+ python -m lidar_slam --no-model /working/6376223f-eee8-41d6-be3d-0c5e2e05034e Lidar SLAM 0.0.15 ===================================================== The recording path: /working/6376223f-eee8-41d6-be3d-0c5e2e05034e 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 0.026547615 Adjusted end_distance from 9.223372036854776e+18 to 81.826547615 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026547615 meters Centerline goodness : 0.251008 Centerline is valid? [0, False] SLAMing on 0.056547614999999996 meters Centerline goodness : 0.252237 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:0.00 [[ 9.99772719e-01 1.71359678e-02 -1.26834415e-02 4.25365408e-02] [-1.76652336e-02 9.98924682e-01 -4.28651379e-02 5.98636800e-03] [ 1.19352671e-02 4.30794514e-02 9.99000355e-01 8.76343014e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.086547615 meters Centerline goodness : 0.252831 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.00 [[ 0.9996772 0.02110225 -0.01414866 0.05773418] [-0.02184501 0.99827054 -0.05457769 0.00661343] [ 0.01297248 0.05486915 0.99840928 -0.00121722] [ 0. 0. 0. 1. ]] SLAMing on 0.11654761499999998 meters Centerline goodness : 0.251318 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.00 [[ 0.99966903 0.02099983 -0.01486051 0.09658254] [-0.0215404 0.99907555 -0.03720293 0.00792513] [ 0.01406552 0.03751072 0.99919723 -0.00167181] [ 0. 0. 0. 1. ]] SLAMing on 0.146547615 meters Centerline goodness : 0.251607 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.00 [[ 0.99980875 0.01600889 -0.0112333 0.11339091] [-0.01618996 0.9997374 -0.01621783 0.00802636] [ 0.01097072 0.0163966 0.99980538 -0.00423899] [ 0. 0. 0. 1. ]] SLAMing on 0.17654761499999996 meters Centerline goodness : 0.241043 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:-0.01 [[ 0.99997669 -0.00315206 -0.00605625 0.1406568 ] [ 0.00321239 0.99994506 0.00997783 -0.0017206 ] [ 0.00602447 -0.00999705 0.99993188 -0.01012107] [ 0. 0. 0. 1. ]] SLAMing on 0.20654761499999996 meters Centerline goodness : 0.243679 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.01 [[ 0.99989766 -0.01175927 -0.0081476 0.15117408] [ 0.01179511 0.99992091 0.0043647 -0.00836193] [ 0.00809563 -0.00446036 0.99995728 -0.01345888] [ 0. 0. 0. 1. ]] SLAMing on 0.23654761499999996 meters Centerline goodness : 0.247856 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:-0.01 [[ 0.99954194 -0.0295691 -0.00644809 0.18062749] [ 0.02946337 0.9994391 -0.01591817 -0.02085291] [ 0.00691516 0.0157209 0.99985251 -0.0098428 ] [ 0. 0. 0. 1. ]] SLAMing on 0.26654761499999996 meters Centerline goodness : 0.228521 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.01 [[ 9.99387962e-01 -3.49726873e-02 -7.83232032e-04 1.96428592e-01] [ 3.49365510e-02 9.98988960e-01 -2.82930385e-02 -2.57725295e-02] [ 1.77192374e-03 2.82483586e-02 9.99599365e-01 -7.77976639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.296547615 meters Centerline goodness : 0.222041 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:-0.00 [[ 0.99933102 -0.0360872 0.00593533 0.23466097] [ 0.03630505 0.99845838 -0.04198575 -0.03435294] [-0.00441103 0.04217315 0.99910058 -0.00396613] [ 0. 0. 0. 1. ]] SLAMing on 0.32654761499999996 meters Centerline goodness : 0.193124 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.00 [[ 0.99947237 -0.03215115 0.00461323 0.27324931] [ 0.03223931 0.99926969 -0.02051137 -0.03863704] [-0.0039504 0.02064927 0.99977898 -0.00305808] [ 0. 0. 0. 1. ]] SLAMing on 0.356547615 meters Centerline goodness : 0.188709 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.00 [[ 9.99708488e-01 -2.41253353e-02 9.52778749e-04 2.88790616e-01] [ 2.41324647e-02 9.99673831e-01 -8.35803242e-03 -3.53807189e-02] [-7.50827646e-04 8.37858885e-03 9.99964617e-01 -4.81453985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38654761499999996 meters Centerline goodness : 0.189647 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.04, Z:-0.01 [[ 0.99974653 -0.02244332 -0.00178184 0.30511267] [ 0.02244141 0.99974757 -0.00108618 -0.0355525 ] [ 0.00180577 0.00104592 0.99999782 -0.00567333] [ 0. 0. 0. 1. ]] SLAMing on 0.416547615 meters Centerline goodness : 0.223221 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.03, Z:-0.00 [[ 0.99983003 -0.0172008 0.00663663 0.34649148] [ 0.01725713 0.99981472 -0.00852699 -0.0335473 ] [-0.00648873 0.00864007 0.99994162 -0.0018394 ] [ 0. 0. 0. 1. ]] SLAMing on 0.44654761499999995 meters Centerline goodness : 0.187752 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.03, Z:0.00 [[ 0.99985818 -0.01191608 0.01190037 0.38781651] [ 0.01216022 0.99971266 -0.02065739 -0.03440793] [-0.01165079 0.02079917 0.99971579 0.00105216] [ 0. 0. 0. 1. ]] SLAMing on 0.476547615 meters Centerline goodness : 0.185118 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:-0.00 [[ 0.99993703 -0.00866358 0.00713303 0.40540117] [ 0.00877664 0.99983389 -0.01597368 -0.03012761] [-0.00699345 0.01603528 0.99984697 -0.00470905] [ 0. 0. 0. 1. ]] SLAMing on 0.5065476149999999 meters Centerline goodness : 0.325697 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:-0.02 [[ 9.99994701e-01 -6.18230725e-04 3.19617520e-03 4.42784298e-01] [ 6.16893467e-04 9.99999722e-01 4.19362154e-04 -1.31186072e-02] [-3.19643358e-03 -4.17388233e-04 9.99994804e-01 -1.93211526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5365476149999999 meters Centerline goodness : 0.343528 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.00, Z:-0.03 [[ 9.99988680e-01 4.75810144e-03 -1.06056370e-06 4.55505816e-01] [-4.75804252e-03 9.99977359e-01 4.75841897e-03 -4.69835365e-03] [ 2.37015798e-05 -4.75836006e-03 9.99988679e-01 -2.58945586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.566547615 meters Centerline goodness : 0.317720 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:-0.03 [[ 9.99920754e-01 1.22420371e-02 2.93575302e-03 4.91576030e-01] [-1.21957844e-02 9.99808771e-01 -1.52867625e-02 7.63199964e-04] [-3.12233273e-03 1.52497472e-02 9.99878841e-01 -2.55430957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.596547615 meters Centerline goodness : 0.388228 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.03 [[ 0.99991574 0.01140993 0.00619153 0.50313203] [-0.01121722 0.99947749 -0.03031371 -0.00483785] [-0.00653417 0.0302417 0.99952126 -0.02507816] [ 0. 0. 0. 1. ]] SLAMing on 0.6265476149999999 meters Centerline goodness : 0.284630 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.02 [[ 0.99999048 0.00412199 0.00143112 0.54482552] [-0.00406254 0.99921847 -0.03931859 -0.01155125] [-0.00159207 0.0393124 0.9992257 -0.0202846 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6565476149999999 meters Centerline goodness : 0.346122 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:-0.02 [[ 0.99999361 -0.00178626 0.003097 0.56117475] [ 0.00184374 0.9998242 -0.01865947 -0.0150885 ] [-0.00306313 0.01866506 0.9998211 -0.01986734] [ 0. 0. 0. 1. ]] SLAMing on 0.6865476149999999 meters Centerline goodness : 0.319639 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.03 [[ 0.9997234 -0.01721594 0.01602276 0.57915151] [ 0.01689722 0.99966079 0.01981897 -0.01382669] [-0.01635852 -0.01954275 0.99967519 -0.02734659] [ 0. 0. 0. 1. ]] SLAMing on 0.716547615 meters Centerline goodness : 0.342928 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.03 [[ 0.99972597 -0.01896701 0.01372002 0.61056166] [ 0.01854509 0.99937024 0.03025233 -0.01062426] [-0.01428518 -0.0299896 0.99944813 -0.0316448 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7465476149999999 meters Centerline goodness : 0.368330 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.03 [[ 0.99986139 -0.01372512 0.0094247 0.62721324] [ 0.013537 0.99971345 0.01974273 -0.00732991] [-0.00969297 -0.01961241 0.99976067 -0.03413896] [ 0. 0. 0. 1. ]] SLAMing on 0.7765476149999999 meters Centerline goodness : 0.372615 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.00, Z:-0.04 [[ 0.99991726 -0.00896352 0.009227 0.64077402] [ 0.00891225 0.9999447 0.00558287 -0.00255513] [-0.00927653 -0.00550017 0.99994185 -0.04010246] [ 0. 0. 0. 1. ]] SLAMing on 0.8065476149999999 meters Centerline goodness : 0.415296 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.04 [[ 9.99947436e-01 1.02179500e-02 8.48012312e-04 6.81440257e-01] [-1.01974473e-02 9.99718588e-01 -2.14186205e-02 1.18512089e-02] [-1.06662806e-03 2.14088471e-02 9.99770235e-01 -4.44472131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8365476149999999 meters Centerline goodness : 0.406598 Centerline is valid? [False, False] Translation: X:0.70, Y:0.02, Z:-0.05 [[ 0.99985325 0.01665416 -0.00401445 0.69644631] [-0.0167513 0.99953397 -0.02551936 0.01665183] [ 0.00358757 0.02558287 0.99966627 -0.04576116] [ 0. 0. 0. 1. ]] SLAMing on 0.8665476149999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.8965476149999999 meters Centerline goodness : 0.183432 Centerline is valid? [False, False] Translation: X:0.76, Y:0.01, Z:-0.04 [[ 0.99981667 0.01896205 -0.00266023 0.75893945] [-0.01902306 0.99950205 -0.02517491 0.01283016] [ 0.00218154 0.0252209 0.99967952 -0.03631467] [ 0. 0. 0. 1. ]] SLAMing on 0.9265476149999999 meters Centerline goodness : 0.176492 Centerline is valid? [False, False] Translation: X:0.76, Y:0.01, Z:-0.04 [[ 0.99981697 0.01754575 0.00762694 0.76449958] [-0.01743936 0.9997527 -0.01379903 0.00851808] [-0.00786717 0.01366349 0.9998757 -0.04093282] [ 0. 0. 0. 1. ]] SLAMing on 0.9565476149999999 meters Centerline goodness : 0.175781 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.99994011 0.00709232 0.00833577 0.77801876] [-0.00710421 0.99997379 0.00139796 0.00524044] [-0.00832563 -0.00145709 0.99996428 -0.03955 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9865476149999999 meters Centerline goodness : 0.077115 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.01, Z:-0.04 [[ 0.99979179 -0.00608625 0.01947636 0.80337234] [ 0.00579808 0.99987339 0.01481829 -0.00551268] [-0.01956408 -0.01470228 0.9997005 -0.04053001] [ 0. 0. 0. 1. ]] SLAMing on 1.016547615 meters Centerline goodness : 0.069781 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.04 [[ 0.9996428 -0.00681399 0.02584268 0.83459858] [ 0.0069579 0.99996076 -0.00548289 -0.01355885] [-0.02580431 0.00566074 0.99965099 -0.03968882] [ 0. 0. 0. 1. ]] SLAMing on 1.0465476149999997 meters Centerline goodness : 0.068215 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.04 [[ 0.99958758 -0.00541166 0.02820261 0.846258 ] [ 0.00595409 0.99979822 -0.01918493 -0.01599743] [-0.0280931 0.01934494 0.99941811 -0.04204112] [ 0. 0. 0. 1. ]] SLAMing on 1.0765476149999997 meters Centerline goodness : 0.066274 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.04 [[ 0.99968619 -0.00536959 0.0244683 0.85819893] [ 0.00596893 0.99968232 -0.02448754 -0.01745575] [-0.02432904 0.02462591 0.99940065 -0.04343382] [ 0. 0. 0. 1. ]] SLAMing on 1.1065476149999998 meters Centerline goodness : 0.061316 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.05 [[ 0.99989988 -0.00148915 0.01407177 0.88899428] [ 0.00177689 0.99978915 -0.02045737 -0.018196 ] [-0.01403834 0.02048032 0.99969169 -0.04628608] [ 0. 0. 0. 1. ]] SLAMing on 1.1365476149999998 meters Centerline goodness : 0.060351 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.05 [[ 0.99998924 0.00292794 0.00359765 0.91928411] [-0.00286902 0.99986346 -0.01627362 -0.01785452] [-0.0036448 0.01626312 0.9998611 -0.04634808] [ 0. 0. 0. 1. ]] SLAMing on 1.1665476149999998 meters Centerline goodness : 0.060121 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.02, Z:-0.05 [[ 9.99987896e-01 4.88261233e-03 6.06382864e-04 9.28748691e-01] [-4.87225186e-03 9.99859317e-01 -1.60501518e-02 -2.09440991e-02] [-6.84664225e-04 1.60470031e-02 9.99871004e-01 -4.80742297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1965476149999998 meters Centerline goodness : 0.061643 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.02, Z:-0.05 [[ 0.99995736 0.00484936 -0.00785869 0.95266926] [-0.0049628 0.99988284 -0.01448026 -0.02405411] [ 0.00778755 0.01451864 0.99986427 -0.04736181] [ 0. 0. 0. 1. ]] SLAMing on 1.2265476149999996 meters Centerline goodness : 0.084716 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.02, Z:-0.05 [[ 0.99993488 0.00708465 -0.00894679 0.96006099] [-0.00718127 0.99991575 -0.01081333 -0.01831792] [ 0.00886943 0.01087688 0.99990151 -0.04999003] [ 0. 0. 0. 1. ]] SLAMing on 1.2565476149999997 meters Centerline goodness : 0.522263 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.01, Z:-0.05 [[ 0.99990654 0.01299673 -0.0042416 0.98202114] [-0.01295891 0.99987709 0.00882452 -0.00829043] [ 0.00435577 -0.00876873 0.99995207 -0.05119307] [ 0. 0. 0. 1. ]] SLAMing on 1.2865476149999997 meters Centerline goodness : 0.522263 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.01, Z:-0.05 [[ 0.99990654 0.01299673 -0.0042416 0.98202114] [-0.01295891 0.99987709 0.00882452 -0.00829043] [ 0.00435577 -0.00876873 0.99995207 -0.05119307] [ 0. 0. 0. 1. ]] SLAMing on 1.3165476149999997 meters Centerline goodness : 0.527225 Centerline is valid? [False, False] Translation: X:1.00, Y:0.00, Z:-0.05 [[ 9.99820517e-01 1.89278927e-02 -8.17498428e-04 1.00353783e+00] [-1.89258491e-02 9.99817915e-01 2.43907666e-03 1.27951485e-03] [ 8.63516155e-04 -2.42316703e-03 9.99996691e-01 -5.28023405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3465476149999998 meters Centerline goodness : 0.536321 Centerline is valid? [False, False] Translation: X:1.01, Y:0.00, Z:-0.05 [[ 9.99748424e-01 2.24285495e-02 2.22902455e-04 1.01455948e+00] [-2.24247171e-02 9.99687437e-01 -1.10525983e-02 3.44729009e-03] [-4.70726532e-04 1.10448192e-02 9.99938893e-01 -5.40285859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3765476149999998 meters Centerline goodness : 0.532151 Centerline is valid? [False, False] Translation: X:1.05, Y:0.00, Z:-0.06 [[ 0.99954665 0.02982686 -0.00410444 1.04546281] [-0.02994476 0.99902229 -0.03252353 0.00433279] [ 0.00313036 0.0326317 0.99946254 -0.05677539] [ 0. 0. 0. 1. ]] SLAMing on 1.4065476149999998 meters Centerline goodness : 0.532905 Centerline is valid? [False, False] Translation: X:1.06, Y:0.00, Z:-0.06 [[ 0.99948397 0.03120006 -0.00763925 1.05803654] [-0.03140281 0.99911338 -0.02804126 0.0037149 ] [ 0.00675759 0.02826668 0.99957758 -0.05562849] [ 0. 0. 0. 1. ]] SLAMing on 1.4365476149999996 meters Centerline goodness : 0.531375 Centerline is valid? [False, False] Translation: X:1.09, Y:0.00, Z:-0.05 [[ 9.99656904e-01 2.61660752e-02 -1.18798880e-03 1.09385525e+00] [-2.61776023e-02 9.99596439e-01 -1.10314669e-02 9.85899247e-04] [ 8.98859176e-04 1.10587807e-02 9.99938446e-01 -5.13335969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4665476149999996 meters Centerline goodness : 0.534542 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.00, Z:-0.05 [[ 9.99726431e-01 2.29374970e-02 -4.57546729e-03 1.10690082e+00] [-2.29828544e-02 9.99684638e-01 -1.01199694e-02 -3.51182019e-05] [ 4.34189759e-03 1.02223582e-02 9.99938324e-01 -5.03326441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4965476149999997 meters Centerline goodness : 0.563096 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.00, Z:-0.05 [[ 0.99993362 0.01009469 -0.00555445 1.14061185] [-0.01004751 0.99991375 0.00845835 -0.00161865] [ 0.00563935 -0.00840198 0.9999488 -0.05279544] [ 0. 0. 0. 1. ]] SLAMing on 1.5265476149999997 meters Centerline goodness : 0.514970 Centerline is valid? [False, False] Translation: X:1.16, Y:0.00, Z:-0.06 [[ 0.99991125 0.01018267 -0.00859067 1.15507688] [-0.01008619 0.9998864 0.01120049 0.00186402] [ 0.00870374 -0.01111285 0.99990037 -0.05625418] [ 0. 0. 0. 1. ]] SLAMing on 1.5565476149999997 meters Centerline goodness : 0.540674 Centerline is valid? [False, False] Translation: X:1.18, Y:0.01, Z:-0.06 [[ 0.99992665 0.01037349 -0.00625146 1.18377828] [-0.01036562 0.99994545 0.00128862 0.0065398 ] [ 0.00626448 -0.00122372 0.99997963 -0.06374754] [ 0. 0. 0. 1. ]] SLAMing on 1.5865476149999997 meters Centerline goodness : 0.547455 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:-0.06 [[ 0.99961768 0.02113381 -0.01782828 1.22323931] [-0.02154624 0.99949707 -0.02326749 0.0094283 ] [ 0.01732758 0.02364273 0.9995703 -0.06246831] [ 0. 0. 0. 1. ]] SLAMing on 1.6165476149999998 meters Centerline goodness : 0.547667 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.06 [[ 0.99956795 0.02093594 -0.02063017 1.23080039] [-0.02143473 0.99947586 -0.02426037 0.00842371] [ 0.02011145 0.0246921 0.99949279 -0.06320886] [ 0. 0. 0. 1. ]] SLAMing on 1.6465476149999996 meters Centerline goodness : 0.295001 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.07 [[ 0.99969566 0.01908185 -0.01563526 1.25441146] [-0.01936293 0.99964998 -0.01802784 0.0077994 ] [ 0.01528578 0.0183251 0.99971523 -0.06574034] [ 0. 0. 0. 1. ]] SLAMing on 1.6765476149999996 meters Centerline goodness : 0.225177 Centerline is valid? [False, False] Translation: X:1.26, Y:0.01, Z:-0.07 [[ 0.99984622 0.01614978 -0.0068359 1.25882521] [-0.0161894 0.99985223 -0.00578073 0.00829147] [ 0.00674153 0.00589051 0.99995993 -0.07156568] [ 0. 0. 0. 