 meters Centerline goodness : 0.785160 Centerline is valid? [False, False] Translation: X:0.91, Y:0.56, Z:-1.51 [[ 0.96388304 0.22033106 -0.14961184 0.90606912] [-0.2237433 0.97462865 -0.00615872 0.56232668] [ 0.14445903 0.03941094 0.98872563 -1.51089738] [ 0. 0. 0. 1. ]] SLAMing on 108.626296757 meters Centerline goodness : 0.783232 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 9.63349091e-01 2.22432734e-01 -1.49940682e-01 8.89449749e-01] [-2.24851795e-01 9.74392613e-01 8.40603504e-04 5.68371628e-01] [ 1.46288070e-01 3.29046368e-02 9.88694637e-01 -1.51278178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.656296757 meters Centerline goodness : 0.782942 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 9.63239957e-01 2.22753000e-01 -1.50166197e-01 8.90113611e-01] [-2.25223514e-01 9.74306956e-01 5.69436536e-04 5.70784072e-01] [ 1.46434814e-01 3.32724546e-02 9.88660603e-01 -1.51288214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68629675700001 meters Centerline goodness : 0.781565 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96234508 0.22692801 -0.14965168 0.89124715] [-0.22889744 0.97344165 0.00416198 0.5717565 ] [ 0.14662165 0.03024962 0.98873002 -1.51293737] [ 0. 0. 0. 1. ]] SLAMing on 108.71629675700001 meters Centerline goodness : 0.782392 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96228853 0.22716297 -0.14965884 0.89117684] [-0.22913842 0.97338504 0.00414119 0.57247278] [ 0.1466164 0.03030757 0.98872902 -1.51279005] [ 0. 0. 0. 1. ]] SLAMing on 108.74629675700001 meters Centerline goodness : 0.783274 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96229257 0.22689664 -0.15003641 0.89213312] [-0.2288965 0.9734424 0.00403514 0.57256604] [ 0.14696736 0.03045982 0.98867224 -1.5128286 ] [ 0. 0. 0. 1. ]] SLAMing on 108.77629675700001 meters Centerline goodness : 0.783158 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96228664 0.22678026 -0.15025026 0.89270753] [-0.22878517 0.97346857 0.00403686 0.57275726] [ 0.14717938 0.03049041 0.98863975 -1.51279482] [ 0. 0. 0. 1. ]] SLAMing on 108.80629675700001 meters Centerline goodness : 0.782829 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96228933 0.22664029 -0.15044412 0.89339712] [-0.22867109 0.97349596 0.00389286 0.57327543] [ 0.14733902 0.03065616 0.98861085 -1.51299399] [ 0. 0. 0. 1. ]] SLAMing on 108.836296757 meters Centerline goodness : 0.785722 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96231991 0.22649033 -0.15047434 0.89317935] [-0.22847806 0.9735401 0.00417634 0.57318266] [ 0.14743871 0.03036111 0.98860509 -1.51218078] [ 0. 0. 0. 1. ]] SLAMing on 108.866296757 meters Centerline goodness : 0.783818 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 9.63139755e-01 2.22598319e-01 -1.51035760e-01 8.91725783e-01] [-2.25077861e-01 9.74340532e-01 6.96046682e-04 5.73702670e-01] [ 1.47315202e-01 3.33244157e-02 9.88528055e-01 -1.51122425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.896296757 meters Centerline goodness : 0.786153 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 9.63123358e-01 2.22558984e-01 -1.51198200e-01 8.91740567e-01] [-2.24963543e-01 9.74366402e-01 1.23251196e-03 5.72177563e-01] [ 1.47596753e-01 3.28270216e-02 9.88502699e-01 -1.51063939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.926296757 meters Centerline goodness : 0.787568 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96314228 0.22229987 -0.15145864 0.89228695] [-0.22466102 0.97443573 0.00156088 0.57075963] [ 0.1479337 0.03252351 0.98846236 -1.51041313] [ 0. 0. 0. 1. ]] SLAMing on 108.956296757 meters Centerline goodness : 0.789153 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96321998 0.22198135 -0.15143166 0.89234154] [-0.22425475 0.97452826 0.00211607 0.56851809] [ 0.14804416 0.03192103 0.98846546 -1.51011124] [ 0. 0. 0. 1. ]] SLAMing on 108.986296757 meters Centerline goodness : 0.789673 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96318967 0.22209696 -0.15145492 0.89232626] [-0.22433317 0.97450961 0.00237847 0.56810398] [ 0.14812252 0.03168545 0.9884613 -1.50993412] [ 0. 0. 0. 1. ]] SLAMing on 109.016296757 meters Centerline goodness : 0.793820 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96310616 0.22268175 -0.15112695 0.8914285 ] [-0.22484334 0.97439075 0.00285211 0.56763479] [ 0.14789182 0.031233 0.98851025 -1.5097119 ] [ 0. 0. 0. 1. ]] SLAMing on 109.04629675700001 meters Centerline goodness : 0.793092 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96300998 0.22310422 -0.15111676 0.8912033 ] [-0.22522828 0.97430098 0.00313389 0.5673262 ] [ 0.14793239 0.0310178 0.98851095 -1.50959696] [ 0. 0. 0. 1. ]] SLAMing on 109.07629675700001 meters Centerline goodness : 0.799852 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96279179 0.22442219 -0.15055446 0.88947012] [-0.22648238 0.97400881 0.00354563 0.56802519] [ 0.14743708 0.03068423 0.98859536 -1.50936376] [ 0. 0. 0. 1. ]] SLAMing on 109.10629675700001 meters Centerline goodness : 0.800132 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96265926 0.22510448 -0.15038326 0.88885845] [-0.22715199 0.97385249 0.00364794 0.56891819] [ 0.14727228 0.03064813 0.98862104 -1.50926109] [ 0. 0. 0. 1. ]] SLAMing on 109.13629675700001 meters Centerline goodness : 0.803132 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96163666 0.23008503 -0.14938476 0.88879641] [-0.23157094 0.97278825 0.00761056 0.56892887] [ 0.14707082 0.02727457 0.98874985 -1.50965251] [ 0. 0. 0. 1. ]] SLAMing on 109.16629675700001 meters Centerline goodness : 0.801354 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96146377 0.23089246 -0.1492518 0.88836549] [-0.23239016 0.97259319 0.00756923 0.57068437] [ 0.14690896 0.02740711 0.98877025 -1.50969017] [ 0. 0. 0. 1. ]] SLAMing on 109.196296757 meters Centerline goodness : 0.801087 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96029825 0.23635571 -0.14820003 0.88722877] [-0.23724284 0.97137723 0.01192088 0.57139465] [ 0.1467757 0.0237118 0.98888556 -1.50869237] [ 0. 0. 0. 1. ]] SLAMing on 109.226296757 meters Centerline goodness : 0.802121 Centerline is valid? [False, False] Translation: X:0.89, Y:0.57, Z:-1.51 [[ 0.96012723 0.23714302 -0.14805026 0.88645638] [-0.23802171 0.97118552 0.01201443 0.57267966] [ 0.14663341 0.02370379 0.98890686 -1.50833274] [ 0. 0. 0. 1. ]] SLAMing on 109.256296757 meters Centerline goodness : 0.803305 Centerline is valid? [False, False] Translation: X:0.87, Y:0.58, Z:-1.51 [[ 0.96004517 0.23806439 -0.1471007 0.8653762 ] [-0.23825492 0.97106105 0.01658439 0.57787527] [ 0.14679191 0.01912571 0.98898248 -1.51042035] [ 0. 0. 0. 1. ]] SLAMing on 109.286296757 meters Centerline goodness : 0.807479 Centerline is valid? [False, False] Translation: X:0.87, Y:0.58, Z:-1.51 [[ 0.95995835 0.23833312 -0.14723212 0.86560911] [-0.23850998 0.9709962 0.01671447 0.57811453] [ 0.14694544 0.01907113 0.98896073 -1.51036088] [ 0. 0. 0. 1. ]] SLAMing on 109.316296757 meters Centerline goodness : 0.805522 Centerline is valid? [False, False] Translation: X:0.87, Y:0.58, Z:-1.51 [[ 0.95996836 0.23811718 -0.14751594 0.8666396 ] [-0.23831672 0.97104591 0.01658268 0.57803842] [ 0.14719337 0.01923667 0.98892065 -1.51082204] [ 0. 0. 0. 1. ]] SLAMing on 109.346296757 meters Centerline goodness : 0.797196 Centerline is valid? [False, False] Translation: X:0.87, Y:0.58, Z:-1.51 [[ 0.95997934 0.23785521 -0.14786674 0.86753908] [-0.23804119 0.97111149 0.0166995 0.57732475] [ 0.14756715 0.0191672 0.9888663 -1.51085971] [ 0. 0. 0. 1. ]] SLAMing on 109.376296757 meters Centerline goodness : 0.797196 Centerline is valid? [False, False] Translation: X:0.87, Y:0.58, Z:-1.51 [[ 0.95997934 0.23785521 -0.14786674 0.86753908] [-0.23804119 0.97111149 0.0166995 0.57732475] [ 0.14756715 0.0191672 0.9888663 -1.51085971] [ 0. 0. 0. 1. ]] SLAMing on 109.406296757 meters Centerline goodness : 0.801935 Centerline is valid? [False, False] Translation: X:0.87, Y:0.58, Z:-1.51 [[ 0.96086587 0.23377246 -0.14861767 0.86710024] [-0.23448182 0.97203384 0.01298073 0.57770792] [ 0.14749594 0.0223754 0.98880953 -1.5108773 ] [ 0. 0. 0. 1. ]] SLAMing on 109.43629675700001 meters Centerline goodness : 0.793616 Centerline is valid? [False, False] Translation: X:0.87, Y:0.58, Z:-1.51 [[ 0.96171374 0.22976203 -0.1493857 0.86657007] [-0.23101385 0.97290737 0.00915735 0.57877757] [ 0.14744246 0.02570341 0.9887366 -1.51071387] [ 0. 0. 0. 1. ]] SLAMing on 109.46629675700001 meters Centerline goodness : 0.814254 Centerline is valid? [False, False] Translation: X:0.87, Y:0.58, Z:-1.51 [[ 0.96181937 0.22909012 -0.14973714 0.86752975] [-0.23029437 0.97307479 0.00948484 0.57677373] [ 0.14787831 0.02536092 0.98868035 -1.51052666] [ 0. 0. 0. 1. ]] SLAMing on 109.49629675700001 meters Centerline goodness : 0.812861 Centerline is valid? [False, False] Translation: X:0.87, Y:0.57, Z:-1.51 [[ 0.96287989 0.22392042 -0.15073804 0.86822128] [-0.22563605 0.97419411 0.00584821 0.57458277] [ 0.14815765 0.02838081 0.98855644 -1.51078386] [ 0. 0. 0. 1. ]] SLAMing on 109.52629675700001 meters Centerline goodness : 0.814793 Centerline is valid? [False, False] Translation: X:0.87, Y:0.57, Z:-1.51 [[ 0.96397238 0.21838496 -0.15187252 0.87001398] [-0.22065616 0.97534972 0.00194414 0.57216845] [ 0.14855339 0.03163751 0.98839818 -1.51192281] [ 0. 0. 0. 1. ]] SLAMing on 109.55629675700001 meters Centerline goodness : 0.812993 Centerline is valid? [False, False] Translation: X:0.87, Y:0.57, Z:-1.51 [[ 0.96485123 0.21373017 -0.15291019 0.87110889] [-0.21659653 0.97625886 -0.00214154 0.57218012] [ 0.14882221 0.03518608 0.98823777 -1.51283189] [ 0. 0. 0. 1. ]] SLAMing on 109.586296757 meters Centerline goodness : 0.812183 Centerline is valid? [False, False] Translation: X:0.87, Y:0.57, Z:-1.51 [[ 0.96584669 0.20836904 -0.15402115 0.87315339] [-0.21180115 0.97729415 -0.00603547 0.5699077 ] [ 0.14926636 0.0384512 0.98804912 -1.51431028] [ 0. 0. 0. 1. ]] SLAMing on 109.616296757 meters Centerline goodness : 0.809671 Centerline is valid? [False, False] Translation: X:0.87, Y:0.57, Z:-1.51 [[ 0.96590714 0.20780041 -0.15440979 0.87435055] [-0.21115787 0.97743657 -0.00548649 0.56713332] [ 0.14978568 0.03790428 0.98799166 -1.51431266] [ 0. 0. 0. 1. ]] SLAMing on 109.646296757 meters Centerline goodness : 0.801578 Centerline is valid? [False, False] Translation: X:0.87, Y:0.56, Z:-1.52 [[ 0.96672688 0.20342633 -0.15510275 0.87474345] [-0.20727235 0.97824309 -0.00886733 0.56469415] [ 0.14992435 0.0407208 0.98785855 -1.51521502] [ 0. 0. 0. 1. ]] SLAMing on 109.676296757 meters Centerline goodness : 0.806795 Centerline is valid? [False, False] Translation: X:0.87, Y:0.56, Z:-1.52 [[ 0.96672109 0.2034176 -0.15515028 0.87498654] [-0.20716441 0.97827176 -0.00820177 0.56246855] [ 0.15011075 0.04007044 0.98785683 -1.51516382] [ 0. 0. 0. 1. ]] SLAMing on 109.706296757 meters Centerline goodness : 0.811794 Centerline is valid? [False, False] Translation: X:0.87, Y:0.56, Z:-1.52 [[ 0.96670073 0.20353712 -0.1551204 0.87493094] [-0.20719542 0.97826991 -0.0076181 0.56079839] [ 0.15019906 0.03950466 0.9878662 -1.51500626] [ 0. 0. 0. 1. ]] SLAMing on 109.736296757 meters Centerline goodness : 0.810434 Centerline is valid? [False, False] Translation: X:0.87, Y:0.56, Z:-1.51 [[ 0.96667446 0.20384945 -0.15487379 0.87443278] [-0.20733745 0.97824764 -0.00653807 0.55714762] [ 0.15017214 0.03843132 0.98791263 -1.51489874] [ 0. 0. 0. 1. ]] SLAMing on 109.766296757 meters Centerline goodness : 0.811841 Centerline is valid? [False, False] Translation: X:0.87, Y:0.56, Z:-1.51 [[ 0.96659102 0.2042512 -0.15486527 0.8741718 ] [-0.20764914 0.97818548 -0.00591633 0.55556538] [ 0.15027854 0.03787632 0.98791788 -1.51467088] [ 0. 0. 0. 1. ]] SLAMing on 109.79629675700001 meters Centerline goodness : 0.811193 Centerline is valid? [False, False] Translation: X:0.87, Y:0.55, Z:-1.51 [[ 0.96641642 0.20529648 -0.15457247 0.87305176] [-0.20856853 0.97799456 -0.00507989 0.5535555 ] [ 0.15012815 0.03714824 0.98796839 -1.5146199 ] [ 0. 0. 0. 1. ]] SLAMing on 109.82629675700001 meters Centerline goodness : 0.812526 Centerline is valid? [False, False] Translation: X:0.87, Y:0.55, Z:-1.51 [[ 0.96633175 0.20582957 -0.1543928 0.87262549] [-0.209047 0.97789419 -0.00472315 0.55284072] [ 0.15000766 0.03683948 0.98799826 -1.5147927 ] [ 0. 0. 0. 1. ]] SLAMing on 109.85629675700001 meters Centerline goodness : 0.813924 Centerline is valid? [False, False] Translation: X:0.87, Y:0.55, Z:-1.52 [[ 0.9661285 0.20711772 -0.15394148 0.87169974] [-0.21027669 0.97763225 -0.00434804 0.55232059] [ 0.1495976 0.03657107 0.9880704 -1.51574396] [ 0. 0. 0. 1. ]] SLAMing on 109.88629675700001 meters Centerline goodness : 0.816127 Centerline is valid? [False, False] Translation: X:0.87, Y:0.55, Z:-1.52 [[ 0.96603156 0.20766199 -0.1538165 0.87135581] [-0.21078724 0.97752331 -0.00411325 0.55209658] [ 0.14950505 0.03639608 0.98809087 -1.51590514] [ 0. 0. 0. 1. ]] SLAMing on 109.91629675700001 meters Centerline goodness : 0.819309 Centerline is valid? [False, False] Translation: X:0.87, Y:0.55, Z:-1.52 [[ 0.96578845 0.20939147 -0.15299634 0.86859585] [-0.2123154 0.97719706 -0.00284342 0.54979461] [ 0.14891219 0.03522963 0.98822266 -1.51537721] [ 0. 0. 0. 1. ]] SLAMing on 109.946296757 meters Centerline goodness : 0.817643 Centerline is valid? [False, False] Translation: X:0.87, Y:0.55, Z:-1.51 [[ 0.96568388 0.21013453 -0.15263725 0.8673952 ] [-0.21293959 0.97706315 -0.00208095 0.54850635] [ 0.14869895 0.03451205 0.98828009 -1.51490488] [ 0. 0. 0. 1. ]] SLAMing on 109.976296757 meters Centerline goodness : 0.818535 Centerline is valid? [False, False] Translation: X:0.87, Y:0.55, Z:-1.51 [[ 9.65581950e-01 2.11120805e-01 -1.51919400e-01 8.65649917e-01] [-2.13761533e-01 9.76885279e-01 -1.07603814e-03 5.45978160e-01] [ 1.48180652e-01 3.35135269e-02 9.88392300e-01 -1.51490696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.006296757 meters Centerline goodness : 0.816287 Centerline is valid? [False, False] Translation: X:0.87, Y:0.54, Z:-1.52 [[ 9.65530606e-01 2.11433130e-01 -1.51811333e-01 8.65448397e-01] [-2.14009630e-01 9.76831336e-01 -6.47784130e-04 5.44672629e-01] [ 1.48157104e-01 3.31145425e-02 9.88409277e-01 -1.51503106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.036296757 meters Centerline goodness : 0.818540 Centerline is valid? [False, False] Translation: X:0.87, Y:0.54, Z:-1.52 [[ 9.65475804e-01 2.11830222e-01 -1.51606166e-01 8.65106690e-01] [-2.14346088e-01 9.76757743e-01 -2.58250937e-04 5.43499608e-01] [ 1.48027791e-01 3.27455236e-02 9.88440946e-01 -1.51527974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.066296757 meters Centerline goodness : 0.817246 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 9.65354937e-01 2.12878333e-01 -1.50906135e-01 8.63271573e-01] [-2.15254610e-01 9.76557776e-01 6.02301844e-04 5.41605835e-01] [ 1.47496777e-01 3.19018062e-02 9.88547913e-01 -1.51520817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.096296757 meters Centerline goodness : 0.819488 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 9.65259336e-01 2.13701242e-01 -1.50353562e-01 8.61852272e-01] [-2.15964115e-01 9.76400426e-01 1.30761993e-03 5.40374521e-01] [ 1.47084721e-01 3.12087816e-02 9.88631426e-01 -1.51500571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.126296757 meters Centerline goodness : 0.820324 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.51 [[ 0.96518694 0.21410365 -0.15024577 0.8615237 ] [-0.21631527 0.97632215 0.00166038 0.53981602] [ 0.14704377 0.03089788 0.98864728 -1.51493742] [ 0. 0. 0. 1. ]] SLAMing on 110.156296757 meters Centerline goodness : 0.820549 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.96514067 0.21440443 -0.15011405 0.86122224] [-0.21658802 0.97626135 0.00184431 0.53944087] [ 0.14694597 0.03073288 0.98866697 -1.515007 ] [ 0. 0. 0. 1. ]] SLAMing on 110.18629675700001 meters Centerline goodness : 0.819009 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.96502949 0.21510749 -0.14982273 0.86047915] [-0.21725876 0.97611188 0.00205486 0.53898741] [ 0.14668576 0.0305673 0.98871074 -1.51535174] [ 0. 0. 0. 1. ]] SLAMing on 110.21629675700001 meters Centerline goodness : 0.819745 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.96490886 0.21597001 -0.1493581 0.85916801] [-0.2180745 0.97592932 0.00233971 0.53888852] [ 0.14626826 0.03031358 0.9887804 -1.51542713] [ 0. 0. 0. 1. ]] SLAMing on 110.24629675700001 meters Centerline goodness : 0.819330 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.96487117 0.21630387 -0.14911825 0.85852544] [-0.21837844 0.97586091 0.00251767 0.53898085] [ 0.14606326 0.03013499 0.98881616 -1.51526665] [ 0. 0. 0. 1. ]] SLAMing on 110.27629675700001 meters Centerline goodness : 0.817583 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.96482902 0.21642517 -0.14921496 0.85865846] [-0.21848217 0.9758373 0.00266606 0.53904195] [ 0.14618652 0.03002852 0.98880119 -1.51505817] [ 0. 0. 0. 1. ]] SLAMing on 110.30629675700001 meters Centerline goodness : 0.818150 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.96480899 0.21653822 -0.14918045 0.85868519] [-0.21858476 0.97581412 0.0027384 0.53919318] [ 0.14616535 0.02996654 0.9888062 -1.51507713] [ 0. 0. 0. 1. ]] SLAMing on 110.336296757 meters Centerline goodness : 0.818336 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.9648057 0.21650188 -0.14925448 0.85906864] [-0.21856498 0.97581883 0.00263896 0.5394566 ] [ 0.14621667 0.03007572 0.9887953 -1.51532394] [ 0. 0. 0. 1. ]] SLAMing on 110.366296757 meters Centerline goodness : 0.815996 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.96477466 0.21656715 -0.14936041 0.85973555] [-0.21868285 0.97579325 0.00231046 0.54002532] [ 0.14624525 0.03043348 0.98878012 -1.51613281] [ 0. 0. 0. 1. ]] SLAMing on 110.396296757 meters Centerline goodness : 0.816263 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.96475638 0.21638958 -0.14973535 0.86082966] [-0.21855266 0.97582299 0.00205599 0.54066247] [ 0.14656009 0.03074153 0.98872397 -1.51642492] [ 0. 0. 0. 1. ]] SLAMing on 110.426296757 meters Centerline goodness : 0.817127 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.96404927 0.219527 -0.14972274 0.86405957] [-0.22122973 0.9752068 0.00539575 0.54085203] [ 0.14719514 0.02792136 0.9887133 -1.5171521 ] [ 0. 0. 0. 1. ]] SLAMing on 110.456296757 meters Centerline goodness : 0.816911 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.96406469 0.21930884 -0.14994302 0.8649289 ] [-0.22108796 0.97524152 0.00490848 0.54262879] [ 0.14730713 0.02841851 0.98868246 -1.51747056] [ 0. 0. 0. 1. ]] SLAMing on 110.486296757 meters Centerline goodness : 0.819777 Centerline is valid? [False, False] Translation: X:0.86, Y:0.54, Z:-1.52 [[ 0.96405394 0.21940229 -0.14987539 0.86465705] [-0.22124176 0.97520862 0.00449717 0.54476801] [ 0.14714646 0.02882318 0.98869467 -1.51729706] [ 0. 0. 0. 1. ]] SLAMing on 110.516296757 meters Centerline goodness : 0.820294 Centerline is valid? [False, False] Translation: X:0.86, Y:0.55, Z:-1.52 [[ 0.9640085 0.21963838 -0.14982187 0.86403173] [-0.22145736 0.97515901 0.00464263 0.54517465] [ 0.14711984 0.02870362 0.98870211 -1.51659493] [ 0. 0. 0. 1. ]] SLAMing on 110.54629675700001 meters Centerline goodness : 0.820311 Centerline is valid? [False, False] Translation: X:0.86, Y:0.55, Z:-1.52 [[ 0.96396819 0.22003228 -0.14950295 0.86277186] [-0.22186102 0.97506771 0.00454447 0.54697874] [ 0.14677543 0.02878816 0.98875084 -1.51579799] [ 0. 0. 0. 1. ]] SLAMing on 110.57629675700001 meters Centerline goodness : 0.819120 Centerline is valid? [False, False] Translation: X:0.86, Y:0.55, Z:-1.52 [[ 0.96395304 0.22011366 -0.14948083 0.86254584] [-0.22197243 0.97504327 0.00434397 0.54849971] [ 0.14670644 0.02899324 0.98875508 -1.5154309 ] [ 0. 0. 0. 1. ]] SLAMing on 110.60629675700001 meters Centerline goodness : 0.818915 Centerline is valid? [False, False] Translation: X:0.86, Y:0.55, Z:-1.51 [[ 0.96383452 0.22077667 -0.14926715 0.86151065] [-0.22265737 0.97488769 0.00420454 0.55227092] [ 0.14644697 0.02918295 0.98878797 -1.51443019] [ 0. 0. 0. 1. ]] SLAMing on 110.63629675700001 meters Centerline goodness : 0.817071 Centerline is valid? [False, False] Translation: X:0.86, Y:0.55, Z:-1.51 [[ 0.96377572 0.22106414 -0.14922131 0.86115463] [-0.22296721 0.97481746 0.00406644 0.55421682] [ 0.14636248 0.02935232 0.98879546 -1.51398853] [ 0. 0. 0. 1. ]] SLAMing on 110.66629675700001 meters Centerline goodness : 0.815858 Centerline is valid? [False, False] Translation: X:0.86, Y:0.56, Z:-1.51 [[ 0.96373693 0.22115201 -0.14934159 0.86126219] [-0.22309416 0.97478936 0.00383376 0.55581311] [ 0.14642444 0.0296225 0.98877823 -1.51369395] [ 0. 0. 0. 1. ]] SLAMing on 110.696296757 meters Centerline goodness : 0.813744 Centerline is valid? [False, False] Translation: X:0.86, Y:0.56, Z:-1.51 [[ 0.96372717 0.22070539 -0.15006357 0.86347366] [-0.22278568 0.97486278 0.00301778 0.55800851] [ 0.14695743 0.0305237 0.98867174 -1.51445075] [ 0. 0. 0. 1. ]] SLAMing on 110.726296757 meters Centerline goodness : 0.814238 Centerline is valid? [False, False] Translation: X:0.87, Y:0.56, Z:-1.52 [[ 0.96381924 0.21964112 -0.15103067 0.86719486] [-0.22195444 0.97505576 0.00157833 0.56127841] [ 0.14760999 0.0320007 0.98852782 -1.51624732] [ 0. 0. 0. 1. ]] SLAMing on 110.756296757 meters Centerline goodness : 0.815776 Centerline is valid? [False, False] Translation: X:0.87, Y:0.56, Z:-1.52 [[ 9.63860470e-01 2.19137184e-01 -1.51498812e-01 8.68688446e-01] [-2.21533108e-01 9.75152242e-01 1.08984587e-03 5.62999027e-01] [ 1.47973232e-01 3.25115433e-02 9.88456839e-01 -1.51639237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.786296757 meters Centerline goodness : 0.816309 Centerline is valid? [False, False] Translation: X:0.87, Y:0.56, Z:-1.52 [[ 9.63878175e-01 2.18751733e-01 -1.51942565e-01 8.69816239e-01] [-2.21196740e-01 9.75228851e-01 8.31172344e-04 5.64138538e-01] [ 1.48360594e-01 3.28080513e-02 9.88388975e-01 -1.51616906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.816296757 meters Centerline goodness : 0.815754 Centerline is valid? [False, False] Translation: X:0.87, Y:0.56, Z:-1.52 [[ 9.63964005e-01 2.17977161e-01 -1.52510179e-01 8.71061295e-01] [-2.20476882e-01 9.75392054e-01 5.33818044e-04 5.64905854e-01] [ 1.48873577e-01 3.31103875e-02 9.88301756e-01 -1.51546572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.846296757 meters Centerline goodness : 0.819111 Centerline is valid? [False, False] Translation: X:0.87, Y:0.57, Z:-1.52 [[ 9.63991535e-01 2.17636967e-01 -1.52821699e-01 8.71878202e-01] [-2.20166556e-01 9.75462221e-01 3.79153077e-04 5.65292480e-01] [ 1.49154312e-01 3.32807268e-02 9.88253705e-01 -1.51532383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.876296757 meters Centerline goodness : 0.818852 Centerline is valid? [False, False] Translation: X:0.87, Y:0.57, Z:-1.52 [[ 9.64054110e-01 2.16988859e-01 -1.53347668e-01 8.73574389e-01] [-2.19628797e-01 9.75583473e-01 -2.82360674e-04 5.67863265e-01] [ 1.49542181e-01 3.39517748e-02 9.88172259e-01 -1.51529768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.906296757 meters Centerline goodness : 0.816997 Centerline is valid? [False, False] Translation: X:0.87, Y:0.57, Z:-1.52 [[ 9.64080440e-01 2.16583945e-01 -1.53754025e-01 8.74890933e-01] [-2.19327671e-01 9.75650836e-01 -9.05408752e-04 5.70053891e-01] [ 1.49814146e-01 3.45953992e-02 9.88108739e-01 -1.51553564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93629675700001 meters Centerline goodness : 0.816068 Centerline is valid? [False, False] Translation: X:0.88, Y:0.57, Z:-1.52 [[ 0.96411581 0.21603422 -0.15430465 0.87666378] [-0.21894456 0.97573542 -0.00191614 0.57431415] [ 0.15014656 0.03563154 0.98802146 -1.51571856] [ 0. 0. 0. 1. ]] SLAMing on 110.96629675700001 meters Centerline goodness : 0.815069 Centerline is valid? [False, False] Translation: X:0.88, Y:0.58, Z:-1.52 [[ 0.96414682 0.21557391 -0.154754 0.87777862] [-0.21855628 0.97582159 -0.00231767 0.57551745] [ 0.15051267 0.03605703 0.98795032 -1.51560538] [ 0. 0. 0. 1. ]] SLAMing on 110.99629675700001 meters Centerline goodness : 0.817387 Centerline is valid? [False, False] Translation: X:0.88, Y:0.58, Z:-1.51 [[ 0.96420918 0.21489357 -0.15531071 0.87878429] [-0.21792632 0.97596185 -0.00256666 0.57597522] [ 0.15102577 0.03632109 0.98786234 -1.51482232] [ 0. 0. 0. 1. ]] SLAMing on 111.02629675700001 meters Centerline goodness : 0.817400 Centerline is valid? [False, False] Translation: X:0.88, Y:0.58, Z:-1.51 [[ 0.96418878 0.21477785 -0.15559713 0.87916648] [-0.21782115 0.97598531 -0.00257513 0.57627746] [ 0.15130743 0.03637526 0.98781724 -1.51436674] [ 0. 0. 0. 1. ]] SLAMing on 111.05629675700001 meters Centerline goodness : 0.821537 Centerline is valid? [False, False] Translation: X:0.88, Y:0.58, Z:-1.51 [[ 0.96418029 0.2145983 -0.15589721 0.87984173] [-0.21768697 0.97601459 -0.00281218 0.57735332] [ 0.15155446 0.03664824 0.98776928 -1.51419691] [ 0. 0. 0. 1. ]] SLAMing on 111.086296757 meters Centerline goodness : 0.821219 Centerline is valid? [False, False] Translation: X:0.88, Y:0.58, Z:-1.51 [[ 9.63424072e-01 2.17969584e-01 -1.55895216e-01 8.82447035e-01] [-2.20614180e-01 9.75361094e-01 3.46648632e-04 5.79749005e-01] [ 1.52129688e-01 3.40587257e-02 9.87773537e-01 -1.51413896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.116296757 meters Centerline goodness : 0.822265 Centerline is valid? [False, False] Translation: X:0.88, Y:0.58, Z:-1.51 [[ 0.9626497 0.22140757 -0.15583404 0.88453631] [-0.22360836 0.97467284 0.00348719 0.58250767] [ 0.1526593 0.03148885 0.9877771 -1.51354762] [ 0. 0. 0. 1. ]] SLAMing on 111.146296757 meters Centerline goodness : 0.820053 Centerline is valid? [False, False] Translation: X:0.88, Y:0.58, Z:-1.51 [[ 0.96260528 0.22141068 -0.15610378 0.88490975] [-0.22364524 0.97466494 0.00332558 0.58349927] [ 0.1528852 0.03171065 0.98773506 -1.51320046] [ 0. 0. 0. 1. ]] SLAMing on 111.176296757 meters Centerline goodness : 0.819267 Centerline is valid? [False, False] Translation: X:0.89, Y:0.58, Z:-1.51 [[ 0.96259858 0.22122772 -0.15640419 0.88544965] [-0.22350028 0.97469884 0.0031288 0.58412371] [ 0.15313916 0.0319446 0.98768818 -1.51294926] [ 0. 0. 0. 1. ]] SLAMing on 111.206296757 meters Centerline goodness : 0.819521 Centerline is valid? [False, False] Translation: X:0.89, Y:0.59, Z:-1.51 [[ 0.96267442 0.22034362 -0.15718347 0.88784274] [-0.22281005 0.97485988 0.00197617 0.58726255] [ 0.1536673 0.03311964 0.98756744 -1.51346921] [ 0. 0. 0. 1. ]] SLAMing on 111.236296757 meters Centerline goodness : 0.819127 Centerline is valid? [False, False] Translation: X:0.89, Y:0.59, Z:-1.51 [[ 9.62727624e-01 2.19749359e-01 -1.57688747e-01 8.89676857e-01] [-2.22330715e-01 9.74970440e-01 1.30135060e-03 5.89373085e-01] [ 1.54027838e-01 3.38062056e-02 9.87488008e-01 -1.51392842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.266296757 meters Centerline goodness : 0.819127 Centerline is valid? [False, False] Translation: X:0.89, Y:0.59, Z:-1.51 [[ 9.62727624e-01 2.19749359e-01 -1.57688747e-01 8.89676857e-01] [-2.22330715e-01 9.74970440e-01 1.30135060e-03 5.89373085e-01] [ 1.54027838e-01 3.38062056e-02 9.87488008e-01 -1.51392842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29629675700001 meters Centerline goodness : 0.809877 Centerline is valid? [False, False] Translation: X:0.89, Y:0.59, Z:-1.51 [[ 9.62848154e-01 2.18575738e-01 -1.58581460e-01 8.92863168e-01] [-2.21401271e-01 9.75182779e-01 -1.54556299e-04 5.93440820e-01] [ 1.54612127e-01 3.52589511e-02 9.87345885e-01 -1.51488732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32629675700001 meters Centerline goodness : 0.819698 Centerline is valid? [False, False] Translation: X:0.89, Y:0.59, Z:-1.51 [[ 9.62875383e-01 2.18260217e-01 -1.58850476e-01 8.93658545e-01] [-2.21156791e-01 9.75238098e-01 -5.71295320e-04 5.94582483e-01] [ 1.54792345e-01 3.56809477e-02 9.87302486e-01 -1.51498568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35629675700001 meters Centerline goodness : 0.823444 Centerline is valid? [False, False] Translation: X:0.89, Y:0.60, Z:-1.51 [[ 9.62904507e-01 2.18083702e-01 -1.58916358e-01 8.93286667e-01] [-2.21050491e-01 9.75261833e-01 -1.01816574e-03 5.97034656e-01] [ 1.54763014e-01 3.61089355e-02 9.87291525e-01 -1.51392797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38629675700001 meters Centerline goodness : 0.821149 Centerline is valid? [False, False] Translation: X:0.89, Y:0.60, Z:-1.51 [[ 9.62917509e-01 2.17881721e-01 -1.59114508e-01 8.93459250e-01] [-2.20882110e-01 9.75299774e-01 -1.20201572e-03 5.98195919e-01] [ 1.54922446e-01 3.63029903e-02 9.87259403e-01 -1.51333191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41629675700001 meters Centerline goodness : 0.821467 Centerline is valid? [False, False] Translation: X:0.89, Y:0.60, Z:-1.51 [[ 9.62948104e-01 2.17527994e-01 -1.59413054e-01 8.93986051e-01] [-2.20556738e-01 9.75373225e-01 -1.34062082e-03 5.99093825e-01] [ 1.55195602e-01 3.64505715e-02 9.87211062e-01 -1.51277855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.446296757 meters Centerline goodness : 0.820213 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.51 [[ 0.96303725 0.21674161 -0.15994478 0.89538253] [-0.21983999 0.97553443 -0.00172053 0.60037644] [ 0.15565873 0.0368192 0.98712446 -1.51235396] [ 0. 0. 0. 1. ]] SLAMing on 111.476296757 meters Centerline goodness : 0.822060 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.51 [[ 0.96311489 0.21586788 -0.16065732 0.89746754] [-0.21905702 0.97570959 -0.00219547 0.60144644] [ 0.15628096 0.0373076 0.9870078 -1.5124436 ] [ 0. 0. 0. 1. ]] SLAMing on 111.506296757 meters Centerline goodness : 0.818180 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.51 [[ 0.9631141 0.21554211 -0.16109881 0.89857768] [-0.21875642 0.97577685 -0.00227436 0.601606 ] [ 0.15670626 0.03743187 0.98693566 -1.51240629] [ 0. 0. 0. 1. ]] SLAMing on 111.536296757 meters Centerline goodness : 0.817609 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.51 [[ 0.96313275 0.21516175 -0.16149531 0.89974788] [-0.21840881 0.97585437 -0.00241582 0.60194291] [ 0.15707611 0.03759875 0.98687052 -1.51246018] [ 0. 0. 0. 1. ]] SLAMing on 111.566296757 meters Centerline goodness : 0.817796 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.51 [[ 0.96319574 0.21431887 -0.16223868 0.90180864] [-0.21765975 0.97602042 -0.00289297 0.60268152] [ 0.15772825 0.03809933 0.9867473 -1.51259993] [ 0. 0. 0. 1. ]] SLAMing on 111.596296757 meters Centerline goodness : 0.819949 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.51 [[ 0.96315894 0.21426025 -0.16253433 0.90224456] [-0.21759888 0.97603423 -0.00281156 0.60270756] [ 0.15803666 0.03807527 0.98669888 -1.51217769] [ 0. 0. 0. 1. ]] SLAMing on 111.626296757 meters Centerline goodness : 0.821652 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.51 [[ 0.96312501 0.21407119 -0.16298389 0.90289491] [-0.21743918 0.97606956 -0.00290052 0.60349149] [ 0.15846269 0.03823265 0.98662447 -1.5114524 ] [ 0. 0. 0. 1. ]] SLAMing on 111.656296757 meters Centerline goodness : 0.827636 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.51 [[ 0.9630952 0.21407585 -0.16315382 0.90309211] [-0.21749088 0.97605727 -0.00315119 0.60505096] [ 0.15857287 0.03851936 0.98659561 -1.51108797] [ 0. 0. 0. 1. ]] SLAMing on 111.68629675700001 meters Centerline goodness : 0.819568 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.51 [[ 0.96303228 0.21422684 -0.16332693 0.90320215] [-0.21769019 0.97601201 -0.00339634 0.60713231] [ 0.15868146 0.03882545 0.98656616 -1.51060633] [ 0. 0. 0. 1. ]] SLAMing on 111.71629675700001 meters Centerline goodness : 0.824632 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.51 [[ 9.62185622e-01 2.18236827e-01 -1.63007718e-01 9.04048441e-01] [-2.21166636e-01 9.75236016e-01 1.78257174e-04 6.08607528e-01] [ 1.59009900e-01 3.58803521e-02 9.86624778e-01 -1.50962836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74629675700001 meters Centerline goodness : 0.814680 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.51 [[ 9.62034052e-01 2.18647283e-01 -1.63351916e-01 9.04423128e-01] [-2.21644066e-01 9.75127629e-01 -1.23246289e-04 6.11285048e-01] [ 1.59262019e-01 3.63245501e-02 9.86567857e-01 -1.50914999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77629675700001 meters Centerline goodness : 0.829126 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.51 [[ 9.62015744e-01 2.18583670e-01 -1.63544758e-01 9.04976162e-01] [-2.21653979e-01 9.75125234e-01 -5.39088479e-04 6.12740085e-01] [ 1.59358785e-01 3.67689580e-02 9.86535768e-01 -1.50928361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80629675700001 meters Centerline goodness : 0.834375 Centerline is valid? [False, False] Translation: X:0.91, Y:0.61, Z:-1.51 [[ 9.61959959e-01 2.18702575e-01 -1.63713838e-01 9.05296023e-01] [-2.21808504e-01 9.75089988e-01 -7.09822024e-04 6.14090897e-01] [ 1.59480484e-01 3.69959417e-02 9.86507616e-01 -1.50910384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.836296757 meters Centerline goodness : 0.820963 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.51 [[ 9.61856215e-01 2.19015629e-01 -1.63904776e-01 9.05456736e-01] [-2.22167270e-01 9.75008131e-01 -9.20961897e-04 6.16830339e-01] [ 1.59606784e-01 3.73001094e-02 9.86475735e-01 -1.50848554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.866296757 meters Centerline goodness : 0.816494 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.51 [[ 9.61808183e-01 2.19029475e-01 -1.64167926e-01 9.05902020e-01] [-2.22205818e-01 9.74999259e-01 -1.00993348e-03 6.17604626e-01] [ 1.59842401e-01 3.74504308e-02 9.86431889e-01 -1.50819529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.896296757 meters Centerline goodness : 0.812056 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.51 [[ 9.61767565e-01 2.18986552e-01 -1.64462884e-01 9.06485807e-01] [-2.22220285e-01 9.74995622e-01 -1.29714564e-03 6.19237738e-01] [ 1.60066534e-01 3.77945414e-02 9.86382419e-01 -1.50787887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.926296757 meters Centerline goodness : 0.818609 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.51 [[ 9.61725282e-01 2.19045250e-01 -1.64631897e-01 9.06628816e-01] [-2.22291478e-01 9.74979350e-01 -1.32865317e-03 6.20053230e-01] [ 1.60221665e-01 3.78740670e-02 9.86354182e-01 -1.50745491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.956296757 meters Centerline goodness : 0.824920 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.51 [[ 9.61677078e-01 2.19144216e-01 -1.64781703e-01 9.06303212e-01] [-2.22377559e-01 9.74959881e-01 -1.20512638e-03 6.20779118e-01] [ 1.60391453e-01 3.78026954e-02 9.86329325e-01 -1.50640518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.986296757 meters Centerline goodness : 0.812262 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.51 [[ 9.61596125e-01 2.19371321e-01 -1.64951857e-01 9.05949213e-01] [-2.22559316e-01 9.74918766e-01 -8.66666182e-04 6.20578795e-01] [ 1.60624539e-01 3.75449553e-02 9.86301239e-01 -1.50544793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.016296757 meters Centerline goodness : 0.815293 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.50 [[ 9.61507364e-01 2.19820677e-01 -1.64871034e-01 9.05060641e-01] [-2.22933342e-01 9.74833615e-01 -3.84934785e-04 6.20097454e-01] [ 1.60637210e-01 3.71253683e-02 9.86315058e-01 -1.50447810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04629675700001 meters Centerline goodness : 0.811902 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.50 [[ 9.61456220e-01 2.19915925e-01 -1.65042183e-01 9.05333029e-01] [-2.23045707e-01 9.74807887e-01 -4.41731372e-04 6.20902163e-01] [ 1.60787278e-01 3.72366559e-02 9.86286410e-01 -1.50426320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07629675700001 meters Centerline goodness : 0.804044 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.50 [[ 0.96059951 0.22394084 -0.164618 0.90654394] [-0.22646367 0.97401323 0.00352603 0.62090421] [ 0.16112974 0.03389289 0.98635109 -1.50389035] [ 0. 0. 0. 1. ]] SLAMing on 112.10629675700001 meters Centerline goodness : 0.813895 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.50 [[ 0.96051995 0.22422575 -0.16469438 0.90656437] [-0.22675165 0.97394615 0.00354788 0.62203062] [ 0.16119898 0.03393691 0.98633827 -1.50356689] [ 0. 0. 0. 1. ]] SLAMing on 112.13629675700001 meters Centerline goodness : 0.812154 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.50 [[ 0.96037455 0.22461255 -0.16501494 0.90723263] [-0.22715258 0.97385266 0.00356319 0.62297173] [ 0.16150058 0.03406157 0.98628463 -1.50348654] [ 0. 0. 0. 1. ]] SLAMing on 112.16629675700001 meters Centerline goodness : 0.814672 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.50 [[ 0.96029283 0.22484883 -0.16516863 0.90753475] [-0.22737069 0.97380115 0.00372713 0.62270488] [ 0.16167945 0.03397537 0.9862583 -1.50347119] [ 0. 0. 0. 1. ]] SLAMing on 112.19629675700001 meters Centerline goodness : 0.813922 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.50 [[ 0.96022029 0.22501699 -0.16536126 0.90773236] [-0.22751354 0.97376696 0.00393683 0.62250078] [ 0.16190919 0.0338417 0.9862252 -1.50313962] [ 0. 0. 0. 1. ]] SLAMing on 112.226296757 meters Centerline goodness : 0.816228 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.50 [[ 0.96007307 0.22573283 -0.16524042 0.90651719] [-0.22812806 0.97362032 0.00459006 0.6217702 ] [ 0.16191756 0.03328918 0.98624263 -1.50201981] [ 0. 0. 0. 1. ]] SLAMing on 112.256296757 meters Centerline goodness : 0.815080 Centerline is valid? [False, False] Translation: X:0.91, Y:0.62, Z:-1.50 [[ 0.95997202 0.22623763 -0.16513711 0.90562916] [-0.22856028 0.97351664 0.00505413 0.6214028 ] [ 0.16190716 0.03289196 0.98625767 -1.50123023] [ 0. 0. 0. 1. ]] SLAMing on 112.286296757 meters Centerline goodness : 0.798776 Centerline is valid? [False, False] Translation: X:0.90, Y:0.62, Z:-1.50 [[ 0.95985086 0.22697966 -0.16482283 0.90431514] [-0.22920022 0.97336275 0.00567594 0.62051952] [ 0.16172073 0.03232938 0.98630686 -1.50057104] [ 0. 0. 0. 1. ]] SLAMing on 112.316296757 meters Centerline goodness : 0.816981 Centerline is valid? [False, False] Translation: X:0.90, Y:0.62, Z:-1.50 [[ 0.95977332 0.22725832 -0.16489035 0.90418302] [-0.22941372 0.97330982 0.00611067 0.61984313] [ 0.1618781 0.03196325 0.98629297 -1.50010884] [ 0. 0. 0. 1. ]] SLAMing on 112.346296757 meters Centerline goodness : 0.797190 Centerline is valid? [False, False] Translation: X:0.90, Y:0.62, Z:-1.50 [[ 0.95970246 0.22756844 -0.16487507 0.90391368] [-0.22964532 0.97325192 0.00661254 0.61861292] [ 0.16196978 0.03151672 0.98629229 -1.49982344] [ 0. 0. 0. 1. ]] SLAMing on 112.376296757 meters Centerline goodness : 0.817432 Centerline is valid? [False, False] Translation: X:0.90, Y:0.62, Z:-1.50 [[ 0.95965455 0.22799247 -0.16456787 0.90280745] [-0.22988717 0.97318683 0.00769892 0.61534995] [ 0.16191058 0.03044374 0.98633572 -1.4991966 ] [ 0. 0. 0. 1. ]] SLAMing on 112.406296757 meters Centerline goodness : 0.786053 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.95956739 0.22844839 -0.16444376 0.90197997] [-0.23021593 0.97310254 0.00848928 0.61355057] [ 0.16196001 0.02971154 0.98634993 -1.49849805] [ 0. 0. 0. 1. ]] SLAMing on 112.43629675700001 meters Centerline goodness : 0.793908 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.95954583 0.22878057 -0.16410744 0.90079872] [-0.23037851 0.97305482 0.0094895 0.61096904] [ 0.16185655 0.02870121 0.98639683 -1.49765457] [ 0. 0. 0. 1. ]] SLAMing on 112.46629675700001 meters Centerline goodness : 0.796399 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.95949782 0.22908328 -0.16396578 0.90015258] [-0.23059075 0.97299901 0.01004165 0.60988181] [ 0.16183892 0.02817406 0.98641492 -1.49716823] [ 0. 0. 0. 1. ]] SLAMing on 112.49629675700001 meters Centerline goodness : 0.786029 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.95945454 0.22932884 -0.16387576 0.89964109] [-0.23074968 0.97295568 0.01057486 0.60883821] [ 0.16186898 0.02766818 0.9864243 -1.49666085] [ 0. 0. 0. 1. ]] SLAMing on 112.52629675700001 meters Centerline goodness : 0.793811 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.96023579 0.2259185 -0.16403674 0.8974073 ] [-0.22781242 0.97367673 0.00742487 0.60849825] [ 0.16139617 0.03023998 0.98642629 -1.49608779] [ 0. 0. 0. 1. ]] SLAMing on 112.55629675700001 meters Centerline goodness : 0.790421 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.96105715 0.22219194 -0.16431647 0.89564532] [-0.22458236 0.97444638 0.00412406 0.607292 ] [ 0.16103392 0.03293913 0.98639905 -1.49592172] [ 0. 0. 0. 1. ]] SLAMing on 112.586296757 meters Centerline goodness : 0.792108 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.96107228 0.22209354 -0.16436098 0.89573616] [-0.22442032 0.97448199 0.00451452 0.60570968] [ 0.16116946 0.03254717 0.98638993 -1.49580272] [ 0. 0. 0. 1. ]] SLAMing on 112.616296757 meters Centerline goodness : 0.792565 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.50 [[ 0.96107417 0.22198401 -0.16449782 0.89599348] [-0.22425963 0.97451739 0.00484586 0.6044828 ] [ 0.16138169 0.03223299 0.98636554 -1.49563379] [ 0. 0. 0. 1. ]] SLAMing on 112.646296757 meters Centerline goodness : 0.790985 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.50 [[ 0.9611941 0.22138442 -0.16460509 0.89657475] [-0.2236187 0.97466352 0.00506873 0.60290231] [ 0.16155672 0.03193674 0.98634653 -1.49560044] [ 0. 0. 0. 1. ]] SLAMing on 112.676296757 meters Centerline goodness : 0.788000 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.50 [[ 0.9611872 0.22135319 -0.16468738 0.89677126] [-0.22354361 0.97467924 0.00535013 0.6018912 ] [ 0.16170163 0.03167234 0.98633131 -1.49553902] [ 0. 0. 0. 1. ]] SLAMing on 112.706296757 meters Centerline goodness : 0.788134 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.49 [[ 0.96118693 0.2214708 -0.16453075 0.89609935] [-0.223573 0.97466953 0.0058676 0.60043841] [ 0.16166261 0.03114477 0.9863545 -1.49497114] [ 0. 0. 0. 1. ]] SLAMing on 112.736296757 meters Centerline goodness : 0.789102 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.49 [[ 0.96114293 0.22171043 -0.16446506 0.89577681] [-0.2237645 0.97462372 0.00616898 0.59973622] [ 0.16165927 0.03087217 0.98636362 -1.49479772] [ 0. 0. 0. 1. ]] SLAMing on 112.766296757 meters Centerline goodness : 0.780029 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.49 [[ 0.96110961 0.2218293 -0.1644995 0.89583574] [-0.22386882 0.97459909 0.00627459 0.59971725] [ 0.16171295 0.03079574 0.98635721 -1.49472241] [ 0. 0. 0. 1. ]] SLAMing on 112.79629675700001 meters Centerline goodness : 0.789752 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.50 [[ 0.96109624 0.22175693 -0.1646751 0.89677927] [-0.22384459 0.97460633 0.00600887 0.60069975] [ 0.16182591 0.03108652 0.98632956 -1.49529516] [ 0. 0. 0. 1. ]] SLAMing on 112.82629675700001 meters Centerline goodness : 0.782020 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.50 [[ 0.96104444 0.22178632 -0.16493758 0.89745781] [-0.22387936 0.97459821 0.00602983 0.60083395] [ 0.1620852 0.03113119 0.98628558 -1.49535133] [ 0. 0. 0. 1. ]] SLAMing on 112.85629675700001 meters Centerline goodness : 0.783221 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.50 [[ 0.9609584 0.22214146 -0.16496096 0.89732871] [-0.22421777 0.97451956 0.00616658 0.60079571] [ 0.16212753 0.03106136 0.98628082 -1.49528922] [ 0. 0. 0. 1. ]] SLAMing on 112.88629675700001 meters Centerline goodness : 0.785975 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.50 [[ 0.96091069 0.2223451 -0.16496457 0.89721057] [-0.22440851 0.97447503 0.00626326 0.60083033] [ 0.16214646 0.03100102 0.98627961 -1.49516898] [ 0. 0. 0. 1. ]] SLAMing on 112.91629675700001 meters Centerline goodness : 0.788057 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.49 [[ 0.96087649 0.22248098 -0.16498058 0.89706642] [-0.22452753 0.97444686 0.00638056 0.6006982 ] [ 0.16218436 0.03091175 0.98627618 -1.49499833] [ 0. 0. 0. 1. ]] SLAMing on 112.94629675700001 meters Centerline goodness : 0.768178 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.49 [[ 0.96080917 0.2228965 -0.16481171 0.89634515] [-0.22486532 0.97436573 0.00685657 0.60013107] [ 0.16211518 0.03047258 0.98630122 -1.49450368] [ 0. 0. 0. 1. ]] SLAMing on 112.976296757 meters Centerline goodness : 0.784612 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.49 [[ 0.96077033 0.22308939 -0.16477711 0.89636722] [-0.22503412 0.97432564 0.00701315 0.59997622] [ 0.16211112 0.03034245 0.9863059 -1.49457859] [ 0. 0. 0. 1. ]] SLAMing on 113.006296757 meters Centerline goodness : 0.787161 Centerline is valid? [False, False] Translation: X:0.90, Y:0.60, Z:-1.49 [[ 0.96067466 0.22379212 -0.16438155 0.89528437] [-0.22566383 0.9741768 0.00744345 0.60040005] [ 0.16180248 0.02994423 0.98636874 -1.49420137] [ 0. 0. 0. 1. ]] SLAMing on 113.036296757 meters Centerline goodness : 0.790447 Centerline is valid? [False, False] Translation: X:0.89, Y:0.60, Z:-1.49 [[ 0.96063858 0.22408656 -0.16419114 0.89461225] [-0.22592921 0.97411399 0.00761027 0.6006699 ] [ 0.16164625 0.02978486 0.98639919 -1.49382644] [ 0. 0. 0. 1. ]] SLAMing on 113.066296757 meters Centerline goodness : 0.774379 Centerline is valid? [False, False] Translation: X:0.89, Y:0.60, Z:-1.49 [[ 0.9605867 0.22446149 -0.16398239 0.89371397] [-0.2262532 0.97403637 0.00791449 0.60067319] [ 0.16150131 0.02949898 0.98643152 -1.49322433] [ 0. 0. 0. 1. ]] SLAMing on 113.096296757 meters Centerline goodness : 0.785173 Centerline is valid? [False, False] Translation: X:0.89, Y:0.60, Z:-1.49 [[ 0.96051214 0.22510414 -0.16353763 0.89194742] [-0.22680722 0.97390319 0.00842961 0.60061901] [ 0.16116736 0.02899477 0.98650108 -1.49217778] [ 0. 0. 0. 1. ]] SLAMing on 113.126296757 meters Centerline goodness : 0.787726 Centerline is valid? [False, False] Translation: X:0.89, Y:0.60, Z:-1.49 [[ 0.96046218 0.22538938 -0.16343816 0.89131569] [-0.22706125 0.97384227 0.00862688 0.60061505] [ 0.16110739 0.02882468 0.98651586 -1.49170164] [ 0. 0. 0. 1. ]] SLAMing on 113.156296757 meters Centerline goodness : 0.788384 Centerline is valid? [False, False] Translation: X:0.89, Y:0.60, Z:-1.49 [[ 0.96036705 0.22609422 -0.1630231 0.88984172] [-0.22774612 0.97368137 0.00873408 0.60200033] [ 0.16070728 0.02873995 0.98658359 -1.49108738] [ 0. 0. 0. 1. ]] SLAMing on 113.18629675700001 meters Centerline goodness : 0.788384 Centerline is valid? [False, False] Translation: X:0.89, Y:0.60, Z:-1.49 [[ 0.96036705 0.22609422 -0.1630231 0.88984172] [-0.22774612 0.97368137 0.00873408 0.60200033] [ 0.16070728 0.02873995 0.98658359 -1.49108738] [ 0. 0. 0. 1. ]] SLAMing on 113.21629675700001 meters Centerline goodness : 0.790818 Centerline is valid? [False, False] Translation: X:0.89, Y:0.60, Z:-1.49 [[ 0.96032001 0.22639393 -0.16288422 0.88949786] [-0.22806617 0.97360757 0.00860946 0.60360936] [ 0.16053444 0.02888055 0.98660763 -1.49093323] [ 0. 0. 0. 1. ]] SLAMing on 113.24629675700001 meters Centerline goodness : 0.790091 Centerline is valid? [False, False] Translation: X:0.89, Y:0.60, Z:-1.49 [[ 0.9595201 0.23041477 -0.16195745 0.88975959] [-0.23152311 0.97275216 0.01225873 0.6048577 ] [ 0.16036905 0.0257344 0.9867216 -1.49053458] [ 0. 0. 0. 1. ]] SLAMing on 113.27629675700001 meters Centerline goodness : 0.789071 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.49 [[ 0.95951169 0.23053559 -0.16183527 0.88956904] [-0.23168005 0.97271769 0.01202659 0.60605756] [ 0.16019259 0.02595435 0.9867445 -1.49059841] [ 0. 0. 0. 1. ]] SLAMing on 113.30629675700001 meters Centerline goodness : 0.789658 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.49 [[ 0.95949584 0.23079245 -0.16156291 0.88859353] [-0.23194824 0.97265492 0.01193372 0.60689844] [ 0.15989918 0.02602388 0.98679026 -1.49021371] [ 0. 0. 0. 1. ]] SLAMing on 113.336296757 meters Centerline goodness : 0.792970 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.49 [[ 0.95948222 0.23078022 -0.16166128 0.88856239] [-0.23192212 0.97265991 0.01203455 0.6069086 ] [ 0.16001878 0.02594589 0.98677292 -1.48979798] [ 0. 0. 0. 1. ]] SLAMing on 113.366296757 meters Centerline goodness : 0.792660 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.49 [[ 0.95948122 0.23072801 -0.16174168 0.8887828 ] [-0.23186937 0.97267234 0.01204665 0.60684437] [ 0.16010116 0.02594441 0.9867596 -1.48979071] [ 0. 0. 0. 1. ]] SLAMing on 113.396296757 meters Centerline goodness : 0.797161 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.49 [[ 0.95991548 0.22963212 -0.16072141 0.88847476] [-0.23066132 0.97295404 0.012482 0.60788134] [ 0.15924081 0.02509054 0.98692088 -1.49158131] [ 0. 0. 0. 1. ]] SLAMing on 113.426296757 meters Centerline goodness : 0.796165 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.49 [[ 0.96008092 0.22937076 -0.16010523 0.88808992] [-0.2302899 0.97303461 0.01304612 0.60868435] [ 0.15878033 0.02434529 0.98701373 -1.49220742] [ 0. 0. 0. 1. ]] SLAMing on 113.456296757 meters Centerline goodness : 0.797623 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.49 [[ 0.96031942 0.22871234 -0.15961605 0.88796051] [-0.22955375 0.97320374 0.01339952 0.60950683] [ 0.15840357 0.02377264 0.98708823 -1.49291972] [ 0. 0. 0. 1. ]] SLAMing on 113.486296757 meters Centerline goodness : 0.798771 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.50 [[ 0.96099417 0.23496264 -0.14588612 0.88647003] [-0.23546547 0.971781 0.01406089 0.60584719] [ 0.14507315 0.02083871 0.98920146 -1.49729261] [ 0. 0. 0. 1. ]] SLAMing on 113.516296757 meters Centerline goodness : 0.801563 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.50 [[ 0.96110544 0.23447431 -0.1459388 0.88614791] [-0.23503321 0.97189151 0.01364882 0.60651343] [ 0.14503698 0.02118251 0.98919946 -1.49669877] [ 0. 0. 0. 1. ]] SLAMing on 113.54629675700001 meters Centerline goodness : 0.802509 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.50 [[ 0.96106948 0.23461309 -0.14595255 0.88603361] [-0.23517953 0.97185665 0.01361004 0.60729164] [ 0.14503805 0.02124486 0.98919797 -1.49627545] [ 0. 0. 0. 1. ]] SLAMing on 113.57629675700001 meters Centerline goodness : 0.806828 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.50 [[ 0.96099766 0.23484106 -0.14605882 0.88612283] [-0.23545124 0.97179454 0.01334513 0.60829951] [ 0.14507315 0.02156509 0.98918589 -1.495817 ] [ 0. 0. 0. 1. ]] SLAMing on 113.60629675700001 meters Centerline goodness : 0.812171 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.50 [[ 0.96111144 0.23467393 -0.14557795 0.88554226] [-0.2352852 0.97183602 0.01325255 0.61061175] [ 0.14458792 0.02151516 0.98925802 -1.49553238] [ 0. 0. 0. 1. ]] SLAMing on 113.63629675700001 meters Centerline goodness : 0.811882 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.50 [[ 0.96104749 0.23489781 -0.14563906 0.88557237] [-0.23550681 0.97178177 0.01329435 0.61135693] [ 0.1446522 0.02152249 0.98924846 -1.49508268] [ 0. 0. 0. 1. ]] SLAMing on 113.66629675700001 meters Centerline goodness : 0.816016 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.49 [[ 0.9610362 0.2349379 -0.1456489 0.88511148] [-0.23563036 0.9717594 0.0127279 0.61360296] [ 0.14452595 0.02208733 0.98925447 -1.49394799] [ 0. 0. 0. 1. ]] SLAMing on 113.69629675700001 meters Centerline goodness : 0.814586 Centerline is valid? [False, False] Translation: X:0.89, Y:0.61, Z:-1.49 [[ 0.96083386 0.23545097 -0.14615447 0.88569744] [-0.23620808 0.97162332 0.0124042 0.61434913] [ 0.14492768 0.02260449 0.98918401 -1.49315619] [ 0. 0. 0. 1. ]] SLAMing on 113.726296757 meters Centerline goodness : 0.813105 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.49 [[ 0.96058221 0.23610558 -0.14675141 0.886698 ] [-0.23693798 0.97145021 0.0120367 0.61547177] [ 0.14540362 0.02320875 0.98910017 -1.49248318] [ 0. 0. 0. 1. ]] SLAMing on 113.756296757 meters Centerline goodness : 0.812032 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.49 [[ 0.95970526 0.23997703 -0.14620822 0.88690133] [-0.24039532 0.97055812 0.01506756 0.61654352] [ 0.14551944 0.02068736 0.98913908 -1.49167628] [ 0. 0. 0. 1. ]] SLAMing on 113.786296757 meters Centerline goodness : 0.814958 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.49 [[ 0.95943893 0.24094964 -0.14635646 0.88796582] [-0.24132668 0.97032104 0.01544377 0.61717511] [ 0.14573392 0.02050237 0.98911136 -1.49196522] [ 0. 0. 0. 1. ]] SLAMing on 113.816296757 meters Centerline goodness : 0.811863 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.49 [[ 0.95921713 0.24161791 -0.14670816 0.88884728] [-0.24199836 0.97015249 0.01552233 0.61784762] [ 0.14607976 0.02061385 0.98905802 -1.49168695] [ 0. 0. 0. 1. ]] SLAMing on 113.846296757 meters Centerline goodness : 0.816483 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.49 [[ 0.9590402 0.24179525 -0.14757015 0.89003778] [-0.24238045 0.97007619 0.01427945 0.61935233] [ 0.14660699 0.02207355 0.98894851 -1.49089655] [ 0. 0. 0. 1. ]] SLAMing on 113.876296757 meters Centerline goodness : 0.819083 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.49 [[ 0.95904067 0.24174909 -0.14764273 0.8900129 ] [-0.24240977 0.97007612 0.01377775 0.62034305] [ 0.14655545 0.02257662 0.98894479 -1.49046032] [ 0. 0. 0. 1. ]] SLAMing on 113.906296757 meters Centerline goodness : 0.818291 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.49 [[ 0.95919297 0.24084911 -0.14812346 0.89087797] [-0.24169539 0.97027123 0.01253306 0.62189516] [ 0.14673851 0.02377913 0.98888946 -1.49040609] [ 0. 0. 0. 1. ]] SLAMing on 113.93629675700001 meters Centerline goodness : 0.817597 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.49 [[ 0.959213 0.24085177 -0.14798937 0.89026441] [-0.24169338 0.97027161 0.01254284 0.62259854] [ 0.14661085 0.0237368 0.98890941 -1.48971146] [ 0. 0. 0. 1. ]] SLAMing on 113.96629675700001 meters Centerline goodness : 0.817681 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.49 [[ 0.95950527 0.23984143 -0.14773533 0.88911899] [-0.24076998 0.97051005 0.01183502 0.62400072] [ 0.14621715 0.02421447 0.98895612 -1.48883061] [ 0. 0. 0. 1. ]] SLAMing on 113.99629675700001 meters Centerline goodness : 0.820418 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.49 [[ 0.95987707 0.23742929 -0.14920905 0.89157594] [-0.23883737 0.97102084 0.00867427 0.62436917] [ 0.14694462 0.02731047 0.98876763 -1.48958362] [ 0. 0. 0. 1. ]] SLAMing on 114.02629675700001 meters Centerline goodness : 0.818617 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.49 [[ 0.9601649 0.23659402 -0.14868299 0.89037914] [-0.23795065 0.97123686 0.00885762 0.62454906] [ 0.14650206 0.02687444 0.98884524 -1.4895424 ] [ 0. 0. 0. 1. ]] SLAMing on 114.05629675700001 meters Centerline goodness : 0.817218 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.50 [[ 0.96142516 0.23901292 -0.13614144 0.89144438] [-0.24028069 0.97067609 0.00728821 0.62103058] [ 0.13389122 0.02570509 0.9906626 -1.49695744] [ 0. 0. 0. 1. ]] SLAMing on 114.086296757 meters Centerline goodness : 0.817812 Centerline is valid? [False, False] Translation: X:0.89, Y:0.62, Z:-1.50 [[ 0.96158311 0.2381404 -0.13655432 0.8928294 ] [-0.23941807 0.97088963 0.00723281 0.62052543] [ 0.1343016 0.02573863 0.99060618 -1.49788167] [ 0. 0. 0. 1. ]] SLAMing on 114.116296757 meters Centerline goodness : 0.816493 Centerline is valid? [False, False] Translation: X:0.90, Y:0.62, Z:-1.50 [[ 0.96185151 0.23676501 -0.13705477 0.89509832] [-0.23807492 0.97122161 0.00699405 0.6184679 ] [ 0.1347665 0.02590206 0.99053878 -1.4990826 ] [ 0. 0. 0. 1. ]] SLAMing on 114.146296757 meters Centerline goodness : 0.820558 Centerline is valid? [False, False] Translation: X:0.90, Y:0.62, Z:-1.50 [[ 0.96228157 0.23463041 -0.13770529 0.89637384] [-0.2361007 0.97171133 0.00579268 0.61758018] [ 0.13516893 0.02693812 0.99045631 -1.50011801] [ 0. 0. 0. 1. ]] SLAMing on 114.176296757 meters Centerline goodness : 0.817614 Centerline is valid? [False, False] Translation: X:0.90, Y:0.62, Z:-1.50 [[ 0.96233485 0.23433984 -0.13782767 0.89661802] [-0.23575701 0.97179235 0.00618506 0.61584888] [ 0.13538928 0.02654174 0.99043691 -1.49992152] [ 0. 0. 0. 1. ]] SLAMing on 114.206296757 meters Centerline goodness : 0.820404 Centerline is valid? [False, False] Translation: X:0.90, Y:0.62, Z:-1.50 [[ 0.96321761 0.23033345 -0.13841367 0.89557936] [-0.23219143 0.9726661 0.00279352 0.61561253] [ 0.13527372 0.0294477 0.99037056 -1.49926044] [ 0. 0. 0. 1. ]] SLAMing on 114.236296757 meters Centerline goodness : 0.815875 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.96322531 0.23018664 -0.13860419 0.89586199] [-0.23200468 0.97270968 0.00311676 0.61448504] [ 0.13553908 0.02915468 0.99034295 -1.49898029] [ 0. 0. 0. 1. ]] SLAMing on 114.266296757 meters Centerline goodness : 0.814981 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.96321679 0.23027664 -0.13851381 0.89609212] [-0.23198486 0.97271155 0.00390596 0.61326434] [ 0.13563344 0.02837083 0.9903528 -1.49936392] [ 0. 0. 0. 1. ]] SLAMing on 114.29629675700001 meters Centerline goodness : 0.815077 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.96309082 0.23060629 -0.13884095 0.89743495] [-0.23231535 0.97263232 0.00399275 0.61292702] [ 0.13596195 0.02840951 0.99030664 -1.50005997] [ 0. 0. 0. 1. ]] SLAMing on 114.32629675700001 meters Centerline goodness : 0.813758 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.9626543 0.23221305 -0.13918982 0.89863181] [-0.23382933 0.97226553 0.00485623 0.61179573] [ 0.13645714 0.02787179 0.99025381 -1.50020529] [ 0. 0. 0. 1. ]] SLAMing on 114.35629675700001 meters Centerline goodness : 0.812544 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.96229705 0.23320261 -0.14000335 0.89976808] [-0.23489927 0.97200923 0.00451569 0.61166017] [ 0.13713762 0.02854125 0.99014073 -1.49942385] [ 0. 0. 0. 1. ]] SLAMing on 114.38629675700001 meters Centerline goodness : 0.812530 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.96165016 0.23543107 -0.1407167 0.90095364] [-0.23717134 0.97145734 0.00451533 0.61163654] [ 0.13776331 0.0290318 0.99003961 -1.49852747] [ 0. 0. 0. 1. ]] SLAMing on 114.41629675700001 meters Centerline goodness : 0.811011 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.96123086 0.23675511 -0.1413586 0.90177573] [-0.23854919 0.97112061 0.00436425 0.61170286] [ 0.13830951 0.02952592 0.98994884 -1.49761026] [ 0. 0. 0. 1. ]] SLAMing on 114.44629675700001 meters Centerline goodness : 0.810494 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.9607517 0.23814781 -0.14227367 0.90284694] [-0.24004105 0.97075467 0.00395894 0.61194986] [ 0.13905564 0.03034796 0.98981944 -1.49631925] [ 0. 0. 0. 1. ]] SLAMing on 114.476296757 meters Centerline goodness : 0.810168 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.95982545 0.24124667 -0.14330088 0.9045489 ] [-0.24321576 0.96996445 0.00388009 0.61190238] [ 0.13993282 0.03112883 0.98967156 -1.49504258] [ 0. 0. 0. 1. ]] SLAMing on 114.506296757 meters Centerline goodness : 0.808340 Centerline is valid? [False, False] Translation: X:0.90, Y:0.61, Z:-1.50 [[ 0.95943987 0.24962413 -0.13100736 0.90465001] [-0.25123193 0.96791702 0.00437772 0.6079494 ] [ 0.12789704 0.02871307 0.99137173 -1.49868635] [ 0. 0. 0. 1. ]] SLAMing on 114.536296757 meters Centerline goodness : 0.809516 Centerline is valid? [False, False] Translation: X:0.91, Y:0.61, Z:-1.50 [[ 0.95904354 0.2506651 -0.13191849 0.90549553] [-0.25232006 0.96763431 0.00429227 0.60693227] [ 0.12872478 0.02916921 0.99125127 -1.4975418 ] [ 0. 0. 0. 1. ]] SLAMing on 114.566296757 meters Centerline goodness : 0.818504 Centerline is valid? [False, False] Translation: X:0.91, Y:0.61, Z:-1.50 [[ 0.95870717 0.25151498 -0.13274323 0.90642012] [-0.25320063 0.96740421 0.00430453 0.60573908] [ 0.12949902 0.02948389 0.99114111 -1.49669656] [ 0. 0. 0. 1. ]] SLAMing on 114.596296757 meters Centerline goodness : 0.811085 Centerline is valid? [False, False] Translation: X:0.91, Y:0.60, Z:-1.50 [[ 0.95805209 0.25299448 -0.13464762 0.90908615] [-0.25479533 0.96698684 0.00397426 0.60336769] [ 0.13120794 0.03050004 0.99088558 -1.49576162] [ 0. 0. 0. 1. ]] SLAMing on 114.626296757 meters Centerline goodness : 0.808448 Centerline is valid? [False, False] Translation: X:0.91, Y:0.60, Z:-1.50 [[ 0.95789246 0.25315086 -0.13548684 0.91110225] [-0.25498614 0.96693675 0.00392346 0.60296592] [ 0.13200043 0.03078901 0.99077138 -1.49614559] [ 0. 0. 0. 1. ]] SLAMing on 114.656296757 meters Centerline goodness : 0.810374 Centerline is valid? [False, False] Translation: X:0.91, Y:0.60, Z:-1.50 [[ 0.95766305 0.2539076 -0.13569234 0.91106698] [-0.25569239 0.96674816 0.00440367 0.60252138] [ 0.13229844 0.03047826 0.99074124 -1.49536944] [ 0. 0. 0. 1. ]] SLAMing on 114.68629675700001 meters Centerline goodness : 0.809090 Centerline is valid? [False, False] Translation: X:0.91, Y:0.60, Z:-1.49 [[ 0.95762008 0.25375818 -0.13627387 0.91101673] [-0.25564327 0.96676379 0.00377984 0.60194699] [ 0.1327038 0.03121785 0.99066399 -1.49425618] [ 0. 0. 0. 1. ]] SLAMing on 114.71629675700001 meters Centerline goodness : 0.808321 Centerline is valid? [False, False] Translation: X:0.91, Y:0.60, Z:-1.49 [[ 0.95751312 0.25424347 -0.13612087 0.90994011] [-0.25601958 0.96666069 0.00459199 0.60001132] [ 0.13275018 0.03045272 0.99068159 -1.49341611] [ 0. 0. 0. 1. ]] SLAMing on 114.74629675700001 meters Centerline goodness : 0.809974 Centerline is valid? [False, False] Translation: X:0.91, Y:0.60, Z:-1.49 [[ 0.95825563 0.25129237 -0.13637553 0.90719999] [-0.25341146 0.96735676 0.00188019 0.5984137 ] [ 0.13239627 0.03275742 0.99065543 -1.49230888] [ 0. 0. 0. 1. ]] SLAMing on 114.77629675700001 meters Centerline goodness : 0.812164 Centerline is valid? [False, False] Translation: X:0.91, Y:0.60, Z:-1.49 [[ 0.95817869 0.25171037 -0.13614508 0.90615198] [-0.25369464 0.96728012 0.00286189 0.59605601] [ 0.1324108 0.03179707 0.99068478 -1.49144244] [ 0. 0. 0. 1. ]] SLAMing on 114.80629675700001 meters Centerline goodness : 0.811525 Centerline is valid? [False, False] Translation: X:0.91, Y:0.60, Z:-1.49 [[ 0.95814334 0.25182566 -0.1361807 0.90634682] [-0.25377034 0.96725929 0.00317479 0.59549035] [ 0.13252155 0.03151672 0.99067893 -1.49143168] [ 0. 0. 0. 1. ]] SLAMing on 114.836296757 meters Centerline goodness : 0.808248 Centerline is valid? [False, False] Translation: X:0.91, Y:0.59, Z:-1.49 [[ 0.95814082 0.25172699 -0.13638066 0.90713774] [-0.25365247 0.96728959 0.00335906 0.59487412] [ 0.13276516 0.03137483 0.99065081 -1.49174983] [ 0. 0. 0. 1. ]] SLAMing on 114.866296757 meters Centerline goodness : 0.806291 Centerline is valid? [False, False] Translation: X:0.91, Y:0.59, Z:-1.49 [[ 0.95824646 0.25118856 -0.13663097 0.90863962] [-0.25307561 0.96743955 0.00366637 0.5925293 ] [ 0.13310315 0.03106468 0.99061523 -1.49272654] [ 0. 0. 0. 1. ]] SLAMing on 114.896296757 meters Centerline goodness : 0.801631 Centerline is valid? [False, False] Translation: X:0.91, Y:0.59, Z:-1.49 [[ 0.95826877 0.25103255 -0.13676118 0.90896786] [-0.25286004 0.96749406 0.00412848 0.59043314] [ 0.13335201 0.03062525 0.99059544 -1.49278459] [ 0. 0. 0. 1. ]] SLAMing on 114.926296757 meters Centerline goodness : 0.806789 Centerline is valid? [False, False] Translation: X:0.91, Y:0.59, Z:-1.49 [[ 9.59214842e-01 2.47160614e-01 -1.37180601e-01 9.07728157e-01] [-2.49397136e-01 9.68400866e-01 9.12069869e-04 5.87935263e-01] [ 1.33071240e-01 3.33375781e-02 9.90545633e-01 -1.49315119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.956296757 meters Centerline goodness : 0.795295 Centerline is valid? [False, False] Translation: X:0.91, Y:0.59, Z:-1.49 [[ 0.95924654 0.24709999 -0.13706814 0.90739314] [-0.24924417 0.96843941 0.00156679 0.58555894] [ 0.13312934 0.03266049 0.99056038 -1.49288094] [ 0. 0. 0. 1. ]] SLAMing on 114.986296757 meters Centerline goodness : 0.801588 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.49 [[ 0.95925098 0.24715368 -0.1369402 0.9069272 ] [-0.24920812 0.96844744 0.00220698 0.583811 ] [ 0.13316485 0.03200956 0.99057686 -1.49242285] [ 0. 0. 0. 1. ]] SLAMing on 115.016296757 meters Centerline goodness : 0.807129 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.49 [[ 0.9592854 0.24725072 -0.13652326 0.90593215] [-0.2491885 0.96845041 0.00298246 0.58202772] [ 0.13295343 0.031159 0.99063238 -1.49181232] [ 0. 0. 0. 1. ]] SLAMing on 115.04629675700001 meters Centerline goodness : 0.752695 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.49 [[ 0.95923353 0.24746238 -0.13650423 0.90561924] [-0.24933893 0.96841014 0.00344912 0.58132036] [ 0.13304561 0.0307273 0.99063348 -1.49132562] [ 0. 0. 0. 1. ]] SLAMing on 115.07629675700001 meters Centerline goodness : 0.752695 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.49 [[ 0.95923353 0.24746238 -0.13650423 0.90561924] [-0.24933893 0.96841014 0.00344912 0.58132036] [ 0.13304561 0.0307273 0.99063348 -1.49132562] [ 0. 0. 0. 1. ]] SLAMing on 115.10629675700001 meters Centerline goodness : 0.758912 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.95909428 0.24822488 -0.13609766 0.90433505] [-0.24999249 0.96823857 0.00422148 0.5801423 ] [ 0.13282288 0.02997459 0.99068643 -1.49075536] [ 0. 0. 0. 1. ]] SLAMing on 115.13629675700001 meters Centerline goodness : 0.753086 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.95897036 0.24876025 -0.13599331 0.90375716] [-0.25047088 0.96811291 0.00466093 0.57975356] [ 0.13281634 0.02959267 0.99069879 -1.49032136] [ 0. 0. 0. 1. ]] SLAMing on 115.16629675700001 meters Centerline goodness : 0.813187 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.95885 0.24928463 -0.13588176 0.90335387] [-0.25095852 0.9679852 0.00494739 0.57956474] [ 0.13276484 0.02935688 0.99071271 -1.49023208] [ 0. 0. 0. 1. ]] SLAMing on 115.19629675700001 meters Centerline goodness : 0.810248 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.95775968 0.25396347 -0.13490348 0.90371535] [-0.25509678 0.96687261 0.00910952 0.578657 ] [ 0.13274797 0.02568871 0.99081687 -1.49056288] [ 0. 0. 0. 1. ]] SLAMing on 115.226296757 meters Centerline goodness : 0.811254 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.95760587 0.25457464 -0.13484347 0.90389158] [-0.25572752 0.96670705 0.00899501 0.58041483] [ 0.13264404 0.02586951 0.99082608 -1.49086736] [ 0. 0. 0. 1. ]] SLAMing on 115.256296757 meters Centerline goodness : 0.756171 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.95635544 0.25990001 -0.13355244 0.90320579] [-0.26048624 0.96538493 0.01337396 0.58001028] [ 0.1324054 0.02199831 0.9909515 -1.49080936] [ 0. 0. 0. 1. ]] SLAMing on 115.286296757 meters Centerline goodness : 0.794522 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.95618361 0.26059063 -0.13343701 0.90289996] [-0.26116088 0.96520056 0.01352298 0.58061917] [ 0.13231743 0.02191808 0.99096503 -1.49081518] [ 0. 0. 0. 1. ]] SLAMing on 115.316296757 meters Centerline goodness : 0.788352 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.9560138 0.26126803 -0.13332903 0.9027127 ] [-0.26182698 0.96501847 0.01363739 0.58132305] [ 0.13222799 0.0218716 0.990978 -1.49098043] [ 0. 0. 0. 1. ]] SLAMing on 115.346296757 meters Centerline goodness : 0.813647 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.95493462 0.26569829 -0.13230377 0.9033741 ] [-0.26573993 0.96388281 0.01766962 0.58009214] [ 0.13222012 0.01828506 0.99105171 -1.49173166] [ 0. 0. 0. 1. ]] SLAMing on 115.376296757 meters Centerline goodness : 0.811581 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.95482575 0.26617466 -0.13213191 0.90297628] [-0.26617592 0.96375673 0.01798194 0.58007102] [ 0.13212935 0.01800071 0.99106902 -1.49163665] [ 0. 0. 0. 1. ]] SLAMing on 115.406296757 meters Centerline goodness : 0.808809 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.95464614 0.26705755 -0.13164729 0.90105495] [-0.26691448 0.96353167 0.01906253 0.57814401] [ 0.13193712 0.0169406 0.99111332 -1.49041577] [ 0. 0. 0. 1. ]] SLAMing on 115.43629675700001 meters Centerline goodness : 0.750919 Centerline is valid? [False, False] Translation: X:0.90, Y:0.58, Z:-1.49 [[ 0.95453271 0.26748187 -0.13160834 0.90030443] [-0.26723763 0.96342626 0.01984677 0.57649701] [ 0.13210359 0.01622631 0.9911031 -1.48956594] [ 0. 0. 0. 1. ]] SLAMing on 115.46629675700001 meters Centerline goodness : 0.735029 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.49 [[ 0.95442708 0.26792293 -0.13147718 0.89949378] [-0.26754691 0.96331923 0.02084995 0.57431212] [ 0.13224067 0.01527656 0.99109991 -1.48866505] [ 0. 0. 0. 1. ]] SLAMing on 115.49629675700001 meters Centerline goodness : 0.815595 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.49 [[ 0.95437723 0.26803479 -0.13161097 0.89975033] [-0.2676073 0.96329352 0.02125852 0.57359981] [ 0.13247802 0.01493141 0.99107347 -1.4884027 ] [ 0. 0. 0. 1. ]] SLAMing on 115.52629675700001 meters Centerline goodness : 0.811315 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.49 [[ 0.95431628 0.26825507 -0.13160417 0.89957029] [-0.26774122 0.96324151 0.02191887 0.57218735] [ 0.13264645 0.01431832 0.99105999 -1.48793577] [ 0. 0. 0. 1. ]] SLAMing on 115.55629675700001 meters Centerline goodness : 0.813553 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.49 [[ 0.9542691 0.2683534 -0.13174571 0.89960122] [-0.26777531 0.96322049 0.02242032 0.57099347] [ 0.13291674 0.01388323 0.99102997 -1.487486 ] [ 0. 0. 0. 1. ]] SLAMing on 115.586296757 meters Centerline goodness : 0.807339 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.49 [[ 0.95423226 0.26839948 -0.13191856 0.89974727] [-0.26775409 0.96321409 0.02294273 0.56950888] [ 0.13322363 0.01342904 0.99099502 -1.48709946] [ 0. 0. 0. 1. ]] SLAMing on 115.616296757 meters Centerline goodness : 0.800795 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.49 [[ 0.95417268 0.26855092 -0.13204129 0.89950323] [-0.26778353 0.96318333 0.02387162 0.56639137] [ 0.13359071 0.01258083 0.99095673 -1.48637605] [ 0. 0. 0. 1. ]] SLAMing on 115.646296757 meters Centerline goodness : 0.801679 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.49 [[ 0.95418168 0.26841566 -0.13225112 0.90008707] [-0.26763221 0.96322217 0.02400102 0.56547512] [ 0.13382946 0.01249333 0.99092562 -1.48652159] [ 0. 0. 0. 1. ]] SLAMing on 115.676296757 meters Centerline goodness : 0.801807 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95417471 0.26836786 -0.13239836 0.90067071] [-0.26755833 0.96323761 0.02420436 0.56468963] [ 0.13402675 0.01232909 0.99090102 -1.4867547 ] [ 0. 0. 0. 1. ]] SLAMing on 115.706296757 meters Centerline goodness : 0.802484 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95418445 0.26820331 -0.13266128 0.90144182] [-0.26739036 0.96328329 0.02424252 0.56435069] [ 0.13429232 0.01234051 0.99086492 -1.48690044] [ 0. 0. 0. 1. ]] SLAMing on 115.736296757 meters Centerline goodness : 0.815875 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95413522 0.26832948 -0.13276018 0.9014764 ] [-0.26747813 0.9632513 0.0245436 0.56361327] [ 0.13446719 0.01209253 0.99084426 -1.4866361 ] [ 0. 0. 0. 1. ]] SLAMing on 115.766296757 meters Centerline goodness : 0.817325 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95402062 0.26878653 -0.13265919 0.90109075] [-0.26788465 0.96312816 0.02493908 0.56240464] [ 0.13447109 0.01174496 0.99084791 -1.48661212] [ 0. 0. 0. 1. ]] SLAMing on 115.79629675700001 meters Centerline goodness : 0.816600 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95395911 0.26899296 -0.13268308 0.90143406] [-0.2681019 0.96306934 0.02487597 0.56274328] [ 0.13447447 0.01184193 0.9908463 -1.48699844] [ 0. 0. 0. 1. ]] SLAMing on 115.82629675700001 meters Centerline goodness : 0.817103 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95292391 0.2729894 -0.1319576 0.90288997] [-0.27159933 0.96198019 0.02877362 0.56196775] [ 0.13479549 0.00842052 0.99083766 -1.48745275] [ 0. 0. 0. 1. ]] SLAMing on 115.85629675700001 meters Centerline goodness : 0.817357 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95282115 0.27338899 -0.13187233 0.90268357] [-0.27199037 0.96186714 0.02885908 0.56290027] [ 0.13473341 0.00837046 0.99084653 -1.48729002] [ 0. 0. 0. 1. ]] SLAMing on 115.88629675700001 meters Centerline goodness : 0.816181 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95258568 0.27436154 -0.13155331 0.90127866] [-0.27287345 0.96159552 0.02956592 0.56283702] [ 0.13461282 0.00773333 0.9908681 -1.48627769] [ 0. 0. 0. 1. ]] SLAMing on 115.91629675700001 meters Centerline goodness : 0.807508 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95249686 0.27463608 -0.13162355 0.90105448] [-0.27309805 0.96151967 0.02995634 0.5619279 ] [ 0.13478572 0.00741282 0.99084704 -1.48585845] [ 0. 0. 0. 1. ]] SLAMing on 115.94629675700001 meters Centerline goodness : 0.812813 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95242794 0.27480092 -0.13177815 0.90116729] [-0.27321014 0.96147505 0.03036357 0.56085088] [ 0.13504534 0.00708401 0.9908141 -1.48555782] [ 0. 0. 0. 1. ]] SLAMing on 115.976296757 meters Centerline goodness : 0.808375 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95240738 0.27476252 -0.13200657 0.90197322] [-0.27312323 0.96148816 0.0307282 0.55940656] [ 0.13536572 0.00678829 0.99077245 -1.48582671] [ 0. 0. 0. 1. ]] SLAMing on 116.006296757 meters Centerline goodness : 0.808559 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95240289 0.27469789 -0.13217341 0.90256786] [-0.27304437 0.9615071 0.03083615 0.55894098] [ 0.13555629 0.00672076 0.99074685 -1.48603635] [ 0. 0. 0. 1. ]] SLAMing on 116.036296757 meters Centerline goodness : 0.806691 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95241501 0.27458529 -0.13231992 0.90317816] [-0.27289399 0.96154092 0.03111144 0.55807017] [ 0.13577377 0.00647831 0.99071869 -1.48614351] [ 0. 0. 0. 1. ]] SLAMing on 116.066296757 meters Centerline goodness : 0.806673 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95240532 0.27455359 -0.13245543 0.90364307] [-0.27283562 0.96155104 0.03131008 0.55740006] [ 0.13595895 0.00631867 0.99069432 -1.48622819] [ 0. 0. 0. 1. ]] SLAMing on 116.096296757 meters Centerline goodness : 0.807321 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.49 [[ 0.95235165 0.27490389 -0.13211426 0.90269517] [-0.27312421 0.96145405 0.03176917 0.55560455] [ 0.13575526 0.00582818 0.99072526 -1.48611756] [ 0. 0. 0. 1. ]] SLAMing on 116.126296757 meters Centerline goodness : 0.810596 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.49 [[ 0.95230223 0.27507441 -0.1321156 0.90242439] [-0.27325128 0.96140701 0.03209817 0.55440125] [ 0.13584625 0.0055336 0.99071448 -1.48588617] [ 0. 0. 0. 1. ]] SLAMing on 116.156296757 meters Centerline goodness : 0.812352 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.49 [[ 0.95224832 0.27530238 -0.1320293 0.90185703] [-0.27343354 0.96134359 0.03244392 0.55374086] [ 0.13585741 0.00520657 0.99071472 -1.48539356] [ 0. 0. 0. 1. ]] SLAMing on 116.18629675700001 meters Centerline goodness : 0.812464 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.48 [[ 0.95208871 0.27620875 -0.13128524 0.89957737] [-0.27424519 0.9610875 0.03317222 0.55385478] [ 0.13533906 0.00442145 0.99078948 -1.48418375] [ 0. 0. 0. 1. ]] SLAMing on 116.21629675700001 meters Centerline goodness : 0.816155 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.48 [[ 0.95198863 0.27664872 -0.13108443 0.89850419] [-0.27461187 0.96096327 0.0337331 0.55370887] [ 0.13529954 0.00388382 0.99079713 -1.48306749] [ 0. 0. 0. 1. ]] SLAMing on 116.24629675700001 meters Centerline goodness : 0.815590 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.48 [[ 0.95176844 0.27777267 -0.13030418 0.89558971] [-0.27559785 0.96064279 0.03480301 0.55321064] [ 0.1348431 0.00278715 0.99086304 -1.48112205] [ 0. 0. 0. 1. ]] SLAMing on 116.27629675700001 meters Centerline goodness : 0.816185 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.48 [[ 0.9516956 0.2780768 -0.1301875 0.89516936] [-0.27587689 0.96055532 0.03500592 0.55315693] [ 0.13478663 0.00260074 0.99087123 -1.48089371] [ 0. 0. 0. 1. ]] SLAMing on 116.30629675700001 meters Centerline goodness : 0.814514 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.48 [[ 0.95166999 0.27806388 -0.13040214 0.89579651] [-0.27585848 0.96055902 0.03504952 0.55341973] [ 0.13500495 0.00261696 0.99084147 -1.48087558] [ 0. 0. 0. 1. ]] SLAMing on 116.336296757 meters Centerline goodness : 0.813568 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.48 [[ 0.95168172 0.27787855 -0.1307112 0.89753865] [-0.27573102 0.96061123 0.03461891 0.55460699] [ 0.13518249 0.00309495 0.99081588 -1.48209919] [ 0. 0. 0. 1. ]] SLAMing on 116.366296757 meters Centerline goodness : 0.812217 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.48 [[ 0.95175257 0.27742402 -0.13116005 0.89919355] [-0.27532316 0.96074118 0.03425702 0.5552964 ] [ 0.13551458 0.00350719 0.99076914 -1.48270253] [ 0. 0. 0. 1. ]] SLAMing on 116.396296757 meters Centerline goodness : 0.814040 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.48 [[ 0.95192221 0.27648452 -0.13191061 0.90180722] [-0.27444524 0.96100979 0.03376384 0.5547944 ] [ 0.13610257 0.00406169 0.99068643 -1.48386879] [ 0. 0. 0. 1. ]] SLAMing on 116.426296757 meters Centerline goodness : 0.814619 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.48 [[ 0.95198135 0.27610841 -0.13227115 0.90287877] [-0.27407703 0.96111741 0.03369126 0.55418865] [ 0.13643054 0.00417904 0.99064082 -1.48420903] [ 0. 0. 0. 1. ]] SLAMing on 116.456296757 meters Centerline goodness : 0.814362 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.48 [[ 0.95202594 0.27578989 -0.13261426 0.90389335] [-0.27376927 0.96120826 0.03360171 0.55401225] [ 0.13673694 0.00431601 0.99059799 -1.48445047] [ 0. 0. 0. 1. ]] SLAMing on 116.486296757 meters Centerline goodness : 0.814347 Centerline is valid? [False, False] Translation: X:0.90, Y:0.55, Z:-1.48 [[ 0.95206908 0.27558697 -0.13272636 0.90447771] [-0.27359558 0.96126545 0.03337955 0.55429643] [ 0.13678423 0.00453371 0.99059049 -1.48482106] [ 0. 0. 0. 1. ]] SLAMing on 116.516296757 meters Centerline goodness : 0.813860 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.48 [[ 0.95205949 0.27567764 -0.13260683 0.90426999] [-0.273699 0.96123913 0.03328944 0.55549038] [ 0.13664402 0.00460083 0.99060953 -1.48454361] [ 0. 0. 0. 1. ]] SLAMing on 116.54629675700001 meters Centerline goodness : 0.816483 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.48 [[ 0.95195612 0.27611497 -0.13243893 0.9039411 ] [-0.27415705 0.96111293 0.03316382 0.55812921] [ 0.1364458 0.00473857 0.9906362 -1.48410152] [ 0. 0. 0. 1. ]] SLAMing on 116.57629675700001 meters Centerline goodness : 0.817636 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.48 [[ 0.95192051 0.2762207 -0.1324744 0.9040289 ] [-0.27428823 0.96108157 0.03298778 0.55943526] [ 0.13643061 0.00493443 0.99063734 -1.48393642] [ 0. 0. 0. 1. ]] SLAMing on 116.60629675700001 meters Centerline goodness : 0.816797 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.48 [[ 0.951886 0.27637665 -0.13239708 0.90391533] [-0.27446645 0.96103595 0.03283396 0.56047472] [ 0.13631289 0.00508437 0.99065279 -1.48387545] [ 0. 0. 0. 1. ]] SLAMing on 116.63629675700001 meters Centerline goodness : 0.817665 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.48 [[ 0.95183917 0.27651453 -0.13244588 0.90388979] [-0.27459771 0.96099642 0.03289361 0.5609582 ] [ 0.13637557 0.00505991 0.99064429 -1.48352067] [ 0. 0. 0. 1. ]] SLAMing on 116.66629675700001 meters Centerline goodness : 0.814228 Centerline is valid? [False, False] Translation: X:0.90, Y:0.56, Z:-1.48 [[ 0.95176739 0.27676123 -0.13244642 0.90372595] [-0.27484889 0.96092513 0.03287827 0.56219499] [ 0.13637052 0.00511029 0.99064472 -1.48301446] [ 0. 0. 0. 1. ]] SLAMing on 116.69629675700001 meters Centerline goodness : 0.813225 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95172037 0.27676884 -0.132768 0.9053808 ] [-0.27494555 0.96091893 0.03224524 0.56546058] [ 0.13650376 0.00581552 0.99062248 -1.4837855 ] [ 0. 0. 0. 1. ]] SLAMing on 116.726296757 meters Centerline goodness : 0.814006 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95165683 0.27685389 -0.13304584 0.90654135] [-0.27508222 0.96089169 0.03188925 0.56766584] [ 0.13667131 0.00625092 0.99059673 -1.48420673] [ 0. 0. 0. 1. ]] SLAMing on 116.756296757 meters Centerline goodness : 0.811613 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95162976 0.27683283 -0.13328307 0.90777123] [-0.2751413 0.96089355 0.03131852 0.56991821] [ 0.13674083 0.00686805 0.99058305 -1.48497283] [ 0. 0. 0. 1. ]] SLAMing on 116.786296757 meters Centerline goodness : 0.807525 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.49 [[ 0.95154482 0.27698114 -0.13358107 0.90921581] [-0.27537887 0.9608455 0.03069861 0.57264645] [ 0.13685371 0.0075743 0.99056231 -1.4858878 ] [ 0. 0. 0. 1. ]] SLAMing on 116.816296757 meters Centerline goodness : 0.809567 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.49 [[ 0.95152706 0.27694055 -0.13379156 0.90967458] [-0.27534735 0.96085634 0.03064191 0.57299969] [ 0.13704046 0.00768255 0.99053566 -1.48579251] [ 0. 0. 0. 1. ]] SLAMing on 116.846296757 meters Centerline goodness : 0.809030 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95216566 0.27460741 -0.13405719 0.90835801] [-0.27329564 0.96150909 0.0284565 0.57487011] [ 0.13671158 0.00954195 0.99056494 -1.48466163] [ 0. 0. 0. 1. ]] SLAMing on 116.876296757 meters Centerline goodness : 0.809367 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95222587 0.27426047 -0.13433946 0.90887706] [-0.27293032 0.96160905 0.02858463 0.57458509] [ 0.13702167 0.00944629 0.99052301 -1.4841613 ] [ 0. 0. 0. 1. ]] SLAMing on 116.906296757 meters Centerline goodness : 0.809720 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.9522909 0.27394192 -0.13452829 0.90942115] [-0.27260953 0.96169984 0.02859116 0.57489555] [ 0.13720815 0.00944659 0.99049719 -1.48388987] [ 0. 0. 0. 1. ]] SLAMing on 116.93629675700001 meters Centerline goodness : 0.812916 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.48 [[ 0.95243117 0.27339047 -0.13465705 0.91023461] [-0.27207508 0.96185572 0.02843818 0.57650516] [ 0.13729538 0.00955142 0.9904841 -1.48344267] [ 0. 0. 0. 1. ]] SLAMing on 116.96629675700001 meters Centerline goodness : 0.817212 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.48 [[ 0.95247282 0.27307755 -0.13499693 0.9110243 ] [-0.27177638 0.96194313 0.02833738 0.57711191] [ 0.13759767 0.0096984 0.99044072 -1.4831773 ] [ 0. 0. 0. 1. ]] SLAMing on 116.99629675700001 meters Centerline goodness : 0.817212 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.48 [[ 0.95247282 0.27307755 -0.13499693 0.9110243 ] [-0.27177638 0.96194313 0.02833738 0.57711191] [ 0.13759767 0.0096984 0.99044072 -1.4831773 ] [ 0. 0. 0. 1. ]] SLAMing on 117.02629675700001 meters Centerline goodness : 0.819169 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.48 [[ 0.95256182 0.2725523 -0.13542975 0.91189291] [-0.27125395 0.96209138 0.02831032 0.5770658 ] [ 0.13801183 0.00976853 0.99038241 -1.48261643] [ 0. 0. 0. 1. ]] SLAMing on 117.05629675700001 meters Centerline goodness : 0.821103 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.48 [[ 0.95258057 0.27237298 -0.13565848 0.91241013] [-0.27107271 0.96214195 0.02832754 0.57721546] [ 0.13823837 0.00978905 0.99035061 -1.48238431] [ 0. 0. 0. 1. ]] SLAMing on 117.086296757 meters Centerline goodness : 0.819455 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.48 [[ 0.95266093 0.27186398 -0.13611444 0.91378523] [-0.27062284 0.96228104 0.02790114 0.57829923] [ 0.13856566 0.01025535 0.99030015 -1.48260961] [ 0. 0. 0. 1. ]] SLAMing on 117.116296757 meters Centerline goodness : 0.822082 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.48 [[ 0.95275546 0.2712792 -0.13661855 0.91593828] [-0.27015138 0.96243671 0.02708896 0.58199203] [ 0.13883538 0.01109853 0.99025328 -1.48307542] [ 0. 0. 0. 1. ]] SLAMing on 117.146296757 meters Centerline goodness : 0.822561 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.48 [[ 0.95279011 0.27097528 -0.13697959 0.91702549] [-0.26990954 0.9625167 0.02665434 0.58349242] [ 0.13906781 0.01157611 0.9902152 -1.48326626] [ 0. 0. 0. 1. ]] SLAMing on 117.176296757 meters Centerline goodness : 0.819608 Centerline is valid? [False, False] Translation: X:0.92, Y:0.58, Z:-1.48 [[ 0.95283701 0.27055141 -0.13749023 0.91823036] [-0.2695455 0.96263004 0.02624178 0.58493084] [ 0.13945198 0.01205573 0.99015545 -1.48305048] [ 0. 0. 0. 1. ]] SLAMing on 117.206296757 meters Centerline goodness : 0.822488 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.48 [[ 0.95286788 0.27026445 -0.13784021 0.91914841] [-0.26930135 0.96270633 0.02594809 0.58581328] [ 0.13971249 0.01239545 0.99011452 -1.48307538] [ 0. 0. 0. 1. ]] SLAMing on 117.236296757 meters Centerline goodness : 0.819887 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.48 [[ 0.9529695 0.26959072 -0.13845566 0.92149498] [-0.26877994 0.96288028 0.02487796 0.58904506] [ 0.14002309 0.01350617 0.99005612 -1.48398594] [ 0. 0. 0. 1. ]] SLAMing on 117.266296757 meters Centerline goodness : 0.817030 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.48 [[ 0.95300782 0.26908923 -0.13916565 0.92333459] [-0.26833308 0.96301394 0.02452586 0.5899419 ] [ 0.1406181 0.01396941 0.98996536 -1.48416116] [ 0. 0. 0. 1. ]] SLAMing on 117.29629675700001 meters Centerline goodness : 0.816090 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.48 [[ 0.95265727 0.2693597 -0.14103005 0.92715775] [-0.26871123 0.96292209 0.02398567 0.59029305] [ 0.14226172 0.01504623 0.98971471 -1.48408405] [ 0. 0. 0. 1. ]] SLAMing on 117.32629675700001 meters Centerline goodness : 0.815238 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.48 [[ 0.95244785 0.26909043 -0.14294555 0.93131534] [-0.26864474 0.96296999 0.02277723 0.59063031] [ 0.14378141 0.01670744 0.98946843 -1.48470797] [ 0. 0. 0. 1. ]] SLAMing on 117.35629675700001 meters Centerline goodness : 0.815139 Centerline is valid? [False, False] Translation: X:0.94, Y:0.59, Z:-1.49 [[ 0.95219585 0.26897612 -0.14482716 0.93578565] [-0.26874951 0.96297012 0.02150013 0.59179033] [ 0.14524725 0.0184499 0.98922335 -1.48555153] [ 0. 0. 0. 1. ]] SLAMing on 117.38629675700001 meters Centerline goodness : 0.813712 Centerline is valid? [False, False] Translation: X:0.94, Y:0.59, Z:-1.49 [[ 0.95214108 0.26865909 -0.14577262 0.93774777] [-0.26852117 0.96304492 0.02099662 0.59223094] [ 0.14602651 0.01915129 0.98909529 -1.48549898] [ 0. 0. 0. 1. ]] SLAMing on 117.41629675700001 meters Centerline goodness : 0.814920 Centerline is valid? [False, False] Translation: X:0.94, Y:0.59, Z:-1.48 [[ 0.95213487 0.26850287 -0.14610063 0.93800958] [-0.2683503 0.9630897 0.02112703 0.59219542] [ 0.14638068 0.01909036 0.98904411 -1.48479214] [ 0. 0. 0. 1. ]] SLAMing on 117.44629675700001 meters Centerline goodness : 0.814556 Centerline is valid? [False, False] Translation: X:0.94, Y:0.59, Z:-1.49 [[ 0.95277298 0.26466039 -0.14892456 0.94210903] [-0.26512214 0.96406302 0.01710988 0.59148403] [ 0.14810097 0.02318137 0.98870052 -1.48547933] [ 0. 0. 0. 1. ]] SLAMing on 117.476296757 meters Centerline goodness : 0.813928 Centerline is valid? [False, False] Translation: X:0.94, Y:0.59, Z:-1.49 [[ 0.95284827 0.26421519 -0.14923309 0.94222606] [-0.26463846 0.96419108 0.01737973 0.5905525 ] [ 0.14848121 0.02293256 0.9886493 -1.48502142] [ 0. 0. 0. 1. ]] SLAMing on 117.506296757 meters Centerline goodness : 0.815409 Centerline is valid? [False, False] Translation: X:0.94, Y:0.59, Z:-1.49 [[ 0.95358663 0.2620628 -0.14830923 0.94061958] [-0.26242419 0.96479427 0.01748034 0.5899452 ] [ 0.14766884 0.02225091 0.98878653 -1.48526826] [ 0. 0. 0. 1. ]] SLAMing on 117.536296757 meters Centerline goodness : 0.814897 Centerline is valid? [False, False] Translation: X:0.94, Y:0.59, Z:-1.49 [[ 0.95387718 0.2606852 -0.14886758 0.94212773] [-0.26108716 0.96516223 0.01718592 0.58903048] [ 0.14816148 0.02247416 0.98870779 -1.48618962] [ 0. 0. 0. 1. ]] SLAMing on 117.566296757 meters Centerline goodness : 0.815322 Centerline is valid? [False, False] Translation: X:0.94, Y:0.59, Z:-1.49 [[ 0.95395657 0.26010885 -0.14936618 0.94336187] [-0.26048254 0.96532167 0.0174047 0.58771865] [ 0.14871353 0.02230395 0.98862876 -1.48607912] [ 0. 0. 0. 1. ]] SLAMing on 117.596296757 meters Centerline goodness : 0.817846 Centerline is valid? [False, False] Translation: X:0.94, Y:0.59, Z:-1.49 [[ 0.95504329 0.25529591 -0.1507193 0.94439837] [-0.25622218 0.96652259 0.01357483 0.5873744 ] [ 0.14913921 0.02565308 0.98848339 -1.48626221] [ 0. 0. 0. 1. ]] SLAMing on 117.626296757 meters Centerline goodness : 0.816914 Centerline is valid? [False, False] Translation: X:0.95, Y:0.59, Z:-1.49 [[ 0.95542399 0.2525517 -0.1529138 0.94758009] [-0.25404602 0.96714029 0.01001389 0.58690126] [ 0.15041812 0.02927963 0.98818879 -1.48678772] [ 0. 0. 0. 1. ]] SLAMing on 117.656296757 meters Centerline goodness : 0.814064 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.49 [[ 0.9555107 0.25207879 -0.15315219 0.94791153] [-0.25347479 0.96728318 0.01066714 0.5840436 ] [ 0.1508305 0.02862765 0.98814504 -1.4861163 ] [ 0. 0. 0. 1. ]] SLAMing on 117.68629675700001 meters Centerline goodness : 0.816510 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.49 [[ 0.95546478 0.25218829 -0.15325834 0.94787426] [-0.25352534 0.96726526 0.01108219 0.58286737] [ 0.15103627 0.02826623 0.98812401 -1.48573488] [ 0. 0. 0. 1. ]] SLAMing on 117.71629675700001 meters Centerline goodness : 0.816281 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.49 [[ 0.95537834 0.25254424 -0.15321105 0.94749367] [-0.25381181 0.96718458 0.01155653 0.58246859] [ 0.1511019 0.02784591 0.98812591 -1.48510746] [ 0. 0. 0. 1. ]] SLAMing on 117.74629675700001 meters Centerline goodness : 0.812958 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.95528475 0.25287704 -0.15324569 0.94747106] [-0.25412749 0.96709994 0.0117018 0.58325454] [ 0.15116301 0.02776539 0.98811883 -1.48476263] [ 0. 0. 0. 1. ]] SLAMing on 117.77629675700001 meters Centerline goodness : 0.812953 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.95425556 0.25714941 -0.15254674 0.94786816] [-0.25775453 0.96607562 0.01613985 0.58153991] [ 0.15152203 0.02391807 0.98816446 -1.48394284] [ 0. 0. 0. 1. ]] SLAMing on 117.80629675700001 meters Centerline goodness : 0.812949 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.95414637 0.25746312 -0.15270051 0.94808421] [-0.25803135 0.96599683 0.0164301 0.58124375] [ 0.15173835 0.0237248 0.98813593 -1.48377508] [ 0. 0. 0. 1. ]] SLAMing on 117.836296757 meters Centerline goodness : 0.811414 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.95403921 0.25767188 -0.15301761 0.94919306] [-0.25825953 0.96593685 0.01637097 0.58118387] [ 0.15202369 0.0238997 0.98808785 -1.48450776] [ 0. 0. 0. 1. ]] SLAMing on 117.866296757 meters Centerline goodness : 0.809729 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.95397523 0.25777945 -0.15323514 0.94996319] [-0.25838833 0.965904 0.01627655 0.58196368] [ 0.15220619 0.02406674 0.9880557 -1.48476694] [ 0. 0. 0. 1. ]] SLAMing on 117.896296757 meters Centerline goodness : 0.810276 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.9538772 0.25809008 -0.15332252 0.95026032] [-0.25871181 0.96581816 0.0162324 0.58316002] [ 0.1522711 0.02418263 0.98804287 -1.48475236] [ 0. 0. 0. 1. ]] SLAMing on 117.926296757 meters Centerline goodness : 0.809102 Centerline is valid? [False, False] Translation: X:0.95, Y:0.59, Z:-1.48 [[ 0.95334455 0.26043481 -0.1526692 0.94907245] [-0.26076979 0.96522976 0.01818292 0.58501796] [ 0.15209632 0.02247693 0.98811006 -1.48328439] [ 0. 0. 0. 1. ]] SLAMing on 117.956296757 meters Centerline goodness : 0.811585 Centerline is valid? [False, False] Translation: X:0.95, Y:0.59, Z:-1.48 [[ 0.9531962 0.26099635 -0.15263649 0.94866345] [-0.26130353 0.96508122 0.01840415 0.58553903] [ 0.15211003 0.02234169 0.98811102 -1.4827666 ] [ 0. 0. 0. 1. ]] SLAMing on 117.986296757 meters Centerline goodness : 0.811058 Centerline is valid? [False, False] Translation: X:0.95, Y:0.59, Z:-1.48 [[ 0.95309964 0.26126126 -0.15278625 0.94852511] [-0.26151982 0.96501571 0.01876328 0.58501518] [ 0.15234325 0.02207336 0.98808112 -1.48218278] [ 0. 0. 0. 1. ]] SLAMing on 118.016296757 meters Centerline goodness : 0.808538 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.95299504 0.26156297 -0.15292243 0.94845453] [-0.26176961 0.9649405 0.01914409 0.58425654] [ 0.15256843 0.02178622 0.98805275 -1.48175129] [ 0. 0. 0. 1. ]] SLAMing on 118.04629675700001 meters Centerline goodness : 0.811405 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.95287612 0.26206832 -0.15279819 0.94805507] [-0.26220623 0.96481254 0.01961245 0.58351417] [ 0.15256141 0.02137641 0.98806278 -1.48154541] [ 0. 0. 0. 1. ]] SLAMing on 118.07629675700001 meters Centerline goodness : 0.807305 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.95281115 0.26224379 -0.15290229 0.948356 ] [-0.26236391 0.96476674 0.01975658 0.58347132] [ 0.15269608 0.02129175 0.98804381 -1.48157691] [ 0. 0. 0. 1. ]] SLAMing on 118.10629675700001 meters Centerline goodness : 0.811472 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.95268247 0.26277073 -0.15279938 0.94821643] [-0.26282773 0.96463144 0.02019337 0.58328815] [ 0.15270131 0.02092205 0.9880509 -1.48150918] [ 0. 0. 0. 1. ]] SLAMing on 118.13629675700001 meters Centerline goodness : 0.810513 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.95260289 0.26302982 -0.15284976 0.94798014] [-0.26303034 0.9645679 0.02058663 0.58273086] [ 0.15284886 0.02059324 0.98803499 -1.4810397 ] [ 0. 0. 0. 1. ]] SLAMing on 118.16629675700001 meters Centerline goodness : 0.809285 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.95330237 0.26016065 -0.15339829 0.94555453] [-0.26055561 0.96529323 0.01788179 0.58239991] [ 0.15272647 0.02292203 0.98800263 -1.47939552] [ 0. 0. 0. 1. ]] SLAMing on 118.19629675700001 meters Centerline goodness : 0.809848 Centerline is valid? [False, False] Translation: X:0.94, Y:0.58, Z:-1.48 [[ 0.95320456 0.26048768 -0.1534511 0.94478802] [-0.26074617 0.96522436 0.01879828 0.58023569] [ 0.15301146 0.02209318 0.98797742 -1.47822018] [ 0. 0. 0. 1. ]] SLAMing on 118.226296757 meters Centerline goodness : 0.810078 Centerline is valid? [False, False] Translation: X:0.94, Y:0.58, Z:-1.48 [[ 0.95313924 0.26070443 -0.15348873 0.94413002] [-0.26083448 0.96518353 0.01964991 0.57804282] [ 0.15326762 0.02130605 0.987955 -1.47721912] [ 0. 0. 0. 1. ]] SLAMing on 118.256296757 meters Centerline goodness : 0.809328 Centerline is valid? [False, False] Translation: X:0.94, Y:0.58, Z:-1.48 [[ 0.95410041 0.25644919 -0.15468102 0.94441044] [-0.25707761 0.96625374 0.0162731 0.577159 ] [ 0.15363433 0.02423885 0.98783044 -1.47704801] [ 0. 0. 0. 1. ]] SLAMing on 118.286296757 meters Centerline goodness : 0.817618 Centerline is valid? [False, False] Translation: X:0.95, Y:0.58, Z:-1.48 [[ 0.9541299 0.25615849 -0.15498053 0.94519947] [-0.25673878 0.96633816 0.0166058 0.57587741] [ 0.15401732 0.02394542 0.98777795 -1.47695391] [ 0. 0. 0. 1. ]] SLAMing on 118.316296757 meters Centerline goodness : 0.809430 Centerline is valid? [False, False] Translation: X:0.95, Y:0.57, Z:-1.48 [[ 0.95433213 0.25504546 -0.15556993 0.94712917] [-0.25560383 0.96663655 0.01674695 0.57350823] [ 0.15465081 0.02378212 0.98768291 -1.47724576] [ 0. 0. 0. 1. ]] SLAMing on 118.346296757 meters Centerline goodness : 0.809742 Centerline is valid? [False, False] Translation: X:0.95, Y:0.57, Z:-1.48 [[ 0.95434149 0.25479562 -0.15592148 0.94783785] [-0.25529643 0.96671076 0.01714765 0.57168247] [ 0.15510012 0.02344148 0.9876206 -1.47706645] [ 0. 0. 0. 1. ]] SLAMing on 118.376296757 meters Centerline goodness : 0.810022 Centerline is valid? [False, False] Translation: X:0.95, Y:0.57, Z:-1.48 [[ 0.9543523 0.25446347 -0.156397 0.9485835 ] [-0.2549073 0.96680614 0.0175545 0.56950457] [ 0.15567256 0.02311356 0.98753826 -1.47670766] [ 0. 0. 0. 1. ]] SLAMing on 118.406296757 meters Centerline goodness : 0.809400 Centerline is valid? [False, False] Translation: X:0.95, Y:0.57, Z:-1.48 [[ 0.9553278 0.2502607 -0.15722076 0.94783986] [-0.25124119 0.96782422 0.01393372 0.56858734] [ 0.15564912 0.02618906 0.98746518 -1.47650509] [ 0. 0. 0. 1. ]] SLAMing on 118.43629675700001 meters Centerline goodness : 0.809733 Centerline is valid? [False, False] Translation: X:0.95, Y:0.57, Z:-1.48 [[ 0.95541867 0.24981351 -0.15737972 0.94825248] [-0.25075857 0.96794626 0.01414816 0.56713594] [ 0.15586951 0.0259469 0.98743681 -1.47629476] [ 0. 0. 0. 1. ]] SLAMing on 118.46629675700001 meters Centerline goodness : 0.811186 Centerline is valid? [False, False] Translation: X:0.95, Y:0.57, Z:-1.48 [[ 0.95537541 0.24989243 -0.15751699 0.94845173] [-0.25081597 0.96792895 0.0143141 0.56687433] [ 0.15604224 0.02583244 0.98741253 -1.47612666] [ 0. 0. 0. 1. ]] SLAMing on 118.49629675700001 meters Centerline goodness : 0.809252 Centerline is valid? [False, False] Translation: X:0.95, Y:0.57, Z:-1.48 [[ 0.95530854 0.25015818 -0.1575007 0.9483371 ] [-0.25105319 0.96786447 0.01451395 0.5668536 ] [ 0.15607012 0.02567575 0.98741221 -1.47598876] [ 0. 0. 0. 1. ]] SLAMing on 118.52629675700001 meters Centerline goodness : 0.809175 Centerline is valid? [False, False] Translation: X:0.95, Y:0.57, Z:-1.48 [[ 0.95512537 0.25116545 -0.15700779 0.94683524] [-0.25198145 0.96761555 0.01501655 0.56693723] [ 0.15569481 0.02522036 0.98748319 -1.47561662] [ 0. 0. 0. 1. ]] SLAMing on 118.55629675700001 meters Centerline goodness : 0.809056 Centerline is valid? [False, False] Translation: X:0.95, Y:0.57, Z:-1.48 [[ 0.95501267 0.25171752 -0.15680909 0.94602115] [-0.25247733 0.96748047 0.01538649 0.56699835] [ 0.15558278 0.02489644 0.98750907 -1.4751164 ] [ 0. 0. 0. 1. ]] SLAMing on 118.586296757 meters Centerline goodness : 0.808255 Centerline is valid? [False, False] Translation: X:0.94, Y:0.57, Z:-1.47 [[ 0.95472245 0.25316412 -0.15624654 0.94419013] [-0.25382327 0.96711735 0.01605564 0.56720593] [ 0.15517345 0.02433033 0.98758758 -1.47466564] [ 0. 0. 0. 1. ]] SLAMing on 118.616296757 meters Centerline goodness : 0.810573 Centerline is valid? [False, False] Translation: X:0.94, Y:0.57, Z:-1.47 [[ 0.95460476 0.25359837 -0.15626136 0.94424323] [-0.25422501 0.96700772 0.01630078 0.56701878] [ 0.15523979 0.02416474 0.98758122 -1.47476418] [ 0. 0. 0. 1. ]] SLAMing on 118.646296757 meters Centerline goodness : 0.807965 Centerline is valid? [False, False] Translation: X:0.94, Y:0.57, Z:-1.48 [[ 0.95450826 0.25398274 -0.15622662 0.94435025] [-0.25460052 0.96690752 0.0163834 0.56693576] [ 0.1552178 0.02413728 0.98758535 -1.47516515] [ 0. 0. 0. 1. ]] SLAMing on 118.676296757 meters Centerline goodness : 0.806170 Centerline is valid? [False, False] Translation: X:0.94, Y:0.57, Z:-1.48 [[ 0.9543168 0.25488665 -0.15592385 0.94392372] [-0.25546315 0.96667501 0.01667337 0.56638495] [ 0.15497751 0.02392112 0.98762835 -1.47588345] [ 0. 0. 0. 1. ]] SLAMing on 118.706296757 meters Centerline goodness : 0.804765 Centerline is valid? [False, False] Translation: X:0.94, Y:0.57, Z:-1.48 [[ 0.95420572 0.25539823 -0.15576647 0.94361197] [-0.2559561 0.96654224 0.01680983 0.56665381] [ 0.15484807 0.02382935 0.98765087 -1.4760061 ] [ 0. 0. 0. 1. ]] SLAMing on 118.736296757 meters Centerline goodness : 0.802206 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95445258 0.25792489 -0.14998341 0.91003632] [-0.25850734 0.96587775 0.01594121 0.57431969] [ 0.14897727 0.02355668 0.98855999 -1.48264949] [ 0. 0. 0. 1. ]] SLAMing on 118.766296757 meters Centerline goodness : 0.800609 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95431828 0.25862005 -0.14964057 0.90863251] [-0.25913332 0.96570229 0.01640134 0.574202 ] [ 0.14874996 0.02312476 0.98860442 -1.48185995] [ 0. 0. 0. 1. ]] SLAMing on 118.79629675700001 meters Centerline goodness : 0.801904 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95411383 0.25971408 -0.14904829 0.90686418] [-0.2601495 0.9654202 0.01691391 0.57395812] [ 0.14828701 0.02263704 0.98868525 -1.4815374 ] [ 0. 0. 0. 1. ]] SLAMing on 118.82629675700001 meters Centerline goodness : 0.802579 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95405422 0.26002834 -0.14888189 0.90679839] [-0.26046428 0.9653354 0.01690945 0.57408298] [ 0.1481179 0.02264588 0.9887104 -1.48197758] [ 0. 0. 0. 1. ]] SLAMing on 118.85629675700001 meters Centerline goodness : 0.803577 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95399797 0.26024651 -0.14886113 0.9068156 ] [-0.26067557 0.96527731 0.01696941 0.57423238] [ 0.1481085 0.02261568 0.9887125 -1.48202567] [ 0. 0. 0. 1. ]] SLAMing on 118.88629675700001 meters Centerline goodness : 0.803577 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95399797 0.26024651 -0.14886113 0.9068156 ] [-0.26067557 0.96527731 0.01696941 0.57423238] [ 0.1481085 0.02261568 0.9887125 -1.48202567] [ 0. 0. 0. 1. ]] SLAMing on 118.91629675700001 meters Centerline goodness : 0.803014 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95385363 0.26106025 -0.1483604 0.90517699] [-0.26137065 0.96507529 0.01775037 0.57335431] [ 0.14781288 0.0218458 0.98877405 -1.48111712] [ 0. 0. 0. 1. ]] SLAMing on 118.94629675700001 meters Centerline goodness : 0.780703 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.48 [[ 0.95381093 0.26132254 -0.14817304 0.90443905] [-0.26151442 0.96502156 0.0185363 0.57109088] [ 0.14783413 0.02106926 0.98878772 -1.48049193] [ 0. 0. 0. 1. ]] SLAMing on 118.976296757 meters Centerline goodness : 0.797123 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.48 [[ 0.95382945 0.26124422 -0.14819189 0.90475597] [-0.26140069 0.96504786 0.01876958 0.56985058] [ 0.14791571 0.02083448 0.98878049 -1.48070691] [ 0. 0. 0. 1. ]] SLAMing on 119.006296757 meters Centerline goodness : 0.794573 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95384555 0.26107111 -0.14839318 0.90540784] [-0.26119651 0.9650988 0.01899197 0.5686361 ] [ 0.14817233 0.02064438 0.98874606 -1.48086023] [ 0. 0. 0. 1. ]] SLAMing on 119.036296757 meters Centerline goodness : 0.814726 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.48 [[ 0.95484989 0.2570593 -0.14893688 0.904755 ] [-0.25774107 0.96609694 0.01504106 0.56964981] [ 0.14775391 0.0240252 0.98873231 -1.48126088] [ 0. 0. 0. 1. ]] SLAMing on 119.066296757 meters Centerline goodness : 0.828744 Centerline is valid? [False, False] Translation: X:0.90, Y:0.57, Z:-1.48 [[ 0.95575195 0.25330926 -0.14957485 0.90414758] [-0.25453254 0.966999 0.01123075 0.57155401] [ 0.14748358 0.02733785 0.98868662 -1.4812457 ] [ 0. 0. 0. 1. ]] SLAMing on 119.096296757 meters Centerline goodness : 0.839961 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95683378 0.24857935 -0.15059027 0.90520362] [-0.25043626 0.96810911 0.00681363 0.57232052] [ 0.14748154 0.03119375 0.98857278 -1.48235085] [ 0. 0. 0. 1. ]] SLAMing on 119.126296757 meters Centerline goodness : 0.841345 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95687565 0.24823147 -0.15089772 0.90648172] [-0.25008695 0.96819907 0.00686134 0.57110606] [ 0.14780223 0.0311721 0.98852557 -1.48293256] [ 0. 0. 0. 1. ]] SLAMing on 119.156296757 meters Centerline goodness : 0.838395 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.48 [[ 0.95691348 0.24791604 -0.15117618 0.90776818] [-0.249806 0.96827296 0.00666549 0.57086335] [ 0.14803229 0.03138642 0.98848436 -1.48361806] [ 0. 0. 0. 1. ]] SLAMing on 119.18629675700001 meters Centerline goodness : 0.838073 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.49 [[ 0.95696113 0.24778072 -0.15109634 0.90877898] [-0.24979629 0.96828105 0.00579787 0.57288963] [ 0.14774032 0.03219497 0.98850204 -1.4850698 ] [ 0. 0. 0. 1. ]] SLAMing on 119.21629675700001 meters Centerline goodness : 0.833013 Centerline is valid? [False, False] Translation: X:0.91, Y:0.57, Z:-1.49 [[ 0.9568763 0.24813567 -0.15105109 0.90869999] [-0.25021125 0.96817613 0.0054142 0.57473145] [ 0.14758751 0.03261396 0.98851113 -1.48507795] [ 0. 0. 0. 1. ]] SLAMing on 119.24629675700001 meters Centerline goodness : 0.829756 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.48 [[ 0.95750283 0.24518883 -0.15189063 0.90819041] [-0.24780989 0.96880715 0.00172508 0.57797698] [ 0.14757569 0.03598823 0.9883958 -1.48483415] [ 0. 0. 0. 1. ]] SLAMing on 119.27629675700001 meters Centerline goodness : 0.757271 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.48 [[ 0.95820082 0.24194076 -0.1526953 0.90754352] [-0.24515167 0.96948207 -0.0022745 0.58087413] [ 0.14748506 0.03961294 0.9882707 -1.48481048] [ 0. 0. 0. 1. ]] SLAMing on 119.30629675700001 meters Centerline goodness : 0.205587 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.48 [[ 0.95878813 0.23916456 -0.15338067 0.90663151] [-0.24295492 0.97001787 -0.00618331 0.58363822] [ 0.14730317 0.04319308 0.98814783 -1.4848301 ] [ 0. 0. 0. 1. ]] SLAMing on 119.33629675700001 meters Centerline goodness : 0.223898 Centerline is valid? [False, False] Translation: X:0.91, Y:0.58, Z:-1.49 [[ 0.95881392 0.23880269 -0.15378275 0.90833723] [-0.24266688 0.97008732 -0.00658668 0.58397589] [ 0.14760978 0.04363338 0.98808273 -1.48567919] [ 0. 0. 0. 1. ]] SLAMing on 119.366296757 meters Centerline goodness : 0.218090 Centerline is valid? [False, False] Translation: X:0.91, Y:0.59, Z:-1.49 [[ 0.9588824 0.23811963 -0.15441366 0.91175546] [-0.24217534 0.97020171 -0.00772989 0.58547347] [ 0.14797176 0.04480723 0.98797605 -1.48770858] [ 0. 0. 0. 1. ]] SLAMing on 119.396296757 meters Centerline goodness : 0.715792 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.49 [[ 0.95903837 0.23699132 -0.15517902 0.91620892] [-0.24127066 0.97041546 -0.00907194 0.58702142] [ 0.14843814 0.04614049 0.98784471 -1.4900142 ] [ 0. 0. 0. 1. ]] SLAMing on 119.426296757 meters Centerline goodness : 0.606407 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.49 [[ 0.95916355 0.23621512 -0.15558825 0.91848462] [-0.24062661 0.97056745 -0.00988224 0.58803269] [ 0.14867456 0.04691736 0.98777256 -1.49126798] [ 0. 0. 0. 1. ]] SLAMing on 119.456296757 meters Centerline goodness : 0.589075 Centerline is valid? [False, False] Translation: X:0.92, Y:0.59, Z:-1.49 [[ 0.96004692 0.23206243 -0.15638716 0.9198377 ] [-0.23717895 0.97135583 -0.01462861 0.59193649] [ 0.14851283 0.05113589 0.9875875 -1.49276 ] [ 0. 0. 0. 1. ]] SLAMing on 119.486296757 meters Centerline goodness : 0.177705 Centerline is valid? [False, False] Translation: X:0.92, Y:0.60, Z:-1.49 [[ 0.96104109 0.22720263 -0.15741345 0.92264258] [-0.23310895 0.9722473 -0.0198848 0.59534017] [ 0.14852692 0.05580459 0.98733257 -1.49471549] [ 0. 0. 0. 1. ]] SLAMing on 119.516296757 meters Centerline goodness : 0.543519 Centerline is valid? [False, False] Translation: X:0.93, Y:0.60, Z:-1.50 [[ 0.96220648 0.22180069 -0.1579973 0.9252788 ] [-0.22846074 0.9732299 -0.02508483 0.59886048] [ 0.14820386 0.06023297 0.98712087 -1.49618981] [ 0. 0. 0. 1. ]] SLAMing on 119.54629675700001 meters Centerline goodness : 0.478140 Centerline is valid? [False, False] Translation: X:0.93, Y:0.60, Z:-1.50 [[ 0.96307225 0.21758732 -0.15857995 0.92748362] [-0.22478391 0.97398493 -0.02873237 0.60128208] [ 0.14820268 0.06331757 0.98692799 -1.49738177] [ 0. 0. 0. 1. ]] SLAMing on 119.57629675700001 meters Centerline goodness : 0.186223 Centerline is valid? [False, False] Translation: X:0.93, Y:0.60, Z:-1.50 [[ 0.96380841 0.21446574 -0.1583597 0.92844451] [-0.22187013 0.9746007 -0.03044862 0.60282246] [ 0.14780729 0.06448192 0.98691189 -1.49826905] [ 0. 0. 0. 1. ]] SLAMing on 119.60629675700001 meters Centerline goodness : 0.244474 Centerline is valid? [False, False] Translation: X:0.94, Y:0.61, Z:-1.50 [[ 0.96540543 0.20448127 -0.16180163 0.94116253] [-0.21261647 0.97652705 -0.03448424 0.60590162] [ 0.15095229 0.06769296 0.9862206 -1.4976346 ] [ 0. 0. 0. 1. ]] SLAMing on 119.63629675700001 meters Centerline goodness : 0.219853 Centerline is valid? [False, False] Translation: X:0.94, Y:0.61, Z:-1.50 [[ 0.96576992 0.20277529 -0.16177346 0.94244579] [-0.2109206 0.97688741 -0.03469138 0.60624425] [ 0.1509999 0.06762524 0.98621796 -1.49820347] [ 0. 0. 0. 1. ]] SLAMing on 119.66629675700001 meters Centerline goodness : 0.204205 Centerline is valid? [False, False] Translation: X:0.97, Y:0.60, Z:-1.49 [[ 0.96616615 0.20223829 -0.16007075 0.96579998] [-0.20991063 0.97718395 -0.03238901 0.60119459] [ 0.14986827 0.06489372 0.98657402 -1.49361852] [ 0. 0. 0. 1. ]] SLAMing on 119.69629675700001 meters Centerline goodness : 0.392888 Centerline is valid? [False, False] Translation: X:0.97, Y:0.60, Z:-1.49 [[ 0.96692164 0.20511924 -0.15162004 0.97472605] [-0.21187182 0.97684807 -0.02963406 0.59714255] [ 0.14203123 0.06077783 0.98799453 -1.49394085] [ 0. 0. 0. 1. ]] SLAMing on 119.726296757 meters Centerline goodness : 0.265443 Centerline is valid? [False, False] Translation: X:0.98, Y:0.59, Z:-1.49 [[ 0.96761864 0.20747825 -0.14376002 0.98444418] [-0.2134736 0.97656327 -0.02744434 0.59330155] [ 0.13469665 0.05724462 0.98923196 -1.49407193] [ 0. 0. 0. 1. ]] SLAMing on 119.756296757 meters Centerline goodness : 0.272614 Centerline is valid? [False, False] Translation: X:0.99, Y:0.59, Z:-1.50 [[ 0.96759675 0.20537694 -0.1468906 0.99378622] [-0.21175703 0.97689104 -0.0290319 0.59413445] [ 0.13753363 0.05919629 0.98872661 -1.49500124] [ 0. 0. 0. 1. ]] SLAMing on 119.786296757 meters Centerline goodness : 0.279189 Centerline is valid? [False, False] Translation: X:1.02, Y:0.59, Z:-1.50 [[ 0.9672426 0.20862786 -0.14462425 1.01552411] [-0.21481398 0.97624226 -0.02839012 0.59260677] [ 0.13526534 0.05852745 0.98907928 -1.49586946] [ 0. 0. 0. 1. ]] SLAMing on 119.816296757 meters Centerline goodness : 0.282871 Centerline is valid? [False, False] Translation: X:1.02, Y:0.59, Z:-1.50 [[ 0.96695614 0.20870764 -0.14641361 1.02107899] [-0.21521394 0.97610838 -0.02992323 0.59487223] [ 0.13667034 0.0604447 0.98877078 -1.49651843] [ 0. 0. 0. 1. ]] SLAMing on 119.846296757 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 119.876296757 meters Centerline goodness : 0.278264 Centerline is valid? [False, False] Translation: X:1.06, Y:0.59, Z:-1.49 [[ 0.96597419 0.20966723 -0.1514382 1.06176939] [-0.21640114 0.97586603 -0.02925807 0.59341139] [ 0.14164893 0.06103394 0.98803362 -1.48987786] [ 0. 0. 0. 1. ]] SLAMing on 119.906296757 meters Centerline goodness : 0.302507 Centerline is valid? [False, False] Translation: X:1.08, Y:0.59, Z:-1.49 [[ 0.96580197 0.21210935 -0.14911802 1.08438338] [-0.2187862 0.97532057 -0.02970485 0.5919255 ] [ 0.13913719 0.06131397 0.98837313 -1.48900623] [ 0. 0. 0. 1. ]] SLAMing on 119.93629675700001 meters Centerline goodness : 0.307488 Centerline is valid? [False, False] Translation: X:1.10, Y:0.59, Z:-1.49 [[ 0.96605669 0.21449769 -0.14396256 1.09945617] [-0.22085924 0.97485712 -0.02957677 0.58959981] [ 0.13399878 0.0603683 0.98914104 -1.48901582] [ 0. 0. 0. 1. ]] SLAMing on 119.96629675700001 meters Centerline goodness : 0.308836 Centerline is valid? [False, False] Translation: X:1.11, Y:0.59, Z:-1.49 [[ 0.96645232 0.21640011 -0.13835065 1.11379466] [-0.22241136 0.97450987 -0.02938864 0.58741294] [ 0.12846437 0.05917348 0.98994717 -1.48897048] [ 0. 0. 0. 1. ]] SLAMing on 119.99629675700001 meters Centerline goodness : 0.309973 Centerline is valid? [False, False] Translation: X:1.15, Y:0.58, Z:-1.48 [[ 0.96621792 0.21564259 -0.1411425 1.14605452] [-0.22196317 0.97457804 -0.03049585 0.58356576] [ 0.13097817 0.06079407 0.98951948 -1.48319845] [ 0. 0. 0. 1. ]] SLAMing on 120.02629675700001 meters Centerline goodness : 0.171027 Centerline is valid? [False, False] Translation: X:1.16, Y:0.58, Z:-1.48 [[ 0.96654448 0.21657526 -0.13742968 1.16346779] [-0.22285662 0.97432885 -0.03190944 0.58167717] [ 0.12699091 0.06146901 0.98999741 -1.48324607] [ 0. 0. 0. 1. ]] SLAMing on 120.05629675700001 meters Centerline goodness : 0.162616 Centerline is valid? [False, False] Translation: X:1.20, Y:0.58, Z:-1.48 [[ 0.965818 0.21550126 -0.14406525 1.20299714] [-0.22201464 0.97456356 -0.03058377 0.57560143] [ 0.1338099 0.06152295 0.98909546 -1.47672885] [ 0. 0. 0. 1. ]] SLAMing on 120.08629675700001 meters Centerline goodness : 0.167036 Centerline is valid? [False, False] Translation: X:1.22, Y:0.57, Z:-1.48 [[ 0.96609764 0.21704835 -0.13980472 1.22046786] [-0.22334663 0.97425025 -0.03086623 0.57216486] [ 0.12950532 0.0610447 0.98969789 -1.47729601] [ 0. 0. 0. 1. ]] SLAMing on 120.116296757 meters Centerline goodness : 0.148956 Centerline is valid? [False, False] Translation: X:1.26, Y:0.56, Z:-1.47 [[ 0.96577063 0.21468588 -0.14559209 1.25947655] [-0.22134559 0.9747024 -0.03100597 0.56494738] [ 0.13525242 0.06217082 0.98885872 -1.46965625] [ 0. 0. 0. 1. ]] SLAMing on 120.146296757 meters Centerline goodness : 0.135948 Centerline is valid? [False, False] Translation: X:1.28, Y:0.56, Z:-1.47 [[ 0.96640549 0.21495212 -0.14091139 1.27630346] [-0.2215081 0.97461903 -0.03243325 0.56172805] [ 0.13036333 0.06255668 0.98949081 -1.46977479] [ 0. 0. 0. 1. ]] SLAMing on 120.176296757 meters Centerline goodness : 0.126754 Centerline is valid? [False, False] Translation: X:1.29, Y:0.56, Z:-1.47 [[ 0.96708112 0.21482928 -0.1363909 1.29300204] [-0.22129494 0.9746148 -0.03397853 0.55862873] [ 0.12562901 0.06304261 0.99007221 -1.46987868] [ 0. 0. 0. 1. ]] SLAMing on 120.206296757 meters Centerline goodness : 0.121530 Centerline is valid? [False, False] Translation: X:1.33, Y:0.55, Z:-1.47 [[ 0.96827511 0.21327645 -0.130217 1.32998528] [-0.21928842 0.97508293 -0.03355397 0.54932085] [ 0.1198161 0.06104455 0.99091759 -1.46775397] [ 0. 0. 0. 1. ]] SLAMing on 120.236296757 meters Centerline goodness : 0.122035 Centerline is valid? [False, False] Translation: X:1.35, Y:0.55, Z:-1.47 [[ 0.96889985 0.21279331 -0.12630157 1.34772797] [-0.21879785 0.97512128 -0.03558088 0.54602456] [ 0.11558797 0.06210882 0.99135358 -1.46777292] [ 0. 0. 0. 1. ]] SLAMing on 120.266296757 meters Centerline goodness : 0.357018 Centerline is valid? [False, False] Translation: X:1.38, Y:0.54, Z:-1.47 [[ 0.97032514 0.21101378 -0.11807753 1.38157777] [-0.21664119 0.97555366 -0.0369006 0.53727419] [ 0.10740443 0.06138604 0.99231852 -1.46814803] [ 0. 0. 0. 1. ]] SLAMing on 120.29629675700001 meters Centerline goodness : 0.387823 Centerline is valid? [False, False] Translation: X:1.40, Y:0.53, Z:-1.47 [[ 0.9708389 0.21145902 -0.11294653 1.39773172] [-0.21689818 0.97544965 -0.0381204 0.53274572] [ 0.10211275 0.06150667 0.99286954 -1.46831197] [ 0. 0. 0. 1. ]] SLAMing on 120.32629675700001 meters Centerline goodness : 0.405572 Centerline is valid? [False, False] Translation: X:1.43, Y:0.53, Z:-1.46 [[ 0.97093083 0.20881876 -0.11699593 1.43174417] [-0.21494416 0.97570967 -0.04230427 0.52661752] [ 0.10532014 0.06622211 0.99223097 -1.46234548] [ 0. 0. 0. 1. ]] SLAMing on 120.35629675700001 meters Centerline goodness : 0.406831 Centerline is valid? [False, False] Translation: X:1.45, Y:0.52, Z:-1.46 [[ 0.97128592 0.21018951 -0.11146316 1.44748336] [-0.21603393 0.97543385 -0.0431062 0.52212709] [ 0.09966447 0.06594827 0.99283323 -1.46249933] [ 0. 0. 0. 1. ]] SLAMing on 120.38629675700001 meters Centerline goodness : 0.423446 Centerline is valid? [False, False] Translation: X:1.46, Y:0.52, Z:-1.46 [[ 0.9716619 0.21139783 -0.10575493 1.46256001] [-0.21691672 0.97521585 -0.04360262 0.51817566] [ 0.09391639 0.06530702 0.99343581 -1.4624467 ] [ 0. 0. 0. 1. ]] SLAMing on 120.41629675700001 meters Centerline goodness : 0.422475 Centerline is valid? [False, False] Translation: X:1.50, Y:0.51, Z:-1.46 [[ 0.9710576 0.21271651 -0.10862244 1.49533863] [-0.21836192 0.97492462 -0.04289576 0.51250425] [ 0.09677405 0.06537326 0.99315715 -1.45813665] [ 0. 0. 0. 1. ]] SLAMing on 120.44629675700001 meters Centerline goodness : 0.455469 Centerline is valid? [False, False] Translation: X:1.51, Y:0.51, Z:-1.46 [[ 0.97113319 0.21490131 -0.10352657 1.5120293 ] [-0.22009949 0.97459065 -0.0415846 0.50882958] [ 0.09195944 0.06317033 0.993757 -1.45948464] [ 0. 0. 0. 1. ]] SLAMing on 120.476296757 meters Centerline goodness : 0.468977 Centerline is valid? [False, False] Translation: X:1.54, Y:0.51, Z:-1.46 [[ 0.97046855 0.21843366 -0.10235982 1.53873699] [-0.22356359 0.97380472 -0.04151724 0.50503134] [ 0.09060972 0.0631751 0.99388067 -1.46205928] [ 0. 0. 0. 1. ]] SLAMing on 120.506296757 meters Centerline goodness : 0.484399 Centerline is valid? [False, False] Translation: X:1.55, Y:0.50, Z:-1.46 [[ 0.96963867 0.21858403 -0.10964429 1.55455169] [-0.22423625 0.97362795 -0.04203244 0.50383131] [ 0.09756512 0.06534251 0.99308177 -1.45952827] [ 0. 0. 0. 1. ]] SLAMing on 120.536296757 meters Centerline goodness : 0.479462 Centerline is valid? [False, False] Translation: X:1.58, Y:0.50, Z:-1.46 [[ 0.9690844 0.22157581 -0.10853378 1.58098868] [-0.22737537 0.97280404 -0.04418976 0.49952562] [ 0.09579072 0.06750151 0.99311011 -1.46090417] [ 0. 0. 0. 1. ]] SLAMing on 120.566296757 meters Centerline goodness : 0.492766 Centerline is valid? [False, False] Translation: X:1.60, Y:0.50, Z:-1.46 [[ 0.96928525 0.2233348 -0.10299355 1.59696403] [-0.22876279 0.97248028 -0.04415529 0.49546178] [ 0.09029779 0.06636016 0.99370148 -1.46198399] [ 0. 0. 0. 1. ]] SLAMing on 120.596296757 meters Centerline goodness : 0.501015 Centerline is valid? [False, False] Translation: X:1.61, Y:0.49, Z:-1.46 [[ 0.96949931 0.22490635 -0.09740755 1.61286352] [-0.22997622 0.97218981 -0.04424836 0.49173947] [ 0.08474689 0.06530018 0.99426045 -1.46296312] [ 0. 0. 0. 1. ]] SLAMing on 120.626296757 meters Centerline goodness : 0.526546 Centerline is valid? [False, False] Translation: X:1.65, Y:0.49, Z:-1.46 [[ 0.96889578 0.22621584 -0.10033622 1.64637562] [-0.2316669 0.97169101 -0.046336 0.48668002] [ 0.08701386 0.06813934 0.99387405 -1.45886435] [ 0. 0. 0. 1. ]] SLAMing on 120.656296757 meters Centerline goodness : 0.530200 Centerline is valid? [False, False] Translation: X:1.66, Y:0.48, Z:-1.46 [[ 0.96903052 0.22817112 -0.09443403 1.66237535] [-0.2331923 0.97134527 -0.04593172 0.48217947] [ 0.08124776 0.06653053 0.99447096 -1.45986885] [ 0. 0. 0. 1. ]] SLAMing on 120.68629675700001 meters Centerline goodness : 0.539041 Centerline is valid? [False, False] Translation: X:1.70, Y:0.47, Z:-1.46 [[ 0.96818435 0.23014679 -0.09824215 1.69910063] [-0.23536298 0.97085867 -0.04514096 0.47489452] [ 0.0849902 0.06682733 0.99413821 -1.45591892] [ 0. 0. 0. 1. ]] SLAMing on 120.71629675700001 meters Centerline goodness : 0.535048 Centerline is valid? [False, False] Translation: X:1.72, Y:0.47, Z:-1.46 [[ 0.96843722 0.23138981 -0.09267206 1.71558439] [-0.23620353 0.97067405 -0.04471902 0.46994435] [ 0.07960684 0.06519703 0.99469196 -1.45722407] [ 0. 0. 0. 1. ]] SLAMing on 120.74629675700001 meters Centerline goodness : 0.255601 Centerline is valid? [False, False] Translation: X:1.76, Y:0.46, Z:-1.45 [[ 0.96818252 0.23002495 -0.09854505 1.75583032] [-0.23513859 0.97097832 -0.04371436 0.46021474] [ 0.08562971 0.06549522 0.99417198 -1.45132414] [ 0. 0. 0. 1. ]] SLAMing on 120.77629675700001 meters Centerline goodness : 0.537556 Centerline is valid? [False, False] Translation: X:1.77, Y:0.45, Z:-1.45 [[ 0.96885142 0.22975144 -0.09241868 1.77092991] [-0.2344605 0.97114445 -0.04366601 0.4548092 ] [ 0.07971956 0.0639744 0.99476232 -1.45289462] [ 0. 0. 0. 1. ]] SLAMing on 120.80629675700001 meters Centerline goodness : 0.537556 Centerline is valid? [False, False] Translation: X:1.77, Y:0.45, Z:-1.45 [[ 0.96885142 0.22975144 -0.09241868 1.77092991] [-0.2344605 0.97114445 -0.04366601 0.4548092 ] [ 0.07971956 0.0639744 0.99476232 -1.45289462] [ 0. 0. 0. 1. ]] SLAMing on 120.83629675700001 meters Centerline goodness : 0.537210 Centerline is valid? [False, False] Translation: X:1.81, Y:0.44, Z:-1.45 [[ 0.96897721 0.22670531 -0.098427 1.81081595] [-0.23180436 0.97177825 -0.04374671 0.44406993] [ 0.08573161 0.06520538 0.99418225 -1.44679261] [ 0. 0. 0. 1. ]] SLAMing on 120.866296757 meters Centerline goodness : 0.541412 Centerline is valid? [False, False] Translation: X:1.83, Y:0.44, Z:-1.45 [[ 0.96964101 0.22656612 -0.09200059 1.82566226] [-0.2312498 0.97190893 -0.0437786 0.43843065] [ 0.07949745 0.06372465 0.99479612 -1.4484508 ] [ 0. 0. 0. 1. ]] SLAMing on 120.896296757 meters Centerline goodness : 0.514447 Centerline is valid? [False, False] Translation: X:1.86, Y:0.43, Z:-1.44 [[ 0.96982118 0.22389793 -0.09652252 1.86318749] [-0.22882813 0.97250262 -0.04331674 0.42904022] [ 0.08416988 0.06409656 0.99438778 -1.44303272] [ 0. 0. 0. 1. ]] SLAMing on 120.926296757 meters Centerline goodness : 0.569992 Centerline is valid? [False, False] Translation: X:1.88, Y:0.42, Z:-1.44 [[ 0.97072773 0.22283705 -0.08961768 1.87692704] [-0.22738242 0.9728082 -0.04406181 0.42446101] [ 0.07736221 0.06314951 0.99500112 -1.44483205] [ 0. 0. 0. 1. ]] SLAMing on 120.956296757 meters Centerline goodness : 0.572851 Centerline is valid? [False, False] Translation: X:1.91, Y:0.42, Z:-1.44 [[ 0.97086782 0.22141399 -0.09160529 1.90873178] [-0.22627532 0.97295378 -0.04648041 0.41593775] [ 0.0788363 0.06585435 0.99471003 -1.44079188] [ 0. 0. 0. 1. ]] SLAMing on 120.986296757 meters Centerline goodness : 0.481108 Centerline is valid? [False, False] Translation: X:1.92, Y:0.41, Z:-1.44 [[ 0.97160352 0.22093522 -0.08470086 1.92248434] [-0.22541273 0.97310778 -0.04743783 0.41156837] [ 0.07194238 0.06518342 0.99527655 -1.44198158] [ 0. 0. 0. 1. ]] SLAMing on 121.016296757 meters Centerline goodness : 0.548037 Centerline is valid? [False, False] Translation: X:1.94, Y:0.41, Z:-1.44 [[ 0.97210582 0.22142603 -0.07733555 1.93605565] [-0.22542247 0.97310921 -0.04736214 0.40667185] [ 0.06476873 0.06347418 0.99587953 -1.44379068] [ 0. 0. 0. 1. ]] SLAMing on 121.04629675700001 meters Centerline goodness : 0.553096 Centerline is valid? [False, False] Translation: X:1.96, Y:0.40, Z:-1.44 [[ 0.97168698 0.2234552 -0.07676063 1.96479588] [-0.22740633 0.97265557 -0.04719644 0.40007086] [ 0.06411537 0.06331602 0.99593188 -1.44193427] [ 0. 0. 0. 1. ]] SLAMing on 121.07629675700001 meters Centerline goodness : 0.564307 Centerline is valid? [False, False] Translation: X:1.99, Y:0.40, Z:-1.44 [[ 0.97134205 0.22625482 -0.07282433 1.98732114] [-0.2299696 0.97204447 -0.04736598 0.39552203] [ 0.0600717 0.06275596 0.99621939 -1.44356224] [ 0. 0. 0. 1. ]] SLAMing on 121.10629675700001 meters Centerline goodness : 0.556456 Centerline is valid? [False, False] Translation: X:2.00, Y:0.39, Z:-1.44 [[ 0.9706607 0.2270477 -0.07916538 2.00115231] [-0.23114718 0.9717803 -0.0470534 0.39382914] [ 0.06624799 0.06397174 0.99575038 -1.43951949] [ 0. 0. 0. 1. ]] SLAMing on 121.13629675700001 meters Centerline goodness : 0.560743 Centerline is valid? [False, False] Translation: X:2.02, Y:0.39, Z:-1.44 [[ 0.97037123 0.23005346 -0.07385856 2.02135281] [-0.23382044 0.97113817 -0.04710257 0.39063838] [ 0.06089076 0.06297662 0.99615574 -1.44214628] [ 0. 0. 0. 1. ]] SLAMing on 121.16629675700001 meters Centerline goodness : 0.561282 Centerline is valid? [False, False] Translation: X:2.03, Y:0.39, Z:-1.44 [[ 0.96983517 0.23139995 -0.07664072 2.02889221] [-0.23541195 0.97070214 -0.04815147 0.39137339] [ 0.06325306 0.06474113 0.99589539 -1.44207721] [ 0. 0. 0. 1. ]] SLAMing on 121.19629675700001 meters Centerline goodness : 0.564457 Centerline is valid? [False, False] Translation: X:2.05, Y:0.39, Z:-1.44 [[ 0.96946795 0.23418412 -0.07273027 2.05132056] [-0.2381291 0.96987994 -0.05125858 0.38977916] [ 0.05853568 0.06701274 0.99603357 -1.4441432 ] [ 0. 0. 0. 1. ]] SLAMing on 121.226296757 meters Centerline goodness : 0.565369 Centerline is valid? [False, False] Translation: X:2.06, Y:0.39, Z:-1.44 [[ 0.96897667 0.23535211 -0.075456 2.05837903] [-0.23955611 0.96946383 -0.05246669 0.39016133] [ 0.06080372 0.06891495 0.99576786 -1.44373366] [ 0. 0. 0. 1. ]] SLAMing on 121.256296757 meters Centerline goodness : 0.580011 Centerline is valid? [False, False] Translation: X:2.07, Y:0.39, Z:-1.44 [[ 0.96846216 0.23654943 -0.07826497 2.06549086] [-0.24102105 0.96903931 -0.05358804 0.389941 ] [ 0.06316561 0.0707615 0.99549129 -1.44322312] [ 0. 0. 0. 1. ]] SLAMing on 121.286296757 meters Centerline goodness : 0.579420 Centerline is valid? [False, False] Translation: X:2.09, Y:0.39, Z:-1.45 [[ 0.96819727 0.23894916 -0.07414407 2.08746715] [-0.2433226 0.96827797 -0.05684973 0.38801001] [ 0.05820788 0.07308268 0.99562582 -1.44507999] [ 0. 0. 0. 1. ]] SLAMing on 121.316296757 meters Centerline goodness : 0.581113 Centerline is valid? [False, False] Translation: X:2.09, Y:0.39, Z:-1.44 [[ 0.96767272 0.24020413 -0.07688611 2.09453902] [-0.24487151 0.96779807 -0.05835108 0.38977199] [ 0.06039406 0.07529197 0.99533094 -1.4441617 ] [ 0. 0. 0. 1. ]] SLAMing on 121.346296757 meters Centerline goodness : 0.567836 Centerline is valid? [False, False] Translation: X:2.12, Y:0.39, Z:-1.45 [[ 0.96679224 0.24518682 -0.07208453 2.11734509] [-0.24948595 0.96662651 -0.05822334 0.38875303] [ 0.05540323 0.07427395 0.99569768 -1.446971 ] [ 0. 0. 0. 1. ]] SLAMing on 121.376296757 meters Centerline goodness : 0.571921 Centerline is valid? [False, False] Translation: X:2.13, Y:0.39, Z:-1.45 [[ 0.96623528 0.24653095 -0.0749125 2.12508285] [-0.25111319 0.96613052 -0.05944728 0.38992072] [ 0.05771965 0.07625158 0.99541657 -1.44662074] [ 0. 0. 0. 1. ]] SLAMing on 121.406296757 meters Centerline goodness : 0.571051 Centerline is valid? [False, False] Translation: X:2.13, Y:0.39, Z:-1.45 [[ 0.96560717 0.24806121 -0.07790013 2.13332743] [-0.25292016 0.96561148 -0.06021509 0.38952289] [ 0.06028423 0.07784664 0.99514105 -1.44670457] [ 0. 0. 0. 1. ]] SLAMing on 121.43629675700001 meters Centerline goodness : 0.570180 Centerline is valid? [False, False] Translation: X:2.14, Y:0.39, Z:-1.45 [[ 0.96504126 0.24934178 -0.08077158 2.14155691] [-0.25447097 0.96515997 -0.06091595 0.38866111] [ 0.06276861 0.07934043 0.99486944 -1.44732464] [ 0. 0. 0. 1. ]] SLAMing on 121.46629675700001 meters Centerline goodness : 0.573537 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:-1.45 [[ 0.96458927 0.25192475 -0.07811192 2.16662069] [-0.25699694 0.96432445 -0.06348961 0.38390496] [ 0.05933063 0.08131592 0.9949209 -1.45025588] [ 0. 0. 0. 1. ]] SLAMing on 121.49629675700001 meters Centerline goodness : 0.576089 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:-1.45 [[ 0.96429323 0.25380045 -0.07565645 2.19292999] [-0.25871234 0.9638188 -0.06419694 0.37891222] [ 0.0566259 0.08147793 0.99506525 -1.45162275] [ 0. 0. 0. 1. ]] SLAMing on 121.52629675700001 meters Centerline goodness : 0.576890 Centerline is valid? [False, False] Translation: X:2.20, Y:0.38, Z:-1.45 [[ 0.96386881 0.25464347 -0.07818966 2.19978861] [-0.25981321 0.96346603 -0.06504073 0.37964621] [ 0.05877088 0.08300544 0.9948146 -1.45137614] [ 0. 0. 0. 1. ]] SLAMing on 121.55629675700001 meters Centerline goodness : 0.571683 Centerline is valid? [False, False] Translation: X:2.21, Y:0.38, Z:-1.45 [[ 0.96343671 0.25552829 -0.08059156 2.20596896] [-0.26095385 0.96309668 -0.06593837 0.38057502] [ 0.06076834 0.08455812 0.99456379 -1.45053475] [ 0. 0. 0. 1. ]] SLAMing on 121.58629675700001 meters Centerline goodness : 0.577250 Centerline is valid? [False, False] Translation: X:2.23, Y:0.38, Z:-1.45 [[ 0.96516002 0.2499976 -0.07724855 2.22751743] [-0.25496063 0.96490844 -0.06282336 0.37671136] [ 0.05883209 0.08032994 0.9950306 -1.45007987] [ 0. 0. 0. 1. ]] SLAMing on 121.616296757 meters Centerline goodness : 0.579585 Centerline is valid? [False, False] Translation: X:2.23, Y:0.38, Z:-1.45 [[ 0.96549366 0.24751246 -0.08099125 2.2344387 ] [-0.25311061 0.96503487 -0.06813742 0.37837291] [ 0.06129452 0.08628599 0.99438308 -1.44836077] [ 0. 0. 0. 1. ]] SLAMing on 121.646296757 meters Centerline goodness : 0.579349 Centerline is valid? [False, False] Translation: X:2.25, Y:0.38, Z:-1.45 [[ 0.96594905 0.24418527 -0.0855335 2.24831412] [-0.25010991 0.96589145 -0.06707273 0.37539216] [ 0.0662379 0.08618161 0.99407508 -1.44567266] [ 0. 0. 0. 1. ]] SLAMing on 121.676296757 meters Centerline goodness : 0.581068 Centerline is valid? [False, False] Translation: X:2.25, Y:0.38, Z:-1.45 [[ 0.96603953 0.24333182 -0.08693249 2.2529435 ] [-0.24941856 0.96602857 -0.06766973 0.37636037] [ 0.06751307 0.08705422 0.99391325 -1.44668621] [ 0. 0. 0. 1. ]] SLAMing on 121.706296757 meters Centerline goodness : 0.581744 Centerline is valid? [False, False] Translation: X:2.26, Y:0.38, Z:-1.45 [[ 0.96609436 0.24260677 -0.08833828 2.25775302] [-0.24885346 0.96613713 -0.06819829 0.37751795] [ 0.06880153 0.08786927 0.99375316 -1.44771954] [ 0. 0. 0. 1. ]] SLAMing on 121.736296757 meters Centerline goodness : 0.584164 Centerline is valid? [False, False] Translation: X:2.28, Y:0.37, Z:-1.45 [[ 0.9664885 0.24291889 -0.08300838 2.27859604] [-0.24877547 0.96607076 -0.06941216 0.37420023] [ 0.06333045 0.0877365 0.99412854 -1.45079262] [ 0. 0. 0. 1. ]] SLAMing on 121.766296757 meters Centerline goodness : 0.585278 Centerline is valid? [False, False] Translation: X:2.28, Y:0.37, Z:-1.45 [[ 0.96653567 0.2422281 -0.08446511 2.28283528] [-0.2482263 0.96619809 -0.06960563 0.37420128] [ 0.06474959 0.08824279 0.9939923 -1.45098386] [ 0. 0. 0. 1. ]] SLAMing on 121.79629675700001 meters Centerline goodness : 0.586169 Centerline is valid? [False, False] Translation: X:2.30, Y:0.37, Z:-1.45 [[ 0.96853393 0.23573951 -0.07980548 2.30395687] [-0.24128435 0.96800963 -0.06884197 0.36947349] [ 0.0610237 0.0859316 0.99443042 -1.45215995] [ 0. 0. 0. 1. ]] SLAMing on 121.82629675700001 meters Centerline goodness : 0.585994 Centerline is valid? [False, False] Translation: X:2.31, Y:0.37, Z:-1.45 [[ 0.96858579 0.23497142 -0.0814248 2.30893557] [-0.24067998 0.96813382 -0.06921021 0.3695515 ] [ 0.06256768 0.08663335 0.99427358 -1.45282415] [ 0. 0. 0. 1. ]] SLAMing on 121.85629675700001 meters Centerline goodness : 0.587499 Centerline is valid? [False, False] Translation: X:2.33, Y:0.37, Z:-1.45 [[ 0.96819367 0.23365295 -0.08948363 2.32927435] [-0.24004737 0.9683152 -0.0688689 0.36909309] [ 0.07055694 0.08815875 0.99360443 -1.4475593 ] [ 0. 0. 0. 1. ]] SLAMing on 121.88629675700001 meters Centerline goodness : 0.589424 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:-1.45 [[ 0.96783996 0.23433062 -0.09151485 2.33527297] [-0.24097616 0.96801547 -0.06983228 0.37043227] [ 0.07222395 0.08963937 0.99335215 -1.44742931] [ 0. 0. 0. 1. ]] SLAMing on 121.91629675700001 meters Centerline goodness : 0.588916 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:-1.45 [[ 0.96750958 0.23492845 -0.09345499 2.34075509] [-0.24181761 0.96773943 -0.07074351 0.37157281] [ 0.07382042 0.09104408 0.993107 -1.44707284] [ 0. 0. 0. 1. ]] SLAMing on 121.94629675700001 meters Centerline goodness : 0.593179 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:-1.44 [[ 0.96693626 0.23436109 -0.10054428 2.35736174] [-0.24192181 0.96769956 -0.07093233 0.37067699] [ 0.08067287 0.0929109 0.99240085 -1.44148304] [ 0. 0. 0. 1. ]] SLAMing on 121.976296757 meters Centerline goodness : 0.593067 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:-1.44 [[ 0.9672049 0.23199453 -0.10340806 2.36252625] [-0.24028509 0.96768603 -0.07646452 0.37320722] [ 0.08232718 0.09880428 0.99169549 -1.43959374] [ 0. 0. 0. 1. ]] SLAMing on 122.006296757 meters Centerline goodness : 0.586913 Centerline is valid? [False, False] Translation: X:2.37, Y:0.38, Z:-1.44 [[ 0.96710251 0.23032962 -0.10798616 2.37288413] [-0.23961054 0.96734976 -0.08259073 0.37578403] [ 0.08543729 0.10574832 0.99071578 -1.43782059] [ 0. 0. 0. 1. ]] SLAMing on 122.036296757 meters Centerline goodness : 0.583459 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:-1.44 [[ 0.96677483 0.23101261 -0.10945134 2.37733487] [-0.24049216 0.96709021 -0.08306649 0.37594573] [ 0.08665991 0.10662878 0.9905152 -1.4378661 ] [ 0. 0. 0. 1. ]] SLAMing on 122.066296757 meters Centerline goodness : 0.577638 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:-1.44 [[ 0.96643272 0.23175847 -0.11088644 2.3819142 ] [-0.24144184 0.9668063 -0.08361472 0.3765716 ] [ 0.08782729 0.10758063 0.99030943 -1.43796494] [ 0. 0. 0. 1. ]] SLAMing on 122.096296757 meters Centerline goodness : 0.569723 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:-1.44 [[ 0.96556468 0.23391527 -0.11387932 2.39049001] [-0.24407357 0.96600432 -0.08522756 0.37873773] [ 0.09007189 0.11008765 0.98983219 -1.43628329] [ 0. 0. 0. 1. ]] SLAMing on 122.126296757 meters Centerline goodness : 0.563029 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:-1.43 [[ 0.96507206 0.23509123 -0.11562016 2.3944781 ] [-0.24553363 0.96554855 -0.08619296 0.37974172] [ 0.09137367 0.11157105 0.98954674 -1.43431316] [ 0. 0. 0. 1. ]] SLAMing on 122.156296757 meters Centerline goodness : 0.543392 Centerline is valid? [False, False] Translation: X:2.41, Y:0.38, Z:-1.44 [[ 0.96516442 0.23797414 -0.10874717 2.41246825] [-0.24761588 0.96504946 -0.08582493 0.37594945] [ 0.08452228 0.1097627 0.99035758 -1.43622658] [ 0. 0. 0. 1. ]] SLAMing on 122.18629675700001 meters Centerline goodness : 0.529081 Centerline is valid? [False, False] Translation: X:2.42, Y:0.38, Z:-1.44 [[ 0.9647308 0.23901496 -0.11030111 2.41686224] [-0.24889311 0.964655 -0.08656187 0.37644426] [ 0.08571293 0.11096208 0.99012156 -1.43560739] [ 0. 0. 0. 1. ]] SLAMing on 122.21629675700001 meters Centerline goodness : 0.519028 Centerline is valid? [False, False] Translation: X:2.42, Y:0.38, Z:-1.44 [[ 0.96429344 0.2400118 -0.11194864 2.42207758] [-0.25013437 0.96427308 -0.08723661 0.37715379] [ 0.08701125 0.11212389 0.9898774 -1.43551803] [ 0. 0. 0. 1. ]] SLAMing on 122.24629675700001 meters Centerline goodness : 0.502035 Centerline is valid? [False, False] Translation: X:2.44, Y:0.38, Z:-1.43 [[ 0.96321133 0.2404168 -0.12009867 2.44312172] [-0.25139491 0.96401768 -0.08643208 0.37516643] [ 0.09499752 0.11344456 0.98899232 -1.42960441] [ 0. 0. 0. 1. ]] SLAMing on 122.27629675700001 meters Centerline goodness : 0.496687 Centerline is valid? [False, False] Translation: X:2.45, Y:0.37, Z:-1.43 [[ 0.9627134 0.24132613 -0.12224816 2.44963151] [-0.25257564 0.9636879 -0.08666699 0.37403766] [ 0.09689406 0.11431238 0.98870836 -1.4296971 ] [ 0. 0. 0. 1. ]] SLAMing on 122.30629675700001 meters Centerline goodness : 0.482206 Centerline is valid? [False, False] Translation: X:2.49, Y:0.36, Z:-1.42 [[ 0.96238621 0.23928049 -0.12867641 2.4904066 ] [-0.25144881 0.96383262 -0.08831857 0.36467686] [ 0.10288961 0.11735211 0.98774603 -1.42210432] [ 0. 0. 0. 1. ]] SLAMing on 122.33629675700001 meters Centerline goodness : 0.474425 Centerline is valid? [False, False] Translation: X:2.50, Y:0.36, Z:-1.42 [[ 0.96201976 0.23773501 -0.13416427 2.50200094] [-0.25042335 0.96421048 -0.08709937 0.36096716] [ 0.10865602 0.11738918 0.98712393 -1.41650989] [ 0. 0. 0. 1. ]] SLAMing on 122.366296757 meters Centerline goodness : 0.535653 Centerline is valid? [False, False] Translation: X:2.53, Y:0.35, Z:-1.41 [[ 0.96405019 0.23010316 -0.13289008 2.53307299] [-0.24274227 0.96607427 -0.08818559 0.35406384] [ 0.1080899 0.11727337 0.98719984 -1.41111804] [ 0. 0. 0. 1. ]] SLAMing on 122.396296757 meters Centerline goodness : 0.527270 Centerline is valid? [False, False] Translation: X:2.54, Y:0.35, Z:-1.41 [[ 0.9637251 0.22854723 -0.13784081 2.54373471] [-0.24157388 0.96652534 -0.08643396 0.3502991 ] [ 0.1134724 0.11659732 0.98667577 -1.40581077] [ 0. 0. 0. 1. ]] SLAMing on 122.426296757 meters Centerline goodness : 0.514094 Centerline is valid? [False, False] Translation: X:2.57, Y:0.34, Z:-1.40 [[ 0.96630502 0.21911724 -0.13506388 2.56956926] [-0.23145693 0.96925534 -0.08349709 0.34493843] [ 0.11261574 0.11194513 0.98731251 -1.40379144] [ 0. 0. 0. 1. ]] SLAMing on 122.456296757 meters Centerline goodness : 0.504488 Centerline is valid? [False, False] Translation: X:2.57, Y:0.34, Z:-1.40 [[ 0.966292 0.21817677 -0.13666995 2.57424109] [-0.23068136 0.96945142 -0.08336703 0.3439354 ] [ 0.11430613 0.1120841 0.98710246 -1.40347911] [ 0. 0. 0. 1. ]] SLAMing on 122.486296757 meters Centerline goodness : 0.446409 Centerline is valid? [False, False] Translation: X:2.60, Y:0.34, Z:-1.40 [[ 0.96881361 0.20950612 -0.13231541 2.60054129] [-0.22117615 0.97190084 -0.08055966 0.33793027] [ 0.11171972 0.10731231 0.98792853 -1.40346825] [ 0. 0. 0. 1. ]] SLAMing on 122.516296757 meters Centerline goodness : 0.429671 Centerline is valid? [False, False] Translation: X:2.61, Y:0.34, Z:-1.40 [[ 0.96881145 0.20847609 -0.1339481 2.60501733] [-0.22027647 0.97213711 -0.08017301 0.33574272] [ 0.11350176 0.10717814 0.98773994 -1.40260179] [ 0. 0. 0. 1. ]] SLAMing on 122.54629675700001 meters Centerline goodness : 0.505794 Centerline is valid? [False, False] Translation: X:2.61, Y:0.33, Z:-1.40 [[ 0.96878169 0.20757836 -0.13554804 2.60917572] [-0.21949468 0.97235292 -0.07969872 0.33335213] [ 0.1152568 0.10696274 0.98756005 -1.40157576] [ 0. 0. 0. 1. ]] SLAMing on 122.57629675700001 meters Centerline goodness : 0.140561 Centerline is valid? [False, False] Translation: X:2.63, Y:0.33, Z:-1.40 [[ 0.97099792 0.20040813 -0.1303826 2.63243412] [-0.21138448 0.97440392 -0.07650885 0.32776871] [ 0.11171232 0.1018508 0.98850735 -1.40175077] [ 0. 0. 0. 1. ]] SLAMing on 122.60629675700001 meters Centerline goodness : 0.113057 Centerline is valid? [False, False] Translation: X:2.65, Y:0.32, Z:-1.40 [[ 0.97266034 0.19497819 -0.12615609 2.65375957] [-0.20505442 0.97606752 -0.07242156 0.32414184] [ 0.10901624 0.09631044 0.98936331 -1.40231462] [ 0. 0. 0. 1. ]] SLAMing on 122.63629675700001 meters Centerline goodness : 0.112359 Centerline is valid? [False, False] Translation: X:2.66, Y:0.32, Z:-1.40 [[ 0.97262375 0.19465329 -0.12693755 2.65620237] [-0.20478461 0.97613761 -0.07224012 0.32359267] [ 0.10984674 0.09625732 0.98927662 -1.40198275] [ 0. 0. 0. 1. ]] SLAMing on 122.66629675700001 meters Centerline goodness : 0.367175 Centerline is valid? [False, False] Translation: X:2.66, Y:0.32, Z:-1.40 [[ 0.97257444 0.1943532 -0.12777245 2.65861717] [-0.20454851 0.97619802 -0.07209256 0.32310811] [ 0.11071979 0.09625104 0.9891799 -1.40149234] [ 0. 0. 0. 1. ]] SLAMing on 122.69629675700001 meters Centerline goodness : 0.367175 Centerline is valid? [False, False] Translation: X:2.66, Y:0.32, Z:-1.40 [[ 0.97257444 0.1943532 -0.12777245 2.65861717] [-0.20454851 0.97619802 -0.07209256 0.32310811] [ 0.11071979 0.09625104 0.9891799 -1.40149234] [ 0. 0. 0. 1. ]] SLAMing on 122.726296757 meters Centerline goodness : 0.369960 Centerline is valid? [False, False] Translation: X:2.66, Y:0.32, Z:-1.40 [[ 0.97253409 0.19338862 -0.12953099 2.66429962] [-0.20375044 0.97636607 -0.07207669 0.32289359] [ 0.11253086 0.09648904 0.98895231 -1.40078369] [ 0. 0. 0. 1. ]] SLAMing on 122.756296757 meters Centerline goodness : 0.114367 Centerline is valid? [False, False] Translation: X:2.67, Y:0.32, Z:-1.40 [[ 0.97224457 0.19368036 -0.13125704 2.67251591] [-0.20408061 0.97638087 -0.07093311 0.3216781 ] [ 0.11441852 0.09575135 0.9888074 -1.4022625 ] [ 0. 0. 0. 1. ]] SLAMing on 122.786296757 meters Centerline goodness : 0.116939 Centerline is valid? [False, False] Translation: X:2.68, Y:0.32, Z:-1.40 [[ 0.97223938 0.19326131 -0.13191156 2.67540622] [-0.20376762 0.97641859 -0.07131267 0.32256126] [ 0.11501892 0.09621229 0.988693 -1.40302377] [ 0. 0. 0. 1. ]] SLAMing on 122.816296757 meters Centerline goodness : 0.116478 Centerline is valid? [False, False] Translation: X:2.68, Y:0.32, Z:-1.40 [[ 0.97220992 0.19296995 -0.13255362 2.67822104] [-0.20357349 0.97643674 -0.07161793 0.32338534] [ 0.11561012 0.09661207 0.98858505 -1.40373599] [ 0. 0. 0. 1. ]] SLAMing on 122.846296757 meters Centerline goodness : 0.401182 Centerline is valid? [False, False] Translation: X:2.68, Y:0.32, Z:-1.40 [[ 0.97143846 0.1964112 -0.1331539 2.684052 ] [-0.2066645 0.9760454 -0.0680085 0.32363098] [ 0.11660662 0.09358425 0.98875927 -1.4047864 ] [ 0. 0. 0. 1. ]] SLAMing on 122.876296757 meters Centerline goodness : 0.114701 Centerline is valid? [False, False] Translation: X:2.69, Y:0.32, Z:-1.40 [[ 0.97068487 0.19996623 -0.13335813 2.68733745] [-0.20976771 0.97566231 -0.06387932 0.32204801] [ 0.11733879 0.08998092 0.9890071 -1.40471158] [ 0. 0. 0. 1. ]] SLAMing on 122.906296757 meters Centerline goodness : 0.352833 Centerline is valid? [False, False] Translation: X:2.69, Y:0.32, Z:-1.40 [[ 0.96989617 0.20333046 -0.13400795 2.69193883] [-0.21271532 0.97528591 -0.05974597 0.31983644] [ 0.11854789 0.08645293 0.98917758 -1.40428196] [ 0. 0. 0. 1. ]] SLAMing on 122.93629675700001 meters Centerline goodness : 0.279866 Centerline is valid? [False, False] Translation: X:2.69, Y:0.32, Z:-1.40 [[ 0.9698395 0.2033051 -0.13445584 2.69329599] [-0.21270856 0.97529788 -0.05957448 0.31929038] [ 0.1190227 0.08637759 0.98912715 -1.40412032] [ 0. 0. 0. 1. ]] SLAMing on 122.96629675700001 meters Centerline goodness : 0.323401 Centerline is valid? [False, False] Translation: X:2.69, Y:0.32, Z:-1.40 [[ 0.96979461 0.20324264 -0.13487343 2.69459968] [-0.21265382 0.97532426 -0.05933748 0.31850525] [ 0.11948542 0.08622652 0.98908454 -1.40397173] [ 0. 0. 0. 1. ]] SLAMing on 122.99629675700001 meters Centerline goodness : 0.314652 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-1.40 [[ 0.96903759 0.20670502 -0.13505252 2.69774387] [-0.21555004 0.97497779 -0.05437356 0.31488477] [ 0.12043392 0.0818006 0.98934541 -1.40264402] [ 0. 0. 0. 1. ]] SLAMing on 123.02629675700001 meters Centerline goodness : 0.218713 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-1.40 [[ 0.96828061 0.21035913 -0.13483949 2.69946145] [-0.21864242 0.97453748 -0.04972104 0.31247785] [ 0.12094686 0.07762555 0.98961918 -1.40158929] [ 0. 0. 0. 1. ]] SLAMing on 123.05629675700001 meters Centerline goodness : 0.297655 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-1.40 [[ 0.96740346 0.21427432 -0.13497059 2.70197891] [-0.22195492 0.97404029 -0.04451435 0.30984036] [ 0.12192851 0.07302073 0.98984919 -1.39935806] [ 0. 0. 0. 1. ]] SLAMing on 123.08629675700001 meters Centerline goodness : 0.280349 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-1.40 [[ 0.96735185 0.21424068 -0.13539325 2.70281591] [-0.22190874 0.97406691 -0.04416077 0.30939089] [ 0.12242105 0.07276395 0.9898073 -1.39845504] [ 0. 0. 0. 1. ]] SLAMing on 123.116296757 meters Centerline goodness : 0.285770 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-1.40 [[ 0.9672827 0.21412157 -0.13607401 2.70373156] [-0.2217154 0.97415552 -0.04316591 0.30706138] [ 0.1233145 0.07192335 0.98975783 -1.39599499] [ 0. 0. 0. 1. ]] SLAMing on 123.146296757 meters Centerline goodness : 0.343374 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-1.39 [[ 0.96724881 0.21398256 -0.13653276 2.70459736] [-0.22155583 0.97421056 -0.04274096 0.30603889] [ 0.12386584 0.07159078 0.9897131 -1.39499825] [ 0. 0. 0. 1. ]] SLAMing on 123.176296757 meters Centerline goodness : 0.310659 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-1.39 [[ 0.96720238 0.21402712 -0.13679162 2.70498878] [-0.22156053 0.97423003 -0.0422703 0.30518624] [ 0.12421952 0.07119156 0.98969757 -1.39411191] [ 0. 0. 0. 1. ]] SLAMing on 123.206296757 meters Centerline goodness : 0.370850 Centerline is valid? [False, False] Translation: X:2.71, Y:0.30, Z:-1.39 [[ 0.96653149 0.21718209 -0.13656068 2.70679428] [-0.22418087 0.97380786 -0.03796295 0.30358436] [ 0.12473899 0.06730668 0.98990403 -1.39226591] [ 0. 0. 0. 1. ]] SLAMing on 123.236296757 meters Centerline goodness : 0.435462 Centerline is valid? [False, False] Translation: X:2.71, Y:0.30, Z:-1.39 [[ 0.96565692 0.22120434 -0.13629139 2.70830401] [-0.22762077 0.97318206 -0.03324842 0.30224832] [ 0.12528164 0.06312932 0.9901107 -1.39041363] [ 0. 0. 0. 1. ]] SLAMing on 123.266296757 meters Centerline goodness : 0.464925 Centerline is valid? [False, False] Translation: X:2.71, Y:0.30, Z:-1.39 [[ 0.96561091 0.22126332 -0.1365215 2.70877645] [-0.2276765 0.973174 -0.03310246 0.30259496] [ 0.12553482 0.06304684 0.99008389 -1.38980191] [ 0. 0. 0. 1. ]] SLAMing on 123.29629675700001 meters Centerline goodness : 0.505893 Centerline is valid? [False, False] Translation: X:2.71, Y:0.30, Z:-1.39 [[ 0.96490624 0.22454039 -0.13615271 2.710756 ] [-0.23044749 0.97264977 -0.0290928 0.30065777] [ 0.12589639 0.05944787 0.9902606 -1.38940035] [ 0. 0. 0. 1. ]] SLAMing on 123.32629675700001 meters Centerline goodness : 0.515456 Centerline is valid? [False, False] Translation: X:2.71, Y:0.30, Z:-1.39 [[ 0.96415818 0.22792729 -0.13582396 2.71276333] [-0.23332573 0.97207634 -0.02503374 0.29889472] [ 0.12632539 0.05582771 0.99041666 -1.38928953] [ 0. 0. 0. 1. ]] SLAMing on 123.35629675700001 meters Centerline goodness : 0.546747 Centerline is valid? [False, False] Translation: X:2.72, Y:0.30, Z:-1.39 [[ 0.96332342 0.23150055 -0.13570367 2.71597155] [-0.23642794 0.9714184 -0.02116872 0.29832608] [ 0.12692447 0.05247646 0.9905233 -1.38972587] [ 0. 0. 0. 1. ]] SLAMing on 123.38629675700001 meters Centerline goodness : 0.536968 Centerline is valid? [False, False] Translation: X:2.72, Y:0.30, Z:-1.39 [[ 0.96329182 0.23139635 -0.13610513 2.71723998] [-0.23637505 0.97142604 -0.02140777 0.29912221] [ 0.12726239 0.05279379 0.99046307 -1.38994142] [ 0. 0. 0. 1. ]] SLAMing on 123.41629675700001 meters Centerline goodness : 0.555599 Centerline is valid? [False, False] Translation: X:2.72, Y:0.30, Z:-1.39 [[ 0.9632384 0.2313725 -0.13652306 2.71834896] [-0.2363798 0.9714238 -0.02145682 0.29967513] [ 0.12765723 0.05293933 0.99040449 -1.38954219] [ 0. 0. 0. 1. ]] SLAMing on 123.44629675700001 meters Centerline goodness : 0.562308 Centerline is valid? [False, False] Translation: X:2.72, Y:0.30, Z:-1.39 [[ 0.96318792 0.23142522 -0.13678963 2.71858258] [-0.23639823 0.97142764 -0.0210766 0.29892525] [ 0.12800357 0.05263755 0.99037588 -1.38874376] [ 0. 0. 0. 1. ]] SLAMing on 123.476296757 meters Centerline goodness : 0.614647 Centerline is valid? [False, False] Translation: X:2.72, Y:0.30, Z:-1.39 [[ 0.96314721 0.23146999 -0.13700035 2.71891697] [-0.23641612 0.9714297 -0.02077885 0.29818903] [ 0.12827653 0.05240218 0.99035304 -1.38832239] [ 0. 0. 0. 1. ]] SLAMing on 123.506296757 meters Centerline goodness : 0.604983 Centerline is valid? [False, False] Translation: X:2.72, Y:0.30, Z:-1.39 [[ 0.96231495 0.23516139 -0.13656157 2.72044649] [-0.23953615 0.97075058 -0.01630155 0.29577307] [ 0.12873372 0.04839866 0.99049745 -1.38765795] [ 0. 0. 0. 1. ]] SLAMing on 123.536296757 meters Centerline goodness : 0.608000 Centerline is valid? [False, False] Translation: X:2.72, Y:0.29, Z:-1.39 [[ 0.96140219 0.23933085 -0.13574455 2.72088226] [-0.24310331 0.96993004 -0.01168282 0.29393441] [ 0.12886666 0.04423184 0.99067499 -1.38692862] [ 0. 0. 0. 1. ]] SLAMing on 123.566296757 meters Centerline goodness : 0.622982 Centerline is valid? [False, False] Translation: X:2.72, Y:0.29, Z:-1.39 [[ 0.9604058 0.24366529 -0.13508489 2.72215205] [-0.24690013 0.9690121 -0.00747462 0.29355181] [ 0.12907759 0.04053115 0.99080584 -1.38679792] [ 0. 0. 0. 1. ]] SLAMing on 123.596296757 meters Centerline goodness : 0.629177 Centerline is valid? [False, False] Translation: X:2.73, Y:0.30, Z:-1.39 [[ 0.96124662 0.23945636 -0.13662209 2.72510363] [-0.24344533 0.96982714 -0.0130266 0.29759668] [ 0.12938051 0.04578179 0.99053759 -1.38838004] [ 0. 0. 0. 1. ]] SLAMing on 123.626296757 meters Centerline goodness : 0.647894 Centerline is valid? [False, False] Translation: X:2.73, Y:0.30, Z:-1.39 [[ 0.96035135 0.24338818 -0.13596869 2.72579958] [-0.24679647 0.96902972 -0.00853833 0.2954727 ] [ 0.12967957 0.04175639 0.99067634 -1.38760427] [ 0. 0. 0. 1. ]] SLAMing on 123.656296757 meters Centerline goodness : 0.715843 Centerline is valid? [False, False] Translation: X:2.73, Y:0.29, Z:-1.39 [[ 0.96027545 0.24356033 -0.13619625 2.72624869] [-0.24691399 0.96900408 -0.00803614 0.293667 ] [ 0.13001744 0.04134567 0.99064928 -1.38738355] [ 0. 0. 0. 1. ]] SLAMing on 123.68629675700001 meters Centerline goodness : 0.741567 Centerline is valid? [False, False] Translation: X:2.73, Y:0.30, Z:-1.39 [[ 0.96095692 0.23942166 -0.13870497 2.72985732] [-0.24360598 0.96977659 -0.01376536 0.29520415] [ 0.13121711 0.04701728 0.99023808 -1.3879873 ] [ 0. 0. 0. 1. ]] SLAMing on 123.71629675700001 meters Centerline goodness : 0.760679 Centerline is valid? [False, False] Translation: X:2.73, Y:0.29, Z:-1.39 [[ 0.96093788 0.23944208 -0.13880159 2.73012603] [-0.24352568 0.96980772 -0.0129701 0.29277959] [ 0.13150526 0.04626521 0.99023527 -1.38756483] [ 0. 0. 0. 1. ]] SLAMing on 123.74629675700001 meters Centerline goodness : 0.747563 Centerline is valid? [False, False] Translation: X:2.73, Y:0.29, Z:-1.39 [[ 0.96091069 0.23960536 -0.13870801 2.72979424] [-0.24364613 0.96978145 -0.01266931 0.29236807] [ 0.13148082 0.04596974 0.99025228 -1.38725267] [ 0. 0. 0. 1. ]] SLAMing on 123.77629675700001 meters Centerline goodness : 0.715775 Centerline is valid? [False, False] Translation: X:2.73, Y:0.29, Z:-1.39 [[ 0.96007851 0.24358986 -0.13752536 2.72955616] [-0.24697852 0.96898896 -0.00787403 0.28982655] [ 0.13134252 0.0415255 0.99046695 -1.38610878] [ 0. 0. 0. 1. ]] SLAMing on 123.80629675700001 meters Centerline goodness : 0.706751 Centerline is valid? [False, False] Translation: X:2.73, Y:0.29, Z:-1.39 [[ 0.96003051 0.24382255 -0.13744813 2.72922018] [-0.24716868 0.96894296 -0.0075616 0.28919339] [ 0.13133571 0.04123224 0.9904801 -1.38588683] [ 0. 0. 0. 1. ]] SLAMing on 123.83629675700001 meters Centerline goodness : 0.593606 Centerline is valid? [False, False] Translation: X:2.50, Y:0.45, Z:-1.35 [[ 0.87387012 0.154485 -0.46096139 2.50378652] [-0.3584845 0.84522749 -0.39633237 0.4494825 ] [ 0.32838983 0.51159053 0.79399952 -1.34880687] [ 0. 0. 0. 1. ]] SLAMing on 123.866296757 meters Centerline goodness : 0.679667 Centerline is valid? [False, False] Translation: X:2.68, Y:0.28, Z:-1.38 [[ 0.88734288 0.33284213 -0.31912182 2.68040792] [-0.42819961 0.85156231 -0.30246775 0.27751744] [ 0.1710781 0.40504044 0.89815062 -1.37865138] [ 0. 0. 0. 1. ]] SLAMing on 123.896296757 meters Centerline goodness : 0.766896 Centerline is valid? [False, False] Translation: X:2.67, Y:0.27, Z:-1.38 [[ 0.88898289 0.33477538 -0.31246577 2.67154436] [-0.42474205 0.85783522 -0.28933188 0.27362477] [ 0.17118296 0.38992844 0.90479401 -1.37766647] [ 0. 0. 0. 1. ]] SLAMing on 123.926296757 meters Centerline goodness : 0.673086 Centerline is valid? [False, False] Translation: X:2.66, Y:0.27, Z:-1.38 [[ 0.89062714 0.33833571 -0.3038293 2.6581809 ] [-0.42202171 0.8638178 -0.2751663 0.2716855 ] [ 0.16935457 0.37329313 0.91212459 -1.37659863] [ 0. 0. 0. 1. ]] SLAMing on 123.956296757 meters Centerline goodness : 0.712816 Centerline is valid? [False, False] Translation: X:2.64, Y:0.27, Z:-1.38 [[ 0.89299988 0.3409342 -0.2937943 2.6426666 ] [-0.41818049 0.86986886 -0.26163572 0.27136094] [ 0.16636195 0.35649972 0.91936481 -1.37639893] [ 0. 0. 0. 1. ]] SLAMing on 123.986296757 meters Centerline goodness : 0.667205 Centerline is valid? [False, False] Translation: X:2.63, Y:0.27, Z:-1.37 [[ 0.89420264 0.34318594 -0.28744573 2.63188761] [-0.41557061 0.87510375 -0.24798084 0.26765886] [ 0.1664413 0.34119912 0.92513807 -1.37396822] [ 0. 0. 0. 1. ]] SLAMing on 124.016296757 meters Centerline goodness : 0.760737 Centerline is valid? [False, False] Translation: X:2.62, Y:0.27, Z:-1.37 [[ 0.89527817 0.3473283 -0.27899828 2.61619795] [-0.41409303 0.87975908 -0.23356138 0.26581588] [ 0.1643288 0.32463365 0.93145533 -1.37165797] [ 0. 0. 0. 1. ]] SLAMing on 124.04629675700001 meters Centerline goodness : 0.793807 Centerline is valid? [False, False] Translation: X:2.60, Y:0.26, Z:-1.37 [[ 0.89592835 0.35140068 -0.27171669 2.60396926] [-0.41300954 0.88416197 -0.21835918 0.26297275] [ 0.16351 0.30785576 0.93727761 -1.36920933] [ 0. 0. 0. 1. ]] SLAMing on 124.07629675700001 meters Centerline goodness : 0.795891 Centerline is valid? [False, False] Translation: X:2.59, Y:0.26, Z:-1.37 [[ 0.8978346 0.35461264 -0.26104195 2.58691023] [-0.41035057 0.88883213 -0.2039359 0.26369223] [ 0.15970423 0.29021942 0.94353974 -1.36888261] [ 0. 0. 0. 1. ]] SLAMing on 124.10629675700001 meters Centerline goodness : 0.790359 Centerline is valid? [False, False] Translation: X:2.58, Y:0.26, Z:-1.37 [[ 0.89808013 0.35880373 -0.25438548 2.57821806] [-0.40988157 0.89251863 -0.18816907 0.26148345] [ 0.15952801 0.27325882 0.94862028 -1.36704739] [ 0. 0. 0. 1. ]] SLAMing on 124.13629675700001 meters Centerline goodness : 0.788961 Centerline is valid? [False, False] Translation: X:2.56, Y:0.26, Z:-1.37 [[ 0.89959618 0.36177893 -0.24462773 2.5611074 ] [-0.40783558 0.89626517 -0.17429538 0.26264525] [ 0.15619492 0.25656335 0.95382304 -1.36642967] [ 0. 0. 0. 1. ]] SLAMing on 124.16629675700001 meters Centerline goodness : 0.780175 Centerline is valid? [False, False] Translation: X:2.54, Y:0.26, Z:-1.37 [[ 0.90103486 0.36434389 -0.23535018 2.54320802] [-0.40586069 0.89961683 -0.16114174 0.26409212] [ 0.15301398 0.24071371 0.95845899 -1.36593988] [ 0. 0. 0. 1. ]] SLAMing on 124.19629675700001 meters Centerline goodness : 0.781909 Centerline is valid? [False, False] Translation: X:2.53, Y:0.26, Z:-1.36 [[ 0.90103902 0.3669523 -0.23124597 2.53240005] [-0.40513658 0.90242995 -0.14657605 0.26246147] [ 0.15489687 0.22575694 0.96179039 -1.36298963] [ 0. 0. 0. 1. ]] SLAMing on 124.226296757 meters Centerline goodness : 0.781203 Centerline is valid? [False, False] Translation: X:2.52, Y:0.26, Z:-1.36 [[ 0.90146363 0.36965363 -0.22520992 2.51653785] [-0.40437329 0.90479805 -0.13350182 0.26328506] [ 0.15442006 0.21141591 0.96512059 -1.36059838] [ 0. 0. 0. 1. ]] SLAMing on 124.256296757 meters Centerline goodness : 0.784456 Centerline is valid? [False, False] Translation: X:2.50, Y:0.26, Z:-1.36 [[ 0.90118646 0.37293389 -0.22086935 2.50451355] [-0.40439579 0.90683012 -0.11884095 0.26295782] [ 0.15597116 0.19641649 0.96803593 -1.35741994] [ 0. 0. 0. 1. ]] SLAMing on 124.286296757 meters Centerline goodness : 0.782744 Centerline is valid? [False, False] Translation: X:2.48, Y:0.27, Z:-1.36 [[ 0.90254085 0.3752116 -0.21127296 2.48485332] [-0.4028306 0.90907019 -0.1063903 0.26645239] [ 0.15214308 0.1811288 0.9716197 -1.35708908] [ 0. 0. 0. 1. ]] SLAMing on 124.316296757 meters Centerline goodness : 0.791820 Centerline is valid? [False, False] Translation: X:2.47, Y:0.27, Z:-1.35 [[ 0.9023806 0.37891288 -0.20526635 2.46814576] [-0.40334172 0.9103422 -0.09269594 0.26833156] [ 0.15173894 0.1664395 0.97430652 -1.35347035] [ 0. 0. 0. 1. ]] SLAMing on 124.346296757 meters Centerline goodness : 0.785985 Centerline is valid? [False, False] Translation: X:2.45, Y:0.27, Z:-1.35 [[ 0.9027027 0.38114542 -0.19963967 2.44950682] [-0.40283301 0.91169078 -0.08090418 0.2709823 ] [ 0.1511734 0.15345387 0.97652369 -1.35118005] [ 0. 0. 0. 1. ]] SLAMing on 124.376296757 meters Centerline goodness : 0.785462 Centerline is valid? [False, False] Translation: X:2.43, Y:0.27, Z:-1.35 [[ 0.90270833 0.38276847 -0.19648403 2.43318371] [-0.40201727 0.91308749 -0.06821538 0.27209382] [ 0.15329641 0.14056857 0.97813122 -1.34675378] [ 0. 0. 0. 1. ]] SLAMing on 124.406296757 meters Centerline goodness : 0.783044 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:-1.35 [[ 0.90298063 0.38407753 -0.19264066 2.41354981] [-0.40124898 0.91411206 -0.05829586 0.27567056] [ 0.15370503 0.1299369 0.9795362 -1.34506866] [ 0. 0. 0. 1. ]] SLAMing on 124.43629675700001 meters Centerline goodness : 0.785879 Centerline is valid? [False, False] Translation: X:2.39, Y:0.28, Z:-1.35 [[ 0.904309 0.38418947 -0.18607439 2.39076471] [-0.3991199 0.91557208 -0.04930591 0.28134475] [ 0.15142171 0.11885377 0.98129774 -1.34602806] [ 0. 0. 0. 1. ]] SLAMing on 124.46629675700001 meters Centerline goodness : 0.784557 Centerline is valid? [False, False] Translation: X:2.38, Y:0.28, Z:-1.34 [[ 0.90442516 0.38400781 -0.18588473 2.37706346] [-0.39716866 0.91695212 -0.03815568 0.28233616] [ 0.15579532 0.10833654 0.98183044 -1.34265972] [ 0. 0. 0. 1. ]] SLAMing on 124.49629675700001 meters Centerline goodness : 0.784752 Centerline is valid? [False, False] Translation: X:2.36, Y:0.29, Z:-1.34 [[ 0.90463347 0.38464254 -0.18354401 2.35769129] [-0.39617969 0.91769957 -0.02948131 0.28645188] [ 0.15709849 0.09938618 0.98256931 -1.34191445] [ 0. 0. 0. 1. ]] SLAMing on 124.52629675700001 meters Centerline goodness : 0.785081 Centerline is valid? [False, False] Translation: X:2.34, Y:0.29, Z:-1.34 [[ 0.90476874 0.3842933 -0.18360878 2.34352328] [-0.39417052 0.91883614 -0.01922884 0.28882791] [ 0.16131687 0.08977082 0.98281131 -1.33921162] [ 0. 0. 0. 1. ]] SLAMing on 124.55629675700001 meters Centerline goodness : 0.784410 Centerline is valid? [False, False] Translation: X:2.33, Y:0.29, Z:-1.34 [[ 0.90513886 0.38398194 -0.18243221 2.32605381] [-0.3923246 0.91976569 -0.01060571 0.29253784] [ 0.16372249 0.08117229 0.98316123 -1.33784906] [ 0. 0. 0. 1. ]] SLAMing on 124.58629675700001 meters Centerline goodness : 0.782739 Centerline is valid? [False, False] Translation: X:2.31, Y:0.29, Z:-1.34 [[ 0.905989 0.38143841 -0.18354473 2.3110742 ] [-0.38852527 0.92143355 -0.00288471 0.29454122] [ 0.16802393 0.07392528 0.98300713 -1.33631403] [ 0. 0. 0. 1. ]] SLAMing on 124.616296757 meters Centerline goodness : 0.782739 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:-1.34 [[ 0.90829403 0.38012558 -0.17466107 2.28087849] [-0.38488301 0.92293783 0.00713003 0.30435826] [ 0.16391161 0.06074792 0.9846028 -1.34026712] [ 0. 0. 0. 1. ]] SLAMing on 124.646296757 meters Centerline goodness : 0.784329 Centerline is valid? [False, False] Translation: X:2.25, Y:0.31, Z:-1.34 [[ 0.91144444 0.37621949 -0.16651707 2.25461385] [-0.37900337 0.92525747 0.0159706 0.31263098] [ 0.16007961 0.04855422 0.98590923 -1.34415753] [ 0. 0. 0. 1. ]] SLAMing on 124.676296757 meters Centerline goodness : 0.784969 Centerline is valid? [False, False] Translation: X:2.24, Y:0.32, Z:-1.34 [[ 0.9120397 0.37446601 -0.16720883 2.23772758] [-0.37602123 0.92631343 0.02348324 0.3161547 ] [ 0.16368146 0.04145643 0.98564179 -1.34247581] [ 0. 0. 0. 1. ]] SLAMing on 124.706296757 meters Centerline goodness : 0.786307 Centerline is valid? [False, False] Translation: X:2.22, Y:0.32, Z:-1.34 [[ 0.91345893 0.37086059 -0.16749687 2.22228037] [-0.37114351 0.9280647 0.03079621 0.31858829] [ 0.16686904 0.0340343 0.98539149 -1.33992987] [ 0. 0. 0. 1. ]] SLAMing on 124.736296757 meters Centerline goodness : 0.786558 Centerline is valid? [False, False] Translation: X:2.21, Y:0.32, Z:-1.34 [[ 0.9143503 0.36818233 -0.16853873 2.20674854] [-0.36723057 0.92935569 0.03794362 0.32186325] [ 0.1706026 0.02719881 0.98496445 -1.33821387] [ 0. 0. 0. 1. ]] SLAMing on 124.766296757 meters Centerline goodness : 0.787662 Centerline is valid? [False, False] Translation: X:2.19, Y:0.32, Z:-1.34 [[ 0.91562644 0.36414613 -0.17036964 2.19010651] [-0.36215974 0.93108984 0.04372682 0.32419414] [ 0.17455239 0.02166359 0.98440954 -1.33650794] [ 0. 0. 0. 1. ]] SLAMing on 124.79629675700001 meters Centerline goodness : 0.788399 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:-1.34 [[ 0.91623816 0.36201648 -0.17161501 2.17297457] [-0.35889882 0.9320377 0.04997359 0.32824094] [ 0.17804292 0.01580472 0.98389579 -1.33592145] [ 0. 0. 0. 1. ]] SLAMing on 124.82629675700001 meters Centerline goodness : 0.787999 Centerline is valid? [False, False] Translation: X:2.15, Y:0.33, Z:-1.34 [[ 0.91636379 0.3607791 -0.17353915 2.14884241] [-0.35747395 0.93252659 0.05105428 0.33473832] [ 0.18024919 0.01525143 0.98350273 -1.34088397] [ 0. 0. 0. 1. ]] SLAMing on 124.85629675700001 meters Centerline goodness : 0.789054 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:-1.35 [[ 0.916978 0.35939073 -0.17317518 2.1228628 ] [-0.35649895 0.93302958 0.04862409 0.34538965] [ 0.17905261 0.01714955 0.98369002 -1.34865512] [ 0. 0. 0. 1. ]] SLAMing on 124.88629675700001 meters Centerline goodness : 0.790073 Centerline is valid? [False, False] Translation: X:2.09, Y:0.36, Z:-1.36 [[ 0.91741777 0.35883613 -0.17199203 2.09462742] [-0.35646994 0.93319623 0.04554086 0.35661997] [ 0.17684402 0.01952999 0.98404511 -1.35698735] [ 0. 0. 0. 1. ]] SLAMing on 124.91629675700001 meters Centerline goodness : 0.791652 Centerline is valid? [False, False] Translation: X:2.06, Y:0.37, Z:-1.37 [[ 0.91768595 0.35957942 -0.16898267 2.06387438] [-0.35764669 0.9328749 0.04281666 0.36807311] [ 0.17303568 0.02114385 0.98468858 -1.36500401] [ 0. 