1. ]] SLAMing on 1.7065476149999996 meters Centerline goodness : 0.155162 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:-0.07 [[ 0.99994367 0.00895552 -0.00569671 1.29513005] [-0.00881877 0.99968276 0.0235926 0.00939955] [ 0.00590619 -0.02354104 0.99970542 -0.07133233] [ 0. 0. 0. 1. ]] SLAMing on 1.7365476149999997 meters Centerline goodness : 0.549107 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:-0.07 [[ 0.99997455 0.00403752 -0.00588229 1.31569655] [-0.00387423 0.99961401 0.02751037 0.01190655] [ 0.00599109 -0.02748688 0.99960421 -0.07262295] [ 0. 0. 0. 1. ]] SLAMing on 1.7665476149999997 meters Centerline goodness : 0.546268 Centerline is valid? [False, False] Translation: X:1.34, Y:0.01, Z:-0.07 [[ 9.99996220e-01 -9.93582495e-04 -2.56361401e-03 1.34383043e+00] [ 1.03837331e-03 9.99845799e-01 1.75299790e-02 9.79141454e-03] [ 2.54580122e-03 -1.75325748e-02 9.99843052e-01 -6.86940745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7965476149999997 meters Centerline goodness : 0.543290 Centerline is valid? [False, False] Translation: X:1.36, Y:0.01, Z:-0.07 [[ 0.99998873 -0.00390749 0.00269665 1.36326592] [ 0.00388932 0.99996992 0.00671001 0.01043777] [-0.00272279 -0.00669945 0.99997385 -0.06794321] [ 0. 0. 0. 1. ]] SLAMing on 1.8265476149999997 meters Centerline goodness : 0.568348 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:-0.07 [[ 0.99997441 0.0028867 0.00654584 1.40719145] [-0.00274062 0.99974941 -0.02221711 0.00818624] [-0.00660833 0.0221986 0.99973174 -0.06841428] [ 0. 0. 0. 1. ]] SLAMing on 1.8565476149999995 meters Centerline goodness : 0.553358 Centerline is valid? [False, False] Translation: X:1.44, Y:0.00, Z:-0.07 [[ 0.99992129 0.00925579 0.00847041 1.44342015] [-0.00909783 0.99978745 -0.01850081 0.00464364] [-0.00863985 0.0184223 0.99979296 -0.06769661] [ 0. 0. 0. 1. ]] SLAMing on 1.8865476149999996 meters Centerline goodness : 0.563308 Centerline is valid? [False, False] Translation: X:1.47, Y:0.01, Z:-0.07 [[ 0.99989995 0.01244987 0.00671527 1.46587249] [-0.0124151 0.99990944 -0.00519438 0.00570535] [-0.00677933 0.00511049 0.99996396 -0.06675381] [ 0. 0. 0. 1. ]] SLAMing on 1.9165476149999996 meters Centerline goodness : 0.531985 Centerline is valid? [False, False] Translation: X:1.50, Y:0.00, Z:-0.07 [[ 9.99954775e-01 4.11907993e-03 8.57212556e-03 1.50213598e+00] [-4.27727071e-03 9.99819372e-01 1.85183187e-02 1.14409140e-03] [-8.49429876e-03 -1.85541466e-02 9.99791774e-01 -6.84512547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9465476149999996 meters Centerline goodness : 0.529070 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.07 [[ 9.99964848e-01 3.99469851e-03 7.37193067e-03 1.51152751e+00] [-4.14220333e-03 9.99789326e-01 2.01033884e-02 -4.30007627e-04] [-7.29007061e-03 -2.01332178e-02 9.99770728e-01 -7.41363388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9765476149999996 meters Centerline goodness : 0.520324 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.00, Z:-0.07 [[ 9.99991675e-01 3.02648385e-03 -2.73673284e-03 1.54527429e+00] [-2.97650041e-03 9.99831983e-01 1.80871586e-02 -1.39914225e-03] [ 2.79101352e-03 -1.80788622e-02 9.99832668e-01 -7.33003125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0065476149999997 meters Centerline goodness : 0.512388 Centerline is valid? [False, False] Translation: X:1.56, Y:0.00, Z:-0.08 [[ 9.99960410e-01 8.84034877e-03 -1.01325409e-03 1.55890473e+00] [-8.83134981e-03 9.99924313e-01 8.56595926e-03 9.17084700e-04] [ 1.08890347e-03 -8.55667173e-03 9.99962798e-01 -7.79987478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.036547615 meters Centerline goodness : 0.474276 Centerline is valid? [False, False] Translation: X:1.60, Y:0.01, Z:-0.08 [[ 0.99965827 0.0250027 -0.00763006 1.59814601] [-0.02506885 0.99964786 -0.00870063 0.00707683] [ 0.00740983 0.00888894 0.99993304 -0.07768687] [ 0. 0. 0. 1. ]] SLAMing on 2.0665476149999997 meters Centerline goodness : 0.462797 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.08 [[ 0.99958383 0.0267012 -0.01091857 1.60790252] [-0.02681004 0.99959106 -0.00994625 0.01066724] [ 0.01064853 0.01023484 0.99989092 -0.07894794] [ 0. 0. 0. 1. ]] SLAMing on 2.096547615 meters Centerline goodness : 0.447460 Centerline is valid? [False, False] Translation: X:1.63, Y:0.01, Z:-0.08 [[ 0.99944048 0.02889742 -0.01684251 1.63014845] [-0.02902411 0.99955186 -0.00732726 0.01471627] [ 0.01662323 0.00781199 0.99983131 -0.08100556] [ 0. 0. 0. 1. ]] SLAMing on 2.126547615 meters Centerline goodness : 0.528538 Centerline is valid? [False, False] Translation: X:1.64, Y:0.02, Z:-0.08 [[ 0.99933072 0.03179602 -0.01808688 1.63755434] [-0.0318752 0.99948342 -0.0041066 0.01597663] [ 0.01794696 0.00468037 0.99982799 -0.08471522] [ 0. 0. 0. 1. ]] SLAMing on 2.156547615 meters Centerline goodness : 0.526426 Centerline is valid? [False, False] Translation: X:1.64, Y:0.02, Z:-0.09 [[ 9.99205320e-01 3.48239651e-02 -1.93912327e-02 1.64481077e+00] [-3.48299488e-02 9.99393253e-01 2.91716536e-05 1.67166740e-02] [ 1.93804830e-02 6.46247170e-04 9.99811972e-01 -8.68657741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.186547615 meters Centerline goodness : 0.524736 Centerline is valid? [False, False] Translation: X:1.68, Y:0.02, Z:-0.08 [[ 0.99950791 0.02709732 -0.01580083 1.67985209] [-0.02691826 0.99957221 0.0114371 0.01587295] [ 0.01610398 -0.01100614 0.99980975 -0.08285745] [ 0. 0. 0. 1. ]] SLAMing on 2.2165476149999996 meters Centerline goodness : 0.519573 Centerline is valid? [False, False] Translation: X:1.71, Y:0.01, Z:-0.07 [[ 0.99958674 0.02607077 -0.01211012 1.70569671] [-0.0259559 0.99961749 0.00954813 0.01215476] [ 0.01235442 -0.00922986 0.99988108 -0.07237389] [ 0. 0. 0. 1. ]] SLAMing on 2.246547615 meters Centerline goodness : 0.516612 Centerline is valid? [False, False] Translation: X:1.72, Y:0.01, Z:-0.07 [[ 0.99965092 0.02607707 -0.00424447 1.72046457] [-0.02606027 0.99965251 0.00396626 0.01195622] [ 0.00434643 -0.00385426 0.99998313 -0.07110797] [ 0. 0. 0. 1. ]] SLAMing on 2.2765476149999997 meters Centerline goodness : 0.503881 Centerline is valid? [False, False] Translation: X:1.75, Y:0.01, Z:-0.07 [[ 9.99840935e-01 1.77433432e-02 1.81050353e-03 1.74608088e+00] [-1.77534052e-02 9.99826139e-01 5.70166578e-03 9.87432553e-03] [-1.70902214e-03 -5.73290145e-03 9.99982106e-01 -7.48543427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.306547615 meters Centerline goodness : 0.498753 Centerline is valid? [False, False] Translation: X:1.75, Y:0.01, Z:-0.08 [[ 9.99793526e-01 2.03159782e-02 4.08456094e-04 1.75345009e+00] [-2.03188590e-02 9.99751967e-01 9.11861760e-03 1.03894342e-02] [-2.23101147e-04 -9.12503420e-03 9.99958341e-01 -7.77579981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3365476149999997 meters Centerline goodness : 0.399040 Centerline is valid? [False, False] Translation: X:1.79, Y:0.02, Z:-0.09 [[ 0.99986621 0.01619778 -0.0022782 1.78762505] [-0.01616401 0.99976943 0.01413517 0.01526936] [ 0.00250663 -0.01409646 0.9998975 -0.08763087] [ 0. 0. 0. 1. ]] SLAMing on 2.366547615 meters Centerline goodness : 0.496937 Centerline is valid? [False, False] Translation: X:1.79, Y:0.02, Z:-0.09 [[ 0.99988847 0.01447733 -0.00366907 1.79491345] [-0.01442919 0.99981367 0.01282261 0.01565557] [ 0.00385403 -0.01276823 0.99991106 -0.09107175] [ 0. 0. 0. 1. ]] SLAMing on 2.396547615 meters Centerline goodness : 0.485345 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:-0.09 [[ 0.99988315 0.01439652 -0.0051415 1.82977304] [-0.01441479 0.99988986 -0.0035333 0.01816125] [ 0.00509007 0.003607 0.99998054 -0.09339253] [ 0. 0. 0. 1. ]] SLAMing on 2.4265476149999996 meters Centerline goodness : 0.468318 Centerline is valid? [False, False] Translation: X:1.87, Y:0.01, Z:-0.09 [[ 0.99979922 0.01904338 -0.00623479 1.86680215] [-0.01909423 0.99978405 -0.00820099 0.01458061] [ 0.00607727 0.00831839 0.99994693 -0.08931552] [ 0. 0. 0. 1. ]] SLAMing on 2.456547615 meters Centerline goodness : 0.460861 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:-0.09 [[ 0.99972035 0.02216286 -0.00824765 1.87335527] [-0.02219512 0.99974628 -0.00383969 0.01641476] [ 0.00816046 0.00402167 0.99995862 -0.08746186] [ 0. 0. 0. 1. ]] SLAMing on 2.4865476149999997 meters Centerline goodness : 0.443729 Centerline is valid? [False, False] Translation: X:1.90, Y:0.02, Z:-0.09 [[ 0.99983394 0.01440269 -0.01116493 1.89736077] [-0.01443612 0.99989153 -0.00291947 0.01811981] [ 0.01112167 0.00308016 0.99993341 -0.08751797] [ 0. 0. 0. 1. ]] SLAMing on 2.516547615 meters Centerline goodness : 0.434761 Centerline is valid? [False, False] Translation: X:1.90, Y:0.02, Z:-0.09 [[ 0.99982996 0.01363145 -0.01241889 1.90300348] [-0.01366984 0.99990203 -0.00301152 0.01724973] [ 0.01237662 0.00318077 0.99991835 -0.08910958] [ 0. 0. 0. 1. ]] SLAMing on 2.5465476149999997 meters Centerline goodness : 0.417454 Centerline is valid? [False, False] Translation: X:1.92, Y:0.02, Z:-0.09 [[ 9.99805555e-01 1.19550320e-02 -1.56821402e-02 1.91717426e+00] [-1.19839682e-02 9.99926654e-01 -1.75249159e-03 1.56460974e-02] [ 1.56600388e-02 1.94008509e-03 9.99875492e-01 -8.99706894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.576547615 meters Centerline goodness : 0.324773 Centerline is valid? [False, False] Translation: X:1.93, Y:0.02, Z:-0.09 [[ 0.99992423 0.01063546 -0.00619883 1.92922323] [-0.01068719 0.99990783 -0.00837321 0.01653968] [ 0.00610921 0.00843882 0.99994573 -0.09095793] [ 0. 0. 0. 1. ]] SLAMing on 2.6065476149999998 meters Centerline goodness : 0.364664 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.09 [[ 9.99967083e-01 8.02040386e-03 1.22691614e-03 1.94592371e+00] [-8.00085466e-03 9.99852686e-01 -1.51852639e-02 1.39328435e-02] [-1.34852734e-03 1.51749476e-02 9.99883944e-01 -8.75532466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6365476149999996 meters Centerline goodness : 0.376861 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.09 [[ 9.99971189e-01 7.59082557e-03 -2.11750033e-05 1.95019481e+00] [-7.59034926e-03 9.99868459e-01 -1.43335425e-02 1.15804990e-02] [-8.76312029e-05 1.43332902e-02 9.99897269e-01 -8.64649287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.666547615 meters Centerline goodness : 0.199697 Centerline is valid? [False, False] Translation: X:1.98, Y:0.01, Z:-0.09 [[ 9.99996849e-01 -3.58806858e-04 -2.48452244e-03 1.97622909e+00] [ 3.68574612e-04 9.99992201e-01 3.93209997e-03 1.41798455e-02] [ 2.48309220e-03 -3.93300331e-03 9.99989183e-01 -9.14228309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6965476149999996 meters Centerline goodness : 0.148276 Centerline is valid? [False, False] Translation: X:1.98, Y:0.02, Z:-0.09 [[ 0.99999082 0.00253489 -0.00345566 1.98299814] [-0.00250919 0.99996931 0.00742122 0.01944292] [ 0.00347437 -0.00741248 0.99996649 -0.09443165] [ 0. 0. 0. 1. ]] SLAMing on 2.726547615 meters Centerline goodness : 0.342465 Centerline is valid? [False, False] Translation: X:2.01, Y:0.03, Z:-0.10 [[ 9.99972003e-01 7.38594850e-03 1.20060955e-03 2.00540871e+00] [-7.38785045e-03 9.99971449e-01 1.58750815e-03 2.87034276e-02] [-1.18885001e-03 -1.59633363e-03 9.99998019e-01 -1.00254741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7565476149999997 meters Centerline goodness : 0.298111 Centerline is valid? [False, False] Translation: X:2.01, Y:0.03, Z:-0.10 [[ 9.99999677e-01 -4.52176647e-04 -6.64803847e-04 2.00945518e+00] [ 4.47140699e-04 9.99971354e-01 -7.55582266e-03 3.06585947e-02] [ 6.68201370e-04 7.55552296e-03 9.99971233e-01 -9.80862265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.786547615 meters Centerline goodness : 0.308467 Centerline is valid? [False, False] Translation: X:2.02, Y:0.03, Z:-0.10 [[ 9.99999248e-01 -8.71466294e-05 1.22310879e-03 2.01841880e+00] [ 1.16753139e-04 9.99706481e-01 -2.42267908e-02 3.11497379e-02] [-1.22063851e-03 2.42269154e-02 9.99705740e-01 -9.97876385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8165476149999997 meters Centerline goodness : 0.246604 Centerline is valid? [False, False] Translation: X:2.06, Y:0.03, Z:-0.10 [[ 0.99992141 0.00254299 -0.01227643 2.05780236] [-0.00281564 0.99974862 -0.02224355 0.03252138] [ 0.01221678 0.02227637 0.9996772 -0.10234247] [ 0. 0. 0. 1. ]] SLAMing on 2.8465476149999995 meters Centerline goodness : 0.276114 Centerline is valid? [False, False] Translation: X:2.09, Y:0.04, Z:-0.11 [[ 9.99824997e-01 1.89161724e-03 -1.86117515e-02 2.08709154e+00] [-1.47051182e-03 9.99743200e-01 2.26135085e-02 4.34380913e-02] [ 1.86497481e-02 -2.25821823e-02 9.99571024e-01 -1.08384938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.876547615 meters Centerline goodness : 0.335262 Centerline is valid? [False, False] Translation: X:2.10, Y:0.05, Z:-0.11 [[ 0.9997394 0.01159157 -0.01966623 2.09591481] [-0.01091432 0.99935535 0.03420187 0.05069176] [ 0.02005 -0.03397831 0.99922143 -0.11127807] [ 0. 0. 0. 1. ]] SLAMing on 2.9065476149999996 meters Centerline goodness : 0.126597 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.11 [[ 0.99984037 0.01181477 -0.01340323 2.11350863] [-0.01148554 0.99963677 0.02438068 0.06254365] [ 0.01368641 -0.02422285 0.99961289 -0.11409263] [ 0. 0. 0. 1. ]] SLAMing on 2.936547615 meters Centerline goodness : 0.161839 Centerline is valid? [False, False] Translation: X:2.12, Y:0.07, Z:-0.11 [[ 0.99995088 0.00836834 -0.00531145 2.12035756] [-0.00831923 0.99992305 0.00920216 0.0654849 ] [ 0.00538805 -0.00915752 0.99994355 -0.11397438] [ 0. 0. 0. 1. ]] SLAMing on 2.9665476149999996 meters Centerline goodness : 0.170438 Centerline is valid? [False, False] Translation: X:2.14, Y:0.06, Z:-0.11 [[ 0.99997032 0.00313439 0.00703823 2.13825396] [-0.00300359 0.999824 -0.01851906 0.064799 ] [-0.00709503 0.01849737 0.99980373 -0.10882135] [ 0. 0. 0. 1. ]] SLAMing on 2.996547615 meters Centerline goodness : 0.104934 Centerline is valid? [False, False] Translation: X:2.17, Y:0.06, Z:-0.10 [[ 0.99989944 -0.00701421 0.0123252 2.16668438] [ 0.00716716 0.99989732 -0.01240916 0.05560533] [-0.01223689 0.01249625 0.99984704 -0.10181212] [ 0. 0. 0. 1. ]] SLAMing on 3.0265476149999997 meters Centerline goodness : 0.103145 Centerline is valid? [False, False] Translation: X:2.18, Y:0.05, Z:-0.10 [[ 0.99992338 -0.00602112 0.01081537 2.17629515] [ 0.00608605 0.9999636 -0.00597998 0.05075191] [-0.01077897 0.00604534 0.99992363 -0.10078927] [ 0. 0. 0. 1. ]] SLAMing on 3.0565476149999995 meters Centerline goodness : 0.106464 Centerline is valid? [False, False] Translation: X:2.19, Y:0.05, Z:-0.11 [[ 9.99940350e-01 -3.76602164e-03 1.02525145e-02 2.18668480e+00] [ 3.76089454e-03 9.99992793e-01 5.19315633e-04 4.73224064e-02] [-1.02543964e-02 -4.80726030e-04 9.99947307e-01 -1.05438984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0865476149999997 meters Centerline goodness : 0.127961 Centerline is valid? [False, False] Translation: X:2.23, Y:0.04, Z:-0.11 [[ 0.99989946 -0.01380928 0.00322228 2.22932416] [ 0.01373762 0.9996789 0.02129257 0.03954455] [-0.00351528 -0.02124616 0.99976809 -0.10710163] [ 0. 0. 0. 1. ]] SLAMing on 3.1165476149999995 meters Centerline goodness : 0.202654 Centerline is valid? [False, False] Translation: X:2.26, Y:0.04, Z:-0.11 [[ 9.99897281e-01 -1.41022449e-02 -2.56006456e-03 2.25674583e+00] [ 1.41545318e-02 9.99664195e-01 2.17059261e-02 3.64007464e-02] [ 2.25310259e-03 -2.17399330e-02 9.99761121e-01 -1.05538080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.146547615 meters Centerline goodness : 0.272486 Centerline is valid? [False, False] Translation: X:2.26, Y:0.04, Z:-0.11 [[ 9.99952707e-01 -9.71977872e-03 3.31481225e-04 2.26315267e+00] [ 9.71683344e-03 9.99921119e-01 7.95858419e-03 3.85893883e-02] [-4.08810755e-04 -7.95498685e-03 9.99968275e-01 -1.09306324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1765476149999996 meters Centerline goodness : 0.272486 Centerline is valid? [False, False] Translation: X:2.26, Y:0.04, Z:-0.11 [[ 9.99952707e-01 -9.71977872e-03 3.31481225e-04 2.26315267e+00] [ 9.71683344e-03 9.99921119e-01 7.95858419e-03 3.85893883e-02] [-4.08810755e-04 -7.95498685e-03 9.99968275e-01 -1.09306324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.206547615 meters Centerline goodness : 0.165779 Centerline is valid? [False, False] Translation: X:2.27, Y:0.05, Z:-0.12 [[ 9.99969978e-01 -7.54758117e-03 1.75411806e-03 2.27328123e+00] [ 7.56667451e-03 9.99909254e-01 -1.11458247e-02 4.50662410e-02] [-1.66983486e-03 1.11587629e-02 9.99936345e-01 -1.15134857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2365476149999997 meters Centerline goodness : 0.093777 Centerline is valid? [False, False] Translation: X:2.28, Y:0.05, Z:-0.12 [[ 9.99966579e-01 -8.12460467e-03 9.12503007e-04 2.27630769e+00] [ 8.13526604e-03 9.99890511e-01 -1.23605437e-02 4.83588515e-02] [-8.11978567e-04 1.23675540e-02 9.99923189e-01 -1.16078726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2665476149999995 meters Centerline goodness : 0.192285 Centerline is valid? [False, False] Translation: X:2.29, Y:0.06, Z:-0.12 [[ 9.99929633e-01 -1.17701779e-02 -1.48082482e-03 2.29041086e+00] [ 1.17761672e-02 9.99922240e-01 4.10308400e-03 5.60991031e-02] [ 1.43241565e-03 -4.12023372e-03 9.99990486e-01 -1.20320425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2965476149999997 meters Centerline goodness : 0.195963 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:-0.13 [[ 9.99960472e-01 -8.68073830e-03 -1.92358733e-03 2.29843189e+00] [ 8.69728770e-03 9.99923729e-01 8.76887141e-03 6.06625044e-02] [ 1.84732034e-03 -8.78525478e-03 9.99959703e-01 -1.25750560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3265476149999995 meters Centerline goodness : 0.203427 Centerline is valid? [False, False] Translation: X:2.31, Y:0.06, Z:-0.13 [[ 0.99988762 -0.01443959 -0.00403006 2.31482122] [ 0.0145341 0.99959417 0.02450031 0.06175255] [ 0.00367465 -0.02455613 0.9996917 -0.13136666] [ 0. 0. 0. 1. ]] SLAMing on 3.3565476149999998 meters Centerline goodness : 0.212428 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:-0.13 [[ 0.99980962 -0.01897003 -0.0045668 2.31743741] [ 0.01905736 0.99962023 0.01990488 0.06223987] [ 0.00418747 -0.01998812 0.99979145 -0.1324989 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3865476149999996 meters Centerline goodness : 0.232386 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:-0.13 [[ 0.99981853 -0.01857673 -0.00422135 2.32103077] [ 0.01859158 0.99982101 0.0035066 0.06310973] [ 0.00415546 -0.00358445 0.99998494 -0.13203312] [ 0. 0. 0. 1. ]] SLAMing on 3.416547615 meters Centerline goodness : 0.525026 Centerline is valid? [False, False] Translation: X:2.33, Y:0.06, Z:-0.13 [[ 0.99971225 -0.02370246 0.00369034 2.33084524] [ 0.02373059 0.99968816 -0.00777504 0.06267374] [-0.0035049 0.00786038 0.99996296 -0.12638953] [ 0. 0. 0. 1. ]] SLAMing on 3.4465476149999996 meters Centerline goodness : 0.550823 Centerline is valid? [False, False] Translation: X:2.33, Y:0.06, Z:-0.12 [[ 0.99973648 -0.02269166 0.00347233 2.33071112] [ 0.02271615 0.99971616 -0.00718138 0.06436398] [-0.00330838 0.00725837 0.99996818 -0.12372713] [ 0. 0. 0. 1. ]] SLAMing on 3.4765476149999994 meters Centerline goodness : 0.556993 Centerline is valid? [False, False] Translation: X:2.33, Y:0.07, Z:-0.13 [[ 0.99981248 -0.01907584 0.00333274 2.33333434] [ 0.01908958 0.9998092 -0.00414116 0.06597931] [-0.00325311 0.00420401 0.99998587 -0.12756022] [ 0. 0. 0. 1. ]] SLAMing on 3.5065476149999997 meters Centerline goodness : 0.554184 Centerline is valid? [False, False] Translation: X:2.34, Y:0.07, Z:-0.13 [[ 9.99871904e-01 -1.56771336e-02 3.22543656e-03 2.33670996e+00] [ 1.56820029e-02 9.99875920e-01 -1.48994490e-03 6.82523854e-02] [-3.20167828e-03 1.54033535e-03 9.99993688e-01 -1.32793004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5365476149999995 meters Centerline goodness : 0.544834 Centerline is valid? [False, False] Translation: X:2.34, Y:0.07, Z:-0.13 [[ 9.99846311e-01 -1.73237309e-02 2.69126394e-03 2.34054391e+00] [ 1.73243918e-02 9.99849897e-01 -2.22453251e-04 6.55148409e-02] [-2.68700625e-03 2.69043574e-04 9.99996354e-01 -1.31971529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5665476149999997 meters Centerline goodness : 0.563021 Centerline is valid? [False, False] Translation: X:2.34, Y:0.07, Z:-0.13 [[ 0.99977679 -0.02097427 0.00253921 2.34004912] [ 0.02098395 0.99977241 -0.00384791 0.06552919] [-0.00245792 0.00390034 0.99998937 -0.13031843] [ 0. 0. 0. 1. ]] SLAMing on 3.5965476149999995 meters Centerline goodness : 0.578016 Centerline is valid? [False, False] Translation: X:2.35, Y:0.06, Z:-0.12 [[ 0.99984814 -0.01698636 -0.00389461 2.3481615 ] [ 0.01696324 0.99983874 -0.00589422 0.06041932] [ 0.0039941 0.00582726 0.99997504 -0.12135681] [ 0. 0. 0. 1. ]] SLAMing on 3.626547615 meters Centerline goodness : 0.591184 Centerline is valid? [False, False] Translation: X:2.35, Y:0.06, Z:-0.12 [[ 9.99887558e-01 -1.43740117e-02 -4.27303106e-03 2.35018713e+00] [ 1.43683497e-02 9.99895855e-01 -1.35280171e-03 5.80244192e-02] [ 4.29203123e-03 1.29125320e-03 9.99989956e-01 -1.20190943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6565476149999996 meters Centerline goodness : 0.741528 Centerline is valid? [False, False] Translation: X:2.35, Y:0.06, Z:-0.12 [[ 9.99880726e-01 -1.47054728e-02 -4.72043590e-03 2.35183205e+00] [ 1.46966282e-02 9.99890188e-01 -1.90294055e-03 6.03051585e-02] [ 4.74790118e-03 1.83333909e-03 9.99987048e-01 -1.20742774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6865476149999994 meters Centerline goodness : 0.755065 Centerline is valid? [False, False] Translation: X:2.35, Y:0.06, Z:-0.12 [[ 0.99987062 -0.01523301 -0.00516615 2.354284 ] [ 0.01522041 0.99988111 -0.00246956 0.06014506] [ 0.00520315 0.00239061 0.99998361 -0.12291545] [ 0. 0. 0. 1. ]] SLAMing on 3.7165476149999996 meters Centerline goodness : 0.398571 Centerline is valid? [False, False] Translation: X:2.36, Y:0.06, Z:-0.13 [[ 9.99893684e-01 -1.34011756e-02 -5.74711623e-03 2.35918222e+00] [ 1.34052558e-02 9.99909920e-01 6.72015254e-04 5.87553039e-02] [ 5.73759273e-03 -7.48985371e-04 9.99983259e-01 -1.26207291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7465476149999994 meters Centerline goodness : 0.750580 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.13 [[ 0.9998989 -0.0063097 -0.01274249 2.39759963] [ 0.00640802 0.9999499 0.00768966 0.05808867] [ 0.01269333 -0.00777053 0.99988924 -0.13128009] [ 0. 0. 0. 1. ]] SLAMing on 3.7765476149999997 meters Centerline goodness : 0.775937 Centerline is valid? [False, False] Translation: X:2.52, Y:0.02, Z:-0.07 [[ 0.99864672 0.0119013 -0.050627 2.52250797] [-0.00840633 0.9976023 0.06869486 0.02191579] [ 0.05132317 -0.0681763 0.99635231 -0.07146209] [ 0. 0. 0. 1. ]] SLAMing on 3.8065476149999995 meters Centerline goodness : 0.744428 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:0.01 [[ 0.99541837 0.02188407 -0.09307713 2.62998126] [-0.00838028 0.98967749 0.14306723 -0.0172606 ] [ 0.09524723 -0.14163173 0.98532655 0.00536827] [ 0. 0. 0. 1. ]] SLAMing on 3.8365476149999997 meters Centerline goodness : 0.604785 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:0.01 [[ 0.99562993 0.01543994 -0.09210128 2.62192007] [-0.00466805 0.99323309 0.11604412 -0.02083385] [ 0.09326975 -0.11510707 0.98896467 0.00540826] [ 0. 0. 0. 1. ]] SLAMing on 3.8665476149999995 meters Centerline goodness : 0.806007 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.00 [[ 9.95531111e-01 1.11074119e-02 -9.37786342e-02 2.61202314e+00] [ 3.01529999e-04 9.92679642e-01 1.20776808e-01 -1.89462460e-02] [ 9.44336588e-02 -1.20265347e-01 9.88240118e-01 -1.10756997e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8965476149999994 meters Centerline goodness : 0.779777 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.04, Z:0.05 [[ 9.91168169e-01 2.79232105e-02 -1.29637780e-01 2.69917163e+00] [-2.14987853e-03 9.80834915e-01 1.94828765e-01 -4.16704497e-02] [ 1.32593506e-01 -1.92829365e-01 9.72232379e-01 5.42025420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9265476149999996 meters Centerline goodness : 0.799626 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.05, Z:0.08 [[ 9.87213644e-01 4.07955154e-02 -1.54093954e-01 2.76589189e+00] [-2.11061670e-03 9.69956617e-01 2.43268796e-01 -5.00638824e-02] [ 1.59388726e-01 -2.39833041e-01 9.57640510e-01 7.71296547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9565476149999994 meters Centerline goodness : 0.798791 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:0.13 [[ 0.98109696 0.01176207 -0.19315902 2.82585399] [ 0.04766026 0.95271921 0.30009099 -0.04588942] [ 0.187556 -0.30362437 0.93414934 0.12604165] [ 0. 0. 0. 1. ]] SLAMing on 3.9865476149999997 meters Centerline goodness : 0.836125 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:0.13 [[ 0.98068854 0.01980823 -0.19457034 2.83102949] [ 0.03720163 0.95780074 0.28501541 -0.04534032] [ 0.19200527 -0.28674968 0.93856731 0.13340023] [ 0. 0. 0. 1. ]] SLAMing on 4.0165476149999995 meters Centerline goodness : 0.816743 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:0.13 [[ 0.98006173 0.02075534 -0.19760624 2.81638439] [ 0.02401839 0.97486076 0.22151661 -0.04182891] [ 0.19723622 -0.22184614 0.95492521 0.13180065] [ 0. 0. 0. 1. ]] SLAMing on 4.046547615 meters Centerline goodness : 0.846309 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:0.12 [[ 0.97989642 0.02146753 -0.19834857 2.80327398] [ 0.01839021 0.98024193 0.19694559 -0.039731 ] [ 0.19865752 -0.19663395 0.96014076 0.12375423] [ 0. 0. 0. 1. ]] SLAMing on 4.076547615 meters Centerline goodness : 0.814422 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:0.11 [[ 0.97971389 0.02123319 -0.19927332 2.8140794 ] [ 0.01862685 0.98041812 0.19604425 -0.03419737] [ 0.19953381 -0.19577911 0.96013374 0.11398091] [ 0. 0. 0. 1. ]] SLAMing on 4.106547614999999 meters Centerline goodness : 0.842472 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:0.10 [[ 0.97969465 0.01830744 -0.1996578 2.82493818] [ 0.02109939 0.98087875 0.19347273 -0.03027106] [ 0.19938208 -0.19375686 0.96057538 0.10418169] [ 0. 0. 0. 1. ]] SLAMing on 4.136547615 meters Centerline goodness : 0.846578 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.03, Z:0.10 [[ 0.97894277 0.0126275 -0.20374395 2.84566143] [ 0.02788591 0.98045615 0.19475141 -0.02964715] [ 0.20222124 -0.19633207 0.95945833 0.10002746] [ 0. 0. 0. 1. ]] SLAMing on 4.166547615 meters Centerline goodness : 0.794251 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.03, Z:0.10 [[ 9.79897865e-01 2.09440918e-03 -1.99488817e-01 2.84934819e+00] [ 3.31488416e-02 9.84335173e-01 1.73162989e-01 -3.23109536e-02] [ 1.96726533e-01 -1.76294866e-01 9.64478507e-01 9.78151527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.196547614999999 meters Centerline goodness : 0.810802 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.03, Z:0.10 [[ 9.80876221e-01 -1.59898222e-03 -1.94626006e-01 2.84769633e+00] [ 3.23244057e-02 9.87417465e-01 1.54796260e-01 -3.14749302e-02] [ 1.91929601e-01 -1.58127141e-01 9.68585998e-01 9.56983503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.226547614999999 meters Centerline goodness : 0.871063 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.03, Z:0.10 [[ 0.98215663 -0.00620365 -0.1879624 2.84650558] [ 0.0295867 0.99210689 0.12185461 -0.0321539 ] [ 0.18572285 -0.1252415 0.97458791 0.09528816] [ 0. 0. 0. 1. ]] SLAMing on 4.256547615 meters Centerline goodness : 0.881648 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.03, Z:0.09 [[ 0.98257171 -0.00537037 -0.18580631 2.85314736] [ 0.02550505 0.99402359 0.10614425 -0.02952724] [ 0.18412582 -0.10903334 0.97683643 0.08803902] [ 0. 0. 0. 1. ]] SLAMing on 4.286547615 meters Centerline goodness : 0.836399 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:0.07 [[ 0.98216526 -0.00498276 -0.18795363 2.86427792] [ 0.02440853 0.99456846 0.10118198 -0.02121946] [ 0.18642859 -0.1039651 0.97695222 0.07272667] [ 0. 0. 0. 1. ]] SLAMing on 4.316547614999999 meters Centerline goodness : 0.838174 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.01, Z:0.06 [[ 0.9821321 -0.00620731 -0.18809042 2.86752331] [ 0.02451219 0.99516104 0.09515069 -0.01206604] [ 0.18658963 -0.09806105 0.97753176 0.06240623] [ 0. 0. 0. 1. ]] SLAMing on 4.3465476149999995 meters Centerline goodness : 0.868978 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:0.06 [[ 9.82973906e-01 -1.98960268e-03 -1.83734434e-01 2.88194366e+00] [ 1.86231985e-02 9.95870938e-01 8.88495986e-02 -2.61450242e-03] [ 1.82799008e-01 -9.07585598e-02 9.78952198e-01 5.83623004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.376547615 meters Centerline goodness : 0.853931 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:0.05 [[ 9.83302027e-01 -1.03650919e-03 -1.81978155e-01 2.88677212e+00] [ 1.46419518e-02 9.97192396e-01 7.34366265e-02 1.98212194e-03] [ 1.81391115e-01 -7.48748991e-02 9.80556481e-01 5.41860925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.406547614999999 meters Centerline goodness : 0.858426 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:0.05 [[ 9.83470125e-01 -7.47761064e-04 -1.81068923e-01 2.89247416e+00] [ 1.14503597e-02 9.98246857e-01 5.80698026e-02 4.41269707e-03] [ 1.80708061e-01 -5.91832203e-02 9.81754523e-01 5.13249409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.436547614999999 meters Centerline goodness : 0.855100 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.05 [[ 9.84093330e-01 -8.36480990e-04 -1.77650268e-01 2.89957892e+00] [ 8.72816189e-03 9.99008944e-01 4.36457203e-02 8.00336206e-03] [ 1.77437698e-01 -4.45020225e-02 9.83125340e-01 4.74534962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.466547615 meters Centerline goodness : 0.854981 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.05 [[ 9.84115340e-01 -8.56798420e-04 -1.77528207e-01 2.89926293e+00] [ 8.54412426e-03 9.99058143e-01 4.25420412e-02 1.15186786e-02] [ 1.77324551e-01 -4.33830984e-02 9.83195764e-01 4.65654172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.496547615 meters Centerline goodness : 0.856972 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.05 [[ 9.84054927e-01 -1.43627408e-03 -1.77859039e-01 2.89992142e+00] [ 9.04769188e-03 9.99077022e-01 4.19909912e-02 1.36848028e-02] [ 1.77634568e-01 -4.29306555e-02 9.83159661e-01 4.67416715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.526547614999999 meters Centerline goodness : 0.849662 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.05 [[ 9.83963964e-01 -2.50487903e-03 -1.78349778e-01 2.90226669e+00] [ 1.00610653e-02 9.99088868e-01 4.14754035e-02 1.38809322e-02] [ 1.78083387e-01 -4.26046912e-02 9.83092645e-01 4.59519135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5565476149999995 meters Centerline goodness : 0.848194 Centerline is valid? [False, False] Translation: X:2.91, Y:0.01, Z:0.04 [[ 0.98384345 -0.00459339 -0.17897197 2.90689396] [ 0.01199356 0.99911612 0.04028819 0.01434187] [ 0.17862872 -0.04178379 0.98302894 0.04347081] [ 0. 0. 0. 1. ]] SLAMing on 4.586547615 meters Centerline goodness : 0.847812 Centerline is valid? [False, False] Translation: X:2.91, Y:0.01, Z:0.04 [[ 0.98626446 -0.00969526 -0.16488909 2.90805183] [ 0.01589106 0.99921466 0.03629799 0.01399074] [ 0.16440768 -0.03841968 0.98564397 0.03934515] [ 0. 0. 0. 1. ]] SLAMing on 4.616547614999999 meters Centerline goodness : 0.850176 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.04 [[ 0.9872897 -0.01071091 -0.1585696 2.91770976] [ 0.01527378 0.99950278 0.0275845 0.01336576] [ 0.1581953 -0.02965585 0.9869624 0.03987 ] [ 0. 0. 0. 1. ]] SLAMing on 4.646547614999999 meters Centerline goodness : 0.857017 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:0.04 [[ 0.98814847 -0.01038924 -0.15314917 2.92667857] [ 0.01317319 0.99976572 0.0171745 0.01210478] [ 0.15293486 -0.01898842 0.98805383 0.03755384] [ 0. 0. 0. 1. ]] SLAMing on 4.676547615 meters Centerline goodness : 0.854249 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:0.04 [[ 0.98805644 -0.015168 -0.15334409 2.92771053] [ 0.01739174 0.999762 0.01317054 0.01101587] [ 0.15310782 -0.01568016 0.98808508 0.03713174] [ 0. 0. 0. 1. ]] SLAMing on 4.706547615 meters Centerline goodness : 0.856285 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:0.04 [[ 0.98776089 -0.01794755 -0.15493968 2.93419779] [ 0.02019421 0.99971235 0.01293838 0.00995255] [ 0.1546629 -0.01590891 0.9878392 0.0368082 ] [ 0. 0. 0. 1. ]] SLAMing on 4.736547614999999 meters Centerline goodness : 0.853239 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:0.04 [[ 0.98760516 -0.01915006 -0.15578613 2.93742748] [ 0.02147836 0.99968117 0.01327584 0.00738645] [ 0.15548223 -0.01645732 0.98770159 0.03682204] [ 0. 0. 0. 1. ]] SLAMing on 4.7665476149999995 meters Centerline goodness : 0.856056 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:0.03 [[ 0.98745661 -0.02201186 -0.15634873 2.94309182] [ 0.02424425 0.99962934 0.01238541 0.00452489] [ 0.15601815 -0.01602062 0.98762426 0.03433607] [ 0. 0. 0. 1. ]] SLAMing on 4.796547615 meters Centerline goodness : 0.854187 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:0.03 [[ 0.98742799 -0.02236332 -0.15647955 2.94446973] [ 0.02458166 0.9996227 0.0122555 0.00457385] [ 0.15614643 -0.01594795 0.98760516 0.03341295] [ 0. 0. 0. 1. ]] SLAMing on 4.826547614999999 meters Centerline goodness : 0.853849 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:0.04 [[ 0.98751556 -0.02121124 -0.15608683 2.94166326] [ 0.02363374 0.99962707 0.01368059 0.00344766] [ 0.15573844 -0.01719871 0.98764859 0.03565778] [ 0. 0. 0. 1. ]] SLAMing on 4.856547614999999 meters Centerline goodness : 0.852837 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:0.04 [[ 0.98853948 -0.0186622 -0.14980462 2.95180862] [ 0.02014877 0.99976161 0.00841165 0.00403727] [ 0.14961193 -0.01133362 0.98867984 0.0367471 ] [ 0. 0. 0. 1. ]] SLAMing on 4.886547615 meters Centerline goodness : 0.859214 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:0.04 [[ 9.89595276e-01 -1.63192716e-02 -1.42950593e-01 2.95776282e+00] [ 1.68033833e-02 9.99856437e-01 2.17991343e-03 3.56097357e-03] [ 1.42894496e-01 -4.55928563e-03 9.89727425e-01 3.98096218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.916547615 meters Centerline goodness : 0.862785 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:0.04 [[ 9.89615335e-01 -1.56287938e-02 -1.42888870e-01 2.95648221e+00] [ 1.62131109e-02 9.99864278e-01 2.92584387e-03 2.60020668e-03] [ 1.42823749e-01 -5.21213304e-03 9.89734414e-01 4.10069234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.946547614999999 meters Centerline goodness : 0.860322 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:0.04 [[ 0.98957806 -0.01225255 -0.14347524 2.95963822] [ 0.01324467 0.99989451 0.00596186 0.00417906] [ 0.14338706 -0.00780001 0.98963595 0.03937948] [ 0. 