0. 0. 1. ]] SLAMing on 124.94629675700001 meters Centerline goodness : 0.793288 Centerline is valid? [False, False] Translation: X:2.04, Y:0.38, Z:-1.37 [[ 0.91798437 0.35973749 -0.16701388 2.03583702] [-0.35799802 0.93280077 0.04147452 0.37857886] [ 0.17071062 0.02171768 0.98508184 -1.37169353] [ 0. 0. 0. 1. ]] SLAMing on 124.976296757 meters Centerline goodness : 0.792629 Centerline is valid? [False, False] Translation: X:2.03, Y:0.38, Z:-1.37 [[ 0.91767464 0.36077369 -0.16648003 2.0343558 ] [-0.35898702 0.93240719 0.04177495 0.3789848 ] [ 0.17029848 0.02142835 0.98515951 -1.3715682 ] [ 0. 0. 0. 1. ]] SLAMing on 125.006296757 meters Centerline goodness : 0.793719 Centerline is valid? [False, False] Translation: X:2.01, Y:0.39, Z:-1.38 [[ 0.91827189 0.36059955 -0.1635381 2.00791918] [-0.35894625 0.93247477 0.04060049 0.38968288] [ 0.16713567 0.0214191 0.98570122 -1.37838981] [ 0. 0. 0. 1. ]] SLAMing on 125.036296757 meters Centerline goodness : 0.790325 Centerline is valid? [False, False] Translation: X:1.98, Y:0.40, Z:-1.39 [[ 0.91757635 0.36249023 -0.16326197 1.9791659 ] [-0.3611166 0.93170135 0.0390819 0.40103166] [ 0.1662782 0.02309598 0.98580837 -1.38702575] [ 0. 0. 0. 1. ]] SLAMing on 125.066296757 meters Centerline goodness : 0.789453 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-1.39 [[ 0.91749915 0.36283812 -0.16292272 1.95120413] [-0.36178368 0.93152096 0.03716544 0.41208796] [ 0.16525097 0.02484352 0.9859386 -1.39483636] [ 0. 0. 0. 1. ]] SLAMing on 125.096296757 meters Centerline goodness : 0.792061 Centerline is valid? [False, False] Translation: X:1.90, Y:0.43, Z:-1.40 [[ 0.91800894 0.3620422 -0.16181787 1.90343578] [-0.36054459 0.93190186 0.03957934 0.42867797] [ 0.16512776 0.02200837 0.9860266 -1.4029423 ] [ 0. 0. 0. 1. ]] SLAMing on 125.126296757 meters Centerline goodness : 0.791142 Centerline is valid? [False, False] Translation: X:1.87, Y:0.44, Z:-1.41 [[ 0.91857267 0.36140657 -0.1600298 1.87349312] [-0.36029459 0.93210659 0.03694739 0.43918366] [ 0.16251787 0.02371901 0.98642047 -1.40979259] [ 0. 0. 0. 1. ]] SLAMing on 125.156296757 meters Centerline goodness : 0.793171 Centerline is valid? [False, False] Translation: X:1.84, Y:0.45, Z:-1.42 [[ 0.91934601 0.36012796 -0.15846376 1.84435859] [-0.35931532 0.93256847 0.03476428 0.44915288] [ 0.1602979 0.02497805 0.98675259 -1.41549108] [ 0. 0. 0. 1. ]] SLAMing on 125.18629675700001 meters Centerline goodness : 0.794245 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-1.42 [[ 0.92042381 0.35820289 -0.15655893 1.81341314] [-0.35773462 0.93326988 0.03214447 0.45849447] [ 0.15762597 0.02642001 0.9871454 -1.42024107] [ 0. 0. 0. 1. ]] SLAMing on 125.21629675700001 meters Centerline goodness : 0.792584 Centerline is valid? [False, False] Translation: X:1.78, Y:0.47, Z:-1.43 [[ 0.92348439 0.35428248 -0.14717512 1.77543733] [-0.3534291 0.93488607 0.03280104 0.47163984] [ 0.1492128 0.02172472 0.98856642 -1.43009633] [ 0. 0. 0. 1. ]] SLAMing on 125.24629675700001 meters Centerline goodness : 0.794293 Centerline is valid? [False, False] Translation: X:1.76, Y:0.48, Z:-1.43 [[ 0.92380303 0.35317965 -0.14782452 1.75611076] [-0.35147293 0.93541028 0.0383977 0.47678602] [ 0.15183786 0.0164844 0.98826794 -1.4301561 ] [ 0. 0. 0. 1. ]] SLAMing on 125.27629675700001 meters Centerline goodness : 0.793390 Centerline is valid? [False, False] Translation: X:1.74, Y:0.48, Z:-1.43 [[ 0.92430288 0.35163098 -0.14839085 1.73684335] [-0.3491509 0.93606469 0.04331915 0.48214972] [ 0.15413579 0.01177078 0.98797956 -1.4305036 ] [ 0. 0. 0. 1. ]] SLAMing on 125.30629675700001 meters Centerline goodness : 0.794121 Centerline is valid? [False, False] Translation: X:1.70, Y:0.50, Z:-1.44 [[ 0.92687983 0.34801811 -0.14063136 1.69630226] [-0.34572312 0.93743012 0.04123454 0.49693269] [ 0.14618244 0.01040005 0.98920298 -1.44189979] [ 0. 0. 0. 1. ]] SLAMing on 125.33629675700001 meters Centerline goodness : 0.794274 Centerline is valid? [False, False] Translation: X:1.67, Y:0.51, Z:-1.45 [[ 0.92721214 0.34727174 -0.14028535 1.66927815] [-0.34511714 0.93769835 0.04019903 0.50675622] [ 0.14550533 0.01114185 0.98929473 -1.44709914] [ 0. 0. 0. 1. ]] SLAMing on 125.366296757 meters Centerline goodness : 0.796672 Centerline is valid? [False, False] Translation: X:1.64, Y:0.52, Z:-1.45 [[ 0.92753084 0.34639728 -0.14034056 1.64193314] [-0.34429427 0.93801844 0.03978523 0.51555607] [ 0.14542353 0.01141642 0.98930363 -1.45129876] [ 0. 0. 0. 1. ]] SLAMing on 125.396296757 meters Centerline goodness : 0.798417 Centerline is valid? [False, False] Translation: X:1.64, Y:0.52, Z:-1.45 [[ 0.9283636 0.3441873 -0.14027163 1.640234 ] [-0.34236641 0.93881046 0.03768488 0.51683869] [ 0.14465913 0.01303902 0.98939563 -1.45066645] [ 0. 0. 0. 1. ]] SLAMing on 125.426296757 meters Centerline goodness : 0.798526 Centerline is valid? [False, False] Translation: X:1.61, Y:0.53, Z:-1.46 [[ 0.92885849 0.3428175 -0.14034979 1.61183983] [-0.34119927 0.93929373 0.03619875 0.52580175] [ 0.14423924 0.01426372 0.98944004 -1.45504837] [ 0. 0. 0. 1. ]] SLAMing on 125.456296757 meters Centerline goodness : 0.800515 Centerline is valid? [False, False] Translation: X:1.59, Y:0.53, Z:-1.46 [[ 0.92991368 0.33950555 -0.14140908 1.5903152 ] [-0.33751169 0.94052961 0.03859923 0.53178828] [ 0.14610407 0.01183327 0.98919845 -1.45553828] [ 0. 0. 0. 1. ]] SLAMing on 125.486296757 meters Centerline goodness : 0.801823 Centerline is valid? [False, False] Translation: X:1.59, Y:0.53, Z:-1.46 [[ 0.92995584 0.33927231 -0.14169135 1.59105006] [-0.33726093 0.94061449 0.03872277 0.53138771] [ 0.1464145 0.01177649 0.98915323 -1.45551895] [ 0. 0. 0. 1. ]] SLAMing on 125.516296757 meters Centerline goodness : 0.797436 Centerline is valid? [False, False] Translation: X:1.56, Y:0.54, Z:-1.47 [[ 0.93281558 0.33415751 -0.13488458 1.55955488] [-0.33178818 0.94249042 0.04035357 0.54294301] [ 0.14061188 0.00711067 0.99003926 -1.46505054] [ 0. 0. 0. 1. ]] SLAMing on 125.54629675700001 meters Centerline goodness : 0.802822 Centerline is valid? [False, False] Translation: X:1.56, Y:0.54, Z:-1.47 [[ 0.93288197 0.3337539 -0.13542367 1.56089465] [-0.33136678 0.94263339 0.0404765 0.54193867] [ 0.14116407 0.00711511 0.98996065 -1.46527515] [ 0. 0. 0. 1. ]] SLAMing on 125.57629675700001 meters Centerline goodness : 0.801517 Centerline is valid? [False, False] Translation: X:1.54, Y:0.55, Z:-1.47 [[ 0.93333237 0.33148954 -0.13785999 1.54111639] [-0.32867613 0.9434465 0.04336699 0.54692225] [ 0.14443923 0.00483548 0.98950186 -1.4675399 ] [ 0. 0. 0. 1. ]] SLAMing on 125.60629675700001 meters Centerline goodness : 0.805389 Centerline is valid? [False, False] Translation: X:1.54, Y:0.55, Z:-1.47 [[ 0.93334192 0.33129822 -0.13825463 1.54195432] [-0.32843174 0.94351491 0.0437287 0.54587358] [ 0.14493255 0.00459338 0.98943088 -1.46722739] [ 0. 0. 0. 1. ]] SLAMing on 125.63629675700001 meters Centerline goodness : 0.802708 Centerline is valid? [False, False] Translation: X:1.54, Y:0.54, Z:-1.47 [[ 0.93334333 0.33124855 -0.1383641 1.5421329 ] [-0.32834323 0.94353341 0.0439934 0.5447826 ] [ 0.1451239 0.00436997 0.98940384 -1.46714756] [ 0. 0. 0. 1. ]] SLAMing on 125.66629675700001 meters Centerline goodness : 0.803472 Centerline is valid? [False, False] Translation: X:1.51, Y:0.56, Z:-1.47 [[ 0.93394612 0.32986688 -0.13759536 1.51282756] [-0.32750159 0.94399715 0.04015075 0.55565816] [ 0.14313403 0.00756406 0.98967441 -1.47411415] [ 0. 0. 0. 1. ]] SLAMing on 125.69629675700001 meters Centerline goodness : 0.802111 Centerline is valid? [False, False] Translation: X:1.48, Y:0.57, Z:-1.48 [[ 0.93452144 0.32906832 -0.13558661 1.48395893] [-0.32708613 0.94425836 0.03729359 0.56683041] [ 0.14030093 0.00949684 0.99006336 -1.48019863] [ 0. 0. 0. 1. ]] SLAMing on 125.726296757 meters Centerline goodness : 0.802821 Centerline is valid? [False, False] Translation: X:1.45, Y:0.58, Z:-1.49 [[ 0.93495645 0.32931952 -0.13192834 1.45397411] [-0.32759688 0.94416213 0.03518732 0.57789793] [ 0.13614962 0.0103207 0.99063453 -1.48573535] [ 0. 0. 0. 1. ]] SLAMing on 125.756296757 meters Centerline goodness : 0.801464 Centerline is valid? [False, False] Translation: X:1.41, Y:0.59, Z:-1.49 [[ 0.93585705 0.32789059 -0.1290711 1.4079011 ] [-0.32580384 0.94469057 0.03757097 0.59356547] [ 0.13425142 0.0068908 0.99092334 -1.49218161] [ 0. 0. 0. 1. ]] SLAMing on 125.786296757 meters Centerline goodness : 0.801753 Centerline is valid? [False, False] Translation: X:1.38, Y:0.60, Z:-1.50 [[ 0.93523058 0.32968898 -0.12903079 1.38030117] [-0.32746355 0.94407026 0.03871662 0.60213061] [ 0.13457857 0.00604392 0.99088449 -1.49668684] [ 0. 0. 0. 1. ]] SLAMing on 125.816296757 meters Centerline goodness : 0.799655 Centerline is valid? [False, False] Translation: X:1.38, Y:0.60, Z:-1.50 [[ 0.93511316 0.33002312 -0.12902759 1.38039476] [-0.32780125 0.94395318 0.03871356 0.60258407] [ 0.13457237 0.00609384 0.99088503 -1.49693797] [ 0. 0. 0. 1. ]] SLAMing on 125.846296757 meters Centerline goodness : 0.803700 Centerline is valid? [False, False] Translation: X:1.35, Y:0.61, Z:-1.50 [[ 0.93489052 0.33055809 -0.1292713 1.35273047] [-0.32838807 0.94376279 0.03838072 0.61185113] [ 0.1346885 0.00656939 0.99086621 -1.50213187] [ 0. 0. 0. 1. ]] SLAMing on 125.876296757 meters Centerline goodness : 0.802528 Centerline is valid? [False, False] Translation: X:1.33, Y:0.62, Z:-1.51 [[ 0.93420669 0.33223198 -0.12992215 1.32689008] [-0.32976635 0.94318533 0.04068895 0.61936557] [ 0.13605884 0.00483206 0.99068897 -1.50639815] [ 0. 0. 0. 1. ]] SLAMing on 125.906296757 meters Centerline goodness : 0.800056 Centerline is valid? [False, False] Translation: X:1.30, Y:0.63, Z:-1.51 [[ 0.93428699 0.33190365 -0.13018367 1.30168152] [-0.3292716 0.9433059 0.04188308 0.62709813] [ 0.13670417 0.00373497 0.99060488 -1.5100392 ] [ 0. 0. 0. 1. ]] SLAMing on 125.93629675700001 meters Centerline goodness : 0.804897 Centerline is valid? [False, False] Translation: X:1.28, Y:0.63, Z:-1.51 [[ 9.35177429e-01 3.29215741e-01 -1.30614591e-01 1.27947351e+00] [-3.26161122e-01 9.44254430e-01 4.47492356e-02 6.32707683e-01] [ 1.38065559e-01 7.52926454e-04 9.90422806e-01 -1.50961735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96629675700001 meters Centerline goodness : 0.803223 Centerline is valid? [False, False] Translation: X:1.26, Y:0.64, Z:-1.51 [[ 9.36582221e-01 3.25781896e-01 -1.29150686e-01 1.25518278e+00] [-3.22789413e-01 9.45444856e-01 4.40569987e-02 6.40890894e-01] [ 1.36457824e-01 4.25472496e-04 9.90645790e-01 -1.51227364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99629675700001 meters Centerline goodness : 0.806062 Centerline is valid? [False, False] Translation: X:1.25, Y:0.64, Z:-1.51 [[ 0.93772284 0.32227717 -0.12966615 1.25280531] [-0.31970902 0.94663975 0.0407348 0.64089346] [ 0.13587502 0.00325749 0.99072063 -1.51132413] [ 0. 0. 0. 1. ]] SLAMing on 126.02629675700001 meters Centerline goodness : 0.807456 Centerline is valid? [False, False] Translation: X:1.25, Y:0.64, Z:-1.51 [[ 0.93863398 0.3197762 -0.12926495 1.25153228] [-0.31749647 0.94748011 0.03843745 0.64213747] [ 0.13476735 0.00496247 0.99086484 -1.511508 ] [ 0. 0. 0. 1. ]] SLAMing on 126.05629675700001 meters Centerline goodness : 0.806378 Centerline is valid? [False, False] Translation: X:1.23, Y:0.65, Z:-1.51 [[ 9.39151520e-01 3.17522598e-01 -1.31048932e-01 1.23147238e+00] [-3.14650332e-01 9.48249946e-01 4.26287209e-02 6.46750252e-01] [ 1.37802725e-01 1.19976215e-03 9.90458969e-01 -1.51161574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08629675700001 meters Centerline goodness : 0.808103 Centerline is valid? [False, False] Translation: X:1.21, Y:0.65, Z:-1.51 [[ 0.94054038 0.31249397 -0.13315898 1.212694 ] [-0.30916822 0.94991835 0.04549871 0.65040986] [ 0.14070823 -0.00162485 0.99004977 -1.51130034] [ 0. 0. 0. 1. ]] SLAMing on 126.116296757 meters Centerline goodness : 0.807015 Centerline is valid? [False, False] Translation: X:1.21, Y:0.65, Z:-1.51 [[ 0.94168363 0.30864571 -0.13405138 1.21215875] [-0.30584978 0.95117513 0.04149446 0.6516842 ] [ 0.14031342 0.00192493 0.99010527 -1.51176953] [ 0. 0. 0. 1. ]] SLAMing on 126.146296757 meters Centerline goodness : 0.807132 Centerline is valid? [False, False] Translation: X:1.21, Y:0.65, Z:-1.51 [[ 0.94290491 0.30442927 -0.13510419 1.21210429] [-0.30214983 0.95251967 0.03757329 0.65195756] [ 0.1401278 0.00539366 0.99011873 -1.51223625] [ 0. 0. 0. 1. ]] SLAMing on 126.176296757 meters Centerline goodness : 0.806241 Centerline is valid? [False, False] Translation: X:1.21, Y:0.65, Z:-1.51 [[ 0.94304578 0.30395142 -0.13519687 1.21244532] [-0.30165886 0.95267284 0.03763506 0.650689 ] [ 0.14023761 0.00529175 0.99010374 -1.51225548] [ 0. 0. 0. 1. ]] SLAMing on 126.206296757 meters Centerline goodness : 0.807430 Centerline is valid? [False, False] Translation: X:1.21, Y:0.65, Z:-1.51 [[ 0.94386195 0.30158174 -0.13480751 1.2109583 ] [-0.29957601 0.95341493 0.03541447 0.65155448] [ 0.13920785 0.00695872 0.99023873 -1.51240236] [ 0. 0. 0. 1. ]] SLAMing on 126.236296757 meters Centerline goodness : 0.808011 Centerline is valid? [False, False] Translation: X:1.21, Y:0.65, Z:-1.51 [[ 0.94494075 0.29782921 -0.13559034 1.21009632] [-0.29635031 0.95456171 0.03143938 0.65207962] [ 0.13879291 0.01047389 0.99026604 -1.51307108] [ 0. 0. 0. 1. ]] SLAMing on 126.266296757 meters Centerline goodness : 0.805015 Centerline is valid? [False, False] Translation: X:1.18, Y:0.66, Z:-1.52 [[ 0.9456351 0.29617669 -0.13436381 1.18390774] [-0.29474893 0.95507631 0.03085955 0.66008079] [ 0.13746757 0.01042171 0.99045144 -1.517411 ] [ 0. 0. 0. 1. ]] SLAMing on 126.29629675700001 meters Centerline goodness : 0.810153 Centerline is valid? [False, False] Translation: X:1.18, Y:0.66, Z:-1.52 [[ 0.9455107 0.29675432 -0.13396413 1.18262293] [-0.29526483 0.95490207 0.03131633 0.6594082 ] [ 0.13721589 0.00994497 0.99049124 -1.51693785] [ 0. 0. 0. 1. ]] SLAMing on 126.32629675700001 meters Centerline goodness : 0.811592 Centerline is valid? [False, False] Translation: X:1.18, Y:0.66, Z:-1.52 [[ 0.94541982 0.29713243 -0.13376729 1.18200324] [-0.2956265 0.95478584 0.03144782 0.65949309] [ 0.13706328 0.00981377 0.99051368 -1.51681725] [ 0. 0. 0. 1. ]] SLAMing on 126.35629675700001 meters Centerline goodness : 0.811982 Centerline is valid? [False, False] Translation: X:1.18, Y:0.66, Z:-1.52 [[ 0.94517256 0.29816557 -0.13321461 1.1805062 ] [-0.2966606 0.95446416 0.03147469 0.66061055] [ 0.13653324 0.00977051 0.99058731 -1.51690871] [ 0. 0. 0. 1. ]] SLAMing on 126.38629675700001 meters Centerline goodness : 0.811258 Centerline is valid? [False, False] Translation: X:1.15, Y:0.67, Z:-1.52 [[ 0.94529956 0.29891834 -0.13060082 1.14946746] [-0.29771578 0.95421092 0.0291005 0.6711874 ] [ 0.1333194 0.01137323 0.99100786 -1.5232739 ] [ 0. 0. 0. 1. ]] SLAMing on 126.41629675700001 meters Centerline goodness : 0.811262 Centerline is valid? [False, False] Translation: X:1.13, Y:0.68, Z:-1.53 [[ 0.94595043 0.29993342 -0.12336011 1.12741184] [-0.29850255 0.95392574 0.0303631 0.68001348] [ 0.1267833 0.00810132 0.99189736 -1.52917004] [ 0. 0. 0. 1. ]] SLAMing on 126.44629675700001 meters Centerline goodness : 0.810367 Centerline is valid? [False, False] Translation: X:1.13, Y:0.68, Z:-1.53 [[ 0.94576162 0.30062689 -0.12311957 1.12678994] [-0.29922227 0.9537058 0.03018745 0.68116237] [ 0.12649501 0.00828998 0.9919326 -1.52948303] [ 0. 0. 0. 1. ]] SLAMing on 126.476296757 meters Centerline goodness : 0.810367 Centerline is valid? [False, False] Translation: X:1.13, Y:0.68, Z:-1.53 [[ 0.94576162 0.30062689 -0.12311957 1.12678994] [-0.29922227 0.9537058 0.03018745 0.68116237] [ 0.12649501 0.00828998 0.9919326 -1.52948303] [ 0. 0. 0. 1. ]] SLAMing on 126.506296757 meters Centerline goodness : 0.809734 Centerline is valid? [False, False] Translation: X:1.10, Y:0.69, Z:-1.53 [[ 0.94562037 0.3013606 -0.12240878 1.10265627] [-0.2996237 0.95349345 0.03280061 0.68861312] [ 0.12660078 0.00565965 0.9919376 -1.53257444] [ 0. 0. 0. 1. ]] SLAMing on 126.536296757 meters Centerline goodness : 0.810779 Centerline is valid? [False, False] Translation: X:1.07, Y:0.70, Z:-1.54 [[ 0.94493648 0.30403016 -0.12108145 1.07480399] [-0.30220194 0.95265028 0.0336367 0.69766998] [ 0.12557485 0.00480651 0.99207251 -1.53849313] [ 0. 0. 0. 1. ]] SLAMing on 126.566296757 meters Centerline goodness : 0.809290 Centerline is valid? [False, False] Translation: X:1.07, Y:0.70, Z:-1.54 [[ 0.94487561 0.30426885 -0.12095679 1.0747818 ] [-0.30246566 0.95257318 0.03344931 0.69818544] [ 0.12539777 0.00497984 0.99209405 -1.53903752] [ 0. 0. 0. 1. ]] SLAMing on 126.596296757 meters Centerline goodness : 0.809076 Centerline is valid? [False, False] Translation: X:1.07, Y:0.70, Z:-1.54 [[ 0.94478908 0.30474968 -0.12042108 1.07353654] [-0.30291862 0.9524211 0.03368034 0.69785758] [ 0.12495565 0.00465697 0.9921514 -1.53899015] [ 0. 0. 0. 1. ]] SLAMing on 126.626296757 meters Centerline goodness : 0.808503 Centerline is valid? [False, False] Translation: X:1.07, Y:0.70, Z:-1.54 [[ 0.94475687 0.30492727 -0.12022405 1.07279594] [-0.3030498 0.9523661 0.03405318 0.69710821] [ 0.12488106 0.0042619 0.99216257 -1.53843604] [ 0. 0. 0. 1. ]] SLAMing on 126.656296757 meters Centerline goodness : 0.809127 Centerline is valid? [False, False] Translation: X:1.07, Y:0.70, Z:-1.54 [[ 0.94474465 0.30500571 -0.12012106 1.07215403] [-0.30305607 0.95234338 0.03462811 0.69596357] [ 0.12495827 0.0036887 0.99215514 -1.53750059] [ 0. 0. 0. 1. ]] SLAMing on 126.68629675700001 meters Centerline goodness : 0.811904 Centerline is valid? [False, False] Translation: X:1.05, Y:0.70, Z:-1.54 [[ 0.9471269 0.29940796 -0.11534952 1.04650435] [-0.29772847 0.95411638 0.03193251 0.70276058] [ 0.11961771 0.0040987 0.99281157 -1.54088351] [ 0. 0. 0. 1. ]] SLAMing on 126.71629675700001 meters Centerline goodness : 0.811747 Centerline is valid? [False, False] Translation: X:1.04, Y:0.70, Z:-1.54 [[ 0.94833028 0.29536665 -0.1158802 1.04483559] [-0.2940661 0.95535837 0.02855723 0.70147228] [ 0.11914197 0.00699475 0.99285259 -1.54042996] [ 0. 0. 0. 1. ]] SLAMing on 126.74629675700001 meters Centerline goodness : 0.812176 Centerline is valid? [False, False] Translation: X:1.02, Y:0.71, Z:-1.54 [[ 0.95001219 0.29134751 -0.11222065 1.02109946] [-0.29012804 0.9565951 0.02741412 0.7091165 ] [ 0.11533676 0.00651461 0.99330509 -1.54444525] [ 0. 0. 0. 1. ]] SLAMing on 126.77629675700001 meters Centerline goodness : 0.812059 Centerline is valid? [False, False] Translation: X:1.02, Y:0.71, Z:-1.54 [[ 0.95010915 0.29102604 -0.1122339 1.02135653] [-0.28978331 0.95669436 0.02759591 0.70831987] [ 0.11540467 0.00630439 0.99329855 -1.54435929] [ 0. 0. 0. 1. ]] SLAMing on 126.80629675700001 meters Centerline goodness : 0.811365 Centerline is valid? [False, False] Translation: X:1.02, Y:0.71, Z:-1.54 [[ 0.95016403 0.29085097 -0.11222312 1.0214365 ] [-0.28958563 0.9567489 0.02777945 0.70762853] [ 0.11544903 0.00610317 0.99329466 -1.54424771] [ 0. 0. 0. 1. ]] SLAMing on 126.83629675700001 meters Centerline goodness : 0.812477 Centerline is valid? [False, False] Translation: X:1.02, Y:0.71, Z:-1.54 [[ 0.95117496 0.28742996 -0.11247317 1.01940912] [-0.28658984 0.95775472 0.02391972 0.70857891] [ 0.11459696 0.00948183 0.99336682 -1.54451931] [ 0. 0. 0. 1. ]] SLAMing on 126.866296757 meters Centerline goodness : 0.814418 Centerline is valid? [False, False] Translation: X:1.02, Y:0.71, Z:-1.54 [[ 0.95113001 0.2876797 -0.11221455 1.01848726] [-0.28678324 0.95768466 0.02440227 0.70762083] [ 0.11448619 0.00897152 0.99338433 -1.54386598] [ 0. 0. 0. 1. ]] SLAMing on 126.896296757 meters Centerline goodness : 0.811865 Centerline is valid? [False, False] Translation: X:1.02, Y:0.71, Z:-1.54 [[ 0.95105861 0.28809311 -0.11175816 1.01737328] [-0.2871689 0.95756319 0.02463268 0.70729935] [ 0.114112 0.00866635 0.99343009 -1.5437939 ] [ 0. 0. 0. 1. ]] SLAMing on 126.926296757 meters Centerline goodness : 0.812029 Centerline is valid? [False, False] Translation: X:1.02, Y:0.71, Z:-1.54 [[ 0.95103593 0.28815928 -0.11178053 1.01770292] [-0.28727206 0.95754033 0.02431629 0.70816785] [ 0.11404133 0.00898575 0.99343537 -1.54436431] [ 0. 0. 0. 1. ]] SLAMing on 126.956296757 meters Centerline goodness : 0.806125 Centerline is valid? [False, False] Translation: X:1.00, Y:0.71, Z:-1.55 [[ 9.50256612e-01 2.90130717e-01 -1.13298452e-01 1.00179151e+00] [-2.88239558e-01 9.56986262e-01 3.30945801e-02 7.12767093e-01] [ 1.18026817e-01 1.20875227e-03 9.93009672e-01 -1.54513286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.986296757 meters Centerline goodness : 0.807632 Centerline is valid? [False, False] Translation: X:1.00, Y:0.71, Z:-1.55 [[ 0.95021603 0.29022354 -0.11340105 1.00245337] [-0.28840803 0.95695708 0.03246478 0.71425406] [ 0.11794198 0.00185721 0.99301875 -1.54620691] [ 0. 0. 0. 1. ]] SLAMing on 127.016296757 meters Centerline goodness : 0.806259 Centerline is valid? [False, False] Translation: X:1.00, Y:0.72, Z:-1.55 [[ 0.94995774 0.29121591 -0.11302033 1.00146292] [-0.28948807 0.95665401 0.03177692 0.71662638] [ 0.1173753 0.00253131 0.9930844 -1.54724349] [ 0. 0. 0. 1. ]] SLAMing on 127.04629675700001 meters Centerline goodness : 0.807021 Centerline is valid? [False, False] Translation: X:1.00, Y:0.72, Z:-1.55 [[ 0.94986381 0.2915955 -0.11283088 1.00098086] [-0.28990686 0.95653755 0.03146313 0.71772553] [ 0.11710148 0.00282475 0.99311594 -1.54759253] [ 0. 0. 0. 1. ]] SLAMing on 127.07629675700001 meters Centerline goodness : 0.809168 Centerline is valid? [False, False] Translation: X:1.00, Y:0.72, Z:-1.55 [[ 0.94978006 0.29191224 -0.11271681 1.00066974] [-0.29024616 0.95644041 0.03128765 0.71886805] [ 0.11694016 0.00299924 0.99313443 -1.54765479] [ 0. 0. 0. 1. ]] SLAMing on 127.10629675700001 meters Centerline goodness : 0.804872 Centerline is valid? [False, False] Translation: X:0.98, Y:0.73, Z:-1.55 [[ 9.50880265e-01 2.91071051e-01 -1.05377252e-01 9.79133823e-01] [-2.89387918e-01 9.56701134e-01 3.12661814e-02 7.28476783e-01] [ 1.09915216e-01 7.64508539e-04 9.93940673e-01 -1.55357410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13629675700001 meters Centerline goodness : 0.806147 Centerline is valid? [False, False] Translation: X:0.96, Y:0.74, Z:-1.56 [[ 9.52275391e-01 2.88859705e-01 -9.86491286e-02 9.58174406e-01] [-2.87237363e-01 9.57371115e-01 3.05817846e-02 7.37520518e-01] [ 1.03277672e-01 -7.86565343e-04 9.94652253e-01 -1.55912608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16629675700001 meters Centerline goodness : 0.806581 Centerline is valid? [False, False] Translation: X:0.93, Y:0.75, Z:-1.56 [[ 0.95286766 0.2889494 -0.09247411 0.93332447] [-0.28740803 0.95734252 0.02986491 0.74785061] [ 0.09715885 -0.0018795 0.99526711 -1.56481191] [ 0. 0. 0. 1. ]] SLAMing on 127.19629675700001 meters Centerline goodness : 0.807625 Centerline is valid? [False, False] Translation: X:0.93, Y:0.75, Z:-1.56 [[ 0.95275889 0.28934722 -0.09235091 0.93281024] [-0.2878227 0.95722265 0.02971357 0.74894179] [ 0.09699793 -0.00172918 0.99528308 -1.56473562] [ 0. 0. 0. 1. ]] SLAMing on 127.22629675700001 meters Centerline goodness : 0.804087 Centerline is valid? [False, False] Translation: X:0.91, Y:0.76, Z:-1.57 [[ 9.53208605e-01 2.88757129e-01 -8.95135545e-02 9.05331991e-01] [-2.87414358e-01 9.57402050e-01 2.78262696e-02 7.58292799e-01] [ 9.37354943e-02 -7.96758760e-04 9.95596817e-01 -1.57030810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.256296757 meters Centerline goodness : 0.803222 Centerline is valid? [False, False] Translation: X:0.89, Y:0.77, Z:-1.57 [[ 0.95404558 0.2872413 -0.08537837 0.88584867] [-0.28572529 0.95784999 0.02973974 0.76690718] [ 0.09032216 -0.00397831 0.99590465 -1.57459218] [ 0. 0. 0. 1. ]] SLAMing on 127.286296757 meters Centerline goodness : 0.803595 Centerline is valid? [False, False] Translation: X:0.87, Y:0.78, Z:-1.58 [[ 0.95542987 0.28418602 -0.07995045 0.86634788] [-0.28265798 0.95874962 0.03006053 0.77515125] [ 0.08519524 -0.0061221 0.99634547 -1.57891133] [ 0. 0. 0. 1. ]] SLAMing on 127.316296757 meters Centerline goodness : 0.801024 Centerline is valid? [False, False] Translation: X:0.84, Y:0.78, Z:-1.58 [[ 0.9566787 0.28136248 -0.07483999 0.84345335] [-0.27993998 0.95957697 0.02907992 0.78374885] [ 0.07999673 -0.00686944 0.99677146 -1.58297959] [ 0. 0. 0. 1. ]] SLAMing on 127.346296757 meters Centerline goodness : 0.803407 Centerline is valid? [False, False] Translation: X:0.84, Y:0.78, Z:-1.58 [[ 0.95667151 0.2813757 -0.07488213 0.84331231] [-0.27994443 0.95957245 0.029186 0.78389149] [ 0.08006706 -0.00695858 0.99676519 -1.58245022] [ 0. 0. 0. 1. ]] SLAMing on 127.376296757 meters Centerline goodness : 0.802851 Centerline is valid? [False, False] Translation: X:0.84, Y:0.78, Z:-1.58 [[ 0.95669419 0.28130517 -0.07485737 0.84314649] [-0.27987494 0.95959314 0.02917243 0.78414769] [ 0.08003897 -0.00695839 0.99676745 -1.58210634] [ 0. 0. 0. 1. ]] SLAMing on 127.406296757 meters Centerline goodness : 0.804452 Centerline is valid? [False, False] Translation: X:0.84, Y:0.79, Z:-1.58 [[ 0.95769603 0.27764968 -0.07569 0.84246096] [-0.27652534 0.96067717 0.02516172 0.7871142 ] [ 0.0796998 -0.00316707 0.99681388 -1.58161192] [ 0. 0. 0. 1. ]] SLAMing on 127.43629675700001 meters Centerline goodness : 0.801068 Centerline is valid? [False, False] Translation: X:0.84, Y:0.79, Z:-1.58 [[ 9.58609394e-01 2.74491009e-01 -7.56486269e-02 8.42256431e-01] [-2.73612501e-01 9.61589606e-01 2.19460411e-02 7.90029779e-01] [ 7.87669243e-02 -3.39271156e-04 9.96893002e-01 -1.58224269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46629675700001 meters Centerline goodness : 0.801994 Centerline is valid? [False, False] Translation: X:0.84, Y:0.79, Z:-1.58 [[ 9.58721712e-01 2.74006086e-01 -7.59825247e-02 8.43193867e-01] [-2.73134350e-01 9.61727940e-01 2.18402466e-02 7.89788567e-01] [ 7.90588774e-02 -1.85281079e-04 9.96869931e-01 -1.58233671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49629675700001 meters Centerline goodness : 0.803212 Centerline is valid? [False, False] Translation: X:0.84, Y:0.79, Z:-1.58 [[ 9.58821022e-01 2.73564884e-01 -7.63184255e-02 8.44034890e-01] [-2.72695541e-01 9.61853548e-01 2.17920751e-02 7.89734932e-01] [ 7.93686948e-02 -8.30054106e-05 9.96845326e-01 -1.58219202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52629675700001 meters Centerline goodness : 0.801168 Centerline is valid? [False, False] Translation: X:0.84, Y:0.79, Z:-1.58 [[ 9.58982269e-01 2.72983505e-01 -7.63741655e-02 8.44601234e-01] [-2.72147680e-01 9.62018663e-01 2.13478870e-02 7.90625515e-01] [ 7.93009936e-02 3.12806836e-04 9.96850668e-01 -1.58237600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55629675700001 meters Centerline goodness : 0.800622 Centerline is valid? [False, False] Translation: X:0.85, Y:0.79, Z:-1.58 [[ 9.59075211e-01 2.72607373e-01 -7.65503718e-02 8.45325221e-01] [-2.71798115e-01 9.62125136e-01 2.10001752e-02 7.91543835e-01] [ 7.93758394e-02 6.65499330e-04 9.96844538e-01 -1.58259943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58629675700001 meters Centerline goodness : 0.802736 Centerline is valid? [False, False] Translation: X:0.85, Y:0.79, Z:-1.58 [[ 9.59205301e-01 2.72067316e-01 -7.68411785e-02 8.46313750e-01] [-2.71296591e-01 9.62277493e-01 2.04984707e-02 7.92963197e-01] [ 7.95195005e-02 1.18450796e-03 9.96832607e-01 -1.58275154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.616296757 meters Centerline goodness : 0.802185 Centerline is valid? [False, False] Translation: X:0.85, Y:0.79, Z:-1.58 [[ 9.59231402e-01 2.71926307e-01 -7.70142847e-02 8.46647589e-01] [-2.71156602e-01 9.62317285e-01 2.04826701e-02 7.93225031e-01] [ 7.96819542e-02 1.23531132e-03 9.96819573e-01 -1.58250363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.646296757 meters Centerline goodness : 0.802432 Centerline is valid? [False, False] Translation: X:0.85, Y:0.79, Z:-1.58 [[ 9.59250694e-01 2.71801341e-01 -7.72148767e-02 8.46991452e-01] [-2.71032749e-01 9.62352510e-01 2.04669164e-02 7.93332203e-01] [ 7.98708657e-02 1.29485650e-03 9.96804378e-01 -1.58228465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.676296757 meters Centerline goodness : 0.802310 Centerline is valid? [False, False] Translation: X:0.85, Y:0.79, Z:-1.58 [[ 0.9592833 0.271581 -0.0775842 0.84821295] [-0.27086357 0.96241352 0.01982788 0.79482925] [ 0.08005295 0.00199418 0.99678862 -1.58307644] [ 0. 0. 0. 1. ]] SLAMing on 127.706296757 meters Centerline goodness : 0.797742 Centerline is valid? [False, False] Translation: X:0.85, Y:0.80, Z:-1.58 [[ 9.58430491e-01 2.74594142e-01 -7.75180743e-02 8.51494065e-01] [-2.73646495e-01 9.61560006e-01 2.28024257e-02 7.96214558e-01] [ 8.07996925e-02 -6.41990641e-04 9.96730153e-01 -1.58425688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.736296757 meters Centerline goodness : 0.799504 Centerline is valid? [False, False] Translation: X:0.85, Y:0.80, Z:-1.58 [[ 9.58415127e-01 2.74611591e-01 -7.76461123e-02 8.52139174e-01] [-2.73711021e-01 9.61555236e-01 2.22217243e-02 7.98466942e-01] [ 8.07633689e-02 -4.50400523e-05 9.96733302e-01 -1.58474957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.766296757 meters Centerline goodness : 0.799812 Centerline is valid? [False, False] Translation: X:0.85, Y:0.80, Z:-1.58 [[ 9.58369857e-01 2.74751630e-01 -7.77094542e-02 8.52234404e-01] [-2.73881497e-01 9.61515172e-01 2.18517832e-02 8.00149253e-01] [ 8.07226323e-02 3.41091264e-04 9.96736545e-01 -1.58478183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79629675700001 meters Centerline goodness : 0.799040 Centerline is valid? [False, False] Translation: X:0.85, Y:0.80, Z:-1.58 [[ 9.58279163e-01 2.75107213e-01 -7.75697507e-02 8.51481982e-01] [-2.74246282e-01 9.61413458e-01 2.17517725e-02 8.01418432e-01] [ 8.05606717e-02 4.28945347e-04 9.96749615e-01 -1.58417095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82629675700001 meters Centerline goodness : 0.800508 Centerline is valid? [False, False] Translation: X:0.85, Y:0.80, Z:-1.58 [[ 9.58036380e-01 2.76101452e-01 -7.70343035e-02 8.49066518e-01] [-2.75219803e-01 9.61128494e-01 2.20471746e-02 8.02884402e-01] [ 8.01271210e-02 7.93704807e-05 9.96784650e-01 -1.58238611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85629675700001 meters Centerline goodness : 0.801873 Centerline is valid? [False, False] Translation: X:0.85, Y:0.81, Z:-1.58 [[ 9.57836888e-01 2.76808469e-01 -7.69777117e-02 8.48829506e-01] [-2.75957897e-01 9.60924998e-01 2.16884071e-02 8.06605178e-01] [ 7.99733422e-02 4.68651046e-04 9.96796893e-01 -1.58205986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88629675700001 meters Centerline goodness : 0.799846 Centerline is valid? [False, False] Translation: X:0.85, Y:0.81, Z:-1.58 [[ 9.57753494e-01 2.77100937e-01 -7.69630761e-02 8.49136803e-01] [-2.76282003e-01 9.60840431e-01 2.13054186e-02 8.09246482e-01] [ 7.98529867e-02 8.58173673e-04 9.96806282e-01 -1.58227825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91629675700001 meters Centerline goodness : 0.801316 Centerline is valid? [False, False] Translation: X:0.85, Y:0.81, Z:-1.58 [[ 0.95772681 0.27714822 -0.07712476 0.85002775] [-0.27639052 0.96082578 0.02054513 0.81212118] [ 0.07979751 0.00163993 0.99680975 -1.58304298] [ 0. 0. 0. 1. ]] SLAMing on 127.94629675700001 meters Centerline goodness : 0.800856 Centerline is valid? [False, False] Translation: X:0.83, Y:0.82, Z:-1.59 [[ 9.57633859e-01 2.77553697e-01 -7.68201654e-02 8.28984920e-01] [-2.76659527e-01 9.60710123e-01 2.22612954e-02 8.21557829e-01] [ 7.99806154e-02 -6.51395717e-05 9.96796417e-01 -1.58707562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97629675700001 meters Centerline goodness : 0.798593 Centerline is valid? [False, False] Translation: X:0.83, Y:0.82, Z:-1.59 [[ 9.57610992e-01 2.77564707e-01 -7.70650513e-02 8.29730530e-01] [-2.76700408e-01 9.60706877e-01 2.18902067e-02 8.22467687e-01] [ 8.01128735e-02 3.61628583e-04 9.96785733e-01 -1.58762838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.006296757 meters Centerline goodness : 0.797792 Centerline is valid? [False, False] Translation: X:0.80, Y:0.83, Z:-1.59 [[ 0.95815662 0.27607096 -0.07563547 0.80377832] [-0.27540872 0.96113431 0.01925791 0.83169759] [ 0.0780124 0.00237857 0.99694955 -1.59324302] [ 0. 0. 0. 1. ]] SLAMing on 128.03629675700003 meters Centerline goodness : 0.798120 Centerline is valid? [False, False] Translation: X:0.80, Y:0.83, Z:-1.59 [[ 0.95814411 0.27607719 -0.07577109 0.80405975] [-0.27541913 0.96113231 0.01920902 0.83242153] [ 0.07812922 0.0024638 0.9969402 -1.5930517 ] [ 0. 0. 0. 1. ]] SLAMing on 128.06629675700003 meters Centerline goodness : 0.797408 Centerline is valid? [False, False] Translation: X:0.80, Y:0.83, Z:-1.59 [[ 0.95814302 0.27607577 -0.07579005 0.80425097] [-0.27543433 0.96113216 0.01899742 0.83355856] [ 0.07808898 0.00267293 0.99694281 -1.59310421] [ 0. 0. 0. 1. ]] SLAMing on 128.09629675700003 meters Centerline goodness : 0.797737 Centerline is valid? [False, False] Translation: X:0.80, Y:0.84, Z:-1.59 [[ 0.95806882 0.27637537 -0.07563593 0.80382629] [-0.27575212 0.96104547 0.01877132 0.83645359] [ 0.0778775 0.00287255 0.9969588 -1.59241282] [ 0. 0. 0. 1. ]] SLAMing on 128.12629675700003 meters Centerline goodness : 0.799122 Centerline is valid? [False, False] Translation: X:0.78, Y:0.84, Z:-1.59 [[ 9.59111874e-01 2.73811604e-01 -7.16353231e-02 7.82614885e-01] [-2.73064239e-01 9.61783331e-01 2.02174437e-02 8.44207844e-01] [ 7.44334304e-02 1.70254653e-04 9.97225970e-01 -1.59398119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15629675700004 meters Centerline goodness : 0.797938 Centerline is valid? [False, False] Translation: X:0.78, Y:0.85, Z:-1.59 [[ 9.59040715e-01 2.74079780e-01 -7.15624300e-02 7.81897533e-01] [-2.73349897e-01 9.61706881e-01 1.99927455e-02 8.46454261e-01] [ 7.43016886e-02 3.87725872e-04 9.97235734e-01 -1.59296261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.186296757 meters Centerline goodness : 0.797531 Centerline is valid? [False, False] Translation: X:0.78, Y:0.85, Z:-1.59 [[ 9.59042033e-01 2.74044508e-01 -7.16797452e-02 7.82028523e-01] [-2.73326080e-01 9.61716844e-01 1.98385224e-02 8.47355855e-01] [ 7.43722564e-02 5.65966901e-04 9.97230388e-01 -1.59267470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.216296757 meters Centerline goodness : 0.799068 Centerline is valid? [False, False] Translation: X:0.78, Y:0.85, Z:-1.59 [[ 9.59041078e-01 2.74038216e-01 -7.17165782e-02 7.81990999e-01] [-2.73324038e-01 9.61718596e-01 1.97816024e-02 8.47952163e-01] [ 7.43920820e-02 6.30495452e-04 9.97228871e-01 -1.59233907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.246296757 meters Centerline goodness : 0.798006 Centerline is valid? [False, False] Translation: X:0.78, Y:0.85, Z:-1.59 [[ 9.59056023e-01 2.73967361e-01 -7.17873971e-02 7.82374551e-01] [-2.73298302e-01 9.61738204e-01 1.91746105e-02 8.50169741e-01] [ 7.42938998e-02 1.22984803e-03 9.97235631e-01 -1.59252510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.276296757 meters Centerline goodness : 0.797467 Centerline is valid? [False, False] Translation: X:0.78, Y:0.85, Z:-1.59 [[ 0.95904927 0.27395944 -0.07190768 0.78293738] [-0.27332838 0.96173965 0.01866668 0.8522761 ] [ 0.07427038 0.00175215 0.9972366 -1.59280953] [ 0. 0. 0. 1. ]] SLAMing on 128.306296757 meters Centerline goodness : 0.793960 Centerline is valid? [False, False] Translation: X:0.77, Y:0.86, Z:-1.59 [[ 0.9588816 0.27444227 -0.07230162 0.76721794] [-0.2732294 0.96158774 0.02635731 0.85895271] [ 0.07675791 -0.00551861 0.99703449 -1.59202145] [ 0. 0. 0. 1. ]] SLAMing on 128.336296757 meters Centerline goodness : 0.794457 Centerline is valid? [False, False] Translation: X:0.77, Y:0.86, Z:-1.59 [[ 0.95884472 0.27456558 -0.07232256 0.76733012] [-0.27338339 0.96155474 0.02596168 0.86102638] [ 0.07667029 -0.00512143 0.99704335 -1.59198249] [ 0. 0. 0. 1. ]] SLAMing on 128.36629675700001 meters Centerline goodness : 0.792675 Centerline is valid? [False, False] Translation: X:0.77, Y:0.86, Z:-1.59 [[ 0.95881365 0.27466483 -0.0723576 0.76751375] [-0.27351725 0.96152868 0.02551281 0.86287604] [ 0.07658138 -0.00467098 0.99705239 -1.59210263] [ 0. 0. 0. 1. ]] SLAMing on 128.39629675700002 meters Centerline goodness : 0.792229 Centerline is valid? [False, False] Translation: X:0.77, Y:0.87, Z:-1.59 [[ 0.95883536 0.27450006 -0.07269431 0.76862885] [-0.2734179 0.96157978 0.02463678 0.86575772] [ 0.07666418 -0.00374669 0.99704993 -1.59268839] [ 0. 0. 0. 1. ]] SLAMing on 128.42629675700002 meters Centerline goodness : 0.792229 Centerline is valid? [False, False] Translation: X:0.77, Y:0.87, Z:-1.59 [[ 0.95883536 0.27450006 -0.07269431 0.76862885] [-0.2734179 0.96157978 0.02463678 0.86575772] [ 0.07666418 -0.00374669 0.99704993 -1.59268839] [ 0. 0. 0. 1. ]] SLAMing on 128.45629675700002 meters Centerline goodness : 0.791131 Centerline is valid? [False, False] Translation: X:0.77, Y:0.87, Z:-1.59 [[ 0.95890375 0.27414769 -0.07312069 0.76989139] [-0.27309639 0.96168214 0.02420366 0.86697005] [ 0.07695424 -0.00323998 0.99702936 -1.59307091] [ 0. 0. 0. 1. ]] SLAMing on 128.48629675700002 meters Centerline goodness : 0.792141 Centerline is valid? [False, False] Translation: X:0.77, Y:0.87, Z:-1.59 [[ 0.95911279 0.2732542 -0.07372108 0.7720436 ] [-0.27227736 0.96193942 0.02318589 0.86930675] [ 0.07725086 -0.0021653 0.99700934 -1.59406259] [ 0. 0. 0. 1. ]] SLAMing on 128.51629675700002 meters Centerline goodness : 0.791367 Centerline is valid? [False, False] Translation: X:0.77, Y:0.87, Z:-1.59 [[ 0.95921771 0.27282051 -0.07396188 0.77274689] [-0.27186857 0.96206326 0.02284214 0.87028483] [ 0.07738781 -0.00180267 0.99699944 -1.59404517] [ 0. 0. 0. 1. ]] SLAMing on 128.54629675700002 meters Centerline goodness : 0.790174 Centerline is valid? [False, False] Translation: X:0.77, Y:0.87, Z:-1.59 [[ 0.96039305 0.2682661 -0.07535573 0.77390956] [-0.26766984 0.9633408 0.01809316 0.87354202] [ 0.07744703 0.00279391 0.99699255 -1.59448491] [ 0. 0. 0. 1. ]] SLAMing on 128.57629675700002 meters Centerline goodness : 0.790372 Centerline is valid? [False, False] Translation: X:0.78, Y:0.87, Z:-1.59 [[ 0.96055476 0.26752714 -0.07591955 0.77543675] [-0.26695655 0.96354497 0.01775624 0.8738018 ] [ 0.07790218 0.00321138 0.99695584 -1.59471852] [ 0. 0. 0. 1. ]] SLAMing on 128.60629675700002 meters Centerline goodness : 0.789718 Centerline is valid? [False, False] Translation: X:0.78, Y:0.87, Z:-1.59 [[ 0.96067597 0.26697218 -0.07633829 0.77651764] [-0.2664212 0.96369779 0.01750185 0.87418789] [ 0.07823955 0.00352453 0.99692836 -1.59476307] [ 0. 0. 0. 1. ]] SLAMing on 128.63629675700003 meters Centerline goodness : 0.788598 Centerline is valid? [False, False] Translation: X:0.78, Y:0.88, Z:-1.60 [[ 0.96086217 0.26621062 -0.07665376 0.77777898] [-0.2657065 0.963906 0.01689012 0.87533438] [ 0.07838335 0.00413833 0.9969147 -1.59524296] [ 0. 0. 0. 1. ]] SLAMing on 128.66629675700003 meters Centerline goodness : 0.788251 Centerline is valid? [False, False] Translation: X:0.78, Y:0.88, Z:-1.60 [[ 0.96091182 0.26600757 -0.07673628 0.77800592] [-0.26551053 0.96396164 0.01679627 0.87573833] [ 0.07843877 0.00423456 0.99690994 -1.59508526] [ 0. 0. 0. 1. ]] SLAMing on 128.69629675700003 meters Centerline goodness : 0.788851 Centerline is valid? [False, False] Translation: X:0.78, Y:0.88, Z:-1.59 [[ 0.96099524 0.26568426 -0.07681159 0.77832735] [-0.26522325 0.96404874 0.01632954 0.87732167] [ 0.07838862 0.00467961 0.99691189 -1.59499955] [ 0. 0. 0. 1. ]] SLAMing on 128.72629675700003 meters Centerline goodness : 0.790928 Centerline is valid? [False, False] Translation: X:0.78, Y:0.88, Z:-1.59 [[ 0.96099892 0.26564732 -0.0768933 0.7785715 ] [-0.26519786 0.96405814 0.01618602 0.87833503] [ 0.07842938 0.00483719 0.99690794 -1.59487884] [ 0. 0. 0. 1. ]] SLAMing on 128.75629675700003 meters Centerline goodness : 0.789931 Centerline is valid? [False, False] Translation: X:0.78, Y:0.88, Z:-1.60 [[ 0.96101996 0.26552362 -0.07705737 0.77919072] [-0.2650962 0.96409067 0.01591165 0.87930946] [ 0.07851521 0.0051362 0.99689968 -1.59514057] [ 0. 0. 0. 1. ]] SLAMing on 128.78629675700003 meters Centerline goodness : 0.789670 Centerline is valid? [False, False] Translation: X:0.78, Y:0.88, Z:-1.60 [[ 0.96106722 0.26522698 -0.07748832 0.78126649] [-0.26486193 0.9641675 0.01513916 0.88161366] [ 0.07872704 0.00597396 0.99687831 -1.5966528 ] [ 0. 0. 0. 1. ]] SLAMing on 128.81629675700003 meters Centerline goodness : 0.788728 Centerline is valid? [False, False] Translation: X:0.78, Y:0.88, Z:-1.60 [[ 0.96097185 0.26547769 -0.077812 0.78263831] [-0.26516444 0.96409387 0.0145203 0.88409629] [ 0.07887289 0.00667937 0.9968623 -1.59781071] [ 0. 0. 0. 1. ]] SLAMing on 128.84629675700003 meters Centerline goodness : 0.789653 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.60 [[ 0.96094779 0.26547739 -0.07810953 0.78342018] [-0.26518887 0.96409141 0.0142341 0.88503871] [ 0.07908356 0.00703555 0.99684316 -1.59810769] [ 0. 0. 0. 1. ]] SLAMing on 128.87629675700003 meters Centerline goodness : 0.788928 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.60 [[ 0.96090194 0.26561822 -0.07819474 0.78355963] [-0.26534396 0.96405118 0.01406783 0.88587248] [ 0.07912041 0.0072307 0.99683884 -1.59811105] [ 0. 0. 0. 1. ]] SLAMing on 128.90629675700004 meters Centerline goodness : 0.788250 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.60 [[ 0.96078865 0.26609801 -0.07795523 0.78291232] [-0.26584285 0.96391725 0.01382426 0.88809478] [ 0.078821 0.00744165 0.99686101 -1.59776264] [ 0. 0. 0. 1. ]] SLAMing on 128.936296757 meters Centerline goodness : 0.790185 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.60 [[ 0.96073134 0.26631476 -0.07792131 0.78270162] [-0.26607401 0.96385599 0.01364755 0.8894897 ] [ 0.07873946 0.00762121 0.9968661 -1.59746031] [ 0. 0. 0. 1. ]] SLAMing on 128.966296757 meters Centerline goodness : 0.791850 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.60 [[ 0.96054061 0.26710323 -0.07757321 0.78157314] [-0.26687123 0.96363715 0.01353485 0.89209057] [ 0.07836763 0.00770129 0.99689478 -1.59672128] [ 0. 0. 0. 1. ]] SLAMing on 128.996296757 meters Centerline goodness : 0.791231 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.60 [[ 0.96041899 0.2675758 -0.07745038 0.78096026] [-0.26734162 0.96350626 0.01356982 0.89338365] [ 0.07825489 0.007673 0.99690386 -1.59609541] [ 0. 0. 0. 1. ]] SLAMing on 129.026296757 meters Centerline goodness : 0.792070 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.60 [[ 0.96026007 0.2681906 -0.07729423 0.78015341] [-0.26794787 0.96333616 0.01368878 0.89469493] [ 0.07813153 0.00756604 0.99691435 -1.5953414 ] [ 0. 0. 0. 1. ]] SLAMing on 129.056296757 meters Centerline goodness : 0.791491 Centerline is valid? [False, False] Translation: X:0.78, Y:0.90, Z:-1.59 [[ 0.96007522 0.26887092 -0.07722693 0.77979136] [-0.26863711 0.9631455 0.013596 0.89688319] [ 0.07803634 0.00769284 0.99692083 -1.59493408] [ 0. 0. 0. 1. ]] SLAMing on 129.086296757 meters Centerline goodness : 0.790888 Centerline is valid? [False, False] Translation: X:0.78, Y:0.90, Z:-1.60 [[ 0.96007964 0.26879336 -0.07744165 0.78043018] [-0.26857539 0.96316529 0.01341231 0.89764943] [ 0.07819425 0.00792204 0.99690667 -1.59508274] [ 0. 0. 0. 1. ]] SLAMing on 129.11629675700001 meters Centerline goodness : 0.793066 Centerline is valid? [False, False] Translation: X:0.78, Y:0.90, Z:-1.60 [[ 0.96017848 0.26835667 -0.07773023 0.78147273] [-0.26816306 0.96328428 0.01311408 0.89834724] [ 0.07839555 0.00825252 0.99688817 -1.59540136] [ 0. 0. 0. 1. ]] SLAMing on 129.14629675700002 meters Centerline goodness : 0.794276 Centerline is valid? [False, False] Translation: X:0.78, Y:0.90, Z:-1.60 [[ 0.96022898 0.26813405 -0.07787443 0.78180819] [-0.26792965 0.96334727 0.01325715 0.89772596] [ 0.07857481 0.00813497 0.99687503 -1.59527046] [ 0. 0. 0. 1. ]] SLAMing on 129.17629675700002 meters Centerline goodness : 0.795047 Centerline is valid? [False, False] Translation: X:0.78, Y:0.90, Z:-1.59 [[ 0.96112484 0.26468209 -0.07862844 0.780829 ] [-0.26476623 0.9642654 0.00954335 0.89895489] [ 0.07834464 0.01164581 0.99685831 -1.59485597] [ 0. 0. 0. 1. ]] SLAMing on 129.20629675700002 meters Centerline goodness : 0.797072 Centerline is valid? [False, False] Translation: X:0.78, Y:0.90, Z:-1.59 [[ 0.96218166 0.26054219 -0.079525 0.78010885] [-0.26092324 0.96534246 0.00574517 0.89909236] [ 0.07826572 0.01522202 0.99681632 -1.5942545 ] [ 0. 0. 0. 1. ]] SLAMing on 129.23629675700002 meters Centerline goodness : 0.798431 Centerline is valid? [False, False] Translation: X:0.78, Y:0.90, Z:-1.59 [[ 0.96322353 0.25645659 -0.08019003 0.7791464 ] [-0.25713765 0.96637294 0.00189143 0.89976785] [ 0.07797854 0.01879801 0.9967778 -1.5937604 ] [ 0. 0. 0. 1. ]] SLAMing on 129.26629675700002 meters Centerline goodness : 0.798512 Centerline is valid? [False, False] Translation: X:0.78, Y:0.90, Z:-1.59 [[ 0.96331778 0.25600759 -0.08049199 0.77986286] [-0.25668361 0.9664934 0.00200957 0.8990102 ] [ 0.07830945 0.01872512 0.99675323 -1.59363011] [ 0. 0. 0. 1. ]] SLAMing on 129.29629675700002 meters Centerline goodness : 0.797533 Centerline is valid? [False, False] Translation: X:0.78, Y:0.90, Z:-1.59 [[ 0.9633708 0.255767 -0.08062227 0.78028099] [-0.2564338 0.96655941 0.00214784 0.8983849 ] [ 0.07847556 0.01860511 0.99674241 -1.59362645] [ 0. 0. 0. 1. ]] SLAMing on 129.32629675700002 meters Centerline goodness : 0.799701 Centerline is valid? [False, False] Translation: X:0.78, Y:0.90, Z:-1.59 [[ 0.96340769 0.25557627 -0.08078605 0.78072036] [-0.25622903 0.96661323 0.00235666 0.89764608] [ 0.07869117 0.01842931 0.99672868 -1.59356033] [ 0. 0. 0. 1. ]] SLAMing on 129.35629675700002 meters Centerline goodness : 0.800858 Centerline is valid? [False, False] Translation: X:0.78, Y:0.90, Z:-1.59 [[ 0.96346739 0.25536154 -0.08075315 0.78072139] [-0.25598085 0.9666779 0.00276354 0.89577079] [ 0.07876799 0.01800868 0.9967303 -1.59349549] [ 0. 0. 0. 1. ]] SLAMing on 129.38629675700003 meters Centerline goodness : 0.800419 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.59 [[ 0.96348503 0.25532345 -0.08066305 0.78037197] [-0.25588764 0.96670041 0.00343878 0.89326209] [ 0.078855 0.01732747 0.9967355 -1.59319287] [ 0. 0. 0. 1. ]] SLAMing on 129.41629675700003 meters Centerline goodness : 0.800134 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.59 [[ 0.96349877 0.25527063 -0.08066618 0.78056303] [-0.25581981 0.96671768 0.00362677 0.89241814] [ 0.07890723 0.01714162 0.99673458 -1.59340943] [ 0. 0. 0. 1. ]] SLAMing on 129.44629675700003 meters Centerline goodness : 0.799053 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.59 [[ 0.96347959 0.25532821 -0.08071302 0.78091445] [-0.25585615 0.96670697 0.00390736 0.89172758] [ 0.0790235 0.01688627 0.99672972 -1.59362421] [ 0. 0. 0. 1. ]] SLAMing on 129.47629675700003 meters Centerline goodness : 0.797789 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.59 [[ 0.96344426 0.2554681 -0.08069204 0.78137557] [-0.25598003 0.96667333 0.0041107 0.8910637 ] [ 0.07905299 0.01669512 0.9967306 -1.59430739] [ 0. 0. 0. 1. ]] SLAMing on 129.50629675700003 meters Centerline goodness : 0.798467 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.59 [[ 0.96337683 0.25571564 -0.08071309 0.78139666] [-0.25620285 0.96661286 0.00443717 0.8902387 ] [ 0.07915297 0.01640426 0.9967275 -1.59437059] [ 0. 0. 0. 1. ]] SLAMing on 129.53629675700003 meters Centerline goodness : 0.796749 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.59 [[ 0.96322608 0.25635961 -0.08046899 0.78054571] [-0.25678869 0.96645387 0.00514699 0.88820392] [ 0.07908905 0.01570582 0.99674382 -1.59424866] [ 0. 0. 0. 1. ]] SLAMing on 129.56629675700003 meters Centerline goodness : 0.796150 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.59 [[ 0.96312783 0.25679452 -0.08025801 0.77997316] [-0.25719923 0.96634314 0.00543098 0.88797479] [ 0.07895143 0.01541157 0.99675933 -1.59411194] [ 0. 0. 0. 1. ]] SLAMing on 129.59629675700003 meters Centerline goodness : 0.797499 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.59 [[ 0.96301389 0.2572806 -0.08006835 0.77954842] [-0.25768058 0.96621465 0.00547421 0.88874465] [ 0.07877162 0.01536032 0.99677434 -1.59412635] [ 0. 0. 0. 1. ]] SLAMing on 129.62629675700003 meters Centerline goodness : 0.799327 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.59 [[ 0.96189663 0.26182213 -0.0787657 0.77877515] [-0.26188588 0.96505006 0.00970374 0.8889874 ] [ 0.0785535 0.01129363 0.99684593 -1.59334928] [ 0. 0. 0. 1. ]] SLAMing on 129.65629675700004 meters Centerline goodness : 0.802920 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.59 [[ 0.96171575 0.26259101 -0.07841412 0.77750463] [-0.26263179 0.96484454 0.00997748 0.88970342] [ 0.07827743 0.01099854 0.99687094 -1.59263512] [ 0. 0. 0. 1. ]] SLAMing on 129.686296757 meters Centerline goodness : 0.805381 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96137931 0.26404715 -0.07764617 0.77487581] [-0.26403116 0.96445526 0.01065817 0.88960917] [ 0.07770052 0.01025446 0.99692401 -1.5915495 ] [ 0. 0. 0. 1. ]] SLAMing on 129.716296757 meters Centerline goodness : 0.806004 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96127574 0.26444928 -0.07755982 0.7744301 ] [-0.26441729 0.96434712 0.01086881 0.88967732] [ 0.07766884 0.01006023 0.99692845 -1.59122701] [ 0. 0. 0. 1. ]] SLAMing on 129.746296757 meters Centerline goodness : 0.810089 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.9611142 0.26512394 -0.07725797 0.77374896] [-0.26508828 0.96416249 0.0109044 0.89128828] [ 0.07738026 0.0099998 0.9969515 -1.59103479] [ 0. 0. 0. 1. ]] SLAMing on 129.776296757 meters Centerline goodness : 0.807748 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96105557 0.26533669 -0.07725694 0.77376752] [-0.26530385 0.9641035 0.01087645 0.89192568] [ 0.07736961 0.01004369 0.99695189 -1.59104392] [ 0. 0. 0. 1. ]] SLAMing on 129.806296757 meters Centerline goodness : 0.806708 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96095135 0.2657834 -0.07701748 0.77276439] [-0.26571069 0.96398566 0.01137849 0.89133796] [ 0.07726796 0.00953019 0.99696481 -1.59023991] [ 0. 0. 0. 1. ]] SLAMing on 129.836296757 meters Centerline goodness : 0.810382 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96089668 0.26600879 -0.0769214 0.77234077] [-0.2659076 0.96392699 0.0117435 0.89046006] [ 0.07727049 0.00916969 0.996968 -1.58995644] [ 0. 0. 0. 1. ]] SLAMing on 129.86629675700001 meters Centerline goodness : 0.808362 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96085714 0.26615676 -0.07690336 0.77203555] [-0.26602529 0.96388963 0.01213791 0.88958479] [ 0.07735694 0.00879544 0.99696467 -1.58952761] [ 0. 0. 0. 1. ]] SLAMing on 129.89629675700002 meters Centerline goodness : 0.805886 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96091601 0.26589558 -0.07707108 0.7726027 ] [-0.26575481 0.96396262 0.01226594 0.8887391 ] [ 0.0775551 0.00869547 0.99695015 -1.58968602] [ 0. 0. 0. 1. ]] SLAMing on 129.92629675700002 meters Centerline goodness : 0.806527 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96093364 0.26581077 -0.07714382 0.7729806 ] [-0.26567558 0.96398531 0.01219889 0.88873816] [ 0.07760811 0.0087729 0.99694534 -1.58997093] [ 0. 0. 0. 1. ]] SLAMing on 129.95629675700002 meters Centerline goodness : 0.805108 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96100647 0.26553243 -0.07719511 0.77307596] [-0.26538747 0.96406314 0.01231879 0.88765634] [ 0.077692 0.00864818 0.9969399 -1.58989387] [ 0. 0. 0. 1. ]] SLAMing on 129.98629675700002 meters Centerline goodness : 0.806383 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96185843 0.26233862 -0.07750362 0.77062835] [-0.26244709 0.96490474 0.00896514 0.88754387] [ 0.07713551 0.0117174 0.99695176 -1.58888807] [ 0. 0. 0. 1. ]] SLAMing on 130.01629675700002 meters Centerline goodness : 0.806697 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.9618119 0.26254838 -0.07737071 0.76996782] [-0.26261678 0.96485373 0.00947172 0.88648954] [ 0.07713821 0.01120883 0.9969574 -1.58825856] [ 0. 0. 0. 1. ]] SLAMing on 130.04629675700002 meters Centerline goodness : 0.808602 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96180179 0.26257991 -0.0773894 0.76977959] [-0.26262907 0.96484787 0.00972431 0.88623068] [ 0.0772224 0.01097184 0.99695352 -1.58776539] [ 0. 0. 0. 1. ]] SLAMing on 130.07629675700002 meters Centerline goodness : 0.809868 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96174824 0.26284368 -0.07715911 0.76921693] [-0.26287844 0.96477829 0.00988867 0.88685232] [ 0.07704061 0.01077305 0.99696975 -1.58736562] [ 0. 0. 0. 1. ]] SLAMing on 130.10629675700002 meters Centerline goodness : 0.807398 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96171498 0.2629566 -0.0771889 0.7692986 ] [-0.26299063 0.96474752 0.00990697 0.8872329 ] [ 0.0770729 0.01077227 0.99696726 -1.58732721] [ 0. 0. 0. 1. ]] SLAMing on 130.13629675700003 meters Centerline goodness : 0.809578 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96158733 0.26345777 -0.07707021 0.76888485] [-0.26347963 0.96461242 0.01006833 0.88745499] [ 0.07699546 0.01062485 0.99697483 -1.58721608] [ 0. 0. 0. 1. ]] SLAMing on 130.16629675700003 meters Centerline goodness : 0.813118 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96154549 0.26359174 -0.07713412 0.76898228] [-0.26361512 0.96457545 0.01006295 0.88756011] [ 0.07705419 0.01065774 0.99696994 -1.58725618] [ 0. 0. 0. 1. ]] SLAMing on 130.19629675700003 meters Centerline goodness : 0.812992 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96153566 0.26356899 -0.07733412 0.7696295 ] [-0.26361508 0.96457821 0.00979652 0.88824066] [ 0.07717686 0.01096673 0.9969571 -1.58763675] [ 0. 0. 0. 1. ]] SLAMing on 130.22629675700003 meters Centerline goodness : 0.810362 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96154377 0.26349505 -0.07748507 0.77040259] [-0.26357319 0.96459359 0.00940143 0.88936969] [ 0.07721883 0.0113831 0.99694919 -1.58823675] [ 0. 0. 0. 1. ]] SLAMing on 130.25629675700003 meters Centerline goodness : 0.813751 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96154904 0.26343564 -0.07762151 0.77112187] [-0.26355697 0.96460312 0.00886202 0.89131893] [ 0.07720853 0.01193642 0.99694351 -1.58872942] [ 0. 0. 0. 1. ]] SLAMing on 130.28629675700003 meters Centerline goodness : 0.812160 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96150726 0.26362711 -0.07748893 0.77065125] [-0.26374366 0.96455164 0.00891119 0.89170622] [ 0.07709131 0.01186904 0.99695339 -1.58840774] [ 0. 0. 0. 1. ]] SLAMing on 130.31629675700003 meters Centerline goodness : 0.812160 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96150726 0.26362711 -0.07748893 0.77065125] [-0.26374366 0.96455164 0.00891119 0.89170622] [ 0.07709131 0.01186904 0.99695339 -1.58840774] [ 0. 0. 0. 1. ]] SLAMing on 130.34629675700003 meters Centerline goodness : 0.812646 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96139564 0.26415962 -0.07705922 0.76898258] [-0.26424324 0.96441128 0.00929441 0.89201583] [ 0.07677199 0.01142677 0.99698319 -1.58713336] [ 0. 0. 0. 1. ]] SLAMing on 130.37629675700003 meters Centerline goodness : 0.811894 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96128576 0.26466437 -0.0766972 0.76765881] [-0.26472233 0.96427694 0.00959532 0.89205565] [ 0.07649688 0.01107962 0.99700826 -1.58634375] [ 0. 0. 0. 1. ]] SLAMing on 130.40629675700004 meters Centerline goodness : 0.813832 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96113198 0.26532995 -0.07632385 0.76620271] [-0.26536332 0.96409776 0.00988992 0.89268576] [ 0.07620774 0.01074803 0.99703403 -1.58531926] [ 0. 0. 0. 1. ]] SLAMing on 130.436296757 meters Centerline goodness : 0.814164 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96110397 0.26539695 -0.0764435 0.76658214] [-0.26544393 0.96407718 0.00973169 0.89346387] [ 0.0762802 0.0109383 0.99702642 -1.58547477] [ 0. 0. 0. 1. ]] SLAMing on 130.466296757 meters Centerline goodness : 0.820732 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96108311 0.26543475 -0.07657445 0.76709291] [-0.26549735 0.96406431 0.00954826 0.89421514] [ 0.07635713 0.01115364 0.99701815 -1.58578203] [ 0. 0. 0. 1. ]] SLAMing on 130.496296757 meters Centerline goodness : 0.826199 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.9610343 0.26558508 -0.0766658 0.76735065] [-0.26564882 0.96402253 0.0095528 0.89474761] [ 0.07644464 0.01118561 0.99701108 -1.58579765] [ 0. 0. 0. 1. ]] SLAMing on 130.526296757 meters Centerline goodness : 0.822302 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96098042 0.26578134 -0.07666099 0.76714969] [-0.26582307 0.96397154 0.00984706 0.89404705] [ 0.07651618 0.01091543 0.99700859 -1.58558035] [ 0. 0. 0. 1. ]] SLAMing on 130.556296757 meters Centerline goodness : 0.827277 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96095845 0.26587274 -0.07661945 0.7669126 ] [-0.26588259 0.96395082 0.01026008 0.89226413] [ 0.07658526 0.01051226 0.99700762 -1.58554476] [ 0. 0. 0. 1. ]] SLAMing on 130.586296757 meters Centerline goodness : 0.826810 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96093584 0.26596987 -0.07656593 0.76682388] [-0.26596409 0.96392618 0.01046017 0.89162849] [ 0.07658599 0.01031223 0.99700965 -1.58558178] [ 0. 0. 0. 1. ]] SLAMing on 130.61629675700001 meters Centerline goodness : 0.823268 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.59 [[ 0.96090618 0.26608631 -0.07653352 0.76668878] [-0.26606373 0.96389628 0.01067926 0.89128163] [ 0.07661198 0.01010103 0.99700982 -1.58541422] [ 0. 0. 0. 1. ]] SLAMing on 130.64629675700002 meters Centerline goodness : 0.814204 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96078252 0.26667947 -0.07601974 0.76498975] [-0.26660928 0.96373894 0.01125833 0.89058031] [ 0.07626555 0.00945077 0.99704275 -1.58451096] [ 0. 0. 0. 1. ]] SLAMing on 130.67629675700002 meters Centerline goodness : 0.814780 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96069143 0.26710868 -0.07566332 0.76385664] [-0.26700107 0.96362494 0.01172232 0.89000152] [ 0.0760422 0.00894066 0.99706452 -1.58387512] [ 0. 0. 0. 1. ]] SLAMing on 130.70629675700002 meters Centerline goodness : 0.817491 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96054647 0.26779574 -0.07507271 0.7619011 ] [-0.26763445 0.96344088 0.01238851 0.88941111] [ 0.07564571 0.0081923 0.9971011 -1.58273796] [ 0. 0. 0. 1. ]] SLAMing on 130.73629675700002 meters Centerline goodness : 0.815492 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96047643 0.26807916 -0.07495723 0.7614349 ] [-0.26790735 0.96336325 0.01252601 0.88962545] [ 0.075569 0.00805066 0.99710808 -1.58241106] [ 0. 0. 0. 1. ]] SLAMing on 130.76629675700002 meters Centerline goodness : 0.815360 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96036821 0.2685931 -0.07450271 0.76017037] [-0.26839687 0.96322309 0.01282164 0.88981239] [ 0.07520654 0.0076828 0.99713838 -1.58187679] [ 0. 0. 0. 1. ]] SLAMing on 130.79629675700002 meters Centerline goodness : 0.818503 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96033914 0.26867205 -0.07459266 0.76029094] [-0.26846729 0.96320179 0.01294711 0.88970395] [ 0.07532631 0.00759207 0.99713004 -1.58174739] [ 0. 0. 0. 1. ]] SLAMing on 130.82629675700002 meters Centerline goodness : 0.817498 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96030952 0.26878625 -0.07456259 0.76020559] [-0.26857663 0.96317042 0.01301276 0.88989697] [ 0.07531413 0.00752949 0.99713143 -1.58166655] [ 0. 0. 0. 1. ]] SLAMing on 130.85629675700002 meters Centerline goodness : 0.821360 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96034135 0.2686571 -0.07461809 0.76048881] [-0.26845518 0.96320564 0.0129114 0.89023375] [ 0.0753413 0.00763226 0.9971286 -1.58174117] [ 0. 0. 0. 1. ]] SLAMing on 130.88629675700003 meters Centerline goodness : 0.820879 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96034238 0.26864265 -0.07465685 0.76050719] [-0.26843757 0.96320994 0.01295655 0.89016548] [ 0.07539091 0.00759798 0.99712511 -1.58162521] [ 0. 0. 0. 1. ]] SLAMing on 130.91629675700003 meters Centerline goodness : 0.819386 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.9604161 0.26831651 -0.07488101 0.76128498] [-0.26813149 0.96329859 0.01270169 0.8903228 ] [ 0.07554084 0.00787905 0.99711158 -1.58201204] [ 0. 0. 0. 1. ]] SLAMing on 130.94629675700003 meters Centerline goodness : 0.822241 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96047786 0.26803383 -0.07510085 0.76208185] [-0.26787376 0.96337441 0.01238493 0.89075519] [ 0.07566982 0.00822209 0.99709903 -1.58247594] [ 0. 0. 0. 1. ]] SLAMing on 130.97629675700003 meters Centerline goodness : 0.821860 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96052997 0.26779368 -0.07529092 0.76286996] [-0.26766231 0.96343783 0.01201856 0.89162017] [ 0.07575662 0.00860836 0.99708918 -1.58292977] [ 0. 0. 0. 1. ]] SLAMing on 131.00629675700003 meters Centerline goodness : 0.821085 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96069035 0.26714621 -0.07554442 0.76435936] [-0.26708066 0.96360959 0.01115688 0.89347344] [ 0.07577584 0.00945815 0.99708002 -1.5840467 ] [ 0. 0. 0. 1. ]] SLAMing on 131.03629675700003 meters Centerline goodness : 0.820125 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96074338 0.26698125 -0.07545311 0.76413804] [-0.26692133 0.9636548 0.01106461 0.89376865] [ 0.07566479 0.00950979 0.99708796 -1.58382574] [ 0. 0. 0. 1. ]] SLAMing on 131.06629675700003 meters Centerline goodness : 0.819968 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96074747 0.26695449 -0.07549564 0.7640715 ] [-0.2668905 0.96366267 0.01112255 0.8939254 ] [ 0.07572154 0.00946311 0.9970841 -1.5834535 ] [ 0. 0. 0. 1. ]] SLAMing on 131.09629675700003 meters Centerline goodness : 0.819777 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96075687 0.26692723 -0.0754724 0.76387621] [-0.26685405 0.96367141 0.01123966 0.89372806] [ 0.07573076 0.00934153 0.99708454 -1.58314472] [ 0. 0. 0. 1. ]] SLAMing on 131.12629675700003 meters Centerline goodness : 0.818424 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96086082 0.26654336 -0.07550574 0.76384549] [-0.26645162 0.96378001 0.01147241 0.89286955] [ 0.07582882 0.00909524 0.99707937 -1.58265286] [ 0. 0. 0. 1. ]] SLAMing on 131.15629675700004 meters Centerline goodness : 0.817872 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96087431 0.26648567 -0.07553774 0.76368549] [-0.26637957 0.96379765 0.01166272 0.89253289] [ 0.07591104 0.00891531 0.99707474 -1.58219369] [ 0. 0. 0. 1. ]] SLAMing on 131.186296757 meters Centerline goodness : 0.817416 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96088637 0.26642157 -0.07561035 0.76369744] [-0.26630442 0.96381658 0.0118137 0.89232318] [ 0.07602194 0.00878374 0.99706746 -1.58184568] [ 0. 0. 0. 1. ]] SLAMing on 131.216296757 meters Centerline goodness : 0.816275 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96091758 0.26625847 -0.07578813 0.76420154] [-0.26612945 0.96386281 0.01198296 0.89155832] [ 0.07623993 0.00865482 0.99705194 -1.58193854] [ 0. 0. 0. 1. ]] SLAMing on 131.246296757 meters Centerline goodness : 0.818231 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96090157 0.26628299 -0.07590488 0.76437534] [-0.26614046 0.96385738 0.01217356 0.89102109] [ 0.07640309 0.00850377 0.99704075 -1.58183405] [ 0. 0. 0. 1. ]] SLAMing on 131.276296757 meters Centerline goodness : 0.814412 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96091279 0.26625394 -0.07586467 0.7642476 ] [-0.26608389 0.96386847 0.01252709 0.88959792] [ 0.07645895 0.00814892 0.99703943 -1.58177473] [ 0. 0. 0. 1. ]] SLAMing on 131.306296757 meters Centerline goodness : 0.812557 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96091666 0.26620788 -0.07597723 0.76443835] [-0.26601857 0.96388308 0.01278802 0.88904862] [ 0.07663744 0.00792313 0.99702755 -1.5815446 ] [ 0. 0. 0. 1. ]] SLAMing on 131.336296757 meters Centerline goodness : 0.814842 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96093481 0.26614415 -0.0759709 0.76452363] [-0.26594162 0.96390206 0.01295667 0.88856308] [ 0.07667685 0.00775331 0.99702585 -1.5815383 ] [ 0. 0. 0. 1. ]] SLAMing on 131.36629675700001 meters Centerline goodness : 0.812432 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.58 [[ 0.96111764 0.26536136 -0.07639527 0.76588737] [-0.26515834 0.96411758 0.01297459 0.88721934] [ 0.07709698 0.00778673 0.99699319 -1.58192423] [ 0. 0. 0. 1. ]] SLAMing on 131.39629675700002 meters Centerline goodness : 0.812776 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.58 [[ 0.96113601 0.26525698 -0.07652651 0.76609907] [-0.26503338 0.96414821 0.01324928 0.88610111] [ 0.07729736 0.00754772 0.99697951 -1.5818115 ] [ 0. 0. 0. 1. ]] SLAMing on 131.42629675700002 meters Centerline goodness : 0.814680 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.58 [[ 0.96120812 0.26498729 -0.07655513 0.76607879] [-0.26475313 0.96422343 0.01337723 0.88561241] [ 0.07736105 0.00740991 0.99697561 -1.58139169] [ 0. 0. 0. 1. ]] SLAMing on 131.45629675700002 meters Centerline goodness : 0.812415 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.58 [[ 0.96121661 0.26490869 -0.07672034 0.76636832] [-0.26468013 0.9642443 0.013318 0.88609561] [ 0.07750521 0.00750486 0.9969637 -1.58116152] [ 0. 0. 0. 1. ]] SLAMing on 131.48629675700002 meters Centerline goodness : 0.823004 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.58 [[ 0.9612284 0.26485556 -0.07675608 0.7664629 ] [-0.26463865 0.96425772 0.01316939 0.88685599] [ 0.07750063 0.00765384 0.99696292 -1.5810349 ] [ 0. 0. 0. 1. ]] SLAMing on 131.51629675700002 meters Centerline goodness : 0.814411 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.58 [[ 0.96119245 0.26505588 -0.07651444 0.76575257] [-0.26485949 0.96420088 0.01288867 0.88931577] [ 0.07719151 0.00787708 0.99698517 -1.58029128] [ 0. 0. 0. 1. ]] SLAMing on 131.54629675700002 meters Centerline goodness : 0.822216 Centerline is valid? [False, False] Translation: X:0.77, Y:0.89, Z:-1.58 [[ 0.96113213 0.26528695 -0.07647127 0.76542322] [-0.26509536 0.96413682 0.01283154 0.89071974] [ 0.0771328 0.00793938 0.99698922 -1.57968129] [ 0. 0. 0. 1. ]] SLAMing on 131.57629675700002 meters Centerline goodness : 0.813589 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.58 [[ 0.96103379 0.26571275 -0.07622848 0.76442215] [-0.26555058 0.96401664 0.01244199 0.89378619] [ 0.07679152 0.00828535 0.99701275 -1.57871465] [ 0. 0. 0. 1. ]] SLAMing on 131.60629675700002 meters Centerline goodness : 0.816262 Centerline is valid? [False, False] Translation: X:0.76, Y:0.90, Z:-1.58 [[ 0.96097492 0.26592539 -0.07622919 0.76421903] [-0.26577527 0.96395662 0.01229413 0.89517505] [ 0.07675096 0.00844549 0.99701453 -1.57827456] [ 0. 0. 0. 1. ]] SLAMing on 131.63629675700003 meters Centerline goodness : 0.823531 Centerline is valid? [False, False] Translation: X:0.76, Y:0.90, Z:-1.58 [[ 0.96096428 0.26596149 -0.07623744 0.7642612 ] [-0.26583893 0.96394354 0.01193821 0.89674972] [ 0.0766637 0.00879469 0.99701822 -1.57821017] [ 0. 0. 0. 1. ]] SLAMing on 131.66629675700003 meters Centerline goodness : 0.815318 Centerline is valid? [False, False] Translation: X:0.77, Y:0.90, Z:-1.58 [[ 0.96103071 0.26561365 -0.07661176 0.76574585] [-0.2655619 0.96403049 0.01104944 0.89997755] [ 0.07679096 0.00972632 0.99699977 -1.57882185] [ 0. 0. 0. 1. ]] SLAMing on 131.69629675700003 meters Centerline goodness : 0.824593 Centerline is valid? [False, False] Translation: X:0.77, Y:0.90, Z:-1.58 [[ 0.96111403 0.26519763 -0.07700673 0.76722704] [-0.2652013 0.96413734 0.01036603 0.90184465] [ 0.07699411 0.01045935 0.99697668 -1.57955139] [ 0. 0. 0. 1. ]] SLAMing on 131.72629675700003 meters Centerline goodness : 0.817082 Centerline is valid? [False, False] Translation: X:0.77, Y:0.90, Z:-1.58 [[ 0.96124561 0.26459733 -0.07742827 0.76859236] [-0.26466915 0.96429229 0.00951982 0.90432591] [ 0.0771824 0.01134199 0.99695247 -1.57987125] [ 0. 0. 0. 1. ]] SLAMing on 131.75629675700003 meters Centerline goodness : 0.818659 Centerline is valid? [False, False] Translation: X:0.77, Y:0.91, Z:-1.57 [[ 0.96174539 0.25791379 -0.09233783 0.77073795] [-0.25825687 0.96603958 0.00842097 0.90882271] [ 0.09137389 0.01574805 0.99569213 -1.57340465] [ 0. 0. 0. 1. ]] SLAMing on 131.78629675700003 meters Centerline goodness : 0.818243 Centerline is valid? [False, False] Translation: X:0.77, Y:0.91, Z:-1.57 [[ 0.96205417 0.25101607 -0.10697058 0.77249159] [-0.25173551 0.96777115 0.00694497 0.91345457] [ 0.10526634 0.02024685 0.99423793 -1.5666886 ] [ 0. 0. 0. 1. ]] SLAMing on 131.81629675700003 meters Centerline goodness : 0.822267 Centerline is valid? [False, False] Translation: X:0.77, Y:0.92, Z:-1.56 [[ 0.96236619 0.2440845 -0.11947418 0.77240125] [-0.24498011 0.96950017 0.00736053 0.91942358] [ 0.11762683 0.02218527 0.99281002 -1.560639 ] [ 0. 0. 0. 1. ]] SLAMing on 131.84629675700003 meters Centerline goodness : 0.819367 Centerline is valid? [False, False] Translation: X:0.77, Y:0.92, Z:-1.56 [[ 0.96234457 0.2438204 -0.12018546 0.77468922] [-0.24478875 0.96955211 0.0068682 0.92054648] [ 0.11820067 0.02281047 0.9927277 -1.56138315] [ 0. 0. 0. 1. ]] SLAMing on 131.87629675700003 meters Centerline goodness : 0.824337 Centerline is valid? [False, False] Translation: X:0.77, Y:0.92, Z:-1.56 [[ 0.96218684 0.24517182 -0.1186898 0.7740114 ] [-0.24573755 0.96928405 0.01007421 0.92160338] [ 0.11751404 0.01947327 0.99288028 -1.56225974] [ 0. 0. 0. 1. ]] SLAMing on 131.90629675700004 meters Centerline goodness : 0.827042 Centerline is valid? [False, False] Translation: X:0.77, Y:0.92, Z:-1.56 [[ 0.96218389 0.24497199 -0.11912549 0.7746928 ] [-0.24557769 0.9693274 0.00979773 0.92210604] [ 0.11787177 0.01982734 0.99283086 -1.56199781] [ 0. 0. 0. 1. ]] SLAMing on 131.936296757 meters Centerline goodness : 0.826197 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.56 [[ 0.96218183 0.24464322 -0.1198158 0.77562648] [-0.24534458 0.9693933 0.00909233 0.92233738] [ 0.11837301 0.02064769 0.9927545 -1.56156805] [ 0. 0. 0. 1. ]] SLAMing on 131.966296757 meters Centerline goodness : 0.827883 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.56 [[ 0.96225627 0.24406948 -0.12038672 0.7766494 ] [-0.24488087 0.96951818 0.00823717 0.9234199 ] [ 0.11872756 0.02155413 0.9926929 -1.56143868] [ 0. 0. 0. 1. ]] SLAMing on 131.996296757 meters Centerline goodness : 0.828976 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.56 [[ 0.9621835 0.2444548 -0.12018635 0.77664986] [-0.2452282 0.96942774 0.00854285 0.92411697] [ 0.11860033 0.02125329 0.99271459 -1.56149071] [ 0. 0. 0. 1. ]] SLAMing on 132.026296757 meters Centerline goodness : 0.830955 Centerline is valid? [False, False] Translation: X:0.78, Y:0.93, Z:-1.56 [[ 0.96191268 0.24617441 -0.11883665 0.77564816] [-0.24661094 0.96904926 0.01125028 0.92572642] [ 0.1179281 0.01848463 0.99285008 -1.56157403] [ 0. 0. 0. 1. ]] SLAMing on 132.056296757 meters Centerline goodness : 0.829896 Centerline is valid? [False, False] Translation: X:0.78, Y:0.93, Z:-1.56 [[ 0.96167751 0.2469522 -0.11912586 0.77651351] [-0.24740412 0.96884747 0.0112153 0.92665589] [ 0.11818443 0.01868673 0.99281582 -1.56136752] [ 0. 0. 0. 1. ]] SLAMing on 132.086296757 meters Centerline goodness : 0.830428 Centerline is valid? [False, False] Translation: X:0.78, Y:0.93, Z:-1.56 [[ 0.96143365 0.24741574 -0.12012819 0.7788927 ] [-0.24799647 0.96870586 0.01033007 0.92760644] [ 0.11892471 0.01985969 0.99270464 -1.56150949] [ 0. 0. 0. 1. ]] SLAMing on 132.11629675700001 meters Centerline goodness : 0.829106 Centerline is valid? [False, False] Translation: X:0.78, Y:0.93, Z:-1.56 [[ 0.96099964 0.24892678 -0.12047884 0.77893922] [-0.24959219 0.96830166 0.00977937 0.92955155] [ 0.11909421 0.02067261 0.99266773 -1.55980012] [ 0. 0. 0. 1. ]] SLAMing on 132.14629675700002 meters Centerline goodness : 0.831141 Centerline is valid? [False, False] Translation: X:0.78, Y:0.93, Z:-1.56 [[ 0.96089072 0.24886159 -0.12147813 0.7808891 ] [-0.24964839 0.96829523 0.00894535 0.93038189] [ 0.11985285 0.02173132 0.9925538 -1.5596684 ] [ 0. 0. 0. 1. ]] SLAMing on 132.17629675700002 meters Centerline goodness : 0.829112 Centerline is valid? [False, False] Translation: X:0.78, Y:0.93, Z:-1.56 [[ 0.96080216 0.24874509 -0.1224136 0.7830177 ] [-0.24964082 0.96830368 0.0082127 0.93138446] [ 0.12057641 0.02266865 0.99244519 -1.55978621] [ 0. 0. 0. 1. ]] SLAMing on 132.20629675700002 meters Centerline goodness : 0.828592 Centerline is valid? [False, False] Translation: X:0.78, Y:0.93, Z:-1.56 [[ 0.9609046 0.24863289 -0.12183612 0.78309758] [-0.24943341 0.96835121 0.00888285 0.93300218] [ 0.12018872 0.02185442 0.99251048 -1.56058026] [ 0. 0. 0. 1. ]] SLAMing on 132.23629675700002 meters Centerline goodness : 0.828592 Centerline is valid? [False, False] Translation: X:0.78, Y:0.93, Z:-1.56 [[ 0.9609046 0.24863289 -0.12183612 0.78309758] [-0.24943341 0.96835121 0.00888285 0.93300218] [ 0.12018872 0.02185442 0.99251048 -1.56058026] [ 0. 0. 0. 1. ]] SLAMing on 132.26629675700002 meters Centerline goodness : 0.829877 Centerline is valid? [False, False] Translation: X:0.78, Y:0.93, Z:-1.56 [[ 0.96097268 0.24816167 -0.12225914 0.7845264 ] [-0.2489763 0.96846947 0.00881388 0.93276888] [ 0.12059151 0.02196973 0.99245908 -1.56139081] [ 0. 0. 0. 1. ]] SLAMing on 132.29629675700002 meters Centerline goodness : 0.831731 Centerline is valid? [False, False] Translation: X:0.79, Y:0.93, Z:-1.56 [[ 0.96130884 0.24663407 -0.12270676 0.78604855] [-0.2475002 0.96885164 0.00837523 0.9325162 ] [ 0.12095027 0.02231877 0.99240763 -1.5627169 ] [ 0. 0. 0. 1. ]] SLAMing on 132.32629675700002 meters Centerline goodness : 0.826753 Centerline is valid? [False, False] Translation: X:0.79, Y:0.93, Z:-1.56 [[ 0.96139713 0.24602229 -0.12324204 0.78722598] [-0.24694319 0.96899704 0.00798749 0.93261398] [ 0.12138628 0.02275463 0.9923445 -1.56302007] [ 0. 0. 0. 1. ]] SLAMing on 132.35629675700002 meters Centerline goodness : 0.829178 Centerline is valid? [False, False] Translation: X:0.79, Y:0.93, Z:-1.56 [[ 0.96147516 0.24582301 -0.12303077 0.78667976] [-0.24670758 0.969055 0.00823222 0.93267618] [ 0.12124725 0.02243755 0.99236871 -1.56285467] [ 0. 0. 0. 1. ]] SLAMing on 132.38629675700003 meters Centerline goodness : 0.825543 Centerline is valid? [False, False] Translation: X:0.79, Y:0.93, Z:-1.56 [[ 0.96177315 0.24433627 -0.12366164 0.78869366] [-0.24531193 0.9694151 0.00751109 0.93295131] [ 0.12171469 0.02311171 0.99229602 -1.56420286] [ 0. 0. 0. 1. ]] SLAMing on 132.41629675700003 meters Centerline goodness : 0.825948 Centerline is valid? [False, False] Translation: X:0.79, Y:0.93, Z:-1.56 [[ 0.9618791 0.24362354 -0.1242424 0.79001573] [-0.24467365 0.96958043 0.00697141 0.93333875] [ 0.1221614 0.02369319 0.99222741 -1.56458945] [ 0. 0. 0. 1. ]] SLAMing on 132.44629675700003 meters Centerline goodness : 0.832171 Centerline is valid? [False, False] Translation: X:0.79, Y:0.93, Z:-1.56 [[ 0.96201031 0.24281826 -0.12480167 0.79082379] [-0.24400067 0.96975676 0.00595737 0.93380916] [ 0.12247383 0.02472064 0.99216382 -1.56447486] [ 0. 0. 0. 1. ]] SLAMing on 132.47629675700003 meters Centerline goodness : 0.826352 Centerline is valid? [False, False] Translation: X:0.79, Y:0.93, Z:-1.56 [[ 0.96203415 0.24233629 -0.12555245 0.79200676] [-0.24363005 0.9698544 0.00518105 0.93355749] [ 0.12302315 0.025604 0.99207345 -1.56438776] [ 0. 0. 0. 1. ]] SLAMing on 132.50629675700003 meters Centerline goodness : 0.824510 Centerline is valid? [False, False] Translation: X:0.79, Y:0.93, Z:-1.56 [[ 0.96209763 0.24193213 -0.12584511 0.79223613] [-0.24330004 0.96994008 0.004619 0.93370055] [ 0.1231797 0.02617419 0.99203915 -1.56409197] [ 0. 0. 0. 1. ]] SLAMing on 132.53629675700003 meters Centerline goodness : 0.825315 Centerline is valid? [False, False] Translation: X:0.79, Y:0.93, Z:-1.56 [[ 0.96211904 0.24192673 -0.12569172 0.79151823] [-0.24327131 0.96994654 0.0047739 0.93366109] [ 0.12306918 0.02598412 0.99205786 -1.56358912] [ 0. 0. 0. 1. ]] SLAMing on 132.56629675700003 meters Centerline goodness : 0.823961 Centerline is valid? [False, False] Translation: X:0.79, Y:0.93, Z:-1.56 [[ 0.96207603 0.24167508 -0.12650246 0.79354366] [-0.24306134 0.97000003 0.00459556 0.93275366] [ 0.12381803 0.02632657 0.99195565 -1.56434244] [ 0. 0. 0. 1. ]] SLAMing on 132.59629675700003 meters Centerline goodness : 0.821532 Centerline is valid? [False, False] Translation: X:0.79, Y:0.93, Z:-1.56 [[ 0.96198724 0.24187529 -0.12679467 0.79416872] [-0.24324561 0.96995286 0.00479876 0.93190992] [ 0.12414555 0.0262259 0.99191738 -1.56447773] [ 0. 0. 0. 1. ]] SLAMing on 132.62629675700003 meters Centerline goodness : 0.826773 Centerline is valid? [False, False] Translation: X:0.80, Y:0.93, Z:-1.56 [[ 0.96190451 0.24182868 -0.12750927 0.7957081 ] [-0.24323909 0.96995532 0.00462895 0.93118611] [ 0.1247977 0.02656263 0.99182658 -1.56472851] [ 0. 0. 0. 1. ]] SLAMing on 132.65629675700004 meters Centerline goodness : 0.826529 Centerline is valid? [False, False] Translation: X:0.80, Y:0.93, Z:-1.56 [[ 0.96166935 0.24232191 -0.12834386 0.79733481] [-0.24378329 0.96981958 0.00443821 0.93038638] [ 0.12554587 0.02702 0.9917198 -1.56470642] [ 0. 0. 0. 1. ]] SLAMing on 132.686296757 meters Centerline goodness : 0.821299 Centerline is valid? [False, False] Translation: X:0.80, Y:0.93, Z:-1.56 [[ 0.9613274 0.24344992 -0.1287702 0.79803559] [-0.24486644 0.96954414 0.0049594 0.92963671] [ 0.12605575 0.02676389 0.99166206 -1.56421656] [ 0. 0. 0. 1. ]] SLAMing on 132.716296757 meters Centerline goodness : 0.825088 Centerline is valid? [False, False] Translation: X:0.80, Y:0.93, Z:-1.56 [[ 0.96072825 0.24563608 -0.12908971 0.79981343] [-0.24695232 0.96900929 0.00596158 0.92946818] [ 0.12655351 0.02615155 0.991615 -1.56461754] [ 0. 0. 0. 1. ]] SLAMing on 132.746296757 meters Centerline goodness : 0.823607 Centerline is valid? [False, False] Translation: X:0.80, Y:0.93, Z:-1.56 [[ 0.9599856 0.2474949 -0.1310493 0.80350174] [-0.24895647 0.96849977 0.00537298 0.92856588] [ 0.128251 0.02746759 0.99136129 -1.5640764 ] [ 0. 0. 0. 1. ]] SLAMing on 132.776296757 meters Centerline goodness : 0.825984 Centerline is valid? [False, False] Translation: X:0.80, Y:0.93, Z:-1.56 [[ 0.9595426 0.24890093 -0.13162949 0.80397354] [-0.25036701 0.96813503 0.00556027 0.92815055] [ 0.12881908 0.02762037 0.99128339 -1.56290272] [ 0. 0. 0. 1. ]] SLAMing on 132.806296757 meters Centerline goodness : 0.825867 Centerline is valid? [False, False] Translation: X:0.81, Y:0.93, Z:-1.56 [[ 0.95915258 0.24967431 -0.13300025 0.80657612] [-0.25125098 0.96790871 0.00506704 0.92767294] [ 0.12999721 0.02855638 0.99110305 -1.56260177] [ 0. 0. 0. 1. ]] SLAMing on 132.836296757 meters Centerline goodness : 0.826000 Centerline is valid? [False, False] Translation: X:0.81, Y:0.93, Z:-1.56 [[ 0.95845262 0.25212351 -0.13342533 0.80695106] [-0.25371162 0.96726568 0.00524529 0.92878305] [ 0.1303802 0.0288242 0.99104499 -1.5609064 ] [ 0. 0. 0. 1. ]] SLAMing on 132.86629675700001 meters Centerline goodness : 0.823104 Centerline is valid? [False, False] Translation: X:0.81, Y:0.93, Z:-1.56 [[ 0.95809313 0.25279442 -0.13473137 0.80943802] [-0.25457842 0.96704341 0.00410701 0.92996879] [ 0.13132931 0.0303648 0.99087365 -1.56038545] [ 0. 0. 0. 1. ]] SLAMing on 132.89629675700002 meters Centerline goodness : 0.824966 Centerline is valid? [False, False] Translation: X:0.81, Y:0.93, Z:-1.56 [[ 0.9574219 0.25481519 -0.13569273 0.81027549] [-0.25680843 0.96645796 0.00290472 0.9327053 ] [ 0.13188149 0.03206599 0.99074671 -1.55787787] [ 0. 0. 0. 1. ]] SLAMing on 132.92629675700002 meters Centerline goodness : 0.824054 Centerline is valid? [False, False] Translation: X:0.81, Y:0.93, Z:-1.56 [[ 0.95715752 0.25534485 -0.1365595 0.81136794] [-0.25750582 0.96627488 0.00190158 0.93391093] [ 0.13243958 0.03334476 0.99063005 -1.55675212] [ 0. 0. 0. 1. ]] SLAMing on 132.95629675700002 meters Centerline goodness : 0.826337 Centerline is valid? [False, False] Translation: X:0.81, Y:0.94, Z:-1.56 [[ 9.56941245e-01 2.55799575e-01 -1.37222563e-01 8.12132348e-01] [-2.58115883e-01 9.66113502e-01 9.45098109e-04 9.35077319e-01] [ 1.32814327e-01 3.45149197e-02 9.90539790e-01 -1.55577778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98629675700002 meters Centerline goodness : 0.827336 Centerline is valid? [False, False] Translation: X:0.81, Y:0.94, Z:-1.55 [[ 9.56610688e-01 2.56928356e-01 -1.37418384e-01 8.11637732e-01] [-2.59375483e-01 9.65776552e-01 1.02041632e-04 9.37085943e-01] [ 1.32741671e-01 3.55453457e-02 9.90513088e-01 -1.55391325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01629675700002 meters Centerline goodness : 0.817989 Centerline is valid? [False, False] Translation: X:0.81, Y:0.94, Z:-1.55 [[ 9.56456249e-01 2.57296527e-01 -1.37803996e-01 8.12661766e-01] [-2.59772700e-01 9.65669790e-01 1.64073280e-05 9.37914227e-01] [ 1.33077377e-01 3.57820233e-02 9.90459519e-01 -1.55371541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04629675700002 meters Centerline goodness : 0.816296 Centerline is valid? [False, False] Translation: X:0.81, Y:0.94, Z:-1.55 [[ 0.95599262 0.25932023 -0.13722653 0.81383162] [-0.26150151 0.96520055 0.00220451 0.93945784] [ 0.13302279 0.03377745 0.99053724 -1.55444646] [ 0. 0. 0. 1. ]] SLAMing on 133.07629675700002 meters Centerline goodness : 0.818845 Centerline is valid? [False, False] Translation: X:0.81, Y:0.94, Z:-1.55 [[ 0.95584622 0.25985043 -0.13724338 0.81435751] [-0.26203014 0.96505705 0.00225856 0.94056341] [ 0.13303458 0.03380306 0.99053478 -1.55439637] [ 0. 0. 0. 1. ]] SLAMing on 133.10629675700002 meters Centerline goodness : 0.819358 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.55 [[ 9.55725518e-01 2.59722427e-01 -1.38322072e-01 8.16773988e-01] [-2.62038971e-01 9.65056105e-01 1.51373346e-03 9.41180150e-01] [ 1.33881711e-01 3.47990597e-02 9.90386143e-01 -1.55455781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13629675700003 meters Centerline goodness : 0.817259 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.55 [[ 9.55694515e-01 2.59881327e-01 -1.38237798e-01 8.16263016e-01] [-2.62246812e-01 9.65000160e-01 1.14066009e-03 9.42245296e-01] [ 1.33695933e-01 3.51622992e-02 9.90398410e-01 -1.55381809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16629675700003 meters Centerline goodness : 0.820627 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.55 [[ 9.55712271e-01 2.59866826e-01 -1.38142276e-01 8.16162874e-01] [-2.62235685e-01 9.65003243e-01 1.08921791e-03 9.42869432e-01] [ 1.33590795e-01 3.51848554e-02 9.90411796e-01 -1.55373331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19629675700003 meters Centerline goodness : 0.820432 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.56 [[ 9.55784054e-01 2.59171220e-01 -1.38950064e-01 8.19104401e-01] [-2.61681215e-01 9.65154338e-01 2.12265597e-04 9.44032159e-01] [ 1.34163270e-01 3.61577415e-02 9.90299366e-01 -1.55514318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22629675700003 meters Centerline goodness : 0.817293 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.56 [[ 9.55730930e-01 2.59455784e-01 -1.38784311e-01 8.19230321e-01] [-2.61926455e-01 9.65087718e-01 4.78267418e-04 9.44620646e-01] [ 1.34063123e-01 3.58941877e-02 9.90322516e-01 -1.55531607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25629675700003 meters Centerline goodness : 0.823540 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.56 [[ 9.55718459e-01 2.59076391e-01 -1.39576684e-01 8.21244138e-01] [-2.61655569e-01 9.65161305e-01 -1.32897530e-04 9.44948069e-01] [ 1.34679584e-01 3.66480293e-02 9.90211256e-01 -1.55580701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28629675700003 meters Centerline goodness : 0.821241 Centerline is valid? [False, False] Translation: X:0.82, Y:0.95, Z:-1.56 [[ 0.95602754 0.25751816 -0.14034153 0.82157739] [-0.26035155 0.96551202 -0.00189799 0.9455439 ] [ 0.13501267 0.03835267 0.99010133 -1.55507772] [ 0. 0. 0. 1. ]] SLAMing on 133.31629675700003 meters Centerline goodness : 0.826027 Centerline is valid? [False, False] Translation: X:0.82, Y:0.95, Z:-1.55 [[ 0.95615727 0.25697531 -0.14045269 0.82095113] [-0.25989029 0.9656349 -0.00250381 0.94557849] [ 0.1349826 0.03889632 0.99008423 -1.55433976] [ 0. 0. 0. 1. ]] SLAMing on 133.34629675700003 meters Centerline goodness : 0.824420 Centerline is valid? [False, False] Translation: X:0.82, Y:0.95, Z:-1.55 [[ 0.95635789 0.25616078 -0.14057468 0.82115109] [-0.25909386 0.96584848 -0.0026602 0.94539416] [ 0.1350924 0.03896614 0.9900665 -1.55452868] [ 0. 0. 0. 1. ]] SLAMing on 133.37629675700003 meters Centerline goodness : 0.823174 Centerline is valid? [False, False] Translation: X:0.82, Y:0.95, Z:-1.56 [[ 0.95623548 0.25645517 -0.14087035 0.82263667] [-0.2593783 0.96577262 -0.00247993 0.94509125] [ 0.13541273 0.03891011 0.99002495 -1.55541757] [ 0. 0. 0. 1. ]] SLAMing on 133.40629675700004 meters Centerline goodness : 0.825085 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.56 [[ 0.95605256 0.25726145 -0.14064156 0.82316901] [-0.26006523 0.9655897 -0.00161414 0.94494514] [ 0.13538679 0.03811918 0.99005926 -1.55609715] [ 0. 0. 0. 1. ]] SLAMing on 133.436296757 meters Centerline goodness : 0.825345 Centerline is valid? [False, False] Translation: X:0.83, Y:0.95, Z:-1.56 [[ 9.55607669e-01 2.58674077e-01 -1.41073405e-01 8.25180521e-01] [-2.61446220e-01 9.65217351e-01 -1.15759368e-03 9.45071388e-01] [ 1.35867059e-01 3.79893139e-02 9.89998462e-01 -1.55675893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.466296757 meters Centerline goodness : 0.824947 Centerline is valid? [False, False] Translation: X:0.83, Y:0.95, Z:-1.56 [[ 9.55476228e-01 2.59146145e-01 -1.41097319e-01 8.25177971e-01] [-2.61916686e-01 9.65089856e-01 -1.10456779e-03 9.45307495e-01] [ 1.35885347e-01 3.80111305e-02 9.89995114e-01 -1.55646498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.496296757 meters Centerline goodness : 0.827949 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.56 [[ 9.55422738e-01 2.59443331e-01 -1.40913268e-01 8.24289860e-01] [-2.62167554e-01 9.65022040e-01 -7.97014499e-04 9.44866947e-01] [ 1.35777629e-01 3.77043725e-02 9.90021624e-01 -1.55577456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.526296757 meters Centerline goodness : 0.825654 Centerline is valid? [False, False] Translation: X:0.82, Y:0.95, Z:-1.56 [[ 9.55415907e-01 2.59307221e-01 -1.41209805e-01 8.24494162e-01] [-2.62109113e-01 9.65037383e-01 -1.28924377e-03 9.45092541e-01] [ 1.35938431e-01 3.82441408e-02 9.89978853e-01 -1.55536160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.556296757 meters Centerline goodness : 0.821556 Centerline is valid? [False, False] Translation: X:0.82, Y:0.95, Z:-1.56 [[ 9.55472041e-01 2.59219463e-01 -1.40990952e-01 8.24024743e-01] [-2.61990050e-01 9.65069913e-01 -1.12959861e-03 9.45127337e-01] [ 1.35773311e-01 3.80175263e-02 9.90010240e-01 -1.55527205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.586296757 meters Centerline goodness : 0.823405 Centerline is valid? [False, False] Translation: X:0.82, Y:0.95, Z:-1.56 [[ 9.55526459e-01 2.58999177e-01 -1.41026990e-01 8.23955256e-01] [-2.61782571e-01 9.65126093e-01 -1.22890933e-03 9.45137399e-01] [ 1.35790541e-01 3.80926634e-02 9.90004989e-01 -1.55513508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61629675700001 meters Centerline goodness : 0.821405 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.56 [[ 0.95563542 0.25826198 -0.14163928 0.82477813] [-0.26113864 0.96529965 -0.00178713 0.9444983 ] [ 0.1362628 0.03869534 0.98991672 -1.5551682 ] [ 0. 0. 0. 1. ]] SLAMing on 133.64629675700002 meters Centerline goodness : 0.821778 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.55 [[ 9.56085557e-01 2.57011422e-01 -1.40874187e-01 8.22001872e-01] [-2.59805056e-01 9.65659933e-01 -1.49231991e-03 9.43594015e-01] [ 1.35653014e-01 3.80266114e-02 9.90026382e-01 -1.55435828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67629675700002 meters Centerline goodness : 0.820283 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.55 [[ 0.95620462 0.25628971 -0.14137998 0.82271649] [-0.25914375 0.96583701 -0.00184155 0.9428432 ] [ 0.13607805 0.03839864 0.98995369 -1.55445016] [ 0. 0. 0. 1. ]] SLAMing on 133.70629675700002 meters Centerline goodness : 0.816600 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.55 [[ 9.56220646e-01 2.56209733e-01 -1.41416580e-01 8.22050911e-01] [-2.58994220e-01 9.65877954e-01 -1.33143630e-03 9.41258337e-01] [ 1.36250030e-01 3.78992237e-02 9.89949281e-01 -1.55390909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73629675700002 meters Centerline goodness : 0.817885 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.55 [[ 0.95612584 0.25613546 -0.14219001 0.82330364] [-0.25898578 0.96587982 -0.00159597 0.94014643] [ 0.13692967 0.03835114 0.9898381 -1.55392828] [ 0. 0. 0. 1. ]] SLAMing on 133.76629675700002 meters Centerline goodness : 0.815822 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.55 [[ 9.55982950e-01 2.56666962e-01 -1.42192370e-01 8.23159245e-01] [-2.59442991e-01 9.65757887e-01 -1.01927868e-03 9.39310267e-01] [ 1.37061788e-01 3.78652268e-02 9.89838518e-01 -1.55369439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79629675700002 meters Centerline goodness : 0.814776 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.56 [[ 9.55911694e-01 2.56860702e-01 -1.42321511e-01 8.24611744e-01] [-2.59570166e-01 9.65724127e-01 -4.88892860e-04 9.38153093e-01] [ 1.37317739e-01 3.74097566e-02 9.89820362e-01 -1.55518755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82629675700002 meters Centerline goodness : 0.814537 Centerline is valid? [False, False] Translation: X:0.83, Y:0.94, Z:-1.56 [[ 9.55822498e-01 2.56984376e-01 -1.42696822e-01 8.25788149e-01] [-2.59682316e-01 9.65694055e-01 -2.93742974e-04 9.37335753e-01] [ 1.37725986e-01 3.73366075e-02 9.89766402e-01 -1.55574113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85629675700002 meters Centerline goodness : 0.813499 Centerline is valid? [False, False] Translation: X:0.83, Y:0.94, Z:-1.56 [[ 9.55932669e-01 2.56000328e-01 -1.43723920e-01 8.27950720e-01] [-2.58781107e-01 9.65935753e-01 -6.77999712e-04 9.35179943e-01] [ 1.38654505e-01 3.78411571e-02 9.89617590e-01 -1.55678745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88629675700003 meters Centerline goodness : 0.809568 Centerline is valid? [False, False] Translation: X:0.83, Y:0.93, Z:-1.56 [[ 9.55946907e-01 2.56015654e-01 -1.43601866e-01 8.26962243e-01] [-2.58727738e-01 9.65950262e-01 -2.19997133e-04 9.33775085e-01] [ 1.38655938e-01 3.73640916e-02 9.89635517e-01 -1.55621622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91629675700003 meters Centerline goodness : 0.810782 Centerline is valid? [False, False] Translation: X:0.83, Y:0.93, Z:-1.56 [[ 9.56045232e-01 2.55798909e-01 -1.43333292e-01 8.25675410e-01] [-2.58440627e-01 9.66027124e-01 1.93643414e-04 9.32326327e-01] [ 1.38513382e-01 3.68580141e-02 9.89674456e-01 -1.55577755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94629675700003 meters Centerline goodness : 0.806006 Centerline is valid? [False, False] Translation: X:0.83, Y:0.93, Z:-1.56 [[ 0.95638759 0.25293517 -0.14610466 0.82977429] [-0.25613841 0.96663473 -0.00322833 0.92978487] [ 0.14041328 0.04051055 0.98926387 -1.5566275 ] [ 0. 0. 0. 1. ]] SLAMing on 133.97629675700003 meters Centerline goodness : 0.807387 Centerline is valid? [False, False] Translation: X:0.83, Y:0.93, Z:-1.56 [[ 0.95635387 0.25313975 -0.14597102 0.82930413] [-0.2562368 0.9666108 -0.00250348 0.92851645] [ 0.14046343 0.03979736 0.9892857 -1.55653271] [ 0. 0. 0. 1. ]] SLAMing on 134.00629675700003 meters Centerline goodness : 0.808600 Centerline is valid? [False, False] Translation: X:0.83, Y:0.93, Z:-1.56 [[ 9.56201312e-01 2.53831751e-01 -1.45768625e-01 8.29142763e-01] [-2.56767623e-01 9.66472194e-01 -1.37346739e-03 9.26483563e-01] [ 1.40532693e-01 3.87419748e-02 9.89317756e-01 -1.55690631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03629675700003 meters Centerline goodness : 0.805913 Centerline is valid? [False, False] Translation: X:0.83, Y:0.93, Z:-1.56 [[ 9.55898575e-01 2.54555939e-01 -1.46489547e-01 8.30735177e-01] [-2.57498299e-01 9.66278051e-01 -1.16349799e-03 9.25229351e-01] [ 1.41253459e-01 3.88329952e-02 9.89211534e-01 -1.55713651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06629675700003 meters Centerline goodness : 0.817090 Centerline is valid? [False, False] Translation: X:0.83, Y:0.92, Z:-1.56 [[ 9.55237589e-01 2.56669886e-01 -1.47111246e-01 8.31220959e-01] [-2.59566876e-01 9.65724999e-01 -5.13289679e-04 9.23854743e-01] [ 1.41937262e-01 3.86755200e-02 9.89119820e-01 -1.55595661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09629675700003 meters Centerline goodness : 0.803170 Centerline is valid? [False, False] Translation: X:0.83, Y:0.92, Z:-1.56 [[ 9.54972307e-01 2.57195921e-01 -1.47912646e-01 8.31897544e-01] [-2.60183718e-01 9.65558727e-01 -8.82139362e-04 9.23195500e-01] [ 1.42591463e-01 3.93268807e-02 9.89000036e-01 -1.55500115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12629675700003 meters Centerline goodness : 0.803170 Centerline is valid? [False, False] Translation: X:0.83, Y:0.92, Z:-1.56 [[ 9.54972307e-01 2.57195921e-01 -1.47912646e-01 8.31897544e-01] [-2.60183718e-01 9.65558727e-01 -8.82139362e-04 9.23195500e-01] [ 1.42591463e-01 3.93268807e-02 9.89000036e-01 -1.55500115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15629675700004 meters Centerline goodness : 0.819046 Centerline is valid? [False, False] Translation: X:0.83, Y:0.92, Z:-1.55 [[ 0.95432438 0.25861831 -0.14960463 0.83332787] [-0.26183499 0.96511084 -0.0018728 0.92167109] [ 0.1439007 0.04095899 0.98874413 -1.55308399] [ 0. 0. 0. 1. ]] SLAMing on 134.186296757 meters Centerline goodness : 0.813695 Centerline is valid? [False, False] Translation: X:0.83, Y:0.92, Z:-1.55 [[ 0.95387997 0.26001095 -0.15002439 0.83356073] [-0.26322969 0.96473177 -0.00165777 0.92110786] [ 0.14430226 0.04107219 0.98868091 -1.55208323] [ 0. 0. 0. 1. ]] SLAMing on 134.216296757 meters Centerline goodness : 0.806995 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.55 [[ 0.95343598 0.26105574 -0.15102889 0.83531972] [-0.26437051 0.96441924 -0.00194121 0.92079289] [ 0.1451484 0.0417784 0.98852744 -1.55162054] [ 0. 0. 0. 1. ]] SLAMing on 134.246296757 meters Centerline goodness : 0.812848 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.55 [[ 0.95276282 0.26308438 -0.15175511 0.83734759] [-0.26641468 0.96385705 -0.00167555 0.92031624] [ 0.14582942 0.04202619 0.9884167 -1.55173378] [ 0. 0. 0. 1. ]] SLAMing on 134.276296757 meters Centerline goodness : 0.800134 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.55 [[ 9.52402857e-01 2.64132414e-01 -1.52193513e-01 8.37962965e-01] [-2.67453257e-01 9.63569817e-01 -1.40100347e-03 9.19864774e-01] [ 1.46279025e-01 4.20389703e-02 9.88349721e-01 -1.55116858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.306296757 meters Centerline goodness : 0.798136 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.55 [[ 9.51868218e-01 2.65653519e-01 -1.52889189e-01 8.38878035e-01] [-2.69025405e-01 9.63132032e-01 -1.42142177e-03 9.19572014e-01] [ 1.46874869e-01 4.24840822e-02 9.88242316e-01 -1.55022026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.336296757 meters Centerline goodness : 0.798834 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.55 [[ 0.9516697 0.26593602 -0.15363206 0.83987748] [-0.26942537 0.96301926 -0.00196867 0.91960233] [ 0.14742709 0.0432659 0.98812616 -1.54965819] [ 0. 0. 0. 1. ]] SLAMing on 134.36629675700001 meters Centerline goodness : 0.798292 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.55 [[ 0.95141399 0.26660114 -0.15406248 0.83900605] [-0.27021415 0.9627967 -0.00261466 0.91968564] [ 0.14763377 0.04411749 0.98805765 -1.5475987 ] [ 0. 0. 0. 1. ]] SLAMing on 134.39629675700002 meters Centerline goodness : 0.797304 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.55 [[ 0.95123039 0.26706413 -0.15439395 0.8389643 ] [-0.27071774 0.96265484 -0.00274857 0.91974804] [ 0.14789404 0.04441171 0.98800554 -1.54666888] [ 0. 0. 0. 1. ]] SLAMing on 134.42629675700002 meters Centerline goodness : 0.798545 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.55 [[ 0.95113782 0.26699325 -0.15508532 0.84040777] [-0.27071463 0.96265498 -0.00299539 0.91958659] [ 0.14849391 0.04483289 0.98789654 -1.54674476] [ 0. 0. 0. 1. ]] SLAMing on 134.45629675700002 meters Centerline goodness : 0.801150 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.55 [[ 0.95109799 0.26730725 -0.1547884 0.83924289] [-0.27095378 0.96258895 -0.00256216 0.91891279] [ 0.14831272 0.04437736 0.98794432 -1.54605072] [ 0. 0. 0. 1. ]] SLAMing on 134.48629675700002 meters Centerline goodness : 0.802135 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.55 [[ 0.95103012 0.2675776 -0.15473828 0.83867412] [-0.2711491 0.96253516 -0.00205578 0.91769529] [ 0.14839096 0.04391226 0.98795336 -1.54572275] [ 0. 0. 0. 1. ]] SLAMing on 134.51629675700002 meters Centerline goodness : 0.798904 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.55 [[ 0.95131552 0.26674613 -0.15441918 0.83717946] [-0.27024611 0.9627897 -0.00174129 0.91545365] [ 0.14820872 0.0433877 0.98800389 -1.54563428] [ 0. 0. 0. 1. ]] SLAMing on 134.54629675700002 meters Centerline goodness : 0.803064 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.55 [[ 0.95154581 0.2660241 -0.15424573 0.83675351] [-0.26948844 0.96300227 -0.0016129 0.9146076 ] [ 0.14810992 0.04310219 0.9880312 -1.54597018] [ 0. 0. 0. 1. ]] SLAMing on 134.57629675700002 meters Centerline goodness : 0.804469 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.55 [[ 0.95174082 0.26528976 -0.15430735 0.83663522] [-0.26875278 0.96320778 -0.00164495 0.91400388] [ 0.14819365 0.04303609 0.98802153 -1.54610004] [ 0. 0. 0. 1. ]] SLAMing on 134.60629675700002 meters Centerline goodness : 0.805864 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.55 [[ 9.52126591e-01 2.64632136e-01 -1.53051583e-01 8.35176444e-01] [-2.67891451e-01 9.63448847e-01 -6.99424817e-04 9.13883760e-01] [ 1.47272281e-01 4.16671517e-02 9.88217954e-01 -1.54727117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63629675700003 meters Centerline goodness : 0.803970 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.55 [[ 9.52148487e-01 2.64725614e-01 -1.52753425e-01 8.34686074e-01] [-2.67905432e-01 9.63445183e-01 -2.43099478e-04 9.13748447e-01] [ 1.47105197e-01 4.11549391e-02 9.88264303e-01 -1.54729939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66629675700003 meters Centerline goodness : 0.801693 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.55 [[ 9.52249741e-01 2.64395818e-01 -1.52693427e-01 8.33330903e-01] [-2.67663298e-01 9.63512113e-01 -8.75830929e-04 9.14162008e-01] [ 1.46890400e-01 4.17044360e-02 9.88273216e-01 -1.54597209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69629675700003 meters Centerline goodness : 0.802177 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.54 [[ 0.95227518 0.26402915 -0.15316847 0.83326857] [-0.26744296 0.9635721 -0.00175082 0.91456135] [ 0.1471266 0.04263109 0.98819854 -1.54496895] [ 0. 0. 0. 1. ]] SLAMing on 134.72629675700003 meters Centerline goodness : 0.802024 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.54 [[ 0.9521328 0.26425846 -0.15365737 0.83290466] [-0.2677579 0.9634838 -0.00216284 0.9147105 ] [ 0.14747484 0.04320229 0.98812182 -1.54342811] [ 0. 0. 0. 1. ]] SLAMing on 134.75629675700003 meters Centerline goodness : 0.806282 Centerline is valid? [False, False] Translation: X:0.83, Y:0.92, Z:-1.54 [[ 0.95189487 0.26501832 -0.15382274 0.83258599] [-0.26856768 0.96325786 -0.00238726 0.91535014] [ 0.1475383 0.04358423 0.98809557 -1.542336 ] [ 0. 0. 0. 1. ]] SLAMing on 134.78629675700003 meters Centerline goodness : 0.806569 Centerline is valid? [False, False] Translation: X:0.83, Y:0.92, Z:-1.54 [[ 0.95161863 0.26583336 -0.1541253 0.83340725] [-0.26940093 0.96302523 -0.00235336 0.91621433] [ 0.14780095 0.043761 0.98804851 -1.54200899] [ 0. 0. 0. 1. ]] SLAMing on 134.81629675700003 meters Centerline goodness : 0.805532 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.54 [[ 0.95117641 0.26699887 -0.15483877 0.83508337] [-0.27062213 0.96268262 -0.00241677 0.91683717] [ 0.14841531 0.04420157 0.9879368 -1.54164042] [ 0. 0. 0. 1. ]] SLAMing on 134.84629675700003 meters Centerline goodness : 0.805221 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.54 [[ 9.49848656e-01 2.71830757e-01 -1.54581922e-01 8.35801530e-01] [-2.74981055e-01 9.61449080e-01 1.04181621e-03 9.16588680e-01] [ 1.48905844e-01 4.15175321e-02 9.87979425e-01 -1.54048980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87629675700003 meters Centerline goodness : 0.807418 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.54 [[ 9.48665473e-01 2.74765763e-01 -1.56644806e-01 8.39805641e-01] [-2.78100612e-01 9.60551729e-01 6.52941176e-04 9.16319946e-01] [ 1.50644845e-01 4.29435936e-02 9.87654787e-01 -1.53967440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90629675700004 meters Centerline goodness : 0.813639 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.54 [[ 0.94771423 0.27837758 -0.15602454 0.83914179] [-0.28117629 0.95964655 0.00428978 0.91510133] [ 0.15092259 0.03980492 0.98774386 -1.53838035] [ 0. 0. 0. 1. ]] SLAMing on 134.936296757 meters Centerline goodness : 0.803953 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.94738644 0.27883767 -0.15718933 0.84213206] [-0.2817524 0.95947929 0.00388431 0.91499365] [ 0.151903 0.04060853 0.98756085 -1.5389804 ] [ 0. 0. 0. 1. ]] SLAMing on 134.966296757 meters Centerline goodness : 0.799748 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.94665945 0.28176917 -0.15633948 0.84205243] [-0.28413727 0.95875459 0.00745974 0.91430774] [ 0.15199311 0.03736004 0.98767521 -1.53876215] [ 0. 0. 0. 1. ]] SLAMing on 134.996296757 meters Centerline goodness : 0.800968 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.94670846 0.281117 -0.15721423 0.84350468] [-0.28363413 0.95890945 0.00665918 0.91438021] [ 0.15262622 0.03828702 0.98754207 -1.53870447] [ 0. 0. 0. 1. ]] SLAMing on 135.026296757 meters Centerline goodness : 0.802922 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.94785443 0.27632276 -0.15880089 0.84346938] [-0.27947689 0.96014899 0.00256682 0.91476287] [ 0.15318179 0.04194821 0.98730729 -1.53754968] [ 0. 0. 0. 1. ]] SLAMing on 135.056296757 meters Centerline goodness : 0.803060 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.54 [[ 9.48876544e-01 2.72216693e-01 -1.59785405e-01 8.43460984e-01] [-2.75930273e-01 9.61177029e-01 -1.09729876e-03 9.15363760e-01] [ 1.53283358e-01 4.51308316e-02 9.87151164e-01 -1.53744861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.086296757 meters Centerline goodness : 0.801973 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.54 [[ 0.94991018 0.26801539 -0.16074329 0.8436942 ] [-0.27225773 0.96221358 -0.00455596 0.91584879] [ 0.15344831 0.04809136 0.98698573 -1.53754563] [ 0. 0. 0. 1. ]] SLAMing on 135.11629675700001 meters Centerline goodness : 0.804487 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.54 [[ 0.95181483 0.26164953 -0.15996268 0.84063573] [-0.26624988 0.9638737 -0.00764852 0.91618251] [ 0.15218259 0.04987002 0.98709343 -1.53840139] [ 0. 0. 0. 1. ]] SLAMing on 135.14629675700002 meters Centerline goodness : 0.802326 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.95203323 0.26090868 -0.15987301 0.84038362] [-0.26548209 0.96408612 -0.00756436 0.9148543 ] [ 0.15215774 0.04964495 0.98710861 -1.53803371] [ 0. 0. 0. 1. ]] SLAMing on 135.17629675700002 meters Centerline goodness : 0.802224 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.95366815 0.25505491 -0.15957461 0.83848602] [-0.25998784 0.965555 -0.01048147 0.91463115] [ 0.15140472 0.0514833 0.98713023 -1.5390808 ] [ 0. 0. 0. 1. ]] SLAMing on 135.20629675700002 meters Centerline goodness : 0.803181 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.95377048 0.25460721 -0.1596779 0.83879196] [-0.25949718 0.96568997 -0.01020251 0.91336988] [ 0.15160171 0.05116682 0.98711645 -1.53888309] [ 0. 0. 0. 1. ]] SLAMing on 135.23629675700002 meters Centerline goodness : 0.804474 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.95419986 0.25352693 -0.15882925 0.83738594] [-0.25828881 0.96601862 -0.00974259 0.91302857] [ 0.150962 0.05032019 0.987258 -1.5393822 ] [ 0. 0. 0. 1. ]] SLAMing on 135.26629675700002 meters Centerline goodness : 0.803866 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.95515523 0.25094114 -0.15718469 0.83566557] [-0.25549241 0.96676808 -0.00911683 0.91263857] [ 0.14967335 0.04886748 0.98752714 -1.54157667] [ 0. 0. 0. 1. ]] SLAMing on 135.29629675700002 meters Centerline goodness : 0.802474 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.54 [[ 0.95540978 0.25025333 -0.15673358 0.83483061] [-0.25470501 0.96698 -0.00866243 0.91195937] [ 0.14939043 0.048197 0.98760293 -1.54188177] [ 0. 0. 0. 1. ]] SLAMing on 135.32629675700002 meters Centerline goodness : 0.802684 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.54 [[ 0.95590558 0.24887516 -0.15590277 0.83243391] [-0.25324738 0.96736407 -0.00851616 0.91106083] [ 0.14869527 0.04762261 0.98773569 -1.54158698] [ 0. 0. 0. 1. ]] SLAMing on 135.35629675700002 meters Centerline goodness : 0.802681 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.54 [[ 0.95594885 0.24875512 -0.15582905 0.83166391] [-0.25309721 0.96740482 -0.00834943 0.91064924] [ 0.14867281 0.04742152 0.98774875 -1.54101951] [ 0. 0. 0. 1. ]] SLAMing on 135.38629675700003 meters Centerline goodness : 0.801810 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.55 [[ 0.95649303 0.25474821 -0.14221264 0.8308845 ] [-0.25849126 0.96597894 -0.00818275 0.90724362] [ 0.13528987 0.04458747 0.98980231 -1.54625247] [ 0. 0. 0. 1. ]] SLAMing on 135.41629675700003 meters Centerline goodness : 0.803644 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.55 [[ 0.95607293 0.25736467 -0.14031386 0.82897419] [-0.26052042 0.96545882 -0.00428704 0.90734525] [ 0.13436392 0.04065335 0.99009779 -1.54637121] [ 0. 0. 0. 1. ]] SLAMing on 135.44629675700003 meters Centerline goodness : 0.805930 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.55 [[ 0.95567499 0.25850281 -0.14093121 0.83015196] [-0.26166797 0.96514931 -0.0040852 0.9071628 ] [ 0.13496362 0.04078131 0.99001096 -1.54593672] [ 0. 0. 0. 1. ]] SLAMing on 135.47629675700003 meters Centerline goodness : 0.806030 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.54 [[ 0.95486955 0.26086969 -0.14202514 0.83178513] [-0.26416223 0.96446773 -0.00450677 0.90754783] [ 0.13580299 0.04182106 0.98985279 -1.54470717] [ 0. 0. 0. 1. ]] SLAMing on 135.50629675700003 meters Centerline goodness : 0.806084 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.54 [[ 0.95427293 0.26261524 -0.14281599 0.83284231] [-0.26598944 0.96396436 -0.00472492 0.9083006 ] [ 0.13642869 0.04249641 0.98973798 -1.54345897] [ 0. 0. 0. 1. ]] SLAMing on 135.53629675700003 meters Centerline goodness : 0.806465 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.95277624 0.2676829 -0.14339913 0.83535642] [-0.27077773 0.96263949 -0.00215104 0.90904982] [ 0.13746587 0.04087875 0.9896626 -1.54249245] [ 0. 0. 0. 1. ]] SLAMing on 135.56629675700003 meters Centerline goodness : 0.809900 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.95209132 0.26947888 -0.1445796 0.83816716] [-0.27261568 0.96212101 -0.00196246 0.90948608] [ 0.13857423 0.0412831 0.98949123 -1.5422223 ] [ 0. 0. 0. 1. ]] SLAMing on 135.59629675700003 meters Centerline goodness : 0.810192 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 0.95045113 0.27533138 -0.14434433 0.83832683] [-0.27797821 0.9605855 0.0019026 0.90812136] [ 0.13917892 0.03831625 0.98952569 -1.5403059 ] [ 0. 0. 0. 1. ]] SLAMing on 135.62629675700003 meters Centerline goodness : 0.823055 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 9.49833484e-01 2.76542817e-01 -1.46083616e-01 8.40701854e-01] [-2.79334395e-01 9.60192775e-01 1.45980603e-03 9.07417930e-01] [ 1.40672131e-01 3.94196057e-02 9.89271169e-01 -1.53895516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65629675700004 meters Centerline goodness : 0.817922 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 9.49289387e-01 2.77449661e-01 -1.47889641e-01 8.42840638e-01] [-2.80441854e-01 9.59870799e-01 6.44753672e-04 9.06985719e-01] [ 1.42133834e-01 4.08623871e-02 9.89003659e-01 -1.53731321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.686296757 meters Centerline goodness : 0.817288 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.54 [[ 9.48723678e-01 2.79015205e-01 -1.48572873e-01 8.43291762e-01] [-2.82061995e-01 9.59396001e-01 5.86773365e-04 9.07718687e-01] [ 1.42703939e-01 4.13500752e-02 9.88901288e-01 -1.53561403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.716296757 meters Centerline goodness : 0.820225 Centerline is valid? [False, False] Translation: X:0.85, Y:0.91, Z:-1.54 [[ 9.48262943e-01 2.79880625e-01 -1.49880707e-01 8.45924146e-01] [-2.83039706e-01 9.59108156e-01 2.65043610e-04 9.07946088e-01] [ 1.43825989e-01 4.21708603e-02 9.88704053e-01 -1.53533487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.746296757 meters Centerline goodness : 0.816928 Centerline is valid? [False, False] Translation: X:0.85, Y:0.91, Z:-1.53 [[ 9.47298089e-01 2.82512148e-01 -1.51040450e-01 8.48406313e-01] [-2.85636279e-01 9.58337521e-01 1.05462032e-03 9.07996711e-01] [ 1.45045674e-01 4.21435924e-02 9.88527020e-01 -1.53453822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.776296757 meters Centerline goodness : 0.810305 Centerline is valid? [False, False] Translation: X:0.85, Y:0.91, Z:-1.53 [[ 9.46764621e-01 2.83678597e-01 -1.52194630e-01 8.49797473e-01] [-2.86890780e-01 9.57962884e-01 8.90480342e-04 9.07763366e-01] [ 1.46049417e-01 4.28201609e-02 9.88350141e-01 -1.53324271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.806296757 meters Centerline goodness : 0.810486 Centerline is valid? [False, False] Translation: X:0.85, Y:0.91, Z:-1.53 [[ 9.46283612e-01 2.84674568e-01 -1.53322263e-01 8.50630825e-01] [-2.87980504e-01 9.57636034e-01 6.74346166e-04 9.07289933e-01] [ 1.47018893e-01 4.35156999e-02 9.88176011e-01 -1.53150334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.836296757 meters Centerline goodness : 0.813353 Centerline is valid? [False, False] Translation: X:0.85, Y:0.91, Z:-1.53 [[ 9.45858349e-01 2.85721982e-01 -1.53996532e-01 8.49825931e-01] [-2.89171219e-01 9.57277392e-01 1.18119408e-06 9.07886404e-01] [ 1.47417736e-01 4.45302478e-02 9.88071388e-01 -1.52875541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86629675700001 meters Centerline goodness : 0.813202 Centerline is valid? [False, False] Translation: X:0.85, Y:0.91, Z:-1.53 [[ 9.45636154e-01 2.85965876e-01 -1.54905719e-01 8.51248344e-01] [-2.89519927e-01 9.57171903e-01 -4.00299144e-04 9.07883609e-01] [ 1.48156930e-01 4.52268299e-02 9.87929177e-01 -1.52827605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89629675700002 meters Centerline goodness : 0.810850 Centerline is valid? [False, False] Translation: X:0.85, Y:0.91, Z:-1.53 [[ 9.45392098e-01 2.86862737e-01 -1.54737041e-01 8.51027242e-01] [-2.90380000e-01 9.56911405e-01 -1.33987259e-04 9.08529147e-01] [ 1.48031204e-01 4.50592125e-02 9.87955682e-01 -1.52786804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92629675700002 meters Centerline goodness : 0.810933 Centerline is valid? [False, False] Translation: X:0.85, Y:0.91, Z:-1.53 [[ 9.45183439e-01 2.87326442e-01 -1.55150835e-01 8.51477331e-01] [-2.90864242e-01 9.56764329e-01 -1.05539100e-04 9.08783233e-01] [ 1.48412461e-01 4.52275840e-02 9.87890787e-01 -1.52714872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95629675700002 meters Centerline goodness : 0.822574 Centerline is valid? [False, False] Translation: X:0.85, Y:0.91, Z:-1.53 [[ 9.45024658e-01 2.87230089e-01 -1.56292263e-01 8.53527294e-01] [-2.90916196e-01 9.56748251e-01 -7.42799945e-04 9.08695391e-01] [ 1.49318994e-01 4.61699149e-02 9.87710573e-01 -1.52698753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98629675700002 meters Centerline goodness : 0.810446 Centerline is valid? [False, False] Translation: X:0.85, Y:0.91, Z:-1.53 [[ 9.44875237e-01 2.87247879e-01 -1.57160563e-01 8.54484245e-01] [-2.91069846e-01 9.56700833e-01 -1.36424194e-03 9.09268580e-01] [ 1.49963766e-01 4.70337394e-02 9.87572122e-01 -1.52598195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01629675700002 meters Centerline goodness : 0.811550 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.53 [[ 9.44767138e-01 2.87314955e-01 -1.57686943e-01 8.55409613e-01] [-2.91182778e-01 9.56666275e-01 -1.49277675e-03 9.09730442e-01] [ 1.50424883e-01 4.73260484e-02 9.87488025e-01 -1.52562603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04629675700002 meters Centerline goodness : 0.811550 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.53 [[ 9.44767138e-01 2.87314955e-01 -1.57686943e-01 8.55409613e-01] [-2.91182778e-01 9.56666275e-01 -1.49277675e-03 9.09730442e-01] [ 1.50424883e-01 4.73260484e-02 9.87488025e-01 -1.52562603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07629675700002 meters Centerline goodness : 0.809656 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.53 [[ 9.44731503e-01 2.87547047e-01 -1.57477247e-01 8.55577631e-01] [-2.91390800e-01 9.56603100e-01 -1.38224620e-03 9.10731486e-01] [ 1.50245761e-01 4.71932724e-02 9.87521648e-01 -1.52578098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10629675700002 meters Centerline goodness : 0.810505 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.53 [[ 9.44581100e-01 2.87759033e-01 -1.57991405e-01 8.56508711e-01] [-2.91630538e-01 9.56530039e-01 -1.38320727e-03 9.10822408e-01] [ 1.50725495e-01 4.73816699e-02 9.87439518e-01 -1.52544502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13629675700003 meters Centerline goodness : 0.810268 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 9.44418570e-01 2.88072499e-01 -1.58391286e-01 8.56956558e-01] [-2.91964438e-01 9.56428203e-01 -1.36354976e-03 9.10707416e-01] [ 1.51097092e-01 4.75323845e-02 9.87375481e-01 -1.52492252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16629675700003 meters Centerline goodness : 0.811754 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.53 [[ 0.94444808 0.28748666 -0.15927722 0.85868393] [-0.29151355 0.95656459 -0.00200813 0.91052694] [ 0.15178164 0.04832805 0.98723185 -1.5251593 ] [ 0. 0. 0. 1. ]] SLAMing on 136.19629675700003 meters Centerline goodness : 0.811304 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94468988 0.28690867 -0.15888498 0.85784765] [-0.29090516 0.95674983 -0.0019847 0.91112855] [ 0.15144375 0.04809539 0.9872951 -1.52497685] [ 0. 0. 0. 1. ]] SLAMing on 136.22629675700003 meters Centerline goodness : 0.812684 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94477982 0.28646424 -0.15915189 0.85828672] [-0.29048694 0.95687664 -0.00210657 0.91115232] [ 0.15168527 0.04822179 0.98725186 -1.52492443] [ 0. 0. 0. 1. ]] SLAMing on 136.25629675700003 meters Centerline goodness : 0.810982 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94480634 0.28603572 -0.15976406 0.85893694] [-0.29017237 0.95697063 -0.00268464 0.91081113] [ 0.15212161 0.04889558 0.98715158 -1.52457708] [ 0. 0. 0. 1. ]] SLAMing on 136.28629675700003 meters Centerline goodness : 0.810001 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94490591 0.28585975 -0.15948987 0.85665815] [-0.28997774 0.95702967 -0.00266737 0.91062741] [ 0.15187404 0.04876892 0.98719596 -1.52282464] [ 0. 0. 0. 1. ]] SLAMing on 136.31629675700003 meters Centerline goodness : 0.811565 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94488133 0.28588438 -0.15959134 0.85622824] [-0.29002416 0.95701531 -0.00277385 0.91099723] [ 0.15193835 0.0489063 0.98717927 -1.52194959] [ 0. 0. 0. 1. ]] SLAMing on 136.34629675700003 meters Centerline goodness : 0.816256 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.9449559 0.28529621 -0.1602012 0.85828635] [-0.28956327 0.95715266 -0.00344877 0.91182606] [ 0.15235308 0.04964732 0.98707836 -1.52288154] [ 0. 0. 0. 1. ]] SLAMing on 136.37629675700003 meters Centerline goodness : 0.815171 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94485115 0.28558879 -0.1602977 0.85895406] [-0.28984771 0.95706695 -0.00333971 0.91247806] [ 0.15246185 0.04961745 0.98706306 -1.52296449] [ 0. 0. 0. 1. ]] SLAMing on 136.40629675700004 meters Centerline goodness : 0.817902 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94454154 0.28651555 -0.16046847 0.85912377] [-0.29075211 0.95679352 -0.00306123 0.91249131] [ 0.1526581 0.04954801 0.98703622 -1.52237025] [ 0. 0. 0. 1. ]] SLAMing on 136.436296757 meters Centerline goodness : 0.818814 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94386007 0.2877292 -0.16229625 0.86168115] [-0.29221167 0.95634558 -0.00393344 0.91206241] [ 0.15407954 0.05113748 0.98673424 -1.52106827] [ 0. 0. 0. 1. ]] SLAMing on 136.466296757 meters Centerline goodness : 0.816000 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94367144 0.28795978 -0.16298277 0.86211359] [-0.29254173 0.95624301 -0.00431793 0.91232665] [ 0.15460775 0.05175397 0.98661947 -1.51988686] [ 0. 0. 0. 1. ]] SLAMing on 136.496296757 meters Centerline goodness : 0.817403 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94336345 0.28880332 -0.16327288 0.8617286 ] [-0.29347565 0.95595488 -0.00472372 0.91327841] [ 0.15471728 0.0523728 0.98656964 -1.51832996] [ 0. 0. 0. 1. ]] SLAMing on 136.526296757 meters Centerline goodness : 0.814657 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94314832 0.28927545 -0.16367944 0.86303464] [-0.2939667 0.95580428 -0.00466456 0.91402663] [ 0.15509616 0.05251568 0.98650255 -1.51835944] [ 0. 0. 0. 1. ]] SLAMing on 136.556296757 meters Centerline goodness : 0.812668 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 9.42258079e-01 2.92862055e-01 -1.62423917e-01 8.61728841e-01] [-2.96984024e-01 9.54881754e-01 -1.15108401e-03 9.14096793e-01] [ 1.54758526e-01 4.93219266e-02 9.86720399e-01 -1.51737841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.586296757 meters Centerline goodness : 0.818852 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94187954 0.29339919 -0.16364549 0.86348521] [-0.29768061 0.95466397 -0.00172101 0.9138851 ] [ 0.15572151 0.05033508 0.98651771 -1.51663074] [ 0. 0. 0. 1. ]] SLAMing on 136.61629675700001 meters Centerline goodness : 0.820385 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94161227 0.29379945 -0.16446343 0.86401024] [-0.29817814 0.95450807 -0.00203236 0.91386469] [ 0.15638456 0.0509531 0.98638109 -1.51534576] [ 0. 0. 0. 1. ]] SLAMing on 136.64629675700002 meters Centerline goodness : 0.819451 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.51 [[ 0.94155299 0.29368094 -0.16501356 0.86406663] [-0.29823667 0.95448732 -0.00297489 0.91460288] [ 0.15662968 0.05201411 0.98628681 -1.51426316] [ 0. 0. 0. 1. ]] SLAMing on 136.67629675700002 meters Centerline goodness : 0.818798 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.51 [[ 0.94147507 0.29392005 -0.16503242 0.86400507] [-0.29846529 0.95441614 -0.00288175 0.91488175] [ 0.1566626 0.05196955 0.98628393 -1.51397164] [ 0. 0. 0. 1. ]] SLAMing on 136.70629675700002 meters Centerline goodness : 0.817270 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94124714 0.29424981 -0.16574339 0.86586631] [-0.29882435 0.95430403 -0.00279817 0.91533156] [ 0.15734622 0.05216193 0.98616495 -1.51405825] [ 0. 0. 0. 1. ]] SLAMing on 136.73629675700002 meters Centerline goodness : 0.821473 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94121338 0.29417026 -0.16607597 0.86662931] [-0.29878638 0.95431545 -0.00295354 0.91585925] [ 0.15762002 0.05240115 0.98610854 -1.51400708] [ 0. 0. 0. 1. ]] SLAMing on 136.76629675700002 meters Centerline goodness : 0.817988 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94125228 0.29364925 -0.16677612 0.86713247] [-0.29844989 0.95441728 -0.00391375 0.91678214] [ 0.15802474 0.05345814 0.98598702 -1.51304989] [ 0. 0. 0. 1. ]] SLAMing on 136.79629675700002 meters Centerline goodness : 0.819966 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94119241 0.29368632 -0.16704847 0.86673138] [-0.29857733 0.95437539 -0.00438023 0.91724521] [ 0.15814053 0.05399953 0.98593896 -1.51192272] [ 0. 0. 0. 1. ]] SLAMing on 136.82629675700002 meters Centerline goodness : 0.818184 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94133682 0.29287386 -0.16766006 0.86730371] [-0.29796215 0.95456204 -0.00546624 0.91793694] [ 0.15844101 0.05510192 0.98582971 -1.51145747] [ 0. 0. 0. 1. ]] SLAMing on 136.85629675700002 meters Centerline goodness : 0.822333 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94152088 0.29218854 -0.1678222 0.8669695 ] [-0.29741551 0.95472715 -0.00633157 0.91975349] [ 0.1583744 0.05587423 0.98579695 -1.51044804] [ 0. 0. 0. 1. ]] SLAMing on 136.88629675700003 meters Centerline goodness : 0.820898 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94151864 0.29189348 -0.16834741 0.86834463] [-0.29720916 0.95478875 -0.00672035 0.92081143] [ 0.15877459 0.05636173 0.98570482 -1.51053025] [ 0. 0. 0. 1. ]] SLAMing on 136.91629675700003 meters Centerline goodness : 0.819314 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94142233 0.29213361 -0.16846944 0.87039905] [-0.29741713 0.95472581 -0.00645594 0.92256635] [ 0.15895612 0.05618346 0.98568574 -1.51151318] [ 0. 0. 0. 1. ]] SLAMing on 136.94629675700003 meters Centerline goodness : 0.819968 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94115716 0.29268615 -0.16899117 0.87155221] [-0.29800578 0.95454232 -0.00644384 0.92285322] [ 0.1594232 0.05642502 0.9855965 -1.51123426] [ 0. 0. 0. 1. ]] SLAMing on 136.97629675700003 meters Centerline goodness : 0.818308 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94093023 0.29319699 -0.16936891 0.87169064] [-0.29854376 0.95437428 -0.00643085 0.9227736 ] [ 0.15975582 0.05661502 0.98553174 -1.51029995] [ 0. 0. 0. 1. ]] SLAMing on 137.00629675700003 meters Centerline goodness : 0.818171 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94082114 0.29314215 -0.1700684 0.87324939] [-0.29855818 0.95436855 -0.00661023 0.92262965] [ 0.1603702 0.05699436 0.98541009 -1.51043582] [ 0. 0. 0. 1. ]] SLAMing on 137.03629675700003 meters Centerline goodness : 0.819504 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94081337 0.29363488 -0.16925942 0.87387431] [-0.29879259 0.95430355 -0.00526559 0.92306222] [ 0.1599787 0.0555274 0.98555747 -1.5119968 ] [ 0. 0. 0. 1. ]] SLAMing on 137.06629675700003 meters Centerline goodness : 0.816659 Centerline is valid? [False, False] Translation: X:0.88, Y:0.92, Z:-1.51 [[ 0.94069241 0.2939322 -0.16941559 0.87500398] [-0.29904875 0.95422509 -0.00493112 0.92336782] [ 0.16021119 0.05530219 0.98553236 -1.51241997] [ 0. 0. 0. 1. ]] SLAMing on 137.09629675700003 meters Centerline goodness : 0.819824 Centerline is valid? [False, False] Translation: X:0.88, Y:0.92, Z:-1.51 [[ 0.94061392 0.29400784 -0.1697199 0.8762352 ] [-0.29914834 0.9541937 -0.00496505 0.92395659] [ 0.16048589 0.05544162 0.98547983 -1.51275915] [ 0. 0. 0. 1. ]] SLAMing on 137.12629675700003 meters Centerline goodness : 0.818148 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94053453 0.29452138 -0.1692689 0.87488255] [-0.29958936 0.954057 -0.00463139 0.92427265] [ 0.16012813 0.05506714 0.98555902 -1.51198887] [ 0. 0. 0. 1. ]] SLAMing on 137.15629675700004 meters Centerline goodness : 0.818553 Centerline is valid? [False, False] Translation: X:0.88, Y:0.92, Z:-1.51 [[ 0.94097465 0.29173877 -0.17162515 0.87807626] [-0.29756007 0.95466394 -0.00864678 0.92494994] [ 0.16132174 0.05920519 0.98512438 -1.51208595] [ 0. 0. 0. 1. ]] SLAMing on 137.186296757 meters Centerline goodness : 0.817485 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.94125163 0.29125885 -0.17092 0.87573149] [-0.29704028 0.95482524 -0.00870786 0.92536114] [ 0.16066249 0.05896641 0.98524643 -1.51117719] [ 0. 0. 0. 1. ]] SLAMing on 137.216296757 meters Centerline goodness : 0.816502 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.94133749 0.29104643 -0.17080898 0.87535479] [-0.29684719 0.95488364 -0.00888666 0.92616783] [ 0.16051627 0.05906951 0.98526409 -1.51083458] [ 0. 0. 0. 1. ]] SLAMing on 137.246296757 meters Centerline goodness : 0.818446 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.94144413 0.2905 -0.17115108 0.87610858] [-0.29645015 0.95499883 -0.00972297 0.92722174] [ 0.16062456 0.0598914 0.98519682 -1.51090363] [ 0. 0. 0. 1. ]] SLAMing on 137.276296757 meters Centerline goodness : 0.819253 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.94126203 0.29096944 -0.17135512 0.87591748] [-0.29694679 0.95484404 -0.00977092 0.92744729] [ 0.16077437 0.06008035 0.98516088 -1.51002562] [ 0. 0. 0. 1. ]] SLAMing on 137.306296757 meters Centerline goodness : 0.819927 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.94111012 0.291372 -0.17150539 0.87549635] [-0.29738829 0.95470512 -0.00991683 0.92762179] [ 0.16084758 0.06033652 0.98513327 -1.50914409] [ 0. 0. 0. 1. ]] SLAMing on 137.336296757 meters Centerline goodness : 0.820285 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.94088473 0.29170279 -0.17217842 0.87633382] [-0.29788769 0.95454139 -0.01066097 0.92844673] [ 0.16124159 0.06132058 0.98500809 -1.5082684 ] [ 0. 0. 0. 1. ]] SLAMing on 137.36629675700001 meters Centerline goodness : 0.820816 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.94059519 0.29250684 -0.17239616 0.87680394] [-0.29869767 0.95428957 -0.01054179 0.92870437] [ 0.16143231 0.06140989 0.98497129 -1.50789437] [ 0. 0. 0. 1. ]] SLAMing on 137.39629675700002 meters Centerline goodness : 0.824587 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.94004518 0.29419222 -0.17252825 0.87755854] [-0.30034388 0.95377749 -0.01010211 0.92911465] [ 0.1615816 0.06131424 0.98495277 -1.50758869] [ 0. 0. 0. 1. ]] SLAMing on 137.42629675700002 meters Centerline goodness : 0.825199 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.93977791 0.29506151 -0.17249984 0.8776596 ] [-0.30116107 0.95352376 -0.00971804 0.92916389] [ 0.16161527 0.06108304 0.98496161 -1.50730664] [ 0. 0. 0. 1. ]] SLAMing on 137.45629675700002 meters Centerline goodness : 0.821211 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.9395603 0.29585116 -0.17233264 0.87773438] [-0.3018622 0.95330745 -0.00917195 0.92896253] [ 0.16157246 0.06063832 0.98499611 -1.50741838] [ 0. 0. 0. 1. ]] SLAMing on 137.48629675700002 meters Centerline goodness : 0.819778 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.93951078 0.29591079 -0.17250014 0.87800256] [-0.30189613 0.95329885 -0.00894636 0.92838647] [ 0.16179686 0.06048233 0.98496886 -1.50734764] [ 0. 0. 0. 1. ]] SLAMing on 137.51629675700002 meters Centerline goodness : 0.820807 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.93957517 0.29536808 -0.17307856 0.8789651 ] [-0.30139516 0.95345657 -0.00902927 0.92739107] [ 0.16235594 0.06064872 0.98486663 -1.50752877] [ 0. 0. 0. 1. ]] SLAMing on 137.54629675700002 meters Centerline goodness : 0.820475 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.94039109 0.2933901 -0.17200826 0.87643865] [-0.29922726 0.95414442 -0.00845383 0.92548645] [ 0.16164045 0.05941946 0.98505923 -1.50828335] [ 0. 0. 0. 1. ]] SLAMing on 137.57629675700002 meters Centerline goodness : 0.819604 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94085707 0.29229382 -0.17132511 0.87487514] [-0.29797933 0.95453981 -0.00787903 0.92437523] [ 0.16123365 0.05846438 0.98518304 -1.50862442] [ 0. 0. 0. 1. ]] SLAMing on 137.60629675700002 meters Centerline goodness : 0.823460 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94251302 0.28718835 -0.17085683 0.87279912] [-0.29300248 0.95606653 -0.00929132 0.92199271] [ 0.16068214 0.05881866 0.98525206 -1.51034228] [ 0. 0. 0. 1. ]] SLAMing on 137.63629675700003 meters Centerline goodness : 0.820353 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94322823 0.28543665 -0.16984234 0.87030849] [-0.29106913 0.95666244 -0.00870274 0.92072589] [ 0.1599977 0.05764453 0.98543282 -1.51066723] [ 0. 0. 0. 1. ]] SLAMing on 137.66629675700003 meters Centerline goodness : 0.819293 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94390188 0.28389468 -0.16868033 0.86751596] [-0.28928548 0.95721137 -0.00776548 0.91921717] [ 0.15925815 0.05612662 0.98564022 -1.51088809] [ 0. 0. 0. 1. ]] SLAMing on 137.69629675700003 meters Centerline goodness : 0.819784 Centerline is valid? [False, False] Translation: X:0.87, Y:0.92, Z:-1.51 [[ 0.94536015 0.27878017 -0.16904381 0.86682386] [-0.28440778 0.95865589 -0.00954506 0.91618842] [ 0.15939387 0.0571009 0.98556232 -1.51245085] [ 0. 0. 0. 1. ]] SLAMing on 137.72629675700003 meters Centerline goodness : 0.817524 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.51 [[ 0.94580835 0.27772556 -0.16827084 0.86468935] [-0.28314261 0.95903916 -0.00861083 0.91450461] [ 0.15898688 0.05578884 0.98570319 -1.51249677] [ 0. 0. 0. 1. ]] SLAMing on 137.75629675700003 meters Centerline goodness : 0.824240 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.51 [[ 0.94708486 0.27315074 -0.16857918 0.86433337] [-0.27888123 0.96026443 -0.01083914 0.91230067] [ 0.15891987 0.05727915 0.98562852 -1.51413596] [ 0. 0. 0. 1. ]] SLAMing on 137.78629675700003 meters Centerline goodness : 0.827478 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.51 [[ 0.9474183 0.2723186 -0.16805101 0.86254094] [-0.27793513 0.9605436 -0.01039528 0.91138364] [ 0.15858949 0.05655595 0.98572349 -1.51381677] [ 0. 0. 0. 1. ]] SLAMing on 137.81629675700003 meters Centerline goodness : 0.819536 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.51 [[ 0.94761009 0.27128571 -0.16863918 0.86354349] [-0.27698519 0.96081365 -0.010786 0.90991481] [ 0.15910474 0.05693148 0.98561884 -1.51437824] [ 0. 0. 0. 1. ]] SLAMing on 137.84629675700003 meters Centerline goodness : 0.826930 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.51 [[ 0.94756262 0.27165067 -0.16831815 0.86314088] [-0.27722484 0.96075205 -0.01009372 0.90725734] [ 0.15897004 0.0562264 0.98568104 -1.51498252] [ 0. 0. 0. 1. ]] SLAMing on 137.87629675700003 meters Centerline goodness : 0.816848 Centerline is valid? [False, False] Translation: X:0.86, Y:0.91, Z:-1.52 [[ 0.94743472 0.27226736 -0.16804149 0.86315575] [-0.27774407 0.96060779 -0.00953471 0.90567173] [ 0.15882597 0.05570605 0.98573381 -1.51585346] [ 0. 0. 0. 1. ]] SLAMing on 137.90629675700004 meters Centerline goodness : 0.818696 Centerline is valid? [False, False] Translation: X:0.86, Y:0.90, Z:-1.52 [[ 0.94706697 0.27345814 -0.16818087 0.86375977] [-0.27882558 0.96030231 -0.00870503 0.90467999] [ 0.15912401 0.05513737 0.98571772 -1.51588685] [ 0. 0. 0. 1. ]] SLAMing on 137.93629675700004 meters Centerline goodness : 0.818696 Centerline is valid? [False, False] Translation: X:0.86, Y:0.90, Z:-1.52 [[ 0.94706697 0.27345814 -0.16818087 0.86375977] [-0.27882558 0.96030231 -0.00870503 0.90467999] [ 0.15912401 0.05513737 0.98571772 -1.51588685] [ 0. 0. 0. 1. ]] SLAMing on 137.966296757 meters Centerline goodness : 0.817364 Centerline is valid? [False, False] Translation: X:0.86, Y:0.90, Z:-1.52 [[ 0.94665678 0.2747398 -0.16840126 0.8645421 ] [-0.28004531 0.95995233 -0.00813346 0.90383365] [ 0.1594226 0.05485958 0.98568497 -1.51602191] [ 0. 0. 0. 1. ]] SLAMing on 137.996296757 meters Centerline goodness : 0.814922 Centerline is valid? [False, False] Translation: X:0.86, Y:0.90, Z:-1.52 [[ 0.9464548 0.27575544 -0.16787568 0.86358414] [-0.28095772 0.95969014 -0.00758899 0.90330402] [ 0.15901593 0.05434861 0.98577896 -1.51637211] [ 0. 0. 0. 1. ]] SLAMing on 138.026296757 meters Centerline goodness : 0.815415 Centerline is valid? [False, False] Translation: X:0.86, Y:0.90, Z:-1.52 [[ 0.94630444 0.27642839 -0.16761637 0.86281013] [-0.28154191 0.95952289 -0.00706971 0.90268286] [ 0.15887748 0.05388113 0.98582695 -1.51619069] [ 0. 0. 0. 1. ]] SLAMing on 138.056296757 meters Centerline goodness : 0.817722 Centerline is valid? [False, False] Translation: X:0.86, Y:0.90, Z:-1.52 [[ 0.94605753 0.27772789 -0.16686035 0.86114444] [-0.28269175 0.95919021 -0.00628544 0.90146787] [ 0.15830518 0.05311643 0.9859605 -1.51649333] [ 0. 0. 0. 1. ]] SLAMing on 138.086296757 meters Centerline goodness : 0.817295 Centerline is valid? [False, False] Translation: X:0.86, Y:0.90, Z:-1.52 [[ 0.94588336 0.27850155 -0.16655797 0.86024466] [-0.28336475 0.95899531 -0.00569366 0.90085554] [ 0.15814262 0.05258219 0.98601523 -1.51625754] [ 0. 0. 0. 1. ]] SLAMing on 138.11629675700001 meters Centerline goodness : 0.816425 Centerline is valid? [False, False] Translation: X:0.86, Y:0.90, Z:-1.52 [[ 0.94573788 0.27922338 -0.16617509 0.85924122] [-0.28398777 0.95881411 -0.00514327 0.90001596] [ 0.1578949 0.05205588 0.98608285 -1.51619265] [ 0. 0. 0. 1. ]] SLAMing on 138.14629675700002 meters Centerline goodness : 0.814564 Centerline is valid? [False, False] Translation: X:0.86, Y:0.90, Z:-1.52 [[ 0.94551971 0.28037916 -0.16546904 0.85718511] [-0.28494235 0.95853623 -0.00401909 0.89794296] [ 0.1574812 0.05094927 0.9862068 -1.51572471] [ 0. 0. 0. 1. ]] SLAMing on 138.17629675700002 meters Centerline goodness : 0.815470 Centerline is valid? [False, False] Translation: X:0.86, Y:0.90, Z:-1.52 [[ 0.94540673 0.28092769 -0.16518399 0.85610658] [-0.28536297 0.95841396 -0.00326331 0.89629011] [ 0.15739788 0.05022255 0.98625737 -1.5152959 ] [ 0. 0. 0. 1. ]] SLAMing on 138.20629675700002 meters Centerline goodness : 0.812386 Centerline is valid? [False, False] Translation: X:0.85, Y:0.89, Z:-1.52 [[ 0.9452942 0.28165923 -0.16458112 0.85441932] [-0.28585059 0.95827239 -0.00186316 0.8921944 ] [ 0.15718877 0.04880684 0.98636179 -1.51502271] [ 0. 0. 0. 1. ]] SLAMing on 138.23629675700002 meters Centerline goodness : 0.810497 Centerline is valid? [False, False] Translation: X:0.85, Y:0.89, Z:-1.51 [[ 9.45233784e-01 2.82002759e-01 -1.64339702e-01 8.53815686e-01] [-2.86073242e-01 9.58207064e-01 -1.15040284e-03 8.90139566e-01] [ 1.57147047e-01 4.81005910e-02 9.86403132e-01 -1.51499255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26629675700002 meters Centerline goodness : 0.814277 Centerline is valid? [False, False] Translation: X:0.85, Y:0.89, Z:-1.52 [[ 9.45214597e-01 2.82352945e-01 -1.63848042e-01 8.52925631e-01] [-2.86225581e-01 9.58162260e-01 -2.84499934e-05 8.86421861e-01] [ 1.56984977e-01 4.69243924e-02 9.86485590e-01 -1.51520966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29629675700002 meters Centerline goodness : 0.813136 Centerline is valid? [False, False] Translation: X:0.83, Y:0.89, Z:-1.52 [[ 0.94693752 0.27956756 -0.15859162 0.8347145 ] [-0.28254886 0.959245 0.00389469 0.89018988] [ 0.15321705 0.04112186 0.98733658 -1.51753502] [ 0. 0. 0. 1. ]] SLAMing on 138.32629675700002 meters Centerline goodness : 0.814758 Centerline is valid? [False, False] Translation: X:0.83, Y:0.89, Z:-1.52 [[ 0.94689101 0.27994271 -0.15820715 0.83358996] [-0.28281363 0.95916416 0.00453411 0.88848396] [ 0.15301592 0.04044983 0.98739553 -1.51723785] [ 0. 0. 0. 1. ]] SLAMing on 138.35629675700002 meters Centerline goodness : 0.814243 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.94688157 0.28015006 -0.15789626 0.83247132] [-0.28284755 0.9591486 0.00558847 0.8849166 ] [ 0.15301159 0.03936895 0.98743989 -1.51675306] [ 0. 0. 0. 1. ]] SLAMing on 138.38629675700003 meters Centerline goodness : 0.816344 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.94681914 0.28035953 -0.15789883 0.83213664] [-0.28295722 0.95911217 0.00625038 0.88305902] [ 0.15319505 0.03876064 0.98743551 -1.51637182] [ 0. 0. 0. 1. ]] SLAMing on 138.41629675700003 meters Centerline goodness : 0.814732 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.94690668 0.27999581 -0.15801926 0.83285375] [-0.28252842 0.95923574 0.00666971 0.88004128] [ 0.15344521 0.03832934 0.9874135 -1.51704966] [ 0. 0. 0. 1. ]] SLAMing on 138.44629675700003 meters Centerline goodness : 0.812795 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.94688961 0.2799949 -0.1581231 0.8331519 ] [-0.28248118 0.95924735 0.00699369 0.87880423] [ 0.15363736 0.03804455 0.98739464 -1.51716004] [ 0. 0. 0. 1. ]] SLAMing on 138.47629675700003 meters Centerline goodness : 0.812475 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.94686874 0.27999593 -0.15824623 0.83354079] [-0.28245433 0.9592537 0.00720362 0.87786534] [ 0.15381527 0.03787645 0.9873734 -1.51737434] [ 0. 0. 0. 1. ]] SLAMing on 138.50629675700003 meters Centerline goodness : 0.813306 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.9468248 0.28014305 -0.15824878 0.83378484] [-0.28255544 0.95922156 0.00751192 0.87656879] [ 0.15390005 0.03760158 0.9873707 -1.51776684] [ 0. 0. 0. 1. ]] SLAMing on 138.53629675700003 meters Centerline goodness : 0.814265 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.94676341 0.28040985 -0.15814347 0.83359689] [-0.28278619 0.95915174 0.00773967 0.87598627] [ 0.15385386 0.03739315 0.98738581 -1.51790375] [ 0. 0. 0. 1. ]] SLAMing on 138.56629675700003 meters Centerline goodness : 0.811364 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.94662189 0.28103278 -0.1578847 0.83297046] [-0.28335503 0.95898108 0.00807577 0.87574099] [ 0.153678 0.03709272 0.98742453 -1.51792568] [ 0. 0. 0. 1. ]] SLAMing on 138.59629675700003 meters Centerline goodness : 0.812548 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.94653444 0.28142895 -0.15770317 0.83250036] [-0.28370848 0.95887432 0.00833941 0.87557658] [ 0.15356447 0.03684819 0.98745135 -1.51784159] [ 0. 0. 0. 1. ]] SLAMing on 138.62629675700003 meters Centerline goodness : 0.811532 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.94643308 0.28187134 -0.15752133 0.83199062] [-0.28410841 0.95875354 0.00860549 0.87541948] [ 0.15344978 0.03660861 0.98747809 -1.51773009] [ 0. 0. 0. 1. ]] SLAMing on 138.65629675700004 meters Centerline goodness : 0.810477 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.9462198 0.2827702 -0.15719131 0.83105675] [-0.28493093 0.95850492 0.00909296 0.87517072] [ 0.15323987 0.03618473 0.98752631 -1.51760994] [ 0. 0. 0. 1. ]] SLAMing on 138.68629675700004 meters Centerline goodness : 0.809814 Centerline is valid? [False, False] Translation: X:0.83, Y:0.88, Z:-1.52 [[ 0.94608671 0.28328257 -0.15706978 0.83057315] [-0.28539514 0.95836367 0.00941727 0.87502555] [ 0.15319772 0.0359174 0.98754261 -1.5173732 ] [ 0. 0. 0. 1. ]] SLAMing on 138.716296757 meters Centerline goodness : 0.806270 Centerline is valid? [False, False] Translation: X:0.83, Y:0.87, Z:-1.52 [[ 0.94587377 0.28411727 -0.15684447 0.82979255] [-0.28616086 0.95813067 0.00987868 0.87463197] [ 0.1530842 0.03553877 0.98757391 -1.51720182] [ 0. 0. 0. 1. ]] SLAMing on 138.746296757 meters Centerline goodness : 0.804582 Centerline is valid? [False, False] Translation: X:0.83, Y:0.87, Z:-1.52 [[ 0.94577471 0.28445583 -0.15682818 0.82960267] [-0.28644401 0.95804204 0.01026054 0.87380574] [ 0.15316666 0.03521834 0.9875726 -1.51705821] [ 0. 0. 0. 1. ]] SLAMing on 138.776296757 meters Centerline goodness : 0.803860 Centerline is valid? [False, False] Translation: X:0.83, Y:0.87, Z:-1.52 [[ 0.94569178 0.28473181 -0.15682747 0.82940951] [-0.28666711 0.95797134 0.01062426 0.8728857 ] [ 0.15326129 0.03491 0.98756887 -1.51691642] [ 0. 0. 0. 1. ]] SLAMing on 138.806296757 meters Centerline goodness : 0.805851 Centerline is valid? [False, False] Translation: X:0.83, Y:0.87, Z:-1.52 [[ 0.94556956 0.28528008 -0.15656784 0.82849357] [-0.28712271 0.95782823 0.01120805 0.87155766] [ 0.15316253 0.03435619 0.98760361 -1.51661159] [ 0. 0. 0. 1. ]] SLAMing on 138.836296757 meters Centerline goodness : 0.801803 Centerline is valid? [False, False] Translation: X:0.83, Y:0.87, Z:-1.52 [[ 0.9454901 0.28565052 -0.15637218 0.82789004] [-0.28744776 0.95772743 0.01148749 0.87138651] [ 0.15304333 0.03408752 0.9876314 -1.5163736 ] [ 0. 0. 0. 1. ]] SLAMing on 138.86629675700001 meters Centerline goodness : 0.802674 Centerline is valid? [False, False] Translation: X:0.83, Y:0.87, Z:-1.52 [[ 0.94533517 0.28642098 -0.15589883 0.82651266] [-0.28815353 0.95751073 0.01186347 0.87179027] [ 0.15267274 0.03370784 0.98770178 -1.51591245] [ 0. 0. 0. 1. ]] SLAMing on 138.89629675700002 meters Centerline goodness : 0.802339 Centerline is valid? [False, False] Translation: X:0.83, Y:0.87, Z:-1.52 [[ 0.94525498 0.28684741 -0.15560073 0.8257981 ] [-0.28855376 0.95738847 0.012002 0.87219755] [ 0.15241309 0.03355422 0.98774712 -1.51577214] [ 0. 0. 0. 1. ]] SLAMing on 138.92629675700002 meters Centerline goodness : 0.806812 Centerline is valid? [False, False] Translation: X:0.83, Y:0.87, Z:-1.52 [[ 0.94516368 0.28725035 -0.15541187 0.82523223] [-0.28894287 0.95727009 0.01208314 0.8727787 ] [ 0.15224202 0.03348461 0.98777586 -1.51556567] [ 0. 0. 0. 1. ]] SLAMing on 138.95629675700002 meters Centerline goodness : 0.803224 Centerline is valid? [False, False] Translation: X:0.80, Y:0.88, Z:-1.52 [[ 0.94596954 0.28705321 -0.1508048 0.80424157] [-0.288056 0.95748599 0.01563095 0.8791884 ] [ 0.1488804 0.02865382 0.98843998 -1.51830972] [ 0. 0. 0. 1. ]] SLAMing on 138.98629675700002 meters Centerline goodness : 0.805808 Centerline is valid? [False, False] Translation: X:0.80, Y:0.88, Z:-1.52 [[ 0.9459107 0.28723332 -0.15083095 0.80433252] [-0.28823892 0.95743092 0.01563194 0.87963812] [ 0.14890023 0.02868893 0.98843597 -1.51830246] [ 0. 0. 0. 1. ]] SLAMing on 139.01629675700002 meters Centerline goodness : 0.802969 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94585949 0.28728623 -0.15105114 0.8050873 ] [-0.28832713 0.95740739 0.01544512 0.880398 ] [ 0.14905465 0.02894323 0.98840528 -1.51858409] [ 0. 0. 0. 1. ]] SLAMing on 139.04629675700002 meters Centerline goodness : 0.805245 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94584026 0.28723528 -0.15126828 0.80564114] [-0.28829259 0.95741892 0.01537506 0.88073595] [ 0.14924338 0.02906717 0.98837317 -1.5186357 ] [ 0. 0. 0. 1. ]] SLAMing on 139.07629675700002 meters Centerline goodness : 0.803180 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.9458824 0.28693867 -0.15156744 0.80622036] [-0.28801435 0.95750405 0.01528845 0.88096799] [ 0.14951329 0.02919253 0.98832868 -1.51833932] [ 0. 0. 0. 1. ]] SLAMing on 139.10629675700002 meters Centerline goodness : 0.805181 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94586208 0.28691157 -0.15174545 0.80633308] [-0.28795778 0.9575174 0.01551598 0.88058734] [ 0.14975062 0.02902031 0.98829782 -1.51788554] [ 0. 0. 0. 1. ]] SLAMing on 139.13629675700003 meters Centerline goodness : 0.803063 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.945975 0.28632748 -0.15214426 0.80736139] [-0.28739796 0.95768766 0.0153868 0.88039259] [ 0.15011234 0.02917042 0.98823852 -1.51781032] [ 0. 0. 0. 1. ]] SLAMing on 139.16629675700003 meters Centerline goodness : 0.805850 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94601265 0.2861012 -0.15233575 0.80772467] [-0.2871704 0.95775548 0.01541435 0.88035395] [ 0.15031046 0.02916415 0.98820859 -1.51752485] [ 0. 0. 0. 1. ]] SLAMing on 139.19629675700003 meters Centerline goodness : 0.801728 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94602475 0.28592023 -0.15260013 0.80819491] [-0.28698374 0.95781023 0.01548887 0.88013765] [ 0.15059055 0.02914091 0.98816663 -1.51727041] [ 0. 0. 0. 1. ]] SLAMing on 139.22629675700003 meters Centerline goodness : 0.801776 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.9460997 0.28546017 -0.15299626 0.80917906] [-0.28654104 0.95794395 0.01541509 0.88022802] [ 0.15096224 0.02925549 0.98810653 -1.51706656] [ 0. 0. 0. 1. ]] SLAMing on 139.25629675700003 meters Centerline goodness : 0.799686 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94611817 0.28528288 -0.15321256 0.80988213] [-0.28637947 0.95799346 0.01534021 0.88048155] [ 0.15115293 0.02936328 0.98807418 -1.51714703] [ 0. 0. 0. 1. ]] SLAMing on 139.28629675700003 meters Centerline goodness : 0.799363 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94611483 0.28512166 -0.15353296 0.8108051 ] [-0.28626143 0.95803243 0.01510821 0.88154691] [ 0.15139723 0.02965646 0.98802802 -1.51714116] [ 0. 0. 0. 1. ]] SLAMing on 139.31629675700003 meters Centerline goodness : 0.798046 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94610581 0.28509177 -0.15364401 0.81115472] [-0.28624959 0.95803751 0.01501005 0.88213471] [ 0.15147597 0.02977944 0.98801225 -1.51711946] [ 0. 0. 0. 1. ]] SLAMing on 139.34629675700003 meters Centerline goodness : 0.797010 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94607196 0.28512627 -0.15378834 0.81140972] [-0.28628941 0.95802566 0.01500701 0.88255813] [ 0.15161207 0.02983026 0.98798985 -1.51691983] [ 0. 0. 0. 1. ]] SLAMing on 139.37629675700003 meters Centerline goodness : 0.802478 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94603484 0.28532976 -0.15363922 0.81071938] [-0.2864713 0.95796927 0.01513486 0.88289792] [ 0.15150008 0.02969512 0.9880111 -1.51630005] [ 0. 0. 0. 1. ]] SLAMing on 139.40629675700004 meters Centerline goodness : 0.802685 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94599377 0.28553855 -0.15350415 0.80999555] [-0.2866503 0.95791279 0.01531961 0.88297193] [ 0.15141793 0.02950975 0.98802924 -1.51564486] [ 0. 0. 0. 1. ]] SLAMing on 139.43629675700004 meters Centerline goodness : 0.802029 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94595883 0.28566205 -0.15348969 0.81002247] [-0.28677372 0.95787572 0.01532746 0.88336008] [ 0.15140252 0.02951766 0.98803137 -1.51562167] [ 0. 0. 0. 1. ]] SLAMing on 139.466296757 meters Centerline goodness : 0.803438 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94597035 0.28558994 -0.15355287 0.81062139] [-0.28673933 0.95788982 0.01508789 0.88422173] [ 0.15139568 0.02975695 0.98802524 -1.51601919] [ 0. 0. 0. 1. ]] SLAMing on 139.496296757 meters Centerline goodness : 0.796976 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.94592759 0.28564655 -0.15371094 0.81153997] [-0.28685298 0.95786103 0.01475203 0.88579566] [ 0.15144759 0.03013809 0.98800573 -1.5164752 ] [ 0. 0. 0. 1. ]] SLAMing on 139.526296757 meters Centerline goodness : 0.797905 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.94584205 0.28590234 -0.15376172 0.81142544] [-0.28708828 0.95778797 0.01491696 0.88593856] [ 0.15153592 0.0300341 0.98799535 -1.51614899] [ 0. 0. 0. 1. ]] SLAMing on 139.556296757 meters Centerline goodness : 0.796580 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.94572918 0.28634897 -0.15362483 0.81074053] [-0.28750061 0.95766063 0.01514999 0.88608709] [ 0.15145863 0.02983945 0.9880131 -1.51563108] [ 0. 0. 0. 1. ]] SLAMing on 139.586296757 meters Centerline goodness : 0.797699 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.94568807 0.28642654 -0.15373326 0.81105391] [-0.28758074 0.95763639 0.01516135 0.88648358] [ 0.15156318 0.02987282 0.98799606 -1.51558037] [ 0. 0. 0. 1. ]] SLAMing on 139.61629675700001 meters Centerline goodness : 0.797554 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.94568627 0.28635716 -0.15387351 0.81200359] [-0.28753779 0.95765165 0.01501148 0.88698322] [ 0.15165587 0.0300483 0.98797652 -1.51613168] [ 0. 0. 0. 1. ]] SLAMing on 139.64629675700002 meters Centerline goodness : 0.797509 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.94571777 0.28614346 -0.15407735 0.81267508] [-0.28732719 0.95771481 0.01501453 0.8867233 ] [ 0.15185847 0.0300711 0.9879447 -1.51627011] [ 0. 0. 0. 1. ]] SLAMing on 139.67629675700002 meters Centerline goodness : 0.798728 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.94574834 0.28594105 -0.15426535 0.81325923] [-0.2871019 0.95777969 0.0151841 0.88569873] [ 0.15209398 0.02992954 0.98791277 -1.51641285] [ 0. 0. 0. 1. ]] SLAMing on 139.70629675700002 meters Centerline goodness : 0.798398 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.94692751 0.2814944 -0.15520695 0.81324251] [-0.28321364 0.95898925 0.01138689 0.88519736] [ 0.15204714 0.03317416 0.98781635 -1.51686525] [ 0. 0. 0. 1. ]] SLAMing on 139.73629675700002 meters Centerline goodness : 0.799899 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.94801248 0.27736618 -0.15601389 0.81277296] [-0.27966283 0.96006914 0.00747914 0.88596496] [ 0.15185858 0.03654097 0.98772655 -1.51710781] [ 0. 0. 0. 1. ]] SLAMing on 139.76629675700002 meters Centerline goodness : 0.801500 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.94921881 0.27265594 -0.15697895 0.81281654] [-0.27550942 0.9612912 0.00371408 0.88512265] [ 0.15191515 0.0397237 0.98759497 -1.51741884] [ 0. 0. 0. 1. ]] SLAMing on 139.79629675700002 meters Centerline goodness : 0.804253 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94929448 0.27229725 -0.15714386 0.81322764] [-0.2750896 0.96140975 0.00412483 0.88336597] [ 0.15220282 0.03931296 0.98756711 -1.51720338] [ 0. 0. 0. 1. ]] SLAMing on 139.82629675700002 meters Centerline goodness : 0.800797 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94933402 0.27208506 -0.15727253 0.81337315] [-0.27480507 0.96148891 0.00460963 0.88161327] [ 0.15247 0.03884321 0.98754448 -1.51689354] [ 0. 0. 0. 1. ]] SLAMing on 139.85629675700002 meters Centerline goodness : 0.800797 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94933402 0.27208506 -0.15727253 0.81337315] [-0.27480507 0.96148891 0.00460963 0.88161327] [ 0.15247 0.03884321 0.98754448 -1.51689354] [ 0. 0. 0. 1. ]] SLAMing on 139.88629675700003 meters Centerline goodness : 0.804162 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 9.50393008e-01 2.67963209e-01 -1.57952049e-01 8.12291328e-01] [-2.71194753e-01 9.62523826e-01 1.13563580e-03 8.81103137e-01] [ 1.52336919e-01 4.17564666e-02 9.87446130e-01 -1.51657047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91629675700003 meters Centerline goodness : 0.806291 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.95142423 0.26403905 -0.15835187 0.81079913] [-0.2677787 0.96347753 -0.00237102 0.88090782] [ 0.15194242 0.0446591 0.9873799 -1.51642604] [ 0. 0. 0. 1. ]] SLAMing on 139.94629675700003 meters Centerline goodness : 0.807965 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.95142827 0.26398789 -0.1584129 0.81091113] [-0.26768413 0.96350449 -0.00207518 0.87994866] [ 0.15208372 0.04437901 0.98737077 -1.51627454] [ 0. 0. 0. 1. ]] SLAMing on 139.97629675700003 meters Centerline goodness : 0.806666 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.95143269 0.26397916 -0.1584009 0.81110919] [-0.26765087 0.96351405 -0.00192019 0.87933674] [ 0.15211461 0.04422307 0.98737301 -1.51646977] [ 0. 0. 0. 1. ]] SLAMing on 140.00629675700003 meters Centerline goodness : 0.805897 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.9514276 0.2639917 -0.15841055 0.81193343] [-0.26769479 0.96350143 -0.00212001 0.8798044 ] [ 0.15206912 0.04442271 0.98737106 -1.51739378] [ 0. 0. 0. 1. ]] SLAMing on 140.03629675700003 meters Centerline goodness : 0.802360 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.95144796 0.26384989 -0.15852451 0.81282258] [-0.26760461 0.96352574 -0.00243306 0.88069139] [ 0.15210048 0.04473682 0.98735205 -1.5180142 ] [ 0. 0. 0. 1. ]] SLAMing on 140.06629675700003 meters Centerline goodness : 0.803157 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.95138432 0.26403864 -0.15859213 0.81375891] [-0.26785883 0.96345404 -0.00282232 0.88241374] [ 0.15205102 0.04516541 0.98734015 -1.5188793 ] [ 0. 0. 0. 1. ]] SLAMing on 140.09629675700003 meters Centerline goodness : 0.800566 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.95133699 0.26423494 -0.15854912 0.81393335] [-0.26807597 0.96339325 -0.0029545 0.88302916] [ 0.15196447 0.04531394 0.98734667 -1.51922026] [ 0. 0. 0. 1. ]] SLAMing on 140.12629675700003 meters Centerline goodness : 0.801205 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.95116972 0.26493348 -0.15838691 0.81391133] [-0.26880632 0.96318909 -0.00315301 0.88409804] [ 0.15172121 0.04557445 0.98737209 -1.5200214 ] [ 0. 0. 0. 1. ]] SLAMing on 140.15629675700004 meters Centerline goodness : 0.799663 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.95110903 0.26510659 -0.15846168 0.8143007 ] [-0.26902949 0.96312579 -0.00344177 0.88523306] [ 0.1517061 0.04590436 0.98735913 -1.52035179] [ 0. 0. 0. 1. ]] SLAMing on 140.18629675700004 meters Centerline goodness : 0.801104 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.95103618 0.26546638 -0.15829651 0.81424678] [-0.26941767 0.96301652 -0.00364782 0.88661572] [ 0.15147378 0.04611709 0.98738488 -1.52067583] [ 0. 0. 0. 1. ]] SLAMing on 140.216296757 meters Centerline goodness : 0.797765 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 9.49885489e-01 2.70302998e-01 -1.57015435e-01 8.13667448e-01] [-2.73620503e-01 9.61837598e-01 5.05946148e-04 8.86632364e-01] [ 1.51160108e-01 4.24820513e-02 9.87596019e-01 -1.52030348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.246296757 meters Centerline goodness : 0.796213 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 9.49749261e-01 2.71013407e-01 -1.56614414e-01 8.12361639e-01] [-2.74267440e-01 9.61653067e-01 8.65662663e-04 8.86972662e-01] [ 1.50843338e-01 4.21320720e-02 9.87659443e-01 -1.51974581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.276296757 meters Centerline goodness : 0.795010 Centerline is valid? [False, False] Translation: X:0.81, Y:0.89, Z:-1.52 [[ 0.94953301 0.2721431 -0.15596537 0.81002622] [-0.27522267 0.96137859 0.00192057 0.88553804] [ 0.15046444 0.04110156 0.98776066 -1.51864692] [ 0. 0. 0. 1. ]] SLAMing on 140.306296757 meters Centerline goodness : 0.795259 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94946329 0.27238074 -0.15597497 0.80976764] [-0.27538642 0.96133055 0.0024275 0.88419558] [ 0.15060471 0.04064857 0.98775803 -1.51833026] [ 0. 0. 0. 1. ]] SLAMing on 140.336296757 meters Centerline goodness : 0.793643 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94938605 0.27272353 -0.15584608 0.80944628] [-0.27563599 0.96125731 0.00303199 0.8827132 ] [ 0.15063508 0.04007826 0.9877767 -1.51816793] [ 0. 0. 0. 1. ]] SLAMing on 140.36629675700001 meters Centerline goodness : 0.794785 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94931507 0.27304731 -0.15571145 0.8090065 ] [-0.27590171 0.96117983 0.0034032 0.88244078] [ 0.15059594 0.03973035 0.98779672 -1.51781985] [ 0. 0. 0. 1. ]] SLAMing on 140.39629675700002 meters Centerline goodness : 0.796596 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94931335 0.27302703 -0.15575753 0.80888483] [-0.27578448 0.96121097 0.00404918 0.88079571] [ 0.15082138 0.03911157 0.98778702 -1.51716667] [ 0. 0. 0. 1. ]] SLAMing on 140.42629675700002 meters Centerline goodness : 0.797678 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94930333 0.27308872 -0.15571041 0.80844293] [-0.2757656 0.96121405 0.00456949 0.87935347] [ 0.15091891 0.03860174 0.98779218 -1.51663666] [ 0. 0. 0. 1. ]] SLAMing on 140.45629675700002 meters Centerline goodness : 0.799562 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.94935849 0.27281405 -0.15585555 0.80854515] [-0.27542913 0.96130844 0.00498838 0.87764331] [ 0.15118616 0.0381914 0.98776726 -1.51623053] [ 0. 0. 0. 1. ]] SLAMing on 140.48629675700002 meters Centerline goodness : 0.797471 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 9.50506396e-01 2.68283677e-01 -1.56720961e-01 8.08180158e-01] [-2.71416126e-01 9.62460979e-01 1.46634310e-03 8.76199666e-01] [ 1.51231206e-01 4.11428276e-02 9.87641833e-01 -1.51627193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51629675700002 meters Centerline goodness : 0.797879 Centerline is valid? [False, False] Translation: X:0.81, Y:0.88, Z:-1.52 [[ 0.95168182 0.26338736 -0.15788861 0.80930244] [-0.26712217 0.96365935 -0.00253102 0.87531301] [ 0.1514842 0.04458428 0.98745369 -1.51738709] [ 0. 0. 0. 1. ]] SLAMing on 140.54629675700002 meters Centerline goodness : 0.798155 Centerline is valid? [False, False] Translation: X:0.81, Y:0.87, Z:-1.52 [[ 0.95176671 0.26283075 -0.15830391 0.81064234] [-0.26654277 0.96382033 -0.00230519 0.8737573 ] [ 0.15197065 0.04438877 0.98738774 -1.5176284 ] [ 0. 0. 0. 1. ]] SLAMing on 140.57629675700002 meters Centerline goodness : 0.797242 Centerline is valid? [False, False] Translation: X:0.81, Y:0.87, Z:-1.52 [[ 0.95183975 0.26235679 -0.15865055 0.81177794] [-0.26603774 0.96396045 -0.00204048 0.87233643] [ 0.15239752 0.04414925 0.98733269 -1.51779401] [ 0. 0. 0. 1. ]] SLAMing on 140.60629675700002 meters Centerline goodness : 0.796473 Centerline is valid? [False, False] Translation: X:0.81, Y:0.87, Z:-1.52 [[ 0.95203673 0.26151571 -0.15885717 0.81289396] [-0.2651526 0.96420485 -0.00176449 0.87001283] [ 0.15270941 0.04380125 0.9873 -1.51804968] [ 0. 0. 0. 1. ]] SLAMing on 140.63629675700003 meters Centerline goodness : 0.797737 Centerline is valid? [False, False] Translation: X:0.81, Y:0.87, Z:-1.52 [[ 9.52013736e-01 2.61539933e-01 -1.58955055e-01 8.12991941e-01] [-2.65095521e-01 9.64221397e-01 -1.20900907e-03 8.68660711e-01] [ 1.52951661e-01 4.32892665e-02 9.87285080e-01 -1.51760909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66629675700003 meters Centerline goodness : 0.793185 Centerline is valid? [False, False] Translation: X:0.81, Y:0.87, Z:-1.52 [[ 9.51999131e-01 2.61565253e-01 -1.59000857e-01 8.12748650e-01] [-2.64990669e-01 9.64250911e-01 -3.54421190e-04 8.66036743e-01] [ 1.53224017e-01 4.24711521e-02 9.87278381e-01 -1.51688173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69629675700003 meters Centerline goodness : 0.794752 Centerline is valid? [False, False] Translation: X:0.81, Y:0.87, Z:-1.52 [[ 9.51958167e-01 2.61705557e-01 -1.59015247e-01 8.12578872e-01] [-2.65069583e-01 9.64229284e-01 5.66489840e-05 8.65049516e-01] [ 1.53341984e-01 4.20961779e-02 9.87276125e-01 -1.51652374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72629675700003 meters Centerline goodness : 0.793357 Centerline is valid? [False, False] Translation: X:0.81, Y:0.87, Z:-1.52 [[ 9.51859712e-01 2.61922597e-01 -1.59247112e-01 8.13268069e-01] [-2.65265752e-01 9.64175298e-01 2.73261158e-04 8.65187073e-01] [ 1.53613705e-01 4.19826986e-02 9.87238716e-01 -1.51656524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75629675700003 meters Centerline goodness : 0.792576 Centerline is valid? [False, False] Translation: X:0.81, Y:0.87, Z:-1.52 [[ 9.51794961e-01 2.62115774e-01 -1.59316266e-01 8.13712357e-01] [-2.65481776e-01 9.64115865e-01 1.61682659e-04 8.66355970e-01] [ 1.53641719e-01 4.21416766e-02 9.87227583e-01 -1.51673237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78629675700003 meters Centerline goodness : 0.793718 Centerline is valid? [False, False] Translation: X:0.81, Y:0.87, Z:-1.52 [[ 0.9506806 0.26655094 -0.15860957 0.81470427] [-0.2693129 0.96304348 0.00422165 0.86612222] [ 0.1538732 0.03870217 0.98733236 -1.51665328] [ 0. 0. 0. 1. ]] SLAMing on 140.81629675700003 meters Centerline goodness : 0.791221 Centerline is valid? [False, False] Translation: X:0.81, Y:0.87, Z:-1.52 [[ 0.950604 0.26680311 -0.15864469 0.81498353] [-0.26960497 0.96296272 0.00399564 0.86745816] [ 0.15383497 0.03897313 0.98732765 -1.51684915] [ 0. 0. 0. 1. ]] SLAMing on 140.84629675700003 meters Centerline goodness : 0.791840 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.52 [[ 0.94955356 0.27076627 -0.1582203 0.81688996] [-0.27302108 0.96197701 0.00772844 0.86677017] [ 0.15429689 0.0358589 0.98737359 -1.51726844] [ 0. 0. 0. 1. ]] SLAMing on 140.87629675700003 meters Centerline goodness : 0.789615 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.52 [[ 0.9495061 0.27085992 -0.15834476 0.81755845] [-0.27318545 0.96193359 0.00731318 0.86826191] [ 0.15429799 0.03631358 0.9873568 -1.51776669] [ 0. 