0. 0. 1. ]] SLAMing on 4.976547614999999 meters Centerline goodness : 0.857986 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.04 [[ 0.98953722 -0.00870931 -0.14401472 2.96235287] [ 0.01015851 0.99990487 0.00933058 0.00554668] [ 0.14391975 -0.01069593 0.98953156 0.03824467] [ 0. 0. 0. 1. ]] SLAMing on 5.006547615 meters Centerline goodness : 0.850512 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.04 [[ 0.98953145 -0.00570753 -0.14420447 2.96496627] [ 0.00741595 0.99990851 0.01131246 0.01227237] [ 0.14412671 -0.01226345 0.98948325 0.03582176] [ 0. 0. 0. 1. ]] SLAMing on 5.036547614999999 meters Centerline goodness : 0.851675 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:0.03 [[ 0.9894842 -0.00624186 -0.14450627 2.96617899] [ 0.00776845 0.9999198 0.01000234 0.01521726] [ 0.14443224 -0.01101975 0.98945333 0.03468448] [ 0. 0. 0. 1. ]] SLAMing on 5.066547614999999 meters Centerline goodness : 0.853217 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:0.03 [[ 0.98943567 -0.00606818 -0.14484555 2.9667127 ] [ 0.00745777 0.99993121 0.00905258 0.01662352] [ 0.14478065 -0.01003717 0.98941287 0.03378947] [ 0. 0. 0. 1. ]] SLAMing on 5.0965476149999995 meters Centerline goodness : 0.853217 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:0.03 [[ 0.98943567 -0.00606818 -0.14484555 2.9667127 ] [ 0.00745777 0.99993121 0.00905258 0.01662352] [ 0.14478065 -0.01003717 0.98941287 0.03378947] [ 0. 0. 0. 1. ]] SLAMing on 5.126547615 meters Centerline goodness : 0.858366 Centerline is valid? [False, False] Translation: X:2.97, Y:0.01, Z:0.03 [[ 0.98934598 -0.00497163 -0.14549854 2.96677068] [ 0.00638309 0.99993698 0.0092356 0.01311566] [ 0.14544345 -0.01006594 0.98931536 0.03409126] [ 0. 0. 0. 1. ]] SLAMing on 5.156547614999999 meters Centerline goodness : 0.858756 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:0.03 [[ 0.99068853 -0.00988113 -0.13578877 2.95098885] [ 0.01205686 0.99981163 0.01520984 0.01290574] [ 0.1356129 -0.0167054 0.99062105 0.03330922] [ 0. 0. 0. 1. ]] SLAMing on 5.186547614999999 meters Centerline goodness : 0.857973 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:0.04 [[ 0.99064964 -0.00600336 -0.13629842 2.95132057] [ 0.0094174 0.9996575 0.02441727 0.0101112 ] [ 0.13610515 -0.02547253 0.99036687 0.04231401] [ 0. 0. 0. 1. ]] SLAMing on 5.216547615 meters Centerline goodness : 0.858182 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:0.05 [[ 0.99060646 -0.00707728 -0.13656046 2.95193939] [ 0.01130813 0.99947898 0.03023061 0.00342941] [ 0.13627536 -0.03149088 0.99017036 0.05159615] [ 0. 0. 0. 1. ]] SLAMing on 5.246547614999999 meters Centerline goodness : 0.858199 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:0.05 [[ 0.9905897 -0.0120445 -0.13633406 2.95345591] [ 0.01565087 0.99955455 0.02541156 0.00320197] [ 0.13596727 -0.02730617 0.99033695 0.04908202] [ 0. 0. 0. 1. ]] SLAMing on 5.276547614999999 meters Centerline goodness : 0.854563 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:0.05 [[ 0.99049639 -0.00969361 -0.13719672 2.95908303] [ 0.01363099 0.99952088 0.02778846 0.00418391] [ 0.13686162 -0.0293945 0.99015396 0.04601878] [ 0. 0. 0. 1. ]] SLAMing on 5.3065476149999995 meters Centerline goodness : 0.854853 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.04 [[ 0.99052968 -0.00959247 -0.13696327 2.95867368] [ 0.01337584 0.99955321 0.02672966 0.00630014] [ 0.13664567 -0.02830852 0.99021543 0.0446782 ] [ 0. 0. 0. 1. ]] SLAMing on 5.336547615 meters Centerline goodness : 0.852714 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.03 [[ 0.99083166 -0.00555532 -0.13498797 2.92186696] [ 0.00823795 0.99977936 0.01932267 0.01252997] [ 0.13485084 -0.02025754 0.99065881 0.03109938] [ 0. 0. 0. 1. ]] SLAMing on 5.366547614999999 meters Centerline goodness : 0.852742 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:0.02 [[ 9.90958203e-01 -1.26739395e-03 -1.34164949e-01 2.91554712e+00] [ 3.29473811e-03 9.99883711e-01 1.48898890e-02 1.94064788e-02] [ 1.34130475e-01 -1.51972960e-02 9.90847141e-01 2.49957621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.396547614999999 meters Centerline goodness : 0.859560 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:0.03 [[ 9.91721755e-01 -2.37177250e-03 -1.28383544e-01 2.92439692e+00] [ 3.01333834e-03 9.99983924e-01 4.80325434e-03 2.14364956e-02] [ 1.28370088e-01 -5.15035489e-03 9.91712960e-01 2.59639614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.426547615 meters Centerline goodness : 0.869298 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:0.03 [[ 0.99328456 -0.01174755 -0.11509897 2.91932965] [ 0.01240831 0.99991038 0.00502598 0.01500699] [ 0.11502961 -0.00642042 0.99334131 0.03468014] [ 0. 0. 0. 1. ]] SLAMing on 5.456547614999999 meters Centerline goodness : 0.872197 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:0.04 [[ 0.99321106 -0.01796133 -0.11493117 2.93587434] [ 0.01960593 0.99972071 0.01319496 0.01128208] [ 0.11466207 -0.01535871 0.99328582 0.04164505] [ 0. 0. 0. 1. ]] SLAMing on 5.486547614999999 meters Centerline goodness : 0.857596 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:0.03 [[ 0.99343611 -0.02496704 -0.1116304 2.93816265] [ 0.02768902 0.99935424 0.02290016 0.01162439] [ 0.11098657 -0.02584078 0.9934859 0.03453492] [ 0. 0. 0. 1. ]] SLAMing on 5.5165476149999995 meters Centerline goodness : 0.834076 Centerline is valid? [False, False] Translation: X:2.95, Y:0.02, Z:0.02 [[ 0.99348016 -0.03660279 -0.10796946 2.94751065] [ 0.04162813 0.99813443 0.04466275 0.01542662] [ 0.10613325 -0.04886612 0.99315046 0.02411842] [ 0. 0. 0. 1. ]] SLAMing on 5.546547615 meters Centerline goodness : 0.832712 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:0.02 [[ 0.99389359 -0.04013014 -0.10278668 2.9600807 ] [ 0.04346517 0.9985919 0.03041373 0.02043696] [ 0.10142144 -0.03469565 0.99423835 0.0190609 ] [ 0. 0. 0. 1. ]] SLAMing on 5.576547614999999 meters Centerline goodness : 0.850795 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:0.02 [[ 9.94027145e-01 -3.54333096e-02 -1.03220710e-01 2.96507879e+00] [ 3.58192805e-02 9.99356501e-01 1.88749736e-03 2.48108427e-02] [ 1.03087407e-01 -5.57351516e-03 9.94656686e-01 1.97449089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.606547614999999 meters Centerline goodness : 0.861193 Centerline is valid? [False, False] Translation: X:2.97, Y:0.03, Z:0.02 [[ 0.99449871 -0.0312526 -0.09997793 2.97362317] [ 0.03059063 0.99949879 -0.00814769 0.02737622] [ 0.10018246 0.00504447 0.99495629 0.01808997] [ 0. 0. 0. 1. ]] SLAMing on 5.636547615 meters Centerline goodness : 0.853278 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:0.00 [[ 9.95064332e-01 -1.15857164e-02 -9.85532636e-02 2.90839497e+00] [ 1.12711581e-02 9.99929454e-01 -3.74793899e-03 3.67780647e-02] [ 9.85897337e-02 2.61863099e-03 9.95124719e-01 4.36337785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.666547614999999 meters Centerline goodness : 0.852114 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:0.00 [[ 0.99512698 -0.00347049 -0.09854064 2.90912583] [ 0.00396103 0.99998072 0.00478281 0.03846359] [ 0.09852214 -0.00514983 0.99512153 0.00493736] [ 0. 0. 0. 1. ]] SLAMing on 5.696547614999999 meters Centerline goodness : 0.836855 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-0.00 [[ 9.96065094e-01 -1.26130680e-02 -8.77225130e-02 2.90200708e+00] [ 1.44356981e-02 9.99692264e-01 2.01739372e-02 4.12132763e-02] [ 8.74410624e-02 -2.13608904e-02 9.95940647e-01 -4.71474001e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.726547614999999 meters Centerline goodness : 0.832216 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-0.00 [[ 9.95970173e-01 -1.75797235e-02 -8.79452528e-02 2.90329342e+00] [ 1.90802752e-02 9.99685877e-01 1.62508341e-02 4.04894526e-02] [ 8.76319420e-02 -1.78633657e-02 9.95992742e-01 -7.25825151e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.756547615 meters Centerline goodness : 0.837279 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:0.00 [[ 9.95843479e-01 -2.21210930e-02 -8.83539573e-02 2.90387183e+00] [ 2.33718255e-02 9.99640400e-01 1.31464602e-02 3.68350383e-02] [ 8.80313711e-02 -1.51568100e-02 9.96002384e-01 7.08082786e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.786547614999999 meters Centerline goodness : 0.853395 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:0.01 [[ 9.96118859e-01 -3.19207925e-02 -8.20261000e-02 2.91141947e+00] [ 3.19052296e-02 9.99489772e-01 -1.50079803e-03 3.23714906e-02] [ 8.20321546e-02 -1.12208834e-03 9.96629052e-01 7.54217958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.816547614999999 meters Centerline goodness : 0.855387 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:0.01 [[ 9.96117169e-01 -3.18007461e-02 -8.20932225e-02 2.91015428e+00] [ 3.19522762e-02 9.99489254e-01 5.32406327e-04 2.93984226e-02] [ 8.20343628e-02 -3.15340440e-03 9.96624513e-01 1.14168651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8465476149999995 meters Centerline goodness : 0.853190 Centerline is valid? [False, False] Translation: X:2.92, Y:0.04, Z:0.01 [[ 9.96087902e-01 -3.01136822e-02 -8.30786173e-02 2.91554230e+00] [ 3.03432829e-02 9.99538408e-01 1.50213253e-03 3.50818129e-02] [ 8.29950341e-02 -4.01713403e-03 9.96541864e-01 7.28055721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.876547614999999 meters Centerline goodness : 0.849444 Centerline is valid? [False, False] Translation: X:2.92, Y:0.04, Z:0.00 [[ 0.99609397 -0.02747532 -0.08391613 2.91973878] [ 0.0278475 0.99960684 0.00326768 0.03913894] [ 0.08379335 -0.00559177 0.99646746 0.00388104] [ 0. 0. 0. 1. ]] SLAMing on 5.906547614999999 meters Centerline goodness : 0.850240 Centerline is valid? [False, False] Translation: X:2.92, Y:0.04, Z:0.00 [[ 9.95973262e-01 -2.90115617e-02 -8.48268332e-02 2.92375762e+00] [ 2.92080912e-02 9.99572773e-01 1.07643609e-03 4.14517001e-02] [ 8.47593638e-02 -3.54973144e-03 9.96395127e-01 8.84531587e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.936547614999999 meters Centerline goodness : 0.852043 Centerline is valid? [False, False] Translation: X:2.92, Y:0.04, Z:0.00 [[ 9.95813726e-01 -3.31901964e-02 -8.51670955e-02 2.92437179e+00] [ 3.30901199e-02 9.99449024e-01 -2.58684112e-03 3.91466374e-02] [ 8.52060282e-02 -2.42177505e-04 9.96363324e-01 1.32811329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.966547615 meters Centerline goodness : 0.856479 Centerline is valid? [False, False] Translation: X:2.93, Y:0.04, Z:-0.00 [[ 9.95467621e-01 -3.98077972e-02 -8.63687143e-02 2.93067839e+00] [ 3.93000124e-02 9.99198763e-01 -7.57232463e-03 3.56284509e-02] [ 8.66009501e-02 4.14371245e-03 9.96234463e-01 -1.56672727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.996547614999999 meters Centerline goodness : 0.851453 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-0.00 [[ 9.95494359e-01 -3.70208572e-02 -8.72951207e-02 2.93829465e+00] [ 3.69631698e-02 9.99314033e-01 -2.27773414e-03 3.72838391e-02] [ 8.73195628e-02 -9.59232887e-04 9.96179890e-01 -4.16441097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.026547614999999 meters Centerline goodness : 0.847773 Centerline is valid? [False, False] Translation: X:2.93, Y:0.04, Z:-0.01 [[ 0.99632889 -0.03217042 -0.07933357 2.92973445] [ 0.03313502 0.99939175 0.0108722 0.04460473] [ 0.07893555 -0.01346101 0.99678883 -0.00931628] [ 0. 0. 0. 1. ]] SLAMing on 6.0565476149999995 meters Centerline goodness : 0.847257 Centerline is valid? [False, False] Translation: X:2.94, Y:0.05, Z:-0.01 [[ 0.99686101 -0.03220778 -0.07232414 2.93669608] [ 0.03252291 0.99946592 0.00318345 0.04615725] [ 0.07218298 -0.00552565 0.9973761 -0.00593878] [ 0. 0. 0. 1. ]] SLAMing on 6.086547614999999 meters Centerline goodness : 0.853477 Centerline is valid? [False, False] Translation: X:2.93, Y:0.04, Z:-0.00 [[ 9.96826299e-01 -3.48573395e-02 -7.15702142e-02 2.93278239e+00] [ 3.49870842e-02 9.99387608e-01 5.59626053e-04 4.40828184e-02] [ 7.15068781e-02 -3.06188308e-03 9.97435407e-01 -3.13054228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.116547614999999 meters Centerline goodness : 0.862368 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.00 [[ 9.97229375e-01 -3.78179940e-02 -6.40575708e-02 2.93746973e+00] [ 3.72009214e-02 9.99249455e-01 -1.07990082e-02 4.17855371e-02] [ 6.44178895e-02 8.38608758e-03 9.97887774e-01 6.86424766e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.146547614999999 meters Centerline goodness : 0.863169 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.00 [[ 9.97352945e-01 -3.38440447e-02 -6.43559153e-02 2.93735809e+00] [ 3.35918405e-02 9.99423142e-01 -4.99721650e-03 3.83544557e-02] [ 6.44879171e-02 2.82215495e-03 9.97914497e-01 3.65996580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.176547615 meters Centerline goodness : 0.854883 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.00 [[ 9.97379741e-01 -2.93643020e-02 -6.61164943e-02 2.94442651e+00] [ 2.95927378e-02 9.99558967e-01 2.47813747e-03 4.09217700e-02] [ 6.60145659e-02 -4.42821219e-03 9.97808833e-01 3.92815009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.206547614999999 meters Centerline goodness : 0.851313 Centerline is valid? [False, False] Translation: X:2.95, Y:0.04, Z:0.00 [[ 9.97333801e-01 -3.01908350e-02 -6.64364533e-02 2.94649874e+00] [ 3.03603883e-02 9.99537825e-01 1.54372959e-03 4.27684241e-02] [ 6.63591416e-02 -3.55665022e-03 9.97789464e-01 2.23525370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.236547614999999 meters Centerline goodness : 0.852420 Centerline is valid? [False, False] Translation: X:2.95, Y:0.04, Z:0.00 [[ 9.97080517e-01 -3.58399113e-02 -6.74236157e-02 2.95095754e+00] [ 3.57800011e-02 9.99357492e-01 -2.09632506e-03 3.68419320e-02] [ 6.74554276e-02 -3.22212174e-04 9.97722237e-01 1.45735961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2665476149999995 meters Centerline goodness : 0.852828 Centerline is valid? [False, False] Translation: X:2.95, Y:0.03, Z:-0.00 [[ 9.96836585e-01 -4.14896036e-02 -6.77896469e-02 2.95496635e+00] [ 4.11355675e-02 9.99131705e-01 -6.61074055e-03 3.41605701e-02] [ 6.80050624e-02 3.80126245e-03 9.97677734e-01 -1.31145792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.296547614999999 meters Centerline goodness : 0.848312 Centerline is valid? [False, False] Translation: X:2.96, Y:0.04, Z:-0.00 [[ 9.96838057e-01 -3.96496826e-02 -6.88606678e-02 2.95993565e+00] [ 3.94801655e-02 9.99213047e-01 -3.82146522e-03 3.57546954e-02] [ 6.89579975e-02 1.09075140e-03 9.97618968e-01 -3.34605263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.326547614999999 meters Centerline goodness : 0.841113 Centerline is valid? [False, False] Translation: X:2.96, Y:0.04, Z:-0.01 [[ 9.97122651e-01 -4.35378518e-02 -6.20554057e-02 2.95744206e+00] [ 4.37514216e-02 9.99040270e-01 2.08630078e-03 4.34633097e-02] [ 6.19050162e-02 -4.79530998e-03 9.98070526e-01 -1.19829701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.356547614999999 meters Centerline goodness : 0.838152 Centerline is valid? [False, False] Translation: X:2.96, Y:0.04, Z:-0.01 [[ 9.97079039e-01 -4.40048010e-02 -6.24256960e-02 2.95788625e+00] [ 4.42538856e-02 9.99016901e-01 2.61241484e-03 4.27917662e-02] [ 6.22493665e-02 -5.36736369e-03 9.98046195e-01 -1.05134199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.386547615 meters Centerline goodness : 0.847498 Centerline is valid? [False, False] Translation: X:2.97, Y:0.04, Z:-0.01 [[ 0.99705176 -0.05358688 -0.0549203 2.96608024] [ 0.05285286 0.99849363 -0.01473254 0.04334958] [ 0.05562704 0.01178641 0.99838205 -0.0094393 ] [ 0. 0. 0. 1. ]] SLAMing on 6.416547614999999 meters Centerline goodness : 0.847244 Centerline is valid? [False, False] Translation: X:2.97, Y:0.04, Z:-0.00 [[ 0.99697841 -0.05435196 -0.05549689 2.96646217] [ 0.05374693 0.99847836 -0.01233815 0.04026254] [ 0.05608304 0.00931808 0.99838262 -0.00446543] [ 0. 0. 0. 1. ]] SLAMing on 6.446547614999999 meters Centerline goodness : 0.851206 Centerline is valid? [False, False] Translation: X:2.97, Y:0.04, Z:-0.00 [[ 0.99689004 -0.05534539 -0.05609929 2.96767161] [ 0.05472457 0.99842269 -0.01254413 0.04126945] [ 0.05670507 0.00943511 0.99834639 -0.0034289 ] [ 0. 0. 0. 1. ]] SLAMing on 6.476547614999999 meters Centerline goodness : 0.848161 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:-0.00 [[ 9.96742262e-01 -5.52930151e-02 -5.87158091e-02 2.97507518e+00] [ 5.48333240e-02 9.98451153e-01 -9.41285415e-03 4.51078757e-02] [ 5.91453324e-02 6.16260655e-03 9.98230360e-01 -1.65517362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.506547614999999 meters Centerline goodness : 0.845964 Centerline is valid? [False, False] Translation: X:2.97, Y:0.05, Z:-0.00 [[ 9.96945767e-01 -5.08821733e-02 -5.92464444e-02 2.97494540e+00] [ 5.06657358e-02 9.98702385e-01 -5.15063869e-03 4.54553461e-02] [ 5.94316411e-02 2.13314274e-03 9.98230099e-01 -4.06824613e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.536547614999999 meters Centerline goodness : 0.844777 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:0.00 [[ 9.97265884e-01 -4.30231249e-02 -6.00813384e-02 2.97664630e+00] [ 4.33034574e-02 9.99056278e-01 3.37105954e-03 4.46923420e-02] [ 5.98796048e-02 -5.96357235e-03 9.98187792e-01 5.31395788e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.566547614999999 meters Centerline goodness : 0.838070 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:-0.00 [[ 9.97508594e-01 -3.56587899e-02 -6.08691659e-02 2.97995156e+00] [ 3.63215888e-02 9.99291933e-01 9.81705426e-03 4.83411068e-02] [ 6.04760022e-02 -1.20034608e-02 9.98097475e-01 -2.97142289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5965476149999995 meters Centerline goodness : 0.828350 Centerline is valid? [False, False] Translation: X:2.99, Y:0.06, Z:-0.01 [[ 0.99784266 -0.02068911 -0.06230551 2.98570781] [ 0.02186669 0.9995938 0.01827773 0.06234922] [ 0.06190205 -0.01960072 0.99788975 -0.01440429] [ 0. 0. 0. 1. ]] SLAMing on 6.626547614999999 meters Centerline goodness : 0.827595 Centerline is valid? [False, False] Translation: X:2.98, Y:0.07, Z:-0.02 [[ 0.99793459 -0.01585659 -0.06225042 2.98473683] [ 0.0171544 0.99964534 0.02036937 0.06900479] [ 0.06190536 -0.02139517 0.99785268 -0.01576493] [ 0. 0. 0. 1. ]] SLAMing on 6.656547614999999 meters Centerline goodness : 0.827387 Centerline is valid? [False, False] Translation: X:2.98, Y:0.08, Z:-0.01 [[ 0.99833003 -0.00925058 -0.0570227 2.98265973] [ 0.00981001 0.99990639 0.00953856 0.07642477] [ 0.05692912 -0.01008202 0.99832732 -0.01343186] [ 0. 0. 0. 1. ]] SLAMing on 6.686547614999999 meters Centerline goodness : 0.828291 Centerline is valid? [False, False] Translation: X:2.99, Y:0.09, Z:-0.01 [[ 9.98615464e-01 -1.14166622e-02 -5.13499178e-02 2.99179827e+00] [ 1.13050153e-02 9.99933060e-01 -2.46416879e-03 8.50069731e-02] [ 5.13746130e-02 1.88024545e-03 9.98677683e-01 -1.21389733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.716547614999999 meters Centerline goodness : 0.827929 Centerline is valid? [False, False] Translation: X:2.99, Y:0.09, Z:-0.01 [[ 0.99855115 -0.01349117 -0.05209221 2.99484232] [ 0.0132776 0.99990197 -0.00444376 0.09058602] [ 0.05214706 0.00374567 0.99863239 -0.01348369] [ 0. 0. 0. 1. ]] SLAMing on 6.746547614999999 meters Centerline goodness : 0.824637 Centerline is valid? [False, False] Translation: X:3.00, Y:0.10, Z:-0.02 [[ 9.98437436e-01 -2.93679730e-02 -4.75416538e-02 3.00300575e+00] [ 2.93906573e-02 9.99567977e-01 -2.21971313e-04 9.69285719e-02] [ 4.75276336e-02 -1.17565599e-03 9.98869232e-01 -1.67931223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.776547614999999 meters Centerline goodness : 0.825012 Centerline is valid? [False, False] Translation: X:3.01, Y:0.10, Z:-0.02 [[ 0.99818586 -0.03579821 -0.04840947 3.00713239] [ 0.03560278 0.99935404 -0.00489342 0.09570021] [ 0.04855338 0.00316103 0.99881559 -0.01750169] [ 0. 0. 0. 1. ]] SLAMing on 6.8065476149999995 meters Centerline goodness : 0.825632 Centerline is valid? [False, False] Translation: X:3.01, Y:0.09, Z:-0.02 [[ 9.97363338e-01 -5.01865917e-02 -5.24183010e-02 3.00911785e+00] [ 5.02465632e-02 9.98736829e-01 -1.73936241e-04 9.43698865e-02] [ 5.23608169e-02 -2.46036184e-03 9.98625201e-01 -1.57305950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.836547614999999 meters Centerline goodness : 0.825106 Centerline is valid? [False, False] Translation: X:3.01, Y:0.10, Z:-0.02 [[ 0.99740938 -0.04824191 -0.05335959 3.01253486] [ 0.04847288 0.99881987 0.00304203 0.09625173] [ 0.05314986 -0.00562064 0.99857073 -0.01631426] [ 0. 0. 0. 1. ]] SLAMing on 6.866547614999999 meters Centerline goodness : 0.823857 Centerline is valid? [False, False] Translation: X:3.01, Y:0.11, Z:-0.02 [[ 0.99814524 -0.04613093 -0.0397243 3.01144932] [ 0.04646202 0.99889226 0.00745173 0.10662715] [ 0.03933654 -0.00928358 0.99918289 -0.01591022] [ 0. 0. 0. 1. ]] SLAMing on 6.896547614999999 meters Centerline goodness : 0.825179 Centerline is valid? [False, False] Translation: X:3.02, Y:0.11, Z:-0.01 [[ 0.99857091 -0.04235115 -0.03259616 3.0180026 ] [ 0.04251527 0.99908631 0.00435821 0.10971818] [ 0.0323818 -0.00573782 0.9994591 -0.01113815] [ 0. 0. 0. 1. ]] SLAMing on 6.926547614999999 meters Centerline goodness : 0.828165 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.01 [[ 9.98873966e-01 -3.95157423e-02 -2.62546257e-02 3.02508649e+00] [ 3.95252925e-02 9.99218558e-01 -1.55299595e-04 1.13566881e-01] [ 2.62402460e-02 -8.82597036e-04 9.99655276e-01 -5.38360964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.956547614999999 meters Centerline goodness : 0.827899 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.01 [[ 9.98928704e-01 -3.73741490e-02 -2.72876804e-02 3.02845300e+00] [ 3.74586164e-02 9.99294822e-01 2.59067680e-03 1.15473821e-01] [ 2.71716134e-02 -3.61006017e-03 9.99624265e-01 -6.43978810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.986547614999999 meters Centerline goodness : 0.827899 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.01 [[ 9.98928789e-01 -3.73730185e-02 -2.72861045e-02 3.02845000e+00] [ 3.74574771e-02 9.99294865e-01 2.59057678e-03 1.15474719e-01] [ 2.71700464e-02 -3.60987036e-03 9.99624308e-01 -6.43970612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0165476149999995 meters Centerline goodness : 0.819620 Centerline is valid? [False, False] Translation: X:3.05, Y:0.13, Z:-0.02 [[ 0.99888007 -0.03568102 -0.03107199 3.04915402] [ 0.0359184 0.9993294 0.00711524 0.13224383] [ 0.03079727 -0.00822332 0.99949182 -0.01796189] [ 0. 0. 0. 1. ]] SLAMing on 7.046547614999999 meters Centerline goodness : 0.818650 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.02 [[ 0.99902081 -0.02888583 -0.03351166 3.05713092] [ 0.02928497 0.99950516 0.01148152 0.14987367] [ 0.03316342 -0.01245166 0.99937237 -0.02383851] [ 0. 0. 0. 1. ]] SLAMing on 7.076547614999999 meters Centerline goodness : 0.821070 Centerline is valid? [False, False] Translation: X:3.06, Y:0.16, Z:-0.02 [[ 9.99298215e-01 -2.36653411e-02 -2.90349714e-02 3.06046894e+00] [ 2.36992566e-02 9.99718793e-01 8.24476143e-04 1.56892206e-01] [ 2.90072951e-02 -1.51200478e-03 9.99578056e-01 -2.49219307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.106547614999999 meters Centerline goodness : 0.825986 Centerline is valid? [False, False] Translation: X:3.06, Y:0.17, Z:-0.02 [[ 0.99959445 -0.01703387 -0.02282086 3.06022887] [ 0.01683752 0.99981979 -0.00876857 0.16677368] [ 0.02296611 0.00838076 0.99970112 -0.0212823 ] [ 0. 0. 0. 1. ]] SLAMing on 7.136547614999999 meters Centerline goodness : 0.830546 Centerline is valid? [False, False] Translation: X:3.05, Y:0.18, Z:-0.02 [[ 9.99750864e-01 -1.27977424e-02 -1.82873887e-02 3.05033701e+00] [ 1.27992701e-02 9.99918085e-01 -3.35022433e-05 1.84538969e-01] [ 1.82863195e-02 -2.00571331e-04 9.99832771e-01 -1.98302216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.166547614999999 meters Centerline goodness : 0.831198 Centerline is valid? [False, False] Translation: X:3.05, Y:0.19, Z:-0.02 [[ 0.99978485 -0.00740196 -0.01937672 3.05407896] [ 0.0075049 0.99995808 0.00524529 0.19394546] [ 0.01933709 -0.00538958 0.99979849 -0.02134501] [ 0. 0. 0. 1. ]] SLAMing on 7.196547614999999 meters Centerline goodness : 0.830279 Centerline is valid? [False, False] Translation: X:3.06, Y:0.20, Z:-0.02 [[ 0.99980674 -0.00424948 -0.01919417 3.05599616] [ 0.00440581 0.99995741 0.00810933 0.20281252] [ 0.01915889 -0.00819233 0.99978289 -0.02356721] [ 0. 0. 0. 1. ]] SLAMing on 7.226547614999999 meters Centerline goodness : 0.830112 Centerline is valid? [False, False] Translation: X:3.05, Y:0.21, Z:-0.02 [[ 0.99980808 -0.00539308 -0.0188338 3.05268149] [ 0.00550376 0.99996786 0.00583002 0.20840486] [ 0.01880175 -0.00593255 0.99980563 -0.02058706] [ 0. 0. 0. 1. ]] SLAMing on 7.256547614999999 meters Centerline goodness : 0.832345 Centerline is valid? [False, False] Translation: X:3.06, Y:0.21, Z:-0.02 [[ 0.99989645 -0.00726074 -0.01242431 3.06226326] [ 0.00718924 0.9999574 -0.00578964 0.20994531] [ 0.01246582 0.00569972 0.99990605 -0.02284023] [ 0. 0. 0. 1. ]] SLAMing on 7.286547614999999 meters Centerline goodness : 0.834194 Centerline is valid? [False, False] Translation: X:3.03, Y:0.21, Z:-0.02 [[ 0.99973553 -0.0178371 -0.01451559 3.02680214] [ 0.01800101 0.99977478 0.01124063 0.21175331] [ 0.01431182 -0.01149895 0.99983146 -0.02128713] [ 0. 0. 0. 1. ]] SLAMing on 7.316547614999999 meters Centerline goodness : 0.834094 Centerline is valid? [False, False] Translation: X:3.03, Y:0.22, Z:-0.02 [[ 0.99971061 -0.01772531 -0.01626358 3.03386578] [ 0.01792903 0.99976153 0.01246716 0.2174922 ] [ 0.01603872 -0.01275514 0.99979001 -0.02464816] [ 0. 0. 0. 1. ]] SLAMing on 7.346547614999999 meters Centerline goodness : 0.831228 Centerline is valid? [False, False] Translation: X:3.04, Y:0.23, Z:-0.03 [[ 0.99974881 -0.01334699 -0.01800471 3.03944444] [ 0.013649 0.99976644 0.01675648 0.2288445 ] [ 0.01777685 -0.01699801 0.99969748 -0.0268479 ] [ 0. 0. 0. 1. ]] SLAMing on 7.376547614999999 meters Centerline goodness : 0.831112 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:-0.03 [[ 0.99974103 -0.00536405 -0.02211564 3.04598505] [ 0.00552601 0.99995831 0.00726883 0.23797259] [ 0.02207573 -0.00738916 0.99972899 -0.0251585 ] [ 0. 0. 0. 1. ]] SLAMing on 7.406547614999999 meters Centerline goodness : 0.832757 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:-0.03 [[ 9.99858417e-01 1.07864343e-03 -1.67923183e-02 3.05059421e+00] [-1.10092555e-03 9.99998526e-01 -1.31773559e-03 2.42664963e-01] [ 1.67908721e-02 1.33603612e-03 9.99858131e-01 -2.70628398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.436547614999999 meters Centerline goodness : 0.834318 Centerline is valid? [False, False] Translation: X:3.06, Y:0.25, Z:-0.03 [[ 0.99991265 0.00737922 -0.01096583 3.05795942] [-0.00746556 0.99994129 -0.00785374 0.24847663] [ 0.01090723 0.00793492 0.99990903 -0.02871048] [ 0. 0. 0. 1. ]] SLAMing on 7.466547614999999 meters Centerline goodness : 0.840654 Centerline is valid? [False, False] Translation: X:3.07, Y:0.26, Z:-0.03 [[ 0.99969705 0.0240612 -0.00518387 3.06558741] [-0.02408819 0.99969627 -0.00520893 0.25965858] [ 0.00505696 0.00533223 0.999973 -0.03052885] [ 0. 0. 0. 1. ]] SLAMing on 7.496547614999999 meters Centerline goodness : 0.838198 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:-0.03 [[ 0.99935456 0.0355131 -0.00541104 3.06778923] [-0.0354904 0.99936105 0.00423473 0.26688467] [ 0.00555797 -0.00403995 0.99997639 -0.03242508] [ 0. 0. 0. 1. ]] SLAMing on 7.526547614999999 meters Centerline goodness : 0.838693 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:-0.03 [[ 0.99935919 0.03535516 -0.00558796 3.06863921] [-0.03533597 0.99936937 0.00349613 0.26860827] [ 0.00570804 -0.00329643 0.99997828 -0.03337045] [ 0. 0. 0. 1. ]] SLAMing on 7.556547614999999 meters Centerline goodness : 0.841679 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:-0.03 [[ 9.99489977e-01 3.15093462e-02 -5.19112585e-03 3.06763655e+00] [-3.15138079e-02 9.99503012e-01 -7.79928393e-04 2.70021051e-01] [ 5.16397089e-03 9.43122754e-04 9.99986222e-01 -3.36659399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.586547614999999 meters Centerline goodness : 0.849184 Centerline is valid? [False, False] Translation: X:3.06, Y:0.27, Z:-0.03 [[ 9.99690113e-01 2.48311649e-02 1.75821528e-03 3.05647607e+00] [-2.48321905e-02 9.99691475e-01 5.63917570e-04 2.74347801e-01] [-1.74367010e-03 -6.07403156e-04 9.99998295e-01 -3.44549761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.616547614999999 meters Centerline goodness : 0.851113 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:-0.03 [[ 9.99768119e-01 2.14599126e-02 1.78318441e-03 3.05519682e+00] [-2.14536698e-02 9.99763893e-01 -3.44928660e-03 2.77363325e-01] [-1.85678478e-03 3.41023093e-03 9.99992461e-01 -3.33022765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.646547614999999 meters Centerline goodness : 0.849150 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:-0.03 [[ 9.99831635e-01 1.82995432e-02 1.35220983e-03 3.05437360e+00] [-1.82891056e-02 9.99805611e-01 -7.36540363e-03 2.77441455e-01] [-1.48673050e-03 7.33943285e-03 9.99971961e-01 -3.16395416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.676547614999999 meters Centerline goodness : 0.850613 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:-0.03 [[ 9.99832015e-01 1.82965515e-02 1.08489045e-03 3.05481558e+00] [-1.82880261e-02 9.99805324e-01 -7.40691699e-03 2.76666127e-01] [-1.22020028e-03 7.38583224e-03 9.99971980e-01 -3.15411003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.706547614999999 meters Centerline goodness : 0.848872 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:-0.03 [[ 9.99776933e-01 2.11097207e-02 6.81560493e-04 3.05735062e+00] [-2.11057721e-02 9.99762894e-01 -5.35736019e-03 2.80248565e-01] [-7.94491269e-04 5.34178028e-03 9.99985417e-01 -3.39589960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.736547614999999 meters Centerline goodness : 0.849641 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:-0.04 [[ 9.99715164e-01 2.38655984e-02 1.54001383e-04 3.06038816e+00] [-2.38650740e-02 9.99711267e-01 -2.80028375e-03 2.82004153e-01] [-2.20787365e-04 2.79581087e-03 9.99996067e-01 -3.64525565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.766547614999999 meters Centerline goodness : 0.846219 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:-0.04 [[ 9.99695207e-01 2.46853535e-02 -3.56575131e-04 3.06158065e+00] [-2.46864696e-02 9.99688879e-01 -3.56709232e-03 2.84241104e-01] [ 2.68409258e-04 3.57480768e-03 9.99993574e-01 -3.77827046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.796547614999999 meters Centerline goodness : 0.847555 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:-0.04 [[ 0.99954231 0.02972551 0.00561811 3.07029314] [-0.0296746 0.99951965 -0.00893754 0.28351182] [-0.00588108 0.00876673 0.99994428 -0.03927454] [ 0. 0. 0. 1. ]] SLAMing on 7.826547614999999 meters Centerline goodness : 0.846566 Centerline is valid? [False, False] Translation: X:3.08, Y:0.28, Z:-0.04 [[ 0.99939258 0.03358568 0.00929878 3.08439265] [-0.03345694 0.99934667 -0.01367019 0.28402462] [-0.00975182 0.01335078 0.99986332 -0.04221783] [ 0. 0. 0. 1. ]] SLAMing on 7.856547614999999 meters Centerline goodness : 0.845461 Centerline is valid? [False, False] Translation: X:3.08, Y:0.28, Z:-0.04 [[ 0.99921091 0.03865035 0.00914969 3.08489533] [-0.03857331 0.99922003 -0.00845129 0.28175417] [-0.0094692 0.00809168 0.99992243 -0.04230671] [ 0. 0. 0. 1. ]] SLAMing on 7.886547614999999 meters Centerline goodness : 0.845998 Centerline is valid? [False, False] Translation: X:3.08, Y:0.28, Z:-0.04 [[ 0.99919811 0.03898841 0.00911249 3.08492354] [-0.03891942 0.99921322 -0.00762995 0.28014037] [-0.0094028 0.00726918 0.99992937 -0.04228552] [ 0. 0. 0. 1. ]] SLAMing on 7.916547614999999 meters Centerline goodness : 0.844739 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:-0.04 [[ 0.99919814 0.03902125 0.00896765 3.08548337] [-0.03895911 0.99921626 -0.00700332 0.27855163] [-0.0092339 0.00664833 0.99993527 -0.04258105] [ 0. 0. 0. 1. ]] SLAMing on 7.946547614999999 meters Centerline goodness : 0.843326 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:-0.05 [[ 0.99917109 0.0402361 0.00617989 3.10556262] [-0.04017555 0.99914625 -0.00962825 0.27419754] [-0.00656202 0.00937198 0.99993455 -0.04526672] [ 0. 0. 0. 1. ]] SLAMing on 7.9765476149999985 meters Centerline goodness : 0.839883 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:-0.05 [[ 0.99928186 0.03743161 0.00588521 3.10869721] [-0.03735894 0.99922976 -0.01200853 0.26774482] [-0.00633017 0.01178004 0.99991058 -0.04934242] [ 0. 0. 0. 1. ]] SLAMing on 8.006547614999999 meters Centerline goodness : 0.838044 Centerline is valid? [False, False] Translation: X:3.11, Y:0.26, Z:-0.05 [[ 0.99928011 0.03751245 0.00566433 3.10979356] [-0.03744449 0.99923065 -0.01166312 0.26389791] [-0.00609749 0.01144263 0.99991594 -0.05037453] [ 0. 0. 0. 1. ]] SLAMing on 8.036547614999998 meters Centerline goodness : 0.838571 Centerline is valid? [False, False] Translation: X:3.11, Y:0.26, Z:-0.05 [[ 0.99922673 0.03892528 0.00554681 3.10961646] [-0.0388643 0.99918712 -0.01070855 0.26042636] [-0.00595913 0.0104847 0.99992728 -0.05043709] [ 0. 0. 0. 1. ]] SLAMing on 8.066547615 meters Centerline goodness : 0.837585 Centerline is valid? [False, False] Translation: X:3.11, Y:0.26, Z:-0.04 [[ 0.9993542 0.034829 -0.00883841 3.11099622] [-0.03494459 0.99930102 -0.01327954 0.26487906] [ 0.00836972 0.01357982 0.99987276 -0.0440266 ] [ 0. 0. 0. 1. ]] SLAMing on 8.096547614999999 meters Centerline goodness : 0.838020 Centerline is valid? [False, False] Translation: X:3.11, Y:0.26, Z:-0.04 [[ 0.99925647 0.03773853 -0.00789378 3.10749754] [-0.03781395 0.99923836 -0.00963359 0.26489359] [ 0.00752421 0.00992493 0.99992244 -0.04102612] [ 0. 0. 0. 1. ]] SLAMing on 8.126547615 meters Centerline goodness : 0.839949 Centerline is valid? [False, False] Translation: X:3.11, Y:0.26, Z:-0.04 [[ 0.99961732 0.02643205 -0.00815893 3.10500724] [-0.02660189 0.99941568 -0.02146232 0.26216692] [ 0.00758687 0.02167115 0.99973637 -0.03697952] [ 0. 