0. 0. 1. ]] SLAMing on 140.90629675700004 meters Centerline goodness : 0.789954 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.52 [[ 0.94943962 0.27103927 -0.15843649 0.81821304] [-0.27344705 0.96186285 0.00682384 0.87023148] [ 0.1542437 0.03684517 0.98734559 -1.51831243] [ 0. 0. 0. 1. ]] SLAMing on 140.93629675700004 meters Centerline goodness : 0.788902 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.52 [[ 0.94828125 0.27559546 -0.15751132 0.81882673] [-0.27747529 0.9606768 0.01037096 0.871981 ] [ 0.15417566 0.03387091 0.98746272 -1.51830554] [ 0. 0. 0. 1. ]] SLAMing on 140.966296757 meters Centerline goodness : 0.789672 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.52 [[ 0.94810909 0.27630877 -0.15729785 0.81817232] [-0.27820156 0.96046749 0.0103 0.87393353] [ 0.15392545 0.03399498 0.98749749 -1.51804282] [ 0. 0. 0. 1. ]] SLAMing on 140.996296757 meters Centerline goodness : 0.788249 Centerline is valid? [False, False] Translation: X:0.82, Y:0.88, Z:-1.52 [[ 0.94789034 0.27713726 -0.15715865 0.8173511 ] [-0.27901235 0.96023063 0.01045172 0.87528735] [ 0.15380511 0.03394212 0.98751806 -1.51743042] [ 0. 0. 0. 1. ]] SLAMing on 141.026296757 meters Centerline goodness : 0.791124 Centerline is valid? [False, False] Translation: X:0.82, Y:0.88, Z:-1.52 [[ 0.94777794 0.27746184 -0.15726384 0.81718728] [-0.27930673 0.96014236 0.01069607 0.87560809] [ 0.15396342 0.03378735 0.9874987 -1.51678654] [ 0. 0. 0. 1. ]] SLAMing on 141.056296757 meters Centerline goodness : 0.789280 Centerline is valid? [False, False] Translation: X:0.82, Y:0.88, Z:-1.52 [[ 0.9477334 0.27753924 -0.1573956 0.81739378] [-0.27934605 0.96012776 0.0109758 0.87527329] [ 0.1541661 0.0335657 0.98747464 -1.5164748 ] [ 0. 0. 0. 1. ]] SLAMing on 141.086296757 meters Centerline goodness : 0.786918 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.52 [[ 0.94773301 0.27748883 -0.15748678 0.81750369] [-0.27925038 0.96015205 0.01128131 0.87472241] [ 0.15434169 0.03328657 0.98745666 -1.51604809] [ 0. 0. 0. 1. ]] SLAMing on 141.11629675700001 meters Centerline goodness : 0.789499 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.52 [[ 0.94785361 0.27702715 -0.15757375 0.8177237 ] [-0.27868539 0.96030845 0.01192177 0.87280152] [ 0.15462206 0.03261341 0.98743526 -1.51530635] [ 0. 0. 0. 1. ]] SLAMing on 141.14629675700002 meters Centerline goodness : 0.787687 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.52 [[ 0.94901292 0.27230123 -0.15882859 0.81830822] [-0.27452769 0.96154439 0.00818117 0.87240647] [ 0.15494848 0.03583881 0.98727228 -1.51531761] [ 0. 0. 0. 1. ]] SLAMing on 141.17629675700002 meters Centerline goodness : 0.787690 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.94913776 0.27156783 -0.15933744 0.81935507] [-0.27374694 0.96176385 0.00853891 0.87027398] [ 0.15556388 0.03551354 0.98718725 -1.51489828] [ 0. 0. 0. 1. ]] SLAMing on 141.20629675700002 meters Centerline goodness : 0.787222 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.52 [[ 0.95017559 0.26735503 -0.16027363 0.81915552] [-0.27013477 0.96281154 0.00459867 0.87081778] [ 0.15554278 0.03892594 0.98706191 -1.51515966] [ 0. 0. 0. 1. ]] SLAMing on 141.23629675700002 meters Centerline goodness : 0.789069 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 9.51217229e-01 2.62904320e-01 -1.61453095e-01 8.18876117e-01] [-2.66176400e-01 9.63923301e-01 1.41231473e-03 8.68733090e-01] [ 1.55999704e-01 4.16315854e-02 9.86879376e-01 -1.51441436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26629675700002 meters Centerline goodness : 0.792923 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.95124214 0.2627028 -0.16163426 0.81903624] [-0.26588435 0.96400283 0.00201592 0.86639947] [ 0.15634547 0.0410584 0.98684867 -1.51397685] [ 0. 0. 0. 1. ]] SLAMing on 141.29629675700002 meters Centerline goodness : 0.791035 Centerline is valid? [False, False] Translation: X:0.82, Y:0.86, Z:-1.51 [[ 0.95132083 0.26238496 -0.16168741 0.81898052] [-0.26543743 0.96412397 0.00281697 0.86379166] [ 0.15662584 0.04023804 0.986838 -1.51311327] [ 0. 0. 0. 1. ]] SLAMing on 141.32629675700002 meters Centerline goodness : 0.790665 Centerline is valid? [False, False] Translation: X:0.82, Y:0.86, Z:-1.51 [[ 0.95130629 0.26233577 -0.16185268 0.81943918] [-0.26535491 0.96414593 0.00306555 0.86316074] [ 0.15685381 0.04003213 0.98681017 -1.51302863] [ 0. 0. 0. 1. ]] SLAMing on 141.35629675700002 meters Centerline goodness : 0.790139 Centerline is valid? [False, False] Translation: X:0.82, Y:0.86, Z:-1.51 [[ 0.95128748 0.26231506 -0.16199673 0.81985853] [-0.26531474 0.96415647 0.00322333 0.86284983] [ 0.15703572 0.0399138 0.98678603 -1.5130041 ] [ 0. 0. 0. 1. ]] SLAMing on 141.38629675700003 meters Centerline goodness : 0.789819 Centerline is valid? [False, False] Translation: X:0.82, Y:0.86, Z:-1.51 [[ 0.95119751 0.26271889 -0.16187054 0.81971167] [-0.26565295 0.96406186 0.00363769 0.86245026] [ 0.15700891 0.03954123 0.9868053 -1.5129567 ] [ 0. 0. 0. 1. ]] SLAMing on 141.41629675700003 meters Centerline goodness : 0.787707 Centerline is valid? [False, False] Translation: X:0.82, Y:0.86, Z:-1.51 [[ 0.95110122 0.26307249 -0.16186206 0.81943727] [-0.26597258 0.96397279 0.00387909 0.86259776] [ 0.1570511 0.03936146 0.98680577 -1.5125747 ] [ 0. 0. 0. 1. ]] SLAMing on 141.44629675700003 meters Centerline goodness : 0.788100 Centerline is valid? [False, False] Translation: X:0.82, Y:0.86, Z:-1.51 [[ 0.9509263 0.26367547 -0.16190867 0.81948822] [-0.26657981 0.9638049 0.00391557 0.86352903] [ 0.1570808 0.03943816 0.98679798 -1.51260635] [ 0. 0. 0. 1. ]] SLAMing on 141.47629675700003 meters Centerline goodness : 0.790779 Centerline is valid? [False, False] Translation: X:0.82, Y:0.86, Z:-1.51 [[ 0.95085524 0.26384714 -0.1620463 0.82005353] [-0.26678233 0.96374943 0.00377149 0.86435828] [ 0.15716712 0.03964495 0.98677595 -1.51287969] [ 0. 0. 0. 1. ]] SLAMing on 141.50629675700003 meters Centerline goodness : 0.788737 Centerline is valid? [False, False] Translation: X:0.82, Y:0.86, Z:-1.51 [[ 0.94971163 0.26832843 -0.16139292 0.82100573] [-0.27067223 0.96264074 0.00770363 0.86461398] [ 0.1574305 0.03636835 0.98686016 -1.51264033] [ 0. 0. 0. 1. ]] SLAMing on 141.53629675700003 meters Centerline goodness : 0.788747 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.94959262 0.26868564 -0.16149887 0.82117067] [-0.27106379 0.96253182 0.00754376 0.86622837] [ 0.1574747 0.036613 0.98684406 -1.51251104] [ 0. 0. 0. 1. ]] SLAMing on 141.56629675700003 meters Centerline goodness : 0.788702 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.94834872 0.27359782 -0.16055819 0.82088211] [-0.27533422 0.96127647 0.0117733 0.86633505] [ 0.15756196 0.03304197 0.98695616 -1.51156505] [ 0. 0. 0. 1. ]] SLAMing on 141.59629675700003 meters Centerline goodness : 0.788594 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.94817708 0.27423079 -0.16049207 0.82058461] [-0.27598079 0.9610916 0.01172801 0.86784645] [ 0.15746376 0.0331725 0.98696745 -1.51141013] [ 0. 0. 0. 1. ]] SLAMing on 141.62629675700003 meters Centerline goodness : 0.790651 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.94689734 0.27915319 -0.1595585 0.82030737] [-0.28023742 0.95979518 0.01613089 0.86779767] [ 0.15764647 0.02943997 0.98705667 -1.51022005] [ 0. 0. 0. 1. ]] SLAMing on 141.65629675700004 meters Centerline goodness : 0.789022 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.94676767 0.27964144 -0.15947304 0.81995005] [-0.28071506 0.95965404 0.01622274 0.86866909] [ 0.15757549 0.02940732 0.98706898 -1.50995562] [ 0. 0. 0. 1. ]] SLAMing on 141.68629675700004 meters Centerline goodness : 0.790230 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.94648837 0.28071664 -0.15924177 0.81904022] [-0.28173083 0.95934912 0.0166433 0.86994014] [ 0.1574405 0.02911063 0.98709932 -1.50930477] [ 0. 0. 0. 1. ]] SLAMing on 141.716296757 meters Centerline goodness : 0.801281 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.94638685 0.2810692 -0.15922324 0.81880394] [-0.28206538 0.95924838 0.01678276 0.8704131 ] [ 0.15745175 0.02902838 0.98709994 -1.50897405] [ 0. 0. 0. 1. ]] SLAMing on 141.746296757 meters Centerline goodness : 0.801281 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.94638685 0.2810692 -0.15922324 0.81880394] [-0.28206538 0.95924838 0.01678276 0.8704131 ] [ 0.15745175 0.02902838 0.98709994 -1.50897405] [ 0. 0. 0. 1. ]] SLAMing on 141.776296757 meters Centerline goodness : 0.800352 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.9462148 0.28178874 -0.15897375 0.81755286] [-0.28269241 0.95905318 0.01737799 0.87080135] [ 0.1573612 0.02849736 0.98712986 -1.50776963] [ 0. 0. 0. 1. ]] SLAMing on 141.806296757 meters Centerline goodness : 0.799318 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.94614692 0.282065 -0.15888783 0.81687404] [-0.28291643 0.95898098 0.01771351 0.87079264] [ 0.15736677 0.02819239 0.98713772 -1.50696773] [ 0. 0. 0. 1. ]] SLAMing on 141.836296757 meters Centerline goodness : 0.792722 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.51 [[ 0.94617814 0.28203802 -0.15874972 0.81585717] [-0.28278954 0.95900715 0.01831308 0.8698981 ] [ 0.1574071 0.02756532 0.987149 -1.50547123] [ 0. 0. 0. 1. ]] SLAMing on 141.86629675700001 meters Centerline goodness : 0.792515 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.9461892 0.28191602 -0.15890047 0.81566651] [-0.28259125 0.95905603 0.01880723 0.86889428] [ 0.15769651 0.02710868 0.98711546 -1.50450272] [ 0. 0. 0. 1. ]] SLAMing on 141.89629675700002 meters Centerline goodness : 0.795112 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.94734152 0.27742776 -0.15993084 0.8158229 ] [-0.27870476 0.96026203 0.01484862 0.87040249] [ 0.15769494 0.03050677 0.98701654 -1.50433589] [ 0. 0. 0. 1. ]] SLAMing on 141.92629675700002 meters Centerline goodness : 0.790616 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.94742602 0.27693624 -0.16028182 0.81695122] [-0.27822168 0.96040251 0.01482271 0.86981519] [ 0.15804 0.03055046 0.98695999 -1.50454225] [ 0. 0. 0. 1. ]] SLAMing on 141.95629675700002 meters Centerline goodness : 0.794212 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.94766731 0.27573505 -0.16092496 0.81909344] [-0.27707453 0.96073887 0.01450929 0.86907623] [ 0.15860759 0.03083822 0.98685999 -1.50491342] [ 0. 0. 0. 1. ]] SLAMing on 141.98629675700002 meters Centerline goodness : 0.794026 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.94774137 0.27540177 -0.16105953 0.81963969] [-0.27674211 0.96083479 0.01450179 0.86871914] [ 0.15874542 0.030828 0.98683815 -1.50499295] [ 0. 0. 0. 1. ]] SLAMing on 142.01629675700002 meters Centerline goodness : 0.797268 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.94777761 0.27512283 -0.16132275 0.82019099] [-0.27644901 0.96091741 0.01461755 0.86839468] [ 0.15903946 0.03074333 0.98679344 -1.50470294] [ 0. 0. 0. 1. ]] SLAMing on 142.04629675700002 meters Centerline goodness : 0.792475 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.94801702 0.27400427 -0.161819 0.82170231] [-0.27537473 0.96122994 0.0143443 0.86789055] [ 0.15947567 0.03096222 0.9867162 -1.50470568] [ 0. 0. 0. 1. ]] SLAMing on 142.07629675700002 meters Centerline goodness : 0.794928 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.9480306 0.27376992 -0.16213581 0.82219852] [-0.27511412 0.96130149 0.01454851 0.86742782] [ 0.15984434 0.03081342 0.9866612 -1.50420492] [ 0. 0. 0. 1. ]] SLAMing on 142.10629675700002 meters Centerline goodness : 0.794068 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.94811709 0.27318868 -0.16260978 0.82336646] [-0.27456314 0.96146118 0.01440442 0.86784332] [ 0.16027811 0.03098958 0.98658531 -1.50384096] [ 0. 0. 0. 1. ]] SLAMing on 142.13629675700003 meters Centerline goodness : 0.791828 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.94810681 0.27305777 -0.16288933 0.82413493] [-0.27446237 0.96149206 0.01426266 0.86857482] [ 0.16051133 0.03118447 0.98654125 -1.50381234] [ 0. 0. 0. 1. ]] SLAMing on 142.16629675700003 meters Centerline goodness : 0.795165 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.94799644 0.27349183 -0.16280347 0.82368752] [-0.27492215 0.96136273 0.01412524 0.87084324] [ 0.16037632 0.0313676 0.9865574 -1.50321872] [ 0. 0. 0. 1. ]] SLAMing on 142.19629675700003 meters Centerline goodness : 0.794361 Centerline is valid? [False, False] Translation: X:0.82, Y:0.87, Z:-1.50 [[ 0.94794927 0.27363557 -0.16283662 0.82364993] [-0.2750964 0.96131534 0.01395661 0.87227253] [ 0.16035636 0.03156561 0.98655433 -1.50288698] [ 0. 0. 0. 1. ]] SLAMing on 142.22629675700003 meters Centerline goodness : 0.798072 Centerline is valid? [False, False] Translation: X:0.82, Y:0.88, Z:-1.50 [[ 0.94776208 0.27441242 -0.16261879 0.8231364 ] [-0.27591111 0.96108484 0.01374705 0.87535962] [ 0.16006282 0.0318394 0.9865932 -1.50260197] [ 0. 0. 0. 1. ]] SLAMing on 142.25629675700003 meters Centerline goodness : 0.794664 Centerline is valid? [False, False] Translation: X:0.82, Y:0.88, Z:-1.50 [[ 0.94766953 0.27478991 -0.16252065 0.8229261 ] [-0.27631804 0.96097033 0.01357834 0.87708575] [ 0.15990871 0.0320396 0.98661171 -1.50248344] [ 0. 0. 0. 1. ]] SLAMing on 142.28629675700003 meters Centerline goodness : 0.799748 Centerline is valid? [False, False] Translation: X:0.82, Y:0.88, Z:-1.50 [[ 0.94652439 0.27930191 -0.1614993 0.82336276] [-0.28026718 0.95976712 0.01724505 0.87838502] [ 0.15981829 0.0289401 0.98672214 -1.50239691] [ 0. 0. 0. 1. ]] SLAMing on 142.31629675700003 meters Centerline goodness : 0.799071 Centerline is valid? [False, False] Translation: X:0.82, Y:0.88, Z:-1.50 [[ 0.94633079 0.2801606 -0.16114611 0.82276795] [-0.28111497 0.95951776 0.01732169 0.88039844] [ 0.15947541 0.02890853 0.98677854 -1.50234914] [ 0. 0. 0. 1. ]] SLAMing on 142.34629675700003 meters Centerline goodness : 0.794655 Centerline is valid? [False, False] Translation: X:0.80, Y:0.89, Z:-1.51 [[ 0.9466332 0.28224837 -0.15563239 0.80385464] [-0.28227152 0.95907257 0.0224187 0.88884101] [ 0.1555904 0.02270831 0.98756061 -1.50699757] [ 0. 0. 0. 1. ]] SLAMing on 142.37629675700003 meters Centerline goodness : 0.801790 Centerline is valid? [False, False] Translation: X:0.80, Y:0.89, Z:-1.51 [[ 0.94650926 0.28281964 -0.15534889 0.80353239] [-0.28287947 0.95889872 0.02219103 0.89105783] [ 0.15523991 0.022941 0.98761039 -1.50716532] [ 0. 0. 0. 1. ]] SLAMing on 142.40629675700004 meters Centerline goodness : 0.793828 Centerline is valid? [False, False] Translation: X:0.80, Y:0.89, Z:-1.51 [[ 0.94600029 0.285033 -0.1544009 0.80189135] [-0.28489401 0.95827083 0.02350369 0.89400729] [ 0.1546572 0.02175339 0.98772868 -1.50616866] [ 0. 0. 0. 1. ]] SLAMing on 142.43629675700004 meters Centerline goodness : 0.802632 Centerline is valid? [False, False] Translation: X:0.79, Y:0.90, Z:-1.51 [[ 0.94830437 0.28197228 -0.14563809 0.78650462] [-0.28150983 0.95925291 0.02420882 0.90061735] [ 0.14652998 0.01804122 0.9890417 -1.51136422] [ 0. 0. 0. 1. ]] SLAMing on 142.466296757 meters Centerline goodness : 0.799619 Centerline is valid? [False, False] Translation: X:0.78, Y:0.91, Z:-1.52 [[ 0.95036626 0.27928342 -0.13713039 0.77546169] [-0.27863553 0.96008963 0.02429303 0.90624246] [ 0.1384421 0.01512213 0.99025507 -1.51670858] [ 0. 0. 0. 1. ]] SLAMing on 142.496296757 meters Centerline goodness : 0.796120 Centerline is valid? [False, False] Translation: X:0.78, Y:0.91, Z:-1.52 [[ 0.95034701 0.27940134 -0.13702358 0.77514689] [-0.27874435 0.96005647 0.02435496 0.90696451] [ 0.13835518 0.01504889 0.99026834 -1.51630918] [ 0. 0. 0. 1. ]] SLAMing on 142.526296757 meters Centerline goodness : 0.794842 Centerline is valid? [False, False] Translation: X:0.77, Y:0.91, Z:-1.52 [[ 0.95040359 0.27950789 -0.13641246 0.77383237] [-0.27886585 0.9600254 0.02418819 0.90786546] [ 0.13772021 0.01505223 0.99035679 -1.51606543] [ 0. 0. 0. 1. ]] SLAMing on 142.556296757 meters Centerline goodness : 0.799583 Centerline is valid? [False, False] Translation: X:0.77, Y:0.91, Z:-1.51 [[ 0.95111894 0.27723976 -0.13605468 0.77127019] [-0.27683282 0.96065963 0.02228598 0.9097334 ] [ 0.1368808 0.01646778 0.99045063 -1.51447054] [ 0. 0. 0. 1. ]] SLAMing on 142.586296757 meters Centerline goodness : 0.799060 Centerline is valid? [False, False] Translation: X:0.77, Y:0.91, Z:-1.51 [[ 0.95212756 0.27333733 -0.13689345 0.77062881] [-0.27343968 0.96171264 0.01842686 0.9112874 ] [ 0.13668891 0.01988738 0.99041438 -1.51420331] [ 0. 0. 0. 1. ]] SLAMing on 142.61629675700001 meters Centerline goodness : 0.799760 Centerline is valid? [False, False] Translation: X:0.77, Y:0.91, Z:-1.51 [[ 0.95331817 0.26868923 -0.13780626 0.77045266] [-0.26929327 0.9629476 0.01459645 0.91065882] [ 0.13662212 0.02319524 0.99035164 -1.51426523] [ 0. 0. 0. 1. ]] SLAMing on 142.64629675700002 meters Centerline goodness : 0.799086 Centerline is valid? [False, False] Translation: X:0.77, Y:0.91, Z:-1.52 [[ 0.95458115 0.26342934 -0.13921137 0.77247525] [-0.26463577 0.96429544 0.01010977 0.91143638] [ 0.1369041 0.02718972 0.99021108 -1.51555894] [ 0. 0. 0. 1. ]] SLAMing on 142.67629675700002 meters Centerline goodness : 0.799163 Centerline is valid? [False, False] Translation: X:0.77, Y:0.91, Z:-1.52 [[ 0.95472412 0.26263518 -0.13973053 0.77425992] [-0.2638718 0.96450657 0.00993757 0.91109229] [ 0.13738097 0.0273833 0.9901397 -1.51601612] [ 0. 0. 0. 1. ]] SLAMing on 142.70629675700002 meters Centerline goodness : 0.800578 Centerline is valid? [False, False] Translation: X:0.78, Y:0.91, Z:-1.52 [[ 0.95485646 0.26199197 -0.14003338 0.77559212] [-0.26326149 0.9646756 0.00971434 0.91053786] [ 0.13763186 0.0275896 0.99009913 -1.51670249] [ 0. 0. 0. 1. ]] SLAMing on 142.73629675700002 meters Centerline goodness : 0.799318 Centerline is valid? [False, False] Translation: X:0.78, Y:0.91, Z:-1.52 [[ 0.95593815 0.2574061 -0.14115363 0.77616625] [-0.25924949 0.96579478 0.00549037 0.91139284] [ 0.1377387 0.03134555 0.98997248 -1.51711706] [ 0. 0. 0. 1. ]] SLAMing on 142.76629675700002 meters Centerline goodness : 0.803046 Centerline is valid? [False, False] Translation: X:0.78, Y:0.91, Z:-1.52 [[ 0.95604875 0.25692486 -0.14128133 0.77642696] [-0.25877732 0.96592181 0.0054189 0.91071468] [ 0.13785897 0.03137968 0.98995466 -1.51688703] [ 0. 0. 0. 1. ]] SLAMing on 142.79629675700002 meters Centerline goodness : 0.801319 Centerline is valid? [False, False] Translation: X:0.78, Y:0.91, Z:-1.52 [[ 0.95605767 0.25694211 -0.14118953 0.7764263 ] [-0.25880461 0.965915 0.00532693 0.91137358] [ 0.1377458 0.03144765 0.98996825 -1.51691373] [ 0. 0. 0. 1. ]] SLAMing on 142.82629675700002 meters Centerline goodness : 0.803331 Centerline is valid? [False, False] Translation: X:0.78, Y:0.91, Z:-1.52 [[ 0.95603123 0.25711964 -0.14104529 0.77678114] [-0.25904865 0.96585221 0.00482806 0.91423109] [ 0.13747029 0.03192182 0.98999137 -1.51731026] [ 0. 0. 0. 1. ]] SLAMing on 142.85629675700002 meters Centerline goodness : 0.800653 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.52 [[ 0.95597403 0.25738491 -0.14094915 0.7766772 ] [-0.25932934 0.96577744 0.00471391 0.915384 ] [ 0.1373388 0.03204587 0.99000561 -1.51732075] [ 0. 0. 0. 1. ]] SLAMing on 142.88629675700003 meters Centerline goodness : 0.801761 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.52 [[ 0.95588464 0.25780354 -0.14079023 0.77601623] [-0.25973748 0.96566742 0.00478303 0.91619841] [ 0.13718962 0.03199648 0.9900279 -1.51686128] [ 0. 0. 0. 1. ]] SLAMing on 142.91629675700003 meters Centerline goodness : 0.802241 Centerline is valid? [False, False] Translation: X:0.77, Y:0.92, Z:-1.52 [[ 0.95561508 0.25908681 -0.1402635 0.77437457] [-0.26096886 0.96533359 0.0051291 0.91731721] [ 0.13672995 0.03170296 0.99010093 -1.51634345] [ 0. 0. 0. 1. ]] SLAMing on 142.94629675700003 meters Centerline goodness : 0.801048 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.52 [[ 0.95457095 0.26322101 -0.13967464 0.77570582] [-0.26461672 0.96431332 0.00882116 0.91750086] [ 0.13701203 0.02853982 0.99015816 -1.51660141] [ 0. 0. 0. 1. ]] SLAMing on 142.97629675700003 meters Centerline goodness : 0.801598 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.52 [[ 0.95446804 0.26362943 -0.13960764 0.77594727] [-0.26504784 0.96419626 0.00867298 0.91908725] [ 0.13689562 0.02872462 0.99016892 -1.51691987] [ 0. 0. 0. 1. ]] SLAMing on 143.00629675700003 meters Centerline goodness : 0.802631 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.52 [[ 0.95433959 0.26412271 -0.13955338 0.77608071] [-0.26555311 0.96405778 0.00861109 0.9205365 ] [ 0.1368119 0.02884093 0.99017711 -1.51710349] [ 0. 0. 0. 1. ]] SLAMing on 143.03629675700003 meters Centerline goodness : 0.800369 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.52 [[ 0.95324891 0.26855765 -0.13853992 0.7763757 ] [-0.26946086 0.96292955 0.01255107 0.92011751] [ 0.13677487 0.0253668 0.99027732 -1.51728877] [ 0. 0. 0. 1. ]] SLAMing on 143.06629675700003 meters Centerline goodness : 0.800772 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.52 [[ 0.95318179 0.26882344 -0.13848619 0.77650583] [-0.26973301 0.96285383 0.01251448 0.92058651] [ 0.13670614 0.02542572 0.99028529 -1.51756454] [ 0. 0. 0. 1. ]] SLAMing on 143.09629675700003 meters Centerline goodness : 0.803299 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.52 [[ 0.9530904 0.26931252 -0.13816463 0.77574437] [-0.27018765 0.96272339 0.01273991 0.9204866 ] [ 0.13644534 0.02518809 0.99032733 -1.51750951] [ 0. 0. 0. 1. ]] SLAMing on 143.12629675700003 meters Centerline goodness : 0.799457 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.52 [[ 0.95307226 0.26939567 -0.13812763 0.77573449] [-0.27026062 0.96270194 0.01281304 0.92021401] [ 0.13642751 0.02511871 0.99033155 -1.51762076] [ 0. 0. 0. 1. ]] SLAMing on 143.15629675700004 meters Centerline goodness : 0.802129 Centerline is valid? [False, False] Translation: X:0.78, Y:0.92, Z:-1.52 [[ 0.95309152 0.26949138 -0.13780763 0.77503446] [-0.27031213 0.96268386 0.013082 0.91973048] [ 0.13619067 0.02478273 0.99037262 -1.51736948] [ 0. 0. 0. 1. ]] SLAMing on 143.18629675700004 meters Centerline goodness : 0.803060 Centerline is valid? [False, False] Translation: X:0.77, Y:0.92, Z:-1.52 [[ 0.95312725 0.26936723 -0.13780329 0.77477746] [-0.27015749 0.96272437 0.01329382 0.91917471] [ 0.1362475 0.02455789 0.9903704 -1.51687245] [ 0. 0. 0. 1. ]] SLAMing on 143.216296757 meters Centerline goodness : 0.800633 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.52 [[ 0.95505023 0.26413035 -0.13458907 0.75348716] [-0.26469078 0.96423112 0.01404064 0.92330147] [ 0.13348353 0.02221497 0.99080202 -1.51842886] [ 0. 0. 0. 1. ]] SLAMing on 143.246296757 meters Centerline goodness : 0.803352 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.52 [[ 0.95594426 0.2605145 -0.13528772 0.75236103] [-0.26154382 0.9651353 0.01042538 0.92432622] [ 0.13328692 0.02541758 0.9907515 -1.517952 ] [ 0. 0. 0. 1. ]] SLAMing on 143.276296757 meters Centerline goodness : 0.801246 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.52 [[ 0.95603022 0.2602582 -0.13517352 0.75202623] [-0.26124048 0.96521405 0.01073496 0.92312049] [ 0.13326524 0.02504985 0.99076379 -1.51758009] [ 0. 0. 0. 1. ]] SLAMing on 143.306296757 meters Centerline goodness : 0.801495 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.52 [[ 0.95604967 0.26021581 -0.13511756 0.75219281] [-0.26119353 0.96522653 0.01075518 0.92329044] [ 0.13321773 0.02500934 0.9907712 -1.51772289] [ 0. 0. 0. 1. ]] SLAMing on 143.336296757 meters Centerline goodness : 0.803971 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.52 [[ 0.95606527 0.26011798 -0.13519551 0.75283132] [-0.26110143 0.96525184 0.01072039 0.92363416] [ 0.13328628 0.02505034 0.99076094 -1.51802677] [ 0. 0. 0. 1. ]] SLAMing on 143.36629675700001 meters Centerline goodness : 0.803035 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.52 [[ 0.95603431 0.26025609 -0.13514868 0.75289366] [-0.26122453 0.96521728 0.01083296 0.9232618 ] [ 0.13326718 0.02494747 0.99076611 -1.51826877] [ 0. 0. 0. 1. ]] SLAMing on 143.39629675700002 meters Centerline goodness : 0.806930 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.52 [[ 0.95601431 0.26023708 -0.13532662 0.75333496] [-0.26119732 0.96522359 0.01092608 0.92246576] [ 0.13346382 0.02490146 0.9907408 -1.51844234] [ 0. 0. 0. 1. ]] SLAMing on 143.42629675700002 meters Centerline goodness : 0.806683 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.52 [[ 0.95600529 0.26020113 -0.1354594 0.75381754] [-0.26117223 0.96523104 0.01086799 0.92242719] [ 0.13357748 0.02498838 0.99072329 -1.51871484] [ 0. 0. 0. 1. ]] SLAMing on 143.45629675700002 meters Centerline goodness : 0.808601 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.52 [[ 0.95593389 0.26040037 -0.13558038 0.75430235] [-0.26139909 0.9651715 0.01070037 0.92379629] [ 0.1336447 0.02521174 0.99070857 -1.51888194] [ 0. 0. 0. 1. ]] SLAMing on 143.48629675700002 meters Centerline goodness : 0.810201 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.52 [[ 0.95587704 0.26061657 -0.13556578 0.75456206] [-0.26164814 0.96510654 0.01046952 0.92502208] [ 0.13356395 0.02546296 0.99071303 -1.51919386] [ 0. 0. 0. 1. ]] SLAMing on 143.51629675700002 meters Centerline goodness : 0.809695 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95571902 0.26111025 -0.13572988 0.75500345] [-0.26219923 0.96496079 0.01011098 0.92726308] [ 0.13361409 0.02592502 0.99069429 -1.51941366] [ 0. 0. 0. 1. ]] SLAMing on 143.54629675700002 meters Centerline goodness : 0.808435 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95562634 0.26145084 -0.13572674 0.75500221] [-0.26254252 0.96486741 0.01011477 0.927936 ] [ 0.13360282 0.0259681 0.99069468 -1.51942339] [ 0. 0. 0. 1. ]] SLAMing on 143.57629675700002 meters Centerline goodness : 0.807171 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.9555039 0.26185087 -0.13581763 0.75531071] [-0.26297899 0.96475086 0.00989117 0.92985323] [ 0.13362019 0.02626613 0.99068448 -1.51948991] [ 0. 0. 0. 1. ]] SLAMing on 143.60629675700002 meters Centerline goodness : 0.807972 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95543391 0.2621202 -0.13579046 0.75541605] [-0.2632597 0.96467502 0.00982077 0.93063507] [ 0.13356788 0.02636505 0.9906889 -1.51969155] [ 0. 0. 0. 1. ]] SLAMing on 143.63629675700003 meters Centerline goodness : 0.809474 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.9553113 0.26253421 -0.1358533 0.7557507 ] [-0.26367942 0.96456038 0.00982063 0.93136147] [ 0.13361696 0.02643996 0.99068029 -1.51997398] [ 0. 0. 0. 1. ]] SLAMing on 143.66629675700003 meters Centerline goodness : 0.809474 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.9553113 0.26253421 -0.1358533 0.7557507 ] [-0.26367942 0.96456038 0.00982063 0.93136147] [ 0.13361696 0.02643996 0.99068029 -1.51997398] [ 0. 0. 0. 1. ]] SLAMing on 143.69629675700003 meters Centerline goodness : 0.804675 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95523026 0.26281318 -0.1358837 0.75568965] [-0.26394275 0.96448689 0.00996262 0.93161163] [ 0.13367635 0.02634892 0.9906747 -1.51976001] [ 0. 0. 0. 1. ]] SLAMing on 143.72629675700003 meters Centerline goodness : 0.805951 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.52 [[ 0.95507111 0.26350698 -0.13565856 0.75480074] [-0.26458836 0.96430617 0.0103253 0.93178996] [ 0.13353717 0.02603228 0.99070184 -1.51928101] [ 0. 0. 0. 1. ]] SLAMing on 143.75629675700003 meters Centerline goodness : 0.802034 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.52 [[ 0.95497921 0.26379367 -0.13574831 0.75473223] [-0.26483988 0.96423387 0.01062411 0.93169999] [ 0.13369569 0.02580576 0.99068639 -1.51885181] [ 0. 0. 0. 1. ]] SLAMing on 143.78629675700003 meters Centerline goodness : 0.802960 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.9548765 0.26411627 -0.13584354 0.75519492] [-0.2651405 0.96414898 0.01082867 0.93168247] [ 0.13383344 0.02567758 0.99067112 -1.51913397] [ 0. 0. 0. 1. ]] SLAMing on 143.81629675700003 meters Centerline goodness : 0.803389 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95481572 0.26426054 -0.13599007 0.75572114] [-0.2652845 0.96410891 0.01086938 0.93194871] [ 0.13398159 0.02569781 0.99065057 -1.51930308] [ 0. 0. 0. 1. ]] SLAMing on 143.84629675700003 meters Centerline goodness : 0.803803 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95475589 0.26441236 -0.13611498 0.75600158] [-0.26542298 0.96406928 0.01100307 0.93204433] [ 0.13413362 0.0256228 0.99063194 -1.51919981] [ 0. 0. 0. 1. ]] SLAMing on 143.87629675700003 meters Centerline goodness : 0.801853 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.52 [[ 0.954634 0.26499986 -0.13582711 0.75465878] [-0.26591823 0.96392492 0.01167215 0.93093258] [ 0.13402026 0.02497628 0.9906638 -1.51829416] [ 0. 0. 0. 1. ]] SLAMing on 143.90629675700004 meters Centerline goodness : 0.801619 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.52 [[ 0.95450589 0.26561118 -0.13553303 0.75282077] [-0.26640761 0.96377858 0.01256325 0.929818 ] [ 0.13396077 0.02411534 0.99069317 -1.51655241] [ 0. 0. 0. 1. ]] SLAMing on 143.93629675700004 meters Centerline goodness : 0.807854 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.52 [[ 0.95442109 0.26594733 -0.13547104 0.75224193] [-0.26670437 0.96369249 0.01286742 0.92986657] [ 0.13397448 0.02384978 0.99069775 -1.51588251] [ 0. 0. 0. 1. ]] SLAMing on 143.966296757 meters Centerline goodness : 0.805086 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.52 [[ 0.95439292 0.26597473 -0.13561566 0.75255 ] [-0.26674175 0.96368275 0.01282167 0.93042074] [ 0.13410071 0.02393745 0.99067855 -1.51575047] [ 0. 0. 0. 1. ]] SLAMing on 143.996296757 meters Centerline goodness : 0.806275 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.52 [[ 0.9543245 0.26609173 -0.1358674 0.75344778] [-0.26689616 0.96364293 0.01259952 0.9315226 ] [ 0.13428029 0.02423845 0.99064691 -1.51610757] [ 0. 0. 0. 1. ]] SLAMing on 144.026296757 meters Centerline goodness : 0.807653 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.52 [[ 0.95434707 0.26585615 -0.13616964 0.75456476] [-0.26670313 0.96369993 0.01232437 0.93152308] [ 0.13450318 0.02455514 0.99060887 -1.51677432] [ 0. 0. 0. 1. ]] SLAMing on 144.056296757 meters Centerline goodness : 0.807403 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.52 [[ 0.95433554 0.26582447 -0.13631224 0.75495962] [-0.26666987 0.96370868 0.01236 0.93129392] [ 0.13465088 0.02455478 0.99058882 -1.51685798] [ 0. 0. 0. 1. ]] SLAMing on 144.086296757 meters Centerline goodness : 0.802095 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95432681 0.26579587 -0.13642906 0.75518532] [-0.26664506 0.96371565 0.01235153 0.93162668] [ 0.13476181 0.02459074 0.99057284 -1.51668893] [ 0. 0. 0. 1. ]] SLAMing on 144.11629675700001 meters Centerline goodness : 0.801425 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.52 [[ 0.95433987 0.26580786 -0.13631433 0.75480396] [-0.26665325 0.96371328 0.01235924 0.93248257] [ 0.13465311 0.02455374 0.99058854 -1.51616087] [ 0. 0. 0. 1. ]] SLAMing on 144.14629675700002 meters Centerline goodness : 0.805600 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95437849 0.26559042 -0.13646771 0.75508424] [-0.2664402 0.96377246 0.01233944 0.93288146] [ 0.13480106 0.02458398 0.99056767 -1.5157639 ] [ 0. 0. 0. 1. ]] SLAMing on 144.17629675700002 meters Centerline goodness : 0.805261 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95437934 0.26541881 -0.1367952 0.75570657] [-0.26627942 0.9638173 0.01230789 0.9329028 ] [ 0.13511232 0.02467935 0.99052289 -1.51559915] [ 0. 0. 0. 1. ]] SLAMing on 144.20629675700002 meters Centerline goodness : 0.806597 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95437604 0.26528885 -0.13707008 0.75621725] [-0.26614353 0.96385375 0.01239256 0.93254274] [ 0.13540311 0.02465315 0.99048383 -1.51541647] [ 0. 0. 0. 1. ]] SLAMing on 144.23629675700002 meters Centerline goodness : 0.808822 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95441329 0.26496567 -0.13743535 0.75705971] [-0.26582093 0.96394226 0.01243184 0.93169064] [ 0.13577376 0.02466808 0.99043272 -1.51546625] [ 0. 0. 0. 1. ]] SLAMing on 144.26629675700002 meters Centerline goodness : 0.809984 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95447715 0.26450974 -0.1378694 0.75852618] [-0.26539572 0.96406169 0.01225482 0.93158985] [ 0.13615612 0.024893 0.9903746 -1.51590079] [ 0. 0. 0. 1. ]] SLAMing on 144.29629675700002 meters Centerline goodness : 0.805390 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95448561 0.2644334 -0.13795719 0.75887345] [-0.26530873 0.9640845 0.01234279 0.93144408] [ 0.13626623 0.02482023 0.99036128 -1.51590433] [ 0. 0. 0. 1. ]] SLAMing on 144.32629675700002 meters Centerline goodness : 0.803885 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95460203 0.2639499 -0.13807759 0.75945177] [-0.26480138 0.96422192 0.01250267 0.93038923] [ 0.13643752 0.02462806 0.9903425 -1.51594953] [ 0. 0. 0. 1. ]] SLAMing on 144.35629675700002 meters Centerline goodness : 0.802668 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95461554 0.26386531 -0.13814584 0.7595554 ] [-0.26466083 0.96425508 0.01291477 0.92917436] [ 0.13661558 0.02423315 0.99032769 -1.51563952] [ 0. 0. 0. 1. ]] SLAMing on 144.38629675700003 meters Centerline goodness : 0.802521 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95462708 0.26323996 -0.13925463 0.76169849] [-0.26407947 0.96441664 0.01275059 0.92718997] [ 0.13765595 0.02460223 0.99017451 -1.51616599] [ 0. 0. 0. 1. ]] SLAMing on 144.41629675700003 meters Centerline goodness : 0.806781 Centerline is valid? [False, False] Translation: X:0.76, Y:0.92, Z:-1.52 [[ 0.95462689 0.26338633 -0.13897896 0.76037701] [-0.26405812 0.96440633 0.01391905 0.92450469] [ 0.13769828 0.02341102 0.99019751 -1.51559475] [ 0. 0. 0. 1. ]] SLAMing on 144.44629675700003 meters Centerline goodness : 0.805146 Centerline is valid? [False, False] Translation: X:0.76, Y:0.92, Z:-1.52 [[ 0.95462436 0.26296644 -0.13978905 0.76216676] [-0.26361218 0.96452403 0.01421312 0.9225563 ] [ 0.13856748 0.02328191 0.99007929 -1.51625939] [ 0. 0. 0. 1. ]] SLAMing on 144.47629675700003 meters Centerline goodness : 0.806382 Centerline is valid? [False, False] Translation: X:0.76, Y:0.92, Z:-1.52 [[ 0.95461529 0.26247352 -0.14077393 0.7643078 ] [-0.26320489 0.96464217 0.01373562 0.92165789] [ 0.1394017 0.02394016 0.98994648 -1.51685886] [ 0. 0. 0. 1. ]] SLAMing on 144.50629675700003 meters Centerline goodness : 0.807845 Centerline is valid? [False, False] Translation: X:0.76, Y:0.92, Z:-1.52 [[ 0.95453677 0.26302895 -0.14026878 0.76293923] [-0.2636832 0.96450424 0.0142386 0.9211042 ] [ 0.139035 0.02339525 0.99001108 -1.516378 ] [ 0. 0. 0. 1. ]] SLAMing on 144.53629675700003 meters Centerline goodness : 0.808608 Centerline is valid? [False, False] Translation: X:0.76, Y:0.92, Z:-1.52 [[ 0.95437466 0.26341407 -0.14064861 0.76311539] [-0.26408816 0.96439414 0.01419092 0.92105476] [ 0.13937878 0.02360018 0.98995787 -1.51558568] [ 0. 0. 0. 1. ]] SLAMing on 144.56629675700003 meters Centerline goodness : 0.809057 Centerline is valid? [False, False] Translation: X:0.76, Y:0.92, Z:-1.51 [[ 0.95417376 0.26453557 -0.13990486 0.76063987] [-0.26509871 0.96410555 0.01493861 0.92102793] [ 0.13883485 0.02283457 0.99005226 -1.51441128] [ 0. 0. 0. 1. ]] SLAMing on 144.59629675700003 meters Centerline goodness : 0.811079 Centerline is valid? [False, False] Translation: X:0.76, Y:0.92, Z:-1.51 [[ 0.95411969 0.26481725 -0.1397406 0.76009626] [-0.26536237 0.96403111 0.01506078 0.92137638] [ 0.13870264 0.02271211 0.9900736 -1.51412788] [ 0. 0. 0. 1. ]] SLAMing on 144.62629675700003 meters Centerline goodness : 0.812049 Centerline is valid? [False, False] Translation: X:0.76, Y:0.92, Z:-1.51 [[ 0.95408144 0.26501802 -0.13962113 0.76002579] [-0.26556428 0.96397571 0.01504781 0.92176068] [ 0.13857932 0.02272155 0.99009065 -1.51430042] [ 0. 0. 0. 1. ]] SLAMing on 144.65629675700004 meters Centerline goodness : 0.806859 Centerline is valid? [False, False] Translation: X:0.76, Y:0.92, Z:-1.51 [[ 0.95400125 0.26539338 -0.13945595 0.76008174] [-0.26597028 0.96386717 0.01482897 0.92310093] [ 0.13835252 0.02294429 0.99011723 -1.51482133] [ 0. 0. 0. 1. ]] SLAMing on 144.68629675700004 meters Centerline goodness : 0.807709 Centerline is valid? [False, False] Translation: X:0.76, Y:0.92, Z:-1.51 [[ 0.95391124 0.26593503 -0.13903922 0.75920267] [-0.2665049 0.96371917 0.01484952 0.92430596] [ 0.13794377 0.02288951 0.99017553 -1.51466736] [ 0. 0. 0. 1. ]] SLAMing on 144.716296757 meters Centerline goodness : 0.808302 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95383501 0.26631209 -0.13884039 0.75862883] [-0.26687487 0.96361608 0.01489495 0.92519338] [ 0.13775554 0.02284569 0.99020275 -1.51440021] [ 0. 0. 0. 1. ]] SLAMing on 144.746296757 meters Centerline goodness : 0.806839 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95376833 0.26657013 -0.13880326 0.75844408] [-0.26713164 0.96354459 0.01491684 0.9259323 ] [ 0.13771952 0.02285153 0.99020763 -1.51418983] [ 0. 0. 0. 1. ]] SLAMing on 144.776296757 meters Centerline goodness : 0.804877 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95368546 0.26684563 -0.1388433 0.75897127] [-0.26744509 0.96346141 0.01467105 0.92773904] [ 0.13768506 0.02314139 0.99020569 -1.51453114] [ 0. 0. 0. 1. ]] SLAMing on 144.806296757 meters Centerline goodness : 0.805757 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95362954 0.26691003 -0.13910334 0.76015575] [-0.26757266 0.96343206 0.01426627 0.92955675] [ 0.13782442 0.02361552 0.9901751 -1.51518214] [ 0. 0. 0. 1. ]] SLAMing on 144.836296757 meters Centerline goodness : 0.806625 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.9536167 0.26688518 -0.13923897 0.76071837] [-0.26757156 0.96343456 0.01411739 0.93013443] [ 0.13791536 0.0237938 0.99015817 -1.51543455] [ 0. 0. 0. 1. ]] SLAMing on 144.86629675700001 meters Centerline goodness : 0.803449 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95363156 0.26679729 -0.13930561 0.761099 ] [-0.26750236 0.96345566 0.01398844 0.9304081 ] [ 0.13794686 0.02392476 0.99015063 -1.5156576 ] [ 0. 0. 0. 1. ]] SLAMing on 144.89629675700002 meters Centerline goodness : 0.805795 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95370924 0.26645482 -0.13942922 0.76159958] [-0.26717035 0.96354892 0.01390975 0.9302358 ] [ 0.13805319 0.02398549 0.99013434 -1.51571865] [ 0. 0. 0. 1. ]] SLAMing on 144.92629675700002 meters Centerline goodness : 0.804215 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95374962 0.26622777 -0.1395867 0.76195631] [-0.26694349 0.96361166 0.01391918 0.92994429] [ 0.13821305 0.02398634 0.99011202 -1.51564733] [ 0. 0. 0. 1. ]] SLAMing on 144.95629675700002 meters Centerline goodness : 0.804286 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95391476 0.26549639 -0.13985095 0.7629555 ] [-0.26623213 0.96381061 0.01376808 0.92970985] [ 0.1384452 0.02409924 0.99007684 -1.51577297] [ 0. 0. 0. 1. ]] SLAMing on 144.98629675700002 meters Centerline goodness : 0.810235 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.52 [[ 0.95400513 0.26509637 -0.13999333 0.7631872 ] [-0.26582679 0.96392201 0.0138014 0.92965872] [ 0.13860135 0.02404737 0.99005626 -1.51529959] [ 0. 0. 0. 1. ]] SLAMing on 145.01629675700002 meters Centerline goodness : 0.802122 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95399348 0.26515108 -0.13996907 0.76273454] [-0.2658387 0.9639143 0.01410691 0.92930071] [ 0.13865865 0.02375129 0.99005538 -1.51459222] [ 0. 0. 0. 1. ]] SLAMing on 145.04629675700002 meters Centerline goodness : 0.805691 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95399236 0.26510241 -0.14006886 0.76255614] [-0.26574752 0.96393475 0.01442377 0.92870143] [ 0.13884102 0.02346279 0.9900367 -1.51392656] [ 0. 0. 0. 1. ]] SLAMing on 145.07629675700002 meters Centerline goodness : 0.804918 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.9541286 0.26448267 -0.14031228 0.76293533] [-0.26512206 0.96410643 0.0144599 0.92820841] [ 0.13910036 0.02340327 0.99000171 -1.51331966] [ 0. 0. 0. 1. ]] SLAMing on 145.10629675700002 meters Centerline goodness : 0.802822 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95414313 0.26431569 -0.14052792 0.76331282] [-0.26494813 0.96415313 0.01453351 0.92815975] [ 0.13933187 0.02336556 0.98997004 -1.51303471] [ 0. 0. 0. 1. ]] SLAMing on 145.13629675700003 meters Centerline goodness : 0.803192 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95418941 0.26399193 -0.14082197 0.76386073] [-0.26460631 0.96424467 0.01468713 0.92801373] [ 0.13966411 0.02324808 0.98992599 -1.51252455] [ 0. 0. 0. 1. ]] SLAMing on 145.16629675700003 meters Centerline goodness : 0.804033 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95419431 0.26386812 -0.1410207 0.76443985] [-0.26447733 0.96427913 0.01474789 0.92770169] [ 0.13987481 0.02322442 0.98989679 -1.5125742 ] [ 0. 0. 0. 1. ]] SLAMing on 145.19629675700003 meters Centerline goodness : 0.805049 Centerline is valid? [False, False] Translation: X:0.77, Y:0.93, Z:-1.51 [[ 0.95424066 0.26341961 -0.14154456 0.76583489] [-0.2640749 0.96439352 0.01447711 0.9285637 ] [ 0.14031821 0.02356372 0.98982602 -1.51258278] [ 0. 0. 0. 1. ]] SLAMing on 145.22629675700003 meters Centerline goodness : 0.802982 Centerline is valid? [False, False] Translation: X:0.77, Y:0.93, Z:-1.51 [[ 0.95423377 0.26335362 -0.14171377 0.76629708] [-0.26402472 0.96440857 0.01438947 0.92901574] [ 0.14045949 0.02368502 0.98980309 -1.51257824] [ 0. 0. 0. 1. ]] SLAMing on 145.25629675700003 meters Centerline goodness : 0.803892 Centerline is valid? [False, False] Translation: X:0.77, Y:0.93, Z:-1.51 [[ 0.95422777 0.26319479 -0.14204884 0.76723558] [-0.26389756 0.96444601 0.01421191 0.92940128] [ 0.14073893 0.02392494 0.98975762 -1.51279838] [ 0. 0. 0. 1. ]] SLAMing on 145.28629675700003 meters Centerline goodness : 0.803440 Centerline is valid? [False, False] Translation: X:0.77, Y:0.93, Z:-1.51 [[ 0.95421429 0.26318773 -0.14215244 0.76739094] [-0.26389602 0.96444674 0.01419035 0.92968604] [ 0.14083319 0.02397283 0.98974306 -1.51262918] [ 0. 0. 0. 1. ]] SLAMing on 145.31629675700003 meters Centerline goodness : 0.803517 Centerline is valid? [False, False] Translation: X:0.77, Y:0.93, Z:-1.51 [[ 0.95414867 0.26339242 -0.14221373 0.76719208] [-0.26410208 0.9643901 0.01420677 0.93045887] [ 0.14089147 0.02400357 0.98973402 -1.51210738] [ 0. 0. 0. 1. ]] SLAMing on 145.34629675700003 meters Centerline goodness : 0.804129 Centerline is valid? [False, False] Translation: X:0.77, Y:0.93, Z:-1.51 [[ 0.95409384 0.26357267 -0.14224766 0.76704038] [-0.264277 0.96434134 0.01426365 0.93089908] [ 0.14093481 0.02398393 0.98972832 -1.51176231] [ 0. 0. 0. 1. ]] SLAMing on 145.37629675700003 meters Centerline goodness : 0.804764 Centerline is valid? [False, False] Translation: X:0.77, Y:0.93, Z:-1.51 [[ 0.95393304 0.26420078 -0.14216085 0.76647503] [-0.26487577 0.96417349 0.01450215 0.93173086] [ 0.14089921 0.02382088 0.98973733 -1.5111716 ] [ 0. 0. 0. 1. ]] SLAMing on 145.40629675700004 meters Centerline goodness : 0.803095 Centerline is valid? [False, False] Translation: X:0.77, Y:0.93, Z:-1.51 [[ 0.95385321 0.26450313 -0.14213427 0.7662586 ] [-0.26516966 0.96409153 0.01457983 0.93229956] [ 0.14088685 0.02378268 0.98974001 -1.51091497] [ 0. 0. 0. 1. ]] SLAMing on 145.43629675700004 meters Centerline goodness : 0.803496 Centerline is valid? [False, False] Translation: X:0.77, Y:0.93, Z:-1.51 [[ 0.95376356 0.26489851 -0.14199947 0.76573729] [-0.26553974 0.96398685 0.01476446 0.93273765] [ 0.14079671 0.0236247 0.98975662 -1.51053064] [ 0. 0. 0. 1. ]] SLAMing on 145.466296757 meters Centerline goodness : 0.804304 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95356413 0.26588106 -0.14150166 0.76344423] [-0.26640141 0.96373583 0.01560601 0.93264171] [ 0.14051956 0.02281491 0.989815 -1.50877031] [ 0. 0. 0. 1. ]] SLAMing on 145.496296757 meters Centerline goodness : 0.801334 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.9534796 0.26626418 -0.14135079 0.76253808] [-0.26668767 0.96364529 0.01629258 0.93123319] [ 0.14055016 0.02216187 0.98982549 -1.50791613] [ 0. 0. 0. 1. ]] SLAMing on 145.526296757 meters Centerline goodness : 0.804296 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95346076 0.26629735 -0.14141533 0.76268111] [-0.26667854 0.96364251 0.01660307 0.93019965] [ 0.14069518 0.02188205 0.98981112 -1.50787258] [ 0. 0. 0. 1. ]] SLAMing on 145.556296757 meters Centerline goodness : 0.804296 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95346076 0.26629735 -0.14141533 0.76268111] [-0.26667854 0.96364251 0.01660307 0.93019965] [ 0.14069518 0.02188205 0.98981112 -1.50787258] [ 0. 0. 0. 1. ]] SLAMing on 145.586296757 meters Centerline goodness : 0.803845 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95342953 0.26635782 -0.14151202 0.76290682] [-0.26669723 0.96363189 0.01691644 0.92922905] [ 0.14087132 0.02161223 0.98979199 -1.50781848] [ 0. 0. 0. 1. ]] SLAMing on 145.61629675700001 meters Centerline goodness : 0.796852 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95343227 0.26640536 -0.14140403 0.76302144] [-0.26670481 0.96362506 0.01718417 0.92807942] [ 0.14083842 0.02132919 0.98980281 -1.50819433] [ 0. 0. 0. 1. ]] SLAMing on 145.64629675700002 meters Centerline goodness : 0.794777 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95339412 0.26655768 -0.14137418 0.76296984] [-0.26683679 0.96358583 0.01733399 0.92812578] [ 0.14084666 0.02119771 0.98980446 -1.50807793] [ 0. 0. 0. 1. ]] SLAMing on 145.67629675700002 meters Centerline goodness : 0.794651 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.9532628 0.26726258 -0.14092814 0.76174045] [-0.26748792 0.96339867 0.01769784 0.92859449] [ 0.14049995 0.02082588 0.98986163 -1.50755753] [ 0. 0. 0. 1. ]] SLAMing on 145.70629675700002 meters Centerline goodness : 0.793195 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95318985 0.26756006 -0.14085712 0.76127963] [-0.26774506 0.96332176 0.01799376 0.92834111] [ 0.14050514 0.02056233 0.9898664 -1.50713291] [ 0. 0. 0. 1. ]] SLAMing on 145.73629675700002 meters Centerline goodness : 0.795918 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95312599 0.26786448 -0.1407106 0.76033898] [-0.26796464 0.96324932 0.01859291 0.9270179 ] [ 0.14051977 0.01998408 0.98987617 -1.50631544] [ 0. 0. 0. 1. ]] SLAMing on 145.76629675700002 meters Centerline goodness : 0.796163 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.9531019 0.26795562 -0.14070023 0.7601296 ] [-0.26801992 0.96322893 0.0188508 0.92625159] [ 0.14057771 0.01974373 0.98987277 -1.50610836] [ 0. 0. 0. 1. ]] SLAMing on 145.79629675700002 meters Centerline goodness : 0.795719 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95315482 0.26768849 -0.14085013 0.76090045] [-0.26776117 0.96330202 0.01879307 0.92621944] [ 0.14071191 0.01980149 0.98985254 -1.50644961] [ 0. 0. 0. 1. ]] SLAMing on 145.82629675700002 meters Centerline goodness : 0.796385 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95317545 0.26754594 -0.14098135 0.76154208] [-0.26763905 0.96333859 0.0186575 0.92656819] [ 0.14080451 0.01994825 0.98983643 -1.50678372] [ 0. 0. 0. 1. ]] SLAMing on 145.85629675700002 meters Centerline goodness : 0.795050 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95315371 0.26760833 -0.14100986 0.76168651] [-0.26768817 0.96332296 0.01875955 0.92664496] [ 0.14085824 0.01986594 0.98983044 -1.50672296] [ 0. 0. 0. 1. ]] SLAMing on 145.88629675700003 meters Centerline goodness : 0.795905 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95316829 0.26756064 -0.14100181 0.76127968] [-0.26760388 0.96334143 0.01901193 0.92615229] [ 0.14091973 0.01961107 0.98982677 -1.50605377] [ 0. 0. 0. 1. ]] SLAMing on 145.91629675700003 meters Centerline goodness : 0.798672 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95325234 0.26716886 -0.14117643 0.76139093] [-0.2672077 0.96345088 0.01903796 0.92581304] [ 0.14110291 0.01957545 0.98980138 -1.50547515] [ 0. 0. 0. 1. ]] SLAMing on 145.94629675700003 meters Centerline goodness : 0.797993 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.51 [[ 0.95328225 0.26702419 -0.14124815 0.76158736] [-0.26706937 0.96349013 0.0189927 0.92615152] [ 0.14116271 0.01961765 0.98979202 -1.50531352] [ 0. 0. 0. 1. ]] SLAMing on 145.97629675700003 meters Centerline goodness : 0.794157 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95328243 0.26695227 -0.1413828 0.76171266] [-0.26700639 0.96350855 0.01894353 0.92695873] [ 0.14128055 0.01969157 0.98977374 -1.50484735] [ 0. 0. 0. 1. ]] SLAMing on 146.00629675700003 meters Centerline goodness : 0.796614 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95329301 0.26678558 -0.14162587 0.7623433 ] [-0.26686023 0.96355143 0.01882167 0.92796316] [ 0.14148516 0.01985175 0.98974131 -1.50461412] [ 0. 0. 0. 1. ]] SLAMing on 146.03629675700003 meters Centerline goodness : 0.797090 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95327674 0.26675861 -0.14178608 0.76272767] [-0.26683867 0.96355774 0.01880458 0.92793328] [ 0.14163536 0.01990804 0.98971869 -1.50463141] [ 0. 0. 0. 1. ]] SLAMing on 146.06629675700003 meters Centerline goodness : 0.796082 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95321517 0.26701323 -0.14172075 0.76261239] [-0.26708225 0.96348855 0.01889163 0.92778538] [ 0.14159063 0.01984331 0.98972639 -1.50470537] [ 0. 0. 0. 1. ]] SLAMing on 146.09629675700003 meters Centerline goodness : 0.796042 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95311676 0.26747311 -0.14151529 0.76240528] [-0.26754021 0.96336111 0.01891053 0.9290236 ] [ 0.14138838 0.01983709 0.98975543 -1.50479418] [ 0. 0. 0. 1. ]] SLAMing on 146.12629675700003 meters Centerline goodness : 0.796063 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95304036 0.26786653 -0.14128549 0.76195153] [-0.26791971 0.96325377 0.0190051 0.92994007] [ 0.14118461 0.01974054 0.98978645 -1.50462684] [ 0. 0. 0. 1. ]] SLAMing on 146.15629675700004 meters Centerline goodness : 0.796136 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95291352 0.26839348 -0.1411409 0.76134506] [-0.26841014 0.96311176 0.01928052 0.93048669] [ 0.14110923 0.01951098 0.98980175 -1.50415384] [ 0. 0. 0. 1. ]] SLAMing on 146.18629675700004 meters Centerline goodness : 0.791472 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95272953 0.26928777 -0.14067884 0.75962887] [-0.2692025 0.96287591 0.01999971 0.93032206] [ 0.14084195 0.01881678 0.98985326 -1.5030824 ] [ 0. 0. 0. 1. ]] SLAMing on 146.216296757 meters Centerline goodness : 0.792733 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95256189 0.27000776 -0.14043378 0.7585564 ] [-0.26984316 0.96268437 0.02057869 0.92966615] [ 0.14074981 0.01829262 0.98987619 -1.50241696] [ 0. 0. 0. 1. ]] SLAMing on 146.246296757 meters Centerline goodness : 0.794741 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95246643 0.27043113 -0.14026656 0.75799308] [-0.27021686 0.96257179 0.02093792 0.92960864] [ 0.1406789 0.01795973 0.98989237 -1.5020017 ] [ 0. 0. 0. 1. ]] SLAMing on 146.276296757 meters Centerline goodness : 0.795035 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95239547 0.27073222 -0.14016754 0.75760684] [-0.27048169 0.96249161 0.02120283 0.92978053] [ 0.14065037 0.01771927 0.98990075 -1.50158816] [ 0. 0. 0. 1. ]] SLAMing on 146.306296757 meters Centerline goodness : 0.797692 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.9523071 0.27101635 -0.14021887 0.75750031] [-0.27072325 0.96241643 0.02153006 0.93001746] [ 0.14078394 0.01745728 0.98988642 -1.50106325] [ 0. 0. 0. 1. ]] SLAMing on 146.336296757 meters Centerline goodness : 0.800178 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95226387 0.27106404 -0.14042013 0.75777962] [-0.27074311 0.9624058 0.02175414 0.92955104] [ 0.14103791 0.0173021 0.98985299 -1.5008099 ] [ 0. 0. 0. 1. ]] SLAMing on 146.36629675700001 meters Centerline goodness : 0.809531 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95219095 0.27129279 -0.14047286 0.75787204] [-0.27094321 0.96234438 0.02197875 0.92881678] [ 0.14114595 0.0171322 0.98984055 -1.50088788] [ 0. 0. 0. 1. ]] SLAMing on 146.39629675700002 meters Centerline goodness : 0.811487 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95212537 0.2715835 -0.14035553 0.75752568] [-0.27122696 0.96226316 0.02203502 0.92948877] [ 0.1410433 0.0170881 0.98985594 -1.50058936] [ 0. 0. 0. 1. ]] SLAMing on 146.42629675700002 meters Centerline goodness : 0.804791 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95207051 0.27185048 -0.14021077 0.7570015 ] [-0.27147923 0.9621896 0.02214047 0.93007764] [ 0.14092824 0.01698503 0.9898741 -1.50016786] [ 0. 0. 0. 1. ]] SLAMing on 146.45629675700002 meters Centerline goodness : 0.805161 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95199479 0.27215604 -0.14013214 0.7563443 ] [-0.27175455 0.96210666 0.02236622 0.93055011] [ 0.14090916 0.01678902 0.98988016 -1.49940618] [ 0. 0. 0. 1. ]] SLAMing on 146.48629675700002 meters Centerline goodness : 0.794362 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.50 [[ 0.95193107 0.2725247 -0.13984826 0.75484094] [-0.27207795 0.96200795 0.02267792 0.93111181] [ 0.14071543 0.01646181 0.98991322 -1.4979929 ] [ 0. 0. 0. 1. ]] SLAMing on 146.51629675700002 meters Centerline goodness : 0.802860 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.50 [[ 0.9519067 0.27261478 -0.13983852 0.75450924] [-0.27214803 0.96198467 0.0228242 0.93115086] [ 0.14074472 0.01633027 0.98991123 -1.49748277] [ 0. 0. 0. 1. ]] SLAMing on 146.54629675700002 meters Centerline goodness : 0.792881 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.50 [[ 0.95196072 0.27243371 -0.13982364 0.75464639] [-0.27199381 0.96203311 0.02262014 0.93199567] [ 0.14067746 0.01649768 0.98991802 -1.49733765] [ 0. 0. 0. 1. ]] SLAMing on 146.57629675700002 meters Centerline goodness : 0.793527 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95197359 0.27231412 -0.13996896 0.75516462] [-0.27189807 0.9620639 0.02246077 0.93284228] [ 0.14077547 0.01667523 0.98990111 -1.49734592] [ 0. 0. 0. 1. ]] SLAMing on 146.60629675700002 meters Centerline goodness : 0.794387 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95208193 0.27169506 -0.14043428 0.75686349] [-0.27134839 0.9622301 0.02198373 0.93397208] [ 0.14110297 0.01717631 0.98984591 -1.49782988] [ 0. 0. 0. 1. ]] SLAMing on 146.63629675700003 meters Centerline goodness : 0.792959 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95212848 0.2714402 -0.14061146 0.75738442] [-0.27110458 0.96230052 0.02190899 0.93410635] [ 0.14125746 0.01726024 0.98982241 -1.49782 ] [ 0. 0. 0. 1. ]] SLAMing on 146.66629675700003 meters Centerline goodness : 0.791233 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.50 [[ 0.9531526 0.26730964 -0.14158276 0.75773313] [-0.26752818 0.96338474 0.01784711 0.93557215] [ 0.14116938 0.02086636 0.98976553 -1.49837077] [ 0. 0. 0. 1. ]] SLAMing on 146.69629675700003 meters Centerline goodness : 0.795467 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95319822 0.26707558 -0.14171731 0.75819774] [-0.26728223 0.96345141 0.01793288 0.93463023] [ 0.14132718 0.02078492 0.98974472 -1.49851331] [ 0. 0. 0. 1. ]] SLAMing on 146.72629675700003 meters Centerline goodness : 0.797218 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95325052 0.26678011 -0.14192187 0.75882035] [-0.26698544 0.96353337 0.01795022 0.93394782] [ 0.14153522 0.02078001 0.9897151 -1.49864233] [ 0. 0. 0. 1. ]] SLAMing on 146.75629675700003 meters Centerline goodness : 0.786933 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95331793 0.2664324 -0.14212214 0.75983286] [-0.26666054 0.96362623 0.01779435 0.93422309] [ 0.14169361 0.02093469 0.98968917 -1.4990256 ] [ 0. 0. 0. 1. ]] SLAMing on 146.78629675700003 meters Centerline goodness : 0.810273 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95318182 0.26606767 -0.14370945 0.76265831] [-0.26646485 0.9636976 0.01683484 0.93400224] [ 0.14297166 0.02224685 0.98947672 -1.49893124] [ 0. 0. 0. 1. ]] SLAMing on 146.81629675700003 meters Centerline goodness : 0.814913 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95309883 0.26653304 -0.14339722 0.76157352] [-0.26686575 0.963579 0.01726816 0.93349567] [ 0.14277709 0.02180954 0.98951455 -1.49837253] [ 0. 0. 0. 1. ]] SLAMing on 146.84629675700003 meters Centerline goodness : 0.809856 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95301113 0.26698666 -0.14313595 0.76058217] [-0.26725585 0.96346298 0.01770319 0.93311396] [ 0.14263271 0.02138258 0.98954469 -1.49775565] [ 0. 0. 0. 1. ]] SLAMing on 146.87629675700003 meters Centerline goodness : 0.816011 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95292219 0.26747841 -0.14280968 0.75965265] [-0.26767953 0.96333677 0.01816424 0.93234021] [ 0.14243236 0.02091812 0.98958348 -1.49740027] [ 0. 0. 0. 1. ]] SLAMing on 146.90629675700004 meters Centerline goodness : 0.814718 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.95284171 0.26780482 -0.14273488 0.75927944] [-0.26795664 0.96325294 0.0185205 0.93175596] [ 0.14244968 0.02059966 0.98958766 -1.49713747] [ 0. 0. 0. 1. ]] SLAMing on 146.93629675700004 meters Centerline goodness : 0.800301 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.50 [[ 0.9527507 0.26843795 -0.14215193 0.75814922] [-0.26852965 0.96308594 0.01890234 0.93104119] [ 0.14197863 0.02016279 0.98966435 -1.49736099] [ 0. 0. 0. 1. ]] SLAMing on 146.966296757 meters Centerline goodness : 0.806716 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95230359 0.26190664 -0.1565975 0.76143741] [-0.26244481 0.9647864 0.01760458 0.93494374] [ 0.1556939 0.02433329 0.9875056 -1.49232695] [ 0. 0. 0. 1. ]] SLAMing on 146.996296757 meters Centerline goodness : 0.812296 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.49 [[ 0.95218504 0.26270277 -0.15598367 0.7601918 ] [-0.26319224 0.96457764 0.01788331 0.93544043] [ 0.15515635 0.02402546 0.98759773 -1.49234258] [ 0. 0. 0. 1. ]] SLAMing on 147.026296757 meters Centerline goodness : 0.807755 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.49 [[ 0.95210987 0.26281215 -0.156258 0.76041697] [-0.2633729 0.96453568 0.01748234 0.93611379] [ 0.15531099 0.02450902 0.98756154 -1.49173061] [ 0. 0. 0. 1. ]] SLAMing on 147.056296757 meters Centerline goodness : 0.805618 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.49 [[ 0.95196465 0.26320584 -0.15648 0.75948545] [-0.2638605 0.96441184 0.01695398 0.93651292] [ 0.15537355 0.0251493 0.98753561 -1.48988414] [ 0. 0. 0. 1. ]] SLAMing on 147.086296757 meters Centerline goodness : 0.810740 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.49 [[ 0.95183123 0.26398445 -0.15597925 0.7577808 ] [-0.264522 0.96421752 0.01768268 0.93516717] [ 0.15506588 0.02442902 0.98760204 -1.489173 ] [ 0. 0. 0. 1. ]] SLAMing on 147.11629675700001 meters Centerline goodness : 0.805566 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.49 [[ 0.95180443 0.26414009 -0.15587925 0.7577997 ] [-0.26466485 0.96417688 0.01776116 0.93518107] [ 0.1549866 0.02435061 0.98761642 -1.48939997] [ 0. 0. 0. 1. ]] SLAMing on 147.14629675700002 meters Centerline goodness : 0.808395 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.49 [[ 0.95178389 0.26417305 -0.15594882 0.75840692] [-0.26472051 0.964164 0.01763027 0.93584885] [ 0.15501768 0.02450264 0.98760779 -1.4898308 ] [ 0. 0. 0. 1. ]] SLAMing on 147.17629675700002 meters Centerline goodness : 0.808416 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.49 [[ 0.95173112 0.26448413 -0.15574341 0.75886409] [-0.26505225 0.96407539 0.01749139 0.93692935] [ 0.15477459 0.02463304 0.98764267 -1.49075732] [ 0. 0. 0. 1. ]] SLAMing on 147.20629675700002 meters Centerline goodness : 0.809375 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.49 [[ 0.95171093 0.26456874 -0.15572312 0.75901272] [-0.26511843 0.96405498 0.01761271 0.93657136] [ 0.15478543 0.02452286 0.98764371 -1.49093978] [ 0. 0. 0. 1. ]] SLAMing on 147.23629675700002 meters Centerline goodness : 0.809773 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.49 [[ 0.95249879 0.26144136 -0.15618728 0.75744912] [-0.26247349 0.96483248 0.01435092 0.93670286] [ 0.15444649 0.02732579 0.9876232 -1.49085497] [ 0. 0. 0. 1. ]] SLAMing on 147.26629675700002 meters Centerline goodness : 0.808073 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.49 [[ 0.95248194 0.2615033 -0.15618638 0.75722897] [-0.26247191 0.96482671 0.01476195 0.93551278] [ 0.15455309 0.02693405 0.98761728 -1.49050827] [ 0. 0. 0. 1. ]] SLAMing on 147.29629675700002 meters Centerline goodness : 0.808412 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95251036 0.26169965 -0.15568335 0.75597606] [-0.26257213 0.96479097 0.01530536 0.9344812 ] [ 0.1542073 0.0262996 0.98768843 -1.48986967] [ 0. 0. 0. 1. ]] SLAMing on 147.32629675700002 meters Centerline goodness : 0.809097 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95250126 0.26172134 -0.15570257 0.75593697] [-0.26254441 0.96479337 0.01562679 0.93382249] [ 0.15431067 0.02599431 0.98768037 -1.48959354] [ 0. 0. 0. 1. ]] SLAMing on 147.35629675700002 meters Centerline goodness : 0.808284 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95249831 0.26190654 -0.15540889 0.75517944] [-0.2626139 0.96476275 0.01633356 0.93200734] [ 0.15421057 0.02525484 0.98771519 -1.48918481] [ 0. 0. 0. 1. ]] SLAMing on 147.38629675700003 meters Centerline goodness : 0.809734 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95245308 0.26202737 -0.15548244 0.7550804 ] [-0.2626652 0.96474076 0.01680068 0.9309848 ] [ 0.15440249 0.02483797 0.98769578 -1.48874246] [ 0. 0. 0. 1. ]] SLAMing on 147.41629675700003 meters Centerline goodness : 0.810435 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95237299 0.26221343 -0.15565927 0.75559373] [-0.26278956 0.96469916 0.0172389 0.92955023] [ 0.15468464 0.02448777 0.98766037 -1.48894091] [ 0. 0. 0. 1. ]] SLAMing on 147.44629675700003 meters Centerline goodness : 0.813447 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95230399 0.2623612 -0.1558323 0.75684923] [-0.26295933 0.96465468 0.01713855 0.92963666] [ 0.15482085 0.02465644 0.98763483 -1.49010142] [ 0. 0. 0. 1. ]] SLAMing on 147.47629675700003 meters Centerline goodness : 0.813447 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95230399 0.2623612 -0.1558323 0.75684923] [-0.26295933 0.96465468 0.01713855 0.92963666] [ 0.15482085 0.02465644 0.98763483 -1.49010142] [ 0. 0. 0. 1. ]] SLAMing on 147.50629675700003 meters Centerline goodness : 0.813357 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95222636 0.26259444 -0.15591381 0.75738142] [-0.26318296 0.96459203 0.01723225 0.92986396] [ 0.15491831 0.02462485 0.98762034 -1.49043452] [ 0. 0. 0. 1. ]] SLAMing on 147.53629675700003 meters Centerline goodness : 0.813892 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.9521729 0.26264986 -0.15614681 0.75831994] [-0.26325629 0.9645733 0.01716038 0.93008368] [ 0.15512221 0.02476698 0.98758478 -1.4909627 ] [ 0. 0. 0. 1. ]] SLAMing on 147.56629675700003 meters Centerline goodness : 0.814232 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95202791 0.26321314 -0.15608234 0.75867576] [-0.26382628 0.96441767 0.01715393 0.93042184] [ 0.15504371 0.02484761 0.98759508 -1.49177123] [ 0. 0. 0. 1. ]] SLAMing on 147.59629675700003 meters Centerline goodness : 0.813812 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95197691 0.26340544 -0.15606902 0.75878343] [-0.26401755 0.96436496 0.01717428 0.93055296] [ 0.1550313 0.02485544 0.98759683 -1.49195034] [ 0. 0. 0. 1. ]] SLAMing on 147.62629675700003 meters Centerline goodness : 0.808959 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95184179 0.26407116 -0.15576788 0.75802434] [-0.26463425 0.96419018 0.01749322 0.93077182] [ 0.15480932 0.02457074 0.98763878 -1.49174466] [ 0. 0. 0. 1. ]] SLAMing on 147.65629675700004 meters Centerline goodness : 0.808183 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95176568 0.26447945 -0.15554005 0.75742508] [-0.26500532 0.96408397 0.01772809 0.93079182] [ 0.15464238 0.02434596 0.9876705 -1.49156345] [ 0. 0. 0. 1. ]] SLAMing on 147.68629675700004 meters Centerline goodness : 0.805230 Centerline is valid? [False, False] Translation: X:0.76, Y:0.93, Z:-1.49 [[ 0.95156784 0.26554426 -0.15493511 0.75556681] [-0.2659663 0.963807 0.01838472 0.93077563] [ 0.1542095 0.02371321 0.98775357 -1.49079827] [ 0. 0. 0. 1. ]] SLAMing on 147.716296757 meters Centerline goodness : 0.806413 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.49 [[ 0.95146634 0.26601128 -0.15475723 0.75475363] [-0.26635993 0.96368899 0.01886586 0.93029092] [ 0.15415637 0.02327089 0.98777238 -1.49018978] [ 0. 0. 0. 1. ]] SLAMing on 147.746296757 meters Centerline goodness : 0.804953 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.49 [[ 0.95135462 0.26664295 -0.15435649 0.75330627] [-0.26684888 0.96353553 0.01977272 0.92844388] [ 0.15400022 0.02237898 0.98781735 -1.4893456 ] [ 0. 0. 0. 1. ]] SLAMing on 147.776296757 meters Centerline goodness : 0.808643 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.49 [[ 0.9512937 0.26686206 -0.15435328 0.75297217] [-0.26699504 0.96348496 0.02025794 0.92735504] [ 0.15412314 0.02194031 0.98780802 -1.48889197] [ 0. 0. 0. 1. ]] SLAMing on 147.806296757 meters Centerline goodness : 0.807617 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.49 [[ 0.9513077 0.26693338 -0.15414353 0.75236163] [-0.26697949 0.96347792 0.02079088 0.92555409] [ 0.15406367 0.02137464 0.9878297 -1.48854699] [ 0. 0. 0. 1. ]] SLAMing on 147.836296757 meters Centerline goodness : 0.807286 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.49 [[ 0.95131418 0.26688826 -0.15418164 0.75236188] [-0.2668941 0.96349593 0.02105056 0.92433461] [ 0.15417153 0.02112448 0.98781825 -1.48845587] [ 0. 0. 0. 1. ]] SLAMing on 147.86629675700001 meters Centerline goodness : 0.808728 Centerline is valid? [False, False] Translation: X:0.73, Y:0.93, Z:-1.49 [[ 0.95201791 0.26357444 -0.15553269 0.73490702] [-0.26287634 0.96449469 0.025417 0.92551251] [ 0.15670973 0.01668843 0.9875037 -1.48930619] [ 0. 0. 0. 1. ]] SLAMing on 147.89629675700002 meters Centerline goodness : 0.804668 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.49 [[ 0.95206547 0.26329289 -0.15571831 0.735579 ] [-0.2625657 0.96457455 0.02559675 0.92411903] [ 0.15694136 0.01651651 0.9874698 -1.48958766] [ 0. 0. 0. 1. ]] SLAMing on 147.92629675700002 meters Centerline goodness : 0.807846 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.49 [[ 0.95307902 0.25905508 -0.15662326 0.73596443] [-0.25889408 0.96565994 0.02178855 0.92365886] [ 0.15688924 0.01978263 0.98741805 -1.49059366] [ 0. 0. 0. 1. ]] SLAMing on 147.95629675700002 meters Centerline goodness : 0.802874 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.49 [[ 0.95309707 0.258895 -0.15677804 0.73640495] [-0.25867131 0.96571052 0.02218909 0.92206405] [ 0.15714685 0.01940563 0.98738457 -1.49053264] [ 0. 0. 0. 1. ]] SLAMing on 147.98629675700002 meters Centerline goodness : 0.803093 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.49 [[ 0.95309487 0.25885239 -0.15686175 0.73660779] [-0.25855756 0.96573045 0.02264251 0.92035247] [ 0.15734724 0.01897733 0.98736098 -1.49047109] [ 0. 0. 0. 1. ]] SLAMing on 148.01629675700002 meters Centerline goodness : 0.803670 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.49 [[ 0.95396797 0.25533142 -0.15732446 0.73518557] [-0.25551027 0.96661099 0.01943462 0.91956562] [ 0.15703382 0.02165801 0.98735572 -1.49039802] [ 0. 0. 0. 1. ]] SLAMing on 148.04629675700002 meters Centerline goodness : 0.811078 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.49 [[ 0.95390852 0.25564065 -0.15718269 0.73437558] [-0.25565401 0.96655137 0.02048114 0.91650061] [ 0.15716095 0.02064725 0.98735714 -1.48964644] [ 0. 0. 0. 1. ]] SLAMing on 148.07629675700002 meters Centerline goodness : 0.810355 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.49 [[ 0.95384825 0.25581152 -0.15727041 0.73468318] [-0.25576803 0.96651302 0.02086394 0.91552166] [ 0.15734113 0.02032371 0.98733516 -1.489735 ] [ 0. 0. 0. 1. ]] SLAMing on 148.10629675700002 meters Centerline goodness : 0.810014 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.49 [[ 0.95379468 0.25588509 -0.15747547 0.73590818] [-0.25584864 0.96649192 0.02085278 0.91508686] [ 0.15753469 0.02040061 0.98730271 -1.49075121] [ 0. 0. 0. 1. ]] SLAMing on 148.13629675700003 meters Centerline goodness : 0.809758 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.49 [[ 0.95371716 0.25615028 -0.15751384 0.73617384] [-0.25610002 0.96642288 0.02096644 0.91501771] [ 0.15759554 0.02034325 0.98729418 -1.49100935] [ 0. 0. 0. 1. ]] SLAMing on 148.16629675700003 meters Centerline goodness : 0.808462 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.49 [[ 0.95348149 0.25725666 -0.15713706 0.73497643] [-0.25712988 0.96613789 0.02148967 0.9147314 ] [ 0.15734443 0.01991463 0.98734297 -1.49083855] [ 0. 0. 0. 1. ]] SLAMing on 148.19629675700003 meters Centerline goodness : 0.809286 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.49 [[ 0.95336135 0.25777653 -0.15701403 0.73444004] [-0.25759801 0.96600528 0.02184199 0.91462335] [ 0.15730673 0.01962319 0.98735481 -1.49049702] [ 0. 0. 0. 1. ]] SLAMing on 148.22629675700003 meters Centerline goodness : 0.810823 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.49 [[ 0.95324296 0.25843071 -0.15665704 0.73343564] [-0.25821665 0.9658348 0.0220748 0.91485979] [ 0.15700963 0.01940881 0.98740634 -1.49031851] [ 0. 0. 0. 1. ]] SLAMing on 148.25629675700003 meters Centerline goodness : 0.810337 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.49 [[ 0.9529337 0.25989841 -0.1561095 0.73176096] [-0.25959813 0.96545057 0.02267165 0.91586514] [ 0.15660833 0.01892115 0.98747953 -1.48984956] [ 0. 0. 0. 1. ]] SLAMing on 148.28629675700003 meters Centerline goodness : 0.808801 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.49 [[ 0.9526449 0.26114663 -0.15578872 0.7309102 ] [-0.26079339 0.96511894 0.02307012 0.91710806] [ 0.15637933 0.01865104 0.98752096 -1.48971959] [ 0. 0. 0. 1. ]] SLAMing on 148.31629675700003 meters Centerline goodness : 0.807125 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.49 [[ 0.95255554 0.26154547 -0.15566603 0.73079093] [-0.26119286 0.96501057 0.02308432 0.91741757] [ 0.15625697 0.01866976 0.98753997 -1.48999058] [ 0. 0. 0. 1. ]] SLAMing on 148.34629675700003 meters Centerline goodness : 0.809890 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.49 [[ 0.95244005 0.26207309 -0.15548518 0.73037175] [-0.26167989 0.96487192 0.02336269 0.91707686] [ 0.15614602 0.01843579 0.98756192 -1.49003996] [ 0. 0. 0. 1. ]] SLAMing on 148.37629675700003 meters Centerline goodness : 0.809330 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.49 [[ 0.95243355 0.26202534 -0.15560543 0.73080789] [-0.26162075 0.96488596 0.02344511 0.91665459] [ 0.1562847 0.0183797 0.98754103 -1.49018106] [ 0. 0. 0. 1. ]] SLAMing on 148.40629675700004 meters Centerline goodness : 0.807549 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.49 [[ 0.95247802 0.26163074 -0.15599673 0.73199308] [-0.26120735 0.96499472 0.02357758 0.91566136] [ 0.15670464 0.01829036 0.98747614 -1.49028834] [ 0. 0. 0. 1. ]] SLAMing on 148.43629675700004 meters Centerline goodness : 0.800870 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.49 [[ 0.95247001 0.26160596 -0.15608719 0.73204665] [-0.26112908 0.96500741 0.02392302 0.91462514] [ 0.1568837 0.01797295 0.98745353 -1.4899719 ] [ 0. 0. 0. 1. ]] SLAMing on 148.466296757 meters Centerline goodness : 0.807388 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.49 [[ 0.95344996 0.25758471 -0.15679061 0.73106572] [-0.25761218 0.96603087 0.02050162 0.91459419] [ 0.15674547 0.02084391 0.98741905 -1.48942812] [ 0. 0. 0. 1. ]] SLAMing on 148.496296757 meters Centerline goodness : 0.805615 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.49 [[ 0.95443059 0.25340128 -0.15763896 0.73090528] [-0.25401798 0.96705765 0.01656389 0.91561712] [ 0.15664327 0.02423405 0.98735789 -1.48959747] [ 0. 0. 0. 1. ]] SLAMing on 148.526296757 meters Centerline goodness : 0.805478 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.49 [[ 0.95554557 0.24833688 -0.15893852 0.73188595] [-0.24951859 0.96828539 0.01280111 0.91443384] [ 0.15707683 0.02742608 0.98720549 -1.4896879 ] [ 0. 0. 0. 1. ]] SLAMing on 148.556296757 meters Centerline goodness : 0.804145 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.49 [[ 0.95670291 0.24284543 -0.16045445 0.73391515] [-0.24463935 0.96957435 0.00878457 0.91302152] [ 0.15770582 0.03084925 0.98700415 -1.49037925] [ 0. 0. 0. 1. ]] SLAMing on 148.586296757 meters Centerline goodness : 0.807012 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.49 [[ 0.95681472 0.24205048 -0.16098805 0.73536027] [-0.24380634 0.96978161 0.00906036 0.91073074] [ 0.15831631 0.03058083 0.98691477 -1.49034482] [ 0. 0. 0. 1. ]] SLAMing on 148.61629675700001 meters Centerline goodness : 0.806396 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.49 [[ 0.95692573 0.2413171 -0.16142862 0.73655049] [-0.24302249 0.96997513 0.00939804 0.90811357] [ 0.15884966 0.03023756 0.98683964 -1.49032377] [ 0. 0. 0. 1. ]] SLAMing on 148.64629675700002 meters Centerline goodness : 0.808185 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.49 [[ 0.95790827 0.23661906 -0.16255204 0.73712543] [-0.23885881 0.97103632 0.00591117 0.90678267] [ 0.15924263 0.03316463 0.98668227 -1.49028175] [ 0. 0. 0. 1. ]] SLAMing on 148.67629675700002 meters Centerline goodness : 0.809207 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95825386 0.23475093 -0.16322234 0.73987242] [-0.2370233 0.97148729 0.00569198 0.90412753] [ 0.15990463 0.03323314 0.98657289 -1.49100881] [ 0. 0. 0. 1. ]] SLAMing on 148.70629675700002 meters Centerline goodness : 0.810200 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95825951 0.23443809 -0.16363831 0.74081746] [-0.23664824 0.97157602 0.00613549 0.90240892] [ 0.16042545 0.03284532 0.98650132 -1.49075843] [ 0. 0. 0. 1. ]] SLAMing on 148.73629675700002 meters Centerline goodness : 0.814806 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95911097 0.23043217 -0.16433858 0.74032156] [-0.23320405 0.97242463 0.00249092 0.90183317] [ 0.16038087 0.03593535 0.98640084 -1.49100816] [ 0. 0. 0. 1. ]] SLAMing on 148.76629675700002 meters Centerline goodness : 0.813577 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95904854 0.23064092 -0.16441003 0.7401214 ] [-0.23333009 0.97239286 0.00303324 0.90024158] [ 0.16057073 0.03545279 0.98638742 -1.49055511] [ 0. 0. 0. 1. ]] SLAMing on 148.79629675700002 meters Centerline goodness : 0.813009 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95895526 0.23114492 -0.16424625 0.7391709 ] [-0.2337341 0.97229369 0.00365432 0.89890901] [ 0.16054027 0.03488561 0.9864126 -1.48985584] [ 0. 0. 0. 1. ]] SLAMing on 148.82629675700002 meters Centerline goodness : 0.815006 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95887431 0.23157881 -0.16410765 0.73859842] [-0.23411911 0.97219985 0.00396134 0.89913767] [ 0.16046279 0.0346223 0.98643448 -1.48941814] [ 0. 0. 0. 1. ]] SLAMing on 148.85629675700002 meters Centerline goodness : 0.813548 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95867153 0.2327764 -0.16359717 0.73684185] [-0.2352364 0.97192801 0.00444671 0.90066385] [ 0.16003977 0.03422107 0.9865172 -1.48848678] [ 0. 0. 0. 1. ]] SLAMing on 148.88629675700003 meters Centerline goodness : 0.814210 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95857432 0.23334468 -0.16335707 0.73623418] [-0.23578278 0.971795 0.00457818 0.90138273] [ 0.15981787 0.03412826 0.98655639 -1.48837193] [ 0. 0. 0. 1. ]] SLAMing on 148.91629675700003 meters Centerline goodness : 0.813077 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95758239 0.2378018 -0.16274602 0.73686846] [-0.23959776 0.97083242 0.00879348 0.8999337 ] [ 0.16009022 0.0305731 0.98662881 -1.48807923] [ 0. 0. 0. 1. ]] SLAMing on 148.94629675700003 meters Centerline goodness : 0.807950 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95751689 0.2380268 -0.16280248 0.73721651] [-0.23984364 0.97077259 0.00869491 0.90056399] [ 0.16011381 0.03072162 0.98662037 -1.48836385] [ 0. 0. 0. 1. ]] SLAMing on 148.97629675700003 meters Centerline goodness : 0.805942 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95743361 0.2382499 -0.16296584 0.73839682] [-0.24013256 0.97070427 0.00834042 0.9019636 ] [ 0.16017875 0.03114801 0.98659646 -1.4893182 ] [ 0. 0. 0. 1. ]] SLAMing on 149.00629675700003 meters Centerline goodness : 0.804695 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95740822 0.23819529 -0.1631947 0.73936568] [-0.24009265 0.97071458 0.00829049 0.9022346 ] [ 0.16039023 0.03124446 0.98655905 -1.48963884] [ 0. 0. 0. 1. ]] SLAMing on 149.03629675700003 meters Centerline goodness : 0.804175 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95744408 0.23798129 -0.16329651 0.74009918] [-0.23987724 0.97076774 0.00830095 0.90128179] [ 0.16049845 0.03122342 0.98654211 -1.49005952] [ 0. 0. 0. 1. ]] SLAMing on 149.06629675700003 meters Centerline goodness : 0.805769 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95744449 0.23789289 -0.16342282 0.74029644] [-0.23973363 0.9708001 0.00865723 0.89998233] [ 0.16071038 0.03088913 0.98651814 -1.48976501] [ 0. 0. 0. 1. ]] SLAMing on 149.09629675700003 meters Centerline goodness : 0.805432 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.9583703 0.23382888 -0.16386096 0.73944458] [-0.23623715 0.97168301 0.00491195 0.9006808 ] [ 0.16036947 0.03400258 0.98647121 -1.48985233] [ 0. 0. 0. 1. ]] SLAMing on 149.12629675700003 meters Centerline goodness : 0.803439 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95838219 0.23377433 -0.16386926 0.73936897] [-0.23612504 0.97170843 0.00526304 0.89993806] [ 0.16046351 0.03364963 0.98646803 -1.48939037] [ 0. 0. 0. 1. ]] SLAMing on 149.15629675700004 meters Centerline goodness : 0.806675 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95837892 0.23385681 -0.16377067 0.73896058] [-0.23612509 0.97170562 0.00575606 0.89913926] [ 0.16048297 0.03315388 0.98648164 -1.4887672 ] [ 0. 0. 0. 1. ]] SLAMing on 149.18629675700004 meters Centerline goodness : 0.807394 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95843889 0.23377143 -0.16354147 0.73829171] [-0.23593089 0.97174896 0.00637032 0.89724069] [ 0.16041045 0.03247892 0.98651589 -1.48801529] [ 0. 0. 0. 1. ]] SLAMing on 149.216296757 meters Centerline goodness : 0.806552 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95845454 0.23375817 -0.1634687 0.73800023] [-0.23582345 0.97177118 0.00693344 0.89541031] [ 0.16047492 0.03190437 0.98652416 -1.48742931] [ 0. 0. 0. 1. ]] SLAMing on 149.246296757 meters Centerline goodness : 0.805119 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95844882 0.23381074 -0.16342704 0.7380025 ] [-0.23584956 0.9717637 0.00709222 0.8952143 ] [ 0.16047071 0.03174667 0.98652993 -1.48733414] [ 0. 0. 0. 1. ]] SLAMing on 149.276296757 meters Centerline goodness : 0.802958 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95845518 0.23389096 -0.16327489 0.73833053] [-0.23594218 0.97174194 0.0069922 0.89643942] [ 0.16029647 0.03182173 0.98655584 -1.48763231] [ 0. 0. 0. 1. ]] SLAMing on 149.306296757 meters Centerline goodness : 0.801480 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95843903 0.23405095 -0.16314039 0.73840247] [-0.23610952 0.97170171 0.00693345 0.89738287] [ 0.16014657 0.03187371 0.9865785 -1.48781553] [ 0. 0. 0. 1. ]] SLAMing on 149.336296757 meters Centerline goodness : 0.801147 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.9584223 0.23421701 -0.16300028 0.73836658] [-0.23628039 0.97166049 0.00688971 0.89831014] [ 0.15999462 0.03191052 0.98660197 -1.48786831] [ 0. 0. 0. 1. ]] SLAMing on 149.36629675700001 meters Centerline goodness : 0.801147 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.9584223 0.23421701 -0.16300028 0.73836658] [-0.23628039 0.97166049 0.00688971 0.89831014] [ 0.15999462 0.03191052 0.98660197 -1.48786831] [ 0. 0. 0. 1. ]] SLAMing on 149.39629675700002 meters Centerline goodness : 0.799858 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.9583271 0.23494697 -0.16250872 0.73733586] [-0.23699868 0.9714853 0.00692439 0.89990306] [ 0.15950169 0.03187852 0.98668281 -1.48775659] [ 0. 0. 0. 1. ]] SLAMing on 149.42629675700002 meters Centerline goodness : 0.795696 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95828759 0.23517369 -0.16241375 0.73712935] [-0.23722227 0.97143058 0.00694373 0.9006182 ] [ 0.15940667 0.03187407 0.98669831 -1.48758796] [ 0. 0. 0. 1. ]] SLAMing on 149.45629675700002 meters Centerline goodness : 0.794988 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95832398 0.23490194 -0.16259219 0.73865937] [-0.23703573 0.97147965 0.00642977 0.90255856] [ 0.15946537 0.03237835 0.98667241 -1.48838324] [ 0. 0. 0. 1. ]] SLAMing on 149.48629675700002 meters Centerline goodness : 0.793016 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95841816 0.23421117 -0.16303302 0.74106652] [-0.23645748 0.97162472 0.00576702 0.90389377] [ 0.15975761 0.03302316 0.98660376 -1.48957447] [ 0. 0. 0. 1. ]] SLAMing on 149.51629675700002 meters Centerline goodness : 0.791380 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95844642 0.23389686 -0.16331783 0.74205441] [-0.23616343 0.97169678 0.00567496 0.90388357] [ 0.16002276 0.03313056 0.98655719 -1.48972903] [ 0. 0. 0. 1. ]] SLAMing on 149.54629675700002 meters Centerline goodness : 0.792133 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95844919 0.23380596 -0.16343169 0.74260269] [-0.23605164 0.97172308 0.00581987 0.90328213] [ 0.16017107 0.03300027 0.98653749 -1.48986383] [ 0. 0. 0. 1. ]] SLAMing on 149.57629675700002 meters Centerline goodness : 0.791272 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95855564 0.23322784 -0.16363331 0.7435332 ] [-0.23547842 0.97186238 0.00578236 0.90266788] [ 0.16037766 0.0329894 0.98650429 -1.48995434] [ 0. 0. 0. 1. ]] SLAMing on 149.60629675700002 meters Centerline goodness : 0.791321 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95864693 0.23287866 -0.16359583 0.74382008] [-0.2351069 0.97195172 0.00588223 0.90255134] [ 0.16037709 0.03282353 0.98650991 -1.48972647] [ 0. 0. 0. 1. ]] SLAMing on 149.63629675700003 meters Centerline goodness : 0.792815 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95865965 0.23281063 -0.16361808 0.74391163] [-0.23499811 0.97197649 0.00613165 0.90225089] [ 0.16046044 0.03257177 0.9865047 -1.48936162] [ 0. 0. 0. 1. ]] SLAMing on 149.66629675700003 meters Centerline goodness : 0.792644 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95878463 0.23232924 -0.16357005 0.7443844 ] [-0.23449184 0.9720981 0.00623365 0.90131509] [ 0.16045439 0.03237911 0.98651203 -1.48947616] [ 0. 0. 0. 1. ]] SLAMing on 149.69629675700003 meters Centerline goodness : 0.792695 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.49 [[ 0.95879556 0.23225627 -0.1636096 0.74465528] [-0.23438703 0.97212209 0.00643118 0.90065316] [ 0.16054219 0.03218178 0.9865042 -1.48947043] [ 0. 0. 0. 1. ]] SLAMing on 149.72629675700003 meters Centerline goodness : 0.791488 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95886972 0.23188872 -0.16369629 0.74535067] [-0.23400559 0.9722135 0.00650273 0.89978456] [ 0.16065565 0.03207058 0.98648935 -1.48966479] [ 0. 0. 0. 1. ]] SLAMing on 149.75629675700003 meters Centerline goodness : 0.792729 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95883033 0.23197673 -0.16380232 0.74549614] [-0.23405216 0.97220036 0.00678595 0.89933444] [ 0.16082286 0.03183171 0.98646984 -1.4893594 ] [ 0. 0. 0. 1. ]] SLAMing on 149.78629675700003 meters Centerline goodness : 0.791317 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95881783 0.23201004 -0.1638283 0.74580104] [-0.23409032 0.97219132 0.00676423 0.89994765] [ 0.16084182 0.03186496 0.98646568 -1.48936849] [ 0. 0. 0. 1. ]] SLAMing on 149.81629675700003 meters Centerline goodness : 0.792441 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95880132 0.23208841 -0.16381391 0.74605898] [-0.23416695 0.97217277 0.0067787 0.90028274] [ 0.16082868 0.03186038 0.98646797 -1.48949398] [ 0. 0. 0. 1. ]] SLAMing on 149.84629675700003 meters Centerline goodness : 0.791202 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95873544 0.23236333 -0.16380974 0.7464305 ] [-0.23444093 0.97210653 0.0068072 0.90094529] [ 0.16082226 0.0318774 0.98646846 -1.48975288] [ 0. 0. 0. 1. ]] SLAMing on 149.87629675700003 meters Centerline goodness : 0.790444 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95868906 0.23261037 -0.16373056 0.7465152 ] [-0.23468588 0.9720473 0.00682522 0.90137512] [ 0.16074146 0.03188198 0.98648149 -1.49002637] [ 0. 0. 0. 1. ]] SLAMing on 149.90629675700004 meters Centerline goodness : 0.789296 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95860448 0.23291579 -0.16379159 0.74693987] [-0.23499245 0.97197301 0.00685655 0.90215461] [ 0.160798 0.03191706 0.98647114 -1.49018402] [ 0. 0. 0. 1. ]] SLAMing on 149.93629675700004 meters Centerline goodness : 0.787375 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95854655 0.23307566 -0.16390318 0.74713854] [-0.23513229 0.97193806 0.00701549 0.90217669] [ 0.16093888 0.03181425 0.98645148 -1.49001397] [ 0. 0. 0. 1. ]] SLAMing on 149.966296757 meters Centerline goodness : 0.786500 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95846575 0.23331305 -0.16403788 0.74759084] [-0.23535465 0.97188322 0.00715485 0.90205748] [ 0.16109498 0.03174939 0.98642809 -1.49018199] [ 0. 0. 0. 1. ]] SLAMing on 149.996296757 meters Centerline goodness : 0.786467 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95840696 0.23347721 -0.16414776 0.74795296] [-0.23550847 0.97184522 0.00725417 0.9023518 ] [ 0.1612199 0.03170574 0.98640909 -1.49017882] [ 0. 0. 0. 1. ]] SLAMing on 150.026296757 meters Centerline goodness : 0.786070 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95827508 0.23414587 -0.16396518 0.74761912] [-0.23614889 0.97168834 0.00744798 0.9033242 ] [ 0.16106697 0.03158298 0.98643801 -1.49015822] [ 0. 0. 0. 1. ]] SLAMing on 150.056296757 meters Centerline goodness : 0.786512 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95817991 0.23459132 -0.16388465 0.74719203] [-0.23655836 0.97158684 0.00769062 0.90362074] [ 0.16103233 0.03139928 0.98644953 -1.4898298 ] [ 0. 0. 0. 1. ]] SLAMing on 150.086296757 meters Centerline goodness : 0.785585 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.49 [[ 0.95800869 0.23556977 -0.16348158 0.74578325] [-0.23747575 0.97135995 0.00806946 0.9048495 ] [ 0.16070038 0.03109229 0.98651338 -1.48911653] [ 0. 0. 0. 1. ]] SLAMing on 150.11629675700001 meters Centerline goodness : 0.785660 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.49 [[ 0.95790959 0.23614505 -0.16323213 0.74493045] [-0.23801386 0.97122631 0.00829813 0.90547956] [ 0.1604949 0.03090265 0.98655279 -1.48870644] [ 0. 0. 0. 1. ]] SLAMing on 150.14629675700002 meters Centerline goodness : 0.784220 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.49 [[ 0.95772979 0.23711419 -0.16288191 0.74379595] [-0.23895866 0.97099287 0.00846236 0.90771267] [ 0.16016371 0.03081739 0.98660928 -1.48812044] [ 0. 0. 0. 1. ]] SLAMing on 150.17629675700002 meters Centerline goodness : 0.786566 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.49 [[ 0.95764341 0.23759011 -0.16269617 0.74309635] [-0.23942258 0.97087789 0.00854062 0.90874124] [ 0.15998728 0.03077427 0.98663925 -1.48771201] [ 0. 0. 0. 1. ]] SLAMing on 150.20629675700002 meters Centerline goodness : 0.784490 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.49 [[ 0.95743453 0.23861832 -0.16242052 0.74192561] [-0.24043204 0.97062707 0.00869016 0.91133075] [ 0.15972339 0.03073084 0.98668336 -1.48684703] [ 0. 0. 0. 1. ]] SLAMing on 150.23629675700002 meters Centerline goodness : 0.782430 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.49 [[ 0.95735142 0.23903451 -0.16229838 0.74146071] [-0.24085415 0.97052264 0.00866514 0.91260824] [ 0.15958552 0.03079466 0.98670368 -1.48654847] [ 0. 0. 0. 1. ]] SLAMing on 150.26629675700002 meters Centerline goodness : 0.782974 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.49 [[ 0.95716708 0.23954998 -0.16262532 0.74220624] [-0.24142292 0.97038326 0.0084441 0.91537112] [ 0.15983168 0.03117907 0.98665176 -1.4864183 ] [ 0. 0. 0. 1. ]] SLAMing on 150.29629675700002 meters Centerline goodness : 0.781204 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.49 [[ 0.95711343 0.23963924 -0.16280946 0.74296997] [-0.24157126 0.97034908 0.00812373 0.9171557 ] [ 0.15992877 0.03155476 0.98662408 -1.48666375] [ 0. 0. 0. 1. ]] SLAMing on 150.32629675700002 meters Centerline goodness : 0.778342 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.49 [[ 0.9562376 0.24329221 -0.16253787 0.74556604] [-0.24475335 0.9695197 0.011285 0.91843711] [ 0.16032921 0.02899055 0.98663777 -1.4875322 ] [ 0. 0. 0. 1. ]] SLAMing on 150.35629675700002 meters Centerline goodness : 0.779467 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.49 [[ 0.95618902 0.24331809 -0.16278472 0.74636062] [-0.24483261 0.96950291 0.01100438 0.91986467] [ 0.16049783 0.02933274 0.98660024 -1.48771729] [ 0. 0. 0. 1. ]] SLAMing on 150.38629675700003 meters Centerline goodness : 0.777236 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.49 [[ 0.95608499 0.24358036 -0.16300338 0.7467004 ] [-0.24513795 0.96942802 0.01080297 0.92176534] [ 0.16065144 0.02962975 0.98656637 -1.4874442 ] [ 0. 0. 0. 1. ]] SLAMing on 150.41629675700003 meters Centerline goodness : 0.777645 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.49 [[ 0.95601455 0.24368169 -0.16326488 0.74716883] [-0.24524505 0.96940068 0.01082509 0.92287597] [ 0.16090696 0.02969096 0.98652288 -1.48700417] [ 0. 0. 0. 1. ]] SLAMing on 150.44629675700003 meters Centerline goodness : 0.775256 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.49 [[ 0.95601626 0.24346488 -0.16357802 0.74814553] [-0.2450602 0.96944915 0.01066941 0.92349333] [ 0.1611782 0.02988633 0.9864727 -1.48714566] [ 0. 0. 0. 1. ]] SLAMing on 150.47629675700003 meters Centerline goodness : 0.775442 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.49 [[ 0.95601713 0.2432652 -0.16386972 0.74910871] [-0.24489208 0.96949333 0.01051424 0.92412267] [ 0.16142835 0.0300786 0.98642595 -1.48732563] [ 0. 0. 0. 1. ]] SLAMing on 150.50629675700003 meters Centerline goodness : 0.777153 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.49 [[ 0.95605489 0.2428285 -0.16429661 0.75036577] [-0.24448264 0.96959799 0.01039099 0.92501738] [ 0.16182489 0.03023331 0.98635625 -1.48716218] [ 0. 0. 0. 1. ]] SLAMing on 150.53629675700003 meters Centerline goodness : 0.777955 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.49 [[ 0.9560114 0.24289394 -0.16445283 0.75026422] [-0.24449523 0.96959093 0.01074799 0.92459581] [ 0.1620626 0.02993273 0.98632639 -1.48644358] [ 0. 0. 0. 1. ]] SLAMing on 150.56629675700003 meters Centerline goodness : 0.779773 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.49 [[ 0.95683577 0.23896618 -0.16541003 0.74971999] [-0.24112347 0.97046763 0.0072147 0.92564131] [ 0.16224915 0.03298096 0.98619849 -1.4856146 ] [ 0. 0. 0. 1. ]] SLAMing on 150.59629675700003 meters Centerline goodness : 0.779696 Centerline is valid? [False, False] Translation: X:0.75, Y:0.92, Z:-1.49 [[ 0.95682674 0.23884749 -0.16563352 0.75001839] [-0.24096854 0.97050418 0.00747037 0.92495869] [ 0.16253231 0.03276461 0.98615908 -1.48523696] [ 0. 0. 0. 1. ]] SLAMing on 150.62629675700003 meters Centerline goodness : 0.782528 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.49 [[ 0.95687276 0.23831656 -0.16613168 0.75122465] [-0.24046531 0.97062984 0.00735836 0.9252267 ] [ 0.16300598 0.03290789 0.98607612 -1.4850366 ] [ 0. 0. 0. 1. ]] SLAMing on 150.65629675700004 meters Centerline goodness : 0.783609 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.49 [[ 0.95685009 0.23826433 -0.16633706 0.75182064] [-0.24043218 0.97063864 0.00728045 0.92593161] [ 0.16318785 0.03302648 0.98604208 -1.48500309] [ 0. 0. 0. 1. ]] SLAMing on 150.68629675700004 meters Centerline goodness : 0.785337 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.48 [[ 0.95673225 0.23853095 -0.1666325 0.75254858] [-0.24074777 0.97056197 0.00706897 0.92804055] [ 0.16341334 0.03335329 0.98599373 -1.48489971] [ 0. 0. 0. 1. ]] SLAMing on 150.716296757 meters Centerline goodness : 0.781727 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.48 [[ 0.95667685 0.23862146 -0.16682089 0.75302763] [-0.24086892 0.97053291 0.00693119 0.92919715] [ 0.16355909 0.03355106 0.98596285 -1.48481711] [ 0. 0. 0. 1. ]] SLAMing on 150.746296757 meters Centerline goodness : 0.786952 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.48 [[ 0.95658843 0.23884723 -0.16700472 0.7531647 ] [-0.24111059 0.97047317 0.00689338 0.93034987] [ 0.16372006 0.03367248 0.985932 -1.48440039] [ 0. 0. 0. 1. ]] SLAMing on 150.776296757 meters Centerline goodness : 0.785816 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.48 [[ 0.9564175 0.23955499 -0.16696996 0.75268822] [-0.24184547 0.97029106 0.00678459 0.93240904] [ 0.16363474 0.03389202 0.98593864 -1.48388622] [ 0. 0. 0. 1. ]] SLAMing on 150.806296757 meters Centerline goodness : 0.783365 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.48 [[ 0.955478 0.2436419 -0.1664344 0.75381897] [-0.24538465 0.96937073 0.01033252 0.93319851] [ 0.16385407 0.03096795 0.98599839 -1.48374863] [ 0. 0. 0. 1. ]] SLAMing on 150.836296757 meters Centerline goodness : 0.786204 Centerline is valid? [False, False] Translation: X:0.75, Y:0.94, Z:-1.48 [[ 0.95537547 0.24405007 -0.16642499 0.7539189 ] [-0.24582891 0.9692601 0.01014926 0.93521142] [ 0.16378603 0.03121572 0.98600188 -1.48370925] [ 0. 0. 0. 1. ]] SLAMing on 150.86629675700001 meters Centerline goodness : 0.783777 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.95441283 0.24809615 -0.16596519 0.75530121] [-0.2493192 0.96832358 0.01376135 0.93611126] [ 0.16412215 0.0282443 0.98603559 -1.48346896] [ 0. 0. 0. 1. ]] SLAMing on 150.89629675700002 meters Centerline goodness : 0.784548 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.95434836 0.24821462 -0.16615866 0.75575391] [-0.24947598 0.96828582 0.0135756 0.93725862] [ 0.16425874 0.02849674 0.98600558 -1.4834426 ] [ 0. 0. 0. 1. ]] SLAMing on 150.92629675700002 meters Centerline goodness : 0.783245 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.95428329 0.24826209 -0.16646124 0.75648922] [-0.24957677 0.96826349 0.01331347 0.93884028] [ 0.16448357 0.02884003 0.98595812 -1.48331167] [ 0. 0. 0. 1. ]] SLAMing on 150.95629675700002 meters Centerline goodness : 0.783456 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.95422708 0.24824884 -0.16680285 0.75703826] [-0.24958367 0.96826255 0.01325253 0.93998564] [ 0.16479887 0.02898535 0.9859012 -1.482749 ] [ 0. 0. 0. 1. ]] SLAMing on 150.98629675700002 meters Centerline goodness : 0.781607 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.95417284 0.24837108 -0.1669311 0.75720937] [-0.24970121 0.9682314 0.01331428 0.94047981] [ 0.16493481 0.02897877 0.98587866 -1.48249979] [ 0. 0. 0. 1. ]] SLAMing on 151.01629675700002 meters Centerline goodness : 0.780185 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.95415892 0.24829265 -0.16712725 0.75786888] [-0.24964474 0.96824737 0.01321117 0.94115752] [ 0.16510075 0.02911688 0.98584682 -1.48256282] [ 0. 0. 0. 1. ]] SLAMing on 151.04629675700002 meters Centerline goodness : 0.781506 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.95416585 0.24803099 -0.16747584 0.75880602] [-0.24942324 0.96830716 0.01301109 0.94242981] [ 0.16539521 0.02935763 0.98579032 -1.48236417] [ 0. 0. 0. 1. ]] SLAMing on 151.07629675700002 meters Centerline goodness : 0.778026 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.95415408 0.24800319 -0.16758402 0.75883927] [-0.24938105 0.96831664 0.01311387 0.9423774 ] [ 0.16552668 0.02927963 0.98577057 -1.48201852] [ 0. 0. 0. 1. ]] SLAMing on 151.10629675700002 meters Centerline goodness : 0.781942 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.95424504 0.24742342 -0.16792276 0.75911125] [-0.24879581 0.96846661 0.01315577 0.94190852] [ 0.16588263 0.02922465 0.98571237 -1.48109507] [ 0. 0. 0. 1. ]] SLAMing on 151.13629675700003 meters Centerline goodness : 0.782496 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.95425929 0.24725515 -0.16808954 0.75922331] [-0.2486156 0.96851172 0.01324153 0.94192868] [ 0.16607073 0.02915383 0.98568279 -1.48056687] [ 0. 0. 0. 1. ]] SLAMing on 151.16629675700003 meters Centerline goodness : 0.791244 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.95426255 0.24707353 -0.16833792 0.75944566] [-0.24842591 0.96855935 0.01331745 0.94218079] [ 0.16633566 0.02911116 0.98563938 -1.47992499] [ 0. 0. 0. 1. ]] SLAMing on 151.19629675700003 meters Centerline goodness : 0.786358 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.48 [[ 0.9542979 0.24664043 -0.1687721 0.76048113] [-0.24803922 0.96866166 0.01308167 0.94353399] [ 0.16670953 0.02937829 0.98556829 -1.47947999] [ 0. 0. 0. 1. ]] SLAMing on 151.22629675700003 meters Centerline goodness : 0.797970 Centerline is valid? [False, False] Translation: X:0.76, Y:0.95, Z:-1.48 [[ 0.95432497 0.24632541 -0.1690788 0.7616397 ] [-0.24782593 0.96872383 0.01250793 0.94629076] [ 0.16687169 0.02996548 0.98552317 -1.479495 ] [ 0. 0. 0. 1. ]] SLAMing on 151.25629675700003 meters Centerline goodness : 0.794048 Centerline is valid? [False, False] Translation: X:0.76, Y:0.95, Z:-1.48 [[ 0.95430013 0.24626502 -0.16930683 0.76225495] [-0.24780381 0.96873192 0.01231831 0.94760909] [ 0.1670465 0.03019952 0.98548641 -1.47933176] [ 0. 0. 0. 1. ]] SLAMing on 151.28629675700003 meters Centerline goodness : 0.794048 Centerline is valid? [False, False] Translation: X:0.76, Y:0.95, Z:-1.48 [[ 0.95430013 0.24626502 -0.16930683 0.76225495] [-0.24780381 0.96873192 0.01231831 0.94760909] [ 0.1670465 0.03019952 0.98548641 -1.47933176] [ 0. 0. 0. 1. ]] SLAMing on 151.31629675700003 meters Centerline goodness : 0.793740 Centerline is valid? [False, False] Translation: X:0.76, Y:0.95, Z:-1.48 [[ 0.95424987 0.24635684 -0.16945647 0.76238537] [-0.24794377 0.96869923 0.0120702 0.949228 ] [ 0.16712593 0.03049769 0.98546376 -1.47887368] [ 0. 0. 0. 1. ]] SLAMing on 151.34629675700003 meters Centerline goodness : 0.805012 Centerline is valid? [False, False] Translation: X:0.76, Y:0.95, Z:-1.48 [[ 0.95422802 0.24633451 -0.16961187 0.7627304 ] [-0.24795746 0.96869802 0.01188476 0.95012518] [ 0.16723031 0.03071575 0.98543928 -1.47874905] [ 0. 0. 0. 1. ]] SLAMing on 151.37629675700003 meters Centerline goodness : 0.796038 Centerline is valid? [False, False] Translation: X:0.76, Y:0.95, Z:-1.48 [[ 0.95368074 0.24915451 -0.16856772 0.76196847] [-0.25043285 0.96803301 0.01398137 0.95267433] [ 0.16666264 0.02888113 0.98559091 -1.47792559] [ 0. 0. 0. 1. ]] SLAMing on 151.40629675700004 meters Centerline goodness : 0.797162 Centerline is valid? [False, False] Translation: X:0.76, Y:0.95, Z:-1.48 [[ 0.95412853 0.25683484 -0.1538656 0.76083633] [-0.25764376 0.96612345 0.01500596 0.95071312] [ 0.15250722 0.0253249 0.98797783 -1.48388439] [ 0. 0. 0. 1. ]] SLAMing on 151.43629675700004 meters Centerline goodness : 0.803652 Centerline is valid? [False, False] Translation: X:0.76, Y:0.95, Z:-1.48 [[ 0.95343776 0.25967224 -0.15338435 0.76188935] [-0.26028943 0.96539134 0.01640035 0.95336529] [ 0.15233464 0.02428761 0.9880305 -1.48378965] [ 0. 0. 0. 1. ]] SLAMing on 151.466296757 meters Centerline goodness : 0.803541 Centerline is valid? [False, False] Translation: X:0.76, Y:0.95, Z:-1.48 [[ 0.95322114 0.2601418 -0.15393406 0.76262575] [-0.2609207 0.96523609 0.01548152 0.95477589] [ 0.1526101 0.02540727 0.98795983 -1.48293131] [ 0. 0. 0. 1. ]] SLAMing on 151.496296757 meters Centerline goodness : 0.802105 Centerline is valid? [False, False] Translation: X:0.76, Y:0.96, Z:-1.48 [[ 0.95295994 0.26053723 -0.15487963 0.76361105] [-0.26154686 0.96508651 0.014187 0.95580304] [ 0.15316849 0.02698864 0.98783148 -1.48170018] [ 0. 0. 0. 1. ]] SLAMing on 151.526296757 meters Centerline goodness : 0.795817 Centerline is valid? [False, False] Translation: X:0.76, Y:0.96, Z:-1.48 [[ 0.9528406 0.26101687 -0.15480626 0.7627775 ] [-0.2621641 0.96493131 0.01332474 0.95794925] [ 0.15285539 0.02788829 0.98785499 -1.48012005] [ 0. 0. 0. 1. ]] SLAMing on 151.556296757 meters Centerline goodness : 0.794229 Centerline is valid? [False, False] Translation: X:0.76, Y:0.96, Z:-1.48 [[ 0.95254057 0.26317469 -0.15298875 0.76091457] [-0.26389849 0.96441895 0.01592691 0.9596275 ] [ 0.15173681 0.02520247 0.98809958 -1.48002018] [ 0. 0. 0. 1. ]] SLAMing on 151.586296757 meters Centerline goodness : 0.795169 Centerline is valid? [False, False] Translation: X:0.76, Y:0.96, Z:-1.48 [[ 0.95236186 0.26389724 -0.15285656 0.76163335] [-0.2645878 0.96422586 0.01617996 0.96071702] [ 0.15165809 0.0250348 0.98811593 -1.48031758] [ 0. 0. 0. 1. ]] SLAMing on 151.61629675700001 meters Centerline goodness : 0.797864 Centerline is valid? [False, False] Translation: X:0.76, Y:0.96, Z:-1.48 [[ 0.95211046 0.26431212 -0.15370354 0.76461902] [-0.26507916 0.96409621 0.01585958 0.96100354] [ 0.15237689 0.02564353 0.98798972 -1.48136921] [ 0. 0. 0. 1. ]] SLAMing on 151.64629675700002 meters Centerline goodness : 0.795251 Centerline is valid? [False, False] Translation: X:0.77, Y:0.96, Z:-1.48 [[ 0.95178615 0.26556183 -0.1535579 0.7651053 ] [-0.26634576 0.9637476 0.0158271 0.96231216] [ 0.15219413 0.02583548 0.98801289 -1.48114308] [ 0. 0. 0. 1. ]] SLAMing on 151.67629675700002 meters Centerline goodness : 0.795462 Centerline is valid? [False, False] Translation: X:0.77, Y:0.96, Z:-1.48 [[ 0.95164333 0.26594856 -0.15377366 0.76526186] [-0.26685995 0.96361751 0.01506888 0.96331774] [ 0.15218654 0.02669583 0.98799119 -1.48045741] [ 0. 0. 0. 1. ]] SLAMing on 151.70629675700002 meters Centerline goodness : 0.798756 Centerline is valid? [False, False] Translation: X:0.76, Y:0.97, Z:-1.48 [[ 0.95117801 0.26852709 -0.15216304 0.7635357 ] [-0.26906882 0.96296355 0.01741194 0.96505327] [ 0.15120304 0.02438048 0.98820202 -1.47986746] [ 0. 0. 0. 1. ]] SLAMing on 151.73629675700002 meters Centerline goodness : 0.799809 Centerline is valid? [False, False] Translation: X:0.76, Y:0.97, Z:-1.48 [[ 0.95049935 0.27174433 -0.15068511 0.76398637] [-0.27184279 0.96212654 0.02034727 0.96668613] [ 0.1505074 0.02162259 0.98837239 -1.48108767] [ 0. 0. 0. 1. ]] SLAMing on 151.76629675700002 meters Centerline goodness : 0.799615 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.48 [[ 0.95005431 0.2732016 -0.15085651 0.76529869] [-0.27324357 0.96171868 0.02085989 0.96742704] [ 0.15078048 0.02140254 0.98833556 -1.48115963] [ 0. 0. 0. 1. ]] SLAMing on 151.79629675700002 meters Centerline goodness : 0.801513 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.48 [[ 0.94976069 0.27401282 -0.15123358 0.76658652] [-0.27411964 0.9614759 0.02055536 0.96844077] [ 0.15103988 0.02193342 0.98828431 -1.48108611] [ 0. 0. 0. 1. ]] SLAMing on 151.82629675700002 meters Centerline goodness : 0.794706 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.48 [[ 0.94925243 0.27549204 -0.15173651 0.76772037] [-0.27571912 0.9610309 0.01996433 0.9699668 ] [ 0.15132349 0.02288547 0.98821934 -1.48011694] [ 0. 0. 0. 1. ]] SLAMing on 151.85629675700002 meters Centerline goodness : 0.795655 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.48 [[ 0.94852572 0.27847177 -0.15083907 0.76726027] [-0.27845184 0.9602053 0.02168759 0.97157512] [ 0.15087586 0.02143018 0.9883204 -1.47936136] [ 0. 0. 0. 1. ]] SLAMing on 151.88629675700003 meters Centerline goodness : 0.797809 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.48 [[ 0.94814838 0.27953975 -0.15123549 0.76856649] [-0.27956488 0.95988523 0.02153648 0.97248054] [ 0.15118901 0.02186036 0.98826313 -1.47913632] [ 0. 0. 0. 1. ]] SLAMing on 151.91629675700003 meters Centerline goodness : 0.797821 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.48 [[ 0.94728025 0.2826363 -0.15092001 0.77024187] [-0.28238855 0.95901162 0.02352502 0.97330365] [ 0.15138307 0.0203333 0.98826602 -1.47952956] [ 0. 0. 0. 1. ]] SLAMing on 151.94629675700003 meters Centerline goodness : 0.799498 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.48 [[ 0.94703894 0.28322172 -0.1513364 0.77205129] [-0.28300174 0.95883272 0.0234483 0.97381361] [ 0.15174736 0.02062201 0.98820417 -1.48009093] [ 0. 0. 0. 1. ]] SLAMing on 151.97629675700003 meters Centerline goodness : 0.799795 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.48 [[ 0.94685039 0.28347252 -0.15204499 0.77416494] [-0.28334289 0.9587433 0.02298037 0.97413386] [ 0.15228642 0.0213219 0.98810638 -1.48057019] [ 0. 0. 0. 1. ]] SLAMing on 152.00629675700003 meters Centerline goodness : 0.802126 Centerline is valid? [False, False] Translation: X:0.78, Y:0.97, Z:-1.48 [[ 0.94699591 0.28279395 -0.15240187 0.77552586] [-0.28279406 0.95892521 0.02213511 0.97483428] [ 0.15240167 0.02213649 0.9880707 -1.48122605] [ 0. 0. 0. 1. ]] SLAMing on 152.03629675700003 meters Centerline goodness : 0.799740 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.48 [[ 0.94724889 0.28203543 -0.15223522 0.77476551] [-0.28204947 0.95914854 0.02195834 0.9748546 ] [ 0.15220922 0.02213785 0.98810033 -1.48091801] [ 0. 0. 0. 1. ]] SLAMing on 152.06629675700003 meters Centerline goodness : 0.798760 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.48 [[ 0.94841808 0.27754801 -0.15320004 0.77468369] [-0.27811231 0.96037666 0.0181716 0.974796 ] [ 0.15217324 0.02537254 0.98802811 -1.48105724] [ 0. 0. 0. 1. ]] SLAMing on 152.09629675700003 meters Centerline goodness : 0.799320 Centerline is valid? [False, False] Translation: X:0.78, Y:0.97, Z:-1.48 [[ 0.94894746 0.27549209 -0.15363212 0.77576598] [-0.27614476 0.96095666 0.01750345 0.97367097] [ 0.15245587 0.02581485 0.98797308 -1.48229612] [ 0. 0. 0. 1. ]] SLAMing on 152.12629675700003 meters Centerline goodness : 0.798070 Centerline is valid? [False, False] Translation: X:0.78, Y:0.97, Z:-1.48 [[ 0.94993976 0.27177956 -0.15411142 0.77674893] [-0.27268727 0.96197575 0.01563064 0.97220177] [ 0.15249954 0.02717605 0.98792983 -1.48428295] [ 0. 0. 0. 1. ]] SLAMing on 152.15629675700004 meters Centerline goodness : 0.796981 Centerline is valid? [False, False] Translation: X:0.78, Y:0.97, Z:-1.48 [[ 0.95021195 0.27099029 -0.15382297 0.7762675 ] [-0.27181306 0.96221597 0.01606498 0.971067 ] [ 0.15236437 0.02654596 0.98796782 -1.48479694] [ 0. 0. 0. 1. ]] SLAMing on 152.18629675700004 meters Centerline goodness : 0.797712 Centerline is valid? [False, False] Translation: X:0.78, Y:0.97, Z:-1.49 [[ 0.95116822 0.2671724 -0.15458953 0.77696967] [-0.26829523 0.96323577 0.01394731 0.96856408] [ 0.1526325 0.02820939 0.98788033 -1.48617356] [ 0. 0. 0. 1. ]] SLAMing on 152.21629675700004 meters Centerline goodness : 0.795666 Centerline is valid? [False, False] Translation: X:0.78, Y:0.97, Z:-1.49 [[ 0.9518072 0.26436211 -0.15548546 0.77840342] [-0.26578796 0.96395769 0.01193034 0.96717413] [ 0.15303534 0.02997078 0.98776614 -1.48740096] [ 0. 0. 0. 1. ]] SLAMing on 152.246296757 meters Centerline goodness : 0.794021 Centerline is valid? [False, False] Translation: X:0.78, Y:0.96, Z:-1.49 [[ 0.95288638 0.26030244 -0.15572471 0.77848487] [-0.26194461 0.9650285 0.01024769 0.9637384 ] [ 0.15294628 0.03102636 0.98774734 -1.48954243] [ 0. 0. 0. 1. ]] SLAMing on 152.276296757 meters Centerline goodness : 0.796166 Centerline is valid? [False, False] Translation: X:0.78, Y:0.96, Z:-1.49 [[ 0.95338875 0.25924322 -0.1544113 0.77670274] [-0.26050727 0.9653929 0.01234924 0.96006244] [ 0.15226903 0.02845164 0.98792947 -1.49122673] [ 0. 0. 0. 1. ]] SLAMing on 152.306296757 meters Centerline goodness : 0.792888 Centerline is valid? [False, False] Translation: X:0.78, Y:0.96, Z:-1.49 [[ 0.95347462 0.25898656 -0.15431177 0.77709768] [-0.26012561 0.96548564 0.01312043 0.95807937] [ 0.15238381 0.02763045 0.98793509 -1.49228131] [ 0. 0. 0. 1. ]] SLAMing on 152.336296757 meters Centerline goodness : 0.790462 Centerline is valid? [False, False] Translation: X:0.78, Y:0.96, Z:-1.49 [[ 0.95352477 0.25851411 -0.1547933 0.77887895] [-0.25962651 0.96561693 0.01334223 0.95566171] [ 0.15292019 0.0274663 0.98785678 -1.49378582] [ 0. 0. 0. 1. ]] SLAMing on 152.36629675700001 meters Centerline goodness : 0.788090 Centerline is valid? [False, False] Translation: X:0.78, Y:0.95, Z:-1.49 [[ 0.95361635 0.25815297 -0.15483187 0.77834883] [-0.25911264 0.96574117 0.01430522 0.95125017] [ 0.15322045 0.0264772 0.98783726 -1.49412825] [ 0. 0. 0. 1. ]] SLAMing on 152.39629675700002 meters Centerline goodness : 0.784366 Centerline is valid? [False, False] Translation: X:0.78, Y:0.95, Z:-1.49 [[ 0.95350498 0.25781373 -0.15607796 0.7807414 ] [-0.25891894 0.96580382 0.01356364 0.9488717 ] [ 0.15423758 0.02747854 0.98765161 -1.49479325] [ 0. 0. 0. 1. ]] SLAMing on 152.42629675700002 meters Centerline goodness : 0.783936 Centerline is valid? [False, False] Translation: X:0.78, Y:0.95, Z:-1.50 [[ 0.95306865 0.25867806 -0.157308 0.78317752] [-0.25986928 0.96555206 0.01331064 0.94592797] [ 0.15533223 0.02819356 0.98745988 -1.49520676] [ 0. 0. 0. 1. ]] SLAMing on 152.45629675700002 meters Centerline goodness : 0.780521 Centerline is valid? [False, False] Translation: X:0.78, Y:0.94, Z:-1.50 [[ 0.95314077 0.26639342 -0.14337792 0.78242148] [-0.26724804 0.96353145 0.01362438 0.94181599] [ 0.14177858 0.02533151 0.98957423 -1.5006684 ] [ 0. 0. 0. 1. ]] SLAMing on 152.48629675700002 meters Centerline goodness : 0.783506 Centerline is valid? [False, False] Translation: X:0.79, Y:0.94, Z:-1.50 [[ 0.95221377 0.26880896 -0.1450196 0.78685871] [-0.26970923 0.96284305 0.01379121 0.94050065] [ 0.14333832 0.02598095 0.98933266 -1.5012479 ] [ 0. 0. 0. 1. ]] SLAMing on 152.51629675700002 meters Centerline goodness : 0.784283 Centerline is valid? [False, False] Translation: X:0.79, Y:0.94, Z:-1.50 [[ 0.95154204 0.27031378 -0.14662269 0.79023885] [-0.27136489 0.96238642 0.01317126 0.93976368] [ 0.14466805 0.02725524 0.9891048 -1.50110488] [ 0. 0. 0. 1. ]] SLAMing on 152.54629675700002 meters Centerline goodness : 0.782642 Centerline is valid? [False, False] Translation: X:0.79, Y:0.94, Z:-1.50 [[ 0.94987966 0.27527622 -0.14816085 0.79293802] [-0.27633263 0.9609627 0.01381898 0.93884057] [ 0.14618109 0.02781531 0.98886672 -1.49897647] [ 0. 0. 0. 1. ]] SLAMing on 152.57629675700002 meters Centerline goodness : 0.780118 Centerline is valid? [False, False] Translation: X:0.80, Y:0.94, Z:-1.50 [[ 0.94923053 0.27694954 -0.14919903 0.79512535] [-0.27806063 0.96046462 0.01378421 0.9388489 ] [ 0.14711792 0.02840199 0.9887111 -1.49838345] [ 0. 0. 0. 1. ]] SLAMing on 152.60629675700002 meters Centerline goodness : 0.780819 Centerline is valid? [False, False] Translation: X:0.80, Y:0.94, Z:-1.50 [[ 0.94801904 0.28077174 -0.14975687 0.79805262] [-0.2816492 0.959388 0.01576047 0.93874058] [ 0.14810004 0.02723768 0.98859723 -1.49826662] [ 0. 0. 0. 1. ]] SLAMing on 152.63629675700003 meters Centerline goodness : 0.779528 Centerline is valid? [False, False] Translation: X:0.80, Y:0.94, Z:-1.50 [[ 0.94744534 0.28234083 -0.150436 0.79988612] [-0.28318953 0.95892707 0.01620399 0.93886563] [ 0.1488322 0.0272495 0.98848695 -1.4979225 ] [ 0. 0. 0. 1. ]] SLAMing on 152.66629675700003 meters Centerline goodness : 0.778108 Centerline is valid? [False, False] Translation: X:0.80, Y:0.94, Z:-1.50 [[ 0.94650931 0.28561942 -0.15013885 0.80116229] [-0.28611224 0.95801214 0.01877575 0.93933895] [ 0.14919756 0.02518514 0.98848662 -1.49764479] [ 0. 0. 0. 1. ]] SLAMing on 152.69629675700003 meters Centerline goodness : 0.777061 Centerline is valid? [False, False] Translation: X:0.80, Y:0.94, Z:-1.50 [[ 0.94609152 0.28624661 -0.15157083 0.80371769] [-0.28690512 0.9577902 0.01798298 0.93944599] [ 0.15032062 0.0264729 0.9882828 -1.4970466 ] [ 0. 0. 0. 1. ]] SLAMing on 152.72629675700003 meters Centerline goodness : 0.776784 Centerline is valid? [False, False] Translation: X:0.81, Y:0.94, Z:-1.50 [[ 0.94601621 0.28595505 -0.15258777 0.80584386] [-0.28676657 0.95784714 0.01714032 0.93988447] [ 0.15105712 0.02754205 0.98814128 -1.49712647] [ 0. 0. 0. 1. ]] SLAMing on 152.75629675700003 meters Centerline goodness : 0.777140 Centerline is valid? [False, False] Translation: X:0.81, Y:0.94, Z:-1.50 [[ 0.94605489 0.28530684 -0.15355828 0.80783283] [-0.28637938 0.95798983 0.01556701 0.94106471] [ 0.15154865 0.02924867 0.98801696 -1.49701359] [ 0. 0. 0. 1. ]] SLAMing on 152.78629675700003 meters Centerline goodness : 0.778791 Centerline is valid? [False, False] Translation: X:0.81, Y:0.94, Z:-1.50 [[ 0.94646446 0.28370171 -0.15400765 0.80958858] [-0.28492193 0.95844011 0.01456173 0.94230039] [ 0.1517383 0.030098 0.98796235 -1.4978318 ] [ 0. 0. 0. 1. ]] SLAMing on 152.81629675700003 meters Centerline goodness : 0.778600 Centerline is valid? [False, False] Translation: X:0.81, Y:0.94, Z:-1.50 [[ 0.94659505 0.28264364 -0.15514635 0.81237088] [-0.28401817 0.95872095 0.01370443 0.94222586] [ 0.15261553 0.03109184 0.98779644 -1.49859821] [ 0. 0. 0. 1. ]] SLAMing on 152.84629675700003 meters Centerline goodness : 0.788075 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.50 [[ 0.94682992 0.28134176 -0.15607662 0.81501515] [-0.28280867 0.95908561 0.01319304 0.94128478] [ 0.15340259 0.03164825 0.98765684 -1.49991249] [ 0. 0. 0. 1. ]] SLAMing on 152.87629675700003 meters Centerline goodness : 0.787553 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.50 [[ 0.94783756 0.27699691 -0.15772341 0.81774556] [-0.27893959 0.96025518 0.01013359 0.94058878] [ 0.15426169 0.0343903 0.98743133 -1.50135736] [ 0. 0. 0. 1. ]] SLAMing on 152.90629675700004 meters Centerline goodness : 0.786918 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.50 [[ 0.94826092 0.27575798 -0.15734919 0.81726618] [-0.27764282 0.96062898 0.01031642 0.94036621] [ 0.15399902 0.03390422 0.98748914 -1.50185172] [ 0. 0. 0. 1. ]] SLAMing on 152.93629675700004 meters Centerline goodness : 0.777154 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.50 [[ 0.94922825 0.27286869 -0.15655158 0.81639574] [-0.27469735 0.961476 0.01025994 0.9399868 ] [ 0.15332021 0.03326528 0.98761649 -1.50320248] [ 0. 0. 0. 1. ]] SLAMing on 152.96629675700004 meters Centerline goodness : 0.784367 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.50 [[ 0.9496319 0.27104406 -0.15727162 0.81880713] [-0.27296651 0.96197499 0.0096642 0.93912892] [ 0.15391079 0.03375245 0.9875081 -1.50496986] [ 0. 0. 0. 1. ]] SLAMing on 152.996296757 meters Centerline goodness : 0.783938 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.51 [[ 0.95036038 0.2690591 -0.15627652 0.81833166] [-0.27084612 0.96256912 0.01015224 0.93944815] [ 0.15315851 0.0326786 0.98766117 -1.50663589] [ 0. 0. 0. 1. ]] SLAMing on 153.026296757 meters Centerline goodness : 0.775710 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.51 [[ 0.95068463 0.26815523 -0.15585734 0.81821978] [-0.26988792 0.96283624 0.01033821 0.93990934] [ 0.15283734 0.03223563 0.98772547 -1.50736312] [ 0. 0. 0. 1. ]] SLAMing on 153.056296757 meters Centerline goodness : 0.781496 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.51 [[ 0.95139434 0.2661724 -0.15492274 0.81705808] [-0.2679489 0.96338439 0.00969042 0.94168435] [ 0.15182947 0.03229197 0.98787906 -1.50804677] [ 0. 0. 0. 1. ]] SLAMing on 153.086296757 meters Centerline goodness : 0.782541 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.51 [[ 0.95145922 0.26597182 -0.15486877 0.81681072] [-0.26777812 0.96343408 0.00946841 0.94236507] [ 0.15172418 0.03246167 0.98788968 -1.50763559] [ 0. 0. 0. 1. ]] SLAMing on 153.11629675700001 meters Centerline goodness : 0.783313 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.51 [[ 0.95134026 0.26643449 -0.15480432 0.8172164 ] [-0.26826748 0.9632994 0.00931842 0.94362505] [ 0.15160565 0.03266398 0.9879012 -1.50740374] [ 0. 0. 0. 1. ]] SLAMing on 153.14629675700002 meters Centerline goodness : 0.777955 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.51 [[ 0.95081335 0.26885507 -0.15385357 0.81626739] [-0.2703189 0.96269945 0.0117242 0.9442253 ] [ 0.15126686 0.03044201 0.9880241 -1.50674569] [ 0. 0. 0. 1. ]] SLAMing on 153.17629675700002 meters Centerline goodness : 0.777955 Centerline is valid? [False, False] Translation: X:0.82, Y:0.94, Z:-1.51 [[ 0.95081335 0.26885507 -0.15385357 0.81626739] [-0.2703189 0.96269945 0.0117242 0.9442253 ] [ 0.15126686 0.03044201 0.9880241 -1.50674569] [ 0. 0. 0. 1. ]] SLAMing on 153.20629675700002 meters Centerline goodness : 0.779517 Centerline is valid? [False, False] Translation: X:0.82, Y:0.95, Z:-1.51 [[ 0.94996098 0.2717155 -0.15409356 0.82083735] [-0.27291014 0.96194112 0.01376 0.94544462] [ 0.15196774 0.02898223 0.98796044 -1.50906935] [ 0. 0. 0. 1. ]] SLAMing on 153.23629675700002 meters Centerline goodness : 0.779474 Centerline is valid? [False, False] Translation: X:0.82, Y:0.95, Z:-1.51 [[ 0.9493694 0.27448392 -0.15282776 0.82039573] [-0.27522052 0.96123544 0.01673606 0.94597984] [ 0.15149724 0.02617263 0.98811112 -1.5093666 ] [ 0. 0. 0. 1. ]] SLAMing on 153.26629675700002 meters Centerline goodness : 0.777368 Centerline is valid? [False, False] Translation: X:0.82, Y:0.95, Z:-1.51 [[ 0.94840573 0.27703833 -0.15419574 0.82335939] [-0.27802383 0.96044791 0.01557431 0.94723071] [ 0.15241166 0.02809932 0.98791756 -1.5084921 ] [ 0. 0. 0. 1. ]] SLAMing on 153.29629675700002 meters Centerline goodness : 0.779950 Centerline is valid? [False, False] Translation: X:0.82, Y:0.95, Z:-1.51 [[ 0.94766931 0.27915756 -0.15489977 0.82448353] [-0.28018506 0.95981908 0.01560993 0.9475168 ] [ 0.15303338 0.02860755 0.98780686 -1.50717188] [ 0. 0. 0. 1. ]] SLAMing on 153.32629675700002 meters Centerline goodness : 0.781330 Centerline is valid? [False, False] Translation: X:0.83, Y:0.95, Z:-1.51 [[ 0.94691398 0.28068396 -0.15674959 0.82874132] [-0.28193502 0.95932149 0.01465994 0.94728938] [ 0.15448807 0.0303115 0.98752957 -1.50720649] [ 0. 0. 0. 1. ]] SLAMing on 153.35629675700002 meters Centerline goodness : 0.780379 Centerline is valid? [False, False] Translation: X:0.83, Y:0.95, Z:-1.51 [[ 0.94533219 0.28542321 -0.15773598 0.83318777] [-0.2864139 0.9579568 0.01690688 0.94691771] [ 0.15592987 0.02919516 0.98733658 -1.50738949] [ 0. 0. 0. 1. ]] SLAMing on 153.38629675700003 meters Centerline goodness : 0.783893 Centerline is valid? [False, False] Translation: X:0.84, Y:0.95, Z:-1.51 [[ 0.9443909 0.28789207 -0.15888354 0.837143 ] [-0.28888312 0.95720746 0.01733247 0.9471814 ] [ 0.15707439 0.02953014 0.98714518 -1.50790018] [ 0. 0. 0. 1. ]] SLAMing on 153.41629675700003 meters Centerline goodness : 0.785761 Centerline is valid? [False, False] Translation: X:0.84, Y:0.95, Z:-1.51 [[ 0.9440495 0.28828975 -0.16018603 0.84026581] [-0.28941268 0.95705712 0.01679211 0.94640473] [ 0.15814818 0.03050728 0.986944 -1.50839824] [ 0. 0. 0. 1. ]] SLAMing on 153.44629675700003 meters Centerline goodness : 0.787731 Centerline is valid? [False, False] Translation: X:0.84, Y:0.95, Z:-1.51 [[ 0.94386023 0.28823989 -0.16138662 0.84154991] [-0.28955357 0.95703074 0.0158398 0.94557188] [ 0.15901762 0.03177952 0.98676414 -1.50738866] [ 0. 0. 0. 1. ]] SLAMing on 153.47629675700003 meters Centerline goodness : 0.789448 Centerline is valid? [False, False] Translation: X:0.84, Y:0.94, Z:-1.51 [[ 0.94388912 0.28746527 -0.16259472 0.8438499 ] [-0.28893243 0.95723086 0.0150709 0.94423641] [ 0.15997304 0.03275363 0.98657784 -1.50784476] [ 0. 0. 0. 1. ]] SLAMing on 153.50629675700003 meters Centerline goodness : 0.786564 Centerline is valid? [False, False] Translation: X:0.84, Y:0.94, Z:-1.51 [[ 0.94451883 0.28534187 -0.1626782 0.84444608] [-0.28686194 0.95786102 0.01457697 0.94345354] [ 0.15998253 0.03289796 0.98657149 -1.50899056] [ 0. 0. 0. 1. ]] SLAMing on 153.53629675700003 meters Centerline goodness : 0.785456 Centerline is valid? [False, False] Translation: X:0.84, Y:0.94, Z:-1.51 [[ 0.94468218 0.28485062 -0.16259063 0.84457128] [-0.28633 0.95801726 0.01476694 0.94326884] [ 0.159971 0.03260451 0.98658311 -1.50940155] [ 0. 0. 0. 1. ]] SLAMing on 153.56629675700003 meters Centerline goodness : 0.786294 Centerline is valid? [False, False] Translation: X:0.84, Y:0.94, Z:-1.51 [[ 0.94500859 0.28401078 -0.16216242 0.84420083] [-0.28543411 0.9582817 0.01495194 0.94387383] [ 0.1596438 0.03215697 0.98665079 -1.50972889] [ 0. 0. 0. 1. ]] SLAMing on 153.59629675700003 meters Centerline goodness : 0.785927 Centerline is valid? [False, False] Translation: X:0.84, Y:0.94, Z:-1.51 [[ 0.94502025 0.28381103 -0.16244393 0.84445879] [-0.28527095 0.95833316 0.01476629 0.94398612] [ 0.15986624 0.03238609 0.98660728 -1.50932672] [ 0. 0. 0. 1. ]] SLAMing on 153.62629675700003 meters Centerline goodness : 0.784659 Centerline is valid? [False, False] Translation: X:0.85, Y:0.94, Z:-1.51 [[ 0.94499799 0.28490533 -0.16064793 0.85336298] [-0.2873052 0.95780059 0.00858804 0.94112956] [ 0.15631546 0.03803931 0.98697441 -1.5145107 ] [ 0. 0. 0. 1. ]] SLAMing on 153.65629675700004 meters Centerline goodness : 0.783838 Centerline is valid? [False, False] Translation: X:0.85, Y:0.94, Z:-1.51 [[ 0.94477776 0.2853935 -0.16107617 0.8541905 ] [-0.28781226 0.95764809 0.00861654 0.94104946] [ 0.15671339 0.03821898 0.98690436 -1.51415629] [ 0. 0. 0. 1. ]] SLAMing on 153.68629675700004 meters Centerline goodness : 0.782157 Centerline is valid? [False, False] Translation: X:0.86, Y:0.94, Z:-1.52 [[ 0.94464338 0.28528001 -0.16206232 0.85697884] [-0.28779379 0.95765682 0.00825518 0.94061766] [ 0.15755512 0.03884233 0.98674599 -1.51501951] [ 0. 0. 0. 1. ]] SLAMing on 153.71629675700004 meters Centerline goodness : 0.782193 Centerline is valid? [False, False] Translation: X:0.86, Y:0.94, Z:-1.52 [[ 0.94407109 0.2879877 -0.16060153 0.85643387] [-0.28991912 0.9569785 0.01179182 0.94016781] [ 0.15708811 0.03542914 0.98694889 -1.51555984] [ 0. 0. 0. 1. ]] SLAMing on 153.746296757 meters Centerline goodness : 0.783023 Centerline is valid? [False, False] Translation: X:0.86, Y:0.94, Z:-1.51 [[ 0.94361494 0.28914966 -0.16119342 0.85741426] [-0.29104118 0.95663175 0.01227678 0.93926457] [ 0.15775257 0.03532937 0.98684647 -1.51486533] [ 0. 0. 0. 1. ]] SLAMing on 153.776296757 meters Centerline goodness : 0.781485 Centerline is valid? [False, False] Translation: X:0.86, Y:0.94, Z:-1.51 [[ 0.94335623 0.28963892 -0.16182803 0.85833518] [-0.2915914 0.95646665 0.01208323 0.93885049] [ 0.15828289 0.03578887 0.98674499 -1.51437174] [ 0. 0. 0. 1. ]] SLAMing on 153.806296757 meters Centerline goodness : 0.780550 Centerline is valid? [False, False] Translation: X:0.86, Y:0.94, Z:-1.51 [[ 0.94296506 0.29000299 -0.16344774 0.86117946] [-0.29216922 0.95630146 0.01116514 0.93834 ] [ 0.15954324 0.03722606 0.98648881 -1.51379281] [ 0. 0. 0. 1. ]] SLAMing on 153.836296757 meters Centerline goodness : 0.781628 Centerline is valid? [False, False] Translation: X:0.86, Y:0.94, Z:-1.51 [[ 0.94268318 0.29038379 -0.1643949 0.86317954] [-0.29271303 0.95614356 0.01041967 0.93822613] [ 0.16021083 0.03829808 0.98633957 -1.51376913] [ 0. 0. 0. 1. ]] SLAMing on 153.86629675700001 meters Centerline goodness : 0.778860 Centerline is valid? [False, False] Translation: X:0.86, Y:0.94, Z:-1.51 [[ 0.94197027 0.29241695 -0.16487674 0.86432115] [-0.29468973 0.95552896 0.01106225 0.93769773] [ 0.16077929 0.03816718 0.98625214 -1.51297754] [ 0. 0. 0. 1. ]] SLAMing on 153.89629675700002 meters Centerline goodness : 0.780996 Centerline is valid? [False, False] Translation: X:0.87, Y:0.94, Z:-1.51 [[ 0.94174141 0.29238154 -0.16624122 0.86767969] [-0.29481555 0.95549752 0.0104055 0.93694225] [ 0.16188545 0.03921121 0.98603021 -1.51373804] [ 0. 0. 0. 1. ]] SLAMing on 153.92629675700002 meters Centerline goodness : 0.777373 Centerline is valid? [False, False] Translation: X:0.87, Y:0.94, Z:-1.51 [[ 0.94128273 0.29366124 -0.16658301 0.86863916] [-0.29603581 0.95511391 0.0109647 0.93608611] [ 0.16232565 0.03899366 0.98596647 -1.51331904] [ 0. 0. 0. 1. ]] SLAMing on 153.95629675700002 meters Centerline goodness : 0.780779 Centerline is valid? [False, False] Translation: X:0.87, Y:0.94, Z:-1.51 [[ 0.94117382 0.29365471 -0.16720872 0.86992126] [-0.29614586 0.95508599 0.01041076 0.93570206] [ 0.16275587 0.03971984 0.98586655 -1.51342054] [ 0. 0. 0. 1. ]] SLAMing on 153.98629675700002 meters Centerline goodness : 0.779893 Centerline is valid? [False, False] Translation: X:0.87, Y:0.94, Z:-1.51 [[ 0.94100282 0.29416757 -0.16726964 0.86993944] [-0.29661003 0.95493799 0.01076651 0.93528502] [ 0.16289929 0.03948254 0.9858524 -1.51311161] [ 0. 0. 0. 1. ]] SLAMing on 154.01629675700002 meters Centerline goodness : 0.782444 Centerline is valid? [False, False] Translation: X:0.87, Y:0.93, Z:-1.51 [[ 0.94079079 0.29439583 -0.16805888 0.87158792] [-0.29691614 0.9548457 0.01051192 0.934199 ] [ 0.16356497 0.04000988 0.98572091 -1.51319761] [ 0. 0. 0. 1. ]] SLAMing on 154.04629675700002 meters Centerline goodness : 0.782127 Centerline is valid? [False, False] Translation: X:0.87, Y:0.93, Z:-1.51 [[ 0.94057544 0.29470888 -0.16871429 0.87312708] [-0.29731481 0.95472514 0.01018866 0.93352946] [ 0.16407846 0.04057806 0.98561234 -1.5134299 ] [ 0. 0. 0. 1. ]] SLAMing on 154.07629675700002 meters Centerline goodness : 0.786977 Centerline is valid? [False, False] Translation: X:0.87, Y:0.93, Z:-1.51 [[ 0.94000701 0.29623642 -0.16920642 0.87468608] [-0.29883961 0.95424595 0.01046693 0.93281083] [ 0.16456523 0.04072659 0.98552505 -1.51340659] [ 0. 0. 0. 1. ]] SLAMing on 154.10629675700002 meters Centerline goodness : 0.788551 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.93920008 0.29835098 -0.16997029 0.87650655] [-0.30097524 0.95357163 0.01072572 0.93232293] [ 0.16527887 0.04108325 0.98539082 -1.51277938] [ 0. 0. 0. 1. ]] SLAMing on 154.13629675700003 meters Centerline goodness : 0.792550 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.93878669 0.29935186 -0.17049347 0.87765651] [-0.30199207 0.95324864 0.01085446 0.93217172] [ 0.16577197 0.04129766 0.98529902 -1.51234407] [ 0. 0. 0. 1. ]] SLAMing on 154.16629675700003 meters Centerline goodness : 0.790146 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.93830149 0.30051844 -0.17111101 0.87858113] [-0.30315602 0.9528759 0.01113328 0.93153209] [ 0.16639331 0.04142696 0.98518885 -1.51159617] [ 0. 0. 0. 1. ]] SLAMing on 154.19629675700003 meters Centerline goodness : 0.793501 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.93755606 0.30240413 -0.17187314 0.88032483] [-0.3049732 0.95228654 0.01190361 0.929311 ] [ 0.16727218 0.0412564 0.98504717 -1.51141346] [ 0. 0. 0. 1. ]] SLAMing on 154.22629675700003 meters Centerline goodness : 0.793156 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.93725607 0.30282984 -0.17275749 0.88237718] [-0.30549396 0.95212326 0.01160745 0.92818838] [ 0.16800151 0.04189722 0.98489599 -1.51178949] [ 0. 0. 0. 1. ]] SLAMing on 154.25629675700003 meters Centerline goodness : 0.794091 Centerline is valid? [False, False] Translation: X:0.88, Y:0.93, Z:-1.51 [[ 0.93665729 0.30430905 -0.17340452 0.88437521] [-0.3069089 0.95165961 0.0122844 0.92656539] [ 0.16876033 0.04171312 0.98477407 -1.51205894] [ 0. 0. 0. 1. ]] SLAMing on 154.28629675700003 meters Centerline goodness : 0.792974 Centerline is valid? [False, False] Translation: X:0.89, Y:0.93, Z:-1.51 [[ 0.93645037 0.30479316 -0.17367165 0.88500599] [-0.30737839 0.9515055 0.01248192 0.92586724] [ 0.16905393 0.04169422 0.98472451 -1.51208033] [ 0. 0. 0. 1. ]] SLAMing on 154.31629675700003 meters Centerline goodness : 0.788957 Centerline is valid? [False, False] Translation: X:0.89, Y:0.92, Z:-1.52 [[ 0.93630839 0.30725051 -0.17006978 0.89298832] [-0.31061817 0.95050816 0.00711304 0.92052832] [ 0.16383819 0.04616677 0.98540635 -1.51785499] [ 0. 0. 0. 1. ]] SLAMing on 154.34629675700003 meters Centerline goodness : 0.786224 Centerline is valid? [False, False] Translation: X:0.89, Y:0.92, Z:-1.52 [[ 0.93631567 0.30667475 -0.17106594 0.89462329] [-0.31014512 0.9506654 0.00673037 0.91863593] [ 0.1646905 0.04675351 0.98523659 -1.51817116] [ 0. 0. 0. 1. ]] SLAMing on 154.37629675700003 meters Centerline goodness : 0.786027 Centerline is valid? [False, False] Translation: X:0.90, Y:0.92, Z:-1.52 [[ 0.93702361 0.30368371 -0.17251941 0.89573377] [-0.30751453 0.95153162 0.00473153 0.9160307 ] [ 0.16559456 0.04861867 0.98499475 -1.51848258] [ 0. 0. 0. 1. ]] SLAMing on 154.40629675700004 meters Centerline goodness : 0.782986 Centerline is valid? [False, False] Translation: X:0.90, Y:0.91, Z:-1.52 [[ 0.93776741 0.30068103 -0.17373315 0.89605669] [-0.30489157 0.95238361 0.00256891 0.91419138] [ 0.16623303 0.05056073 0.98478942 -1.51830219] [ 0. 0. 0. 1. ]] SLAMing on 154.43629675700004 meters Centerline goodness : 0.782787 Centerline is valid? [False, False] Translation: X:0.90, Y:0.91, Z:-1.52 [[ 9.38161134e-01 2.98732604e-01 -1.74964336e-01 8.98158103e-01] [-3.03199793e-01 9.52926181e-01 1.25658332e-03 9.12663828e-01] [ 1.67103479e-01 5.18702729e-02 9.84573970e-01 -1.51915213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46629675700004 meters Centerline goodness : 0.781593 Centerline is valid? [False, False] Translation: X:0.90, Y:0.91, Z:-1.52 [[ 9.38370189e-01 2.98077664e-01 -1.74960265e-01 8.97661742e-01] [-3.02529087e-01 9.53139284e-01 1.28746048e-03 9.11633099e-01] [ 1.67145265e-01 5.17224547e-02 9.84574653e-01 -1.51909302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.496296757 meters Centerline goodness : 0.778710 Centerline is valid? [False, False] Translation: X:0.90, Y:0.91, Z:-1.52 [[ 9.38510809e-01 2.97610549e-01 -1.75001206e-01 8.96707240e-01] [-3.02020646e-01 9.53300204e-01 1.50031276e-03 9.09632365e-01] [ 1.67275194e-01 5.14459174e-02 9.84567076e-01 -1.51849897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.526296757 meters Centerline goodness : 0.779471 Centerline is valid? [False, False] Translation: X:0.90, Y:0.91, Z:-1.52 [[ 0.93830189 0.2980936 -0.17529908 0.89665285] [-0.30246905 0.95315743 0.00184166 0.90848234] [ 0.16763661 0.05129451 0.9845135 -1.51783798] [ 0. 0. 0. 1. ]] SLAMing on 154.556296757 meters Centerline goodness : 0.778800 Centerline is valid? [False, False] Translation: X:0.90, Y:0.91, Z:-1.52 [[ 0.93766771 0.29944331 -0.17638868 0.89814748] [-0.30387364 0.95271028 0.00198553 0.90665062] [ 0.16864186 0.0517381 0.98431859 -1.51687631] [ 0. 0. 0. 1. ]] SLAMing on 154.586296757 meters Centerline goodness : 0.780264 Centerline is valid? [False, False] Translation: X:0.90, Y:0.91, Z:-1.52 [[ 0.93708145 0.30045639 -0.17777605 0.90041569] [-0.30505832 0.95233246 0.00151811 0.90592975] [ 0.16975803 0.05280947 0.9840698 -1.51612005] [ 0. 0. 0. 1. ]] SLAMing on 154.61629675700001 meters Centerline goodness : 0.776626 Centerline is valid? [False, False] Translation: X:0.90, Y:0.90, Z:-1.52 [[ 0.93553187 0.30511749 -0.17799842 0.90176731] [-0.30935308 0.9509382 0.0041473 0.90439311] [ 0.17053092 0.05118443 0.98402203 -1.51503918] [ 0. 0. 0. 1. ]] SLAMing on 154.64629675700002 meters Centerline goodness : 0.777794 Centerline is valid? [False, False] Translation: X:0.90, Y:0.90, Z:-1.51 [[ 0.93455226 0.30771873 -0.17866523 0.90351316] [-0.31187104 0.95011087 0.00507724 0.90367354] [ 0.17131414 0.05097556 0.98389682 -1.51442201] [ 0. 0. 0. 1. ]] SLAMing on 154.67629675700002 meters Centerline goodness : 0.782021 Centerline is valid? [False, False] Translation: X:0.91, Y:0.90, Z:-1.51 [[ 0.93264767 0.31242688 -0.18043773 0.90858191] [-0.31643189 0.94859011 0.00690314 0.90142859] [ 0.17331817 0.05065805 0.98356219 -1.51425631] [ 0. 0. 0. 1. ]] SLAMing on 154.70629675700002 meters Centerline goodness : 0.773906 Centerline is valid? [False, False] Translation: X:0.91, Y:0.90, Z:-1.51 [[ 0.93151597 0.31598928 -0.18007994 0.90861039] [-0.3195351 0.9475243 0.00974828 0.90016833] [ 0.17371047 0.04846118 0.98360367 -1.51320678] [ 0. 0. 0. 1. ]] SLAMing on 154.73629675700002 meters Centerline goodness : 0.778177 Centerline is valid? [False, False] Translation: X:0.91, Y:0.90, Z:-1.51 [[ 0.93129614 0.31653358 -0.1802609 0.90929698] [-0.32003543 0.94735172 0.01010128 0.89973553] [ 0.17396786 0.04828259 0.98356696 -1.51358185] [ 0. 0. 0. 1. ]] SLAMing on 154.76629675700002 meters Centerline goodness : 0.776879 Centerline is valid? [False, False] Translation: X:0.91, Y:0.90, Z:-1.51 [[ 0.93094917 0.31684654 -0.18149907 0.91244065] [-0.32040953 0.94722488 0.01013745 0.89797006] [ 0.17513245 0.04871658 0.98333886 -1.51439602] [ 0. 0. 0. 1. ]] SLAMing on 154.79629675700002 meters Centerline goodness : 0.776294 Centerline is valid? [False, False] Translation: X:0.91, Y:0.90, Z:-1.52 [[ 0.93108654 0.31606497 -0.18215598 0.91443856] [-0.31964224 0.94748377 0.01016625 0.89571046] [ 0.17580303 0.04875909 0.98321709 -1.51521894] [ 0. 0. 0. 1. ]] SLAMing on 154.82629675700002 meters Centerline goodness : 0.775234 Centerline is valid? [False, False] Translation: X:0.91, Y:0.89, Z:-1.51 [[ 0.93218019 0.31223647 -0.18316242 0.91328429] [-0.31635205 0.9486155 0.00707157 0.89468865] [ 0.17595872 0.05135183 0.98305723 -1.5145186 ] [ 0. 0. 0. 1. ]] SLAMing on 154.85629675700002 meters Centerline goodness : 0.773124 Centerline is valid? [False, False] Translation: X:0.91, Y:0.89, Z:-1.51 [[ 0.93217373 0.31225509 -0.18316358 0.91259449] [-0.31626705 0.94863934 0.00765232 0.89278305] [ 0.17614565 0.05079531 0.98305267 -1.51379676] [ 0. 0. 0. 1. ]] SLAMing on 154.88629675700003 meters Centerline goodness : 0.775236 Centerline is valid? [False, False] Translation: X:0.91, Y:0.89, Z:-1.51 [[ 0.93217201 0.31218169 -0.18329739 0.91207095] [-0.31608139 0.94869568 0.00830998 0.89076898] [ 0.17648767 0.05019057 0.98302239 -1.51280513] [ 0. 0. 0. 1. ]] SLAMing on 154.91629675700003 meters Centerline goodness : 0.774963 Centerline is valid? [False, False] Translation: X:0.91, Y:0.89, Z:-1.51 [[ 0.93329142 0.30826801 -0.1842226 0.91064911] [-0.31268561 0.94984181 0.00531446 0.88985669] [ 0.17662061 0.05264381 0.98287018 -1.51173499] [ 0. 0. 0. 1. ]] SLAMing on 154.94629675700003 meters Centerline goodness : 0.774426 Centerline is valid? [False, False] Translation: X:0.91, Y:0.89, Z:-1.51 [[ 0.93329674 0.30809915 -0.18447796 0.91082298] [-0.3124353 0.94992117 0.00582755 0.88810501] [ 0.17703499 0.05219859 0.98281937 -1.51126128] [ 0. 0. 0. 1. ]] SLAMing on 154.97629675700003 meters Centerline goodness : 0.768283 Centerline is valid? [False, False] Translation: X:0.91, Y:0.89, Z:-1.51 [[ 0.93438309 0.30414496 -0.18553726 0.91001199] [-0.30901313 0.95105362 0.00281086 0.88664055] [ 0.1773108 0.05470703 0.98263321 -1.51074659] [ 0. 0. 0. 1. ]] SLAMing on 155.00629675700003 meters Centerline goodness : 0.768797 Centerline is valid? [False, False] Translation: X:0.91, Y:0.88, Z:-1.51 [[ 0.93434514 0.30419643 -0.185644 0.90974702] [-0.30894492 0.95107345 0.00351193 0.8844561 ] [ 0.1776294 0.05407241 0.98261079 -1.51021183] [ 0. 0. 0. 1. ]] SLAMing on 155.03629675700003 meters Centerline goodness : 0.770718 Centerline is valid? [False, False] Translation: X:0.91, Y:0.88, Z:-1.51 [[ 9.35332998e-01 3.00624004e-01 -1.86486971e-01 9.08600606e-01] [-3.05865470e-01 9.52074485e-01 6.99116802e-04 8.83319140e-01] [ 1.77759659e-01 5.63860182e-02 9.82457185e-01 -1.50967694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06629675700003 meters Centerline goodness : 0.770145 Centerline is valid? [False, False] Translation: X:0.91, Y:0.88, Z:-1.51 [[ 9.35328342e-01 3.00501065e-01 -1.86708334e-01 9.08997177e-01] [-3.05679671e-01 9.52133771e-01 1.10520989e-03 8.81827816e-01] [ 1.78103427e-01 5.60392081e-02 9.82414768e-01 -1.50953393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09629675700003 meters Centerline goodness : 0.770145 Centerline is valid? [False, False] Translation: X:0.91, Y:0.88, Z:-1.51 [[ 9.35328342e-01 3.00501065e-01 -1.86708334e-01 9.08997177e-01] [-3.05679671e-01 9.52133771e-01 1.10520989e-03 8.81827816e-01] [ 1.78103427e-01 5.60392081e-02 9.82414768e-01 -1.50953393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12629675700003 meters Centerline goodness : 0.767937 Centerline is valid? [False, False] Translation: X:0.91, Y:0.88, Z:-1.51 [[ 9.35459169e-01 2.99838311e-01 -1.87117960e-01 9.10226494e-01] [-3.04959172e-01 9.52364263e-01 1.48803626e-03 8.79238717e-01] [ 1.78650628e-01 5.56713408e-02 9.82336325e-01 -1.50976859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15629675700004 meters Centerline goodness : 0.769130 Centerline is valid? [False, False] Translation: X:0.91, Y:0.88, Z:-1.51 [[ 0.93544961 0.29970113 -0.18738533 0.91089713] [-0.30477725 0.95242195 0.00180472 0.8776451 ] [ 0.17901078 0.05542256 0.98228483 -1.5099639 ] [ 0. 0. 0. 1. ]] SLAMing on 155.18629675700004 meters Centerline goodness : 0.772154 Centerline is valid? [False, False] Translation: X:0.91, Y:0.88, Z:-1.51 [[ 0.9355507 0.29910351 -0.18783499 0.91241728] [-0.30416742 0.95261659 0.00195339 0.87522643] [ 0.17951899 0.05530579 0.98219866 -1.51075051] [ 0. 0. 0. 1. ]] SLAMing on 155.21629675700004 meters Centerline goodness : 0.771343 Centerline is valid? [False, False] Translation: X:0.91, Y:0.87, Z:-1.51 [[ 0.93549753 0.29927822 -0.18782149 0.91257407] [-0.30427191 0.95258232 0.00235073 0.87361271] [ 0.17961896 0.0549497 0.98220037 -1.51109244] [ 0. 0. 0. 1. ]] SLAMing on 155.246296757 meters Centerline goodness : 0.769868 Centerline is valid? [False, False] Translation: X:0.91, Y:0.87, Z:-1.51 [[ 0.93542916 0.29943131 -0.18791803 0.91292158] [-0.3044029 0.95254005 0.00251687 0.87333061] [ 0.17975308 0.05484844 0.98218149 -1.51120764] [ 0. 0. 0. 1. ]] SLAMing on 155.276296757 meters Centerline goodness : 0.772498 Centerline is valid? [False, False] Translation: X:0.91, Y:0.87, Z:-1.51 [[ 0.93522113 0.30020344 -0.18772144 0.91245213] [-0.30508124 0.95232146 0.00304578 0.8731884 ] [ 0.17968551 0.05442181 0.98221758 -1.51105579] [ 0. 0. 0. 1. ]] SLAMing on 155.306296757 meters Centerline goodness : 0.769094 Centerline is valid? [False, False] Translation: X:0.91, Y:0.87, Z:-1.51 [[ 0.93507063 0.30077535 -0.18755558 0.911842 ] [-0.30556084 0.95216591 0.00355664 0.87270089] [ 0.17965378 0.05398393 0.98224755 -1.51072706] [ 0. 0. 0. 1. ]] SLAMing on 155.336296757 meters Centerline goodness : 0.774144 Centerline is valid? [False, False] Translation: X:0.91, Y:0.87, Z:-1.51 [[ 0.93490812 0.30138324 -0.18738984 0.91113502] [-0.30605947 0.95200329 0.00416435 0.87186695] [ 0.17965081 0.05345915 0.9822768 -1.51026815] [ 0. 0. 0. 1. ]] SLAMing on 155.36629675700001 meters Centerline goodness : 0.771406 Centerline is valid? [False, False] Translation: X:0.91, Y:0.87, Z:-1.51 [[ 0.93467949 0.30225778 -0.1871216 0.9097955 ] [-0.30676724 0.95177099 0.00508301 0.86988435] [ 0.17963329 0.05265179 0.98232361 -1.50965367] [ 0. 0. 0. 1. ]] SLAMing on 155.39629675700002 meters Centerline goodness : 0.771661 Centerline is valid? [False, False] Translation: X:0.91, Y:0.87, Z:-1.51 [[ 0.9345303 0.30279298 -0.18700142 0.90900249] [-0.30718478 0.95163255 0.00574416 0.8687191 ] [ 0.17969593 0.0520759 0.98234285 -1.50906459] [ 0. 0. 0. 1. ]] SLAMing on 155.42629675700002 meters Centerline goodness : 0.769762 Centerline is valid? [False, False] Translation: X:0.91, Y:0.87, Z:-1.51 [[ 0.93437767 0.30333946 -0.18687839 0.90801175] [-0.3075346 0.95151233 0.00683748 0.86602442] [ 0.17989117 0.05108279 0.98235926 -1.50825582] [ 0. 0. 0. 1. ]] SLAMing on 155.45629675700002 meters Centerline goodness : 0.771782 Centerline is valid? [False, False] Translation: X:0.91, Y:0.86, Z:-1.51 [[ 0.9344108 0.30317177 -0.18698488 0.90803249] [-0.30722672 0.95160587 0.00761596 0.86286966] [ 0.18024486 0.05033031 0.98233327 -1.50797774] [ 0. 0. 0. 1. ]] SLAMing on 155.48629675700002 meters Centerline goodness : 0.771242 Centerline is valid? [False, False] Translation: X:0.91, Y:0.86, Z:-1.51 [[ 0.93441769 0.30302885 -0.18718201 0.90838137] [-0.30701079 0.95167195 0.00805492 0.86085935] [ 0.18057674 0.04994023 0.98229222 -1.50794494] [ 0. 0. 0. 1. ]] SLAMing on 155.51629675700002 meters Centerline goodness : 0.772132 Centerline is valid? [False, False] Translation: X:0.91, Y:0.86, Z:-1.51 [[ 0.93441558 0.30293699 -0.18734116 0.90844771] [-0.30682275 0.9517277 0.00861294 0.85876431] [ 0.18090695 0.04943247 0.98225715 -1.50762934] [ 0. 0. 0. 1. ]] SLAMing on 155.54629675700002 meters Centerline goodness : 0.770203 Centerline is valid? [False, False] Translation: X:0.91, Y:0.86, Z:-1.51 [[ 0.93562057 0.29847442 -0.18848651 0.9083035 ] [-0.30296079 0.95298865 0.00523317 0.85762756] [ 0.18118748 0.05220776 0.98206184 -1.50748577] [ 0. 0. 0. 1. ]] SLAMing on 155.57629675700002 meters Centerline goodness : 0.771397 Centerline is valid? [False, False] Translation: X:0.91, Y:0.86, Z:-1.51 [[ 0.93567326 0.29814657 -0.18874368 0.90863044] [-0.30253762 0.95311985 0.00579125 0.85539007] [ 0.18162199 0.05168335 0.98200931 -1.5069898 ] [ 0. 0. 0. 1. ]] SLAMing on 155.60629675700002 meters Centerline goodness : 0.769856 Centerline is valid? [False, False] Translation: X:0.91, Y:0.85, Z:-1.51 [[ 0.93681513 0.2939665 -0.18963416 0.90757188] [-0.29893253 0.9542709 0.00252674 0.85387951] [ 0.18170513 0.05432073 0.98185157 -1.50663774] [ 0. 0. 0. 1. ]] SLAMing on 155.63629675700003 meters Centerline goodness : 0.769427 Centerline is valid? [False, False] Translation: X:0.91, Y:0.85, Z:-1.51 [[ 0.93678544 0.29396011 -0.18979064 0.90740417] [-0.29880368 0.95430912 0.00323454 0.85201292] [ 0.18206976 0.05368007 0.98181926 -1.50584079] [ 0. 0. 0. 1. ]] SLAMing on 155.66629675700003 meters Centerline goodness : 0.768921 Centerline is valid? [False, False] Translation: X:0.91, Y:0.85, Z:-1.50 [[ 9.37653535e-01 2.90811875e-01 -1.90353096e-01 9.05631437e-01] [-2.96110556e-01 9.55153462e-01 6.34924970e-04 8.52187576e-01] [ 1.82001062e-01 5.57702214e-02 9.81715486e-01 -1.50466029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69629675700003 meters Centerline goodness : 0.770466 Centerline is valid? [False, False] Translation: X:0.91, Y:0.85, Z:-1.50 [[ 9.37629841e-01 2.90927240e-01 -1.90293516e-01 9.05236524e-01] [-2.96143022e-01 9.55143002e-01 1.07508948e-03 8.51210769e-01] [ 1.82070293e-01 5.53460608e-02 9.81726653e-01 -1.50420499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72629675700003 meters Centerline goodness : 0.769717 Centerline is valid? [False, False] Translation: X:0.90, Y:0.85, Z:-1.50 [[ 0.93755199 0.2911634 -0.19031589 0.90496664] [-0.29629301 0.9550958 0.00157023 0.85030498] [ 0.1822271 0.05491709 0.98172165 -1.50367848] [ 0. 0. 0. 1. ]] SLAMing on 155.75629675700003 meters Centerline goodness : 0.768240 Centerline is valid? [False, False] Translation: X:0.91, Y:0.85, Z:-1.50 [[ 0.93747751 0.29130494 -0.19046616 0.9056413 ] [-0.2964548 0.95504567 0.0015216 0.85075704] [ 0.18234713 0.05503814 0.98169258 -1.50397696] [ 0. 0. 0. 1. ]] SLAMing on 155.78629675700003 meters Centerline goodness : 0.767614 Centerline is valid? [False, False] Translation: X:0.91, Y:0.85, Z:-1.50 [[ 9.37405658e-01 2.91470945e-01 -1.90565789e-01 9.06109871e-01] [-2.96634300e-01 9.54989975e-01 1.49638201e-03 8.51249046e-01] [ 1.82424570e-01 5.51256324e-02 9.81673286e-01 -1.50415746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81629675700003 meters Centerline goodness : 0.766651 Centerline is valid? [False, False] Translation: X:0.91, Y:0.85, Z:-1.50 [[ 9.37362160e-01 2.91470826e-01 -1.90779817e-01 9.06912893e-01] [-2.96683788e-01 9.54974896e-01 1.29555274e-03 8.52145183e-01] [ 1.82567551e-01 5.53868766e-02 9.81632000e-01 -1.50438567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84629675700003 meters Centerline goodness : 0.765242 Centerline is valid? [False, False] Translation: X:0.89, Y:0.86, Z:-1.50 [[ 0.93643834 0.2932889 -0.19252234 0.89121695] [-0.29685168 0.95486321 0.01073897 0.8556096 ] [ 0.18698212 0.04709419 0.98123383 -1.50337499] [ 0. 0. 0. 1. ]] SLAMing on 155.87629675700003 meters Centerline goodness : 0.766621 Centerline is valid? [False, False] Translation: X:0.89, Y:0.86, Z:-1.50 [[ 0.93631779 0.29371742 -0.19245537 0.89085602] [-0.29725872 0.95473499 0.01087871 0.85620677] [ 0.18693914 0.04702311 0.98124543 -1.50305036] [ 0. 0. 0. 1. ]] SLAMing on 155.90629675700004 meters Centerline goodness : 0.766945 Centerline is valid? [False, False] Translation: X:0.89, Y:0.86, Z:-1.50 [[ 0.93603703 0.29482424 -0.19212845 0.88981862] [-0.29832849 0.95439867 0.01110374 0.85750358] [ 0.18664079 0.04692388 0.98130697 -1.50278076] [ 0. 0. 0. 1. ]] SLAMing on 155.93629675700004 meters Centerline goodness : 0.763791 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.9356166 0.29553186 -0.19308678 0.87133201] [-0.29782812 0.95445527 0.01770712 0.86241633] [ 0.18952572 0.0409396 0.98102189 -1.50338618] [ 0. 0. 0. 1. ]] SLAMing on 155.96629675700004 meters Centerline goodness : 0.761307 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93460477 0.29914259 -0.19242565 0.87291975] [-0.30080565 0.9534494 0.02121821 0.86214781] [ 0.18981539 0.03805209 0.98108214 -1.50347315] [ 0. 0. 0. 1. ]] SLAMing on 155.996296757 meters Centerline goodness : 0.759247 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93450508 0.29949588 -0.19236028 0.87264871] [-0.30110908 0.95334731 0.02149939 0.86249511] [ 0.18982513 0.03783014 0.98108883 -1.50301917] [ 0. 0. 0. 1. ]] SLAMing on 156.026296757 meters Centerline goodness : 0.758723 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93445371 0.2995714 -0.1924922 0.87259731] [-0.30113096 0.95333332 0.02181104 0.86175907] [ 0.1900432 0.03758396 0.98105608 -1.50257896] [ 0. 0. 0. 1. ]] SLAMing on 156.056296757 meters Centerline goodness : 0.758066 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.9344165 0.29980302 -0.19231213 0.87155771] [-0.30119823 0.95329257 0.02264754 0.86010744] [ 0.19011953 0.03676184 0.98107244 -1.50138234] [ 0. 0. 0. 1. ]] SLAMing on 156.086296757 meters Centerline goodness : 0.758424 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93438946 0.2998151 -0.19242462 0.87171552] [-0.30115417 0.953299 0.02296045 0.85945534] [ 0.19032209 0.03649547 0.98104311 -1.50109353] [ 0. 0. 0. 1. ]] SLAMing on 156.11629675700001 meters Centerline goodness : 0.759174 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.9343836 0.29973941 -0.19257096 0.87213659] [-0.3010484 0.95332816 0.02313609 0.85928139] [ 0.19051812 0.0363552 0.98101027 -1.50089921] [ 0. 0. 0. 1. ]] SLAMing on 156.14629675700002 meters Centerline goodness : 0.760776 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.9343791 0.29967097 -0.19269927 0.87251387] [-0.30092656 0.95335948 0.02342856 0.85882956] [ 0.19073254 0.03609718 0.98097813 -1.50059299] [ 0. 0. 0. 1. ]] SLAMing on 156.17629675700002 meters Centerline goodness : 0.763855 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.9343228 0.29985731 -0.19268236 0.87179429] [-0.30100893 0.95331979 0.02397939 0.85777945] [ 0.19087831 0.03559462 0.98096814 -1.49951412] [ 0. 0. 0. 1. ]] SLAMing on 156.20629675700002 meters Centerline goodness : 0.766168 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93428399 0.29996489 -0.19270315 0.87146596] [-0.30105584 0.95329669 0.0243062 0.85746043] [ 0.19099428 0.03530552 0.98095602 -1.4988087 ] [ 0. 0. 0. 1. ]] SLAMing on 156.23629675700002 meters Centerline goodness : 0.766782 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93421311 0.30022525 -0.1926413 0.87089063] [-0.30126566 0.95322335 0.02458139 0.85792338] [ 0.19101014 0.03507195 0.98096131 -1.49791484] [ 0. 0. 0. 1. ]] SLAMing on 156.26629675700002 meters Centerline goodness : 0.766366 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93421719 0.30008043 -0.19284701 0.87156213] [-0.30113918 0.95326514 0.02451068 0.85842179] [ 0.19118951 0.03517549 0.98092266 -1.49784878] [ 0. 0. 0. 1. ]] SLAMing on 156.29629675700002 meters Centerline goodness : 0.764950 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93428596 0.29976326 -0.19300707 0.87210197] [-0.30082849 0.95336416 0.02447428 0.85902187] [ 0.19134251 0.03519605 0.98089208 -1.49746744] [ 0. 0. 0. 1. ]] SLAMing on 156.32629675700002 meters Centerline goodness : 0.764862 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93427731 0.29972278 -0.19311179 0.87216875] [-0.30075125 0.95338328 0.02467802 0.85856459] [ 0.19150612 0.0350225 0.98086637 -1.49710689] [ 0. 0. 0. 1. ]] SLAMing on 156.35629675700002 meters Centerline goodness : 0.764863 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93502968 0.29694089 -0.19376688 0.85693419] [-0.29684331 0.95444764 0.03022817 0.86295293] [ 0.19391632 0.02925416 0.98058179 -1.49729403] [ 0. 0. 0. 1. ]] SLAMing on 156.38629675700003 meters Centerline goodness : 0.765486 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93509548 0.29656651 -0.19402253 0.85780591] [-0.29646929 0.95456394 0.03022639 0.86253823] [ 0.19417105 0.02925716 0.9805313 -1.49727427] [ 0. 0. 0. 1. ]] SLAMing on 156.41629675700003 meters Centerline goodness : 0.765801 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93509647 0.29633564 -0.19437024 0.85938977] [-0.29634018 0.95461924 0.02974241 0.86402005] [ 0.1943633 0.02978769 0.98047723 -1.4979617 ] [ 0. 0. 0. 1. ]] SLAMing on 156.44629675700003 meters Centerline goodness : 0.767069 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93506712 0.29629631 -0.19457128 0.86023499] [-0.29634923 0.95462315 0.02952593 0.86499414] [ 0.19449067 0.03005232 0.9804439 -1.49820951] [ 0. 0. 0. 1. ]] SLAMing on 156.47629675700003 meters Centerline goodness : 0.767535 Centerline is valid? [False, False] Translation: X:0.86, Y:0.87, Z:-1.50 [[ 0.93489441 0.29693662 -0.19442503 0.8601534 ] [-0.2970046 0.95442043 0.02949436 0.86636652] [ 0.19432117 0.03017101 0.98047386 -1.49839315] [ 0. 0. 0. 1. ]] SLAMing on 156.50629675700003 meters Centerline goodness : 0.769062 Centerline is valid? [False, False] Translation: X:0.86, Y:0.87, Z:-1.50 [[ 0.93481163 0.29724952 -0.19434492 0.86012663] [-0.29732783 0.95432077 0.02946243 0.86706264] [ 0.19422509 0.03024233 0.9804907 -1.49850427] [ 0. 0. 0. 1. ]] SLAMing on 156.53629675700003 meters Centerline goodness : 0.767668 Centerline is valid? [False, False] Translation: X:0.86, Y:0.87, Z:-1.50 [[ 0.93363622 0.30149537 -0.19345272 0.86126184] [-0.30087413 0.95308214 0.0333046 0.86656275] [ 0.19441752 0.02711053 0.98054416 -1.49860198] [ 0. 0. 0. 1. ]] SLAMing on 156.56629675700003 meters Centerline goodness : 0.769034 Centerline is valid? [False, False] Translation: X:0.86, Y:0.87, Z:-1.50 [[ 0.93353509 0.30203339 -0.19310118 0.86097065] [-0.30140825 0.95291245 0.0333307 0.86740053] [ 0.19407551 0.02708691 0.98061256 -1.49899462] [ 0. 0. 0. 1. ]] SLAMing on 156.59629675700003 meters Centerline goodness : 0.768303 Centerline is valid? [False, False] Translation: X:0.86, Y:0.87, Z:-1.50 [[ 0.93338712 0.30281894 -0.19258549 0.86010597] [-0.30215945 0.9526681 0.03351348 0.86796773] [ 0.19361857 0.02691048 0.98070774 -1.49921171] [ 0. 0. 0. 1. ]] SLAMing on 156.62629675700003 meters Centerline goodness : 0.768840 Centerline is valid? [False, False] Translation: X:0.86, Y:0.87, Z:-1.50 [[ 0.93334297 0.30300955 -0.19249966 0.85987889] [-0.30230914 0.95261302 0.03372857 0.86783271] [ 0.19359776 0.02671409 0.98071722 -1.49898785] [ 0. 0. 0. 1. ]] SLAMing on 156.65629675700004 meters Centerline goodness : 0.768851 Centerline is valid? [False, False] Translation: X:0.86, Y:0.87, Z:-1.50 [[ 0.93331027 0.30332006 -0.19216886 0.85888064] [-0.3024956 0.95253185 0.03434357 0.86667201] [ 0.19346406 0.02607703 0.98076075 -1.49829272] [ 0. 0. 0. 1. ]] SLAMing on 156.68629675700004 meters Centerline goodness : 0.770796 Centerline is valid? [False, False] Translation: X:0.86, Y:0.87, Z:-1.50 [[ 0.93330891 0.30335571 -0.19211923 0.85872247] [-0.30245187 0.95253126 0.03474289 0.86570097] [ 0.19353903 0.02568097 0.98075641 -1.49792622] [ 0. 0. 0. 1. ]] SLAMing on 156.71629675700004 meters Centerline goodness : 0.773846 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93345752 0.30300972 -0.19194315 0.85836133] [-0.30200224 0.95265682 0.03520843 0.86419093] [ 0.19352445 0.02510169 0.98077428 -1.49719155] [ 0. 0. 0. 1. ]] SLAMing on 156.746296757 meters Centerline goodness : 0.774171 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93352914 0.30272194 -0.1920489 0.85882715] [-0.30168973 0.95275179 0.03531763 0.86359314] [ 0.19366636 0.02496915 0.98074965 -1.4971463 ] [ 0. 0. 0. 1. ]] SLAMing on 156.776296757 meters Centerline goodness : 0.776972 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93381776 0.30164148 -0.19234557 0.86065995] [-0.30063066 0.95309322 0.03513574 0.86245663] [ 0.19392165 0.0250146 0.98069805 -1.49777496] [ 0. 0. 0. 1. ]] SLAMing on 156.806296757 meters Centerline goodness : 0.778692 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93391866 0.30110752 -0.19269199 0.86192842] [-0.30009376 0.95326224 0.03514032 0.86159002] [ 0.19426702 0.02500746 0.98062988 -1.49805837] [ 0. 0. 0. 1. ]] SLAMing on 156.836296757 meters Centerline goodness : 0.778986 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93423838 0.29997923 -0.19290184 0.86366961] [-0.29900206 0.95361532 0.03486534 0.86043695] [ 0.19441303 0.02510551 0.98059843 -1.49882328] [ 0. 0. 0. 1. ]] SLAMing on 156.86629675700001 meters Centerline goodness : 0.779515 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93433445 0.29961197 -0.19300726 0.86431388] [-0.29864243 0.95373031 0.03480231 0.86009527] [ 0.19450406 0.02512316 0.98057993 -1.49905732] [ 0. 0. 0. 1. ]] SLAMing on 156.89629675700002 meters Centerline goodness : 0.778845 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93444516 0.29927172 -0.19299917 0.86482199] [-0.29831736 0.95383616 0.03468913 0.85994396] [ 0.19447106 0.02515991 0.98058553 -1.49934321] [ 0. 0. 0. 1. ]] SLAMing on 156.92629675700002 meters Centerline goodness : 0.780806 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93464929 0.2986066 -0.19304095 0.86563427] [-0.29766177 0.95404502 0.034577 0.85986808] [ 0.19449468 0.02514355 0.98058127 -1.49924255] [ 0. 0. 0. 1. ]] SLAMing on 156.95629675700002 meters Centerline goodness : 0.781206 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93471493 0.29870728 -0.19256677 0.865013 ] [-0.29774263 0.95401804 0.03462518 0.86022344] [ 0.19405496 0.02497067 0.9806728 -1.49909648] [ 0. 0. 0. 1. ]] SLAMing on 156.98629675700002 meters Centerline goodness : 0.781206 Centerline is valid? [False, False] Translation: X:0.87, Y:0.86, Z:-1.50 [[ 0.93471493 0.29870728 -0.19256677 0.865013 ] [-0.29774263 0.95401804 0.03462518 0.86022344] [ 0.19405496 0.02497067 0.9806728 -1.49909648] [ 0. 0. 0. 1. ]] SLAMing on 157.01629675700002 meters Centerline goodness : 0.779863 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93472662 0.29878077 -0.19239592 0.86488743] [-0.29784018 0.95399254 0.03448865 0.86114469] [ 0.19384882 0.02506577 0.98071114 -1.49911002] [ 0. 0. 0. 1. ]] SLAMing on 157.04629675700002 meters Centerline goodness : 0.781230 Centerline is valid? [False, False] Translation: X:0.86, Y:0.86, Z:-1.50 [[ 0.93456432 0.29951086 -0.19204889 0.86478829] [-0.29863284 0.95375504 0.03420168 0.86415205] [ 0.19341137 0.02538843 0.98078921 -1.49936204] [ 0. 0. 0. 1. ]] SLAMing on 157.07629675700002 meters Centerline goodness : 0.782070 Centerline is valid? [False, False] Translation: X:0.86, Y:0.87, Z:-1.50 [[ 0.93445828 0.29993835 -0.19189764 0.8649269 ] [-0.29911273 0.95361329 0.03395989 0.86614166] [ 0.19318201 0.02566493 0.98082721 -1.4996629 ] [ 0. 0. 0. 1. ]] SLAMing on 157.10629675700002 meters Centerline goodness : 0.780611 Centerline is valid? [False, False] Translation: X:0.87, Y:0.87, Z:-1.50 [[ 0.93325198 0.30439598 -0.19074546 0.86614521] [-0.30301143 0.95226395 0.03711383 0.86802915] [ 0.19293733 0.0231615 0.98093768 -1.50067765] [ 0. 0. 0. 1. ]] SLAMing on 157.13629675700003 meters Centerline goodness : 0.778850 Centerline is valid? [False, False] Translation: X:0.87, Y:0.87, Z:-1.50 [[ 0.93318234 0.30449727 -0.19092445 0.86732257] [-0.30321121 0.95221849 0.0366458 0.87013009] [ 0.19296033 0.02369322 0.98092046 -1.50136228] [ 0. 0. 0. 1. ]] SLAMing on 157.16629675700003 meters Centerline goodness : 0.778763 Centerline is valid? [False, False] Translation: X:0.87, Y:0.87, Z:-1.50 [[ 0.93202486 0.30857379 -0.19003126 0.86945898] [-0.30673907 0.95096321 0.03975073 0.87092316] [ 0.19297877 0.02124134 0.98097299 -1.50284368] [ 0. 0. 0. 1. ]] SLAMing on 157.19629675700003 meters Centerline goodness : 0.779035 Centerline is valid? [False, False] Translation: X:0.85, Y:0.88, Z:-1.51 [[ 0.93339189 0.30716644 -0.18554879 0.85109293] [-0.304972 0.95147916 0.04098154 0.87902296] [ 0.18913397 0.01833535 0.9817801 -1.50915503] [ 0. 0. 0. 1. ]] SLAMing on 157.22629675700003 meters Centerline goodness : 0.780505 Centerline is valid? [False, False] Translation: X:0.85, Y:0.88, Z:-1.51 [[ 0.9333523 0.30747246 -0.18524083 0.85112938] [-0.3053157 0.95137734 0.04078591 0.88027948] [ 0.18877447 0.01848931 0.9818464 -1.50969775] [ 0. 0. 0. 1. ]] SLAMing on 157.25629675700003 meters Centerline goodness : 0.781875 Centerline is valid? [False, False] Translation: X:0.85, Y:0.88, Z:-1.51 [[ 0.93351285 0.30753274 -0.18432953 0.8498966 ] [-0.30544425 0.9513549 0.04034433 0.88126413] [ 0.18777 0.01864045 0.98203613 -1.51032844] [ 0. 0. 0. 1. ]] SLAMing on 157.28629675700003 meters Centerline goodness : 0.782880 Centerline is valid? [False, False] Translation: X:0.85, Y:0.88, Z:-1.51 [[ 0.93354598 0.30740045 -0.18438238 0.85082608] [-0.30536566 0.95139233 0.04005561 0.88133861] [ 0.18773309 0.0189103 0.98203803 -1.5110595 ] [ 0. 0. 0. 1. ]] SLAMing on 157.31629675700003 meters Centerline goodness : 0.783895 Centerline is valid? [False, False] Translation: X:0.85, Y:0.88, Z:-1.51 [[ 0.93370554 0.30693333 -0.18435262 0.85129281] [-0.30492593 0.95154146 0.03986256 0.8812553 ] [ 0.18765431 0.018994 0.98205147 -1.5112353 ] [ 0. 0. 0. 1. ]] SLAMing on 157.34629675700003 meters Centerline goodness : 0.786381 Centerline is valid? [False, False] Translation: X:0.85, Y:0.88, Z:-1.51 [[ 0.93487716 0.3029608 -0.18498502 0.85028646] [-0.30160535 0.95274846 0.03611903 0.88273098] [ 0.18718684 0.02202561 0.98207737 -1.51112755] [ 0. 0. 0. 1. ]] SLAMing on 157.37629675700003 meters Centerline goodness : 0.785922 Centerline is valid? [False, False] Translation: X:0.85, Y:0.88, Z:-1.51 [[ 0.93497898 0.30261214 -0.18504106 0.85060777] [-0.30123731 0.9528621 0.03619243 0.88193085] [ 0.18727088 0.02190211 0.98206411 -1.51110346] [ 0. 0. 0. 1. ]] SLAMing on 157.40629675700004 meters Centerline goodness : 0.789759 Centerline is valid? [False, False] Translation: X:0.85, Y:0.88, Z:-1.51 [[ 0.93515785 0.30205023 -0.18505526 0.85114081] [-0.3006826 0.9530408 0.03610003 0.88137682] [ 0.18726923 0.02188367 0.98206483 -1.51127327] [ 0. 0. 0. 1. ]] SLAMing on 157.43629675700004 meters Centerline goodness : 0.789086 Centerline is valid? [False, False] Translation: X:0.85, Y:0.88, Z:-1.51 [[ 0.9351665 0.30203964 -0.18502884 0.85138433] [-0.30065123 0.95304672 0.03620478 0.88164124] [ 0.18727641 0.02177165 0.98206596 -1.51119975] [ 0. 0. 0. 1. ]] SLAMing on 157.46629675700004 meters Centerline goodness : 0.788811 Centerline is valid? [False, False] Translation: X:0.85, Y:0.88, Z:-1.51 [[ 0.93515741 0.30226098 -0.18471306 0.8510372 ] [-0.3008528 0.95297974 0.03629336 0.88229414] [ 0.18699787 0.02163143 0.98212213 -1.51108707] [ 0. 0. 0. 1. ]] SLAMing on 157.496296757 meters Centerline goodness : 0.786794 Centerline is valid? [False, False] Translation: X:0.85, Y:0.88, Z:-1.51 [[ 0.9350957 0.30252883 -0.18458696 0.85074569] [-0.30110362 0.95289665 0.0363948 0.88274897] [ 0.18690277 0.02154718 0.98214208 -1.51087399] [ 0. 0. 0. 1. ]] SLAMing on 157.526296757 meters Centerline goodness : 0.789389 Centerline is valid? [False, False] Translation: X:0.85, Y:0.89, Z:-1.51 [[ 0.93489103 0.30341806 -0.1841636 0.84977614] [-0.30201408 0.95261125 0.0363221 0.88511704] [ 0.1864571 0.02166279 0.98222425 -1.51053627] [ 0. 0. 0. 1. ]] SLAMing on 157.556296757 meters Centerline goodness : 0.789663 Centerline is valid? [False, False] Translation: X:0.85, Y:0.89, Z:-1.51 [[ 0.93476694 0.30392469 -0.18395803 0.84947708] [-0.30255164 0.95244587 0.03618511 0.88690019] [ 0.18620762 0.02183216 0.98226782 -1.51050916] [ 0. 0. 0. 1. ]] SLAMing on 157.586296757 meters Centerline goodness : 0.789328 Centerline is valid? [False, False] Translation: X:0.85, Y:0.89, Z:-1.51 [[ 0.9334794 0.30854819 -0.18279557 0.84996199] [-0.30659035 0.9510174 0.03960121 0.88862466] [ 0.18606065 0.01907645 0.98235305 -1.51060832] [ 0. 0. 0. 1. ]] SLAMing on 157.61629675700001 meters Centerline goodness : 0.787957 Centerline is valid? [False, False] Translation: X:0.85, Y:0.89, Z:-1.51 [[ 0.93326766 0.30931888 -0.1825741 0.84970256] [-0.3073795 0.95076448 0.03955689 0.89092022] [ 0.18582067 0.01920237 0.98239602 -1.51054768] [ 0. 0. 0. 1. ]] SLAMing on 157.64629675700002 meters Centerline goodness : 0.786310 Centerline is valid? [False, False] Translation: X:0.85, Y:0.89, Z:-1.51 [[ 0.93190754 0.31397109 -0.18157778 0.85091276] [-0.31149607 0.94928529 0.04275083 0.89306965] [ 0.18579165 0.01672094 0.98244688 -1.51121394] [ 0. 0. 0. 1. ]] SLAMing on 157.67629675700002 meters Centerline goodness : 0.786715 Centerline is valid? [False, False] Translation: X:0.85, Y:0.90, Z:-1.51 [[ 0.93172798 0.31450531 -0.18157475 0.85135951] [-0.31209312 0.94910174 0.04247089 0.89544999] [ 0.18569023 0.01709692 0.98245958 -1.51148588] [ 0. 0. 0. 1. ]] SLAMing on 157.70629675700002 meters Centerline goodness : 0.786909 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.52 [[ 0.93075003 0.31769754 -0.18103219 0.83265596] [-0.31486574 0.94807094 0.04495613 0.90558366] [ 0.18591381 0.01515791 0.98244913 -1.51945875] [ 0. 0. 0. 1. ]] SLAMing on 157.73629675700002 meters Centerline goodness : 0.788251 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.52 [[ 0.93055985 0.31820752 -0.18111417 0.83331011] [-0.31544612 0.94789288 0.04464116 0.90792476] [ 0.18588198 0.01559049 0.98244838 -1.51983292] [ 0. 0. 0. 1. ]] SLAMing on 157.76629675700002 meters Centerline goodness : 0.789433 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.52 [[ 0.92920576 0.3226258 -0.18024772 0.83462968] [-0.31928559 0.94643884 0.04806484 0.90923108] [ 0.1861004 0.01288838 0.9824462 -1.520084 ] [ 0. 0. 0. 1. ]] SLAMing on 157.79629675700002 meters Centerline goodness : 0.787681 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.52 [[ 0.92909354 0.32295002 -0.18024562 0.8348392 ] [-0.31964585 0.94632528 0.04790617 0.91043086] [ 0.18604229 0.01310545 0.98245433 -1.52024348] [ 0. 0. 0. 1. ]] SLAMing on 157.82629675700002 meters Centerline goodness : 0.788719 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.52 [[ 0.92886563 0.32388925 -0.17973421 0.83357938] [-0.32055107 0.94600709 0.04814143 0.91197676] [ 0.18562233 0.01289707 0.98253652 -1.51973308] [ 0. 0. 0. 1. ]] SLAMing on 157.85629675700002 meters Centerline goodness : 0.787785 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.52 [[ 0.92881112 0.32410716 -0.1796231 0.83309859] [-0.32074105 0.94593447 0.04830271 0.91215429] [ 0.18556693 0.01274841 0.98254893 -1.51930999] [ 0. 0. 0. 1. ]] SLAMing on 157.88629675700003 meters Centerline goodness : 0.790096 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.52 [[ 0.92877891 0.32434262 -0.17936445 0.83208054] [-0.32089145 0.94586008 0.04875839 0.91225813] [ 0.1854681 0.01227075 0.98257367 -1.51815672] [ 0. 0. 0. 1. ]] SLAMing on 157.91629675700003 meters Centerline goodness : 0.792006 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.52 [[ 0.9288265 0.32410298 -0.1795511 0.83251867] [-0.32064514 0.94594234 0.04878295 0.91199562] [ 0.18565568 0.01226129 0.98253836 -1.51803924] [ 0. 0. 0. 1. ]] SLAMing on 157.94629675700003 meters Centerline goodness : 0.792145 Centerline is valid? [False, False] Translation: X:0.83, Y:0.91, Z:-1.52 [[ 0.92901021 0.32324948 -0.18013826 0.83401983] [-0.31978014 0.94623424 0.0487998 0.91085602] [ 0.1862275 0.01226913 0.98243004 -1.51790995] [ 0. 0. 0. 1. ]] SLAMing on 157.97629675700003 meters Centerline goodness : 0.790486 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.52 [[ 0.92908615 0.32276615 -0.18061268 0.83540672] [-0.31931071 0.94639732 0.04871119 0.91030922] [ 0.18665368 0.01241467 0.98234733 -1.5181896 ] [ 0. 0. 0. 1. ]] SLAMing on 158.00629675700003 meters Centerline goodness : 0.791225 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.52 [[ 0.92938801 0.32122192 -0.18180871 0.8390645 ] [-0.31787936 0.94691284 0.04804992 0.90890556] [ 0.18759169 0.01313622 0.98215925 -1.51944833] [ 0. 0. 0. 1. ]] SLAMing on 158.03629675700003 meters Centerline goodness : 0.788497 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.52 [[ 0.9294989 0.32058359 -0.18236767 0.84087549] [-0.31727532 0.94712563 0.04784773 0.90784461] [ 0.18806429 0.01338634 0.98206549 -1.52022274] [ 0. 0. 0. 1. ]] SLAMing on 158.06629675700003 meters Centerline goodness : 0.788196 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.52 [[ 0.92978018 0.31925253 -0.18326658 0.84381696] [-0.31604563 0.94756648 0.04725374 0.90649631] [ 0.18874314 0.01398501 0.9819269 -1.52148531] [ 0. 0. 0. 1. ]] SLAMing on 158.09629675700003 meters Centerline goodness : 0.790170 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.52 [[ 0.92981003 0.31897118 -0.18360472 0.84472164] [-0.31574844 0.94766157 0.04733354 0.90572489] [ 0.18909318 0.01396171 0.98185989 -1.52158866] [ 0. 0. 0. 1. ]] SLAMing on 158.12629675700003 meters Centerline goodness : 0.794086 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.52 [[ 0.93090971 0.31512934 -0.18466352 0.84423585] [-0.31255213 0.94889556 0.04368501 0.90635308] [ 0.18899282 0.01705017 0.98183044 -1.52155797] [ 0. 0. 0. 1. ]] SLAMing on 158.15629675700004 meters Centerline goodness : 0.795205 Centerline is valid? [False, False] Translation: X:0.84, Y:0.90, Z:-1.52 [[ 0.93088429 0.31503125 -0.18495876 0.84477589] [-0.31240321 0.94893163 0.04396588 0.90498223] [ 0.18936384 0.01685457 0.98176232 -1.52144064] [ 0. 0. 0. 1. ]] SLAMing on 158.18629675700004 meters Centerline goodness : 0.793883 Centerline is valid? [False, False] Translation: X:0.85, Y:0.90, Z:-1.52 [[ 0.93083973 0.31503384 -0.18517847 0.84557424] [-0.31239603 0.94893071 0.04403673 0.90455079] [ 0.1895946 0.01685788 0.98171773 -1.52180271] [ 0. 0. 0. 1. ]] SLAMing on 158.21629675700004 meters Centerline goodness : 0.795410 Centerline is valid? [False, False] Translation: X:0.85, Y:0.90, Z:-1.52 [[ 0.93075326 0.31513731 -0.18543689 0.84622944] [-0.3124743 0.9488973 0.04420087 0.90416922] [ 0.18988991 0.01680416 0.98166157 -1.52186293] [ 0. 0. 0. 1. ]] SLAMing on 158.246296757 meters Centerline goodness : 0.794710 Centerline is valid? [False, False] Translation: X:0.85, Y:0.90, Z:-1.52 [[ 0.93063683 0.31530102 -0.18574274 0.84762844] [-0.31263028 0.94884201 0.04428488 0.90311109] [ 0.19020359 0.01685566 0.98159996 -1.52291425] [ 0. 0. 0. 1. ]] SLAMing on 158.276296757 meters Centerline goodness : 0.790722 Centerline is valid? [False, False] Translation: X:0.85, Y:0.90, Z:-1.52 [[ 0.9305406 0.31543663 -0.18599441 0.84855513] [-0.31274583 0.94879739 0.0444248 0.90222204] [ 0.19048422 0.0168299 0.98154598 -1.52349752] [ 0. 0. 0. 1. ]] SLAMing on 158.306296757 meters Centerline goodness : 0.789512 Centerline is valid? [False, False] Translation: X:0.85, Y:0.90, Z:-1.52 [[ 0.93029256 0.31625477 -0.18584582 0.84850202] [-0.31347705 0.94853168 0.04494209 0.90021178] [ 0.1904938 0.01644911 0.98155058 -1.52424337] [ 0. 0. 0. 1. ]] SLAMing on 158.336296757 meters Centerline goodness : 0.791157 Centerline is valid? [False, False] Translation: X:0.85, Y:0.90, Z:-1.52 [[ 0.92998126 0.31746997 -0.18533125 0.84702853] [-0.31453721 0.94813865 0.04581979 0.89889562] [ 0.19026613 0.01568203 0.98160729 -1.52397781] [ 0. 0. 0. 1. ]] SLAMing on 158.36629675700001 meters Centerline goodness : 0.792125 Centerline is valid? [False, False] Translation: X:0.85, Y:0.90, Z:-1.52 [[ 0.92983738 0.31800369 -0.18513806 0.84646974] [-0.31500781 0.94796477 0.04618315 0.89878488] [ 0.19019077 0.01537712 0.98162672 -1.52375912] [ 0. 0. 0. 1. ]] SLAMing on 158.39629675700002 meters Centerline goodness : 0.793111 Centerline is valid? [False, False] Translation: X:0.84, Y:0.90, Z:-1.52 [[ 0.92945158 0.31951487 -0.18447225 0.84460356] [-0.31636016 0.94746908 0.047102 0.89839758] [ 0.18983154 0.01458065 0.9817084 -1.52330775] [ 0. 0. 0. 1. ]] SLAMing on 158.42629675700002 meters Centerline goodness : 0.793301 Centerline is valid? [False, False] Translation: X:0.84, Y:0.90, Z:-1.52 [[ 0.92928578 0.32009896 -0.18429487 0.84400021] [-0.31683929 0.94727956 0.04768963 0.89738104] [ 0.18984417 0.01407456 0.98171335 -1.52309333] [ 0. 0. 0. 1. ]] SLAMing on 158.45629675700002 meters Centerline goodness : 0.792498 Centerline is valid? [False, False] Translation: X:0.84, Y:0.90, Z:-1.52 [[ 0.92914341 0.32062115 -0.18410486 0.84318976] [-0.31724133 0.94711156 0.04834907 0.89604026] [ 0.18986958 0.01348245 0.98171674 -1.52266084] [ 0. 0. 0. 1. ]] SLAMing on 158.48629675700002 meters Centerline goodness : 0.794759 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93007351 0.3176481 -0.18456151 0.84087065] [-0.31476701 0.94807752 0.04550547 0.89473421] [ 0.18943334 0.01577044 0.98176693 -1.52247213] [ 0. 0. 0. 1. ]] SLAMing on 158.51629675700002 meters Centerline goodness : 0.796117 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93118183 0.31378037 -0.18558629 0.8399486 ] [-0.31139967 0.94932292 0.04261728 0.89246005] [ 0.18955378 0.01810707 0.98170337 -1.52216632] [ 0. 0. 0. 1. ]] SLAMing on 158.54629675700002 meters Centerline goodness : 0.795519 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93231167 0.30977243 -0.18664404 0.83968801] [-0.30802937 0.9505763 0.03902052 0.89245183] [ 0.18950688 0.02111256 0.98165238 -1.52243995] [ 0. 0. 0. 1. ]] SLAMing on 158.57629675700002 meters Centerline goodness : 0.799285 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93354453 0.30518056 -0.18804103 0.84030409] [-0.30400054 0.95199865 0.03580833 0.89008442] [ 0.18994282 0.02373591 0.98150819 -1.5226918 ] [ 0. 0. 0. 1. ]] SLAMing on 158.60629675700002 meters Centerline goodness : 0.801400 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93464723 0.30107193 -0.18918312 0.84029683] [-0.30057217 0.95322115 0.03202816 0.89081173] [ 0.18997613 0.02692816 0.98141935 -1.5228885 ] [ 0. 0. 0. 1. ]] SLAMing on 158.63629675700003 meters Centerline goodness : 0.800828 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93467133 0.30083402 -0.18944234 0.84067162] [-0.30025151 0.95330733 0.03246788 0.88872822] [ 0.19036421 0.02653355 0.9813549 -1.52265959] [ 0. 0. 0. 1. ]] SLAMing on 158.66629675700003 meters Centerline goodness : 0.801313 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93566244 0.29712227 -0.19040524 0.83981037] [-0.29713282 0.95439041 0.02917264 0.88825742] [ 0.19038878 0.0292799 0.98127203 -1.52241169] [ 0. 0. 0. 1. ]] SLAMing on 158.69629675700003 meters Centerline goodness : 0.800239 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93568099 0.29683807 -0.19075702 0.84105611] [-0.29683567 0.95448004 0.02926506 0.88725303] [ 0.19076075 0.02924073 0.98120096 -1.52286512] [ 0. 0. 0. 1. ]] SLAMing on 158.72629675700003 meters Centerline goodness : 0.800968 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93562984 0.29684838 -0.19099174 0.84183363] [-0.29684829 0.95447532 0.02929093 0.887259 ] [ 0.19099187 0.0292901 0.98115452 -1.5231015 ] [ 0. 0. 0. 1. ]] SLAMing on 158.75629675700003 meters Centerline goodness : 0.799510 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93551647 0.2971129 -0.19113572 0.84250699] [-0.29712848 0.95438907 0.02926043 0.88792618] [ 0.19111149 0.02941825 0.98112739 -1.52344979] [ 0. 0. 0. 1. ]] SLAMing on 158.78629675700003 meters Centerline goodness : 0.798585 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93546846 0.29714327 -0.19132339 0.84305361] [-0.29716481 0.95437769 0.02926251 0.88784082] [ 0.19128993 0.02948042 0.98109075 -1.52363041] [ 0. 0. 0. 1. ]] SLAMing on 158.81629675700003 meters Centerline goodness : 0.800278 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93539897 0.2972555 -0.19148874 0.84321661] [-0.29724953 0.95434582 0.0294411 0.88726284] [ 0.19149801 0.02938077 0.98105315 -1.52348848] [ 0. 0. 0. 1. ]] SLAMing on 158.84629675700003 meters Centerline goodness : 0.800767 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93534321 0.29735606 -0.19160496 0.84335101] [-0.2973148 0.95431901 0.02965035 0.88645124] [ 0.19166897 0.02923373 0.98102416 -1.5233932 ] [ 0. 0. 0. 1. ]] SLAMing on 158.87629675700003 meters Centerline goodness : 0.801812 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93528587 0.29745853 -0.19172574 0.84370719] [-0.29744065 0.95428258 0.0295602 0.88727902] [ 0.19175347 0.02937979 0.98100328 -1.52338773] [ 0. 0. 0. 1. ]] SLAMing on 158.90629675700004 meters Centerline goodness : 0.801812 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93528587 0.29745853 -0.19172574 0.84370719] [-0.29744065 0.95428258 0.0295602 0.88727902] [ 0.19175347 0.02937979 0.98100328 -1.52338773] [ 0. 0. 0. 1. ]] SLAMing on 158.93629675700004 meters Centerline goodness : 0.800409 Centerline is valid? [False, False] Translation: X:0.85, Y:0.89, Z:-1.52 [[ 0.93408177 0.30161685 -0.19109818 0.84527152] [-0.30095321 0.95306085 0.03319921 0.88827461] [ 0.19214164 0.02650084 0.98100933 -1.52319539] [ 0. 0. 0. 1. ]] SLAMing on 158.96629675700004 meters Centerline goodness : 0.800364 Centerline is valid? [False, False] Translation: X:0.85, Y:0.89, Z:-1.52 [[ 0.93394395 0.30209139 -0.19102221 0.84514901] [-0.30144861 0.95290664 0.03313113 0.88998747] [ 0.19203496 0.02664076 0.98102642 -1.5230694 ] [ 0. 0. 0. 1. ]] SLAMing on 158.996296757 meters Centerline goodness : 0.804937 Centerline is valid? [False, False] Translation: X:0.84, Y:0.89, Z:-1.52 [[ 0.93321126 0.30473564 -0.19040205 0.84365193] [-0.30380381 0.95209897 0.03479666 0.89270235] [ 0.19188538 0.02537223 0.98108932 -1.52157999] [ 0. 0. 0. 1. ]] SLAMing on 159.026296757 meters Centerline goodness : 0.805009 Centerline is valid? [False, False] Translation: X:0.83, Y:0.90, Z:-1.53 [[ 0.93544825 0.30269404 -0.1825182 0.83376843] [-0.30138816 0.95283916 0.03553459 0.89798283] [ 0.1846666 0.02176806 0.98256013 -1.52595266] [ 0. 0. 0. 1. ]] SLAMing on 159.056296757 meters Centerline goodness : 0.807303 Centerline is valid? [False, False] Translation: X:0.83, Y:0.90, Z:-1.53 [[ 0.93528361 0.30327535 -0.1823969 0.83328876] [-0.30199866 0.95265003 0.03542209 0.90011399] [ 0.18450306 0.02195392 0.98258671 -1.52555567] [ 0. 0. 0. 1. ]] SLAMing on 159.086296757 meters Centerline goodness : 0.807116 Centerline is valid? [False, False] Translation: X:0.84, Y:0.90, Z:-1.53 [[ 0.9349239 0.30358657 -0.18371851 0.83681662] [-0.30250984 0.95251966 0.03455556 0.90088039] [ 0.1854861 0.02326984 0.98237133 -1.52619776] [ 0. 0. 0. 1. ]] SLAMing on 159.11629675700001 meters Centerline goodness : 0.811082 Centerline is valid? [False, False] Translation: X:0.84, Y:0.90, Z:-1.53 [[ 0.9337977 0.30740469 -0.1830962 0.83891658] [-0.30578792 0.95135224 0.03771833 0.9022945 ] [ 0.18578377 0.02076731 0.98237117 -1.52670493] [ 0. 0. 0. 1. ]] SLAMing on 159.14629675700002 meters Centerline goodness : 0.812432 Centerline is valid? [False, False] Translation: X:0.84, Y:0.90, Z:-1.53 [[ 0.93315372 0.30895234 -0.1837732 0.8400714 ] [-0.3075283 0.95082187 0.03693392 0.90429285] [ 0.1861464 0.02205044 0.98227455 -1.52565109] [ 0. 0. 0. 1. ]] SLAMing on 159.17629675700002 meters Centerline goodness : 0.817238 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.53 [[ 0.93306455 0.30871151 -0.18462869 0.84175764] [-0.30750971 0.95086957 0.03584475 0.90525555] [ 0.18662349 0.02332965 0.98215447 -1.52556298] [ 0. 0. 0. 1. ]] SLAMing on 159.20629675700002 meters Centerline goodness : 0.808515 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.52 [[ 0.93298414 0.30862607 -0.18517705 0.8423142 ] [-0.30761082 0.95087104 0.03492643 0.9063732 ] [ 0.1868587 0.02437666 0.98208432 -1.52491602] [ 0. 0. 0. 1. ]] SLAMing on 159.23629675700002 meters Centerline goodness : 0.810041 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.52 [[ 0.93310389 0.30801713 -0.18558714 0.84283946] [-0.3073315 0.9510236 0.03318843 0.90898307] [ 0.18672035 0.02606852 0.98206718 -1.52433652] [ 0. 0. 0. 1. ]] SLAMing on 159.26629675700002 meters Centerline goodness : 0.816621 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.52 [[ 0.93329342 0.30766283 -0.18522143 0.84195361] [-0.30711189 0.95112205 0.03239041 0.91172095] [ 0.18613351 0.02665395 0.98216286 -1.52356046] [ 0. 0. 0. 1. ]] SLAMing on 159.29629675700002 meters Centerline goodness : 0.812160 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.52 [[ 0.93339822 0.30740659 -0.18511875 0.84224865] [-0.30689835 0.9512 0.03212414 0.91239703] [ 0.18596012 0.02682802 0.98219096 -1.52392819] [ 0. 0. 0. 1. ]] SLAMing on 159.32629675700002 meters Centerline goodness : 0.812351 Centerline is valid? [False, False] Translation: X:0.84, Y:0.91, Z:-1.53 [[ 0.93362694 0.30668932 -0.18515507 0.84452877] [-0.30625881 0.95142211 0.03164659 0.91359659] [ 0.18586629 0.02715927 0.98219962 -1.52601584] [ 0. 0. 0. 1. ]] SLAMing on 159.35629675700002 meters Centerline goodness : 0.810397 Centerline is valid? [False, False] Translation: X:0.85, Y:0.91, Z:-1.53 [[ 0.93363026 0.30671938 -0.18508851 0.84537276] [-0.30622819 0.95142148 0.03196039 0.9139823 ] [ 0.18590005 0.02684013 0.98220201 -1.52669214] [ 0. 0. 0. 1. ]] SLAMing on 159.38629675700003 meters Centerline goodness : 0.809624 Centerline is valid? [False, False] Translation: X:0.85, Y:0.92, Z:-1.53 [[ 0.93395301 0.30597323 -0.18469477 0.84561048] [-0.30550593 0.95166232 0.031701 0.91512835] [ 0.18546671 0.02681811 0.98228452 -1.52751733] [ 0. 0. 0. 1. ]] SLAMing on 159.41629675700003 meters Centerline goodness : 0.807268 Centerline is valid? [False, False] Translation: X:0.85, Y:0.92, Z:-1.53 [[ 0.93412183 0.30551686 -0.18459646 0.84529259] [-0.3051319 0.95179873 0.03120419 0.91617912] [ 0.18523208 0.02717775 0.98231891 -1.52731964] [ 0. 0. 0. 1. ]] SLAMing on 159.44629675700003 meters Centerline goodness : 0.809251 Centerline is valid? [False, False] Translation: X:0.85, Y:0.92, Z:-1.53 [[ 0.93425937 0.30514054 -0.18452284 0.84536967] [-0.30483112 0.95190974 0.03075456 0.91740425] [ 0.18503355 0.02751556 0.98234692 -1.52733727] [ 0. 0. 0. 1. ]] SLAMing on 159.47629675700003 meters Centerline goodness : 0.809697 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.53 [[ 0.93414436 0.30678953 -0.18235815 0.84370762] [-0.30599684 0.95145411 0.03318159 0.92050836] [ 0.18368517 0.02480462 0.98267212 -1.52752953] [ 0. 0. 0. 1. ]] SLAMing on 159.50629675700003 meters Centerline goodness : 0.811956 Centerline is valid? [False, False] Translation: X:0.84, Y:0.92, Z:-1.53 [[ 0.93379152 0.30907283 -0.18029803 0.8429278 ] [-0.30780928 0.95077938 0.0356653 0.92398316] [ 0.18244682 0.02219345 0.98296521 -1.52824121] [ 0. 0. 0. 1. ]] SLAMing on 159.53629675700003 meters Centerline goodness : 0.811562 Centerline is valid? [False, False] Translation: X:0.84, Y:0.93, Z:-1.53 [[ 0.93354648 0.30965012 -0.18057622 0.84337367] [-0.30850066 0.95057475 0.03514237 0.92575601] [ 0.18253304 0.02290084 0.98293298 -1.52748363] [ 0. 0. 0. 1. ]] SLAMing on 159.56629675700003 meters Centerline goodness : 0.812521 Centerline is valid? [False, False] Translation: X:0.84, Y:0.93, Z:-1.53 [[ 0.93348135 0.30957857 -0.18103502 0.84359815] [-0.30876588 0.95055208 0.03338227 0.92854551] [ 0.18241765 0.02473571 0.98290994 -1.52620808] [ 0. 0. 0. 1. ]] SLAMing on 159.59629675700003 meters Centerline goodness : 0.813083 Centerline is valid? [False, False] Translation: X:0.84, Y:0.93, Z:-1.53 [[ 0.93334073 0.30964193 -0.18165063 0.84441657] [-0.30903264 0.95050005 0.03238035 0.92979341] [ 0.18268525 0.02591408 0.98282987 -1.52551316] [ 0. 0. 0. 1. ]] SLAMing on 159.62629675700003 meters Centerline goodness : 0.817058 Centerline is valid? [False, False] Translation: X:0.84, Y:0.93, Z:-1.53 [[ 0.93283231 0.31213389 -0.17998978 0.84337701] [-0.31108968 0.94974534 0.03474203 0.93198115] [ 0.18178862 0.02358447 0.98305477 -1.5255033 ] [ 0. 0. 0. 1. ]] SLAMing on 159.65629675700004 meters Centerline goodness : 0.817247 Centerline is valid? [False, False] Translation: X:0.84, Y:0.93, Z:-1.53 [[ 0.93240185 0.31433157 -0.17838849 0.84231744] [-0.3127834 0.94908441 0.03748769 0.93300101] [ 0.1810893 0.02084337 0.98324576 -1.52579114] [ 0. 0. 0. 1. ]] SLAMing on 159.68629675700004 meters Centerline goodness : 0.812723 Centerline is valid? [False, False] Translation: X:0.84, Y:0.93, Z:-1.53 [[ 0.93173054 0.31725253 -0.17671738 0.84146749] [-0.3152072 0.94816718 0.04029179 0.93443422] [ 0.18034029 0.0181615 0.9834366 -1.5259868 ] [ 0. 0. 0. 1. ]] SLAMing on 159.71629675700004 meters Centerline goodness : 0.823290 Centerline is valid? [False, False] Translation: X:0.84, Y:0.94, Z:-1.53 [[ 0.93124085 0.31786129 -0.17819842 0.84476333] [-0.31608091 0.94792747 0.03906879 0.93533191] [ 0.18133764 0.01994267 0.98321867 -1.52601271] [ 0. 0. 0. 1. ]] SLAMing on 159.746296757 meters Centerline goodness : 0.819748 Centerline is valid? [False, False] Translation: X:0.85, Y:0.94, Z:-1.53 [[ 0.93111439 0.31820907 -0.17823853 0.84520963] [-0.31643413 0.94780926 0.03907758 0.93580062] [ 0.18137097 0.02001505 0.98321105 -1.5260372 ] [ 0. 0. 0. 1. ]] SLAMing on 159.776296757 meters Centerline goodness : 0.818203 Centerline is valid? [False, False] Translation: X:0.85, Y:0.94, Z:-1.53 [[ 0.93102604 0.3182501 -0.17862637 0.84647028] [-0.31655046 0.94778518 0.03871772 0.93639902] [ 0.18162135 0.02049706 0.9831549 -1.52635337] [ 0. 0. 0. 1. ]] SLAMing on 159.806296757 meters Centerline goodness : 0.820861 Centerline is valid? [False, False] Translation: X:0.85, Y:0.94, Z:-1.53 [[ 0.93112673 0.31830714 -0.17799882 0.8463042 ] [-0.31650415 0.94778031 0.03921242 0.93696621] [ 0.18118537 0.01982563 0.98324911 -1.52702609] [ 0. 0. 0. 1. ]] SLAMing on 159.836296757 meters Centerline goodness : 0.821069 Centerline is valid? [False, False] Translation: X:0.85, Y:0.94, Z:-1.53 [[ 0.93169378 0.31655325 -0.17815931 0.84644488] [-0.31482262 0.94836256 0.03866751 0.93594834] [ 0.18119994 0.02006231 0.98324162 -1.52774354] [ 0. 0. 0. 1. ]] SLAMing on 159.86629675700001 meters Centerline goodness : 0.815342 Centerline is valid? [False, False] Translation: X:0.85, Y:0.94, Z:-1.53 [[ 0.932001 0.31563191 -0.17818709 0.84631672] [-0.31392569 0.94866873 0.03844872 0.93525703] [ 0.18117616 0.02010326 0.98324517 -1.52812608] [ 0. 0. 0. 1. ]] SLAMing on 159.89629675700002 meters Centerline goodness : 0.813452 Centerline is valid? [False, False] Translation: X:0.84, Y:0.93, Z:-1.53 [[ 0.93248578 0.31443252 -0.17777083 0.84494651] [-0.31265822 0.94907879 0.0386559 0.93409215] [ 0.1808732 0.01953544 0.98331239 -1.52822725] [ 0. 0. 0. 1. ]] SLAMing on 159.92629675700002 meters Centerline goodness : 0.814493 Centerline is valid? [False, False] Translation: X:0.85, Y:0.93, Z:-1.53 [[ 0.93355709 0.31813772 -0.16510464 0.84539521] [-0.31668078 0.94785666 0.03579164 0.93070113] [ 0.1678822 0.01887193 0.98562641 -1.53481311] [ 0. 0. 0. 1. ]] SLAMing on 159.95629675700002 meters Centerline goodness : 0.815209 Centerline is valid? [False, False] Translation: X:0.85, Y:0.93, Z:-1.54 [[ 0.93375336 0.31715837 -0.16587717 0.8468127 ] [-0.31577498 0.94817494 0.03536155 0.92980149] [ 0.16849579 0.0193609 0.98551222 -1.53528583] [ 0. 0. 0. 1. ]] SLAMing on 159.98629675700002 meters Centerline goodness : 0.817033 Centerline is valid? [False, False] Translation: X:0.85, Y:0.93, Z:-1.54 [[ 0.93395949 0.31638433 -0.16619456 0.84716616] [-0.3150407 0.94842902 0.03509637 0.92910824] [ 0.16872768 0.01957946 0.98546822 -1.53547044] [ 0. 0. 0. 1. ]] SLAMing on 160.01629675700002 meters Centerline goodness : 0.817432 Centerline is valid? [False, False] Translation: X:0.85, Y:0.93, Z:-1.54 [[ 0.93383654 0.31612571 -0.16737338 0.84939696] [-0.31487652 0.94849943 0.03466415 0.92778915] [ 0.16971178 0.0203313 0.98528399 -1.53583309] [ 0. 0. 0. 1. ]] SLAMing on 160.04629675700002 meters Centerline goodness : 0.816919 Centerline is valid? [False, False] Translation: X:0.85, Y:0.93, Z:-1.54 [[ 0.93356258 0.3162631 -0.16863736 0.8508263 ] [-0.31513429 0.94843295 0.03413691 0.9254828 ] [ 0.17073747 0.02127447 0.98508686 -1.53538755] [ 0. 0. 0. 1. ]] SLAMing on 160.07629675700002 meters Centerline goodness : 0.816700 Centerline is valid? [False, False] Translation: X:0.85, Y:0.92, Z:-1.54 [[ 0.93333925 0.3167697 -0.16892251 0.85121444] [-0.31561184 0.9482651 0.03438695 0.92460391] [ 0.17107606 0.02121925 0.9850293 -1.53514634] [ 0. 0. 0. 1. ]] SLAMing on 160.10629675700002 meters Centerline goodness : 0.814960 Centerline is valid? [False, False] Translation: X:0.85, Y:0.92, Z:-1.54 [[ 0.93300641 0.31718982 -0.16996958 0.85416802] [-0.31602383 0.94811996 0.03460465 0.92259022] [ 0.17212779 0.02142807 0.98484154 -1.53634725] [ 0. 0. 0. 1. ]] SLAMing on 160.13629675700003 meters Centerline goodness : 0.814119 Centerline is valid? [False, False] Translation: X:0.86, Y:0.92, Z:-1.54 [[ 0.93284634 0.31731555 -0.17061227 0.85591292] [-0.31617295 0.94807171 0.03456443 0.92164908] [ 0.17272049 0.02169968 0.98473182 -1.53691963] [ 0. 0. 0. 1. ]] SLAMing on 160.16629675700003 meters Centerline goodness : 0.817592 Centerline is valid? [False, False] Translation: X:0.86, Y:0.92, Z:-1.54 [[ 0.93262745 0.3174464 -0.17156288 0.85721091] [-0.31637978 0.94801349 0.03426733 0.92041351] [ 0.17352196 0.02232037 0.98457703 -1.53665891] [ 0. 0. 0. 1. ]] SLAMing on 160.19629675700003 meters Centerline goodness : 0.814452 Centerline is valid? [False, False] Translation: X:0.86, Y:0.92, Z:-1.54 [[ 0.93263467 0.31707548 -0.17220834 0.85794061] [-0.31610522 0.94812285 0.03377199 0.91983689] [ 0.17398293 0.02293903 0.98448146 -1.53639861] [ 0. 0. 0. 1. ]] SLAMing on 160.22629675700003 meters Centerline goodness : 0.816648 Centerline is valid? [False, False] Translation: X:0.86, Y:0.92, Z:-1.54 [[ 0.93232997 0.3173792 -0.17329536 0.8588401 ] [-0.31652013 0.94800037 0.0333211 0.91782365] [ 0.17485949 0.02378521 0.98430606 -1.53563913] [ 0. 0. 0. 1. ]] SLAMing on 160.25629675700003 meters Centerline goodness : 0.812366 Centerline is valid? [False, False] Translation: X:0.86, Y:0.92, Z:-1.54 [[ 0.93182092 0.3182024 -0.17451938 0.86209932] [-0.31737429 0.94771212 0.03339612 0.91631922] [ 0.17602086 0.02426876 0.98408723 -1.53642412] [ 0. 0. 0. 1. ]] SLAMing on 160.28629675700003 meters Centerline goodness : 0.813854 Centerline is valid? [False, False] Translation: X:0.86, Y:0.92, Z:-1.54 [[ 0.93151043 0.3190748 -0.17458403 0.86267419] [-0.31816959 0.94742683 0.03391912 0.91593498] [ 0.17622833 0.02395132 0.98405788 -1.53651076] [ 0. 0. 0. 1. ]] SLAMing on 160.31629675700003 meters Centerline goodness : 0.808387 Centerline is valid? [False, False] Translation: X:0.86, Y:0.92, Z:-1.54 [[ 0.93119593 0.3197351 -0.17505315 0.86399436] [-0.31885065 0.9471974 0.03393153 0.91515355] [ 0.17665899 0.02421891 0.98397411 -1.53682184] [ 0. 0. 0. 1. ]] SLAMing on 160.34629675700003 meters Centerline goodness : 0.806823 Centerline is valid? [False, False] Translation: X:0.87, Y:0.91, Z:-1.54 [[ 0.93089311 0.31991876 -0.1763236 0.86582213] [-0.31910105 0.94711929 0.03375757 0.91238641] [ 0.17779916 0.02484036 0.98375323 -1.53680914] [ 0. 0. 0. 1. ]] SLAMing on 160.37629675700003 meters Centerline goodness : 0.806710 Centerline is valid? [False, False] Translation: X:0.87, Y:0.91, Z:-1.54 [[ 0.93085574 0.3193201 -0.17760144 0.86752819] [-0.31867807 0.94729132 0.03291557 0.91040907] [ 0.17875091 0.02595804 0.98355188 -1.53683362] [ 0. 0. 0. 1. ]] SLAMing on 160.40629675700004 meters Centerline goodness : 0.804554 Centerline is valid? [False, False] Translation: X:0.87, Y:0.91, Z:-1.54 [[ 0.93169204 0.31576776 -0.17955686 0.8687648 ] [-0.31576282 0.94838322 0.02937863 0.90916968] [ 0.17956553 0.02932554 0.98330882 -1.53670702] [ 0. 0. 0. 1. ]] SLAMing on 160.43629675700004 meters Centerline goodness : 0.806632 Centerline is valid? [False, False] Translation: X:0.87, Y:0.91, Z:-1.54 [[ 0.93190375 0.31480068 -0.1801553 0.86908457] [-0.31487525 0.94869149 0.02894891 0.90798484] [ 0.18002493 0.02974885 0.9832121 -1.53652521] [ 0. 0. 0. 1. ]] SLAMing on 160.46629675700004 meters Centerline goodness : 0.804701 Centerline is valid? [False, False] Translation: X:0.87, Y:0.90, Z:-1.54 [[ 0.93180118 0.31533629 -0.17974866 0.86735156] [-0.31517308 0.94855252 0.03023327 0.90461307] [ 0.18003469 0.02848054 0.98324787 -1.53555723] [ 0. 0. 0. 1. ]] SLAMing on 160.496296757 meters Centerline goodness : 0.806113 Centerline is valid? [False, False] Translation: X:0.87, Y:0.90, Z:-1.54 [[ 0.93169865 0.31572179 -0.17960341 0.86668466] [-0.31542782 0.94844433 0.03096189 0.90282873] [ 0.18011918 0.02780476 0.98325174 -1.53518196] [ 0. 0. 0. 1. ]] SLAMing on 160.526296757 meters Centerline goodness : 0.812601 Centerline is valid? [False, False] Translation: X:0.87, Y:0.90, Z:-1.54 [[ 0.93157036 0.3162566 -0.17932773 0.86582596] [-0.31579339 0.94829173 0.03189558 0.90022478] [ 0.18014219 0.02691753 0.98327221 -1.53501536] [ 0. 0. 0. 1. ]] SLAMing on 160.556296757 meters Centerline goodness : 0.813499 Centerline is valid? [False, False] Translation: X:0.87, Y:0.90, Z:-1.54 [[ 0.93147764 0.31652229 -0.17934058 0.86588781] [-0.31598554 0.94821319 0.03232479 0.89903558] [ 0.18028462 0.02655922 0.98325585 -1.53512651] [ 0. 0. 0. 1. ]] SLAMing on 160.586296757 meters Centerline goodness : 0.805519 Centerline is valid? [False, False] Translation: X:0.87, Y:0.90, Z:-1.54 [[ 0.93134486 0.31693671 -0.17929827 0.86606617] [-0.31631191 0.94808669 0.03283915 0.89705438] [ 0.18039824 0.0261296 0.98324652 -1.5357096 ] [ 0. 0. 0. 1. ]] SLAMing on 160.61629675700001 meters Centerline goodness : 0.812151 Centerline is valid? [False, False] Translation: X:0.87, Y:0.90, Z:-1.54 [[ 0.931118 0.317804 -0.17894103 0.86529739] [-0.31706964 0.9478115 0.0334693 0.89524839] [ 0.18023904 0.0255729 0.98329035 -1.53610291] [ 0. 0. 0. 1. ]] SLAMing on 160.64629675700002 meters Centerline goodness : 0.809769 Centerline is valid? [False, False] Translation: X:0.84, Y:0.90, Z:-1.54 [[ 0.93158701 0.31775744 -0.17656683 0.84121161] [-0.31670794 0.9478822 0.0348628 0.90147392] [ 0.17844247 0.02344238 0.98367105 -1.5414356 ] [ 0. 0. 0. 1. ]] SLAMing on 160.67629675700002 meters Centerline goodness : 0.803556 Centerline is valid? [False, False] Translation: X:0.84, Y:0.90, Z:-1.54 [[ 0.93122135 0.31927527 -0.17575579 0.83894674] [-0.31808969 0.94738999 0.03565331 0.90118084] [ 0.1778925 0.02270498 0.98378796 -1.54099998] [ 0. 0. 0. 1. ]] SLAMing on 160.70629675700002 meters Centerline goodness : 0.808174 Centerline is valid? [False, False] Translation: X:0.84, Y:0.90, Z:-1.54 [[ 0.93102984 0.32003456 -0.17538903 0.83785794] [-0.31878244 0.94714221 0.03604719 0.90130564] [ 0.1776547 0.02234994 0.98383906 -1.54064413] [ 0. 0. 0. 1. ]] SLAMing on 160.73629675700002 meters Centerline goodness : 0.801776 Centerline is valid? [False, False] Translation: X:0.84, Y:0.90, Z:-1.54 [[ 0.93077062 0.32114663 -0.1747309 0.83629115] [-0.31980055 0.94677805 0.03659127 0.90164831] [ 0.17718254 0.02182095 0.98393607 -1.54039275] [ 0. 0. 0. 1. ]] SLAMing on 160.76629675700002 meters Centerline goodness : 0.800132 Centerline is valid? [False, False] Translation: X:0.82, Y:0.91, Z:-1.54 [[ 0.93090898 0.31988503 -0.17630101 0.8197533 ] [-0.31740048 0.94732084 0.04289706 0.90526701] [ 0.18073574 0.01602477 0.98340114 -1.54072551] [ 0. 0. 0. 1. ]] SLAMing on 160.79629675700002 meters Centerline goodness : 0.800132 Centerline is valid? [False, False] Translation: X:0.82, Y:0.91, Z:-1.54 [[ 0.93090898 0.31988503 -0.17630101 0.8197533 ] [-0.31740048 0.94732084 0.04289706 0.90526701] [ 0.18073574 0.01602477 0.98340114 -1.54072551] [ 0. 0. 0. 1. ]] SLAMing on 160.82629675700002 meters Centerline goodness : 0.800982 Centerline is valid? [False, False] Translation: X:0.82, Y:0.91, Z:-1.54 [[ 0.9319763 0.31639945 -0.17695074 0.81808914] [-0.31447395 0.94844057 0.03958053 0.90542518] [ 0.18035052 0.01875828 0.98342352 -1.54044705] [ 0. 0. 0. 1. ]] SLAMing on 160.85629675700002 meters Centerline goodness : 0.800454 Centerline is valid? [False, False] Translation: X:0.82, Y:0.91, Z:-1.54 [[ 0.93309673 0.31257371 -0.17784312 0.81710488] [-0.31124857 0.949645 0.03603759 0.90573484] [ 0.18015224 0.02172686 0.98339876 -1.5403296 ] [ 0. 0. 0. 1. ]] SLAMing on 160.88629675700003 meters Centerline goodness : 0.799779 Centerline is valid? [False, False] Translation: X:0.82, Y:0.90, Z:-1.54 [[ 0.93481147 0.30754422 -0.1776065 0.81515777] [-0.30685245 0.95121733 0.03204948 0.90416339] [ 0.17879901 0.02453877 0.98357957 -1.54137323] [ 0. 0. 0. 1. ]] SLAMing on 160.91629675700003 meters Centerline goodness : 0.801146 Centerline is valid? [False, False] Translation: X:0.82, Y:0.90, Z:-1.54 [[ 0.936061 0.30300037 -0.17883114 0.8155828 ] [-0.30297253 0.95258372 0.02814078 0.90422245] [ 0.1788783 0.02783943 0.98347726 -1.54191447] [ 0. 0. 0. 1. ]] SLAMing on 160.94629675700003 meters Centerline goodness : 0.799995 Centerline is valid? [False, False] Translation: X:0.81, Y:0.90, Z:-1.55 [[ 0.94028867 0.29400035 -0.17152554 0.80579011] [-0.293571 0.95551382 0.02845008 0.90462265] [ 0.17225936 0.02360363 0.9847688 -1.54654543] [ 0. 0. 0. 1. ]] SLAMing on 160.97629675700003 meters Centerline goodness : 0.798501 Centerline is valid? [False, False] Translation: X:0.81, Y:0.90, Z:-1.55 [[ 0.94146797 0.28959521 -0.1725476 0.80544481] [-0.28974609 0.95678022 0.02487607 0.90383825] [ 0.17229412 0.02657497 0.98468701 -1.54658272] [ 0. 0. 0. 1. ]] SLAMing on 161.00629675700003 meters Centerline goodness : 0.797250 Centerline is valid? [False, False] Translation: X:0.80, Y:0.90, Z:-1.55 [[ 0.94281807 0.28473428 -0.17326418 0.80422556] [-0.28532307 0.958178 0.02203788 0.89977286] [ 0.17229287 0.02865855 0.98462879 -1.54590178] [ 0. 0. 0. 1. ]] SLAMing on 161.03629675700003 meters Centerline goodness : 0.797991 Centerline is valid? [False, False] Translation: X:0.80, Y:0.90, Z:-1.55 [[ 0.94416897 0.28034493 -0.17306551 0.80216518] [-0.28148316 0.95938888 0.01844473 0.89775868] [ 0.17120801 0.03130008 0.98473759 -1.54682122] [ 0. 0. 0. 1. ]] SLAMing on 161.06629675700003 meters Centerline goodness : 0.796828 Centerline is valid? [False, False] Translation: X:0.80, Y:0.90, Z:-1.55 [[ 0.94421033 0.28016848 -0.17312559 0.80247637] [-0.28121703 0.95945698 0.0189549 0.89558519] [ 0.17141712 0.03078845 0.98471734 -1.54690953] [ 0. 0. 0. 1. ]] SLAMing on 161.09629675700003 meters Centerline goodness : 0.796089 Centerline is valid? [False, False] Translation: X:0.80, Y:0.89, Z:-1.55 [[ 0.9441831 0.28033383 -0.17300639 0.80216828] [-0.28127113 0.95942841 0.01958768 0.89351195] [ 0.17147834 0.03016735 0.98472591 -1.54686107] [ 0. 0. 0. 1. ]] SLAMing on 161.12629675700003 meters Centerline goodness : 0.797622 Centerline is valid? [False, False] Translation: X:0.80, Y:0.89, Z:-1.55 [[ 0.94411554 0.2807038 -0.17277506 0.80149526] [-0.28149072 0.95934613 0.02044473 0.89056567] [ 0.17149 0.02933239 0.9847491 -1.54684532] [ 0. 0. 0. 1. ]] SLAMing on 161.15629675700004 meters Centerline goodness : 0.797460 Centerline is valid? [False, False] Translation: X:0.80, Y:0.89, Z:-1.55 [[ 0.94398562 0.28120751 -0.1726658 0.80104381] [-0.28190392 0.95921296 0.02099222 0.88919837] [ 0.17152645 0.02885881 0.98475675 -1.5467848 ] [ 0. 0. 0. 1. ]] SLAMing on 161.18629675700004 meters Centerline goodness : 0.798079 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.55 [[ 0.94317399 0.2827861 -0.17451315 0.78370786] [-0.28220871 0.95892531 0.02864446 0.89101297] [ 0.17544533 0.02223242 0.98423811 -1.5483817 ] [ 0. 0. 0. 1. ]] SLAMing on 161.21629675700004 meters Centerline goodness : 0.796892 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.55 [[ 0.9430276 0.2832967 -0.17447617 0.78397616] [-0.28273308 0.95877185 0.02861024 0.89160116] [ 0.17538802 0.02234994 0.98424566 -1.54901793] [ 0. 0. 0. 1. ]] SLAMing on 161.246296757 meters Centerline goodness : 0.793551 Centerline is valid? [False, False] Translation: X:0.78, Y:0.89, Z:-1.55 [[ 0.94170184 0.28839674 -0.17327712 0.7841192 ] [-0.28716405 0.95732314 0.03269885 0.8914714 ] [ 0.17531244 0.01896639 0.98433014 -1.54938098] [ 0. 0. 0. 1. ]] SLAMing on 161.276296757 meters Centerline goodness : 0.794829 Centerline is valid? [False, False] Translation: X:0.76, Y:0.90, Z:-1.55 [[ 0.9417436 0.28929786 -0.17153933 0.76012517] [-0.28769977 0.95709326 0.03466036 0.89887835] [ 0.1742063 0.01671065 0.98456738 -1.5545234 ] [ 0. 0. 0. 1. ]] SLAMing on 161.306296757 meters Centerline goodness : 0.792502 Centerline is valid? [False, False] Translation: X:0.76, Y:0.90, Z:-1.55 [[ 0.94146702 0.29049722 -0.17102985 0.75859208] [-0.28883038 0.95673626 0.03511053 0.89862921] [ 0.17382997 0.01634321 0.98464006 -1.55449255] [ 0. 0. 0. 1. ]] SLAMing on 161.336296757 meters Centerline goodness : 0.792637 Centerline is valid? [False, False] Translation: X:0.76, Y:0.90, Z:-1.55 [[ 0.94136815 0.29088558 -0.17091397 0.75809245] [-0.28916157 0.95662335 0.03545906 0.89803558] [ 0.17381482 0.01604172 0.98464769 -1.55426201] [ 0. 0. 0. 1. ]] SLAMing on 161.36629675700001 meters Centerline goodness : 0.791482 Centerline is valid? [False, False] Translation: X:0.76, Y:0.90, Z:-1.55 [[ 0.9412861 0.29129933 -0.17066101 0.75725435] [-0.28948745 0.95650565 0.03597157 0.89680498] [ 0.17371671 0.01554468 0.98467297 -1.55398793] [ 0. 0. 0. 1. ]] SLAMing on 161.39629675700002 meters Centerline goodness : 0.793903 Centerline is valid? [False, False] Translation: X:0.76, Y:0.90, Z:-1.55 [[ 0.94122102 0.29155047 -0.17059108 0.75663234] [-0.28964224 0.95643746 0.03653427 0.89567861] [ 0.17381129 0.01502356 0.98466437 -1.55330675] [ 0. 0. 0. 1. ]] SLAMing on 161.42629675700002 meters Centerline goodness : 0.796195 Centerline is valid? [False, False] Translation: X:0.76, Y:0.89, Z:-1.55 [[ 0.94118722 0.29174688 -0.1704417 0.75578543] [-0.28973786 0.95638632 0.03711038 0.89436367] [ 0.17383494 0.0144556 0.9846687 -1.55257652] [ 0. 0. 0. 1. ]] SLAMing on 161.45629675700002 meters Centerline goodness : 0.794454 Centerline is valid? [False, False] Translation: X:0.75, Y:0.89, Z:-1.55 [[ 0.94221318 0.28805888 -0.17104503 0.75394805] [-0.28660101 0.95745703 0.03370316 0.89489973] [ 0.17347676 0.01726612 0.9846866 -1.55183868] [ 0. 0. 0. 1. ]] SLAMing on 161.48629675700002 meters Centerline goodness : 0.794505 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.55 [[ 0.94326129 0.28401012 -0.172036 0.75345619] [-0.28315499 0.95860428 0.03001801 0.89600703] [ 0.17343987 0.02039802 0.9846332 -1.55151403] [ 0. 0. 0. 1. ]] SLAMing on 161.51629675700002 meters Centerline goodness : 0.794187 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.55 [[ 0.94330013 0.28374612 -0.17225857 0.7537167 ] [-0.28284782 0.9586872 0.03026488 0.89528034] [ 0.17372963 0.02017409 0.98458673 -1.5509718 ] [ 0. 0. 0. 1. ]] SLAMing on 161.54629675700002 meters Centerline goodness : 0.796816 Centerline is valid? [False, False] Translation: X:0.75, Y:0.90, Z:-1.55 [[ 0.94437962 0.27950981 -0.17326683 0.75326709] [-0.27927102 0.95985309 0.02626292 0.89733535] [ 0.17365145 0.02358624 0.98452469 -1.55057562] [ 0. 0. 0. 1. ]] SLAMing on 161.57629675700002 meters Centerline goodness : 0.796407 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.55 [[ 0.94467603 0.27718342 -0.17537543 0.73804655] [-0.27569368 0.96066854 0.03330101 0.90049212] [ 0.17770815 0.01689123 0.98393826 -1.54891221] [ 0. 0. 0. 1. ]] SLAMing on 161.60629675700002 meters Centerline goodness : 0.798234 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.55 [[ 0.94574079 0.27279443 -0.17651502 0.73821946] [-0.2720235 0.96185261 0.02903045 0.9033674 ] [ 0.17770078 0.02056096 0.98386975 -1.54878265] [ 0. 0. 0. 1. ]] SLAMing on 161.63629675700003 meters Centerline goodness : 0.800640 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.55 [[ 0.94574768 0.27259235 -0.17679007 0.7386674 ] [-0.27180184 0.9619116 0.02915198 0.90333296] [ 0.17800303 0.02048145 0.98381677 -1.54830143] [ 0. 0. 0. 1. ]] SLAMing on 161.66629675700003 meters Centerline goodness : 0.798677 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.55 [[ 0.94581621 0.27224631 -0.17695663 0.7389923 ] [-0.27149057 0.96200569 0.02894676 0.90409643] [ 0.17811393 0.02066374 0.98379288 -1.54794339] [ 0. 0. 0. 1. ]] SLAMing on 161.69629675700003 meters Centerline goodness : 0.798424 Centerline is valid? [False, False] Translation: X:0.74, Y:0.90, Z:-1.55 [[ 0.94579831 0.27229011 -0.17698491 0.73895491] [-0.27154006 0.96199245 0.02892279 0.90474689] [ 0.17813354 0.02070337 0.9837885 -1.54768867] [ 0. 0. 0. 1. ]] SLAMing on 161.72629675700003 meters Centerline goodness : 0.797572 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.9457172 0.27264095 -0.17687818 0.73846053] [-0.27190597 0.96189097 0.02886009 0.90667854] [ 0.17800596 0.02080075 0.98380954 -1.5470853 ] [ 0. 0. 0. 1. ]] SLAMing on 161.75629675700003 meters Centerline goodness : 0.796841 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94566492 0.27279368 -0.1769222 0.73834425] [-0.27207433 0.96184536 0.02879339 0.90762728] [ 0.17802645 0.02090709 0.98380358 -1.54675986] [ 0. 0. 0. 1. ]] SLAMing on 161.78629675700003 meters Centerline goodness : 0.798003 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94548916 0.27329792 -0.17708328 0.73859695] [-0.27260197 0.96169781 0.02873115 0.90890322] [ 0.17815276 0.02110826 0.98377641 -1.54673826] [ 0. 0. 0. 1. ]] SLAMing on 161.81629675700003 meters Centerline goodness : 0.797763 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94538439 0.27353127 -0.17728224 0.73907514] [-0.27287052 0.96162606 0.02858307 0.90996488] [ 0.17829759 0.0213531 0.98374489 -1.54680555] [ 0. 0. 0. 1. ]] SLAMing on 161.84629675700003 meters Centerline goodness : 0.798283 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94422246 0.27787191 -0.17672338 0.7404727 ] [-0.27658663 0.96044357 0.03237252 0.91001666] [ 0.17872825 0.01831246 0.98372805 -1.54689785] [ 0. 0. 0. 1. ]] SLAMing on 161.87629675700003 meters Centerline goodness : 0.796250 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94307647 0.28213445 -0.17608783 0.74197834] [-0.28023408 0.9592528 0.03609612 0.91066994] [ 0.1790967 0.01530441 0.98371243 -1.54704243] [ 0. 0. 0. 1. ]] SLAMing on 161.90629675700004 meters Centerline goodness : 0.795315 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94297671 0.2824808 -0.1760668 0.7421189 ] [-0.28061146 0.95914771 0.03595647 0.91216458] [ 0.17903108 0.01550025 0.98372131 -1.5472024 ] [ 0. 0. 0. 1. ]] SLAMing on 161.93629675700004 meters Centerline goodness : 0.799505 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94294442 0.28257552 -0.17608777 0.74243575] [-0.2807549 0.95911534 0.03569953 0.91346453] [ 0.1789763 0.01577483 0.98372691 -1.54744334] [ 0. 0. 0. 1. ]] SLAMing on 161.96629675700004 meters Centerline goodness : 0.799112 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94289424 0.28288073 -0.17586628 0.74140529] [-0.2810275 0.95902847 0.03588781 0.91405424] [ 0.17881274 0.01558486 0.98375968 -1.5466218 ] [ 0. 0. 0. 1. ]] SLAMing on 161.996296757 meters Centerline goodness : 0.801940 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94286068 0.28306894 -0.17574329 0.74036914] [-0.28114423 0.9589792 0.0362881 0.91340155] [ 0.17880619 0.01519459 0.98376698 -1.54567134] [ 0. 0. 0. 1. ]] SLAMing on 162.026296757 meters Centerline goodness : 0.801819 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.54 [[ 0.94381062 0.27962203 -0.17616194 0.73774012] [-0.2782771 0.95994034 0.03280837 0.91509269] [ 0.17827889 0.01805695 0.9838143 -1.54428527] [ 0. 0. 0. 1. ]] SLAMing on 162.056296757 meters Centerline goodness : 0.804184 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.54 [[ 0.94386682 0.27940845 -0.17619973 0.73721804] [-0.27802833 0.96000633 0.03298626 0.91537168] [ 0.17836949 0.01785388 0.98380159 -1.54307299] [ 0. 0. 0. 1. ]] SLAMing on 162.086296757 meters Centerline goodness : 0.803134 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.54 [[ 0.94387925 0.27937066 -0.17619305 0.73698567] [-0.27798015 0.96001846 0.03303927 0.91603871] [ 0.17837878 0.01779308 0.983801 -1.54250437] [ 0. 0. 0. 1. ]] SLAMing on 162.11629675700001 meters Centerline goodness : 0.809577 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.54 [[ 0.94391262 0.27927813 -0.17616097 0.73655799] [-0.27786702 0.96004771 0.03314099 0.91686842] [ 0.17837848 0.01766713 0.98380333 -1.54153357] [ 0. 0. 0. 1. ]] SLAMing on 162.14629675700002 meters Centerline goodness : 0.810463 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.54 [[ 0.94388991 0.27929006 -0.17626372 0.73643005] [-0.27785328 0.96004639 0.03329393 0.91689359] [ 0.17852001 0.01754965 0.98377976 -1.54097474] [ 0. 0. 0. 1. ]] SLAMing on 162.17629675700002 meters Centerline goodness : 0.805611 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.54 [[ 0.94398188 0.27875927 -0.17661109 0.73725052] [-0.27735294 0.96019738 0.033111 0.91670387] [ 0.17881151 0.01772742 0.98372363 -1.54089335] [ 0. 0. 0. 1. ]] SLAMing on 162.20629675700002 meters Centerline goodness : 0.807274 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.54 [[ 0.94401881 0.27850215 -0.17681924 0.73794087] [-0.27710815 0.9602705 0.03303991 0.916599 ] [ 0.17899599 0.01780776 0.98368863 -1.54102162] [ 0. 0. 0. 1. ]] SLAMing on 162.23629675700002 meters Centerline goodness : 0.805142 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.9448313 0.28426095 -0.16275606 0.73692043] [-0.28273973 0.95863114 0.03293302 0.91392658] [ 0.1653846 0.01490146 0.98611657 -1.54788822] [ 0. 0. 0. 1. ]] SLAMing on 162.26629675700002 meters Centerline goodness : 0.805530 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94470012 0.28471553 -0.16272293 0.73744463] [-0.28315105 0.95849956 0.03322752 0.91430312] [ 0.16543025 0.01468513 0.98611215 -1.54815963] [ 0. 0. 0. 1. ]] SLAMing on 162.29629675700002 meters Centerline goodness : 0.804811 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94473855 0.28438633 -0.16307512 0.7388397 ] [-0.28288617 0.95859086 0.0328478 0.91470203] [ 0.16566378 0.01509911 0.9860667 -1.5489051 ] [ 0. 0. 0. 1. ]] SLAMing on 162.32629675700002 meters Centerline goodness : 0.806196 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94473061 0.28438801 -0.16311817 0.73915198] [-0.28289826 0.95858927 0.03279003 0.91461092] [ 0.16568842 0.0151681 0.9860615 -1.54920381] [ 0. 0. 0. 1. ]] SLAMing on 162.35629675700002 meters Centerline goodness : 0.803832 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94467322 0.28449706 -0.16326034 0.73968867] [-0.28303592 0.95855366 0.03264265 0.91484903] [ 0.16578053 0.0153719 0.98604286 -1.54961377] [ 0. 0. 0. 1. ]] SLAMing on 162.38629675700003 meters Centerline goodness : 0.806235 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.55 [[ 0.94461351 0.28471985 -0.16321744 0.73958336] [-0.28324263 0.95848881 0.03275372 0.91512083] [ 0.16576772 0.01529053 0.98604628 -1.54948479] [ 0. 0. 0. 1. ]] SLAMing on 162.41629675700003 meters Centerline goodness : 0.804103 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.55 [[ 0.94450249 0.28529807 -0.16284981 0.73868501] [-0.28378595 0.95832041 0.03297777 0.91580123] [ 0.16547079 0.0150669 0.98609959 -1.54920625] [ 0. 0. 0. 1. ]] SLAMing on 162.44629675700003 meters Centerline goodness : 0.801873 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.55 [[ 0.94442118 0.28562715 -0.1627445 0.73828389] [-0.28408283 0.95822516 0.03318868 0.91587901] [ 0.16542546 0.01488882 0.9861099 -1.54895879] [ 0. 0. 0. 1. ]] SLAMing on 162.47629675700003 meters Centerline goodness : 0.803997 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.55 [[ 0.94425174 0.28649407 -0.16220298 0.73688685] [-0.28486138 0.95797464 0.0337429 0.91555075] [ 0.16505348 0.01434357 0.98618031 -1.54865632] [ 0. 0. 0. 1. ]] SLAMing on 162.50629675700003 meters Centerline goodness : 0.804787 Centerline is valid? [False, False] Translation: X:0.74, Y:0.92, Z:-1.55 [[ 0.94417319 0.28687377 -0.16198897 0.73643202] [-0.2852049 0.95786428 0.03397344 0.9152964 ] [ 0.16490954 0.01412324 0.98620757 -1.54871949] [ 0. 0. 0. 1. ]] SLAMing on 162.53629675700003 meters Centerline goodness : 0.804236 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94411108 0.28720911 -0.16175658 0.73628154] [-0.28549451 0.95776793 0.03425602 0.91459161] [ 0.1647639 0.01383913 0.98623594 -1.54919103] [ 0. 0. 0. 1. ]] SLAMing on 162.56629675700003 meters Centerline goodness : 0.799729 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94408271 0.2873187 -0.16172758 0.73628858] [-0.2855664 0.95773815 0.03448871 0.91389665] [ 0.16480192 0.01362377 0.98623259 -1.54925723] [ 0. 0. 0. 1. ]] SLAMing on 162.59629675700003 meters Centerline goodness : 0.801211 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94404604 0.28758471 -0.1614686 0.73588925] [-0.28578995 0.95766222 0.03474446 0.91274902] [ 0.16462435 0.01334574 0.98626605 -1.54964319] [ 0. 0. 0. 1. ]] SLAMing on 162.62629675700003 meters Centerline goodness : 0.799598 Centerline is valid? [False, False] Translation: X:0.74, Y:0.91, Z:-1.55 [[ 0.94399151 0.28788111 -0.16125908 0.73526325] [-0.28604764 0.95757652 0.03498498 0.9124111 ] [ 0.16448942 0.01310226 0.98629182 -1.54944642] [ 0. 0. 0. 1. ]] SLAMing on 162.65629675700004 meters Centerline goodness : 0.799043 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.55 [[ 0.9438259 0.28889561 -0.16041194 0.73271961] [-0.28697215 0.9572792 0.03554604 0.9120023 ] [ 0.16382811 0.01248449 0.9864099 -1.54882352] [ 0. 0. 0. 1. ]] SLAMing on 162.68629675700004 meters Centerline goodness : 0.799768 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.55 [[ 0.9437363 0.28932478 -0.16016542 0.73196062] [-0.28737473 0.95715179 0.0357241 0.91209352] [ 0.16363849 0.01231337 0.98644352 -1.54862385] [ 0. 0. 0. 1. ]] SLAMing on 162.71629675700004 meters Centerline goodness : 0.799768 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.55 [[ 0.9437363 0.28932478 -0.16016542 0.73196062] [-0.28737473 0.95715179 0.0357241 0.91209352] [ 0.16363849 0.01231337 0.98644352 -1.54862385] [ 0. 0. 0. 1. ]] SLAMing on 162.746296757 meters Centerline goodness : 0.802509 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.55 [[ 0.94349444 0.29047138 -0.15951369 0.73021715] [-0.2884798 0.95680808 0.03602375 0.91303153] [ 0.16308785 0.01202827 0.98653823 -1.54838318] [ 0. 0. 0. 1. ]] SLAMing on 162.776296757 meters Centerline goodness : 0.799189 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.55 [[ 0.9433932 0.29092856 -0.15927916 0.72960029] [-0.28893441 0.9566695 0.03606072 0.91368604] [ 0.16286861 0.01200179 0.98657477 -1.54833975] [ 0. 0. 0. 1. ]] SLAMing on 162.806296757 meters Centerline goodness : 0.801581 Centerline is valid? [False, False] Translation: X:0.73, Y:0.91, Z:-1.55 [[ 0.94314249 0.29211957 -0.15858246 0.72771059] [-0.29008129 0.95631034 0.0363784 0.91473662] [ 0.16228089 0.01169179 0.98667533 -1.54802799] [ 0. 0. 0. 1. ]] SLAMing on 162.836296757 meters Centerline goodness : 0.801130 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.55 [[ 0.94305546 0.29257044 -0.15826857 0.72692507] [-0.29050781 0.95617461 0.03654199 0.91506864] [ 0.16202349 0.01151713 0.98671969 -1.54787021] [ 0. 0. 0. 1. ]] SLAMing on 162.86629675700001 meters Centerline goodness : 0.800399 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.55 [[ 0.94288163 0.2933299 -0.1578981 0.72607612] [-0.29124757 0.9559435 0.0366998 0.91571267] [ 0.16170681 0.01138387 0.98677318 -1.54795427] [ 0. 0. 0. 1. ]] SLAMing on 162.89629675700002 meters Centerline goodness : 0.802016 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.55 [[ 0.94282357 0.29356728 -0.15780358 0.72596134] [-0.29149875 0.95586966 0.03662887 0.91636886] [ 0.1615927 0.01146498 0.98679094 -1.548089 ] [ 0. 0. 0. 1. ]] SLAMing on 162.92629675700002 meters Centerline goodness : 0.802049 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.55 [[ 0.94274868 0.29387142 -0.15768485 0.72585276] [-0.29182777 0.95577442 0.03649394 0.91734323] [ 0.16143567 0.01161221 0.98681492 -1.54829198] [ 0. 0. 0. 1. ]] SLAMing on 162.95629675700002 meters Centerline goodness : 0.802115 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.55 [[ 0.94272021 0.29392753 -0.1577505 0.72599356] [-0.29188826 0.95575661 0.03647665 0.9176406 ] [ 0.16149257 0.01165825 0.98680506 -1.54825578] [ 0. 0. 0. 1. ]] SLAMing on 162.98629675700002 meters Centerline goodness : 0.800324 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.55 [[ 0.94274951 0.29373429 -0.15793521 0.72680833] [-0.29174269 0.95581222 0.03618287 0.91803993] [ 0.16158455 0.01196506 0.98678633 -1.54876297] [ 0. 0. 0. 1. ]] SLAMing on 163.01629675700002 meters Centerline goodness : 0.800881 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.55 [[ 0.94275197 0.29366771 -0.15804431 0.72723548] [-0.29169601 0.95583096 0.03606398 0.9181778 ] [ 0.16165447 0.01210151 0.98677322 -1.5490074 ] [ 0. 0. 0. 1. ]] SLAMing on 163.04629675700002 meters Centerline goodness : 0.802756 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.55 [[ 0.9427977 0.29345332 -0.15816967 0.72775974] [-0.29151199 0.9558944 0.03587004 0.91832222] [ 0.16171968 0.01229016 0.9867602 -1.5493165 ] [ 0. 0. 0. 1. ]] SLAMing on 163.07629675700002 meters Centerline goodness : 0.800323 Centerline is valid? [False, False] Translation: X:0.73, Y:0.92, Z:-1.55 [[ 0.94288284 0.29318267 -0.15816407 0.72806008] [-0.29126776 0.95597575 0.03568542 0.91921279] [ 0.16166336 0.01242092 0.98676779 -1.54933955] [ 0. 0. 0. 1. ]] SLAMing on 163.10629675700002 meters Centerline goodness : 0.800727 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94405929 0.29055816 -0.1559744 0.70899094] [-0.28809229 0.95682044 0.03869731 0.92515437] [ 0.16048332 0.00840247 0.98700279 -1.55129319] [ 0. 0. 0. 1. ]] SLAMing on 163.13629675700003 meters Centerline goodness : 0.801478 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94466778 0.28862349 -0.15588223 0.70640425] [-0.28641548 0.95739304 0.03694228 0.92700753] [ 0.15990298 0.0097489 0.98708459 -1.54955977] [ 0. 0. 0. 1. ]] SLAMing on 163.16629675700003 meters Centerline goodness : 0.804267 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94468835 0.28851096 -0.15596583 0.70629092] [-0.28626839 0.95742895 0.0371513 0.9267168 ] [ 0.16004476 0.00955169 0.98706354 -1.54899389] [ 0. 0. 0. 1. ]] SLAMing on 163.19629675700003 meters Centerline goodness : 0.803632 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94473528 0.28827589 -0.15611618 0.70646363] [-0.28601482 0.95750071 0.03725484 0.92651234] [ 0.16022103 0.00945558 0.98703587 -1.54859039] [ 0. 0. 0. 1. ]] SLAMing on 163.22629675700003 meters Centerline goodness : 0.804796 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94499253 0.28715537 -0.15662347 0.7081652 ] [-0.28496186 0.95783308 0.03677669 0.92675794] [ 0.16057977 0.00987802 0.98697344 -1.54884322] [ 0. 0. 0. 1. ]] SLAMing on 163.25629675700003 meters Centerline goodness : 0.809559 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94571153 0.28586534 -0.15463088 0.70571225] [-0.28388798 0.95821109 0.03520122 0.92882794] [ 0.15823183 0.01060765 0.98734501 -1.55018492] [ 0. 0. 0. 1. ]] SLAMing on 163.28629675700003 meters Centerline goodness : 0.812874 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94588855 0.28503789 -0.15507501 0.70714587] [-0.28314753 0.95845127 0.03462142 0.92945211] [ 0.15850026 0.0111611 0.98729585 -1.55059952] [ 0. 0. 0. 1. ]] SLAMing on 163.31629675700003 meters Centerline goodness : 0.809829 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94607164 0.28412648 -0.15562967 0.70868492] [-0.28232539 0.9587149 0.03403111 0.93004175] [ 0.15887362 0.01174234 0.9872291 -1.55080421] [ 0. 0. 0. 1. ]] SLAMing on 163.34629675700003 meters Centerline goodness : 0.808941 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94613015 0.28377866 -0.15590836 0.70952662] [-0.28202396 0.95881407 0.03373519 0.9305543 ] [ 0.15906045 0.01205201 0.98719528 -1.55100465] [ 0. 0. 0. 1. ]] SLAMing on 163.37629675700003 meters Centerline goodness : 0.807241 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94617236 0.2834688 -0.15621555 0.71036485] [-0.28178715 0.95889959 0.03328031 0.93221743] [ 0.15922896 0.01253062 0.98716216 -1.55095806] [ 0. 0. 0. 1. ]] SLAMing on 163.40629675700004 meters Centerline goodness : 0.807422 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94615077 0.28343539 -0.15640682 0.7107312 ] [-0.28177364 0.9589074 0.03316956 0.93308009] [ 0.15938108 0.01268792 0.9871356 -1.55074932] [ 0. 0. 0. 1. ]] SLAMing on 163.43629675700004 meters Centerline goodness : 0.805597 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.94607553 0.28361615 -0.15653423 0.71047048] [-0.28196488 0.95885255 0.03313005 0.93457204] [ 0.15948946 0.01279363 0.98711673 -1.54984694] [ 0. 0. 0. 1. ]] SLAMing on 163.46629675700004 meters Centerline goodness : 0.805124 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.55 [[ 0.94599406 0.28393796 -0.15644318 0.70995385] [-0.28226847 0.95875864 0.03326239 0.93524684] [ 0.15943571 0.01269296 0.98712671 -1.54930509] [ 0. 0. 0. 1. ]] SLAMing on 163.496296757 meters Centerline goodness : 0.801897 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.55 [[ 0.94587067 0.28438993 -0.15636832 0.7095031 ] [-0.28273 0.95862359 0.0332349 0.93692475] [ 0.15935003 0.0127741 0.9871395 -1.54876246] [ 0. 0. 0. 1. ]] SLAMing on 163.526296757 meters Centerline goodness : 0.802146 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.55 [[ 0.94580425 0.28454991 -0.15647897 0.70968918] [-0.28290527 0.95857438 0.03316263 0.93793717] [ 0.15943316 0.01290336 0.98712439 -1.54858294] [ 0. 0. 0. 1. ]] SLAMing on 163.556296757 meters Centerline goodness : 0.798911 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.55 [[ 0.94566691 0.28495544 -0.15657104 0.70985802] [-0.28333097 0.95845152 0.03307927 0.94013508] [ 0.15949187 0.01307946 0.98711259 -1.54819781] [ 0. 0. 0. 1. ]] SLAMing on 163.586296757 meters Centerline goodness : 0.798118 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.55 [[ 0.94563975 0.28499563 -0.1566619 0.71015495] [-0.28339936 0.95843693 0.03291569 0.94104708] [ 0.15953138 0.0132715 0.98710365 -1.548187 ] [ 0. 0. 0. 1. ]] SLAMing on 163.61629675700001 meters Centerline goodness : 0.797750 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.55 [[ 0.94557459 0.28516797 -0.15674159 0.71010747] [-0.28359371 0.95838339 0.03280076 0.94207685] [ 0.15957226 0.01343536 0.98709482 -1.547827 ] [ 0. 0. 0. 1. ]] SLAMing on 163.64629675700002 meters Centerline goodness : 0.795486 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.55 [[ 0.94553038 0.28535832 -0.15666181 0.70989286] [-0.28377911 0.95832715 0.03284053 0.94240095] [ 0.15950459 0.01340563 0.98710616 -1.54763918] [ 0. 0. 0. 1. ]] SLAMing on 163.67629675700002 meters Centerline goodness : 0.793832 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.55 [[ 0.94537774 0.28595992 -0.15648596 0.70904271] [-0.28437764 0.95814784 0.03289487 0.9437599 ] [ 0.1593433 0.01340303 0.98713225 -1.54695615] [ 0. 0. 0. 1. ]] SLAMing on 163.70629675700002 meters Centerline goodness : 0.794254 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.55 [[ 0.9453291 0.28614919 -0.15643377 0.70895739] [-0.28459673 0.95808873 0.03272148 0.94494439] [ 0.15924066 0.01358798 0.98714628 -1.54685391] [ 0. 0. 0. 1. ]] SLAMing on 163.73629675700002 meters Centerline goodness : 0.791748 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.55 [[ 0.94481407 0.28828547 -0.1556209 0.70780485] [-0.28652733 0.9574647 0.03410922 0.94770841] [ 0.15883472 0.01236277 0.98722778 -1.5459156 ] [ 0. 0. 0. 1. ]] SLAMing on 163.76629675700002 meters Centerline goodness : 0.789350 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.55 [[ 0.94472473 0.28860257 -0.15557554 0.70777531] [-0.2868784 0.95736626 0.03392077 0.94937594] [ 0.15873239 0.01258547 0.98724143 -1.54583222] [ 0. 0. 0. 1. ]] SLAMing on 163.79629675700002 meters Centerline goodness : 0.789514 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.55 [[ 0.94457212 0.28929753 -0.15521098 0.70696229] [-0.28758112 0.95715611 0.03390092 0.95131248] [ 0.15836859 0.01261388 0.98729949 -1.54555112] [ 0. 0. 0. 1. ]] SLAMing on 163.82629675700002 meters Centerline goodness : 0.788726 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.55 [[ 0.94454104 0.28934981 -0.15530265 0.7072311 ] [-0.28764009 0.95713946 0.03387092 0.95162896] [ 0.15844683 0.01267879 0.9872861 -1.54556634] [ 0. 0. 0. 1. ]] SLAMing on 163.85629675700002 meters Centerline goodness : 0.787620 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.55 [[ 0.94455966 0.28921226 -0.15544556 0.70807664] [-0.28752415 0.95717904 0.03373652 0.95153756] [ 0.15854625 0.0128282 0.98726821 -1.54614706] [ 0. 0. 0. 1. ]] SLAMing on 163.88629675700003 meters Centerline goodness : 0.786537 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.55 [[ 0.94456527 0.28918067 -0.15547022 0.70835722] [-0.28749571 0.95718829 0.03371637 0.95169276] [ 0.1585644 0.01284971 0.98726502 -1.54628778] [ 0. 0. 0. 1. ]] SLAMing on 163.91629675700003 meters Centerline goodness : 0.785994 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.55 [[ 0.94457559 0.28919488 -0.15538107 0.70840659] [-0.28752866 0.95718272 0.03359342 0.95292704] [ 0.15844312 0.01294499 0.98728324 -1.54619438] [ 0. 0. 0. 1. ]] SLAMing on 163.94629675700003 meters Centerline goodness : 0.785935 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.55 [[ 0.94456512 0.28921933 -0.15539919 0.70854019] [-0.28756518 0.95717426 0.03352179 0.9536839 ] [ 0.15843926 0.01302388 0.98728283 -1.54609367] [ 0. 0. 0. 1. ]] SLAMing on 163.97629675700003 meters Centerline goodness : 0.786169 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94451195 0.28935658 -0.15546688 0.70885663] [-0.28776259 0.95712739 0.03316404 0.95578141] [ 0.15839784 0.01341372 0.98728425 -1.54606628] [ 0. 0. 0. 1. ]] SLAMing on 164.00629675700003 meters Centerline goodness : 0.784872 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94450284 0.289372 -0.15549351 0.7090663 ] [-0.28781624 0.95711936 0.03292927 0.95670145] [ 0.15835466 0.01365177 0.98728792 -1.54617736] [ 0. 0. 0. 1. ]] SLAMing on 164.03629675700003 meters Centerline goodness : 0.786591 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94447327 0.28941001 -0.15560234 0.70927452] [-0.28786753 0.95710635 0.03285921 0.9574338 ] [ 0.15843777 0.01375822 0.98727311 -1.54598675] [ 0. 0. 0. 1. ]] SLAMing on 164.06629675700003 meters Centerline goodness : 0.787184 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94446748 0.289265 -0.15590684 0.71030308] [-0.28778484 0.95714395 0.03248619 0.95873292] [ 0.15862241 0.01418547 0.98723741 -1.54628174] [ 0. 0. 0. 1. ]] SLAMing on 164.09629675700003 meters Centerline goodness : 0.790285 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94449377 0.28901828 -0.15620485 0.71151213] [-0.28761089 0.95721126 0.03204032 0.96017449] [ 0.15878127 0.01466434 0.98720487 -1.54672399] [ 0. 0. 0. 1. ]] SLAMing on 164.12629675700003 meters Centerline goodness : 0.790229 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94446564 0.28906328 -0.15629165 0.71169679] [-0.28764998 0.95719788 0.03208896 0.96062058] [ 0.15887778 0.01465037 0.98718956 -1.54645952] [ 0. 0. 0. 1. ]] SLAMing on 164.15629675700004 meters Centerline goodness : 0.790680 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94452249 0.28881611 -0.156405 0.71216278] [-0.28740799 0.95727199 0.0320467 0.96100114] [ 0.15897773 0.01468322 0.98717298 -1.54638651] [ 0. 0. 0. 1. ]] SLAMing on 164.18629675700004 meters Centerline goodness : 0.790326 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94454244 0.28865312 -0.15658526 0.71266854] [-0.28722602 0.95732255 0.03216761 0.96075049] [ 0.15918788 0.01459169 0.98714047 -1.54628422] [ 0. 0. 0. 1. ]] SLAMing on 164.21629675700004 meters Centerline goodness : 0.792996 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94472017 0.28779806 -0.15708623 0.71396905] [-0.28635491 0.95758099 0.03224147 0.95931605] [ 0.15970182 0.01452325 0.98705846 -1.54622956] [ 0. 0. 0. 1. ]] SLAMing on 164.246296757 meters Centerline goodness : 0.791208 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94480746 0.28739419 -0.15730051 0.7143834 ] [-0.28593061 0.957704 0.03235333 0.95799381] [ 0.15994549 0.01440936 0.98702067 -1.54618213] [ 0. 0. 0. 1. ]] SLAMing on 164.276296757 meters Centerline goodness : 0.792622 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94593635 0.28303743 -0.15841158 0.71435347] [-0.2821141 0.95894955 0.02876451 0.95725704] [ 0.16005014 0.01748074 0.98695409 -1.54619463] [ 0. 0. 0. 1. ]] SLAMing on 164.306296757 meters Centerline goodness : 0.790991 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.55 [[ 0.94600637 0.28260312 -0.15876844 0.71493273] [-0.28163182 0.95908233 0.02906221 0.95549022] [ 0.16048507 0.01722121 0.98688802 -1.54591118] [ 0. 0. 0. 1. ]] SLAMing on 164.336296757 meters Centerline goodness : 0.794687 Centerline is valid? [False, False] Translation: X:0.72, Y:0.95, Z:-1.55 [[ 0.94709657 0.27828811 -0.15988688 0.71502624] [-0.27784607 0.96028514 0.02557357 0.95496602] [ 0.16065382 0.02020331 0.98680402 -1.54582305] [ 0. 0. 0. 1. ]] SLAMing on 164.36629675700001 meters Centerline goodness : 0.793892 Centerline is valid? [False, False] Translation: X:0.72, Y:0.95, Z:-1.55 [[ 0.94713596 0.27797862 -0.16019166 0.71565735] [-0.27747616 0.96038183 0.02595618 0.95312951] [ 0.16106043 0.01986534 0.9867446 -1.54572073] [ 0. 0. 0. 1. ]] SLAMing on 164.39629675700002 meters Centerline goodness : 0.793151 Centerline is valid? [False, False] Translation: X:0.72, Y:0.95, Z:-1.55 [[ 0.9482014 0.27383926 -0.16101603 0.71512424] [-0.27383996 0.96150905 0.02262813 0.95174108] [ 0.16101484 0.02263659 0.98669236 -1.54577697] [ 0. 0. 0. 1. ]] SLAMing on 164.42629675700002 meters Centerline goodness : 0.794089 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.55 [[ 0.94823424 0.27373859 -0.16099382 0.71481849] [-0.27363692 0.96155217 0.02324338 0.94946872] [ 0.16116657 0.02201368 0.98668168 -1.54531775] [ 0. 0. 0. 1. ]] SLAMing on 164.45629675700002 meters Centerline goodness : 0.787251 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.54 [[ 0.94927262 0.26993291 -0.16130008 0.71251286] [-0.2702581 0.96257295 0.02034407 0.94792764] [ 0.16075463 0.02428058 0.9866957 -1.54429646] [ 0. 0. 0. 1. ]] SLAMing on 164.48629675700002 meters Centerline goodness : 0.789148 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.54 [[ 0.94936493 0.26957339 -0.16135807 0.71259274] [-0.26982945 0.96268462 0.02074605 0.94563298] [ 0.16092952 0.02384358 0.98667785 -1.54416952] [ 0. 0. 0. 1. ]] SLAMing on 164.51629675700002 meters Centerline goodness : 0.788044 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.54 [[ 0.95038808 0.26551669 -0.16205984 0.71206214] [-0.2662641 0.96374134 0.01749468 0.94430169] [ 0.1608289 0.02652398 0.98662584 -1.5443816 ] [ 0. 0. 0. 1. ]] SLAMing on 164.54629675700002 meters Centerline goodness : 0.788538 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.54 [[ 0.95039693 0.26540654 -0.16218831 0.71249177] [-0.26608274 0.96378318 0.01794298 0.94281552] [ 0.16107655 0.02610255 0.98659668 -1.54423295] [ 0. 0. 0. 1. ]] SLAMing on 164.57629675700002 meters Centerline goodness : 0.785200 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.54 [[ 0.95044103 0.26517311 -0.16231166 0.71311937] [-0.26576779 0.96386067 0.01844185 0.94002422] [ 0.16133611 0.02560932 0.98656719 -1.54465488] [ 0. 0. 0. 1. ]] SLAMing on 164.60629675700002 meters Centerline goodness : 0.785200 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.54 [[ 0.95044103 0.26517311 -0.16231166 0.71311937] [-0.26576779 0.96386067 0.01844185 0.94002422] [ 0.16133611 0.02560932 0.98656719 -1.54465488] [ 0. 0. 0. 1. ]] SLAMing on 164.63629675700003 meters Centerline goodness : 0.785142 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.54 [[ 0.95042921 0.26522908 -0.16228941 0.71311178] [-0.26573965 0.96385842 0.01895726 0.93780101] [ 0.16145203 0.02510919 0.98656108 -1.5447303 ] [ 0. 0. 0. 1. ]] SLAMing on 164.66629675700003 meters Centerline goodness : 0.785582 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.54 [[ 0.95039353 0.26539494 -0.16222722 0.71306969] [-0.26587464 0.96381738 0.0191504 0.93729479] [ 0.16143984 0.02493169 0.98656758 -1.54484816] [ 0. 0. 0. 1. ]] SLAMing on 164.69629675700003 meters Centerline goodness : 0.785024 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.54 [[ 0.95036793 0.26540322 -0.16236354 0.71358986] [-0.26585996 0.96381819 0.01931267 0.93686353] [ 0.16161458 0.02481182 0.98654199 -1.54497837] [ 0. 0. 0. 1. ]] SLAMing on 164.72629675700003 meters Centerline goodness : 0.783334 Centerline is valid? [False, False] Translation: X:0.71, Y:0.94, Z:-1.55 [[ 0.95037448 0.26538426 -0.16235625 0.71406686] [-0.26581008 0.9638282 0.01949861 0.93589811] [ 0.16165816 0.02462495 0.98653953 -1.54547602] [ 0. 0. 0. 1. ]] SLAMing on 164.75629675700003 meters Centerline goodness : 0.784881 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.55 [[ 0.95032741 0.26551593 -0.16241646 0.71397036] [-0.26587567 0.96380145 0.01992224 0.93496972] [ 0.16182689 0.02424993 0.98652116 -1.54504917] [ 0. 0. 0. 1. ]] SLAMing on 164.78629675700003 meters Centerline goodness : 0.787767 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.54 [[ 0.95023983 0.26607815 -0.16200825 0.71246703] [-0.26632878 0.96366262 0.02057524 0.93368567] [ 0.16159592 0.02359605 0.98657488 -1.54433001] [ 0. 0. 0. 1. ]] SLAMing on 164.81629675700003 meters Centerline goodness : 0.789387 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.54 [[ 0.95015788 0.2664596 -0.16186192 0.71189939] [-0.26666181 0.96356391 0.02088217 0.93362013] [ 0.16152856 0.02332103 0.98659245 -1.54397867] [ 0. 0. 0. 1. ]] SLAMing on 164.84629675700003 meters Centerline goodness : 0.790036 Centerline is valid? [False, False] Translation: X:0.71, Y:0.93, Z:-1.54 [[ 0.94993299 0.26749965 -0.16146595 0.71090917] [-0.26763783 0.963284 0.0213056 0.93491212] [ 0.16123681 0.02297551 0.98664827 -1.54360086] [ 0. 0. 0. 1. ]] SLAMing on 164.87629675700003 meters Centerline goodness : 0.791024 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94890393 0.27038987 -0.16269801 0.69346808] [-0.26919303 0.96262557 0.02978451 0.93881803] [ 0.1646707 0.01553453 0.98622626 -1.5445735 ] [ 0. 0. 0. 1. ]] SLAMing on 164.90629675700004 meters Centerline goodness : 0.791984 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94873107 0.27101282 -0.16266962 0.69335856] [-0.26980705 0.96245041 0.02988918 0.93978853] [ 0.16466179 0.01553261 0.98622778 -1.54457146] [ 0. 0. 0. 1. ]] SLAMing on 164.93629675700004 meters Centerline goodness : 0.796864 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94855535 0.27169592 -0.16255481 0.69301946] [-0.27047589 0.9622585 0.03002286 0.94058192] [ 0.16457684 0.01548881 0.98624265 -1.54455462] [ 0. 0. 0. 1. ]] SLAMing on 164.96629675700004 meters Centerline goodness : 0.806759 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94819289 0.27330108 -0.16197767 0.69126496] [-0.27199769 0.96181102 0.03060738 0.94146844] [ 0.16415694 0.01503585 0.98631964 -1.54422516] [ 0. 0. 0. 1. ]] SLAMing on 164.996296757 meters Centerline goodness : 0.795216 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94799106 0.27415887 -0.16170918 0.69051972] [-0.2728075 0.96157084 0.03094506 0.94204032] [ 0.16397869 0.01477983 0.98635315 -1.54412585] [ 0. 0. 0. 1. ]] SLAMing on 165.026296757 meters Centerline goodness : 0.789701 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94793153 0.27436588 -0.16170705 0.69052819] [-0.27298766 0.96151392 0.03112424 0.94219045] [ 0.16402301 0.01464038 0.98634787 -1.54398924] [ 0. 0. 0. 1. ]] SLAMing on 165.056296757 meters Centerline goodness : 0.787975 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94787615 0.27449704 -0.16180908 0.69054137] [-0.27306144 0.96148108 0.03148945 0.94148113] [ 0.16422012 0.01433572 0.98631954 -1.54360524] [ 0. 0. 0. 1. ]] SLAMing on 165.086296757 meters Centerline goodness : 0.786869 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94783686 0.27463878 -0.16179874 0.69023699] [-0.27313094 0.96144666 0.03193453 0.94055125] [ 0.16433132 0.01392352 0.98630693 -1.5430863 ] [ 0. 0. 0. 1. ]] SLAMing on 165.11629675700001 meters Centerline goodness : 0.792510 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94779699 0.27475483 -0.16183523 0.68979288] [-0.27318223 0.96141866 0.03233615 0.93976421] [ 0.16447592 0.01356241 0.98628785 -1.54233604] [ 0. 0. 0. 1. ]] SLAMing on 165.14629675700002 meters Centerline goodness : 0.787887 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94782401 0.27457401 -0.16198382 0.68984415] [-0.27292517 0.96147631 0.03278953 0.93835793] [ 0.16474676 0.01313076 0.98624849 -1.54171147] [ 0. 0. 0. 1. ]] SLAMing on 165.17629675700002 meters Centerline goodness : 0.790533 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94783452 0.27437469 -0.16225983 0.69047417] [-0.27269805 0.9615349 0.03296079 0.93776192] [ 0.1650621 0.01300657 0.98619741 -1.54160436] [ 0. 0. 0. 1. ]] SLAMing on 165.20629675700002 meters Centerline goodness : 0.788842 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94792909 0.27393542 -0.16244947 0.6910923 ] [-0.27219609 0.96166501 0.03331204 0.93638643] [ 0.16534732 0.01264065 0.98615439 -1.54131653] [ 0. 0. 0. 1. ]] SLAMing on 165.23629675700002 meters Centerline goodness : 0.787177 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94793813 0.27387823 -0.16249312 0.69094051] [-0.27208233 0.96168552 0.03364768 0.93544285] [ 0.16548265 0.01231559 0.9861358 -1.54088036] [ 0. 0. 0. 1. ]] SLAMing on 165.26629675700002 meters Centerline goodness : 0.787516 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94883589 0.27040552 -0.1630684 0.68928427] [-0.26913655 0.96262678 0.03025218 0.93617626] [ 0.16515437 0.01518331 0.98615085 -1.54025024] [ 0. 0. 0. 1. ]] SLAMing on 165.29629675700002 meters Centerline goodness : 0.789963 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94882218 0.27044013 -0.16309079 0.68902465] [-0.26912044 0.96262156 0.03056002 0.93545176] [ 0.16525937 0.01489504 0.98613766 -1.53975474] [ 0. 0. 0. 1. ]] SLAMing on 165.32629675700002 meters Centerline goodness : 0.790391 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94879594 0.27069854 -0.16281449 0.68792225] [-0.2693197 0.96255464 0.03091066 0.93547832] [ 0.16508531 0.01452124 0.98617238 -1.53879659] [ 0. 0. 0. 1. ]] SLAMing on 165.35629675700002 meters Centerline goodness : 0.793825 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94875549 0.27084951 -0.16279916 0.68763523] [-0.2694651 0.9625125 0.03095561 0.93604634] [ 0.16508053 0.01449939 0.98617351 -1.5383502 ] [ 0. 0. 0. 1. ]] SLAMing on 165.38629675700003 meters Centerline goodness : 0.789327 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94866989 0.27119105 -0.16272938 0.68745126] [-0.26983893 0.9624132 0.03078598 0.93784764] [ 0.16496179 0.01470499 0.98619033 -1.53809624] [ 0. 0. 0. 1. ]] SLAMing on 165.41629675700003 meters Centerline goodness : 0.789523 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94843552 0.27202007 -0.16271187 0.68735889] [-0.27072122 0.96217331 0.03053758 0.94052894] [ 0.16486385 0.01508663 0.98620095 -1.5381758 ] [ 0. 0. 0. 1. ]] SLAMing on 165.44629675700003 meters Centerline goodness : 0.791418 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94832503 0.27236161 -0.1627845 0.68756409] [-0.27109901 0.96207264 0.03035718 0.94224315] [ 0.16487864 0.01534225 0.98619453 -1.53814322] [ 0. 0. 0. 1. ]] SLAMing on 165.47629675700003 meters Centerline goodness : 0.791797 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94820181 0.27287315 -0.16264554 0.68753777] [-0.2716542 0.96192326 0.03012703 0.94439893] [ 0.16467338 0.01561684 0.98622451 -1.53832424] [ 0. 0. 0. 1. ]] SLAMing on 165.50629675700003 meters Centerline goodness : 0.792190 Centerline is valid? [False, False] Translation: X:0.69, Y:0.95, Z:-1.54 [[ 0.94710435 0.2770609 -0.16195866 0.68921623] [-0.27534316 0.96076512 0.03341436 0.9463498 ] [ 0.16486204 0.01294733 0.98623165 -1.53888617] [ 0. 0. 0. 1. ]] SLAMing on 165.53629675700003 meters Centerline goodness : 0.788325 Centerline is valid? [False, False] Translation: X:0.69, Y:0.95, Z:-1.54 [[ 0.94702805 0.27724544 -0.16208897 0.68985561] [-0.27556299 0.9607085 0.03322973 0.9477703 ] [ 0.16493304 0.01319623 0.98621648 -1.53912977] [ 0. 0. 0. 1. ]] SLAMing on 165.56629675700003 meters Centerline goodness : 0.790846 Centerline is valid? [False, False] Translation: X:0.69, Y:0.95, Z:-1.54 [[ 0.94694639 0.27744387 -0.16222648 0.69019032] [-0.27579238 0.96064808 0.03307306 0.94848608] [ 0.16501848 0.01342242 0.98619914 -1.53929361] [ 0. 0. 0. 1. ]] SLAMing on 165.59629675700003 meters Centerline goodness : 0.790184 Centerline is valid? [False, False] Translation: X:0.69, Y:0.95, Z:-1.54 [[ 0.9469297 0.27733583 -0.1625084 0.69056627] [-0.27565114 0.9606813 0.03328504 0.94753469] [ 0.16534991 0.01327704 0.98614559 -1.53895321] [ 0. 0. 0. 1. ]] SLAMing on 165.62629675700003 meters Centerline goodness : 0.791395 Centerline is valid? [False, False] Translation: X:0.69, Y:0.95, Z:-1.54 [[ 0.9469147 0.27728185 -0.16268785 0.69075777] [-0.27555213 0.96070003 0.03356312 0.94688558] [ 0.16560067 0.01304757 0.98610658 -1.53851394] [ 0. 0. 0. 1. ]] SLAMing on 165.65629675700004 meters Centerline goodness : 0.788710 Centerline is valid? [False, False] Translation: X:0.69, Y:0.95, Z:-1.54 [[ 0.94703597 0.27673127 -0.16291926 0.69157026] [-0.27495755 0.96086222 0.03379549 0.94562567] [ 0.16589523 0.01279034 0.98606043 -1.53838577] [ 0. 0. 0. 1. ]] SLAMing on 165.68629675700004 meters Centerline goodness : 0.792223 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94706461 0.27652508 -0.16310276 0.69198201] [-0.27471867 0.96092383 0.03398601 0.94484472] [ 0.16612731 0.01262043 0.98602355 -1.53821631] [ 0. 0. 0. 1. ]] SLAMing on 165.71629675700004 meters Centerline goodness : 0.790133 Centerline is valid? [False, False] Translation: X:0.69, Y:0.95, Z:-1.54 [[ 0.94789341 0.27328769 -0.16374346 0.6905267 ] [-0.27196682 0.9618112 0.03087515 0.94550236] [ 0.16592809 0.01526644 0.98601968 -1.53754642] [ 0. 0. 0. 1. ]] SLAMing on 165.746296757 meters Centerline goodness : 0.791050 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94788056 0.27330635 -0.16378669 0.69035321] [-0.27192441 0.96181129 0.03124354 0.94449033] [ 0.16607094 0.01492246 0.98600089 -1.53709895] [ 0. 0. 0. 1. ]] SLAMing on 165.776296757 meters Centerline goodness : 0.788655 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94785475 0.27334853 -0.16386565 0.69016003] [-0.27190906 0.96180413 0.03159572 0.94358565] [ 0.1662433 0.0146084 0.98597655 -1.53660174] [ 0. 0. 0. 1. ]] SLAMing on 165.806296757 meters Centerline goodness : 0.787454 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.9478731 0.27339861 -0.16367587 0.68948578] [-0.27187429 0.9617977 0.03208674 0.94227191] [ 0.16619555 0.0140851 0.98599222 -1.53598034] [ 0. 0. 0. 1. ]] SLAMing on 165.836296757 meters Centerline goodness : 0.792052 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94772334 0.27411933 -0.16333729 0.68811461] [-0.27249895 0.96160055 0.03269113 0.94187422] [ 0.1660265 0.01352709 0.98602851 -1.53513326] [ 0. 0. 0. 1. ]] SLAMing on 165.86629675700001 meters Centerline goodness : 0.791176 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.94761088 0.27455925 -0.16325084 0.68753494] [-0.27287884 0.96147955 0.03307881 0.94178498] [ 0.16604444 0.01320186 0.98602989 -1.53451161] [ 0. 0. 0. 1. ]] SLAMing on 165.89629675700002 meters Centerline goodness : 0.791102 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.94733431 0.27577569 -0.16280502 0.68584399] [-0.27404153 0.96113532 0.03346831 0.94241275] [ 0.1657074 0.01290965 0.98609046 -1.53393309] [ 0. 0. 0. 1. ]] SLAMing on 165.92629675700002 meters Centerline goodness : 0.791900 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.94721344 0.27623129 -0.1627359 0.68569343] [-0.27449687 0.96100414 0.03350391 0.94329944] [ 0.1656447 0.01293514 0.98610066 -1.5338795 ] [ 0. 0. 0. 1. ]] SLAMing on 165.95629675700002 meters Centerline goodness : 0.788555 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.94605167 0.28070845 -0.16183017 0.68647477] [-0.27838338 0.95974384 0.03734248 0.94334816] [ 0.16579785 0.00972291 0.98611183 -1.53407831] [ 0. 0. 0. 1. ]] SLAMing on 165.98629675700002 meters Centerline goodness : 0.794705 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.94593746 0.28113197 -0.16176257 0.68644983] [-0.27882315 0.95961867 0.03727827 0.94458295] [ 0.1657105 0.00984024 0.98612535 -1.53416718] [ 0. 0. 0. 1. ]] SLAMing on 166.01629675700002 meters Centerline goodness : 0.788478 Centerline is valid? [False, False] Translation: X:0.69, Y:0.95, Z:-1.53 [[ 0.94577018 0.28176011 -0.1616478 0.68655639] [-0.27947651 0.95943259 0.03717518 0.94563719] [ 0.16556465 0.01001758 0.98614806 -1.53475767] [ 0. 0. 0. 1. ]] SLAMing on 166.04629675700002 meters Centerline goodness : 0.788165 Centerline is valid? [False, False] Translation: X:0.69, Y:0.95, Z:-1.53 [[ 0.94573386 0.28177475 -0.16183469 0.68714215] [-0.27948078 0.95942846 0.03724956 0.94539043] [ 0.16576479 0.01000152 0.9861146 -1.53490014] [ 0. 0. 0. 1. ]] SLAMing on 166.07629675700002 meters Centerline goodness : 0.790577 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.9457454 0.28163551 -0.16200947 0.68797588] [-0.27933181 0.95946964 0.03730615 0.94440207] [ 0.16594991 0.00997228 0.98608376 -1.53547987] [ 0. 0. 0. 1. ]] SLAMing on 166.10629675700002 meters Centerline goodness : 0.791700 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94576328 0.28148299 -0.16217013 0.68856613] [-0.27917489 0.95951443 0.03732885 0.94389495] [ 0.16611202 0.00996957 0.98605649 -1.53573216] [ 0. 0. 0. 1. ]] SLAMing on 166.13629675700003 meters Centerline goodness : 0.792001 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94581324 0.28125959 -0.16226632 0.68875924] [-0.27889357 0.95958334 0.037659 0.94260278] [ 0.16630001 0.00963665 0.98602811 -1.53542466] [ 0. 0. 0. 1. ]] SLAMing on 166.16629675700003 meters Centerline goodness : 0.792633 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94583032 0.28113121 -0.16238919 0.68891413] [-0.27872226 0.95962325 0.03790943 0.94150362] [ 0.16648997 0.00940559 0.98599829 -1.53522773] [ 0. 0. 0. 1. ]] SLAMing on 166.19629675700003 meters Centerline goodness : 0.795680 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.94677429 0.27770172 -0.16278884 0.68690835] [-0.27582674 0.96058905 0.03447141 0.942207 ] [ 0.16594595 0.01226487 0.98605858 -1.53474932] [ 0. 0. 0. 1. ]] SLAMing on 166.22629675700003 meters Centerline goodness : 0.793602 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.94676029 0.27775861 -0.16277317 0.68670662] [-0.27582606 0.96057678 0.03481726 0.94119171] [ 0.16602692 0.01193348 0.98604901 -1.53446204] [ 0. 0. 0. 1. ]] SLAMing on 166.25629675700003 meters Centerline goodness : 0.795078 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.94678233 0.27770285 -0.16274014 0.68677873] [-0.27570645 0.96059756 0.03518916 0.93979883] [ 0.16609991 0.01155203 0.98604126 -1.53438979] [ 0. 0. 0. 1. ]] SLAMing on 166.28629675700003 meters Centerline goodness : 0.794881 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.94679137 0.27763153 -0.16280921 0.68731904] [-0.27563872 0.96061783 0.0351665 0.93950305] [ 0.16616076 0.01158119 0.98603067 -1.53480433] [ 0. 0. 0. 1. ]] SLAMing on 166.31629675700003 meters Centerline goodness : 0.790537 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.946825 0.2773985 -0.16301071 0.68873469] [-0.27542656 0.96068342 0.03503683 0.93948423] [ 0.16632085 0.01172373 0.98600199 -1.53572564] [ 0. 0. 0. 1. ]] SLAMing on 166.34629675700003 meters Centerline goodness : 0.790575 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94680071 0.27746568 -0.16303748 0.68881334] [-0.27546081 0.96066617 0.0352398 0.93893245] [ 0.16640242 0.01154537 0.98599033 -1.53567495] [ 0. 0. 0. 1. ]] SLAMing on 166.37629675700003 meters Centerline goodness : 0.790164 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94688285 0.2771024 -0.16317821 0.68929465] [-0.27505959 0.96077367 0.03544272 0.93712086] [ 0.16659859 0.01132363 0.98595978 -1.53574852] [ 0. 0. 0. 1. ]] SLAMing on 166.40629675700004 meters Centerline goodness : 0.789640 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94692031 0.27680371 -0.16346755 0.69007366] [-0.27474609 0.96086035 0.03552423 0.93633955] [ 0.16690273 0.01127346 0.98590891 -1.53574849] [ 0. 0. 0. 1. ]] SLAMing on 166.43629675700004 meters Centerline goodness : 0.793053 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.54 [[ 0.94709898 0.27588663 -0.16398197 0.69180273] [-0.2738312 0.96112361 0.03546673 0.93510504] [ 0.16739173 0.01131288 0.98582556 -1.53598152] [ 0. 0. 0. 1. ]] SLAMing on 166.46629675700004 meters Centerline goodness : 0.790636 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.54 [[ 0.94716286 0.27545053 -0.16434573 0.69304666] [-0.27339116 0.9612485 0.03547673 0.93439335] [ 0.16774917 0.01132843 0.98576462 -1.53625903] [ 0. 0. 0. 1. ]] SLAMing on 166.49629675700004 meters Centerline goodness : 0.795370 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.54 [[ 0.94735618 0.27448466 -0.16484671 0.69487739] [-0.27241669 0.96152511 0.03547694 0.93303896] [ 0.16824213 0.0112977 0.98568096 -1.53648385] [ 0. 0. 0. 1. ]] SLAMing on 166.526296757 meters Centerline goodness : 0.795370 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.54 [[ 0.94735618 0.27448466 -0.16484671 0.69487739] [-0.27241669 0.96152511 0.03547694 0.93303896] [ 0.16824213 0.0112977 0.98568096 -1.53648385] [ 0. 0. 0. 1. ]] SLAMing on 166.556296757 meters Centerline goodness : 0.794173 Centerline is valid? [False, False] Translation: X:0.70, Y:0.93, Z:-1.54 [[ 0.94735979 0.27435896 -0.16503509 0.69524422] [-0.27223199 0.96156455 0.03582396 0.93172499] [ 0.16852052 0.01098966 0.98563688 -1.53625694] [ 0. 0. 0. 1. ]] SLAMing on 166.586296757 meters Centerline goodness : 0.791968 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.54 [[ 0.94827604 0.27069215 -0.16582614 0.69441128] [-0.2691022 0.96256586 0.03241861 0.93185103] [ 0.16839405 0.01388238 0.985622 -1.5360315 ] [ 0. 0. 0. 1. ]] SLAMing on 166.61629675700001 meters Centerline goodness : 0.793605 Centerline is valid? [False, False] Translation: X:0.70, Y:0.93, Z:-1.54 [[ 0.94833114 0.27025127 -0.16622964 0.69549567] [-0.26860455 0.96269381 0.03274483 0.93015599] [ 0.16887757 0.01359709 0.98554324 -1.53586477] [ 0. 0. 0. 1. ]] SLAMing on 166.64629675700002 meters Centerline goodness : 0.794273 Centerline is valid? [False, False] Translation: X:0.70, Y:0.93, Z:-1.54 [[ 0.94832 0.27017411 -0.16641855 0.6960938 ] [-0.26849561 0.96271759 0.03293869 0.92943432] [ 0.16911324 0.01344623 0.9855049 -1.53589589] [ 0. 0. 0. 1. ]] SLAMing on 166.67629675700002 meters Centerline goodness : 0.790299 Centerline is valid? [False, False] Translation: X:0.70, Y:0.93, Z:-1.54 [[ 0.94824282 0.27050525 -0.16632035 0.69563385] [-0.26874081 0.96263115 0.03346099 0.92858095] [ 0.16915652 0.01296793 0.98550388 -1.53536356] [ 0. 0. 0. 1. ]] SLAMing on 166.70629675700002 meters Centerline goodness : 0.790664 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.54 [[ 0.94817683 0.27085929 -0.16612027 0.6949429 ] [-0.26904209 0.9625357 0.03378433 0.92810748] [ 0.16904749 0.01265983 0.9855266 -1.53500335] [ 0. 0. 0. 1. ]] SLAMing on 166.73629675700002 meters Centerline goodness : 0.790239 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.94805505 0.27137626 -0.16597156 0.69418462] [-0.26948575 0.96239526 0.03424621 0.92759871] [ 0.16902385 0.01225968 0.98553571 -1.53444472] [ 0. 0. 0. 1. ]] SLAMing on 166.76629675700002 meters Centerline goodness : 0.792115 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.94779407 0.27264413 -0.16538315 0.69190504] [-0.27062952 0.96204566 0.03504014 0.92753832] [ 0.16865963 0.01154672 0.98560672 -1.53325891] [ 0. 0. 0. 1. ]] SLAMing on 166.79629675700002 meters Centerline goodness : 0.792157 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.94758239 0.27355438 -0.16509274 0.69133127] [-0.27151533 0.96178863 0.03524286 0.92917025] [ 0.16842516 0.0114297 0.98564818 -1.53307404] [ 0. 0. 0. 1. ]] SLAMing on 166.82629675700002 meters Centerline goodness : 0.791700 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.94748661 0.27391284 -0.16504811 0.69146982] [-0.27186954 0.96168661 0.03529619 0.92982792] [ 0.16839264 0.01142888 0.98565374 -1.53326728] [ 0. 0. 0. 1. ]] SLAMing on 166.85629675700002 meters Centerline goodness : 0.793416 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.94737005 0.27431971 -0.16504145 0.69148211] [-0.27226476 0.96157099 0.03539955 0.92997334] [ 0.16840987 0.0113985 0.98565115 -1.53334931] [ 0. 0. 0. 1. ]] SLAMing on 166.88629675700003 meters Centerline goodness : 0.791672 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.94734837 0.27425587 -0.16527187 0.69199727] [-0.27217828 0.96159022 0.03554213 0.92900552] [ 0.16867145 0.01131263 0.98560741 -1.53340593] [ 0. 0. 0. 1. ]] SLAMing on 166.91629675700003 meters Centerline goodness : 0.792655 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.9482807 0.27046993 -0.16616174 0.69166717] [-0.26900712 0.9626169 0.03168396 0.9296731 ] [ 0.16851965 0.0146534 0.98558937 -1.53388718] [ 0. 0. 0. 1. ]] SLAMing on 166.94629675700003 meters Centerline goodness : 0.797669 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.94827995 0.27035531 -0.16635246 0.69206627] [-0.26885224 0.96265218 0.03192586 0.92874385] [ 0.16877088 0.01444958 0.98554939 -1.53370487] [ 0. 0. 0. 1. ]] SLAMing on 166.97629675700003 meters Centerline goodness : 0.790797 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.94928 0.26638931 -0.16704557 0.69142934] [-0.26547263 0.96370549 0.02821374 0.92983589] [ 0.16849857 0.01756328 0.98554541 -1.53361354] [ 0. 0. 0. 1. ]] SLAMing on 167.00629675700003 meters Centerline goodness : 0.789222 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.94930412 0.2662302 -0.16716207 0.69154098] [-0.26525184 0.96375572 0.02857233 0.92895653] [ 0.16871022 0.01721622 0.98551533 -1.53306371] [ 0. 0. 0. 1. ]] SLAMing on 167.03629675700003 meters Centerline goodness : 0.792709 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.95026657 0.26236055 -0.16781055 0.69047298] [-0.2619459 0.96475856 0.02500528 0.9296716 ] [ 0.16845706 0.02019561 0.98550208 -1.53267273] [ 0. 0. 0. 1. ]] SLAMing on 167.06629675700003 meters Centerline goodness : 0.791333 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.9511593 0.25875373 -0.16835231 0.68883038] [-0.25886689 0.96567004 0.02166341 0.93008406] [ 0.16817827 0.02297549 0.98548881 -1.53190139] [ 0. 0. 0. 1. ]] SLAMing on 167.09629675700003 meters Centerline goodness : 0.790129 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.95113824 0.25881057 -0.16838393 0.68864399] [-0.25887072 0.96566179 0.02198329 0.92949708] [ 0.16829144 0.02268052 0.98547632 -1.53138683] [ 0. 0. 0. 1. ]] SLAMing on 167.12629675700003 meters Centerline goodness : 0.791881 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.95111749 0.25883827 -0.1684585 0.68887282] [-0.25887961 0.9656566 0.02210607 0.92957375] [ 0.16839496 0.022585 0.98546083 -1.53122612] [ 0. 0. 0. 1. ]] SLAMing on 167.15629675700004 meters Centerline goodness : 0.792395 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.95107335 0.25895917 -0.16852189 0.68933653] [-0.25902495 0.96562045 0.02198256 0.93105932] [ 0.16842077 0.02274435 0.98545276 -1.5312496 ] [ 0. 0. 0. 1. ]] SLAMing on 167.18629675700004 meters Centerline goodness : 0.792429 Centerline is valid? [False, False] Translation: X:0.69, Y:0.93, Z:-1.53 [[ 0.9510405 0.25903795 -0.1685862 0.68968775] [-0.25913719 0.96559441 0.02180272 0.9322934 ] [ 0.16843362 0.02295168 0.98544575 -1.5313084 ] [ 0. 0. 0. 1. ]] SLAMing on 167.21629675700004 meters Centerline goodness : 0.790777 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.95090687 0.25957389 -0.16851561 0.68969345] [-0.25973712 0.96544074 0.02146623 0.93501289] [ 0.16826391 0.02335738 0.98546521 -1.53142436] [ 0. 0. 0. 1. ]] SLAMing on 167.24629675700004 meters Centerline goodness : 0.789368 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.95071915 0.26032353 -0.16841842 0.68947894] [-0.26054182 0.96522984 0.02119687 0.93825372] [ 0.16808052 0.02372777 0.98548766 -1.53125978] [ 0. 0. 0. 1. ]] SLAMing on 167.276296757 meters Centerline goodness : 0.788948 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.95069582 0.2604113 -0.16841442 0.68969845] [-0.26068912 0.96519752 0.02085499 0.94014814] [ 0.16798406 0.02407706 0.98549564 -1.53129722] [ 0. 0. 0. 1. ]] SLAMing on 167.306296757 meters Centerline goodness : 0.788100 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.9506087 0.26074071 -0.16839648 0.68976603] [-0.26107462 0.9650998 0.02055268 0.94268362] [ 0.16787833 0.02442649 0.98550505 -1.53113049] [ 0. 0. 0. 1. ]] SLAMing on 167.336296757 meters Centerline goodness : 0.785685 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.95059612 0.26069627 -0.16853628 0.69032021] [-0.26105495 0.96510785 0.02042406 0.94329749] [ 0.16798016 0.0245822 0.98548383 -1.53125579] [ 0. 0. 0. 1. ]] SLAMing on 167.36629675700001 meters Centerline goodness : 0.788956 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.95065883 0.26005022 -0.16917941 0.69244573] [-0.2604961 0.96526872 0.01995174 0.94399571] [ 0.16849205 0.02510328 0.9853833 -1.53184415] [ 0. 0. 0. 1. ]] SLAMing on 167.39629675700002 meters Centerline goodness : 0.790946 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.95066248 0.25991725 -0.16936314 0.69298456] [-0.26036041 0.96530468 0.01998345 0.94394601] [ 0.16868107 0.02509794 0.9853511 -1.53178964] [ 0. 0. 0. 1. ]] SLAMing on 167.42629675700002 meters Centerline goodness : 0.788828 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.95069275 0.25968672 -0.16954674 0.69350634] [-0.26010853 0.96536985 0.02011504 0.94403384] [ 0.16889892 0.02497733 0.98531685 -1.53135138] [ 0. 0. 0. 1. ]] SLAMing on 167.45629675700002 meters Centerline goodness : 0.790534 Centerline is valid? [False, False] Translation: X:0.69, Y:0.94, Z:-1.53 [[ 0.9506824 0.25960934 -0.16972322 0.69393713] [-0.26001952 0.965392 0.02020227 0.94402927] [ 0.16909413 0.02492541 0.98528468 -1.53116492] [ 0. 0. 0. 1. ]] SLAMing on 167.48629675700002 meters Centerline goodness : 0.790526 Centerline is valid? [False, False] Translation: X:0.70, Y:0.94, Z:-1.53 [[ 0.95076289 0.25908195 -0.17007786 0.69521274] [-0.25950497 0.96553189 0.02013308 0.9442165 ] [ 0.16943172 0.02499426 0.98522494 -1.53112342] [ 0. 0. 0. 1. ]] SLAMing on 167.51629675700002 meters Centerline goodness : 0.792241 Centerline is valid? [False, False] Translation: X:0.70, Y:0.94, Z:-1.53 [[ 0.95077289 0.25888678 -0.17031893 0.69575209] [-0.25929983 0.96558541 0.02020942 0.94391963] [ 0.16968943 0.02494911 0.98518173 -1.53090824] [ 0. 0. 0. 1. ]] SLAMing on 167.54629675700002 meters Centerline goodness : 0.792328 Centerline is valid? [False, False] Translation: X:0.70, Y:0.94, Z:-1.53 [[ 0.950884 0.25831833 -0.17056157 0.69641449] [-0.25871141 0.96574112 0.02030997 0.94297294] [ 0.16996475 0.0248138 0.98513768 -1.53054745] [ 0. 0. 0. 1. ]] SLAMing on 167.57629675700002 meters Centerline goodness : 0.791262 Centerline is valid? [False, False] Translation: X:0.70, Y:0.94, Z:-1.53 [[ 0.95087078 0.25840382 -0.17050578 0.69611406] [-0.25874677 0.9657255 0.02059997 0.94241971] [ 0.1699849 0.02452991 0.98514132 -1.53018298] [ 0. 0. 0. 1. ]] SLAMing on 167.60629675700002 meters Centerline goodness : 0.790983 Centerline is valid? [False, False] Translation: X:0.70, Y:0.94, Z:-1.53 [[ 0.95091677 0.25822176 -0.17052513 0.69600642] [-0.25850687 0.96578284 0.02092142 0.94212235] [ 0.17009261 0.02418739 0.9851312 -1.52934436] [ 0. 0. 0. 1. ]] SLAMing on 167.63629675700003 meters Centerline goodness : 0.790872 Centerline is valid? [False, False] Translation: X:0.70, Y:0.94, Z:-1.53 [[ 0.95089173 0.25839626 -0.17040038 0.69579309] [-0.25864851 0.96574082 0.02110961 0.94318247] [ 0.17001725 0.02400085 0.98514877 -1.52875171] [ 0. 0. 0. 1. ]] SLAMing on 167.66629675700003 meters Centerline goodness : 0.792485 Centerline is valid? [False, False] Translation: X:0.70, Y:0.94, Z:-1.53 [[ 0.95082228 0.25864178 -0.17041545 0.69562288] [-0.25887441 0.96567726 0.02124766 0.94410258] [ 0.17006186 0.02391345 0.98514319 -1.52820769] [ 0. 0. 0. 1. ]] SLAMing on 167.69629675700003 meters Centerline goodness : 0.789792 Centerline is valid? [False, False] Translation: X:0.70, Y:0.94, Z:-1.53 [[ 0.95073804 0.25891715 -0.17046726 0.69563273] [-0.25913696 0.96560449 0.02135426 0.94491499] [ 0.17013293 0.02387206 0.98513193 -1.52787784] [ 0. 0. 0. 1. ]] SLAMing on 167.72629675700003 meters Centerline goodness : 0.788056 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.95057857 0.25955838 -0.1703814 0.69539646] [-0.25979324 0.96542904 0.02131282 0.94627066] [ 0.17002307 0.02400442 0.98514768 -1.52783166] [ 0. 0. 0. 1. ]] SLAMing on 167.75629675700003 meters Centerline goodness : 0.789357 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.95048421 0.25984364 -0.17047302 0.69575565] [-0.2601073 0.96534729 0.02118501 0.94715496] [ 0.17007046 0.02420526 0.98513458 -1.52805017] [ 0. 0. 0. 1. ]] SLAMing on 167.78629675700003 meters Centerline goodness : 0.789108 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94950342 0.2636236 -0.17013482 0.6984216 ] [-0.26337224 0.96438413 0.02446042 0.9480701 ] [ 0.17052366 0.02158354 0.98511717 -1.52897456] [ 0. 0. 0. 1. ]] SLAMing on 167.81629675700003 meters Centerline goodness : 0.788969 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94947138 0.26358515 -0.17037302 0.69976127] [-0.26343094 0.96438148 0.0239269 0.95037137] [ 0.17061137 0.02216361 0.9850891 -1.52965852] [ 0. 0. 0. 1. ]] SLAMing on 167.84629675700003 meters Centerline goodness : 0.787420 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94851806 0.26719345 -0.1700622 0.70231021] [-0.2665007 0.96344745 0.02732012 0.9504363 ] [ 0.17114575 0.01940806 0.98505455 -1.53036279] [ 0. 0. 0. 1. ]] SLAMing on 167.87629675700003 meters Centerline goodness : 0.788720 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94848109 0.26718262 -0.17028524 0.7032659 ] [-0.26654526 0.96344341 0.02702635 0.95077493] [ 0.17128117 0.01975474 0.98502412 -1.5310696 ] [ 0. 0. 0. 1. ]] SLAMing on 167.90629675700004 meters Centerline goodness : 0.788833 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94846279 0.26711894 -0.17048695 0.70393339] [-0.26649895 0.96345851 0.02694446 0.9509181 ] [ 0.17145448 0.01987878 0.98499147 -1.53124347] [ 0. 0. 0. 1. ]] SLAMing on 167.93629675700004 meters Centerline goodness : 0.790453 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94844472 0.26717372 -0.17050169 0.70414766] [-0.26656447 0.96344192 0.02688944 0.95120486] [ 0.17145262 0.01994654 0.98499042 -1.53139229] [ 0. 0. 0. 1. ]] SLAMing on 167.96629675700004 meters Centerline goodness : 0.790193 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94840955 0.26731013 -0.1704835 0.70396429] [-0.26667472 0.96340692 0.02705 0.95196565] [ 0.17147573 0.01980916 0.98498917 -1.53079953] [ 0. 0. 0. 1. ]] SLAMing on 167.99629675700004 meters Centerline goodness : 0.793051 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94836648 0.26738831 -0.17060044 0.70392493] [-0.26671242 0.96338934 0.02730317 0.95181363] [ 0.17165519 0.01960785 0.98496194 -1.53025278] [ 0. 0. 0. 1. ]] SLAMing on 168.026296757 meters Centerline goodness : 0.794596 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94830848 0.26776524 -0.17033146 0.70263114] [-0.26695078 0.96330035 0.02810204 0.95009094] [ 0.1716051 0.01882072 0.98498602 -1.52918478] [ 0. 0. 0. 1. ]] SLAMing on 168.056296757 meters Centerline goodness : 0.790691 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94823611 0.26818977 -0.17006623 0.70158846] [-0.26724935 0.9631959 0.02883462 0.9483811 ] [ 0.17154025 0.01810806 0.98501068 -1.52843402] [ 0. 0. 0. 1. ]] SLAMing on 168.086296757 meters Centerline goodness : 0.792545 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94817797 0.26843182 -0.1700085 0.70144542] [-0.2674518 0.9631324 0.0290778 0.94828896] [ 0.1715461 0.01789815 0.9850135 -1.52829127] [ 0. 0. 0. 1. ]] SLAMing on 168.11629675700001 meters Centerline goodness : 0.788382 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94816487 0.26841309 -0.17011114 0.70251347] [-0.26747546 0.96313287 0.02884369 0.94915909] [ 0.17158166 0.01815198 0.98500266 -1.52911781] [ 0. 0. 0. 1. ]] SLAMing on 168.14629675700002 meters Centerline goodness : 0.793249 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94810576 0.26856216 -0.17020527 0.7027588 ] [-0.2676005 0.96309328 0.02900518 0.94912661] [ 0.17171325 0.01804704 0.98498166 -1.5290364 ] [ 0. 0. 0. 1. ]] SLAMing on 168.17629675700002 meters Centerline goodness : 0.790414 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94808305 0.26858541 -0.17029504 0.70272234] [-0.26757694 0.96309136 0.02928521 0.94820695] [ 0.17187526 0.01780222 0.98495786 -1.52863144] [ 0. 0. 0. 1. ]] SLAMing on 168.20629675700002 meters Centerline goodness : 0.788018 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94807807 0.26850637 -0.17044738 0.70307928] [-0.26748815 0.96311405 0.02934986 0.94787589] [ 0.17204089 0.01776669 0.98492958 -1.528573 ] [ 0. 0. 0. 1. ]] SLAMing on 168.23629675700002 meters Centerline goodness : 0.789629 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94810152 0.26827773 -0.17067678 0.70381899] [-0.26729751 0.96317347 0.02913592 0.94854131] [ 0.17220787 0.01799767 0.9848962 -1.52863336] [ 0. 0. 0. 1. ]] SLAMing on 168.26629675700002 meters Centerline goodness : 0.786820 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.9481102 0.26819164 -0.17076384 0.70415516] [-0.26724863 0.96319341 0.02892454 0.94932589] [ 0.17223593 0.01821275 0.98488734 -1.52869323] [ 0. 0. 0. 1. ]] SLAMing on 168.29629675700002 meters Centerline goodness : 0.788356 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.53 [[ 0.94808643 0.26818881 -0.1709002 0.70461445] [-0.26731172 0.96318671 0.02856219 0.95098697] [ 0.17226886 0.0186042 0.98487427 -1.52874029] [ 0. 0. 0. 1. ]] SLAMing on 168.32629675700002 meters Centerline goodness : 0.786895 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.53 [[ 0.94807528 0.26816532 -0.17099888 0.70505437] [-0.26732124 0.96318939 0.02838223 0.95167544] [ 0.17231543 0.01880315 0.98486234 -1.52891707] [ 0. 0. 0. 1. ]] SLAMing on 168.35629675700002 meters Centerline goodness : 0.787759 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.53 [[ 0.94802332 0.2682509 -0.17115266 0.70561284] [-0.26744768 0.96316041 0.02817375 0.95286729] [ 0.1724051 0.01906501 0.98484161 -1.52902187] [ 0. 0. 0. 1. ]] SLAMing on 168.38629675700003 meters Centerline goodness : 0.789392 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.53 [[ 0.94802503 0.26808928 -0.17139625 0.70656302] [-0.26734553 0.96319827 0.02784702 0.95385138] [ 0.17255406 0.01942235 0.98480854 -1.529396 ] [ 0. 0. 0. 1. ]] SLAMing on 168.41629675700003 meters Centerline goodness : 0.789392 Centerline is valid? [False, False] Translation: X:0.71, Y:0.95, Z:-1.53 [[ 0.94802503 0.26808928 -0.17139625 0.70656302] [-0.26734553 0.96319827 0.02784702 0.95385138] [ 0.17255406 0.01942235 0.98480854 -1.529396 ] [ 0. 0. 0. 1. ]] SLAMing on 168.44629675700003 meters Centerline goodness : 0.791682 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.53 [[ 0.94797767 0.26806883 -0.17168994 0.70807725] [-0.26743278 0.96319071 0.02726488 0.95651557] [ 0.17267902 0.02006902 0.98477367 -1.53013442] [ 0. 0. 0. 1. ]] SLAMing on 168.47629675700003 meters Centerline goodness : 0.794551 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.53 [[ 0.94798572 0.26779287 -0.17207573 0.70939116] [-0.2672454 0.96325629 0.02678087 0.95795195] [ 0.17292475 0.02059856 0.98471962 -1.53053213] [ 0. 0. 0. 1. ]] SLAMing on 168.50629675700003 meters Centerline goodness : 0.795217 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.53 [[ 0.94799924 0.26758623 -0.17232254 0.71038666] [-0.26715647 0.96329905 0.02612209 0.96018531] [ 0.17298805 0.02127336 0.98469415 -1.53087489] [ 0. 0. 0. 1. ]] SLAMing on 168.53629675700003 meters Centerline goodness : 0.795252 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.53 [[ 0.94798724 0.26756204 -0.17242608 0.71051868] [-0.26714462 0.96330394 0.02606264 0.9607672 ] [ 0.1730721 0.02135565 0.9846776 -1.53061453] [ 0. 0. 0. 1. ]] SLAMing on 168.56629675700003 meters Centerline goodness : 0.793941 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.53 [[ 0.94811993 0.26683753 -0.17281876 0.7115875 ] [-0.26647425 0.96349834 0.02573772 0.96147716] [ 0.17337838 0.0216493 0.98461731 -1.53031562] [ 0. 0. 0. 1. ]] SLAMing on 168.59629675700003 meters Centerline goodness : 0.794559 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.53 [[ 0.94818439 0.26644815 -0.17306572 0.71222632] [-0.26610161 0.96360397 0.02563825 0.96186112] [ 0.17359808 0.02174327 0.98457653 -1.53006499] [ 0. 0. 0. 1. ]] SLAMing on 168.62629675700003 meters Centerline goodness : 0.792846 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.53 [[ 0.94839847 0.26546987 -0.17339576 0.71326485] [-0.26515894 0.96387041 0.02538828 0.96225691] [ 0.17387086 0.02189923 0.98452493 -1.52965794] [ 0. 0. 0. 1. ]] SLAMing on 168.65629675700004 meters Centerline goodness : 0.794541 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.53 [[ 0.94947997 0.26096902 -0.17430708 0.71298378] [-0.26130759 0.96501791 0.02141887 0.9641034 ] [ 0.17379912 0.02521098 0.98445837 -1.52921636] [ 0. 0. 0. 1. ]] SLAMing on 168.68629675700004 meters Centerline goodness : 0.795138 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.53 [[ 0.94955584 0.26051086 -0.17457893 0.71355787] [-0.26082768 0.96514505 0.02153938 0.9636372 ] [ 0.17410523 0.02508217 0.98440756 -1.52881244] [ 0. 0. 0. 1. ]] SLAMing on 168.71629675700004 meters Centerline goodness : 0.791676 Centerline is valid? [False, False] Translation: X:0.72, Y:0.96, Z:-1.53 [[ 0.9498876 0.25904413 -0.17495622 0.71533776] [-0.25943088 0.96553195 0.02106359 0.96360732] [ 0.17438222 0.025381 0.98435088 -1.52904735] [ 0. 0. 0. 1. ]] SLAMing on 168.74629675700004 meters Centerline goodness : 0.793937 Centerline is valid? [False, False] Translation: X:0.72, Y:0.96, Z:-1.53 [[ 0.94998655 0.25839623 -0.17537659 0.71657242] [-0.25881251 0.96570146 0.0208991 0.96347699] [ 0.17476168 0.02553579 0.98427957 -1.52911295] [ 0. 0. 0. 1. ]] SLAMing on 168.776296757 meters Centerline goodness : 0.793535 Centerline is valid? [False, False] Translation: X:0.72, Y:0.96, Z:-1.53 [[ 0.95003802 0.25796368 -0.17573417 0.71739798] [-0.25838946 0.96581562 0.02085842 0.96336084] [ 0.17510752 0.02559157 0.98421666 -1.52890781] [ 0. 0. 0. 1. ]] SLAMing on 168.806296757 meters Centerline goodness : 0.793254 Centerline is valid? [False, False] Translation: X:0.72, Y:0.96, Z:-1.53 [[ 0.95016219 0.25732454 -0.17599972 0.71828759] [-0.25778487 0.96598177 0.02064422 0.96373832] [ 0.17532478 0.0257547 0.98417372 -1.52875051] [ 0. 0. 0. 1. ]] SLAMing on 168.836296757 meters Centerline goodness : 0.796796 Centerline is valid? [False, False] Translation: X:0.72, Y:0.97, Z:-1.53 [[ 0.95019607 0.25709024 -0.17615914 0.71859708] [-0.25760627 0.966036 0.02033363 0.96536927] [ 0.17540364 0.02605877 0.98415167 -1.52831159] [ 0. 0. 0. 1. ]] SLAMing on 168.86629675700001 meters Centerline goodness : 0.796278 Centerline is valid? [False, False] Translation: X:0.72, Y:0.97, Z:-1.53 [[ 0.95017582 0.25706744 -0.17630157 0.71900106] [-0.25763713 0.96603365 0.02005217 0.96688831] [ 0.17546801 0.02636875 0.98413194 -1.52819414] [ 0. 0. 0. 1. ]] SLAMing on 168.89629675700002 meters Centerline goodness : 0.799703 Centerline is valid? [False, False] Translation: X:0.72, Y:0.97, Z:-1.53 [[ 0.94935075 0.26019953 -0.17615152 0.72210907] [-0.26030564 0.9652542 0.0229197 0.96866645] [ 0.17599469 0.0240944 0.9840962 -1.52887979] [ 0. 0. 0. 1. ]] SLAMing on 168.92629675700002 meters Centerline goodness : 0.801734 Centerline is valid? [False, False] Translation: X:0.72, Y:0.97, Z:-1.53 [[ 0.94932442 0.26002124 -0.17655624 0.72370077] [-0.26023809 0.96528597 0.02234118 0.97086714] [ 0.17623645 0.02473763 0.98403697 -1.5294325 ] [ 0. 0. 0. 1. ]] SLAMing on 168.95629675700002 meters Centerline goodness : 0.801726 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.53 [[ 0.94932066 0.25980028 -0.17690136 0.72533584] [-0.26013059 0.96532874 0.02173719 0.97280114] [ 0.1764153 0.02538189 0.98398852 -1.53022727] [ 0. 0. 0. 1. ]] SLAMing on 168.98629675700002 meters Centerline goodness : 0.801981 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.94926506 0.26856022 -0.16361922 0.72623833] [-0.26847277 0.96301099 0.02306954 0.97183418] [ 0.16376267 0.0220282 0.98625379 -1.53535603] [ 0. 0. 0. 1. ]] SLAMing on 169.01629675700002 meters Centerline goodness : 0.803190 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.53 [[ 0.9488653 0.26958352 -0.16425395 0.72780924] [-0.26956807 0.96271106 0.02281372 0.97270066] [ 0.1642793 0.02263048 0.98615423 -1.53498143] [ 0. 0. 0. 1. ]] SLAMing on 169.04629675700002 meters Centerline goodness : 0.804810 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.94904156 0.27708073 -0.15015452 0.72703626] [-0.27674898 0.96065423 0.02352573 0.97189464] [ 0.15076511 0.01922822 0.9883826 -1.53951061] [ 0. 0. 0. 1. ]] SLAMing on 169.07629675700002 meters Centerline goodness : 0.805800 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.94831311 0.28003126 -0.14928071 0.72671153] [-0.27938558 0.9598346 0.02571452 0.97382107] [ 0.15048566 0.01732146 0.98846044 -1.53849971] [ 0. 0. 0. 1. ]] SLAMing on 169.10629675700002 meters Centerline goodness : 0.806203 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.94791482 0.28099519 -0.14999733 0.72776879] [-0.28044268 0.95953819 0.02526608 0.97444888] [ 0.15102781 0.01811556 0.98836351 -1.53760224] [ 0. 0. 0. 1. ]] SLAMing on 169.13629675700003 meters Centerline goodness : 0.808549 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.94753625 0.28166065 -0.1511368 0.72982097] [-0.28124749 0.95932112 0.02455271 0.97459963] [ 0.15190426 0.01924226 0.98820789 -1.53711289] [ 0. 0. 0. 1. ]] SLAMing on 169.16629675700003 meters Centerline goodness : 0.808574 Centerline is valid? [False, False] Translation: X:0.73, Y:0.98, Z:-1.54 [[ 0.94685093 0.28320595 -0.15253754 0.73250057] [-0.2829794 0.95883424 0.02365489 0.97518205] [ 0.15295743 0.02076733 0.98801455 -1.53643383] [ 0. 0. 0. 1. ]] SLAMing on 169.19629675700003 meters Centerline goodness : 0.810186 Centerline is valid? [False, False] Translation: X:0.73, Y:0.98, Z:-1.54 [[ 0.94659633 0.2837527 -0.1531006 0.73372543] [-0.28359323 0.95866046 0.0233453 0.97540154] [ 0.15339578 0.02131972 0.98793482 -1.53624357] [ 0. 0. 0. 1. ]] SLAMing on 169.22629675700003 meters Centerline goodness : 0.810565 Centerline is valid? [False, False] Translation: X:0.74, Y:0.98, Z:-1.54 [[ 0.94632327 0.28428119 -0.15380662 0.73500084] [-0.28426022 0.95848077 0.02259971 0.97620373] [ 0.15384536 0.02233447 0.98784249 -1.53571274] [ 0. 0. 0. 1. ]] SLAMing on 169.25629675700003 meters Centerline goodness : 0.809236 Centerline is valid? [False, False] Translation: X:0.74, Y:0.98, Z:-1.53 [[ 0.94613223 0.28444193 -0.15468222 0.73571581] [-0.28464159 0.95839665 0.02133155 0.97709375] [ 0.15431451 0.02384653 0.98773396 -1.53445687] [ 0. 0. 0. 1. ]] SLAMing on 169.28629675700003 meters Centerline goodness : 0.809698 Centerline is valid? [False, False] Translation: X:0.74, Y:0.98, Z:-1.53 [[ 0.94588978 0.28462098 -0.15583138 0.73666286] [-0.28498987 0.95831235 0.02045029 0.97689085] [ 0.15515572 0.02506664 0.98757195 -1.5331091 ] [ 0. 0. 0. 1. ]] SLAMing on 169.31629675700003 meters Centerline goodness : 0.809580 Centerline is valid? [False, False] Translation: X:0.74, Y:0.98, Z:-1.53 [[ 0.94534991 0.28505785 -0.15828951 0.73931582] [-0.28592412 0.95808757 0.01776521 0.97720499] [ 0.15671932 0.02846445 0.98723292 -1.53094518] [ 0. 0. 0. 1. ]] SLAMing on 169.34629675700003 meters Centerline goodness : 0.809990 Centerline is valid? [False, False] Translation: X:0.74, Y:0.98, Z:-1.53 [[ 0.94484123 0.28634125 -0.1590086 0.74023604] [-0.28730117 0.95768189 0.01741944 0.9779594 ] [ 0.15726756 0.02922475 0.98712351 -1.52971668] [ 0. 0. 0. 1. ]] SLAMing on 169.37629675700003 meters Centerline goodness : 0.810502 Centerline is valid? [False, False] Translation: X:0.74, Y:0.98, Z:-1.53 [[ 0.94330786 0.29168569 -0.15839742 0.74094748] [-0.29222864 0.95613129 0.02038068 0.97953825] [ 0.15739348 0.02706301 0.98716508 -1.52849643] [ 0. 0. 0. 1. ]] SLAMing on 169.40629675700004 meters Centerline goodness : 0.811401 Centerline is valid? [False, False] Translation: X:0.74, Y:0.98, Z:-1.53 [[ 0.94254288 0.29402508 -0.15862587 0.74229883] [-0.29449937 0.95541981 0.02105012 0.98095558] [ 0.15774356 0.02687458 0.98711434 -1.52788241] [ 0. 0. 0. 1. ]] SLAMing on 169.43629675700004 meters Centerline goodness : 0.811954 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.53 [[ 0.94070473 0.29905493 -0.16012734 0.74674713] [-0.29942934 0.95385638 0.02236253 0.98161625] [ 0.15942611 0.02691029 0.98684302 -1.5267933 ] [ 0. 0. 0. 1. ]] SLAMing on 169.46629675700004 meters Centerline goodness : 0.811914 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.52 [[ 0.9392184 0.30383807 -0.15984748 0.74728961] [-0.3038661 0.95239004 0.02487197 0.98263032] [ 0.1597942 0.02521202 0.98682834 -1.52494526] [ 0. 0. 0. 1. ]] SLAMing on 169.49629675700004 meters Centerline goodness : 0.811347 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.52 [[ 0.93874696 0.30474586 -0.16088537 0.74949765] [-0.30490692 0.95207209 0.02430044 0.98292362] [ 0.16057992 0.02624309 0.9866739 -1.52469311] [ 0. 0. 0. 1. ]] SLAMing on 169.526296757 meters Centerline goodness : 0.811270 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.52 [[ 0.93845388 0.30530963 -0.16152506 0.75116876] [-0.30552835 0.95187787 0.02410284 0.98321563] [ 0.16111096 0.02673108 0.98657423 -1.52464533] [ 0. 0. 0. 1. ]] SLAMing on 169.556296757 meters Centerline goodness : 0.810463 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.53 [[ 0.93846982 0.30491211 -0.16218202 0.75375687] [-0.30516369 0.95199799 0.02397799 0.98259627] [ 0.16170814 0.02698944 0.98646949 -1.52607451] [ 0. 0. 0. 1. ]] SLAMing on 169.586296757 meters Centerline goodness : 0.810161 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.53 [[ 0.93852581 0.30440133 -0.16281623 0.75480022] [-0.30473793 0.9521457 0.02352348 0.98175161] [ 0.16218536 0.02753889 0.98637595 -1.5261989 ] [ 0. 0. 0. 1. ]] SLAMing on 169.61629675700001 meters Centerline goodness : 0.809437 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.53 [[ 0.93930635 0.30214375 -0.16251997 0.75325821] [-0.3025226 0.95286428 0.02301615 0.98040107] [ 0.16181366 0.02754675 0.98643678 -1.52631138] [ 0. 0. 0. 1. ]] SLAMing on 169.64629675700002 meters Centerline goodness : 0.811484 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.53 [[ 0.94026147 0.29966201 -0.16158913 0.75116824] [-0.29991322 0.95367895 0.0234205 0.97833907] [ 0.16112239 0.02644132 0.98658017 -1.52732981] [ 0. 0. 0. 1. ]] SLAMing on 169.67629675700002 meters Centerline goodness : 0.809796 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.53 [[ 0.9406972 0.29833131 -0.16151536 0.75127764] [-0.29860248 0.95409628 0.02316979 0.9773206 ] [ 0.16101348 0.02643313 0.98659817 -1.52833794] [ 0. 0. 0. 1. ]] SLAMing on 169.70629675700002 meters Centerline goodness : 0.812538 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.53 [[ 0.94157595 0.29601496 -0.1606545 0.74923913] [-0.29619509 0.95484112 0.02338609 0.97593569] [ 0.16032215 0.02556529 0.98673361 -1.52900128] [ 0. 0. 0. 1. ]] SLAMing on 169.73629675700002 meters Centerline goodness : 0.812071 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.53 [[ 0.94184918 0.29513588 -0.16067027 0.74879829] [-0.29536848 0.95510677 0.02298942 0.97537796] [ 0.16024226 0.02580437 0.98674037 -1.52899911] [ 0. 0. 0. 1. ]] SLAMing on 169.76629675700002 meters Centerline goodness : 0.812258 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-1.53 [[ 0.94210757 0.29410533 -0.16104467 0.74871985] [-0.294479 0.95540252 0.02209371 0.97463306] [ 0.16036036 0.02660962 0.98669979 -1.52887969] [ 0. 0. 0. 1. ]] SLAMing on 169.79629675700002 meters Centerline goodness : 0.813075 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-1.53 [[ 0.9429381 0.29761055 -0.14931741 0.7486679 ] [-0.29791927 0.95436391 0.0208237 0.96871544] [ 0.1487005 0.02484908 0.98857002 -1.52974168] [ 0. 0. 0. 1. ]] SLAMing on 169.82629675700002 meters Centerline goodness : 0.815566 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-1.53 [[ 0.94281579 0.29722237 -0.15085508 0.75100221] [-0.2977636 0.95444005 0.01952014 0.96726168] [ 0.14978395 0.02651525 0.98836315 -1.52980671] [ 0. 0. 0. 1. ]] SLAMing on 169.85629675700002 meters Centerline goodness : 0.815721 Centerline is valid? [False, False] Translation: X:0.75, Y:0.96, Z:-1.53 [[ 0.94157181 0.2999201 -0.15326598 0.75391353] [-0.30057281 0.95356052 0.01945036 0.9648864 ] [ 0.15198194 0.02775367 0.98799353 -1.52741455] [ 0. 0. 0. 1. ]] SLAMing on 169.88629675700003 meters Centerline goodness : 0.817179 Centerline is valid? [False, False] Translation: X:0.76, Y:0.96, Z:-1.53 [[ 0.93968943 0.30430125 -0.15615543 0.75942284] [-0.30506715 0.95212848 0.01963115 0.96192342] [ 0.15465381 0.02919071 0.98753739 -1.52641818] [ 0. 0. 0. 1. ]] SLAMing on 169.91629675700003 meters Centerline goodness : 0.817727 Centerline is valid? [False, False] Translation: X:0.76, Y:0.96, Z:-1.53 [[ 0.93851505 0.30693837 -0.15804537 0.76324067] [-0.3077854 0.95125171 0.01970589 0.96062068] [ 0.15638942 0.03014979 0.9872352 -1.52572732] [ 0. 0. 0. 1. ]] SLAMing on 169.94629675700003 meters Centerline goodness : 0.816473 Centerline is valid? [False, False] Translation: X:0.77, Y:0.96, Z:-1.52 [[ 0.93594058 0.31350179 -0.16041154 0.76856133] [-0.31418811 0.94911187 0.02173697 0.95756169] [ 0.15906307 0.03005488 0.98681084 -1.52431573] [ 0. 0. 0. 1. ]] SLAMing on 169.97629675700003 meters Centerline goodness : 0.819483 Centerline is valid? [False, False] Translation: X:0.77, Y:0.96, Z:-1.52 [[ 0.93493071 0.31594858 -0.16149631 0.77067062] [-0.31662405 0.94829066 0.02222681 0.95661338] [ 0.16016797 0.03035309 0.98662298 -1.52340494] [ 0. 0. 0. 1. ]] SLAMing on 170.00629675700003 meters Centerline goodness : 0.811054 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93350112 0.31920353 -0.16335469 0.77357148] [-0.3198986 0.94717851 0.0227543 0.95443787] [ 0.1619893 0.03101578 0.98630497 -1.52168774] [ 0. 0. 0. 1. ]] SLAMing on 170.03629675700003 meters Centerline goodness : 0.808355 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93338722 0.31960252 -0.1632254 0.77317752] [-0.32024387 0.94705365 0.02309196 0.95366346] [ 0.16196345 0.0307182 0.98631852 -1.52161258] [ 0. 0. 0. 1. ]] SLAMing on 170.06629675700003 meters Centerline goodness : 0.807312 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93327462 0.32008035 -0.16293265 0.77235443] [-0.32063741 0.94690816 0.02359219 0.95270952] [ 0.16183365 0.03022431 0.98635509 -1.52131396] [ 0. 0. 0. 1. ]] SLAMing on 170.09629675700003 meters Centerline goodness : 0.809459 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93307971 0.32094367 -0.16234967 0.77088506] [-0.32137659 0.94663919 0.02431715 0.95170852] [ 0.161491 0.02948554 0.98643361 -1.52089498] [ 0. 0. 0. 1. ]] SLAMing on 170.12629675700003 meters Centerline goodness : 0.807379 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93294553 0.32155763 -0.16190534 0.76979451] [-0.32190098 0.94644749 0.02483755 0.9515003 ] [ 0.1612216 0.02894541 0.98649367 -1.52038517] [ 0. 0. 0. 1. ]] SLAMing on 170.15629675700004 meters Centerline goodness : 0.810434 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.9328751 0.32182047 -0.16178885 0.76938878] [-0.32211411 0.94636689 0.02514391 0.95135308] [ 0.16120343 0.02865835 0.98650502 -1.52000347] [ 0. 0. 0. 1. ]] SLAMing on 170.18629675700004 meters Centerline goodness : 0.807398 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.932836 0.32193033 -0.16179572 0.76948924] [-0.3221896 0.94633529 0.02536514 0.9511107 ] [ 0.16127881 0.02846738 0.98649823 -1.51990099] [ 0. 0. 0. 1. ]] SLAMing on 170.21629675700004 meters Centerline goodness : 0.809950 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93281543 0.32205792 -0.16166034 0.76922267] [-0.32224483 0.94630486 0.02579499 0.9497892 ] [ 0.16128745 0.02803224 0.98650928 -1.51977797] [ 0. 0. 0. 1. ]] SLAMing on 170.24629675700004 meters Centerline goodness : 0.806216 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93288655 0.32188158 -0.16160113 0.76929057] [-0.32203633 0.94637117 0.02596568 0.94828391] [ 0.16129252 0.0278184 0.9865145 -1.52005812] [ 0. 0. 0. 1. ]] SLAMing on 170.276296757 meters Centerline goodness : 0.807414 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93284744 0.32200066 -0.16158972 0.76927998] [-0.32211621 0.94633714 0.0262139 0.94758475] [ 0.16135925 0.0275971 0.9865098 -1.52005797] [ 0. 0. 0. 1. ]] SLAMing on 170.306296757 meters Centerline goodness : 0.804115 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93283234 0.32207279 -0.16153308 0.76942123] [-0.32214957 0.94631928 0.02644753 0.94677363] [ 0.1613799 0.02736671 0.98651284 -1.52023011] [ 0. 0. 0. 1. ]] SLAMing on 170.336296757 meters Centerline goodness : 0.804115 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93283234 0.32207279 -0.16153308 0.76942123] [-0.32214957 0.94631928 0.02644753 0.94677363] [ 0.1613799 0.02736671 0.98651284 -1.52023011] [ 0. 0. 0. 1. ]] SLAMing on 170.36629675700001 meters Centerline goodness : 0.803752 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93283755 0.32204935 -0.16154976 0.769851 ] [-0.32212042 0.94632821 0.02648324 0.94645421] [ 0.161408 0.02733391 0.98650916 -1.52060992] [ 0. 0. 0. 1. ]] SLAMing on 170.39629675700002 meters Centerline goodness : 0.802549 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93275561 0.32223544 -0.16165178 0.77055692] [-0.32229584 0.9462657 0.02658241 0.94621409] [ 0.16153133 0.0273048 0.98648978 -1.52108369] [ 0. 0. 0. 1. ]] SLAMing on 170.42629675700002 meters Centerline goodness : 0.799647 Centerline is valid? [False, False] Translation: X:0.77, Y:0.95, Z:-1.52 [[ 0.93268477 0.32240358 -0.16172526 0.77093533] [-0.32246298 0.94620781 0.02661595 0.94646222] [ 0.16160678 0.02732612 0.98647683 -1.52118879] [ 0. 0. 0. 1. ]] SLAMing on 170.45629675700002 meters Centerline goodness : 0.799504 Centerline is valid? [False, False] Translation: X:0.75, Y:0.95, Z:-1.53 [[ 0.93369141 0.32143212 -0.15780283 0.7525684 ] [-0.32094768 0.94664508 0.02925196 0.95271544] [ 0.15878579 0.02333415 0.98703728 -1.52542842] [ 0. 0. 0. 1. ]] SLAMing on 170.48629675700002 meters Centerline goodness : 0.796354 Centerline is valid? [False, False] Translation: X:0.75, Y:0.95, Z:-1.53 [[ 0.93360238 0.32164824 -0.15788924 0.75288919] [-0.32113732 0.94657469 0.02944795 0.95250093] [ 0.15892584 0.02321145 0.98701763 -1.52544305] [ 0. 0. 0. 1. ]] SLAMing on 170.51629675700002 meters Centerline goodness : 0.799009 Centerline is valid? [False, False] Translation: X:0.75, Y:0.95, Z:-1.53 [[ 0.93349055 0.32203146 -0.1577692 0.75328706] [-0.32149043 0.9464485 0.02965034 0.95208819] [ 0.15886877 0.02304298 0.98703077 -1.52608702] [ 0. 0. 0. 1. ]] SLAMing on 170.54629675700002 meters Centerline goodness : 0.792187 Centerline is valid? [False, False] Translation: X:0.74, Y:0.96, Z:-1.53 [[ 0.93420704 0.32065721 -0.15632069 0.73730861] [-0.31913726 0.94704635 0.03542052 0.95521147] [ 0.15940079 0.01679766 0.98707103 -1.52788446] [ 0. 0. 0. 1. ]] SLAMing on 170.57629675700002 meters Centerline goodness : 0.793079 Centerline is valid? [False, False] Translation: X:0.74, Y:0.95, Z:-1.53 [[ 0.9341736 0.3208141 -0.15619859 0.73709509] [-0.31925059 0.94699801 0.03569075 0.95448987] [ 0.15936985 0.01652514 0.98708063 -1.52785966] [ 0. 0. 0. 1. ]] SLAMing on 170.60629675700002 meters Centerline goodness : 0.793220 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.53 [[ 0.93518423 0.31935022 -0.15312051 0.71148021] [-0.3179077 0.94749434 0.0344843 0.9623106 ] [ 0.15609338 0.01642901 0.98760566 -1.53371573] [ 0. 0. 0. 1. ]] SLAMing on 170.63629675700003 meters Centerline goodness : 0.792402 Centerline is valid? [False, False] Translation: X:0.71, Y:0.96, Z:-1.53 [[ 0.93523404 0.31935352 -0.15280908 0.71073149] [-0.31781036 0.94750479 0.03508904 0.96040117] [ 0.15599315 0.01574784 0.9876326 -1.53328285] [ 0. 0. 0. 1. ]] SLAMing on 170.66629675700003 meters Centerline goodness : 0.792851 Centerline is valid? [False, False] Translation: X:0.70, Y:0.96, Z:-1.54 [[ 0.93803075 0.31473198 -0.14505891 0.69978167] [-0.31327779 0.94907518 0.03336653 0.96355425] [ 0.14817333 0.0141449 0.98886025 -1.53814597] [ 0. 0. 0. 1. ]] SLAMing on 170.69629675700003 meters Centerline goodness : 0.793318 Centerline is valid? [False, False] Translation: X:0.70, Y:0.96, Z:-1.54 [[ 0.93805377 0.31465808 -0.14507037 0.6997389 ] [-0.3131507 0.94910475 0.03371664 0.96223321] [ 0.14829619 0.01380086 0.98884669 -1.53794637] [ 0. 0. 0. 1. ]] SLAMing on 170.72629675700003 meters Centerline goodness : 0.792065 Centerline is valid? [False, False] Translation: X:0.70, Y:0.96, Z:-1.54 [[ 0.93917041 0.31090917 -0.14592613 0.69884902] [-0.30989813 0.95029006 0.03019841 0.96236829] [ 0.14806112 0.01686078 0.98883448 -1.53785058] [ 0. 0. 0. 1. ]] SLAMing on 170.75629675700003 meters Centerline goodness : 0.793274 Centerline is valid? [False, False] Translation: X:0.70, Y:0.96, Z:-1.54 [[ 0.93923592 0.31066877 -0.14601646 0.699162 ] [-0.3096392 0.9503708 0.03031354 0.96142432] [ 0.14818725 0.01674086 0.98881762 -1.53791638] [ 0. 0. 0. 1. ]] SLAMing on 170.78629675700003 meters Centerline goodness : 0.790341 Centerline is valid? [False, False] Translation: X:0.70, Y:0.96, Z:-1.54 [[ 0.93937636 0.31014351 -0.14622944 0.7001718 ] [-0.30912125 0.9505415 0.03024751 0.96122495] [ 0.14837822 0.01678883 0.98878817 -1.53801813] [ 0. 0. 0. 1. ]] SLAMing on 170.81629675700003 meters Centerline goodness : 0.790820 Centerline is valid? [False, False] Translation: X:0.70, Y:0.96, Z:-1.54 [[ 0.93943686 0.30989402 -0.14636965 0.70074932] [-0.30888029 0.95062175 0.03018703 0.96128343] [ 0.14849696 0.01685189 0.98876927 -1.5381224 ] [ 0. 0. 0. 1. ]] SLAMing on 170.84629675700003 meters Centerline goodness : 0.791501 Centerline is valid? [False, False] Translation: X:0.70, Y:0.96, Z:-1.54 [[ 0.93955824 0.30937923 -0.14667926 0.70179412] [-0.30836983 0.95078854 0.03015293 0.9604409 ] [ 0.14878965 0.01690103 0.98872443 -1.53836191] [ 0. 0. 0. 1. ]] SLAMing on 170.87629675700003 meters Centerline goodness : 0.789723 Centerline is valid? [False, False] Translation: X:0.68, Y:0.97, Z:-1.54 [[ 0.94083587 0.30627517 -0.14499444 0.67857318] [-0.3055192 0.95177385 0.02800988 0.96873793] [ 0.14658065 0.01794588 0.98903592 -1.54410924] [ 0. 0. 0. 1. ]] SLAMing on 170.90629675700004 meters Centerline goodness : 0.790865 Centerline is valid? [False, False] Translation: X:0.68, Y:0.97, Z:-1.54 [[ 0.94092376 0.30577944 -0.14546963 0.67994207] [-0.30500819 0.95193412 0.02813253 0.9670891 ] [ 0.14707985 0.01789886 0.98896266 -1.54448176] [ 0. 0. 0. 1. ]] SLAMing on 170.93629675700004 meters Centerline goodness : 0.789834 Centerline is valid? [False, False] Translation: X:0.68, Y:0.97, Z:-1.54 [[ 0.94094481 0.30557021 -0.14577281 0.68092277] [-0.30479219 0.95200134 0.02819884 0.96638862] [ 0.14739263 0.01789686 0.98891613 -1.54485303] [ 0. 0. 0. 1. ]] SLAMing on 170.96629675700004 meters Centerline goodness : 0.789385 Centerline is valid? [False, False] Translation: X:0.68, Y:0.97, Z:-1.55 [[ 0.9409939 0.30517796 -0.14627676 0.68316244] [-0.304435 0.95212163 0.02799524 0.96588604] [ 0.1478168 0.01818841 0.9888475 -1.5462242 ] [ 0. 0. 0. 1. ]] SLAMing on 170.99629675700004 meters Centerline goodness : 0.788649 Centerline is valid? [False, False] Translation: X:0.68, Y:0.97, Z:-1.55 [[ 0.94099867 0.30506242 -0.14648696 0.68429159] [-0.3043458 0.95215481 0.02783629 0.96621114] [ 0.14797006 0.01838878 0.98882087 -1.54690411] [ 0. 0. 0. 1. ]] SLAMing on 171.026296757 meters Centerline goodness : 0.786209 Centerline is valid? [False, False] Translation: X:0.69, Y:0.97, Z:-1.55 [[ 0.94095793 0.30508277 -0.14670611 0.68563089] [-0.30438365 0.95214526 0.02774871 0.96633305] [ 0.14815118 0.01854458 0.98879084 -1.5477941 ] [ 0. 0. 0. 1. ]] SLAMing on 171.056296757 meters Centerline goodness : 0.783837 Centerline is valid? [False, False] Translation: X:0.67, Y:0.97, Z:-1.55 [[ 0.94119764 0.303835 -0.14775418 0.66713475] [-0.3024501 0.95261761 0.03230532 0.97059807] [ 0.15056871 0.01428258 0.98849637 -1.54885587] [ 0. 0. 0. 1. ]] SLAMing on 171.086296757 meters Centerline goodness : 0.785578 Centerline is valid? [False, False] Translation: X:0.67, Y:0.97, Z:-1.55 [[ 0.94106384 0.30435086 -0.14754457 0.6665466 ] [-0.30287987 0.95246097 0.0328919 0.96961108] [ 0.15054113 0.0137349 0.98850833 -1.54841418] [ 0. 0. 0. 1. ]] SLAMing on 171.11629675700001 meters Centerline goodness : 0.783210 Centerline is valid? [False, False] Translation: X:0.67, Y:0.97, Z:-1.55 [[ 0.94097482 0.30463837 -0.14751901 0.66612864] [-0.30309703 0.95237511 0.0333742 0.96886318] [ 0.15066049 0.01330829 0.98849598 -1.54778196] [ 0. 0. 0. 1. ]] SLAMing on 171.14629675700002 meters Centerline goodness : 0.785195 Centerline is valid? [False, False] Translation: X:0.66, Y:0.97, Z:-1.55 [[ 0.94091334 0.30502535 -0.1471109 0.66488636] [-0.30336639 0.95226214 0.0341417 0.96762653] [ 0.15050223 0.01250412 0.98853059 -1.54673377] [ 0. 0. 0. 1. ]] SLAMing on 171.17629675700002 meters Centerline goodness : 0.785036 Centerline is valid? [False, False] Translation: X:0.66, Y:0.97, Z:-1.55 [[ 0.94086662 0.30522223 -0.14700134 0.66443825] [-0.30351794 0.95220289 0.03444587 0.96732597] [ 0.15048875 0.01220857 0.98853634 -1.54625439] [ 0. 0. 0. 1. ]] SLAMing on 171.20629675700002 meters Centerline goodness : 0.786591 Centerline is valid? [False, False] Translation: X:0.66, Y:0.97, Z:-1.54 [[ 0.94078964 0.30569471 -0.14651145 0.66286982] [-0.30385852 0.95206255 0.0353115 0.96638391] [ 0.1502826 0.01129806 0.98857852 -1.54483638] [ 0. 0. 0. 1. ]] SLAMing on 171.23629675700002 meters Centerline goodness : 0.787089 Centerline is valid? [False, False] Translation: X:0.66, Y:0.97, Z:-1.54 [[ 0.94076193 0.30578468 -0.14650159 0.6626511 ] [-0.303898 0.95203734 0.03564984 0.96581249] [ 0.15037616 0.01098353 0.98856784 -1.54432803] [ 0. 0. 0. 1. ]] SLAMing on 171.26629675700002 meters Centerline goodness : 0.788843 Centerline is valid? [False, False] Translation: X:0.66, Y:0.97, Z:-1.54 [[ 0.94087547 0.30523141 -0.14692562 0.66387377] [-0.30334518 0.95221419 0.03563468 0.9654626 ] [ 0.15078149 0.01104138 0.98850545 -1.54421155] [ 0. 0. 0. 1. ]] SLAMing on 171.29629675700002 meters Centerline goodness : 0.787693 Centerline is valid? [False, False] Translation: X:0.67, Y:0.97, Z:-1.54 [[ 0.94091651 0.30490963 -0.14733037 0.66520973] [-0.30303056 0.95231595 0.03559239 0.9650084 ] [ 0.15115752 0.01115614 0.98844673 -1.54463754] [ 0. 0. 0. 1. ]] SLAMing on 171.32629675700002 meters Centerline goodness : 0.787741 Centerline is valid? [False, False] Translation: X:0.67, Y:0.96, Z:-1.55 [[ 0.9411903 0.30371034 -0.14805691 0.66811507] [-0.30190791 0.95269247 0.03505247 0.96482454] [ 0.1516985 0.01170851 0.98835746 -1.54580696] [ 0. 0. 0. 1. ]] SLAMing on 171.35629675700002 meters Centerline goodness : 0.787184 Centerline is valid? [False, False] Translation: X:0.67, Y:0.96, Z:-1.55 [[ 0.94133508 0.30306513 -0.14845807 0.66957041] [-0.30130595 0.95289405 0.03475122 0.96483074] [ 0.15199669 0.01201875 0.98830792 -1.54628955] [ 0. 0. 0. 1. ]] SLAMing on 171.38629675700003 meters Centerline goodness : 0.785287 Centerline is valid? [False, False] Translation: X:0.67, Y:0.96, Z:-1.55 [[ 0.94176251 0.30140412 -0.14912726 0.67210091] [-0.29972525 0.9534141 0.03415156 0.96455581] [ 0.15247345 0.01253455 0.98822808 -1.54673268] [ 0. 0. 0. 1. ]] SLAMing on 171.41629675700003 meters Centerline goodness : 0.788094 Centerline is valid? [False, False] Translation: X:0.67, Y:0.96, Z:-1.55 [[ 0.94191539 0.30071066 -0.14956101 0.67344874] [-0.29906258 0.95362997 0.03393296 0.96429616] [ 0.15282987 0.01276613 0.98817006 -1.54697219] [ 0. 0. 0. 1. ]] SLAMing on 171.44629675700003 meters Centerline goodness : 0.788563 Centerline is valid? [False, False] Translation: X:0.68, Y:0.96, Z:-1.55 [[ 0.94235278 0.29897545 -0.15028282 0.67624574] [-0.29741339 0.9541679 0.03330013 0.96447194] [ 0.15335096 0.01331566 0.98808207 -1.54738208] [ 0. 0. 0. 1. ]] SLAMing on 171.47629675700003 meters Centerline goodness : 0.788046 Centerline is valid? [False, False] Translation: X:0.68, Y:0.96, Z:-1.55 [[ 0.94253029 0.29806217 -0.15098213 0.6783078 ] [-0.296547 0.9544484 0.03298693 0.96430858] [ 0.1539368 0.01368211 0.98798596 -1.54772829] [ 0. 0. 0. 1. ]] SLAMing on 171.50629675700003 meters Centerline goodness : 0.789001 Centerline is valid? [False, False] Translation: X:0.68, Y:0.96, Z:-1.55 [[ 0.94295163 0.29616171 -0.15208701 0.68180413] [-0.29470873 0.95503311 0.03253504 0.9635031 ] [ 0.15488377 0.0141424 0.98783147 -1.54809646] [ 0. 0. 0. 1. ]] SLAMing on 171.53629675700003 meters Centerline goodness : 0.791000 Centerline is valid? [False, False] Translation: X:0.68, Y:0.96, Z:-1.55 [[ 0.94309073 0.29543652 -0.152634 0.6835122 ] [-0.29401281 0.95525419 0.03234024 0.96298316] [ 0.15535876 0.01437657 0.9877535 -1.54854861] [ 0. 0. 0. 1. ]] SLAMing on 171.56629675700003 meters Centerline goodness : 0.791540 Centerline is valid? [False, False] Translation: X:0.69, Y:0.96, Z:-1.55 [[ 0.94320845 0.29475028 -0.15323212 0.68528038] [-0.29335986 0.95546204 0.03212908 0.96270371] [ 0.15587753 0.01464773 0.98766778 -1.54889999] [ 0. 0. 0. 1. ]] SLAMing on 171.59629675700003 meters Centerline goodness : 0.796045 Centerline is valid? [False, False] Translation: X:0.69, Y:0.96, Z:-1.55 [[ 0.94373434 0.29328746 -0.15280043 0.6852609 ] [-0.29187321 0.95591756 0.03211939 0.96375235] [ 0.15548482 0.01428618 0.98773497 -1.54944015] [ 0. 0. 0. 1. ]] SLAMing on 171.62629675700003 meters Centerline goodness : 0.799759 Centerline is valid? [False, False] Translation: X:0.68, Y:0.97, Z:-1.55 [[ 0.94416703 0.29212776 -0.15234824 0.68455498] [-0.29079036 0.95626836 0.03149273 0.96578779] [ 0.1548857 0.014567 0.987825 -1.5491841 ] [ 0. 0. 0. 1. ]] SLAMing on 171.65629675700004 meters Centerline goodness : 0.799764 Centerline is valid? [False, False] Translation: X:0.69, Y:0.97, Z:-1.55 [[ 0.94422516 0.29173238 -0.15274507 0.68500645] [-0.29050577 0.95637764 0.03079295 0.96689589] [ 0.15506527 0.01529785 0.98778578 -1.54866477] [ 0. 0. 0. 1. ]] SLAMing on 171.68629675700004 meters Centerline goodness : 0.803686 Centerline is valid? [False, False] Translation: X:0.69, Y:0.97, Z:-1.55 [[ 0.9442451 0.29127536 -0.1534922 0.68719145] [-0.29029914 0.95648911 0.02924036 0.96925703] [ 0.15533061 0.01694859 0.98771714 -1.54908285] [ 0. 0. 0. 1. ]] SLAMing on 171.71629675700004 meters Centerline goodness : 0.803519 Centerline is valid? [False, False] Translation: X:0.69, Y:0.97, Z:-1.55 [[ 0.94364186 0.29380628 -0.15237423 0.68640461] [-0.2924297 0.9557554 0.03188228 0.97009396] [ 0.1549997 0.0144733 0.98780849 -1.54851215] [ 0. 0. 0. 1. ]] SLAMing on 171.74629675700004 meters Centerline goodness : 0.802921 Centerline is valid? [False, False] Translation: X:0.69, Y:0.97, Z:-1.55 [[ 0.94292855 0.29654074 -0.15149038 0.68639707] [-0.29477321 0.95494349 0.03452084 0.97105317] [ 0.15490159 0.01210462 0.98785575 -1.54814843] [ 0. 0. 0. 1. ]] SLAMing on 171.776296757 meters Centerline goodness : 0.802263 Centerline is valid? [False, False] Translation: X:0.69, Y:0.97, Z:-1.55 [[ 0.94157362 0.30068266 -0.15175325 0.6893319 ] [-0.29866638 0.95366088 0.03645982 0.9726355 ] [ 0.15568397 0.010994 0.98774573 -1.54809978] [ 0. 0. 0. 1. ]] SLAMing on 171.806296757 meters Centerline goodness : 0.800082 Centerline is valid? [False, False] Translation: X:0.69, Y:0.97, Z:-1.55 [[ 0.94055468 0.30395132 -0.15156019 0.6900617 ] [-0.30165197 0.95264019 0.03850666 0.97336375] [ 0.15608648 0.00950081 0.9876977 -1.54714388] [ 0. 0. 0. 1. ]] SLAMing on 171.836296757 meters Centerline goodness : 0.803892 Centerline is valid? [False, False] Translation: X:0.69, Y:0.97, Z:-1.55 [[ 0.93882409 0.30811625 -0.15386259 0.69492212] [-0.30595229 0.95128211 0.03815157 0.97480251] [ 0.15812185 0.011257 0.98735544 -1.54570694] [ 0. 0. 0. 1. ]] SLAMing on 171.86629675700001 meters Centerline goodness : 0.803860 Centerline is valid? [False, False] Translation: X:0.70, Y:0.98, Z:-1.54 [[ 0.937306 0.31093418 -0.1574084 0.70175561] [-0.30916836 0.95031746 0.03621675 0.97603418] [ 0.16084897 0.01471952 0.98686926 -1.54495375] [ 0. 0. 0. 1. ]] SLAMing on 171.89629675700002 meters Centerline goodness : 0.800924 Centerline is valid? [False, False] Translation: X:0.70, Y:0.98, Z:-1.54 [[ 0.93646908 0.31278264 -0.15872202 0.70393735] [-0.311152 0.94969033 0.03567507 0.97699149] [ 0.16189532 0.01597807 0.98667857 -1.54360763] [ 0. 0. 0. 1. ]] SLAMing on 171.92629675700002 meters Centerline goodness : 0.803581 Centerline is valid? [False, False] Translation: X:0.71, Y:0.98, Z:-1.54 [[ 0.93568299 0.31406546 -0.16081118 0.70761705] [-0.31269527 0.94922934 0.03442861 0.977487 ] [ 0.16345953 0.01807063 0.98638453 -1.54266799] [ 0. 0. 0. 1. ]] SLAMing on 171.95629675700002 meters Centerline goodness : 0.808296 Centerline is valid? [False, False] Translation: X:0.71, Y:0.98, Z:-1.54 [[ 0.93411779 0.31697375 -0.1641694 0.71317548] [-0.31605486 0.94818771 0.03239429 0.97872013] [ 0.16593154 0.02162645 0.98590011 -1.54065963] [ 0. 0. 0. 1. ]] SLAMing on 171.98629675700002 meters Centerline goodness : 0.803199 Centerline is valid? [False, False] Translation: X:0.71, Y:0.98, Z:-1.54 [[ 0.93330765 0.31957495 -0.16373359 0.71319634] [-0.31838552 0.94734499 0.034178 0.97985619] [ 0.16603463 0.02023182 0.98591236 -1.53956583] [ 0. 0. 0. 1. ]] SLAMing on 172.01629675700002 meters Centerline goodness : 0.803694 Centerline is valid? [False, False] Translation: X:0.72, Y:0.98, Z:-1.54 [[ 0.93208248 0.32219282 -0.16557185 0.71888053] [-0.32099919 0.94644476 0.03466765 0.98036408] [ 0.16787428 0.02083532 0.98558821 -1.54014201] [ 0. 0. 0. 1. ]] SLAMing on 172.04629675700002 meters Centerline goodness : 0.803523 Centerline is valid? [False, False] Translation: X:0.72, Y:0.98, Z:-1.54 [[ 0.93156793 0.32317694 -0.16654685 0.72113795] [-0.32204399 0.94609493 0.03452609 0.98057725] [ 0.16872717 0.02147202 0.98542889 -1.53990845] [ 0. 0. 0. 1. ]] SLAMing on 172.07629675700002 meters Centerline goodness : 0.801228 Centerline is valid? [False, False] Translation: X:0.72, Y:0.98, Z:-1.54 [[ 0.93110982 0.32347404 -0.16852016 0.72406422] [-0.32259568 0.94594958 0.03333798 0.98032071] [ 0.17019554 0.02332256 0.98513427 -1.53886033] [ 0. 0. 0. 1. ]] SLAMing on 172.10629675700002 meters Centerline goodness : 0.800869 Centerline is valid? [False, False] Translation: X:0.72, Y:0.98, Z:-1.54 [[ 0.93088583 0.32382096 -0.16909037 0.72427361] [-0.32302707 0.94581553 0.03296209 0.98024611] [ 0.17060211 0.02393682 0.98504921 -1.53779537] [ 0. 0. 0. 1. ]] SLAMing on 172.13629675700003 meters Centerline goodness : 0.800531 Centerline is valid? [False, False] Translation: X:0.72, Y:0.98, Z:-1.54 [[ 0.93081431 0.32365991 -0.16979099 0.72475105] [-0.32305828 0.94583992 0.03194039 0.98137132] [ 0.17093292 0.02512182 0.98496235 -1.53661006] [ 0. 0. 0. 1. ]] SLAMing on 172.16629675700003 meters Centerline goodness : 0.802780 Centerline is valid? [False, False] Translation: X:0.73, Y:0.98, Z:-1.54 [[ 0.93049862 0.32427384 -0.17034903 0.72592402] [-0.32379427 0.94560699 0.03137962 0.98274226] [ 0.17125883 0.02595935 0.98488402 -1.53592105] [ 0. 0. 0. 1. ]] SLAMing on 172.19629675700003 meters Centerline goodness : 0.807449 Centerline is valid? [False, False] Translation: X:0.73, Y:0.98, Z:-1.54 [[ 0.93016571 0.32492255 -0.17093007 0.72697784] [-0.32451786 0.94536813 0.03110069 0.9830834 ] [ 0.17169715 0.02654107 0.98479219 -1.53540523] [ 0. 0. 0. 1. ]] SLAMing on 172.22629675700003 meters Centerline goodness : 0.807449 Centerline is valid? [False, False] Translation: X:0.73, Y:0.98, Z:-1.54 [[ 0.93016571 0.32492255 -0.17093007 0.72697784] [-0.32451786 0.94536813 0.03110069 0.9830834 ] [ 0.17169715 0.02654107 0.98479219 -1.53540523] [ 0. 0. 0. 1. ]] SLAMing on 172.25629675700003 meters Centerline goodness : 0.804635 Centerline is valid? [False, False] Translation: X:0.73, Y:0.98, Z:-1.53 [[ 0.92977132 0.32539302 -0.17217628 0.72913322] [-0.32517916 0.94516837 0.03025347 0.98304039] [ 0.17257984 0.02785933 0.98460147 -1.5349594 ] [ 0. 0. 0. 1. ]] SLAMing on 172.28629675700003 meters Centerline goodness : 0.804868 Centerline is valid? [False, False] Translation: X:0.73, Y:0.98, Z:-1.53 [[ 0.92882427 0.32760749 -0.17308613 0.72956532] [-0.32755348 0.94436556 0.02970549 0.9837894 ] [ 0.17318832 0.02910378 0.98445862 -1.53255125] [ 0. 0. 0. 1. ]] SLAMing on 172.31629675700003 meters Centerline goodness : 0.806739 Centerline is valid? [False, False] Translation: X:0.73, Y:0.98, Z:-1.53 [[ 0.9282832 0.3284838 -0.17432352 0.73161271] [-0.32857272 0.94402738 0.02919383 0.98339437] [ 0.17415587 0.03017781 0.98425557 -1.53186537] [ 0. 0. 0. 1. ]] SLAMing on 172.34629675700003 meters Centerline goodness : 0.805093 Centerline is valid? [False, False] Translation: X:0.73, Y:0.98, Z:-1.53 [[ 0.92706083 0.33195323 -0.17425632 0.7323198 ] [-0.33175882 0.94285099 0.03111408 0.9828488 ] [ 0.17462617 0.02896642 0.98420864 -1.53085163] [ 0. 0. 0. 1. ]] SLAMing on 172.37629675700003 meters Centerline goodness : 0.805137 Centerline is valid? [False, False] Translation: X:0.73, Y:0.98, Z:-1.53 [[ 0.9265954 0.33296885 -0.17479335 0.73412741] [-0.3327962 0.94248315 0.03118024 0.98281994] [ 0.17512183 0.0292791 0.98411131 -1.53102564] [ 0. 0. 0. 1. ]] SLAMing on 172.40629675700004 meters Centerline goodness : 0.799074 Centerline is valid? [False, False] Translation: X:0.74, Y:0.98, Z:-1.53 [[ 0.92550959 0.33513722 -0.17639458 0.73855987] [-0.33497514 0.94169676 0.03160486 0.9811833 ] [ 0.17670217 0.02983719 0.98381202 -1.53159183] [ 0. 0. 0. 1. ]] SLAMing on 172.43629675700004 meters Centerline goodness : 0.798419 Centerline is valid? [False, False] Translation: X:0.74, Y:0.98, Z:-1.53 [[ 0.92495664 0.33588624 -0.17786411 0.74116886] [-0.33586717 0.94139443 0.03114098 0.98006247] [ 0.17790011 0.03093466 0.9835622 -1.53123071] [ 0. 0. 0. 1. ]] SLAMing on 172.46629675700004 meters Centerline goodness : 0.801207 Centerline is valid? [False, False] Translation: X:0.74, Y:0.98, Z:-1.53 [[ 0.92384407 0.33747264 -0.18062212 0.74487432] [-0.3378234 0.94073855 0.02977144 0.97785851] [ 0.17996524 0.03351421 0.98310188 -1.52973949] [ 0. 0. 0. 1. ]] SLAMing on 172.49629675700004 meters Centerline goodness : 0.798777 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.53 [[ 0.92332662 0.33861312 -0.18113286 0.7452717 ] [-0.33900336 0.94031411 0.02976746 0.97722456] [ 0.18040144 0.03391956 0.98300803 -1.52884081] [ 0. 0. 0. 1. ]] SLAMing on 172.526296757 meters Centerline goodness : 0.799495 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.53 [[ 0.92286232 0.33939479 -0.18203381 0.7466994 ] [-0.33987062 0.94000771 0.02955455 0.97652715] [ 0.18114385 0.03459316 0.98284801 -1.52831138] [ 0. 0. 0. 1. ]] SLAMing on 172.556296757 meters Centerline goodness : 0.797580 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.53 [[ 0.92201711 0.34136051 -0.18264023 0.74767244] [-0.341851 0.93928181 0.02979215 0.97522698] [ 0.18172051 0.03496687 0.98272833 -1.52757768] [ 0. 0. 0. 1. ]] SLAMing on 172.586296757 meters Centerline goodness : 0.798275 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-1.53 [[ 0.9213343 0.34251891 -0.18391277 0.74967378] [-0.34306754 0.9388364 0.02984746 0.97317228] [ 0.18288732 0.03559501 0.9824893 -1.52698536] [ 0. 0. 0. 1. ]] SLAMing on 172.61629675700001 meters Centerline goodness : 0.797826 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-1.53 [[ 0.92118663 0.34257926 -0.18453899 0.7511741 ] [-0.34313316 0.93880917 0.02994962 0.97173697] [ 0.18350701 0.03573225 0.98236876 -1.52740067] [ 0. 0. 0. 1. ]] SLAMing on 172.64629675700002 meters Centerline goodness : 0.797125 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-1.53 [[ 0.92105244 0.3425431 -0.18527444 0.7527521 ] [-0.34311108 0.93881509 0.03001673 0.9701749 ] [ 0.18422047 0.03592273 0.98222827 -1.527835 ] [ 0. 0. 0. 1. ]] SLAMing on 172.67629675700002 meters Centerline goodness : 0.799228 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-1.53 [[ 0.92120651 0.34176445 -0.18594522 0.7542877 ] [-0.34233729 0.93909667 0.03004388 0.96754519] [ 0.18488846 0.03597936 0.98210068 -1.52886963] [ 0. 0. 0. 1. ]] SLAMing on 172.70629675700002 meters Centerline goodness : 0.797296 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-1.53 [[ 0.92124453 0.3416765 -0.18591851 0.75377971] [-0.34216966 0.93914459 0.03045263 0.96648481] [ 0.18500931 0.03556136 0.98209314 -1.52856362] [ 0. 0. 0. 1. ]] SLAMing on 172.73629675700002 meters Centerline goodness : 0.795950 Centerline is valid? [False, False] Translation: X:0.75, Y:0.96, Z:-1.53 [[ 0.92163509 0.34033412 -0.18644423 0.75307716] [-0.34090141 0.93961948 0.03002437 0.9641995 ] [ 0.18540495 0.03588759 0.98200666 -1.5278706 ] [ 0. 0. 0. 1. ]] SLAMing on 172.76629675700002 meters Centerline goodness : 0.796232 Centerline is valid? [False, False] Translation: X:0.75, Y:0.96, Z:-1.53 [[ 0.92162191 0.34052961 -0.18615219 0.75237055] [-0.34097971 0.93957223 0.03060824 0.96194985] [ 0.18532645 0.03526489 0.98204404 -1.52781118] [ 0. 0. 0. 1. ]] SLAMing on 172.79629675700002 meters Centerline goodness : 0.796285 Centerline is valid? [False, False] Translation: X:0.75, Y:0.96, Z:-1.53 [[ 0.9215569 0.34072512 -0.18611632 0.75248324] [-0.34114042 0.93950743 0.03080585 0.96167782] [ 0.18535399 0.03510246 0.98204466 -1.52790198] [ 0. 0. 0. 1. ]] SLAMing on 172.82629675700002 meters Centerline goodness : 0.795142 Centerline is valid? [False, False] Translation: X:0.75, Y:0.96, Z:-1.53 [[ 0.9214304 0.34114059 -0.1859815 0.75265488] [-0.34149358 0.93936767 0.03115303 0.96165414] [ 0.18533257 0.03480614 0.98205925 -1.52806749] [ 0. 0. 0. 1. ]] SLAMing on 172.85629675700002 meters Centerline goodness : 0.793864 Centerline is valid? [False, False] Translation: X:0.75, Y:0.96, Z:-1.53 [[ 0.92137805 0.34126826 -0.18600665 0.75284949] [-0.34158845 0.9393268 0.0313447 0.96143035] [ 0.18541798 0.0346574 0.98204839 -1.52808577] [ 0. 0. 0. 1. ]] SLAMing on 172.88629675700003 meters Centerline goodness : 0.796007 Centerline is valid? [False, False] Translation: X:0.75, Y:0.96, Z:-1.53 [[ 0.92129899 0.34144735 -0.18606954 0.75310566] [-0.34171293 0.93927081 0.03166423 0.96048499] [ 0.18558135 0.03441014 0.98202622 -1.52823141] [ 0. 0. 0. 1. ]] SLAMing on 172.91629675700003 meters Centerline goodness : 0.795793 Centerline is valid? [False, False] Translation: X:0.75, Y:0.96, Z:-1.53 [[ 0.9212262 0.34161301 -0.18612586 0.75373411] [-0.34183458 0.93921772 0.03192473 0.95906672] [ 0.18571861 0.03421435 0.98200712 -1.52895271] [ 0. 0. 0. 1. ]] SLAMing on 172.94629675700003 meters Centerline goodness : 0.794672 Centerline is valid? [False, False] Translation: X:0.74, Y:0.96, Z:-1.53 [[ 0.92337639 0.34009706 -0.17807311 0.74420478] [-0.33998459 0.93988273 0.03210822 0.96240638] [ 0.17828775 0.03089414 0.98349328 -1.53437716] [ 0. 0. 0. 1. ]] SLAMing on 172.97629675700003 meters Centerline goodness : 0.794118 Centerline is valid? [False, False] Translation: X:0.74, Y:0.96, Z:-1.53 [[ 0.92330311 0.34034207 -0.17798496 0.74393987] [-0.3401814 0.93980209 0.03238276 0.96219118] [ 0.17829186 0.03064807 0.98350023 -1.53411582] [ 0. 0. 0. 1. ]] SLAMing on 173.00629675700003 meters Centerline goodness : 0.796083 Centerline is valid? [False, False] Translation: X:0.74, Y:0.96, Z:-1.53 [[ 0.92314917 0.34103122 -0.17746357 0.74222828] [-0.34075768 0.9395724 0.03298344 0.96162412] [ 0.17798826 0.03002344 0.98357449 -1.53329427] [ 0. 0. 0. 1. ]] SLAMing on 173.03629675700003 meters Centerline goodness : 0.793898 Centerline is valid? [False, False] Translation: X:0.74, Y:0.96, Z:-1.53 [[ 0.92342888 0.3411998 -0.17567526 0.73852679] [-0.34095034 0.93951733 0.03255854 0.96253781] [ 0.17615892 0.02983105 0.98390962 -1.53316087] [ 0. 0. 0. 1. ]] SLAMing on 173.06629675700003 meters Centerline goodness : 0.791944 Centerline is valid? [False, False] Translation: X:0.74, Y:0.96, Z:-1.53 [[ 0.92334713 0.34164457 -0.17524004 0.73704741] [-0.34130216 0.93937252 0.03304693 0.96217641] [ 0.17590599 0.02929602 0.98397095 -1.53218942] [ 0. 0. 0. 1. ]] SLAMing on 173.09629675700003 meters Centerline goodness : 0.790113 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.92605201 0.33855347 -0.16676098 0.72597774] [-0.3378488 0.94060548 0.03345917 0.96701312] [ 0.16818401 0.02535507 0.98542948 -1.53680222] [ 0. 0. 0. 1. ]] SLAMing on 173.12629675700003 meters Centerline goodness : 0.791740 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.92597842 0.33882762 -0.16661272 0.72584172] [-0.33809244 0.94051146 0.03364065 0.96761911] [ 0.16809956 0.02517999 0.98544838 -1.53657497] [ 0. 0. 0. 1. ]] SLAMing on 173.15629675700004 meters Centerline goodness : 0.800471 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.92596184 0.33884956 -0.1666603 0.72625788] [-0.33812871 0.94050109 0.03356589 0.9682288 ] [ 0.16811798 0.0252719 0.98544288 -1.53671808] [ 0. 0. 0. 1. ]] SLAMing on 173.18629675700004 meters Centerline goodness : 0.790884 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.92597714 0.33880141 -0.16667316 0.72687786] [-0.33810387 0.94051498 0.03342677 0.96887018] [ 0.16808364 0.02540041 0.98544544 -1.53708811] [ 0. 0. 0. 1. ]] SLAMing on 173.21629675700004 meters Centerline goodness : 0.787978 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.92600181 0.33863051 -0.16688327 0.72762294] [-0.33795334 0.94057273 0.03332404 0.96895872] [ 0.16825039 0.02554063 0.98541336 -1.53733301] [ 0. 0. 0. 1. ]] SLAMing on 173.24629675700004 meters Centerline goodness : 0.791755 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.92603394 0.33849655 -0.16697672 0.72814127] [-0.33785148 0.94061588 0.03313806 0.96931048] [ 0.16827808 0.02572636 0.9854038 -1.53762583] [ 0. 0. 0. 1. ]] SLAMing on 173.276296757 meters Centerline goodness : 0.790865 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.92605459 0.33850554 -0.16684394 0.72845705] [-0.33790983 0.94060577 0.03282899 0.97084668] [ 0.16804717 0.02597677 0.98543663 -1.53785988] [ 0. 0. 0. 1. ]] SLAMing on 173.306296757 meters Centerline goodness : 0.790522 Centerline is valid? [False, False] Translation: X:0.73, Y:0.97, Z:-1.54 [[ 0.92608107 0.33841427 -0.16688206 0.7290984 ] [-0.33788517 0.94062826 0.03243591 0.97241182] [ 0.16795076 0.02634869 0.98544319 -1.53820926] [ 0. 0. 0. 1. ]] SLAMing on 173.336296757 meters Centerline goodness : 0.790640 Centerline is valid? [False, False] Translation: X:0.73, Y:0.98, Z:-1.54 [[ 0.92602421 0.33853809 -0.16694645 0.73001946] [-0.33809338 0.94056965 0.03196238 0.97544606] [ 0.16784524 0.02684555 0.98544776 -1.53838236] [ 0. 0. 0. 1. ]] SLAMing on 173.36629675700001 meters Centerline goodness : 0.789697 Centerline is valid? [False, False] Translation: X:0.71, Y:0.98, Z:-1.54 [[ 0.92631966 0.33749239 -0.16742395 0.71412946] [-0.3361062 0.94108027 0.03742383 0.98117634] [ 0.17018964 0.0216058 0.98517444 -1.53978932] [ 0. 0. 0. 1. ]] SLAMing on 173.39629675700002 meters Centerline goodness : 0.790048 Centerline is valid? [False, False] Translation: X:0.72, Y:0.98, Z:-1.54 [[ 0.92628497 0.3375227 -0.16755469 0.71518048] [-0.33623059 0.94105656 0.03689904 0.98329931] [ 0.1701327 0.02215798 0.98517201 -1.54036875] [ 0. 0. 0. 1. ]] SLAMing on 173.42629675700002 meters Centerline goodness : 0.794355 Centerline is valid? [False, False] Translation: X:0.72, Y:0.98, Z:-1.54 [[ 0.9262809 0.33750797 -0.16760687 0.71575908] [-0.33627185 0.94105426 0.03658037 0.9844252 ] [ 0.17007333 0.02247778 0.98517502 -1.54073361] [ 0. 0. 0. 1. ]] SLAMing on 173.45629675700002 meters Centerline goodness : 0.792780 Centerline is valid? [False, False] Translation: X:0.72, Y:0.99, Z:-1.54 [[ 0.92623989 0.33771015 -0.16742615 0.71591502] [-0.33651762 0.94097641 0.03632193 0.98644744] [ 0.16981034 0.02269903 0.98521531 -1.54076418] [ 0. 0. 0. 1. ]] SLAMing on 173.48629675700002 meters Centerline goodness : 0.794050 Centerline is valid? [False, False] Translation: X:0.70, Y:1.00, Z:-1.54 [[ 0.92745518 0.33632298 -0.16344339 0.6956623 ] [-0.33473813 0.94154522 0.03798677 0.99505244] [ 0.16666516 0.01947971 0.98582111 -1.54392537] [ 0. 0. 0. 1. ]] SLAMing on 173.51629675700002 meters Centerline goodness : 0.793381 Centerline is valid? [False, False] Translation: X:0.70, Y:1.00, Z:-1.54 [[ 0.92747684 0.33624415 -0.16348265 0.69585571] [-0.33465877 0.9415734 0.03798747 0.99540272] [ 0.16670397 0.0194784 0.98581458 -1.54375605] [ 0. 0. 0. 1. ]] SLAMing on 173.54629675700002 meters Centerline goodness : 0.797899 Centerline is valid? [False, False] Translation: X:0.70, Y:0.99, Z:-1.54 [[ 0.92771798 0.3354 -0.16384805 0.69724866] [-0.33385971 0.94186902 0.03768863 0.9948425 ] [ 0.16696417 0.01973784 0.98576538 -1.5442951 ] [ 0. 0. 0. 1. ]] SLAMing on 173.57629675700002 meters Centerline goodness : 0.795447 Centerline is valid? [False, False] Translation: X:0.70, Y:0.99, Z:-1.54 [[ 0.92779302 0.33508386 -0.16406986 0.69802805] [-0.33353324 0.94198232 0.03774773 0.99402166] [ 0.16719957 0.01970067 0.98572622 -1.54457262] [ 0. 0. 0. 1. ]] SLAMing on 173.60629675700002 meters Centerline goodness : 0.796990 Centerline is valid? [False, False] Translation: X:0.70, Y:0.99, Z:-1.54 [[ 0.92792027 0.33460556 -0.16432618 0.69883059] [-0.33305943 0.94215151 0.03770872 0.99337356] [ 0.16743771 0.01973969 0.98568502 -1.54472978] [ 0. 0. 0. 1. ]] SLAMing on 173.63629675700003 meters Centerline goodness : 0.801615 Centerline is valid? [False, False] Translation: X:0.70, Y:1.00, Z:-1.54 [[ 0.92934427 0.32612683 -0.17309107 0.69904454] [-0.32437875 0.94511857 0.03910656 0.99634152] [ 0.17634528 0.0198036 0.98412914 -1.54050818] [ 0. 0. 0. 1. ]] SLAMing on 173.66629675700003 meters Centerline goodness : 0.798686 Centerline is valid? [False, False] Translation: X:0.70, Y:1.00, Z:-1.54 [[ 0.93109572 0.32167495 -0.17200575 0.69675014] [-0.32009117 0.94663869 0.03764082 0.99783673] [ 0.1749354 0.02001032 0.98437655 -1.54145378] [ 0. 0. 0. 1. ]] SLAMing on 173.69629675700003 meters Centerline goodness : 0.803261 Centerline is valid? [False, False] Translation: X:0.70, Y:1.00, Z:-1.54 [[ 0.93156045 0.32019565 -0.17224945 0.69643515] [-0.31874018 0.94712715 0.03680857 0.99810997] [ 0.17492807 0.02061341 0.98436541 -1.54114486] [ 0. 0. 0. 1. ]] SLAMing on 173.72629675700003 meters Centerline goodness : 0.801300 Centerline is valid? [False, False] Translation: X:0.69, Y:1.00, Z:-1.54 [[ 0.93247894 0.31772491 -0.17185431 0.69473398] [-0.31638518 0.94795216 0.03587632 0.99838736] [ 0.17430846 0.02091824 0.98446889 -1.54089707] [ 0. 0. 0. 1. ]] SLAMing on 173.75629675700003 meters Centerline goodness : 0.800796 Centerline is valid? [False, False] Translation: X:0.69, Y:1.00, Z:-1.54 [[ 0.93276959 0.31683896 -0.17191268 0.69491569] [-0.31556116 0.9482428 0.03545065 0.99846323] [ 0.17424711 0.02118168 0.98447411 -1.54122905] [ 0. 0. 0. 1. ]] SLAMing on 173.78629675700003 meters Centerline goodness : 0.796498 Centerline is valid? [False, False] Translation: X:0.69, Y:1.00, Z:-1.54 [[ 0.93281437 0.31678173 -0.17177507 0.69499171] [-0.31547259 0.94826647 0.03560543 0.99848099] [ 0.17416769 0.02097707 0.98449255 -1.54142001] [ 0. 0. 0. 1. ]] SLAMing on 173.81629675700003 meters Centerline goodness : 0.798640 Centerline is valid? [False, False] Translation: X:0.70, Y:1.00, Z:-1.54 [[ 0.93271004 0.3165052 -0.17284803 0.69878168] [-0.31533542 0.9483373 0.03492763 0.99925067] [ 0.17497301 0.02192775 0.98432902 -1.54282468] [ 0. 0. 0. 1. ]] SLAMing on 173.84629675700003 meters Centerline goodness : 0.796763 Centerline is valid? [False, False] Translation: X:0.70, Y:1.00, Z:-1.54 [[ 0.93205449 0.31924314 -0.17134249 0.6983095 ] [-0.31761976 0.94747397 0.03756012 1.00066577] [ 0.17433336 0.01941368 0.9844953 -1.54319022] [ 0. 0. 0. 1. ]] SLAMing on 173.87629675700003 meters Centerline goodness : 0.797997 Centerline is valid? [False, False] Translation: X:0.70, Y:1.00, Z:-1.54 [[ 0.93149256 0.32061829 -0.17182989 0.69981124] [-0.31897445 0.94700684 0.03785945 1.00075915] [ 0.17486252 0.01954355 0.98439888 -1.54299148] [ 0. 0. 0. 1. ]] SLAMing on 173.90629675700004 meters Centerline goodness : 0.796469 Centerline is valid? [False, False] Translation: X:0.70, Y:1.00, Z:-1.54 [[ 0.93064916 0.3222503 -0.17334036 0.70464013] [-0.32080341 0.94641946 0.03708617 1.00172507] [ 0.17600372 0.02109396 0.98416347 -1.543918 ] [ 0. 0. 0. 1. ]] SLAMing on 173.93629675700004 meters Centerline goodness : 0.795762 Centerline is valid? [False, False] Translation: X:0.71, Y:1.00, Z:-1.54 [[ 0.93009851 0.32329056 -0.17435591 0.70746129] [-0.32194653 0.94604482 0.03673734 1.00230026] [ 0.17682534 0.02196393 0.98399715 -1.54408447] [ 0. 0. 0. 1. ]] SLAMing on 173.96629675700004 meters Centerline goodness : 0.798580 Centerline is valid? [False, False] Translation: X:0.71, Y:1.00, Z:-1.54 [[ 0.92918682 0.32657817 -0.17308541 0.70698959] [-0.324747 0.94497104 0.03961213 1.00290345] [ 0.17649716 0.01940189 0.98410991 -1.54386141] [ 0. 0. 0. 1. ]] SLAMing on 173.99629675700004 meters Centerline goodness : 0.800974 Centerline is valid? [False, False] Translation: X:0.71, Y:1.00, Z:-1.54 [[ 0.92752862 0.33146058 -0.17269781 0.70995001] [-0.32916122 0.94331052 0.04263979 1.00359999] [ 0.17704107 0.0172958 0.98405148 -1.54449647] [ 0. 0. 0. 1. ]] SLAMing on 174.026296757 meters Centerline goodness : 0.799813 Centerline is valid? [False, False] Translation: X:0.71, Y:1.00, Z:-1.55 [[ 0.92676317 0.33331015 -0.17324656 0.7127477 ] [-0.33095972 0.94265767 0.04315286 1.00354868] [ 0.17769549 0.01734515 0.98393265 -1.54521092] [ 0. 0. 0. 1. ]] SLAMing on 174.056296757 meters Centerline goodness : 0.801757 Centerline is valid? [False, False] Translation: X:0.71, Y:1.00, Z:-1.55 [[ 0.92549832 0.33719632 -0.17248624 0.71459095] [-0.33434706 0.9413164 0.04621113 1.00364248] [ 0.17794635 0.01490195 0.98392735 -1.546048 ] [ 0. 0. 0. 1. ]] SLAMing on 174.086296757 meters Centerline goodness : 0.804533 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.92503604 0.33796922 -0.17345067 0.71809705] [-0.33516668 0.94102983 0.04611025 1.00331383] [ 0.1788061 0.01548124 0.98376253 -1.54720813] [ 0. 0. 0. 1. ]] SLAMing on 174.11629675700001 meters Centerline goodness : 0.805359 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.92509217 0.33761256 -0.17384543 0.7196045 ] [-0.3348445 0.94115373 0.04592179 1.00270725] [ 0.17911905 0.0157293 0.98370166 -1.54807241] [ 0. 