0. 0. 1. ]] SLAMing on 8.156547615 meters Centerline goodness : 0.840107 Centerline is valid? [False, False] Translation: X:3.10, Y:0.25, Z:-0.03 [[ 0.99969967 0.02325812 -0.00772205 3.10297977] [-0.02342406 0.99948037 -0.02214278 0.25363221] [ 0.00720304 0.02231701 0.999725 -0.03435249] [ 0. 0. 0. 1. ]] SLAMing on 8.186547614999999 meters Centerline goodness : 0.842770 Centerline is valid? [False, False] Translation: X:3.10, Y:0.24, Z:-0.04 [[ 0.99990016 0.01214888 -0.0072158 3.10253152] [-0.01236773 0.9994397 -0.0311018 0.2448621 ] [ 0.0068339 0.03118794 0.99949018 -0.03500019] [ 0. 0. 0. 1. ]] SLAMing on 8.216547615 meters Centerline goodness : 0.840589 Centerline is valid? [False, False] Translation: X:3.10, Y:0.24, Z:-0.04 [[ 0.99996658 0.00614965 -0.0053875 3.0992875 ] [-0.00626981 0.99972541 -0.0225784 0.2407237 ] [ 0.00524717 0.02261142 0.99973056 -0.0403052 ] [ 0. 0. 0. 1. ]] SLAMing on 8.246547614999999 meters Centerline goodness : 0.836503 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:-0.04 [[ 9.99936988e-01 -5.53260314e-04 -1.12122237e-02 3.10584275e+00] [ 4.37665567e-04 9.99946759e-01 -1.03095401e-02 2.36531147e-01] [ 1.12173306e-02 1.03039833e-02 9.99883993e-01 -4.46975602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.276547614999998 meters Centerline goodness : 0.833650 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:-0.05 [[ 9.99929021e-01 -1.50753310e-03 -1.18186599e-02 3.10860152e+00] [ 1.38396531e-03 9.99944371e-01 -1.04565290e-02 2.35213278e-01] [ 1.18337660e-02 1.04394302e-02 9.99875482e-01 -4.64506697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.306547615 meters Centerline goodness : 0.832589 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:-0.05 [[ 0.99990989 -0.0051162 -0.01241079 3.10942886] [ 0.00494378 0.99989139 -0.01388388 0.23158894] [ 0.01248048 0.01382127 0.99982659 -0.04609269] [ 0. 0. 0. 1. ]] SLAMing on 8.336547614999999 meters Centerline goodness : 0.835430 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:-0.05 [[ 0.99988403 -0.00830148 -0.01276745 3.10970658] [ 0.00808205 0.99982038 -0.01714323 0.22781927] [ 0.01290747 0.01703805 0.99977152 -0.04578663] [ 0. 0. 0. 1. ]] SLAMing on 8.366547614999998 meters Centerline goodness : 0.840225 Centerline is valid? [False, False] Translation: X:3.11, Y:0.22, Z:-0.05 [[ 0.99985369 -0.01137645 -0.01277403 3.1098559 ] [ 0.01111635 0.99973312 -0.02025111 0.22391665] [ 0.013001 0.02010614 0.99971332 -0.0462661 ] [ 0. 0. 0. 1. ]] SLAMing on 8.396547615 meters Centerline goodness : 0.840424 Centerline is valid? [False, False] Translation: X:3.12, Y:0.23, Z:-0.05 [[ 0.99995509 -0.00693884 -0.00645504 3.11684073] [ 0.00676337 0.99961742 -0.02681922 0.22839191] [ 0.00663866 0.02677436 0.99961946 -0.04967762] [ 0. 0. 0. 1. ]] SLAMing on 8.426547614999999 meters Centerline goodness : 0.838135 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:-0.05 [[ 9.99994465e-01 -1.37403738e-03 -3.03003686e-03 3.12927358e+00] [ 1.35830200e-03 9.99985614e-01 -5.18908985e-03 2.33426392e-01] [ 3.03712327e-03 5.18494542e-03 9.99981946e-01 -4.63061404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.456547614999998 meters Centerline goodness : 0.836657 Centerline is valid? [False, False] Translation: X:3.13, Y:0.24, Z:-0.05 [[ 9.99992802e-01 1.42115306e-03 -3.51806616e-03 3.13191242e+00] [-1.43033081e-03 9.99995577e-01 -2.60760881e-03 2.36762926e-01] [ 3.51434479e-03 2.61262204e-03 9.99990412e-01 -4.85675379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.486547615 meters Centerline goodness : 0.834060 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.05 [[ 0.9999318 0.00388074 -0.01101555 3.14596737] [-0.00400683 0.99992645 -0.01144768 0.23524677] [ 0.01097032 0.01149104 0.9998738 -0.04947453] [ 0. 0. 0. 1. ]] SLAMing on 8.516547614999999 meters Centerline goodness : 0.840684 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:-0.04 [[ 0.99994821 -0.00467857 -0.00903837 3.13448419] [ 0.00446486 0.99971334 -0.02352254 0.22533382] [ 0.00914583 0.02348096 0.99968245 -0.04438783] [ 0. 0. 0. 1. ]] SLAMing on 8.546547615 meters Centerline goodness : 0.839553 Centerline is valid? [False, False] Translation: X:3.13, Y:0.22, Z:-0.04 [[ 0.99993367 -0.00758363 -0.00866858 3.1319129 ] [ 0.00735424 0.9996298 -0.02619506 0.22298231] [ 0.00886402 0.02612957 0.99961926 -0.0419011 ] [ 0. 0. 0. 1. ]] SLAMing on 8.576547614999999 meters Centerline goodness : 0.839588 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:-0.04 [[ 0.99994684 -0.00505503 -0.00898639 3.13356611] [ 0.00485211 0.99973596 -0.02246055 0.22818539] [ 0.00909756 0.02241575 0.99970734 -0.04230885] [ 0. 0. 0. 1. ]] SLAMing on 8.606547614999998 meters Centerline goodness : 0.838632 Centerline is valid? [False, False] Translation: X:3.15, Y:0.23, Z:-0.04 [[ 9.99980386e-01 1.18873909e-03 -6.14939808e-03 3.15194496e+00] [-1.30150535e-03 9.99830477e-01 -1.83663915e-02 2.31078616e-01] [ 6.12652276e-03 1.83740347e-02 9.99812413e-01 -4.27997906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.636547615 meters Centerline goodness : 0.836271 Centerline is valid? [False, False] Translation: X:3.15, Y:0.23, Z:-0.04 [[ 0.99993797 0.00957156 -0.00569552 3.15165296] [-0.00963239 0.99989583 -0.01074925 0.23430007] [ 0.00559204 0.01080344 0.999926 -0.04370463] [ 0. 0. 0. 1. ]] SLAMing on 8.666547614999999 meters Centerline goodness : 0.834801 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.04 [[ 0.99992999 0.01054254 -0.00537253 3.15102366] [-0.01059983 0.99988605 -0.01074877 0.23527529] [ 0.0052586 0.01080497 0.9999278 -0.04432775] [ 0. 0. 0. 1. ]] SLAMing on 8.696547614999998 meters Centerline goodness : 0.832945 Centerline is valid? [False, False] Translation: X:3.15, Y:0.23, Z:-0.05 [[ 0.99990721 0.01214303 -0.00617375 3.15454002] [-0.0122061 0.99987264 -0.0102821 0.23496337] [ 0.00604811 0.0103565 0.99992808 -0.04759256] [ 0. 0. 0. 1. ]] SLAMing on 8.726547615 meters Centerline goodness : 0.833285 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.05 [[ 0.99990136 0.01252432 -0.0063565 3.15356204] [-0.01259737 0.99985353 -0.01158556 0.24055259] [ 0.00621047 0.01166449 0.99991268 -0.04651297] [ 0. 0. 0. 1. ]] SLAMing on 8.756547614999999 meters Centerline goodness : 0.835806 Centerline is valid? [False, False] Translation: X:3.16, Y:0.25, Z:-0.05 [[ 9.99895553e-01 1.43341972e-02 -1.84771004e-03 3.16397969e+00] [-1.43697706e-02 9.99677396e-01 -2.09431134e-02 2.47142870e-01] [ 1.54691125e-03 2.09674771e-02 9.99778962e-01 -4.85020350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.786547614999998 meters Centerline goodness : 0.834450 Centerline is valid? [False, False] Translation: X:3.18, Y:0.25, Z:-0.05 [[ 9.99889525e-01 1.46493303e-02 2.51707946e-03 3.17537518e+00] [-1.45678053e-02 9.99449071e-01 -2.98217045e-02 2.51696621e-01] [-2.95256073e-03 2.97817417e-02 9.99552065e-01 -4.81267491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.816547615 meters Centerline goodness : 0.832870 Centerline is valid? [False, False] Translation: X:3.18, Y:0.25, Z:-0.05 [[ 9.99895818e-01 1.43180105e-02 1.82991750e-03 3.17712613e+00] [-1.42577514e-02 9.99462114e-01 -2.95330046e-02 2.49069352e-01] [-2.25178708e-03 2.95038373e-02 9.99562131e-01 -4.86185093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.846547614999999 meters Centerline goodness : 0.836116 Centerline is valid? [False, False] Translation: X:3.18, Y:0.25, Z:-0.05 [[ 9.99901211e-01 1.39772283e-02 1.48508280e-03 3.17888144e+00] [-1.39275523e-02 9.99470813e-01 -2.93958708e-02 2.47385455e-01] [-1.89516972e-03 2.93722833e-02 9.99566745e-01 -5.00336703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.876547614999998 meters Centerline goodness : 0.830950 Centerline is valid? [False, False] Translation: X:3.18, Y:0.25, Z:-0.06 [[ 9.99921296e-01 1.25051394e-02 1.01132521e-03 3.18173321e+00] [-1.24901620e-02 9.99828646e-01 -1.36628787e-02 2.47219567e-01] [-1.18200811e-03 1.36491717e-02 9.99906147e-01 -5.61105328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.906547615 meters Centerline goodness : 0.830950 Centerline is valid? [False, False] Translation: X:3.18, Y:0.25, Z:-0.06 [[ 9.99921296e-01 1.25051394e-02 1.01132521e-03 3.18173321e+00] [-1.24901620e-02 9.99828646e-01 -1.36628787e-02 2.47219567e-01] [-1.18200811e-03 1.36491717e-02 9.99906147e-01 -5.61105328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.936547614999999 meters Centerline goodness : 0.826016 Centerline is valid? [False, False] Translation: X:3.18, Y:0.25, Z:-0.06 [[ 9.99937016e-01 1.11970127e-02 7.68253847e-04 3.18419686e+00] [-1.11852077e-02 9.99840097e-01 -1.39524880e-02 2.47196045e-01] [-9.24357186e-04 1.39430161e-02 9.99902364e-01 -5.84357345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.966547615 meters Centerline goodness : 0.823390 Centerline is valid? [False, False] Translation: X:3.18, Y:0.24, Z:-0.06 [[ 9.99970222e-01 7.68734037e-03 6.78509177e-04 3.18415005e+00] [-7.67490864e-03 9.99830453e-01 -1.67380229e-02 2.42774188e-01] [-8.07065017e-04 1.67323170e-02 9.99859679e-01 -5.81353626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.996547614999999 meters Centerline goodness : 0.822682 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-0.05 [[ 9.99998097e-01 1.76011674e-03 8.41157300e-04 3.18105308e+00] [-1.74263921e-03 9.99791488e-01 -2.03455886e-02 2.30547679e-01] [-8.76792520e-04 2.03440841e-02 9.99792653e-01 -5.35699923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.026547614999998 meters Centerline goodness : 0.821373 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-0.05 [[ 9.99995654e-01 2.79712744e-03 9.31968759e-04 3.17891790e+00] [-2.78064140e-03 9.99847435e-01 -1.72445498e-02 2.24393228e-01] [-9.80061777e-04 1.72418834e-02 9.99850867e-01 -4.94363293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.056547615 meters Centerline goodness : 0.824089 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-0.04 [[ 9.99983601e-01 5.36994064e-03 1.99020246e-03 3.17346980e+00] [-5.34224961e-03 9.99892328e-01 -1.36671798e-02 2.19890980e-01] [-2.06338012e-03 1.36563235e-02 9.99904619e-01 -4.37799057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.086547614999999 meters Centerline goodness : 0.823554 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-0.04 [[ 9.99974374e-01 6.71379032e-03 2.48511928e-03 3.17159955e+00] [-6.68192283e-03 9.99898078e-01 -1.26168722e-02 2.19149904e-01] [-2.56957303e-03 1.25999435e-02 9.99917316e-01 -4.28192516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.116547614999998 meters Centerline goodness : 0.821028 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-0.04 [[ 9.99881810e-01 1.53696449e-02 -3.73426989e-04 3.17741544e+00] [-1.53723579e-02 9.99842321e-01 -8.88952387e-03 2.17368150e-01] [ 2.36739282e-04 8.89421367e-03 9.99960418e-01 -4.27221069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.146547615 meters Centerline goodness : 0.819812 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:-0.04 [[ 9.99731147e-01 2.31843895e-02 3.43741216e-04 3.17571319e+00] [-2.31832446e-02 9.99726651e-01 -3.02645988e-03 2.13110913e-01] [-4.13813880e-04 3.01767717e-03 9.99995361e-01 -4.41140230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.176547614999999 meters Centerline goodness : 0.817207 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:-0.05 [[ 9.99619127e-01 2.75953997e-02 3.09074587e-04 3.17712930e+00] [-2.75956919e-02 9.99618681e-01 9.85057942e-04 2.11293090e-01] [-2.81773663e-04 -9.93211887e-04 9.99999467e-01 -4.60332961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.206547614999998 meters Centerline goodness : 0.814715 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:-0.05 [[ 9.99328531e-01 3.66375939e-02 4.16109323e-04 3.17929304e+00] [-3.66397599e-02 9.99295945e-01 8.07108226e-03 2.13437455e-01] [-1.20111324e-04 -8.08090893e-03 9.99967342e-01 -5.05347029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.236547615 meters Centerline goodness : 0.814442 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-0.05 [[ 9.99299161e-01 3.74300171e-02 4.24122606e-04 3.17904540e+00] [-3.74321839e-02 9.99268948e-01 7.77188279e-03 2.15919528e-01] [-1.32910845e-04 -7.78231179e-03 9.99969709e-01 -5.09657342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.266547614999999 meters Centerline goodness : 0.815949 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:-0.05 [[ 9.99388824e-01 3.49054861e-02 1.89357322e-03 3.17065691e+00] [-3.49122387e-02 9.99383685e-01 3.65859678e-03 2.08236032e-01] [-1.76470108e-03 -3.72246962e-03 9.99991514e-01 -4.68514401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.296547614999998 meters Centerline goodness : 0.817282 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:-0.05 [[ 9.99502093e-01 3.15041360e-02 1.74822564e-03 3.17012892e+00] [-3.15052951e-02 9.99503380e-01 6.39477024e-04 2.00551258e-01] [-1.72721127e-03 -6.94236989e-04 9.99998267e-01 -4.65217534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.326547614999999 meters Centerline goodness : 0.814159 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:-0.05 [[ 9.99687499e-01 2.49099652e-02 2.09730298e-03 3.17113868e+00] [-2.49001216e-02 9.99679381e-01 -4.59556676e-03 1.91156785e-01] [-2.21110595e-03 4.54190754e-03 9.99987241e-01 -4.90118050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.356547614999998 meters Centerline goodness : 0.813560 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:-0.05 [[ 9.99706377e-01 2.41489750e-02 1.99658100e-03 3.17316403e+00] [-2.41399751e-02 9.99698839e-01 -4.41514190e-03 1.89023578e-01] [-2.10260086e-03 4.36564810e-03 9.99988260e-01 -5.10829012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.386547615 meters Centerline goodness : 0.807327 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:-0.06 [[ 9.99705434e-01 2.42401073e-02 1.20963963e-03 3.17964856e+00] [-2.42373514e-02 9.99703716e-01 -2.24315921e-03 1.81969105e-01] [-1.26365565e-03 2.21317999e-03 9.99996752e-01 -5.66431216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.416547614999999 meters Centerline goodness : 0.809542 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:-0.06 [[ 9.99783891e-01 2.07017070e-02 1.90008051e-03 3.17794268e+00] [-2.06903962e-02 9.99769159e-01 -5.79100511e-03 1.68264215e-01] [-2.01952558e-03 5.75044021e-03 9.99981427e-01 -5.78819875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.446547614999998 meters Centerline goodness : 0.809079 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:-0.06 [[ 9.99821055e-01 1.87696303e-02 2.35780353e-03 3.17531037e+00] [-1.87522874e-02 9.99798422e-01 -7.17407150e-03 1.60558920e-01] [-2.49198292e-03 7.12857352e-03 9.99971486e-01 -5.61300632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.476547615 meters Centerline goodness : 0.809077 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:-0.05 [[ 0.99982711 0.0183212 0.00317593 3.1710667 ] [-0.0183023 0.9998152 -0.00588139 0.14539185] [-0.00328309 0.00582225 0.99997766 -0.0526817 ] [ 0. 0. 0. 1. ]] SLAMing on 9.506547614999999 meters Centerline goodness : 0.810673 Centerline is valid? [False, False] Translation: X:3.17, Y:0.14, Z:-0.05 [[ 9.99817183e-01 1.88574164e-02 3.16210056e-03 3.17155697e+00] [-1.88433407e-02 9.99812663e-01 -4.42360327e-03 1.39611648e-01] [-3.24492591e-03 4.36321002e-03 9.99985216e-01 -5.31830834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.536547614999998 meters Centerline goodness : 0.807288 Centerline is valid? [False, False] Translation: X:3.17, Y:0.13, Z:-0.06 [[ 9.99750611e-01 2.19693959e-02 4.00763949e-03 3.17181284e+00] [-2.19687078e-02 9.99758636e-01 -2.15648781e-04 1.31417574e-01] [-4.01140986e-03 1.27552340e-04 9.99991946e-01 -5.52922909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.566547615 meters Centerline goodness : 0.806613 Centerline is valid? [False, False] Translation: X:3.17, Y:0.13, Z:-0.06 [[ 9.99737181e-01 2.25363537e-02 4.20503693e-03 3.17203862e+00] [-2.25385018e-02 9.99745868e-01 4.64150013e-04 1.29002661e-01] [-4.19350804e-03 -5.58803258e-04 9.99991051e-01 -5.64018974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.596547614999999 meters Centerline goodness : 0.805468 Centerline is valid? [False, False] Translation: X:3.17, Y:0.13, Z:-0.06 [[ 9.99721621e-01 2.31962796e-02 4.31423747e-03 3.17174448e+00] [-2.32036777e-02 9.99729359e-01 1.67274221e-03 1.25572216e-01] [-4.27426846e-03 -1.77238273e-03 9.99989295e-01 -5.62730807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.626547614999998 meters Centerline goodness : 0.803812 Centerline is valid? [False, False] Translation: X:3.17, Y:0.12, Z:-0.05 [[ 0.99977356 0.0206955 0.00495235 3.16823295] [-0.02071354 0.9997789 0.00361889 0.11542981] [-0.00487636 -0.00372065 0.99998119 -0.04864903] [ 0. 0. 0. 1. ]] SLAMing on 9.656547615 meters Centerline goodness : 0.809044 Centerline is valid? [False, False] Translation: X:3.16, Y:0.10, Z:-0.04 [[ 9.99930969e-01 1.05742178e-02 5.12279341e-03 3.16483063e+00] [-1.05597527e-02 9.99940204e-01 -2.84254212e-03 1.00837025e-01] [-5.15254475e-03 2.78825047e-03 9.99982838e-01 -4.17881466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.686547614999999 meters Centerline goodness : 0.814428 Centerline is valid? [False, False] Translation: X:3.17, Y:0.09, Z:-0.04 [[ 0.99996851 0.00638371 0.00471491 3.16612466] [-0.00635629 0.99996293 -0.00580793 0.09295673] [-0.00475181 0.00577778 0.99997202 -0.04198512] [ 0. 