0. 0. 1. ]] SLAMing on 174.14629675700002 meters Centerline goodness : 0.805359 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.92509217 0.33761256 -0.17384543 0.7196045 ] [-0.3348445 0.94115373 0.04592179 1.00270725] [ 0.17911905 0.0157293 0.98370166 -1.54807241] [ 0. 0. 0. 1. ]] SLAMing on 174.17629675700002 meters Centerline goodness : 0.806557 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.92520379 0.33683602 -0.17475541 0.72143078] [-0.33418956 0.94141834 0.04526415 1.00193587] [ 0.17976455 0.01652287 0.98357089 -1.54851399] [ 0. 0. 0. 1. ]] SLAMing on 174.20629675700002 meters Centerline goodness : 0.805128 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.92598599 0.33481601 -0.17449406 0.72101474] [-0.33215695 0.94214455 0.04511556 1.00119159] [ 0.17950404 0.01618304 0.98362412 -1.54941183] [ 0. 0. 0. 1. ]] SLAMing on 174.23629675700002 meters Centerline goodness : 0.804969 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.92629841 0.33379632 -0.17478921 0.72136864] [-0.33118184 0.94250276 0.04480103 1.00061315] [ 0.17969373 0.01638789 0.98358609 -1.54968125] [ 0. 0. 0. 1. ]] SLAMing on 174.26629675700002 meters Centerline goodness : 0.805696 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.92741261 0.32964559 -0.1767474 0.72376763] [-0.3276286 0.94390188 0.04133693 1.00008045] [ 0.18045874 0.01957111 0.98338783 -1.55058544] [ 0. 0. 0. 1. ]] SLAMing on 174.29629675700002 meters Centerline goodness : 0.806040 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.9278234 0.32866942 -0.17640905 0.72296513] [-0.32666651 0.94424438 0.04112838 0.99971073] [ 0.18009089 0.01946705 0.98345732 -1.55098971] [ 0. 0. 0. 1. ]] SLAMing on 174.32629675700002 meters Centerline goodness : 0.806576 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.92835473 0.32699591 -0.17672344 0.72314009] [-0.32503687 0.94482247 0.04076183 0.99824839] [ 0.18030123 0.01960019 0.98341614 -1.55143003] [ 0. 0. 0. 1. ]] SLAMing on 174.35629675700002 meters Centerline goodness : 0.807440 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.92843463 0.3264387 -0.17733276 0.72448837] [-0.32456871 0.94500359 0.04029102 0.99757493] [ 0.18073264 0.02014909 0.98332585 -1.55187144] [ 0. 0. 0. 1. ]] SLAMing on 174.38629675700003 meters Centerline goodness : 0.807817 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.92830132 0.32686153 -0.17725182 0.72466591] [-0.3249793 0.94485827 0.04038947 0.99790599] [ 0.18067961 0.02010958 0.9833364 -1.55176934] [ 0. 0. 0. 1. ]] SLAMing on 174.41629675700003 meters Centerline goodness : 0.808772 Centerline is valid? [False, False] Translation: X:0.72, Y:1.00, Z:-1.55 [[ 0.92731849 0.33031646 -0.17598709 0.72331555] [-0.3279572 0.94370488 0.04318769 0.99855639] [ 0.18034548 0.01766749 0.98344464 -1.55041222] [ 0. 0. 0. 1. ]] SLAMing on 174.44629675700003 meters Centerline goodness : 0.809563 Centerline is valid? [False, False] Translation: X:0.73, Y:1.00, Z:-1.55 [[ 0.92664534 0.33124865 -0.17777164 0.72732089] [-0.32908455 0.94334794 0.04240309 0.99819291] [ 0.18174647 0.01920928 0.98315778 -1.55052462] [ 0. 0. 0. 1. ]] SLAMing on 174.47629675700003 meters Centerline goodness : 0.806454 Centerline is valid? [False, False] Translation: X:0.73, Y:1.00, Z:-1.55 [[ 0.92567039 0.33381078 -0.17805814 0.72821032] [-0.33167443 0.94243455 0.0425345 0.99912497] [ 0.18200662 0.0196844 0.98310026 -1.54950992] [ 0. 0. 0. 1. ]] SLAMing on 174.50629675700003 meters Centerline goodness : 0.807964 Centerline is valid? [False, False] Translation: X:0.73, Y:1.00, Z:-1.55 [[ 0.92315906 0.33973038 -0.17989059 0.73342603] [-0.33749812 0.94030496 0.04383617 0.99918624] [ 0.18404449 0.02024498 0.9827094 -1.54820502] [ 0. 0. 0. 1. ]] SLAMing on 174.53629675700003 meters Centerline goodness : 0.807862 Centerline is valid? [False, False] Translation: X:0.74, Y:1.00, Z:-1.55 [[ 0.92195175 0.34211029 -0.18156412 0.73771792] [-0.34004258 0.93940842 0.04339204 0.99920381] [ 0.18540773 0.02173417 0.98242129 -1.54808448] [ 0. 0. 0. 1. ]] SLAMing on 174.56629675700003 meters Centerline goodness : 0.804843 Centerline is valid? [False, False] Translation: X:0.74, Y:1.00, Z:-1.55 [[ 0.91931281 0.34861576 -0.18256782 0.74238035] [-0.3462039 0.93703188 0.0459796 0.99854062] [ 0.18710108 0.02093605 0.98211754 -1.54752786] [ 0. 0. 0. 1. ]] SLAMing on 174.59629675700003 meters Centerline goodness : 0.806406 Centerline is valid? [False, False] Translation: X:0.75, Y:1.00, Z:-1.55 [[ 0.91828394 0.35088621 -0.18339429 0.74566973] [-0.34845683 0.93617583 0.04639666 0.99797046] [ 0.18796925 0.02129968 0.98194393 -1.54812136] [ 0. 0. 0. 1. ]] SLAMing on 174.62629675700003 meters Centerline goodness : 0.804618 Centerline is valid? [False, False] Translation: X:0.75, Y:1.00, Z:-1.55 [[ 0.9167964 0.35420354 -0.18445652 0.74986127] [-0.35164033 0.93492656 0.04755432 0.99620588] [ 0.18929721 0.02126472 0.98168955 -1.54899415] [ 0. 0. 0. 1. ]] SLAMing on 174.65629675700004 meters Centerline goodness : 0.804254 Centerline is valid? [False, False] Translation: X:0.75, Y:0.99, Z:-1.55 [[ 0.91639264 0.35457154 -0.18575134 0.75268679] [-0.35208362 0.93476991 0.04735342 0.99438413] [ 0.19042494 0.02200568 0.98145509 -1.54943349] [ 0. 0. 0. 1. ]] SLAMing on 174.68629675700004 meters Centerline goodness : 0.800517 Centerline is valid? [False, False] Translation: X:0.75, Y:0.99, Z:-1.55 [[ 0.9172047 0.35139652 -0.18776586 0.75467404] [-0.3494396 0.93589938 0.04454556 0.99210605] [ 0.19138311 0.02475543 0.98120318 -1.55006543] [ 0. 0. 0. 1. ]] SLAMing on 174.71629675700004 meters Centerline goodness : 0.799676 Centerline is valid? [False, False] Translation: X:0.76, Y:0.99, Z:-1.55 [[ 0.91800724 0.34839454 -0.18943059 0.75602151] [-0.34698001 0.93694565 0.04168591 0.99078798] [ 0.19200931 0.02746066 0.98100884 -1.55042272] [ 0. 0. 0. 1. ]] SLAMing on 174.74629675700004 meters Centerline goodness : 0.800218 Centerline is valid? [False, False] Translation: X:0.76, Y:0.99, Z:-1.56 [[ 0.91944221 0.34957395 -0.18006688 0.75998901] [-0.34914388 0.93641014 0.03513682 0.98599625] [ 0.18089937 0.03056298 0.98302661 -1.55731028] [ 0. 0. 0. 1. ]] SLAMing on 174.776296757 meters Centerline goodness : 0.798574 Centerline is valid? [False, False] Translation: X:0.76, Y:0.98, Z:-1.56 [[ 0.92135873 0.34230906 -0.18418088 0.76275166] [-0.34306244 0.9388716 0.02877974 0.98289896] [ 0.18277376 0.03666907 0.98247093 -1.55731123] [ 0. 0. 0. 1. ]] SLAMing on 174.806296757 meters Centerline goodness : 0.795769 Centerline is valid? [False, False] Translation: X:0.77, Y:0.98, Z:-1.56 [[ 0.92289104 0.34240596 -0.17615417 0.76619643] [-0.34423403 0.93864786 0.02105044 0.9755028 ] [ 0.17255453 0.041211 0.98413748 -1.56299296] [ 0. 0. 0. 1. ]] SLAMing on 174.836296757 meters Centerline goodness : 0.794468 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.56 [[ 0.92341719 0.33970145 -0.17861582 0.76886083] [-0.34213321 0.93947949 0.01797631 0.97379203] [ 0.17391248 0.04451077 0.98375466 -1.56300894] [ 0. 0. 0. 1. ]] SLAMing on 174.86629675700001 meters Centerline goodness : 0.791744 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.56 [[ 0.92351513 0.33908541 -0.17927881 0.7693541 ] [-0.34154637 0.93969401 0.01792338 0.97201273] [ 0.17454478 0.04467951 0.98363502 -1.56278004] [ 0. 0. 0. 1. ]] SLAMing on 174.89629675700002 meters Centerline goodness : 0.790102 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.56 [[ 0.9235817 0.33730263 -0.18227392 0.77327493] [-0.34041286 0.94015777 0.01491492 0.96938616] [ 0.17639708 0.04827324 0.98313466 -1.56291148] [ 0. 0. 0. 1. ]] SLAMing on 174.92629675700002 meters Centerline goodness : 0.789541 Centerline is valid? [False, False] Translation: X:0.77, Y:0.97, Z:-1.56 [[ 0.92291106 0.33880038 -0.182892 0.77385619] [-0.3418803 0.93961722 0.01540559 0.96810744] [ 0.17706789 0.04830918 0.9830123 -1.56186175] [ 0. 0. 0. 1. ]] SLAMing on 174.95629675700002 meters Centerline goodness : 0.790153 Centerline is valid? [False, False] Translation: X:0.78, Y:0.97, Z:-1.56 [[ 0.92238132 0.33974201 -0.18381532 0.7752403 ] [-0.34288944 0.93924979 0.01538388 0.96737598] [ 0.17787505 0.04883853 0.98284041 -1.56111908] [ 0. 0. 0. 1. ]] SLAMing on 174.98629675700002 meters Centerline goodness : 0.786053 Centerline is valid? [False, False] Translation: X:0.78, Y:0.97, Z:-1.56 [[ 0.92115639 0.34172217 -0.18627093 0.77902846] [-0.34520787 0.93841539 0.01442469 0.96630336] [ 0.17972875 0.05101479 0.98239252 -1.55957656] [ 0. 0. 0. 1. ]] SLAMing on 175.01629675700002 meters Centerline goodness : 0.787025 Centerline is valid? [False, False] Translation: X:0.76, Y:0.97, Z:-1.56 [[ 0.92079461 0.34143833 -0.18856603 0.76344041] [-0.34380494 0.93880501 0.02105512 0.97114954] [ 0.18421575 0.04544249 0.98183478 -1.55957057] [ 0. 0. 0. 1. ]] SLAMing on 175.04629675700002 meters Centerline goodness : 0.785942 Centerline is valid? [False, False] Translation: X:0.76, Y:0.97, Z:-1.56 [[ 0.92066228 0.34172389 -0.18869486 0.76398042] [-0.34411542 0.93869283 0.0209846 0.9717548 ] [ 0.18429745 0.04561308 0.98181154 -1.55982635] [ 0. 0. 0. 1. ]] SLAMing on 175.07629675700002 meters Centerline goodness : 0.784402 Centerline is valid? [False, False] Translation: X:0.75, Y:0.98, Z:-1.56 [[ 0.91957187 0.34262786 -0.19233751 0.75188017] [-0.34383349 0.93860867 0.0281478 0.97603771] [ 0.19017388 0.04024816 0.98092506 -1.56245436] [ 0. 0. 0. 1. ]] SLAMing on 175.10629675700002 meters Centerline goodness : 0.780912 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-1.56 [[ 0.91859388 0.34464374 -0.19340626 0.75494571] [-0.34581248 0.93786203 0.0287842 0.97488432] [ 0.19130868 0.04044131 0.98069643 -1.56258265] [ 0. 0. 0. 1. ]] SLAMing on 175.13629675700003 meters Centerline goodness : 0.777942 Centerline is valid? [False, False] Translation: X:0.76, Y:0.97, Z:-1.56 [[ 0.91668584 0.34874565 -0.1950988 0.76028426] [-0.34966026 0.93636738 0.03088407 0.97082355] [ 0.19345484 0.03990731 0.98029722 -1.56354441] [ 0. 0. 0. 1. ]] SLAMing on 175.16629675700003 meters Centerline goodness : 0.776663 Centerline is valid? [False, False] Translation: X:0.76, Y:0.97, Z:-1.56 [[ 0.9159828 0.35036582 -0.19549759 0.76098683] [-0.35110096 0.93578887 0.03205156 0.96839326] [ 0.19417424 0.03928071 0.98018028 -1.56324202] [ 0. 0. 0. 1. ]] SLAMing on 175.19629675700003 meters Centerline goodness : 0.775714 Centerline is valid? [False, False] Translation: X:0.76, Y:0.96, Z:-1.56 [[ 0.91610338 0.34889958 -0.19754414 0.763095 ] [-0.35004017 0.93624502 0.03028443 0.96430702] [ 0.19551594 0.04140471 0.97982609 -1.56378977] [ 0. 0. 0. 1. ]] SLAMing on 175.22629675700003 meters Centerline goodness : 0.775306 Centerline is valid? [False, False] Translation: X:0.76, Y:0.96, Z:-1.56 [[ 0.91631047 0.34766309 -0.19875989 0.76465856] [-0.34893735 0.9366739 0.02974441 0.96163908] [ 0.19651423 0.04209963 0.97959674 -1.564153 ] [ 0. 0. 0. 1. ]] SLAMing on 175.25629675700003 meters Centerline goodness : 0.776798 Centerline is valid? [False, False] Translation: X:0.77, Y:0.96, Z:-1.57 [[ 0.91783966 0.34217256 -0.20121705 0.76585357] [-0.34419871 0.93853799 0.02595563 0.95653956] [ 0.19773115 0.04543554 0.97920274 -1.56516353] [ 0. 0. 0. 1. ]] SLAMing on 175.28629675700003 meters Centerline goodness : 0.779565 Centerline is valid? [False, False] Translation: X:0.76, Y:0.95, Z:-1.57 [[ 0.91852958 0.34040757 -0.20106243 0.76434679] [-0.34235779 0.93920711 0.02609864 0.95357383] [ 0.19772344 0.04486292 0.9792307 -1.56549998] [ 0. 0. 0. 1. ]] SLAMing on 175.31629675700003 meters Centerline goodness : 0.777454 Centerline is valid? [False, False] Translation: X:0.76, Y:0.95, Z:-1.57 [[ 0.92004826 0.33590102 -0.20169707 0.76412136] [-0.33799233 0.94081555 0.02504573 0.94753835] [ 0.19817263 0.04512878 0.97912767 -1.56773292] [ 0. 0. 0. 1. ]] SLAMing on 175.34629675700003 meters Centerline goodness : 0.779329 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.57 [[ 0.92014742 0.3356006 -0.20174482 0.7639073 ] [-0.33751454 0.94096397 0.02589875 0.94391076] [ 0.19852624 0.04426114 0.97909565 -1.56740952] [ 0. 0. 0. 1. ]] SLAMing on 175.37629675700003 meters Centerline goodness : 0.777725 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.57 [[ 0.92128412 0.33220615 -0.2021748 0.76068594] [-0.33445014 0.94210801 0.0239915 0.93939248] [ 0.19844062 0.0455144 0.97905554 -1.56606798] [ 0. 0. 0. 1. ]] SLAMing on 175.40629675700004 meters Centerline goodness : 0.778617 Centerline is valid? [False, False] Translation: X:0.76, Y:0.94, Z:-1.57 [[ 0.9221408 0.33033592 -0.20133188 0.75630946] [-0.33285965 0.94271507 0.02219812 0.93929301] [ 0.19713144 0.04654546 0.97927152 -1.56513163] [ 0. 0. 0. 1. ]] SLAMing on 175.43629675700004 meters Centerline goodness : 0.780895 Centerline is valid? [False, False] Translation: X:0.75, Y:0.94, Z:-1.56 [[ 0.92203117 0.33133438 -0.20019004 0.75243963] [-0.33347024 0.94245591 0.02396769 0.93585705] [ 0.19661161 0.04465847 0.97946388 -1.5631227 ] [ 0. 0. 0. 1. ]] SLAMing on 175.46629675700004 meters Centerline goodness : 0.781005 Centerline is valid? [False, False] Translation: X:0.75, Y:0.93, Z:-1.56 [[ 0.92170743 0.33282847 -0.19919995 0.74894035] [-0.33470907 0.94198507 0.02517876 0.9346233 ] [ 0.19602359 0.04346658 0.97963534 -1.56169431] [ 0. 0. 0. 1. ]] SLAMing on 175.49629675700004 meters Centerline goodness : 0.781344 Centerline is valid? [False, False] Translation: X:0.73, Y:0.94, Z:-1.56 [[ 0.92246956 0.33265399 -0.19593682 0.72685862] [-0.333754 0.94223306 0.02837484 0.94197376] [ 0.19405715 0.03921977 0.98020591 -1.56423123] [ 0. 0. 0. 1. ]] SLAMing on 175.526296757 meters Centerline goodness : 0.781894 Centerline is valid? [False, False] Translation: X:0.73, Y:0.94, Z:-1.56 [[ 0.92220159 0.33361308 -0.19556723 0.72571671] [-0.33466498 0.94190168 0.02864563 0.94275428] [ 0.19376166 0.03903246 0.98027184 -1.5639147 ] [ 0. 0. 0. 1. ]] SLAMing on 175.556296757 meters Centerline goodness : 0.780743 Centerline is valid? [False, False] Translation: X:0.70, Y:0.95, Z:-1.57 [[ 0.92059716 0.34006472 -0.19198138 0.69590655] [-0.3407879 0.93965228 0.03028531 0.9535429 ] [ 0.19069471 0.03754436 0.98093116 -1.57173029] [ 0. 0. 0. 1. ]] SLAMing on 175.586296757 meters Centerline goodness : 0.781485 Centerline is valid? [False, False] Translation: X:0.67, Y:0.96, Z:-1.58 [[ 0.91977508 0.34324768 -0.1902494 0.66920936] [-0.34375026 0.9385354 0.03141762 0.96369514] [ 0.18933982 0.03650114 0.98123295 -1.57858262] [ 0. 0. 0. 1. ]] SLAMing on 175.61629675700001 meters Centerline goodness : 0.780040 Centerline is valid? [False, False] Translation: X:0.65, Y:0.97, Z:-1.58 [[ 0.91760824 0.34931663 -0.18966552 0.64621082] [-0.34893544 0.93643498 0.03651834 0.97259728] [ 0.19036589 0.03267149 0.9811694 -1.58476582] [ 0. 0. 0. 1. ]] SLAMing on 175.64629675700002 meters Centerline goodness : 0.781514 Centerline is valid? [False, False] Translation: X:0.62, Y:0.98, Z:-1.59 [[ 0.91728654 0.35020045 -0.18959182 0.62458785] [-0.34926738 0.93619284 0.03943675 0.98061133] [ 0.19130527 0.03004344 0.98107068 -1.58908609] [ 0. 0. 0. 1. ]] SLAMing on 175.67629675700002 meters Centerline goodness : 0.778081 Centerline is valid? [False, False] Translation: X:0.60, Y:0.99, Z:-1.60 [[ 0.91637389 0.35225011 -0.19020715 0.59696924] [-0.35139695 0.93539949 0.03934438 0.98945244] [ 0.19177873 0.03078405 0.98095528 -1.5963322 ] [ 0. 0. 0. 1. ]] SLAMing on 175.70629675700002 meters Centerline goodness : 0.786620 Centerline is valid? [False, False] Translation: X:0.58, Y:0.99, Z:-1.60 [[ 0.91630344 0.35105396 -0.1927411 0.58081107] [-0.34892121 0.93601995 0.04605039 0.9928905 ] [ 0.19657568 0.02505533 0.98016847 -1.59586513] [ 0. 0. 0. 1. ]] SLAMing on 175.73629675700002 meters Centerline goodness : 0.780294 Centerline is valid? [False, False] Translation: X:0.58, Y:0.99, Z:-1.60 [[ 0.91767032 0.34667285 -0.19416259 0.58127468] [-0.34521893 0.9375643 0.04239193 0.99217927] [ 0.19673604 0.02812678 0.98005296 -1.59644355] [ 0. 0. 0. 1. ]] SLAMing on 175.76629675700002 meters Centerline goodness : 0.783226 Centerline is valid? [False, False] Translation: X:0.54, Y:1.00, Z:-1.60 [[ 0.91925047 0.34305871 -0.19310439 0.53928328] [-0.34081537 0.93901443 0.04579072 1.00372559] [ 0.19703671 0.0237198 0.98010913 -1.60343083] [ 0. 0. 0. 1. ]] SLAMing on 175.79629675700002 meters Centerline goodness : 0.781274 Centerline is valid? [False, False] Translation: X:0.54, Y:1.00, Z:-1.60 [[ 0.92193851 0.3342583 -0.19570583 0.53866603] [-0.3332926 0.94202259 0.03885213 1.00270062] [ 0.19734596 0.02940803 0.97989272 -1.60279162] [ 0. 0. 0. 1. ]] SLAMing on 175.82629675700002 meters Centerline goodness : 0.780620 Centerline is valid? [False, False] Translation: X:0.53, Y:1.00, Z:-1.61 [[ 0.92453106 0.32907446 -0.19222988 0.53284905] [-0.3286379 0.94380383 0.03509227 1.00390278] [ 0.19297527 0.03073013 0.98072229 -1.6055886 ] [ 0. 0. 0. 1. ]] SLAMing on 175.85629675700002 meters Centerline goodness : 0.789779 Centerline is valid? [False, False] Translation: X:0.53, Y:1.00, Z:-1.60 [[ 0.92704664 0.32117875 -0.19346506 0.52884279] [-0.32183645 0.94635406 0.02890145 1.00181858] [ 0.19236898 0.03547111 0.98068138 -1.60413916] [ 0. 0. 0. 1. ]] SLAMing on 175.88629675700003 meters Centerline goodness : 0.789002 Centerline is valid? [False, False] Translation: X:0.53, Y:1.00, Z:-1.60 [[ 0.92823206 0.3173069 -0.19416891 0.52699124] [-0.31853429 0.9475623 0.02572154 1.00087607] [ 0.19214876 0.0379739 0.98063084 -1.60356698] [ 0. 0. 0. 1. ]] SLAMing on 175.91629675700003 meters Centerline goodness : 0.781759 Centerline is valid? [False, False] Translation: X:0.52, Y:1.00, Z:-1.60 [[ 0.92944055 0.31426649 -0.19333091 0.52115514] [-0.31582167 0.94852631 0.02354809 0.99813607] [ 0.19077983 0.03917154 0.98085098 -1.60188893] [ 0. 0. 0. 1. ]] SLAMing on 175.94629675700003 meters Centerline goodness : 0.783561 Centerline is valid? [False, False] Translation: X:0.51, Y:1.00, Z:-1.60 [[ 0.9309553 0.31272894 -0.18847502 0.51369387] [-0.31429838 0.94906247 0.02229238 0.99974913] [ 0.18584604 0.03848418 0.98182494 -1.60427534] [ 0. 0. 0. 1. ]] SLAMing on 175.97629675700003 meters Centerline goodness : 0.781591 Centerline is valid? [False, False] Translation: X:0.51, Y:1.00, Z:-1.60 [[ 0.9307207 0.31409729 -0.18735495 0.51038981] [-0.31543526 0.94865793 0.02342484 0.99854519] [ 0.18509343 0.03729638 0.98201293 -1.60324273] [ 0. 0. 0. 1. ]] SLAMing on 176.00629675700003 meters Centerline goodness : 0.783086 Centerline is valid? [False, False] Translation: X:0.48, Y:1.01, Z:-1.61 [[ 0.93133233 0.31487043 -0.18296642 0.4839849 ] [-0.31592186 0.94847771 0.02415387 1.00715474] [ 0.18114492 0.03530781 0.9828224 -1.60903819] [ 0. 0. 0. 1. ]] SLAMing on 176.03629675700003 meters Centerline goodness : 0.783086 Centerline is valid? [False, False] Translation: X:0.48, Y:1.01, Z:-1.61 [[ 0.93133233 0.31487043 -0.18296642 0.4839849 ] [-0.31592186 0.94847771 0.02415387 1.00715474] [ 0.18114492 0.03530781 0.9828224 -1.60903819] [ 0. 0. 0. 1. ]] SLAMing on 176.06629675700003 meters Centerline goodness : 0.783158 Centerline is valid? [False, False] Translation: X:0.45, Y:1.02, Z:-1.62 [[ 0.93053407 0.31978158 -0.17845471 0.45083463] [-0.32092275 0.94682036 0.02323365 1.01866986] [ 0.17639425 0.03565048 0.98367378 -1.61786018] [ 0. 0. 0. 1. ]] SLAMing on 176.09629675700003 meters Centerline goodness : 0.784049 Centerline is valid? [False, False] Translation: X:0.42, Y:1.03, Z:-1.62 [[ 0.93045557 0.32195475 -0.17492162 0.42424883] [-0.32291696 0.94612973 0.02373109 1.02853676] [ 0.17313889 0.03440443 0.98429633 -1.6249938 ] [ 0. 0. 0. 1. ]] SLAMing on 176.12629675700003 meters Centerline goodness : 0.789954 Centerline is valid? [False, False] Translation: X:0.39, Y:1.04, Z:-1.63 [[ 0.92895387 0.32782597 -0.17197336 0.3937109 ] [-0.32884059 0.94409589 0.02338393 1.04058341] [ 0.1700252 0.03482923 0.98482402 -1.63459161] [ 0. 0. 0. 1. ]] SLAMing on 176.15629675700004 meters Centerline goodness : 0.784662 Centerline is valid? [False, False] Translation: X:0.37, Y:1.05, Z:-1.64 [[ 0.92862993 0.3300649 -0.16942139 0.36762194] [-0.33087816 0.94336202 0.02424327 1.04990952] [ 0.16782756 0.03354482 0.98524548 -1.64131084] [ 0. 0. 0. 1. ]] SLAMing on 176.18629675700004 meters Centerline goodness : 0.784611 Centerline is valid? [False, False] Translation: X:0.34, Y:1.06, Z:-1.65 [[ 0.92703011 0.3351943 -0.16810697 0.33643794] [-0.33627122 0.94148703 0.02288746 1.06178405] [ 0.16594228 0.03531217 0.98550302 -1.65161947] [ 0. 0. 0. 1. ]] SLAMing on 176.21629675700004 meters Centerline goodness : 0.783448 Centerline is valid? [False, False] Translation: X:0.31, Y:1.07, Z:-1.66 [[ 0.92675895 0.33645883 -0.16707273 0.31231617] [-0.33714408 0.94111799 0.02511581 1.07008088] [ 0.16568559 0.03305128 0.98562462 -1.65661256] [ 0. 0. 0. 1. ]] SLAMing on 176.24629675700004 meters Centerline goodness : 0.793612 Centerline is valid? [False, False] Translation: X:0.27, Y:1.08, Z:-1.67 [[ 0.92822021 0.33625458 -0.15918573 0.27378006] [-0.33642861 0.94133097 0.02667958 1.08350071] [ 0.15881759 0.02879011 0.98688809 -1.66901138] [ 0. 0. 0. 1. ]] SLAMing on 176.276296757 meters Centerline goodness : 0.795996 Centerline is valid? [False, False] Translation: X:0.25, Y:1.09, Z:-1.68 [[ 0.92874536 0.33554494 -0.15761232 0.24530202] [-0.33596098 0.94154917 0.02480681 1.09276985] [ 0.15672355 0.02991238 0.98718943 -1.67517074] [ 0. 0. 0. 1. ]] SLAMing on 176.306296757 meters Centerline goodness : 0.785164 Centerline is valid? [False, False] Translation: X:0.23, Y:1.10, Z:-1.68 [[ 0.92972832 0.3316786 -0.15998296 0.22602113] [-0.33150434 0.94302097 0.02857118 1.09579 ] [ 0.16034374 0.02647161 0.98670621 -1.67504648] [ 0. 0. 0. 1. ]] SLAMing on 176.336296757 meters Centerline goodness : 0.784690 Centerline is valid? [False, False] Translation: X:0.20, Y:1.10, Z:-1.68 [[ 0.93092312 0.32864667 -0.15929065 0.19976073] [-0.3287574 0.94404464 0.02642506 1.10361761] [ 0.15906199 0.02776828 0.98687801 -1.68048304] [ 0. 0. 0. 1. ]] SLAMing on 176.36629675700001 meters Centerline goodness : 0.785628 Centerline is valid? [False, False] Translation: X:0.17, Y:1.11, Z:-1.69 [[ 0.93248467 0.32512686 -0.15736857 0.17338486] [-0.32550358 0.94523345 0.02410702 1.11161475] [ 0.15658787 0.02874461 0.98724566 -1.68575707] [ 0. 0. 0. 1. ]] SLAMing on 176.39629675700002 meters Centerline goodness : 0.787639 Centerline is valid? [False, False] Translation: X:0.15, Y:1.12, Z:-1.69 [[ 0.93699528 0.316375 -0.14814421 0.14846774] [-0.31646226 0.94831114 0.02361406 1.11766686] [ 0.1479577 0.02475579 0.98868381 -1.69095387] [ 0. 0. 0. 1. ]] SLAMing on 176.42629675700002 meters Centerline goodness : 0.789354 Centerline is valid? [False, False] Translation: X:0.14, Y:1.12, Z:-1.69 [[ 0.93921804 0.31083383 -0.14578 0.14296897] [-0.31144905 0.9500694 0.01917369 1.11720687] [ 0.14446095 0.02739476 0.98913122 -1.69208669] [ 0. 0. 0. 1. ]] SLAMing on 176.45629675700002 meters Centerline goodness : 0.788947 Centerline is valid? [False, False] Translation: X:0.14, Y:1.12, Z:-1.69 [[ 0.94031298 0.30724625 -0.14632579 0.14115119] [-0.30834786 0.95114469 0.01566463 1.11784503] [ 0.1439899 0.03038959 0.98911242 -1.69168264] [ 0. 0. 0. 1. ]] SLAMing on 176.48629675700002 meters Centerline goodness : 0.789809 Centerline is valid? [False, False] Translation: X:0.12, Y:1.12, Z:-1.70 [[ 0.94363906 0.30124088 -0.13711036 0.12253234] [-0.30227139 0.95312282 0.01374419 1.12393487] [ 0.13482332 0.02847499 0.99046042 -1.69563396] [ 0. 0. 0. 1. ]] SLAMing on 176.51629675700002 meters Centerline goodness : 0.791267 Centerline is valid? [False, False] Translation: X:0.12, Y:1.12, Z:-1.70 [[ 0.94382579 0.30139013 -0.13548751 0.11866888] [-0.3024255 0.95307923 0.01337158 1.1247109 ] [ 0.13316039 0.02835444 0.99068882 -1.69500985] [ 0. 0. 0. 1. ]] SLAMing on 176.54629675700002 meters Centerline goodness : 0.794466 Centerline is valid? [False, False] Translation: X:0.12, Y:1.12, Z:-1.69 [[ 0.94369562 0.30210536 -0.13479959 0.11669616] [-0.3030806 0.95286608 0.01372494 1.12495345] [ 0.13259233 0.02790298 0.99077782 -1.69430914] [ 0. 0. 0. 1. ]] SLAMing on 176.57629675700002 meters Centerline goodness : 0.792776 Centerline is valid? [False, False] Translation: X:0.09, Y:1.14, Z:-1.70 [[ 0.94423602 0.30374442 -0.12711278 0.08929484] [-0.30442933 0.95242486 0.01448006 1.13500207] [ 0.12546361 0.02502426 0.99178257 -1.69867497] [ 0. 0. 0. 1. ]] SLAMing on 176.60629675700002 meters Centerline goodness : 0.794819 Centerline is valid? [False, False] Translation: X:0.07, Y:1.14, Z:-1.70 [[ 0.94528479 0.30314975 -0.12056908 0.06828986] [-0.30349558 0.95269964 0.01593196 1.14402693] [ 0.11969589 0.02153194 0.99257708 -1.70314984] [ 0. 0. 0. 1. ]] SLAMing on 176.63629675700003 meters Centerline goodness : 0.796012 Centerline is valid? [False, False] Translation: X:0.07, Y:1.15, Z:-1.70 [[ 0.94390455 0.30787684 -0.11939873 0.06863154] [-0.3078308 0.95124549 0.01929309 1.14622605] [ 0.1195174 0.01854377 0.99265891 -1.70354182] [ 0. 0. 0. 1. ]] SLAMing on 176.66629675700003 meters Centerline goodness : 0.790488 Centerline is valid? [False, False] Translation: X:0.04, Y:1.16, Z:-1.71 [[ 0.9435751 0.3095769 -0.11759322 0.04276775] [-0.30953117 0.95069712 0.01911642 1.15653967] [ 0.11771354 0.01836099 0.99287784 -1.70993725] [ 0. 0. 0. 1. ]] SLAMing on 176.69629675700003 meters Centerline goodness : 0.790905 Centerline is valid? [False, False] Translation: X:0.04, Y:1.16, Z:-1.71 [[ 0.94223031 0.31388688 -0.11694899 0.04496018] [-0.31358119 0.94931826 0.02148661 1.15958699] [ 0.11776618 0.01642767 0.99290546 -1.71212967] [ 0. 0. 0. 1. ]] SLAMing on 176.72629675700003 meters Centerline goodness : 0.792172 Centerline is valid? [False, False] Translation: X:0.02, Y:1.17, Z:-1.72 [[ 0.94172721 0.31552107 -0.1166032 0.01951664] [-0.31531014 0.94876203 0.02073932 1.16993098] [ 0.11717239 0.01723539 0.99296202 -1.7192218 ] [ 0. 0. 0. 1. ]] SLAMing on 176.75629675700003 meters Centerline goodness : 0.790216 Centerline is valid? [False, False] Translation: X:0.00, Y:1.18, Z:-1.72 [[ 0.94082116 0.31730185 -0.11905912 0.00444512] [-0.31647791 0.948236 0.02627198 1.17744083] [ 0.12123229 0.01296235 0.99253952 -1.72343235] [ 0. 0. 0. 1. ]] SLAMing on 176.78629675700003 meters Centerline goodness : 0.792813 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.19, Z:-1.73 [[ 0.94093158 0.31726923 -0.11827087 -0.02185736] [-0.31662126 0.94822956 0.02473232 1.18752074] [ 0.11999473 0.01417565 0.99267332 -1.72930923] [ 0. 0. 0. 1. ]] SLAMing on 176.81629675700003 meters Centerline goodness : 0.790135 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.19, Z:-1.73 [[ 0.9415698 0.31516848 -0.11880719 -0.03961593] [-0.31404954 0.94897812 0.02852036 1.19372345] [ 0.12173414 0.01045743 0.99250765 -1.73027894] [ 0. 0. 0. 1. ]] SLAMing on 176.84629675700003 meters Centerline goodness : 0.792766 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.20, Z:-1.73 [[ 0.94237387 0.3126374 -0.11911905 -0.05741984] [-0.31087411 0.94985733 0.03359066 1.19820719] [ 0.1236478 0.00537606 0.9923116 -1.72934084] [ 0. 0. 0. 1. ]] SLAMing on 176.87629675700003 meters Centerline goodness : 0.794450 Centerline is valid? [False, False] Translation: X:-0.07, Y:1.20, Z:-1.73 [[ 0.94434298 0.30785254 -0.11594457 -0.074856 ] [-0.30581494 0.95143196 0.03541828 1.20428208] [ 0.12121698 0.00201058 0.992624 -1.73086832] [ 0. 0. 0. 1. ]] SLAMing on 176.90629675700004 meters Centerline goodness : 0.793044 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.21, Z:-1.73 [[ 0.94525361 0.30472852 -0.11677393 -0.09087053] [-0.30194663 0.95243194 0.04125089 1.20797739] [ 0.12378955 -0.00373306 0.99230147 -1.72956033] [ 0. 0. 0. 1. ]] SLAMing on 176.93629675700004 meters Centerline goodness : 0.797186 Centerline is valid? [False, False] Translation: X:-0.11, Y:1.21, Z:-1.73 [[ 0.94745247 0.29828893 -0.11557478 -0.10937915] [-0.29538362 0.95445943 0.0419013 1.21368461] [ 0.12281013 -0.00556059 0.99241461 -1.73030155] [ 0. 0. 0. 1. ]] SLAMing on 176.96629675700004 meters Centerline goodness : 0.795977 Centerline is valid? [False, False] Translation: X:-0.12, Y:1.22, Z:-1.73 [[ 0.95053808 0.29080311 -0.10913707 -0.11834901] [-0.28833799 0.95677124 0.03807879 1.21649192] [ 0.11549264 -0.00472698 0.99329709 -1.73481674] [ 0. 0. 0. 1. ]] SLAMing on 176.99629675700004 meters Centerline goodness : 0.795179 Centerline is valid? [False, False] Translation: X:-0.12, Y:1.22, Z:-1.73 [[ 9.51629697e-01 2.86880955e-01 -1.10001081e-01 -1.19248715e-01] [-2.84831711e-01 9.57965408e-01 3.42516287e-02 1.21728596e+00] [ 1.15203370e-01 -1.26307101e-03 9.93341124e-01 -1.73448379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.026296757 meters Centerline goodness : 0.795346 Centerline is valid? [False, False] Translation: X:-0.12, Y:1.22, Z:-1.73 [[ 9.52717711e-01 2.83137232e-01 -1.10282685e-01 -1.21684845e-01] [-2.81443923e-01 9.59078163e-01 3.09579546e-02 1.21723275e+00] [ 1.14535065e-01 1.54419990e-03 9.93418006e-01 -1.73316223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.056296757 meters Centerline goodness : 0.793762 Centerline is valid? [False, False] Translation: X:-0.12, Y:1.22, Z:-1.73 [[ 9.52741484e-01 2.83043093e-01 -1.10318956e-01 -1.21974367e-01] [-2.81310719e-01 9.59106416e-01 3.12915745e-02 1.21673113e+00] [ 1.14664483e-01 1.22112380e-03 9.93403526e-01 -1.73236534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.086296757 meters Centerline goodness : 0.793841 Centerline is valid? [False, False] Translation: X:-0.12, Y:1.22, Z:-1.73 [[ 9.52709887e-01 2.83192315e-01 -1.10208821e-01 -1.22567076e-01] [-2.81428370e-01 9.59062686e-01 3.15727192e-02 1.21675492e+00] [ 1.14638320e-01 9.36247244e-04 9.93406855e-01 -1.73162277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11629675700001 meters Centerline goodness : 0.791655 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.23, Z:-1.74 [[ 0.95367611 0.28176985 -0.10539269 -0.14965514] [-0.28027207 0.95948031 0.02907076 1.22717369] [ 0.10931347 0.00181453 0.99400567 -1.73668528] [ 0. 0. 0. 1. ]] SLAMing on 177.14629675700002 meters Centerline goodness : 0.793372 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.23, Z:-1.74 [[ 0.95361325 0.28197847 -0.10540353 -0.149633 ] [-0.28049559 0.95941873 0.02894705 1.22820885] [ 0.10928856 0.00196094 0.99400813 -1.73659887] [ 0. 0. 0. 1. ]] SLAMing on 177.17629675700002 meters Centerline goodness : 0.793027 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.23, Z:-1.74 [[ 0.95352783 0.28215779 -0.10569608 -0.14795007] [-0.28078169 0.95936336 0.02799245 1.23130527] [ 0.10929924 0.00298594 0.99400441 -1.73830213] [ 0. 0. 0. 1. ]] SLAMing on 177.20629675700002 meters Centerline goodness : 0.791243 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.23, Z:-1.74 [[ 0.95354723 0.28196957 -0.10602284 -0.14650565] [-0.28066602 0.95941624 0.0273326 1.23265908] [ 0.10942699 0.00369409 0.99398797 -1.73946709] [ 0. 0. 0. 1. ]] SLAMing on 177.23629675700002 meters Centerline goodness : 0.787724 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.24, Z:-1.74 [[ 9.53272728e-01 2.81356301e-01 -1.10044257e-01 -1.58390392e-01] [-2.79405825e-01 9.59603048e-01 3.30813411e-02 1.23755959e+00] [ 1.14906448e-01 -7.88534012e-04 9.93376005e-01 -1.74199620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26629675700002 meters Centerline goodness : 0.787767 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.24, Z:-1.74 [[ 9.53318963e-01 2.81050155e-01 -1.10425382e-01 -1.56846283e-01] [-2.79176403e-01 9.59693080e-01 3.23995204e-02 1.23880184e+00] [ 1.15080365e-01 -5.89162983e-05 9.93356183e-01 -1.74310188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29629675700002 meters Centerline goodness : 0.789037 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.24, Z:-1.74 [[ 9.53323141e-01 2.80969990e-01 -1.10593187e-01 -1.55897688e-01] [-2.79147807e-01 9.59716465e-01 3.19500839e-02 1.23978615e+00] [ 1.15115117e-01 4.13091323e-04 9.93352072e-01 -1.74396312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32629675700002 meters Centerline goodness : 0.788007 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.24, Z:-1.74 [[ 0.95374563 0.27876191 -0.1125214 -0.17296195] [-0.27638927 0.96035314 0.03648026 1.24408058] [ 0.11822959 -0.00369318 0.99297942 -1.7444467 ] [ 0. 0. 0. 1. ]] SLAMing on 177.35629675700002 meters Centerline goodness : 0.789301 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.24, Z:-1.74 [[ 0.95378741 0.27850685 -0.11279853 -0.17206569] [-0.27613484 0.96042742 0.03645154 1.24373845] [ 0.11848681 -0.00361942 0.99294903 -1.74473192] [ 0. 0. 0. 1. ]] SLAMing on 177.38629675700003 meters Centerline goodness : 0.789180 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.24, Z:-1.74 [[ 0.95374001 0.27868879 -0.11274996 -0.17228113] [-0.27630035 0.96037412 0.03660137 1.24364764] [ 0.11848253 -0.00375533 0.99294904 -1.74455486] [ 0. 0. 0. 1. ]] SLAMing on 177.41629675700003 meters Centerline goodness : 0.792182 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.24, Z:-1.74 [[ 0.95363266 0.27920555 -0.11237889 -0.17347527] [-0.27675551 0.96022157 0.03716082 1.24343015] [ 0.11828414 -0.0043363 0.99297032 -1.74369453] [ 0. 0. 0. 1. ]] SLAMing on 177.44629675700003 meters Centerline goodness : 0.792807 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.24, Z:-1.74 [[ 0.95359557 0.27941866 -0.11216369 -0.17418918] [-0.27693242 0.96015794 0.03748554 1.24306376] [ 0.11816901 -0.00468428 0.99298245 -1.74317157] [ 0. 0. 0. 1. ]] SLAMing on 177.47629675700003 meters Centerline goodness : 0.792516 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.24, Z:-1.74 [[ 0.95352158 0.27978706 -0.11187405 -0.17506928] [-0.27724664 0.96004804 0.03797452 1.24238695] [ 0.11802924 -0.00519282 0.99299654 -1.74263834] [ 0. 0. 0. 1. ]] SLAMing on 177.50629675700003 meters Centerline goodness : 0.794812 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.24, Z:-1.74 [[ 0.95345187 0.2801947 -0.11144711 -0.17622506] [-0.2775764 0.95992482 0.03867403 1.24092888] [ 0.11781711 -0.00593874 0.99301755 -1.74205747] [ 0. 0. 0. 1. ]] SLAMing on 177.53629675700003 meters Centerline goodness : 0.797095 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.24, Z:-1.74 [[ 0.95338775 0.28060189 -0.11097016 -0.17730567] [-0.27793381 0.9598024 0.03914279 1.24019248] [ 0.11749297 -0.0064759 0.9930526 -1.74179149] [ 0. 0. 0. 1. ]] SLAMing on 177.56629675700003 meters Centerline goodness : 0.796173 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.24, Z:-1.74 [[ 0.953338 0.28080448 -0.1108851 -0.17764496] [-0.2781124 0.9597417 0.0393619 1.24006528] [ 0.11747405 -0.00668667 0.99305344 -1.74147952] [ 0. 0. 0. 1. ]] SLAMing on 177.59629675700003 meters Centerline goodness : 0.798224 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.24, Z:-1.74 [[ 0.9532491 0.28123872 -0.1105483 -0.17855295] [-0.27851873 0.95961231 0.03964245 1.23970876] [ 0.1172325 -0.00699936 0.99307983 -1.74125037] [ 0. 0. 0. 1. ]] SLAMing on 177.62629675700003 meters Centerline goodness : 0.800377 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.24, Z:-1.74 [[ 0.95317046 0.28154639 -0.11044318 -0.17894295] [-0.27880216 0.95952051 0.03987166 1.23949635] [ 0.11719821 -0.00721269 0.99308235 -1.74102917] [ 0. 0. 0. 1. ]] SLAMing on 177.65629675700004 meters Centerline goodness : 0.797403 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.24, Z:-1.74 [[ 0.95309988 0.28187867 -0.11020449 -0.17952595] [-0.27912822 0.95942212 0.03995797 1.23968108] [ 0.11699592 -0.00732275 0.9931054 -1.74092801] [ 0. 0. 0. 1. ]] SLAMing on 177.68629675700004 meters Centerline goodness : 0.798181 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.24, Z:-1.74 [[ 0.9529411 0.2825057 -0.10997173 -0.17965233] [-0.27980135 0.95924022 0.03961581 1.24162108] [ 0.116681 -0.0069813 0.99314491 -1.74157554] [ 0. 0. 0. 1. ]] SLAMing on 177.71629675700004 meters Centerline goodness : 0.797845 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.24, Z:-1.74 [[ 0.9527462 0.2832784 -0.10967238 -0.17948641] [-0.28064881 0.95901627 0.039039 1.24443233] [ 0.1162365 -0.00641484 0.99320085 -1.74286761] [ 0. 0. 0. 1. ]] SLAMing on 177.74629675700004 meters Centerline goodness : 0.795183 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.25, Z:-1.74 [[ 0.95269415 0.28342169 -0.10975429 -0.17905188] [-0.2808278 0.95897609 0.03873762 1.24579619] [ 0.11623082 -0.00608305 0.9932036 -1.74319839] [ 0. 0. 0. 1. ]] SLAMing on 177.776296757 meters Centerline goodness : 0.791904 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.25, Z:-1.74 [[ 0.95263195 0.28360127 -0.10983024 -0.17845719] [-0.28107014 0.95892636 0.03820746 1.24757103] [ 0.11615479 -0.00552764 0.99321574 -1.74392828] [ 0. 0. 0. 1. ]] SLAMing on 177.806296757 meters Centerline goodness : 0.794468 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.25, Z:-1.74 [[ 0.95263888 0.28345887 -0.11013734 -0.17760423] [-0.28095215 0.95897011 0.03797666 1.24812007] [ 0.11638324 -0.00523472 0.99319059 -1.74417406] [ 0. 0. 0. 1. ]] SLAMing on 177.836296757 meters Centerline goodness : 0.796428 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.25, Z:-1.74 [[ 0.95266343 0.28326005 -0.11043607 -0.17668418] [-0.28077445 0.95903023 0.03777215 1.24843555] [ 0.11661087 -0.00497652 0.99316521 -1.74451559] [ 0. 0. 0. 1. ]] SLAMing on 177.86629675700001 meters Centerline goodness : 0.794973 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.25, Z:-1.75 [[ 0.95276501 0.28269862 -0.110997 -0.17481293] [-0.28029089 0.95919961 0.03705557 1.24982969] [ 0.11694384 -0.00419381 0.99312967 -1.74539198] [ 0. 0. 0. 1. ]] SLAMing on 177.89629675700002 meters Centerline goodness : 0.795809 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.25, Z:-1.75 [[ 0.95283111 0.28232859 -0.11137075 -0.17346748] [-0.27997717 0.95931086 0.03654393 1.25131187] [ 0.11715657 -0.00363893 0.99310679 -1.74591837] [ 0. 0. 0. 1. ]] SLAMing on 177.92629675700002 meters Centerline goodness : 0.796752 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.25, Z:-1.75 [[ 0.95283608 0.28225018 -0.11152689 -0.17316016] [-0.27991172 0.95933449 0.03642479 1.25195225] [ 0.11727249 -0.00348917 0.99309365 -1.74576473] [ 0. 0. 0. 1. ]] SLAMing on 177.95629675700002 meters Centerline goodness : 0.796752 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.25, Z:-1.75 [[ 0.95283608 0.28225018 -0.11152689 -0.17316016] [-0.27991172 0.95933449 0.03642479 1.25195225] [ 0.11727249 -0.00348917 0.99309365 -1.74576473] [ 0. 0. 0. 1. ]] SLAMing on 177.98629675700002 meters Centerline goodness : 0.794806 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.25, Z:-1.75 [[ 0.95281669 0.28234366 -0.11145588 -0.17339091] [-0.28000369 0.95930688 0.03644515 1.25232388] [ 0.11721045 -0.00351749 0.99310087 -1.74553913] [ 0. 0. 0. 1. ]] SLAMing on 178.01629675700002 meters Centerline goodness : 0.795834 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.25, Z:-1.74 [[ 0.95267017 0.28301655 -0.11100079 -0.17510435] [-0.28067964 0.95910831 0.03647183 1.25382213] [ 0.11678391 -0.00358996 0.99315086 -1.74455673] [ 0. 0. 0. 1. ]] SLAMing on 178.04629675700002 meters Centerline goodness : 0.793743 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.25, Z:-1.74 [[ 0.95255614 0.28351803 -0.11069928 -0.17617101] [-0.28117745 0.95895984 0.03654134 1.25495127] [ 0.11651629 -0.00368153 0.99318196 -1.7439407 ] [ 0. 0. 0. 1. ]] SLAMing on 178.07629675700002 meters Centerline goodness : 0.794318 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.74 [[ 0.95238766 0.28426111 -0.11024228 -0.17727406] [-0.28195728 0.95874061 0.03628404 1.25773735] [ 0.11600789 -0.00347286 0.99324222 -1.74364673] [ 0. 0. 0. 1. ]] SLAMing on 178.10629675700002 meters Centerline goodness : 0.794238 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.74 [[ 0.95230584 0.28461527 -0.11003515 -0.17773551] [-0.28233018 0.95863594 0.0361498 1.25906565] [ 0.11577244 -0.00335942 0.99327008 -1.74357533] [ 0. 0. 0. 1. ]] SLAMing on 178.13629675700003 meters Centerline goodness : 0.811589 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.74 [[ 0.9521674 0.28514518 -0.10986111 -0.17826809] [-0.28288203 0.95847901 0.03599654 1.26101207] [ 0.11556381 -0.00319699 0.99329491 -1.74330575] [ 0. 0. 0. 1. ]] SLAMing on 178.16629675700003 meters Centerline goodness : 0.799871 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.74 [[ 0.95213932 0.28518358 -0.11000475 -0.17787109] [-0.28292857 0.95846796 0.03592495 1.26144971] [ 0.11568123 -0.00308207 0.99328161 -1.74337504] [ 0. 0. 0. 1. ]] SLAMing on 178.19629675700003 meters Centerline goodness : 0.797901 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.74 [[ 0.95215388 0.285073 -0.11016526 -0.1772838 ] [-0.28282683 0.95850122 0.03583849 1.26145777] [ 0.11581012 -0.00296606 0.99326694 -1.74370168] [ 0. 0. 0. 1. ]] SLAMing on 178.22629675700003 meters Centerline goodness : 0.793357 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.74 [[ 0.95216643 0.28494897 -0.11037744 -0.17665004] [-0.28270591 0.95853835 0.03579929 1.26138277] [ 0.11600198 -0.00288252 0.9932448 -1.74389112] [ 0. 0. 0. 1. ]] SLAMing on 178.25629675700003 meters Centerline goodness : 0.796696 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.74 [[ 0.95219521 0.28474673 -0.11065069 -0.17598729] [-0.2825045 0.95859868 0.03577389 1.26158289] [ 0.1162561 -0.0028044 0.99321531 -1.7437718 ] [ 0. 0. 0. 1. ]] SLAMing on 178.28629675700003 meters Centerline goodness : 0.797502 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.74 [[ 0.95217166 0.28476768 -0.1107994 -0.17590391] [-0.28250698 0.95859215 0.03592913 1.26133808] [ 0.11644289 -0.00290909 0.99319313 -1.74342011] [ 0. 0. 0. 1. ]] SLAMing on 178.31629675700003 meters Centerline goodness : 0.800893 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.74 [[ 0.9521469 0.28477938 -0.11098188 -0.17572661] [-0.28249697 0.9585883 0.03611014 1.26097977] [ 0.11666935 -0.00303012 0.99316619 -1.74307666] [ 0. 0. 0. 1. ]] SLAMing on 178.34629675700003 meters Centerline goodness : 0.800973 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.74 [[ 0.95220888 0.28447526 -0.11122984 -0.17517663] [-0.2821843 0.95867855 0.03615876 1.26016946] [ 0.11691993 -0.00304338 0.99313668 -1.74307146] [ 0. 0. 0. 1. ]] SLAMing on 178.37629675700003 meters Centerline goodness : 0.798970 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.26, Z:-1.74 [[ 0.9521676 0.28454025 -0.11141684 -0.17498365] [-0.28221687 0.9586586 0.03643258 1.25953598] [ 0.11717724 -0.00324621 0.99310571 -1.7427668 ] [ 0. 0. 0. 1. ]] SLAMing on 178.40629675700004 meters Centerline goodness : 0.796635 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.26, Z:-1.74 [[ 0.95218207 0.28449121 -0.11141836 -0.17490025] [-0.28215298 0.95867272 0.03655551 1.25920912] [ 0.11721347 -0.00337048 0.99310102 -1.74271597] [ 0. 0. 0. 1. ]] SLAMing on 178.43629675700004 meters Centerline goodness : 0.793615 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.26, Z:-1.74 [[ 0.95214871 0.28457733 -0.11148352 -0.17462707] [-0.28222517 0.95864685 0.0366765 1.25956755] [ 0.11731062 -0.00345803 0.99308925 -1.74265081] [ 0. 0. 0. 1. ]] SLAMing on 178.46629675700004 meters Centerline goodness : 0.794148 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.26, Z:-1.74 [[ 0.95209879 0.28476763 -0.1114239 -0.17462011] [-0.28241882 0.95859042 0.03666093 1.26013865] [ 0.11724973 -0.00343662 0.99309652 -1.74271984] [ 0. 0. 0. 1. ]] SLAMing on 178.49629675700004 meters Centerline goodness : 0.794924 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.26, Z:-1.74 [[ 0.95205883 0.28488996 -0.11145268 -0.17438493] [-0.28254122 0.95855413 0.03666653 1.26052823] [ 0.11727936 -0.00341872 0.99309308 -1.74285437] [ 0. 0. 0. 1. ]] SLAMing on 178.526296757 meters Centerline goodness : 0.793288 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.27, Z:-1.75 [[ 9.52552247e-01 2.84519697e-01 -1.08133056e-01 -2.02176028e-01] [-2.82543853e-01 9.58669232e-01 3.35003673e-02 1.27045335e+00] [ 1.13195348e-01 -1.35851995e-03 9.93571823e-01 -1.74943398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.556296757 meters Centerline goodness : 0.794458 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.27, Z:-1.75 [[ 9.52488987e-01 2.84786054e-01 -1.07989038e-01 -2.02569853e-01] [-2.82813077e-01 9.58590139e-01 3.34919320e-02 1.27106019e+00] [ 1.13055262e-01 -1.35998434e-03 9.93587771e-01 -1.74930667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.586296757 meters Centerline goodness : 0.791608 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.27, Z:-1.75 [[ 9.52421814e-01 2.85004247e-01 -1.08005864e-01 -2.02675344e-01] [-2.83033852e-01 9.58525346e-01 3.34813358e-02 1.27192810e+00] [ 1.13068681e-01 -1.31903882e-03 9.93586299e-01 -1.74899084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61629675700001 meters Centerline goodness : 0.796720 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.27, Z:-1.75 [[ 9.52259875e-01 2.85586288e-01 -1.07896258e-01 -2.03074469e-01] [-2.83647708e-01 9.58352431e-01 3.32354635e-02 1.27405530e+00] [ 1.12894234e-01 -1.04427191e-03 9.93606462e-01 -1.74882418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64629675700002 meters Centerline goodness : 0.795055 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.28, Z:-1.75 [[ 9.52192742e-01 2.85796227e-01 -1.07932843e-01 -2.03098086e-01] [-2.83874804e-01 9.58290015e-01 3.30959779e-02 1.27517674e+00] [ 1.12889671e-01 -8.74335404e-04 9.93607145e-01 -1.74864241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67629675700002 meters Centerline goodness : 0.795084 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.75 [[ 0.9530973 0.28437093 -0.10362774 -0.22637488] [-0.28249093 0.95871247 0.03269984 1.28389282] [ 0.10864809 -0.00189223 0.99407847 -1.75218941] [ 0. 0. 0. 1. ]] SLAMing on 178.70629675700002 meters Centerline goodness : 0.796384 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.75 [[ 0.95304217 0.2845709 -0.10358588 -0.22665403] [-0.2826813 0.95865296 0.03279921 1.28433297] [ 0.10863662 -0.00197724 0.99407956 -1.75178873] [ 0. 0. 0. 1. ]] SLAMing on 178.73629675700002 meters Centerline goodness : 0.795697 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.75 [[ 0.95297695 0.2847951 -0.10356972 -0.22696375] [-0.28290326 0.95858635 0.03283208 1.28541472] [ 0.10863094 -0.001988 0.99408016 -1.75115437] [ 0. 0. 0. 1. ]] SLAMing on 178.76629675700002 meters Centerline goodness : 0.811304 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.75 [[ 0.95298551 0.28467657 -0.1038165 -0.22622865] [-0.28279441 0.95862187 0.03273278 1.28608934] [ 0.10883902 -0.00183514 0.99405769 -1.7512034 ] [ 0. 0. 0. 1. ]] SLAMing on 178.79629675700002 meters Centerline goodness : 0.794073 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.75 [[ 9.53094880e-01 2.84136733e-01 -1.04290301e-01 -2.24844517e-01] [-2.82265098e-01 9.58782378e-01 3.26000854e-02 1.28626312e+00] [ 1.09254585e-01 -1.63346241e-03 9.94012458e-01 -1.75132456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82629675700002 meters Centerline goodness : 0.793505 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.75 [[ 9.53170432e-01 2.83739662e-01 -1.04680144e-01 -2.23996203e-01] [-2.81852292e-01 9.58899883e-01 3.27154467e-02 1.28543513e+00] [ 1.09660448e-01 -1.67905782e-03 9.93967689e-01 -1.75125884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85629675700002 meters Centerline goodness : 0.794108 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.75 [[ 0.95437398 0.27910366 -0.10616712 -0.22281014] [-0.27763414 0.96025867 0.02868034 1.28530712] [ 0.10995269 0.00210384 0.9939346 -1.75187203] [ 0. 0. 0. 1. ]] SLAMing on 178.88629675700003 meters Centerline goodness : 0.795622 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.75 [[ 0.95557285 0.2744563 -0.10749076 -0.22204319] [-0.27339943 0.9615824 0.02473953 1.28520878] [ 0.11015115 0.00574749 0.99389823 -1.75215412] [ 0. 0. 0. 1. ]] SLAMing on 178.91629675700003 meters Centerline goodness : 0.792234 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.75 [[ 0.95652766 0.27075206 -0.10838896 -0.22262655] [-0.27007691 0.96260658 0.02114312 1.28638632] [ 0.11006047 0.00904938 0.9938837 -1.75167159] [ 0. 0. 0. 1. ]] SLAMing on 178.94629675700003 meters Centerline goodness : 0.790972 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.75 [[ 0.95657553 0.27047668 -0.10865367 -0.22228273] [-0.2697575 0.96268722 0.02154574 1.28505101] [ 0.11042711 0.00870001 0.99384615 -1.75114401] [ 0. 0. 0. 1. ]] SLAMing on 178.97629675700003 meters Centerline goodness : 0.791797 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.75 [[ 0.95742492 0.26717391 -0.10934176 -0.22372784] [-0.26679368 0.96357866 0.01836591 1.28613517] [ 0.11026628 0.01158772 0.99383453 -1.74994818] [ 0. 0. 0. 1. ]] SLAMing on 179.00629675700003 meters Centerline goodness : 0.792321 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.75 [[ 0.95735122 0.26748044 -0.10923761 -0.22454835] [-0.2670438 0.96349941 0.01888128 1.2855302 ] [ 0.11030074 0.01109521 0.99383633 -1.74897278] [ 0. 0. 0. 1. ]] SLAMing on 179.03629675700003 meters Centerline goodness : 0.791176 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.75 [[ 0.95721024 0.26802289 -0.10914338 -0.22531693] [-0.26754423 0.96335263 0.01928181 1.28590924] [ 0.11031153 0.01074393 0.99383899 -1.74804232] [ 0. 0. 0. 1. ]] SLAMing on 179.06629675700003 meters Centerline goodness : 0.790261 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.75 [[ 0.95622377 0.27174631 -0.10858192 -0.22365934] [-0.27088292 0.96233965 0.02290952 1.28567797] [ 0.11071826 0.00750636 0.99382349 -1.74856919] [ 0. 0. 0. 1. ]] SLAMing on 179.09629675700003 meters Centerline goodness : 0.799945 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.27, Z:-1.73 [[ 0.95560084 0.28189652 -0.08579848 -0.19821414] [-0.27894993 0.95925842 0.04483552 1.27043553] [ 0.09494189 -0.01891138 0.99530317 -1.73329785] [ 0. 0. 0. 1. ]] SLAMing on 179.12629675700003 meters Centerline goodness : 0.787729 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.29, Z:-1.75 [[ 0.94978685 0.29920525 -0.09154869 -0.12667664] [-0.3063457 0.94876752 -0.07741127 1.28672527] [ 0.06369656 0.10156975 0.99278715 -1.7489585 ] [ 0. 0. 0. 1. ]] SLAMing on 179.15629675700004 meters Centerline goodness : 0.788936 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.29, Z:-1.74 [[ 0.94897252 0.30167531 -0.09188667 -0.14320973] [-0.30808634 0.94907501 -0.06587433 1.28845352] [ 0.06733468 0.09082196 0.99358815 -1.74487355] [ 0. 0. 0. 1. ]] SLAMing on 179.18629675700004 meters Centerline goodness : 0.788306 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.29, Z:-1.74 [[ 0.9487651 0.3029745 -0.08972871 -0.14603449] [-0.30913059 0.94879665 -0.0649862 1.28952948] [ 0.06544514 0.08939452 0.99384383 -1.74477168] [ 0. 0. 0. 1. ]] SLAMing on 179.21629675700004 meters Centerline goodness : 0.788270 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.29, Z:-1.74 [[ 0.94796761 0.30528787 -0.09031464 -0.16103442] [-0.31068293 0.94903342 -0.05302536 1.29133125] [ 0.06952361 0.07832555 0.99450067 -1.74085838] [ 0. 0. 0. 1. ]] SLAMing on 179.24629675700004 meters Centerline goodness : 0.792623 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.29, Z:-1.74 [[ 0.94758399 0.30644617 -0.09041754 -0.17577512] [-0.31108368 0.94944025 -0.04231025 1.2943639 ] [ 0.07288024 0.06821993 0.99500478 -1.73743989] [ 0. 0. 0. 1. ]] SLAMing on 179.276296757 meters Centerline goodness : 0.802939 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.30, Z:-1.74 [[ 0.94757032 0.30642219 -0.0906418 -0.17523094] [-0.31108325 0.94943542 -0.04242164 1.29519907] [ 0.07305961 0.06839463 0.99497963 -1.73725413] [ 0. 0. 0. 1. ]] SLAMing on 179.306296757 meters Centerline goodness : 0.804614 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.30, Z:-1.74 [[ 0.94810751 0.3057404 -0.08726375 -0.17997925] [-0.31019197 0.94971263 -0.04274179 1.29700345] [ 0.06980759 0.06759233 0.99526789 -1.73754645] [ 0. 0. 0. 1. ]] SLAMing on 179.336296757 meters Centerline goodness : 0.803351 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.30, Z:-1.74 [[ 0.94814185 0.30572226 -0.08695356 -0.18096823] [-0.31014066 0.94973713 -0.04256941 1.29647145] [ 0.06956861 0.06732967 0.99530243 -1.73696105] [ 0. 0. 0. 1. ]] SLAMing on 179.36629675700001 meters Centerline goodness : 0.789279 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.30, Z:-1.74 [[ 0.94816364 0.30569546 -0.08681012 -0.18172378] [-0.31007594 0.94977625 -0.04216616 1.29559484] [ 0.06956018 0.06689815 0.99533211 -1.73611091] [ 0. 0. 0. 1. ]] SLAMing on 179.39629675700002 meters Centerline goodness : 0.791436 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.30, Z:-1.74 [[ 0.94915619 0.3034089 -0.08393792 -0.1865932 ] [-0.30769598 0.95048122 -0.04368804 1.29674236] [ 0.06652608 0.06729413 0.99551282 -1.73571067] [ 0. 0. 0. 1. ]] SLAMing on 179.42629675700002 meters Centerline goodness : 0.803262 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.73 [[ 0.94972435 0.30139902 -0.08474841 -0.19976708] [-0.30503399 0.95175114 -0.03352676 1.29731588] [ 0.07055446 0.05769233 0.99583817 -1.73151113] [ 0. 0. 0. 1. ]] SLAMing on 179.45629675700002 meters Centerline goodness : 0.795203 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.73 [[ 0.95014137 0.30033521 -0.08384589 -0.2008681 ] [-0.30395736 0.95207436 -0.03412234 1.29730678] [ 0.06957939 0.05790662 0.99589434 -1.73172292] [ 0. 0. 0. 1. ]] SLAMing on 179.48629675700002 meters Centerline goodness : 0.794600 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.30, Z:-1.73 [[ 0.95095165 0.29766493 -0.08418161 -0.21429526] [-0.30063623 0.95341497 -0.02485476 1.2985973 ] [ 0.07286161 0.04894372 0.9961404 -1.72843523] [ 0. 0. 0. 1. ]] SLAMing on 179.51629675700002 meters Centerline goodness : 0.794459 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.30, Z:-1.73 [[ 0.95095541 0.29765641 -0.08416931 -0.21428913] [-0.30061922 0.95342312 -0.02474739 1.29842536] [ 0.07288275 0.04883658 0.99614411 -1.72834382] [ 0. 0. 0. 1. ]] SLAMing on 179.54629675700002 meters Centerline goodness : 0.792681 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.30, Z:-1.73 [[ 0.95092412 0.29777824 -0.08409188 -0.21447043] [-0.30072643 0.95339326 -0.02459502 1.29841041] [ 0.07284877 0.04867665 0.99615443 -1.7281547 ] [ 0. 0. 0. 1. ]] SLAMing on 179.57629675700002 meters Centerline goodness : 0.793686 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.73 [[ 0.95142977 0.29640983 -0.08320219 -0.22642617] [-0.29854923 0.95428733 -0.01428429 1.30014093] [ 0.07516479 0.03843045 0.99643031 -1.72589249] [ 0. 0. 0. 1. ]] SLAMing on 179.60629675700002 meters Centerline goodness : 0.792638 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.73 [[ 0.95137432 0.29664131 -0.08301104 -0.22628185] [-0.29878938 0.95420909 -0.01448857 1.3016109 ] [ 0.07491198 0.03858687 0.9964433 -1.72625497] [ 0. 0. 0. 1. ]] SLAMing on 179.63629675700003 meters Centerline goodness : 0.792944 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.73 [[ 0.95131796 0.2968293 -0.08298494 -0.22614859] [-0.2989818 0.95414783 -0.01455353 1.30228821] [ 0.07485999 0.03865602 0.99644453 -1.72640283] [ 0. 0. 0. 1. ]] SLAMing on 179.66629675700003 meters Centerline goodness : 0.793428 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.73 [[ 0.95119289 0.29725593 -0.08289145 -0.22643223] [-0.29938821 0.95402399 -0.01431565 1.30261255] [ 0.07482502 0.03843366 0.99645575 -1.72610556] [ 0. 0. 0. 1. ]] SLAMing on 179.69629675700003 meters Centerline goodness : 0.794191 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.73 [[ 0.95110605 0.29753692 -0.08287988 -0.22601742] [-0.29967814 0.95393123 -0.01442967 1.30284519] [ 0.07476835 0.03856144 0.99645507 -1.7268654 ] [ 0. 0. 0. 1. ]] SLAMing on 179.72629675700003 meters Centerline goodness : 0.793239 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.73 [[ 0.95108368 0.2975594 -0.08305563 -0.2252179 ] [-0.29971042 0.95392051 -0.01446832 1.30280375] [ 0.07492329 0.03865322 0.99643988 -1.72748413] [ 0. 0. 0. 1. ]] SLAMing on 179.75629675700003 meters Centerline goodness : 0.794015 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.30, Z:-1.73 [[ 0.95103079 0.29771402 -0.08310718 -0.22427089] [-0.29988095 0.95386418 -0.01464709 1.30330885] [ 0.07491231 0.0388521 0.99643297 -1.72865086] [ 0. 0. 0. 1. ]] SLAMing on 179.78629675700003 meters Centerline goodness : 0.792889 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.30, Z:-1.73 [[ 0.95098019 0.29793493 -0.08289426 -0.22474592] [-0.30005979 0.95381487 -0.01418858 1.30249822] [ 0.0748385 0.03836629 0.99645734 -1.72841307] [ 0. 0. 0. 1. ]] SLAMing on 179.81629675700003 meters Centerline goodness : 0.790977 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.73 [[ 0.95095896 0.29803745 -0.08276919 -0.22510249] [-0.30012458 0.95380097 -0.01374603 1.30142818] [ 0.07484851 0.03791298 0.99647394 -1.72810144] [ 0. 0. 0. 1. ]] SLAMing on 179.84629675700003 meters Centerline goodness : 0.790977 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.73 [[ 0.95095896 0.29803745 -0.08276919 -0.22510249] [-0.30012458 0.95380097 -0.01374603 1.30142818] [ 0.07484851 0.03791298 0.99647394 -1.72810144] [ 0. 0. 0. 1. ]] SLAMing on 179.87629675700003 meters Centerline goodness : 0.793899 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.73 [[ 0.95094052 0.29812907 -0.08265095 -0.22552185] [-0.30017359 0.95379277 -0.01323486 1.29968599] [ 0.07488618 0.0373952 0.99649067 -1.72794782] [ 0. 0. 0. 1. ]] SLAMing on 179.90629675700004 meters Centerline goodness : 0.795210 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.73 [[ 0.95193099 0.29480131 -0.08318402 -0.22782465] [-0.29706139 0.95472496 -0.0159619 1.29801091] [ 0.07471227 0.03990539 0.99640636 -1.72648588] [ 0. 0. 0. 1. ]] SLAMing on 179.93629675700004 meters Centerline goodness : 0.805905 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.73 [[ 0.95196865 0.29472323 -0.08302958 -0.22855705] [-0.29691963 0.95478152 -0.01519802 1.29546874] [ 0.0747959 0.03912115 0.99643119 -1.72581956] [ 0. 0. 0. 1. ]] SLAMing on 179.96629675700004 meters Centerline goodness : 0.794974 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.73 [[ 0.95305671 0.2909772 -0.0837566 -0.22975828] [-0.29342419 0.95580741 -0.01828786 1.29428114] [ 0.07473383 0.04200558 0.99631842 -1.72524989] [ 0. 0. 0. 1. ]] SLAMing on 179.99629675700004 meters Centerline goodness : 0.795138 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.73 [[ 0.95308422 0.29088278 -0.08377158 -0.22976587] [-0.29329581 0.95585544 -0.01783091 1.292791 ] [ 0.07488682 0.04156421 0.99632544 -1.72510345] [ 0. 0. 0. 1. ]] SLAMing on 180.026296757 meters Centerline goodness : 0.793218 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.95314393 0.29070409 -0.08371245 -0.22998316] [-0.29306325 0.95593915 -0.01715435 1.29047937] [ 0.07503716 0.04088361 0.99634229 -1.72472422] [ 0. 0. 0. 1. ]] SLAMing on 180.056296757 meters Centerline goodness : 0.795211 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.9530687 0.29100071 -0.08353829 -0.23061488] [-0.29331572 0.95587061 -0.01665104 1.28963124] [ 0.07500634 0.04037268 0.99636544 -1.72418467] [ 0. 0. 0. 1. ]] SLAMing on 180.086296757 meters Centerline goodness : 0.792898 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.95299359 0.29131804 -0.08328873 -0.23121807] [-0.29360475 0.95578627 -0.01639677 1.28949403] [ 0.07482955 0.04007998 0.99639055 -1.72390729] [ 0. 0. 0. 1. ]] SLAMing on 180.11629675700001 meters Centerline goodness : 0.793079 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.95294268 0.29149062 -0.08326749 -0.23121114] [-0.29377227 0.95573587 -0.01633399 1.2896178 ] [ 0.07482052 0.04002704 0.99639336 -1.72392842] [ 0. 0. 0. 1. ]] SLAMing on 180.14629675700002 meters Centerline goodness : 0.791520 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.95288511 0.29166783 -0.0833057 -0.23111382] [-0.29394919 0.95568201 -0.01630272 1.28995194] [ 0.07485878 0.04002226 0.99639068 -1.72386444] [ 0. 0. 0. 1. ]] SLAMing on 180.17629675700002 meters Centerline goodness : 0.791716 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.9527394 0.29217884 -0.08318151 -0.23121065] [-0.29446754 0.95551994 -0.01644745 1.29151891] [ 0.07467599 0.04016439 0.99639867 -1.72392736] [ 0. 0. 0. 1. ]] SLAMing on 180.20629675700002 meters Centerline goodness : 0.791662 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.95235785 0.28890758 -0.09770841 -0.22715224] [-0.29164084 0.95641583 -0.01464209 1.29465037] [ 0.08921966 0.04244028 0.99510737 -1.71918425] [ 0. 0. 0. 1. ]] SLAMing on 180.23629675700002 meters Centerline goodness : 0.787162 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.72 [[ 0.95235223 0.28884305 -0.09795371 -0.22619212] [-0.29160089 0.95642555 -0.01480172 1.29512858] [ 0.08941005 0.04265984 0.99508089 -1.71964253] [ 0. 0. 0. 1. ]] SLAMing on 180.26629675700002 meters Centerline goodness : 0.789593 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.30, Z:-1.72 [[ 0.95238421 0.28864348 -0.09823068 -0.22451744] [-0.2914393 0.95647013 -0.01510033 1.29507299] [ 0.08959609 0.0430096 0.9950491 -1.7212205 ] [ 0. 0. 0. 1. ]] SLAMing on 180.29629675700002 meters Centerline goodness : 0.792849 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.72 [[ 0.9523745 0.28862428 -0.09838107 -0.22384726] [-0.2914075 0.95648313 -0.01488916 1.29404138] [ 0.08980246 0.04284903 0.99503743 -1.72173732] [ 0. 0. 0. 1. ]] SLAMing on 180.32629675700002 meters Centerline goodness : 0.791850 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.72 [[ 0.9524252 0.2884199 -0.09848961 -0.2233805 ] [-0.29115812 0.95656732 -0.01434953 1.29167428] [ 0.09007325 0.0423429 0.99503462 -1.72205835] [ 0. 0. 0. 1. ]] SLAMing on 180.35629675700002 meters Centerline goodness : 0.795542 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.72 [[ 0.95241756 0.28853562 -0.09822418 -0.22435181] [-0.29116174 0.95658237 -0.01322955 1.28875558] [ 0.09014232 0.04119918 0.99507637 -1.72111647] [ 0. 0. 0. 1. ]] SLAMing on 180.38629675700003 meters Centerline goodness : 0.795408 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.95234181 0.28883536 -0.09807761 -0.22520627] [-0.29138458 0.95652519 -0.01243318 1.28699058] [ 0.09022257 0.04041894 0.9951011 -1.72031843] [ 0. 0. 0. 1. ]] SLAMing on 180.41629675700003 meters Centerline goodness : 0.795712 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.95224103 0.28924057 -0.09786174 -0.2262155 ] [-0.29170643 0.95643767 -0.01159036 1.28529716] [ 0.09024625 0.03958372 0.99513253 -1.71950829] [ 0. 0. 0. 1. ]] SLAMing on 180.44629675700003 meters Centerline goodness : 0.793201 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.72 [[ 0.95215059 0.28966911 -0.09747343 -0.22736879] [-0.2920448 0.95634429 -0.0107437 1.28345281] [ 0.09010604 0.03869623 0.99518014 -1.71892678] [ 0. 0. 0. 1. ]] SLAMing on 180.47629675700003 meters Centerline goodness : 0.794923 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.72 [[ 0.95205877 0.29001482 -0.09734218 -0.22786321] [-0.29234469 0.95625779 -0.0102771 1.28293278] [ 0.09010371 0.03824187 0.99519791 -1.71848144] [ 0. 0. 0. 1. ]] SLAMing on 180.50629675700003 meters Centerline goodness : 0.791537 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.72 [[ 0.95189966 0.29063659 -0.09704338 -0.22888693] [-0.29291085 0.95608996 -0.00975861 1.28262116] [ 0.08994599 0.03771427 0.99523231 -1.71786346] [ 0. 0. 0. 1. ]] SLAMing on 180.53629675700003 meters Centerline goodness : 0.791556 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.72 [[ 0.95174236 0.29124789 -0.09675301 -0.22984192] [-0.29349069 0.9559147 -0.00950234 1.2829745 ] [ 0.08972009 0.03743989 0.99526306 -1.71738972] [ 0. 0. 0. 1. ]] SLAMing on 180.56629675700003 meters Centerline goodness : 0.792782 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.72 [[ 0.95165636 0.2915606 -0.09665711 -0.23023298] [-0.29378921 0.95582431 -0.00936984 1.28338645] [ 0.08965534 0.03731368 0.99527364 -1.71701195] [ 0. 0. 0. 1. ]] SLAMing on 180.59629675700003 meters Centerline goodness : 0.791448 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.72 [[ 0.95160266 0.2917286 -0.09667885 -0.23025384] [-0.29395733 0.95577277 -0.00935392 1.28379523] [ 0.08967421 0.03732067 0.99527167 -1.71686641] [ 0. 0. 0. 1. ]] SLAMing on 180.62629675700003 meters Centerline goodness : 0.793419 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.72 [[ 0.95146075 0.29229137 -0.09637531 -0.23157899] [-0.29447572 0.95561696 -0.00895974 1.28393361] [ 0.08947903 0.03690503 0.99530474 -1.71575764] [ 0. 0. 0. 1. ]] SLAMing on 180.65629675700004 meters Centerline goodness : 0.792984 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.72 [[ 0.95139323 0.29249491 -0.0964243 -0.23188224] [-0.29465794 0.95556325 -0.00869271 1.28385569] [ 0.08959694 0.03668238 0.99530236 -1.71510783] [ 0. 0. 0. 1. ]] SLAMing on 180.68629675700004 meters Centerline goodness : 0.793148 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95135306 0.29259157 -0.09652733 -0.23166181] [-0.29475338 0.95553437 -0.00863203 1.28426161] [ 0.08970953 0.03666387 0.9952929 -1.71492319] [ 0. 0. 0. 1. ]] SLAMing on 180.71629675700004 meters Centerline goodness : 0.792591 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95132663 0.29258858 -0.09679648 -0.23103859] [-0.29475584 0.95553406 -0.0085822 1.28461093] [ 0.08998128 0.0366958 0.99526719 -1.71480547] [ 0. 0. 0. 1. ]] SLAMing on 180.74629675700004 meters Centerline goodness : 0.803550 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.95131311 0.29244961 -0.09734779 -0.22930074] [-0.2946625 0.95556026 -0.00886587 1.28597115] [ 0.09042886 0.03711896 0.99521093 -1.71528637] [ 0. 0. 0. 1. ]] SLAMing on 180.77629675700004 meters Centerline goodness : 0.789447 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.95131517 0.29231322 -0.09773651 -0.22818382] [-0.29455332 0.95559256 -0.00901105 1.28645937] [ 0.09076223 0.03736096 0.99517153 -1.71558162] [ 0. 0. 0. 1. ]] SLAMing on 180.806296757 meters Centerline goodness : 0.787174 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.95136681 0.29193837 -0.09835231 -0.22638532] [-0.29423037 0.95568887 -0.00934158 1.28683173] [ 0.09126704 0.0378255 0.99510781 -1.71627526] [ 0. 0. 0. 1. ]] SLAMing on 180.836296757 meters Centerline goodness : 0.787440 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.72 [[ 0.95136381 0.29183385 -0.09869094 -0.22546239] [-0.29413558 0.95571834 -0.00931171 1.28672184] [ 0.09160327 0.03788734 0.99507457 -1.71648063] [ 0. 0. 0. 1. ]] SLAMing on 180.86629675700001 meters Centerline goodness : 0.781332 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.72 [[ 0.95145123 0.29138002 -0.09918793 -0.2239561 ] [-0.29372217 0.95584297 -0.00956545 1.28683137] [ 0.09202091 0.03823475 0.99502274 -1.71699204] [ 0. 0. 0. 1. ]] SLAMing on 180.89629675700002 meters Centerline goodness : 0.781013 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.72 [[ 0.95145423 0.29130377 -0.09938294 -0.22359168] [-0.29364096 0.95586923 -0.00943449 1.28657975] [ 0.09224879 0.03815939 0.99500453 -1.71682876] [ 0. 0. 0. 1. ]] SLAMing on 180.92629675700002 meters Centerline goodness : 0.781301 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.72 [[ 0.95145624 0.291238 -0.09955629 -0.2235523 ] [-0.2935444 0.95590275 -0.00903455 1.28540701] [ 0.09253492 0.03782017 0.99499092 -1.71628485] [ 0. 0. 0. 1. ]] SLAMing on 180.95629675700002 meters Centerline goodness : 0.779132 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.72 [[ 0.95142221 0.29131969 -0.09964243 -0.22382045] [-0.2935853 0.95589458 -0.00855723 1.28440392] [ 0.09275477 0.03739509 0.99498651 -1.71558971] [ 0. 0. 0. 1. ]] SLAMing on 180.98629675700002 meters Centerline goodness : 0.781762 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.71 [[ 0.95134383 0.29161714 -0.0995207 -0.22481966] [-0.29379216 0.95583895 -0.00761988 1.28250335] [ 0.09290367 0.03648752 0.99500632 -1.7143276 ] [ 0. 0. 0. 1. ]] SLAMing on 181.01629675700002 meters Centerline goodness : 0.779608 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95129119 0.29183528 -0.09938436 -0.22524473] [-0.29397761 0.95578434 -0.0073122 1.28218556] [ 0.09285605 0.03617281 0.99502225 -1.71398943] [ 0. 0. 0. 1. ]] SLAMing on 181.04629675700002 meters Centerline goodness : 0.779127 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95114469 0.29235765 -0.09925112 -0.22569925] [-0.29444572 0.95564432 -0.00675615 1.2816368 ] [ 0.09287356 0.03565014 0.99503948 -1.71357641] [ 0. 0. 0. 1. ]] SLAMing on 181.07629675700002 meters Centerline goodness : 0.778891 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95105756 0.29265888 -0.09919829 -0.22596797] [-0.29470983 0.9555656 -0.00636355 1.28116106] [ 0.09292812 0.03528681 0.99504734 -1.7132379 ] [ 0. 0. 0. 1. ]] SLAMing on 181.10629675700002 meters Centerline goodness : 0.783121 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95085566 0.29342855 -0.09885952 -0.22738405] [-0.29538904 0.95536132 -0.00548306 1.28009401] [ 0.09283767 0.03441562 0.99508629 -1.71213458] [ 0. 0. 0. 1. ]] SLAMing on 181.13629675700003 meters Centerline goodness : 0.784571 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95074612 0.29386003 -0.09863108 -0.22813563] [-0.29577433 0.95524449 -0.00505036 1.27977161] [ 0.09273269 0.03397415 0.99511125 -1.71161358] [ 0. 0. 0. 1. ]] SLAMing on 181.16629675700003 meters Centerline goodness : 0.785799 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95053415 0.29467675 -0.09823666 -0.22962559] [-0.29651154 0.9550196 -0.00429848 1.27940889] [ 0.09255128 0.03321416 0.9951538 -1.71042906] [ 0. 0. 0. 1. ]] SLAMing on 181.19629675700003 meters Centerline goodness : 0.791328 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95045851 0.29493177 -0.09820324 -0.22986679] [-0.29675044 0.95494616 -0.00412427 1.27975705] [ 0.09256243 0.0330618 0.99515783 -1.70998749] [ 0. 0. 0. 1. ]] SLAMing on 181.22629675700003 meters Centerline goodness : 0.786871 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.9503001 0.29549999 -0.09802791 -0.23006075] [-0.29731778 0.95476957 -0.00414903 1.28099172] [ 0.09236803 0.03308826 0.99517502 -1.71006301] [ 0. 0. 0. 1. ]] SLAMing on 181.25629675700003 meters Centerline goodness : 0.796143 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95025432 0.29560738 -0.09814788 -0.2294586 ] [-0.29745629 0.95472513 -0.00443543 1.28202649] [ 0.09239311 0.0334095 0.99516196 -1.71048195] [ 0. 0. 0. 1. ]] SLAMing on 181.28629675700003 meters Centerline goodness : 0.798134 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95022342 0.29561182 -0.09843329 -0.22806905] [-0.29754053 0.95469508 -0.00518961 1.28462751] [ 0.09243967 0.03421918 0.99513012 -1.71136247] [ 0. 0. 0. 1. ]] SLAMing on 181.31629675700003 meters Centerline goodness : 0.787843 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.95019277 0.29568157 -0.09851954 -0.22776392] [-0.29762363 0.95466859 -0.00529754 1.28548918] [ 0.09248713 0.03435543 0.99512102 -1.71130376] [ 0. 0. 0. 1. ]] SLAMing on 181.34629675700003 meters Centerline goodness : 0.789173 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.95017404 0.29574607 -0.09850662 -0.22755125] [-0.29772274 0.95463553 -0.0056718 1.2871512 ] [ 0.09236051 0.03471685 0.99512023 -1.71138158] [ 0. 0. 0. 1. ]] SLAMing on 181.37629675700003 meters Centerline goodness : 0.787035 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.95017644 0.29570589 -0.09860401 -0.22736727] [-0.29769434 0.95464384 -0.00576384 1.28762166] [ 0.09242731 0.03483052 0.99511006 -1.71123621] [ 0. 0. 0. 1. ]] SLAMing on 181.40629675700004 meters Centerline goodness : 0.788221 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.95018006 0.29573899 -0.09846976 -0.22741156] [-0.29773404 0.95463072 -0.00588422 1.28789326] [ 0.09226206 0.03490887 0.99512265 -1.71144318] [ 0. 0. 0. 1. ]] SLAMing on 181.43629675700004 meters Centerline goodness : 0.789136 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.95015534 0.29584065 -0.09840292 -0.22743226] [-0.29782578 0.95460264 -0.00579744 1.28785182] [ 0.09222057 0.03481539 0.99512977 -1.71152988] [ 0. 0. 0. 1. ]] SLAMing on 181.46629675700004 meters Centerline goodness : 0.788358 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.95015896 0.29583813 -0.09837562 -0.22703813] [-0.29781967 0.95460471 -0.0057693 1.28828092] [ 0.09220305 0.03477994 0.99513263 -1.71175336] [ 0. 0. 0. 1. ]] SLAMing on 181.49629675700004 meters Centerline goodness : 0.789836 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.95015236 0.29585229 -0.09839673 -0.22683438] [-0.29781612 0.95460701 -0.00556943 1.28805289] [ 0.09228248 0.03459594 0.99513168 -1.7117355 ] [ 0. 0. 0. 1. ]] SLAMing on 181.52629675700004 meters Centerline goodness : 0.791082 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.95019807 0.29573437 -0.09830982 -0.22682142] [-0.29766736 0.95465507 -0.00527556 1.28686666] [ 0.0922918 0.03427645 0.99514187 -1.71182216] [ 0. 0. 0. 1. ]] SLAMing on 181.556296757 meters Centerline goodness : 0.790567 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.95019325 0.29575498 -0.09829436 -0.22688824] [-0.2976586 0.95465948 -0.0049637 1.28597952] [ 0.09236961 0.03397464 0.995145 -1.71167436] [ 0. 0. 0. 1. ]] SLAMing on 181.586296757 meters Centerline goodness : 0.791483 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.9502169 0.29574336 -0.09810055 -0.22731777] [-0.29761031 0.95467616 -0.00464024 1.28486924] [ 0.09228194 0.03360497 0.99516569 -1.71152647] [ 0. 0. 0. 1. ]] SLAMing on 181.61629675700001 meters Centerline goodness : 0.791704 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95022214 0.29571354 -0.09813961 -0.22720466] [-0.29756898 0.9546897 -0.00450344 1.28447515] [ 0.09236115 0.03348257 0.99516247 -1.71148024] [ 0. 0. 0. 1. ]] SLAMing on 181.64629675700002 meters Centerline goodness : 0.792241 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95024974 0.29566049 -0.09803219 -0.2272995 ] [-0.2974934 0.95471418 -0.0043023 1.28411523] [ 0.0923207 0.03325219 0.99517394 -1.71135375] [ 0. 0. 0. 1. ]] SLAMing on 181.67629675700002 meters Centerline goodness : 0.792435 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95023736 0.29574004 -0.09791215 -0.22764794] [-0.29755091 0.95469713 -0.00410396 1.28379796] [ 0.09226274 0.03303358 0.9951866 -1.71106213] [ 0. 0. 0. 1. ]] SLAMing on 181.70629675700002 meters Centerline goodness : 0.793025 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95020235 0.29585863 -0.09789368 -0.22785264] [-0.29765371 0.9546658 -0.00393421 1.28354311] [ 0.09229177 0.03287671 0.9951891 -1.71082088] [ 0. 0. 0. 1. ]] SLAMing on 181.73629675700002 meters Centerline goodness : 0.793058 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95012422 0.29618067 -0.09767789 -0.22871432] [-0.29793422 0.95457982 -0.00354665 1.28340352] [ 0.09219089 0.03247134 0.99521176 -1.71000692] [ 0. 0. 0. 1. ]] SLAMing on 181.76629675700002 meters Centerline goodness : 0.793058 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95012422 0.29618067 -0.09767789 -0.22871432] [-0.29793422 0.95457982 -0.00354665 1.28340352] [ 0.09219089 0.03247134 0.99521176 -1.71000692] [ 0. 0. 0. 1. ]] SLAMing on 181.79629675700002 meters Centerline goodness : 0.794782 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.95006025 0.2964414 -0.09750911 -0.22931594] [-0.29816614 0.95450835 -0.00328181 1.28329102] [ 0.0921004 0.03219183 0.99522922 -1.70956615] [ 0. 0. 0. 1. ]] SLAMing on 181.82629675700002 meters Centerline goodness : 0.793904 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.94990463 0.2970662 -0.09712298 -0.23057691] [-0.29874702 0.9543279 -0.00290987 1.28400268] [ 0.09182274 0.0317793 0.99526813 -1.70861753] [ 0. 0. 0. 1. ]] SLAMing on 181.85629675700002 meters Centerline goodness : 0.796909 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.71 [[ 0.94982344 0.2973202 -0.09713973 -0.23060564] [-0.29899236 0.95425141 -0.00279736 1.28475051] [ 0.09186401 0.03170104 0.99526682 -1.70824681] [ 0. 0. 0. 1. ]] SLAMing on 181.88629675700003 meters Centerline goodness : 0.796004 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.94962999 0.29801379 -0.09690547 -0.23106503] [-0.29966818 0.95403981 -0.00265069 1.28633354] [ 0.09166173 0.03155666 0.99529006 -1.7078876 ] [ 0. 0. 0. 1. ]] SLAMing on 181.91629675700003 meters Centerline goodness : 0.795922 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.94956924 0.29817625 -0.09700094 -0.23078185] [-0.29983926 0.95398591 -0.00270302 1.28696274] [ 0.09173155 0.0316514 0.99528062 -1.70793438] [ 0. 0. 0. 1. ]] SLAMing on 181.94629675700003 meters Centerline goodness : 0.796833 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.9494637 0.29847862 -0.09710401 -0.23008548] [-0.30016361 0.95388335 -0.00289034 1.28821647] [ 0.0917632 0.03189137 0.99527004 -1.70844726] [ 0. 0. 0. 1. ]] SLAMing on 181.97629675700003 meters Centerline goodness : 0.798131 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.94940126 0.29865344 -0.09717705 -0.22964141] [-0.30035035 0.95382428 -0.00298521 1.28898124] [ 0.09179828 0.03202132 0.99526263 -1.7087331 ] [ 0. 0. 0. 1. ]] SLAMing on 182.00629675700003 meters Centerline goodness : 0.797556 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.94927818 0.29897961 -0.09737617 -0.22893791] [-0.30069882 0.95371398 -0.0031403 1.29065095] [ 0.09193012 0.03226192 0.99524269 -1.70885944] [ 0. 0. 0. 1. ]] SLAMing on 182.03629675700003 meters Centerline goodness : 0.804929 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.94922046 0.29912991 -0.09747722 -0.22880108] [-0.30085122 0.95366598 -0.00311981 1.29108222] [ 0.09202748 0.03228753 0.99523287 -1.70867375] [ 0. 0. 0. 1. ]] SLAMing on 182.06629675700003 meters Centerline goodness : 0.804279 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.94909874 0.29948323 -0.09757757 -0.22895186] [-0.30119583 0.95355767 -0.00297248 1.2919383 ] [ 0.09215563 0.03221113 0.99522348 -1.7079215 ] [ 0. 0. 0. 1. ]] SLAMing on 182.09629675700003 meters Centerline goodness : 0.797892 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.94902066 0.29974789 -0.09752434 -0.22916725] [-0.3014496 0.95347782 -0.00286015 1.29246957] [ 0.09212997 0.03211302 0.99522903 -1.70756343] [ 0. 0. 0. 1. ]] SLAMing on 182.12629675700003 meters Centerline goodness : 0.794393 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.94882768 0.30038808 -0.09743218 -0.22976216] [-0.30205601 0.95328691 -0.00249485 1.29316178] [ 0.0921314 0.03179716 0.99523904 -1.70673407] [ 0. 0. 0. 1. ]] SLAMing on 182.15629675700004 meters Centerline goodness : 0.794750 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 0.94860669 0.30116194 -0.09719488 -0.23076209] [-0.30276528 0.95306338 -0.00183916 1.29329124] [ 0.092079 0.03117187 0.99526367 -1.70570736] [ 0. 0. 0. 1. ]] SLAMing on 182.18629675700004 meters Centerline goodness : 0.798439 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.71 [[ 9.48502940e-01 3.01538277e-01 -9.70404101e-02 -2.31281424e-01] [-3.03100244e-01 9.52957613e-01 -1.42492986e-03 1.29311425e+00] [ 9.20457267e-02 3.07645221e-02 9.95279422e-01 -1.70519446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21629675700004 meters Centerline goodness : 0.792825 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 9.48397920e-01 3.01898871e-01 -9.69456367e-02 -2.31972784e-01] [-3.03415109e-01 9.52858007e-01 -9.43845455e-04 1.29270729e+00] [ 9.20904803e-02 3.03099120e-02 9.95289231e-01 -1.70433032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24629675700004 meters Centerline goodness : 0.799915 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 9.48243142e-01 3.02498812e-01 -9.65888790e-02 -2.33158005e-01] [-3.03938675e-01 9.52691577e-01 -2.03901374e-04 1.29174131e+00] [ 9.19577315e-02 2.95504440e-02 9.95324343e-01 -1.70346258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27629675700004 meters Centerline goodness : 0.796301 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 9.48153842e-01 3.02773916e-01 -9.66035590e-02 -2.33447157e-01] [-3.04159829e-01 9.52620932e-01 3.98115341e-04 1.29062508e+00] [ 9.21471113e-02 2.90054474e-02 9.95322859e-01 -1.70282270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.306296757 meters Centerline goodness : 0.796730 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 9.48124097e-01 3.02829051e-01 -9.67226021e-02 -2.33331399e-01] [-3.04192009e-01 9.52610493e-01 6.86058714e-04 1.28989528e+00] [ 9.23467242e-02 2.87717738e-02 9.95311141e-01 -1.70258922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.336296757 meters Centerline goodness : 0.788666 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 9.48135293e-01 3.02710943e-01 -9.69822212e-02 -2.32914964e-01] [-3.04058646e-01 9.52652866e-01 9.25055359e-04 1.28923740e+00] [ 9.26704154e-02 2.86112052e-02 9.95285684e-01 -1.70227892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36629675700001 meters Centerline goodness : 0.798290 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 9.48139057e-01 3.02675446e-01 -9.70561832e-02 -2.32961389e-01] [-3.03991894e-01 9.52673757e-01 1.28139406e-03 1.28856770e+00] [ 9.28507251e-02 2.82893532e-02 9.95278079e-01 -1.70168619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39629675700002 meters Centerline goodness : 0.794886 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 9.48129551e-01 3.02620133e-01 -9.73211638e-02 -2.32640601e-01] [-3.03922558e-01 9.52695545e-01 1.50937470e-03 1.28855246e+00] [ 9.31742063e-02 2.81470143e-02 9.95251884e-01 -1.70099272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42629675700002 meters Centerline goodness : 0.800734 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 0.9481109 0.30261973 -0.09750396 -0.23235138] [-0.30390916 0.95269949 0.00170319 1.28839745] [ 0.09340739 0.02801754 0.99523368 -1.70066611] [ 0. 0. 0. 1. ]] SLAMing on 182.45629675700002 meters Centerline goodness : 0.802476 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 0.94805837 0.30275595 -0.09759179 -0.23246907] [-0.30401448 0.95266517 0.00206555 1.28785931] [ 0.09359766 0.02771106 0.99522438 -1.70017175] [ 0. 0. 0. 1. ]] SLAMing on 182.48629675700002 meters Centerline goodness : 0.803917 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 0.94807886 0.30260512 -0.0978602 -0.23203633] [-0.30383901 0.95272037 0.0023985 1.28678614] [ 0.0939592 0.02745978 0.99519728 -1.69986989] [ 0. 0. 0. 1. ]] SLAMing on 182.51629675700002 meters Centerline goodness : 0.805118 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 0.94808269 0.30249967 -0.09814869 -0.23120604] [-0.30373797 0.9527525 0.00243103 1.28636934] [ 0.09424679 0.02750667 0.99516879 -1.70021181] [ 0. 0. 0. 1. ]] SLAMing on 182.54629675700002 meters Centerline goodness : 0.799930 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 0.94808842 0.30232614 -0.09862689 -0.22940774] [-0.30360123 0.95279671 0.00217528 1.28663859] [ 0.09462902 0.02788089 0.99512211 -1.70128033] [ 0. 0. 0. 1. ]] SLAMing on 182.57629675700002 meters Centerline goodness : 0.805355 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 0.94792312 0.30281975 -0.09870139 -0.22905873] [-0.3040834 0.95264253 0.00234331 1.28714297] [ 0.09473674 0.02779218 0.99511434 -1.70142927] [ 0. 0. 0. 1. ]] SLAMing on 182.60629675700002 meters Centerline goodness : 0.805669 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 0.94782368 0.30314383 -0.0986615 -0.22912301] [-0.304391 0.95254384 0.00252172 1.28695229] [ 0.09474385 0.02764153 0.99511786 -1.70153451] [ 0. 0. 0. 1. ]] SLAMing on 182.63629675700003 meters Centerline goodness : 0.798335 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 0.94771073 0.30349805 -0.09865751 -0.2292469 ] [-0.30471051 0.95244059 0.00290338 1.28660306] [ 0.09484659 0.02731041 0.99511721 -1.70122184] [ 0. 0. 0. 1. ]] SLAMing on 182.66629675700003 meters Centerline goodness : 0.803249 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.70 [[ 0.94766685 0.30362618 -0.09868473 -0.22935753] [-0.30480706 0.95240858 0.003249 1.28576326] [ 0.09497466 0.02700083 0.99511345 -1.70098864] [ 0. 0. 0. 1. ]] SLAMing on 182.69629675700003 meters Centerline goodness : 0.798829 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.70 [[ 0.94779916 0.30314182 -0.09890295 -0.22905911] [-0.30426858 0.9525785 0.00385098 1.28269096] [ 0.09538022 0.0264431 0.99508963 -1.70078479] [ 0. 0. 0. 1. ]] SLAMing on 182.72629675700003 meters Centerline goodness : 0.799410 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.70 [[ 0.94784933 0.30291227 -0.09912523 -0.22866856] [-0.30399446 0.9526638 0.00436429 1.28069526] [ 0.09575502 0.02599683 0.9950654 -1.70060945] [ 0. 0. 0. 1. ]] SLAMing on 182.75629675700003 meters Centerline goodness : 0.800346 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.70 [[ 9.48880802e-01 2.99456021e-01 -9.97562743e-02 -2.29953960e-01] [-3.00830616e-01 9.53676672e-01 1.32147113e-03 1.27945994e+00] [ 9.55309541e-02 2.87558229e-02 9.95011025e-01 -1.70047915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78629675700003 meters Centerline goodness : 0.800005 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.70 [[ 0.94892062 0.29932567 -0.09976878 -0.23009823] [-0.30064407 0.95373451 0.00190307 1.27752351] [ 0.09572257 0.02818903 0.99500883 -1.70009677] [ 0. 0. 0. 1. ]] SLAMing on 182.81629675700003 meters Centerline goodness : 0.801113 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.70 [[ 0.94906382 0.2988832 -0.0997331 -0.23004542] [-0.30012622 0.95389581 0.00265205 1.27417776] [ 0.09592764 0.02741556 0.99501069 -1.70002467] [ 0. 0. 0. 1. ]] SLAMing on 182.84629675700003 meters Centerline goodness : 0.802037 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.70 [[ 0.94903307 0.29898338 -0.09972544 -0.23019577] [-0.30017829 0.9538779 0.00315385 1.27271117] [ 0.09606884 0.0269423 0.99500999 -1.69981282] [ 0. 0. 0. 1. ]] SLAMing on 182.87629675700003 meters Centerline goodness : 0.793056 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.70 [[ 0.95061515 0.29660911 -0.09139952 -0.24282031] [-0.29754351 0.95470168 0.00354324 1.27481185] [ 0.08831023 0.02382707 0.995808 -1.70241909] [ 0. 0. 0. 1. ]] SLAMing on 182.90629675700004 meters Centerline goodness : 0.801995 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.70 [[ 0.95034393 0.29766667 -0.09077981 -0.24479352] [-0.29851484 0.95439483 0.00440362 1.27408895] [ 0.08795059 0.02291417 0.99586125 -1.70138561] [ 0. 0. 0. 1. ]] SLAMing on 182.93629675700004 meters Centerline goodness : 0.801842 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.27, Z:-1.70 [[ 0.95021417 0.29812737 -0.09062621 -0.2452557 ] [-0.29895379 0.95425635 0.00463227 1.27442069] [ 0.08786164 0.0226914 0.99587421 -1.70108575] [ 0. 0. 0. 1. ]] SLAMing on 182.96629675700004 meters Centerline goodness : 0.799924 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.27, Z:-1.70 [[ 0.9500712 0.29861982 -0.09050368 -0.24561241] [-0.29943231 0.95410556 0.00478231 1.27484977] [ 0.08777815 0.02255619 0.99588464 -1.70099035] [ 0. 0. 0. 1. ]] SLAMing on 182.99629675700004 meters Centerline goodness : 0.799046 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.27, Z:-1.70 [[ 0.94983454 0.29947374 -0.09016557 -0.24647656] [-0.30025258 0.953846 0.00511903 1.27494188] [ 0.08753708 0.02221021 0.99591363 -1.70095942] [ 0. 0. 0. 1. ]] SLAMing on 183.02629675700004 meters Centerline goodness : 0.798163 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.27, Z:-1.70 [[ 0.94974273 0.29980631 -0.09002741 -0.24683149] [-0.30056317 0.9537469 0.00535004 1.27479633] [ 0.08746734 0.02197776 0.99592492 -1.70083924] [ 0. 0. 0. 1. ]] SLAMing on 183.056296757 meters Centerline goodness : 0.799735 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.28, Z:-1.70 [[ 0.94954938 0.30049563 -0.08976835 -0.24733517] [-0.30122782 0.95353576 0.00559935 1.27506134] [ 0.08727991 0.02172386 0.99594693 -1.70096629] [ 0. 0. 0. 1. ]] SLAMing on 183.086296757 meters Centerline goodness : 0.793580 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.28, Z:-1.70 [[ 0.94949249 0.30062724 -0.08992929 -0.24671559] [-0.30136211 0.95349323 0.00561529 1.27554507] [ 0.08743508 0.0217696 0.99593232 -1.7011761 ] [ 0. 0. 0. 1. ]] SLAMing on 183.11629675700001 meters Centerline goodness : 0.792706 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.28, Z:-1.70 [[ 0.94929034 0.30069832 -0.09180612 -0.25607869] [-0.30033279 0.95366272 0.01810075 1.2760213 ] [ 0.09299494 0.01038952 0.99561237 -1.69824469] [ 0. 0. 0. 1. ]] SLAMing on 183.14629675700002 meters Centerline goodness : 0.804060 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.27, Z:-1.70 [[ 0.94941212 0.30019404 -0.09219634 -0.25489317] [-0.29982133 0.95382182 0.01819622 1.27428708] [ 0.09340128 0.01036671 0.99557457 -1.69879648] [ 0. 0. 0. 1. ]] SLAMing on 183.17629675700002 meters Centerline goodness : 0.792332 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.27, Z:-1.70 [[ 0.94945581 0.29996841 -0.09248037 -0.25439001] [-0.29956686 0.95389548 0.01852301 1.27258799] [ 0.09377293 0.01011727 0.9955422 -1.69869668] [ 0. 0. 0. 1. ]] SLAMing on 183.20629675700002 meters Centerline goodness : 0.806298 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.27, Z:-1.70 [[ 0.95049761 0.29636077 -0.09340552 -0.25532231] [-0.29627672 0.95498298 0.01508662 1.27197551] [ 0.09367176 0.01333408 0.99551384 -1.69846025] [ 0. 0. 0. 1. ]] SLAMing on 183.23629675700002 meters Centerline goodness : 0.802992 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.27, Z:-1.70 [[ 0.95051846 0.2963304 -0.09328965 -0.25566263] [-0.29619897 0.9549993 0.01557232 1.2707223 ] [ 0.0937061 0.01283052 0.99551722 -1.69803284] [ 0. 0. 0. 1. ]] SLAMing on 183.26629675700002 meters Centerline goodness : 0.802420 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.27, Z:-1.70 [[ 0.9505845 0.2960926 -0.09337179 -0.25542586] [-0.2959356 0.9550765 0.01584299 1.2701061 ] [ 0.09386819 0.01257194 0.99550525 -1.69773602] [ 0. 0. 0. 1. ]] SLAMing on 183.29629675700002 meters Centerline goodness : 0.800841 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.27, Z:-1.70 [[ 0.95181942 0.29280727 -0.09112464 -0.27373976] [-0.29205231 0.95615358 0.02181258 1.27321903] [ 0.09351603 0.00585152 0.99560058 -1.69593875] [ 0. 0. 0. 1. ]] SLAMing on 183.32629675700002 meters Centerline goodness : 0.800378 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.27, Z:-1.70 [[ 0.95281829 0.28933395 -0.09177787 -0.27516379] [-0.28888098 0.95718675 0.01847437 1.27286916] [ 0.09319382 0.00891017 0.99560812 -1.69551976] [ 0. 0. 0. 1. ]] SLAMing on 183.35629675700002 meters Centerline goodness : 0.795420 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.28, Z:-1.70 [[ 0.95436986 0.28544345 -0.08775086 -0.29527821] [-0.2849122 0.95836947 0.01878812 1.27905013] [ 0.08946069 0.00707048 0.99596526 -1.69866829] [ 0. 0. 0. 1. ]] SLAMing on 183.38629675700003 meters Centerline goodness : 0.793821 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.28, Z:-1.70 [[ 0.95444961 0.28520885 -0.08764617 -0.29539261] [-0.2846362 0.95844272 0.01923007 1.27757799] [ 0.08948842 0.00659314 0.99596604 -1.69836544] [ 0. 0. 0. 1. ]] SLAMing on 183.41629675700003 meters Centerline goodness : 0.794308 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.28, Z:-1.70 [[ 0.95448754 0.28507082 -0.08768224 -0.2950653 ] [-0.28449193 0.95848423 0.01929565 1.27735659] [ 0.08954267 0.00652743 0.9959616 -1.69848983] [ 0. 0. 0. 1. ]] SLAMing on 183.44629675700003 meters Centerline goodness : 0.793723 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.28, Z:-1.70 [[ 0.95450925 0.28505159 -0.08750823 -0.29508276] [-0.28448069 0.95848963 0.01919299 1.27797311] [ 0.08934672 0.00657452 0.99597888 -1.6987138 ] [ 0. 0. 0. 1. ]] SLAMing on 183.47629675700003 meters Centerline goodness : 0.792613 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.28, Z:-1.70 [[ 0.95449453 0.28511542 -0.08746077 -0.29526182] [-0.28453206 0.9584716 0.0193313 1.27793562] [ 0.08934031 0.00643377 0.99598038 -1.69843447] [ 0. 0. 0. 1. ]] SLAMing on 183.50629675700003 meters Centerline goodness : 0.800339 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.28, Z:-1.70 [[ 0.95445151 0.28527021 -0.08742557 -0.29558458] [-0.28466517 0.95842707 0.01957766 1.27758579] [ 0.08937595 0.00620109 0.99597866 -1.69801868] [ 0. 0. 0. 1. ]] SLAMing on 183.53629675700003 meters Centerline goodness : 0.792785 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.29, Z:-1.70 [[ 0.95567968 0.28247736 -0.08296325 -0.32015552] [-0.28210041 0.9592434 0.01647611 1.28678083] [ 0.08423607 0.00765809 0.9964164 -1.70353734] [ 0. 0. 0. 1. ]] SLAMing on 183.56629675700003 meters Centerline goodness : 0.792603 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.29, Z:-1.70 [[ 0.9556596 0.28251838 -0.08305481 -0.31929128] [-0.28218255 0.9592273 0.01600004 1.28871278] [ 0.08418875 0.00814602 0.99641653 -1.70425114] [ 0. 0. 0. 1. ]] SLAMing on 183.59629675700003 meters Centerline goodness : 0.790183 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.29, Z:-1.70 [[ 0.95566966 0.28242308 -0.0832629 -0.31824283] [-0.28212534 0.95925127 0.01556609 1.290072 ] [ 0.08426626 0.00861453 0.99640604 -1.70499233] [ 0. 0. 0. 1. ]] SLAMing on 183.62629675700003 meters Centerline goodness : 0.791377 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.29, Z:-1.70 [[ 0.95581214 0.28123716 -0.08560846 -0.33305004] [-0.28037391 0.95963424 0.02219432 1.29430367] [ 0.08839468 0.00278878 0.99608162 -1.70440254] [ 0. 0. 0. 1. ]] SLAMing on 183.65629675700004 meters Centerline goodness : 0.791377 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.29, Z:-1.70 [[ 0.95581214 0.28123716 -0.08560846 -0.33305004] [-0.28037391 0.95963424 0.02219432 1.29430367] [ 0.08839468 0.00278878 0.99608162 -1.70440254] [ 0. 0. 0. 1. ]] SLAMing on 183.68629675700004 meters Centerline goodness : 0.787882 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.29, Z:-1.70 [[ 0.95580772 0.2812256 -0.08569577 -0.33279465] [-0.28037011 0.95963732 0.02210917 1.29459505] [ 0.08845452 0.00289442 0.99607601 -1.70448877] [ 0. 0. 0. 1. ]] SLAMing on 183.71629675700004 meters Centerline goodness : 0.790254 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.30, Z:-1.70 [[ 0.95579155 0.28124626 -0.08580826 -0.33242129] [-0.28040174 0.95963081 0.02199053 1.29514421] [ 0.08852901 0.00304243 0.99606895 -1.704622 ] [ 0. 0. 0. 1. ]] SLAMing on 183.74629675700004 meters Centerline goodness : 0.798171 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.30, Z:-1.70 [[ 0.95580754 0.28117051 -0.08587838 -0.33195903] [-0.28033288 0.95965272 0.02191198 1.29573785] [ 0.08857442 0.0031309 0.99606464 -1.70478957] [ 0. 0. 0. 1. ]] SLAMing on 183.77629675700004 meters Centerline goodness : 0.791747 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.30, Z:-1.70 [[ 0.95582803 0.28104986 -0.08604508 -0.33152422] [-0.28021727 0.95968776 0.02185582 1.29640763] [ 0.08871898 0.00322092 0.99605149 -1.70460165] [ 0. 0. 0. 1. ]] SLAMing on 183.806296757 meters Centerline goodness : 0.797648 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.30, Z:-1.70 [[ 0.95581152 0.28109069 -0.08609505 -0.33148205] [-0.28025211 0.95967597 0.02192671 1.29673565] [ 0.08878674 0.00317052 0.99604561 -1.70434815] [ 0. 0. 0. 1. ]] SLAMing on 183.836296757 meters Centerline goodness : 0.800882 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.30, Z:-1.70 [[ 0.95584936 0.28095159 -0.08612896 -0.33143073] [-0.28009373 0.95971736 0.02213782 1.29680631] [ 0.08887911 0.00296376 0.99603801 -1.7037202 ] [ 0. 0. 0. 1. ]] SLAMing on 183.86629675700001 meters Centerline goodness : 0.799303 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.30, Z:-1.70 [[ 0.95587474 0.28086689 -0.08612358 -0.33154183] [-0.27999895 0.9597425 0.02224675 1.29684312] [ 0.08890484 0.00284941 0.99603605 -1.70331336] [ 0. 0. 0. 1. ]] SLAMing on 183.89629675700002 meters Centerline goodness : 0.800969 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.30, Z:-1.70 [[ 0.95592259 0.28074238 -0.08599839 -0.3319586 ] [-0.27984679 0.95977987 0.02254715 1.29678732] [ 0.08886947 0.00251305 0.99604011 -1.70241869] [ 0. 0. 0. 1. ]] SLAMing on 183.92629675700002 meters Centerline goodness : 0.799882 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.30, Z:-1.70 [[ 0.95590827 0.28081268 -0.08592799 -0.33239421] [-0.27989113 0.95976003 0.02283937 1.29673063] [ 0.08888384 0.00221814 0.99603953 -1.70168253] [ 0. 0. 0. 1. ]] SLAMing on 183.95629675700002 meters Centerline goodness : 0.803030 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.30, Z:-1.70 [[ 0.95690809 0.27327031 -0.09823566 -0.33017351] [-0.27235624 0.9619249 0.02285957 1.30194085] [ 0.10074217 0.00488059 0.9949006 -1.69567802] [ 0. 0. 0. 1. ]] SLAMing on 183.98629675700002 meters Centerline goodness : 0.801764 Centerline is valid? [False, False] Translation: X:-0.33, Y:1.31, Z:-1.69 [[ 0.95732112 0.26640416 -0.11209413 -0.32686866] [-0.26574843 0.96381303 0.02102886 1.30814188] [ 0.11363995 0.00965746 0.99347506 -1.69188059] [ 0. 0. 0. 1. ]] SLAMing on 184.01629675700002 meters Centerline goodness : 0.805580 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.31, Z:-1.69 [[ 0.95723124 0.26014434 -0.12662259 -0.32365651] [-0.25965817 0.96548036 0.02062301 1.31286777] [ 0.12761658 0.0131376 0.99173656 -1.68587725] [ 0. 0. 0. 1. ]] SLAMing on 184.04629675700002 meters Centerline goodness : 0.806600 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.32, Z:-1.68 [[ 0.95714339 0.26056142 -0.12642894 -0.32405063] [-0.260175 0.96535734 0.0198538 1.3162465 ] [ 0.12722224 0.01389072 0.99177697 -1.68479452] [ 0. 0. 0. 1. ]] SLAMing on 184.07629675700002 meters Centerline goodness : 0.807270 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.32, Z:-1.68 [[ 0.95712744 0.26059485 -0.12648077 -0.32398567] [-0.26024577 0.96534405 0.01957076 1.31786043] [ 0.1271975 0.01418438 0.99177598 -1.68457177] [ 0. 0. 0. 1. ]] SLAMing on 184.10629675700002 meters Centerline goodness : 0.808327 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.32, Z:-1.68 [[ 0.95706786 0.26080857 -0.1264911 -0.32389686] [-0.26051956 0.96527927 0.01911767 1.3210906 ] [ 0.12708529 0.0146565 0.9917835 -1.68428093] [ 0. 0. 0. 1. ]] SLAMing on 184.13629675700003 meters Centerline goodness : 0.810887 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.32, Z:-1.68 [[ 0.95679751 0.26113321 -0.12785916 -0.32070602] [-0.26096124 0.96517401 0.01839464 1.32265828] [ 0.12820979 0.01576634 0.99162174 -1.68426404] [ 0. 0. 0. 1. ]] SLAMing on 184.16629675700003 meters Centerline goodness : 0.811581 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.68 [[ 0.95677229 0.26096073 -0.1283989 -0.31861084] [-0.26090574 0.96520477 0.01754809 1.32685973] [ 0.1285106 0.01671049 0.99156734 -1.68483273] [ 0. 0. 0. 1. ]] SLAMing on 184.19629675700003 meters Centerline goodness : 0.810013 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.69 [[ 0.95676388 0.26088633 -0.1286126 -0.31766261] [-0.26090514 0.96521471 0.01700234 1.32883093] [ 0.12857445 0.01728846 0.99154915 -1.68535649] [ 0. 0. 0. 1. ]] SLAMing on 184.22629675700003 meters Centerline goodness : 0.814070 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.33, Z:-1.69 [[ 0.9559093 0.26404878 -0.12851323 -0.31470346] [-0.26372895 0.96439337 0.01981074 1.33067505] [ 0.12916831 0.01495539 0.9915099 -1.68610737] [ 0. 0. 0. 1. ]] SLAMing on 184.25629675700003 meters Centerline goodness : 0.812688 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.33, Z:-1.69 [[ 0.95590536 0.2639201 -0.12880657 -0.31379358] [-0.26367256 0.9644195 0.01928218 1.33256885] [ 0.12931252 0.01553082 0.99148226 -1.68635777] [ 0. 0. 0. 1. ]] SLAMing on 184.28629675700003 meters Centerline goodness : 0.814231 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.34, Z:-1.69 [[ 0.95592658 0.26358875 -0.12932653 -0.31232279] [-0.26344401 0.96449657 0.01853696 1.33512456] [ 0.12962113 0.01635032 0.99142878 -1.68657356] [ 0. 0. 0. 1. ]] SLAMing on 184.31629675700003 meters Centerline goodness : 0.815593 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.34, Z:-1.69 [[ 0.95595518 0.26333648 -0.1296287 -0.31135185] [-0.26324423 0.96455834 0.01815736 1.3362885 ] [ 0.12981594 0.01676638 0.99139634 -1.68679048] [ 0. 0. 0. 1. ]] SLAMing on 184.34629675700003 meters Centerline goodness : 0.808995 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.34, Z:-1.69 [[ 0.95602931 0.26281743 -0.13013435 -0.30978382] [-0.26283833 0.96468431 0.01732597 1.33931535] [ 0.13009214 0.01764016 0.99134498 -1.68692705] [ 0. 0. 0. 1. ]] SLAMing on 184.37629675700003 meters Centerline goodness : 0.815431 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.34, Z:-1.69 [[ 0.95603736 0.26267257 -0.13036752 -0.30961561] [-0.26272538 0.96471902 0.01710513 1.34090412] [ 0.13026108 0.01789772 0.99131817 -1.68612092] [ 0. 0. 0. 1. ]] SLAMing on 184.40629675700004 meters Centerline goodness : 0.814782 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.34, Z:-1.69 [[ 0.95604144 0.26259313 -0.13049757 -0.30964323] [-0.26264355 0.96474076 0.01713581 1.34125703] [ 0.13039607 0.0178918 0.99130053 -1.68554404] [ 0. 0. 0. 1. ]] SLAMing on 184.43629675700004 meters Centerline goodness : 0.809778 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.34, Z:-1.68 [[ 0.95606211 0.26246503 -0.13060378 -0.30987291] [-0.26252993 0.96477353 0.01703166 1.34278242] [ 0.13047328 0.01800407 0.99128834 -1.68444788] [ 0. 0. 0. 1. ]] SLAMing on 184.46629675700004 meters Centerline goodness : 0.811057 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.34, Z:-1.68 [[ 0.95609181 0.26230554 -0.13070679 -0.30964011] [-0.26239379 0.96481362 0.01685757 1.34393918] [ 0.13052953 0.01817927 0.99127774 -1.68411502] [ 0. 0. 0. 1. ]] SLAMing on 184.49629675700004 meters Centerline goodness : 0.813813 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.35, Z:-1.68 [[ 0.95614049 0.26205329 -0.13085651 -0.30941662] [-0.26216285 0.96487915 0.01669955 1.34508576] [ 0.13063689 0.0183386 0.99126066 -1.68359998] [ 0. 0. 0. 1. ]] SLAMing on 184.52629675700004 meters Centerline goodness : 0.813496 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.35, Z:-1.68 [[ 0.95629014 0.26139664 -0.13107618 -0.30925567] [-0.26152829 0.96505447 0.01651769 1.34614693] [ 0.13081332 0.01848442 0.99123469 -1.68246203] [ 0. 0. 0. 1. ]] SLAMing on 184.556296757 meters Centerline goodness : 0.815876 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.35, Z:-1.68 [[ 0.95631669 0.26123268 -0.13120929 -0.30927544] [-0.26135402 0.96510021 0.01660329 1.34602835] [ 0.13096743 0.01841407 0.99121564 -1.68191278] [ 0. 0. 0. 1. ]] SLAMing on 184.586296757 meters Centerline goodness : 0.813940 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.35, Z:-1.68 [[ 0.95656999 0.2598257 -0.13215317 -0.30792466] [-0.26014455 0.96545078 0.01515255 1.34711214] [ 0.13152441 0.01988445 0.99111348 -1.68160544] [ 0. 0. 0. 1. ]] SLAMing on 184.61629675700001 meters Centerline goodness : 0.813818 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.35, Z:-1.68 [[ 0.95672904 0.2593643 -0.13190792 -0.30682003] [-0.25967351 0.96557753 0.01515569 1.3495962 ] [ 0.13129816 0.0197531 0.99114611 -1.68252326] [ 0. 0. 0. 1. ]] SLAMing on 184.64629675700002 meters Centerline goodness : 0.812339 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.35, Z:-1.68 [[ 0.9567483 0.25893922 -0.13260155 -0.30404228] [-0.25937234 0.96567153 0.0142999 1.35109727] [ 0.13175235 0.02071177 0.99106626 -1.683774 ] [ 0. 0. 0. 1. ]] SLAMing on 184.67629675700002 meters Centerline goodness : 0.811836 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.35, Z:-1.68 [[ 0.95614017 0.26155976 -0.13184259 -0.3039925 ] [-0.26174506 0.96500051 0.01623403 1.35423343] [ 0.13147434 0.01898714 0.99113772 -1.68288015] [ 0. 0. 0. 1. ]] SLAMing on 184.70629675700002 meters Centerline goodness : 0.815241 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.36, Z:-1.68 [[ 0.95549169 0.26435374 -0.13096842 -0.30525176] [-0.26423384 0.96427905 0.01861167 1.35538199] [ 0.13121017 0.01682299 0.99121182 -1.68145619] [ 0. 0. 0. 1. ]] SLAMing on 184.73629675700002 meters Centerline goodness : 0.815016 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.36, Z:-1.68 [[ 0.95518007 0.26522038 -0.13148834 -0.30379282] [-0.26518473 0.96402763 0.01810504 1.3570932 ] [ 0.13156022 0.01757513 0.99115237 -1.68115822] [ 0. 0. 0. 1. ]] SLAMing on 184.76629675700002 meters Centerline goodness : 0.817538 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.36, Z:-1.68 [[ 0.95439292 0.26869361 -0.13014565 -0.30518464] [-0.26837486 0.96310034 0.02031449 1.36059483] [ 0.13080169 0.01553982 0.99128676 -1.67957038] [ 0. 0. 0. 1. ]] SLAMing on 184.79629675700002 meters Centerline goodness : 0.819141 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.36, Z:-1.68 [[ 0.95362881 0.27192983 -0.12902039 -0.30601386] [-0.27135003 0.9622202 0.02239313 1.36345883] [ 0.13023538 0.01365495 0.99138907 -1.67838795] [ 0. 0. 0. 1. ]] SLAMing on 184.82629675700002 meters Centerline goodness : 0.822219 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.36, Z:-1.68 [[ 0.95336862 0.27271412 -0.12928758 -0.30542138] [-0.27218399 0.96199146 0.02209789 1.36452317] [ 0.13039996 0.01412257 0.99136089 -1.67780493] [ 0. 0. 0. 1. ]] SLAMing on 184.85629675700002 meters Centerline goodness : 0.824086 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.37, Z:-1.68 [[ 0.95318453 0.27352565 -0.12893009 -0.30620957] [-0.27301201 0.96175929 0.02198877 1.36633274] [ 0.13001421 0.01424011 0.99140987 -1.67674881] [ 0. 0. 0. 1. ]] SLAMing on 184.88629675700003 meters Centerline goodness : 0.824388 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.37, Z:-1.68 [[ 0.95322688 0.27297114 -0.12978933 -0.3044501 ] [-0.27257386 0.96190207 0.02116334 1.36723421] [ 0.13062161 0.01520372 0.99131571 -1.6767558 ] [ 0. 0. 0. 1. ]] SLAMing on 184.91629675700003 meters Centerline goodness : 0.823407 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.37, Z:-1.68 [[ 0.95346977 0.27208629 -0.12986319 -0.30413075] [-0.2717712 0.9621438 0.02048702 1.36909482] [ 0.1305213 0.01575932 0.99132025 -1.67661757] [ 0. 0. 0. 1. ]] SLAMing on 184.94629675700003 meters Centerline goodness : 0.824234 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.37, Z:-1.68 [[ 0.95362525 0.27115294 -0.1306712 -0.3027321 ] [-0.27099817 0.96238618 0.01930909 1.36971858] [ 0.13099187 0.01699802 0.99123771 -1.67666238] [ 0. 0. 0. 1. ]] SLAMing on 184.97629675700003 meters Centerline goodness : 0.825916 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.37, Z:-1.68 [[ 0.9538104 0.27034955 -0.13098415 -0.30260767] [-0.27029971 0.96259845 0.01850128 1.37086919] [ 0.13108695 0.01775826 0.99121181 -1.67608574] [ 0. 0. 0. 1. ]] SLAMing on 185.00629675700003 meters Centerline goodness : 0.821132 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.37, Z:-1.68 [[ 0.95429652 0.26845446 -0.13134059 -0.30262213] [-0.26865741 0.96309433 0.01650771 1.37374076] [ 0.13092495 0.01953237 0.99119985 -1.67521023] [ 0. 0. 0. 1. ]] SLAMing on 185.03629675700003 meters Centerline goodness : 0.820367 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.38, Z:-1.67 [[ 0.95450919 0.26745559 -0.13183216 -0.30179909] [-0.26783146 0.96334578 0.01520585 1.37549294] [ 0.13106684 0.02079468 0.99115542 -1.67495357] [ 0. 0. 0. 1. ]] SLAMing on 185.06629675700003 meters Centerline goodness : 0.821157 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.38, Z:-1.67 [[ 0.95479136 0.26620256 -0.13232405 -0.30045333] [-0.26688328 0.96364259 0.01289469 1.37945619] [ 0.13094569 0.02300334 0.99112263 -1.67494592] [ 0. 0. 0. 1. ]] SLAMing on 185.09629675700003 meters Centerline goodness : 0.821411 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.38, Z:-1.68 [[ 0.9547272 0.26643601 -0.13231714 -0.2997267 ] [-0.26717068 0.96356813 0.01250128 1.38163422] [ 0.13082737 0.02341595 0.99112859 -1.67502581] [ 0. 0. 0. 1. ]] SLAMing on 185.12629675700003 meters Centerline goodness : 0.820595 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.38, Z:-1.67 [[ 0.95417747 0.26766895 -0.13378594 -0.29637115] [-0.26868062 0.96316906 0.01077435 1.38455871] [ 0.13174244 0.02566505 0.99095168 -1.67431109] [ 0. 0. 0. 1. ]] SLAMing on 185.15629675700004 meters Centerline goodness : 0.820754 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.39, Z:-1.67 [[ 0.95310819 0.27118276 -0.13433054 -0.29446796] [-0.2721673 0.96218319 0.01133481 1.38719641] [ 0.13232439 0.02575708 0.99087175 -1.67269922] [ 0. 0. 0. 1. ]] SLAMing on 185.18629675700004 meters Centerline goodness : 0.817677 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.39, Z:-1.67 [[ 0.95253791 0.27249943 -0.13570403 -0.29078676] [-0.27367984 0.96176628 0.0102454 1.38878339] [ 0.13330743 0.02738033 0.99069645 -1.6727847 ] [ 0. 0. 0. 1. ]] SLAMing on 185.21629675700004 meters Centerline goodness : 0.814069 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.39, Z:-1.67 [[ 0.95085855 0.27854057 -0.13521527 -0.28805981] [-0.27931898 0.9601025 0.01356839 1.39157208] [ 0.13359986 0.02486657 0.99072334 -1.6728493 ] [ 0. 0. 0. 1. ]] SLAMing on 185.24629675700004 meters Centerline goodness : 0.817250 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.39, Z:-1.67 [[ 0.94990641 0.28121303 -0.13637096 -0.28381431] [-0.28204985 0.95930406 0.01355013 1.39283484] [ 0.13463169 0.02559206 0.99056517 -1.67338939] [ 0. 0. 0. 1. ]] SLAMing on 185.27629675700004 meters Centerline goodness : 0.809694 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.39, Z:-1.67 [[ 0.94771909 0.28817277 -0.1370583 -0.27923665] [-0.28875614 0.95726824 0.01604381 1.39470391] [ 0.13582495 0.0243714 0.99043305 -1.67312363] [ 0. 0. 0. 1. ]] SLAMing on 185.306296757 meters Centerline goodness : 0.807900 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.40, Z:-1.67 [[ 0.94672899 0.29064223 -0.13867701 -0.27498889] [-0.29135647 0.95648773 0.01557655 1.39507328] [ 0.13717006 0.02565768 0.99021516 -1.67303688] [ 0. 0. 0. 1. ]] SLAMing on 185.336296757 meters Centerline goodness : 0.806528 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.39, Z:-1.67 [[ 0.94494544 0.29556815 -0.1404193 -0.26953701] [-0.29624683 0.95496836 0.01653011 1.39497086] [ 0.13898176 0.02597873 0.98995413 -1.6728817 ] [ 0. 0. 0. 1. ]] SLAMing on 185.36629675700001 meters Centerline goodness : 0.815667 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.40, Z:-1.67 [[ 0.94448792 0.2963831 -0.14177316 -0.26563078] [-0.29718853 0.95468554 0.01595279 1.39504952] [ 0.14007692 0.02706614 0.98977062 -1.6736682 ] [ 0. 0. 0. 1. ]] SLAMing on 185.39629675700002 meters Centerline goodness : 0.806895 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.39, Z:-1.68 [[ 0.94437049 0.2962566 -0.14281597 -0.261542 ] [-0.29710939 0.95471248 0.01581434 1.39496575] [ 0.1410333 0.02749737 0.98962291 -1.67573068] [ 0. 0. 0. 1. ]] SLAMing on 185.42629675700002 meters Centerline goodness : 0.806204 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.39, Z:-1.68 [[ 0.94462303 0.2954782 -0.1427584 -0.26118096] [-0.29631406 0.95495883 0.01586196 1.39453655] [ 0.14101526 0.02731775 0.98963045 -1.67654939] [ 0. 0. 0. 1. ]] SLAMing on 185.45629675700002 meters Centerline goodness : 0.809684 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.39, Z:-1.68 [[ 0.94573052 0.29110697 -0.1443971 -0.25992416] [-0.29243796 0.95620413 0.01239766 1.39282765] [ 0.14168214 0.03050235 0.98944215 -1.67718164] [ 0. 0. 0. 1. ]] SLAMing on 185.48629675700002 meters Centerline goodness : 0.808909 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.39, Z:-1.68 [[ 0.94674185 0.28702721 -0.14592891 -0.25797219] [-0.28885379 0.95733113 0.0089777 1.39191652] [ 0.14227914 0.03365256 0.98925434 -1.67843663] [ 0. 0. 0. 1. ]] SLAMing on 185.51629675700002 meters Centerline goodness : 0.810571 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.39, Z:-1.68 [[ 0.94861684 0.28021826 -0.14698236 -0.25656492] [-0.2824614 0.95926103 0.00581573 1.38937991] [ 0.14262412 0.03599995 0.98912202 -1.68148249] [ 0. 0. 0. 1. ]] SLAMing on 185.54629675700002 meters Centerline goodness : 0.809323 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.39, Z:-1.68 [[ 0.94954077 0.27643934 -0.14816751 -0.25409278] [-0.2790615 0.96026787 0.00320954 1.38802389] [ 0.14316774 0.03830026 0.98895707 -1.68384148] [ 0. 0. 0. 1. ]] SLAMing on 185.57629675700002 meters Centerline goodness : 0.809323 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.39, Z:-1.68 [[ 0.94954077 0.27643934 -0.14816751 -0.25409278] [-0.2790615 0.96026787 0.00320954 1.38802389] [ 0.14316774 0.03830026 0.98895707 -1.68384148] [ 0. 0. 0. 1. ]] SLAMing on 185.60629675700002 meters Centerline goodness : 0.802473 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.38, Z:-1.69 [[ 0.95119345 0.27103977 -0.14754141 -0.25558894] [-0.27368929 0.96181509 0.00243106 1.38427558] [ 0.14256647 0.03806809 0.98905289 -1.68680724] [ 0. 0. 0. 1. ]] SLAMing on 185.63629675700003 meters Centerline goodness : 0.807633 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.38, Z:-1.69 [[ 9.51981093e-01 2.67409207e-01 -1.49078218e-01 -2.53906499e-01] [-2.70500716e-01 9.62719654e-01 -4.79394486e-04 1.38210051e+00] [ 1.43392336e-01 4.07821393e-02 9.88825290e-01 -1.68773099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66629675700003 meters Centerline goodness : 0.803827 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.38, Z:-1.69 [[ 0.95324723 0.26227738 -0.15010095 -0.25496068] [-0.26570627 0.96404967 -0.00290033 1.37642592] [ 0.14394408 0.04264749 0.98866642 -1.68821321] [ 0. 0. 0. 1. ]] SLAMing on 185.69629675700003 meters Centerline goodness : 0.809005 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.37, Z:-1.69 [[ 0.95369059 0.25977597 -0.15162685 -0.25367089] [-0.26361926 0.96461134 -0.00546317 1.37420097] [ 0.14484178 0.04518193 0.98842271 -1.68824582] [ 0. 0. 0. 1. ]] SLAMing on 185.72629675700003 meters Centerline goodness : 0.808755 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.37, Z:-1.69 [[ 0.9536265 0.25981346 -0.15196536 -0.25323205] [-0.26353402 0.96463952 -0.00451877 1.3700093 ] [ 0.14541775 0.04435726 0.98837549 -1.68895831] [ 0. 0. 0. 1. ]] SLAMing on 185.75629675700003 meters Centerline goodness : 0.810357 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.37, Z:-1.69 [[ 0.95331814 0.2609087 -0.15202358 -0.25261475] [-0.26450683 0.96437715 -0.00358351 1.36843367] [ 0.1456731 0.0436275 0.98837037 -1.68936741] [ 0. 0. 0. 1. ]] SLAMing on 185.78629675700003 meters Centerline goodness : 0.809736 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.37, Z:-1.69 [[ 0.95200641 0.26457151 -0.15390166 -0.24837072] [-0.26821076 0.96335558 -0.00300138 1.36529471] [ 0.14746795 0.04413541 0.98808161 -1.68940496] [ 0. 0. 0. 1. ]] SLAMing on 185.81629675700003 meters Centerline goodness : 0.807846 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.36, Z:-1.69 [[ 9.49964202e-01 2.70687183e-01 -1.55873230e-01 -2.44408057e-01] [-2.74232933e-01 9.61662427e-01 -1.29448477e-03 1.36150259e+00] [ 1.49547028e-01 4.39752873e-02 9.87776220e-01 -1.68790687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84629675700003 meters Centerline goodness : 0.807033 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.36, Z:-1.69 [[ 9.48979932e-01 2.72980276e-01 -1.57857079e-01 -2.40473303e-01] [-2.76686481e-01 9.60958970e-01 -1.56517097e-03 1.35966330e+00] [ 1.51266915e-01 4.51622355e-02 9.87460730e-01 -1.68751572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87629675700003 meters Centerline goodness : 0.807271 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.36, Z:-1.69 [[ 9.47885978e-01 2.75978359e-01 -1.59210925e-01 -2.38126295e-01] [-2.79685663e-01 9.60091190e-01 -9.15309733e-04 1.35793711e+00] [ 1.52604400e-01 4.53966222e-02 9.87244166e-01 -1.68636989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90629675700004 meters Centerline goodness : 0.804430 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.35, Z:-1.69 [[ 0.94584345 0.28211799 -0.16059144 -0.2340446 ] [-0.28553899 0.95836531 0.00184885 1.354104 ] [ 0.15442686 0.0441064 0.98701924 -1.68610799] [ 0. 0. 0. 1. ]] SLAMing on 185.93629675700004 meters Centerline goodness : 0.804356 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.35, Z:-1.69 [[ 0.94515786 0.28386022 -0.16155493 -0.23163511] [-0.2872977 0.95783888 0.00217059 1.35257111] [ 0.15535973 0.04436281 0.98686133 -1.68628642] [ 0. 0. 0. 1. ]] SLAMing on 185.96629675700004 meters Centerline goodness : 0.802989 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.35, Z:-1.69 [[ 0.94443636 0.28534408 -0.16315242 -0.22918812] [-0.28890902 0.95735456 0.00195687 1.34963111] [ 0.15675309 0.04528806 0.98659894 -1.6856985 ] [ 0. 0. 0. 1. ]] SLAMing on 185.99629675700004 meters Centerline goodness : 0.804191 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.35, Z:-1.68 [[ 9.44691080e-01 2.83478948e-01 -1.64919527e-01 -2.28846927e-01] [-2.87444056e-01 9.57797411e-01 -1.84528990e-04 1.34634994e+00] [ 1.57907186e-01 4.75794604e-02 9.86307009e-01 -1.68442217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02629675700004 meters Centerline goodness : 0.804909 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.34, Z:-1.68 [[ 9.44921309e-01 2.82878969e-01 -1.64630521e-01 -2.30488103e-01] [-2.86740743e-01 9.58008164e-01 3.21464609e-04 1.34409054e+00] [ 1.57808319e-01 4.69025192e-02 9.86355255e-01 -1.68401274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.056296757 meters Centerline goodness : 0.805511 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.34, Z:-1.68 [[ 9.45335020e-01 2.81694025e-01 -1.64286868e-01 -2.31832724e-01] [-2.85419215e-01 9.58402280e-01 9.70358668e-04 1.34185636e+00] [ 1.57726254e-01 4.59733149e-02 9.86412126e-01 -1.68423988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.086296757 meters Centerline goodness : 0.804214 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.33, Z:-1.69 [[ 0.94693274 0.28281224 -0.15276 -0.22916979] [-0.28581685 0.95828129 0.00238509 1.33238999] [ 0.14706159 0.04140286 0.98826044 -1.6889268 ] [ 0. 0. 0. 1. ]] SLAMing on 186.11629675700001 meters Centerline goodness : 0.803931 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.33, Z:-1.69 [[ 9.47634566e-01 2.80140121e-01 -1.53330501e-01 -2.28332387e-01] [-2.83332527e-01 9.59021130e-01 1.07349484e-03 1.33064135e+00] [ 1.47347919e-01 4.24262374e-02 9.88174380e-01 -1.69025605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14629675700002 meters Centerline goodness : 0.801786 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.33, Z:-1.69 [[ 9.48700677e-01 2.75761746e-01 -1.54668949e-01 -2.27744601e-01] [-2.79286551e-01 9.60207166e-01 -1.10516812e-03 1.32736077e+00] [ 1.48209470e-01 4.42454311e-02 9.87965736e-01 -1.69065149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17629675700002 meters Centerline goodness : 0.798912 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.33, Z:-1.69 [[ 9.49036735e-01 2.74437424e-01 -1.54962497e-01 -2.28040733e-01] [-2.78024232e-01 9.60572832e-01 -1.53634596e-03 1.32555917e+00] [ 1.48431134e-01 4.45413779e-02 9.87919159e-01 -1.69073693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20629675700002 meters Centerline goodness : 0.800875 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.32, Z:-1.69 [[ 9.50030115e-01 2.77502080e-01 -1.42952357e-01 -2.27710196e-01] [-2.80566244e-01 9.59833739e-01 -1.33276862e-03 1.31997423e+00] [ 1.36840649e-01 4.13737763e-02 9.89728674e-01 -1.69247419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23629675700002 meters Centerline goodness : 0.801546 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.32, Z:-1.69 [[ 0.94981595 0.27779608 -0.14380198 -0.22739107] [-0.28101956 0.95969952 -0.00219812 1.32002863] [ 0.13739606 0.04249898 0.98960404 -1.69090096] [ 0. 0. 0. 1. ]] SLAMing on 186.26629675700002 meters Centerline goodness : 0.800376 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.32, Z:-1.69 [[ 0.94950271 0.27854642 -0.14441774 -0.22692754] [-0.28184819 0.95945573 -0.00251117 1.32032441] [ 0.13786295 0.04308825 0.98951362 -1.68966166] [ 0. 0. 0. 1. ]] SLAMing on 186.29629675700002 meters Centerline goodness : 0.803455 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.32, Z:-1.69 [[ 0.94903521 0.27991593 -0.14484211 -0.22626678] [-0.28325433 0.95904147 -0.0025362 1.32090189] [ 0.13819967 0.0434341 0.98945153 -1.68877164] [ 0. 0. 0. 1. ]] SLAMing on 186.32629675700002 meters Centerline goodness : 0.803697 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.32, Z:-1.69 [[ 9.47559410e-01 2.84918638e-01 -1.44749904e-01 -2.25840664e-01] [-2.87973131e-01 9.57638476e-01 -1.56128132e-04 1.32230285e+00] [ 1.38573594e-01 4.18320239e-02 9.89468262e-01 -1.68643274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35629675700002 meters Centerline goodness : 0.805348 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.32, Z:-1.68 [[ 9.45691467e-01 2.90609403e-01 -1.45649662e-01 -2.22715346e-01] [-2.93515266e-01 9.55953036e-01 1.60699526e-03 1.32311488e+00] [ 1.39701244e-01 4.12306775e-02 9.89334925e-01 -1.68493510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38629675700003 meters Centerline goodness : 0.804254 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.32, Z:-1.68 [[ 0.94430475 0.29520971 -0.14539519 -0.22220303] [-0.29770506 0.95464588 0.00478985 1.32298289] [ 0.14021493 0.03876181 0.98936207 -1.68345131] [ 0. 0. 0. 1. ]] SLAMing on 186.41629675700003 meters Centerline goodness : 0.807012 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.32, Z:-1.68 [[ 0.9432485 0.29780617 -0.14694816 -0.21813814] [-0.3003568 0.95381361 0.00503904 1.32321498] [ 0.14166181 0.03938381 0.98913136 -1.68327644] [ 0. 0. 0. 1. ]] SLAMing on 186.44629675700003 meters Centerline goodness : 0.803828 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.32, Z:-1.68 [[ 0.9411796 0.30437867 -0.14674665 -0.21575508] [-0.30641652 0.95185431 0.00907123 1.3231282 ] [ 0.14244252 0.03642794 0.98913252 -1.68263986] [ 0. 0. 0. 1. ]] SLAMing on 186.47629675700003 meters Centerline goodness : 0.803829 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.33, Z:-1.68 [[ 0.93973451 0.3015822 -0.16108142 -0.21305352] [-0.30375185 0.95268079 0.01158092 1.32553582] [ 0.15695177 0.03804579 0.98687317 -1.67579815] [ 0. 0. 0. 1. ]] SLAMing on 186.50629675700003 meters Centerline goodness : 0.803911 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.68 [[ 0.93905379 0.30294857 -0.16248123 -0.20933244] [-0.30514537 0.95223175 0.01187417 1.32472075] [ 0.15831705 0.03842991 0.98664018 -1.67608799] [ 0. 0. 0. 1. ]] SLAMing on 186.53629675700003 meters Centerline goodness : 0.806896 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.68 [[ 0.93923232 0.30234894 -0.16256617 -0.20926547] [-0.30453168 0.95242749 0.01193021 1.32473679] [ 0.15843957 0.03830131 0.98662552 -1.67585733] [ 0. 0. 0. 1. ]] SLAMing on 186.56629675700003 meters Centerline goodness : 0.822723 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.68 [[ 0.93971801 0.2994788 -0.16505307 -0.20549099] [-0.30230009 0.95317618 0.00835621 1.3244811 ] [ 0.15982716 0.04204308 0.98624929 -1.67640462] [ 0. 0. 0. 1. ]] SLAMing on 186.59629675700003 meters Centerline goodness : 0.821082 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.68 [[ 0.94026896 0.29788976 -0.16479067 -0.20649432] [-0.30072101 0.95367789 0.00808451 1.32444624] [ 0.15956551 0.0419544 0.98629543 -1.67634911] [ 0. 0. 0. 1. ]] SLAMing on 186.62629675700003 meters Centerline goodness : 0.813747 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.68 [[ 0.94197672 0.29217902 -0.16526126 -0.2075624 ] [-0.29550843 0.95532892 0.00462908 1.3244124 ] [ 0.15923138 0.04447561 0.98623896 -1.67667491] [ 0. 0. 0. 1. ]] SLAMing on 186.65629675700004 meters Centerline goodness : 0.807982 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.68 [[ 9.43704251e-01 2.85943629e-01 -1.66308532e-01 -2.07679761e-01] [-2.89907375e-01 9.57054596e-01 4.62047140e-04 1.32334198e+00] [ 1.59298465e-01 4.77780342e-02 9.86073658e-01 -1.67732714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68629675700004 meters Centerline goodness : 0.806087 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.68 [[ 0.9444929 0.28270853 -0.16735901 -0.20711061] [-0.28708833 0.95790189 -0.00206653 1.32268617] [ 0.15972929 0.04999864 0.98589385 -1.67745611] [ 0. 0. 0. 1. ]] SLAMing on 186.71629675700004 meters Centerline goodness : 0.797742 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.68 [[ 0.94579301 0.27828323 -0.16743366 -0.20823582] [-0.28295583 0.95912358 -0.00423835 1.32179968] [ 0.15941011 0.05138493 0.98587423 -1.6780547 ] [ 0. 0. 0. 1. ]] SLAMing on 186.74629675700004 meters Centerline goodness : 0.796509 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.68 [[ 0.94601948 0.27754303 -0.16738281 -0.20899004] [-0.28222116 0.95933949 -0.00435363 1.32097559] [ 0.15936861 0.05135759 0.98588237 -1.67778189] [ 0. 0. 0. 1. ]] SLAMing on 186.77629675700004 meters Centerline goodness : 0.795772 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.68 [[ 0.94613101 0.27729011 -0.16717148 -0.21058518] [-0.28195104 0.95941899 -0.00433822 1.32069634] [ 0.15918455 0.0512387 0.98591829 -1.67642463] [ 0. 0. 0. 1. ]] SLAMing on 186.806296757 meters Centerline goodness : 0.795705 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.68 [[ 0.9460162 0.27766424 -0.16720027 -0.21051731] [-0.28234495 0.95930277 -0.00441883 1.32125041] [ 0.15916873 0.05138844 0.98591305 -1.67599344] [ 0. 0. 0. 1. ]] SLAMing on 186.836296757 meters Centerline goodness : 0.800228 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.67 [[ 0.94487302 0.28176469 -0.16680419 -0.21073586] [-0.28608781 0.95820137 -0.00197442 1.32180924] [ 0.15927568 0.04958622 0.98598807 -1.67421372] [ 0. 0. 0. 1. ]] SLAMing on 186.86629675700001 meters Centerline goodness : 0.798501 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.67 [[ 9.43926317e-01 2.85491546e-01 -1.65824258e-01 -2.11675985e-01] [-2.89327439e-01 9.57229592e-01 1.06843239e-03 1.32187735e+00] [ 1.59036915e-01 4.69689866e-02 9.86154741e-01 -1.67308071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89629675700002 meters Centerline goodness : 0.798826 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.67 [[ 9.43117868e-01 2.87277186e-01 -1.67333514e-01 -2.08393542e-01] [-2.91304269e-01 9.56630321e-01 5.00826445e-04 1.32251578e+00] [ 1.60220189e-01 4.82726285e-02 9.85900220e-01 -1.67256138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92629675700002 meters Centerline goodness : 0.801190 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.67 [[ 0.94112256 0.29356477 -0.16765455 -0.20494848] [-0.29710861 0.95483482 0.00411712 1.32269744] [ 0.16129104 0.0459369 0.98583721 -1.6720772 ] [ 0. 0. 0. 1. ]] SLAMing on 186.95629675700002 meters Centerline goodness : 0.803765 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.67 [[ 0.93925743 0.29913445 -0.16826784 -0.20004101] [-0.30223089 0.95320516 0.00751119 1.32202982] [ 0.16264063 0.0438008 0.98571269 -1.67316776] [ 0. 0. 0. 1. ]] SLAMing on 186.98629675700002 meters Centerline goodness : 0.801723 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.67 [[ 0.93830729 0.30266089 -0.16725975 -0.20031621] [-0.30514896 0.95223817 0.01125048 1.32109252] [ 0.1626762 0.04048273 0.98584867 -1.67281212] [ 0. 0. 0. 1. ]] SLAMing on 187.01629675700002 meters Centerline goodness : 0.801517 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.67 [[ 0.93801984 0.30269868 -0.16879657 -0.1970172 ] [-0.3053427 0.95218236 0.0107042 1.32043139] [ 0.16396526 0.04150005 0.98559279 -1.67314247] [ 0. 0. 0. 1. ]] SLAMing on 187.04629675700002 meters Centerline goodness : 0.787786 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.67 [[ 0.9382418 0.30206994 -0.16868926 -0.19695544] [-0.30457726 0.95241892 0.01144125 1.31837889] [ 0.1641189 0.04064425 0.98560288 -1.67351383] [ 0. 0. 0. 1. ]] SLAMing on 187.07629675700002 meters Centerline goodness : 0.789975 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.32, Z:-1.67 [[ 0.93874338 0.29971668 -0.17009047 -0.19450298] [-0.30251138 0.95309473 0.00986436 1.31689298] [ 0.16506885 0.0421942 0.98537908 -1.6744714 ] [ 0. 0. 0. 1. ]] SLAMing on 187.10629675700002 meters Centerline goodness : 0.790059 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.68 [[ 0.94033669 0.29476599 -0.16994093 -0.19605039] [-0.29781803 0.9545905 0.00783562 1.31527738] [ 0.16453367 0.04324335 0.9854231 -1.67550064] [ 0. 0. 0. 1. ]] SLAMing on 187.13629675700003 meters Centerline goodness : 0.789754 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.31, Z:-1.68 [[ 0.94162066 0.29027854 -0.17055469 -0.19707946] [-0.29378739 0.95585844 0.00486014 1.31298867] [ 0.16443693 0.04553041 0.98533623 -1.67510097] [ 0. 0. 0. 1. ]] SLAMing on 187.16629675700003 meters Centerline goodness : 0.787390 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.31, Z:-1.67 [[ 0.9417459 0.28989287 -0.17051918 -0.19734386] [-0.29327879 0.95601084 0.00555143 1.31022048] [ 0.16462751 0.04478162 0.98533872 -1.67458618] [ 0. 0. 0. 1. ]] SLAMing on 187.19629675700003 meters Centerline goodness : 0.787976 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.31, Z:-1.67 [[ 0.94286333 0.28602193 -0.17088063 -0.19960784] [-0.28978369 0.9570873 0.00305211 1.30731459] [ 0.16442065 0.0466407 0.98528701 -1.67355144] [ 0. 0. 0. 1. ]] SLAMing on 187.22629675700003 meters Centerline goodness : 0.787049 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.94288258 0.28608305 -0.17067199 -0.20034876] [-0.28970559 0.95710814 0.00383231 1.30465348] [ 0.16444791 0.04583121 0.98532045 -1.67319806] [ 0. 0. 0. 1. ]] SLAMing on 187.25629675700003 meters Centerline goodness : 0.789375 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.94292745 0.2862284 -0.17017969 -0.20178148] [-0.28963216 0.95712487 0.00501946 1.30105576] [ 0.16431992 0.04455652 0.98540026 -1.67241862] [ 0. 0. 0. 1. ]] SLAMing on 187.28629675700003 meters Centerline goodness : 0.788996 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.94285084 0.28657314 -0.17002388 -0.20212627] [-0.28991071 0.95703844 0.00540484 1.30032106] [ 0.16426827 0.04419579 0.98542512 -1.67236518] [ 0. 0. 0. 1. ]] SLAMing on 187.31629675700003 meters Centerline goodness : 0.788784 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.9425507 0.28784884 -0.16953238 -0.20307667] [-0.2910993 0.95667459 0.00590931 1.30088992] [ 0.16388831 0.04378093 0.9855069 -1.67244126] [ 0. 0. 0. 1. ]] SLAMing on 187.34629675700003 meters Centerline goodness : 0.787277 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.94239631 0.28848377 -0.16931126 -0.20354096] [-0.29172954 0.95648244 0.00593471 1.30184193] [ 0.16365531 0.04380025 0.98554476 -1.67244823] [ 0. 0. 0. 1. ]] SLAMing on 187.37629675700003 meters Centerline goodness : 0.786768 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.9421523 0.28945451 -0.16901223 -0.20437855] [-0.2926676 0.95619454 0.00613784 1.30272623] [ 0.1633852 0.04368162 0.98559484 -1.67229653] [ 0. 0. 0. 1. ]] SLAMing on 187.40629675700004 meters Centerline goodness : 0.784407 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.30, Z:-1.67 [[ 0.94073407 0.29492419 -0.16744889 -0.20535283] [-0.2974848 0.95467245 0.01016378 1.30358237] [ 0.16285639 0.04025209 0.98582837 -1.67209479] [ 0. 0. 0. 1. ]] SLAMing on 187.43629675700004 meters Centerline goodness : 0.783185 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.9395018 0.29935287 -0.16650594 -0.20467381] [-0.30129497 0.95342707 0.01407733 1.30316087] [ 0.16296536 0.03694173 0.98593996 -1.67212011] [ 0. 0. 0. 1. ]] SLAMing on 187.46629675700004 meters Centerline goodness : 0.783185 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.9395018 0.29935287 -0.16650594 -0.20467381] [-0.30129497 0.95342707 0.01407733 1.30316087] [ 0.16296536 0.03694173 0.98593996 -1.67212011] [ 0. 0. 0. 1. ]] SLAMing on 187.49629675700004 meters Centerline goodness : 0.780624 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.31, Z:-1.67 [[ 0.93793504 0.30488047 -0.16530503 -0.20420376] [-0.30628169 0.95177855 0.01758182 1.30504583] [ 0.16269414 0.0341393 0.98608576 -1.67301117] [ 0. 0. 0. 1. ]] SLAMing on 187.52629675700004 meters Centerline goodness : 0.779534 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.93668196 0.30913253 -0.16451133 -0.20287467] [-0.30994197 0.95051495 0.02138478 1.30435835] [ 0.16298121 0.03095823 0.98614335 -1.67344665] [ 0. 0. 0. 1. ]] SLAMing on 187.556296757 meters Centerline goodness : 0.777342 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.93525546 0.31402723 -0.16335276 -0.20192051] [-0.31426836 0.94900366 0.0250488 1.3049187 ] [ 0.16288838 0.02790958 0.98624968 -1.67440816] [ 0. 0. 0. 1. ]] SLAMing on 187.586296757 meters Centerline goodness : 0.778054 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.31, Z:-1.67 [[ 0.93509338 0.31459613 -0.16318592 -0.20209783] [-0.31483006 0.94881575 0.02511404 1.30573317] [ 0.16273415 0.02789186 0.98627564 -1.67453207] [ 0. 0. 0. 1. ]] SLAMing on 187.61629675700001 meters Centerline goodness : 0.775874 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.31, Z:-1.67 [[ 0.93499109 0.31501094 -0.16297168 -0.20224417] [-0.31520775 0.94868436 0.02533885 1.30559333] [ 0.1625907 0.02767834 0.98630531 -1.674809 ] [ 0. 0. 0. 1. ]] SLAMing on 187.64629675700002 meters Centerline goodness : 0.776915 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.93499845 0.31493696 -0.1630724 -0.20191693] [-0.31508632 0.94871668 0.02563725 1.30439694] [ 0.16278362 0.02741109 0.98628096 -1.67486611] [ 0. 0. 0. 1. ]] SLAMing on 187.67629675700002 meters Centerline goodness : 0.775036 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.93503177 0.31474599 -0.16324997 -0.20145963] [-0.31482268 0.94879185 0.02609019 1.30263991] [ 0.16310202 0.02699964 0.9862397 -1.67482098] [ 0. 0. 0. 1. ]] SLAMing on 187.70629675700002 meters Centerline goodness : 0.772765 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.68 [[ 0.93619849 0.31077143 -0.16417524 -0.20190656] [-0.31134338 0.95002142 0.02290426 1.30113237] [ 0.16308798 0.02967194 0.98616524 -1.67504926] [ 0. 0. 0. 1. ]] SLAMing on 187.73629675700002 meters Centerline goodness : 0.772716 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.93733159 0.30695506 -0.1648881 -0.20322131] [-0.307975 0.95118441 0.01999039 1.29936821] [ 0.16297514 0.03204379 0.98610968 -1.67472653] [ 0. 0. 0. 1. ]] SLAMing on 187.76629675700002 meters Centerline goodness : 0.776026 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.30, Z:-1.67 [[ 0.93735601 0.30688692 -0.1648761 -0.20356115] [-0.30778938 0.95122948 0.02069227 1.29715011] [ 0.16318519 0.03135109 0.98609721 -1.67423725] [ 0. 0. 0. 1. ]] SLAMing on 187.79629675700002 meters Centerline goodness : 0.774394 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.29, Z:-1.67 [[ 0.93736022 0.30685669 -0.16490842 -0.20366465] [-0.30764731 0.95126043 0.02137111 1.29483884] [ 0.16342873 0.0307012 0.98607732 -1.67398624] [ 0. 0. 0. 1. ]] SLAMing on 187.82629675700002 meters Centerline goodness : 0.771863 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.29, Z:-1.67 [[ 0.93738376 0.30685395 -0.16477969 -0.20418491] [-0.30745914 0.95129607 0.02246486 1.29143275] [ 0.1636477 0.02960483 0.98607453 -1.67337378] [ 0. 0. 0. 1. ]] SLAMing on 187.85629675700002 meters Centerline goodness : 0.774701 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.29, Z:-1.67 [[ 0.93719709 0.30763663 -0.16438164 -0.2054063 ] [-0.3080757 0.95107245 0.02346417 1.28893447] [ 0.16355729 0.02865144 0.98611769 -1.67307855] [ 0. 0. 0. 1. ]] SLAMing on 187.88629675700003 meters Centerline goodness : 0.773480 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.29, Z:-1.67 [[ 0.93705535 0.30813922 -0.16424827 -0.20588484] [-0.30851238 0.95092046 0.02388281 1.28831567] [ 0.16354627 0.02829311 0.98612987 -1.6729251 ] [ 0. 0. 0. 1. ]] SLAMing on 187.91629675700003 meters Centerline goodness : 0.776393 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.29, Z:-1.67 [[ 0.93672653 0.30934204 -0.16386247 -0.20664895] [-0.30962388 0.9505441 0.02447382 1.28782478] [ 0.16332928 0.02781046 0.98617956 -1.67327021] [ 0. 0. 0. 1. ]] SLAMing on 187.94629675700003 meters Centerline goodness : 0.777459 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.67 [[ 0.93642319 0.30947325 -0.16534183 -0.22276445] [-0.30863803 0.95066177 0.03138095 1.29094426] [ 0.16689572 0.02164492 0.98573694 -1.67393696] [ 0. 0. 0. 1. ]] SLAMing on 187.97629675700003 meters Centerline goodness : 0.778949 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.67 [[ 0.93612953 0.31045672 -0.16516094 -0.22297442] [-0.30957376 0.95034596 0.03172757 1.29068753] [ 0.16681007 0.02142838 0.98575617 -1.67448774] [ 0. 0. 0. 1. ]] SLAMing on 188.00629675700003 meters Centerline goodness : 0.773942 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.67 [[ 0.93599345 0.31081492 -0.16525845 -0.2227353 ] [-0.30990166 0.95023159 0.03195138 1.2904171 ] [ 0.16696477 0.02130758 0.9857326 -1.67456303] [ 0. 0. 0. 1. ]] SLAMing on 188.03629675700003 meters Centerline goodness : 0.774742 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.67 [[ 0.93571223 0.31171309 -0.16515926 -0.22312279] [-0.31074035 0.94994347 0.03237042 1.2897 ] [ 0.16698224 0.02103225 0.98573555 -1.67476583] [ 0. 0. 0. 1. ]] SLAMing on 188.06629675700003 meters Centerline goodness : 0.774459 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.67 [[ 0.93559812 0.3119785 -0.16530447 -0.22294187] [-0.31097126 0.94985949 0.03261626 1.28933658] [ 0.16719159 0.02088923 0.98570311 -1.67462251] [ 0. 0. 0. 1. ]] SLAMing on 188.09629675700003 meters Centerline goodness : 0.776175 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.67 [[ 0.93553692 0.31196009 -0.16568518 -0.22219108] [-0.31089047 0.94987165 0.03302971 1.287745 ] [ 0.16768361 0.02060943 0.98562542 -1.67453597] [ 0. 0. 0. 1. ]] SLAMing on 188.12629675700003 meters Centerline goodness : 0.775506 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.67 [[ 0.93549137 0.31198693 -0.1658917 -0.22204056] [-0.31084009 0.94987128 0.03351105 1.2862604 ] [ 0.16803077 0.02021649 0.98557443 -1.6741413 ] [ 0. 0. 0. 1. ]] SLAMing on 188.15629675700004 meters Centerline goodness : 0.776392 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.93548692 0.3119141 -0.16605368 -0.2220508 ] [-0.31067223 0.94990592 0.03408079 1.28451718] [ 0.16836566 0.01970613 0.98552761 -1.67353682] [ 0. 0. 0. 1. ]] SLAMing on 188.18629675700004 meters Centerline goodness : 0.774305 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.93658829 0.30802225 -0.16710679 -0.22331592] [-0.30722637 0.95112315 0.03125229 1.28293459] [ 0.16856553 0.02206908 0.98544336 -1.67226106] [ 0. 0. 0. 1. ]] SLAMing on 188.21629675700004 meters Centerline goodness : 0.774457 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.93774068 0.30385647 -0.16826666 -0.22396148] [-0.30350025 0.95240599 0.02846786 1.28092918] [ 0.16890832 0.0243735 0.98533036 -1.6712074 ] [ 0. 0. 0. 1. ]] SLAMing on 188.24629675700004 meters Centerline goodness : 0.774478 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.93881801 0.29991508 -0.16932718 -0.2244097 ] [-0.30013577 0.95357125 0.02490755 1.2812043 ] [ 0.16893568 0.02743749 0.98524511 -1.67108455] [ 0. 0. 0. 1. ]] SLAMing on 188.27629675700004 meters Centerline goodness : 0.773881 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.94002249 0.29549488 -0.17041274 -0.2249682 ] [-0.29616295 0.95488215 0.02208141 1.27781067] [ 0.16924903 0.02971292 0.98512533 -1.67062522] [ 0. 0. 0. 1. ]] SLAMing on 188.306296757 meters Centerline goodness : 0.772737 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.67 [[ 0.94109386 0.29148982 -0.17139439 -0.22550921] [-0.29272572 0.9560157 0.01859142 1.27720915] [ 0.16927493 0.03267528 0.98502707 -1.67066593] [ 0. 0. 0. 1. ]] SLAMing on 188.336296757 meters Centerline goodness : 0.774549 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.94215406 0.28759932 -0.17214053 -0.22659081] [-0.28931031 0.95710793 0.01561927 1.27437078] [ 0.16924915 0.03508627 0.98494857 -1.67078484] [ 0. 0. 0. 1. ]] SLAMing on 188.36629675700001 meters Centerline goodness : 0.774343 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.94213772 0.28751834 -0.17236509 -0.22607579] [-0.28916163 0.95714569 0.01605236 1.2728435 ] [ 0.16959385 0.03471784 0.98490233 -1.67070636] [ 0. 0. 0. 1. ]] SLAMing on 188.39629675700002 meters Centerline goodness : 0.774431 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.9420812 0.28763009 -0.17248754 -0.22568479] [-0.28922108 0.95712198 0.01639155 1.27200034] [ 0.16980632 0.03444486 0.9848753 -1.67074023] [ 0. 0. 0. 1. ]] SLAMing on 188.42629675700002 meters Centerline goodness : 0.773561 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.94187591 0.28825567 -0.1725643 -0.22545603] [-0.28979539 0.95694182 0.01676254 1.27131485] [ 0.16996589 0.03422011 0.98485561 -1.67106746] [ 0. 0. 0. 1. ]] SLAMing on 188.45629675700002 meters Centerline goodness : 0.770222 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.941534 0.28941523 -0.17248928 -0.2258688 ] [-0.29089402 0.95660052 0.01720775 1.2714294 ] [ 0.16998352 0.03397441 0.98486108 -1.6711409 ] [ 0. 0. 0. 1. ]] SLAMing on 188.48629675700002 meters Centerline goodness : 0.770735 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.94133348 0.29005885 -0.17250259 -0.22601255] [-0.29150816 0.95640933 0.0174409 1.27169471] [ 0.17004197 0.03386821 0.98485465 -1.67106423] [ 0. 0. 0. 1. ]] SLAMing on 188.51629675700002 meters Centerline goodness : 0.771317 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.94100629 0.29109313 -0.17254549 -0.22625279] [-0.29248256 0.95610346 0.01789217 1.2715789 ] [ 0.17017963 0.0336299 0.98483903 -1.67099279] [ 0. 0. 0. 1. ]] SLAMing on 188.54629675700002 meters Centerline goodness : 0.773350 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.94085722 0.29148358 -0.17269922 -0.22629124] [-0.29281316 0.95599444 0.01830525 1.27114808] [ 0.17043518 0.03334598 0.9848045 -1.67052645] [ 0. 0. 0. 1. ]] SLAMing on 188.57629675700002 meters Centerline goodness : 0.773056 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.94073415 0.29182278 -0.17279676 -0.2263286 ] [-0.29303804 0.95591166 0.01901596 1.26944061] [ 0.17072773 0.03274706 0.98477392 -1.67009018] [ 0. 0. 0. 1. ]] SLAMing on 188.60629675700002 meters Centerline goodness : 0.774132 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.94068096 0.29196654 -0.17284351 -0.22648997] [-0.29310022 0.95588267 0.01950871 1.26823707] [ 0.17091401 0.032309 0.98475608 -1.66967817] [ 0. 0. 0. 1. ]] SLAMing on 188.63629675700003 meters Centerline goodness : 0.776702 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.94083498 0.29132167 -0.17309313 -0.22573653] [-0.29236511 0.95609729 0.02001541 1.26605944] [ 0.17132479 0.03177519 0.98470206 -1.66926928] [ 0. 0. 0. 1. ]] SLAMing on 188.66629675700003 meters Centerline goodness : 0.780549 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.26, Z:-1.67 [[ 0.94089419 0.29091231 -0.17345933 -0.22493394] [-0.29189888 0.9562322 0.02037227 1.26482591] [ 0.17179394 0.03146443 0.9846303 -1.66886984] [ 0. 0. 0. 1. ]] SLAMing on 188.69629675700003 meters Centerline goodness : 0.777821 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.94201837 0.28666809 -0.1744213 -0.22543115] [-0.28826559 0.95740553 0.01666154 1.26528217] [ 0.17176825 0.03458418 0.98453014 -1.66863585] [ 0. 0. 0. 1. ]] SLAMing on 188.72629675700003 meters Centerline goodness : 0.776869 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.26, Z:-1.67 [[ 0.94206941 0.28643562 -0.17452753 -0.22550227] [-0.28796727 0.95748866 0.01703858 1.26415088] [ 0.17198859 0.03420669 0.98450486 -1.66795884] [ 0. 0. 0. 1. ]] SLAMing on 188.75629675700003 meters Centerline goodness : 0.779985 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.94305202 0.28286865 -0.17503773 -0.22798018] [-0.28490253 0.95845521 0.01393431 1.26556655] [ 0.17170741 0.03672792 0.98446312 -1.66591631] [ 0. 0. 0. 1. ]] SLAMing on 188.78629675700003 meters Centerline goodness : 0.781486 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94303937 0.28294702 -0.17497921 -0.22862598] [-0.28490699 0.95844771 0.01435262 1.26528091] [ 0.17176945 0.03631772 0.98446751 -1.66490297] [ 0. 0. 0. 1. ]] SLAMing on 188.81629675700003 meters Centerline goodness : 0.779891 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94312568 0.28256022 -0.17513903 -0.22843317] [-0.28449902 0.95856709 0.01447191 1.26595323] [ 0.1719717 0.03617805 0.98443734 -1.66382945] [ 0. 0. 0. 1. ]] SLAMing on 188.84629675700003 meters Centerline goodness : 0.781849 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94312918 0.28243612 -0.17532024 -0.22789205] [-0.28440472 0.95859723 0.01432857 1.26664221] [ 0.1721084 0.03634821 0.98440719 -1.66377378] [ 0. 0. 0. 1. ]] SLAMing on 188.87629675700003 meters Centerline goodness : 0.780066 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94316549 0.28199655 -0.17583174 -0.22625892] [-0.28406932 0.95870439 0.01380269 1.26825691] [ 0.17246297 0.03693018 0.98432347 -1.66402053] [ 0. 0. 0. 1. ]] SLAMing on 188.90629675700004 meters Centerline goodness : 0.780389 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94314498 0.28184345 -0.17618687 -0.22542454] [-0.28395543 0.95874043 0.01364219 1.2689142 ] [ 0.17276244 0.03716265 0.9842622 -1.66394219] [ 0. 0. 0. 1. ]] SLAMing on 188.93629675700004 meters Centerline goodness : 0.778692 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.27, Z:-1.66 [[ 0.94319081 0.28136249 -0.17670949 -0.22339877] [-0.28365696 0.95884207 0.01267367 1.27128915] [ 0.17300239 0.03817118 0.98418145 -1.66491696] [ 0. 0. 0. 1. ]] SLAMing on 188.96629675700004 meters Centerline goodness : 0.780670 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.27, Z:-1.67 [[ 0.94317866 0.28122964 -0.17698561 -0.22236777] [-0.28359893 0.95886412 0.01229792 1.27283616] [ 0.17316369 0.03859379 0.9841366 -1.66517537] [ 0. 0. 0. 1. ]] SLAMing on 188.99629675700004 meters Centerline goodness : 0.781199 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.94304988 0.28155712 -0.17715111 -0.2215257 ] [-0.28402072 0.95874515 0.01183071 1.27616432] [ 0.17317378 0.03915764 0.98411255 -1.66532074] [ 0. 0. 0. 1. ]] SLAMing on 189.02629675700004 meters Centerline goodness : 0.778113 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.94300513 0.28158685 -0.17734195 -0.22098209] [-0.28410561 0.95872325 0.01156418 1.27743916] [ 0.17327817 0.03947877 0.98408135 -1.66538327] [ 0. 0. 0. 1. ]] SLAMing on 189.056296757 meters Centerline goodness : 0.781719 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.94291247 0.28149735 -0.17797563 -0.21918043] [-0.28414363 0.95871885 0.01098039 1.2798374 ] [ 0.17371954 0.04021709 0.98397363 -1.66571215] [ 0. 0. 0. 1. ]] SLAMing on 189.086296757 meters Centerline goodness : 0.781017 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.94288045 0.28144657 -0.17822536 -0.21835177] [-0.28414443 0.95872131 0.01074251 1.28087377] [ 0.17389189 0.04051284 0.98393105 -1.66587704] [ 0. 0. 0. 1. ]] SLAMing on 189.11629675700001 meters Centerline goodness : 0.778849 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.94290607 0.28089433 -0.17895954 -0.21595784] [-0.28369402 0.95885965 0.01028957 1.28135766] [ 0.17448736 0.04106765 0.98380263 -1.6667049 ] [ 0. 0. 0. 1. ]] SLAMing on 189.14629675700002 meters Centerline goodness : 0.780834 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.28, Z:-1.67 [[ 0.9429076 0.28065419 -0.17932787 -0.21484604] [-0.28345267 0.95893025 0.01036154 1.28075744] [ 0.17487092 0.04106099 0.9837348 -1.66691292] [ 0. 0. 0. 1. ]] SLAMing on 189.17629675700002 meters Centerline goodness : 0.780135 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.94380596 0.27696695 -0.18033196 -0.21518271] [-0.28032167 0.95987965 0.00712952 1.28167402] [ 0.17507162 0.04382207 0.98357997 -1.66628544] [ 0. 0. 0. 1. ]] SLAMing on 189.20629675700002 meters Centerline goodness : 0.780758 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.67 [[ 0.94380778 0.27686007 -0.1804865 -0.21516472] [-0.28012909 0.95993194 0.0076394 1.28019089] [ 0.1753698 0.04334939 0.98354779 -1.66567948] [ 0. 0. 0. 1. ]] SLAMing on 189.23629675700002 meters Centerline goodness : 0.783584 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.66 [[ 0.94466126 0.27374907 -0.18076656 -0.21739491] [-0.27745119 0.96072681 0.0049826 1.28048659] [ 0.17503127 0.04544703 0.98351341 -1.66447792] [ 0. 0. 0. 1. ]] SLAMing on 189.26629675700002 meters Centerline goodness : 0.786549 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.66 [[ 0.94461802 0.27389339 -0.18077389 -0.21768291] [-0.27752862 0.96070234 0.00537407 1.27994183] [ 0.17514182 0.04509349 0.98351 -1.66390277] [ 0. 0. 0. 1. ]] SLAMing on 189.29629675700002 meters Centerline goodness : 0.781904 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.66 [[ 0.94449711 0.27461736 -0.18030671 -0.21938374] [-0.27812648 0.96052553 0.00603045 1.27997597] [ 0.17484527 0.04445232 0.98359195 -1.66272904] [ 0. 0. 0. 1. ]] SLAMing on 189.32629675700002 meters Centerline goodness : 0.783498 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.66 [[ 0.94437737 0.2750376 -0.18029336 -0.21999781] [-0.27849158 0.9604175 0.00637723 1.28022334] [ 0.17491087 0.04418767 0.98359221 -1.66190181] [ 0. 0. 0. 1. ]] SLAMing on 189.35629675700002 meters Centerline goodness : 0.783068 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.66 [[ 0.94423029 0.27564653 -0.18013368 -0.22095507] [-0.27905926 0.96025102 0.00662646 1.28094646] [ 0.17480011 0.04401107 0.98361982 -1.66109206] [ 0. 0. 0. 1. ]] SLAMing on 189.38629675700003 meters Centerline goodness : 0.783068 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.66 [[ 0.94423029 0.27564653 -0.18013368 -0.22095507] [-0.27905926 0.96025102 0.00662646 1.28094646] [ 0.17480011 0.04401107 0.98361982 -1.66109206] [ 0. 0. 0. 1. ]] SLAMing on 189.41629675700003 meters Centerline goodness : 0.781556 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.66 [[ 0.94417044 0.27587182 -0.18010255 -0.22112706] [-0.27927165 0.96018867 0.00671262 1.2812183 ] [ 0.17478425 0.04395968 0.98362493 -1.66089314] [ 0. 0. 0. 1. ]] SLAMing on 189.44629675700003 meters Centerline goodness : 0.784450 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.66 [[ 0.94415767 0.27583348 -0.18022812 -0.2205515 ] [-0.27928737 0.96018599 0.00643703 1.28259489] [ 0.17482806 0.04425787 0.98360378 -1.66090576] [ 0. 0. 0. 1. ]] SLAMing on 189.47629675700003 meters Centerline goodness : 0.779708 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.28, Z:-1.66 [[ 0.94415881 0.27581906 -0.18024427 -0.22045032] [-0.27930473 0.9601821 0.00626098 1.28368769] [ 0.17479422 0.04443171 0.98360195 -1.66075063] [ 0. 0. 0. 1. ]] SLAMing on 189.50629675700003 meters Centerline goodness : 0.781526 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.66 [[ 0.94415933 0.27581277 -0.18025115 -0.22036606] [-0.27934791 0.96017131 0.00598371 1.28544144] [ 0.17472237 0.04470321 0.98360242 -1.66046975] [ 0. 0. 0. 1. ]] SLAMing on 189.53629675700003 meters Centerline goodness : 0.781824 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.66 [[ 0.94412787 0.27582389 -0.18039885 -0.22012433] [-0.27937446 0.96016388 0.0059364 1.28607723] [ 0.17484985 0.04479411 0.98357563 -1.66019764] [ 0. 0. 0. 1. ]] SLAMing on 189.56629675700003 meters Centerline goodness : 0.778868 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.66 [[ 0.94407481 0.27585471 -0.18062927 -0.21936168] [-0.27946622 0.96013886 0.0056569 1.28741307] [ 0.17498967 0.04513925 0.98353498 -1.66030327] [ 0. 0. 0. 1. ]] SLAMing on 189.59629675700003 meters Centerline goodness : 0.779761 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.66 [[ 0.9440439 0.27575301 -0.18094585 -0.21829687] [-0.27943735 0.96014918 0.00532151 1.28853314] [ 0.17520243 0.04553928 0.98347866 -1.66062422] [ 0. 0. 0. 1. ]] SLAMing on 189.62629675700003 meters Centerline goodness : 0.776760 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.66 [[ 0.94393964 0.27580991 -0.18140245 -0.21681378] [-0.27959431 0.96010579 0.00488711 1.29073772] [ 0.17551346 0.04610595 0.9833968 -1.66096514] [ 0. 0. 0. 1. ]] SLAMing on 189.65629675700004 meters Centerline goodness : 0.776055 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.29, Z:-1.66 [[ 0.94391518 0.275656 -0.18176333 -0.21572414] [-0.27948081 0.96013957 0.00474274 1.29122816] [ 0.17582553 0.04632262 0.98333087 -1.66114628] [ 0. 0. 0. 1. ]] SLAMing on 189.68629675700004 meters Centerline goodness : 0.767801 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.29, Z:-1.66 [[ 0.94397459 0.27519899 -0.18214689 -0.21454796] [-0.27906136 0.96026229 0.00459176 1.29132525] [ 0.17617243 0.04649565 0.98326061 -1.66116379] [ 0. 0. 0. 1. ]] SLAMing on 189.71629675700004 meters Centerline goodness : 0.768840 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.66 [[ 0.94401848 0.27362167 -0.18428317 -0.2300471 ] [-0.27626882 0.96100957 0.01166777 1.29382054] [ 0.18029045 0.03989711 0.98280394 -1.66004354] [ 0. 0. 0. 1. ]] SLAMing on 189.74629675700004 meters Centerline goodness : 0.768219 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.66 [[ 0.94411336 0.27320808 -0.18441072 -0.22968749] [-0.27579819 0.96114107 0.01196648 1.29265601] [ 0.18051405 0.03956243 0.98277642 -1.65955547] [ 0. 0. 0. 1. ]] SLAMing on 189.77629675700004 meters Centerline goodness : 0.766350 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.29, Z:-1.66 [[ 0.9441556 0.27164047 -0.18649838 -0.24569995] [-0.27298039 0.96183267 0.0189638 1.29471624] [ 0.18453157 0.03300563 0.98227223 -1.65851961] [ 0. 0. 0. 1. ]] SLAMing on 189.806296757 meters Centerline goodness : 0.770582 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.29, Z:-1.66 [[ 0.94419648 0.27163726 -0.18629603 -0.24609871] [-0.27285536 0.96185589 0.01957543 1.29293044] [ 0.18450735 0.03234882 0.98229863 -1.6581765 ] [ 0. 0. 0. 1. ]] SLAMing on 189.836296757 meters Centerline goodness : 0.767418 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.29, Z:-1.66 [[ 0.94412643 0.2722978 -0.18568574 -0.24802337] [-0.27326487 0.96171237 0.02087173 1.28991055] [ 0.1842596 0.03103583 0.98238749 -1.65718454] [ 0. 0. 0. 1. ]] SLAMing on 189.86629675700001 meters Centerline goodness : 0.769630 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.29, Z:-1.66 [[ 0.94403723 0.2728405 -0.1853423 -0.2493727 ] [-0.27366989 0.96158107 0.02160164 1.28850566] [ 0.18411545 0.03032986 0.98243656 -1.65649065] [ 0. 0. 0. 1. ]] SLAMing on 189.89629675700002 meters Centerline goodness : 0.772866 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.29, Z:-1.66 [[ 0.94386732 0.27397242 -0.18453618 -0.25186912] [-0.27458553 0.96129384 0.02273643 1.28621427] [ 0.18362264 0.02921079 0.9825627 -1.65581696] [ 0. 0. 0. 1. ]] SLAMing on 189.92629675700002 meters Centerline goodness : 0.773084 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.29, Z:-1.66 [[ 0.94378595 0.27443414 -0.18426605 -0.2524883 ] [-0.27496899 0.96117417 0.02315749 1.2855484 ] [ 0.18346697 0.02881173 0.98260356 -1.65573745] [ 0. 0. 0. 1. ]] SLAMing on 189.95629675700002 meters Centerline goodness : 0.773490 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.29, Z:-1.66 [[ 0.94359388 0.27551484 -0.18363597 -0.25401036] [-0.27592248 0.96088404 0.02384638 1.28508985] [ 0.1830229 0.028168 0.98270503 -1.65557755] [ 0. 0. 0. 1. ]] SLAMing on 189.98629675700002 meters Centerline goodness : 0.773508 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.28, Z:-1.66 [[ 0.94347009 0.27612393 -0.18335694 -0.25477798] [-0.27646834 0.96071822 0.02420245 1.2849162 ] [ 0.18283723 0.0278581 0.98274843 -1.65541246] [ 0. 0. 0. 1. ]] SLAMing on 190.01629675700002 meters Centerline goodness : 0.775935 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.29, Z:-1.66 [[ 0.94331857 0.27700535 -0.1828062 -0.25596704] [-0.27727454 0.96047553 0.02460873 1.28502546] [ 0.18239763 0.02747363 0.98284093 -1.65541474] [ 0. 0. 0. 1. ]] SLAMing on 190.04629675700002 meters Centerline goodness : 0.775441 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.28, Z:-1.66 [[ 0.94329859 0.27706405 -0.18282035 -0.25562847] [-0.27731088 0.96046174 0.02473717 1.28476834] [ 0.18244574 0.02736353 0.98283508 -1.65558351] [ 0. 0. 0. 1. ]] SLAMing on 190.07629675700002 meters Centerline goodness : 0.775442 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.28, Z:-1.66 [[ 0.94331006 0.27689105 -0.18302314 -0.25497805] [-0.27711041 0.96051542 0.02489896 1.28394548] [ 0.18269085 0.02723018 0.98279325 -1.65566142] [ 0. 0. 0. 1. ]] SLAMing on 190.10629675700002 meters Centerline goodness : 0.779472 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.28, Z:-1.66 [[ 0.94442029 0.27220967 -0.18431553 -0.25373928] [-0.27311892 0.96175238 0.02093829 1.28391885] [ 0.18296551 0.03056551 0.98264407 -1.65643273] [ 0. 0. 0. 1. ]] SLAMing on 190.13629675700003 meters Centerline goodness : 0.779143 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.28, Z:-1.66 [[ 0.94459537 0.27111458 -0.18503101 -0.25159696] [-0.27202905 0.96206153 0.02092368 1.28198249] [ 0.18368394 0.0305694 0.98250991 -1.65672184] [ 0. 0. 0. 1. ]] SLAMing on 190.16629675700003 meters Centerline goodness : 0.778219 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.28, Z:-1.66 [[ 0.94585296 0.26565041 -0.18652623 -0.25007163] [-0.26722614 0.96348182 0.01711664 1.2800954 ] [ 0.18426168 0.03365486 0.98230086 -1.65699455] [ 0. 0. 0. 1. ]] SLAMing on 190.19629675700003 meters Centerline goodness : 0.776845 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.28, Z:-1.66 [[ 0.94712223 0.26011222 -0.18788591 -0.24867917] [-0.26238134 0.96487482 0.01313844 1.27892982] [ 0.18470386 0.03685405 0.98210298 -1.65729115] [ 0. 0. 0. 1. ]] SLAMing on 190.22629675700003 meters Centerline goodness : 0.776987 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.28, Z:-1.66 [[ 0.94725387 0.25925115 -0.18841166 -0.2470863 ] [-0.26147729 0.96511679 0.01338698 1.27690236] [ 0.18530985 0.0365845 0.9819989 -1.65725629] [ 0. 0. 0. 1. ]] SLAMing on 190.25629675700003 meters Centerline goodness : 0.777344 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.28, Z:-1.66 [[ 0.94739061 0.25849199 -0.18876683 -0.24574589] [-0.26068734 0.96532825 0.01354524 1.27531289] [ 0.18572329 0.03637649 0.98192852 -1.65735893] [ 0. 0. 0. 1. ]] SLAMing on 190.28629675700003 meters Centerline goodness : 0.777453 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.28, Z:-1.66 [[ 0.94844634 0.25377149 -0.18986724 -0.24506294] [-0.25663439 0.96645913 0.00977432 1.27513681] [ 0.18597937 0.03945605 0.98176112 -1.65757786] [ 0. 0. 0. 1. ]] SLAMing on 190.31629675700003 meters Centerline goodness : 0.777857 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.66 [[ 0.94847817 0.25356015 -0.18999054 -0.24473774] [-0.25635213 0.96653013 0.01015379 1.27338229] [ 0.18620617 0.03907384 0.98173341 -1.65741303] [ 0. 0. 0. 1. ]] SLAMing on 190.34629675700003 meters Centerline goodness : 0.779429 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.66 [[ 0.94852587 0.25336213 -0.19001659 -0.24451692] [-0.25606671 0.96660099 0.01060004 1.27158207] [ 0.18635587 0.03860251 0.98172366 -1.65720648] [ 0. 0. 0. 1. ]] SLAMing on 190.37629675700003 meters Centerline goodness : 0.778850 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.66 [[ 0.94850401 0.25346299 -0.1899912 -0.24439924] [-0.25613629 0.96658068 0.01076961 1.27142653] [ 0.18637152 0.03844863 0.98172672 -1.65718174] [ 0. 0. 0. 1. ]] SLAMing on 190.40629675700004 meters Centerline goodness : 0.777666 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.66 [[ 0.94842533 0.25377545 -0.18996687 -0.24412997] [-0.25643513 0.96650035 0.01086762 1.27201424] [ 0.18636098 0.03840706 0.98173035 -1.65728751] [ 0. 0. 0. 1. ]] SLAMing on 190.43629675700004 meters Centerline goodness : 0.777045 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.66 [[ 0.9483658 0.25400303 -0.18995994 -0.24398869] [-0.25664707 0.96644292 0.01097139 1.27183683] [ 0.18637221 0.03834777 0.98173054 -1.65746682] [ 0. 0. 0. 1. ]] SLAMing on 190.46629675700004 meters Centerline goodness : 0.774572 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.66 [[ 0.9482969 0.25415463 -0.19010104 -0.24304721] [-0.25683328 0.966395 0.01083402 1.27184678] [ 0.18646621 0.0385504 0.98170475 -1.65828153] [ 0. 0. 0. 1. ]] SLAMing on 190.49629675700004 meters Centerline goodness : 0.776123 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.66 [[ 0.94824141 0.25423403 -0.19027161 -0.24233138] [-0.25691752 0.9663724 0.01085249 1.27170698] [ 0.1866323 0.03859333 0.9816715 -1.65860013] [ 0. 0. 0. 1. ]] SLAMing on 190.52629675700004 meters Centerline goodness : 0.774454 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.66 [[ 0.94813549 0.25466383 -0.19022466 -0.24200116] [-0.25730532 0.96626633 0.01110677 1.27081843] [ 0.18663618 0.03841509 0.98167776 -1.65923149] [ 0. 0. 0. 1. ]] SLAMing on 190.556296757 meters Centerline goodness : 0.774059 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.66 [[ 0.94807894 0.25489927 -0.19019116 -0.2418702 ] [-0.25747628 0.96621663 0.01146255 1.27017778] [ 0.18668766 0.03810231 0.98168016 -1.65926078] [ 0. 0. 0. 1. ]] SLAMing on 190.586296757 meters Centerline goodness : 0.774419 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.66 [[ 0.94802432 0.25505745 -0.19025138 -0.24167212] [-0.25755371 0.96619052 0.01191535 1.26933757] [ 0.18685818 0.03770391 0.9816631 -1.65899982] [ 0. 0. 0. 1. ]] SLAMing on 190.61629675700001 meters Centerline goodness : 0.774307 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.66 [[ 0.94805679 0.25498638 -0.19018482 -0.24185678] [-0.25727624 0.96625074 0.01297836 1.26642311] [ 0.18707553 0.03662582 0.98166252 -1.65802791] [ 0. 0. 0. 1. ]] SLAMing on 190.64629675700002 meters Centerline goodness : 0.773836 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.26, Z:-1.66 [[ 0.94805386 0.25500151 -0.19017916 -0.24210377] [-0.25717195 0.96626988 0.0136052 1.26463584] [ 0.18723374 0.03601028 0.98165513 -1.65743407] [ 0. 0. 0. 1. ]] SLAMing on 190.67629675700002 meters Centerline goodness : 0.775429 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.26, Z:-1.66 [[ 0.94817991 0.25435718 -0.19041347 -0.24126059] [-0.25636996 0.96647129 0.01441107 1.26191875] [ 0.18769471 0.03515201 0.9815982 -1.65653034] [ 0. 0. 0. 1. ]] SLAMing on 190.70629675700002 meters Centerline goodness : 0.778884 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.26, Z:-1.66 [[ 0.94833798 0.25362729 -0.19059976 -0.24042025] [-0.2555363 0.96668441 0.01491482 1.25979234] [ 0.18803262 0.03456086 0.98155452 -1.65598429] [ 0. 0. 0. 1. ]] SLAMing on 190.73629675700002 meters Centerline goodness : 0.777615 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.26, Z:-1.66 [[ 0.94836867 0.25335922 -0.19080348 -0.23985104] [-0.25521765 0.96676431 0.01518957 1.25902161] [ 0.18831041 0.03429111 0.98151073 -1.65561828] [ 0. 0. 0. 1. ]] SLAMing on 190.76629675700002 meters Centerline goodness : 0.778346 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.26, Z:-1.66 [[ 0.94838966 0.25318816 -0.1909262 -0.23963139] [-0.25498791 0.96681999 0.01550066 1.25817691] [ 0.18851585 0.0339832 0.981482 -1.65512867] [ 0. 0. 0. 1. ]] SLAMing on 190.79629675700002 meters Centerline goodness : 0.776979 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.26, Z:-1.65 [[ 0.94928195 0.24930531 -0.19160021 -0.2405795 ] [-0.25175786 0.96771786 0.01183721 1.25943873] [ 0.18836602 0.03700001 0.98140167 -1.65465231] [ 0. 0. 0. 1. ]] SLAMing on 190.82629675700002 meters Centerline goodness : 0.776162 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.26, Z:-1.65 [[ 0.9492733 0.24913144 -0.19186904 -0.24000815] [-0.25155413 0.96776848 0.01202871 1.25894653] [ 0.18868154 0.03684691 0.98134682 -1.65423588] [ 0. 0. 0. 1. ]] SLAMing on 190.85629675700002 meters Centerline goodness : 0.774565 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.26, Z:-1.65 [[ 0.94927014 0.24903402 -0.19201109 -0.23930479] [-0.25147841 0.96778933 0.01193427 1.26019011] [ 0.18879832 0.0369578 0.98132019 -1.65398755] [ 0. 0. 0. 1. ]] SLAMing on 190.88629675700003 meters Centerline goodness : 0.775688 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.26, Z:-1.65 [[ 0.94924875 0.2490204 -0.19213447 -0.23855348] [-0.25150654 0.96778438 0.01174066 1.2615175 ] [ 0.1888684 0.03717827 0.98129838 -1.65413815] [ 0. 0. 0. 1. ]] SLAMing on 190.91629675700003 meters Centerline goodness : 0.774734 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.26, Z:-1.65 [[ 0.94835953 0.25239879 -0.19211727 -0.23522452] [-0.25430251 0.96700682 0.01510088 1.26176943] [ 0.18959016 0.03453484 0.98125579 -1.65455637] [ 0. 0. 0. 1. ]] SLAMing on 190.94629675700003 meters Centerline goodness : 0.773518 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.26, Z:-1.66 [[ 0.9483164 0.25234717 -0.19239778 -0.233922 ] [-0.25434273 0.96700283 0.01467291 1.26325464] [ 0.18975186 0.03502041 0.98120732 -1.65522272] [ 0. 0. 0. 1. ]] SLAMing on 190.97629675700003 meters Centerline goodness : 0.774868 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94821336 0.25232919 -0.19292847 -0.23167381] [-0.25450795 0.96697185 0.01382574 1.26582661] [ 0.19004504 0.03599208 0.98111541 -1.65652241] [ 0. 0. 0. 1. ]] SLAMing on 191.00629675700003 meters Centerline goodness : 0.772281 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94814627 0.25245402 -0.19309486 -0.23087456] [-0.25469137 0.9669272 0.01356838 1.26682183] [ 0.19013406 0.03631478 0.98108627 -1.65699001] [ 0. 0. 0. 1. ]] SLAMing on 191.03629675700003 meters Centerline goodness : 0.772748 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94803093 0.25267519 -0.19337167 -0.22989673] [-0.25501785 0.96684757 0.01310216 1.26869998] [ 0.19027152 0.03689198 0.98103809 -1.65742598] [ 0. 0. 0. 1. ]] SLAMing on 191.06629675700003 meters Centerline goodness : 0.770369 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94796413 0.25300149 -0.19327249 -0.23007614] [-0.25533886 0.96676229 0.01314322 1.26934018] [ 0.19017381 0.03689068 0.98105708 -1.65734679] [ 0. 0. 0. 1. ]] SLAMing on 191.09629675700003 meters Centerline goodness : 0.772887 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94778408 0.25398851 -0.1928605 -0.23142749] [-0.25625341 0.96651484 0.01353704 1.27090018] [ 0.18984079 0.03659097 0.9811328 -1.65644697] [ 0. 0. 0. 1. ]] SLAMing on 191.12629675700003 meters Centerline goodness : 0.770867 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94770867 0.25436692 -0.19273231 -0.23173401] [-0.25660312 0.96641977 0.01369887 1.27139647] [ 0.18974485 0.03647317 0.98115575 -1.65624806] [ 0. 0. 0. 1. ]] SLAMing on 191.15629675700004 meters Centerline goodness : 0.773294 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94753228 0.25543856 -0.19218149 -0.23340877] [-0.25754991 0.96615848 0.01434723 1.27151686] [ 0.18934261 0.03590186 0.98125452 -1.65555768] [ 0. 0. 0. 1. ]] SLAMing on 191.18629675700004 meters Centerline goodness : 0.780022 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.9474437 0.25586701 -0.19204821 -0.23393016] [-0.25791011 0.96605679 0.01471896 1.27120574] [ 0.18929557 0.03558579 0.98127511 -1.65522843] [ 0. 0. 0. 1. ]] SLAMing on 191.21629675700004 meters Centerline goodness : 0.776519 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.66 [[ 0.94740257 0.25608716 -0.19195762 -0.23409149] [-0.25807772 0.96600776 0.01499647 1.27092235] [ 0.18927296 0.03533229 0.98128863 -1.65504693] [ 0. 0. 0. 1. ]] SLAMing on 191.24629675700004 meters Centerline goodness : 0.777997 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94731684 0.25655026 -0.19176226 -0.23449065] [-0.25839735 0.96591031 0.01575064 1.26915827] [ 0.18926598 0.03463001 0.98131501 -1.65475525] [ 0. 0. 0. 1. ]] SLAMing on 191.27629675700004 meters Centerline goodness : 0.777997 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94731684 0.25655026 -0.19176226 -0.23449065] [-0.25839735 0.96591031 0.01575064 1.26915827] [ 0.18926598 0.03463001 0.98131501 -1.65475525] [ 0. 0. 0. 1. ]] SLAMing on 191.306296757 meters Centerline goodness : 0.778871 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94721529 0.2570966 -0.19153207 -0.23499164] [-0.25880977 0.96578809 0.0164581 1.26779414] [ 0.18921071 0.033981 0.98134836 -1.65446559] [ 0. 0. 0. 1. ]] SLAMing on 191.336296757 meters Centerline goodness : 0.778177 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94717537 0.2572767 -0.19148764 -0.23491273] [-0.25894915 0.96574693 0.01667954 1.26712222] [ 0.18921986 0.03378711 0.98135329 -1.65462716] [ 0. 0. 0. 1. ]] SLAMing on 191.36629675700001 meters Centerline goodness : 0.779186 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94711332 0.25754423 -0.19143494 -0.23499542] [-0.25915262 0.96568624 0.01702941 1.26661068] [ 0.18925191 0.03348208 0.98135756 -1.65447155] [ 0. 0. 0. 1. ]] SLAMing on 191.39629675700002 meters Centerline goodness : 0.777823 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.65 [[ 0.94701658 0.25802639 -0.19126413 -0.23525629] [-0.25957146 0.96556757 0.01737615 1.26599856] [ 0.18916195 0.03319121 0.98138479 -1.65453135] [ 0. 0. 0. 1. ]] SLAMing on 191.42629675700002 meters Centerline goodness : 0.778056 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.65 [[ 0.94685357 0.25881684 -0.19100302 -0.23604382] [-0.26028746 0.96536715 0.01779635 1.26589827] [ 0.18899404 0.03286515 0.98142811 -1.65430188] [ 0. 0. 0. 1. ]] SLAMing on 191.45629675700002 meters Centerline goodness : 0.777335 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.65 [[ 0.9467844 0.25907784 -0.19099207 -0.2358641 ] [-0.26055413 0.9652953 0.0177915 1.26656705] [ 0.18897313 0.03291906 0.98143033 -1.65441909] [ 0. 0. 0. 1. ]] SLAMing on 191.48629675700002 meters Centerline goodness : 0.776928 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.27, Z:-1.65 [[ 0.94669378 0.2593557 -0.19106416 -0.23551034] [-0.26083913 0.96521825 0.01779543 1.26761496] [ 0.18903396 0.03299019 0.98141623 -1.65442386] [ 0. 0. 0. 1. ]] SLAMing on 191.51629675700002 meters Centerline goodness : 0.776468 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94567587 0.26343299 -0.19052612 -0.23414344] [-0.2642425 0.96421405 0.02161397 1.26732587] [ 0.18940179 0.02990528 0.98144416 -1.65419542] [ 0. 0. 0. 1. ]] SLAMing on 191.54629675700002 meters Centerline goodness : 0.776492 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94560639 0.26368238 -0.19052602 -0.23399904] [-0.26450235 0.96414345 0.02158513 1.26800357] [ 0.18938604 0.02998354 0.98144481 -1.65427841] [ 0. 0. 0. 1. ]] SLAMing on 191.57629675700002 meters Centerline goodness : 0.776209 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94546305 0.26411583 -0.19063698 -0.23358683] [-0.26498368 0.96401542 0.02139906 1.26951965] [ 0.18942882 0.03028367 0.98142734 -1.65449579] [ 0. 0. 0. 1. ]] SLAMing on 191.60629675700002 meters Centerline goodness : 0.776614 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94535943 0.26436908 -0.19079973 -0.23302591] [-0.26528107 0.96393752 0.02122285 1.27098319] [ 0.18952969 0.03055234 0.98139954 -1.65453971] [ 0. 0. 0. 1. ]] SLAMing on 191.63629675700003 meters Centerline goodness : 0.775553 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94530138 0.26447618 -0.19093888 -0.2327561 ] [-0.2653814 0.96390839 0.02129163 1.27130933] [ 0.18967872 0.03054462 0.98137099 -1.65432075] [ 0. 0. 0. 1. ]] SLAMing on 191.66629675700003 meters Centerline goodness : 0.778529 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94521523 0.26469952 -0.19105583 -0.23255375] [-0.26559115 0.96384813 0.0214039 1.27218671] [ 0.18981441 0.03051145 0.98134578 -1.65385939] [ 0. 0. 0. 1. ]] SLAMing on 191.69629675700003 meters Centerline goodness : 0.779210 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.94515695 0.26489018 -0.19107991 -0.2325557 ] [-0.26579245 0.96379334 0.02137226 1.27327393] [ 0.18982285 0.03058745 0.98134178 -1.65357712] [ 0. 0. 0. 1. ]] SLAMing on 191.72629675700003 meters Centerline goodness : 0.776728 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.65 [[ 0.9450763 0.26517205 -0.19108788 -0.23267911] [-0.26606718 0.96371605 0.02143923 1.27425144] [ 0.18983954 0.0305805 0.98133877 -1.65320453] [ 0. 0. 0. 1. ]] SLAMing on 191.75629675700003 meters Centerline goodness : 0.776799 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.65 [[ 0.94492262 0.26580334 -0.19097075 -0.23326869] [-0.26666891 0.96354529 0.02163719 1.27555818] [ 0.1897602 0.03048049 0.98135723 -1.65256507] [ 0. 0. 0. 1. ]] SLAMing on 191.78629675700003 meters Centerline goodness : 0.777585 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.65 [[ 0.94483167 0.26606345 -0.1910585 -0.23323485] [-0.2669153 0.96347455 0.02174899 1.27627831] [ 0.18986661 0.03044731 0.98133768 -1.65218153] [ 0. 0. 0. 1. ]] SLAMing on 191.81629675700003 meters Centerline goodness : 0.776294 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.65 [[ 0.94464232 0.26687066 -0.19086889 -0.23387909] [-0.2677177 0.96325017 0.02182509 1.27835669] [ 0.18967897 0.03048207 0.98137288 -1.65170765] [ 0. 0. 0. 1. ]] SLAMing on 191.84629675700003 meters Centerline goodness : 0.776262 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.65 [[ 0.9445043 0.26724265 -0.19103137 -0.23359827] [-0.26811475 0.9631412 0.02176016 1.2800193 ] [ 0.18980543 0.03066576 0.98134271 -1.65138227] [ 0. 0. 0. 1. ]] SLAMing on 191.87629675700003 meters Centerline goodness : 0.774432 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.65 [[ 0.94445193 0.2673424 -0.19115068 -0.23331289] [-0.26823037 0.96311019 0.02170799 1.28074965] [ 0.18990263 0.03077027 0.98132063 -1.65125331] [ 0. 0. 0. 1. ]] SLAMing on 191.90629675700004 meters Centerline goodness : 0.775471 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.65 [[ 0.94437372 0.26751381 -0.19129726 -0.23310852] [-0.26840083 0.96306164 0.02175461 1.28130543] [ 0.19005071 0.03079987 0.98129103 -1.65097379] [ 0. 0. 0. 1. ]] SLAMing on 191.93629675700004 meters Centerline goodness : 0.776911 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.65 [[ 0.94422885 0.26796531 -0.19138045 -0.23299155] [-0.26885637 0.96293369 0.02179366 1.28287442] [ 0.19012662 0.03087565 0.98127395 -1.65058214] [ 0. 0. 0. 1. ]] SLAMing on 191.96629675700004 meters Centerline goodness : 0.775312 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.65 [[ 0.9432011 0.27186077 -0.19095395 -0.23119268] [-0.27209733 0.96193184 0.02549846 1.28317839] [ 0.19061672 0.02790789 0.98126776 -1.65027285] [ 0. 0. 0. 1. ]] SLAMing on 191.99629675700004 meters Centerline goodness : 0.775678 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.28, Z:-1.65 [[ 0.94310418 0.27216671 -0.19099683 -0.23088089] [-0.27242612 0.9618409 0.02541853 1.28459348] [ 0.19062664 0.02806021 0.98126149 -1.65030849] [ 0. 0. 0. 1. ]] SLAMing on 192.02629675700004 meters Centerline goodness : 0.775772 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.65 [[ 0.94291654 0.27272042 -0.19113339 -0.23038285] [-0.27299526 0.96167957 0.02541635 1.2866354 ] [ 0.19074064 0.02821301 0.98123495 -1.65019713] [ 0. 0. 0. 1. ]] SLAMing on 192.056296757 meters Centerline goodness : 0.772569 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.65 [[ 0.9428409 0.27289178 -0.19126193 -0.23011978] [-0.27317838 0.96162819 0.02539279 1.2872662 ] [ 0.19085235 0.02830726 0.98121052 -1.65009772] [ 0. 0. 0. 1. ]] SLAMing on 192.086296757 meters Centerline goodness : 0.774335 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.65 [[ 0.94281651 0.27283964 -0.19145642 -0.22976576] [-0.27312658 0.96164231 0.02541519 1.28753868] [ 0.19104687 0.02832998 0.98117201 -1.64974375] [ 0. 0. 0. 1. ]] SLAMing on 192.11629675700001 meters Centerline goodness : 0.774684 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.65 [[ 0.9427794 0.27294798 -0.19148471 -0.22992611] [-0.27318953 0.96161784 0.02566361 1.28728665] [ 0.19113994 0.0281165 0.98116002 -1.64929529] [ 0. 0. 0. 1. ]] SLAMing on 192.14629675700002 meters Centerline goodness : 0.774889 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.65 [[ 0.94279307 0.272898 -0.19148867 -0.23003623] [-0.2731319 0.96163328 0.02569832 1.28813797] [ 0.19115489 0.02807346 0.98115834 -1.64860497] [ 0. 0. 0. 1. ]] SLAMing on 192.17629675700002 meters Centerline goodness : 0.774551 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.65 [[ 0.94277436 0.27288621 -0.19159754 -0.22969175] [-0.27312733 0.96163516 0.02567637 1.28885774] [ 0.19125366 0.0281235 0.98113766 -1.64844933] [ 0. 0. 0. 1. ]] SLAMing on 192.20629675700002 meters Centerline goodness : 0.776215 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.65 [[ 0.94274661 0.27300391 -0.19156644 -0.22969759] [-0.27324963 0.96160085 0.02566019 1.29024228] [ 0.19121579 0.0281544 0.98114415 -1.64803067] [ 0. 0. 0. 1. ]] SLAMing on 192.23629675700002 meters Centerline goodness : 0.773199 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.65 [[ 0.94272211 0.27308737 -0.19156803 -0.22927192] [-0.27336146 0.96157271 0.02552339 1.29130171] [ 0.1911767 0.02830585 0.98114741 -1.64820995] [ 0. 0. 0. 1. ]] SLAMing on 192.26629675700002 meters Centerline goodness : 0.774490 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.65 [[ 0.94271265 0.27309606 -0.19160219 -0.22893795] [-0.27339688 0.96156611 0.0253923 1.29210761] [ 0.19117271 0.02844579 0.98114414 -1.64829778] [ 0. 0. 0. 1. ]] SLAMing on 192.29629675700002 meters Centerline goodness : 0.772564 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.29, Z:-1.65 [[ 0.94267698 0.27318927 -0.19164483 -0.22879974] [-0.27350028 0.96153766 0.02535602 1.29302143] [ 0.19120071 0.02851238 0.98113675 -1.64808613] [ 0. 0. 0. 1. ]] SLAMing on 192.32629675700002 meters Centerline goodness : 0.776186 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.65 [[ 0.94260188 0.27347586 -0.19160547 -0.22879667] [-0.27383919 0.96144763 0.02511083 1.29557279] [ 0.19108583 0.02879957 0.98115075 -1.64780984] [ 0. 0. 0. 1. ]] SLAMing on 192.35629675700002 meters Centerline goodness : 0.775874 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.65 [[ 0.94253469 0.2736479 -0.19169035 -0.22868897] [-0.27402692 0.96139544 0.02506105 1.29670815] [ 0.19114813 0.02890741 0.98113544 -1.64749517] [ 0. 0. 0. 1. ]] SLAMing on 192.38629675700003 meters Centerline goodness : 0.774934 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.65 [[ 0.94240651 0.27411447 -0.19165394 -0.22891901] [-0.27453519 0.96125489 0.02488927 1.29929157] [ 0.1910508 0.02915994 0.98114693 -1.64697611] [ 0. 0. 0. 1. ]] SLAMing on 192.41629675700003 meters Centerline goodness : 0.775922 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.65 [[ 0.94232867 0.27433749 -0.19171756 -0.22875262] [-0.2747747 0.96118779 0.02483741 1.30047672] [ 0.19109041 0.02927413 0.98113581 -1.64677397] [ 0. 0. 0. 1. ]] SLAMing on 192.44629675700003 meters Centerline goodness : 0.775122 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.30, Z:-1.65 [[ 0.9422538 0.274408 -0.19198444 -0.22724576] [-0.27496935 0.96114713 0.02424962 1.3035271 ] [ 0.19117959 0.02994054 0.98109833 -1.6473653 ] [ 0. 0. 0. 1. ]] SLAMing on 192.47629675700003 meters Centerline goodness : 0.777467 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.31, Z:-1.65 [[ 0.94222618 0.27436885 -0.19217587 -0.22627328] [-0.2750038 0.96114607 0.02389871 1.30516986] [ 0.19126614 0.03033111 0.98106946 -1.64772386] [ 0. 0. 0. 1. ]] SLAMing on 192.50629675700003 meters Centerline goodness : 0.777265 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94127504 0.27797571 -0.19165284 -0.22389121] [-0.27804875 0.96018548 0.02706925 1.30601992] [ 0.19154686 0.02780923 0.98108942 -1.64847492] [ 0. 0. 0. 1. ]] SLAMing on 192.53629675700003 meters Centerline goodness : 0.778123 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94119671 0.27815834 -0.19177251 -0.22343957] [-0.27826364 0.96012684 0.02694059 1.30756227] [ 0.19161969 0.02800692 0.98106957 -1.64839784] [ 0. 0. 0. 1. ]] SLAMing on 192.56629675700003 meters Centerline goodness : 0.776186 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94112083 0.27840349 -0.19178917 -0.22272645] [-0.27857636 0.96004503 0.02662231 1.30980365] [ 0.19153798 0.02837312 0.98107501 -1.64880889] [ 0. 0. 0. 1. ]] SLAMing on 192.59629675700003 meters Centerline goodness : 0.777605 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94106459 0.27847949 -0.19195472 -0.22221569] [-0.27865331 0.96002192 0.02665031 1.31035558] [ 0.1917023 0.02840916 0.98104187 -1.64873716] [ 0. 0. 0. 1. ]] SLAMing on 192.62629675700003 meters Centerline goodness : 0.775954 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94117286 0.27783554 -0.19235659 -0.22076033] [-0.27807433 0.9601991 0.02631267 1.31045409] [ 0.19201122 0.02872466 0.98097227 -1.64910605] [ 0. 0. 0. 1. ]] SLAMing on 192.65629675700004 meters Centerline goodness : 0.775862 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94123487 0.27738286 -0.19270615 -0.21968232] [-0.27763747 0.96032753 0.02623853 1.3101893 ] [ 0.19233914 0.02880583 0.98090564 -1.64922322] [ 0. 0. 0. 1. ]] SLAMing on 192.68629675700004 meters Centerline goodness : 0.775423 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94166873 0.27543632 -0.19337743 -0.21711651] [-0.27582719 0.96087036 0.0254464 1.30974192] [ 0.1928195 0.02937667 0.9807944 -1.64980436] [ 0. 0. 0. 1. ]] SLAMing on 192.71629675700004 meters Centerline goodness : 0.775227 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94179139 0.27480492 -0.19367816 -0.21613184] [-0.27519121 0.96105258 0.02545078 1.30876475] [ 0.19312889 0.0293292 0.98073494 -1.64989834] [ 0. 0. 0. 1. ]] SLAMing on 192.74629675700004 meters Centerline goodness : 0.775547 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94291576 0.27001048 -0.19494668 -0.21540468] [-0.27111698 0.96230615 0.02150474 1.30972101] [ 0.19340489 0.03257619 0.98057806 -1.64977948] [ 0. 0. 0. 1. ]] SLAMing on 192.77629675700004 meters Centerline goodness : 0.775462 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94464679 0.2660058 -0.19205042 -0.21887471] [-0.26747777 0.96338236 0.01871008 1.31179048] [ 0.18999498 0.0336948 0.98120669 -1.65203578] [ 0. 0. 0. 1. ]] SLAMing on 192.806296757 meters Centerline goodness : 0.774264 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.9447102 0.26558586 -0.19231949 -0.21797403] [-0.26705645 0.96349899 0.01872282 1.31131217] [ 0.19027215 0.03367252 0.98115374 -1.65210607] [ 0. 0. 0. 1. ]] SLAMing on 192.836296757 meters Centerline goodness : 0.773618 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94477789 0.26513742 -0.19260553 -0.2169327 ] [-0.26662277 0.96362046 0.01865239 1.31113434] [ 0.19054408 0.03373065 0.98109897 -1.65224088] [ 0. 0. 0. 1. ]] SLAMing on 192.86629675700001 meters Centerline goodness : 0.775418 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94486688 0.2646621 -0.1928226 -0.21591582] [-0.26618662 0.96374509 0.01844119 1.31134095] [ 0.19071252 0.03390233 0.98106033 -1.65246545] [ 0. 0. 0. 1. ]] SLAMing on 192.89629675700002 meters Centerline goodness : 0.773137 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94485132 0.26469443 -0.19285447 -0.21557413] [-0.26621413 0.96373684 0.01847509 1.31187798] [ 0.19075121 0.03388438 0.98105343 -1.65243156] [ 0. 0. 0. 1. ]] SLAMing on 192.92629675700002 meters Centerline goodness : 0.773385 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94483679 0.26477033 -0.19282147 -0.21520535] [-0.26635011 0.96370512 0.0181678 1.313929 ] [ 0.19063333 0.03419241 0.98106565 -1.65255717] [ 0. 0. 0. 1. ]] SLAMing on 192.95629675700002 meters Centerline goodness : 0.772919 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94476346 0.26504755 -0.19279992 -0.2153241 ] [-0.26659987 0.96363291 0.01833363 1.31428606] [ 0.19064763 0.03407949 0.9810668 -1.65228524] [ 0. 0. 0. 1. ]] SLAMing on 192.98629675700002 meters Centerline goodness : 0.772798 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.31, Z:-1.65 [[ 0.94468454 0.26546028 -0.1926187 -0.21609135] [-0.26697558 0.96352506 0.01853368 1.31438627] [ 0.1905129 0.03391601 0.98109864 -1.65181909] [ 0. 0. 0. 1. ]] SLAMing on 193.01629675700002 meters Centerline goodness : 0.773895 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.32, Z:-1.65 [[ 0.94463062 0.26553827 -0.19277557 -0.21526278] [-0.26709296 0.96349571 0.01836745 1.31541556] [ 0.19061569 0.03413854 0.98107095 -1.65211134] [ 0. 0. 0. 1. ]] SLAMing on 193.04629675700002 meters Centerline goodness : 0.773353 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94456183 0.26567139 -0.19292915 -0.21455122] [-0.2672313 0.96345707 0.01838238 1.31612638] [ 0.19076263 0.03419341 0.98104048 -1.65227951] [ 0. 0. 0. 1. ]] SLAMing on 193.07629675700002 meters Centerline goodness : 0.774468 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94447931 0.26576375 -0.19320577 -0.21337817] [-0.26736582 0.96342272 0.01822592 1.31693409] [ 0.19098262 0.03444261 0.98098896 -1.65277826] [ 0. 0. 0. 1. ]] SLAMing on 193.10629675700002 meters Centerline goodness : 0.773115 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94437195 0.26607705 -0.19329931 -0.21336178] [-0.26763163 0.96334332 0.01851918 1.31655356] [ 0.19114113 0.03424401 0.98096504 -1.65257957] [ 0. 0. 0. 1. ]] SLAMing on 193.13629675700003 meters Centerline goodness : 0.774753 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94423923 0.26659468 -0.19323445 -0.21381211] [-0.26806194 0.96321413 0.01900885 1.31606652] [ 0.19119381 0.0338499 0.98096846 -1.65216313] [ 0. 0. 0. 1. ]] SLAMing on 193.16629675700003 meters Centerline goodness : 0.776748 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94406421 0.26734711 -0.19304999 -0.21427038] [-0.2687279 0.96301879 0.019497 1.31625979] [ 0.19112323 0.0334715 0.98099519 -1.65190773] [ 0. 0. 0. 1. ]] SLAMing on 193.19629675700003 meters Centerline goodness : 0.776748 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94406421 0.26734711 -0.19304999 -0.21427038] [-0.2687279 0.96301879 0.019497 1.31625979] [ 0.19112323 0.0334715 0.98099519 -1.65190773] [ 0. 0. 0. 1. ]] SLAMing on 193.22629675700003 meters Centerline goodness : 0.776101 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94393634 0.26784536 -0.19298459 -0.21427383] [-0.26918383 0.96288621 0.0197539 1.31678752] [ 0.19111319 0.03330191 0.98100292 -1.65187319] [ 0. 0. 0. 1. ]] SLAMing on 193.25629675700003 meters Centerline goodness : 0.776812 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94377351 0.26849647 -0.19287616 -0.21445204] [-0.26979395 0.9627101 0.02001218 1.31752387] [ 0.19105703 0.03314985 0.98101901 -1.65181064] [ 0. 0. 0. 1. ]] SLAMing on 193.28629675700003 meters Centerline goodness : 0.776141 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94261168 0.27312378 -0.19205889 -0.21380002] [-0.27367316 0.96151849 0.02419073 1.31641454] [ 0.19127524 0.0297589 0.98108521 -1.6517541 ] [ 0. 0. 0. 1. ]] SLAMing on 193.31629675700003 meters Centerline goodness : 0.776143 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94246689 0.27368147 -0.19197555 -0.21372379] [-0.27420394 0.96136266 0.02437297 1.31662361] [ 0.19122855 0.02966974 0.98109701 -1.6520637 ] [ 0. 0. 0. 1. ]] SLAMing on 193.34629675700003 meters Centerline goodness : 0.773874 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94219708 0.27485506 -0.19162297 -0.21446889] [-0.27532067 0.96103432 0.02472991 1.31751834] [ 0.1909534 0.02945731 0.981157 -1.65209821] [ 0. 0. 0. 1. ]] SLAMing on 193.37629675700003 meters Centerline goodness : 0.774896 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94208559 0.27527141 -0.19157348 -0.21456374] [-0.27571094 0.96091806 0.02489892 1.31773304] [ 0.19094037 0.02936199 0.9811624 -1.6520994 ] [ 0. 0. 0. 1. ]] SLAMing on 193.40629675700004 meters Centerline goodness : 0.780542 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.32, Z:-1.65 [[ 0.94193427 0.27598823 -0.191286 -0.21552506] [-0.27633202 0.960726 0.02541988 1.31800039] [ 0.19078902 0.02891459 0.98120512 -1.65144214] [ 0. 0. 0. 1. ]] SLAMing on 193.43629675700004 meters Centerline goodness : 0.777384 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.32, Z:-1.65 [[ 0.94187074 0.27634474 -0.19108397 -0.21599083] [-0.27664191 0.96063029 0.0256652 1.31813402] [ 0.1906535 0.02868853 0.9812381 -1.65121876] [ 0. 0. 0. 1. ]] SLAMing on 193.46629675700004 meters Centerline goodness : 0.777139 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.32, Z:-1.65 [[ 0.94180376 0.27653454 -0.19113952 -0.21587624] [-0.27677295 0.96058366 0.02599543 1.31825797] [ 0.19079413 0.02841966 0.98121859 -1.65076007] [ 0. 0. 0. 1. ]] SLAMing on 193.49629675700004 meters Centerline goodness : 0.778208 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.32, Z:-1.65 [[ 0.94178717 0.27644007 -0.19135783 -0.21518843] [-0.27666616 0.96061207 0.0260822 1.31803111] [ 0.19103081 0.02837836 0.98117374 -1.65081101] [ 0. 0. 0. 1. ]] SLAMing on 193.52629675700004 meters Centerline goodness : 0.777443 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94182512 0.27615208 -0.1915867 -0.21391585] [-0.27636713 0.96069647 0.02614391 1.31746088] [ 0.19127636 0.02832527 0.98112743 -1.6513497 ] [ 0. 0. 0. 1. ]] SLAMing on 193.556296757 meters Centerline goodness : 0.779050 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94183684 0.27591183 -0.19187503 -0.21305791] [-0.27612035 0.960766 0.02619613 1.31712079] [ 0.19157483 0.02830812 0.98106969 -1.65140938] [ 0. 0. 0. 1. ]] SLAMing on 193.586296757 meters Centerline goodness : 0.779080 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.32, Z:-1.65 [[ 0.94196606 0.27531618 -0.19209619 -0.21215836] [-0.27550556 0.96094057 0.02626603 1.31592884] [ 0.19182449 0.02818186 0.98102454 -1.65151168] [ 0. 0. 0. 1. ]] SLAMing on 193.61629675700001 meters Centerline goodness : 0.779733 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94205495 0.27491169 -0.19223953 -0.21170888] [-0.27505561 0.96106364 0.02647805 1.3146262 ] [ 0.19203355 0.02793278 0.98099076 -1.65134518] [ 0. 0. 0. 1. ]] SLAMing on 193.64629675700002 meters Centerline goodness : 0.781782 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94205789 0.27482908 -0.19234322 -0.21151769] [-0.2749192 0.96109488 0.02675961 1.31375508] [ 0.1922144 0.02766974 0.9809628 -1.65110364] [ 0. 0. 0. 1. ]] SLAMing on 193.67629675700002 meters Centerline goodness : 0.782432 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94203688 0.27475589 -0.19255054 -0.21117346] [-0.27479248 0.96112284 0.0270553 1.31321434] [ 0.19249833 0.02742435 0.98091401 -1.650688 ] [ 0. 0. 0. 1. ]] SLAMing on 193.70629675700002 meters Centerline goodness : 0.782946 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94197342 0.27491942 -0.19262761 -0.21106299] [-0.2749088 0.96108198 0.02732379 1.31360011] [ 0.19264276 0.02721674 0.98089144 -1.65016423] [ 0. 0. 0. 1. ]] SLAMing on 193.73629675700002 meters Centerline goodness : 0.785027 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94191536 0.27502344 -0.19276295 -0.2107359 ] [-0.2749949 0.96105388 0.02744523 1.31381885] [ 0.19280366 0.02715775 0.98086146 -1.64997765] [ 0. 0. 0. 1. ]] SLAMing on 193.76629675700002 meters Centerline goodness : 0.785886 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94179964 0.27536251 -0.19284432 -0.21065079] [-0.27529483 0.96096096 0.02769095 1.31376528] [ 0.19294091 0.02700972 0.98083856 -1.64973409] [ 0. 0. 0. 1. ]] SLAMing on 193.79629675700002 meters Centerline goodness : 0.787359 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94169773 0.27563944 -0.19294633 -0.20998452] [-0.27559876 0.96087654 0.02759701 1.31408257] [ 0.19300443 0.02718772 0.98082115 -1.6503259 ] [ 0. 0. 0. 1. ]] SLAMing on 193.82629675700002 meters Centerline goodness : 0.789331 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94163848 0.27568966 -0.19316361 -0.20910283] [-0.27565445 0.96086032 0.02760567 1.31434827] [ 0.19321385 0.02725184 0.98077813 -1.65055839] [ 0. 0. 0. 1. ]] SLAMing on 193.85629675700002 meters Centerline goodness : 0.788416 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94156779 0.27580017 -0.19335039 -0.20829601] [-0.27575995 0.96082821 0.02766943 1.31442923] [ 0.19340775 0.02726565 0.98073953 -1.65082222] [ 0. 0. 0. 1. ]] SLAMing on 193.88629675700003 meters Centerline goodness : 0.783231 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94141947 0.27619988 -0.19350195 -0.20700516] [-0.27615262 0.96071257 0.02776843 1.31459142] [ 0.19356939 0.02729432 0.98070684 -1.65179677] [ 0. 0. 0. 1. ]] SLAMing on 193.91629675700003 meters Centerline goodness : 0.784790 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94134005 0.27642935 -0.19356066 -0.20667219] [-0.27635785 0.96064906 0.02792343 1.31454306] [ 0.19366272 0.02720657 0.98069086 -1.65192645] [ 0. 0. 0. 1. ]] SLAMing on 193.94629675700003 meters Centerline goodness : 0.783860 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.9411361 0.27738255 -0.19318842 -0.20742816] [-0.27720983 0.96038714 0.02848234 1.31419429] [ 0.19343618 0.02674797 0.98074818 -1.65197922] [ 0. 0. 0. 1. ]] SLAMing on 193.97629675700003 meters Centerline goodness : 0.786109 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.9409962 0.27821089 -0.1926781 -0.20869496] [-0.27791456 0.96016419 0.02912416 1.31379891] [ 0.19310528 0.02614232 0.98082972 -1.65158611] [ 0. 0. 0. 1. ]] SLAMing on 194.00629675700003 meters Centerline goodness : 0.785490 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94093894 0.27851238 -0.1925221 -0.20904862] [-0.27815395 0.96008495 0.02944937 1.31353705] [ 0.19303958 0.02584073 0.98085064 -1.65136972] [ 0. 0. 0. 1. ]] SLAMing on 194.03629675700003 meters Centerline goodness : 0.785343 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94089235 0.27882662 -0.19229483 -0.209486 ] [-0.2783771 0.96000591 0.02991403 1.31307429] [ 0.192945 0.02538459 0.98088116 -1.65097318] [ 0. 0. 0. 1. ]] SLAMing on 194.06629675700003 meters Centerline goodness : 0.784438 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94085149 0.27899965 -0.19224377 -0.20949972] [-0.27850681 0.95996105 0.03014535 1.31292759] [ 0.19295707 0.0251789 0.98088409 -1.65087454] [ 0. 0. 0. 1. ]] SLAMing on 194.09629675700003 meters Centerline goodness : 0.786102 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94080912 0.27907073 -0.19234794 -0.20923702] [-0.27853995 0.95994469 0.03035928 1.31295541] [ 0.19311577 0.0250143 0.98085707 -1.65059835] [ 0. 0. 0. 1. ]] SLAMing on 194.12629675700003 meters Centerline goodness : 0.785597 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94081144 0.27906742 -0.19234138 -0.20890391] [-0.27852267 0.9599475 0.03042897 1.31314019] [ 0.19312936 0.02494351 0.98085619 -1.65060613] [ 0. 0. 0. 1. ]] SLAMing on 194.15629675700004 meters Centerline goodness : 0.789139 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94081745 0.27892784 -0.1925144 -0.20835664] [-0.27838432 0.95998756 0.03043112 1.31298711] [ 0.19329952 0.02496286 0.98082218 -1.65065301] [ 0. 0. 0. 1. ]] SLAMing on 194.18629675700004 meters Centerline goodness : 0.789030 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94088956 0.27839259 -0.19293629 -0.20679007] [-0.27789811 0.96013626 0.03018296 1.31271139] [ 0.19364784 0.0252178 0.98074695 -1.65118341] [ 0. 0. 0. 1. ]] SLAMing on 194.21629675700004 meters Centerline goodness : 0.793487 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94095207 0.27793731 -0.19328747 -0.20537731] [-0.27748876 0.96026193 0.02995019 1.3130198 ] [ 0.19393088 0.02545341 0.98068493 -1.65155895] [ 0. 0. 0. 1. ]] SLAMing on 194.24629675700004 meters Centerline goodness : 0.793382 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.31, Z:-1.65 [[ 0.94090042 0.27796104 -0.1935047 -0.20480381] [-0.27748782 0.96025732 0.03010634 1.31324922] [ 0.1941827 0.02536812 0.98063731 -1.65134319] [ 0. 0. 0. 1. ]] SLAMing on 194.27629675700004 meters Centerline goodness : 0.793937 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.31, Z:-1.65 [[ 0.94088168 0.27818196 -0.19327822 -0.20506187] [-0.27772724 0.96019126 0.03000553 1.31432722] [ 0.19393105 0.02544697 0.98068507 -1.6513767 ] [ 0. 0. 0. 1. ]] SLAMing on 194.306296757 meters Centerline goodness : 0.791499 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.31, Z:-1.65 [[ 0.94084109 0.27808305 -0.19361784 -0.20404524] [-0.2776633 0.96021415 0.02986422 1.31491806] [ 0.19421932 0.02566308 0.98062238 -1.6515337 ] [ 0. 0. 0. 1. ]] SLAMing on 194.336296757 meters Centerline goodness : 0.789770 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.65 [[ 0.94077871 0.27806394 -0.19394807 -0.20277415] [-0.27772983 0.96020694 0.02947497 1.31623362] [ 0.19442621 0.02613574 0.9805689 -1.65205138] [ 0. 0. 0. 1. ]] SLAMing on 194.36629675700001 meters Centerline goodness : 0.795000 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.65 [[ 0.94072296 0.27820524 -0.19401589 -0.20258744] [-0.27788472 0.96016349 0.02943049 1.31680153] [ 0.19447469 0.02622812 0.98055682 -1.65202445] [ 0. 0. 0. 1. ]] SLAMing on 194.39629675700002 meters Centerline goodness : 0.807354 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.65 [[ 0.940678 0.27831939 -0.19407016 -0.20239819] [-0.27801729 0.96012736 0.02935698 1.31777359] [ 0.19450269 0.02633939 0.98054829 -1.65183357] [ 0. 0. 0. 1. ]] SLAMing on 194.42629675700002 meters Centerline goodness : 0.790238 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.65 [[ 0.94065303 0.27825739 -0.19427996 -0.20179509] [-0.27794975 0.96014538 0.02940741 1.3178855 ] [ 0.19471983 0.02633789 0.98050523 -1.6517316 ] [ 0. 0. 0. 1. ]] SLAMing on 194.45629675700002 meters Centerline goodness : 0.792611 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.65 [[ 0.94066793 0.27817486 -0.19432598 -0.20125569] [-0.27786952 0.96016902 0.02939358 1.31832254] [ 0.19476234 0.02634766 0.98049652 -1.65180755] [ 0. 0. 0. 1. ]] SLAMing on 194.48629675700002 meters Centerline goodness : 0.793168 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.65 [[ 0.94063786 0.27814166 -0.19451899 -0.20074091] [-0.27781049 0.9601814 0.02954661 1.31841552] [ 0.19499166 0.02624675 0.98045365 -1.65158711] [ 0. 0. 0. 1. ]] SLAMing on 194.51629675700002 meters Centerline goodness : 0.788144 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.65 [[ 0.94070655 0.27765853 -0.19487671 -0.19953461] [-0.27732385 0.96032157 0.02956284 1.31808755] [ 0.19535268 0.02623401 0.98038212 -1.65155757] [ 0. 0. 0. 1. ]] SLAMing on 194.54629675700002 meters Centerline goodness : 0.784242 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.65 [[ 0.94073813 0.27736124 -0.19514741 -0.19881146] [-0.27703262 0.96040638 0.02953846 1.31795119] [ 0.19561364 0.02627424 0.98032901 -1.65148886] [ 0. 0. 0. 1. ]] SLAMing on 194.57629675700002 meters Centerline goodness : 0.783128 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.32, Z:-1.65 [[ 0.94085746 0.27674378 -0.19544853 -0.19749953] [-0.27645482 0.96057966 0.02931647 1.31780416] [ 0.19585703 0.02645007 0.98027568 -1.65186007] [ 0. 0. 0. 1. ]] SLAMing on 194.60629675700002 meters Centerline goodness : 0.783870 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.31, Z:-1.66 [[ 0.94164824 0.28161224 -0.18437227 -0.19488227] [-0.28171823 0.95914006 0.02617586 1.31451185] [ 0.18421027 0.02729258 0.98250786 -1.65813974] [ 0. 0. 0. 1. ]] SLAMing on 194.63629675700003 meters Centerline goodness : 0.788354 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.31, Z:-1.66 [[ 0.9417699 0.28019386 -0.18590552 -0.19090243] [-0.28051283 0.95952103 0.0251384 1.31330777] [ 0.18542388 0.0284743 0.982246 -1.65963543] [ 0. 0. 0. 1. ]] SLAMing on 194.66629675700003 meters Centerline goodness : 0.784076 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.31, Z:-1.67 [[ 0.94255696 0.28418157 -0.17557681 -0.18688019] [-0.28469619 0.95834676 0.02279408 1.30882168] [ 0.17474113 0.02850133 0.98420182 -1.66638803] [ 0. 0. 0. 1. ]] SLAMing on 194.69629675700003 meters Centerline goodness : 0.783798 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.31, Z:-1.67 [[ 0.94262775 0.28385661 -0.17572238 -0.18595417] [-0.28440228 0.95843832 0.02261276 1.30857916] [ 0.17483784 0.02866043 0.98418002 -1.66711933] [ 0. 0. 0. 1. ]] SLAMing on 194.72629675700003 meters Centerline goodness : 0.784987 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.30, Z:-1.67 [[ 0.94367961 0.28885549 -0.16134217 -0.18684865] [-0.28888691 0.95706771 0.02378532 1.3043521 ] [ 0.1612859 0.02416392 0.98661186 -1.67230737] [ 0. 0. 0. 1. ]] SLAMing on 194.75629675700003 meters Centerline goodness : 0.787829 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.30, Z:-1.67 [[ 0.94390558 0.28774383 -0.16200536 -0.18512645] [-0.28788057 0.95738654 0.0231473 1.3041481 ] [ 0.16176225 0.02478933 0.98651835 -1.67303445] [ 0. 0. 0. 1. ]] SLAMing on 194.78629675700003 meters Centerline goodness : 0.787992 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.30, Z:-1.67 [[ 0.9440468 0.28709407 -0.16233497 -0.18413379] [-0.28722232 0.9575831 0.02319347 1.30336166] [ 0.16210793 0.0247305 0.98646309 -1.67284041] [ 0. 0. 0. 1. ]] SLAMing on 194.81629675700003 meters Centerline goodness : 0.790265 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.30, Z:-1.67 [[ 0.94393085 0.28671966 -0.16366549 -0.18132345] [-0.28698401 0.95767005 0.02254461 1.30259274] [ 0.16320152 0.02568882 0.98625826 -1.67324517] [ 0. 0. 0. 1. ]] SLAMing on 194.84629675700003 meters Centerline goodness : 0.792838 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.30, Z:-1.67 [[ 0.94402223 0.28612594 -0.16417663 -0.17968633] [-0.28641944 0.95784248 0.02239822 1.30242697] [ 0.16366406 0.02587896 0.98617663 -1.67342366] [ 0. 0. 0. 1. ]] SLAMing on 194.87629675700003 meters Centerline goodness : 0.793778 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.30, Z:-1.67 [[ 0.94405478 0.28581343 -0.16453344 -0.17846943] [-0.28613538 0.95793068 0.02225679 1.30247877] [ 0.16397292 0.02606721 0.98612037 -1.67376675] [ 0. 0. 0. 1. ]] SLAMing on 194.90629675700004 meters Centerline goodness : 0.790809 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.30, Z:-1.67 [[ 0.94408642 0.28536752 -0.16512481 -0.17630253] [-0.28579668 0.95804524 0.02166982 1.3039602 ] [ 0.1643809 0.02673394 0.98603459 -1.67459867] [ 0. 0. 0. 1. ]] SLAMing on 194.93629675700004 meters Centerline goodness : 0.798458 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.31, Z:-1.67 [[ 0.94407522 0.28528864 -0.16532502 -0.17559518] [-0.28576113 0.9580611 0.02143623 1.30502944] [ 0.16450698 0.02700605 0.98600615 -1.67469755] [ 0. 0. 0. 1. ]] SLAMing on 194.96629675700004 meters Centerline goodness : 0.791336 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.30, Z:-1.68 [[ 0.94397446 0.29200459 -0.15377105 -0.17313393] [-0.29253988 0.95605146 0.01964763 1.30224713] [ 0.15275023 0.0264373 0.98791115 -1.67929206] [ 0. 0. 0. 1. ]] SLAMing on 194.99629675700004 meters Centerline goodness : 0.798180 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.30, Z:-1.68 [[ 0.94391169 0.29220847 -0.15376911 -0.17353991] [-0.29272069 0.95599269 0.01981334 1.30256766] [ 0.15279177 0.02630935 0.98790814 -1.67863337] [ 0. 0. 0. 1. ]] SLAMing on 195.02629675700004 meters Centerline goodness : 0.798055 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.30, Z:-1.68 [[ 0.94384741 0.29233851 -0.15391641 -0.17344377] [-0.29283915 0.9559541 0.01992459 1.30366896] [ 0.15296175 0.02626698 0.98788296 -1.67778048] [ 0. 0. 0. 1. ]] SLAMing on 195.056296757 meters Centerline goodness : 0.797675 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.30, Z:-1.68 [[ 0.94378697 0.29242441 -0.15412371 -0.17316436] [-0.29290872 0.95592968 0.02007312 1.30401077] [ 0.1532013 0.02619943 0.98784764 -1.67731788] [ 0. 0. 0. 1. ]] SLAMing on 195.086296757 meters Centerline goodness : 0.797675 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.30, Z:-1.68 [[ 0.94378697 0.29242441 -0.15412371 -0.17316436] [-0.29290872 0.95592968 0.02007312 1.30401077] [ 0.1532013 0.02619943 0.98784764 -1.67731788] [ 0. 0. 0. 1. ]] SLAMing on 195.11629675700001 meters Centerline goodness : 0.802831 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.30, Z:-1.68 [[ 0.94367846 0.2925968 -0.15446057 -0.17273011] [-0.29305958 0.95587898 0.0202843 1.30474143] [ 0.15358073 0.02612429 0.98779071 -1.67647953] [ 0. 0. 0. 1. ]] SLAMing on 195.14629675700002 meters Centerline goodness : 0.796359 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.68 [[ 0.94358971 0.2927817 -0.1546523 -0.17245717] [-0.29322044 0.95582533 0.02048709 1.3050821 ] [ 0.15381883 0.02601581 0.98775652 -1.67601473] [ 0. 0. 0. 1. ]] SLAMing on 195.17629675700002 meters Centerline goodness : 0.798891 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.68 [[ 0.94349786 0.29281733 -0.15514441 -0.17137126] [-0.29326312 0.95581133 0.02052925 1.30559195] [ 0.15430011 0.02612883 0.98767847 -1.67581737] [ 0. 0. 0. 1. ]] SLAMing on 195.20629675700002 meters Centerline goodness : 0.800621 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.68 [[ 0.94344188 0.29285389 -0.15541562 -0.17072355] [-0.29330576 0.95579801 0.02053992 1.30589848] [ 0.15456113 0.02620607 0.98763561 -1.67574395] [ 0. 0. 0. 1. ]] SLAMing on 195.23629675700002 meters Centerline goodness : 0.797512 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.68 [[ 0.94339585 0.29273683 -0.15591477 -0.1694954 ] [-0.29319916 0.95583052 0.02054919 1.30678976] [ 0.1550436 0.02632805 0.98755674 -1.67539879] [ 0. 0. 0. 1. ]] SLAMing on 195.26629675700002 meters Centerline goodness : 0.795637 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.68 [[ 0.94342679 0.29244959 -0.15626623 -0.16857895] [-0.29292176 0.95591613 0.02052293 1.30713208] [ 0.15537933 0.02641189 0.98750173 -1.67516108] [ 0. 0. 0. 1. ]] SLAMing on 195.29629675700002 meters Centerline goodness : 0.796905 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.67 [[ 0.94342627 0.2922843 -0.15657831 -0.16808397] [-0.29275735 0.95596576 0.02055715 1.3072111 ] [ 0.15569204 0.0264453 0.98745159 -1.6747686 ] [ 0. 0. 0. 1. ]] SLAMing on 195.32629675700002 meters Centerline goodness : 0.789967 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.67 [[ 0.94341054 0.292235 -0.15676499 -0.1679862 ] [-0.29268382 0.95598436 0.0207386 1.30771935] [ 0.15592542 0.02631756 0.98741817 -1.67385274] [ 0. 0. 0. 1. ]] SLAMing on 195.35629675700002 meters Centerline goodness : 0.789285 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.67 [[ 0.94337967 0.29229231 -0.1568439 -0.16805629] [-0.29272945 0.95596838 0.02083087 1.30819134] [ 0.15602651 0.02626141 0.9874037 -1.67329658] [ 0. 0. 0. 1. ]] SLAMing on 195.38629675700003 meters Centerline goodness : 0.789475 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.67 [[ 0.94306215 0.29324379 -0.15697725 -0.16763807] [-0.29367436 0.95567536 0.02097558 1.30906048] [ 0.15617025 0.02631892 0.98737944 -1.67261202] [ 0. 0. 0. 1. ]] SLAMing on 195.41629675700003 meters Centerline goodness : 0.788714 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.67 [[ 0.94302306 0.29327036 -0.15716235 -0.1672716 ] [-0.29371293 0.95566443 0.02093367 1.30980724] [ 0.15633369 0.02641968 0.98735089 -1.67234813] [ 0. 0. 0. 1. ]] SLAMing on 195.44629675700003 meters Centerline goodness : 0.788234 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.67 [[ 0.94239565 0.29507 -0.15755675 -0.16713216] [-0.29556118 0.95509631 0.02084774 1.31097264] [ 0.15663342 0.02692084 0.98728985 -1.67058659] [ 0. 0. 0. 1. ]] SLAMing on 195.47629675700003 meters Centerline goodness : 0.791061 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.67 [[ 0.94206536 0.29593668 -0.15790609 -0.16696662] [-0.29644877 0.95482112 0.02085083 1.31135117] [ 0.15694259 0.02716822 0.98723397 -1.66957609] [ 0. 0. 0. 1. ]] SLAMing on 195.50629675700003 meters Centerline goodness : 0.791629 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.31, Z:-1.67 [[ 0.94161825 0.29707938 -0.15842635 -0.1655782 ] [-0.29759675 0.95446053 0.02100667 1.3118981 ] [ 0.15745234 0.0273669 0.98714731 -1.66917552] [ 0. 0. 0. 1. ]] SLAMing on 195.53629675700003 meters Centerline goodness : 0.792370 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.31, Z:-1.67 [[ 0.94133609 0.29750474 -0.15930253 -0.16338099] [-0.29811521 0.95430722 0.02061681 1.31214924] [ 0.15815715 0.02808316 0.98701451 -1.66939471] [ 0. 0. 0. 1. ]] SLAMing on 195.56629675700003 meters Centerline goodness : 0.793112 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.31, Z:-1.67 [[ 0.9412356 0.2977801 -0.15938183 -0.16314056] [-0.29839505 0.95421954 0.02062685 1.31362297] [ 0.15822752 0.02814402 0.9870015 -1.66905997] [ 0. 0. 0. 1. ]] SLAMing on 195.59629675700003 meters Centerline goodness : 0.788159 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.31, Z:-1.67 [[ 0.94116281 0.29792858 -0.15953412 -0.16277957] [-0.29853919 0.95417299 0.02069414 1.31430424] [ 0.15838852 0.02815064 0.98697549 -1.66881553] [ 0. 0. 0. 1. ]] SLAMing on 195.62629675700003 meters Centerline goodness : 0.790047 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.94105924 0.29818896 -0.15965857 -0.16250579] [-0.29881846 0.95408715 0.02062137 1.31582702] [ 0.15847725 0.02830299 0.98695689 -1.66844646] [ 0. 0. 0. 1. ]] SLAMing on 195.65629675700004 meters Centerline goodness : 0.800403 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.94102894 0.2981868 -0.15984105 -0.16199269] [-0.2988535 0.95408045 0.02042281 1.31729439] [ 0.15859104 0.0285506 0.98693148 -1.66819887] [ 0. 0. 0. 1. ]] SLAMing on 195.68629675700004 meters Centerline goodness : 0.795361 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.94095367 0.29843303 -0.15982463 -0.16232377] [-0.29907582 0.95400719 0.02058985 1.31775507] [ 0.15861854 0.02842559 0.98693067 -1.66764452] [ 0. 0. 0. 1. ]] SLAMing on 195.71629675700004 meters Centerline goodness : 0.799737 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.94088191 0.29861296 -0.15991097 -0.16260159] [-0.29924208 0.95395253 0.02070611 1.31850864] [ 0.15873059 0.02837009 0.98691425 -1.66674834] [ 0. 0. 0. 1. ]] SLAMing on 195.74629675700004 meters Centerline goodness : 0.798997 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.94078488 0.2989316 -0.15988652 -0.16300803] [-0.29951123 0.95386083 0.02103682 1.31853316] [ 0.15879806 0.02809668 0.98691122 -1.6660711 ] [ 0. 0. 0. 1. ]] SLAMing on 195.77629675700004 meters Centerline goodness : 0.792029 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.94073604 0.29909353 -0.15987112 -0.16298754] [-0.29969312 0.95380618 0.02092394 1.31949435] [ 0.15874427 0.02822837 0.98691611 -1.66594076] [ 0. 0. 0. 1. ]] SLAMing on 195.80629675700004 meters Centerline goodness : 0.791126 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.94066936 0.29925347 -0.15996412 -0.16270313] [-0.29984535 0.95375661 0.02100243 1.31999715] [ 0.15885188 0.02820815 0.98689938 -1.66579955] [ 0. 0. 0. 1. ]] SLAMing on 195.836296757 meters Centerline goodness : 0.793497 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.94060954 0.29938286 -0.16007373 -0.16238754] [-0.29997115 0.95371587 0.02105567 1.3202854 ] [ 0.15896856 0.02821233 0.98688047 -1.66578184] [ 0. 0. 0. 1. ]] SLAMing on 195.86629675700001 meters Centerline goodness : 0.781812 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.94054283 0.2995513 -0.16015054 -0.1620398 ] [-0.30012825 0.95366426 0.02115446 1.32064109] [ 0.15906669 0.02816902 0.98686589 -1.66573614] [ 0. 0. 0. 1. ]] SLAMing on 195.89629675700002 meters Centerline goodness : 0.781645 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.94047374 0.29975905 -0.16016758 -0.16198936] [-0.30033907 0.95359784 0.02115642 1.32130667] [ 0.15907729 0.02820753 0.98686309 -1.6655558 ] [ 0. 0. 0. 1. ]] SLAMing on 195.92629675700002 meters Centerline goodness : 0.779095 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.94017894 0.3004854 -0.16053685 -0.16090044] [-0.30110487 0.95335885 0.0210416 1.32149004] [ 0.15937192 0.02855556 0.98680554 -1.66555734] [ 0. 0. 0. 1. ]] SLAMing on 195.95629675700002 meters Centerline goodness : 0.782101 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.67 [[ 0.93931882 0.30240919 -0.16195317 -0.15733742] [-0.3032213 0.95270426 0.02028395 1.32264402] [ 0.16042753 0.03005456 0.98658995 -1.66535691] [ 0. 0. 0. 1. ]] SLAMing on 195.98629675700002 meters Centerline goodness : 0.778970 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.32, Z:-1.66 [[ 0.93868941 0.30410137 -0.16243324 -0.15615823] [-0.30493052 0.95215567 0.02041942 1.32318351] [ 0.16087131 0.03036336 0.98650823 -1.66471709] [ 0. 0. 0. 1. ]] SLAMing on 196.01629675700002 meters Centerline goodness : 0.780509 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.32, Z:-1.66 [[ 0.93751277 0.30798486 -0.16191088 -0.15476061] [-0.30844217 0.95096637 0.0229433 1.32390169] [ 0.16103799 0.02843051 0.98653863 -1.66474357] [ 0. 0. 0. 1. ]] SLAMing on 196.04629675700002 meters Centerline goodness : 0.778422 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.32, Z:-1.66 [[ 0.9371324 0.30875791 -0.16263894 -0.15270356] [-0.30930714 0.95069406 0.02258114 1.3243093 ] [ 0.16159198 0.02914386 0.98642722 -1.66488814] [ 0. 0. 0. 1. ]] SLAMing on 196.07629675700002 meters Centerline goodness : 0.777336 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.33, Z:-1.66 [[ 0.93683743 0.30963029 -0.16267978 -0.15201611] [-0.31020092 0.95040389 0.02253506 1.32509917] [ 0.16158903 0.02935173 0.98642154 -1.664861 ] [ 0. 0. 0. 1. ]] SLAMing on 196.10629675700002 meters Centerline goodness : 0.778211 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.33, Z:-1.66 [[ 0.93678453 0.30969459 -0.1628619 -0.15160362] [-0.31031011 0.95037378 0.02230054 1.32575245] [ 0.16168603 0.0296469 0.98639682 -1.66460752] [ 0. 0. 0. 1. ]] SLAMing on 196.13629675700003 meters Centerline goodness : 0.777822 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.33, Z:-1.66 [[ 0.93669621 0.30964453 -0.163464 -0.14994823] [-0.3104059 0.95036047 0.02152088 1.32632754] [ 0.16201355 0.03058166 0.98631454 -1.66493251] [ 0. 0. 0. 1. ]] SLAMing on 196.16629675700003 meters Centerline goodness : 0.778481 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.33, Z:-1.66 [[ 0.93650389 0.31023437 -0.16344754 -0.14982358] [-0.31098291 0.95016892 0.02164825 1.32700429] [ 0.16201881 0.03055572 0.98631448 -1.66455994] [ 0. 0. 0. 1. ]] SLAMing on 196.19629675700003 meters Centerline goodness : 0.774910 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.33, Z:-1.67 [[ 0.93616159 0.31181816 -0.16239126 -0.15002456] [-0.31225504 0.9497078 0.02349246 1.32781067] [ 0.16154962 0.02871474 0.98644675 -1.66509832] [ 0. 0. 0. 1. ]] SLAMing on 196.22629675700003 meters Centerline goodness : 0.776180 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.33, Z:-1.67 [[ 0.93593732 0.31200412 -0.16332414 -0.14771198] [-0.31254492 0.94962338 0.02304589 1.32764674] [ 0.16228683 0.02947662 0.98630326 -1.6654832 ] [ 0. 0. 0. 1. ]] SLAMing on 196.25629675700003 meters Centerline goodness : 0.775087 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.33, Z:-1.66 [[ 0.93571269 0.31223363 -0.16417041 -0.14661586] [-0.31289762 0.94952086 0.02247706 1.3272256 ] [ 0.16290132 0.03033646 0.98617588 -1.66485278] [ 0. 0. 0. 1. ]] SLAMing on 196.28629675700003 meters Centerline goodness : 0.784466 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.33, Z:-1.66 [[ 0.93566136 0.31204999 -0.16481085 -0.14560173] [-0.31279907 0.94956292 0.02206832 1.32692489] [ 0.16338469 0.03090421 0.98607828 -1.66469686] [ 0. 0. 0. 1. ]] SLAMing on 196.31629675700003 meters Centerline goodness : 0.776868 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.33, Z:-1.66 [[ 0.93546767 0.31202722 -0.16594957 -0.14342062] [-0.31291928 0.94953799 0.02142717 1.32636145] [ 0.16426128 0.03188439 0.98590142 -1.66462427] [ 0. 0. 0. 1. ]] SLAMing on 196.34629675700003 meters Centerline goodness : 0.774474 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.33, Z:-1.66 [[ 0.93535296 0.31189357 -0.16684494 -0.14139729] [-0.31287734 0.94956039 0.02104372 1.32592824] [ 0.16499275 0.0325187 0.98575855 -1.66488033] [ 0. 0. 0. 1. ]] SLAMing on 196.37629675700003 meters Centerline goodness : 0.783257 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.33, Z:-1.67 [[ 0.93532301 0.31164884 -0.16746901 -0.13994313] [-0.31269914 0.94962555 0.02075006 1.32547756] [ 0.16549958 0.03295941 0.98565895 -1.66526516] [ 0. 0. 0. 1. ]] SLAMing on 196.40629675700004 meters Centerline goodness : 0.781713 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.32, Z:-1.67 [[ 0.93547098 0.31079026 -0.1682363 -0.13805499] [-0.31187249 0.94989981 0.0206373 1.32383006] [ 0.1662215 0.03316268 0.98553064 -1.66616696] [ 0. 0. 0. 1. ]] SLAMing on 196.43629675700004 meters Centerline goodness : 0.782625 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.32, Z:-1.67 [[ 0.93654573 0.30693765 -0.16932624 -0.13852253] [-0.30857069 0.95104498 0.01725041 1.32354059] [ 0.16633167 0.03609331 0.98540908 -1.66595106] [ 0. 0. 0. 1. ]] SLAMing on 196.46629675700004 meters Centerline goodness : 0.780548 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.32, Z:-1.67 [[ 0.93655755 0.30683653 -0.1694441 -0.13860475] [-0.30840295 0.95109184 0.01766135 1.32206641] [ 0.16657605 0.03571619 0.98538154 -1.66551918] [ 0. 0. 0. 1. ]] SLAMing on 196.49629675700004 meters Centerline goodness : 0.781326 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.32, Z:-1.67 [[ 0.93670006 0.3064513 -0.16935347 -0.13878396] [-0.30794703 0.95123275 0.01802454 1.32025693] [ 0.16661821 0.03526831 0.98539054 -1.66518877] [ 0. 0. 0. 1. ]] SLAMing on 196.52629675700004 meters Centerline goodness : 0.784268 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.32, Z:-1.67 [[ 0.93670703 0.30635618 -0.16948695 -0.13839859] [-0.30780809 0.95127239 0.01830336 1.31947013] [ 0.16683561 0.03502457 0.98536245 -1.66508743] [ 0. 0. 0. 1. ]] SLAMing on 196.55629675700004 meters Centerline goodness : 0.778941 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.32, Z:-1.66 [[ 0.93677837 0.30620717 -0.16936187 -0.13859754] [-0.30757452 0.95133899 0.01876258 1.31799922] [ 0.16686579 0.03451502 0.98537532 -1.66478185] [ 0. 0. 0. 1. ]] SLAMing on 196.586296757 meters Centerline goodness : 0.780240 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.32, Z:-1.66 [[ 0.9367765 0.30628036 -0.16923989 -0.13915979] [-0.30754835 0.95133608 0.0193305 1.31642041] [ 0.16692456 0.03394109 0.9853853 -1.66430099] [ 0. 0. 0. 1. ]] SLAMing on 196.61629675700001 meters Centerline goodness : 0.778385 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.31, Z:-1.66 [[ 0.93678791 0.30629823 -0.16914437 -0.13969067] [-0.3074728 0.95134952 0.0198639 1.3146684 ] [ 0.16699969 0.03339903 0.98539109 -1.66379419] [ 0. 0. 0. 1. ]] SLAMing on 196.64629675700002 meters Centerline goodness : 0.768445 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.31, Z:-1.66 [[ 0.93762067 0.30301589 -0.17043724 -0.13973575] [-0.30469921 0.95229979 0.01683728 1.31389965] [ 0.16740932 0.03614511 0.98522467 -1.66324587] [ 0. 0. 0. 1. ]] SLAMing on 196.67629675700002 meters Centerline goodness : 0.767255 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.31, Z:-1.66 [[ 0.93848642 0.30084253 -0.16951992 -0.14176154] [-0.30246905 0.95301162 0.01677284 1.31345367] [ 0.16660044 0.03553344 0.98538402 -1.66366847] [ 0. 0. 0. 1. ]] SLAMing on 196.70629675700002 meters Centerline goodness : 0.767389 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.31, Z:-1.66 [[ 0.93870697 0.30039808 -0.16908644 -0.14268393] [-0.30191704 0.95317766 0.0172758 1.31300267] [ 0.16635903 0.03483317 0.98544981 -1.66361456] [ 0. 0. 0. 1. ]] SLAMing on 196.73629675700002 meters Centerline goodness : 0.766079 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.31, Z:-1.66 [[ 0.93898403 0.2998381 -0.16854111 -0.14374624] [-0.30127226 0.95337549 0.01761261 1.31305267] [ 0.1659639 0.0342388 0.98553726 -1.6634749 ] [ 0. 0. 0. 1. ]] SLAMing on 196.76629675700002 meters Centerline goodness : 0.766427 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.31, Z:-1.66 [[ 0.93882183 0.3001437 -0.16890037 -0.14384396] [-0.30159035 0.95327437 0.01764174 1.31285891] [ 0.16630346 0.03437627 0.98547523 -1.66244957] [ 0. 0. 0. 1. ]] SLAMing on 196.79629675700002 meters Centerline goodness : 0.766958 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.31, Z:-1.66 [[ 0.9381434 0.30160742 -0.17005859 -0.14419051] [-0.30315519 0.9527819 0.01742367 1.3113888 ] [ 0.16728385 0.03520824 0.98527991 -1.65953909] [ 0. 0. 0. 1. ]] SLAMing on 196.82629675700002 meters Centerline goodness : 0.767797 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.31, Z:-1.66 [[ 0.93720134 0.30352097 -0.17183906 -0.14074339] [-0.30515625 0.95214202 0.01747115 1.31006549] [ 0.16891805 0.03606378 0.9849701 -1.65901324] [ 0. 0. 0. 1. ]] SLAMing on 196.85629675700002 meters Centerline goodness : 0.768180 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.31, Z:-1.66 [[ 0.93665735 0.30497075 -0.17223775 -0.13909595] [-0.30654482 0.9516851 0.01804863 1.30949907] [ 0.16942041 0.03589321 0.98489005 -1.65933181] [ 0. 0. 0. 1. ]] SLAMing on 196.88629675700003 meters Centerline goodness : 0.769713 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.31, Z:-1.66 [[ 0.93530574 0.30933021 -0.17180803 -0.13742323] [-0.31024807 0.95039699 0.02217419 1.30671896] [ 0.17014498 0.03256346 0.98488086 -1.66001614] [ 0. 0. 0. 1. ]] SLAMing on 196.91629675700003 meters Centerline goodness : 0.767227 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.31, Z:-1.66 [[ 0.93474572 0.31074274 -0.17230609 -0.13646792] [-0.31159259 0.94994232 0.02279573 1.30557412] [ 0.17076445 0.03238109 0.98477965 -1.65957769] [ 0. 0. 0. 1. ]] SLAMing on 196.94629675700003 meters Centerline goodness : 0.766331 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.30, Z:-1.66 [[ 0.93417053 0.31150862 -0.1740339 -0.13316478] [-0.31243124 0.94966707 0.02278533 1.30328977] [ 0.1723721 0.03308824 0.98447602 -1.65961804] [ 0. 0. 0. 1. ]] SLAMing on 196.97629675700003 meters Centerline goodness : 0.773399 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.30, Z:-1.66 [[ 0.93380398 0.31206581 -0.17500019 -0.13266483] [-0.31300497 0.94947458 0.02293289 1.30035713] [ 0.1733148 0.0333611 0.98430128 -1.65878063] [ 0. 0. 0. 1. ]] SLAMing on 197.00629675700003 meters Centerline goodness : 0.773399 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.30, Z:-1.66 [[ 0.93380398 0.31206581 -0.17500019 -0.13266483] [-0.31300497 0.94947458 0.02293289 1.30035713] [ 0.1733148 0.0333611 0.98430128 -1.65878063] [ 0. 0. 0. 1. ]] SLAMing on 197.03629675700003 meters Centerline goodness : 0.770817 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.30, Z:-1.66 [[ 0.93373018 0.31235769 -0.17487317 -0.13304636] [-0.31319936 0.94939686 0.02348965 1.29895259] [ 0.17336122 0.03283717 0.98431073 -1.6586525 ] [ 0. 0. 0. 1. ]] SLAMing on 197.06629675700003 meters Centerline goodness : 0.772130 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.30, Z:-1.66 [[ 0.93367888 0.31272881 -0.17448335 -0.13402941] [-0.31339581 0.94930796 0.02444304 1.29620939] [ 0.17328247 0.0318604 0.98435669 -1.65850976] [ 0. 0. 0. 1. ]] SLAMing on 197.09629675700003 meters Centerline goodness : 0.794668 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.29, Z:-1.66 [[ 0.93362888 0.31320566 -0.17389462 -0.13596469] [-0.31361775 0.94919795 0.02582929 1.29278926] [ 0.17315029 0.03042146 0.98442547 -1.65737906] [ 0. 0. 0. 1. ]] SLAMing on 197.12629675700003 meters Centerline goodness : 0.780395 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.29, Z:-1.66 [[ 0.93359627 0.31344111 -0.17364524 -0.13708274] [-0.31369824 0.94914758 0.02668868 1.29040906] [ 0.17318029 0.02955576 0.98444657 -1.65665274] [ 0. 0. 0. 1. ]] SLAMing on 197.15629675700004 meters Centerline goodness : 0.772272 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.29, Z:-1.66 [[ 0.93469852 0.30992551 -0.17402546 -0.13989528] [-0.31057603 0.9502408 0.02418559 1.2879075 ] [ 0.17286183 0.0314419 0.9844441 -1.65544294] [ 0. 0. 0. 1. ]] SLAMing on 197.18629675700004 meters Centerline goodness : 0.776505 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.29, Z:-1.65 [[ 0.93474085 0.30988408 -0.17387181 -0.14043683] [-0.31037878 0.9502831 0.02504075 1.28558646] [ 0.17298717 0.03055951 0.98444987 -1.65471193] [ 0. 0. 0. 1. ]] SLAMing on 197.21629675700004 meters Centerline goodness : 0.788620 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.28, Z:-1.65 [[ 0.93529087 0.30835517 -0.173632 -0.14012416] [-0.3087719 0.95079964 0.02529747 1.28210788] [ 0.17288985 0.02995219 0.98448563 -1.65469574] [ 0. 0. 0. 1. ]] SLAMing on 197.24629675700004 meters Centerline goodness : 0.784481 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.28, Z:-1.65 [[ 0.93539596 0.30798312 -0.17372619 -0.13972673] [-0.30829313 0.95093915 0.02588587 1.27965237] [ 0.17317544 0.02934505 0.98445372 -1.65460581] [ 0. 0. 0. 1. ]] SLAMing on 197.27629675700004 meters Centerline goodness : 0.776172 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.28, Z:-1.66 [[ 0.93651158 0.30411783 -0.17452336 -0.14046897] [-0.30492616 0.95210231 0.02283023 1.27708707] [ 0.17310718 0.03183596 0.98438833 -1.65509186] [ 0. 0. 0. 1. ]] SLAMing on 197.30629675700004 meters Centerline goodness : 0.780078 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.28, Z:-1.65 [[ 0.93645129 0.3044066 -0.17434333 -0.14093458] [-0.30506896 0.95203645 0.02365422 1.27505759] [ 0.17318171 0.03103571 0.98440077 -1.65460711] [ 0. 0. 0. 1. ]] SLAMing on 197.336296757 meters Centerline goodness : 0.779136 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.27, Z:-1.65 [[ 0.93637688 0.30491881 -0.17384723 -0.14168103] [-0.30546395 0.95189404 0.02428002 1.27338878] [ 0.17288758 0.03036881 0.98447327 -1.65487026] [ 0. 0. 0. 1. ]] SLAMing on 197.36629675700001 meters Centerline goodness : 0.778879 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.27, Z:-1.65 [[ 0.93626364 0.30533831 -0.17372078 -0.14189192] [-0.30585082 0.9517646 0.02448295 1.27322285] [ 0.17281687 0.03021015 0.98449057 -1.65498138] [ 0. 0. 0. 1. ]] SLAMing on 197.39629675700002 meters Centerline goodness : 0.779547 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.27, Z:-1.65 [[ 0.93611192 0.30588508 -0.17357648 -0.14225859] [-0.30633637 0.95159872 0.02485779 1.27289953] [ 0.17277878 0.02990311 0.98450663 -1.65484775] [ 0. 0. 0. 1. ]] SLAMing on 197.42629675700002 meters Centerline goodness : 0.780374 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.27, Z:-1.65 [[ 0.93571897 0.30747266 -0.1728889 -0.14415564] [-0.30778807 0.95110879 0.0256628 1.27188976] [ 0.17232676 0.02919997 0.98460695 -1.65489497] [ 0. 0. 0. 1. ]] SLAMing on 197.45629675700002 meters Centerline goodness : 0.780060 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.28, Z:-1.66 [[ 0.93521806 0.31041892 -0.17031522 -0.1701618 ] [-0.3105677 0.95018296 0.02645833 1.27895492] [ 0.17004378 0.0281501 0.98503436 -1.66272723] [ 0. 0. 0. 1. ]] SLAMing on 197.48629675700002 meters Centerline goodness : 0.783703 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.28, Z:-1.66 [[ 0.93499288 0.31126985 -0.16999824 -0.17087799] [-0.31137321 0.94991121 0.02674724 1.2790126 ] [ 0.16980884 0.02792442 0.98508131 -1.66291229] [ 0. 0. 0. 1. ]] SLAMing on 197.51629675700002 meters Centerline goodness : 0.782939 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.28, Z:-1.66 [[ 0.9345202 0.31305699 -0.16931424 -0.17246087] [-0.3130294 0.94934348 0.02756007 1.27826434] [ 0.16936524 0.02724489 0.9851767 -1.66335686] [ 0. 0. 0. 1. ]] SLAMing on 197.54629675700002 meters Centerline goodness : 0.781416 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.28, Z:-1.66 [[ 0.93435469 0.31367355 -0.16908642 -0.17297085] [-0.3135731 0.94915104 0.02800394 1.2773503 ] [ 0.16927264 0.02685534 0.98520331 -1.66352361] [ 0. 0. 0. 1. ]] SLAMing on 197.57629675700002 meters Centerline goodness : 0.781476 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.28, Z:-1.66 [[ 0.934191 0.31427868 -0.16886709 -0.17351459] [-0.31407558 0.94896644 0.02862214 1.27597258] [ 0.16924453 0.02629848 0.98522316 -1.66357196] [ 0. 0. 0. 1. ]] SLAMing on 197.60629675700002 meters Centerline goodness : 0.785998 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.27, Z:-1.66 [[ 0.93390663 0.31552097 -0.16812177 -0.17579438] [-0.3150898 0.94858916 0.02995047 1.27261947] [ 0.16892849 0.02500251 0.98531114 -1.66321376] [ 0. 0. 0. 1. ]] SLAMing on 197.63629675700003 meters Centerline goodness : 0.782877 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.27, Z:-1.66 [[ 0.93375097 0.31635472 -0.16741808 -0.17789919] [-0.31565942 0.94835069 0.03146567 1.26869136] [ 0.16872537 0.02346599 0.98538373 -1.6625277 ] [ 0. 0. 0. 1. ]] SLAMing on 197.66629675700003 meters Centerline goodness : 0.784211 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.27, Z:-1.66 [[ 0.93367393 0.31672001 -0.16715692 -0.17867039] [-0.31588913 0.9482477 0.03225456 1.26665891] [ 0.16872183 0.02268781 0.98540256 -1.66222054] [ 0. 0. 0. 1. ]] SLAMing on 197.69629675700003 meters Centerline goodness : 0.784546 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.27, Z:-1.66 [[ 0.93464019 0.31363079 -0.16758114 -0.18099656] [-0.3132493 0.94921556 0.0294057 1.26542654] [ 0.16829316 0.02501092 0.98541964 -1.66186492] [ 0. 0. 0. 1. ]] SLAMing on 197.72629675700003 meters Centerline goodness : 0.784775 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.66 [[ 0.93454968 0.31401941 -0.16735801 -0.18209301] [-0.31349153 0.94910857 0.03026505 1.26349657] [ 0.16834473 0.02418112 0.98543154 -1.66103733] [ 0. 0. 0. 1. ]] SLAMing on 197.75629675700003 meters Centerline goodness : 0.784107 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.26, Z:-1.66 [[ 0.93440514 0.31459222 -0.16708911 -0.18332037] [-0.31390386 0.94894141 0.03121811 1.26158412] [ 0.16837875 0.02327955 0.98544744 -1.66015324] [ 0. 0. 0. 1. ]] SLAMing on 197.78629675700003 meters Centerline goodness : 0.786674 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.26, Z:-1.66 [[ 0.93426269 0.31527417 -0.16659958 -0.18516109] [-0.31436624 0.94874533 0.03249862 1.25829858] [ 0.16830655 0.02201104 0.98548892 -1.65922454] [ 0. 0. 0. 1. ]] SLAMing on 197.81629675700003 meters Centerline goodness : 0.788843 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.26, Z:-1.66 [[ 0.93417222 0.31558609 -0.16651631 -0.18573027] [-0.31458253 0.94865369 0.03307572 1.25708268] [ 0.16840455 0.02148471 0.9854838 -1.6587304 ] [ 0. 0. 0. 1. ]] SLAMing on 197.84629675700003 meters Centerline goodness : 0.788106 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.26, Z:-1.66 [[ 0.93596486 0.31319376 -0.1608709 -0.20326131] [-0.31153564 0.94954875 0.03609316 1.26187455] [ 0.16405892 0.01633509 0.98631528 -1.66271334] [ 0. 0. 0. 1. ]] SLAMing on 197.87629675700003 meters Centerline goodness : 0.788992 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.26, Z:-1.66 [[ 0.93584936 0.31363048 -0.16069193 -0.20364253] [-0.31192624 0.94940916 0.0363906 1.26144553] [ 0.16397559 0.01606791 0.98633353 -1.6627534 ] [ 0. 0. 0. 1. ]] SLAMing on 197.90629675700004 meters Centerline goodness : 0.789061 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.93684707 0.31199872 -0.15803281 -0.22639655] [-0.31019624 0.94996814 0.03658989 1.26873062] [ 0.16154213 0.01474205 0.9867557 -1.66813856] [ 0. 0. 0. 1. ]] SLAMing on 197.93629675700004 meters Centerline goodness : 0.788515 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.93674149 0.31234053 -0.15798345 -0.22680226] [-0.3104878 0.94986006 0.03692155 1.26805736] [ 0.16159426 0.01446599 0.98675125 -1.66787356] [ 0. 0. 0. 1. ]] SLAMing on 197.96629675700004 meters Centerline goodness : 0.789979 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.93654109 0.31304761 -0.1577719 -0.22761992] [-0.31111487 0.94963409 0.03745166 1.26700797] [ 0.16154973 0.01401016 0.98676512 -1.66764522] [ 0. 0. 0. 1. ]] SLAMing on 197.99629675700004 meters Centerline goodness : 0.790180 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.93646171 0.31323114 -0.15787883 -0.22725974] [-0.31128891 0.94957378 0.03753472 1.26658628] [ 0.16167465 0.0139961 0.98674486 -1.66800291] [ 0. 0. 0. 1. ]] SLAMing on 198.02629675700004 meters Centerline goodness : 0.790324 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.9363424 0.31361877 -0.15781694 -0.22679173] [-0.31167892 0.94944532 0.03754782 1.26643986] [ 0.16161426 0.0140306 0.98675426 -1.66895447] [ 0. 0. 0. 1. ]] SLAMing on 198.05629675700004 meters Centerline goodness : 0.793095 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.27, Z:-1.67 [[ 0.9362275 0.31396252 -0.15781508 -0.22637563] [-0.31200035 0.94933318 0.03771336 1.26568375] [ 0.16165967 0.01393008 0.98674825 -1.66976872] [ 0. 0. 0. 1. ]] SLAMing on 198.086296757 meters Centerline goodness : 0.793076 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.27, Z:-1.67 [[ 0.9364694 0.31292282 -0.1584436 -0.24631128] [-0.31042794 0.94971628 0.04090815 1.27078966] [ 0.16327756 0.01087609 0.98652022 -1.67318059] [ 0. 0. 0. 1. ]] SLAMing on 198.11629675700001 meters Centerline goodness : 0.792115 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.27, Z:-1.67 [[ 0.9364225 0.31305194 -0.15846573 -0.24590858] [-0.31048413 0.9496783 0.04136101 1.26868405] [ 0.16343961 0.01046972 0.98649778 -1.67376089] [ 0. 0. 0. 1. ]] SLAMing on 198.14629675700002 meters Centerline goodness : 0.796072 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.28, Z:-1.68 [[ 0.93713813 0.3113221 -0.15764099 -0.26966385] [-0.30870326 0.95025391 0.0414705 1.2754799 ] [ 0.16270965 0.0098007 0.98662532 -1.67892614] [ 0. 0. 0. 1. ]] SLAMing on 198.17629675700002 meters Centerline goodness : 0.792740 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.28, Z:-1.68 [[ 0.93779364 0.30895981 -0.15838849 -0.28702337] [-0.30538547 0.95106562 0.04705203 1.27739878] [ 0.16517504 0.00424445 0.98625514 -1.67909882] [ 0. 0. 0. 1. ]] SLAMing on 198.20629675700002 meters Centerline goodness : 0.792668 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.28, Z:-1.68 [[ 0.93777854 0.30903893 -0.15832359 -0.28742614] [-0.3053661 0.95104232 0.04764501 1.27572328] [ 0.16529659 0.00366619 0.98623709 -1.67858718] [ 0. 0. 0. 1. ]] SLAMing on 198.23629675700002 meters Centerline goodness : 0.793294 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.9389039 0.30533106 -0.15884711 -0.28925395] [-0.30214361 0.95222566 0.04444686 1.27495844] [ 0.1648293 0.00626331 0.98630222 -1.6780929 ] [ 0. 0. 0. 1. ]] SLAMing on 198.26629675700002 meters Centerline goodness : 0.793128 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.28, Z:-1.68 [[ 0.93999673 0.30150988 -0.15968075 -0.2902262 ] [-0.29890399 0.95341581 0.04067811 1.27592384] [ 0.164507 0.00949192 0.98633024 -1.67804427] [ 0. 0. 0. 1. ]] SLAMing on 198.29629675700002 meters Centerline goodness : 0.792981 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.94115773 0.29747286 -0.16041205 -0.29160835] [-0.29535481 0.95465323 0.03745333 1.27490065] [ 0.16427923 0.01212898 0.9863393 -1.67736439] [ 0. 0. 0. 1. ]] SLAMing on 198.32629675700002 meters Centerline goodness : 0.783773 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.28, Z:-1.68 [[ 0.9422533 0.29343482 -0.16141477 -0.29193526] [-0.29192424 0.95585315 0.03354101 1.27593833] [ 0.16413091 0.01551676 0.98631652 -1.67754791] [ 0. 0. 0. 1. ]] SLAMing on 198.35629675700002 meters Centerline goodness : 0.792289 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.28, Z:-1.68 [[ 0.94346569 0.2888923 -0.162523 -0.29167621] [-0.28797752 0.95717703 0.02968291 1.27529551] [ 0.16413844 0.01879817 0.98625818 -1.67815239] [ 0. 0. 0. 1. ]] SLAMing on 198.38629675700003 meters Centerline goodness : 0.796079 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.94353401 0.28854349 -0.1627459 -0.29094273] [-0.28758288 0.95728725 0.02995331 1.27376403] [ 0.16443741 0.01854097 0.98621325 -1.67823425] [ 0. 0. 0. 1. ]] SLAMing on 198.41629675700003 meters Centerline goodness : 0.794066 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.94467662 0.28402934 -0.16405309 -0.28985826] [-0.28373628 0.95855737 0.02571963 1.27424391] [ 0.16455943 0.02225108 0.98611616 -1.67942932] [ 0. 0. 0. 1. ]] SLAMing on 198.44629675700003 meters Centerline goodness : 0.796060 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.9447089 0.28379275 -0.16427649 -0.28925493] [-0.28345205 0.9586335 0.02601447 1.2726535 ] [ 0.16486367 0.0219884 0.98607123 -1.67948442] [ 0. 0. 0. 1. ]] SLAMing on 198.47629675700003 meters Centerline goodness : 0.798338 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.94479586 0.28338607 -0.16447833 -0.2885899 ] [-0.28300896 0.95875871 0.02622336 1.2702726 ] [ 0.16512637 0.02177312 0.98603206 -1.67984133] [ 0. 0. 0. 1. ]] SLAMing on 198.50629675700003 meters Centerline goodness : 0.798672 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.94476953 0.28334741 -0.16469601 -0.2880468 ] [-0.28295166 0.95877187 0.02636018 1.26983938] [ 0.16537499 0.02169671 0.98599207 -1.67984198] [ 0. 0. 0. 1. ]] SLAMing on 198.53629675700003 meters Centerline goodness : 0.797579 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.94468428 0.28361752 -0.16472011 -0.28754225] [-0.28324258 0.95868863 0.02626322 1.27000178] [ 0.16536401 0.02184529 0.98599063 -1.68057529] [ 0. 0. 0. 1. ]] SLAMing on 198.56629675700003 meters Centerline goodness : 0.796376 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.94463194 0.28364884 -0.16496614 -0.28676898] [-0.28328732 0.95867662 0.02621907 1.27010975] [ 0.16558619 0.02196544 0.98595067 -1.68086476] [ 0. 0. 0. 1. ]] SLAMing on 198.59629675700003 meters Centerline goodness : 0.796554 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.94444886 0.28416778 -0.16512125 -0.28596743] [-0.28384427 0.95851621 0.02605982 1.27045644] [ 0.16567676 0.02225656 0.98592893 -1.68195497] [ 0. 0. 0. 1. ]] SLAMing on 198.62629675700003 meters Centerline goodness : 0.797658 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.94435921 0.28445492 -0.1651396 -0.285654 ] [-0.28414578 0.95842843 0.0260022 1.27072513] [ 0.16567094 0.0223683 0.98592738 -1.68244041] [ 0. 0. 0. 1. ]] SLAMing on 198.65629675700004 meters Centerline goodness : 0.794870 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.27, Z:-1.68 [[ 0.94428197 0.28460869 -0.16531626 -0.2846885 ] [-0.28428919 0.9583832 0.02610167 1.27011975] [ 0.16586508 0.02235029 0.98589515 -1.68320173] [ 0. 0. 0. 1. ]] SLAMing on 198.68629675700004 meters Centerline goodness : 0.792811 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.27, Z:-1.68 [[ 0.9442667 0.28460955 -0.16540195 -0.2842706 ] [-0.28425096 0.95838786 0.02634569 1.26907932] [ 0.16601745 0.0221383 0.98587428 -1.68341178] [ 0. 0. 0. 1. ]] SLAMing on 198.71629675700004 meters Centerline goodness : 0.795927 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.27, Z:-1.68 [[ 0.94429301 0.28441462 -0.16558696 -0.2841925 ] [-0.28389783 0.95846608 0.02729096 1.26636245] [ 0.16647143 0.02123912 0.98581751 -1.68232841] [ 0. 0. 0. 1. ]] SLAMing on 198.74629675700004 meters Centerline goodness : 0.795521 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94428374 0.28438799 -0.16568549 -0.28447077] [-0.28375559 0.95848818 0.02798517 1.26437435] [ 0.16676623 0.02058824 0.98578149 -1.68141977] [ 0. 0. 0. 1. ]] SLAMing on 198.77629675700004 meters Centerline goodness : 0.797826 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.26, Z:-1.68 [[ 0.94528207 0.28067323 -0.166326 -0.28638731] [-0.28054217 0.95952192 0.0247744 1.2634161 ] [ 0.16654695 0.02324266 0.98575955 -1.68064283] [ 0. 0. 0. 1. ]] SLAMing on 198.80629675700004 meters Centerline goodness : 0.800666 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.26, Z:-1.68 [[ 0.94530784 0.28048407 -0.16649855 -0.28617566] [-0.28026041 0.95958977 0.02532922 1.26175268] [ 0.16687475 0.02271904 0.98571632 -1.67999433] [ 0. 0. 0. 1. ]] SLAMing on 198.836296757 meters Centerline goodness : 0.804534 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.26, Z:-1.68 [[ 0.94629519 0.27650565 -0.16754116 -0.28642645] [-0.27689083 0.96066011 0.02153193 1.26277655] [ 0.16690381 0.02601505 0.98562992 -1.68003051] [ 0. 0. 0. 1. ]] SLAMing on 198.86629675700001 meters Centerline goodness : 0.807662 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.26, Z:-1.68 [[ 0.94631638 0.2762427 -0.16785496 -0.28564651] [-0.27661303 0.96073758 0.02164547 1.26229675] [ 0.16724398 0.0259474 0.98557404 -1.67985836] [ 0. 0. 0. 1. ]] SLAMing on 198.89629675700002 meters Centerline goodness : 0.807662 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.26, Z:-1.68 [[ 0.94631638 0.2762427 -0.16785496 -0.28564651] [-0.27661303 0.96073758 0.02164547 1.26229675] [ 0.16724398 0.0259474 0.98557404 -1.67985836] [ 0. 0. 0. 1. ]] SLAMing on 198.92629675700002 meters Centerline goodness : 0.805479 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.26, Z:-1.68 [[ 0.94633421 0.27615166 -0.16790421 -0.28532032] [-0.27648452 0.96076959 0.02186577 1.26157137] [ 0.16735552 0.02573059 0.98556079 -1.67984351] [ 0. 0. 0. 1. ]] SLAMing on 198.95629675700002 meters Centerline goodness : 0.805654 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94636808 0.27589308 -0.16813821 -0.28443558] [-0.27622502 0.9608438 0.02188443 1.26122525] [ 0.16759232 0.02573326 0.98552048 -1.68001333] [ 0. 0. 0. 1. ]] SLAMing on 198.98629675700002 meters Centerline goodness : 0.800569 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.9464993 0.27506151 -0.1687609 -0.28242167] [-0.2754269 0.96107683 0.02171046 1.26053875] [ 0.16816391 0.02593236 0.98541789 -1.68030793] [ 0. 0. 0. 1. ]] SLAMing on 199.01629675700002 meters Centerline goodness : 0.801226 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94657221 0.27463577 -0.16904509 -0.28164797] [-0.27501457 0.96119654 0.02163804 1.26012716] [ 0.16842813 0.0260079 0.98537077 -1.68024943] [ 0. 0. 0. 1. ]] SLAMing on 199.04629675700002 meters Centerline goodness : 0.803489 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94721949 0.27216519 -0.16941472 -0.28259735] [-0.27290477 0.96184618 0.01936274 1.26145496] [ 0.16822076 0.02789332 0.98535463 -1.67952936] [ 0. 0. 0. 1. ]] SLAMing on 199.07629675700002 meters Centerline goodness : 0.802094 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94721199 0.27210114 -0.16955945 -0.28244295] [-0.27281503 0.96186822 0.01953161 1.26119606] [ 0.16840842 0.02775779 0.9853264 -1.67908876] [ 0. 0. 0. 1. ]] SLAMing on 199.10629675700002 meters Centerline goodness : 0.800762 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94723856 0.27178215 -0.16992225 -0.28147636] [-0.27250098 0.96195718 0.01953453 1.26099115] [ 0.16876706 0.02780012 0.98526384 -1.67893776] [ 0. 0. 0. 1. ]] SLAMing on 199.13629675700003 meters Centerline goodness : 0.797853 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94725317 0.27148766 -0.17031113 -0.28027551] [-0.2722388 0.96203444 0.01938456 1.26116635] [ 0.16910784 0.02800321 0.98519965 -1.67915534] [ 0. 0. 0. 1. ]] SLAMing on 199.16629675700003 meters Centerline goodness : 0.796702 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94725812 0.27126245 -0.17064212 -0.27858908] [-0.27210253 0.96208259 0.01890241 1.26202241] [ 0.16929933 0.02852669 0.98515175 -1.68031918] [ 0. 0. 0. 1. ]] SLAMing on 199.19629675700003 meters Centerline goodness : 0.792626 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94716415 0.27161024 -0.1706105 -0.2784965 ] [-0.2724831 0.96197809 0.01873789 1.26269723] [ 0.16921297 0.02874062 0.98516037 -1.68077663] [ 0. 0. 0. 1. ]] SLAMing on 199.22629675700003 meters Centerline goodness : 0.793315 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94708424 0.27182009 -0.17071988 -0.27858886] [-0.27267985 0.96192011 0.01885207 1.26295035] [ 0.16934325 0.02869737 0.98513924 -1.68036875] [ 0. 0. 0. 1. ]] SLAMing on 199.25629675700003 meters Centerline goodness : 0.794196 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94690671 0.2727309 -0.17025138 -0.28025129] [-0.27351513 0.96167416 0.0192947 1.26283723] [ 0.16898861 0.02829605 0.98521174 -1.67986201] [ 0. 0. 0. 1. ]] SLAMing on 199.28629675700003 meters Centerline goodness : 0.794128 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94682399 0.27312434 -0.17008062 -0.28096197] [-0.2738674 0.96156891 0.01954164 1.26286429] [ 0.16888154 0.02807705 0.98523637 -1.67948509] [ 0. 0. 0. 1. ]] SLAMing on 199.31629675700003 meters Centerline goodness : 0.794929 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94664141 0.27412855 -0.16948033 -0.28303305] [-0.27474792 0.96130293 0.02025498 1.26278215] [ 0.1684744 0.02739017 0.98532541 -1.67854142] [ 0. 0. 0. 1. ]] SLAMing on 199.34629675700003 meters Centerline goodness : 0.793183 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94655081 0.27453098 -0.16933491 -0.28361848] [-0.27510606 0.96119473 0.0205266 1.26298493] [ 0.16839901 0.02715559 0.98534479 -1.67812974] [ 0. 0. 0. 1. ]] SLAMing on 199.37629675700003 meters Centerline goodness : 0.794430 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94644661 0.27499958 -0.16915688 -0.2839213 ] [-0.27556566 0.96106166 0.02059254 1.26360811] [ 0.16823313 0.02712409 0.98537399 -1.67829459] [ 0. 0. 0. 1. ]] SLAMing on 199.40629675700004 meters Centerline goodness : 0.792167 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94640964 0.27496781 -0.16941516 -0.28326233] [-0.27555335 0.96106678 0.02051813 1.26379566] [ 0.16846111 0.02726436 0.98533117 -1.67839406] [ 0. 0. 0. 1. ]] SLAMing on 199.43629675700004 meters Centerline goodness : 0.790669 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94637833 0.27494112 -0.16963325 -0.28263696] [-0.27554264 0.96107113 0.02045822 1.26376484] [ 0.16865442 0.02737998 0.98529489 -1.67859515] [ 0. 0. 0. 1. ]] SLAMing on 199.46629675700004 meters Centerline goodness : 0.793002 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.26, Z:-1.68 [[ 0.94625551 0.27530899 -0.16972176 -0.28222953] [-0.27596252 0.96095606 0.02020245 1.26443248] [ 0.16865707 0.02772016 0.98528493 -1.67928515] [ 0. 0. 0. 1. ]] SLAMing on 199.49629675700004 meters Centerline goodness : 0.792099 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.27, Z:-1.68 [[ 0.94615594 0.27568244 -0.16967064 -0.28196609] [-0.27640478 0.96083679 0.01982549 1.26617044] [ 0.16849134 0.02813977 0.98530139 -1.67997712] [ 0. 0. 0. 1. ]] SLAMing on 199.52629675700004 meters Centerline goodness : 0.792362 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.27, Z:-1.68 [[ 0.94616117 0.27556815 -0.16982707 -0.28138391] [-0.27633194 0.96086238 0.01959945 1.26686037] [ 0.16858143 0.02838441 0.98527896 -1.68017309] [ 0. 0. 0. 1. ]] SLAMing on 199.55629675700004 meters Centerline goodness : 0.792541 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.27, Z:-1.68 [[ 0.94607534 0.2760511 -0.16952064 -0.28258098] [-0.27674941 0.96073451 0.01997411 1.26724891] [ 0.1683782 0.02801773 0.9853242 -1.67927722] [ 0. 0. 0. 1. ]] SLAMing on 199.586296757 meters Centerline goodness : 0.788500 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.27, Z:-1.68 [[ 0.9460547 0.27612819 -0.16951027 -0.28291378] [-0.27679607 0.96071724 0.02015742 1.26711332] [ 0.16841748 0.02784975 0.98532225 -1.67874299] [ 0. 0. 0. 1. ]] SLAMing on 199.61629675700001 meters Centerline goodness : 0.792046 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.27, Z:-1.68 [[ 0.94595163 0.27665311 -0.16922932 -0.28450463] [-0.27717653 0.96058941 0.02100375 1.26618183] [ 0.16837065 0.02703787 0.98535287 -1.67711797] [ 0. 0. 0. 1. ]] SLAMing on 199.64629675700002 meters Centerline goodness : 0.792077 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.27, Z:-1.68 [[ 0.94587529 0.27699568 -0.16909563 -0.28524693] [-0.27745709 0.9605002 0.02137605 1.26672105] [ 0.16833746 0.0266977 0.98536781 -1.67615674] [ 0. 0. 0. 1. ]] SLAMing on 199.67629675700002 meters Centerline goodness : 0.793598 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.27, Z:-1.68 [[ 0.94586686 0.27693587 -0.16924069 -0.28467 ] [-0.27744253 0.96050986 0.02112932 1.26770249] [ 0.16840881 0.02696905 0.98534823 -1.67634696] [ 0. 0. 0. 1. ]] SLAMing on 199.70629675700002 meters Centerline goodness : 0.791966 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.27, Z:-1.68 [[ 0.94725533 0.27526898 -0.16411683 -0.30359717] [-0.27515731 0.96110283 0.02387059 1.27466956] [ 0.16430398 0.0225464 0.98615205 -1.68040469] [ 0. 0. 0. 1. ]] SLAMing on 199.73629675700002 meters Centerline goodness : 0.790104 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94712005 0.2756959 -0.16418095 -0.32402881] [-0.27497486 0.96105629 0.02756146 1.28155437] [ 0.16538571 0.01904162 0.98604512 -1.68406764] [ 0. 0. 0. 1. ]] SLAMing on 199.76629675700002 meters Centerline goodness : 0.789520 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94707767 0.27581843 -0.16421962 -0.32390111] [-0.27512394 0.96101771 0.02741849 1.28226523] [ 0.16538049 0.01921331 0.98604267 -1.68415915] [ 0. 0. 0. 1. ]] SLAMing on 199.79629675700002 meters Centerline goodness : 0.789332 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94704471 0.27578456 -0.16446642 -0.32334391] [-0.27512143 0.961023 0.02725791 1.28310131] [ 0.16557332 0.01943378 0.98600599 -1.6840442 ] [ 0. 0. 0. 1. ]] SLAMing on 199.82629675700002 meters Centerline goodness : 0.794084 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94705295 0.27568043 -0.16459346 -0.32294942] [-0.2750279 0.96105139 0.02720079 1.28314047] [ 0.1656815 0.01950721 0.98598636 -1.6841172 ] [ 0. 0. 0. 1. ]] SLAMing on 199.85629675700002 meters Centerline goodness : 0.788711 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94712014 0.27532622 -0.16479959 -0.32227839] [-0.27468853 0.96115112 0.02710607 1.28303125] [ 0.16586032 0.01959585 0.98595454 -1.68407674] [ 0. 0. 0. 1. ]] SLAMing on 199.88629675700003 meters Centerline goodness : 0.792247 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.9471214 0.27528002 -0.16486951 -0.32246415] [-0.27456649 0.96117306 0.02756085 1.28275372] [ 0.16605508 0.01916417 0.98593024 -1.68299409] [ 0. 0. 0. 1. ]] SLAMing on 199.91629675700003 meters Centerline goodness : 0.792385 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94714372 0.2750222 -0.16517135 -0.32180647] [-0.27430785 0.9612464 0.02757826 1.28283468] [ 0.166355 0.01918722 0.98587924 -1.68268525] [ 0. 0. 0. 1. ]] SLAMing on 199.94629675700003 meters Centerline goodness : 0.792102 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94718739 0.27460341 -0.16561708 -0.32078046] [-0.27384596 0.96137031 0.02784813 1.28214453] [ 0.16686653 0.01897617 0.98579687 -1.68213922] [ 0. 0. 0. 1. ]] SLAMing on 199.97629675700003 meters Centerline goodness : 0.796519 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94720105 0.27432456 -0.16600064 -0.31983896] [-0.27355907 0.96145004 0.02791511 1.28182012] [ 0.16725912 0.01896976 0.98573046 -1.68200467] [ 0. 0. 0. 1. ]] SLAMing on 200.00629675700003 meters Centerline goodness : 0.795237 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94725292 0.27393164 -0.16635311 -0.31858066] [-0.27320602 0.96155704 0.02768625 1.2822234 ] [ 0.16754214 0.01922279 0.98567749 -1.68226861] [ 0. 0. 0. 1. ]] SLAMing on 200.03629675700003 meters Centerline goodness : 0.794737 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94723947 0.2738672 -0.16653571 -0.31799901] [-0.27315033 0.96157389 0.02765038 1.28255891] [ 0.16770893 0.01929775 0.98564766 -1.68231967] [ 0. 0. 0. 1. ]] SLAMing on 200.06629675700003 meters Centerline goodness : 0.794041 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94722966 0.27380886 -0.16668737 -0.31769929] [-0.27313837 0.96158473 0.02739049 1.28346898] [ 0.16778378 0.01958363 0.98562928 -1.68224848] [ 0. 0. 0. 1. ]] SLAMing on 200.09629675700003 meters Centerline goodness : 0.792727 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.28, Z:-1.68 [[ 0.94717579 0.27399048 -0.16669503 -0.31795173] [-0.27331694 0.96153299 0.02742551 1.28384342] [ 0.1677971 0.01958379 0.98562701 -1.68193818] [ 0. 0. 0. 1. ]] SLAMing on 200.12629675700003 meters Centerline goodness : 0.795988 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.29, Z:-1.68 [[ 0.94705553 0.27454416 -0.16646722 -0.31890084] [-0.27389708 0.96137169 0.02729211 1.28584982] [ 0.16752976 0.01974774 0.98566922 -1.6813851 ] [ 0. 0. 0. 1. ]] SLAMing on 200.15629675700004 meters Centerline goodness : 0.797287 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.29, Z:-1.68 [[ 0.94694931 0.27493237 -0.16643073 -0.31916105] [-0.27431254 0.96125692 0.02716191 1.28727727] [ 0.16745038 0.01993309 0.98567897 -1.681243 ] [ 0. 0. 0. 1. ]] SLAMing on 200.18629675700004 meters Centerline goodness : 0.795191 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.29, Z:-1.68 [[ 0.94691733 0.27493951 -0.16660085 -0.31863696] [-0.27439725 0.96124494 0.02672678 1.28907358] [ 0.16749248 0.02040676 0.98566213 -1.68141396] [ 0. 0. 0. 1. ]] SLAMing on 200.21629675700004 meters Centerline goodness : 0.792023 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.29, Z:-1.68 [[ 0.94669669 0.27549339 -0.16693939 -0.31775317] [-0.2750467 0.96107227 0.0262566 1.29240877] [ 0.16767434 0.02105909 0.98561749 -1.68170446] [ 0. 0. 0. 1. ]] SLAMing on 200.24629675700004 meters Centerline goodness : 0.791361 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.30, Z:-1.68 [[ 0.94651525 0.27593716 -0.16723509 -0.31733328] [-0.27557469 0.96093231 0.02583957 1.29527587] [ 0.16783169 0.02162821 0.98557838 -1.68152239] [ 0. 0. 0. 1. ]] SLAMing on 200.27629675700004 meters Centerline goodness : 0.790424 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.30, Z:-1.68 [[ 0.94647608 0.27592933 -0.16746952 -0.31681595] [-0.27560383 0.96092896 0.02565276 1.29629695] [ 0.16800466 0.02187551 0.98554345 -1.68143827] [ 0. 0. 0. 1. ]] SLAMing on 200.30629675700004 meters Centerline goodness : 0.789262 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.30, Z:-1.68 [[ 0.94651201 0.27551404 -0.16794951 -0.31557182] [-0.27526047 0.96103783 0.02525801 1.29776169] [ 0.16836477 0.02232285 0.98547197 -1.68124913] [ 0. 0. 0. 1. ]] SLAMing on 200.336296757 meters Centerline goodness : 0.786674 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.30, Z:-1.68 [[ 0.94654472 0.27512605 -0.16840056 -0.31452299] [-0.27488562 0.96114645 0.02520708 1.29793662] [ 0.16879272 0.02243126 0.98539629 -1.68093185] [ 0. 0. 0. 1. ]] SLAMing on 200.36629675700001 meters Centerline goodness : 0.783221 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.30, Z:-1.68 [[ 0.94677852 0.27396969 -0.16897055 -0.31302773] [-0.27377326 0.96147128 0.02492354 1.2981587 ] [ 0.16928863 0.02266255 0.98530593 -1.68033545] [ 0. 0. 0. 1. ]] SLAMing on 200.39629675700002 meters Centerline goodness : 0.783964 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.30, Z:-1.68 [[ 0.94684535 0.27351901 -0.16932583 -0.31220801] [-0.27332592 0.96159885 0.02491163 1.29852517] [ 0.16963733 0.02269368 0.98524524 -1.67987093] [ 0. 0. 0. 1. ]] SLAMing on 200.42629675700002 meters Centerline goodness : 0.783041 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.30, Z:-1.68 [[ 0.94704076 0.27257828 -0.16974948 -0.31103031] [-0.27237884 0.96186731 0.02492071 1.29909579] [ 0.17006932 0.02263524 0.9851721 -1.67885224] [ 0. 0. 0. 1. ]] SLAMing on 200.45629675700002 meters Centerline goodness : 0.787384 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.30, Z:-1.68 [[ 0.94710565 0.2721803 -0.17002581 -0.31053238] [-0.27194944 0.96198405 0.02510358 1.29887267] [ 0.17039482 0.02246269 0.98511981 -1.67809387] [ 0. 0. 0. 1. ]] SLAMing on 200.48629675700002 meters Centerline goodness : 0.789619 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.30, Z:-1.68 [[ 0.94811614 0.26797357 -0.17107292 -0.31099573] [-0.26838411 0.96307947 0.02116368 1.30163934] [ 0.17042812 0.02584763 0.98503104 -1.67715941] [ 0. 0. 0. 1. ]] SLAMing on 200.51629675700002 meters Centerline goodness : 0.788632 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.30, Z:-1.68 [[ 0.9481486 0.26762724 -0.17143483 -0.31033545] [-0.26800765 0.96317993 0.02136155 1.30150775] [ 0.17083952 0.02569192 0.98496385 -1.67641812] [ 0. 0. 0. 1. ]] SLAMing on 200.54629675700002 meters Centerline goodness : 0.786620 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.30, Z:-1.68 [[ 0.94818929 0.26734395 -0.17165161 -0.30983917] [-0.26772044 0.96325914 0.02139133 1.30155059] [ 0.17106382 0.02567161 0.98492545 -1.67606927] [ 0. 0. 0. 1. ]] SLAMing on 200.57629675700002 meters Centerline goodness : 0.789006 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.30, Z:-1.68 [[ 0.94822881 0.26697899 -0.172001 -0.30925459] [-0.26738244 0.96335601 0.02125616 1.3029868 ] [ 0.17137315 0.02583435 0.98486742 -1.67519228] [ 0. 0. 0. 1. ]] SLAMing on 200.60629675700002 meters Centerline goodness : 0.785946 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.30, Z:-1.67 [[ 0.94822081 0.26687317 -0.1722092 -0.30875597] [-0.26730953 0.96337991 0.02108945 1.3044951 ] [ 0.1715311 0.0260357 0.98483462 -1.67481939] [ 0. 0. 0. 1. ]] SLAMing on 200.63629675700003 meters Centerline goodness : 0.782549 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.31, Z:-1.67 [[ 0.94814221 0.26707377 -0.1723309 -0.30832885] [-0.26759784 0.96330996 0.02062321 1.30787723] [ 0.17151599 0.02656165 0.9848232 -1.67461955] [ 0. 0. 0. 1. ]] SLAMing on 200.66629675700003 meters Centerline goodness : 0.785649 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.31, Z:-1.67 [[ 0.9480048 0.26740076 -0.17257964 -0.3075986 ] [-0.26802628 0.96320168 0.0201105 1.31072233] [ 0.17160656 0.02719102 0.98479025 -1.67489947] [ 0. 0. 0. 1. ]] SLAMing on 200.69629675700003 meters Centerline goodness : 0.784283 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.31, Z:-1.68 [[ 0.94795893 0.26737777 -0.17286697 -0.30654759] [-0.26808948 0.96319338 0.01966072 1.312453 ] [ 0.17176116 0.02770626 0.98474894 -1.67532204] [ 0. 0. 0. 1. ]] SLAMing on 200.72629675700003 meters Centerline goodness : 0.787487 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.31, Z:-1.68 [[ 0.94702381 0.27069411 -0.17283112 -0.30308906] [-0.27096292 0.9623269 0.02249527 1.31363088] [ 0.17240937 0.02552727 0.98469455 -1.67643338] [ 0. 0. 0. 1. ]] SLAMing on 200.75629675700003 meters Centerline goodness : 0.790429 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.68 [[ 0.94698048 0.27053452 -0.17331776 -0.30158115] [-0.27090681 0.96235496 0.02196415 1.3155656 ] [ 0.17273527 0.02615334 0.98462101 -1.67680158] [ 0. 0. 0. 1. ]] SLAMing on 200.78629675700003 meters Centerline goodness : 0.789579 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.68 [[ 0.94690823 0.27043192 -0.17387172 -0.30017577] [-0.27093606 0.96236187 0.02129032 1.31797723] [ 0.1730851 0.02694814 0.98453814 -1.67710473] [ 0. 0. 0. 1. ]] SLAMing on 200.81629675700003 meters Centerline goodness : 0.789579 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.68 [[ 0.94690823 0.27043192 -0.17387172 -0.30017577] [-0.27093606 0.96236187 0.02129032 1.31797723] [ 0.1730851 0.02694814 0.98453814 -1.67710473] [ 0. 0. 0. 1. ]] SLAMing on 200.84629675700003 meters Centerline goodness : 0.790656 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.68 [[ 0.9468596 0.27041563 -0.17416165 -0.29984095] [-0.27091311 0.96236651 0.02137244 1.31830485] [ 0.17338678 0.02694597 0.98448511 -1.67652622] [ 0. 0. 0. 1. ]] SLAMing on 200.87629675700003 meters Centerline goodness : 0.795430 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.68 [[ 0.94690246 0.27003357 -0.17452108 -0.29943084] [-0.27049825 0.96247858 0.02157942 1.31812474] [ 0.17379997 0.02677404 0.98441694 -1.67538551] [ 0. 0. 0. 1. ]] SLAMing on 200.90629675700004 meters Centerline goodness : 0.797330 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94690244 0.26985309 -0.1748001 -0.2992225 ] [-0.27024797 0.96253935 0.02200086 1.31750173] [ 0.17418898 0.0264067 0.98435811 -1.67437189] [ 0. 0. 0. 1. ]] SLAMing on 200.93629675700004 meters Centerline goodness : 0.793767 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94782314 0.26605761 -0.17562643 -0.30069274] [-0.26699965 0.9635154 0.01868828 1.31864404] [ 0.17419093 0.02917902 0.98427948 -1.67286612] [ 0. 0. 0. 1. ]] SLAMing on 200.96629675700004 meters Centerline goodness : 0.794186 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94786609 0.2657227 -0.17590147 -0.30031512] [-0.2665879 0.9636206 0.01913705 1.31771721] [ 0.17458743 0.02875384 0.98422175 -1.67197211] [ 0. 0. 0. 1. ]] SLAMing on 200.99629675700004 meters Centerline goodness : 0.799009 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94890032 0.26131561 -0.17692466 -0.30067615] [-0.26277774 0.96473124 0.01554026 1.31891408] [ 0.17474566 0.03174571 0.9841017 -1.67095267] [ 0. 0. 0. 1. ]] SLAMing on 201.02629675700004 meters Centerline goodness : 0.799398 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94891737 0.26111403 -0.1771307 -0.30057855] [-0.26249391 0.96480063 0.01602177 1.31799997] [ 0.17507932 0.0312924 0.98405692 -1.66996544] [ 0. 0. 0. 1. ]] SLAMing on 201.05629675700004 meters Centerline goodness : 0.800831 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94972052 0.25776335 -0.17773292 -0.30242139] [-0.25964868 0.96561593 0.01297858 1.3195548 ] [ 0.17496714 0.03382209 0.98399317 -1.66837078] [ 0. 0. 0. 1. ]] SLAMing on 201.086296757 meters Centerline goodness : 0.801282 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94971314 0.25770569 -0.1778559 -0.30233345] [-0.25955265 0.96563857 0.01321289 1.31927536] [ 0.17514955 0.03361451 0.98396783 -1.66782519] [ 0. 0. 0. 1. ]] SLAMing on 201.11629675700001 meters Centerline goodness : 0.800590 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94970445 0.25774415 -0.1778466 -0.30268052] [-0.25952126 0.96564153 0.013607 1.31896045] [ 0.17524319 0.03323235 0.98396414 -1.66695488] [ 0. 0. 0. 1. ]] SLAMing on 201.14629675700002 meters Centerline goodness : 0.799861 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94969541 0.25761059 -0.17808821 -0.30204682] [-0.25938378 0.96567768 0.013663 1.31914925] [ 0.17549555 0.0332175 0.98391967 -1.66674101] [ 0. 0. 0. 1. ]] SLAMing on 201.17629675700002 meters Centerline goodness : 0.797398 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94967226 0.25766406 -0.1781343 -0.30175532] [-0.25943591 0.96566337 0.01368435 1.31952544] [ 0.17554373 0.03321879 0.98391103 -1.66675553] [ 0. 0. 0. 1. ]] SLAMing on 201.20629675700002 meters Centerline goodness : 0.795513 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94957977 0.25801895 -0.17811371 -0.30177302] [-0.25977981 0.96556962 0.01377548 1.32024376] [ 0.17553552 0.03318943 0.98391348 -1.66665985] [ 0. 0. 0. 1. ]] SLAMing on 201.23629675700002 meters Centerline goodness : 0.797579 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94943288 0.25865241 -0.17797793 -0.3020576 ] [-0.26041906 0.96539739 0.01377668 1.32132842] [ 0.17538281 0.03326881 0.98393804 -1.66682208] [ 0. 0. 0. 1. ]] SLAMing on 201.26629675700002 meters Centerline goodness : 0.798382 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94937442 0.2587691 -0.17812011 -0.30148646] [-0.26058763 0.96535547 0.0135242 1.32230378] [ 0.17544886 0.03357637 0.98391581 -1.66717145] [ 0. 0. 0. 1. ]] SLAMing on 201.29629675700002 meters Centerline goodness : 0.798216 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94831437 0.2630969 -0.17742567 -0.30044976] [-0.26427147 0.96429112 0.01741333 1.32156806] [ 0.17567139 0.03037523 0.98398014 -1.66732774] [ 0. 0. 0. 1. ]] SLAMing on 201.32629675700002 meters Centerline goodness : 0.798256 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94816897 0.26356473 -0.1775084 -0.30024696] [-0.26476091 0.96415798 0.01735103 1.32256889] [ 0.17571926 0.03054558 0.98396631 -1.66752521] [ 0. 0. 0. 1. ]] SLAMing on 201.35629675700002 meters Centerline goodness : 0.798685 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94803978 0.26407173 -0.17744493 -0.30034196] [-0.26528649 0.96401471 0.01728358 1.32349507] [ 0.17562363 0.03068822 0.98397895 -1.66773676] [ 0. 0. 0. 1. ]] SLAMing on 201.38629675700003 meters Centerline goodness : 0.800549 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94683703 0.26892791 -0.17657129 -0.29989052] [-0.2694146 0.96278038 0.02167281 1.32182442] [ 0.1758278 0.02705027 0.98404922 -1.66772054] [ 0. 0. 0. 1. ]] SLAMing on 201.41629675700003 meters Centerline goodness : 0.797363 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94655168 0.27011502 -0.17628894 -0.30077819] [-0.27055381 0.96245324 0.02200885 1.32258306] [ 0.17561479 0.02686313 0.98409238 -1.66772984] [ 0. 0. 0. 1. ]] SLAMing on 201.44629675700003 meters Centerline goodness : 0.797648 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.9464157 0.27070596 -0.17611246 -0.3015105 ] [-0.27109886 0.96229329 0.02229433 1.32265429] [ 0.17550705 0.02664418 0.98411756 -1.66744439] [ 0. 0. 0. 1. ]] SLAMing on 201.47629675700003 meters Centerline goodness : 0.797902 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.9462291 0.27171417 -0.17556165 -0.30327406] [-0.27196619 0.96202961 0.02309592 1.32242013] [ 0.175171 0.0258928 0.98419748 -1.66650945] [ 0. 0. 0. 1. ]] SLAMing on 201.50629675700003 meters Centerline goodness : 0.797880 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.67 [[ 0.94612917 0.27221114 -0.17533023 -0.30429878] [-0.27236659 0.96190284 0.02365078 1.32196096] [ 0.17508865 0.02537741 0.98422556 -1.66573164] [ 0. 0. 0. 1. ]] SLAMing on 201.53629675700003 meters Centerline goodness : 0.793024 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.66 [[ 0.94604871 0.27251486 -0.17529259 -0.30482137] [-0.27258233 0.96182887 0.02416814 1.32131963] [ 0.17518765 0.02491743 0.9842197 -1.66498546] [ 0. 0. 0. 1. ]] SLAMing on 201.56629675700003 meters Centerline goodness : 0.795926 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.32, Z:-1.66 [[ 0.94604149 0.27263629 -0.17514268 -0.30533997] [-0.27261047 0.96180784 0.02468221 1.32056239] [ 0.17518287 0.02439534 0.98423363 -1.66425867] [ 0. 0. 0. 1. ]] SLAMing on 201.59629675700003 meters Centerline goodness : 0.794110 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.32, Z:-1.66 [[ 0.9461116 0.27238402 -0.17515648 -0.30515349] [-0.27229236 0.96188895 0.02503031 1.32009782] [ 0.17529894 0.0240123 0.98422238 -1.66364006] [ 0. 0. 0. 1. ]] SLAMing on 201.62629675700003 meters Centerline goodness : 0.795230 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.32, Z:-1.66 [[ 0.9461364 0.2722383 -0.175249 -0.3050374 ] [-0.272111 0.96193507 0.0252295 1.31965449] [ 0.1754466 0.02381663 0.98420082 -1.66325589] [ 0. 0. 0. 1. ]] SLAMing on 201.65629675700004 meters Centerline goodness : 0.798265 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.32, Z:-1.66 [[ 0.9470929 0.26849418 -0.17585763 -0.30656617] [-0.26898507 0.96290442 0.02149681 1.32102971] [ 0.17510586 0.0269436 0.98418087 -1.66272982] [ 0. 0. 0. 1. ]] SLAMing on 201.68629675700004 meters Centerline goodness : 0.799091 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.32, Z:-1.66 [[ 0.94710735 0.26842283 -0.17588874 -0.30668579] [-0.26886666 0.96293159 0.02175939 1.32026527] [ 0.17520954 0.02668214 0.98416954 -1.6623003 ] [ 0. 0. 0. 1. ]] SLAMing on 201.71629675700004 meters Centerline goodness : 0.797586 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.32, Z:-1.66 [[ 0.94723212 0.2678072 -0.17615506 -0.30571798] [-0.26827603 0.96309984 0.02160253 1.32007468] [ 0.17544022 0.02679557 0.98412536 -1.66230739] [ 0. 0. 0. 1. ]] SLAMing on 201.74629675700004 meters Centerline goodness : 0.795943 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.66 [[ 0.94725079 0.26753766 -0.17646401 -0.30466811] [-0.26805186 0.96316742 0.02137109 1.32080368] [ 0.17568196 0.02705772 0.98407506 -1.66251379] [ 0. 0. 0. 1. ]] SLAMing on 201.77629675700004 meters Centerline goodness : 0.794919 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.32, Z:-1.66 [[ 0.94719538 0.26744136 -0.17690685 -0.30291581] [-0.268058 0.96317694 0.02085873 1.32358513] [ 0.17597108 0.02766401 0.98400654 -1.66303455] [ 0. 0. 0. 1. ]] SLAMing on 201.80629675700004 meters Centerline goodness : 0.793980 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.67 [[ 0.94774735 0.2659736 -0.17616185 -0.32191586] [-0.26601165 0.9636749 0.02384308 1.33003251] [ 0.17610438 0.02426389 0.98407241 -1.66614213] [ 0. 0. 0. 1. ]] SLAMing on 201.836296757 meters Centerline goodness : 0.792302 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.67 [[ 0.94767137 0.2659258 -0.17664215 -0.32050226] [-0.26605855 0.96367335 0.02337793 1.33145472] [ 0.17644213 0.02484256 0.98399747 -1.66669879] [ 0. 0. 0. 1. ]] SLAMing on 201.86629675700001 meters Centerline goodness : 0.793672 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.67 [[ 0.9476206 0.26591279 -0.17693385 -0.31970765] [-0.26606685 0.96367295 0.02329986 1.33201727] [ 0.1767021 0.02499681 0.98394691 -1.66673128] [ 0. 0. 0. 1. ]] SLAMing on 201.89629675700002 meters Centerline goodness : 0.791883 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.67 [[ 0.94750501 0.26612122 -0.17723924 -0.31910872] [-0.26628444 0.96361254 0.0233126 1.33328707] [ 0.17699393 0.02510724 0.98389165 -1.6663932 ] [ 0. 0. 0. 1. ]] SLAMing on 201.92629675700002 meters Centerline goodness : 0.792457 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.67 [[ 0.94745888 0.26609979 -0.17751781 -0.31868423] [-0.26625458 0.96361873 0.0233975 1.33369758] [ 0.17728556 0.02509676 0.98383941 -1.66590463] [ 0. 0. 0. 1. ]] SLAMing on 201.95629675700002 meters Centerline goodness : 0.791720 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.67 [[ 0.94742166 0.26602529 -0.17782785 -0.31832925] [-0.26617371 0.9636393 0.02347035 1.33437151] [ 0.17760561 0.02509678 0.98378168 -1.66510102] [ 0. 0. 0. 1. ]] SLAMing on 201.98629675700002 meters Centerline goodness : 0.789264 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.66 [[ 0.94743393 0.26592751 -0.1779087 -0.31845183] [-0.26601871 0.96367427 0.02378942 1.33423878] [ 0.1777723 0.02478814 0.9837594 -1.66415182] [ 0. 0. 0. 1. ]] SLAMing on 202.01629675700002 meters Centerline goodness : 0.792897 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.66 [[ 0.94743955 0.26583262 -0.17802054 -0.31831429] [-0.26588204 0.96370609 0.02402734 1.33376843] [ 0.17794673 0.02456801 0.98373339 -1.66374838] [ 0. 0. 0. 1. ]] SLAMing on 202.04629675700002 meters Centerline goodness : 0.795883 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.66 [[ 0.94749281 0.2654742 -0.17827176 -0.31764693] [-0.26550179 0.96380788 0.02414902 1.33342465] [ 0.17823067 0.02445045 0.98368491 -1.66345248] [ 0. 0. 0. 1. ]] SLAMing on 202.07629675700002 meters Centerline goodness : 0.798470 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.66 [[ 0.94809471 0.26419027 -0.17697437 -0.31918463] [-0.26429246 0.96415789 0.02343194 1.33407976] [ 0.17682172 0.02455729 0.98393649 -1.66363308] [ 0. 0. 0. 1. ]] SLAMing on 202.10629675700002 meters Centerline goodness : 0.798652 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.33, Z:-1.66 [[ 0.94816142 0.26382892 -0.17715591 -0.31876196] [-0.2639043 0.96426078 0.02357248 1.33367151] [ 0.1770436 0.02440169 0.98390046 -1.66324659] [ 0. 0. 0. 1. ]] SLAMing on 202.13629675700003 meters Centerline goodness : 0.797217 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.34, Z:-1.66 [[ 0.94906562 0.26020405 -0.17767472 -0.3199692 ] [-0.26083196 0.96517215 0.02023392 1.33533834] [ 0.17675164 0.02713993 0.98388123 -1.66251323] [ 0. 0. 0. 1. ]] SLAMing on 202.16629675700003 meters Centerline goodness : 0.796874 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.34, Z:-1.66 [[ 0.94927589 0.25986015 -0.17705362 -0.32118234] [-0.26049906 0.96526603 0.02004305 1.33611778] [ 0.17611223 0.02709592 0.9839971 -1.66198296] [ 0. 0. 0. 1. ]] SLAMing on 202.19629675700003 meters Centerline goodness : 0.795111 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.34, Z:-1.66 [[ 0.94928566 0.25970288 -0.17723194 -0.32077512] [-0.26034804 0.96530723 0.02002125 1.33668344] [ 0.17628285 0.0271361 0.98396544 -1.66163931] [ 0. 0. 0. 1. ]] SLAMing on 202.22629675700003 meters Centerline goodness : 0.792171 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.34, Z:-1.66 [[ 0.94929188 0.25941668 -0.1776173 -0.31979913] [-0.26012659 0.96537366 0.01969388 1.33827166] [ 0.17657599 0.02750774 0.98390256 -1.66139669] [ 0. 0. 0. 1. ]] SLAMing on 202.25629675700003 meters Centerline goodness : 0.790412 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.34, Z:-1.66 [[ 0.94926223 0.25942565 -0.17776262 -0.31933427] [-0.26017303 0.9653649 0.01950907 1.33928405] [ 0.17666695 0.02772981 0.98388 -1.66143028] [ 0. 0. 0. 1. ]] SLAMing on 202.28629675700003 meters Centerline goodness : 0.787019 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.34, Z:-1.66 [[ 0.94923085 0.25932615 -0.1780751 -0.31821206] [-0.26014389 0.96537978 0.01915828 1.3407016 ] [ 0.17687835 0.02813952 0.98383038 -1.66179662] [ 0. 0. 0. 1. ]] SLAMing on 202.31629675700003 meters Centerline goodness : 0.784935 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.34, Z:-1.66 [[ 0.9482983 0.26282983 -0.17790675 -0.31511908] [-0.26316628 0.96449648 0.02213694 1.34221211] [ 0.17740868 0.02582663 0.98379832 -1.66275286] [ 0. 0. 0. 1. ]] SLAMing on 202.34629675700003 meters Centerline goodness : 0.781780 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.34, Z:-1.66 [[ 0.9482084 0.26293062 -0.17823669 -0.31393539] [-0.26336799 0.96445278 0.02163654 1.34475319] [ 0.17758978 0.02642589 0.98374974 -1.66317521] [ 0. 0. 0. 1. ]] SLAMing on 202.37629675700003 meters Centerline goodness : 0.781489 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.35, Z:-1.66 [[ 0.94724037 0.26644326 -0.17816756 -0.31061523] [-0.26645723 0.96354033 0.02430178 1.34776803] [ 0.17814667 0.0244544 0.98370003 -1.66406866] [ 0. 0. 0. 1. ]] SLAMing on 202.40629675700004 meters Centerline goodness : 0.783059 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.35, Z:-1.66 [[ 0.94699254 0.26711697 -0.17847594 -0.30998241] [-0.26722291 0.96333827 0.02390185 1.3517397 ] [ 0.17831729 0.02505799 0.98365392 -1.663814 ] [ 0. 0. 0. 1. ]] SLAMing on 202.43629675700004 meters Centerline goodness : 0.784528 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.35, Z:-1.66 [[ 0.94693646 0.26723145 -0.17860205 -0.30985504] [-0.26738786 0.96329865 0.02365246 1.35317454] [ 0.17836779 0.02535864 0.98363706 -1.66356616] [ 0. 0. 0. 1. ]] SLAMing on 202.46629675700004 meters Centerline goodness : 0.787202 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.36, Z:-1.66 [[ 0.94680623 0.26760693 -0.17873022 -0.30974478] [-0.2678515 0.96318034 0.02322083 1.3568158 ] [ 0.17836349 0.02588753 0.98362407 -1.66298118] [ 0. 0. 0. 1. ]] SLAMing on 202.49629675700004 meters Centerline goodness : 0.788404 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.36, Z:-1.66 [[ 0.94675062 0.26781336 -0.17871559 -0.30983326] [-0.2681044 0.9631157 0.02298205 1.35944501] [ 0.17827869 0.02615616 0.98363233 -1.66244712] [ 0. 0. 0. 1. ]] SLAMing on 202.52629675700004 meters Centerline goodness : 0.786256 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.36, Z:-1.66 [[ 0.94669125 0.26796585 -0.17880154 -0.30962064] [-0.26832379 0.9630627 0.02264037 1.36219788] [ 0.17826394 0.02654326 0.98362464 -1.66212012] [ 0. 0. 0. 1. ]] SLAMing on 202.55629675700004 meters Centerline goodness : 0.788546 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.37, Z:-1.66 [[ 0.94627647 0.26985445 -0.17815559 -0.31034447] [-0.26995521 0.9625701 0.02414498 1.36628231] [ 0.17800288 0.0252462 0.98370606 -1.66040404] [ 0. 0. 0. 1. ]] SLAMing on 202.586296757 meters Centerline goodness : 0.788312 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.37, Z:-1.66 [[ 0.9462432 0.26992512 -0.17822523 -0.31034269] [-0.27010963 0.96253787 0.02369893 1.36941696] [ 0.17794547 0.02571539 0.98370429 -1.65973924] [ 0. 0. 0. 1. ]] SLAMing on 202.61629675700001 meters Centerline goodness : 0.787601 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.37, Z:-1.66 [[ 0.94625426 0.26967514 -0.17854465 -0.30965172] [-0.26991915 0.96259877 0.02339362 1.37084033] [ 0.17817554 0.02605631 0.98365367 -1.65945208] [ 0. 0. 0. 1. ]] SLAMing on 202.64629675700002 meters Centerline goodness : 0.786631 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.37, Z:-1.66 [[ 0.94631891 0.26919146 -0.17893151 -0.30861383] [-0.26956317 0.9627151 0.02270123 1.37443784] [ 0.17837104 0.02675075 0.9835996 -1.65892117] [ 0. 0. 0. 1. ]] SLAMing on 202.67629675700002 meters Centerline goodness : 0.786692 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.38, Z:-1.66 [[ 0.94635771 0.26887108 -0.17920777 -0.30789178] [-0.26933553 0.96279045 0.02220187 1.3764464 ] [ 0.17850897 0.02725611 0.9835607 -1.65874942] [ 0. 0. 0. 1. ]] SLAMing on 202.70629675700002 meters Centerline goodness : 0.786692 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.38, Z:-1.66 [[ 0.94635771 0.26887108 -0.17920777 -0.30789178] [-0.26933553 0.96279045 0.02220187 1.3764464 ] [ 0.17850897 0.02725611 0.9835607 -1.65874942] [ 0. 0. 0. 1. ]] SLAMing on 202.73629675700002 meters Centerline goodness : 0.787513 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.38, Z:-1.66 [[ 0.94638564 0.26861366 -0.17944613 -0.30746562] [-0.26920084 0.96284318 0.0215386 1.38015315] [ 0.17856405 0.02792322 0.98353199 -1.6579831 ] [ 0. 0. 0. 1. ]] SLAMing on 202.76629675700002 meters Centerline goodness : 0.789363 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.38, Z:-1.66 [[ 0.94639794 0.26834159 -0.17978801 -0.30688254] [-0.26899069 0.96290885 0.02122641 1.38165087] [ 0.1788154 0.02827267 0.98347634 -1.65750378] [ 0. 0. 0. 1. ]] SLAMing on 202.79629675700002 meters Centerline goodness : 0.786628 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.38, Z:-1.66 [[ 0.94652118 0.26727269 -0.18072899 -0.30404011] [-0.26815495 0.96316821 0.019998 1.38483566] [ 0.17941733 0.02953484 0.98332961 -1.65802423] [ 0. 0. 0. 1. ]] SLAMing on 202.82629675700002 meters Centerline goodness : 0.792485 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.39, Z:-1.66 [[ 0.94655574 0.26681163 -0.18122852 -0.30222844] [-0.2678215 0.96327443 0.01933937 1.38684054] [ 0.17973277 0.0302311 0.98325084 -1.65858712] [ 0. 0. 0. 1. ]] SLAMing on 202.85629675700002 meters Centerline goodness : 0.791568 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.39, Z:-1.66 [[ 0.94577484 0.26929818 -0.18162722 -0.29752883] [-0.26992824 0.96263547 0.02171834 1.38877308] [ 0.18068951 0.02848566 0.98312759 -1.65972293] [ 0. 0. 0. 1. ]] SLAMing on 202.88629675700003 meters Centerline goodness : 0.793098 Centerline is valid? [False, False] Translation: X:-0.30, Y:1.39, Z:-1.66 [[ 0.94581743 0.2687246 -0.18225388 -0.2953346 ] [-0.26951407 0.96276967 0.02089822 1.39087183] [ 0.18108437 0.02935408 0.98302939 -1.6604545 ] [ 0. 0. 0. 1. ]] SLAMing on 202.91629675700003 meters Centerline goodness : 0.792008 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.39, Z:-1.66 [[ 0.94491037 0.27222368 -0.18176538 -0.29338878] [-0.27263741 0.9618371 0.0231998 1.39297321] [ 0.18114423 0.02763431 0.98306821 -1.66107498] [ 0. 0. 0. 1. ]] SLAMing on 202.94629675700003 meters Centerline goodness : 0.787165 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.39, Z:-1.67 [[ 0.94525972 0.27961865 -0.16821855 -0.29320185] [-0.27986521 0.95977009 0.02273416 1.39051007] [ 0.16780802 0.02558884 0.98548753 -1.66709247] [ 0. 0. 0. 1. ]] SLAMing on 202.97629675700003 meters Centerline goodness : 0.790145 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.39, Z:-1.67 [[ 0.94459004 0.2823569 -0.16740442 -0.29332087] [-0.2823054 0.95900886 0.02461048 1.39291796] [ 0.16749126 0.02401236 0.98558109 -1.66624589] [ 0. 0. 0. 1. ]] SLAMing on 203.00629675700003 meters Centerline goodness : 0.783894 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.39, Z:-1.67 [[ 0.94431539 0.2827974 -0.16820842 -0.29135108] [-0.28292329 0.958849 0.02372767 1.39445087] [ 0.1679966 0.02518368 0.98546584 -1.66614245] [ 0. 0. 0. 1. ]] SLAMing on 203.03629675700003 meters Centerline goodness : 0.790178 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.40, Z:-1.67 [[ 0.94405158 0.28334092 -0.16877363 -0.28959219] [-0.28368166 0.95865202 0.02260554 1.39768987] [ 0.16820025 0.02653719 0.98539558 -1.66580319] [ 0. 0. 0. 1. ]] SLAMing on 203.06629675700003 meters Centerline goodness : 0.788330 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.40, Z:-1.67 [[ 0.9439136 0.28351767 -0.16924787 -0.2888862 ] [-0.2840058 0.95857389 0.02183596 1.39921067] [ 0.16842747 0.02745612 0.98533159 -1.66509224] [ 0. 0. 0. 1. ]] SLAMing on 203.09629675700003 meters Centerline goodness : 0.788461 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.40, Z:-1.66 [[ 0.94383364 0.28353712 -0.16966073 -0.28835474] [-0.28416006 0.95854423 0.02111892 1.40080144] [ 0.16861531 0.02827806 0.98527622 -1.6643037 ] [ 0. 0. 0. 1. ]] SLAMing on 203.12629675700003 meters Centerline goodness : 0.790786 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.40, Z:-1.66 [[ 0.94372127 0.28325898 -0.17074692 -0.28642784] [-0.28430716 0.95854881 0.01880474 1.40388928] [ 0.16899586 0.03079814 0.98513546 -1.66357347] [ 0. 0. 0. 1. ]] SLAMing on 203.15629675700004 meters Centerline goodness : 0.785153 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.41, Z:-1.66 [[ 0.94342722 0.28510363 -0.16929562 -0.2871378 ] [-0.28582057 0.95806067 0.02064832 1.40665818] [ 0.16808239 0.02890798 0.98534899 -1.6635263 ] [ 0. 0. 0. 1. ]] SLAMing on 203.18629675700004 meters Centerline goodness : 0.788610 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.41, Z:-1.66 [[ 0.94302137 0.28712687 -0.16813347 -0.28814028] [-0.28744278 0.95752183 0.02299105 1.40780189] [ 0.16759281 0.0266477 0.98549609 -1.66313381] [ 0. 0. 0. 1. ]] SLAMing on 203.21629675700004 meters Centerline goodness : 0.788826 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.41, Z:-1.66 [[ 0.94292753 0.28734196 -0.16829222 -0.28568818] [-0.28773807 0.95744328 0.02256481 1.41097283] [ 0.16761407 0.0271471 0.98547885 -1.66427265] [ 0. 0. 0. 1. ]] SLAMing on 203.24629675700004 meters Centerline goodness : 0.789853 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.41, Z:-1.66 [[ 0.9429318 0.28733296 -0.16828364 -0.28510854] [-0.2877727 0.95743894 0.02230603 1.41258974] [ 0.16753056 0.02739438 0.9854862 -1.66434401] [ 0. 0. 0. 1. ]] SLAMing on 203.27629675700004 meters Centerline goodness : 0.790189 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.41, Z:-1.66 [[ 0.943011 0.28710744 -0.16822473 -0.28485996] [-0.28762201 0.95749506 0.02183532 1.41424331] [ 0.16734343 0.02779419 0.9855068 -1.66429303] [ 0. 0. 0. 1. ]] SLAMing on 203.30629675700004 meters Centerline goodness : 0.790482 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.42, Z:-1.66 [[ 0.94343794 0.2858339 -0.1679995 -0.28527149] [-0.28654911 0.95784625 0.02049783 1.41759583] [ 0.16677667 0.02880168 0.98557395 -1.66375152] [ 0. 0. 0. 1. ]] SLAMing on 203.336296757 meters Centerline goodness : 0.787321 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.42, Z:-1.66 [[ 0.94375366 0.28492834 -0.16776433 -0.28551194] [-0.28583065 0.95808645 0.01926667 1.42071943] [ 0.16622235 0.0297692 0.98563884 -1.66338978] [ 0. 0. 0. 1. ]] SLAMing on 203.36629675700001 meters Centerline goodness : 0.790188 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.42, Z:-1.66 [[ 0.94373908 0.28495896 -0.16779433 -0.28496999] [-0.28587708 0.95807431 0.01918113 1.42198863] [ 0.16622528 0.02986657 0.9856354 -1.66348226] [ 0. 0. 0. 1. ]] SLAMing on 203.39629675700002 meters Centerline goodness : 0.790748 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.42, Z:-1.66 [[ 0.94313232 0.28793224 -0.16612178 -0.28527758] [-0.28834432 0.95727021 0.02216513 1.42451516] [ 0.16540549 0.02699562 0.9858561 -1.66385293] [ 0. 0. 0. 1. ]] SLAMing on 203.42629675700002 meters Centerline goodness : 0.789458 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.43, Z:-1.66 [[ 0.94273478 0.28909958 -0.16635072 -0.28374802] [-0.28951502 0.95691396 0.02228755 1.42596071] [ 0.16562665 0.02714979 0.98581474 -1.66399967] [ 0. 0. 0. 1. ]] SLAMing on 203.45629675700002 meters Centerline goodness : 0.789550 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.43, Z:-1.66 [[ 0.94226189 0.29008251 -0.16731604 -0.28050267] [-0.29063616 0.95658713 0.02171827 1.42748302] [ 0.16635247 0.02816379 0.98566407 -1.66449519] [ 0. 0. 0. 1. ]] SLAMing on 203.48629675700002 meters Centerline goodness : 0.789666 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.43, Z:-1.66 [[ 0.94101865 0.29459999 -0.16641739 -0.27996624] [-0.2947283 0.95526703 0.02449766 1.42977671] [ 0.16619006 0.02599516 0.98575104 -1.66387011] [ 0. 0. 0. 1. ]] SLAMing on 203.51629675700002 meters Centerline goodness : 0.791824 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.43, Z:-1.66 [[ 0.93983174 0.29846665 -0.16623466 -0.27788667] [-0.29833768 0.95409683 0.02634146 1.43186093] [ 0.16646601 0.02483752 0.98573433 -1.66368079] [ 0. 0. 0. 1. ]] SLAMing on 203.54629675700002 meters Centerline goodness : 0.792532 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.43, Z:-1.66 [[ 0.93904799 0.30144497 -0.16528703 -0.27851998] [-0.30091122 0.95321507 0.02886985 1.43246857] [ 0.16625676 0.02262655 0.98582287 -1.66297682] [ 0. 0. 0. 1. ]] SLAMing on 203.57629675700002 meters Centerline goodness : 0.794321 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.43, Z:-1.66 [[ 0.93825959 0.30288377 -0.16712378 -0.27443049] [-0.30263718 0.95270706 0.027568 1.43375011] [ 0.1675699 0.02471193 0.98555043 -1.66265798] [ 0. 0. 0. 1. ]] SLAMing on 203.60629675700002 meters Centerline goodness : 0.792634 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.43, Z:-1.66 [[ 0.93804929 0.30315008 -0.16782 -0.2728181 ] [-0.30306761 0.95259398 0.02673451 1.43468993] [ 0.16796889 0.02578252 0.98545508 -1.66254749] [ 0. 0. 0. 1. ]] SLAMing on 203.63629675700003 meters Centerline goodness : 0.795893 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.44, Z:-1.66 [[ 0.93792519 0.30339504 -0.16807077 -0.27206185] [-0.30341146 0.95249892 0.02621627 1.43556026] [ 0.16804111 0.0264057 0.98542627 -1.66250612] [ 0. 0. 0. 1. ]] SLAMing on 203.66629675700003 meters Centerline goodness : 0.793926 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.44, Z:-1.66 [[ 0.9378136 0.3037484 -0.16805522 -0.27272297] [-0.30393226 0.95235863 0.02526317 1.43799108] [ 0.16772249 0.02738526 0.98545381 -1.66101993] [ 0. 0. 0. 1. ]] SLAMing on 203.69629675700003 meters Centerline goodness : 0.796448 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.44, Z:-1.66 [[ 0.93756111 0.30426751 -0.1685243 -0.27233378] [-0.30455208 0.95217282 0.024798 1.43863501] [ 0.16800948 0.02807478 0.98538552 -1.66003747] [ 0. 0. 0. 1. ]] SLAMing on 203.72629675700003 meters Centerline goodness : 0.796614 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.44, Z:-1.66 [[ 0.93733402 0.30409986 -0.17008293 -0.26985918] [-0.30478722 0.95214987 0.02270191 1.44034802] [ 0.16884809 0.03055984 0.98516822 -1.6591085 ] [ 0. 0. 0. 1. ]] SLAMing on 203.75629675700003 meters Centerline goodness : 0.795488 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.44, Z:-1.66 [[ 0.93714381 0.30455066 -0.17032431 -0.26954761] [-0.30533246 0.95198613 0.02223745 1.44148047] [ 0.16891881 0.03116585 0.98513711 -1.65841462] [ 0. 0. 0. 1. ]] SLAMing on 203.78629675700003 meters Centerline goodness : 0.798152 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.44, Z:-1.66 [[ 0.93692198 0.30443485 -0.17174581 -0.26641617] [-0.30556777 0.95195051 0.02045898 1.4435174 ] [ 0.16972194 0.03331151 0.98492883 -1.65813273] [ 0. 0. 0. 1. ]] SLAMing on 203.81629675700003 meters Centerline goodness : 0.797026 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.44, Z:-1.66 [[ 0.93662279 0.30482542 -0.1726824 -0.26419359] [-0.3061523 0.95178154 0.01956188 1.4444472 ] [ 0.17031888 0.03454501 0.98478329 -1.65805542] [ 0. 0. 0. 1. ]] SLAMing on 203.84629675700003 meters Centerline goodness : 0.799709 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.45, Z:-1.66 [[ 0.9357554 0.30811397 -0.17154475 -0.26386429] [-0.30903379 0.95079661 0.02199823 1.44664426] [ 0.16988213 0.03242817 0.9849307 -1.65804224] [ 0. 0. 0. 1. ]] SLAMing on 203.87629675700003 meters Centerline goodness : 0.804758 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.45, Z:-1.66 [[ 0.93540241 0.30895316 -0.17196008 -0.26180156] [-0.30997003 0.95050103 0.02159565 1.44815271] [ 0.17012028 0.03310185 0.98486718 -1.65844867] [ 0. 0. 0. 1. ]] SLAMing on 203.90629675700004 meters Centerline goodness : 0.805865 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.45, Z:-1.66 [[ 0.93462638 0.31181642 -0.17100891 -0.26064477] [-0.31248446 0.94962715 0.02370117 1.45064159] [ 0.16978511 0.03128589 0.98498437 -1.65892127] [ 0. 0. 0. 1. ]] SLAMing on 203.93629675700004 meters Centerline goodness : 0.805828 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.45, Z:-1.66 [[ 0.93403312 0.31409168 -0.17008393 -0.2608976 ] [-0.31441378 0.94893664 0.02575329 1.45177277] [ 0.16948777 0.02942231 0.985093 -1.65873995] [ 0. 0. 0. 1. ]] SLAMing on 203.96629675700004 meters Centerline goodness : 0.810087 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.45, Z:-1.66 [[ 0.93329512 0.31690837 -0.16890621 -0.26135728] [-0.3168906 0.94805486 0.02779097 1.45428152] [ 0.16893955 0.02758762 0.98524025 -1.65815038] [ 0. 0. 0. 1. ]] SLAMing on 203.99629675700004 meters Centerline goodness : 0.814107 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.46, Z:-1.66 [[ 0.93295432 0.31727425 -0.17009785 -0.25861192] [-0.31752824 0.94787994 0.02644688 1.45537453] [ 0.16962326 0.02933714 0.98507222 -1.65800748] [ 0. 0. 0. 1. ]] SLAMing on 204.02629675700004 meters Centerline goodness : 0.816346 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.46, Z:-1.66 [[ 0.93253439 0.31808371 -0.17088699 -0.25702561] [-0.31851917 0.94757037 0.02561122 1.45651923] [ 0.17007396 0.03054744 0.98495772 -1.6573225 ] [ 0. 0. 0. 1. ]] SLAMing on 204.05629675700004 meters Centerline goodness : 0.811401 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.46, Z:-1.66 [[ 0.93166426 0.32136899 -0.16948062 -0.25784497] [-0.32138736 0.94653111 0.02808949 1.45901764] [ 0.16944578 0.02829895 0.98513314 -1.65651687] [ 0. 0. 0. 1. ]] SLAMing on 204.086296757 meters Centerline goodness : 0.812959 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.46, Z:-1.66 [[ 0.93132636 0.32288256 -0.16845791 -0.25868746] [-0.32264262 0.94605902 0.02956455 1.46074913] [ 0.168917 0.02681745 0.98526538 -1.65619111] [ 0. 0. 0. 1. ]] SLAMing on 204.11629675700001 meters Centerline goodness : 0.812747 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.46, Z:-1.65 [[ 0.9307388 0.3252861 -0.16707556 -0.26045113] [-0.32474671 0.9452823 0.03132012 1.46353236] [ 0.16812157 0.02510638 0.9854465 -1.65471484] [ 0. 0. 0. 1. ]] SLAMing on 204.14629675700002 meters Centerline goodness : 0.813531 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.46, Z:-1.65 [[ 0.93065421 0.32523977 -0.16763604 -0.25922505] [-0.32489212 0.94526623 0.03027959 1.4649433 ] [ 0.16830881 0.0262838 0.98538384 -1.65445718] [ 0. 0. 0. 1. ]] SLAMing on 204.17629675700002 meters Centerline goodness : 0.814336 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.47, Z:-1.65 [[ 0.93060816 0.32517271 -0.1680213 -0.25879218] [-0.32499757 0.94526005 0.02932593 1.46645724] [ 0.16835982 0.02731557 0.98534706 -1.65376684] [ 0. 0. 0. 1. ]] SLAMing on 204.20629675700002 meters Centerline goodness : 0.816185 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.47, Z:-1.65 [[ 0.93066449 0.32505637 -0.16793438 -0.25994537] [-0.32511279 0.94526232 0.02794313 1.46993515] [ 0.16782513 0.02859194 0.98540206 -1.65188913] [ 0. 0. 0. 1. ]] SLAMing on 204.23629675700002 meters Centerline goodness : 0.813967 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.47, Z:-1.65 [[ 0.93065558 0.32467346 -0.16872264 -0.25816272] [-0.32494797 0.945353 0.02676811 1.47103161] [ 0.16819335 0.02991419 0.98530002 -1.65196812] [ 0. 0. 0. 1. ]] SLAMing on 204.26629675700002 meters Centerline goodness : 0.819270 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.47, Z:-1.65 [[ 0.930385 0.32519164 -0.16921631 -0.257123 ] [-0.32570587 0.94512712 0.02550334 1.47396342] [ 0.16822439 0.03138682 0.98524891 -1.65101501] [ 0. 0. 0. 1. ]] SLAMing on 204.29629675700002 meters Centerline goodness : 0.818914 Centerline is valid? [False, False] Translation: X:-0.26, Y:1.48, Z:-1.65 [[ 0.93005494 0.32578866 -0.16988101 -0.2550354 ] [-0.32642652 0.94489288 0.02496328 1.47504853] [ 0.16865211 0.03223644 0.98514835 -1.65116136] [ 0. 0. 0. 1. ]] SLAMing on 204.32629675700002 meters Centerline goodness : 0.817997 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.48, Z:-1.65 [[ 0.92928476 0.32744164 -0.17091462 -0.25186703] [-0.32832156 0.9442633 0.02391194 1.47741349] [ 0.16921816 0.03389395 0.98499564 -1.65090119] [ 0. 0. 0. 1. ]] SLAMing on 204.35629675700002 meters Centerline goodness : 0.819693 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.48, Z:-1.65 [[ 0.92903635 0.32746091 -0.17222315 -0.24864812] [-0.32862775 0.944191 0.02252033 1.47871053] [ 0.16998607 0.0356751 0.9848005 -1.65111003] [ 0. 0. 0. 1. ]] SLAMing on 204.38629675700003 meters Centerline goodness : 0.819755 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.48, Z:-1.65 [[ 0.92868609 0.32793563 -0.17320616 -0.24570713] [-0.32946452 0.94394133 0.02068565 1.48222325] [ 0.17028002 0.03785481 0.98466833 -1.65101817] [ 0. 0. 0. 1. ]] SLAMing on 204.41629675700003 meters Centerline goodness : 0.821479 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.48, Z:-1.65 [[ 0.92846076 0.32796838 -0.17434838 -0.24290069] [-0.32977019 0.94386236 0.01937691 1.48368894] [ 0.17091588 0.0395042 0.98449336 -1.65105516] [ 0. 0. 0. 1. ]] SLAMing on 204.44629675700003 meters Centerline goodness : 0.819970 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.49, Z:-1.65 [[ 0.92828807 0.32785306 -0.17548115 -0.24063932] [-0.32994718 0.94382859 0.01795667 1.48521149] [ 0.17151127 0.04123055 0.98431902 -1.65068753] [ 0. 0. 0. 1. ]] SLAMing on 204.47629675700003 meters Centerline goodness : 0.820909 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.49, Z:-1.65 [[ 0.92814232 0.32762116 -0.1766811 -0.23752665] [-0.33011439 0.9438062 0.01594825 1.48819709] [ 0.1719777 0.04352273 0.98413893 -1.65067883] [ 0. 0. 0. 1. ]] SLAMing on 204.50629675700003 meters Centerline goodness : 0.820139 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.49, Z:-1.65 [[ 0.92815868 0.32699003 -0.17776105 -0.23487876] [-0.32987326 0.94392226 0.01394254 1.49067586] [ 0.17235168 0.04569773 0.98397491 -1.65078367] [ 0. 0. 0. 1. ]] SLAMing on 204.53629675700003 meters Centerline goodness : 0.820057 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.49, Z:-1.65 [[ 0.92825571 0.32637923 -0.17837584 -0.23288654] [-0.3294658 0.9440795 0.01289089 1.49205577] [ 0.17260829 0.04680269 0.98387798 -1.65136418] [ 0. 0. 0. 1. ]] SLAMing on 204.56629675700003 meters Centerline goodness : 0.824051 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.49, Z:-1.65 [[ 0.92823247 0.32599561 -0.17919637 -0.23046803] [-0.32926759 0.94416006 0.01202683 1.49313953] [ 0.17311074 0.04783987 0.98373981 -1.6519445 ] [ 0. 0. 0. 1. ]] SLAMing on 204.59629675700003 meters Centerline goodness : 0.820163 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.50, Z:-1.65 [[ 0.92874937 0.3245548 -0.17913345 -0.22825168] [-0.32793647 0.94463285 0.0112449 1.49520984] [ 0.17286492 0.0483007 0.98376052 -1.6542157 ] [ 0. 0. 0. 1. ]] SLAMing on 204.62629675700003 meters Centerline goodness : 0.820163 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.50, Z:-1.65 [[ 0.92874937 0.3245548 -0.17913345 -0.22825168] [-0.32793647 0.94463285 0.0112449 1.49520984] [ 0.17286492 0.0483007 0.98376052 -1.6542157 ] [ 0. 0. 0. 1. ]] SLAMing on 204.65629675700004 meters Centerline goodness : 0.819951 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.50, Z:-1.66 [[ 0.9289956 0.32343891 -0.17987343 -0.22569321] [-0.32696414 0.94497806 0.010532 1.49523325] [ 0.1733829 0.04902798 0.98363338 -1.65574662] [ 0. 0. 0. 1. ]] SLAMing on 204.68629675700004 meters Centerline goodness : 0.817250 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.50, Z:-1.66 [[ 0.93027682 0.31903514 -0.18111218 -0.22261993] [-0.32312254 0.94632912 0.00728183 1.49653808] [ 0.17371489 0.05174731 0.98343549 -1.65819964] [ 0. 0. 0. 1. ]] SLAMing on 204.71629675700004 meters Centerline goodness : 0.817428 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.50, Z:-1.66 [[ 0.93107371 0.31589195 -0.18252129 -0.22057198] [-0.32058004 0.94721291 0.00401753 1.49761533] [ 0.17415563 0.05477207 0.98319369 -1.65894269] [ 0. 0. 0. 1. ]] SLAMing on 204.74629675700004 meters Centerline goodness : 0.818930 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.50, Z:-1.66 [[ 0.93168444 0.31378858 -0.18303232 -0.2189758 ] [-0.31866805 0.94786196 0.00289672 1.49800501] [ 0.17439833 0.05562772 0.98310263 -1.66028966] [ 0. 0. 0. 1. ]] SLAMing on 204.77629675700004 meters Centerline goodness : 0.814430 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.50, Z:-1.67 [[ 9.33078452e-01 3.16474769e-01 -1.70904424e-01 -2.16686210e-01] [-3.21183970e-01 9.47016815e-01 9.99732390e-05 1.49604215e+00] [ 1.61881002e-01 5.47984785e-02 9.85287607e-01 -1.66517798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80629675700004 meters Centerline goodness : 0.818412 Centerline is valid? [False, False] Translation: X:-0.22, Y:1.50, Z:-1.67 [[ 0.93441653 0.31163912 -0.17247262 -0.21525439] [-0.31708835 0.94838634 -0.00428071 1.49696144] [ 0.16223664 0.05868902 0.98500501 -1.66587822] [ 0. 0. 0. 1. ]] SLAMing on 204.836296757 meters Centerline goodness : 0.816393 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.50, Z:-1.67 [[ 0.93508007 0.30903082 -0.17356618 -0.21288033] [-0.3148576 0.94911735 -0.00639847 1.49725952] [ 0.16275735 0.06063171 0.98480142 -1.66724902] [ 0. 0. 0. 1. ]] SLAMing on 204.86629675700001 meters Centerline goodness : 0.817020 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.50, Z:-1.67 [[ 0.93525056 0.30844438 -0.17369066 -0.21216649] [-0.31431901 0.94929382 -0.00669402 1.49726587] [ 0.16281874 0.06085487 0.98477751 -1.6678906 ] [ 0. 0. 0. 1. ]] SLAMing on 204.89629675700002 meters Centerline goodness : 0.817836 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.50, Z:-1.67 [[ 0.93563228 0.30604706 -0.17586198 -0.20865184] [-0.31259138 0.94983397 -0.01010273 1.49767964] [ 0.16394777 0.06442537 0.98436299 -1.66837872] [ 0. 0. 0. 1. ]] SLAMing on 204.92629675700002 meters Centerline goodness : 0.815461 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.50, Z:-1.67 [[ 0.93566975 0.30575138 -0.17617665 -0.20768693] [-0.31243437 0.94987754 -0.01083585 1.4981311 ] [ 0.16403317 0.06518242 0.98429892 -1.66862531] [ 0. 0. 0. 1. ]] SLAMing on 204.95629675700002 meters Centerline goodness : 0.817015 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.50, Z:-1.67 [[ 0.93554369 0.30557651 -0.17714682 -0.20487521] [-0.3124214 0.94987487 -0.01142796 1.49785046] [ 0.1647752 0.06603581 0.98411809 -1.66959041] [ 0. 0. 0. 1. ]] SLAMing on 204.98629675700002 meters Centerline goodness : 0.814772 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.50, Z:-1.67 [[ 0.93500876 0.30688309 -0.17771154 -0.20213995] [-0.31375949 0.94943565 -0.01126613 1.4982645 ] [ 0.16526829 0.06629262 0.98401813 -1.67041402] [ 0. 0. 0. 1. ]] SLAMing on 205.01629675700002 meters Centerline goodness : 0.814080 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.50, Z:-1.67 [[ 0.93468322 0.30720676 -0.1788611 -0.19875337] [-0.31426661 0.94926074 -0.01185509 1.4983039 ] [ 0.16614386 0.06729083 0.98380291 -1.67126269] [ 0. 0. 0. 1. ]] SLAMing on 205.04629675700002 meters Centerline goodness : 0.813842 Centerline is valid? [False, False] Translation: X:-0.20, Y:1.50, Z:-1.67 [[ 0.93422257 0.30788995 -0.18008878 -0.19548498] [-0.31514713 0.94896117 -0.01244921 1.49821977] [ 0.16706427 0.06838479 0.98357158 -1.67169131] [ 0. 0. 0. 1. ]] SLAMing on 205.07629675700002 meters Centerline goodness : 0.815326 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.50, Z:-1.67 [[ 0.93347836 0.30925568 -0.18160143 -0.19191953] [-0.31681268 0.94839281 -0.01344657 1.49900358] [ 0.16807106 0.07008571 0.98328028 -1.67142208] [ 0. 0. 0. 1. ]] SLAMing on 205.10629675700002 meters Centerline goodness : 0.816586 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.50, Z:-1.67 [[ 0.9331175 0.30976931 -0.18257792 -0.18978418] [-0.31751276 0.9481496 -0.01407103 1.49909459] [ 0.1687524 0.07110075 0.98309069 -1.67127704] [ 0. 0. 0. 1. ]] SLAMing on 205.13629675700003 meters Centerline goodness : 0.815625 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.50, Z:-1.67 [[ 0.93246087 0.31102726 -0.18379001 -0.18649207] [-0.31899526 0.94764176 -0.01473515 1.49964575] [ 0.16958405 0.0723681 0.98285508 -1.67135637] [ 0. 0. 0. 1. ]] SLAMing on 205.16629675700003 meters Centerline goodness : 0.815128 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.50, Z:-1.67 [[ 0.93207345 0.31168395 -0.18464073 -0.18368592] [-0.31980858 0.94736011 -0.0152087 1.50011837] [ 0.17018096 0.07322532 0.9826884 -1.67194585] [ 0. 0. 0. 1. ]] SLAMing on 205.19629675700003 meters Centerline goodness : 0.814286 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.50, Z:-1.67 [[ 0.93164614 0.31233696 -0.18569084 -0.18011646] [-0.32060529 0.94708583 -0.01551379 1.49999984] [ 0.17101963 0.07398683 0.98248574 -1.67299569] [ 0. 0. 0. 1. ]] SLAMing on 205.22629675700003 meters Centerline goodness : 0.816135 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.50, Z:-1.67 [[ 0.93110926 0.31296519 -0.18731878 -0.17591489] [-0.32151202 0.94676472 -0.01632735 1.49963129] [ 0.17223692 0.07542779 0.98216347 -1.67366681] [ 0. 0. 0. 1. ]] SLAMing on 205.25629675700003 meters Centerline goodness : 0.814342 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.50, Z:-1.67 [[ 0.9309415 0.31297587 -0.18813302 -0.17459167] [-0.32181488 0.94663855 -0.01762479 1.50070782] [ 0.17257784 0.07695165 0.9819854 -1.67295059] [ 0. 0. 0. 1. ]] SLAMing on 205.28629675700003 meters Centerline goodness : 0.814722 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.50, Z:-1.67 [[ 0.93092286 0.31261536 -0.18882334 -0.17341324] [-0.32164843 0.94667944 -0.01844763 1.5009336 ] [ 0.17298816 0.07790805 0.98183778 -1.67283797] [ 0. 0. 0. 1. ]] SLAMing on 205.31629675700003 meters Centerline goodness : 0.815694 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.50, Z:-1.68 [[ 0.93164743 0.31615408 -0.17910794 -0.1681197 ] [-0.3250969 0.94541995 -0.02220627 1.49867776] [ 0.16231162 0.07891585 0.98357879 -1.67745176] [ 0. 0. 0. 1. ]] SLAMing on 205.34629675700003 meters Centerline goodness : 0.816568 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.50, Z:-1.68 [[ 0.93252097 0.31237741 -0.18117668 -0.16585795] [-0.32218556 0.94629918 -0.02672695 1.5001183 ] [ 0.16309844 0.08329595 0.98308732 -1.67737647] [ 0. 0. 0. 1. ]] SLAMing on 205.37629675700003 meters Centerline goodness : 0.819644 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.50, Z:-1.68 [[ 0.93279519 0.31141882 -0.18141516 -0.16538734] [-0.32132679 0.94657507 -0.02728982 1.50016204] [ 0.1632245 0.08374936 0.98302788 -1.67780083] [ 0. 0. 0. 1. ]] SLAMing on 205.40629675700004 meters Centerline goodness : 0.821263 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.50, Z:-1.68 [[ 0.93347208 0.3089767 -0.18210788 -0.16342214] [-0.31906874 0.94731038 -0.02825204 1.49947636] [ 0.16378346 0.08447742 0.9828726 -1.67963466] [ 0. 0. 0. 1. ]] SLAMing on 205.43629675700004 meters Centerline goodness : 0.821464 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.50, Z:-1.68 [[ 0.93382954 0.30797647 -0.18196947 -0.16346021] [-0.31806552 0.9476434 -0.02839545 1.49938782] [ 0.16369703 0.08439473 0.9828941 -1.68031876] [ 0. 0. 0. 1. ]] SLAMing on 205.46629675700004 meters Centerline goodness : 0.820723 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.50, Z:-1.68 [[ 0.93560134 0.30930943 -0.17022868 -0.16095236] [-0.31832767 0.94757264 -0.0278134 1.49567813] [ 0.1527011 0.08021075 0.98501198 -1.6823954 ] [ 0. 0. 0. 1. ]] SLAMing on 205.49629675700004 meters Centerline goodness : 0.820488 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.50, Z:-1.68 [[ 0.93583902 0.30828502 -0.1707796 -0.15927495] [-0.31739913 0.94787199 -0.02822207 1.49510947] [ 0.15317676 0.08061661 0.98490499 -1.68358564] [ 0. 0. 0. 1. ]] SLAMing on 205.52629675700004 meters Centerline goodness : 0.820391 Centerline is valid? [False, False] Translation: X:-0.16, Y:1.49, Z:-1.69 [[ 0.93591058 0.30759084 -0.17163703 -0.15628353] [-0.31682021 0.94805548 -0.02856147 1.4944041 ] [ 0.15393618 0.08110906 0.98474615 -1.68530968] [ 0. 0. 0. 1. ]] SLAMing on 205.55629675700004 meters Centerline goodness : 0.821928 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.49, Z:-1.69 [[ 0.93569983 0.30760115 -0.17276386 -0.15315897] [-0.3170031 0.94797924 -0.0290584 1.49407267] [ 0.15483816 0.08195662 0.98453454 -1.68619293] [ 0. 0. 0. 1. ]] SLAMing on 205.586296757 meters Centerline goodness : 0.821361 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.49, Z:-1.69 [[ 0.9354151 0.3078499 -0.17385921 -0.15007654] [-0.31742738 0.9478217 -0.02956159 1.49392369] [ 0.155687 0.08284003 0.98432672 -1.68693703] [ 0. 0. 0. 1. ]] SLAMing on 205.61629675700001 meters Centerline goodness : 0.821501 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.49, Z:-1.69 [[ 0.93473217 0.30925398 -0.17503643 -0.14558269] [-0.31896611 0.94730202 -0.02965644 1.49457358] [ 0.15664099 0.08355152 0.98411521 -1.68812789] [ 0. 0. 0. 1. ]] SLAMing on 205.64629675700002 meters Centerline goodness : 0.820405 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.49, Z:-1.69 [[ 0.93366707 0.31148863 -0.17675018 -0.14021918] [-0.32140241 0.94647371 -0.02979939 1.49461176] [ 0.15800723 0.08463065 0.98380454 -1.68895861] [ 0. 0. 0. 1. ]] SLAMing on 205.67629675700002 meters Centerline goodness : 0.820816 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.49, Z:-1.69 [[ 0.93318801 0.31214243 -0.17812143 -0.1365471 ] [-0.32226127 0.94616672 -0.03026907 1.49412151] [ 0.15908431 0.08564837 0.98354285 -1.68961112] [ 0. 0. 0. 1. ]] SLAMing on 205.70629675700002 meters Centerline goodness : 0.820698 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.49, Z:-1.69 [[ 0.93272959 0.31297172 -0.17906484 -0.13419899] [-0.32319957 0.94584388 -0.0303544 1.49335121] [ 0.15986732 0.08618613 0.9833689 -1.68979522] [ 0. 0. 0. 1. ]] SLAMing on 205.73629675700002 meters Centerline goodness : 0.821233 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.49, Z:-1.69 [[ 0.93236255 0.31317236 -0.1806188 -0.131179 ] [-0.32366775 0.94565877 -0.0311236 1.49173164] [ 0.1610567 0.08747896 0.98306061 -1.69005305] [ 0. 0. 0. 1. ]] SLAMing on 205.76629675700002 meters Centerline goodness : 0.821995 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.49, Z:-1.69 [[ 0.93229778 0.31314187 -0.18100557 -0.13049047] [-0.32367144 0.94565757 -0.03112159 1.49108674] [ 0.16142382 0.08760092 0.98298954 -1.69006421] [ 0. 0. 0. 1. ]] SLAMing on 205.79629675700002 meters Centerline goodness : 0.821370 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.49, Z:-1.69 [[ 0.93241149 0.31275008 -0.18109721 -0.13061444] [-0.32323792 0.94581469 -0.03085154 1.48961468] [ 0.16163558 0.08730381 0.98298117 -1.69038954] [ 0. 0. 0. 1. ]] SLAMing on 205.82629675700002 meters Centerline goodness : 0.823665 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.49, Z:-1.69 [[ 0.9324377 0.31209824 -0.18208413 -0.12865323] [-0.32276877 0.94595436 -0.03147489 1.48820687] [ 0.16242002 0.08811944 0.98277907 -1.69105303] [ 0. 0. 0. 1. ]] SLAMing on 205.85629675700002 meters Centerline goodness : 0.821267 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.49, Z:-1.69 [[ 0.93244729 0.31199528 -0.18221142 -0.12873362] [-0.32263105 0.94601032 -0.03120381 1.48681694] [ 0.16263845 0.08788297 0.98276412 -1.69118813] [ 0. 0. 0. 1. ]] SLAMing on 205.88629675700003 meters Centerline goodness : 0.823271 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.48, Z:-1.69 [[ 0.93257139 0.31197303 -0.1816134 -0.13105466] [-0.32234861 0.94614687 -0.02995803 1.48382944] [ 0.16248685 0.08648083 0.98291357 -1.69098017] [ 0. 0. 0. 1. ]] SLAMing on 205.91629675700003 meters Centerline goodness : 0.821061 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.48, Z:-1.69 [[ 0.93253123 0.31191716 -0.18191536 -0.13114924] [-0.32224359 0.94619692 -0.02950356 1.48109092] [ 0.16292508 0.08613405 0.98287148 -1.69101179] [ 0. 0. 0. 1. ]] SLAMing on 205.94629675700003 meters Centerline goodness : 0.820934 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.48, Z:-1.69 [[ 0.93244178 0.3119655 -0.18229056 -0.13033685] [-0.32229539 0.94618501 -0.02931917 1.48007424] [ 0.16333403 0.08608983 0.98280748 -1.69129024] [ 0. 0. 0. 1. ]] SLAMing on 205.97629675700003 meters Centerline goodness : 0.823454 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.48, Z:-1.69 [[ 0.93231439 0.31216434 -0.18260147 -0.12949065] [-0.3225158 0.94611158 -0.02926498 1.47936203] [ 0.16362588 0.08617602 0.98275137 -1.69162625] [ 0. 0. 0. 1. ]] SLAMing on 206.00629675700003 meters Centerline goodness : 0.820610 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.48, Z:-1.69 [[ 0.93181653 0.31349325 -0.18286592 -0.12872036] [-0.32379693 0.94569064 -0.02871883 1.47836871] [ 0.16393143 0.0859721 0.98271831 -1.69146896] [ 0. 0. 0. 1. ]] SLAMing on 206.03629675700003 meters Centerline goodness : 0.820577 Centerline is valid? [False, False] Translation: X:-0.13, Y:1.48, Z:-1.69 [[ 0.93136737 0.31432153 -0.18373021 -0.12656626] [-0.32472616 0.94536986 -0.02878814 1.4777815 ] [ 0.16464427 0.08647434 0.98255506 -1.69159201] [ 0. 0. 0. 1. ]] SLAMing on 206.06629675700003 meters Centerline goodness : 0.820278 Centerline is valid? [False, False] Translation: X:-0.12, Y:1.48, Z:-1.69 [[ 0.93022717 0.31670951 -0.18539822 -0.12213476] [-0.32730492 0.9444793 -0.02881556 1.47676145] [ 0.16597862 0.08748677 0.98224089 -1.69184549] [ 0. 0. 0. 1. ]] SLAMing on 206.09629675700003 meters Centerline goodness : 0.819467 Centerline is valid? [False, False] Translation: X:-0.12, Y:1.48, Z:-1.69 [[ 0.92959682 0.31770406 -0.18685256 -0.11829307] [-0.32850862 0.94405017 -0.02917808 1.47601724] [ 0.16712819 0.08850653 0.98195456 -1.69243485] [ 0. 0. 0. 1. ]] SLAMing on 206.12629675700003 meters Centerline goodness : 0.818184 Centerline is valid? [False, False] Translation: X:-0.12, Y:1.48, Z:-1.69 [[ 0.9290291 0.31891855 -0.18760568 -0.11612809] [-0.32977034 0.94361754 -0.02893892 1.47525474] [ 0.16779885 0.08875189 0.98181803 -1.6926177 ] [ 0. 0. 0. 1. ]] SLAMing on 206.15629675700004 meters Centerline goodness : 0.818150 Centerline is valid? [False, False] Translation: X:-0.11, Y:1.47, Z:-1.69 [[ 0.9279149 0.32099201 -0.18957335 -0.1119402 ] [-0.3320898 0.94279817 -0.02912006 1.47321066] [ 0.1693821 0.08997632 0.98143465 -1.69244895] [ 0. 0. 0. 1. ]] SLAMing on 206.18629675700004 meters Centerline goodness : 0.818471 Centerline is valid? [False, False] Translation: X:-0.11, Y:1.47, Z:-1.69 [[ 0.92736663 0.32183601 -0.19082115 -0.10893095] [-0.33312228 0.94242344 -0.02945528 1.47205355] [ 0.17035456 0.09088262 0.98118279 -1.69276692] [ 0. 0. 0. 1. ]] SLAMing on 206.21629675700004 meters Centerline goodness : 0.816818 Centerline is valid? [False, False] Translation: X:-0.11, Y:1.47, Z:-1.69 [[ 0.92632871 0.32404199 -0.1921247 -0.10609544] [-0.33539178 0.94163515 -0.02890681 1.46943565] [ 0.17154435 0.09121426 0.9809447 -1.69269184] [ 0. 0. 0. 1. ]] SLAMing on 206.24629675700004 meters Centerline goodness : 0.815443 Centerline is valid? [False, False] Translation: X:-0.11, Y:1.47, Z:-1.69 [[ 0.9260696 0.3244539 -0.19267786 -0.10508511] [-0.33584307 0.94147775 -0.02879381 1.4680561 ] [ 0.17205966 0.09137459 0.98083952 -1.69280299] [ 0. 0. 0. 1. ]] SLAMing on 206.27629675700004 meters Centerline goodness : 0.815131 Centerline is valid? [False, False] Translation: X:-0.11, Y:1.46, Z:-1.70 [[ 0.92693098 0.33010723 -0.17840455 -0.10692197] [-0.33994616 0.94006231 -0.02682256 1.46189148] [ 0.15885708 0.0855106 0.98359156 -1.69582672] [ 0. 0. 0. 1. ]] SLAMing on 206.30629675700004 meters Centerline goodness : 0.813527 Centerline is valid? [False, False] Translation: X:-0.11, Y:1.46, Z:-1.70 [[ 0.92697564 0.32955896 -0.17918441 -0.1057759 ] [-0.33947748 0.9402284 -0.02693686 1.45967341] [ 0.15959699 0.08579888 0.98344667 -1.69635299] [ 0. 0. 0. 1. ]] SLAMing on 206.336296757 meters Centerline goodness : 0.813919 Centerline is valid? [False, False] Translation: X:-0.11, Y:1.46, Z:-1.70 [[ 0.9272801 0.32781559 -0.18079977 -0.10540537] [-0.33816913 0.94064232 -0.02887331 1.45618663] [ 0.16060279 0.08791455 0.98309602 -1.69593325] [ 0. 0. 0. 1. ]] SLAMing on 206.36629675700001 meters Centerline goodness : 0.811573 Centerline is valid? [False, False] Translation: X:-0.10, Y:1.45, Z:-1.70 [[ 0.92732958 0.32715072 -0.18174777 -0.10348093] [-0.33763294 0.94082511 -0.02919102 1.4541353 ] [ 0.161443 0.08843373 0.98291181 -1.69691168] [ 0. 0. 0. 1. ]] SLAMing on 206.39629675700002 meters Centerline goodness : 0.812403 Centerline is valid? [False, False] Translation: X:-0.10, Y:1.45, Z:-1.70 [[ 0.92728048 0.32731199 -0.18170794 -0.10379091] [-0.33770076 0.940818 -0.02863006 1.45249977] [ 0.16158314 0.08791101 0.98293568 -1.69708008] [ 0. 0. 0. 1. ]] SLAMing on 206.42629675700002 meters Centerline goodness : 0.812840 Centerline is valid? [False, False] Translation: X:-0.10, Y:1.45, Z:-1.70 [[ 0.92723193 0.32720224 -0.18215279 -0.10355569] [-0.33756878 0.94087655 -0.02825999 1.44969315] [ 0.16213655 0.08769266 0.98286405 -1.69735899] [ 0. 0. 0. 1. ]] SLAMing on 206.45629675700002 meters Centerline goodness : 0.814326 Centerline is valid? [False, False] Translation: X:-0.10, Y:1.45, Z:-1.70 [[ 0.92714019 0.32704276 -0.18290461 -0.10211216] [-0.33749128 0.94090142 -0.02835758 1.44795859] [ 0.16282106 0.08802016 0.9827216 -1.69787286] [ 0. 0. 0. 1. ]] SLAMing on 206.48629675700002 meters Centerline goodness : 0.813511 Centerline is valid? [False, False] Translation: X:-0.10, Y:1.44, Z:-1.70 [[ 0.92698955 0.32685602 -0.18399867 -0.10037053] [-0.33745743 0.94090337 -0.02869362 1.44491022] [ 0.16374629 0.0886904 0.98250759 -1.69851015] [ 0. 0. 0. 1. ]] SLAMing on 206.51629675700002 meters Centerline goodness : 0.813511 Centerline is valid? [False, False] Translation: X:-0.10, Y:1.44, Z:-1.70 [[ 0.92698955 0.32685602 -0.18399867 -0.10037053] [-0.33745743 0.94090337 -0.02869362 1.44491022] [ 0.16374629 0.0886904 0.98250759 -1.69851015] [ 0. 0. 0. 1. ]] SLAMing on 206.54629675700002 meters Centerline goodness : 0.813503 Centerline is valid? [False, False] Translation: X:-0.10, Y:1.44, Z:-1.70 [[ 0.92668028 0.32693523 -0.18541042 -0.09781962] [-0.33776577 0.94077472 -0.02927822 1.44327625] [ 0.16485736 0.08975684 0.9822249 -1.69870846] [ 0. 0. 0. 1. ]] SLAMing on 206.57629675700002 meters Centerline goodness : 0.813366 Centerline is valid? [False, False] Translation: X:-0.10, Y:1.44, Z:-1.70 [[ 0.92639049 0.32709235 -0.18657773 -0.09529599] [-0.33810753 0.94063827 -0.02971426 1.44179736] [ 0.16578284 0.09061034 0.98199074 -1.69924221] [ 0. 0. 0. 1. ]] SLAMing on 206.60629675700002 meters Centerline goodness : 0.811103 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.44, Z:-1.70 [[ 0.92586347 0.32843891 -0.18682806 -0.09486447] [-0.33935028 0.94021791 -0.02883873 1.43974253] [ 0.16618732 0.09010088 0.98196925 -1.69911206] [ 0. 0. 0. 1. ]] SLAMing on 206.63629675700003 meters Centerline goodness : 0.812890 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.44, Z:-1.70 [[ 0.92555328 0.32917987 -0.18706081 -0.09418922] [-0.34003319 0.93998751 -0.02830027 1.43887686] [ 0.16651895 0.08980029 0.9819406 -1.69918157] [ 0. 0. 0. 1. ]] SLAMing on 206.66629675700003 meters Centerline goodness : 0.810634 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.44, Z:-1.70 [[ 0.92538015 0.32945047 -0.18744055 -0.09360747] [-0.34029215 0.93990281 -0.02799918 1.4375972 ] [ 0.16695156 0.08969443 0.98187682 -1.69919897] [ 0. 0. 0. 1. ]] SLAMing on 206.69629675700003 meters Centerline goodness : 0.812492 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.44, Z:-1.70 [[ 0.92529902 0.32957829 -0.18761629 -0.0933446 ] [-0.34040976 0.93986521 -0.02783154 1.43683727] [ 0.16716135 0.08961891 0.98184802 -1.69927387] [ 0. 0. 0. 1. ]] SLAMing on 206.72629675700003 meters Centerline goodness : 0.813201 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.44, Z:-1.70 [[ 0.92540897 0.32935968 -0.18745785 -0.09411722] [-0.34014525 0.93996578 -0.02766829 1.43646932] [ 0.16709115 0.08936738 0.9818829 -1.69898096] [ 0. 0. 0. 1. ]] SLAMing on 206.75629675700003 meters Centerline goodness : 0.812435 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.43, Z:-1.70 [[ 0.9266715 0.33277628 -0.17475662 -0.09277421] [-0.34279596 0.93893798 -0.02977259 1.43373363] [ 0.15417802 0.08749527 0.98416143 -1.7043298 ] [ 0. 0. 0. 1. ]] SLAMing on 206.78629675700003 meters Centerline goodness : 0.811273 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.43, Z:-1.70 [[ 0.92683076 0.33241694 -0.17459589 -0.09371336] [-0.34237849 0.93909813 -0.02952413 1.43288557] [ 0.15414835 0.08714175 0.98419744 -1.70413689] [ 0. 0. 0. 1. ]] SLAMing on 206.81629675700003 meters Centerline goodness : 0.813522 Centerline is valid? [False, False] Translation: X:-0.10, Y:1.43, Z:-1.70 [[ 0.92738721 0.33095279 -0.17442252 -0.09508318] [-0.34087597 0.93964526 -0.02950186 1.43180566] [ 0.15413158 0.08681609 0.98422885 -1.70407848] [ 0. 0. 0. 1. ]] SLAMing on 206.84629675700003 meters Centerline goodness : 0.814679 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.43, Z:-1.70 [[ 0.92812482 0.32764215 -0.17673409 -0.09277235] [-0.33823849 0.94049139 -0.03272099 1.43004759] [ 0.15549612 0.09014743 0.98371459 -1.70444934] [ 0. 0. 0. 1. ]] SLAMing on 206.87629675700003 meters Centerline goodness : 0.815362 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.43, Z:-1.70 [[ 0.92823923 0.32714196 -0.1770595 -0.09298297] [-0.33777573 0.94065464 -0.03280868 1.42892867] [ 0.15581874 0.09026071 0.98365315 -1.70418915] [ 0. 0. 0. 1. ]] SLAMing on 206.90629675700004 meters Centerline goodness : 0.816404 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.43, Z:-1.70 [[ 0.92840583 0.32522319 -0.17970113 -0.08960136] [-0.33662253 0.94094348 -0.03620275 1.42774312] [ 0.15731464 0.09410229 0.98305486 -1.7040897 ] [ 0. 0. 0. 1. ]] SLAMing on 206.93629675700004 meters Centerline goodness : 0.817669 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.43, Z:-1.70 [[ 0.9279633 0.32576743 -0.18099637 -0.08750621] [-0.33733582 0.94067947 -0.03642353 1.42554579] [ 0.15839397 0.09485626 0.98280906 -1.70411094] [ 0. 0. 0. 1. ]] SLAMing on 206.96629675700004 meters Centerline goodness : 0.816814 Centerline is valid? [False, False] Translation: X:-0.09, Y:1.42, Z:-1.70 [[ 0.92757071 0.3264266 -0.18181926 -0.08588465] [-0.33807259 0.94041785 -0.03634834 1.42438153] [ 0.15912101 0.09518376 0.98265994 -1.70413054] [ 0. 0. 0. 