0. 0. 1. ]] SLAMing on 9.716547614999998 meters Centerline goodness : 0.814338 Centerline is valid? [False, False] Translation: X:3.17, Y:0.09, Z:-0.05 [[ 0.99998072 0.00454178 0.00423393 3.17337258] [-0.00451981 0.99997634 -0.0051852 0.08650973] [-0.00425738 0.00516596 0.99997759 -0.04810508] [ 0. 0. 0. 1. ]] SLAMing on 9.746547614999999 meters Centerline goodness : 0.808460 Centerline is valid? [False, False] Translation: X:3.18, Y:0.09, Z:-0.05 [[ 9.99975435e-01 6.09071584e-03 3.46885152e-03 3.17874738e+00] [-6.08324141e-03 9.99979161e-01 -2.16121795e-03 8.63297643e-02] [-3.48194259e-03 2.14006300e-03 9.99991648e-01 -5.16199778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.776547614999998 meters Centerline goodness : 0.808257 Centerline is valid? [False, False] Translation: X:3.18, Y:0.08, Z:-0.05 [[ 9.99970436e-01 6.64173894e-03 3.87482684e-03 3.17913375e+00] [-6.63851580e-03 9.99977609e-01 -8.44085390e-04 8.06052134e-02] [-3.88034627e-03 8.18337336e-04 9.99992137e-01 -5.31354535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.806547615 meters Centerline goodness : 0.808297 Centerline is valid? [False, False] Translation: X:3.18, Y:0.07, Z:-0.05 [[ 9.99959098e-01 8.06856321e-03 4.08653643e-03 3.17765963e+00] [-8.07284004e-03 9.99966882e-01 1.03115583e-03 7.33375886e-02] [-4.07808114e-03 -1.06410361e-03 9.99991118e-01 -5.19850191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.836547614999999 meters Centerline goodness : 0.815827 Centerline is valid? [False, False] Translation: X:3.17, Y:0.06, Z:-0.05 [[ 0.99991008 0.01206858 0.00584732 3.17217525] [-0.01209285 0.99991834 0.00413352 0.06309662] [-0.00579695 -0.00420386 0.99997436 -0.05157918] [ 0. 0. 0. 1. ]] SLAMing on 9.866547614999998 meters Centerline goodness : 0.811228 Centerline is valid? [False, False] Translation: X:3.17, Y:0.06, Z:-0.05 [[ 0.99989651 0.01280026 0.00656607 3.17115676] [-0.01282577 0.99991031 0.00385758 0.06361573] [-0.0065161 -0.00394139 0.999971 -0.05329654] [ 0. 0. 0. 1. ]] SLAMing on 9.896547615 meters Centerline goodness : 0.810943 Centerline is valid? [False, False] Translation: X:3.17, Y:0.07, Z:-0.05 [[ 9.99930482e-01 1.01722777e-02 5.96282064e-03 3.17499414e+00] [-1.01878794e-02 9.99944743e-01 2.59198973e-03 6.82048400e-02] [-5.93612471e-03 -2.65255804e-03 9.99978863e-01 -5.47348558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.926547614999999 meters Centerline goodness : 0.809953 Centerline is valid? [False, False] Translation: X:3.17, Y:0.07, Z:-0.05 [[ 9.99932734e-01 1.00252596e-02 5.83282142e-03 3.17490577e+00] [-1.00385679e-02 9.99947066e-01 2.25682762e-03 6.93347033e-02] [-5.80988738e-03 -2.31522899e-03 9.99980442e-01 -5.42783624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.956547614999998 meters Centerline goodness : 0.812872 Centerline is valid? [False, False] Translation: X:3.17, Y:0.07, Z:-0.05 [[ 9.99961212e-01 7.12818254e-03 5.17330212e-03 3.17473997e+00] [-7.12008332e-03 9.99973400e-01 -1.58231384e-03 6.67290595e-02] [-5.18444353e-03 1.54541813e-03 9.99985367e-01 -5.36596620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.986547615 meters Centerline goodness : 0.818360 Centerline is valid? [False, False] Translation: X:3.18, Y:0.07, Z:-0.05 [[ 9.99975143e-01 5.87536479e-03 3.89788634e-03 3.17873047e+00] [-5.86674101e-03 9.99980326e-01 -2.22018225e-03 6.50004027e-02] [-3.91085403e-03 2.19725917e-03 9.99989939e-01 -5.48957699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.016547614999999 meters Centerline goodness : 0.817993 Centerline is valid? [False, False] Translation: X:3.19, Y:0.07, Z:-0.06 [[ 9.99998322e-01 -3.67026063e-04 1.79491333e-03 3.19150794e+00] [ 3.78414467e-04 9.99979776e-01 -6.34860308e-03 6.66375707e-02] [-1.79254693e-03 6.34927165e-03 9.99978237e-01 -6.31988243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.046547614999998 meters Centerline goodness : 0.811739 Centerline is valid? [False, False] Translation: X:3.21, Y:0.07, Z:-0.07 [[ 9.99999793e-01 -5.59200953e-04 -3.17838722e-04 3.20751804e+00] [ 5.58335183e-04 9.99996152e-01 -2.71752207e-03 7.16395761e-02] [ 3.19357140e-04 2.71734404e-03 9.99996257e-01 -7.32626684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.076547614999999 meters Centerline goodness : 0.808872 Centerline is valid? [False, False] Translation: X:3.21, Y:0.07, Z:-0.08 [[ 9.99997213e-01 2.14849627e-03 -9.78547424e-04 3.21067796e+00] [-2.14818868e-03 9.99997643e-01 3.15274847e-04 7.39914565e-02] [ 9.79222485e-04 -3.13171864e-04 9.99999472e-01 -7.51187086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.106547614999998 meters Centerline goodness : 0.808995 Centerline is valid? [False, False] Translation: X:3.20, Y:0.07, Z:-0.07 [[ 9.99992216e-01 3.91910704e-03 4.56705384e-04 3.19931291e+00] [-3.91957696e-03 9.99991785e-01 1.03263337e-03 6.81710855e-02] [-4.52654632e-04 -1.03441543e-03 9.99999363e-01 -6.61143059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.136547614999998 meters Centerline goodness : 0.818966 Centerline is valid? [False, False] Translation: X:3.19, Y:0.06, Z:-0.06 [[ 9.99993990e-01 3.27488971e-03 1.13805446e-03 3.19221355e+00] [-3.27579893e-03 9.99994316e-01 7.97977350e-04 6.04816891e-02] [-1.13543471e-03 -8.01700592e-04 9.99999034e-01 -5.87928003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166547614999999 meters Centerline goodness : 0.826811 Centerline is valid? [False, False] Translation: X:3.19, Y:0.05, Z:-0.05 [[ 9.99995052e-01 2.47268861e-03 1.94456224e-03 3.18563396e+00] [-2.47310440e-03 9.99996920e-01 2.11446792e-04 5.34654510e-02] [-1.94403341e-03 -2.16254851e-04 9.99998087e-01 -5.28639117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.196547614999998 meters Centerline goodness : 0.827683 Centerline is valid? [False, False] Translation: X:3.18, Y:0.05, Z:-0.05 [[ 0.9999881 0.00362928 0.00325941 3.18214999] [-0.0036425 0.99998512 0.0040605 0.04658235] [-0.00324463 -0.00407233 0.99998644 -0.04864392] [ 0. 0. 0. 1. ]] SLAMing on 10.226547615 meters Centerline goodness : 0.822506 Centerline is valid? [False, False] Translation: X:3.19, Y:0.05, Z:-0.06 [[ 9.99997084e-01 4.66434294e-05 2.41461715e-03 3.19433115e+00] [-5.83819592e-05 9.99988181e-01 4.86160335e-03 5.24985083e-02] [-2.41436184e-03 -4.86173014e-03 9.99985267e-01 -5.60866869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.256547614999999 meters Centerline goodness : 0.820372 Centerline is valid? [False, False] Translation: X:3.20, Y:0.06, Z:-0.06 [[ 9.99998570e-01 1.18917913e-03 1.20246196e-03 3.20061858e+00] [-1.19731654e-03 9.99976235e-01 6.78937319e-03 5.61553902e-02] [-1.19435960e-03 -6.79080321e-03 9.99976229e-01 -5.98439333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.286547614999998 meters Centerline goodness : 0.817950 Centerline is valid? [False, False] Translation: X:3.20, Y:0.06, Z:-0.06 [[ 9.99999604e-01 4.65066112e-04 7.58419173e-04 3.20243318e+00] [-4.69142771e-04 9.99985397e-01 5.38391585e-03 5.77299424e-02] [-7.55904221e-04 -5.38426953e-03 9.99985219e-01 -6.15418515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.316547615 meters Centerline goodness : 0.823428 Centerline is valid? [False, False] Translation: X:3.20, Y:0.06, Z:-0.06 [[ 9.99997421e-01 -2.16282667e-03 6.93620270e-04 3.20071838e+00] [ 2.16187719e-03 9.99996729e-01 1.36671738e-03 5.68666228e-02] [-6.96573974e-04 -1.36521433e-03 9.99998825e-01 -6.07076575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.346547614999999 meters Centerline goodness : 0.835979 Centerline is valid? [False, False] Translation: X:3.18, Y:0.05, Z:-0.05 [[ 9.99983307e-01 -5.12106308e-03 2.67587936e-03 3.18491386e+00] [ 5.14001575e-03 9.99961410e-01 -7.12456805e-03 4.93064317e-02] [-2.63929073e-03 7.13820318e-03 9.99971040e-01 -5.39024743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.376547614999998 meters Centerline goodness : 0.837806 Centerline is valid? [False, False] Translation: X:3.18, Y:0.05, Z:-0.05 [[ 9.99986982e-01 -4.38712790e-03 2.60538477e-03 3.18347271e+00] [ 4.40112648e-03 9.99975779e-01 -5.39173354e-03 4.62203160e-02] [-2.58166744e-03 5.40312998e-03 9.99982070e-01 -5.09472438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.406547615 meters Centerline goodness : 0.832773 Centerline is valid? [False, False] Translation: X:3.19, Y:0.05, Z:-0.06 [[ 9.99998157e-01 -1.30953100e-03 1.40361365e-03 3.19295472e+00] [ 1.30918902e-03 9.99999113e-01 2.44534853e-04 5.09168761e-02] [-1.40393263e-03 -2.42696807e-04 9.99998985e-01 -5.64013550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.436547614999999 meters Centerline goodness : 0.827527 Centerline is valid? [False, False] Translation: X:3.20, Y:0.06, Z:-0.06 [[ 9.99999864e-01 -1.33508763e-04 5.03732738e-04 3.19976839e+00] [ 1.32469382e-04 9.99997864e-01 2.06282719e-03 5.55130391e-02] [-5.04007067e-04 -2.06276018e-03 9.99997745e-01 -6.18767880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.466547614999998 meters Centerline goodness : 0.820568 Centerline is valid? [False, False] Translation: X:3.22, Y:0.06, Z:-0.07 [[ 9.99987396e-01 -4.17506757e-03 -2.78856166e-03 3.21690367e+00] [ 4.18019139e-03 9.99989581e-01 1.83414711e-03 5.99821858e-02] [ 2.78087492e-03 -1.84578071e-03 9.99994430e-01 -7.15876975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.496547614999999 meters Centerline goodness : 0.819795 Centerline is valid? [False, False] Translation: X:3.22, Y:0.06, Z:-0.07 [[ 9.99979093e-01 -5.54642640e-03 -3.32419214e-03 3.21975500e+00] [ 5.55303385e-03 9.99982618e-01 1.98176203e-03 5.74104663e-02] [ 3.31314266e-03 -2.00017995e-03 9.99992511e-01 -7.24371655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.526547614999998 meters Centerline goodness : 0.826635 Centerline is valid? [False, False] Translation: X:3.22, Y:0.05, Z:-0.07 [[ 0.99990903 -0.01280125 0.00424945 3.22461751] [ 0.01285671 0.99982901 -0.01329142 0.05355777] [-0.00407858 0.01334484 0.99990264 -0.06731079] [ 0. 0. 0. 1. ]] SLAMing on 10.556547614999998 meters Centerline goodness : 0.833857 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:-0.05 [[ 0.99988998 -0.01380055 0.00543897 3.21735069] [ 0.01385014 0.99986188 -0.00918678 0.04287081] [-0.00531144 0.0092611 0.99994301 -0.0532333 ] [ 0. 0. 0. 1. ]] SLAMing on 10.586547614999999 meters Centerline goodness : 0.847048 Centerline is valid? [False, False] Translation: X:3.21, Y:0.03, Z:-0.04 [[ 9.99955505e-01 -9.29742596e-03 -1.59529166e-03 3.21412568e+00] [ 9.27010185e-03 9.99823251e-01 -1.63564210e-02 3.40629293e-02] [ 1.74708231e-03 1.63409047e-02 9.99864952e-01 -3.81961572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.616547614999998 meters Centerline goodness : 0.846299 Centerline is valid? [False, False] Translation: X:3.22, Y:0.03, Z:-0.04 [[ 9.99992211e-01 -3.09897184e-03 -2.44425646e-03 3.21862300e+00] [ 3.07735427e-03 9.99956553e-01 -8.79895248e-03 3.35722854e-02] [ 2.47141797e-03 8.79136210e-03 9.99958301e-01 -4.01593717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.646547615 meters Centerline goodness : 0.829125 Centerline is valid? [False, False] Translation: X:3.23, Y:0.04, Z:-0.05 [[ 0.99992212 0.00640024 -0.01071387 3.22665249] [-0.00627698 0.99991418 0.01149928 0.04274791] [ 0.01078655 -0.01143114 0.99987648 -0.05396049] [ 0. 0. 0. 1. ]] SLAMing on 10.676547614999999 meters Centerline goodness : 0.817064 Centerline is valid? [False, False] Translation: X:3.24, Y:0.05, Z:-0.06 [[ 0.99982624 0.01432816 -0.01192459 3.23570373] [-0.01408785 0.99970076 0.01999786 0.05124015] [ 0.01220756 -0.0198264 0.99972891 -0.06032498] [ 0. 0. 0. 1. ]] SLAMing on 10.706547614999998 meters Centerline goodness : 0.816215 Centerline is valid? [False, False] Translation: X:3.23, Y:0.05, Z:-0.06 [[ 0.99986112 0.01203875 -0.01152387 3.23242855] [-0.01185728 0.99980663 0.01568809 0.05462464] [ 0.01171051 -0.01554927 0.99981052 -0.05940381] [ 0. 0. 0. 1. ]] SLAMing on 10.736547615 meters Centerline goodness : 0.825879 Centerline is valid? [False, False] Translation: X:3.23, Y:0.05, Z:-0.05 [[ 9.99951509e-01 8.54058254e-03 -4.90278211e-03 3.23247935e+00] [-8.54327442e-03 9.99963366e-01 -5.28372354e-04 5.33302162e-02] [ 4.89808990e-03 5.70232546e-04 9.99987842e-01 -5.30810378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.766547614999999 meters Centerline goodness : 0.834539 Centerline is valid? [False, False] Translation: X:3.23, Y:0.05, Z:-0.05 [[ 9.99966802e-01 6.62251363e-03 -4.74730777e-03 3.22762908e+00] [-6.62865001e-03 9.99977214e-01 -1.27803438e-03 4.69553925e-02] [ 4.73873580e-03 1.30946020e-03 9.99987915e-01 -4.62392783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.796547614999998 meters Centerline goodness : 0.834539 Centerline is valid? [False, False] Translation: X:3.23, Y:0.05, Z:-0.05 [[ 9.99966802e-01 6.62251363e-03 -4.74730777e-03 3.22762908e+00] [-6.62865001e-03 9.99977214e-01 -1.27803438e-03 4.69553925e-02] [ 4.73873580e-03 1.30946020e-03 9.99987915e-01 -4.62392783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.826547614999999 meters Centerline goodness : 0.837674 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:-0.04 [[ 9.99986499e-01 3.89490911e-03 -3.43968339e-03 3.22308643e+00] [-3.89206614e-03 9.99992079e-01 8.32829314e-04 3.83311191e-02] [ 3.44289994e-03 -8.19430595e-04 9.99993737e-01 -3.66298744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.856547614999998 meters Centerline goodness : 0.836771 Centerline is valid? [False, False] Translation: X:3.23, Y:0.04, Z:-0.04 [[ 9.99989878e-01 2.76013318e-03 -3.55324197e-03 3.22540537e+00] [-2.75854837e-03 9.99996094e-01 4.50841153e-04 3.83120905e-02] [ 3.55447247e-03 -4.41034800e-04 9.99993586e-01 -3.86177915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.886547614999998 meters Centerline goodness : 0.824245 Centerline is valid? [False, False] Translation: X:3.25, Y:0.04, Z:-0.05 [[ 0.9999666 0.00447621 -0.00683782 3.24557658] [-0.00441568 0.99995116 0.00884161 0.04215724] [ 0.00687707 -0.00881113 0.99993753 -0.04795561] [ 0. 0. 0. 1. ]] SLAMing on 10.916547614999999 meters Centerline goodness : 0.818520 Centerline is valid? [False, False] Translation: X:3.25, Y:0.05, Z:-0.05 [[ 0.99995097 0.00690199 -0.00710028 3.24994181] [-0.00683162 0.99992779 0.00988677 0.04662241] [ 0.00716801 -0.00983778 0.99992592 -0.05426942] [ 0. 0. 0. 1. ]] SLAMing on 10.946547614999998 meters Centerline goodness : 0.815160 Centerline is valid? [False, False] Translation: X:3.25, Y:0.05, Z:-0.06 [[ 0.99994859 0.00747783 -0.00684892 3.24955433] [-0.00744075 0.99995761 0.00542328 0.05478897] [ 0.00688919 -0.00537204 0.99996184 -0.06047926] [ 0. 0. 0. 1. ]] SLAMing on 10.976547614999998 meters Centerline goodness : 0.814789 Centerline is valid? [False, False] Translation: X:3.25, Y:0.06, Z:-0.06 [[ 0.99994043 0.00834012 -0.00704156 3.24794949] [-0.00830175 0.99995063 0.00546145 0.05507394] [ 0.00708677 -0.00540267 0.99996029 -0.05848942] [ 0. 0. 0. 1. ]] SLAMing on 11.006547614999999 meters Centerline goodness : 0.824653 Centerline is valid? [False, False] Translation: X:3.23, Y:0.05, Z:-0.05 [[ 9.99937239e-01 1.01082116e-02 -4.83127728e-03 3.23039503e+00] [-1.01057789e-02 9.99948796e-01 5.27681505e-04 4.86662737e-02] [ 4.83636382e-03 -4.78824568e-04 9.99988190e-01 -5.01647940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.036547614999998 meters Centerline goodness : 0.829174 Centerline is valid? [False, False] Translation: X:3.23, Y:0.05, Z:-0.05 [[ 9.99928714e-01 1.06896505e-02 -5.31952868e-03 3.23003460e+00] [-1.06841915e-02 9.99942367e-01 1.05357268e-03 4.67383460e-02] [ 5.33048442e-03 -9.96662715e-04 9.99985296e-01 -4.85259471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.066547615 meters Centerline goodness : 0.831563 Centerline is valid? [False, False] Translation: X:3.24, Y:0.05, Z:-0.05 [[ 9.99945534e-01 8.75153668e-03 -5.68685152e-03 3.23600425e+00] [-8.75759303e-03 9.99961110e-01 -1.04094567e-03 5.01940147e-02] [ 5.67752048e-03 1.09069211e-03 9.99983288e-01 -5.48798105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.096547614999999 meters Centerline goodness : 0.822536 Centerline is valid? [False, False] Translation: X:3.24, Y:0.05, Z:-0.06 [[ 9.99994908e-01 -9.11797428e-04 -3.05830848e-03 3.24094456e+00] [ 9.44914520e-04 9.99940749e-01 1.08446569e-02 4.75500944e-02] [ 3.04823914e-03 -1.08474915e-02 9.99936518e-01 -6.00645166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.126547614999998 meters Centerline goodness : 0.820202 Centerline is valid? [False, False] Translation: X:3.24, Y:0.05, Z:-0.06 [[ 9.99978967e-01 -5.88258506e-03 -2.73139248e-03 3.24209386e+00] [ 5.90086887e-03 9.99959910e-01 6.73485695e-03 4.74962732e-02] [ 2.69166461e-03 -6.75083289e-03 9.99973590e-01 -6.17082885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.156547615 meters Centerline goodness : 0.816448 Centerline is valid? [False, False] Translation: X:3.25, Y:0.05, Z:-0.06 [[ 0.99996208 -0.00798291 -0.00347909 3.24626812] [ 0.0080051 0.9999474 0.00641184 0.04681692] [ 0.00342772 -0.00643945 0.99997339 -0.06326841] [ 0. 