1. ]] SLAMing on 206.99629675700004 meters Centerline goodness : 0.820782 Centerline is valid? [False, False] Translation: X:-0.08, Y:1.42, Z:-1.70 [[ 0.92636742 0.32854819 -0.18411815 -0.08227661] [-0.3405232 0.93951616 -0.03678759 1.42154563] [ 0.16089548 0.09677533 0.98221544 -1.70314409] [ 0. 0. 0. 1. ]] SLAMing on 207.02629675700004 meters Centerline goodness : 0.821211 Centerline is valid? [False, False] Translation: X:-0.08, Y:1.42, Z:-1.70 [[ 0.92551138 0.3299326 -0.18593863 -0.07891577] [-0.34216164 0.93890849 -0.03709811 1.41939733] [ 0.16233948 0.09795579 0.98186076 -1.70290659] [ 0. 0. 0. 1. ]] SLAMing on 207.05629675700004 meters Centerline goodness : 0.822379 Centerline is valid? [False, False] Translation: X:-0.08, Y:1.42, Z:-1.70 [[ 0.9246135 0.33141809 -0.18775493 -0.07517376] [-0.3438868 0.93827011 -0.03729698 1.41716323] [ 0.16380394 0.09905173 0.98150753 -1.70293957] [ 0. 0. 0. 1. ]] SLAMing on 207.086296757 meters Centerline goodness : 0.819537 Centerline is valid? [False, False] Translation: X:-0.07, Y:1.41, Z:-1.70 [[ 0.92286607 0.33470809 -0.19049597 -0.0702467 ] [-0.34755887 0.93690437 -0.0375904 1.41413182] [ 0.1658947 0.10089947 0.98096801 -1.70191542] [ 0. 0. 0. 1. ]] SLAMing on 207.11629675700001 meters Centerline goodness : 0.822753 Centerline is valid? [False, False] Translation: X:-0.07, Y:1.41, Z:-1.70 [[ 0.92211599 0.33602928 -0.19179788 -0.06795088] [-0.34909828 0.93631728 -0.03795182 1.41338048] [ 0.16683074 0.10195229 0.98070038 -1.70119372] [ 0. 0. 0. 1. ]] SLAMing on 207.14629675700002 meters Centerline goodness : 0.820472 Centerline is valid? [False, False] Translation: X:-0.07, Y:1.41, Z:-1.70 [[ 0.92114883 0.33759806 -0.19368116 -0.06558415] [-0.35100534 0.93557685 -0.03861618 1.4118772 ] [ 0.16816686 0.10355437 0.98030424 -1.69963267] [ 0. 0. 0. 1. ]] SLAMing on 207.17629675700002 meters Centerline goodness : 0.820526 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.41, Z:-1.70 [[ 0.92081159 0.33792639 -0.19470947 -0.06428704] [-0.35153475 0.93535749 -0.03911106 1.41112105] [ 0.16890631 0.10446107 0.98008089 -1.69899335] [ 0. 0. 0. 1. ]] SLAMing on 207.20629675700002 meters Centerline goodness : 0.821935 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.41, Z:-1.70 [[ 0.92059639 0.33807318 -0.19547075 -0.06354834] [-0.3518069 0.93524536 -0.039345 1.41011354] [ 0.16951163 0.10498882 0.97991997 -1.69849019] [ 0. 0. 0. 1. ]] SLAMing on 207.23629675700002 meters Centerline goodness : 0.820104 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.41, Z:-1.70 [[ 0.92075941 0.33672094 -0.19703074 -0.06272932] [-0.35086653 0.9355338 -0.04085577 1.40788427] [ 0.17057193 0.10674983 0.97954566 -1.69788991] [ 0. 0. 0. 1. ]] SLAMing on 207.26629675700002 meters Centerline goodness : 0.817567 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.41, Z:-1.70 [[ 0.92111761 0.33588907 -0.19677624 -0.06350245] [-0.34996429 0.93587891 -0.04068976 1.4071968 ] [ 0.17049148 0.10634471 0.97960372 -1.69822088] [ 0. 0. 0. 1. ]] SLAMing on 207.29629675700002 meters Centerline goodness : 0.815555 Centerline is valid? [False, False] Translation: X:-0.07, Y:1.41, Z:-1.70 [[ 0.9222904 0.33316258 -0.19591607 -0.06651461] [-0.3470853 0.93695407 -0.04060622 1.40623835] [ 0.17003589 0.10545031 0.97977958 -1.69837251] [ 0. 0. 0. 1. ]] SLAMing on 207.32629675700002 meters Centerline goodness : 0.815483 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92372877 0.33534108 -0.18512566 -0.06240649] [-0.34837636 0.93641012 -0.04207135 1.40175402] [ 0.15924529 0.10335592 0.98181388 -1.70181392] [ 0. 0. 0. 1. ]] SLAMing on 207.35629675700002 meters Centerline goodness : 0.813753 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92422329 0.33387997 -0.18529832 -0.06306687] [-0.34701596 0.93688659 -0.04270176 1.40141686] [ 0.15934625 0.10376743 0.98175409 -1.70164467] [ 0. 0. 0. 1. ]] SLAMing on 207.38629675700003 meters Centerline goodness : 0.813718 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92521491 0.33025912 -0.18683225 -0.06183393] [-0.34397923 0.93787071 -0.0455722 1.40080891] [ 0.16017386 0.10643049 0.98133424 -1.70206257] [ 0. 0. 0. 1. ]] SLAMing on 207.41629675700003 meters Centerline goodness : 0.814023 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92523752 0.33002202 -0.18713897 -0.06116483] [-0.34378847 0.93793593 -0.04566916 1.4007802 ] [ 0.16045253 0.10659104 0.98127128 -1.70217211] [ 0. 0. 0. 1. ]] SLAMing on 207.44629675700003 meters Centerline goodness : 0.815900 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92481441 0.33240577 -0.18499921 -0.06355007] [-0.345448 0.9374775 -0.04244538 1.4016621 ] [ 0.15932351 0.10316171 0.98182161 -1.70202215] [ 0. 0. 0. 1. ]] SLAMing on 207.47629675700003 meters Centerline goodness : 0.812719 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92459785 0.33285701 -0.18527014 -0.06283779] [-0.3459511 0.93728728 -0.04254868 1.40258613] [ 0.15948872 0.10343483 0.98176605 -1.70161375] [ 0. 0. 0. 1. ]] SLAMing on 207.50629675700003 meters Centerline goodness : 0.815040 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.9243151 0.33347095 -0.18557673 -0.06196076] [-0.34663245 0.93702819 -0.04270969 1.40321988] [ 0.15964819 0.10380413 0.98170116 -1.70132843] [ 0. 0. 0. 1. ]] SLAMing on 207.53629675700003 meters Centerline goodness : 0.815037 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92342291 0.33672346 -0.18413974 -0.06382458] [-0.34933827 0.93614243 -0.0400014 1.40404735] [ 0.15891161 0.10126527 0.98208576 -1.69987103] [ 0. 0. 0. 1. ]] SLAMing on 207.56629675700003 meters Centerline goodness : 0.815531 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92290856 0.33758859 -0.18513166 -0.06205646] [-0.35035215 0.93575482 -0.04020298 1.40401742] [ 0.15966578 0.10196495 0.98189103 -1.69914957] [ 0. 0. 0. 1. ]] SLAMing on 207.59629675700003 meters Centerline goodness : 0.813373 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92183945 0.34129582 -0.1836551 -0.0636384 ] [-0.35345872 0.93471308 -0.03712677 1.40445751] [ 0.15899362 0.09913942 0.98228937 -1.69795123] [ 0. 0. 0. 1. ]] SLAMing on 207.62629675700003 meters Centerline goodness : 0.814007 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92141772 0.34221348 -0.18406336 -0.06248714] [-0.35441039 0.93435771 -0.03699925 1.40474259] [ 0.15931938 0.09932573 0.98221776 -1.69766648] [ 0. 0. 0. 1. ]] SLAMing on 207.65629675700004 meters Centerline goodness : 0.816661 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.9204797 0.34546461 -0.18267821 -0.06354436] [-0.35702434 0.93348895 -0.0336453 1.40429235] [ 0.15890483 0.09619039 0.9825969 -1.697264 ] [ 0. 0. 0. 1. ]] SLAMing on 207.68629675700004 meters Centerline goodness : 0.816403 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92021666 0.34589679 -0.18318487 -0.06266241] [-0.35750879 0.93330446 -0.03361916 1.4039614 ] [ 0.1593385 0.09642711 0.98250346 -1.69694499] [ 0. 0. 0. 1. ]] SLAMing on 207.71629675700004 meters Centerline goodness : 0.816277 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.91995661 0.3465285 -0.1832971 -0.06303528] [-0.35813799 0.93306822 -0.03347944 1.403853 ] [ 0.15942712 0.09644529 0.9824873 -1.69597872] [ 0. 0. 0. 1. ]] SLAMing on 207.74629675700004 meters Centerline goodness : 0.817634 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.91998016 0.3462746 -0.18365842 -0.06229913] [-0.35797173 0.93311976 -0.03381941 1.40401614] [ 0.1596645 0.09685771 0.98240818 -1.69604822] [ 0. 0. 0. 1. ]] SLAMing on 207.77629675700004 meters Centerline goodness : 0.816977 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.91992491 0.34643385 -0.18363484 -0.06249408] [-0.35811486 0.93306841 -0.03372077 1.40421292] [ 0.15966186 0.09678294 0.98241598 -1.69566451] [ 0. 0. 0. 1. ]] SLAMing on 207.80629675700004 meters Centerline goodness : 0.816800 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.70 [[ 0.92016864 0.34580039 -0.18360766 -0.0628528 ] [-0.35751693 0.93328712 -0.03401172 1.40439883] [ 0.15959739 0.09693937 0.98241103 -1.69552017] [ 0. 0. 0. 1. ]] SLAMing on 207.836296757 meters Centerline goodness : 0.815113 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.69 [[ 0.92016081 0.3456819 -0.18386981 -0.06309736] [-0.35745005 0.93330666 -0.03417802 1.40408177] [ 0.15979219 0.09717355 0.98235623 -1.69484345] [ 0. 0. 0. 1. ]] SLAMing on 207.86629675700001 meters Centerline goodness : 0.812607 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.69 [[ 0.92087157 0.34348795 -0.18442226 -0.06366019] [-0.35554385 0.93397391 -0.03579525 1.40377963] [ 0.15995035 0.09853303 0.98219506 -1.6944663 ] [ 0. 0. 0. 1. ]] SLAMing on 207.89629675700002 meters Centerline goodness : 0.812850 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.69 [[ 0.92107294 0.34270179 -0.18487869 -0.06332372] [-0.35491741 0.93418261 -0.03655785 1.40376702] [ 0.16018201 0.09928911 0.98208115 -1.69430508] [ 0. 0. 0. 1. ]] SLAMing on 207.92629675700002 meters Centerline goodness : 0.811416 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.69 [[ 0.9212374 0.34174505 -0.18582784 -0.06137604] [-0.35423563 0.93439498 -0.03772443 1.40416123] [ 0.16074446 0.10058 0.98185787 -1.69472284] [ 0. 0. 0. 1. ]] SLAMing on 207.95629675700002 meters Centerline goodness : 0.808938 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.69 [[ 0.92107529 0.34176544 -0.18659233 -0.0594782 ] [-0.35439434 0.93432037 -0.03808011 1.40418123] [ 0.16132255 0.10120191 0.98169914 -1.69498264] [ 0. 0. 0. 1. ]] SLAMing on 207.98629675700002 meters Centerline goodness : 0.809203 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.40, Z:-1.69 [[ 0.92079906 0.34229232 -0.18698947 -0.05837998] [-0.35498751 0.93409092 -0.0381841 1.40465614] [ 0.16159504 0.10153881 0.98161954 -1.69472539] [ 0. 0. 0. 1. ]] SLAMing on 208.01629675700002 meters Centerline goodness : 0.805867 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.41, Z:-1.69 [[ 0.92048882 0.34295116 -0.18730944 -0.05720445] [-0.35568237 0.93382832 -0.03814087 1.40519032] [ 0.1618344 0.10173091 0.98156021 -1.69460735] [ 0. 0. 0. 1. ]] SLAMing on 208.04629675700002 meters Centerline goodness : 0.805959 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.41, Z:-1.69 [[ 0.9203324 0.34326725 -0.18749897 -0.05714061] [-0.35603511 0.93369088 -0.03821429 1.40547031] [ 0.16194837 0.10192607 0.98152117 -1.69396275] [ 0. 0. 0. 1. ]] SLAMing on 208.07629675700002 meters Centerline goodness : 0.804155 Centerline is valid? [False, False] Translation: X:-0.05, Y:1.41, Z:-1.69 [[ 0.92066488 0.34182756 -0.18849431 -0.05479815] [-0.35489726 0.9340693 -0.03952808 1.40573276] [ 0.16255497 0.10328823 0.98127846 -1.69484692] [ 0. 0. 0. 1. ]] SLAMing on 208.10629675700002 meters Centerline goodness : 0.804676 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.41, Z:-1.69 [[ 0.92077678 0.34161171 -0.18833898 -0.05506488] [-0.35465142 0.9341653 -0.03946599 1.40595836] [ 0.16245769 0.10313405 0.98131079 -1.6948176 ] [ 0. 0. 0. 1. ]] SLAMing on 208.13629675700003 meters Centerline goodness : 0.803075 Centerline is valid? [False, False] Translation: X:-0.05, Y:1.41, Z:-1.70 [[ 0.92093736 0.34070322 -0.18919748 -0.05179167] [-0.35385225 0.93446043 -0.03965208 1.40558685] [ 0.16328797 0.10346503 0.98113813 -1.69661739] [ 0. 0. 0. 1. ]] SLAMing on 208.16629675700003 meters Centerline goodness : 0.802267 Centerline is valid? [False, False] Translation: X:-0.05, Y:1.41, Z:-1.70 [[ 0.92099573 0.34057258 -0.18914857 -0.05112322] [-0.35367709 0.93453624 -0.03942758 1.40570897] [ 0.16333824 0.10321015 0.98115661 -1.69725423] [ 0. 0. 0. 1. ]] SLAMing on 208.19629675700003 meters Centerline goodness : 0.798787 Centerline is valid? [False, False] Translation: X:-0.05, Y:1.41, Z:-1.70 [[ 0.92114875 0.34015546 -0.18915402 -0.05069622] [-0.35326955 0.93468653 -0.03951849 1.40587223] [ 0.16335729 0.10322477 0.9811519 -1.69764796] [ 0. 0. 0. 1. ]] SLAMing on 208.22629675700003 meters Centerline goodness : 0.799110 Centerline is valid? [False, False] Translation: X:-0.05, Y:1.41, Z:-1.70 [[ 0.92119924 0.33982455 -0.1895026 -0.04992591] [-0.35300341 0.93477885 -0.03971276 1.40580389] [ 0.16364765 0.10347843 0.98107679 -1.69780064] [ 0. 0. 0. 1. ]] SLAMing on 208.25629675700003 meters Centerline goodness : 0.801106 Centerline is valid? [False, False] Translation: X:-0.05, Y:1.41, Z:-1.70 [[ 0.9211945 0.33981358 -0.18954531 -0.04942439] [-0.3529655 0.93480112 -0.03952487 1.40559912] [ 0.16375608 0.10331305 0.98107612 -1.69813497] [ 0. 0. 0. 1. ]] SLAMing on 208.28629675700003 meters Centerline goodness : 0.798778 Centerline is valid? [False, False] Translation: X:-0.05, Y:1.40, Z:-1.70 [[ 0.92061767 0.34028442 -0.19149312 -0.04570012] [-0.35379877 0.93444895 -0.040393 1.40462688] [ 0.16519543 0.10493654 0.98066242 -1.69804174] [ 0. 0. 0. 1. ]] SLAMing on 208.31629675700003 meters Centerline goodness : 0.800641 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.40, Z:-1.70 [[ 0.920176 0.34073373 -0.19281248 -0.04320278] [-0.35450315 0.93415509 -0.04100947 1.40408059] [ 0.16614345 0.10608856 0.98037828 -1.6977945 ] [ 0. 0. 0. 1. ]] SLAMing on 208.34629675700003 meters Centerline goodness : 0.800645 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.40, Z:-1.70 [[ 0.91953541 0.34139736 -0.19468557 -0.03973068] [-0.35551989 0.93373329 -0.04180612 1.40247553] [ 0.1675119 0.1076568 0.97997438 -1.69761018] [ 0. 0. 0. 1. ]] SLAMing on 208.37629675700003 meters Centerline goodness : 0.802113 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.40, Z:-1.70 [[ 0.91921795 0.34168831 -0.19567183 -0.0380491 ] [-0.3559487 0.93356388 -0.04194047 1.40150128] [ 0.16834159 0.10820156 0.97977218 -1.69740092] [ 0. 0. 0. 1. ]] SLAMing on 208.40629675700004 meters Centerline goodness : 0.803855 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.40, Z:-1.70 [[ 0.91896759 0.34157915 -0.19703362 -0.03514447] [-0.35607525 0.93349361 -0.04242761 1.40026185] [ 0.16943724 0.10914839 0.97947825 -1.69788238] [ 0. 0. 0. 1. ]] SLAMing on 208.43629675700004 meters Centerline goodness : 0.803855 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.40, Z:-1.70 [[ 0.91896759 0.34157915 -0.19703362 -0.03514447] [-0.35607525 0.93349361 -0.04242761 1.40026185] [ 0.16943724 0.10914839 0.97947825 -1.69788238] [ 0. 0. 0. 1. ]] SLAMing on 208.46629675700004 meters Centerline goodness : 0.803828 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.40, Z:-1.70 [[ 0.91865136 0.34234199 -0.19718426 -0.03536435] [-0.35667745 0.93331284 -0.04133216 1.39721846] [ 0.16988486 0.10830102 0.97949478 -1.69780863] [ 0. 0. 0. 1. ]] SLAMing on 208.49629675700004 meters Centerline goodness : 0.802304 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.40, Z:-1.70 [[ 0.91859265 0.34222666 -0.19765745 -0.03476843] [-0.35658642 0.93335449 -0.04117668 1.39578939] [ 0.17039271 0.10830656 0.97940595 -1.69787441] [ 0. 0. 0. 1. ]] SLAMing on 208.52629675700004 meters Centerline goodness : 0.799925 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.39, Z:-1.70 [[ 0.91914332 0.34021415 -0.19856962 -0.03361607] [-0.3546845 0.93406864 -0.04140875 1.39329587] [ 0.17138981 0.10849014 0.97921163 -1.69856829] [ 0. 0. 0. 1. ]] SLAMing on 208.55629675700004 meters Centerline goodness : 0.800762 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.39, Z:-1.70 [[ 0.91928557 0.33991636 -0.19842106 -0.03415996] [-0.35428093 0.93424299 -0.04092745 1.39233844] [ 0.17146157 0.10792081 0.97926198 -1.69863841] [ 0. 0. 0. 1. ]] SLAMing on 208.586296757 meters Centerline goodness : 0.801481 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.39, Z:-1.70 [[ 0.91981272 0.33872874 -0.1980086 -0.03541137] [-0.35292619 0.93478089 -0.04034595 1.39113949] [ 0.17142833 0.10699314 0.97936959 -1.69874176] [ 0. 0. 0. 1. ]] SLAMing on 208.61629675700001 meters Centerline goodness : 0.800924 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.39, Z:-1.70 [[ 0.92005091 0.33795645 -0.19822149 -0.03499129] [-0.3522138 0.93503747 -0.04062469 1.39074418] [ 0.17161514 0.10719313 0.979315 -1.69911497] [ 0. 0. 0. 1. ]] SLAMing on 208.64629675700002 meters Centerline goodness : 0.801358 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.39, Z:-1.70 [[ 0.92008212 0.33776746 -0.1983987 -0.0352603 ] [-0.35202619 0.9351119 -0.04053771 1.39025145] [ 0.17183267 0.10713957 0.97928272 -1.69859085] [ 0. 0. 0. 1. ]] SLAMing on 208.67629675700002 meters Centerline goodness : 0.803924 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.39, Z:-1.70 [[ 0.92041504 0.33680755 -0.19848635 -0.03610988] [-0.35108119 0.93546194 -0.04065652 1.38956025] [ 0.171983 0.10710569 0.97926004 -1.69784083] [ 0. 0. 0. 1. ]] SLAMing on 208.70629675700002 meters Centerline goodness : 0.806517 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.39, Z:-1.70 [[ 0.92038409 0.33671326 -0.19878959 -0.03632288] [-0.35101556 0.93548744 -0.04063649 1.38913792] [ 0.17228232 0.10717942 0.97919935 -1.69708393] [ 0. 0. 0. 1. ]] SLAMing on 208.73629675700002 meters Centerline goodness : 0.809352 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.39, Z:-1.70 [[ 0.9208108 0.33560962 -0.19867979 -0.03630118] [-0.34984553 0.93593451 -0.04043144 1.38910921] [ 0.17238209 0.10673694 0.97923013 -1.6972922 ] [ 0. 0. 0. 1. ]] SLAMing on 208.76629675700002 meters Centerline goodness : 0.812332 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.39, Z:-1.70 [[ 0.92104672 0.33491376 -0.19876045 -0.03598852] [-0.34918525 0.93617169 -0.04064768 1.38906544] [ 0.17246044 0.10684263 0.9792048 -1.69768155] [ 0. 0. 0. 1. ]] SLAMing on 208.79629675700002 meters Centerline goodness : 0.814881 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.39, Z:-1.70 [[ 0.92152919 0.33369741 -0.19856986 -0.03761584] [-0.34788849 0.93666401 -0.04042426 1.38813672] [ 0.17250377 0.10633231 0.97925272 -1.69692285] [ 0. 0. 0. 1. ]] SLAMing on 208.82629675700002 meters Centerline goodness : 0.815741 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.39, Z:-1.70 [[ 0.92164583 0.333296 -0.19870266 -0.03798236] [-0.34746225 0.93683024 -0.04023782 1.38732813] [ 0.17273956 0.10612669 0.97923346 -1.69658549] [ 0. 0. 0. 1. ]] SLAMing on 208.85629675700002 meters Centerline goodness : 0.815371 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.39, Z:-1.70 [[ 0.92164526 0.333043 -0.19912906 -0.03794038] [-0.34724522 0.93691237 -0.04019908 1.38672326] [ 0.17317846 0.1061959 0.97914843 -1.69597711] [ 0. 0. 0. 1. ]] SLAMing on 208.88629675700003 meters Centerline goodness : 0.817315 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.39, Z:-1.70 [[ 0.92153936 0.33321859 -0.19932532 -0.03747944] [-0.34739203 0.93687082 -0.03989784 1.38623199] [ 0.17344737 0.10601146 0.97912082 -1.69591969] [ 0. 0. 0. 1. ]] SLAMing on 208.91629675700003 meters Centerline goodness : 0.816554 Centerline is valid? [False, False] Translation: X:-0.04, Y:1.39, Z:-1.70 [[ 0.92104576 0.33416639 -0.2000188 -0.0356699 ] [-0.34831277 0.93655725 -0.03922654 1.3857075 ] [ 0.17422087 0.10579855 0.97900651 -1.69571963] [ 0. 0. 0. 1. ]] SLAMing on 208.94629675700003 meters Centerline goodness : 0.816069 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.38, Z:-1.70 [[ 0.92060131 0.34107371 -0.19016294 -0.03102306] [-0.35464515 0.93407825 -0.04152889 1.3818755 ] [ 0.16346265 0.10567192 0.9808738 -1.70019746] [ 0. 0. 0. 1. ]] SLAMing on 208.97629675700003 meters Centerline goodness : 0.820148 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.38, Z:-1.70 [[ 0.91998429 0.34210615 -0.19129113 -0.02966943] [-0.355895 0.9335818 -0.0419974 1.38159872] [ 0.16421835 0.1067165 0.98063445 -1.69890785] [ 0. 0. 0. 1. ]] SLAMing on 209.00629675700003 meters Centerline goodness : 0.819167 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.38, Z:-1.70 [[ 0.91922298 0.34337492 -0.19267274 -0.02754799] [-0.35743295 0.93296793 -0.04257369 1.38142062] [ 0.16513875 0.1080023 0.98033907 -1.69772635] [ 0. 0. 0. 1. ]] SLAMing on 209.03629675700003 meters Centerline goodness : 0.819829 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.38, Z:-1.70 [[ 0.91732283 0.34861919 -0.19231091 -0.02681685] [-0.36215056 0.93129424 -0.0392174 1.38085662] [ 0.1654261 0.10562052 0.98055011 -1.69589636] [ 0. 0. 0. 1. ]] SLAMing on 209.06629675700003 meters Centerline goodness : 0.818317 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.70 [[ 0.91659266 0.34990785 -0.19344871 -0.02398185] [-0.36360832 0.93071996 -0.03936183 1.38093948] [ 0.16627356 0.10641832 0.98032048 -1.69570209] [ 0. 0. 0. 1. ]] SLAMing on 209.09629675700003 meters Centerline goodness : 0.817076 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.69 [[ 0.91492302 0.3542122 -0.19351897 -0.02348144] [-0.36762515 0.92922855 -0.03722957 1.3802706 ] [ 0.16663619 0.10520463 0.98038991 -1.69353095] [ 0. 0. 0. 1. ]] SLAMing on 209.12629675700003 meters Centerline goodness : 0.817756 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.69 [[ 0.91442948 0.35473269 -0.19489343 -0.02168248] [-0.36840336 0.92889688 -0.0378094 1.37972448] [ 0.16762367 0.10637343 0.9800954 -1.69251494] [ 0. 0. 0. 1. ]] SLAMing on 209.15629675700004 meters Centerline goodness : 0.822232 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.69 [[ 0.91431812 0.35455788 -0.19573216 -0.02064788] [-0.36843697 0.92885519 -0.03849991 1.37967754] [ 0.16815639 0.10731613 0.97990136 -1.69189027] [ 0. 0. 0. 1. ]] SLAMing on 209.18629675700004 meters Centerline goodness : 0.818035 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.69 [[ 0.9141491 0.35437543 -0.19684888 -0.01942185] [-0.36852607 0.92878341 -0.03936903 1.37943763] [ 0.16887856 0.10853311 0.9796431 -1.69086434] [ 0. 0. 0. 1. ]] SLAMing on 209.21629675700004 meters Centerline goodness : 0.818589 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.69 [[ 0.91407306 0.35429507 -0.19734603 -0.01842534] [-0.36852067 0.92878057 -0.0394862 1.37924421] [ 0.16930139 0.10881936 0.97953835 -1.69081982] [ 0. 0. 0. 1. ]] SLAMing on 209.24629675700004 meters Centerline goodness : 0.819288 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.69 [[ 0.91450678 0.35336146 -0.19701023 -0.01895965] [-0.36751462 0.92918394 -0.03937267 1.37963585] [ 0.16914595 0.10841071 0.97961052 -1.69090871] [ 0. 0. 0. 1. ]] SLAMing on 209.27629675700004 meters Centerline goodness : 0.823311 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.69 [[ 0.91485095 0.3521414 -0.19759599 -0.01833506] [-0.36644743 0.92957906 -0.03998822 1.37927467] [ 0.16959959 0.10899181 0.97946759 -1.69095425] [ 0. 0. 0. 1. ]] SLAMing on 209.30629675700004 meters Centerline goodness : 0.821925 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.69 [[ 0.91533471 0.3508913 -0.19757951 -0.01929815] [-0.36522399 0.9300483 -0.04026904 1.37899483] [ 0.16962843 0.10902043 0.97945941 -1.69057088] [ 0. 0. 0. 1. ]] SLAMing on 209.336296757 meters Centerline goodness : 0.821345 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.69 [[ 0.9171021 0.34580919 -0.19834247 -0.02029249] [-0.36073555 0.93164566 -0.04366036 1.37925681] [ 0.16968675 0.11159019 0.97915986 -1.69058866] [ 0. 0. 0. 1. ]] SLAMing on 209.36629675700001 meters Centerline goodness : 0.819169 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.69 [[ 0.91879273 0.3421707 -0.19682257 -0.02338922] [-0.35690687 0.93310766 -0.04390421 1.37965665] [ 0.16863391 0.11058619 0.97945561 -1.69131298] [ 0. 0. 0. 1. ]] SLAMing on 209.39629675700002 meters Centerline goodness : 0.818212 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.38, Z:-1.69 [[ 0.91937795 0.3408928 -0.19630659 -0.02431133] [-0.35550004 0.93365819 -0.04361308 1.37930246] [ 0.16841587 0.1098839 0.97957216 -1.6918804 ] [ 0. 0. 0. 1. ]] SLAMing on 209.42629675700002 meters Centerline goodness : 0.820161 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.38, Z:-1.69 [[ 0.91986864 0.33985473 -0.19580718 -0.02531925] [-0.35434296 0.93411046 -0.04334425 1.37901696] [ 0.16817479 0.10925391 0.97968404 -1.69224896] [ 0. 0. 0. 1. ]] SLAMing on 209.45629675700002 meters Centerline goodness : 0.816619 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.38, Z:-1.69 [[ 0.9206159 0.33838683 -0.1948351 -0.02670409] [-0.35260734 0.93480336 -0.04255283 1.37804495] [ 0.16773319 0.1078751 0.97991252 -1.69327937] [ 0. 0. 0. 1. ]] SLAMing on 209.48629675700002 meters Centerline goodness : 0.816495 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.38, Z:-1.69 [[ 0.92073174 0.33808761 -0.19480717 -0.02667065] [-0.35221799 0.9349719 -0.04207171 1.37711387] [ 0.16791531 0.10735135 0.97993884 -1.69363846] [ 0. 0. 0. 1. ]] SLAMing on 209.51629675700002 meters Centerline goodness : 0.814627 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.38, Z:-1.69 [[ 0.92092394 0.3377061 -0.19456023 -0.0277095 ] [-0.35175193 0.93516075 -0.04177258 1.37592781] [ 0.16783824 0.10690631 0.9800007 -1.69340147] [ 0. 0. 0. 1. ]] SLAMing on 209.54629675700002 meters Centerline goodness : 0.815979 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.38, Z:-1.69 [[ 0.92076901 0.33789208 -0.19497019 -0.02764844] [-0.35201112 0.93505673 -0.0419175 1.37568238] [ 0.1681446 0.10722801 0.97991303 -1.69259487] [ 0. 0. 0. 1. ]] SLAMing on 209.57629675700002 meters Centerline goodness : 0.812093 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.37, Z:-1.69 [[ 0.92040914 0.33841966 -0.19575279 -0.02620796] [-0.35265861 0.93480632 -0.04206004 1.3749743 ] [ 0.168757 0.10774635 0.97975089 -1.69234111] [ 0. 0. 0. 1. ]] SLAMing on 209.60629675700002 meters Centerline goodness : 0.812027 Centerline is valid? [False, False] Translation: X:-0.03, Y:1.37, Z:-1.69 [[ 0.91992012 0.3394125 -0.19633169 -0.02542439] [-0.35368542 0.93443036 -0.04179147 1.37440828] [ 0.16927374 0.10788447 0.97964654 -1.69163287] [ 0. 0. 0. 1. ]] SLAMing on 209.63629675700003 meters Centerline goodness : 0.813205 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.37, Z:-1.69 [[ 0.91935045 0.34065691 -0.19684414 -0.02457208] [-0.35492228 0.93398301 -0.04130267 1.37365696] [ 0.16977905 0.107836 0.97956443 -1.69109305] [ 0. 0. 0. 1. ]] SLAMing on 209.66629675700003 meters Centerline goodness : 0.812288 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.37, Z:-1.69 [[ 0.91785648 0.34485905 -0.19649866 -0.02396599] [-0.35861793 0.9327019 -0.03821451 1.37161032] [ 0.17009606 0.10554338 0.97975912 -1.69050304] [ 0. 0. 0. 1. ]] SLAMing on 209.69629675700003 meters Centerline goodness : 0.811756 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.37, Z:-1.69 [[ 0.91708023 0.34605642 -0.19801215 -0.02117392] [-0.36001095 0.9321628 -0.03827044 1.37020971] [ 0.17133583 0.1063836 0.97945217 -1.69018877] [ 0. 0. 0. 1. ]] SLAMing on 209.72629675700003 meters Centerline goodness : 0.811019 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.37, Z:-1.69 [[ 0.91542638 0.34930888 -0.19994463 -0.01834647] [-0.36341824 0.93086602 -0.03762478 1.36693268] [ 0.17297899 0.10710624 0.97908453 -1.68893177] [ 0. 0. 0. 1. ]] SLAMing on 209.75629675700003 meters Centerline goodness : 0.811907 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.37, Z:-1.69 [[ 0.91465149 0.3507946 -0.20088753 -0.01710995] [-0.36499341 0.93025884 -0.03739401 1.36574946] [ 0.17375978 0.10752511 0.97890035 -1.68808912] [ 0. 0. 0. 1. ]] SLAMing on 209.78629675700003 meters Centerline goodness : 0.810032 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.36, Z:-1.69 [[ 0.91375536 0.35234812 -0.2022423 -0.01514318] [-0.36664894 0.92962473 -0.03696511 1.36393101] [ 0.17498486 0.10792899 0.97863764 -1.68717496] [ 0. 0. 0. 1. ]] SLAMing on 209.81629675700003 meters Centerline goodness : 0.806843 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.36, Z:-1.69 [[ 0.91237018 0.35459082 -0.20456295 -0.01082484] [-0.36917312 0.92862962 -0.03685418 1.36106937] [ 0.17689506 0.10914379 0.97815938 -1.68686234] [ 0. 0. 0. 1. ]] SLAMing on 209.84629675700003 meters Centerline goodness : 0.806238 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.36, Z:-1.69 [[ 0.91135415 0.35636953 -0.20599603 -0.00871277] [-0.37112579 0.92785564 -0.0367364 1.35924464] [ 0.17804284 0.10993031 0.97786301 -1.6859472 ] [ 0. 0. 0. 1. ]] SLAMing on 209.87629675700003 meters Centerline goodness : 0.807750 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.36, Z:-1.69 [[ 0.91087525 0.35693599 -0.20713034 -0.00719982] [-0.37186502 0.92755262 -0.03691266 1.35807005] [ 0.17894884 0.11064735 0.97761673 -1.68535585] [ 0. 0. 0. 1. ]] SLAMing on 209.90629675700004 meters Centerline goodness : 0.808391 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.36, Z:-1.68 [[ 0.91054687 0.35757586 -0.20747023 -0.00742729] [-0.37252899 0.92729198 -0.03676611 1.35721992] [ 0.17923881 0.11076594 0.97755018 -1.6845064 ] [ 0. 0. 0. 1. ]] SLAMing on 209.93629675700004 meters Centerline goodness : 0.807573 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.36, Z:-1.68 [[ 0.91053401 0.35728601 -0.2080253 -0.00980376] [-0.372412 0.92731415 -0.03738686 1.35525806] [ 0.17954701 0.11151312 0.97740866 -1.68215041] [ 0. 0. 0. 1. ]] SLAMing on 209.96629675700004 meters Centerline goodness : 0.811198 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.68 [[ 0.91073173 0.35669547 -0.20817315 -0.01143093] [-0.37186988 0.92752241 -0.03761608 1.35463767] [ 0.17966778 0.11167148 0.97736839 -1.68081121] [ 0. 0. 0. 1. ]] SLAMing on 209.99629675700004 meters Centerline goodness : 0.812578 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.68 [[ 0.9115679 0.35430559 -0.20859411 -0.01248256] [-0.36972791 0.92832392 -0.0389356 1.35405534] [ 0.1798478 0.11261551 0.97722695 -1.68031204] [ 0. 0. 0. 1. ]] SLAMing on 210.02629675700004 meters Centerline goodness : 0.811259 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.68 [[ 0.91167937 0.35415689 -0.20835935 -0.01343118] [-0.36950052 0.92842545 -0.03867229 1.35362276] [ 0.17975007 0.11224562 0.97728749 -1.6800619 ] [ 0. 0. 0. 1. ]] SLAMing on 210.05629675700004 meters Centerline goodness : 0.812918 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.68 [[ 0.91180053 0.35338175 -0.2091438 -0.01260847] [-0.36890334 0.92864009 -0.03921608 1.35308489] [ 0.18036107 0.11291109 0.97709824 -1.67981513] [ 0. 0. 0. 1. ]] SLAMing on 210.08629675700004 meters Centerline goodness : 0.814032 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.68 [[ 0.91178543 0.3534381 -0.20911441 -0.01444691] [-0.36884494 0.92868878 -0.03860778 1.35091965] [ 0.18055675 0.1123328 0.97712875 -1.67871633] [ 0. 0. 0. 1. ]] SLAMing on 210.11629675700001 meters Centerline goodness : 0.809242 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.68 [[ 0.91148437 0.35418103 -0.20916989 -0.01467357] [-0.3694885 0.92845961 -0.03796059 1.34973628] [ 0.18076087 0.11188635 0.97714224 -1.67826952] [ 0. 0. 0. 1. ]] SLAMing on 210.14629675700002 meters Centerline goodness : 0.807040 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.68 [[ 0.91129141 0.35462983 -0.20925023 -0.01405479] [-0.36985083 0.92833818 -0.03739768 1.34941493] [ 0.18099264 0.11147156 0.97714674 -1.67841098] [ 0. 0. 0. 1. ]] SLAMing on 210.17629675700002 meters Centerline goodness : 0.810584 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.68 [[ 0.91095467 0.35543979 -0.2093422 -0.01373038] [-0.37057164 0.92807548 -0.03677719 1.34860388] [ 0.18121328 0.11107863 0.97715059 -1.67832392] [ 0. 0. 0. 1. ]] SLAMing on 210.20629675700002 meters Centerline goodness : 0.806881 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.68 [[ 0.9105235 0.35636859 -0.20963869 -0.01336226] [-0.3713962 0.92777875 -0.0359369 1.34691841] [ 0.18169154 0.1105804 0.97711829 -1.67809907] [ 0. 0. 0. 1. ]] SLAMing on 210.23629675700002 meters Centerline goodness : 0.808368 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.68 [[ 0.91026649 0.35683023 -0.20996928 -0.01301999] [-0.37185255 0.92760675 -0.03565658 1.34621732] [ 0.18204557 0.1105346 0.97705758 -1.6777369 ] [ 0. 0. 0. 1. ]] SLAMing on 210.26629675700002 meters Centerline goodness : 0.805406 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.68 [[ 0.90982998 0.35769829 -0.21038377 -0.01300075] [-0.37273113 0.92726513 -0.03536776 1.34533104] [ 0.18243055 0.11059523 0.97697891 -1.67678778] [ 0. 0. 0. 1. ]] SLAMing on 210.29629675700002 meters Centerline goodness : 0.805735 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.68 [[ 0.90938716 0.35851839 -0.2109018 -0.01210433] [-0.3735949 0.92692395 -0.03519707 1.34470763] [ 0.18287113 0.1107996 0.97687338 -1.67645569] [ 0. 0. 0. 1. ]] SLAMing on 210.32629675700002 meters Centerline goodness : 0.805735 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.68 [[ 0.90938716 0.35851839 -0.2109018 -0.01210433] [-0.3735949 0.92692395 -0.03519707 1.34470763] [ 0.18287113 0.1107996 0.97687338 -1.67645569] [ 0. 0. 0. 1. ]] SLAMing on 210.35629675700002 meters Centerline goodness : 0.808244 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.68 [[ 0.90840482 0.36206471 -0.20906897 -0.01351819] [-0.37631965 0.9259526 -0.03154853 1.3440274 ] [ 0.18216535 0.10733559 0.97739186 -1.67646339] [ 0. 0. 0. 1. ]] SLAMing on 210.38629675700003 meters Centerline goodness : 0.805960 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.68 [[ 0.90793089 0.36305972 -0.20940185 -0.01298704] [-0.37732041 0.92555449 -0.03127625 1.34358607] [ 0.18245768 0.10740827 0.97732935 -1.67603823] [ 0. 0. 0. 1. ]] SLAMing on 210.41629675700003 meters Centerline goodness : 0.808078 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.68 [[ 0.90735811 0.36386113 -0.21049069 -0.01117394] [-0.37830819 0.92514243 -0.03153412 1.34253664] [ 0.18325983 0.10824309 0.97708713 -1.67562143] [ 0. 0. 0. 1. ]] SLAMing on 210.44629675700003 meters Centerline goodness : 0.808463 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90658707 0.36536379 -0.21120888 -0.01159352] [-0.37991575 0.92448452 -0.03150219 1.34146086] [ 0.18374958 0.10880106 0.97693317 -1.67359084] [ 0. 0. 0. 1. ]] SLAMing on 210.47629675700003 meters Centerline goodness : 0.810552 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90621285 0.36605486 -0.21161783 -0.01127625] [-0.38064522 0.92418835 -0.03138654 1.34090331] [ 0.18408554 0.1089942 0.97684839 -1.67298392] [ 0. 0. 0. 1. ]] SLAMing on 210.50629675700003 meters Centerline goodness : 0.809838 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90559958 0.36739238 -0.21192508 -0.01068575] [-0.38198211 0.92364774 -0.03105673 1.34071555] [ 0.18433412 0.10907655 0.97679232 -1.67231068] [ 0. 0. 0. 1. ]] SLAMing on 210.53629675700003 meters Centerline goodness : 0.807913 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90512896 0.36840358 -0.21218006 -0.00995895] [-0.3829811 0.92324486 -0.03073133 1.34057577] [ 0.18457262 0.10907677 0.97674726 -1.67198298] [ 0. 0. 0. 1. ]] SLAMing on 210.56629675700003 meters Centerline goodness : 0.809068 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90362318 0.37244311 -0.21154499 -0.01000243] [-0.38644833 0.92189644 -0.02765225 1.33932736] [ 0.18472368 0.10673842 0.97697701 -1.67097236] [ 0. 0. 0. 1. ]] SLAMing on 210.59629675700003 meters Centerline goodness : 0.808341 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90306329 0.37347628 -0.21211355 -0.00896411] [-0.38755869 0.92143135 -0.02761386 1.33929866] [ 0.18513495 0.10714351 0.97685481 -1.67029087] [ 0. 0. 0. 1. ]] SLAMing on 210.62629675700003 meters Centerline goodness : 0.806961 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90199727 0.37690477 -0.21057946 -0.01067954] [-0.39034197 0.92033774 -0.02473036 1.3398722 ] [ 0.18448324 0.10450472 0.97726388 -1.66904544] [ 0. 0. 0. 1. ]] SLAMing on 210.65629675700004 meters Centerline goodness : 0.807672 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90181299 0.37721858 -0.21080669 -0.01028912] [-0.39070801 0.92017941 -0.02484164 1.34023742] [ 0.18460925 0.10476638 0.97721207 -1.66866528] [ 0. 0. 0. 1. ]] SLAMing on 210.68629675700004 meters Centerline goodness : 0.807334 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90209499 0.37666127 -0.21059656 -0.01070396] [-0.39016402 0.92040335 -0.025094 1.34115769] [ 0.18438184 0.10480437 0.97725093 -1.66849844] [ 0. 0. 0. 1. ]] SLAMing on 210.71629675700004 meters Centerline goodness : 0.806975 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90241086 0.37575294 -0.21086573 -0.01061999] [-0.38934186 0.92074051 -0.02549189 1.34142293] [ 0.18457397 0.10510302 0.97718259 -1.66830979] [ 0. 0. 0. 1. ]] SLAMing on 210.74629675700004 meters Centerline goodness : 0.807661 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90272117 0.37516517 -0.2105839 -0.01184026] [-0.38871209 0.92100643 -0.02549628 1.34159934] [ 0.18438381 0.10487254 0.97724325 -1.6679028 ] [ 0. 0. 0. 1. ]] SLAMing on 210.77629675700004 meters Centerline goodness : 0.808017 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.34, Z:-1.67 [[ 0.90400966 0.37247422 -0.20983205 -0.01445907] [-0.38600381 0.92212708 -0.02612856 1.34259876] [ 0.1837596 0.10461644 0.97738826 -1.66764926] [ 0. 0. 0. 1. ]] SLAMing on 210.80629675700004 meters Centerline goodness : 0.810387 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.34, Z:-1.67 [[ 0.904679 0.37086425 -0.209799 -0.01503884] [-0.38446186 0.92275522 -0.02668103 1.34300849] [ 0.18369808 0.10479748 0.97738043 -1.66769843] [ 0. 0. 0. 1. ]] SLAMing on 210.83629675700004 meters Centerline goodness : 0.809750 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.34, Z:-1.67 [[ 0.90605839 0.36813586 -0.20864849 -0.01749792] [-0.38156513 0.9239551 -0.02674011 1.34363836] [ 0.18293784 0.10384109 0.97762507 -1.66834991] [ 0. 0. 0. 1. ]] SLAMing on 210.86629675700001 meters Centerline goodness : 0.811042 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.34, Z:-1.67 [[ 0.9065623 0.36721752 -0.20807713 -0.01821419] [-0.38049071 0.92440978 -0.0263319 1.3434115 ] [ 0.182679 0.10304292 0.97775791 -1.66910277] [ 0. 0. 0. 1. ]] SLAMing on 210.89629675700002 meters Centerline goodness : 0.809425 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.34, Z:-1.67 [[ 0.90761544 0.36520773 -0.20702057 -0.01969035] [-0.37823448 0.92534948 -0.02582674 1.3433104 ] [ 0.18213425 0.10174306 0.97799564 -1.67024938] [ 0. 0. 0. 1. ]] SLAMing on 210.92629675700002 meters Centerline goodness : 0.810840 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.34, Z:-1.67 [[ 0.90794564 0.36460941 -0.20662694 -0.02022825] [-0.37753243 0.92564365 -0.02555589 1.3434533 ] [ 0.181945 0.10121173 0.97808599 -1.67056308] [ 0. 0. 0. 1. ]] SLAMing on 210.95629675700002 meters Centerline goodness : 0.810499 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.34, Z:-1.67 [[ 0.90861804 0.36345254 -0.20570733 -0.02086159] [-0.37621869 0.92618397 -0.0253524 1.34478074] [ 0.18130844 0.10042659 0.97828511 -1.6714918 ] [ 0. 0. 0. 1. ]] SLAMing on 210.98629675700002 meters Centerline goodness : 0.811157 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90870975 0.36330997 -0.20555399 -0.02086803] [-0.37602961 0.92626484 -0.02520269 1.3452182 ] [ 0.18124105 0.10019632 0.9783212 -1.67159115] [ 0. 0. 0. 1. ]] SLAMing on 211.01629675700002 meters Centerline goodness : 0.811916 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90891411 0.36298171 -0.20523015 -0.02128709] [-0.37564854 0.92642132 -0.02513402 1.34574155] [ 0.1810064 0.09993907 0.97839096 -1.6716108 ] [ 0. 0. 0. 1. ]] SLAMing on 211.04629675700002 meters Centerline goodness : 0.809588 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90921813 0.36231976 -0.20505312 -0.02248144] [-0.37502081 0.92666594 -0.02548772 1.3463366 ] [ 0.18078103 0.10007309 0.97841893 -1.67086182] [ 0. 0. 0. 1. ]] SLAMing on 211.07629675700002 meters Centerline goodness : 0.810305 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90925014 0.3622504 -0.20503372 -0.02257546] [-0.37498911 0.92667264 -0.02570977 1.34702756] [ 0.18068577 0.10026202 0.97841718 -1.67050176] [ 0. 0. 0. 1. ]] SLAMing on 211.10629675700002 meters Centerline goodness : 0.811494 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90905439 0.36269882 -0.20510895 -0.02205899] [-0.3754258 0.92650003 -0.02555718 1.34743164] [ 0.18076388 0.10023606 0.97840541 -1.67038227] [ 0. 0. 0. 1. ]] SLAMing on 211.13629675700003 meters Centerline goodness : 0.810150 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90884944 0.36323084 -0.20507573 -0.02149455] [-0.37592241 0.92630491 -0.025329 1.34786235] [ 0.18076238 0.10011281 0.97841831 -1.67049234] [ 0. 0. 0. 1. ]] SLAMing on 211.16629675700003 meters Centerline goodness : 0.808582 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90827121 0.36442604 -0.2055166 -0.01998813] [-0.37718718 0.92579055 -0.02533166 1.34896367] [ 0.18103381 0.10052624 0.97832573 -1.67004593] [ 0. 0. 0. 1. ]] SLAMing on 211.19629675700003 meters Centerline goodness : 0.809883 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90783105 0.36514882 -0.2061774 -0.01836497] [-0.37797053 0.92547436 -0.0252089 1.34888422] [ 0.18160689 0.1008144 0.97818985 -1.66987589] [ 0. 0. 0. 1. ]] SLAMing on 211.22629675700003 meters Centerline goodness : 0.812116 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90739405 0.36559769 -0.2073026 -0.01535505] [-0.37862149 0.92519723 -0.02560949 1.34891906] [ 0.18243302 0.10172711 0.97794161 -1.67026121] [ 0. 0. 0. 1. ]] SLAMing on 211.25629675700003 meters Centerline goodness : 0.812203 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90718857 0.36614497 -0.207236 -0.01525733] [-0.37909951 0.92501221 -0.02521851 1.34867883] [ 0.1824622 0.10144101 0.97796588 -1.67018519] [ 0. 0. 0. 1. ]] SLAMing on 211.28629675700003 meters Centerline goodness : 0.812256 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90697779 0.36668068 -0.2072114 -0.01521817] [-0.37960991 0.92480771 -0.02504029 1.34869955] [ 0.18244891 0.10137048 0.97797567 -1.6699436 ] [ 0. 0. 0. 1. ]] SLAMing on 211.31629675700003 meters Centerline goodness : 0.816253 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90674991 0.36738296 -0.20696462 -0.01522413] [-0.38026749 0.92454221 -0.02486639 1.34952081] [ 0.18221204 0.10124951 0.97803237 -1.66970736] [ 0. 0. 0. 1. ]] SLAMing on 211.34629675700003 meters Centerline goodness : 0.816900 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.67 [[ 0.90660295 0.36773167 -0.20698914 -0.01499181] [-0.38062667 0.92439425 -0.02487192 1.35023936] [ 0.18219338 0.10133454 0.97802704 -1.66936352] [ 0. 0. 0. 1. ]] SLAMing on 211.37629675700003 meters Centerline goodness : 0.819971 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90633017 0.36864417 -0.20656013 -0.01615387] [-0.38155344 0.92400602 -0.02509661 1.35241491] [ 0.18161109 0.10155954 0.97811199 -1.66787075] [ 0. 0. 0. 1. ]] SLAMing on 211.40629675700004 meters Centerline goodness : 0.821306 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90603031 0.36910003 -0.20706097 -0.01573999] [-0.38211231 0.92376904 -0.02531693 1.35300515] [ 0.18193204 0.10205846 0.97800041 -1.66683784] [ 0. 0. 0. 1. ]] SLAMing on 211.43629675700004 meters Centerline goodness : 0.821946 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90540427 0.37168468 -0.20516728 -0.01831379] [-0.3840665 0.92302592 -0.02271735 1.35411388] [ 0.18093103 0.09936627 0.97846324 -1.66563744] [ 0. 0. 0. 1. ]] SLAMing on 211.46629675700004 meters Centerline goodness : 0.821596 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.35, Z:-1.67 [[ 0.90504386 0.37242385 -0.20541686 -0.01775364] [-0.3848579 0.92269463 -0.02278192 1.35461958] [ 0.18105251 0.09967494 0.97840937 -1.6651671 ] [ 0. 0. 0. 1. ]] SLAMing on 211.49629675700004 meters Centerline goodness : 0.820821 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.36, Z:-1.66 [[ 0.90451722 0.37482004 -0.203368 -0.02016843] [-0.38660507 0.92202526 -0.02014772 1.3559724 ] [ 0.17995866 0.09684706 0.97889505 -1.66432905] [ 0. 0. 0. 1. ]] SLAMing on 211.52629675700004 meters Centerline goodness : 0.821505 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.36, Z:-1.66 [[ 0.90428895 0.37501583 -0.20402116 -0.01910984] [-0.38686761 0.9219155 -0.02013126 1.35586899] [ 0.18054073 0.09713365 0.97875947 -1.66387469] [ 0. 0. 0. 1. ]] SLAMing on 211.55629675700004 meters Centerline goodness : 0.820122 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.36, Z:-1.66 [[ 0.90414238 0.37520237 -0.20432753 -0.01886953] [-0.3871027 0.92181517 -0.02020636 1.35598173] [ 0.18077074 0.09736517 0.97869401 -1.66334072] [ 0. 0. 0. 1. ]] SLAMing on 211.58629675700004 meters Centerline goodness : 0.821334 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.36, Z:-1.66 [[ 0.90389806 0.37558066 -0.20471315 -0.0180496 ] [-0.38749861 0.92165223 -0.02004995 1.35585665] [ 0.18114395 0.09744917 0.97861664 -1.66305938] [ 0. 0. 0. 1. ]] SLAMing on 211.61629675700001 meters Centerline goodness : 0.821413 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.36, Z:-1.66 [[ 0.90373539 0.37578837 -0.20504985 -0.01687045] [-0.38774647 0.92154776 -0.02005985 1.35611456] [ 0.18142497 0.09763615 0.97854594 -1.66321767] [ 0. 0. 0. 1. ]] SLAMing on 211.64629675700002 meters Centerline goodness : 0.820641 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.36, Z:-1.66 [[ 0.90291968 0.37814571 -0.20430828 -0.01594767] [-0.38962364 0.92080557 -0.01762133 1.35606478] [ 0.18146477 0.09551398 0.97874798 -1.66361516] [ 0. 0. 0. 1. ]] SLAMing on 211.67629675700002 meters Centerline goodness : 0.822310 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.36, Z:-1.66 [[ 0.90244829 0.37916425 -0.20450319 -0.01507345] [-0.39062746 0.92038574 -0.0173284 1.35625136] [ 0.18165151 0.09552255 0.97871251 -1.66338892] [ 0. 0. 0. 1. ]] SLAMing on 211.70629675700002 meters Centerline goodness : 0.818612 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.36, Z:-1.66 [[ 0.90165765 0.38075117 -0.20504153 -0.01344113] [-0.39221223 0.91972027 -0.01685801 1.35638312] [ 0.18216214 0.09561995 0.97860808 -1.66295836] [ 0. 0. 0. 1. ]] SLAMing on 211.73629675700002 meters Centerline goodness : 0.818934 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.36, Z:-1.66 [[ 0.90117973 0.38165185 -0.20546767 -0.01269451] [-0.39313061 0.91933228 -0.01662778 1.356126 ] [ 0.18254704 0.09576025 0.97852264 -1.6623669 ] [ 0. 0. 0. 1. ]] SLAMing on 211.76629675700002 meters Centerline goodness : 0.815466 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.36, Z:-1.66 [[ 0.90053193 0.38286681 -0.2060467 -0.0122531 ] [-0.39438211 0.91880051 -0.01638201 1.35554882] [ 0.18304368 0.09601365 0.97840502 -1.66118563] [ 0. 0. 0. 1. ]] SLAMing on 211.79629675700002 meters Centerline goodness : 0.815017 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.36, Z:-1.66 [[ 0.90025488 0.38322293 -0.20659462 -0.01117036] [-0.39477908 0.91863204 -0.01626823 1.3552719 ] [ 0.18355008 0.09620479 0.97829137 -1.66096674] [ 0. 0. 0. 1. ]] SLAMing on 211.82629675700002 meters Centerline goodness : 0.813529 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.66 [[ 0.89944867 0.38495087 -0.20689352 -0.00989367] [-0.39644881 0.9179241 -0.01561033 1.35492936] [ 0.18390334 0.09606338 0.97823892 -1.66074074] [ 0. 0. 0. 1. ]] SLAMing on 211.85629675700002 meters Centerline goodness : 0.811706 Centerline is valid? [False, False] Translation: X:-0.01, Y:1.35, Z:-1.66 [[ 0.89895899 0.38556999 -0.20786658 -0.00781637] [-0.39720366 0.91759544 -0.01574342 1.35464726] [ 0.18466724 0.09671806 0.97803049 -1.66050905] [ 0. 0. 0. 1. ]] SLAMing on 211.88629675700003 meters Centerline goodness : 0.812402 Centerline is valid? [False, False] Translation: X:-0.00, Y:1.35, Z:-1.66 [[ 0.897864 0.38721386 -0.20953679 -0.0048847 ] [-0.39909824 0.91676874 -0.01598947 1.35335491] [ 0.18590544 0.09798214 0.97767002 -1.65981902] [ 0. 0. 0. 1. ]] SLAMing on 211.91629675700003 meters Centerline goodness : 0.811213 Centerline is valid? [False, False] Translation: X:-0.00, Y:1.35, Z:-1.66 [[ 0.89731406 0.38821864 -0.21003277 -0.00463181] [-0.40016856 0.91630266 -0.01595516 1.35311113] [ 0.18625949 0.0983653 0.97756415 -1.65873462] [ 0. 0. 0. 1. ]] SLAMing on 211.94629675700003 meters Centerline goodness : 0.810562 Centerline is valid? [False, False] Translation: X:-0.00, Y:1.35, Z:-1.66 [[ 0.89683689 0.38876418 -0.21105927 -0.00262294] [-0.40086257 0.91599641 -0.0161175 1.3523402 ] [ 0.18706363 0.09906053 0.97734038 -1.65858573] [ 0. 0. 0. 1. ]] SLAMing on 211.97629675700003 meters Centerline goodness : 0.810133 Centerline is valid? [False, False] Translation: X:0.00, Y:1.35, Z:-1.66 [[ 8.96051398e-01 3.89849150e-01 -2.12390048e-01 3.49169045e-05] [-4.02123609e-01 9.15442197e-01 -1.61921873e-02 1.35114564e+00] [ 1.88118302e-01 9.99160849e-02 9.77050807e-01 -1.65850181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00629675700003 meters Centerline goodness : 0.807208 Centerline is valid? [False, False] Translation: X:0.00, Y:1.35, Z:-1.66 [[ 8.95801855e-01 3.90143814e-01 -2.12901013e-01 1.27081797e-03] [-4.02434647e-01 9.15309462e-01 -1.59669440e-02 1.35026955e+00] [ 1.88640907e-01 9.99819620e-02 9.76943302e-01 -1.65867848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03629675700003 meters Centerline goodness : 0.805075 Centerline is valid? [False, False] Translation: X:0.00, Y:1.35, Z:-1.66 [[ 0.89549649 0.39072403 -0.21312148 0.00175612] [-0.40291288 0.9151112 -0.01525485 1.3487699 ] [ 0.18906941 0.09953006 0.97690661 -1.65869659] [ 0. 0. 0. 1. ]] SLAMing on 212.06629675700003 meters Centerline goodness : 0.803619 Centerline is valid? [False, False] Translation: X:0.00, Y:1.35, Z:-1.66 [[ 0.89540326 0.3908251 -0.21332777 0.00206108] [-0.40296508 0.91509438 -0.01488036 1.34792047] [ 0.18939942 0.09928757 0.97686736 -1.65870418] [ 0. 0. 0. 1. ]] SLAMing on 212.09629675700003 meters Centerline goodness : 0.804776 Centerline is valid? [False, False] Translation: X:0.00, Y:1.35, Z:-1.66 [[ 0.8955472 0.39014068 -0.21397539 0.00191618] [-0.40244254 0.91531496 -0.01544422 1.34702102] [ 0.18982945 0.09994383 0.97671696 -1.65801169] [ 0. 0. 0. 1. ]] SLAMing on 212.12629675700003 meters Centerline goodness : 0.801374 Centerline is valid? [False, False] Translation: X:0.00, Y:1.35, Z:-1.66 [[ 8.95475595e-01 3.90196878e-01 -2.14172490e-01 1.34419234e-03] [-4.02549531e-01 9.15265390e-01 -1.55929567e-02 1.34682661e+00] [ 1.89940345e-01 1.00178148e-01 9.76671390e-01 -1.65716819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15629675700004 meters Centerline goodness : 0.805354 Centerline is valid? [False, False] Translation: X:0.00, Y:1.35, Z:-1.66 [[ 8.95133899e-01 3.90857387e-01 -2.14396376e-01 1.38349404e-03] [-4.03211697e-01 9.14977045e-01 -1.54056794e-02 1.34652648e+00] [ 1.90146339e-01 1.00237272e-01 9.76625240e-01 -1.65650293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18629675700004 meters Centerline goodness : 0.799264 Centerline is valid? [False, False] Translation: X:0.00, Y:1.35, Z:-1.66 [[ 0.89463927 0.3917144 -0.21489628 0.00242972] [-0.4040632 0.9146079 -0.01501062 1.34571842] [ 0.19066595 0.10026077 0.97652152 -1.65626703] [ 0. 0. 0. 1. ]] SLAMing on 212.21629675700004 meters Centerline goodness : 0.804836 Centerline is valid? [False, False] Translation: X:0.00, Y:1.35, Z:-1.66 [[ 0.89426028 0.3921605 -0.21565875 0.003632 ] [-0.40463363 0.9143528 -0.0151848 1.34521607] [ 0.1912333 0.10084195 0.97635072 -1.65585427] [ 0. 0. 0. 1. ]] SLAMing on 212.24629675700004 meters Centerline goodness : 0.804836 Centerline is valid? [False, False] Translation: X:0.00, Y:1.35, Z:-1.66 [[ 0.89426028 0.3921605 -0.21565875 0.003632 ] [-0.40463363 0.9143528 -0.0151848 1.34521607] [ 0.1912333 0.10084195 0.97635072 -1.65585427] [ 0. 0. 0. 1. ]] SLAMing on 212.27629675700004 meters Centerline goodness : 0.804885 Centerline is valid? [False, False] Translation: X:0.00, Y:1.34, Z:-1.65 [[ 0.89335433 0.39400724 -0.21604705 0.00394381] [-0.40639133 0.91358706 -0.01430954 1.34358976] [ 0.19173973 0.10058314 0.97627809 -1.654978 ] [ 0. 0. 0. 1. ]] SLAMing on 212.30629675700004 meters Centerline goodness : 0.804311 Centerline is valid? [False, False] Translation: X:0.01, Y:1.34, Z:-1.65 [[ 0.89248564 0.39486806 -0.21805643 0.00715307] [-0.40755742 0.91306164 -0.0146763 1.34069445] [ 0.19330376 0.10196891 0.9758258 -1.6548539 ] [ 0. 0. 0. 1. ]] SLAMing on 212.33629675700004 meters Centerline goodness : 0.805322 Centerline is valid? [False, False] Translation: X:0.01, Y:1.34, Z:-1.65 [[ 0.8921985 0.39538382 -0.21829675 0.00746654] [-0.4080484 0.91284733 -0.01436166 1.33972751] [ 0.19359323 0.10188909 0.97577675 -1.65473049] [ 0. 0. 0. 1. ]] SLAMing on 212.36629675700001 meters Centerline goodness : 0.804998 Centerline is valid? [False, False] Translation: X:0.01, Y:1.34, Z:-1.65 [[ 0.89185601 0.39595711 -0.21865686 0.0079302 ] [-0.40860795 0.91260213 -0.01403183 1.33893976] [ 0.19399072 0.1018593 0.97570092 -1.6543895 ] [ 0. 0. 0. 1. ]] SLAMing on 212.39629675700002 meters Centerline goodness : 0.803666 Centerline is valid? [False, False] Translation: X:0.01, Y:1.34, Z:-1.66 [[ 0.89137485 0.39641176 -0.21979216 0.01053595] [-0.40916034 0.91235725 -0.01385898 1.33691666] [ 0.1950351 0.10228378 0.97544827 -1.65506179] [ 0. 0. 0. 1. ]] SLAMing on 212.42629675700002 meters Centerline goodness : 0.803582 Centerline is valid? [False, False] Translation: X:0.01, Y:1.34, Z:-1.65 [[ 0.89110486 0.39697625 -0.2198681 0.01054006] [-0.4096583 0.91214034 -0.0134192 1.33621809] [ 0.19522346 0.10202871 0.97543731 -1.65479683] [ 0. 0. 0. 1. ]] SLAMing on 212.45629675700002 meters Centerline goodness : 0.801619 Centerline is valid? [False, False] Translation: X:0.01, Y:1.33, Z:-1.65 [[ 0.89063278 0.39776374 -0.22035709 0.01046879] [-0.41045265 0.91178782 -0.01309897 1.33471096] [ 0.19570862 0.10211253 0.97533131 -1.65388694] [ 0. 0. 0. 1. ]] SLAMing on 212.48629675700002 meters Centerline goodness : 0.801541 Centerline is valid? [False, False] Translation: X:0.01, Y:1.33, Z:-1.65 [[ 0.89032561 0.39828523 -0.22065627 0.0101577 ] [-0.41099405 0.91154566 -0.01297656 1.33399976] [ 0.19596989 0.10224177 0.97526531 -1.65306918] [ 0. 0. 0. 1. ]] SLAMing on 212.51629675700002 meters Centerline goodness : 0.801401 Centerline is valid? [False, False] Translation: X:0.01, Y:1.33, Z:-1.65 [[ 0.88992557 0.39903159 -0.2209214 0.00962632] [-0.41171454 0.91122551 -0.01261772 1.3330601 ] [ 0.19627435 0.10218538 0.97520999 -1.65202504] [ 0. 0. 0. 1. ]] SLAMing on 212.54629675700002 meters Centerline goodness : 0.803319 Centerline is valid? [False, False] Translation: X:0.01, Y:1.33, Z:-1.65 [[ 0.8894476 0.40006247 -0.22098188 0.00844542] [-0.41259385 0.91083982 -0.01171038 1.33066912] [ 0.19659422 0.10159153 0.97520761 -1.65110504] [ 0. 0. 0. 1. ]] SLAMing on 212.57629675700002 meters Centerline goodness : 0.800611 Centerline is valid? [False, False] Translation: X:0.01, Y:1.33, Z:-1.65 [[ 0.88917397 0.40059351 -0.22112097 0.00797214] [-0.41304775 0.91064061 -0.01119113 1.32945237] [ 0.19687864 0.10128438 0.97518218 -1.65047638] [ 0. 0. 0. 1. ]] SLAMing on 212.60629675700002 meters Centerline goodness : 0.800014 Centerline is valid? [False, False] Translation: X:0.01, Y:1.33, Z:-1.65 [[ 0.88914114 0.40072413 -0.22101628 0.00626394] [-0.41310071 0.91062076 -0.01084593 1.32808125] [ 0.19691579 0.10094555 0.97520981 -1.64942927] [ 0. 0. 0. 1. ]] SLAMing on 212.63629675700003 meters Centerline goodness : 0.798531 Centerline is valid? [False, False] Translation: X:0.01, Y:1.33, Z:-1.65 [[ 0.889035 0.40015511 -0.22246944 0.00787937] [-0.41285629 0.91072037 -0.01175122 1.32687965] [ 0.19790514 0.10229515 0.97486884 -1.648994 ] [ 0. 0. 0. 1. ]] SLAMing on 212.66629675700003 meters Centerline goodness : 0.799436 Centerline is valid? [False, False] Translation: X:0.01, Y:1.33, Z:-1.65 [[ 0.88916417 0.39964661 -0.2228669 0.00638165] [-0.41244412 0.91090286 -0.01207577 1.3257779 ] [ 0.19818406 0.10265749 0.97477409 -1.64762926] [ 0. 0. 0. 1. ]] SLAMing on 212.69629675700003 meters Centerline goodness : 0.799789 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.65 [[ 0.88898209 0.3998448 -0.22323748 0.00579734] [-0.41267802 0.91079751 -0.01203077 1.32486907] [ 0.1985137 0.10282035 0.97468984 -1.64664255] [ 0. 0. 0. 1. ]] SLAMing on 212.72629675700003 meters Centerline goodness : 0.801024 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.65 [[ 0.88880543 0.39949512 -0.22456302 0.00741433] [-0.41251443 0.91086829 -0.01227995 1.32286683] [ 0.19964155 0.10354997 0.97438219 -1.64647421] [ 0. 0. 0. 1. ]] SLAMing on 212.75629675700003 meters Centerline goodness : 0.800557 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.65 [[ 0.8884395 0.40002795 -0.22506197 0.00774191] [-0.41305765 0.9106258 -0.01200095 1.32203739] [ 0.20014652 0.10362569 0.97427054 -1.64579915] [ 0. 0. 0. 1. ]] SLAMing on 212.78629675700003 meters Centerline goodness : 0.801726 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.65 [[ 0.88803969 0.40020033 -0.22632984 0.00944849] [-0.41339087 0.91047344 -0.01208736 1.32050797] [ 0.20122994 0.10429675 0.97397572 -1.64530901] [ 0. 0. 0. 1. ]] SLAMing on 212.81629675700003 meters Centerline goodness : 0.811079 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.64 [[ 0.88790766 0.40036227 -0.22656134 0.00931136] [-0.41351401 0.91042185 -0.01175709 1.31981447] [ 0.2015593 0.1041255 0.97392594 -1.64477746] [ 0. 0. 0. 1. ]] SLAMing on 212.84629675700003 meters Centerline goodness : 0.803688 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.64 [[ 0.88791968 0.40035472 -0.22652758 0.00865231] [-0.41346397 0.91044696 -0.01157061 1.31943841] [ 0.201609 0.10393476 0.97393602 -1.64430868] [ 0. 0. 0. 1. ]] SLAMing on 212.87629675700003 meters Centerline goodness : 0.804524 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.64 [[ 0.88862486 0.39860956 -0.22683974 0.00703899] [-0.41189116 0.91114798 -0.01245124 1.319198 ] [ 0.20172139 0.10449776 0.9738525 -1.64327241] [ 0. 0. 0. 1. ]] SLAMing on 212.90629675700004 meters Centerline goodness : 0.802779 Centerline is valid? [False, False] Translation: X:0.00, Y:1.32, Z:-1.64 [[ 0.88973567 0.39638818 -0.22637767 0.00379637] [-0.40974397 0.91210321 -0.01332681 1.31911017] [ 0.20119721 0.10461422 0.97394843 -1.64240092] [ 0. 0. 0. 1. ]] SLAMing on 212.93629675700004 meters Centerline goodness : 0.803444 Centerline is valid? [False, False] Translation: X:0.00, Y:1.32, Z:-1.64 [[ 0.8899756 0.39563084 -0.22675906 0.00345586] [-0.40907621 0.91239814 -0.01364884 1.31895813] [ 0.20149464 0.10490887 0.97385525 -1.64176002] [ 0. 0. 0. 1. ]] SLAMing on 212.96629675700004 meters Centerline goodness : 0.804608 Centerline is valid? [False, False] Translation: X:0.00, Y:1.32, Z:-1.64 [[ 0.88999608 0.39568134 -0.22659052 0.00274329] [-0.40903647 0.91242116 -0.01329633 1.31863694] [ 0.20148488 0.10451746 0.97389935 -1.64139063] [ 0. 0. 0. 1. ]] SLAMing on 212.99629675700004 meters Centerline goodness : 0.805601 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.64 [[ 0.88984735 0.39543891 -0.22759562 0.00528335] [-0.4089593 0.91245146 -0.01358789 1.3176356 ] [ 0.20229677 0.10516849 0.97366093 -1.64213455] [ 0. 0. 0. 1. ]] SLAMing on 213.02629675700004 meters Centerline goodness : 0.805022 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.64 [[ 0.88948154 0.39624569 -0.22762235 0.00564237] [-0.40970272 0.91212402 -0.01317006 1.31732354] [ 0.20240123 0.10497202 0.97366042 -1.64203248] [ 0. 0. 0. 1. ]] SLAMing on 213.05629675700004 meters Centerline goodness : 0.803524 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.64 [[ 0.88860014 0.39790489 -0.22816988 0.0073759 ] [-0.41134424 0.91139311 -0.01259052 1.31682877] [ 0.20294263 0.1050443 0.97353992 -1.64176258] [ 0. 0. 0. 1. ]] SLAMing on 213.08629675700004 meters Centerline goodness : 0.803824 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.64 [[ 0.88792979 0.39906653 -0.22875008 0.00857199] [-0.41251828 0.91086764 -0.01219885 1.31632199] [ 0.20349289 0.10519531 0.97340875 -1.64122717] [ 0. 0. 0. 1. ]] SLAMing on 213.11629675700001 meters Centerline goodness : 0.803988 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.64 [[ 0.88686331 0.40106746 -0.22938693 0.01033394] [-0.41446627 0.90999376 -0.01136093 1.31510242] [ 0.20418417 0.10514874 0.97326901 -1.64101342] [ 0. 0. 0. 1. ]] SLAMing on 213.14629675700002 meters Centerline goodness : 0.804428 Centerline is valid? [False, False] Translation: X:0.01, Y:1.31, Z:-1.64 [[ 0.88616114 0.40204484 -0.23038744 0.01203453] [-0.4155097 0.90952193 -0.0110247 1.3142931 ] [ 0.20511 0.10549787 0.97303653 -1.64022019] [ 0. 0. 0. 1. ]] SLAMing on 213.17629675700002 meters Centerline goodness : 0.805476 Centerline is valid? [False, False] Translation: X:0.01, Y:1.31, Z:-1.64 [[ 0.88548388 0.40329789 -0.23080103 0.01263837] [-0.4167275 0.90897102 -0.01048258 1.31344659] [ 0.20556385 0.1054633 0.9729445 -1.63955486] [ 0. 0. 0. 1. ]] SLAMing on 213.20629675700002 meters Centerline goodness : 0.813445 Centerline is valid? [False, False] Translation: X:0.01, Y:1.31, Z:-1.64 [[ 0.8846855 0.40448527 -0.23178274 0.01411642] [-0.41807882 0.90834903 -0.0105895 1.31300865] [ 0.20625633 0.10627183 0.97270994 -1.63855655] [ 0. 0. 0. 1. ]] SLAMing on 213.23629675700002 meters Centerline goodness : 0.813420 Centerline is valid? [False, False] Translation: X:0.01, Y:1.31, Z:-1.64 [[ 0.88421137 0.40541012 -0.23197603 0.01427161] [-0.41898887 0.90793294 -0.01030074 1.31292144] [ 0.20644265 0.10630341 0.97266696 -1.63781393] [ 0. 0. 0. 1. ]] SLAMing on 213.26629675700002 meters Centerline goodness : 0.808290 Centerline is valid? [False, False] Translation: X:0.01, Y:1.31, Z:-1.64 [[ 0.88292374 0.40906594 -0.23045767 0.01228006] [-0.42198189 0.90657319 -0.00750512 1.31315651] [ 0.20585666 0.10387541 0.97305341 -1.63624321] [ 0. 0. 0. 1. ]] SLAMing on 213.29629675700002 meters Centerline goodness : 0.813837 Centerline is valid? [False, False] Translation: X:0.01, Y:1.31, Z:-1.64 [[ 0.88233516 0.40998173 -0.23108364 0.01292411] [-0.42303011 0.906083 -0.00768926 1.31367682] [ 0.2062285 0.10453984 0.9729035 -1.63503363] [ 0. 0. 0. 1. ]] SLAMing on 213.32629675700002 meters Centerline goodness : 0.815184 Centerline is valid? [False, False] Translation: X:0.01, Y:1.31, Z:-1.63 [[ 0.88100655 0.41307655 -0.23064089 0.01249832] [-0.42579408 0.90480044 -0.00596395 1.31478343] [ 0.20622042 0.1034598 0.97302066 -1.63289463] [ 0. 0. 0. 1. ]] SLAMing on 213.35629675700002 meters Centerline goodness : 0.815845 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.63 [[ 0.88039062 0.41400977 -0.23131854 0.01369929] [-0.42688115 0.90428634 -0.00621991 1.31550441] [ 0.20660309 0.10422147 0.97285818 -1.63193867] [ 0. 0. 0. 1. ]] SLAMing on 213.38629675700003 meters Centerline goodness : 0.807825 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.63 [[ 0.8798771 0.41486147 -0.23174611 0.01454901] [-0.42786463 0.90381939 -0.00650907 1.3165261 ] [ 0.20675626 0.10488314 0.97275453 -1.63111401] [ 0. 0. 0. 1. ]] SLAMing on 213.41629675700003 meters Centerline goodness : 0.806586 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.63 [[ 0.8785919 0.41831819 -0.23040437 0.01314765] [-0.43080818 0.90243308 -0.00434198 1.31835285] [ 0.2061082 0.10307491 0.97308529 -1.62924725] [ 0. 0. 0. 1. ]] SLAMing on 213.44629675700003 meters Centerline goodness : 0.808940 Centerline is valid? [False, False] Translation: X:0.01, Y:1.32, Z:-1.63 [[ 0.87751225 0.42081946 -0.22996355 0.01318222] [-0.432993 0.90139308 -0.00275225 1.31948616] [ 0.20612935 0.10198774 0.97319535 -1.62769028] [ 0. 0. 0. 1. ]] SLAMing on 213.47629675700003 meters Centerline goodness : 0.808964 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.63 [[ 0.8771133 0.42105103 -0.23105907 0.01547662] [-0.43342828 0.90118265 -0.00312398 1.31992235] [ 0.20691107 0.10288761 0.97293471 -1.62723746] [ 0. 0. 0. 1. ]] SLAMing on 213.50629675700003 meters Centerline goodness : 0.809070 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.63 [[ 0.87668711 0.42169866 -0.23149506 0.01669049] [-0.43414772 0.90083617 -0.00315471 1.32057976] [ 0.20720878 0.10326875 0.97283096 -1.6268197 ] [ 0. 0. 0. 1. ]] SLAMing on 213.53629675700003 meters Centerline goodness : 0.812365 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.63 [[ 8.75905590e-01 4.23990821e-01 -2.30263287e-01 1.70478736e-02] [-4.35846232e-01 9.00020878e-01 -6.92945777e-04 1.32158347e+00] [ 2.06947964e-01 1.00966341e-01 9.73128120e-01 -1.62674371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56629675700003 meters Centerline goodness : 0.812964 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.63 [[ 8.75753470e-01 4.24499738e-01 -2.29903965e-01 1.73689098e-02] [-4.36253577e-01 8.99823709e-01 -3.29072964e-04 1.32241952e+00] [ 2.06733348e-01 1.00584614e-01 9.73213265e-01 -1.62688218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59629675700003 meters Centerline goodness : 0.813763 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.63 [[ 8.75781268e-01 4.24402016e-01 -2.29978475e-01 1.77793143e-02] [-4.36150452e-01 8.99873716e-01 -2.79057753e-04 1.32285578e+00] [ 2.06833152e-01 1.00549609e-01 9.73195676e-01 -1.62683629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62629675700003 meters Centerline goodness : 0.814179 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.63 [[ 8.75702787e-01 4.24484091e-01 -2.30125803e-01 1.80122227e-02] [-4.36220616e-01 8.99839738e-01 -1.38861216e-04 1.32283591e+00] [ 2.07017398e-01 1.00507221e-01 9.73160879e-01 -1.62657965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65629675700004 meters Centerline goodness : 0.813145 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.63 [[ 8.75797200e-01 4.24355682e-01 -2.30003304e-01 1.74888351e-02] [-4.36094851e-01 8.99900677e-01 -2.29057971e-04 1.32316650e+00] [ 2.06882927e-01 1.00503865e-01 9.73189821e-01 -1.62610331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68629675700004 meters Centerline goodness : 0.810050 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.63 [[ 8.75440353e-01 4.24843952e-01 -2.30459985e-01 1.79204570e-02] [-4.36638701e-01 8.99636929e-01 -1.98866323e-04 1.32286347e+00] [ 2.07245826e-01 1.00801844e-01 9.73081783e-01 -1.62549439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71629675700004 meters Centerline goodness : 0.813483 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.63 [[ 8.75151704e-01 4.25467771e-01 -2.30405451e-01 1.84306564e-02] [-4.37146674e-01 8.99390141e-01 3.98697178e-04 1.32267039e+00] [ 2.07394024e-01 1.00372056e-01 9.73094635e-01 -1.62550295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74629675700004 meters Centerline goodness : 0.814024 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.63 [[ 8.74896489e-01 4.25407341e-01 -2.31483755e-01 2.04233313e-02] [-4.37299843e-01 8.99315763e-01 -7.15814950e-05 1.32224246e+00] [ 2.08146538e-01 1.01290436e-01 9.72838767e-01 -1.62541058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77629675700004 meters Centerline goodness : 0.812806 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.62 [[ 8.74439598e-01 4.25881990e-01 -2.32335790e-01 2.18173977e-02] [-4.37901858e-01 8.99022765e-01 -1.76986575e-04 1.32188577e+00] [ 2.08799789e-01 1.01895038e-01 9.72635620e-01 -1.62481280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80629675700004 meters Centerline goodness : 0.811052 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.62 [[ 8.73941518e-01 4.26668291e-01 -2.32766818e-01 2.25435370e-02] [-4.38694495e-01 8.98636260e-01 1.12834766e-04 1.32136903e+00] [ 2.09220846e-01 1.02014911e-01 9.72532568e-01 -1.62427924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83629675700004 meters Centerline goodness : 0.816598 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.62 [[ 8.73052994e-01 4.27866628e-01 -2.33898736e-01 2.47802590e-02] [-4.39907590e-01 8.98042717e-01 7.69012043e-04 1.31940578e+00] [ 2.10380091e-01 1.02222441e-01 9.72260659e-01 -1.62397158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86629675700001 meters Centerline goodness : 0.811885 Centerline is valid? [False, False] Translation: X:0.03, Y:1.32, Z:-1.62 [[ 8.72610950e-01 4.28543313e-01 -2.34309108e-01 2.55268949e-02] [-4.40542862e-01 8.97730702e-01 1.25459804e-03 1.31845248e+00] [ 2.10884129e-01 1.02128429e-01 9.72161338e-01 -1.62365974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89629675700002 meters Centerline goodness : 0.816879 Centerline is valid? [False, False] Translation: X:0.03, Y:1.32, Z:-1.62 [[ 8.72279328e-01 4.29063069e-01 -2.34592535e-01 2.61220334e-02] [-4.41037953e-01 8.97487065e-01 1.57833380e-03 1.31797919e+00] [ 2.11220970e-01 1.02087464e-01 9.72092512e-01 -1.62338334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92629675700002 meters Centerline goodness : 0.811960 Centerline is valid? [False, False] Translation: X:0.03, Y:1.32, Z:-1.62 [[ 0.87200648 0.42970547 -0.23443104 0.02659335] [-0.44151448 0.89725105 0.00234696 1.31738727] [ 0.211352 0.10145813 0.97212992 -1.62368885] [ 0. 0. 0. 1. ]] SLAMing on 213.95629675700002 meters Centerline goodness : 0.810369 Centerline is valid? [False, False] Translation: X:0.03, Y:1.32, Z:-1.62 [[ 0.87178103 0.42998088 -0.23476433 0.02624347] [-0.44184301 0.89708943 0.00230422 1.31717692] [ 0.21159537 0.1017202 0.97204959 -1.62256144] [ 0. 0. 0. 1. ]] SLAMing on 213.98629675700002 meters Centerline goodness : 0.808640 Centerline is valid? [False, False] Translation: X:0.03, Y:1.32, Z:-1.62 [[ 0.87180692 0.4297131 -0.23515813 0.02609888] [-0.4416362 0.89719156 0.00218351 1.31695847] [ 0.21192017 0.10195074 0.97195467 -1.62179524] [ 0. 0. 0. 1. ]] SLAMing on 214.01629675700002 meters Centerline goodness : 0.808310 Centerline is valid? [False, False] Translation: X:0.03, Y:1.32, Z:-1.62 [[ 0.87187868 0.42940309 -0.23545818 0.02557806] [-0.4414012 0.89730775 0.00194695 1.31683381] [ 0.21211448 0.10223402 0.97188253 -1.62095355] [ 0. 0. 0. 1. ]] SLAMing on 214.04629675700002 meters Centerline goodness : 0.809313 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.62 [[ 8.72467892e-01 4.28400538e-01 -2.35101589e-01 2.35721950e-02] [-4.40402147e-01 8.97799156e-01 1.62018569e-03 1.31669246e+00] [ 2.11768097e-01 1.02125685e-01 9.71969453e-01 -1.62023262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07629675700002 meters Centerline goodness : 0.803808 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.62 [[ 8.72646123e-01 4.27711670e-01 -2.35693595e-01 2.38896436e-02] [-4.39828624e-01 8.98080791e-01 1.29359135e-03 1.31653637e+00] [ 2.12225175e-01 1.02535942e-01 9.71826556e-01 -1.61968068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10629675700002 meters Centerline goodness : 0.803203 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.62 [[ 8.73149961e-01 4.26738524e-01 -2.35591549e-01 2.35758184e-02] [-4.38858525e-01 8.98555500e-01 1.09912334e-03 1.31684741e+00] [ 2.12161121e-01 1.02431660e-01 9.71851539e-01 -1.61976390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13629675700003 meters Centerline goodness : 0.803203 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.62 [[ 8.73149961e-01 4.26738524e-01 -2.35591549e-01 2.35758184e-02] [-4.38858525e-01 8.98555500e-01 1.09912334e-03 1.31684741e+00] [ 2.12161121e-01 1.02431660e-01 9.71851539e-01 -1.61976390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16629675700003 meters Centerline goodness : 0.801495 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.62 [[ 8.73206840e-01 4.26369839e-01 -2.36047824e-01 2.45151701e-02] [-4.38543233e-01 8.98709501e-01 1.03231114e-03 1.31657355e+00] [ 2.12578568e-01 1.02615755e-01 9.71740891e-01 -1.61982463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19629675700003 meters Centerline goodness : 0.801613 Centerline is valid? [False, False] Translation: X:0.02, Y:1.32, Z:-1.62 [[ 8.73204214e-01 4.26277163e-01 -2.36224853e-01 2.43123735e-02] [-4.38352797e-01 8.98801652e-01 1.55406787e-03 1.31501953e+00] [ 2.12981752e-01 1.02192807e-01 9.71697177e-01 -1.61964834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22629675700003 meters Centerline goodness : 0.798599 Centerline is valid? [False, False] Translation: X:0.03, Y:1.31, Z:-1.62 [[ 0.87312491 0.42612629 -0.23678951 0.02514272] [-0.438227 0.89886273 0.00169825 1.31371491] [ 0.21356493 0.10228478 0.97155949 -1.61966714] [ 0. 0. 0. 1. ]] SLAMing on 214.25629675700003 meters Centerline goodness : 0.797731 Centerline is valid? [False, False] Translation: X:0.03, Y:1.31, Z:-1.62 [[ 0.87349351 0.42523735 -0.23702802 0.02527492] [-0.43723048 0.89934684 0.00218488 1.31123739] [ 0.21409949 0.1017274 0.97150036 -1.62034068] [ 0. 0. 0. 1. ]] SLAMing on 214.28629675700003 meters Centerline goodness : 0.796693 Centerline is valid? [False, False] Translation: X:0.03, Y:1.31, Z:-1.62 [[ 0.87361336 0.42484626 -0.23728749 0.02534578] [-0.43677936 0.89956511 0.00253103 1.30984044] [ 0.21453084 0.10143113 0.97143618 -1.62037568] [ 0. 0. 0. 1. ]] SLAMing on 214.31629675700003 meters Centerline goodness : 0.798946 Centerline is valid? [False, False] Translation: X:0.03, Y:1.31, Z:-1.62 [[ 0.87371074 0.42407453 -0.23830722 0.02662815] [-0.43612441 0.89988319 0.00239588 1.3084526 ] [ 0.21546469 0.10183829 0.97118687 -1.62023247] [ 0. 0. 0. 1. ]] SLAMing on 214.34629675700003 meters Centerline goodness : 0.797876 Centerline is valid? [False, False] Translation: X:0.03, Y:1.31, Z:-1.62 [[ 0.87392964 0.42332232 -0.23884137 0.02656298] [-0.43534975 0.90025749 0.00265463 1.30597842] [ 0.2161425 0.10165957 0.97105497 -1.62025093] [ 0. 0. 0. 1. ]] SLAMing on 214.37629675700003 meters Centerline goodness : 0.796526 Centerline is valid? [False, False] Translation: X:0.03, Y:1.31, Z:-1.62 [[ 0.87383125 0.4234873 -0.23890889 0.02644853] [-0.43543449 0.90021518 0.00306994 1.30514171] [ 0.21636949 0.10134657 0.97103714 -1.62009197] [ 0. 0. 0. 1. ]] SLAMing on 214.40629675700004 meters Centerline goodness : 0.795393 Centerline is valid? [False, False] Translation: X:0.03, Y:1.30, Z:-1.62 [[ 0.87341273 0.42400867 -0.23951379 0.02768574] [-0.43591506 0.89998055 0.00361483 1.3031035 ] [ 0.21709047 0.10125043 0.97088623 -1.62022543] [ 0. 0. 0. 1. ]] SLAMing on 214.43629675700004 meters Centerline goodness : 0.794695 Centerline is valid? [False, False] Translation: X:0.03, Y:1.30, Z:-1.62 [[ 0.87237731 0.42566432 -0.24034914 0.02915686] [-0.43744633 0.89923173 0.00479555 1.30064449] [ 0.21817087 0.10095632 0.97067466 -1.61968443] [ 0. 0. 0. 1. ]] SLAMing on 214.46629675700004 meters Centerline goodness : 0.797322 Centerline is valid? [False, False] Translation: X:0.03, Y:1.30, Z:-1.62 [[ 0.87148646 0.42711083 -0.24101386 0.03042239] [-0.43885724 0.89854016 0.00546896 1.29940938] [ 0.21889649 0.10100456 0.97050626 -1.61906947] [ 0. 0. 0. 1. ]] SLAMing on 214.49629675700004 meters Centerline goodness : 0.797359 Centerline is valid? [False, False] Translation: X:0.03, Y:1.30, Z:-1.62 [[ 0.87062443 0.4280896 -0.24238895 0.03304865] [-0.4400068 0.89797757 0.00550432 1.29824034] [ 0.22001618 0.10186059 0.97016354 -1.61864439] [ 0. 0. 0. 1. ]] SLAMing on 214.52629675700004 meters Centerline goodness : 0.794920 Centerline is valid? [False, False] Translation: X:0.03, Y:1.30, Z:-1.62 [[ 0.86837798 0.43325805 -0.24126157 0.03365391] [-0.44434682 0.89580612 0.00934346 1.2966622 ] [ 0.22017171 0.09909016 0.97041515 -1.61817549] [ 0. 0. 0. 1. ]] SLAMing on 214.55629675700004 meters Centerline goodness : 0.797545 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.62 [[ 0.86738133 0.43496044 -0.24178304 0.03507091] [-0.44602587 0.89496503 0.00992573 1.29637013] [ 0.22070467 0.0992321 0.97027957 -1.61754582] [ 0. 0. 0. 1. ]] SLAMing on 214.58629675700004 meters Centerline goodness : 0.796021 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.62 [[ 0.86546348 0.43934751 -0.24072126 0.03550696] [-0.44976181 0.89305514 0.0129159 1.29681176] [ 0.22065193 0.09708899 0.97050835 -1.61643381] [ 0. 0. 0. 1. ]] SLAMing on 214.61629675700001 meters Centerline goodness : 0.794752 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.62 [[ 0.86472127 0.44003881 -0.24212181 0.03760993] [-0.45072257 0.89257699 0.0124694 1.29700444] [ 0.22159937 0.09834721 0.97016573 -1.61515277] [ 0. 0. 0. 1. ]] SLAMing on 214.64629675700002 meters Centerline goodness : 0.797161 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.61 [[ 0.86316781 0.44223858 -0.24365216 0.03906166] [-0.45326693 0.8912943 0.01198144 1.29754853] [ 0.22246444 0.10009747 0.96978867 -1.61245953] [ 0. 0. 0. 1. ]] SLAMing on 214.67629675700002 meters Centerline goodness : 0.796469 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.61 [[ 0.86266564 0.44291474 -0.2442018 0.0396725 ] [-0.45406224 0.89089163 0.01181458 1.2978631 ] [ 0.2227902 0.10069078 0.96965246 -1.611511 ] [ 0. 0. 0. 1. ]] SLAMing on 214.70629675700002 meters Centerline goodness : 0.797016 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.61 [[ 0.86180575 0.43868928 -0.25464202 0.03888166] [-0.44976711 0.89299811 0.01624565 1.301103 ] [ 0.23452163 0.10052901 0.96689892 -1.60515142] [ 0. 0. 0. 1. ]] SLAMing on 214.73629675700002 meters Centerline goodness : 0.795189 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.60 [[ 0.86127382 0.43943288 -0.25515907 0.03925935] [-0.45062276 0.89256882 0.01612522 1.30161437] [ 0.23483298 0.10109225 0.96676462 -1.6039128 ] [ 0. 0. 0. 1. ]] SLAMing on 214.76629675700002 meters Centerline goodness : 0.794581 Centerline is valid? [False, False] Translation: X:0.04, Y:1.31, Z:-1.60 [[ 0.86081466 0.43162409 -0.2696271 0.04186868] [-0.44430488 0.89574278 0.01542876 1.30580443] [ 0.24817595 0.10651533 0.9628412 -1.59900144] [ 0. 0. 0. 1. ]] SLAMing on 214.79629675700002 meters Centerline goodness : 0.795151 Centerline is valid? [False, False] Translation: X:0.04, Y:1.31, Z:-1.60 [[ 0.86102106 0.43117691 -0.26968352 0.04187409] [-0.44378524 0.89599625 0.0156645 1.30515057] [ 0.24838959 0.1061941 0.9628216 -1.59906367] [ 0. 0. 0. 1. ]] SLAMing on 214.82629675700002 meters Centerline goodness : 0.797326 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.60 [[ 0.86132095 0.43036345 -0.27002504 0.04234712] [-0.44294991 0.89640761 0.01577273 1.30425466] [ 0.24884051 0.10602219 0.9627241 -1.59918135] [ 0. 0. 0. 1. ]] SLAMing on 214.85629675700002 meters Centerline goodness : 0.794820 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.60 [[ 0.86329788 0.42604819 -0.27055444 0.0421309 ] [-0.43905363 0.89835626 0.01370882 1.30317237] [ 0.24889489 0.10695311 0.96260707 -1.60080725] [ 0. 0. 0. 1. ]] SLAMing on 214.88629675700003 meters Centerline goodness : 0.795228 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.60 [[ 0.86457945 0.42235823 -0.27224237 0.04391237] [-0.43606051 0.89984765 0.01119999 1.3025257 ] [ 0.24970706 0.10903087 0.96216353 -1.60157067] [ 0. 0. 0. 1. ]] SLAMing on 214.91629675700003 meters Centerline goodness : 0.792748 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.60 [[ 0.86697992 0.41737509 -0.2722937 0.04270352] [-0.43138469 0.90212058 0.00925764 1.30104887] [ 0.24950566 0.10943714 0.96216965 -1.60366005] [ 0. 0. 0. 1. ]] SLAMing on 214.94629675700003 meters Centerline goodness : 0.793892 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.60 [[ 0.86751854 0.41673888 -0.27155164 0.04140324] [-0.43035678 0.90259973 0.01033291 1.29913096] [ 0.24940857 0.10790009 0.9623684 -1.60445165] [ 0. 0. 0. 1. ]] SLAMing on 214.97629675700003 meters Centerline goodness : 0.791758 Centerline is valid? [False, False] Translation: X:0.04, Y:1.30, Z:-1.61 [[ 0.86921699 0.41257458 -0.27247758 0.0413741 ] [-0.42657457 0.90441123 0.00862904 1.29606017] [ 0.24999191 0.1087315 0.96212344 -1.60615249] [ 0. 0. 0. 1. ]] SLAMing on 215.00629675700003 meters Centerline goodness : 0.790014 Centerline is valid? [False, False] Translation: X:0.04, Y:1.29, Z:-1.61 [[ 0.87088275 0.41756787 -0.25923021 0.03982955] [-0.43022263 0.90268083 0.00870673 1.28922797] [ 0.23763779 0.10394416 0.96577631 -1.60977886] [ 0. 0. 0. 1. ]] SLAMing on 215.03629675700003 meters Centerline goodness : 0.795145 Centerline is valid? [False, False] Translation: X:0.04, Y:1.29, Z:-1.61 [[ 0.87239793 0.41352967 -0.26060516 0.03781906] [-0.42669131 0.90437267 0.00667799 1.28549553] [ 0.23844574 0.10537209 0.96542237 -1.60920987] [ 0. 0. 0. 1. ]] SLAMing on 215.06629675700003 meters Centerline goodness : 0.792465 Centerline is valid? [False, False] Translation: X:0.04, Y:1.28, Z:-1.61 [[ 0.87272396 0.4129377 -0.2604522 0.03604054] [-0.42596902 0.9047103 0.00704783 1.28370974] [ 0.23854411 0.10479376 0.96546102 -1.60873492] [ 0. 0. 0. 1. ]] SLAMing on 215.09629675700003 meters Centerline goodness : 0.793453 Centerline is valid? [False, False] Translation: X:0.04, Y:1.28, Z:-1.61 [[ 0.87337886 0.41053448 -0.26205115 0.03548023] [-0.42402507 0.90563333 0.00556827 1.28002534] [ 0.23960823 0.10625305 0.96503792 -1.6082529 ] [ 0. 0. 0. 1. ]] SLAMing on 215.12629675700003 meters Centerline goodness : 0.790972 Centerline is valid? [False, False] Translation: X:0.03, Y:1.28, Z:-1.61 [[ 0.87322175 0.4107846 -0.26218274 0.03473638] [-0.42414059 0.90557508 0.00620754 1.27802091] [ 0.23997611 0.10578179 0.96499828 -1.60781209] [ 0. 0. 0. 1. ]] SLAMing on 215.15629675700004 meters Centerline goodness : 0.789812 Centerline is valid? [False, False] Translation: X:0.02, Y:1.28, Z:-1.61 [[ 0.87281403 0.41153393 -0.2623652 0.01602519] [-0.4229512 0.90604216 0.01413812 1.27966183] [ 0.24353225 0.09862772 0.96486508 -1.60872532] [ 0. 0. 0. 1. ]] SLAMing on 215.18629675700004 meters Centerline goodness : 0.792239 Centerline is valid? [False, False] Translation: X:0.02, Y:1.28, Z:-1.61 [[ 0.87222688 0.41209126 -0.26344081 0.01705229] [-0.42354428 0.90575882 0.01453301 1.27756622] [ 0.24460276 0.09890276 0.96456609 -1.60796538] [ 0. 0. 0. 1. ]] SLAMing on 215.21629675700004 meters Centerline goodness : 0.784490 Centerline is valid? [False, False] Translation: X:0.00, Y:1.28, Z:-1.61 [[ 0.87113712 0.41403997 -0.26399058 0.00171364] [-0.42299462 0.90579264 0.02480411 1.27906843] [ 0.24939061 0.09005881 0.96420627 -1.60779338] [ 0. 0. 0. 1. ]] SLAMing on 215.24629675700004 meters Centerline goodness : 0.789619 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.29, Z:-1.62 [[ 0.87042871 0.41622764 -0.26288477 -0.02371658] [-0.42482609 0.90489848 0.02610625 1.28618226] [ 0.24875017 0.08895668 0.96447398 -1.61721959] [ 0. 0. 0. 1. ]] SLAMing on 215.27629675700004 meters Centerline goodness : 0.785622 Centerline is valid? [False, False] Translation: X:-0.05, Y:1.30, Z:-1.63 [[ 0.87017032 0.41802402 -0.2608822 -0.05089982] [-0.42670165 0.90403785 0.02532342 1.29657672] [ 0.24643318 0.08928318 0.96503845 -1.62713565] [ 0. 0. 0. 1. ]] SLAMing on 215.30629675700004 meters Centerline goodness : 0.785506 Centerline is valid? [False, False] Translation: X:-0.08, Y:1.31, Z:-1.64 [[ 0.86899124 0.4226747 -0.25729423 -0.08132783] [-0.43118752 0.90190695 0.02532149 1.30706841] [ 0.24275821 0.08893791 0.96600129 -1.63757445] [ 0. 0. 0. 1. ]] SLAMing on 215.33629675700004 meters Centerline goodness : 0.784718 Centerline is valid? [False, False] Translation: X:-0.12, Y:1.32, Z:-1.65 [[ 0.87069485 0.42433349 -0.24865952 -0.12188827] [-0.43189583 0.90154393 0.02616351 1.323508 ] [ 0.23527954 0.08461458 0.96823753 -1.6518515 ] [ 0. 0. 0. 1. ]] SLAMing on 215.36629675700001 meters Centerline goodness : 0.786621 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.34, Z:-1.66 [[ 0.87021605 0.4269669 -0.24581151 -0.15125895] [-0.434537 0.90029446 0.02544577 1.33510748] [ 0.23216724 0.08467088 0.9689836 -1.66061191] [ 0. 0. 0. 1. ]] SLAMing on 215.39629675700002 meters Centerline goodness : 0.789138 Centerline is valid? [False, False] Translation: X:-0.19, Y:1.35, Z:-1.67 [[ 0.86825471 0.43313394 -0.24192714 -0.18505552] [-0.44043718 0.89740737 0.02598276 1.34650703] [ 0.22836121 0.08399406 0.96994647 -1.66908962] [ 0. 0. 0. 1. ]] SLAMing on 215.42629675700002 meters Centerline goodness : 0.786742 Centerline is valid? [False, False] Translation: X:-0.23, Y:1.36, Z:-1.68 [[ 0.86952713 0.43522684 -0.2334527 -0.22521308] [-0.44134375 0.89689375 0.02823643 1.36256605] [ 0.22167152 0.07848055 0.9719581 -1.68236014] [ 0. 0. 0. 1. ]] SLAMing on 215.45629675700002 meters Centerline goodness : 0.786475 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.38, Z:-1.69 [[ 0.86754044 0.44096388 -0.23005313 -0.26897755] [-0.44525481 0.8946859 0.03585089 1.37796639] [ 0.22163424 0.07133016 0.97251749 -1.69248055] [ 0. 0. 0. 1. ]] SLAMing on 215.48629675700002 meters Centerline goodness : 0.785480 Centerline is valid? [False, False] Translation: X:-0.31, Y:1.39, Z:-1.70 [[ 0.86724222 0.44301035 -0.22722842 -0.31039268] [-0.44580683 0.89415302 0.04179292 1.39346613] [ 0.22169167 0.0650554 0.97294429 -1.70227896] [ 0. 0. 0. 1. ]] SLAMing on 215.51629675700002 meters Centerline goodness : 0.795215 Centerline is valid? [False, False] Translation: X:-0.35, Y:1.41, Z:-1.71 [[ 0.86654021 0.44504974 -0.22591768 -0.35252046] [-0.44643246 0.89353562 0.04787635 1.40721245] [ 0.22317285 0.0593702 0.9729692 -1.71185644] [ 0. 0. 0. 1. ]] SLAMing on 215.54629675700002 meters Centerline goodness : 0.795375 Centerline is valid? [False, False] Translation: X:-0.39, Y:1.42, Z:-1.72 [[ 0.8688908 0.44374277 -0.2193653 -0.38976697] [-0.44419964 0.89452864 0.05005182 1.42110606] [ 0.21843868 0.05395242 0.97435809 -1.72380889] [ 0. 0. 0. 1. ]] SLAMing on 215.57629675700002 meters Centerline goodness : 0.797819 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.44, Z:-1.73 [[ 0.87011985 0.44244886 -0.2170955 -0.43174586] [-0.44196778 0.89543306 0.05351745 1.43564848] [ 0.21807323 0.04938262 0.97468222 -1.73364446] [ 0. 0. 0. 1. ]] SLAMing on 215.60629675700002 meters Centerline goodness : 0.794051 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.45, Z:-1.74 [[ 0.87199153 0.43960909 -0.21534769 -0.47366648] [-0.43819999 0.89707419 0.05690932 1.44744303] [ 0.21820071 0.04474092 0.97487779 -1.74229264] [ 0. 0. 0. 1. ]] SLAMing on 215.63629675700003 meters Centerline goodness : 0.782362 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.46, Z:-1.75 [[ 0.87440031 0.43604347 -0.2128149 -0.51761729] [-0.43389569 0.89901255 0.05925349 1.46052848] [ 0.21716036 0.0405282 0.97529423 -1.75005891] [ 0. 0. 0. 1. ]] SLAMing on 215.66629675700003 meters Centerline goodness : 0.783290 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.47, Z:-1.76 [[ 0.87791062 0.43272898 -0.20498433 -0.55462087] [-0.430159 0.90080141 0.05933 1.47454581] [ 0.21032398 0.03608941 0.97696539 -1.76117379] [ 0. 0. 0. 1. ]] SLAMing on 215.69629675700003 meters Centerline goodness : 0.781778 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.49, Z:-1.77 [[ 0.87996749 0.42964645 -0.20263549 -0.60012806] [-0.42675291 0.90237121 0.06006793 1.49100088] [ 0.2086604 0.03361746 0.9774102 -1.77016394] [ 0. 0. 0. 1. ]] SLAMing on 215.72629675700003 meters Centerline goodness : 0.781505 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.50, Z:-1.78 [[ 0.88276155 0.42531854 -0.19959003 -0.64374375] [-0.42188685 0.90455251 0.0616136 1.50446292] [ 0.20674507 0.02981429 0.97794048 -1.77775449] [ 0. 0. 0. 1. ]] SLAMing on 215.75629675700003 meters Centerline goodness : 0.783620 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.52, Z:-1.79 [[ 0.88480148 0.42215751 -0.19725462 -0.68736424] [-0.41834519 0.90611969 0.06272496 1.52039365] [ 0.20521611 0.02702138 0.9783436 -1.78735864] [ 0. 0. 0. 1. ]] SLAMing on 215.78629675700003 meters Centerline goodness : 0.784544 Centerline is valid? [False, False] Translation: X:-0.73, Y:1.53, Z:-1.80 [[ 0.88724336 0.41781283 -0.19552916 -0.72878023] [-0.41359528 0.9082125 0.06394532 1.53414562] [ 0.2042992 0.02413488 0.97861093 -1.79698838] [ 0. 0. 0. 1. ]] SLAMing on 215.81629675700003 meters Centerline goodness : 0.785346 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.55, Z:-1.81 [[ 0.8891546 0.41446614 -0.19396368 -0.7705015 ] [-0.40988348 0.90980881 0.06514191 1.549623 ] [ 0.20346898 0.02158128 0.97884351 -1.80740701] [ 0. 0. 0. 1. ]] SLAMing on 215.84629675700003 meters Centerline goodness : 0.783066 Centerline is valid? [False, False] Translation: X:-0.81, Y:1.56, Z:-1.82 [[ 0.89120112 0.41026367 -0.19350524 -0.81207982] [-0.40549228 0.91174628 0.06553417 1.56407914] [ 0.20331397 0.02006076 0.97890806 -1.81835272] [ 0. 0. 0. 1. ]] SLAMing on 215.87629675700003 meters Centerline goodness : 0.785978 Centerline is valid? [False, False] Translation: X:-0.85, Y:1.58, Z:-1.83 [[ 0.89289622 0.40729311 -0.19196006 -0.85240981] [-0.40200404 0.91314213 0.06755887 1.57913055] [ 0.20280308 0.01684566 0.97907463 -1.82843452] [ 0. 0. 0. 1. ]] SLAMing on 215.90629675700004 meters Centerline goodness : 0.784909 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.60, Z:-1.84 [[ 0.89461755 0.40378412 -0.19135784 -0.89614167] [-0.39838966 0.91471911 0.06763598 1.59547608] [ 0.20234901 0.01572665 0.97918719 -1.83925637] [ 0. 0. 0. 1. ]] SLAMing on 215.93629675700004 meters Centerline goodness : 0.781080 Centerline is valid? [False, False] Translation: X:-0.94, Y:1.61, Z:-1.85 [[ 0.89622842 0.40091429 -0.18984824 -0.93851859] [-0.3951617 0.91602012 0.06895199 1.61153768] [ 0.20154865 0.01322402 0.97938923 -1.84956966] [ 0. 0. 0. 1. ]] SLAMing on 215.96629675700004 meters Centerline goodness : 0.783955 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.63, Z:-1.86 [[ 0.89794142 0.39754588 -0.18883452 -0.97915862] [-0.39120601 0.91753026 0.07138682 1.62563952] [ 0.20164092 0.00977202 0.97941076 -1.85889573] [ 0. 0. 0. 1. ]] SLAMing on 215.99629675700004 meters Centerline goodness : 0.783096 Centerline is valid? [False, False] Translation: X:-1.02, Y:1.64, Z:-1.87 [[ 0.89989292 0.39371057 -0.18757593 -1.02065523] [-0.38694189 0.91920875 0.0730154 1.64082652] [ 0.20116837 0.00687495 0.97953255 -1.86803555] [ 0. 0. 0. 1. ]] SLAMing on 216.02629675700004 meters Centerline goodness : 0.785729 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.66, Z:-1.88 [[ 0.90252566 0.38795329 -0.18692158 -1.06475068] [-0.38120317 0.92165951 0.07230412 1.65522307] [ 0.20032867 0.00599878 0.97971038 -1.87762507] [ 0. 0. 0. 1. ]] SLAMing on 216.05629675700004 meters Centerline goodness : 0.785729 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.67, Z:-1.89 [[ 0.90402329 0.3849709 -0.1858475 -1.10644754] [-0.37786061 0.92292182 0.07373386 1.67132613] [ 0.1999081 0.00356732 0.97980816 -1.8873145 ] [ 0. 0. 0. 1. ]] SLAMing on 216.08629675700004 meters Centerline goodness : 0.786123 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.69, Z:-1.90 [[ 9.06140042e-01 3.80503021e-01 -1.84736775e-01 -1.14932336e+00] [-3.73168089e-01 9.24778377e-01 7.43675349e-02 1.68611567e+00] [ 1.99137647e-01 1.55046814e-03 9.79970302e-01 -1.89661034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11629675700001 meters Centerline goodness : 0.786713 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.69, Z:-1.90 [[ 0.9071845 0.3773195 -0.18613512 -1.17856777] [-0.3707342 0.92606876 0.07037622 1.69452189] [ 0.19892824 0.00516244 0.98000046 -1.90379186] [ 0. 0. 0. 1. ]] SLAMing on 216.14629675700002 meters Centerline goodness : 0.788692 Centerline is valid? [False, False] Translation: X:-1.21, Y:1.71, Z:-1.91 [[ 0.9080448 0.37526606 -0.18609142 -1.2094266 ] [-0.36970701 0.92686635 0.06508066 1.70570942] [ 0.19690444 0.00970315 0.98037467 -1.9126503 ] [ 0. 0. 0. 1. ]] SLAMing on 216.17629675700002 meters Centerline goodness : 0.787045 Centerline is valid? [False, False] Translation: X:-1.25, Y:1.72, Z:-1.92 [[ 0.90941926 0.37260782 -0.18471606 -1.25255803] [-0.36631193 0.92797297 0.0684232 1.71843485] [ 0.19690653 0.00543832 0.98040718 -1.91989048] [ 0. 0. 0. 1. ]] SLAMing on 216.20629675700002 meters Centerline goodness : 0.787859 Centerline is valid? [False, False] Translation: X:-1.30, Y:1.73, Z:-1.93 [[ 0.91094612 0.3694785 -0.18347428 -1.29625709] [-0.36293504 0.92923288 0.06931383 1.73329057] [ 0.19610031 0.00344808 0.98057778 -1.92964259] [ 0. 0. 0. 1. ]] SLAMing on 216.23629675700002 meters Centerline goodness : 0.788991 Centerline is valid? [False, False] Translation: X:-1.32, Y:1.74, Z:-1.94 [[ 0.91193215 0.36706088 -0.18342863 -1.32427788] [-0.3611732 0.93017583 0.06577876 1.74116581] [ 0.19476569 0.00626374 0.9808298 -1.93774339] [ 0. 0. 0. 1. ]] SLAMing on 216.26629675700002 meters Centerline goodness : 0.793608 Centerline is valid? [False, False] Translation: X:-1.37, Y:1.76, Z:-1.95 [[ 0.91332907 0.36408874 -0.18239902 -1.36830647] [-0.35791379 0.93135488 0.06690142 1.7552711 ] [ 0.19423627 0.00418011 0.98094587 -1.94723948] [ 0. 0. 0. 1. ]] SLAMing on 216.29629675700002 meters Centerline goodness : 0.788913 Centerline is valid? [False, False] Translation: X:-1.40, Y:1.77, Z:-1.96 [[ 0.91427278 0.36203896 -0.18175006 -1.39670575] [-0.35667655 0.93213166 0.06254919 1.76510517] [ 0.19206023 0.00763896 0.98135341 -1.95646475] [ 0. 0. 0. 1. ]] SLAMing on 216.32629675700002 meters Centerline goodness : 0.787738 Centerline is valid? [False, False] Translation: X:-1.44, Y:1.78, Z:-1.97 [[ 0.91563514 0.35938797 -0.18014601 -1.44125107] [-0.353568 0.93317707 0.06457719 1.77776578] [ 0.19131639 0.00456472 0.98151781 -1.96554254] [ 0. 0. 0. 1. ]] SLAMing on 216.35629675700002 meters Centerline goodness : 0.788506 Centerline is valid? [False, False] Translation: X:-1.47, Y:1.79, Z:-1.97 [[ 0.9166129 0.35736275 -0.17920004 -1.47252411] [-0.35254757 0.93392269 0.05914917 1.78863491] [ 0.18849669 0.00895965 0.98203295 -1.97441011] [ 0. 0. 0. 1. ]] SLAMing on 216.38629675700003 meters Centerline goodness : 0.791241 Centerline is valid? [False, False] Translation: X:-1.52, Y:1.80, Z:-1.98 [[ 0.91809876 0.35447607 -0.17731716 -1.51890855] [-0.34939959 0.93504089 0.06015373 1.80090947] [ 0.18712185 0.00672748 0.98231367 -1.98262369] [ 0. 0. 0. 1. ]] SLAMing on 216.41629675700003 meters Centerline goodness : 0.794803 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.81, Z:-1.99 [[ 0.91888185 0.35279143 -0.17661924 -1.55150384] [-0.34877861 0.9356291 0.05432926 1.81185488] [ 0.18441699 0.01167884 0.9827787 -1.99182622] [ 0. 0. 0. 1. ]] SLAMing on 216.44629675700003 meters Centerline goodness : 0.793595 Centerline is valid? [False, False] Translation: X:-1.59, Y:1.83, Z:-2.00 [[ 0.92030342 0.35007737 -0.17460655 -1.59414795] [-0.34558496 0.93668379 0.05652011 1.82510007] [ 0.18333754 0.00832575 0.98301477 -2.00054137] [ 0. 0. 0. 1. ]] SLAMing on 216.47629675700003 meters Centerline goodness : 0.793801 Centerline is valid? [False, False] Translation: X:-1.63, Y:1.84, Z:-2.01 [[ 0.92101433 0.34924032 -0.17252187 -1.62557942] [-0.34560707 0.93695585 0.05166704 1.83543894] [ 0.17968959 0.01203869 0.98364969 -2.01047544] [ 0. 0. 0. 1. ]] SLAMing on 216.50629675700003 meters Centerline goodness : 0.795845 Centerline is valid? [False, False] Translation: X:-1.66, Y:1.85, Z:-2.02 [[ 0.92169971 0.34858317 -0.17017467 -1.65677184] [-0.34569132 0.93715438 0.04731994 1.84655531] [ 0.17597487 0.01521313 0.9842771 -2.01924321] [ 0. 0. 0. 1. ]] SLAMing on 216.53629675700003 meters Centerline goodness : 0.793458 Centerline is valid? [False, False] Translation: X:-1.69, Y:1.86, Z:-2.03 [[ 0.92234742 0.34898348 -0.1657883 -1.68877188] [-0.34659109 0.93697868 0.04410857 1.85762049] [ 0.17073327 0.01677733 0.98517444 -2.02711775] [ 0. 0. 0. 1. ]] SLAMing on 216.56629675700003 meters Centerline goodness : 0.793698 Centerline is valid? [False, False] Translation: X:-1.74, Y:1.87, Z:-2.04 [[ 0.92359292 0.34704557 -0.16289717 -1.73510694] [-0.34427482 0.93774791 0.04586614 1.87274768] [ 0.16867412 0.01371975 0.98557638 -2.03540105] [ 0. 0. 0. 1. ]] SLAMing on 216.59629675700003 meters Centerline goodness : 0.795951 Centerline is valid? [False, False] Translation: X:-1.76, Y:1.88, Z:-2.04 [[ 0.92436719 0.34604695 -0.16061385 -1.76475163] [-0.34389548 0.9380722 0.04190997 1.88316322] [ 0.1651702 0.01649418 0.98612714 -2.04378401] [ 0. 0. 0. 1. ]] SLAMing on 216.62629675700003 meters Centerline goodness : 0.797497 Centerline is valid? [False, False] Translation: X:-1.81, Y:1.90, Z:-2.05 [[ 0.92576984 0.34319348 -0.15864567 -1.80749317] [-0.34054654 0.93917645 0.04444824 1.8964717 ] [ 0.16425062 0.0128774 0.98633458 -2.05209715] [ 0. 0. 0. 1. ]] SLAMing on 216.65629675700004 meters Centerline goodness : 0.798566 Centerline is valid? [False, False] Translation: X:-1.83, Y:1.91, Z:-2.06 [[ 0.92715281 0.34030373 -0.15678339 -1.83207263] [-0.33796197 0.94021336 0.04219653 1.90550014] [ 0.16176948 0.01386419 0.98673118 -2.05891314] [ 0. 0. 0. 1. ]] SLAMing on 216.68629675700004 meters Centerline goodness : 0.801318 Centerline is valid? [False, False] Translation: X:-1.87, Y:1.92, Z:-2.07 [[ 0.92883072 0.33641825 -0.15522967 -1.87463483] [-0.3337278 0.94164783 0.04387616 1.91871054] [ 0.16093243 0.01105093 0.98690356 -2.06771409] [ 0. 0. 0. 1. ]] SLAMing on 216.71629675700004 meters Centerline goodness : 0.803762 Centerline is valid? [False, False] Translation: X:-1.92, Y:1.93, Z:-2.08 [[ 0.93041971 0.33279928 -0.15350506 -1.91516649] [-0.32946007 0.94297587 0.04746125 1.93040644] [ 0.16054664 0.00641491 0.98700741 -2.07529514] [ 0. 0. 0. 1. ]] SLAMing on 216.74629675700004 meters Centerline goodness : 0.802702 Centerline is valid? [False, False] Translation: X:-1.94, Y:1.94, Z:-2.08 [[ 0.93178746 0.33001138 -0.15121051 -1.94229147] [-0.32717596 0.94393886 0.04399234 1.93986745] [ 0.15725145 0.00848093 0.98752218 -2.08238684] [ 0. 0. 0. 1. ]] SLAMing on 216.77629675700004 meters Centerline goodness : 0.803786 Centerline is valid? [False, False] Translation: X:-1.97, Y:1.95, Z:-2.09 [[ 0.93276474 0.32797871 -0.14959917 -1.97278017] [-0.3258032 0.94461063 0.03953527 1.94974301] [ 0.15427969 0.01186278 0.987956 -2.08986019] [ 0. 0. 0. 1. ]] SLAMing on 216.80629675700004 meters Centerline goodness : 0.804484 Centerline is valid? [False, False] Translation: X:-2.00, Y:1.96, Z:-2.10 [[ 0.93410425 0.32538945 -0.14687054 -2.00039235] [-0.3236707 0.9454796 0.0361333 1.95907498] [ 0.15062049 0.01378542 0.98849554 -2.09671687] [ 0. 0. 0. 1. ]] SLAMing on 216.83629675700004 meters Centerline goodness : 0.806508 Centerline is valid? [False, False] Translation: X:-2.03, Y:1.97, Z:-2.10 [[ 0.93538009 0.32264772 -0.14478445 -2.02811035] [-0.32138315 0.94638471 0.03269319 1.96836962] [ 0.14757017 0.01595072 0.98892296 -2.10331409] [ 0. 0. 0. 1. ]] SLAMing on 216.86629675700001 meters Centerline goodness : 0.808831 Centerline is valid? [False, False] Translation: X:-2.05, Y:1.98, Z:-2.11 [[ 0.93638346 0.3210588 -0.14180011 -2.05372579] [-0.31978928 0.94693859 0.03228189 1.97647964] [ 0.14464038 0.01511793 0.98936879 -2.10806335] [ 0. 0. 0. 1. ]] SLAMing on 216.89629675700002 meters Centerline goodness : 0.808122 Centerline is valid? [False, False] Translation: X:-2.08, Y:1.99, Z:-2.11 [[ 0.93728337 0.3198232 -0.13861102 -2.08017436] [-0.31867632 0.94735661 0.03099763 1.98541615] [ 0.14122783 0.01511849 0.98986167 -2.11383447] [ 0. 0. 0. 1. ]] SLAMing on 216.92629675700002 meters Centerline goodness : 0.803500 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.00, Z:-2.12 [[ 0.93796994 0.31900582 -0.13582223 -2.10938834] [-0.31825906 0.94759701 0.02776819 1.99535111] [ 0.13756295 0.01718092 0.99034401 -2.12123693] [ 0. 0. 0. 1. ]] SLAMing on 216.95629675700002 meters Centerline goodness : 0.807157 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.00, Z:-2.12 [[ 0.93777197 0.31972083 -0.13550766 -2.11034143] [-0.31893346 0.94736123 0.02807407 1.99580069] [ 0.13735057 0.01689085 0.99037847 -2.12086736] [ 0. 0. 0. 1. ]] SLAMing on 216.98629675700002 meters Centerline goodness : 0.805235 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.01, Z:-2.13 [[ 0.93845419 0.31919575 -0.13197653 -2.14055926] [-0.31876871 0.94750473 0.02492603 2.0059802 ] [ 0.13300467 0.01867805 0.9909394 -2.12744388] [ 0. 0. 0. 1. ]] SLAMing on 217.01629675700002 meters Centerline goodness : 0.812924 Centerline is valid? [False, False] Translation: X:-2.17, Y:2.02, Z:-2.13 [[ 0.93904849 0.31973393 -0.12632558 -2.16812712] [-0.31917213 0.94736123 0.02521602 2.01550897] [ 0.12773838 0.01664054 0.99166829 -2.13116312] [ 0. 0. 0. 1. ]] SLAMing on 217.04629675700002 meters Centerline goodness : 0.812212 Centerline is valid? [False, False] Translation: X:-2.20, Y:2.03, Z:-2.14 [[ 0.93964233 0.31949093 -0.12246564 -2.19723442] [-0.31919189 0.94742089 0.02258731 2.0260478 ] [ 0.12324294 0.01786605 0.99221569 -2.13741795] [ 0. 0. 0. 1. ]] SLAMing on 217.07629675700002 meters Centerline goodness : 0.812265 Centerline is valid? [False, False] Translation: X:-2.23, Y:2.04, Z:-2.14 [[ 0.93986266 0.32068652 -0.11755144 -2.22536687] [-0.32033096 0.94704026 0.02242371 2.0365137 ] [ 0.11851693 0.01658016 0.9928136 -2.14169224] [ 0. 0. 0. 1. ]] SLAMing on 217.10629675700002 meters Centerline goodness : 0.810741 Centerline is valid? [False, False] Translation: X:-2.25, Y:2.05, Z:-2.15 [[ 0.94046474 0.32000456 -0.11455635 -2.25281317] [-0.31983896 0.9472539 0.02032452 2.04674137] [ 0.11501789 0.01752509 0.99320882 -2.14726561] [ 0. 0. 0. 1. ]] SLAMing on 217.13629675700003 meters Centerline goodness : 0.814341 Centerline is valid? [False, False] Translation: X:-2.28, Y:2.06, Z:-2.15 [[ 0.94115466 0.31883258 -0.11213247 -2.27593366] [-0.31856094 0.94767379 0.0208162 2.0550199 ] [ 0.11290189 0.01612976 0.99347521 -2.15156897] [ 0. 0. 0. 1. ]] SLAMing on 217.16629675700003 meters Centerline goodness : 0.813509 Centerline is valid? [False, False] Translation: X:-2.31, Y:2.07, Z:-2.16 [[ 0.943109 0.31556723 -0.1047031 -2.31099755] [-0.31515084 0.94881066 0.02093499 2.06885936] [ 0.10594981 0.01325329 0.99428315 -2.16215103] [ 0. 0. 0. 1. ]] SLAMing on 217.19629675700003 meters Centerline goodness : 0.810964 Centerline is valid? [False, False] Translation: X:-2.33, Y:2.08, Z:-2.16 [[ 0.94400628 0.31306024 -0.10414141 -2.33023175] [-0.31247118 0.94966432 0.0223483 2.07688074] [ 0.10589574 0.01144426 0.99431138 -2.16499501] [ 0. 0. 0. 1. ]] SLAMing on 217.22629675700003 meters Centerline goodness : 0.811209 Centerline is valid? [False, False] Translation: X:-2.33, Y:2.08, Z:-2.16 [[ 0.94402921 0.31291094 -0.10438193 -2.32956236] [-0.31233911 0.94971113 0.02220456 2.0775561 ] [ 0.10608074 0.0116408 0.99428938 -2.16494666] [ 0. 0. 0. 1. ]] SLAMing on 217.25629675700003 meters Centerline goodness : 0.806124 Centerline is valid? [False, False] Translation: X:-2.35, Y:2.09, Z:-2.17 [[ 0.94550828 0.30969353 -0.10051874 -2.35106159] [-0.30911009 0.95077811 0.02172413 2.08670105] [ 0.10229884 0.01053101 0.99469797 -2.16797263] [ 0. 0. 0. 1. ]] SLAMing on 217.28629675700003 meters Centerline goodness : 0.804258 Centerline is valid? [False, False] Translation: X:-2.37, Y:2.09, Z:-2.17 [[ 0.94697007 0.30639572 -0.09679542 -2.37108556] [-0.30566723 0.95186932 0.02263508 2.09404469] [ 0.09907188 0.00815244 0.99504688 -2.17038576] [ 0. 0. 0. 1. ]] SLAMing on 217.31629675700003 meters Centerline goodness : 0.804071 Centerline is valid? [False, False] Translation: X:-2.37, Y:2.09, Z:-2.17 [[ 0.9469773 0.30629003 -0.09705882 -2.37064232] [-0.3055551 0.95190339 0.02271586 2.09433239] [ 0.09934827 0.00814542 0.99501938 -2.16991755] [ 0. 0. 0. 1. ]] SLAMing on 217.34629675700003 meters Centerline goodness : 0.802470 Centerline is valid? [False, False] Translation: X:-2.39, Y:2.10, Z:-2.17 [[ 0.94882715 0.30161523 -0.09356974 -2.39048673] [-0.30081845 0.95340777 0.02284489 2.10203785] [ 0.09610049 0.00647166 0.9953506 -2.17172232] [ 0. 0. 0. 1. ]] SLAMing on 217.37629675700003 meters Centerline goodness : 0.801254 Centerline is valid? [False, False] Translation: X:-2.39, Y:2.10, Z:-2.17 [[ 0.94890999 0.30126985 -0.09384193 -2.38980401] [-0.30047105 0.95351678 0.0228669 2.10197592] [ 0.09636896 0.00649816 0.99532447 -2.1714914 ] [ 0. 0. 0. 1. ]] SLAMing on 217.40629675700004 meters Centerline goodness : 0.808027 Centerline is valid? [False, False] Translation: X:-2.39, Y:2.10, Z:-2.17 [[ 0.94995821 0.29760307 -0.0949306 -2.38958613] [-0.2971406 0.95463864 0.01930082 2.10397656] [ 0.0963684 0.00987277 0.99529677 -2.17122003] [ 0. 0. 0. 1. ]] SLAMing on 217.43629675700004 meters Centerline goodness : 0.807313 Centerline is valid? [False, False] Translation: X:-2.41, Y:2.11, Z:-2.17 [[ 0.95090126 0.29440978 -0.09544462 -2.40533908] [-0.29337851 0.95566985 0.02498373 2.10769207] [ 0.098569 0.00424434 0.99512117 -2.17011374] [ 0. 0. 0. 1. ]] SLAMing on 217.46629675700004 meters Centerline goodness : 0.809669 Centerline is valid? [False, False] Translation: X:-2.42, Y:2.11, Z:-2.17 [[ 9.51609248e-01 2.90927003e-01 -9.90016082e-02 -2.41849690e+00] [-2.89232858e-01 9.56744473e-01 3.13746396e-02 2.11021464e+00] [ 1.03846971e-01 -1.22187911e-03 9.94592536e-01 -2.16844447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49629675700004 meters Centerline goodness : 0.808262 Centerline is valid? [False, False] Translation: X:-2.42, Y:2.11, Z:-2.17 [[ 9.52201759e-01 2.89654261e-01 -9.70165894e-02 -2.42043429e+00] [-2.88092110e-01 9.57131114e-01 3.00494102e-02 2.11141727e+00] [ 1.01561536e-01 -6.63387256e-04 9.94829038e-01 -2.17017523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52629675700004 meters Centerline goodness : 0.807599 Centerline is valid? [False, False] Translation: X:-2.42, Y:2.11, Z:-2.17 [[ 9.52366221e-01 2.88901717e-01 -9.76441419e-02 -2.41828912e+00] [-2.87367372e-01 9.57358726e-01 2.97365750e-02 2.11100553e+00] [ 1.02071419e-01 -2.60369124e-04 9.94777039e-01 -2.17100561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55629675700004 meters Centerline goodness : 0.808533 Centerline is valid? [False, False] Translation: X:-2.42, Y:2.11, Z:-2.17 [[ 9.52368286e-01 2.88804611e-01 -9.79108993e-02 -2.41755512e+00] [-2.87265830e-01 9.57388032e-01 2.97741286e-02 2.11108581e+00] [ 1.02337629e-01 -2.29480126e-04 9.94749696e-01 -2.17101903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58629675700004 meters Centerline goodness : 0.803721 Centerline is valid? [False, False] Translation: X:-2.42, Y:2.11, Z:-2.17 [[ 9.52298475e-01 2.89023649e-01 -9.79435829e-02 -2.41740910e+00] [-2.87490720e-01 9.57321945e-01 2.97284152e-02 2.11189903e+00] [ 1.02355756e-01 -1.52453335e-04 9.94747845e-01 -2.17096502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61629675700001 meters Centerline goodness : 0.802295 Centerline is valid? [False, False] Translation: X:-2.42, Y:2.11, Z:-2.17 [[ 9.52185116e-01 2.89401205e-01 -9.79308268e-02 -2.41767318e+00] [-2.87843812e-01 9.57207820e-01 2.99854814e-02 2.11201446e+00] [ 1.02417988e-01 -3.62946591e-04 9.94741386e-01 -2.17058414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64629675700002 meters Centerline goodness : 0.802067 Centerline is valid? [False, False] Translation: X:-2.42, Y:2.11, Z:-2.17 [[ 9.51966996e-01 2.90172996e-01 -9.77674324e-02 -2.41851272e+00] [-2.88595161e-01 9.56974045e-01 3.02243424e-02 2.11294251e+00] [ 1.02331183e-01 -5.57368570e-04 9.94750229e-01 -2.16994056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67629675700002 meters Centerline goodness : 0.800392 Centerline is valid? [False, False] Translation: X:-2.44, Y:2.12, Z:-2.17 [[ 0.95328363 0.28738681 -0.09305455 -2.43784424] [-0.28565506 0.95780765 0.03171251 2.11975272] [ 0.09824212 -0.00364951 0.99515585 -2.17252582] [ 0. 0. 0. 1. ]] SLAMing on 217.70629675700002 meters Centerline goodness : 0.797842 Centerline is valid? [False, False] Translation: X:-2.44, Y:2.12, Z:-2.17 [[ 0.95314428 0.28788441 -0.09294376 -2.43841933] [-0.2861323 0.9576574 0.03194692 2.11996756] [ 0.0982053 -0.00385582 0.99515871 -2.17213081] [ 0. 0. 0. 1. ]] SLAMing on 217.73629675700002 meters Centerline goodness : 0.799642 Centerline is valid? [False, False] Translation: X:-2.44, Y:2.12, Z:-2.17 [[ 0.95283582 0.28907843 -0.09239895 -2.44026218] [-0.2872985 0.95729603 0.03230917 2.12084967] [ 0.09779303 -0.00423926 0.99519774 -2.17138649] [ 0. 0. 0. 1. ]] SLAMing on 217.76629675700002 meters Centerline goodness : 0.801871 Centerline is valid? [False, False] Translation: X:-2.44, Y:2.12, Z:-2.17 [[ 0.95269398 0.28957985 -0.09229133 -2.44074104] [-0.28778949 0.95714398 0.03244395 2.12133594] [ 0.09773121 -0.00434868 0.99520335 -2.17113934] [ 0. 0. 0. 1. ]] SLAMing on 217.79629675700002 meters Centerline goodness : 0.804979 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.13, Z:-2.18 [[ 0.95320316 0.28938696 -0.08751522 -2.46376987] [-0.28754648 0.95719006 0.03322978 2.12953788] [ 0.09338496 -0.00651004 0.99560879 -2.17558292] [ 0. 0. 0. 1. ]] SLAMing on 217.82629675700002 meters Centerline goodness : 0.805066 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.14, Z:-2.18 [[ 0.95412603 0.28752923 -0.08348931 -2.48724435] [-0.28580686 0.95774759 0.03215581 2.13802335] [ 0.08920742 -0.00681888 0.99598973 -2.18050278] [ 0. 0. 0. 1. ]] SLAMing on 217.85629675700002 meters Centerline goodness : 0.805042 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.14, Z:-2.18 [[ 0.95374774 0.28897923 -0.0828025 -2.48918238] [-0.28724034 0.95730851 0.03245624 2.13924204] [ 0.08864672 -0.00717084 0.99603732 -2.18021112] [ 0. 0. 0. 1. ]] SLAMing on 217.88629675700003 meters Centerline goodness : 0.805498 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.15, Z:-2.19 [[ 0.954655 0.28686306 -0.07964557 -2.5141392 ] [-0.28531077 0.95795042 0.03047546 2.14731331] [ 0.08503879 -0.00636981 0.99635728 -2.18534797] [ 0. 0. 0. 1. ]] SLAMing on 217.91629675700003 meters Centerline goodness : 0.805998 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.15, Z:-2.19 [[ 0.95563921 0.28435879 -0.076771 -2.53382401] [-0.28266654 0.95867406 0.03230612 2.15304966] [ 0.08278489 -0.0091724 0.99652523 -2.18824655] [ 0. 0. 0. 1. ]] SLAMing on 217.94629675700003 meters Centerline goodness : 0.805998 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.15, Z:-2.19 [[ 0.95563921 0.28435879 -0.076771 -2.53382401] [-0.28266654 0.95867406 0.03230612 2.15304966] [ 0.08278489 -0.0091724 0.99652523 -2.18824655] [ 0. 0. 0. 1. ]] SLAMing on 217.97629675700003 meters Centerline goodness : 0.801768 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.16, Z:-2.19 [[ 0.95610522 0.28308801 -0.07565709 -2.55981611] [-0.28157356 0.95906398 0.03020949 2.15901408] [ 0.08111194 -0.00758042 0.99667617 -2.19449331] [ 0. 0. 0. 1. ]] SLAMing on 218.00629675700003 meters Centerline goodness : 0.801289 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.16, Z:-2.19 [[ 0.95607582 0.28316354 -0.07574594 -2.5594683 ] [-0.28162569 0.95903976 0.03049117 2.15752702] [ 0.08127736 -0.00781986 0.99666085 -2.19489123] [ 0. 0. 0. 1. ]] SLAMing on 218.03629675700003 meters Centerline goodness : 0.800742 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.15, Z:-2.19 [[ 0.95605397 0.28327188 -0.07561651 -2.55961128] [-0.28166828 0.95900073 0.03131406 2.15451965] [ 0.08138669 -0.00863916 0.99664516 -2.1948707 ] [ 0. 0. 0. 1. ]] SLAMing on 218.06629675700003 meters Centerline goodness : 0.802773 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.15, Z:-2.19 [[ 0.95601029 0.28342306 -0.07560219 -2.55979681] [-0.28176525 0.95895012 0.03198445 2.15260057] [ 0.08156386 -0.00927539 0.99662496 -2.19452104] [ 0. 0. 0. 1. ]] SLAMing on 218.09629675700003 meters Centerline goodness : 0.806179 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.15, Z:-2.19 [[ 0.95692958 0.28017645 -0.07607188 -2.56139975] [-0.27875491 0.95992672 0.0289205 2.15028774] [ 0.08112627 -0.00646947 0.99668284 -2.19476448] [ 0. 0. 0. 1. ]] SLAMing on 218.12629675700003 meters Centerline goodness : 0.807087 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.15, Z:-2.20 [[ 0.95854232 0.27522827 -0.07379712 -2.58371037] [-0.27384224 0.96135273 0.02848445 2.15449142] [ 0.07878479 -0.00709478 0.9968664 -2.1973448 ] [ 0. 0. 0. 1. ]] SLAMing on 218.15629675700004 meters Centerline goodness : 0.812406 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.15, Z:-2.20 [[ 0.95958189 0.27138831 -0.07450491 -2.58438934] [-0.27023069 0.96246062 0.02539539 2.15062719] [ 0.07860005 -0.00423545 0.99689723 -2.19805718] [ 0. 0. 0. 1. ]] SLAMing on 218.18629675700004 meters Centerline goodness : 0.814651 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.15, Z:-2.20 [[ 9.60495698e-01 2.67934873e-01 -7.52257841e-02 -2.58508442e+00] [-2.67050735e-01 9.63436682e-01 2.17638539e-02 2.15027133e+00] [ 7.83065753e-02 -8.14987040e-04 9.96928992e-01 -2.19860554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21629675700004 meters Centerline goodness : 0.818725 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.15, Z:-2.20 [[ 9.61369141e-01 2.64623339e-01 -7.57882740e-02 -2.58612124e+00] [-2.63981969e-01 9.64349382e-01 1.85415876e-02 2.14791964e+00] [ 7.79929120e-02 2.18142767e-03 9.96951527e-01 -2.19938673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24629675700004 meters Centerline goodness : 0.812861 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.15, Z:-2.20 [[ 9.61310419e-01 2.64832057e-01 -7.58040929e-02 -2.58619367e+00] [-2.64134812e-01 9.64293378e-01 1.92635076e-02 2.14535957e+00] [ 7.81989791e-02 1.50428930e-03 9.96936636e-01 -2.19928231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27629675700004 meters Centerline goodness : 0.815158 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.14, Z:-2.20 [[ 9.61220128e-01 2.65179601e-01 -7.57340439e-02 -2.58661267e+00] [-2.64421929e-01 9.64198738e-01 2.00458947e-02 2.14279793e+00] [ 7.83384319e-02 7.57224465e-04 9.96926535e-01 -2.19905983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30629675700004 meters Centerline goodness : 0.819490 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.14, Z:-2.20 [[ 0.96191029 0.26263136 -0.07585093 -2.58928535] [-0.26208913 0.96489047 0.01719519 2.14045047] [ 0.07770383 0.00333947 0.99697089 -2.19916774] [ 0. 0. 0. 1. ]] SLAMing on 218.33629675700004 meters Centerline goodness : 0.816780 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.14, Z:-2.20 [[ 0.96186569 0.26278416 -0.07588723 -2.58923347] [-0.26218491 0.96485101 0.01793311 2.13772582] [ 0.07793241 0.00264724 0.99695513 -2.19916974] [ 0. 0. 0. 1. ]] SLAMing on 218.36629675700001 meters Centerline goodness : 0.819763 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.13, Z:-2.20 [[ 0.96267241 0.25962941 -0.0765141 -2.59014815] [-0.25927124 0.96569188 0.01475212 2.13488789] [ 0.07771913 0.00563645 0.99695936 -2.20025768] [ 0. 0. 0. 1. ]] SLAMing on 218.39629675700002 meters Centerline goodness : 0.821297 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.13, Z:-2.20 [[ 0.96270954 0.2593926 -0.07684929 -2.58927552] [-0.25900161 0.9657575 0.01518599 2.13193166] [ 0.07815691 0.00528439 0.99692706 -2.20068716] [ 0. 0. 0. 1. ]] SLAMing on 218.42629675700002 meters Centerline goodness : 0.823022 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.13, Z:-2.20 [[ 0.96351795 0.25616811 -0.07753099 -2.5899774 ] [-0.25601455 0.96659741 0.01208313 2.12818943] [ 0.07803657 0.00820675 0.99691672 -2.20197023] [ 0. 0. 0. 1. ]] SLAMing on 218.45629675700002 meters Centerline goodness : 0.822207 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.13, Z:-2.20 [[ 0.96355433 0.25590471 -0.07794762 -2.58877645] [-0.25572958 0.96666895 0.01239022 2.12520305] [ 0.07852026 0.00799486 0.99688046 -2.20275416] [ 0. 0. 0. 1. ]] SLAMing on 218.48629675700002 meters Centerline goodness : 0.821956 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.12, Z:-2.20 [[ 0.96435139 0.25272406 -0.07846627 -2.58986349] [-0.25279062 0.96747681 0.00924836 2.12174153] [ 0.07825158 0.01091687 0.99687387 -2.20394726] [ 0. 0. 0. 1. ]] SLAMing on 218.51629675700002 meters Centerline goodness : 0.823592 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.12, Z:-2.20 [[ 0.9642901 0.25295809 -0.07846526 -2.58990744] [-0.25296991 0.96742293 0.00995452 2.11883448] [ 0.07842717 0.0102503 0.99686715 -2.20410389] [ 0. 0. 0. 1. ]] SLAMing on 218.54629675700002 meters Centerline goodness : 0.822733 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.11, Z:-2.20 [[ 0.96411471 0.25375246 -0.07805452 -2.59114722] [-0.25365808 0.96722809 0.01128733 2.11437241] [ 0.07836071 0.00891688 0.99688519 -2.20391734] [ 0. 0. 0. 1. ]] SLAMing on 218.57629675700002 meters Centerline goodness : 0.823358 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.11, Z:-2.20 [[ 0.96398715 0.25429435 -0.07786626 -2.59197618] [-0.25413644 0.96709272 0.01209702 2.11192168] [ 0.0783801 0.00812728 0.99689042 -2.20358382] [ 0. 0. 0. 1. ]] SLAMing on 218.60629675700002 meters Centerline goodness : 0.824873 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.11, Z:-2.20 [[ 0.96451431 0.25236424 -0.07761729 -2.59607539] [-0.25241288 0.96757449 0.00934547 2.10950375] [ 0.07745897 0.01057776 0.99693943 -2.20349436] [ 0. 0. 0. 1. ]] SLAMing on 218.63629675700003 meters Centerline goodness : 0.826187 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.11, Z:-2.20 [[ 0.96438357 0.25290299 -0.07748816 -2.59684612] [-0.25288037 0.96744308 0.010267 2.10685728] [ 0.07756194 0.00969391 0.99694041 -2.20299547] [ 0. 0. 0. 1. ]] SLAMing on 218.66629675700003 meters Centerline goodness : 0.826687 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.10, Z:-2.20 [[ 0.9642692 0.253372 -0.07737919 -2.59748565] [-0.25329061 0.96732737 0.01102802 2.10433779] [ 0.0776452 0.00896545 0.99694074 -2.2027396 ] [ 0. 0. 0. 1. ]] SLAMing on 218.69629675700003 meters Centerline goodness : 0.826742 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.10, Z:-2.20 [[ 0.96406207 0.25427556 -0.07699518 -2.59900987] [-0.25407596 0.96710295 0.01254165 2.09921906] [ 0.07765131 0.00747169 0.99695258 -2.20229863] [ 0. 0. 0. 1. ]] SLAMing on 218.72629675700003 meters Centerline goodness : 0.826823 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.10, Z:-2.20 [[ 0.96396904 0.2546326 -0.07698002 -2.59924056] [-0.25438594 0.96701326 0.01315836 2.09685509] [ 0.07779125 0.00689838 0.9969458 -2.20237034] [ 0. 0. 0. 1. ]] SLAMing on 218.75629675700003 meters Centerline goodness : 0.829667 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.09, Z:-2.20 [[ 0.96388222 0.25497553 -0.07693213 -2.59945352] [-0.25464098 0.96693003 0.01429294 2.09187988] [ 0.07803234 0.00581336 0.99693388 -2.20258084] [ 0. 0. 0. 1. ]] SLAMing on 218.78629675700003 meters Centerline goodness : 0.832357 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.09, Z:-2.20 [[ 9.64214782e-01 2.53107361e-01 -7.89082815e-02 -2.61930591e+00] [-2.52253857e-01 9.67438189e-01 2.07687927e-02 2.09157480e+00] [ 8.15956193e-02 -1.20658629e-04 9.96665511e-01 -2.20024287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81629675700003 meters Centerline goodness : 0.831480 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.09, Z:-2.20 [[ 9.65051620e-01 2.49772778e-01 -7.93027731e-02 -2.62122072e+00] [-2.49120196e-01 9.68301949e-01 1.81786726e-02 2.08743502e+00] [ 8.13295673e-02 2.21256487e-03 9.96684808e-01 -2.19980682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84629675700003 meters Centerline goodness : 0.829328 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.09, Z:-2.20 [[ 0.96597387 0.24597136 -0.07995352 -2.62208162] [-0.24562048 0.96925987 0.01434832 2.08657115] [ 0.08102502 0.00577812 0.99669532 -2.20035219] [ 0. 0. 0. 1. ]] SLAMing on 218.87629675700003 meters Centerline goodness : 0.828835 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.20 [[ 0.96785925 0.23794521 -0.08142814 -2.62308598] [-0.23820405 0.97119227 0.00666306 2.08455715] [ 0.08066783 0.01294761 0.99665694 -2.20143154] [ 0. 0. 0. 1. ]] SLAMing on 218.90629675700004 meters Centerline goodness : 0.827629 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.20 [[ 0.96880713 0.23375278 -0.08229447 -2.62304011] [-0.2343347 0.97215236 0.00265137 2.08389611] [ 0.08062253 0.01671578 0.99660453 -2.20217162] [ 0. 0. 0. 1. ]] SLAMing on 218.93629675700004 meters Centerline goodness : 0.830802 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.20 [[ 9.69763307e-01 2.29453946e-01 -8.31265006e-02 -2.62273418e+00] [-2.30382372e-01 9.73098826e-01 -1.62408648e-03 2.08360736e+00] [ 8.05176471e-02 2.07258598e-02 9.96537680e-01 -2.20343432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96629675700004 meters Centerline goodness : 0.833695 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.21 [[ 0.9707461 0.22493338 -0.08400591 -2.62180475] [-0.22621018 0.97406077 -0.00587897 2.08229107] [ 0.08050448 0.02470998 0.99644791 -2.20538719] [ 0. 0. 0. 1. ]] SLAMing on 218.99629675700004 meters Centerline goodness : 0.833209 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.21 [[ 0.97082846 0.22443676 -0.08438156 -2.62042723] [-0.2257041 0.97417941 -0.0056682 2.08080554] [ 0.08093063 0.02454811 0.99641739 -2.20565268] [ 0. 0. 0. 1. ]] SLAMing on 219.02629675700004 meters Centerline goodness : 0.833125 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.21 [[ 0.970896 0.22404085 -0.0846561 -2.61957972] [-0.22526568 0.97428413 -0.00508066 2.07857437] [ 0.08134082 0.02400291 0.99639728 -2.20524921] [ 0. 0. 0. 1. ]] SLAMing on 219.05629675700004 meters Centerline goodness : 0.828835 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.21 [[ 0.97154074 0.22113126 -0.08490911 -2.62050505] [-0.2226117 0.97487217 -0.00826325 2.08017554] [ 0.08094827 0.02692984 0.99635444 -2.20530999] [ 0. 0. 0. 1. ]] SLAMing on 219.08629675700004 meters Centerline goodness : 0.832670 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.21 [[ 0.97229273 0.21764408 -0.08531061 -2.62200097] [-0.21944806 0.97554718 -0.01225742 2.0809872 ] [ 0.08055677 0.03063905 0.996279 -2.20550865] [ 0. 0. 0. 1. ]] SLAMing on 219.11629675700001 meters Centerline goodness : 0.834096 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.20 [[ 0.97229829 0.21751433 -0.08557771 -2.62151425] [-0.21929302 0.97558708 -0.01184955 2.07992654] [ 0.08091107 0.0302879 0.99626103 -2.2049733 ] [ 0. 0. 0. 1. ]] SLAMing on 219.14629675700002 meters Centerline goodness : 0.831680 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.20 [[ 0.97234863 0.21710841 -0.08603537 -2.62025124] [-0.21886898 0.9756868 -0.01147368 2.07842931] [ 0.08145254 0.0299869 0.99622601 -2.20472387] [ 0. 0. 0. 1. ]] SLAMing on 219.17629675700002 meters Centerline goodness : 0.834352 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.20 [[ 0.97237621 0.21683372 -0.08641559 -2.61924163] [-0.2186041 0.97574628 -0.01146474 2.07812217] [ 0.08183375 0.03003884 0.99619321 -2.20479175] [ 0. 0. 0. 1. ]] SLAMing on 219.20629675700002 meters Centerline goodness : 0.832379 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.21 [[ 0.97245944 0.21628864 -0.08684394 -2.61776071] [-0.2180741 0.9758643 -0.01151322 2.07750926] [ 0.08225772 0.03013455 0.9961554 -2.20510586] [ 0. 0. 0. 1. ]] SLAMing on 219.23629675700002 meters Centerline goodness : 0.833734 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.21 [[ 0.97343149 0.21128396 -0.0882622 -2.61613607] [-0.21345224 0.97682592 -0.015788 2.0775981 ] [ 0.08288105 0.0342083 0.99597215 -2.20537975] [ 0. 0. 0. 1. ]] SLAMing on 219.26629675700002 meters Centerline goodness : 0.834230 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.08, Z:-2.21 [[ 0.97355239 0.21042746 -0.08897204 -2.61369372] [-0.21263504 0.97700068 -0.01600026 2.07720946] [ 0.08355885 0.03449567 0.9959056 -2.20593815] [ 0. 0. 0. 1. ]] SLAMing on 219.29629675700002 meters Centerline goodness : 0.834936 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.08, Z:-2.21 [[ 0.97371109 0.2093536 -0.08976518 -2.61070366] [-0.21161416 0.9772166 -0.01634536 2.0769171 ] [ 0.08429806 0.03491124 0.99582882 -2.20685341] [ 0. 0. 0. 1. ]] SLAMing on 219.32629675700002 meters Centerline goodness : 0.836955 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.08, Z:-2.21 [[ 0.97372834 0.20916918 -0.09000763 -2.60996563] [-0.21144019 0.97725374 -0.01637578 2.07687294] [ 0.08453498 0.03497679 0.99580644 -2.20696885] [ 0. 0. 0. 1. ]] SLAMing on 219.35629675700002 meters Centerline goodness : 0.834301 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.08, Z:-2.21 [[ 0.97373145 0.20906663 -0.09021203 -2.60947358] [-0.21134478 0.97727432 -0.0163793 2.07721002] [ 0.08473754 0.03501488 0.99578788 -2.20679014] [ 0. 0. 0. 1. ]] SLAMing on 219.38629675700003 meters Centerline goodness : 0.835461 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.08, Z:-2.21 [[ 0.97365346 0.20955426 -0.08992192 -2.61057386] [-0.21181994 0.97717223 -0.01633215 2.07828813] [ 0.08444674 0.03494911 0.9958149 -2.20632234] [ 0. 0. 0. 1. ]] SLAMing on 219.41629675700003 meters Centerline goodness : 0.840395 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.08, Z:-2.21 [[ 0.97360004 0.20984144 -0.0898306 -2.6112569 ] [-0.21209313 0.97711529 -0.01619275 2.07900287] [ 0.08437694 0.03481771 0.99582542 -2.20562631] [ 0. 0. 0. 1. ]] SLAMing on 219.44629675700003 meters Centerline goodness : 0.839740 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.09, Z:-2.21 [[ 0.9745784 0.20762892 -0.0841854 -2.63579153] [-0.20950627 0.97770682 -0.01401758 2.08664916] [ 0.07939819 0.0312986 0.99635151 -2.20608895] [ 0. 0. 0. 1. ]] SLAMing on 219.47629675700003 meters Centerline goodness : 0.840784 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.09, Z:-2.21 [[ 0.97456889 0.20767586 -0.08417969 -2.63599397] [-0.20955717 0.97769519 -0.01406768 2.08760614] [ 0.07938056 0.03135038 0.99635128 -2.20566199] [ 0. 0. 0. 1. ]] SLAMing on 219.50629675700003 meters Centerline goodness : 0.838915 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.10, Z:-2.21 [[ 0.97581909 0.20451993 -0.07712782 -2.65364473] [-0.20588316 0.97852474 -0.01007297 2.09536485] [ 0.07341136 0.02570872 0.99697033 -2.20640718] [ 0. 0. 0. 1. ]] SLAMing on 219.53629675700003 meters Centerline goodness : 0.841150 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.10, Z:-2.21 [[ 0.9758014 0.20461293 -0.07710492 -2.65365121] [-0.2060181 0.97849025 -0.01064777 2.09772451] [ 0.07326775 0.02627511 0.99696613 -2.20667825] [ 0. 0. 0. 1. ]] SLAMing on 219.56629675700003 meters Centerline goodness : 0.839944 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.10, Z:-2.21 [[ 0.9758038 0.20455994 -0.07721507 -2.65334081] [-0.20599388 0.97849144 -0.01100124 2.09950904] [ 0.07330387 0.02664088 0.99695376 -2.2066563 ] [ 0. 0. 0. 1. ]] SLAMing on 219.59629675700003 meters Centerline goodness : 0.832746 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.10, Z:-2.21 [[ 0.97583687 0.20429356 -0.07750185 -2.65239427] [-0.20580941 0.97851829 -0.0120181 2.10341943] [ 0.07338176 0.02767832 0.99691977 -2.20708316] [ 0. 0. 0. 1. ]] SLAMing on 219.62629675700003 meters Centerline goodness : 0.839605 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.10, Z:-2.21 [[ 0.97586817 0.20405018 -0.07774857 -2.65166455] [-0.20560377 0.97855618 -0.01244528 2.10482296] [ 0.07354188 0.02813035 0.99689532 -2.20725522] [ 0. 0. 0. 1. ]] SLAMing on 219.65629675700004 meters Centerline goodness : 0.832529 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.11, Z:-2.21 [[ 0.97599758 0.20318145 -0.07839658 -2.64933631] [-0.20483975 0.97870048 -0.01363993 2.10818365] [ 0.07395539 0.02937127 0.99682894 -2.20818853] [ 0. 0. 0. 1. ]] SLAMing on 219.68629675700004 meters Centerline goodness : 0.837332 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.11, Z:-2.21 [[ 0.97606179 0.20277182 -0.07865731 -2.64832811] [-0.20447052 0.97877125 -0.01409445 2.10952132] [ 0.07412956 0.02984015 0.99680207 -2.20850967] [ 0. 0. 0. 1. ]] SLAMing on 219.71629675700004 meters Centerline goodness : 0.835184 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.11, Z:-2.21 [[ 0.97612294 0.20238921 -0.07888353 -2.6474841 ] [-0.20410968 0.97884344 -0.01430956 2.11012103] [ 0.07431852 0.03006878 0.99678113 -2.20860055] [ 0. 0. 0. 1. ]] SLAMing on 219.74629675700004 meters Centerline goodness : 0.834531 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.12, Z:-2.21 [[ 0.97808798 0.19557641 -0.07137069 -2.65498227] [-0.19716143 0.98024347 -0.0158149 2.1154577 ] [ 0.06686763 0.02953991 0.99732448 -2.21335119] [ 0. 0. 0. 1. ]] SLAMing on 219.77629675700004 meters Centerline goodness : 0.839508 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.12, Z:-2.21 [[ 0.97883835 0.19190583 -0.07104676 -2.65382407] [-0.19363038 0.9809062 -0.01817423 2.1169671 ] [ 0.06620247 0.03154644 0.9973074 -2.21385145] [ 0. 0. 0. 1. ]] SLAMing on 219.80629675700004 meters Centerline goodness : 0.838855 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.12, Z:-2.21 [[ 0.97893881 0.1911669 -0.07165213 -2.65208859] [-0.1928996 0.98105278 -0.01803288 2.11615724] [ 0.06684723 0.03147475 0.99726666 -2.21361126] [ 0. 0. 0. 1. ]] SLAMing on 219.83629675700004 meters Centerline goodness : 0.840738 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.12, Z:-2.22 [[ 0.97987068 0.18588746 -0.07279632 -2.6500362 ] [-0.18797209 0.98190838 -0.02285668 2.11694417] [ 0.06723055 0.03608027 0.99708488 -2.21501638] [ 0. 0. 0. 1. ]] SLAMing on 219.86629675700001 meters Centerline goodness : 0.840738 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.12, Z:-2.22 [[ 0.97987068 0.18588746 -0.07279632 -2.6500362 ] [-0.18797209 0.98190838 -0.02285668 2.11694417] [ 0.06723055 0.03608027 0.99708488 -2.21501638] [ 0. 0. 0. 1. ]] SLAMing on 219.89629675700002 meters Centerline goodness : 0.838791 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.12, Z:-2.22 [[ 0.9800164 0.18483203 -0.07351854 -2.64775069] [-0.18693264 0.98210952 -0.02273936 2.11550942] [ 0.0680003 0.03602796 0.99703458 -2.21502706] [ 0. 0. 0. 1. ]] SLAMing on 219.92629675700002 meters Centerline goodness : 0.837199 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.12, Z:-2.22 [[ 0.98091071 0.17965006 -0.07443146 -2.64634827] [-0.18207211 0.98291196 -0.02708916 2.1151056 ] [ 0.068293 0.04012395 0.99685813 -2.21588792] [ 0. 0. 0. 1. ]] SLAMing on 219.95629675700002 meters Centerline goodness : 0.836440 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.12, Z:-2.22 [[ 0.98164888 0.17541196 -0.0748072 -2.64666404] [-0.17814691 0.98349787 -0.03155347 2.11640505] [ 0.06803787 0.0443011 0.99669868 -2.21669874] [ 0. 0. 0. 1. ]] SLAMing on 219.98629675700002 meters Centerline goodness : 0.838246 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.11, Z:-2.22 [[ 0.98173449 0.17471032 -0.07532397 -2.64520905] [-0.17743774 0.98363958 -0.03112904 2.11453642] [ 0.06865308 0.04392576 0.99667311 -2.21626986] [ 0. 0. 0. 1. ]] SLAMing on 220.01629675700002 meters Centerline goodness : 0.843264 Centerline is valid? [False, False] Translation: X:-2.65, Y:2.11, Z:-2.22 [[ 0.98248151 0.17026183 -0.07576935 -2.64520304] [-0.17328488 0.98424087 -0.03524571 2.1142821 ] [ 0.06857429 0.04775794 0.99650226 -2.21691789] [ 0. 0. 0. 1. ]] SLAMing on 220.04629675700002 meters Centerline goodness : 0.840820 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.11, Z:-2.22 [[ 0.98249184 0.17009936 -0.07599994 -2.64464143] [-0.17309727 0.98429236 -0.03472576 2.11268321] [ 0.06889934 0.04727316 0.99650295 -2.21652989] [ 0. 0. 0. 1. ]] SLAMing on 220.07629675700002 meters Centerline goodness : 0.838417 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.11, Z:-2.22 [[ 0.98253786 0.16969895 -0.07629953 -2.64345854] [-0.17266036 0.98439421 -0.03400644 2.11049023] [ 0.06933796 0.04658652 0.99650486 -2.2161738 ] [ 0. 0. 0. 1. ]] SLAMing on 220.10629675700002 meters Centerline goodness : 0.838953 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.11, Z:-2.22 [[ 0.98255367 0.1695472 -0.07643317 -2.64272369] [-0.17250045 0.98442922 -0.03380386 2.10948589] [ 0.0695117 0.04639886 0.99650151 -2.21652626] [ 0. 0. 0. 1. ]] SLAMing on 220.13629675700003 meters Centerline goodness : 0.838617 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.11, Z:-2.22 [[ 0.9826632 0.16869937 -0.07689967 -2.64058466] [-0.17165923 0.98458285 -0.03361131 2.10737638] [ 0.07004389 0.04622913 0.99647214 -2.21723787] [ 0. 0. 0. 1. ]] SLAMing on 220.16629675700003 meters Centerline goodness : 0.838005 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.10, Z:-2.21 [[ 0.98251462 0.17000748 -0.07591095 -2.63658756] [-0.17227052 0.98475031 -0.02428353 2.10080631] [ 0.07062495 0.03693614 0.99681886 -2.20877223] [ 0. 0. 0. 1. ]] SLAMing on 220.19629675700003 meters Centerline goodness : 0.840187 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.10, Z:-2.21 [[ 0.98256328 0.16953418 -0.07633854 -2.63521338] [-0.17180148 0.98483588 -0.02413574 2.09939055] [ 0.0710891 0.03682997 0.99678979 -2.2090365 ] [ 0. 0. 0. 1. ]] SLAMing on 220.22629675700003 meters Centerline goodness : 0.838102 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.09, Z:-2.20 [[ 0.98288781 0.16792741 -0.07570954 -2.62777793] [-0.16968783 0.98534414 -0.01740609 2.09356095] [ 0.07167699 0.02995522 0.99697798 -2.20325364] [ 0. 0. 0. 1. ]] SLAMing on 220.25629675700003 meters Centerline goodness : 0.841044 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.09, Z:-2.20 [[ 0.98292992 0.16752229 -0.07605957 -2.62668778] [-0.16927046 0.9854212 -0.01710486 2.09212009] [ 0.07208527 0.02968751 0.99695655 -2.20315116] [ 0. 0. 0. 1. ]] SLAMing on 220.28629675700003 meters Centerline goodness : 0.839501 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.19 [[ 0.98314811 0.16693472 -0.0745157 -2.61895064] [-0.16775872 0.98581593 -0.00489505 2.08340129] [ 0.07264161 0.01731322 0.99720783 -2.19032616] [ 0. 0. 0. 1. ]] SLAMing on 220.31629675700003 meters Centerline goodness : 0.841581 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.08, Z:-2.19 [[ 0.98316768 0.16675758 -0.07465407 -2.61859317] [-0.16754753 0.98585417 -0.00440256 2.08205323] [ 0.07286387 0.01683656 0.99719977 -2.18975092] [ 0. 0. 0. 1. ]] SLAMing on 220.34629675700003 meters Centerline goodness : 0.838949 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.07, Z:-2.17 [[ 0.98379089 0.16558922 -0.06881637 -2.6048453 ] [-0.16476175 0.98617688 0.01757067 2.06946555] [ 0.07077463 -0.00594756 0.9974746 -2.16704893] [ 0. 0. 0. 1. ]] SLAMing on 220.37629675700003 meters Centerline goodness : 0.842819 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.07, Z:-2.17 [[ 0.98379475 0.16550597 -0.06896139 -2.60462533] [-0.1646243 0.98618625 0.01831726 2.06824989] [ 0.07104039 -0.00666771 0.99745115 -2.16588527] [ 0. 0. 0. 1. ]] SLAMing on 220.40629675700004 meters Centerline goodness : 0.840773 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.07, Z:-2.16 [[ 0.98380096 0.16544615 -0.06901628 -2.60446044] [-0.16451621 0.98619162 0.01898691 2.06772306] [ 0.07120459 -0.00732505 0.99743483 -2.16472718] [ 0. 0. 0. 1. ]] SLAMing on 220.43629675700004 meters Centerline goodness : 0.840421 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.07, Z:-2.17 [[ 0.98387167 0.16491989 -0.06926741 -2.6032391 ] [-0.16401644 0.98628274 0.01857316 2.06830563] [ 0.07138033 -0.00691261 0.99742522 -2.16536017] [ 0. 0. 0. 1. ]] SLAMing on 220.46629675700004 meters Centerline goodness : 0.837757 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.07, Z:-2.17 [[ 0.98393989 0.16432398 -0.06971309 -2.60170322] [-0.1634481 0.98638539 0.01812663 2.06906598] [ 0.07174261 -0.00644104 0.99740238 -2.1658711 ] [ 0. 0. 0. 1. ]] SLAMing on 220.49629675700004 meters Centerline goodness : 0.833394 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.07, Z:-2.17 [[ 0.98400492 0.16379816 -0.07003202 -2.6005643 ] [-0.16294809 0.98647546 0.01772248 2.07018157] [ 0.07198777 -0.00602742 0.9973873 -2.16608469] [ 0. 0. 0. 1. ]] SLAMing on 220.52629675700004 meters Centerline goodness : 0.835887 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.07, Z:-2.17 [[ 0.98405111 0.16345749 -0.07017883 -2.59995382] [-0.16262817 0.98653379 0.01741136 2.07072502] [ 0.0720798 -0.00572061 0.99738246 -2.16635797] [ 0. 0. 0. 1. ]] SLAMing on 220.55629675700004 meters Centerline goodness : 0.836085 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.07, Z:-2.17 [[ 0.98409746 0.16310446 -0.07034998 -2.59940068] [-0.16228702 0.9865933 0.01722134 2.07141945] [ 0.0722157 -0.00553058 0.9973737 -2.16619239] [ 0. 0. 0. 1. ]] SLAMing on 220.58629675700004 meters Centerline goodness : 0.838966 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.07, Z:-2.17 [[ 0.98408493 0.16323766 -0.07021626 -2.59960713] [-0.16237907 0.98656779 0.01780525 2.07156999] [ 0.07217958 -0.00612023 0.99737287 -2.16501029] [ 0. 0. 0. 1. ]] SLAMing on 220.61629675700001 meters Centerline goodness : 0.839755 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.07, Z:-2.16 [[ 0.98406686 0.16331903 -0.07028024 -2.59964024] [-0.16248428 0.9865564 0.0174735 2.07361414] [ 0.07218917 -0.00577566 0.99737424 -2.16482354] [ 0. 0. 0. 1. ]] SLAMing on 220.64629675700002 meters Centerline goodness : 0.839373 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.08, Z:-2.16 [[ 0.98404118 0.16343727 -0.07036484 -2.59944378] [-0.16261509 0.98653795 0.01729729 2.07504477] [ 0.07224461 -0.00557886 0.99737134 -2.16476694] [ 0. 0. 0. 1. ]] SLAMing on 220.67629675700002 meters Centerline goodness : 0.836256 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.08, Z:-2.17 [[ 0.9840502 0.16335769 -0.07042349 -2.599086 ] [-0.16257505 0.9865541 0.01674421 2.07662586] [ 0.07221188 -0.00502804 0.99737664 -2.16534265] [ 0. 0. 0. 1. ]] SLAMing on 220.70629675700002 meters Centerline goodness : 0.838910 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.08, Z:-2.17 [[ 0.98398445 0.16379548 -0.07032524 -2.59926654] [-0.16304587 0.98648368 0.01630953 2.0794305 ] [ 0.07204613 -0.00458208 0.99739078 -2.16568184] [ 0. 0. 0. 1. ]] SLAMing on 220.73629675700002 meters Centerline goodness : 0.838437 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.08, Z:-2.17 [[ 0.98397245 0.16382956 -0.0704137 -2.59913296] [-0.16311365 0.98648014 0.01583889 2.0809862 ] [ 0.0720566 -0.0040996 0.99739212 -2.16596022] [ 0. 0. 0. 1. ]] SLAMing on 220.76629675700002 meters Centerline goodness : 0.837089 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.08, Z:-2.17 [[ 0.98389931 0.1643225 -0.07028704 -2.59974565] [-0.16366522 0.98640114 0.01504968 2.0836858 ] [ 0.07180422 -0.00330383 0.99741327 -2.16661939] [ 0. 0. 0. 1. ]] SLAMing on 220.79629675700002 meters Centerline goodness : 0.837829 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.08, Z:-2.17 [[ 0.98384974 0.16467321 -0.07016002 -2.60026727] [-0.16402985 0.98634323 0.01487434 2.08490995] [ 0.07165127 -0.00312578 0.99742485 -2.16665611] [ 0. 0. 0. 1. ]] SLAMing on 220.82629675700002 meters Centerline goodness : 0.839948 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.09, Z:-2.17 [[ 0.98381518 0.16492685 -0.07004877 -2.60061104] [-0.16431101 0.98630194 0.01450424 2.08645993] [ 0.07148138 -0.00275971 0.99743812 -2.16691869] [ 0. 0. 0. 1. ]] SLAMing on 220.85629675700002 meters Centerline goodness : 0.836716 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.09, Z:-2.17 [[ 9.83662502e-01 1.66048597e-01 -6.95409693e-02 -2.60232525e+00] [-1.65459049e-01 9.86114512e-01 1.41940638e-02 2.08979592e+00] [ 7.09322634e-02 -2.45598565e-03 9.97478111e-01 -2.16696499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88629675700003 meters Centerline goodness : 0.835260 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.09, Z:-2.17 [[ 9.83444757e-01 1.67532604e-01 -6.90596629e-02 -2.60428937e+00] [-1.66957291e-01 9.85863857e-01 1.40612696e-02 2.09334695e+00] [ 7.04391467e-02 -2.29846768e-03 9.97513430e-01 -2.16680855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91629675700003 meters Centerline goodness : 0.830760 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.10, Z:-2.17 [[ 9.83384304e-01 1.67985366e-01 -6.88202568e-02 -2.60493528e+00] [-1.67441079e-01 9.85787670e-01 1.36438615e-02 2.09537955e+00] [ 7.01341297e-02 -1.89382116e-03 9.97535772e-01 -2.16714885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94629675700003 meters Centerline goodness : 0.831271 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.10, Z:-2.17 [[ 9.83327228e-01 1.68447383e-01 -6.85057842e-02 -2.60572547e+00] [-1.67932638e-01 9.85709473e-01 1.32462561e-02 2.09728203e+00] [ 6.97580976e-02 -1.52104717e-03 9.97562777e-01 -2.16746633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97629675700003 meters Centerline goodness : 0.829889 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.10, Z:-2.17 [[ 9.83101113e-01 1.69914342e-01 -6.81272122e-02 -2.60741230e+00] [-1.69421853e-01 9.85458076e-01 1.29852459e-02 2.09993644e+00] [ 6.93428909e-02 -1.22357119e-03 9.97592134e-01 -2.16780623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00629675700003 meters Centerline goodness : 0.830261 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.10, Z:-2.17 [[ 9.83017330e-01 1.70538405e-01 -6.77759681e-02 -2.60852111e+00] [-1.70061104e-01 9.85350471e-01 1.27933957e-02 2.10129987e+00] [ 6.89648474e-02 -1.05007374e-03 9.97618538e-01 -2.16790711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03629675700003 meters Centerline goodness : 0.830144 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.10, Z:-2.17 [[ 9.82787094e-01 1.72229210e-01 -6.68328274e-02 -2.61163488e+00] [-1.71749775e-01 9.85056174e-01 1.28976211e-02 2.10315371e+00] [ 6.80554363e-02 -1.19709250e-03 9.97680823e-01 -2.16771783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06629675700003 meters Centerline goodness : 0.827384 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.10, Z:-2.17 [[ 9.82717249e-01 1.72808508e-01 -6.63628542e-02 -2.61279405e+00] [-1.72338688e-01 9.84954797e-01 1.27837664e-02 2.10406750e+00] [ 6.75735551e-02 -1.12594047e-03 9.97713660e-01 -2.16794154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09629675700003 meters Centerline goodness : 0.828512 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.11, Z:-2.17 [[ 9.82513059e-01 1.74283845e-01 -6.55227448e-02 -2.61540075e+00] [-1.73808547e-01 9.84694578e-01 1.29297089e-02 2.10573888e+00] [ 6.67733309e-02 -1.31519474e-03 9.97767304e-01 -2.16783556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12629675700003 meters Centerline goodness : 0.827665 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.11, Z:-2.17 [[ 9.82444623e-01 1.74824941e-01 -6.51060961e-02 -2.61645845e+00] [-1.74357402e-01 9.84598724e-01 1.28393758e-02 2.10656226e+00] [ 6.63480222e-02 -1.26224597e-03 9.97795744e-01 -2.16803668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15629675700004 meters Centerline goodness : 0.824556 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.11, Z:-2.17 [[ 9.82233678e-01 1.76364850e-01 -6.41283120e-02 -2.61941100e+00] [-1.75888186e-01 9.84323664e-01 1.30487800e-02 2.10805787e+00] [ 6.54243612e-02 -1.53753874e-03 9.97856347e-01 -2.16781178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18629675700004 meters Centerline goodness : 0.822325 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.11, Z:-2.17 [[ 9.82147751e-01 1.76971977e-01 -6.37707947e-02 -2.62042848e+00] [-1.76500694e-01 9.84214737e-01 1.29944839e-02 2.10898866e+00] [ 6.50638154e-02 -1.50691364e-03 9.97879967e-01 -2.16792972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21629675700004 meters Centerline goodness : 0.820961 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.11, Z:-2.17 [[ 9.82064990e-01 1.77559113e-01 -6.34122815e-02 -2.62145261e+00] [-1.77094951e-01 9.84109068e-01 1.29120426e-02 2.11015007e+00] [ 6.46972520e-02 -1.45047008e-03 9.97903884e-01 -2.16801418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24629675700004 meters Centerline goodness : 0.818704 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.11, Z:-2.17 [[ 9.81857779e-01 1.78992380e-01 -6.25861771e-02 -2.62376197e+00] [-1.78532283e-01 9.83849308e-01 1.29136844e-02 2.11202535e+00] [ 6.38868182e-02 -1.50574838e-03 9.97956015e-01 -2.16836545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27629675700004 meters Centerline goodness : 0.817352 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.11, Z:-2.17 [[ 9.81786801e-01 1.79535654e-01 -6.21419817e-02 -2.62479780e+00] [-1.79086870e-01 9.83750468e-01 1.27636371e-02 2.11285551e+00] [ 6.34237315e-02 -1.40235743e-03 9.97985703e-01 -2.16873989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30629675700004 meters Centerline goodness : 0.816466 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.11, Z:-2.17 [[ 9.81593800e-01 1.80853029e-01 -6.13660700e-02 -2.62676799e+00] [-1.80423295e-01 9.83509380e-01 1.25193426e-02 2.11421449e+00] [ 6.26182665e-02 -1.21704054e-03 9.98036809e-01 -2.16972076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33629675700004 meters Centerline goodness : 0.819430 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.11, Z:-2.17 [[ 9.81515468e-01 1.81397302e-01 -6.10115207e-02 -2.62756619e+00] [-1.80973914e-01 9.83409197e-01 1.24415744e-02 2.11469288e+00] [ 6.22561587e-02 -1.17010403e-03 9.98059518e-01 -2.17016224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36629675700001 meters Centerline goodness : 0.815791 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.12, Z:-2.17 [[ 9.81430637e-01 1.81941586e-01 -6.07549463e-02 -2.62829328e+00] [-1.81530643e-01 9.83308826e-01 1.22629153e-02 2.11515927e+00] [ 6.19720092e-02 -1.00631634e-03 9.98077380e-01 -2.17066401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39629675700002 meters Centerline goodness : 0.814594 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.12, Z:-2.17 [[ 9.81207381e-01 1.83363164e-01 -6.00834914e-02 -2.63032100e+00] [-1.82969063e-01 9.83044898e-01 1.20437026e-02 2.11563738e+00] [ 6.12731411e-02 -8.23949731e-04 9.98120696e-01 -2.17180884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42629675700002 meters Centerline goodness : 0.814151 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.12, Z:-2.17 [[ 9.81108726e-01 1.84017795e-01 -5.96918697e-02 -2.63129359e+00] [-1.83631919e-01 9.82922628e-01 1.19342296e-02 2.11591942e+00] [ 6.08686001e-02 -7.47444246e-04 9.98145508e-01 -2.17240350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45629675700002 meters Centerline goodness : 0.817166 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.12, Z:-2.17 [[ 9.80846197e-01 1.85627772e-01 -5.90175303e-02 -2.63326482e+00] [-1.85269332e-01 9.82620061e-01 1.15364623e-02 2.11716228e+00] [ 6.01332971e-02 -3.81356742e-04 9.98190283e-01 -2.17394506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48629675700002 meters Centerline goodness : 0.818300 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.12, Z:-2.17 [[ 9.80740207e-01 1.86292945e-01 -5.86820589e-02 -2.63411867e+00] [-1.85943785e-01 9.82494206e-01 1.14037056e-02 2.11775019e+00] [ 5.97792127e-02 -2.72508444e-04 9.98211587e-01 -2.17451363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51629675700002 meters Centerline goodness : 0.821522 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.12, Z:-2.17 [[ 9.80612463e-01 1.87082602e-01 -5.83035005e-02 -2.63525359e+00] [-1.86728062e-01 9.82344101e-01 1.15194662e-02 2.11794959e+00] [ 5.94291915e-02 -4.09232448e-04 9.98232440e-01 -2.17477820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54629675700002 meters Centerline goodness : 0.823686 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.12, Z:-2.17 [[ 9.80333653e-01 1.88764562e-01 -5.75662053e-02 -2.63794405e+00] [-1.88377990e-01 9.82021826e-01 1.21188587e-02 2.11738346e+00] [ 5.88188811e-02 -1.03631902e-03 9.98268133e-01 -2.17459327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57629675700002 meters Centerline goodness : 0.822823 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.12, Z:-2.17 [[ 9.80239403e-01 1.89315924e-01 -5.73602177e-02 -2.63881648e+00] [-1.88918764e-01 9.81915447e-01 1.23188783e-02 2.11712831e+00] [ 5.86550437e-02 -1.23902849e-03 9.98277542e-01 -2.17444714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60629675700002 meters Centerline goodness : 0.822749 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.12, Z:-2.17 [[ 9.80034091e-01 1.90513592e-01 -5.69012407e-02 -2.64035282e+00] [-1.90093986e-01 9.81683125e-01 1.27482637e-02 2.11647778e+00] [ 5.82877054e-02 -1.67714942e-03 9.98298418e-01 -2.17464700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63629675700003 meters Centerline goodness : 0.825115 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.12, Z:-2.18 [[ 9.79968589e-01 1.90865713e-01 -5.68493054e-02 -2.64037776e+00] [-1.90452602e-01 9.81614904e-01 1.26485458e-02 2.11672008e+00] [ 5.82182992e-02 -1.56807947e-03 9.98302645e-01 -2.17524596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66629675700003 meters Centerline goodness : 0.823543 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.12, Z:-2.18 [[ 9.79919200e-01 1.91135964e-01 -5.67926475e-02 -2.64028360e+00] [-1.90734302e-01 9.81562602e-01 1.24612799e-02 2.11685111e+00] [ 5.81273376e-02 -1.37874147e-03 9.98308225e-01 -2.17609460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69629675700003 meters Centerline goodness : 0.818811 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.12, Z:-2.18 [[ 9.79950915e-01 1.90892694e-01 -5.70629837e-02 -2.63874832e+00] [-1.90496932e-01 9.81610141e-01 1.23470813e-02 2.11500775e+00] [ 5.83705711e-02 -1.22921028e-03 9.98294228e-01 -2.17776303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72629675700003 meters Centerline goodness : 0.819667 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.12, Z:-2.18 [[ 0.98064695 0.18711043 -0.05763024 -2.63862651] [-0.18697268 0.98233398 0.00782141 2.11608187] [ 0.05807561 0.00310524 0.99830736 -2.17949596] [ 0. 0. 0. 1. ]] SLAMing on 221.75629675700003 meters Centerline goodness : 0.819667 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.12, Z:-2.18 [[ 0.98064695 0.18711043 -0.05763024 -2.63862651] [-0.18697268 0.98233398 0.00782141 2.11608187] [ 0.05807561 0.00310524 0.99830736 -2.17949596] [ 0. 0. 0. 1. ]] SLAMing on 221.78629675700003 meters Centerline goodness : 0.823231 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.11, Z:-2.18 [[ 0.98138075 0.18309522 -0.0580342 -2.63860102] [-0.18317606 0.98307211 0.00396903 2.11402405] [ 0.05777852 0.00673535 0.99830671 -2.18109944] [ 0. 0. 0. 1. ]] SLAMing on 221.81629675700003 meters Centerline goodness : 0.821968 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.11, Z:-2.18 [[ 9.82061965e-01 1.79270091e-01 -5.84511057e-02 -2.63900260e+00] [-1.79593164e-01 9.83740930e-01 -2.78691719e-04 2.11419661e+00] [ 5.74507840e-02 1.07711116e-02 9.98290234e-01 -2.18231935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84629675700003 meters Centerline goodness : 0.821827 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.11, Z:-2.18 [[ 0.98276148 0.17526287 -0.05884554 -2.63935264] [-0.17576104 0.98442713 -0.00335893 2.11029479] [ 0.05734046 0.01364378 0.99826145 -2.18274447] [ 0. 0. 0. 1. ]] SLAMing on 221.87629675700003 meters Centerline goodness : 0.821973 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.11, Z:-2.18 [[ 0.98340837 0.17146196 -0.05923499 -2.63999041] [-0.17218143 0.98503876 -0.00722529 2.10969485] [ 0.0571099 0.01730457 0.99821792 -2.18331641] [ 0. 0. 0. 1. ]] SLAMing on 221.90629675700004 meters Centerline goodness : 0.824041 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.11, Z:-2.18 [[ 0.98401813 0.16785791 -0.05943104 -2.64107102] [-0.16879306 0.98558963 -0.01104492 2.10925792] [ 0.05672064 0.02089995 0.99817131 -2.18389224] [ 0. 0. 0. 1. ]] SLAMing on 221.93629675700004 meters Centerline goodness : 0.822996 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.11, Z:-2.18 [[ 0.98465344 0.16393637 -0.05985367 -2.6412274 ] [-0.16506345 0.98617833 -0.01436505 2.10644602] [ 0.05667144 0.02402425 0.99810379 -2.18456025] [ 0. 0. 0. 1. ]] SLAMing on 221.96629675700004 meters Centerline goodness : 0.824557 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.10, Z:-2.18 [[ 0.98463159 0.164007 -0.0600195 -2.64100008] [-0.16509635 0.98618324 -0.01363102 2.1045314 ] [ 0.05695464 0.02333053 0.99810413 -2.1839584 ] [ 0. 0. 0. 1. ]] SLAMing on 221.99629675700004 meters Centerline goodness : 0.829884 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.11, Z:-2.18 [[ 0.98443939 0.16532862 -0.05954446 -2.64352395] [-0.16637439 0.98597668 -0.01302118 2.10520817] [ 0.05655668 0.02272524 0.99814072 -2.18253835] [ 0. 0. 0. 1. ]] SLAMing on 222.02629675700004 meters Centerline goodness : 0.831209 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.10, Z:-2.18 [[ 0.9844003 0.16554075 -0.05960124 -2.64369666] [-0.16656763 0.98594876 -0.01265959 2.10471815] [ 0.05666809 0.02238974 0.99814199 -2.18202801] [ 0. 0. 0. 1. ]] SLAMing on 222.05629675700004 meters Centerline goodness : 0.831473 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.10, Z:-2.18 [[ 0.98439496 0.16546761 -0.05989181 -2.64306989] [-0.16649069 0.98596404 -0.01248054 2.1044715 ] [ 0.05698604 0.02225721 0.99812685 -2.18180676] [ 0. 0. 0. 1. ]] SLAMing on 222.08629675700004 meters Centerline goodness : 0.831047 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.10, Z:-2.18 [[ 0.98442293 0.16517226 -0.0602464 -2.64222756] [-0.16618326 0.98602014 -0.01214076 2.10416851] [ 0.05739885 0.02196359 0.9981097 -2.18116253] [ 0. 0. 0. 1. ]] SLAMing on 222.11629675700001 meters Centerline goodness : 0.831682 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.10, Z:-2.18 [[ 0.98442942 0.16507297 -0.06041213 -2.64174121] [-0.16607504 0.98604101 -0.01192539 2.10384092] [ 0.05760028 0.02177265 0.99810228 -2.18098294] [ 0. 0. 0. 1. ]] SLAMing on 222.14629675700002 meters Centerline goodness : 0.830670 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.10, Z:-2.18 [[ 0.98447018 0.16465101 -0.06089748 -2.6403079 ] [-0.16565332 0.98611394 -0.01175909 2.1032586 ] [ 0.0581157 0.02166434 0.99807476 -2.18092492] [ 0. 0. 0. 1. ]] SLAMing on 222.17629675700002 meters Centerline goodness : 0.827849 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.10, Z:-2.18 [[ 0.98450634 0.16424736 -0.06140089 -2.63891554] [-0.16526662 0.98617746 -0.01187259 2.10335464] [ 0.05860213 0.02183616 0.99804257 -2.18106936] [ 0. 0. 0. 1. ]] SLAMing on 222.20629675700002 meters Centerline goodness : 0.828667 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.10, Z:-2.18 [[ 0.98451633 0.16404617 -0.06177738 -2.63787542] [-0.16507754 0.98620827 -0.0119435 2.10317426] [ 0.05896608 0.02195663 0.99801849 -2.18136053] [ 0. 0. 0. 1. ]] SLAMing on 222.23629675700002 meters Centerline goodness : 0.825942 Centerline is valid? [False, False] Translation: X:-2.64, Y:2.10, Z:-2.18 [[ 0.98456131 0.16353481 -0.06241304 -2.63608642] [-0.16460217 0.98628301 -0.01232641 2.10365947] [ 0.05954113 0.02240943 0.99797428 -2.18184745] [ 0. 0. 0. 1. ]] SLAMing on 222.26629675700002 meters Centerline goodness : 0.823945 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.10, Z:-2.18 [[ 0.98463169 0.16286067 -0.06306214 -2.6342387 ] [-0.1639532 0.98638865 -0.01252089 2.10389724] [ 0.06016462 0.0226677 0.99793106 -2.18188673] [ 0. 0. 0. 1. ]] SLAMing on 222.29629675700002 meters Centerline goodness : 0.825783 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.10, Z:-2.18 [[ 0.98465171 0.16263661 -0.06332729 -2.63355497] [-0.16373844 0.98642356 -0.01258147 2.10382283] [ 0.06042132 0.02275748 0.9979135 -2.18195209] [ 0. 0. 0. 1. ]] SLAMing on 222.32629675700002 meters Centerline goodness : 0.819223 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.10, Z:-2.18 [[ 0.9846827 0.16226043 -0.06380863 -2.63243489] [-0.1633652 0.98648697 -0.01246046 2.10382565] [ 0.06092454 0.02269371 0.99788436 -2.18149239] [ 0. 0. 0. 1. ]] SLAMing on 222.35629675700002 meters Centerline goodness : 0.819622 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.10, Z:-2.18 [[ 0.9847377 0.16178406 -0.06416844 -2.63153532] [-0.16288467 0.98656878 -0.01227344 2.10362551] [ 0.06132093 0.02253817 0.99786361 -2.18081721] [ 0. 0. 0. 1. ]] SLAMing on 222.38629675700003 meters Centerline goodness : 0.816518 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.10, Z:-2.18 [[ 0.98474568 0.1615838 -0.06454943 -2.63084551] [-0.16267365 0.98660737 -0.01196598 2.10342377] [ 0.06175144 0.02228394 0.99784277 -2.18007971] [ 0. 0. 0. 1. ]] SLAMing on 222.41629675700003 meters Centerline goodness : 0.820918 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.10, Z:-2.18 [[ 0.98483066 0.16081925 -0.06515933 -2.62919947] [-0.16190491 0.98673695 -0.01170398 2.10266418] [ 0.0624129 0.02207606 0.99780623 -2.17936035] [ 0. 0. 0. 1. ]] SLAMing on 222.44629675700003 meters Centerline goodness : 0.821329 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.10, Z:-2.18 [[ 0.98487168 0.16037108 -0.06564219 -2.62784793] [-0.16145747 0.98681197 -0.01155939 2.10212971] [ 0.0629227 0.02198294 0.99777627 -2.17921123] [ 0. 0. 0. 1. ]] SLAMing on 222.47629675700003 meters Centerline goodness : 0.818494 Centerline is valid? [False, False] Translation: X:-2.63, Y:2.10, Z:-2.18 [[ 0.98492791 0.1598098 -0.06616523 -2.62611119] [-0.16091127 0.98690032 -0.01163242 2.10178576] [ 0.06343952 0.02210383 0.99774087 -2.17956476] [ 0. 0. 0. 1. ]] SLAMing on 222.50629675700003 meters Centerline goodness : 0.817257 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.10, Z:-2.18 [[ 0.98514761 0.15791266 -0.06743719 -2.62151178] [-0.1590795 0.9871896 -0.01226401 2.10134985] [ 0.06463665 0.02280973 0.99764814 -2.18076377] [ 0. 0. 0. 1. ]] SLAMing on 222.53629675700003 meters Centerline goodness : 0.813860 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.10, Z:-2.18 [[ 0.98522445 0.15709842 -0.06821201 -2.61924454] [-0.15827487 0.98732014 -0.01216557 2.1003107 ] [ 0.0654359 0.02278206 0.99759667 -2.18077468] [ 0. 0. 0. 1. ]] SLAMing on 222.56629675700003 meters Centerline goodness : 0.818725 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.10, Z:-2.18 [[ 0.98596122 0.15190854 -0.06931277 -2.61688539] [-0.15340999 0.98801899 -0.01684786 2.10106108] [ 0.065923 0.02724461 0.9974527 -2.18217916] [ 0. 0. 0. 1. ]] SLAMing on 222.59629675700003 meters Centerline goodness : 0.816109 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.10, Z:-2.18 [[ 0.98603833 0.15103696 -0.07011592 -2.61450436] [-0.15255103 0.98815389 -0.01673519 2.09982078] [ 0.06675769 0.0271978 0.99739846 -2.18222576] [ 0. 0. 0. 1. ]] SLAMing on 222.62629675700003 meters Centerline goodness : 0.817971 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.10, Z:-2.18 [[ 0.98611119 0.15023652 -0.07080753 -2.61238651] [-0.15175815 0.98827837 -0.01659292 2.09868196] [ 0.06748469 0.02710808 0.99735198 -2.18216483] [ 0. 0. 0. 1. ]] SLAMing on 222.65629675700004 meters Centerline goodness : 0.820624 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.10, Z:-2.18 [[ 0.98632631 0.14848725 -0.07149782 -2.60944085] [-0.14999377 0.98855496 -0.01615423 2.09631513] [ 0.06828083 0.02665757 0.99730993 -2.18144007] [ 0. 0. 0. 1. ]] SLAMing on 222.68629675700004 meters Centerline goodness : 0.821540 Centerline is valid? [False, False] Translation: X:-2.61, Y:2.10, Z:-2.18 [[ 0.98638632 0.14776755 -0.07215796 -2.60747456] [-0.14927462 0.98866745 -0.01593001 2.09509001] [ 0.06898628 0.02648449 0.99726599 -2.18127817] [ 0. 0. 0. 1. ]] SLAMing on 222.71629675700004 meters Centerline goodness : 0.822121 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.09, Z:-2.18 [[ 0.98658523 0.14615433 -0.07272209 -2.60452505] [-0.14767415 0.98890742 -0.01595155 2.09348749] [ 0.06958403 0.02647674 0.99722467 -2.18161166] [ 0. 0. 0. 1. ]] SLAMing on 222.74629675700004 meters Centerline goodness : 0.821869 Centerline is valid? [False, False] Translation: X:-2.60, Y:2.09, Z:-2.18 [[ 0.98662591 0.14560966 -0.07326082 -2.60283131] [-0.14713086 0.98899107 -0.01578554 2.09266014] [ 0.07015577 0.02635335 0.99718788 -2.18157285] [ 0. 0. 0. 1. ]] SLAMing on 222.77629675700004 meters Centerline goodness : 0.823377 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.09, Z:-2.18 [[ 0.98692407 0.14349449 -0.07341803 -2.59294747] [-0.14458482 0.98944456 -0.00973059 2.08821967] [ 0.07124679 0.02021848 0.99725378 -2.17686306] [ 0. 0. 0. 1. ]] SLAMing on 222.80629675700004 meters Centerline goodness : 0.825701 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.09, Z:-2.18 [[ 0.98694708 0.14301325 -0.07404501 -2.59143658] [-0.14406891 0.98952591 -0.00909008 2.0867787 ] [ 0.07196945 0.01963901 0.99721347 -2.17583695] [ 0. 0. 0. 1. ]] SLAMing on 222.83629675700004 meters Centerline goodness : 0.825920 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.09, Z:-2.18 [[ 0.98755847 0.13818879 -0.07504751 -2.58950895] [-0.13957211 0.99012006 -0.01348651 2.08638336] [ 0.07244236 0.02379326 0.99708875 -2.17717672] [ 0. 0. 0. 1. ]] SLAMing on 222.86629675700001 meters Centerline goodness : 0.824040 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.08, Z:-2.18 [[ 0.98762194 0.13738109 -0.07569242 -2.58741982] [-0.13876102 0.99023714 -0.01325864 2.08477022] [ 0.07313196 0.02359768 0.99704306 -2.17715513] [ 0. 0. 0. 1. ]] SLAMing on 222.89629675700002 meters Centerline goodness : 0.826615 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.08, Z:-2.18 [[ 0.98766743 0.13670559 -0.07631923 -2.58537973] [-0.13808825 0.99033304 -0.01311874 2.0835234 ] [ 0.07378805 0.02349574 0.99699713 -2.17733577] [ 0. 0. 0. 1. ]] SLAMing on 222.92629675700002 meters Centerline goodness : 0.826758 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.08, Z:-2.18 [[ 0.98768214 0.13638506 -0.07670135 -2.58394958] [-0.13779539 0.99037033 -0.01338083 2.08406955] [ 0.07413779 0.0237851 0.99696432 -2.17789657] [ 0. 0. 0. 1. ]] SLAMing on 222.95629675700002 meters Centerline goodness : 0.827245 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.08, Z:-2.18 [[ 0.9874903 0.13748181 -0.07721176 -2.58325877] [-0.13890105 0.990217 -0.01329609 2.08445254] [ 0.07462842 0.02385455 0.99692605 -2.17721755] [ 0. 0. 0. 1. ]] SLAMing on 222.98629675700002 meters Centerline goodness : 0.825564 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.09, Z:-2.18 [[ 0.98736062 0.13813011 -0.07771156 -2.58230781] [-0.13952738 0.99013521 -0.01282123 2.08540364] [ 0.07517395 0.02350207 0.99689344 -2.17621837] [ 0. 0. 0. 1. ]] SLAMing on 223.01629675700002 meters Centerline goodness : 0.824874 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.09, Z:-2.18 [[ 0.98740016 0.13778928 -0.07781416 -2.58147842] [-0.13922477 0.99017138 -0.01330808 2.08649857] [ 0.07521564 0.02397405 0.99687906 -2.17679531] [ 0. 0. 0. 1. ]] SLAMing on 223.04629675700002 meters Centerline goodness : 0.824740 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.09, Z:-2.18 [[ 0.98741842 0.1375057 -0.0780836 -2.58051117] [-0.1389633 0.99020517 -0.01352483 2.08722233] [ 0.07545905 0.02420542 0.99685507 -2.17705963] [ 0. 0. 0. 1. ]] SLAMing on 223.07629675700002 meters Centerline goodness : 0.828568 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.09, Z:-2.18 [[ 0.987465 0.13699248 -0.07839594 -2.57899286] [-0.1384789 0.99026891 -0.01382303 2.0881513 ] [ 0.07573941 0.02450595 0.99682646 -2.17753449] [ 0. 0. 0. 1. ]] SLAMing on 223.10629675700002 meters Centerline goodness : 0.824626 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.09, Z:-2.18 [[ 0.98748654 0.13660725 -0.07879594 -2.57774458] [-0.13811047 0.99031889 -0.01392826 2.08825064] [ 0.0761304 0.02463651 0.99679346 -2.17767823] [ 0. 0. 0. 1. ]] SLAMing on 223.13629675700003 meters Centerline goodness : 0.828335 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.09, Z:-2.18 [[ 0.98754738 0.13582815 -0.07937809 -2.57581072] [-0.13735929 0.99042046 -0.01413259 2.0884833 ] [ 0.07669808 0.02485992 0.99674439 -2.17771828] [ 0. 0. 0. 1. ]] SLAMing on 223.16629675700003 meters Centerline goodness : 0.829425 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.09, Z:-2.18 [[ 0.98754814 0.1356589 -0.07965755 -2.5751621 ] [-0.13719557 0.99044333 -0.01412026 2.0886431 ] [ 0.07698075 0.0248731 0.99672227 -2.17752481] [ 0. 0. 0. 1. ]] SLAMing on 223.19629675700003 meters Centerline goodness : 0.830502 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.18 [[ 0.98757135 0.13527501 -0.08002193 -2.57409256] [-0.13681825 0.99049579 -0.01410175 2.08973235] [ 0.07735377 0.02487494 0.99669335 -2.17695685] [ 0. 0. 0. 1. ]] SLAMing on 223.22629675700003 meters Centerline goodness : 0.833611 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.18 [[ 0.98757026 0.13516739 -0.08021693 -2.57352841] [-0.13671741 0.99050931 -0.01413025 2.090541 ] [ 0.07754567 0.02492166 0.99667727 -2.17681298] [ 0. 0. 0. 1. ]] SLAMing on 223.25629675700003 meters Centerline goodness : 0.832863 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.18 [[ 0.98756167 0.13509175 -0.0804498 -2.57292323] [-0.13664248 0.99052054 -0.01406738 2.0910502 ] [ 0.07778679 0.02488526 0.99665939 -2.17662396] [ 0. 0. 0. 1. ]] SLAMing on 223.28629675700003 meters Centerline goodness : 0.837244 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.18 [[ 0.98752644 0.13523207 -0.08064626 -2.57265639] [-0.13678259 0.99050221 -0.01399635 2.0922015 ] [ 0.07798755 0.02485277 0.99664451 -2.1761106 ] [ 0. 0. 0. 1. ]] SLAMing on 223.31629675700003 meters Centerline goodness : 0.837562 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.18 [[ 0.98751128 0.13519574 -0.08089244 -2.57224233] [-0.1367515 0.99050665 -0.0139861 2.09303236] [ 0.07823364 0.0248736 0.9966247 -2.17570758] [ 0. 0. 0. 1. ]] SLAMing on 223.34629675700003 meters Centerline goodness : 0.840098 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.18 [[ 0.98703089 0.13856195 -0.08105924 -2.56994374] [-0.13981181 0.99012836 -0.00992433 2.09206342] [ 0.07888392 0.02112866 0.99665988 -2.17546668] [ 0. 0. 0. 1. ]] SLAMing on 223.37629675700003 meters Centerline goodness : 0.839964 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.18 [[ 0.98702298 0.1385285 -0.08121266 -2.56933272] [-0.13979705 0.99012846 -0.01012028 2.09298716] [ 0.07900902 0.02134224 0.99664542 -2.17575421] [ 0. 0. 0. 1. ]] SLAMing on 223.40629675700004 meters Centerline goodness : 0.841289 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.18 [[ 0.98701236 0.13845918 -0.08145959 -2.5685807 ] [-0.139703 0.99014549 -0.00974541 2.09279217] [ 0.07930751 0.02099899 0.996629 -2.17526097] [ 0. 0. 0. 1. ]] SLAMing on 223.43629675700004 meters Centerline goodness : 0.843537 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.18 [[ 0.98700195 0.13842884 -0.08163705 -2.56801008] [-0.13964394 0.99015774 -0.00933958 2.09177961] [ 0.07954068 0.0206183 0.99661836 -2.17502819] [ 0. 0. 0. 1. ]] SLAMing on 223.46629675700004 meters Centerline goodness : 0.843287 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.17 [[ 0.98698065 0.1384653 -0.08183253 -2.56765525] [-0.13964057 0.99016325 -0.00878975 2.09037487] [ 0.07981049 0.02010245 0.99660733 -2.1745104 ] [ 0. 0. 0. 1. ]] SLAMing on 223.49629675700004 meters Centerline goodness : 0.840129 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.08, Z:-2.17 [[ 9.86882007e-01 1.39161485e-01 -8.18412226e-02 -2.56050045e+00] [-1.39665998e-01 9.90198572e-01 -4.44231417e-04 2.08430853e+00] [ 8.09772418e-02 1.18688400e-02 9.96645281e-01 -2.16776521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52629675700004 meters Centerline goodness : 0.843636 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.08, Z:-2.17 [[ 9.86864079e-01 1.39218254e-01 -8.19607669e-02 -2.56012557e+00] [-1.39706400e-01 9.90192947e-01 -2.23208867e-04 2.08335446e+00] [ 8.11258985e-02 1.16707205e-02 9.96635532e-01 -2.16787712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55629675700004 meters Centerline goodness : 0.840596 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.08, Z:-2.17 [[ 9.86716829e-01 1.40705948e-01 -8.11895035e-02 -2.56273603e+00] [-1.41159102e-01 9.89986910e-01 1.59935211e-04 2.08487315e+00] [ 8.03990496e-02 1.13028266e-02 9.96698670e-01 -2.16734430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58629675700004 meters Centerline goodness : 0.852204 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.09, Z:-2.17 [[ 9.86649110e-01 1.41340527e-01 -8.09097593e-02 -2.56383561e+00] [-1.41789283e-01 9.89896843e-01 2.01105788e-04 2.08594622e+00] [ 8.01207396e-02 1.12737159e-02 9.96721411e-01 -2.16713045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61629675700001 meters Centerline goodness : 0.846385 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.17 [[ 9.86471445e-01 1.42909159e-01 -8.03184985e-02 -2.56596043e+00] [-1.43348043e-01 9.89672292e-01 3.04829488e-04 2.08906862e+00] [ 7.95325554e-02 1.12127940e-02 9.96769204e-01 -2.16695493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64629675700002 meters Centerline goodness : 0.848878 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.17 [[ 9.86406785e-01 1.43535976e-01 -7.99942372e-02 -2.56688428e+00] [-1.43986473e-01 9.89579646e-01 1.38092312e-04 2.09094550e+00] [ 7.91804902e-02 1.13818729e-02 9.96795316e-01 -2.16712384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67629675700002 meters Centerline goodness : 0.848878 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.17 [[ 9.86406785e-01 1.43535976e-01 -7.99942372e-02 -2.56688428e+00] [-1.43986473e-01 9.89579646e-01 1.38092312e-04 2.09094550e+00] [ 7.91804902e-02 1.13818729e-02 9.96795316e-01 -2.16712384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70629675700002 meters Centerline goodness : 0.843105 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.17 [[ 9.86368046e-01 1.43828986e-01 -7.99456115e-02 -2.56702026e+00] [-1.44295965e-01 9.89534573e-01 -6.47210077e-05 2.09260654e+00] [ 7.90996377e-02 1.15996679e-02 9.96799225e-01 -2.16725295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73629675700002 meters Centerline goodness : 0.848794 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.17 [[ 9.86315015e-01 1.44350326e-01 -7.96597392e-02 -2.56780757e+00] [-1.44817737e-01 9.89458344e-01 -9.13123448e-05 2.09358939e+00] [ 7.88068127e-02 1.16262059e-02 9.96822109e-01 -2.16730373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76629675700002 meters Centerline goodness : 0.844236 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.17 [[ 9.86310620e-01 1.44334824e-01 -7.97422031e-02 -2.56749898e+00] [-1.44791671e-01 9.89462162e-01 5.37358399e-05 2.09333756e+00] [ 7.89096486e-02 1.14930066e-02 9.96815519e-01 -2.16720661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79629675700002 meters Centerline goodness : 0.845660 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.17 [[ 9.86347635e-01 1.43843936e-01 -8.01702256e-02 -2.56591936e+00] [-1.44279147e-01 9.89536959e-01 3.67907739e-04 2.09243987e+00] [ 7.93843225e-02 1.12040068e-02 9.96781119e-01 -2.16690780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82629675700002 meters Centerline goodness : 0.844743 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.09, Z:-2.17 [[ 9.86355300e-01 1.43652831e-01 -8.04181973e-02 -2.56504678e+00] [-1.44092303e-01 9.89564193e-01 3.41858300e-04 2.09236612e+00] [ 7.96280774e-02 1.12504495e-02 9.96761153e-01 -2.16710673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85629675700002 meters Centerline goodness : 0.845970 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.09, Z:-2.17 [[ 9.86353150e-01 1.43549939e-01 -8.06280287e-02 -2.56418546e+00] [-1.44001294e-01 9.89577475e-01 2.18983654e-04 2.09266841e+00] [ 7.98191161e-02 1.13945452e-02 9.96744237e-01 -2.16755683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88629675700003 meters Centerline goodness : 0.846163 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.09, Z:-2.17 [[ 9.86367675e-01 1.43274138e-01 -8.09402881e-02 -2.56281172e+00] [-1.43765139e-01 9.89611806e-01 -2.41021509e-04 2.09367376e+00] [ 8.00649325e-02 1.18741276e-02 9.96718923e-01 -2.16844553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91629675700003 meters Centerline goodness : 0.845384 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.09, Z:-2.17 [[ 0.98591434 0.14632488 -0.08100579 -2.56059398] [-0.14645641 0.98920757 0.00434785 2.09124109] [ 0.08076774 0.00757721 0.99670415 -2.16709188] [ 0. 0. 0. 1. ]] SLAMing on 223.94629675700003 meters Centerline goodness : 0.843452 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.09, Z:-2.17 [[ 0.9859073 0.14628308 -0.08116682 -2.56006319] [-0.14642564 0.98921266 0.00422551 2.09147078] [ 0.08090936 0.00771894 0.99669157 -2.1673581 ] [ 0. 0. 0. 1. ]] SLAMing on 223.97629675700003 meters Centerline goodness : 0.843677 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.09, Z:-2.17 [[ 0.98589827 0.14626845 -0.08130279 -2.55973619] [-0.1464214 0.98921377 0.00410999 2.09187403] [ 0.08102701 0.00785244 0.99668097 -2.16745674] [ 0. 0. 0. 1. ]] SLAMing on 224.00629675700003 meters Centerline goodness : 0.845508 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.09, Z:-2.17 [[ 0.98586264 0.14666455 -0.08102082 -2.5602296 ] [-0.14683198 0.98915368 0.00392029 2.09317751] [ 0.08071701 0.00803158 0.9967047 -2.16785811] [ 0. 0. 0. 1. ]] SLAMing on 224.03629675700003 meters Centerline goodness : 0.842150 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.09, Z:-2.17 [[ 0.98583824 0.14686543 -0.08095369 -2.56027386] [-0.1470434 0.98912277 0.00379151 2.09409034] [ 0.08062998 0.00816589 0.99671065 -2.16805787] [ 0. 0. 0. 1. ]] SLAMing on 224.06629675700003 meters Centerline goodness : 0.838320 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98573831 0.14779221 -0.08048253 -2.5617995 ] [-0.14796976 0.98898464 0.00378667 2.09612253] [ 0.08015563 0.00817632 0.99674883 -2.16789257] [ 0. 0. 0. 1. ]] SLAMing on 224.09629675700003 meters Centerline goodness : 0.838792 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98569966 0.14812161 -0.08035024 -2.56214707] [-0.14831099 0.98893408 0.0036392 2.0972872 ] [ 0.08000013 0.00832966 0.99676005 -2.16806949] [ 0. 0. 0. 1. ]] SLAMing on 224.12629675700003 meters Centerline goodness : 0.836544 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98559991 0.14898049 -0.07998516 -2.56315812] [-0.14917227 0.98880465 0.00360589 2.09956893] [ 0.07962691 0.0083776 0.99678953 -2.1681448 ] [ 0. 0. 0. 1. ]] SLAMing on 224.15629675700004 meters Centerline goodness : 0.833413 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98502401 0.15271853 -0.08002967 -2.56136302] [-0.15251118 0.98826316 0.00873336 2.09719647] [ 0.08042412 0.00360285 0.99675422 -2.16638248] [ 0. 0. 0. 1. ]] SLAMing on 224.18629675700004 meters Centerline goodness : 0.834942 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98498229 0.15307637 -0.07985933 -2.56178105] [-0.15287646 0.98820747 0.00864782 2.09801588] [ 0.08024137 0.00369067 0.99676863 -2.16659532] [ 0. 0. 0. 1. ]] SLAMing on 224.21629675700004 meters Centerline goodness : 0.833056 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98491455 0.1535818 -0.07972432 -2.56193967] [-0.15342227 0.98812703 0.0081595 2.09967217] [ 0.08003091 0.00419508 0.99678355 -2.1675932 ] [ 0. 0. 0. 1. ]] SLAMing on 224.24629675700004 meters Centerline goodness : 0.834699 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98488237 0.1537705 -0.07975812 -2.56174824] [-0.15362814 0.98809671 0.00795508 2.10026371] [ 0.08003199 0.00441827 0.9967825 -2.16807162] [ 0. 0. 0. 1. ]] SLAMing on 224.27629675700004 meters Centerline goodness : 0.830713 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98480202 0.15431431 -0.07969994 -2.56212036] [-0.15417908 0.98801146 0.00788509 2.10045165] [ 0.07996123 0.00452281 0.99678771 -2.16844583] [ 0. 0. 0. 1. ]] SLAMing on 224.30629675700004 meters Centerline goodness : 0.830630 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.9847646 0.15455026 -0.07970502 -2.56210408] [-0.15441627 0.98797446 0.00787944 2.10048804] [ 0.0799643 0.00454836 0.99678735 -2.16867696] [ 0. 0. 0. 1. ]] SLAMing on 224.33629675700004 meters Centerline goodness : 0.826753 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98469063 0.15506192 -0.07962518 -2.56214338] [-0.15495601 0.98789256 0.00754522 2.10122946] [ 0.0798311 0.00490869 0.99679632 -2.16974794] [ 0. 0. 0. 1. ]] SLAMing on 224.36629675700004 meters Centerline goodness : 0.820801 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98465371 0.15528994 -0.0796374 -2.56200705] [-0.1552069 0.98785524 0.00726961 2.10162601] [ 0.07979912 0.00520222 0.99679739 -2.17047494] [ 0. 0. 0. 1. ]] SLAMing on 224.39629675700002 meters Centerline goodness : 0.821227 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98443823 0.15684142 -0.07925991 -2.56362065] [-0.15676642 0.98760941 0.00720681 2.10342944] [ 0.07940816 0.00533063 0.99682793 -2.17103059] [ 0. 0. 0. 1. ]] SLAMing on 224.42629675700002 meters Centerline goodness : 0.820559 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98437522 0.15737581 -0.07898281 -2.56431269] [-0.15731099 0.98752372 0.00708144 2.10407633] [ 0.07911184 0.00545407 0.99685083 -2.17149042] [ 0. 0. 0. 1. ]] SLAMing on 224.45629675700002 meters Centerline goodness : 0.823657 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.9843105 0.15786637 -0.07881025 -2.56473352] [-0.15781757 0.98744427 0.00688682 2.10476439] [ 0.07890793 0.00565887 0.99686585 -2.17209987] [ 0. 0. 0. 1. ]] SLAMing on 224.48629675700002 meters Centerline goodness : 0.816628 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.17 [[ 0.98412214 0.15938714 -0.07809835 -2.56701172] [-0.15931871 0.98720134 0.00714654 2.10543322] [ 0.07823786 0.00540946 0.99692004 -2.17245065] [ 0. 0. 0. 1. ]] SLAMing on 224.51629675700002 meters Centerline goodness : 0.818650 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.17 [[ 0.98407711 0.15974007 -0.07794454 -2.56736476] [-0.15967133 0.98714431 0.00715374 2.10536347] [ 0.07808525 0.00540568 0.99693203 -2.17284549] [ 0. 0. 0. 1. ]] SLAMing on 224.54629675700002 meters Centerline goodness : 0.819080 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.9839888 0.16039229 -0.07771968 -2.56827529] [-0.16026724 0.98704217 0.00788455 2.10304713] [ 0.07797722 0.00469761 0.99694407 -2.1726154 ] [ 0. 0. 0. 1. ]] SLAMing on 224.57629675700002 meters Centerline goodness : 0.818248 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98392174 0.16078954 -0.07774787 -2.56864458] [-0.16062545 0.98697968 0.00840071 2.10185874] [ 0.07808631 0.00422264 0.99693766 -2.17212616] [ 0. 0. 0. 1. ]] SLAMing on 224.60629675700002 meters Centerline goodness : 0.818026 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98385441 0.1611605 -0.07783181 -2.56876797] [-0.16095817 0.98692103 0.00890742 2.09977241] [ 0.07824938 0.00376406 0.99692671 -2.1720228 ] [ 0. 0. 0. 1. ]] SLAMing on 224.63629675700003 meters Centerline goodness : 0.816930 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98381919 0.16133363 -0.07791828 -2.56872862] [-0.16111586 0.98689341 0.00911494 2.09907013] [ 0.07836759 0.00358642 0.99691808 -2.17193285] [ 0. 0. 0. 1. ]] SLAMing on 224.66629675700003 meters Centerline goodness : 0.814646 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98379654 0.16142633 -0.07801217 -2.56843258] [-0.16120642 0.98687829 0.00915014 2.09855166] [ 0.07846559 0.00357419 0.99691042 -2.17226708] [ 0. 0. 0. 1. ]] SLAMing on 224.69629675700003 meters Centerline goodness : 0.813114 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98369687 0.16208445 -0.07790446 -2.56921056] [-0.1618143 0.98677246 0.0098102 2.09736113] [ 0.07846406 0.00295579 0.99691256 -2.17173386] [ 0. 0. 0. 1. ]] SLAMing on 224.72629675700003 meters Centerline goodness : 0.812739 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98368271 0.16214018 -0.07796718 -2.56881516] [-0.16186927 0.98676331 0.00982433 2.09726396] [ 0.07852807 0.00295647 0.99690752 -2.17209578] [ 0. 0. 0. 1. ]] SLAMing on 224.75629675700003 meters Centerline goodness : 0.812393 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98363981 0.16242065 -0.07792475 -2.56869348] [-0.16218363 0.98671579 0.00940325 2.09823683] [ 0.07841686 0.00338871 0.9969149 -2.17314216] [ 0. 0. 0. 1. ]] SLAMing on 224.78629675700003 meters Centerline goodness : 0.813013 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98362071 0.16252419 -0.07794988 -2.56871029] [-0.16229594 0.98669833 0.00929697 2.09876698] [ 0.078424 0.00350625 0.99691393 -2.17321491] [ 0. 0. 0. 1. ]] SLAMing on 224.81629675700003 meters Centerline goodness : 0.812828 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98358415 0.16277612 -0.07788552 -2.56904677] [-0.16253947 0.98665716 0.00941097 2.09866782] [ 0.07837819 0.00340299 0.99691789 -2.17314301] [ 0. 0. 0. 1. ]] SLAMing on 224.84629675700003 meters Centerline goodness : 0.813550 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 9.83590591e-01 1.62666768e-01 -7.80325004e-02 -2.56878602e+00] [-1.62360038e-01 9.86677804e-01 1.03019053e-02 2.09694569e+00] [ 7.86687138e-02 2.53650263e-03 9.96897587e-01 -2.17186688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87629675700003 meters Centerline goodness : 0.813021 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98418976 0.15888735 -0.0782644 -2.56966266] [-0.15890101 0.98727572 0.00609324 2.09834455] [ 0.07823668 0.00643939 0.99691402 -2.17250309] [ 0. 0. 0. 1. ]] SLAMing on 224.90629675700004 meters Centerline goodness : 0.815940 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 9.84811117e-01 1.54859948e-01 -7.85204459e-02 -2.57035531e+00] [-1.55149295e-01 9.87888023e-01 2.43933083e-03 2.09733921e+00] [ 7.79471627e-02 9.78011168e-03 9.96909519e-01 -2.17265881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93629675700004 meters Centerline goodness : 0.818207 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98479823 0.15481547 -0.07876934 -2.56999387] [-0.15508263 0.98789767 0.00275156 2.09673562] [ 0.07824203 0.00950602 0.99688907 -2.17210326] [ 0. 0. 0. 1. ]] SLAMing on 224.96629675700004 meters Centerline goodness : 0.814371 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98482422 0.15444246 -0.0791756 -2.56886258] [-0.15469498 0.98795781 0.00297143 2.09565064] [ 0.07868107 0.00932173 0.99685626 -2.17188647] [ 0. 0. 0. 1. ]] SLAMing on 224.99629675700004 meters Centerline goodness : 0.817107 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98482104 0.15435832 -0.07937901 -2.56825567] [-0.15460054 0.98797213 0.0031224 2.09537015] [ 0.07890622 0.00919703 0.99683962 -2.17180662] [ 0. 0. 0. 1. ]] SLAMing on 225.02629675700004 meters Centerline goodness : 0.818685 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98482997 0.15414004 -0.07969172 -2.56726243] [-0.15441357 0.98800246 0.00275595 2.09607573] [ 0.07916041 0.00959134 0.99681575 -2.172384 ] [ 0. 0. 0. 1. ]] SLAMing on 225.05629675700004 meters Centerline goodness : 0.821983 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98485057 0.15389963 -0.07990156 -2.56653655] [-0.15418263 0.9880388 0.00265263 2.0961483 ] [ 0.07935408 0.00970699 0.99679923 -2.17255518] [ 0. 0. 0. 1. ]] SLAMing on 225.08629675700004 meters Centerline goodness : 0.817135 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.17 [[ 0.98486282 0.1536226 -0.08028278 -2.56561218] [-0.15388628 0.98808422 0.00292949 2.09569816] [ 0.07977619 0.00946927 0.99676782 -2.17204412] [ 0. 0. 0. 1. ]] SLAMing on 225.11629675700004 meters Centerline goodness : 0.815614 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98491236 0.15303698 -0.08079181 -2.56415736] [-0.15328618 0.98817683 0.00314559 2.09518462] [ 0.08031799 0.00928614 0.99672603 -2.17148227] [ 0. 0. 0. 1. ]] SLAMing on 225.14629675700002 meters Centerline goodness : 0.815506 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 0.98495867 0.15258773 -0.08107654 -2.56314887] [-0.15283907 0.98824612 0.00313365 2.09535254] [ 0.08060173 0.00930515 0.99670295 -2.17127447] [ 0. 0. 0. 1. ]] SLAMing on 225.17629675700002 meters Centerline goodness : 0.818176 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 9.85543295e-01 1.48466127e-01 -8.16224420e-02 -2.56297423e+00] [-1.49098928e-01 9.88820859e-01 -1.67900871e-03 2.09832992e+00] [ 8.04606973e-02 1.38245543e-02 9.96661908e-01 -2.17243741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20629675700002 meters Centerline goodness : 0.818896 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 9.85580680e-01 1.47971068e-01 -8.20687881e-02 -2.56160841e+00] [-1.48597030e-01 9.88896635e-01 -1.53859646e-03 2.09762721e+00] [ 8.09298806e-02 1.37115892e-02 9.96625480e-01 -2.17227529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23629675700002 meters Centerline goodness : 0.815034 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.17 [[ 9.85755336e-01 1.46370007e-01 -8.28386259e-02 -2.55842343e+00] [-1.47007210e-01 9.89134106e-01 -1.61248590e-03 2.09581649e+00] [ 8.17024906e-02 1.37673919e-02 9.96561670e-01 -2.17249424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26629675700002 meters Centerline goodness : 0.814928 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.09, Z:-2.17 [[ 9.85793745e-01 1.45794148e-01 -8.33951953e-02 -2.55676426e+00] [-1.46397090e-01 9.89225262e-01 -1.12813778e-03 2.09393917e+00] [ 8.23321581e-02 1.33209251e-02 9.96515915e-01 -2.17206023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29629675700002 meters Centerline goodness : 0.812865 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.09, Z:-2.17 [[ 0.98646279 0.14068365 -0.08425721 -2.5547304 ] [-0.14165547 0.98989996 -0.00563886 2.09377998] [ 0.08261292 0.01749802 0.99642808 -2.17351662] [ 0. 0. 0. 1. ]] SLAMing on 225.32629675700002 meters Centerline goodness : 0.813834 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.09, Z:-2.17 [[ 0.98645885 0.14048053 -0.0846413 -2.55397754] [-0.14143401 0.98993325 -0.00534588 2.09322033] [ 0.08303824 0.01724465 0.99639715 -2.17287394] [ 0. 0. 0. 1. ]] SLAMing on 225.35629675700002 meters Centerline goodness : 0.813350 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.09, Z:-2.17 [[ 0.98647245 0.14021155 -0.08492838 -2.55306243] [-0.14115044 0.9899749 -0.00512316 2.09236499] [ 0.08335864 0.01704153 0.99637389 -2.17269587] [ 0. 0. 0. 1. ]] SLAMing on 225.38629675700003 meters Centerline goodness : 0.813385 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.09, Z:-2.17 [[ 0.98654429 0.13929513 -0.08559926 -2.5507282 ] [-0.1402567 0.99010102 -0.00529431 2.09178724] [ 0.08401444 0.01722895 0.99631558 -2.17293544] [ 0. 0. 0. 1. ]] SLAMing on 225.41629675700003 meters Centerline goodness : 0.813784 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.09, Z:-2.17 [[ 0.98657512 0.13883512 -0.08599035 -2.5494099 ] [-0.13981649 0.99016234 -0.00546759 2.09207982] [ 0.08438532 0.01741706 0.99628097 -2.17309605] [ 0. 0. 0. 1. ]] SLAMing on 225.44629675700003 meters Centerline goodness : 0.810241 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.09, Z:-2.17 [[ 0.98665749 0.13861915 -0.08539165 -2.54980084] [-0.13952371 0.99020763 -0.0046887 2.09220768] [ 0.08390552 0.0165403 0.99633643 -2.17310923] [ 0. 0. 0. 1. ]] SLAMing on 225.47629675700003 meters Centerline goodness : 0.810552 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.09, Z:-2.17 [[ 0.98670777 0.13844353 -0.08509505 -2.55014027] [-0.13930307 0.99024081 -0.00421874 2.09262044] [ 0.08368053 0.01601667 0.99636391 -2.17261922] [ 0. 0. 0. 1. ]] SLAMing on 225.50629675700003 meters Centerline goodness : 0.814843 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.09, Z:-2.17 [[ 0.98680298 0.13749215 -0.08553236 -2.5483684 ] [-0.13836542 0.99037174 -0.00433836 2.09284015] [ 0.08411235 0.01611583 0.99632595 -2.1723012 ] [ 0. 0. 0. 1. ]] SLAMing on 225.53629675700003 meters Centerline goodness : 0.813615 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.09, Z:-2.17 [[ 0.98683307 0.13714164 -0.08574765 -2.54753541] [-0.13801086 0.99042154 -0.00426416 2.09244036] [ 0.08434152 0.01604212 0.99630776 -2.1722365 ] [ 0. 0. 0. 1. ]] SLAMing on 225.56629675700003 meters Centerline goodness : 0.813615 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.09, Z:-2.17 [[ 0.98683307 0.13714164 -0.08574765 -2.54753541] [-0.13801086 0.99042154 -0.00426416 2.09244036] [ 0.08434152 0.01604212 0.99630776 -2.1722365 ] [ 0. 0. 0. 1. ]] SLAMing on 225.59629675700003 meters Centerline goodness : 0.814068 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.17 [[ 0.98694707 0.13585783 -0.08647623 -2.54474986] [-0.13677616 0.99059056 -0.00475675 2.09241932] [ 0.08501629 0.01652254 0.99624256 -2.17271602] [ 0. 0. 0. 1. ]] SLAMing on 225.62629675700003 meters Centerline goodness : 0.816027 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.17 [[ 0.9868763 0.13598903 -0.0870756 -2.5437097 ] [-0.13690304 0.99057384 -0.00458441 2.09228746] [ 0.08563138 0.01644516 0.99619116 -2.17236171] [ 0. 0. 0. 1. ]] SLAMing on 225.65629675700004 meters Centerline goodness : 0.815824 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.17 [[ 0.98690944 0.13577868 -0.08702814 -2.54356479] [-0.13667537 0.99060611 -0.00440112 2.09256021] [ 0.08561303 0.01623811 0.99619613 -2.17235709] [ 0. 0. 0. 1. ]] SLAMing on 225.68629675700004 meters Centerline goodness : 0.817864 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98704239 0.14059468 -0.07733338 -2.53965927] [-0.14147737 0.98992313 -0.00602889 2.08916089] [ 0.07570647 0.01689169 0.99698706 -2.17870011] [ 0. 0. 0. 1. ]] SLAMing on 225.71629675700004 meters Centerline goodness : 0.818201 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98713087 0.14030924 -0.07671999 -2.54072415] [-0.14115957 0.98997017 -0.0057483 2.08938077] [ 0.07514396 0.01650409 0.99703611 -2.17819103] [ 0. 0. 0. 1. ]] SLAMing on 225.74629675700004 meters Centerline goodness : 0.820443 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98752488 0.1379468 -0.07592949 -2.54237459] [-0.13884151 0.99029257 -0.00660819 2.08957616] [ 0.07428083 0.01706792 0.99709129 -2.17745171] [ 0. 0. 0. 1. ]] SLAMing on 225.77629675700004 meters Centerline goodness : 0.819531 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98776998 0.13487294 -0.07822888 -2.53784746] [-0.13600347 0.99066486 -0.00928383 2.08981497] [ 0.07624647 0.01980969 0.9968922 -2.17862798] [ 0. 0. 0. 1. ]] SLAMing on 225.80629675700004 meters Centerline goodness : 0.818610 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98806993 0.13317402 -0.07734658 -2.53928507] [-0.13431657 0.99089062 -0.00973887 2.08991622] [ 0.07534504 0.02001161 0.9969567 -2.17849306] [ 0. 0. 0. 1. ]] SLAMing on 225.83629675700004 meters Centerline goodness : 0.821325 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98816052 0.13286956 -0.07671027 -2.54019606] [-0.1339662 0.99094218 -0.00930846 2.09019303] [ 0.07477863 0.01947483 0.99700997 -2.17805783] [ 0. 0. 0. 1. ]] SLAMing on 225.86629675700004 meters Centerline goodness : 0.817670 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98823387 0.1324535 -0.07648454 -2.54036424] [-0.13351598 0.99100646 -0.00892644 2.09029814] [ 0.07461434 0.01903332 0.99703081 -2.17784067] [ 0. 0. 0. 1. ]] SLAMing on 225.89629675700002 meters Centerline goodness : 0.818042 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98836076 0.13257825 -0.07460569 -2.54261688] [-0.13344116 0.99103422 -0.00668085 2.09072755] [ 0.07305106 0.01655856 0.99719073 -2.17781311] [ 0. 0. 0. 1. ]] SLAMing on 225.92629675700002 meters Centerline goodness : 0.818756 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98841328 0.13265336 -0.07377178 -2.54356618] [-0.13343673 0.99104053 -0.00577164 2.09135799] [ 0.0723452 0.01554864 0.99725845 -2.17764064] [ 0. 0. 0. 1. ]] SLAMing on 225.95629675700002 meters Centerline goodness : 0.813887 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98864518 0.13120869 -0.07324615 -2.54335611] [-0.13196633 0.99123849 -0.00558078 2.09232522] [ 0.07187215 0.01518344 0.99729828 -2.17830015] [ 0. 0. 0. 1. ]] SLAMing on 225.98629675700002 meters Centerline goodness : 0.814778 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98870973 0.13038504 -0.07384313 -2.54157415] [-0.13123409 0.99132846 -0.00674442 2.09289208] [ 0.07232342 0.016359 0.99724706 -2.17927399] [ 0. 0. 0. 1. ]] SLAMing on 226.01629675700002 meters Centerline goodness : 0.817859 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98876866 0.1289487 -0.07555636 -2.5372068 ] [-0.13004934 0.99145897 -0.00981216 2.09446441] [ 0.07364576 0.01952802 0.99709325 -2.18160594] [ 0. 0. 0. 1. ]] SLAMing on 226.04629675700002 meters Centerline goodness : 0.817305 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.09, Z:-2.18 [[ 0.98867256 0.12964564 -0.07562133 -2.53713633] [-0.13072394 0.99137361 -0.00946704 2.09476296] [ 0.07374163 0.01924533 0.99709167 -2.18103844] [ 0. 0. 0. 1. ]] SLAMing on 226.07629675700002 meters Centerline goodness : 0.816050 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.10, Z:-2.18 [[ 0.98865935 0.1296705 -0.0757512 -2.53663274] [-0.13075768 0.99136834 -0.00955202 2.09529286] [ 0.07385873 0.01934874 0.997081 -2.18122443] [ 0. 0. 0. 1. ]] SLAMing on 226.10629675700002 meters Centerline goodness : 0.816871 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.10, Z:-2.18 [[ 0.98860975 0.13002449 -0.0757918 -2.53622781] [-0.13116208 0.99130837 -0.01020871 2.09886548] [ 0.07380566 0.02003344 0.9970714 -2.18209299] [ 0. 0. 0. 1. ]] SLAMing on 226.13629675700003 meters Centerline goodness : 0.816805 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.10, Z:-2.18 [[ 0.98858669 0.13013449 -0.07590375 -2.53559296] [-0.13129714 0.99128732 -0.01051246 2.0997729 ] [ 0.07387439 0.02035842 0.99705973 -2.18288071] [ 0. 0. 0. 1. ]] SLAMing on 226.16629675700003 meters Centerline goodness : 0.817085 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.10, Z:-2.18 [[ 0.98859442 0.1298426 -0.07630181 -2.53432018] [-0.13100579 0.99132683 -0.01042095 2.09886929] [ 0.07428694 0.02029807 0.99703031 -2.18312612] [ 0. 0. 0. 1. ]] SLAMing on 226.19629675700003 meters Centerline goodness : 0.817712 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.10, Z:-2.18 [[ 0.9886318 0.12932124 -0.07670193 -2.53269387] [-0.13047883 0.99139804 -0.01025657 2.09737704] [ 0.07471575 0.02014795 0.99700131 -2.18347474] [ 0. 0. 0. 1. ]] SLAMing on 226.22629675700003 meters Centerline goodness : 0.818982 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 0.9887145 0.12867614 -0.07672089 -2.53173836] [-0.12976887 0.99149961 -0.00941095 2.09347346] [ 0.07485777 0.01926073 0.99700819 -2.18321067] [ 0. 0. 0. 1. ]] SLAMing on 226.25629675700003 meters Centerline goodness : 0.820363 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 0.9886929 0.12874594 -0.07688197 -2.53135004] [-0.1298092 0.99149837 -0.00897545 2.09229295] [ 0.0750728 0.01885395 0.9969998 -2.18296001] [ 0. 0. 0. 1. ]] SLAMing on 226.28629675700003 meters Centerline goodness : 0.820173 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 0.98809881 0.13344142 -0.0765123 -2.53194089] [-0.13411899 0.99095809 -0.00376354 2.08983488] [ 0.07531827 0.0139805 0.99706153 -2.18086143] [ 0. 0. 0. 1. ]] SLAMing on 226.31629675700003 meters Centerline goodness : 0.821627 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 9.87525182e-01 1.37546561e-01 -7.66482840e-02 -2.53071768e+00] [-1.37840525e-01 9.90453349e-01 1.46725095e-03 2.08728422e+00] [ 7.61183649e-02 9.11629246e-03 9.97057114e-01 -2.17889622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34629675700003 meters Centerline goodness : 0.824736 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 9.87262788e-01 1.39743251e-01 -7.60526922e-02 -2.53306115e+00] [-1.40018450e-01 9.90147387e-01 1.72788465e-03 2.08948491e+00] [ 7.55448347e-02 8.94290384e-03 9.97102303e-01 -2.17949424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37629675700003 meters Centerline goodness : 0.826172 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 9.87177994e-01 1.40470881e-01 -7.58125268e-02 -2.53377960e+00] [-1.40758348e-01 9.90042746e-01 1.56481552e-03 2.09118607e+00] [ 7.52774533e-02 9.12649462e-03 9.97120861e-01 -2.17996640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40629675700004 meters Centerline goodness : 0.823386 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 9.87062028e-01 1.41540032e-01 -7.53324087e-02 -2.53496513e+00] [-1.41811976e-01 9.89892058e-01 1.75404173e-03 2.09301597e+00] [ 7.48192202e-02 8.95168976e-03 9.97156934e-01 -2.18023180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43629675700004 meters Centerline goodness : 0.825503 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 9.87059681e-01 1.41483785e-01 -7.54687020e-02 -2.53445262e+00] [-1.41756158e-01 9.89900038e-01 1.76253871e-03 2.09298499e+00] [ 7.49558416e-02 8.95842232e-03 9.97146613e-01 -2.18038933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46629675700004 meters Centerline goodness : 0.825098 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 9.87061307e-01 1.41346812e-01 -7.57037254e-02 -2.53360988e+00] [-1.41593860e-01 9.89922562e-01 2.12113337e-03 2.09234009e+00] [ 7.52406412e-02 8.62549405e-03 9.97128099e-01 -2.18010997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49629675700004 meters Centerline goodness : 0.823905 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 9.87069011e-01 1.41336251e-01 -7.56229503e-02 -2.53350482e+00] [-1.41566788e-01 9.89925964e-01 2.33044126e-03 2.09180046e+00] [ 7.51904978e-02 8.40539186e-03 9.97133762e-01 -2.18008976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52629675700004 meters Centerline goodness : 0.822936 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 9.87061197e-01 1.41345868e-01 -7.57069322e-02 -2.53317089e+00] [-1.41564305e-01 9.89925904e-01 2.50049165e-03 2.09162723e+00] [ 7.52976875e-02 8.24926094e-03 9.97126977e-01 -2.17999479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55629675700004 meters Centerline goodness : 0.825267 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 9.86938643e-01 1.42061953e-01 -7.59639179e-02 -2.52694493e+00] [-1.41800505e-01 9.89855676e-01 8.85199620e-03 2.08798602e+00] [ 7.64508472e-02 2.03534484e-03 9.97071274e-01 -2.17547914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58629675700004 meters Centerline goodness : 0.824739 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.09, Z:-2.18 [[ 9.86950827e-01 1.41880768e-01 -7.61440205e-02 -2.52640055e+00] [-1.41606951e-01 9.89881952e-01 9.01074074e-03 2.08742352e+00] [ 7.66520424e-02 1.88936455e-03 9.97056114e-01 -2.17530663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61629675700004 meters Centerline goodness : 0.825003 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.09, Z:-2.18 [[ 9.87000049e-01 1.41361310e-01 -7.64714513e-02 -2.52499176e+00] [-1.41074456e-01 9.89956541e-01 9.16757720e-03 2.08669771e+00] [ 7.69993542e-02 1.73976927e-03 9.97029625e-01 -2.17529303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64629675700002 meters Centerline goodness : 0.824132 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.09, Z:-2.18 [[ 9.87017424e-01 1.41091308e-01 -7.67453416e-02 -2.52393736e+00] [-1.40790287e-01 9.89995326e-01 9.34608672e-03 2.08607760e+00] [ 7.72961810e-02 1.58024826e-03 9.97006922e-01 -2.17532189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67629675700002 meters Centerline goodness : 0.824402 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.09, Z:-2.18 [[ 9.87057152e-01 1.40585899e-01 -7.71607626e-02 -2.52246686e+00] [-1.40300092e-01 9.90066841e-01 9.13971346e-03 2.08588268e+00] [ 7.76792273e-02 1.80424256e-03 9.96976771e-01 -2.17576036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70629675700002 meters Centerline goodness : 0.818388 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.09, Z:-2.18 [[ 9.87091393e-01 1.40169251e-01 -7.74800869e-02 -2.52117208e+00] [-1.39899512e-01 9.90125479e-01 8.92542528e-03 2.08613905e+00] [ 7.79660783e-02 2.02921587e-03 9.96953947e-01 -2.17615734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73629675700002 meters Centerline goodness : 0.820786 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.08, Z:-2.17 [[ 0.98670767 0.14232538 -0.07843123 -2.51597214] [-0.14161419 0.98981448 0.01458493 2.08295921] [ 0.07970817 -0.00328408 0.99681283 -2.17319183] [ 0. 0. 0. 1. ]] SLAMing on 226.76629675700002 meters Centerline goodness : 0.818604 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.08, Z:-2.17 [[ 0.98670119 0.14235472 -0.07845945 -2.51564885] [-0.14166359 0.98981107 0.01433408 2.08366454] [ 0.07970056 -0.00302861 0.99681425 -2.17373279] [ 0. 0. 0. 1. ]] SLAMing on 226.79629675700002 meters Centerline goodness : 0.818282 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.08, Z:-2.17 [[ 0.98671592 0.1420953 -0.07874405 -2.51462028] [-0.14141611 0.98984891 0.01416425 2.08413821] [ 0.07995739 -0.00284041 0.99679424 -2.17401383] [ 0. 0. 0. 1. ]] SLAMing on 226.82629675700002 meters Centerline goodness : 0.816528 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.08, Z:-2.17 [[ 0.9867103 0.1420139 -0.078961 -2.51412299] [-0.14133712 0.98986077 0.01412343 2.08450713] [ 0.08016612 -0.00277561 0.99677765 -2.17392643] [ 0. 0. 0. 1. ]] SLAMing on 226.85629675700002 meters Centerline goodness : 0.815431 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.17 [[ 0.98671847 0.14190098 -0.07906183 -2.51342108] [-0.14123083 0.98987723 0.01403312 2.0853061 ] [ 0.08025282 -0.00268077 0.99677094 -2.17421054] [ 0. 0. 0. 1. ]] SLAMing on 226.88629675700003 meters Centerline goodness : 0.815122 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.17 [[ 0.98671963 0.14184485 -0.07914797 -2.51302988] [-0.14118056 0.9898855 0.01395523 2.08556684] [ 0.08032691 -0.00259574 0.99676519 -2.1744374 ] [ 0. 0. 0. 1. ]] SLAMing on 226.91629675700003 meters Centerline goodness : 0.813384 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.17 [[ 0.98671586 0.14175009 -0.07936455 -2.51255453] [-0.14107001 0.98989864 0.01413995 2.08582622] [ 0.0805672 -0.00275616 0.99674537 -2.1739042 ] [ 0. 0. 0. 1. ]] SLAMing on 226.94629675700003 meters Centerline goodness : 0.811775 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.17 [[ 0.9866869 0.14179942 -0.07963591 -2.51210335] [-0.14110006 0.98989104 0.0143703 2.08588652] [ 0.08086857 -0.00294235 0.99672043 -2.1734383 ] [ 0. 0. 0. 1. ]] SLAMing on 226.97629675700003 meters Centerline goodness : 0.811723 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.17 [[ 0.98663771 0.14208118 -0.07974308 -2.51198521] [-0.1414069 0.98985158 0.01406893 2.08708076] [ 0.08093274 -0.00260472 0.99671616 -2.17386576] [ 0. 0. 0. 1. ]] SLAMing on 227.00629675700003 meters Centerline goodness : 0.810400 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.17 [[ 9.86606113e-01 1.42211352e-01 -7.99018678e-02 -2.51158080e+00] [-1.41553269e-01 9.89833469e-01 1.38699483e-02 2.08812859e+00] [ 8.10620071e-02 -2.37380520e-03 9.96706234e-01 -2.17418143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03629675700003 meters Centerline goodness : 0.805544 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.18 [[ 9.86487693e-01 1.43086883e-01 -7.98008530e-02 -2.51184661e+00] [-1.42468333e-01 9.89708363e-01 1.34212636e-02 2.09042958e+00] [ 8.08999784e-02 -1.87081689e-03 9.96720469e-01 -2.17528678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06629675700003 meters Centerline goodness : 0.805349 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.18 [[ 9.86423761e-01 1.43538740e-01 -7.97796555e-02 -2.51205699e+00] [-1.42944491e-01 9.89643473e-01 1.31403719e-02 2.09150416e+00] [ 8.08395678e-02 -1.55791286e-03 9.96725909e-01 -2.17587275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09629675700003 meters Centerline goodness : 0.806371 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.18 [[ 9.86349001e-01 1.44037976e-01 -7.98041999e-02 -2.51234902e+00] [-1.43453665e-01 9.89571154e-01 1.30375018e-02 2.09243540e+00] [ 8.08498296e-02 -1.41132194e-03 9.96725295e-01 -2.17605250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12629675700003 meters Centerline goodness : 0.805093 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.18 [[ 9.86192895e-01 1.45247220e-01 -7.95413020e-02 -2.51361853e+00] [-1.44687713e-01 9.89394784e-01 1.27838809e-02 2.09410003e+00] [ 8.05545724e-02 -1.09872339e-03 9.96749594e-01 -2.17675410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15629675700004 meters Centerline goodness : 0.804554 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.18 [[ 9.86121377e-01 1.45707284e-01 -7.95865332e-02 -2.51383070e+00] [-1.45158828e-01 9.89327302e-01 1.26650896e-02 2.09483699e+00] [ 8.05825259e-02 -9.36627723e-04 9.96747500e-01 -2.17701167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18629675700004 meters Centerline goodness : 0.803680 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.10, Z:-2.18 [[ 9.85922117e-01 1.47171064e-01 -7.93615584e-02 -2.51524007e+00] [-1.46629649e-01 9.89110711e-01 1.26391397e-02 2.09657491e+00] [ 8.03574831e-02 -8.24449876e-04 9.96765767e-01 -2.17739142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21629675700004 meters Centerline goodness : 0.803993 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.10, Z:-2.18 [[ 9.85855605e-01 1.47658854e-01 -7.92817074e-02 -2.51546523e+00] [-1.47138862e-01 9.89038198e-01 1.23934645e-02 2.09756711e+00] [ 8.02426418e-02 -5.52746256e-04 9.96775207e-01 -2.17806783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24629675700004 meters Centerline goodness : 0.821237 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.10, Z:-2.18 [[ 9.85693442e-01 1.48851209e-01 -7.90680432e-02 -2.51645655e+00] [-1.48345750e-01 9.88859540e-01 1.22616528e-02 2.09913923e+00] [ 8.00123507e-02 -3.56822579e-04 9.96793808e-01 -2.17881566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27629675700004 meters Centerline goodness : 0.806381 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.10, Z:-2.18 [[ 9.85609143e-01 1.49470444e-01 -7.89506454e-02 -2.51710021e+00] [-1.48977410e-01 9.88766175e-01 1.21319012e-02 2.10011520e+00] [ 7.98770883e-02 -1.95450051e-04 9.96804701e-01 -2.17908872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30629675700004 meters Centerline goodness : 0.806933 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.10, Z:-2.18 [[ 9.85429056e-01 1.50833295e-01 -7.86059273e-02 -2.51901791e+00] [-1.50304832e-01 9.88559011e-01 1.26309083e-02 2.10039956e+00] [ 7.96117592e-02 -6.32013362e-04 9.96825746e-01 -2.17854423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33629675700004 meters Centerline goodness : 0.807772 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.10, Z:-2.18 [[ 9.85375375e-01 1.51106234e-01 -7.87545350e-02 -2.51908551e+00] [-1.50536666e-01 9.88516910e-01 1.31540832e-02 2.09956266e+00] [ 7.98378536e-02 -1.10626448e-03 9.96807250e-01 -2.17787202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36629675700004 meters Centerline goodness : 0.806563 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.10, Z:-2.18 [[ 9.85914553e-01 1.47281992e-01 -7.92496655e-02 -2.51909935e+00] [-1.46985077e-01 9.89092130e-01 9.59919608e-03 2.09865137e+00] [ 7.97990092e-02 2.18453109e-03 9.96808580e-01 -2.17838603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39629675700002 meters Centerline goodness : 0.808728 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.10, Z:-2.18 [[ 0.98647325 0.1432542 -0.07967915 -2.51918289] [-0.14327834 0.98966746 0.00544399 2.09873587] [ 0.07963574 0.00604595 0.9968057 -2.17940003] [ 0. 0. 0. 1. ]] SLAMing on 227.42629675700002 meters Centerline goodness : 0.808782 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.10, Z:-2.18 [[ 9.87028595e-01 1.39041605e-01 -8.02619767e-02 -2.51873967e+00] [-1.39384593e-01 9.90237415e-01 1.34086739e-03 2.09860449e+00] [ 7.96648486e-02 9.86380852e-03 9.96772902e-01 -2.18033750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45629675700002 meters Centerline goodness : 0.806793 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.10, Z:-2.18 [[ 9.87005345e-01 1.39111766e-01 -8.04261475e-02 -2.51858707e+00] [-1.39379688e-01 9.90236340e-01 2.30060546e-03 2.09581346e+00] [ 7.99609352e-02 8.93906146e-03 9.96757915e-01 -2.17938541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48629675700002 meters Centerline goodness : 0.806793 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.10, Z:-2.18 [[ 9.87005345e-01 1.39111766e-01 -8.04261475e-02 -2.51858707e+00] [-1.39379688e-01 9.90236340e-01 2.30060546e-03 2.09581346e+00] [ 7.99609352e-02 8.93906146e-03 9.96757915e-01 -2.17938541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51629675700002 meters Centerline goodness : 0.807666 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.09, Z:-2.18 [[ 0.98700579 0.1389674 -0.08066985 -2.51788059] [-0.13918504 0.99026201 0.00294664 2.09397036] [ 0.08029378 0.00831969 0.99673652 -2.17875612] [ 0. 0. 0. 1. ]] SLAMing on 227.54629675700002 meters Centerline goodness : 0.808633 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.09, Z:-2.18 [[ 0.98701061 0.13877044 -0.08094947 -2.51703157] [-0.1389733 0.99029112 0.00315018 2.09327659] [ 0.0806007 0.00814055 0.99671323 -2.17868104] [ 0. 0. 0. 1. ]] SLAMing on 227.57629675700002 meters Centerline goodness : 0.809465 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.09, Z:-2.18 [[ 0.98700706 0.13866728 -0.0811692 -2.5165244 ] [-0.1388433 0.99030818 0.00349916 2.09243065] [ 0.08086774 0.00781611 0.99669419 -2.17830937] [ 0. 0. 0. 1. ]] SLAMing on 227.60629675700002 meters Centerline goodness : 0.808062 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.09, Z:-2.18 [[ 0.98701954 0.13841967 -0.08143966 -2.51582349] [-0.13854548 0.99034745 0.00413157 2.09099748] [ 0.08122545 0.00720515 0.99666971 -2.17747037] [ 0. 0. 0. 1. ]] SLAMing on 227.63629675700003 meters Centerline goodness : 0.808682 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.09, Z:-2.18 [[ 0.9870285 0.1382709 -0.08158366 -2.51523469] [-0.13838895 0.99036891 0.00423329 2.09070676] [ 0.08138326 0.0071119 0.99665751 -2.17755365] [ 0. 0. 0. 1. ]] SLAMing on 227.66629675700003 meters Centerline goodness : 0.809856 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.18 [[ 0.98710072 0.13743522 -0.08212022 -2.51323553] [-0.1375568 0.99048497 0.00420234 2.09099201] [ 0.0819164 0.00714807 0.99661357 -2.17745512] [ 0. 0. 0. 1. ]] SLAMing on 227.69629675700003 meters Centerline goodness : 0.809824 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.18 [[ 0.98711802 0.13706631 -0.08252782 -2.51202161] [-0.13717925 0.99053679 0.0043272 2.09095353] [ 0.08233996 0.00704965 0.99657937 -2.17722651] [ 0. 0. 0. 1. ]] SLAMing on 227.72629675700003 meters Centerline goodness : 0.807283 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.18 [[ 0.98719249 0.13616065 -0.08313406 -2.50983984] [-0.13627329 0.99066176 0.00434452 2.09080814] [ 0.08294929 0.00704007 0.9965289 -2.1769769 ] [ 0. 0. 0. 1. ]] SLAMing on 227.75629675700003 meters Centerline goodness : 0.807102 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.18 [[ 0.98721942 0.1355551 -0.08380117 -2.50782874] [-0.13567044 0.9907445 0.00434338 2.09053328] [ 0.08361431 0.00708148 0.99647303 -2.177004 ] [ 0. 0. 0. 1. ]] SLAMing on 227.78629675700003 meters Centerline goodness : 0.805263 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.09, Z:-2.18 [[ 0.98726525 0.13480729 -0.08446495 -2.50562155] [-0.13494397 0.99084469 0.00411532 2.09050309] [ 0.08424642 0.00733512 0.99641795 -2.1774391 ] [ 0. 0. 0. 1. ]] SLAMing on 227.81629675700003 meters Centerline goodness : 0.803416 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.09, Z:-2.18 [[ 0.98739654 0.13304315 -0.08571804 -2.50104898] [-0.13326107 0.9910758 0.00320043 2.0910872 ] [ 0.08537887 0.00826279 0.99631429 -2.17887076] [ 0. 0. 0. 1. ]] SLAMing on 227.84629675700003 meters Centerline goodness : 0.804988 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.09, Z:-2.18 [[ 0.98751414 0.1314919 -0.08675079 -2.49754845] [-0.13177178 0.99127688 0.00251738 2.09183164] [ 0.08632506 0.00894536 0.99622686 -2.17937923] [ 0. 0. 0. 1. ]] SLAMing on 227.87629675700003 meters Centerline goodness : 0.803546 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.09, Z:-2.18 [[ 0.98768609 0.13043972 -0.08638096 -2.49799549] [-0.13067194 0.99142117 0.00298492 2.09198381] [ 0.08602926 0.00833941 0.99625771 -2.17907682] [ 0. 0. 0. 1. ]] SLAMing on 227.90629675700004 meters Centerline goodness : 0.802645 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.09, Z:-2.18 [[ 0.98799104 0.12873372 -0.08544783 -2.4992628 ] [-0.12890379 0.99165076 0.00354715 2.09172648] [ 0.08519104 0.00750999 0.99633633 -2.17910403] [ 0. 0. 0. 1. ]] SLAMing on 227.93629675700004 meters Centerline goodness : 0.801619 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.09, Z:-2.18 [[ 0.98891655 0.12257125 -0.08378745 -2.50076059] [-0.12268684 0.99243821 0.00378749 2.08955353] [ 0.0836181 0.00653411 0.99647645 -2.18102259] [ 0. 0. 0. 1. ]] SLAMing on 227.96629675700004 meters Centerline goodness : 0.801127 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.09, Z:-2.18 [[ 0.98938843 0.11938564 -0.08281069 -2.50208776] [-0.11943255 0.99283255 0.00440478 2.0878346 ] [ 0.08274302 0.00553225 0.99655556 -2.1812225 ] [ 0. 0. 0. 1. ]] SLAMing on 227.99629675700004 meters Centerline goodness : 0.803841 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.08, Z:-2.18 [[ 0.9904273 0.11242211 -0.08009389 -2.50708637] [-0.11230793 0.99365568 0.00594341 2.08268903] [ 0.08025392 0.00310867 0.9967696 -2.17872562] [ 0. 0. 0. 1. ]] SLAMing on 228.02629675700004 meters Centerline goodness : 0.805172 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.08, Z:-2.18 [[ 9.90735111e-01 1.16544036e-01 -6.97239442e-02 -2.50459646e+00] [-1.16383110e-01 9.93183905e-01 6.37983283e-03 2.07877869e+00] [ 6.99922306e-02 1.79396510e-03 9.97545923e-01 -2.17916916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05629675700004 meters Centerline goodness : 0.806052 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.08, Z:-2.18 [[ 0.99062699 0.11664828 -0.07107281 -2.50271137] [-0.11659255 0.99316751 0.00494636 2.0786094 ] [ 0.07116419 0.00338657 0.99745887 -2.17897726] [ 0. 0. 0. 1. ]] SLAMing on 228.08629675700004 meters Centerline goodness : 0.809901 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.08, Z:-2.18 [[ 0.99065178 0.11647449 -0.07101222 -2.50328838] [-0.11639864 0.99318886 0.00521937 2.07781696] [ 0.07113647 0.00309515 0.99746179 -2.17803026] [ 0. 0. 0. 1. ]] SLAMing on 228.11629675700004 meters Centerline goodness : 0.808495 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.08, Z:-2.18 [[ 0.99058597 0.11668438 -0.07158341 -2.5016419 ] [-0.11665242 0.99316196 0.00464118 2.0777554 ] [ 0.07163548 0.00375289 0.99742382 -2.1792196 ] [ 0. 0. 0. 1. ]] SLAMing on 228.14629675700002 meters Centerline goodness : 0.810199 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.08, Z:-2.18 [[ 0.99026838 0.11855611 -0.07289026 -2.49875961] [-0.1185437 0.99293859 0.0045117 2.07870263] [ 0.07291044 0.00417288 0.99732976 -2.17994824] [ 0. 0. 0. 1. ]] SLAMing on 228.17629675700002 meters Centerline goodness : 0.810729 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.08, Z:-2.18 [[ 0.9899553 0.1204779 -0.07398367 -2.49695469] [-0.12044857 0.9927076 0.00487434 2.07948293] [ 0.0740314 0.00408585 0.99724754 -2.17939723] [ 0. 0. 0. 1. ]] SLAMing on 228.20629675700002 meters Centerline goodness : 0.809446 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.08, Z:-2.19 [[ 9.89293198e-01 1.23342832e-01 -7.80097061e-02 -2.48877253e+00] [-1.23698306e-01 9.92319834e-01 2.77472402e-04 2.08038125e+00] [ 7.74448028e-02 9.37516695e-03 9.96952561e-01 -2.18580984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23629675700002 meters Centerline goodness : 0.811667 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.08, Z:-2.19 [[ 9.89010909e-01 1.25318002e-01 -7.84399141e-02 -2.48816062e+00] [-1.25662568e-01 9.92072890e-01 5.47452768e-04 2.08117822e+00] [ 7.78867179e-02 9.31552425e-03 9.96918693e-01 -2.18540687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26629675700002 meters Centerline goodness : 0.812009 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.08, Z:-2.19 [[ 9.88711233e-01 1.27118816e-01 -7.93152199e-02 -2.48639294e+00] [-1.27518791e-01 9.91836155e-01 2.24037104e-05 2.08202414e+00] [ 7.86705507e-02 1.00920301e-02 9.96849585e-01 -2.18573026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29629675700002 meters Centerline goodness : 0.811636 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.08, Z:-2.18 [[ 9.88152350e-01 1.31625485e-01 -7.89282298e-02 -2.48710398e+00] [-1.31901470e-01 9.91261323e-01 1.72947473e-03 2.08373912e+00] [ 7.84661445e-02 8.70176503e-03 9.96878801e-01 -2.18445869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32629675700002 meters Centerline goodness : 0.810562 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.09, Z:-2.18 [[ 9.87992258e-01 1.32864017e-01 -7.88571611e-02 -2.48711831e+00] [-1.33107038e-01 9.91099248e-01 2.19008900e-03 2.08505787e+00] [ 7.84462571e-02 8.33265215e-03 9.96883520e-01 -2.18384544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35629675700002 meters Centerline goodness : 0.809146 Centerline is valid? [False, False] Translation: X:-2.48, Y:2.09, Z:-2.19 [[ 9.87988472e-01 1.31610600e-01 -8.09779595e-02 -2.48250811e+00] [-1.31991221e-01 9.91250667e-01 6.58080708e-04 2.08508929e+00] [ 8.03560667e-02 1.00382036e-02 9.96715675e-01 -2.18554448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38629675700003 meters Centerline goodness : 0.814418 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.08, Z:-2.18 [[ 9.88211977e-01 1.30750907e-01 -7.96322111e-02 -2.48506470e+00] [-1.31055388e-01 9.91374040e-01 1.41338440e-03 2.08459947e+00] [ 7.91301082e-02 9.03950693e-03 9.96823311e-01 -2.18493107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41629675700003 meters Centerline goodness : 0.812812 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.08, Z:-2.19 [[ 9.88495050e-01 1.28985224e-01 -7.89958735e-02 -2.48593876e+00] [-1.29255164e-01 9.91609896e-01 1.70811791e-03 2.08380526e+00] [ 7.85534118e-02 8.52215850e-03 9.96873480e-01 -2.18500257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44629675700003 meters Centerline goodness : 0.810788 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.08, Z:-2.19 [[ 9.89184312e-01 1.24268010e-01 -7.79221341e-02 -2.48759919e+00] [-1.24585176e-01 9.92208597e-01 7.96780239e-04 2.08238108e+00] [ 7.74140256e-02 8.91978026e-03 9.96959130e-01 -2.18534405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47629675700003 meters Centerline goodness : 0.814748 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.08, Z:-2.19 [[ 9.89643843e-01 1.20505074e-01 -7.79973817e-02 -2.48800129e+00] [-1.20990756e-01 9.92652479e-01 -1.51410748e-03 2.08142806e+00] [ 7.72418367e-02 1.09353893e-02 9.96952414e-01 -2.18516553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50629675700003 meters Centerline goodness : 0.815523 Centerline is valid? [False, False] Translation: X:-2.48, Y:2.08, Z:-2.19 [[ 0.98970105 0.11787208 -0.08122809 -2.48161907] [-0.11875799 0.99290421 -0.00614593 2.08119871] [ 0.07992728 0.01572912 0.99667659 -2.18806042] [ 0. 0. 0. 1. ]] SLAMing on 228.53629675700003 meters Centerline goodness : 0.815780 Centerline is valid? [False, False] Translation: X:-2.48, Y:2.08, Z:-2.19 [[ 0.98973325 0.11753494 -0.08132428 -2.48170843] [-0.11841648 0.99294536 -0.00608612 2.08126406] [ 0.08003523 0.01565376 0.99666911 -2.18725207] [ 0. 0. 0. 1. ]] SLAMing on 228.56629675700003 meters Centerline goodness : 0.816475 Centerline is valid? [False, False] Translation: X:-2.48, Y:2.08, Z:-2.19 [[ 0.98982986 0.12315051 -0.07120953 -2.47829847] [-0.12382947 0.99228998 -0.00518327 2.07873172] [ 0.07002218 0.01394839 0.99744791 -2.18816086] [ 0. 0. 0. 1. ]] SLAMing on 228.59629675700003 meters Centerline goodness : 0.818934 Centerline is valid? [False, False] Translation: X:-2.48, Y:2.08, Z:-2.19 [[ 0.98976482 0.12354254 -0.07143421 -2.47728378] [-0.1242715 0.9922311 -0.00583491 2.08048996] [ 0.07015839 0.01465243 0.99742825 -2.18884414] [ 0. 0. 0. 1. ]] SLAMing on 228.62629675700003 meters Centerline goodness : 0.816010 Centerline is valid? [False, False] Translation: X:-2.48, Y:2.08, Z:-2.19 [[ 0.98962283 0.12522412 -0.07046688 -2.47728973] [-0.12576971 0.99205383 -0.0033421 2.08328287] [ 0.06948843 0.01217002 0.99750852 -2.18913753] [ 0. 0. 0. 1. ]] SLAMing on 228.65629675700004 meters Centerline goodness : 0.814765 Centerline is valid? [False, False] Translation: X:-2.47, Y:2.08, Z:-2.19 [[ 0.98946523 0.12599814 -0.07129529 -2.47490139] [-0.1265861 0.99194845 -0.00377133 2.08458409] [ 0.07024607 0.01275659 0.99744812 -2.1901854 ] [ 0. 0. 0. 1. ]] SLAMing on 228.68629675700004 meters Centerline goodness : 0.816258 Centerline is valid? [False, False] Translation: X:-2.47, Y:2.09, Z:-2.19 [[ 0.98931977 0.12662913 -0.07219035 -2.47234148] [-0.12728701 0.99185541 -0.00456803 2.08592847] [ 0.07102394 0.01370814 0.99738041 -2.19151307] [ 0. 0. 0. 1. ]] SLAMing on 228.71629675700004 meters Centerline goodness : 0.814170 Centerline is valid? [False, False] Translation: X:-2.47, Y:2.09, Z:-2.19 [[ 9.89014355e-01 1.29213199e-01 -7.17952278e-02 -2.47279438e+00] [-1.29692773e-01 9.91552130e-01 -2.03900575e-03 2.08825268e+00] [ 7.09252446e-02 1.13279281e-02 9.97417309e-01 -2.18997425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74629675700004 meters Centerline goodness : 0.817950 Centerline is valid? [False, False] Translation: X:-2.47, Y:2.09, Z:-2.19 [[ 9.88752090e-01 1.31355096e-01 -7.15202358e-02 -2.47355307e+00] [-1.31799970e-01 9.91275173e-01 -1.51636502e-03 2.09022059e+00] [ 7.06970518e-02 1.09256740e-02 9.97437996e-01 -2.18849672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77629675700004 meters Centerline goodness : 0.820039 Centerline is valid? [False, False] Translation: X:-2.47, Y:2.09, Z:-2.19 [[ 9.88602895e-01 1.32060275e-01 -7.22800049e-02 -2.47253613e+00] [-1.32538716e-01 9.91176117e-01 -1.84238737e-03 2.09096037e+00] [ 7.13989084e-02 1.14012885e-02 9.97382678e-01 -2.18770377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80629675700004 meters Centerline goodness : 0.819478 Centerline is valid? [False, False] Translation: X:-2.47, Y:2.09, Z:-2.19 [[ 0.98847803 0.13200795 -0.07406134 -2.46916228] [-0.13262363 0.99116052 -0.00343598 2.09168359] [ 0.0729531 0.01321868 0.99724777 -2.18826268] [ 0. 0. 0. 1. ]] SLAMing on 228.83629675700004 meters Centerline goodness : 0.821794 Centerline is valid? [False, False] Translation: X:-2.47, Y:2.09, Z:-2.19 [[ 0.98817848 0.13383019 -0.07478489 -2.46829671] [-0.13439096 0.99092525 -0.00249434 2.0926587 ] [ 0.07377241 0.01251527 0.99719657 -2.18671151] [ 0. 0. 0. 1. ]] SLAMing on 228.86629675700004 meters Centerline goodness : 0.820180 Centerline is valid? [False, False] Translation: X:-2.47, Y:2.09, Z:-2.19 [[ 9.87903178e-01 1.35300395e-01 -7.57701367e-02 -2.46689118e+00] [-1.35854706e-01 9.90726360e-01 -2.18592773e-03 2.09288890e+00] [ 7.47717149e-02 1.24532146e-02 9.97122915e-01 -2.18590648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89629675700002 meters Centerline goodness : 0.821446 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.09, Z:-2.19 [[ 0.98737906 0.13730718 -0.07892607 -2.46139619] [-0.13801139 0.99042441 -0.00351189 2.09327489] [ 0.07768809 0.01436026 0.99687429 -2.18627151] [ 0. 0. 0. 1. ]] SLAMing on 228.92629675700002 meters Centerline goodness : 0.820556 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.09, Z:-2.19 [[ 0.98717751 0.13846518 -0.0794226 -2.46068283] [-0.13915542 0.9902654 -0.0031959 2.0931363 ] [ 0.07820693 0.01420701 0.99683591 -2.1857398 ] [ 0. 0. 0. 1. ]] SLAMing on 228.95629675700002 meters Centerline goodness : 0.823305 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.09, Z:-2.18 [[ 9.86997277e-01 1.39676189e-01 -7.95420414e-02 -2.46081087e+00] [-1.40284098e-01 9.90109110e-01 -2.07884399e-03 2.09184346e+00] [ 7.84649348e-02 1.32102969e-02 9.96829345e-01 -2.18490824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98629675700002 meters Centerline goodness : 0.821649 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.09, Z:-2.18 [[ 9.86874393e-01 1.40393916e-01 -7.98027590e-02 -2.46089253e+00] [-1.40994409e-01 9.90008546e-01 -1.91215173e-03 2.09129734e+00] [ 7.87369589e-02 1.31387964e-02 9.96808840e-01 -2.18412928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01629675700002 meters Centerline goodness : 0.820749 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.09, Z:-2.18 [[ 0.98669326 0.14056323 -0.08172136 -2.45765744] [-0.14131737 0.98995819 -0.00348954 2.09096626] [ 0.08041022 0.01499176 0.99664911 -2.18427745] [ 0. 0. 0. 1. ]] SLAMing on 229.04629675700002 meters Centerline goodness : 0.823175 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98615054 0.14252666 -0.08481309 -2.45391017] [-0.14356661 0.98962086 -0.00626011 2.09082173] [ 0.08304057 0.01834974 0.99637721 -2.18309339] [ 0. 0. 0. 1. ]] SLAMing on 229.07629675700002 meters Centerline goodness : 0.825835 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98587389 0.14329835 -0.08670788 -2.45052568] [-0.14447805 0.98947993 -0.00745374 2.09106297] [ 0.08472759 0.01987584 0.9962059 -2.1831796 ] [ 0. 0. 0. 1. ]] SLAMing on 229.10629675700002 meters Centerline goodness : 0.821208 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.9855905 0.14455057 -0.08784358 -2.44821623] [-0.14583369 0.98927401 -0.00833496 2.09098521] [ 0.08569655 0.02102541 0.99609941 -2.18380472] [ 0. 0. 0. 1. ]] SLAMing on 229.13629675700003 meters Centerline goodness : 0.825193 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98547997 0.14459852 -0.08899712 -2.44559739] [-0.14598034 0.98924486 -0.00918406 2.09043217] [ 0.08671194 0.02204254 0.99598954 -2.18472021] [ 0. 0. 0. 1. ]] SLAMing on 229.16629675700003 meters Centerline goodness : 0.820294 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98527108 0.14577217 -0.08939443 -2.44588684] [-0.14717309 0.9890675 -0.0092498 2.08941874] [ 0.08706877 0.02227001 0.99595335 -2.18337767] [ 0. 0. 0. 1. ]] SLAMing on 229.19629675700003 meters Centerline goodness : 0.820119 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98521977 0.14603619 -0.08952893 -2.44592638] [-0.1474059 0.98903652 -0.00884719 2.08866969] [ 0.08725537 0.02191352 0.99594493 -2.18293977] [ 0. 0. 0. 1. ]] SLAMing on 229.22629675700003 meters Centerline goodness : 0.820768 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98518983 0.14627268 -0.08947232 -2.44620659] [-0.14759993 0.98901176 -0.00836628 2.08670496] [ 0.08726542 0.02144848 0.99595417 -2.18277922] [ 0. 0. 0. 1. ]] SLAMing on 229.25629675700003 meters Centerline goodness : 0.820780 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98514326 0.14655636 -0.08952086 -2.44630475] [-0.14787321 0.98897214 -0.00822306 2.08656156] [ 0.08732849 0.02133863 0.995951 -2.18271463] [ 0. 0. 0. 1. ]] SLAMing on 229.28629675700003 meters Centerline goodness : 0.822602 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98507873 0.14702416 -0.08946397 -2.44675989] [-0.1483526 0.98889929 -0.00834868 2.08748372] [ 0.0872434 0.02149632 0.99595507 -2.18281941] [ 0. 0. 0. 1. ]] SLAMing on 229.31629675700003 meters Centerline goodness : 0.822168 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98438251 0.15177359 -0.08919557 -2.44690136] [-0.1526856 0.98826878 -0.00345233 2.08557602] [ 0.08762523 0.0170173 0.99600815 -2.18131118] [ 0. 0. 0. 1. ]] SLAMing on 229.34629675700003 meters Centerline goodness : 0.820975 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98433263 0.1520033 -0.0893547 -2.44657529] [-0.152928 0.98823094 -0.00355503 2.0859536 ] [ 0.0877627 0.01716417 0.99599352 -2.18169517] [ 0. 0. 0. 1. ]] SLAMing on 229.37629675700003 meters Centerline goodness : 0.820975 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98433263 0.1520033 -0.0893547 -2.44657529] [-0.152928 0.98823094 -0.00355503 2.0859536 ] [ 0.0877627 0.01716417 0.99599352 -2.18169517] [ 0. 0. 0. 1. ]] SLAMing on 229.40629675700004 meters Centerline goodness : 0.819245 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98426663 0.15228733 -0.0895978 -2.44539807] [-0.1532909 0.98817137 -0.00438781 2.08752781] [ 0.08786977 0.0180533 0.99596836 -2.18386406] [ 0. 0. 0. 1. ]] SLAMing on 229.43629675700004 meters Centerline goodness : 0.820339 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.9842201 0.1526134 -0.08955416 -2.44529459] [-0.15366287 0.98811117 -0.00490296 2.08911024] [ 0.0877412 0.01858674 0.99596989 -2.18485911] [ 0. 0. 0. 1. ]] SLAMing on 229.46629675700004 meters Centerline goodness : 0.820123 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.19 [[ 0.98411581 0.15341996 -0.08932177 -2.4462347 ] [-0.15447948 0.98798319 -0.00503077 2.09055296] [ 0.08747659 0.01874924 0.99599012 -2.18511903] [ 0. 0. 0. 1. ]] SLAMing on 229.49629675700004 meters Centerline goodness : 0.818851 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98388412 0.15540202 -0.08844345 -2.44976015] [-0.15644154 0.98767505 -0.00490321 2.09218641] [ 0.08659142 0.01866042 0.99606913 -2.18495908] [ 0. 0. 0. 1. ]] SLAMing on 229.52629675700004 meters Centerline goodness : 0.820195 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.09, Z:-2.18 [[ 0.98374558 0.15649574 -0.08805517 -2.45180736] [-0.1574935 0.98750997 -0.00445663 2.09252368] [ 0.08625792 0.01825231 0.99610563 -2.18407519] [ 0. 0. 0. 1. ]] SLAMing on 229.55629675700004 meters Centerline goodness : 0.820342 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.09, Z:-2.18 [[ 0.98349631 0.1586871 -0.08691036 -2.45654396] [-0.15960596 0.98717393 -0.00368319 2.09356112] [ 0.08521116 0.01749381 0.99620933 -2.18238775] [ 0. 0. 0. 1. ]] SLAMing on 229.58629675700004 meters Centerline goodness : 0.819437 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.09, Z:-2.18 [[ 0.98339659 0.15958596 -0.08639132 -2.45850803] [-0.1604672 0.98703563 -0.00330892 2.09436547] [ 0.08474325 0.01711695 0.99625579 -2.18150757] [ 0. 0. 0. 1. ]] SLAMing on 229.61629675700004 meters Centerline goodness : 0.815991 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.10, Z:-2.18 [[ 0.98330912 0.1604169 -0.0858463 -2.46040199] [-0.16128348 0.9869029 -0.00321049 2.09550746] [ 0.08420694 0.01700249 0.99630322 -2.18107241] [ 0. 0. 0. 1. ]] SLAMing on 229.64629675700002 meters Centerline goodness : 0.816111 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.10, Z:-2.18 [[ 0.98310896 0.16203801 -0.08509087 -2.46351015] [-0.16286765 0.9866438 -0.00285402 2.09775436] [ 0.08349192 0.01666436 0.99636911 -2.17997823] [ 0. 0. 0. 1. ]] SLAMing on 229.67629675700002 meters Centerline goodness : 0.814680 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.10, Z:-2.18 [[ 0.98303142 0.16263764 -0.08484238 -2.46433109] [-0.16348163 0.98654166 -0.00305003 2.09934577] [ 0.0832045 0.01686845 0.99638972 -2.18016758] [ 0. 0. 0. 1. ]] SLAMing on 229.70629675700002 meters Centerline goodness : 0.812341 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.10, Z:-2.18 [[ 0.98304396 0.16245749 -0.08504192 -2.46347394] [-0.16332974 0.98656583 -0.00335496 2.09998072] [ 0.08335441 0.01718795 0.99637173 -2.18076788] [ 0. 0. 0. 1. ]] SLAMing on 229.73629675700002 meters Centerline goodness : 0.810212 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.10, Z:-2.18 [[ 0.98305883 0.16222657 -0.08531046 -2.46237041] [-0.1631269 0.98659837 -0.00364406 2.10030709] [ 0.083576 0.01749876 0.99634775 -2.18151746] [ 0. 0. 0. 1. ]] SLAMing on 229.76629675700002 meters Centerline goodness : 0.811244 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.10, Z:-2.18 [[ 0.98316989 0.16118929 -0.08599409 -2.45954129] [-0.16216499 0.98675368 -0.00443769 2.10064561] [ 0.08413968 0.01830824 0.99628576 -2.18309632] [ 0. 0. 0. 1. ]] SLAMing on 229.79629675700002 meters Centerline goodness : 0.809430 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.10, Z:-2.18 [[ 0.98321647 0.16068805 -0.08639859 -2.45811215] [-0.16168926 0.98683066 -0.00467197 2.10065816] [ 0.08451004 0.01856328 0.9962497 -2.18357657] [ 0. 0. 0. 1. ]] SLAMing on 229.82629675700002 meters Centerline goodness : 0.806179 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.10, Z:-2.18 [[ 0.98335075 0.15950462 -0.08706079 -2.45520224] [-0.16052543 0.98702 -0.0048076 2.10012331] [ 0.08516391 0.01870302 0.9961914 -2.18409174] [ 0. 0. 0. 1. ]] SLAMing on 229.85629675700002 meters Centerline goodness : 0.806417 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.10, Z:-2.18 [[ 0.98341675 0.15887885 -0.08745859 -2.45394087] [-0.1598898 0.987124 -0.00463283 2.09915195] [ 0.08559641 0.01853974 0.99615738 -2.18380171] [ 0. 0. 0. 1. ]] SLAMing on 229.88629675700003 meters Centerline goodness : 0.809054 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.10, Z:-2.18 [[ 0.98348755 0.15844088 -0.08745704 -2.4538443 ] [-0.15940523 0.98720468 -0.00411035 2.09798758] [ 0.08568675 0.01798359 0.99615981 -2.18262334] [ 0. 0. 0. 1. ]] SLAMing on 229.91629675700003 meters Centerline goodness : 0.807270 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.10, Z:-2.18 [[ 0.9835053 0.15824148 -0.08761822 -2.45359979] [-0.15918841 0.98724059 -0.00388309 2.09791453] [ 0.0858858 0.01776684 0.99614656 -2.18185772] [ 0. 0. 0. 1. ]] SLAMing on 229.94629675700003 meters Centerline goodness : 0.807200 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.10, Z:-2.18 [[ 0.98361045 0.15744427 -0.08787371 -2.45215434] [-0.15840444 0.98736613 -0.00401857 2.09777061] [ 0.08613082 0.01787229 0.99612352 -2.18201237] [ 0. 0. 0. 1. ]] SLAMing on 229.97629675700003 meters Centerline goodness : 0.807817 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.10, Z:-2.18 [[ 0.98361486 0.15728843 -0.08810309 -2.45142755] [-0.15826519 0.98738784 -0.00416907 2.09845483] [ 0.08633617 0.01804441 0.99610264 -2.18217574] [ 0. 0. 0. 1. ]] SLAMing on 230.00629675700003 meters Centerline goodness : 0.808124 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.10, Z:-2.18 [[ 0.9837714 0.15593774 -0.0887539 -2.44839537] [-0.15694689 0.98759695 -0.0044643 2.09790508] [ 0.08695693 0.0183215 0.99604358 -2.18301533] [ 0. 0. 0. 1. ]] SLAMing on 230.03629675700003 meters Centerline goodness : 0.808466 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.10, Z:-2.18 [[ 0.98386052 0.15505386 -0.08931276 -2.44622285] [-0.15608511 0.98773272 -0.00463772 2.09690372] [ 0.08749804 0.01850326 0.99599283 -2.18369029] [ 0. 0. 0. 1. ]] SLAMing on 230.06629675700003 meters Centerline goodness : 0.807475 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.10, Z:-2.18 [[ 9.84084207e-01 1.52071154e-01 -9.19382223e-02 -2.46281751e+00] [-1.52511494e-01 9.88299117e-01 2.25841903e-03 2.09789942e+00] [ 9.12059042e-02 1.17991611e-02 9.95762152e-01 -2.18073042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09629675700003 meters Centerline goodness : 0.809314 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.10, Z:-2.18 [[ 9.84651925e-01 1.48643396e-01 -9.14643501e-02 -2.46123563e+00] [-1.49226944e-01 9.88802864e-01 4.63769020e-04 2.09634505e+00] [ 9.05091476e-02 1.31922944e-02 9.95808243e-01 -2.18221127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12629675700003 meters Centerline goodness : 0.807526 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.10, Z:-2.18 [[ 9.84706271e-01 1.48051528e-01 -9.18384715e-02 -2.45979400e+00] [-1.48623226e-01 9.88893701e-01 6.20661491e-04 2.09506468e+00] [ 9.09103759e-02 1.30381606e-02 9.95773724e-01 -2.18236769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15629675700004 meters Centerline goodness : 0.808781 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.09, Z:-2.18 [[ 9.84782122e-01 1.47509899e-01 -9.18966923e-02 -2.45905939e+00] [-1.48044784e-01 9.88980146e-01 1.00662025e-03 2.09349434e+00] [ 9.10324906e-02 1.26135243e-02 9.95768038e-01 -2.18217893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18629675700004 meters Centerline goodness : 0.808205 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.09, Z:-2.18 [[ 9.84758364e-01 1.47667505e-01 -9.18981596e-02 -2.45940643e+00] [-1.48160896e-01 9.88962180e-01 1.46789143e-03 2.09274451e+00] [ 9.11005642e-02 1.21701953e-02 9.95767329e-01 -2.18142673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21629675700004 meters Centerline goodness : 0.807413 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.09, Z:-2.18 [[ 9.84675518e-01 1.48571131e-01 -9.13276712e-02 -2.46179091e+00] [-1.48972144e-01 9.88838362e-01 2.44844831e-03 2.09215284e+00] [ 9.06720735e-02 1.11943519e-02 9.95817886e-01 -2.17963203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24629675700004 meters Centerline goodness : 0.809715 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.09, Z:-2.18 [[ 0.98462923 0.14907103 -0.09101153 -2.46297976] [-0.14945516 0.98876504 0.0026183 2.09316432] [ 0.09037933 0.01102409 0.9958464 -2.17903644] [ 0. 0. 0. 1. ]] SLAMing on 230.27629675700004 meters Centerline goodness : 0.806071 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.10, Z:-2.18 [[ 0.98514793 0.14924681 -0.08490551 -2.48815061] [-0.1492758 0.98877713 0.00604311 2.10099537] [ 0.08485454 0.00672098 0.99637068 -2.18142717] [ 0. 0. 0. 1. ]] SLAMing on 230.30629675700004 meters Centerline goodness : 0.806800 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.10, Z:-2.18 [[ 0.98505158 0.14999797 -0.0846994 -2.48924626] [-0.1500412 0.98866219 0.00589137 2.10371727] [ 0.08462278 0.0069051 0.99638913 -2.18107842] [ 0. 0. 0. 1. ]] SLAMing on 230.33629675700004 meters Centerline goodness : 0.808920 Centerline is valid? [False, False] Translation: X:-2.49, Y:2.11, Z:-2.18 [[ 0.98497451 0.15056905 -0.0845824 -2.48990841] [-0.15064319 0.98857267 0.00554191 2.10668094] [ 0.08445028 0.00728313 0.99640108 -2.18106756] [ 0. 0. 0. 1. ]] SLAMing on 230.36629675700004 meters Centerline goodness : 0.807471 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.12, Z:-2.19 [[ 0.98524665 0.1511396 -0.08028609 -2.51693259] [-0.15109535 0.98849675 0.00666142 2.11607096] [ 0.08036934 0.00556772 0.9967496 -2.18517729] [ 0. 0. 0. 1. ]] SLAMing on 230.39629675700002 meters Centerline goodness : 0.808624 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.12, Z:-2.19 [[ 0.98519111 0.15159126 -0.08011596 -2.51764579] [-0.151596 0.98842397 0.00605879 2.11911039] [ 0.08010699 0.00617619 0.99676714 -2.18542219] [ 0. 0. 0. 1. ]] SLAMing on 230.42629675700002 meters Centerline goodness : 0.809245 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.12, Z:-2.19 [[ 0.9851845 0.15155975 -0.08025668 -2.51734823] [-0.15158067 0.98842748 0.00586737 2.12042381] [ 0.08021717 0.00638492 0.99675696 -2.18532391] [ 0. 0. 0. 1. ]] SLAMing on 230.45629675700002 meters Centerline goodness : 0.810341 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.13, Z:-2.19 [[ 0.9861533 0.14777127 -0.07526829 -2.53659931] [-0.14761011 0.98901542 0.00773053 2.12690476] [ 0.07558385 0.00348688 0.99713335 -2.18821849] [ 0. 0. 0. 1. ]] SLAMing on 230.48629675700002 meters Centerline goodness : 0.808304 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.13, Z:-2.19 [[ 0.98619983 0.14736894 -0.07544734 -2.53579782] [-0.14724858 0.98907341 0.00718608 2.12833743] [ 0.07568196 0.00402261 0.99712389 -2.1886787 ] [ 0. 0. 0. 1. ]] SLAMing on 230.51629675700002 meters Centerline goodness : 0.808765 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.13, Z:-2.19 [[ 9.86640544e-01 1.44174113e-01 -7.58568582e-02 -2.55604286e+00] [-1.43820770e-01 9.89551912e-01 1.01291620e-02 2.13287865e+00] [ 7.65246620e-02 9.15949806e-04 9.97067268e-01 -2.18904870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54629675700002 meters Centerline goodness : 0.808111 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.13, Z:-2.19 [[ 9.86802715e-01 1.43616960e-01 -7.47968652e-02 -2.55743556e+00] [-1.43210756e-01 9.89633349e-01 1.07941749e-02 2.13367137e+00] [ 7.55716988e-02 5.99945664e-05 9.97140369e-01 -2.18896349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57629675700002 meters Centerline goodness : 0.807404 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.14, Z:-2.19 [[ 9.87346253e-01 1.40194700e-01 -7.41135859e-02 -2.58029681e+00] [-1.39804760e-01 9.90123954e-01 1.04491568e-02 2.14031273e+00] [ 7.48465531e-02 4.44962190e-05 9.97195062e-01 -2.19222185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60629675700002 meters Centerline goodness : 0.810041 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.14, Z:-2.19 [[ 9.87330666e-01 1.40148466e-01 -7.44080840e-02 -2.57935873e+00] [-1.39710025e-01 9.90130345e-01 1.10909556e-02 2.14036288e+00] [ 7.52280823e-02 -5.54885355e-04 9.97166199e-01 -2.19240587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63629675700003 meters Centerline goodness : 0.808324 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.14, Z:-2.19 [[ 0.98766718 0.13847687 -0.07305955 -2.58071764] [-0.1378994 0.99036204 0.01291444 2.13945489] [ 0.07414376 -0.0026803 0.99724396 -2.19313304] [ 0. 0. 0. 1. ]] SLAMing on 230.66629675700003 meters Centerline goodness : 0.807974 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.14, Z:-2.19 [[ 0.98792245 0.1370919 -0.07221528 -2.5819348 ] [-0.13642653 0.99054998 0.01409053 2.1380972 ] [ 0.07346454 -0.00406827 0.99728953 -2.19332281] [ 0. 0. 0. 1. ]] SLAMing on 230.69629675700003 meters Centerline goodness : 0.806497 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.13, Z:-2.19 [[ 0.98876283 0.13148396 -0.0711339 -2.58329997] [-0.13082631 0.9913086 0.013847 2.13491264] [ 0.07233631 -0.00438522 0.99737066 -2.19460373] [ 0. 0. 0. 1. ]] SLAMing on 230.72629675700003 meters Centerline goodness : 0.808662 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.13, Z:-2.19 [[ 0.98918823 0.12857019 -0.07054325 -2.58435835] [-0.12788295 0.99168772 0.01419232 2.13289867] [ 0.07178159 -0.0050176 0.99740775 -2.19460822] [ 0. 0. 0. 1. ]] SLAMing on 230.75629675700003 meters Centerline goodness : 0.807348 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.13, Z:-2.20 [[ 0.9901571 0.12185662 -0.0688468 -2.58714077] [-0.12123527 0.99253672 0.01314805 2.1294733 ] [ 0.06993515 -0.00467197 0.9975406 -2.19563003] [ 0. 0. 0. 1. ]] SLAMing on 230.78629675700003 meters Centerline goodness : 0.807762 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.13, Z:-2.20 [[ 0.99049999 0.11925085 -0.0684763 -2.58782561] [-0.11860008 0.99285024 0.01350615 2.1273132 ] [ 0.06959733 -0.00525655 0.99756132 -2.19553986] [ 0. 0. 0. 1. ]] SLAMing on 230.81629675700003 meters Centerline goodness : 0.807000 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.13, Z:-2.20 [[ 0.99081157 0.11707298 -0.06772254 -2.58919205] [-0.11638122 0.99310474 0.01408502 2.1258114 ] [ 0.06890455 -0.00607397 0.99760477 -2.19522252] [ 0. 0. 0. 1. ]] SLAMing on 230.84629675700003 meters Centerline goodness : 0.807068 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.12, Z:-2.20 [[ 0.99118463 0.11369525 -0.06801777 -2.58885964] [-0.11308497 0.99350327 0.01276904 2.1225754 ] [ 0.06902766 -0.00496468 0.99760239 -2.19592843] [ 0. 0. 0. 1. ]] SLAMing on 230.87629675700003 meters Centerline goodness : 0.809045 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.12, Z:-2.20 [[ 0.99139815 0.11179157 -0.06806146 -2.58825198] [-0.11117984 0.99371887 0.01272242 2.11920527] [ 0.06905621 -0.00504592 0.99760001 -2.19710858] [ 0. 0. 0. 1. ]] SLAMing on 230.90629675700004 meters Centerline goodness : 0.809076 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.12, Z:-2.20 [[ 0.99133409 0.11220486 -0.06831388 -2.58758587] [-0.11156747 0.99367068 0.01308722 2.11736021] [ 0.06934995 -0.0053522 0.99757804 -2.1976194 ] [ 0. 0. 0. 1. ]] SLAMing on 230.93629675700004 meters Centerline goodness : 0.809248 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.12, Z:-2.20 [[ 0.99125632 0.11276881 -0.06851355 -2.58760816] [-0.11207625 0.99360264 0.01388189 2.11627263] [ 0.06964069 -0.00608177 0.9975536 -2.19691165] [ 0. 0. 0. 1. ]] SLAMing on 230.96629675700004 meters Centerline goodness : 0.807974 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.11, Z:-2.20 [[ 0.99078865 0.11469472 -0.07199287 -2.58254715] [-0.11414535 0.99339501 0.01171296 2.1139251 ] [ 0.07286077 -0.00338741 0.99733637 -2.19701317] [ 0. 0. 0. 1. ]] SLAMing on 230.99629675700004 meters Centerline goodness : 0.808860 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.11, Z:-2.20 [[ 9.90459371e-01 1.16357218e-01 -7.38324629e-02 -2.58014245e+00] [-1.15866448e-01 9.93204877e-01 1.09104787e-02 2.11295390e+00] [ 7.46002752e-02 -2.25168062e-03 9.97210975e-01 -2.19635259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02629675700004 meters Centerline goodness : 0.810204 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.21 [[ 0.98983905 0.12486 -0.0680341 -2.57438003] [-0.12491024 0.99216176 0.00353172 2.10920133] [ 0.06794181 0.00500232 0.99767675 -2.20672878] [ 0. 0. 0. 1. ]] SLAMing on 231.05629675700004 meters Centerline goodness : 0.810144 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.21 [[ 0.98941392 0.12665558 -0.07084104 -2.5694891 ] [-0.12678487 0.9919266 0.00268672 2.10805619] [ 0.0706094 0.00632329 0.997484 -2.20723268] [ 0. 0. 0. 1. ]] SLAMing on 231.08629675700004 meters Centerline goodness : 0.807308 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.21 [[ 0.98860595 0.13185135 -0.07261879 -2.56661702] [-0.13197184 0.99124844 0.00315759 2.10756124] [ 0.0723996 0.00646202 0.99735477 -2.20715462] [ 0. 0. 0. 1. ]] SLAMing on 231.11629675700004 meters Centerline goodness : 0.808039 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 9.88129336e-01 1.33651296e-01 -7.57479178e-02 -2.56101870e+00] [-1.33882435e-01 9.90995119e-01 2.04124933e-03 2.10696322e+00] [ 7.53386324e-02 8.12429736e-03 9.97124910e-01 -2.20774631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14629675700002 meters Centerline goodness : 0.809254 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 9.87668111e-01 1.35247642e-01 -7.88655638e-02 -2.55549079e+00] [-1.35625869e-01 9.90759963e-01 5.65553998e-04 2.10619406e+00] [ 7.82133329e-02 1.01376310e-02 9.96885100e-01 -2.20842677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17629675700002 meters Centerline goodness : 0.808817 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.21 [[ 9.86958290e-01 1.38623069e-01 -8.18350631e-02 -2.55078207e+00] [-1.39173889e-01 9.90267414e-01 -1.03764224e-03 2.10622655e+00] [ 8.08947552e-02 1.24134136e-02 9.96645346e-01 -2.20828856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20629675700002 meters Centerline goodness : 0.812617 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.21 [[ 0.98613648 0.14229409 -0.08536533 -2.54503177] [-0.14309755 0.98970296 -0.00333665 2.10742245] [ 0.08401153 0.01550596 0.99634413 -2.20814809] [ 0. 0. 0. 1. ]] SLAMing on 231.23629675700002 meters Centerline goodness : 0.811998 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.11, Z:-2.21 [[ 0.98568222 0.144905 -0.0862154 -2.5442887 ] [-0.14570154 0.98932409 -0.00298564 2.10817992] [ 0.08486234 0.01550461 0.99627205 -2.20655222] [ 0. 0. 0. 1. ]] SLAMing on 231.26629675700002 meters Centerline goodness : 0.815538 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.21 [[ 0.98562752 0.14534213 -0.08610488 -2.54506812] [-0.1461453 0.98925839 -0.00306498 2.11001882] [ 0.08473451 0.01560475 0.99628136 -2.20605107] [ 0. 0. 0. 1. ]] SLAMing on 231.29629675700002 meters Centerline goodness : 0.815538 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.21 [[ 0.98562752 0.14534213 -0.08610488 -2.54506812] [-0.1461453 0.98925839 -0.00306498 2.11001882] [ 0.08473451 0.01560475 0.99628136 -2.20605107] [ 0. 0. 0. 1. ]] SLAMing on 231.32629675700002 meters Centerline goodness : 0.817875 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.21 [[ 0.98556219 0.14584672 -0.08599947 -2.54583889] [-0.14668504 0.98917714 -0.00347664 2.11304436] [ 0.08456166 0.01604128 0.99628912 -2.20582257] [ 0. 0. 0. 1. ]] SLAMing on 231.35629675700002 meters Centerline goodness : 0.819341 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.21 [[ 0.98553026 0.14599797 -0.08610864 -2.5459347 ] [-0.14685428 0.98915136 -0.00366093 2.11479858] [ 0.08463999 0.01625338 0.99627903 -2.20539951] [ 0. 0. 0. 1. ]] SLAMing on 231.38629675700003 meters Centerline goodness : 0.818081 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 0.98554435 0.14579375 -0.08629322 -2.54536399] [-0.14667392 0.98917715 -0.00391469 2.11571284] [ 0.08478855 0.01651506 0.99626209 -2.20549853] [ 0. 0. 0. 1. ]] SLAMing on 231.41629675700003 meters Centerline goodness : 0.816884 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.12, Z:-2.21 [[ 0.98555739 0.1455759 -0.08651182 -2.54473043] [-0.14647795 0.98920528 -0.00413795 2.11647127] [ 0.08497557 0.01675026 0.99624223 -2.20558197] [ 0. 0. 0. 1. ]] SLAMing on 231.44629675700003 meters Centerline goodness : 0.815926 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.12, Z:-2.21 [[ 0.98564501 0.14461785 -0.08711828 -2.54275082] [-0.14557848 0.98933534 -0.0047424 2.11783148] [ 0.08550336 0.01735687 0.99618669 -2.20573215] [ 0. 0. 0. 1. ]] SLAMing on 231.47629675700003 meters Centerline goodness : 0.817183 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.12, Z:-2.21 [[ 0.98569157 0.14405919 -0.08751612 -2.54141459] [-0.14503292 0.989415 -0.004838 2.11791284] [ 0.0858928 0.01746149 0.99615136 -2.20577823] [ 0. 0. 0. 1. ]] SLAMing on 231.50629675700003 meters Centerline goodness : 0.815937 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.12, Z:-2.21 [[ 0.98637658 0.13872865 -0.08840587 -2.53933874] [-0.14015723 0.99007742 -0.01013182 2.12097971] [ 0.08612308 0.02238451 0.99603301 -2.20739154] [ 0. 0. 0. 1. ]] SLAMing on 231.53629675700003 meters Centerline goodness : 0.813541 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 0.98796324 0.13067894 -0.08277474 -2.562326 ] [-0.13090257 0.99139144 0.00274309 2.12313708] [ 0.08242063 0.00812536 0.99656451 -2.20606298] [ 0. 0. 0. 1. ]] SLAMing on 231.56629675700003 meters Centerline goodness : 0.812164 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 0.98805319 0.12962286 -0.08335954 -2.56015937] [-0.12986077 0.99152887 0.00258459 2.12229292] [ 0.08298841 0.00827142 0.99651618 -2.20635861] [ 0. 0. 0. 1. ]] SLAMing on 231.59629675700003 meters Centerline goodness : 0.813741 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 0.98841397 0.13340194 -0.07239986 -2.55931898] [-0.13334126 0.99105384 0.00569257 2.11841044] [ 0.07251156 0.00402727 0.99735944 -2.2043925 ] [ 0. 0. 0. 1. ]] SLAMing on 231.62629675700003 meters Centerline goodness : 0.813576 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 0.98879143 0.13057617 -0.07239735 -2.55982721] [-0.13054129 0.99142906 0.00523364 2.11737217] [ 0.07246022 0.00427586 0.99736214 -2.2038821 ] [ 0. 0. 0. 1. ]] SLAMing on 231.65629675700004 meters Centerline goodness : 0.816293 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 0.98894462 0.12972842 -0.07182677 -2.56080768] [-0.12965988 0.99154251 0.00563577 2.11737134] [ 0.07195041 0.00373958 0.9974012 -2.20364882] [ 0. 0. 0. 1. ]] SLAMing on 231.68629675700004 meters Centerline goodness : 0.815949 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.89261870e-01 1.27990545e-01 -7.05646662e-02 -2.56238729e+00] [-1.27834596e-01 9.91772597e-01 6.74024893e-03 2.11660224e+00] [ 7.08467904e-02 2.35273435e-03 9.97484434e-01 -2.20415447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71629675700004 meters Centerline goodness : 0.814449 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.89410330e-01 1.27019497e-01 -7.02370694e-02 -2.56285601e+00] [-1.26835723e-01 9.91898410e-01 7.08831536e-03 2.11655099e+00] [ 7.05683917e-02 1.89531703e-03 9.97505143e-01 -2.20398603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74629675700004 meters Centerline goodness : 0.813498 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.89796835e-01 1.24907484e-01 -6.85590707e-02 -2.56489703e+00] [-1.24605326e-01 9.92168392e-01 8.68302791e-03 2.11544767e+00] [ 6.91067181e-02 -5.16082006e-05 9.97609272e-01 -2.20477405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77629675700004 meters Centerline goodness : 0.815575 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 9.89925616e-01 1.23479354e-01 -6.92829293e-02 -2.56233523e+00] [-1.23204266e-01 9.92347071e-01 8.24614247e-03 2.11431123e+00] [ 6.97709403e-02 3.72884782e-04 9.97562969e-01 -2.20674574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80629675700004 meters Centerline goodness : 0.814571 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 9.90081672e-01 1.22948416e-01 -6.79850706e-02 -2.56430062e+00] [-1.22586907e-01 9.92412505e-01 9.47995674e-03 2.11363908e+00] [ 6.86347799e-02 -1.05185186e-03 9.97641299e-01 -2.20675701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83629675700004 meters Centerline goodness : 0.812489 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.21 [[ 9.90561408e-01 1.19946587e-01 -6.63393789e-02 -2.56662723e+00] [-1.19534802e-01 9.92778060e-01 1.01565344e-02 2.11213504e+00] [ 6.70785215e-02 -2.13080648e-03 9.97745424e-01 -2.20722775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86629675700004 meters Centerline goodness : 0.813283 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.21 [[ 9.90756890e-01 1.18517250e-01 -6.59882269e-02 -2.56764738e+00] [-1.18113208e-01 9.92949734e-01 1.00047813e-02 2.11147063e+00] [ 6.67087315e-02 -2.11822486e-03 9.97770243e-01 -2.20663593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89629675700002 meters Centerline goodness : 0.816606 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.21 [[ 9.91107029e-01 1.15344049e-01 -6.63521525e-02 -2.56761169e+00] [-1.15147002e-01 9.93325192e-01 6.79927066e-03 2.11057402e+00] [ 6.66935200e-02 9.01446517e-04 9.97773101e-01 -2.20679680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92629675700002 meters Centerline goodness : 0.818238 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.21 [[ 9.91156578e-01 1.14882417e-01 -6.64128656e-02 -2.56810017e+00] [-1.14727844e-01 9.93377927e-01 6.14940641e-03 2.10984511e+00] [ 6.66795334e-02 1.52438030e-03 9.97773279e-01 -2.20617328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95629675700002 meters Centerline goodness : 0.818923 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.20 [[ 9.91284331e-01 1.13780296e-01 -6.64034530e-02 -2.56916098e+00] [-1.13644002e-01 9.93504379e-01 5.83861032e-03 2.10887833e+00] [ 6.66364401e-02 1.75863123e-03 9.97775772e-01 -2.20456601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98629675700002 meters Centerline goodness : 0.819206 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.21 [[ 0.99128934 0.11293921 -0.06775081 -2.56611818] [-0.11290189 0.99359643 0.00439191 2.10772637] [ 0.06781298 0.00329554 0.99769261 -2.20613283] [ 0. 0. 0. 1. ]] SLAMing on 232.01629675700002 meters Centerline goodness : 0.818846 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.11, Z:-2.21 [[ 9.91260334e-01 1.13259520e-01 -6.76404625e-02 -2.56650473e+00] [-1.13153223e-01 9.93562805e-01 5.41310756e-03 2.10586730e+00] [ 6.78181335e-02 2.28793750e-03 9.97695077e-01 -2.20557403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04629675700002 meters Centerline goodness : 0.818803 Centerline is valid? [False, False] Translation: X:-2.57, Y:2.10, Z:-2.21 [[ 9.91167001e-01 1.14106729e-01 -6.75842542e-02 -2.56685311e+00] [-1.13959300e-01 9.93467026e-01 6.04542333e-03 2.10441606e+00] [ 6.78325514e-02 1.70983016e-03 9.97695255e-01 -2.20510356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07629675700002 meters Centerline goodness : 0.818984 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.21 [[ 0.99079293 0.11589752 -0.0699795 -2.56273667] [-0.11585593 0.99325507 0.00466661 2.1042616 ] [ 0.07004834 0.0034839 0.99753751 -2.20538855] [ 0. 0. 0. 1. ]] SLAMing on 232.10629675700002 meters Centerline goodness : 0.818805 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.10, Z:-2.21 [[ 9.89939434e-01 1.21048245e-01 -7.32614414e-02 -2.55746802e+00] [-1.21215259e-01 9.92623853e-01 2.17863669e-03 2.10422901e+00] [ 7.29847745e-02 6.72368625e-03 9.97310390e-01 -2.20603265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13629675700003 meters Centerline goodness : 0.820414 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.10, Z:-2.21 [[ 9.89423274e-01 1.23084631e-01 -7.67577941e-02 -2.55124438e+00] [-1.23426128e-01 9.92353719e-01 2.97143294e-04 2.10335380e+00] [ 7.62074562e-02 9.17991682e-03 9.97049724e-01 -2.20688446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16629675700003 meters Centerline goodness : 0.818812 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.10, Z:-2.21 [[ 0.98876107 0.12900005 -0.07556803 -2.55388608] [-0.1290186 0.99163124 0.00465679 2.10372628] [ 0.07553635 0.00514523 0.99712977 -2.20673781] [ 0. 0. 0. 1. ]] SLAMing on 232.19629675700003 meters Centerline goodness : 0.816880 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 0.9885673 0.1307606 -0.07507574 -2.55614136] [-0.1307863 0.99139993 0.00459537 2.10636889] [ 0.07503098 0.00527604 0.99716725 -2.20703762] [ 0. 0. 0. 1. ]] SLAMing on 232.22629675700003 meters Centerline goodness : 0.815440 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 9.87798264e-01 1.37071308e-01 -7.39327173e-02 -2.55875471e+00] [-1.36823587e-01 9.90559566e-01 8.42920589e-03 2.10809797e+00] [ 7.43901627e-02 1.78938461e-03 9.97227608e-01 -2.20784997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25629675700003 meters Centerline goodness : 0.814800 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 9.87664241e-01 1.38259009e-01 -7.35105022e-02 -2.56033719e+00] [-1.38037356e-01 9.90393804e-01 8.11185100e-03 2.11002812e+00] [ 7.39258823e-02 2.13541016e-03 9.97261452e-01 -2.20856739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28629675700003 meters Centerline goodness : 0.815998 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 9.87558835e-01 1.39245956e-01 -7.30623821e-02 -2.56184780e+00] [-1.39040012e-01 9.90255074e-01 7.92230102e-03 2.11160334e+00] [ 7.34535430e-02 2.33485610e-03 9.97295907e-01 -2.20897726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31629675700003 meters Centerline goodness : 0.815401 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 9.86801134e-01 1.45023944e-01 -7.20526058e-02 -2.56453423e+00] [-1.44455272e-01 9.89425016e-01 1.30695049e-02 2.11033966e+00] [ 7.31860418e-02 -2.48862349e-03 9.97315201e-01 -2.20714900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34629675700003 meters Centerline goodness : 0.814997 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.21 [[ 0.98643488 0.14984117 -0.06703617 -2.55332455] [-0.14974435 0.98870341 0.00649541 2.10966142] [ 0.06725217 0.00363099 0.9977294 -2.21017083] [ 0. 0. 0. 1. ]] SLAMing on 232.37629675700003 meters Centerline goodness : 0.815986 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 0.98624701 0.15128003 -0.06656717 -2.55583575] [-0.15116401 0.98848527 0.00680565 2.1109708 ] [ 0.06683022 0.00335051 0.99775874 -2.20929539] [ 0. 0. 0. 1. ]] SLAMing on 232.40629675700004 meters Centerline goodness : 0.816023 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 0.98607302 0.1525582 -0.06622682 -2.55765097] [-0.15244755 0.9882885 0.00675108 2.11326818] [ 0.06648114 0.00343906 0.99778176 -2.20901028] [ 0. 0. 0. 1. ]] SLAMing on 232.43629675700004 meters Centerline goodness : 0.813351 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.21 [[ 9.85327002e-01 1.57580723e-01 -6.55668755e-02 -2.55869582e+00] [-1.57196880e-01 9.87505963e-01 1.10051562e-02 2.11447842e+00] [ 6.64818810e-02 -5.36769302e-04 9.97787488e-01 -2.20801797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46629675700004 meters Centerline goodness : 0.811351 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.85278883e-01 1.57903150e-01 -6.55142570e-02 -2.55877739e+00] [-1.57557344e-01 9.87454604e-01 1.04445728e-02 2.11674851e+00] [ 6.63415857e-02 3.14353061e-05 9.97796970e-01 -2.20870003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49629675700004 meters Centerline goodness : 0.807410 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.85208275e-01 1.58338745e-01 -6.55247759e-02 -2.55854713e+00] [-1.58036239e-01 9.87384607e-01 9.80740850e-03 2.11971993e+00] [ 6.62510478e-02 6.92949155e-04 9.97802745e-01 -2.20976159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52629675700004 meters Centerline goodness : 0.805791 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.85214964e-01 1.58184404e-01 -6.57964170e-02 -2.55775744e+00] [-1.57900702e-01 9.87409074e-01 9.52303417e-03 2.12045901e+00] [ 6.64743747e-02 1.00706464e-03 9.97787624e-01 -2.21010219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55629675700004 meters Centerline goodness : 0.804139 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.85261138e-01 1.57705216e-01 -6.62537205e-02 -2.55651583e+00] [-1.57432153e-01 9.87485490e-01 9.35539505e-03 2.12057872e+00] [ 6.68999822e-02 1.21295871e-03 9.97758949e-01 -2.21006205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58629675700004 meters Centerline goodness : 0.803841 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.85283523e-01 1.57423828e-01 -6.65891717e-02 -2.55565659e+00] [-1.57137041e-01 9.87530576e-01 9.55569529e-03 2.12009695e+00] [ 6.72631372e-02 1.04855630e-03 9.97734720e-01 -2.20966018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61629675700004 meters Centerline goodness : 0.805997 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 9.85311205e-01 1.57034377e-01 -6.70971985e-02 -2.55479104e+00] [-1.56701716e-01 9.87593040e-01 1.02254762e-02 2.11859594e+00] [ 6.78704775e-02 4.38969874e-04 9.97694044e-01 -2.20809668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64629675700002 meters Centerline goodness : 0.803540 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 9.85298949e-01 1.57032771e-01 -6.72806841e-02 -2.55468613e+00] [-1.56671282e-01 9.87593391e-01 1.06490764e-02 2.11781314e+00] [ 6.81182130e-02 4.84272218e-05 9.97677256e-01 -2.20729718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67629675700002 meters Centerline goodness : 0.802052 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 9.85291327e-01 1.56995252e-01 -6.74795624e-02 -2.55433640e+00] [-1.56624986e-01 9.87599356e-01 1.07761580e-02 2.11794811e+00] [ 6.83345780e-02 -4.86695246e-05 9.97662459e-01 -2.20687701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70629675700002 meters Centerline goodness : 0.799138 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 9.85241823e-01 1.57296641e-01 -6.75004916e-02 -2.55463808e+00] [-1.56946987e-01 9.87551364e-01 1.04855064e-02 2.12005465e+00] [ 6.83095375e-02 2.63239298e-04 9.97664141e-01 -2.20673227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73629675700002 meters Centerline goodness : 0.797207 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 9.85223391e-01 1.57388927e-01 -6.75543841e-02 -2.55455326e+00] [-1.57050235e-01 9.87536601e-01 1.03288817e-02 2.12106436e+00] [ 6.83380784e-02 4.33176062e-04 9.97662127e-01 -2.20674900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76629675700002 meters Centerline goodness : 0.800085 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 9.85273585e-01 1.56841193e-01 -6.80940669e-02 -2.55241049e+00] [-1.56524851e-01 9.87623499e-01 9.98980233e-03 2.12176994e+00] [ 6.88181131e-02 8.15725336e-04 9.97628890e-01 -2.20760185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79629675700002 meters Centerline goodness : 0.797626 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 9.85309499e-01 1.56497418e-01 -6.83648226e-02 -2.55140648e+00] [-1.56199620e-01 9.87677746e-01 9.71328913e-03 2.12207786e+00] [ 6.90425186e-02 1.10796329e-03 9.97613103e-01 -2.20808100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82629675700002 meters Centerline goodness : 0.797039 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 0.98589385 0.15249319 -0.06898656 -2.55117268] [-0.15248851 0.98829068 0.00536512 2.1233127 ] [ 0.06899691 0.00523022 0.99760316 -2.20906807] [ 0. 0. 0. 1. ]] SLAMing on 232.85629675700002 meters Centerline goodness : 0.798989 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 0.98593235 0.15197913 -0.06956823 -2.54962869] [-0.15190645 0.98837438 0.00636491 2.12072353] [ 0.06972679 0.00429249 0.99755689 -2.2078564 ] [ 0. 0. 0. 1. ]] SLAMing on 232.88629675700003 meters Centerline goodness : 0.799771 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.20 [[ 9.86166458e-01 1.50315580e-01 -6.98637477e-02 -2.54700234e+00] [-1.49996029e-01 9.88637753e-01 9.82776955e-03 2.11366000e+00] [ 7.05472054e-02 7.87468020e-04 9.97508131e-01 -2.20311102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91629675700003 meters Centerline goodness : 0.802772 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.20 [[ 9.86178971e-01 1.50189957e-01 -6.99572293e-02 -2.54673471e+00] [-1.49798776e-01 9.88657137e-01 1.08347609e-02 2.11121976e+00] [ 7.07909863e-02 -2.05506021e-04 9.97491150e-01 -2.20196142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94629675700003 meters Centerline goodness : 0.803556 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.20 [[ 9.86140643e-01 1.50497484e-01 -6.98365163e-02 -2.54737120e+00] [-1.50089356e-01 9.88610290e-01 1.10851368e-02 2.11069028e+00] [ 7.07093838e-02 -4.49786191e-04 9.97496858e-01 -2.20163801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97629675700003 meters Centerline goodness : 0.800112 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.20 [[ 9.86102802e-01 1.50927792e-01 -6.94410890e-02 -2.54811406e+00] [-1.50441163e-01 9.88543497e-01 1.22151741e-02 2.10907006e+00] [ 7.04891462e-02 -1.59861926e-03 9.97511265e-01 -2.20039962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00629675700003 meters Centerline goodness : 0.799227 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.20 [[ 9.85990528e-01 1.51878393e-01 -6.89610972e-02 -2.54929841e+00] [-1.51386472e-01 9.88397687e-01 1.23348546e-02 2.10938554e+00] [ 7.00343869e-02 -1.72227257e-03 9.97543091e-01 -2.20116678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03629675700003 meters Centerline goodness : 0.798259 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.20 [[ 9.85932658e-01 1.52402797e-01 -6.86307619e-02 -2.55017824e+00] [-1.51915070e-01 9.88316999e-01 1.23012788e-02 2.10990567e+00] [ 6.97036979e-02 -1.70218549e-03 9.97566287e-01 -2.20152652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06629675700003 meters Centerline goodness : 0.798469 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.20 [[ 9.85862503e-01 1.53001434e-01 -6.83058215e-02 -2.55127918e+00] [-1.52508111e-01 9.88224295e-01 1.24104575e-02 2.11030144e+00] [ 6.94002901e-02 -1.81781292e-03 9.97587237e-01 -2.20149836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09629675700003 meters Centerline goodness : 0.799581 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.11, Z:-2.20 [[ 9.85689582e-01 1.54531611e-01 -6.73500460e-02 -2.55443529e+00] [-1.54041860e-01 9.87986048e-01 1.24367946e-02 2.11166188e+00] [ 6.84627837e-02 -1.88409247e-03 9.97651892e-01 -2.20153746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12629675700003 meters Centerline goodness : 0.797864 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.20 [[ 9.85613801e-01 1.55125887e-01 -6.70924260e-02 -2.55549629e+00] [-1.54653428e-01 9.87893317e-01 1.22111194e-02 2.11281258e+00] [ 6.81744200e-02 -1.65937416e-03 9.97672038e-01 -2.20171707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15629675700004 meters Centerline goodness : 0.798418 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.20 [[ 9.85407102e-01 1.56849664e-01 -6.61137385e-02 -2.55911246e+00] [-1.56372536e-01 9.87620768e-01 1.23632118e-02 2.11474660e+00] [ 6.72344668e-02 -1.84442371e-03 9.97735498e-01 -2.20114862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18629675700004 meters Centerline goodness : 0.798418 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.11, Z:-2.20 [[ 9.85407102e-01 1.56849664e-01 -6.61137385e-02 -2.55911246e+00] [-1.56372536e-01 9.87620768e-01 1.23632118e-02 2.11474660e+00] [ 6.72344668e-02 -1.84442371e-03 9.97735498e-01 -2.20114862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21629675700004 meters Centerline goodness : 0.798515 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.85344937e-01 1.57332403e-01 -6.58928762e-02 -2.55999032e+00] [-1.56869918e-01 9.87544320e-01 1.21673444e-02 2.11593003e+00] [ 6.69864532e-02 -1.65242109e-03 9.97752517e-01 -2.20123842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24629675700004 meters Centerline goodness : 0.800325 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.85265150e-01 1.58029451e-01 -6.54161893e-02 -2.56122007e+00] [-1.57613519e-01 9.87433869e-01 1.15036454e-02 2.11857896e+00] [ 6.64120756e-02 -1.02366512e-03 9.97791756e-01 -2.20218589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27629675700004 meters Centerline goodness : 0.800685 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.85277077e-01 1.57884276e-01 -6.55868678e-02 -2.56066616e+00] [-1.57508676e-01 9.87457541e-01 1.08913721e-02 2.12006710e+00] [ 6.64838236e-02 -4.00518625e-04 9.97787423e-01 -2.20291281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30629675700004 meters Centerline goodness : 0.796836 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.85250471e-01 1.58042707e-01 -6.56049632e-02 -2.56057393e+00] [-1.57712319e-01 9.87432238e-01 1.02176312e-02 2.12215052e+00] [ 6.63952777e-02 2.79784951e-04 9.97793360e-01 -2.20378565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33629675700004 meters Centerline goodness : 0.794657 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.85290080e-01 1.57656920e-01 -6.59375028e-02 -2.55947835e+00] [-1.57360888e-01 9.87493601e-01 9.69217507e-03 2.12315567e+00] [ 6.66409006e-02 8.26380039e-04 9.97776682e-01 -2.20443356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36629675700004 meters Centerline goodness : 0.797017 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.85454064e-01 1.56246414e-01 -6.68381998e-02 -2.55616054e+00] [-1.56005954e-01 9.87716607e-01 8.83441690e-03 2.12351569e+00] [ 6.73975459e-02 1.72124509e-03 9.97724716e-01 -2.20581730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39629675700002 meters Centerline goodness : 0.795066 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 9.85557370e-01 1.55284012e-01 -6.75540292e-02 -2.55385368e+00] [-1.55044300e-01 9.87868242e-01 8.80912197e-03 2.12273106e+00] [ 6.81023959e-02 1.79197209e-03 9.97676727e-01 -2.20587153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42629675700002 meters Centerline goodness : 0.792464 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 9.85661810e-01 1.54282371e-01 -6.83209060e-02 -2.55142136e+00] [-1.54024165e-01 9.88025517e-01 9.06284111e-03 2.12142894e+00] [ 6.89010350e-02 1.59017413e-03 9.97622232e-01 -2.20555625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45629675700002 meters Centerline goodness : 0.794009 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 0.9867123 0.14765731 -0.06779491 -2.55214129] [-0.14750865 0.9890344 0.00722116 2.12128781] [ 0.06811776 0.00287513 0.99767315 -2.20589795] [ 0. 0. 0. 1. ]] SLAMing on 233.48629675700002 meters Centerline goodness : 0.797114 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.87884392e-01 1.40748018e-01 -6.53790780e-02 -2.55618801e+00] [-1.40526753e-01 9.90044610e-01 7.99385287e-03 2.12135154e+00] [ 6.58533227e-02 1.29050703e-03 9.97828479e-01 -2.20333407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51629675700002 meters Centerline goodness : 0.796078 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.88390465e-01 1.37484739e-01 -6.46702003e-02 -2.55695793e+00] [-1.37244313e-01 9.90503559e-01 8.16686965e-03 2.12120758e+00] [ 6.51788835e-02 8.03561126e-04 9.97873272e-01 -2.20340984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54629675700002 meters Centerline goodness : 0.796869 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.88824001e-01 1.34445573e-01 -6.44320039e-02 -2.55706334e+00] [-1.34216317e-01 9.90920621e-01 7.89319663e-03 2.12130494e+00] [ 6.49082067e-02 8.42844002e-04 9.97890883e-01 -2.20318455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57629675700002 meters Centerline goodness : 0.794447 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.89622675e-01 1.29431214e-01 -6.24061042e-02 -2.55927817e+00] [-1.29138696e-01 9.91588241e-01 8.71530290e-03 2.12078779e+00] [ 6.30091914e-02 -5.65818427e-04 9.98012786e-01 -2.20393914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60629675700002 meters Centerline goodness : 0.796208 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 9.89845127e-01 1.27904088e-01 -6.20255554e-02 -2.55972269e+00] [-1.27571842e-01 9.91785694e-01 9.30389145e-03 2.12093239e+00] [ 6.27060643e-02 -1.29669727e-03 9.98031196e-01 -2.20354128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63629675700003 meters Centerline goodness : 0.794122 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 0.99005883 0.12649343 -0.06150556 -2.56001003] [-0.12606968 0.99196327 0.01073796 2.12055195] [ 0.06236954 -0.00287723 0.99804898 -2.20335344] [ 0. 0. 0. 1. ]] SLAMing on 233.66629675700003 meters Centerline goodness : 0.796723 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.90204152e-01 1.24752784e-01 -6.27094829e-02 -2.55701094e+00] [-1.24393113e-01 9.92186352e-01 9.62266977e-03 2.11995220e+00] [ 6.34199480e-02 -1.72777975e-03 9.97985433e-01 -2.20530243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69629675700003 meters Centerline goodness : 0.797541 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 0.99067179 0.12199522 -0.06071714 -2.5598634 ] [-0.12155884 0.992525 0.01084351 2.11903899] [ 0.06158614 -0.00336166 0.99809611 -2.20491959] [ 0. 0. 0. 1. ]] SLAMing on 233.72629675700003 meters Centerline goodness : 0.796509 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.20 [[ 0.99099033 0.11987844 -0.05972705 -2.56106462] [-0.11940389 0.99277957 0.01146491 2.1185931 ] [ 0.06067019 -0.00422998 0.9981489 -2.20480965] [ 0. 0. 0. 1. ]] SLAMing on 233.75629675700003 meters Centerline goodness : 0.796041 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.91323770e-01 1.16631082e-01 -6.06166172e-02 -2.55876111e+00] [-1.16261831e-01 9.93172249e-01 9.59535640e-03 2.11797956e+00] [ 6.13218589e-02 -2.46470598e-03 9.98115001e-01 -2.20671154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78629675700003 meters Centerline goodness : 0.796452 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.91980102e-01 1.11691508e-01 -5.91648925e-02 -2.56158277e+00] [-1.11392544e-01 9.93741507e-01 8.33772416e-03 2.11624233e+00] [ 5.97258624e-02 -1.68032858e-03 9.98213403e-01 -2.20587610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81629675700003 meters Centerline goodness : 0.796183 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 0.99244816 0.1071906 -0.05963911 -2.56102696] [-0.10716152 0.99423476 0.00369508 2.11681084] [ 0.05969135 0.00272384 0.99821317 -2.20710338] [ 0. 0. 0. 1. ]] SLAMing on 233.84629675700003 meters Centerline goodness : 0.796366 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.92482963e-01 1.06695145e-01 -5.99475924e-02 -2.56033607e+00] [-1.06637534e-01 9.94289223e-01 4.16859300e-03 2.11591374e+00] [ 6.00500137e-02 2.25540590e-03 9.98192822e-01 -2.20577576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87629675700003 meters Centerline goodness : 0.795470 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.92898555e-01 1.02579574e-01 -6.02485764e-02 -2.56043330e+00] [-1.02807537e-01 9.94701029e-01 -6.87932726e-04 2.11844688e+00] [ 5.98587531e-02 6.87705516e-03 9.98183167e-01 -2.20695610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90629675700004 meters Centerline goodness : 0.799365 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.92962057e-01 1.01609173e-01 -6.08434880e-02 -2.55828904e+00] [-1.01842280e-01 9.94800287e-01 -7.34441849e-04 2.11760728e+00] [ 6.04524932e-02 6.92571246e-03 9.98147049e-01 -2.20703707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93629675700004 meters Centerline goodness : 0.795712 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.92969966e-01 1.01308099e-01 -6.12153183e-02 -2.55717371e+00] [-1.01575574e-01 9.94827021e-01 -1.26537594e-03 2.11928535e+00] [ 6.07704599e-02 7.47446141e-03 9.98123782e-01 -2.20752865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96629675700004 meters Centerline goodness : 0.798890 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.12, Z:-2.21 [[ 9.92981843e-01 1.00937135e-01 -6.16340390e-02 -2.55592454e+00] [-1.01224354e-01 9.94862420e-01 -1.54756551e-03 2.11996269e+00] [ 6.11611824e-02 7.77557023e-03 9.98097616e-01 -2.20783612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99629675700004 meters Centerline goodness : 0.798186 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 9.93007744e-01 1.00209981e-01 -6.23985559e-02 -2.55336432e+00] [-1.00541759e-01 9.94930424e-01 -2.19214464e-03 2.12051398e+00] [ 6.18625470e-02 8.45047719e-03 9.98048904e-01 -2.20912398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02629675700004 meters Centerline goodness : 0.800539 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 0.99302245 0.09958558 -0.06315959 -2.55115551] [-0.09996006 0.99498754 -0.0027893 2.12134698] [ 0.06256523 0.00908327 0.99799954 -2.20992214] [ 0. 0. 0. 1. ]] SLAMing on 234.05629675700004 meters Centerline goodness : 0.802157 Centerline is valid? [False, False] Translation: X:-2.55, Y:2.12, Z:-2.21 [[ 0.99290954 0.10042891 -0.06359771 -2.55039499] [-0.10079513 0.99490389 -0.00256819 2.12127191] [ 0.06301569 0.00896032 0.99797231 -2.20956298] [ 0. 0. 0. 1. ]] SLAMing on 234.08629675700004 meters Centerline goodness : 0.802775 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.12, Z:-2.21 [[ 0.99283873 0.10577616 -0.05552164 -2.54443002] [-0.10617303 0.99433863 -0.00423923 2.11789012] [ 0.0547589 0.01010378 0.99844848 -2.21233871] [ 0. 0. 0. 1. ]] SLAMing on 234.11629675700004 meters Centerline goodness : 0.801977 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.12, Z:-2.21 [[ 0.99289909 0.10528249 -0.05538049 -2.54481794] [-0.10564614 0.99439701 -0.00367202 2.11744092] [ 0.0546836 0.00949668 0.99845857 -2.21161348] [ 0. 0. 0. 1. ]] SLAMing on 234.14629675700002 meters Centerline goodness : 0.801263 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.12, Z:-2.21 [[ 0.99277746 0.10512476 -0.05780739 -2.54135545] [-0.10566403 0.99438165 -0.0063441 2.11821631] [ 0.05681568 0.01240644 0.9983076 -2.21124009] [ 0. 0. 0. 1. ]] SLAMing on 234.17629675700002 meters Centerline goodness : 0.802176 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.12, Z:-2.21 [[ 0.9927904 0.10508875 -0.05765042 -2.54240475] [-0.10564982 0.99438039 -0.00676393 2.11795489] [ 0.05661563 0.01280592 0.99831392 -2.20991408] [ 0. 0. 0. 1. ]] SLAMing on 234.20629675700002 meters Centerline goodness : 0.803344 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.12, Z:-2.21 [[ 0.99272219 0.10379792 -0.06106259 -2.53669536] [-0.10465318 0.99444827 -0.01097021 2.1180876 ] [ 0.0595849 0.01728076 0.99807365 -2.21121228] [ 0. 0. 0. 1. ]] SLAMing on 234.23629675700002 meters Centerline goodness : 0.803079 Centerline is valid? [False, False] Translation: X:-2.54, Y:2.12, Z:-2.21 [[ 0.99248669 0.10522369 -0.06243507 -2.5357256 ] [-0.10615778 0.99427895 -0.01182797 2.11834692] [ 0.0608333 0.01836708 0.99797894 -2.20902899] [ 0. 0. 0. 1. ]] SLAMing on 234.26629675700002 meters Centerline goodness : 0.804934 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.12, Z:-2.21 [[ 0.99225049 0.10607832 -0.06470203 -2.53217846] [-0.10715324 0.99415267 -0.01336613 2.11853309] [ 0.06290584 0.02019558 0.99781511 -2.20905839] [ 0. 0. 0. 1. ]] SLAMing on 234.29629675700002 meters Centerline goodness : 0.805638 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.12, Z:-2.21 [[ 0.99173014 0.11083203 -0.06471153 -2.5335553 ] [-0.11174685 0.9936793 -0.0106817 2.11791758] [ 0.06311863 0.01782467 0.99784684 -2.20615864] [ 0. 0. 0. 1. ]] SLAMing on 234.32629675700002 meters Centerline goodness : 0.803474 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.12, Z:-2.21 [[ 0.99122948 0.11300137 -0.06851867 -2.52684245] [-0.11407403 0.99340053 -0.01193731 2.11730722] [ 0.06671755 0.01964881 0.99757841 -2.20708569] [ 0. 0. 0. 1. ]] SLAMing on 234.35629675700002 meters Centerline goodness : 0.803402 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.12, Z:-2.21 [[ 0.99027217 0.11662742 -0.07588852 -2.51406518] [-0.11833771 0.99280237 -0.01842922 2.11686563] [ 0.07319295 0.02723042 0.99694598 -2.21449557] [ 0. 0. 0. 1. ]] SLAMing on 234.38629675700003 meters Centerline goodness : 0.801138 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.12, Z:-2.21 [[ 0.98983725 0.12004153 -0.0762381 -2.51386185] [-0.12157745 0.9924559 -0.01581829 2.11620807] [ 0.07376411 0.02492636 0.99696416 -2.21303726] [ 0. 0. 0. 1. ]] SLAMing on 234.41629675700003 meters Centerline goodness : 0.800421 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.12, Z:-2.21 [[ 0.98955932 0.12141563 -0.07765691 -2.5104093 ] [-0.12302791 0.99226921 -0.01630792 2.1159511 ] [ 0.07507653 0.02569162 0.99684676 -2.21459765] [ 0. 0. 0. 1. ]] SLAMing on 234.44629675700003 meters Centerline goodness : 0.799480 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.12, Z:-2.22 [[ 0.98920394 0.12300074 -0.07966423 -2.50626793] [-0.1247516 0.99203598 -0.01736808 2.11594756] [ 0.0768935 0.02711881 0.99667044 -2.21593443] [ 0. 0. 0. 1. ]] SLAMing on 234.47629675700003 meters Centerline goodness : 0.801546 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.11, Z:-2.22 [[ 0.98920914 0.12902903 -0.06940307 -2.5038634 ] [-0.1304242 0.9913301 -0.01594231 2.112075 ] [ 0.06674434 0.02482212 0.99746131 -2.21566164] [ 0. 0. 0. 1. ]] SLAMing on 234.50629675700003 meters Centerline goodness : 0.802102 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.11, Z:-2.22 [[ 0.98904116 0.12910021 -0.0716291 -2.50006454] [-0.13075524 0.99123453 -0.01889921 2.11180027] [ 0.06856135 0.02805798 0.99725227 -2.21673752] [ 0. 0. 0. 1. ]] SLAMing on 234.53629675700003 meters Centerline goodness : 0.800699 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.11, Z:-2.22 [[ 0.98895179 0.12915078 -0.07276289 -2.498245 ] [-0.13090227 0.99119714 -0.01981989 2.11194025] [ 0.06956261 0.02912574 0.99715231 -2.21627708] [ 0. 0. 0. 1. ]] SLAMing on 234.56629675700003 meters Centerline goodness : 0.804315 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.11, Z:-2.21 [[ 0.98892955 0.12944942 -0.07253401 -2.49928564] [-0.13114713 0.99117826 -0.01913335 2.11155236] [ 0.06941733 0.02843416 0.9971824 -2.2148195 ] [ 0. 0. 0. 1. ]] SLAMing on 234.59629675700003 meters Centerline goodness : 0.804466 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.11, Z:-2.21 [[ 0.98891966 0.12949834 -0.07258165 -2.49932028] [-0.13120345 0.99116916 -0.01921851 2.11243993] [ 0.06945192 0.02852852 0.99717729 -2.21459986] [ 0. 0. 0. 1. ]] SLAMing on 234.62629675700003 meters Centerline goodness : 0.819632 Centerline is valid? [False, False] Translation: X:-2.45, Y:2.22, Z:-2.23 [[ 0.6995332 0.14954336 -0.69877756 -2.44919357] [-0.46851281 0.83434177 -0.29046438 2.22291151] [ 0.53958229 0.53057572 0.65371275 -2.2292015 ] [ 0. 0. 0. 1. ]] SLAMing on 234.65629675700004 meters Centerline goodness : 0.803594 Centerline is valid? [False, False] Translation: X:-2.33, Y:2.04, Z:-2.19 [[ 0.89358609 0.27720592 -0.35307332 -2.32510701] [-0.37496657 0.89336232 -0.24759611 2.04003705] [ 0.24678729 0.35363914 0.9022391 -2.19460588] [ 0. 0. 0. 1. ]] SLAMing on 234.68629675700004 meters Centerline goodness : 0.805956 Centerline is valid? [False, False] Translation: X:-2.35, Y:2.04, Z:-2.19 [[ 0.89561115 0.28303856 -0.34317612 -2.35329375] [-0.37215805 0.89934909 -0.22949858 2.04331905] [ 0.24367819 0.33325724 0.91080215 -2.19394769] [ 0. 0. 0. 1. ]] SLAMing on 234.71629675700004 meters Centerline goodness : 0.804452 Centerline is valid? [False, False] Translation: X:-2.38, Y:2.04, Z:-2.19 [[ 0.89736261 0.28900177 -0.33349411 -2.38054907] [-0.36982331 0.90482395 -0.2110079 2.04496911] [ 0.2407718 0.3126845 0.91883478 -2.19275848] [ 0. 0. 0. 1. ]] SLAMing on 234.74629675700004 meters Centerline goodness : 0.802663 Centerline is valid? [False, False] Translation: X:-2.41, Y:2.05, Z:-2.19 [[ 0.89948679 0.29375761 -0.32346559 -2.40861044] [-0.36671818 0.91002556 -0.19331646 2.04873281] [ 0.23757377 0.29250632 0.92628222 -2.19285439] [ 0. 0. 0. 1. ]] SLAMing on 234.77629675700004 meters Centerline goodness : 0.803466 Centerline is valid? [False, False] Translation: X:-2.44, Y:2.05, Z:-2.19 [[ 0.90125757 0.2991783 -0.31341208 -2.43592774] [-0.36460332 0.9144698 -0.17552604 2.05226132] [ 0.2340923 0.27246526 0.93325424 -2.19244962] [ 0. 0. 0. 1. ]] SLAMing on 234.80629675700004 meters Centerline goodness : 0.801501 Centerline is valid? [False, False] Translation: X:-2.46, Y:2.06, Z:-2.19 [[ 0.90099362 0.30723028 -0.30630057 -2.46133918] [-0.36678734 0.91650743 -0.15962822 2.05528122] [ 0.23168413 0.25617119 0.93845553 -2.19185572] [ 0. 0. 0. 1. ]] SLAMing on 234.83629675700004 meters Centerline goodness : 0.802592 Centerline is valid? [False, False] Translation: X:-2.50, Y:2.06, Z:-2.19 [[ 0.90215254 0.31304029 -0.2968612 -2.4965769 ] [-0.36522057 0.92044154 -0.1392886 2.05990209] [ 0.22964044 0.23407938 0.94470742 -2.18959634] [ 0. 0. 0. 1. ]] SLAMing on 234.86629675700004 meters Centerline goodness : 0.802115 Centerline is valid? [False, False] Translation: X:-2.53, Y:2.07, Z:-2.19 [[ 0.90344756 0.31864838 -0.28678513 -2.52660302] [-0.36471856 0.9228866 -0.12353421 2.0670551 ] [ 0.22530617 0.21620254 0.94999663 -2.19064212] [ 0. 0. 0. 1. ]] SLAMing on 234.89629675700002 meters Centerline goodness : 0.803893 Centerline is valid? [False, False] Translation: X:-2.56, Y:2.08, Z:-2.19 [[ 0.90495525 0.32228941 -0.27782283 -2.56019 ] [-0.3628169 0.92556952 -0.10809698 2.0756239 ] [ 0.22230583 0.19862174 0.95453105 -2.19163436] [ 0. 0. 0. 1. ]] SLAMing on 234.92629675700002 meters Centerline goodness : 0.801665 Centerline is valid? [False, False] Translation: X:-2.58, Y:2.08, Z:-2.19 [[ 0.90513783 0.32694261 -0.2717242 -2.5842911 ] [-0.36441731 0.92586224 -0.09989567 2.08250036] [ 0.21891903 0.18944035 0.95717648 -2.19291936] [ 0. 0. 0. 1. ]] SLAMing on 234.95629675700002 meters Centerline goodness : 0.800749 Centerline is valid? [False, False] Translation: X:-2.62, Y:2.09, Z:-2.19 [[ 0.90637943 0.33029941 -0.26339823 -2.61983305] [-0.36287523 0.92794836 -0.08504938 2.09249607] [ 0.21632819 0.1726677 0.96093079 -2.19495759] [ 0. 0. 0. 1. ]] SLAMing on 234.98629675700002 meters Centerline goodness : 0.801352 Centerline is valid? [False, False] Translation: X:-2.66, Y:2.10, Z:-2.20 [[ 0.90706799 0.33347581 -0.25694656 -2.65848534] [-0.36213194 0.92932008 -0.07228167 2.10486098] [ 0.21468141 0.15861295 0.96371875 -2.19906836] [ 0. 0. 0. 1. ]] SLAMing on 235.01629675700002 meters Centerline goodness : 0.800177 Centerline is valid? [False, False] Translation: X:-2.70, Y:2.12, Z:-2.20 [[ 0.9075692 0.33730726 -0.25008392 -2.69805335] [-0.36227991 0.93012275 -0.06020751 2.11837838] [ 0.21230032 0.14524286 0.9663504 -2.20461519] [ 0. 0. 0. 1. ]] SLAMing on 235.04629675700002 meters Centerline goodness : 0.799702 Centerline is valid? [False, False] Translation: X:-2.73, Y:2.13, Z:-2.21 [[ 0.90966822 0.33920258 -0.23967756 -2.72949839] [-0.35980251 0.93185476 -0.04678525 2.1270357 ] [ 0.207475 0.12879565 0.9697246 -2.20772877] [ 0. 0. 0. 1. ]] SLAMing on 235.07629675700002 meters Centerline goodness : 0.799878 Centerline is valid? [False, False] Translation: X:-2.75, Y:2.13, Z:-2.21 [[ 0.908697 0.34247074 -0.2387123 -2.74851739] [-0.36065814 0.93201133 -0.03578516 2.13000329] [ 0.2102272 0.1186114 0.97043076 -2.20696814] [ 0. 0. 0. 1. ]] SLAMing on 235.10629675700002 meters Centerline goodness : 0.799878 Centerline is valid? [False, False] Translation: X:-2.76, Y:2.13, Z:-2.21 [[ 0.90836897 0.34334513 -0.23870471 -2.76385666] [-0.35929408 0.93287758 -0.0254399 2.13298411] [ 0.2139476 0.108874 0.97075892 -2.20531944] [ 0. 0. 0. 1. ]] SLAMing on 235.13629675700003 meters Centerline goodness : 0.799152 Centerline is valid? [False, False] Translation: X:-2.80, Y:2.15, Z:-2.21 [[ 0.90967111 0.34362712 -0.23327854 -2.80269747] [-0.35696605 0.93397666 -0.01621234 2.14700471] [ 0.21230572 0.09802041 0.9722748 -2.21165139] [ 0. 0. 0. 1. ]] SLAMing on 235.16629675700003 meters Centerline goodness : 0.797504 Centerline is valid? [False, False] Translation: X:-2.85, Y:2.16, Z:-2.22 [[ 0.91065471 0.3442888 -0.22841458 -2.84524417] [-0.35538676 0.93468489 -0.00802529 2.16193418] [ 0.21073264 0.08848379 0.97353088 -2.21894485] [ 0. 0. 0. 1. ]] SLAMing on 235.19629675700003 meters Centerline goodness : 0.795941 Centerline is valid? [False, False] Translation: X:-2.85, Y:2.16, Z:-2.22 [[ 0.91052815 0.3447608 -0.22820709 -2.84514987] [-0.35582416 0.93451955 -0.00789724 2.16273122] [ 0.21054133 0.08839226 0.97358059 -2.21893627] [ 0. 0. 0. 1. ]] SLAMing on 235.22629675700003 meters Centerline goodness : 0.795191 Centerline is valid? [False, False] Translation: X:-2.88, Y:2.17, Z:-2.23 [[ 9.13151339e-01 3.44370657e-01 -2.18090540e-01 -2.87781967e+00] [-3.53020505e-01 9.35615288e-01 -7.46000885e-04 2.17464565e+00] [ 2.03791942e-01 7.76716442e-02 9.75928256e-01 -2.22712066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25629675700003 meters Centerline goodness : 0.797441 Centerline is valid? [False, False] Translation: X:-2.92, Y:2.19, Z:-2.23 [[ 0.91386494 0.34614048 -0.21222073 -2.91744972] [-0.35221879 0.9358673 0.00971232 2.18843854] [ 0.20197227 0.06587238 0.97717349 -2.23323184] [ 0. 0. 0. 1. ]] SLAMing on 235.28629675700003 meters Centerline goodness : 0.797072 Centerline is valid? [False, False] Translation: X:-2.92, Y:2.19, Z:-2.23 [[ 0.91375194 0.34647439 -0.21216242 -2.91746944] [-0.35259696 0.93572688 0.00951744 2.1896132 ] [ 0.20182363 0.06611125 0.97718807 -2.23352205] [ 0. 0. 0. 1. ]] SLAMing on 235.31629675700003 meters Centerline goodness : 0.795392 Centerline is valid? [False, False] Translation: X:-2.94, Y:2.20, Z:-2.24 [[ 0.91417312 0.34790521 -0.20796508 -2.94454043] [-0.35365758 0.93532052 0.01009129 2.20165834] [ 0.19802482 0.06432324 0.9780842 -2.24100611] [ 0. 0. 0. 1. ]] SLAMing on 235.34629675700003 meters Centerline goodness : 0.797253 Centerline is valid? [False, False] Translation: X:-2.94, Y:2.20, Z:-2.24 [[ 0.91408248 0.34820541 -0.20786103 -2.94481863] [-0.35396094 0.93520593 0.01007534 2.20242785] [ 0.19790116 0.064365 0.97810648 -2.24091901] [ 0. 0. 0. 1. ]] SLAMing on 235.37629675700003 meters Centerline goodness : 0.795415 Centerline is valid? [False, False] Translation: X:-2.97, Y:2.21, Z:-2.25 [[ 0.91538342 0.34738491 -0.2034623 -2.96623273] [-0.35230477 0.93579885 0.01272203 2.21151483] [ 0.19481923 0.0600352 0.97900012 -2.24513689] [ 0. 0. 0. 1. ]] SLAMing on 235.40629675700004 meters Centerline goodness : 0.796958 Centerline is valid? [False, False] Translation: X:-2.99, Y:2.22, Z:-2.25 [[ 0.91699177 0.34689258 -0.19695593 -2.98885869] [-0.35109913 0.93622913 0.01429722 2.22076571] [ 0.18935548 0.05604062 0.98030809 -2.25070908] [ 0. 0. 0. 1. ]] SLAMing on 235.43629675700004 meters Centerline goodness : 0.797231 Centerline is valid? [False, False] Translation: X:-3.01, Y:2.23, Z:-2.25 [[ 0.91737641 0.346006 -0.19672409 -3.01059264] [-0.34932931 0.93681361 0.01868946 2.2271875 ] [ 0.19076047 0.05157622 0.98028074 -2.25315989] [ 0. 0. 0. 1. ]] SLAMing on 235.46629675700004 meters Centerline goodness : 0.795239 Centerline is valid? [False, False] Translation: X:-3.03, Y:2.23, Z:-2.26 [[ 0.91801405 0.3431301 -0.1987761 -3.03165217] [-0.34578414 0.93804843 0.0223264 2.23104262] [ 0.19412247 0.04823767 0.97979059 -2.25539218] [ 0. 0. 0. 1. ]] SLAMing on 235.49629675700004 meters Centerline goodness : 0.794262 Centerline is valid? [False, False] Translation: X:-3.05, Y:2.24, Z:-2.26 [[ 0.91831457 0.34228274 -0.19884885 -3.05176843] [-0.34358472 0.93867288 0.02903043 2.2355356 ] [ 0.19659064 0.04166236 0.97960011 -2.25522284] [ 0. 0. 0. 1. ]] SLAMing on 235.52629675700004 meters Centerline goodness : 0.797584 Centerline is valid? [False, False] Translation: X:-3.05, Y:2.24, Z:-2.26 [[ 0.91962981 0.33811834 -0.19989247 -3.05221296] [-0.3401584 0.94003243 0.02512548 2.23559474] [ 0.19640079 0.04488897 0.97949564 -2.25602415] [ 0. 0. 0. 1. ]] SLAMing on 235.55629675700004 meters Centerline goodness : 0.797076 Centerline is valid? [False, False] Translation: X:-3.08, Y:2.25, Z:-2.26 [[ 0.92117311 0.33534706 -0.19743976 -3.07672353] [-0.33738537 0.94105403 0.02425738 2.24561733] [ 0.19393613 0.04426804 0.98001486 -2.26208774] [ 0. 0. 0. 1. ]] SLAMing on 235.58629675700004 meters Centerline goodness : 0.796177 Centerline is valid? [False, False] Translation: X:-3.08, Y:2.24, Z:-2.26 [[ 0.9213955 0.33465773 -0.19757163 -3.07574927] [-0.33665151 0.94131215 0.02443768 2.24402953] [ 0.19415483 0.04399602 0.9799838 -2.26216287] [ 0. 0. 0. 1. ]] SLAMing on 235.61629675700004 meters Centerline goodness : 0.795240 Centerline is valid? [False, False] Translation: X:-3.08, Y:2.24, Z:-2.26 [[ 0.92147433 0.33434468 -0.1977339 -3.07504862] [-0.33626615 0.94144026 0.02480562 2.24287802] [ 0.19444828 0.04363347 0.97994183 -2.26187767] [ 0. 0. 0. 1. ]] SLAMing on 235.64629675700002 meters Centerline goodness : 0.795363 Centerline is valid? [False, False] Translation: X:-3.09, Y:2.25, Z:-2.26 [[ 0.9220466 0.33254512 -0.1981005 -3.09427252] [-0.3334264 0.94230187 0.02990005 2.24928611] [ 0.19661358 0.0384827 0.97972556 -2.26291504] [ 0. 0. 0. 1. ]] SLAMing on 235.67629675700002 meters Centerline goodness : 0.794471 Centerline is valid? [False, False] Translation: X:-3.14, Y:2.27, Z:-2.27 [[ 0.92723824 0.32453507 -0.18683209 -3.14283354] [-0.32277393 0.94560314 0.04064101 2.2659968 ] [ 0.18985845 0.02262064 0.98155085 -2.26921415] [ 0. 0. 0. 1. ]] SLAMing on 235.70629675700002 meters Centerline goodness : 0.796648 Centerline is valid? [False, False] Translation: X:-3.15, Y:2.27, Z:-2.27 [[ 0.93113465 0.31641493 -0.18130046 -3.15055776] [-0.31418289 0.94844717 0.04167814 2.26776629] [ 0.1851415 0.01815354 0.98254418 -2.26852719] [ 0. 0. 0. 1. ]] SLAMing on 235.73629675700002 meters Centerline goodness : 0.796565 Centerline is valid? [False, False] Translation: X:-3.15, Y:2.27, Z:-2.27 [[ 0.93327785 0.31085897 -0.17988651 -3.15238946] [-0.30873026 0.95028948 0.0404416 2.26787986] [ 0.18351589 0.01779316 0.9828557 -2.26982534] [ 0. 0. 0. 1. ]] SLAMing on 235.76629675700002 meters Centerline goodness : 0.797135 Centerline is valid? [False, False] Translation: X:-3.16, Y:2.27, Z:-2.27 [[ 0.93559691 0.30501927 -0.17782483 -3.1554915 ] [-0.30286436 0.95220146 0.03981918 2.26796309] [ 0.18147068 0.0166021 0.9832562 -2.27041157] [ 0. 0. 0. 1. ]] SLAMing on 235.79629675700002 meters Centerline goodness : 0.797882 Centerline is valid? [False, False] Translation: X:-3.16, Y:2.27, Z:-2.27 [[ 0.94007088 0.29274741 -0.17483047 -3.15999987] [-0.29086635 0.9560528 0.03687572 2.26726901] [ 0.17794243 0.01618651 0.98390776 -2.27264756] [ 0. 0. 0. 1. ]] SLAMing on 235.82629675700002 meters Centerline goodness : 0.801377 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.27, Z:-2.27 [[ 0.94193028 0.28879789 -0.1713567 -3.16591495] [-0.286639 0.9572942 0.03776099 2.26845038] [ 0.17494407 0.01354929 0.98448514 -2.2706495 ] [ 0. 0. 0. 1. ]] SLAMing on 235.85629675700002 meters Centerline goodness : 0.798744 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.27, Z:-2.27 [[ 0.94507784 0.28038501 -0.16796463 -3.16970273] [-0.27817878 0.95981581 0.0370159 2.26783537] [ 0.17159381 0.01174129 0.98509782 -2.27295692] [ 0. 0. 0. 1. ]] SLAMing on 235.88629675700003 meters Centerline goodness : 0.800032 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.27, Z:-2.27 [[ 0.94629693 0.27767391 -0.1655878 -3.17260904] [-0.27515491 0.9606314 0.03843298 2.26644898] [ 0.16974068 0.00919328 0.98544588 -2.27353396] [ 0. 0. 0. 1. ]] SLAMing on 235.91629675700003 meters Centerline goodness : 0.799749 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.27, Z:-2.28 [[ 0.94703903 0.27511204 -0.16562138 -3.17044753] [-0.27259496 0.96137031 0.03819842 2.26522985] [ 0.16973232 0.00897216 0.98544936 -2.27657092] [ 0. 0. 0. 1. ]] SLAMing on 235.94629675700003 meters Centerline goodness : 0.802638 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.26, Z:-2.28 [[ 0.94688238 0.27574454 -0.16546512 -3.1709757 ] [-0.27311018 0.96119485 0.03892669 2.26471661] [ 0.16977804 0.00833121 0.98544711 -2.27566596] [ 0. 0. 0. 1. ]] SLAMing on 235.97629675700003 meters Centerline goodness : 0.801225 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.26, Z:-2.28 [[ 0.94663799 0.27653824 -0.16553887 -3.17103539] [-0.27380454 0.96097076 0.03957612 2.26361112] [ 0.17002232 0.00786104 0.98540886 -2.27531388] [ 0. 0. 0. 1. ]] SLAMing on 236.00629675700003 meters Centerline goodness : 0.802118 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.26, Z:-2.27 [[ 0.94582281 0.27864708 -0.16665836 -3.16977161] [-0.27577621 0.96036385 0.04060495 2.2613434 ] [ 0.17136711 0.00755532 0.98517827 -2.27480928] [ 0. 0. 0. 1. ]] SLAMing on 236.03629675700003 meters Centerline goodness : 0.802069 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.26, Z:-2.27 [[ 0.94553794 0.28583377 -0.15574679 -3.16930512] [-0.28269697 0.95827117 0.04241208 2.25658791] [ 0.16137047 0.00392692 0.98688609 -2.27290282] [ 0. 0. 0. 1. ]] SLAMing on 236.06629675700003 meters Centerline goodness : 0.802488 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.26, Z:-2.27 [[ 0.94440061 0.28896307 -0.15686881 -3.16896317] [-0.28578136 0.95733083 0.04297328 2.25500165] [ 0.16259304 0.00424619 0.98668408 -2.27157067] [ 0. 0. 0. 1. ]] SLAMing on 236.09629675700003 meters Centerline goodness : 0.799942 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.27 [[ 0.94400414 0.29006652 -0.15721831 -3.16917174] [-0.28687681 0.9569964 0.04312296 2.25449783] [ 0.16296588 0.00439403 0.98662192 -2.27063035] [ 0. 0. 0. 1. ]] SLAMing on 236.12629675700003 meters Centerline goodness : 0.801601 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.26, Z:-2.27 [[ 0.94247817 0.29310382 -0.16070172 -3.16633063] [-0.29035997 0.95604569 0.04083783 2.25550275] [ 0.16560791 0.00817258 0.98615781 -2.26809446] [ 0. 0. 0. 1. ]] SLAMing on 236.15629675700004 meters Centerline goodness : 0.802182 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.26, Z:-2.27 [[ 0.94249942 0.29349781 -0.15985581 -3.16853714] [-0.2906679 0.95593034 0.04134434 2.25523044] [ 0.16494549 0.00749793 0.98627418 -2.26661072] [ 0. 0. 0. 1. ]] SLAMing on 236.18629675700004 meters Centerline goodness : 0.802477 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.27 [[ 0.94241392 0.29282677 -0.16158118 -3.16570547] [-0.29010067 0.95612801 0.04075333 2.25391413] [ 0.16642596 0.0084683 0.98601759 -2.26718467] [ 0. 0. 0. 1. ]] SLAMing on 236.21629675700004 meters Centerline goodness : 0.802924 Centerline is valid? [False, False] Translation: X:-3.16, Y:2.25, Z:-2.27 [[ 0.94240419 0.2927822 -0.16171867 -3.16419831] [-0.28998651 0.95614486 0.04116834 2.25314151] [ 0.16667983 0.00809901 0.98597781 -2.26888704] [ 0. 0. 0. 1. ]] SLAMing on 236.24629675700004 meters Centerline goodness : 0.804412 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.27 [[ 0.94278139 0.29219163 -0.16058426 -3.16611739] [-0.2892774 0.95633362 0.04176834 2.25246581] [ 0.16577649 0.00707498 0.98613797 -2.26860116] [ 0. 0. 0. 1. ]] SLAMing on 236.27629675700004 meters Centerline goodness : 0.800753 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.27 [[ 0.94315148 0.29074566 -0.16103494 -3.16629373] [-0.28807242 0.95676311 0.04023222 2.25187158] [ 0.16576963 0.00844465 0.98612835 -2.26842102] [ 0. 0. 0. 1. ]] SLAMing on 236.30629675700004 meters Centerline goodness : 0.801363 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.27 [[ 0.94373734 0.29478629 -0.14986955 -3.16635815] [-0.29217041 0.95554225 0.03969205 2.24856763] [ 0.15490736 0.00632858 0.98790873 -2.26731157] [ 0. 0. 0. 1. ]] SLAMing on 236.33629675700004 meters Centerline goodness : 0.800699 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.27 [[ 0.9452749 0.2909109 -0.14773697 -3.1693061 ] [-0.28825835 0.95673596 0.03954009 2.24895187] [ 0.15284792 0.00521016 0.98823599 -2.26754002] [ 0. 0. 0. 1. ]] SLAMing on 236.36629675700004 meters Centerline goodness : 0.803417 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.27 [[ 0.94638588 0.28800516 -0.14631061 -3.17144187] [-0.28539358 0.95761659 0.03899968 2.25007638] [ 0.15134158 0.00484736 0.98846964 -2.26724805] [ 0. 0. 0. 1. ]] SLAMing on 236.39629675700002 meters Centerline goodness : 0.804288 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.27 [[ 0.94766784 0.28461328 -0.14464075 -3.17430414] [-0.28209474 0.95863079 0.0380732 2.2515662 ] [ 0.14949321 0.00472165 0.98875148 -2.26691539] [ 0. 0. 0. 1. ]] SLAMing on 236.42629675700002 meters Centerline goodness : 0.804887 Centerline is valid? [False, False] Translation: X:-3.18, Y:2.25, Z:-2.27 [[ 0.94982109 0.27816279 -0.14305719 -3.17836053] [-0.27611779 0.96050942 0.03436025 2.25364377] [ 0.14696552 0.00686455 0.9891178 -2.26646927] [ 0. 0. 0. 1. ]] SLAMing on 236.45629675700002 meters Centerline goodness : 0.804137 Centerline is valid? [False, False] Translation: X:-3.18, Y:2.25, Z:-2.27 [[ 0.95058213 0.27641964 -0.14137111 -3.18152891] [-0.27437968 0.96101601 0.03411782 2.2547309 ] [ 0.14529074 0.00635757 0.98936858 -2.26557988] [ 0. 0. 0. 1. ]] SLAMing on 236.48629675700002 meters Centerline goodness : 0.803498 Centerline is valid? [False, False] Translation: X:-3.18, Y:2.26, Z:-2.27 [[ 9.50656361e-01 2.77769153e-01 -1.38191103e-01 -3.18432516e+00] [-2.75225068e-01 9.60645079e-01 3.75791827e-02 2.25679872e+00] [ 1.43190941e-01 2.30876674e-03 9.89692389e-01 -2.26516717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51629675700002 meters Centerline goodness : 0.801490 Centerline is valid? [False, False] Translation: X:-3.19, Y:2.26, Z:-2.26 [[ 9.49966199e-01 2.81034833e-01 -1.36321837e-01 -3.18561914e+00] [-2.77916451e-01 9.59695858e-01 4.17888309e-02 2.25712595e+00] [ 1.42571619e-01 -1.81189579e-03 9.89782830e-01 -2.26431280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54629675700002 meters Centerline goodness : 0.800388 Centerline is valid? [False, False] Translation: X:-3.18, Y:2.26, Z:-2.26 [[ 0.94817659 0.28661066 -0.13716954 -3.18242123] [-0.28289506 0.95803369 0.04627993 2.25578792] [ 0.14467737 -0.00507696 0.98946586 -2.26401244] [ 0. 0. 0. 1. ]] SLAMing on 236.57629675700002 meters Centerline goodness : 0.801806 Centerline is valid? [False, False] Translation: X:-3.18, Y:2.25, Z:-2.26 [[ 0.94728336 0.2880928 -0.14020262 -3.17809737] [-0.2843945 0.95759468 0.04617574 2.25394187] [ 0.14756018 -0.00386866 0.98904551 -2.26355767] [ 0. 0. 0. 1. ]] SLAMing on 236.60629675700002 meters Centerline goodness : 0.801081 Centerline is valid? [False, False] Translation: X:-3.18, Y:2.25, Z:-2.26 [[ 0.94658172 0.29009245 -0.14081699 -3.17862508] [-0.28644037 0.95699326 0.04599801 2.25411041] [ 0.14810458 -0.00320521 0.98896651 -2.26162635] [ 0. 0. 0. 1. ]] SLAMing on 236.63629675700003 meters Centerline goodness : 0.801333 Centerline is valid? [False, False] Translation: X:-3.18, Y:2.25, Z:-2.26 [[ 9.46036045e-01 2.90701483e-01 -1.43207716e-01 -3.17901237e+00] [-2.87484293e-01 9.56813730e-01 4.31308219e-02 2.25325902e+00] [ 1.49561303e-01 3.66656971e-04 9.88752387e-01 -2.25850974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66629675700003 meters Centerline goodness : 0.805619 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.26 [[ 0.94541733 0.29006753 -0.14848201 -3.17347825] [-0.2875683 0.95698552 0.03851227 2.2517873 ] [ 0.15326629 0.00628856 0.98816491 -2.2579528 ] [ 0. 0. 0. 1. ]] SLAMing on 236.69629675700003 meters Centerline goodness : 0.805841 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.26 [[ 0.94522403 0.29085098 -0.14817975 -3.17495411] [-0.28837913 0.95674663 0.03838453 2.25224019] [ 0.15293466 0.00644996 0.98821525 -2.25652022] [ 0. 0. 0. 1. ]] SLAMing on 236.72629675700003 meters Centerline goodness : 0.808260 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.26 [[ 0.94398187 0.29258577 -0.15261651 -3.17017694] [-0.29068801 0.95617346 0.03511109 2.25140076] [ 0.15620086 0.01121956 0.98766159 -2.25597439] [ 0. 0. 0. 1. ]] SLAMing on 236.75629675700003 meters Centerline goodness : 0.809013 Centerline is valid? [False, False] Translation: X:-3.17, Y:2.25, Z:-2.25 [[ 0.94331993 0.29492966 -0.15219729 -3.17154593] [-0.2929811 0.95545548 0.0355936 2.25248047] [ 0.15591534 0.01101478 0.98770901 -2.25453009] [ 0. 0. 0. 1. ]] SLAMing on 236.78629675700003 meters Centerline goodness : 0.810498 Centerline is valid? [False, False] Translation: X:-3.16, Y:2.25, Z:-2.26 [[ 0.94227613 0.29495627 -0.15848185 -3.16197606] [-0.29388861 0.95534733 0.0306752 2.25037967] [ 0.16045305 0.0176715 0.98688527 -2.26008166] [ 0. 0. 0. 1. ]] SLAMing on 236.81629675700003 meters Centerline goodness : 0.808674 Centerline is valid? [False, False] Translation: X:-3.16, Y:2.25, Z:-2.26 [[ 0.94073375 0.29913029 -0.15981578 -3.15816213] [-0.29771241 0.9540741 0.03331552 2.24955465] [ 0.16244178 0.01623811 0.98658451 -2.26049492] [ 0. 0. 0. 1. ]] SLAMing on 236.84629675700003 meters Centerline goodness : 0.809388 Centerline is valid? [False, False] Translation: X:-3.16, Y:2.25, Z:-2.26 [[ 0.94032444 0.30608719 -0.14866266 -3.15720106] [-0.30440477 0.9519174 0.03451089 2.24609476] [ 0.15207792 0.01280219 0.98828559 -2.25967928] [ 0. 0. 0. 1. ]] SLAMing on 236.87629675700003 meters Centerline goodness : 0.806624 Centerline is valid? [False, False] Translation: X:-3.15, Y:2.24, Z:-2.26 [[ 0.9390235 0.30864638 -0.15156607 -3.15205319] [-0.3070436 0.95107123 0.03446374 2.24398424] [ 0.15478723 0.01417513 0.98784613 -2.26062884] [ 0. 0. 0. 1. ]] SLAMing on 236.90629675700004 meters Centerline goodness : 0.809397 Centerline is valid? [False, False] Translation: X:-3.15, Y:2.24, Z:-2.26 [[ 0.93829305 0.30957798 -0.1541675 -3.14823127] [-0.30805805 0.95075029 0.03426549 2.24185936] [ 0.15718264 0.01534147 0.98745038 -2.26028499] [ 0. 0. 0. 1. ]] SLAMing on 236.93629675700004 meters Centerline goodness : 0.806847 Centerline is valid? [False, False] Translation: X:-3.14, Y:2.24, Z:-2.26 [[ 0.93693653 0.3118308 -0.15783377 -3.14366376] [-0.31045547 0.9499819 0.03393788 2.23964002] [ 0.1605221 0.01720271 0.98688232 -2.25897847] [ 0. 0. 0. 1. ]] SLAMing on 236.96629675700004 meters Centerline goodness : 0.809983 Centerline is valid? [False, False] Translation: X:-3.15, Y:2.24, Z:-2.25 [[ 0.93665895 0.31394225 -0.15527482 -3.14874986] [-0.31200111 0.94934681 0.03736238 2.24068351] [ 0.15913928 0.01345011 0.98716452 -2.25424531] [ 0. 0. 0. 1. ]] SLAMing on 236.99629675700004 meters Centerline goodness : 0.809983 Centerline is valid? [False, False] Translation: X:-3.15, Y:2.24, Z:-2.25 [[ 0.93665895 0.31394225 -0.15527482 -3.14874986] [-0.31200111 0.94934681 0.03736238 2.24068351] [ 0.15913928 0.01345011 0.98716452 -2.25424531] [ 0. 0. 0. 1. ]] SLAMing on 237.02629675700004 meters Centerline goodness : 0.810031 Centerline is valid? [False, False] Translation: X:-3.15, Y:2.24, Z:-2.25 [[ 0.93578622 0.3160821 -0.15619304 -3.14851952] [-0.3141342 0.94863118 0.03766419 2.24052135] [ 0.16007456 0.01381994 0.98700818 -2.25238142] [ 0. 0. 0. 1. ]] SLAMing on 237.05629675700004 meters Centerline goodness : 0.811508 Centerline is valid? [False, False] Translation: X:-3.15, Y:2.24, Z:-2.25 [[ 0.93525754 0.31684701 -0.15780147 -3.14655166] [-0.31491166 0.94836817 0.03779503 2.24003508] [ 0.16162913 0.01434544 0.9867473 -2.25111199] [ 0. 0. 0. 1. ]] SLAMing on 237.08629675700004 meters Centerline goodness : 0.813785 Centerline is valid? [False, False] Translation: X:-3.14, Y:2.24, Z:-2.25 [[ 0.9344342 0.31814516 -0.16005118 -3.14311964] [-0.31619098 0.94792512 0.03822599 2.23853478] [ 0.16387794 0.01488706 0.98636829 -2.25034715] [ 0. 0. 0. 1. ]] SLAMing on 237.11629675700004 meters Centerline goodness : 0.815619 Centerline is valid? [False, False] Translation: X:-3.14, Y:2.24, Z:-2.25 [[ 0.93292054 0.3211106 -0.16293325 -3.13755133] [-0.31911704 0.94691289 0.03899096 2.23668076] [ 0.16680401 0.01561931 0.98586635 -2.25108008] [ 0. 0. 0. 1. ]] SLAMing on 237.14629675700002 meters Centerline goodness : 0.811621 Centerline is valid? [False, False] Translation: X:-3.14, Y:2.24, Z:-2.25 [[ 0.93196361 0.3239505 -0.16278791 -3.13700909] [-0.32141005 0.94598802 0.04245295 2.23621734] [ 0.16774807 0.01275706 0.98574735 -2.24922932] [ 0. 0. 0. 1. ]] SLAMing on 237.17629675700002 meters Centerline goodness : 0.810243 Centerline is valid? [False, False] Translation: X:-3.13, Y:2.23, Z:-2.25 [[ 0.93101453 0.32591262 -0.16429519 -3.13210004] [-0.32299277 0.94533335 0.04495028 2.23420139] [ 0.16996359 0.0112168 0.9853865 -2.25026872] [ 0. 0. 0. 1. ]] SLAMing on 237.20629675700002 meters Centerline goodness : 0.814158 Centerline is valid? [False, False] Translation: X:-3.13, Y:2.23, Z:-2.25 [[ 0.93094927 0.32630885 -0.16387796 -3.13216455] [-0.32325151 0.94520625 0.04575602 2.23387596] [ 0.16982907 0.01037726 0.9854189 -2.25042853] [ 0. 0. 0. 1. ]] SLAMing on 237.23629675700002 meters Centerline goodness : 0.811103 Centerline is valid? [False, False] Translation: X:-3.13, Y:2.23, Z:-2.25 [[ 0.93112862 0.32620867 -0.1630564 -3.13319556] [-0.32302045 0.94525094 0.04645919 2.23417073] [ 0.16928461 0.00941107 0.98552227 -2.24994335] [ 0. 0. 0. 1. ]] SLAMing on 237.26629675700002 meters Centerline goodness : 0.815079 Centerline is valid? [False, False] Translation: X:-3.13, Y:2.23, Z:-2.25 [[ 0.93163073 0.32503046 -0.16254041 -3.13331025] [-0.32174013 0.94566461 0.0469226 2.23413092] [ 0.16895999 0.00858123 0.98558555 -2.25023147] [ 0. 0. 0. 1. ]] SLAMing on 237.29629675700002 meters Centerline goodness : 0.811574 Centerline is valid? [False, False] Translation: X:-3.13, Y:2.23, Z:-2.25 [[ 0.93199539 0.32356044 -0.16338063 -3.13098637] [-0.32018532 0.94617196 0.04732854 2.23374692] [ 0.16989982 0.0082021 0.98542721 -2.25034329] [ 0. 0. 0. 1. ]] SLAMing on 237.32629675700002 meters Centerline goodness : 0.812288 Centerline is valid? [False, False] Translation: X:-3.13, Y:2.23, Z:-2.25 [[ 0.93287746 0.32240451 -0.16060818 -3.13234593] [-0.31848324 0.94659259 0.05030801 2.23483579] [ 0.16825004 0.0042198 0.98573532 -2.25102905] [ 0. 0. 0. 1. ]] SLAMing on 237.35629675700002 meters Centerline goodness : 0.812432 Centerline is valid? [False, False] Translation: X:-3.13, Y:2.24, Z:-2.25 [[ 9.33796716e-01 3.20522985e-01 -1.59024241e-01 -3.13155503e+00] [-3.16195350e-01 9.47239912e-01 5.25076197e-02 2.23552101e+00] [ 1.67464007e-01 1.25128278e-03 9.85877396e-01 -2.25247375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38629675700003 meters Centerline goodness : 0.809797 Centerline is valid? [False, False] Translation: X:-3.13, Y:2.24, Z:-2.25 [[ 9.34248466e-01 3.19504296e-01 -1.58419724e-01 -3.13127650e+00] [-3.15005110e-01 9.47584827e-01 5.34301059e-02 2.23554153e+00] [ 1.67187275e-01 -1.39721064e-05 9.85925157e-01 -2.25311088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41629675700003 meters Centerline goodness : 0.809325 Centerline is valid? [False, False] Translation: X:-3.13, Y:2.24, Z:-2.25 [[ 9.34618760e-01 3.18242366e-01 -1.58775218e-01 -3.12957443e+00] [-3.13565837e-01 9.48008832e-01 5.43665401e-02 2.23513747e+00] [ 1.67822045e-01 -1.02550424e-03 9.85816773e-01 -2.25318202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44629675700003 meters Centerline goodness : 0.811828 Centerline is valid? [False, False] Translation: X:-3.13, Y:2.24, Z:-2.25 [[ 9.36129709e-01 3.14087493e-01 -1.58146181e-01 -3.12744365e+00] [-3.09221271e-01 9.49390154e-01 5.51411024e-02 2.23746838e+00] [ 1.67461558e-01 -2.71706099e-03 9.85874862e-01 -2.25434646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47629675700003 meters Centerline goodness : 0.803719 Centerline is valid? [False, False] Translation: X:-3.12, Y:2.24, Z:-2.26 [[ 0.93573062 0.31685026 -0.1549649 -3.11906879] [-0.31002338 0.9483617 0.06704923 2.23542065] [ 0.16820734 -0.01469727 0.98564207 -2.26017442] [ 0. 0. 0. 1. ]] SLAMing on 237.50629675700003 meters Centerline goodness : 0.800166 Centerline is valid? [False, False] Translation: X:-3.11, Y:2.24, Z:-2.26 [[ 0.93588055 0.31558458 -0.15663322 -3.11379418] [-0.30876993 0.94879283 0.06673306 2.23623488] [ 0.1696724 -0.01409055 0.98539978 -2.26220703] [ 0. 0. 0. 1. ]] SLAMing on 237.53629675700003 meters Centerline goodness : 0.802646 Centerline is valid? [False, False] Translation: X:-3.11, Y:2.24, Z:-2.26 [[ 0.93639461 0.31369423 -0.15735646 -3.110069 ] [-0.30677958 0.94941245 0.06709905 2.2380613 ] [ 0.17044477 -0.01455745 0.98525969 -2.26338042] [ 0. 0. 0. 1. ]] SLAMing on 237.56629675700003 meters Centerline goodness : 0.801026 Centerline is valid? [False, False] Translation: X:-3.11, Y:2.25, Z:-2.26 [[ 0.93553754 0.31745982 -0.1548831 -3.10792743] [-0.3096636 0.94805859 0.07275547 2.24632619] [ 0.16993519 -0.02010382 0.98525016 -2.26308887] [ 0. 0. 0. 1. ]] SLAMing on 237.59629675700003 meters Centerline goodness : 0.798932 Centerline is valid? [False, False] Translation: X:-3.10, Y:2.25, Z:-2.26 [[ 0.93480822 0.31910805 -0.15589628 -3.10216734] [-0.31118348 0.94750305 0.07350383 2.25081791] [ 0.17116787 -0.02019964 0.98503479 -2.26496686] [ 0. 0. 0. 1. ]] SLAMing on 237.62629675700003 meters Centerline goodness : 0.798978 Centerline is valid? [False, False] Translation: X:-3.09, Y:2.26, Z:-2.27 [[ 0.93318912 0.32191737 -0.15977258 -3.09084234] [-0.31410166 0.94660348 0.07267739 2.26270879] [ 0.17463739 -0.01763692 0.98447484 -2.26518366] [ 0. 0. 0. 1. ]] SLAMing on 237.65629675700004 meters Centerline goodness : 0.800024 Centerline is valid? [False, False] Translation: X:-3.09, Y:2.27, Z:-2.26 [[ 0.9321962 0.32404701 -0.16125686 -3.08581379] [-0.31618564 0.94588779 0.07295844 2.26932582] [ 0.17617286 -0.01702447 0.98421202 -2.26447797] [ 0. 0. 0. 1. ]] SLAMing on 237.68629675700004 meters Centerline goodness : 0.799184 Centerline is valid? [False, False] Translation: X:-3.08, Y:2.28, Z:-2.26 [[ 0.9288233 0.33469392 -0.15895677 -3.0824404 ] [-0.32552392 0.9420252 0.08138004 2.28338862] [ 0.17697869 -0.02384345 0.98392583 -2.26123914] [ 0. 0. 0. 1. ]] SLAMing on 237.71629675700004 meters Centerline goodness : 0.799023 Centerline is valid? [False, False] Translation: X:-3.08, Y:2.29, Z:-2.26 [[ 0.92745713 0.33886331 -0.15809782 -3.08051851] [-0.32936014 0.94048891 0.08368097 2.2926807 ] [ 0.17704565 -0.02553939 0.98387122 -2.26065647] [ 0. 0. 0. 1. ]] SLAMing on 237.74629675700004 meters Centerline goodness : 0.802224 Centerline is valid? [False, False] Translation: X:-3.08, Y:2.30, Z:-2.26 [[ 0.92610455 0.34299184 -0.15712086 -3.07931518] [-0.33314938 0.93894065 0.08603454 2.30156017] [ 0.17703631 -0.02733226 0.98382473 -2.25959493] [ 0. 0. 0. 1. ]] SLAMing on 237.77629675700004 meters Centerline goodness : 0.802520 Centerline is valid? [False, False] Translation: X:-3.08, Y:2.32, Z:-2.26 [[ 0.92306453 0.35280793 -0.15322678 -3.07948239] [-0.34200917 0.93510534 0.09277779 2.31979973] [ 0.17601592 -0.03323492 0.98382612 -2.25561001] [ 0. 0. 0. 1. ]] SLAMing on 237.80629675700004 meters Centerline goodness : 0.730272 Centerline is valid? [False, False] Translation: X:-3.08, Y:2.33, Z:-2.25 [[ 0.92048133 0.36047171 -0.15091144 -3.07700083] [-0.3489265 0.93201514 0.0979698 2.33480756] [ 0.17596708 -0.03752237 0.98368067 -2.2535024 ] [ 0. 0. 0. 1. ]] SLAMing on 237.83629675700004 meters Centerline goodness : 0.788367 Centerline is valid? [False, False] Translation: X:-3.07, Y:2.34, Z:-2.26 [[ 0.92058959 0.35987845 -0.1516651 -3.07368923] [-0.3487435 0.93234242 0.09547557 2.34253485] [ 0.1757634 -0.0350016 0.98381 -2.25566664] [ 0. 0. 0. 1. ]] SLAMing on 237.86629675700004 meters Centerline goodness : 0.804434 Centerline is valid? [False, False] Translation: X:-3.07, Y:2.35, Z:-2.26 [[ 0.91960094 0.36264253 -0.15107781 -3.07113768] [-0.35125623 0.93122042 0.0971987 2.34853469] [ 0.17593513 -0.036317 0.98373162 -2.25580416] [ 0. 0. 0. 1. ]] SLAMing on 237.89629675700002 meters Centerline goodness : 0.795217 Centerline is valid? [False, False] Translation: X:-3.07, Y:2.36, Z:-2.26 [[ 0.91770211 0.36794638 -0.14979417 -3.06603008] [-0.35603746 0.92902283 0.10076663 2.36047841] [ 0.17623892 -0.03914141 0.98356891 -2.25541589] [ 0. 0. 0. 1. ]] SLAMing on 237.92629675700002 meters Centerline goodness : 0.799087 Centerline is valid? [False, False] Translation: X:-3.06, Y:2.37, Z:-2.26 [[ 0.9167141 0.37067839 -0.14910666 -3.06349219] [-0.35855188 0.92788481 0.10232461 2.36708414] [ 0.17628332 -0.04033994 0.98351252 -2.25554012] [ 0. 0. 0. 1. ]] SLAMing on 237.95629675700002 meters Centerline goodness : 0.796620 Centerline is valid? [False, False] Translation: X:-3.06, Y:2.39, Z:-2.25 [[ 0.9157054 0.36857997 -0.16010133 -3.05791105] [-0.35548241 0.92876824 0.1049848 2.39080488] [ 0.18739232 -0.03922194 0.98150179 -2.25137951] [ 0. 0. 0. 1. ]] SLAMing on 237.98629675700002 meters Centerline goodness : 0.786392 Centerline is valid? [False, False] Translation: X:-3.05, Y:2.41, Z:-2.24 [[ 0.91406243 0.3723439 -0.16077906 -3.04791924] [-0.357285 0.92685803 0.11524594 2.40576122] [ 0.19193048 -0.04789804 0.98023898 -2.24047538] [ 0. 0. 0. 1. ]] SLAMing on 238.01629675700002 meters Centerline goodness : 0.734154 Centerline is valid? [False, False] Translation: X:-3.05, Y:2.42, Z:-2.24 [[ 0.91490715 0.36592808 -0.1704158 -3.04589772] [-0.3507911 0.92962655 0.11287198 2.42216127] [ 0.19972608 -0.04348704 0.97888629 -2.24262038] [ 0. 0. 0. 1. ]] SLAMing on 238.04629675700002 meters Centerline goodness : 0.719707 Centerline is valid? [False, False] Translation: X:-3.04, Y:2.44, Z:-2.25 [[ 0.91651316 0.35758136 -0.1792741 -3.04388842] [-0.34263329 0.93307207 0.10944838 2.43871928] [ 0.20641235 -0.03888561 0.9776921 -2.24635459] [ 0. 0. 0. 1. ]] SLAMing on 238.07629675700002 meters Centerline goodness : 0.714321 Centerline is valid? [False, False] Translation: X:-3.04, Y:2.46, Z:-2.25 [[ 0.92041797 0.34934048 -0.17547645 -3.03802623] [-0.33465074 0.9361013 0.10827388 2.45935679] [ 0.20208818 -0.0409339 0.97851151 -2.25048261] [ 0. 0. 0. 1. ]] SLAMing on 238.10629675700002 meters Centerline goodness : 0.709461 Centerline is valid? [False, False] Translation: X:-3.03, Y:2.47, Z:-2.25 [[ 0.92250524 0.34429841 -0.17447833 -3.03462314] [-0.33031619 0.93805521 0.10461188 2.4710962 ] [ 0.19968801 -0.03887199 0.97908818 -2.25344498] [ 0. 0. 0. 1. ]] SLAMing on 238.13629675700003 meters Centerline goodness : 0.705106 Centerline is valid? [False, False] Translation: X:-3.02, Y:2.49, Z:-2.26 [[ 0.92599352 0.33464423 -0.17478338 -3.02147054] [-0.32146087 0.94164733 0.09981592 2.48786553] [ 0.19798713 -0.03624288 0.97953435 -2.25549102] [ 0. 0. 0. 1. ]] SLAMing on 238.16629675700003 meters Centerline goodness : 0.205861 Centerline is valid? [False, False] Translation: X:-3.02, Y:2.50, Z:-2.26 [[ 0.92729397 0.33062375 -0.17553871 -3.01622618] [-0.31814199 0.94318385 0.09586395 2.49556378] [ 0.19726017 -0.03304783 0.97979399 -2.25769637] [ 0. 0. 0. 1. ]] SLAMing on 238.19629675700003 meters Centerline goodness : 0.218079 Centerline is valid? [False, False] Translation: X:-2.99, Y:2.50, Z:-2.25 [[ 0.92832553 0.32795528 -0.17509152 -2.98868645] [-0.31670593 0.94428789 0.08954176 2.50201581] [ 0.1947025 -0.02767138 0.98047194 -2.25366603] [ 0. 0. 0. 1. ]] SLAMing on 238.22629675700003 meters Centerline goodness : 0.671513 Centerline is valid? [False, False] Translation: X:-2.98, Y:2.51, Z:-2.26 [[ 0.92850022 0.32573753 -0.1782762 -2.9794494 ] [-0.31568067 0.94523269 0.08295102 2.51227359] [ 0.19553276 -0.02074169 0.9804778 -2.25505612] [ 0. 0. 0. 1. ]] SLAMing on 238.25629675700003 meters Centerline goodness : 0.179275 Centerline is valid? [False, False] Translation: X:-2.94, Y:2.52, Z:-2.25 [[ 9.26051430e-01 3.32845688e-01 -1.77883378e-01 -2.94251371e+00] [-3.26445443e-01 9.42978930e-01 6.49931518e-02 2.51760456e+00] [ 1.89372968e-01 -2.11778305e-03 9.81902945e-01 -2.25057570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 19165.84 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%| | 0/7939 [00:00