0. 0. 1. ]] SLAMing on 11.186547614999999 meters Centerline goodness : 0.814989 Centerline is valid? [False, False] Translation: X:3.25, Y:0.05, Z:-0.07 [[ 0.99992992 -0.01096644 -0.00446082 3.25201739] [ 0.01098755 0.99992842 0.00473686 0.0475486 ] [ 0.00440855 -0.00478554 0.99997883 -0.06642257] [ 0. 0. 0. 1. ]] SLAMing on 11.216547614999998 meters Centerline goodness : 0.816997 Centerline is valid? [False, False] Translation: X:3.25, Y:0.05, Z:-0.07 [[ 0.99994169 -0.00993102 -0.00424221 3.25017872] [ 0.009953 0.99993699 0.00519249 0.04586526] [ 0.00419038 -0.00523441 0.99997752 -0.065213 ] [ 0. 0. 0. 1. ]] SLAMing on 11.246547614999999 meters Centerline goodness : 0.831104 Centerline is valid? [False, False] Translation: X:3.24, Y:0.04, Z:-0.06 [[ 9.99991244e-01 -2.11498920e-03 3.61104100e-03 3.24271101e+00] [ 2.13260950e-03 9.99985805e-01 -4.88270304e-03 4.44876399e-02] [-3.60066288e-03 4.89036122e-03 9.99981560e-01 -6.02322922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.276547614999998 meters Centerline goodness : 0.838961 Centerline is valid? [False, False] Translation: X:3.23, Y:0.04, Z:-0.05 [[ 9.99967113e-01 6.17845424e-03 5.25354888e-03 3.22740891e+00] [-6.18022527e-03 9.99980851e-01 3.20943254e-04 4.13883500e-02] [-5.25146535e-03 -3.53400815e-04 9.99986149e-01 -4.89875451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.306547614999998 meters Centerline goodness : 0.839093 Centerline is valid? [False, False] Translation: X:3.23, Y:0.04, Z:-0.05 [[ 9.99966155e-01 6.33030096e-03 5.25501950e-03 3.22839806e+00] [-6.32699569e-03 9.99979776e-01 -6.45361814e-04 4.26083765e-02] [-5.25899856e-03 6.12091487e-04 9.99985984e-01 -5.15203649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.336547614999999 meters Centerline goodness : 0.829566 Centerline is valid? [False, False] Translation: X:3.26, Y:0.04, Z:-0.06 [[ 0.99997965 0.0037563 -0.0051572 3.26043697] [-0.00370024 0.99993444 0.01083649 0.04156494] [ 0.00519757 -0.01081719 0.99992798 -0.05896239] [ 0. 0. 0. 1. ]] SLAMing on 11.366547614999998 meters Centerline goodness : 0.819193 Centerline is valid? [False, False] Translation: X:3.27, Y:0.05, Z:-0.07 [[ 9.99979420e-01 -7.09598464e-05 -6.41518189e-03 3.27302517e+00] [ 1.39871721e-04 9.99942291e-01 1.07421881e-02 4.70397591e-02] [ 6.41404941e-03 -1.07428644e-02 9.99921722e-01 -6.60838395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.396547614999998 meters Centerline goodness : 0.814101 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:-0.07 [[ 0.99996686 -0.00418341 -0.00698378 3.27914189] [ 0.00424704 0.99994937 0.00912206 0.05268126] [ 0.00694527 -0.00915142 0.99993401 -0.06873415] [ 0. 0. 0. 1. ]] SLAMing on 11.426547614999999 meters Centerline goodness : 0.816956 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:-0.07 [[ 0.99995627 -0.00681889 -0.0064005 3.27514491] [ 0.00685818 0.99995765 0.00613688 0.05090725] [ 0.00635838 -0.00618051 0.99996069 -0.06552051] [ 0. 0. 0. 1. ]] SLAMing on 11.456547614999998 meters Centerline goodness : 0.832876 Centerline is valid? [False, False] Translation: X:3.27, Y:0.04, Z:-0.06 [[ 9.99958975e-01 -9.01361972e-03 8.96082546e-04 3.27110081e+00] [ 9.02195885e-03 9.99911435e-01 -9.78402297e-03 4.38646023e-02] [-8.07813722e-04 9.79170600e-03 9.99951734e-01 -5.70615358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.486547615 meters Centerline goodness : 0.838928 Centerline is valid? [False, False] Translation: X:3.27, Y:0.04, Z:-0.05 [[ 9.99974055e-01 -7.16373903e-03 7.55126949e-04 3.26782652e+00] [ 7.16939559e-03 9.99944072e-01 -7.77512561e-03 4.02389582e-02] [-6.99385746e-04 7.78033769e-03 9.99969488e-01 -5.24869091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.516547614999999 meters Centerline goodness : 0.836331 Centerline is valid? [False, False] Translation: X:3.27, Y:0.05, Z:-0.06 [[ 9.99993696e-01 -3.53000570e-03 3.84455784e-04 3.27019471e+00] [ 3.53316366e-03 9.99957215e-01 -8.54901223e-03 4.83878365e-02] [-3.54261273e-04 8.55031667e-03 9.99963383e-01 -6.01006116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.546547614999998 meters Centerline goodness : 0.829920 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:-0.06 [[ 9.99997181e-01 2.34362993e-03 -3.81146165e-04 3.27587783e+00] [-2.34463953e-03 9.99993686e-01 -2.67032806e-03 5.38587951e-02] [ 3.74885498e-04 2.67121418e-03 9.99996362e-01 -6.49554521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.576547614999999 meters Centerline goodness : 0.818558 Centerline is valid? [False, False] Translation: X:3.28, Y:0.06, Z:-0.07 [[ 9.99912009e-01 1.32625361e-02 -2.81082508e-04 3.27859681e+00] [-1.32599453e-02 9.99881750e-01 7.78842321e-03 6.02587753e-02] [ 3.84343514e-04 -7.78401077e-03 9.99969630e-01 -6.86357216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.606547614999998 meters Centerline goodness : 0.822194 Centerline is valid? [False, False] Translation: X:3.27, Y:0.06, Z:-0.07 [[ 9.99943436e-01 1.06297775e-02 3.62995827e-04 3.27477547e+00] [-1.06314634e-02 9.99930932e-01 5.01028879e-03 5.93525293e-02] [-3.09712500e-04 -5.01386456e-03 9.99987383e-01 -6.57481002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.636547614999998 meters Centerline goodness : 0.828698 Centerline is valid? [False, False] Translation: X:3.27, Y:0.05, Z:-0.05 [[ 9.99999350e-01 -3.55664089e-04 1.08322563e-03 3.27073983e+00] [ 3.55041240e-04 9.99999772e-01 5.75132629e-04 4.62953075e-02] [-1.08342993e-03 -5.74747665e-04 9.99999248e-01 -5.37428417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.666547614999999 meters Centerline goodness : 0.831528 Centerline is valid? [False, False] Translation: X:3.27, Y:0.04, Z:-0.05 [[ 9.99986243e-01 -5.21809084e-03 5.33891605e-04 3.27264911e+00] [ 5.21956648e-03 9.99982455e-01 -2.80092150e-03 4.28067470e-02] [-5.19266775e-04 2.80366965e-03 9.99995935e-01 -5.33990947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.696547614999998 meters Centerline goodness : 0.830668 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:-0.06 [[ 9.99982162e-01 -5.94881222e-03 -5.35696550e-04 3.28064370e+00] [ 5.94815221e-03 9.99981559e-01 -1.22533746e-03 4.61469984e-02] [ 5.42975974e-04 1.22212920e-03 9.99999106e-01 -5.74420979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.726547614999998 meters Centerline goodness : 0.828351 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:-0.06 [[ 9.99994307e-01 -3.15906449e-03 -1.18608601e-03 3.28391711e+00] [ 3.15965704e-03 9.99994884e-01 4.98040467e-04 5.23311723e-02] [ 1.18450660e-03 -5.01785257e-04 9.99999173e-01 -6.07228324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.756547614999999 meters Centerline goodness : 0.823074 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:-0.07 [[ 9.99986025e-01 4.52376257e-03 -2.73582851e-03 3.28749106e+00] [-4.52029813e-03 9.99988975e-01 1.27118201e-03 6.32248951e-02] [ 2.74154888e-03 -1.25879748e-03 9.99995450e-01 -7.01722327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.786547614999998 meters Centerline goodness : 0.827336 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:-0.07 [[ 9.99978609e-01 5.82139381e-03 -2.98203886e-03 3.28670692e+00] [-5.81920706e-03 9.99982793e-01 7.41461650e-04 6.35701183e-02] [ 2.98630389e-03 -7.24092688e-04 9.99995279e-01 -7.04351587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.816547614999998 meters Centerline goodness : 0.836952 Centerline is valid? [False, False] Translation: X:3.28, Y:0.06, Z:-0.06 [[ 9.99940217e-01 1.06109858e-02 -2.64000998e-03 3.27804809e+00] [-1.06024575e-02 9.99938596e-01 3.22369636e-03 5.70036573e-02] [ 2.67405447e-03 -3.19551304e-03 9.99991319e-01 -6.39773796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.846547614999999 meters Centerline goodness : 0.839054 Centerline is valid? [False, False] Translation: X:3.28, Y:0.06, Z:-0.06 [[ 9.99931063e-01 1.15240043e-02 -2.25095323e-03 3.27547961e+00] [-1.15143598e-02 9.99924669e-01 4.25162036e-03 5.63696039e-02] [ 2.29977936e-03 -4.22540898e-03 9.99988428e-01 -6.15857697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.876547614999998 meters Centerline goodness : 0.829663 Centerline is valid? [False, False] Translation: X:3.28, Y:0.06, Z:-0.06 [[ 9.99909011e-01 1.33511163e-02 -1.92798495e-03 3.27818775e+00] [-1.33370943e-02 9.99885769e-01 7.11125192e-03 6.26455848e-02] [ 2.02270787e-03 -7.08489116e-03 9.99972856e-01 -6.40772356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.906547615 meters Centerline goodness : 0.821712 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.07 [[ 9.99948663e-01 9.94827206e-03 -1.92446263e-03 3.28392974e+00] [-9.93866079e-03 9.99938403e-01 4.94097059e-03 6.82759034e-02] [ 1.97349821e-03 -4.92159035e-03 9.99985942e-01 -6.94539427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.936547614999999 meters Centerline goodness : 0.820417 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.07 [[ 9.99982685e-01 5.48320941e-03 -2.13627202e-03 3.28451529e+00] [-5.48151275e-03 9.99984657e-01 7.99263622e-04 6.75737547e-02] [ 2.14062178e-03 -7.87539781e-04 9.99997399e-01 -6.95643736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.966547614999998 meters Centerline goodness : 0.828381 Centerline is valid? [False, False] Translation: X:3.28, Y:0.06, Z:-0.06 [[ 9.99997167e-01 -1.56981828e-03 -1.78907210e-03 3.28091764e+00] [ 1.56632445e-03 9.99996867e-01 -1.95260097e-03 5.95959522e-02] [ 1.79213172e-03 1.94979317e-03 9.99996493e-01 -5.99480948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.996547614999999 meters Centerline goodness : 0.834173 Centerline is valid? [False, False] Translation: X:3.28, Y:0.06, Z:-0.06 [[ 9.99988577e-01 -4.48384645e-03 -1.65537967e-03 3.27833080e+00] [ 4.47672546e-03 9.99980817e-01 -4.28065608e-03 5.54675287e-02] [ 1.67454172e-03 4.27319650e-03 9.99989468e-01 -5.64538165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.026547614999998 meters Centerline goodness : 0.831916 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:-0.06 [[ 9.99985738e-01 -4.85719665e-03 -2.22090872e-03 3.28077640e+00] [ 4.84616865e-03 9.99976034e-01 -4.94424230e-03 5.40529873e-02] [ 2.24487065e-03 4.93340888e-03 9.99985311e-01 -5.85728115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.056547614999998 meters Centerline goodness : 0.829057 Centerline is valid? [False, False] Translation: X:3.28, Y:0.06, Z:-0.06 [[ 9.99995053e-01 -1.81338836e-03 -2.57011742e-03 3.28410118e+00] [ 1.80527918e-03 9.99993397e-01 -3.15399329e-03 5.82543589e-02] [ 2.57581986e-03 3.14933791e-03 9.99991723e-01 -6.31901203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.086547614999999 meters Centerline goodness : 0.823167 Centerline is valid? [False, False] Translation: X:3.29, Y:0.07, Z:-0.07 [[ 9.99976220e-01 6.28179007e-03 -2.84595190e-03 3.28618861e+00] [-6.28001557e-03 9.99980081e-01 6.32028145e-04 6.53855583e-02] [ 2.84986548e-03 -6.14140493e-04 9.99995751e-01 -7.06951390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.116547614999998 meters Centerline goodness : 0.823284 Centerline is valid? [False, False] Translation: X:3.29, Y:0.07, Z:-0.07 [[ 9.99972890e-01 6.76783485e-03 -2.90088450e-03 3.28585169e+00] [-6.76610693e-03 9.99976927e-01 6.05052598e-04 6.57603628e-02] [ 2.90491247e-03 -5.85408501e-04 9.99995609e-01 -7.06271353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.146547614999998 meters Centerline goodness : 0.824096 Centerline is valid? [False, False] Translation: X:3.28, Y:0.06, Z:-0.07 [[ 9.99986827e-01 4.33425849e-03 -2.74967691e-03 3.28303069e+00] [-4.33504689e-03 9.99990564e-01 -2.80830062e-04 5.80202803e-02] [ 2.74843377e-03 2.92746340e-04 9.99996180e-01 -6.63947500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.176547614999999 meters Centerline goodness : 0.830118 Centerline is valid? [False, False] Translation: X:3.28, Y:0.06, Z:-0.07 [[ 9.99995785e-01 -2.00371765e-04 -2.89648403e-03 3.28451377e+00] [ 1.88525574e-04 9.99991620e-01 -4.08954680e-03 5.56570857e-02] [ 2.89727919e-03 4.08898350e-03 9.99987443e-01 -6.75725536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.206547614999998 meters Centerline goodness : 0.819930 Centerline is valid? [False, False] Translation: X:3.30, Y:0.06, Z:-0.08 [[ 9.99991742e-01 -1.97721503e-03 -3.55054279e-03 3.29655830e+00] [ 1.96803360e-03 9.99994716e-01 -2.58755744e-03 6.27170521e-02] [ 3.55564018e-03 2.58054848e-03 9.99990349e-01 -7.57230991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.236547614999997 meters Centerline goodness : 0.820280 Centerline is valid? [False, False] Translation: X:3.30, Y:0.06, Z:-0.08 [[ 9.99990264e-01 -2.77181029e-06 -4.41269496e-03 3.30012015e+00] [ 6.83478422e-06 9.99999576e-01 9.20731799e-04 6.36283620e-02] [ 4.41269054e-03 -9.20752994e-04 9.99989840e-01 -7.61595696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.266547614999999 meters Centerline goodness : 0.823572 Centerline is valid? [False, False] Translation: X:3.30, Y:0.06, Z:-0.07 [[ 9.99986224e-01 -2.32915690e-03 -4.70388294e-03 3.29583949e+00] [ 2.33387670e-03 9.99996778e-01 9.98143544e-04 5.72625086e-02] [ 4.70154296e-03 -1.00910808e-03 9.99988439e-01 -6.67414427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.296547614999998 meters Centerline goodness : 0.832232 Centerline is valid? [False, False] Translation: X:3.30, Y:0.05, Z:-0.06 [[ 9.99984753e-01 -4.77409284e-03 2.77518832e-03 3.29616331e+00] [ 4.80966837e-03 9.99904487e-01 -1.29570277e-02 4.92543174e-02] [-2.71306520e-03 1.29701779e-02 9.99912203e-01 -6.14682447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.326547614999999 meters Centerline goodness : 0.834373 Centerline is valid? [False, False] Translation: X:3.29, Y:0.05, Z:-0.06 [[ 9.99988766e-01 -3.66204143e-03 3.00964172e-03 3.29442659e+00] [ 3.69548701e-03 9.99930635e-01 -1.11834186e-02 4.53730675e-02] [-2.96847881e-03 1.11944151e-02 9.99932934e-01 -5.95341494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.356547614999998 meters Centerline goodness : 0.836763 Centerline is valid? [False, False] Translation: X:3.30, Y:0.04, Z:-0.06 [[ 9.99996084e-01 -4.49330420e-04 2.76236158e-03 3.29622653e+00] [ 4.67625138e-04 9.99977940e-01 -6.62577960e-03 4.43496464e-02] [-2.75932348e-03 6.62704540e-03 9.99974234e-01 -5.98908793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.386547614999998 meters Centerline goodness : 0.826829 Centerline is valid? [False, False] Translation: X:3.31, Y:0.05, Z:-0.07 [[ 9.99991598e-01 3.49665478e-03 2.13926731e-03 3.30511334e+00] [-3.49551819e-03 9.99993748e-01 -5.34804724e-04 5.03305086e-02] [-2.14112396e-03 5.27322383e-04 9.99997569e-01 -6.62994996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.416547614999999 meters Centerline goodness : 0.824493 Centerline is valid? [False, False] Translation: X:3.31, Y:0.05, Z:-0.07 [[ 9.99998290e-01 -1.60301514e-03 9.21734643e-04 3.31346587e+00] [ 1.60639546e-03 9.99991945e-01 -3.67836721e-03 4.72425815e-02] [-9.15830739e-04 3.67984159e-03 9.99992810e-01 -7.16713158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.446547614999998 meters Centerline goodness : 0.826823 Centerline is valid? [False, False] Translation: X:3.31, Y:0.04, Z:-0.07 [[ 9.99986999e-01 -5.06573678e-03 5.83293079e-04 3.31357576e+00] [ 5.06942757e-03 9.99965959e-01 -6.51015078e-03 4.19831313e-02] [-5.50294513e-04 6.51302310e-03 9.99978639e-01 -7.06386926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.476547614999998 meters Centerline goodness : 0.829396 Centerline is valid? [False, False] Translation: X:3.31, Y:0.04, Z:-0.07 [[ 9.99966382e-01 -8.18108128e-03 5.51934781e-04 3.31247878e+00] [ 8.18563036e-03 9.99927633e-01 -8.81615174e-03 3.66214674e-02] [-4.79769185e-04 8.82037330e-03 9.99960985e-01 -6.86512693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.506547614999999 meters Centerline goodness : 0.830388 Centerline is valid? [False, False] Translation: X:3.31, Y:0.03, Z:-0.07 [[ 9.99964526e-01 -8.40229311e-03 5.90666693e-04 3.31403170e+00] [ 8.40692284e-03 9.99929970e-01 -8.32941906e-03 3.34595901e-02] [-5.20639108e-04 8.33408927e-03 9.99965135e-01 -7.04318464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.536547614999998 meters Centerline goodness : 0.825212 Centerline is valid? [False, False] Translation: X:3.32, Y:0.03, Z:-0.07 [[ 9.99995814e-01 -2.81005516e-03 6.89276006e-04 3.31665515e+00] [ 2.81021973e-03 9.99996023e-01 -2.37895305e-04 3.35333616e-02] [-6.88604766e-04 2.39831326e-04 9.99999734e-01 -7.09301788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.566547614999998 meters Centerline goodness : 0.825563 Centerline is valid? [False, False] Translation: X:3.32, Y:0.03, Z:-0.07 [[ 9.99994243e-01 -3.38059607e-03 2.92909881e-04 3.31758366e+00] [ 3.38068109e-03 9.99994243e-01 -2.90279326e-04 3.45124567e-02] [-2.91926878e-04 2.91267890e-04 9.99999915e-01 -7.03679448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.596547614999999 meters Centerline goodness : 0.828699 Centerline is valid? [False, False] Translation: X:3.32, Y:0.03, Z:-0.07 [[ 9.99996648e-01 -2.58038670e-03 -2.13152478e-04 3.31719233e+00] [ 2.58049616e-03 9.99996538e-01 5.14861567e-04 3.20222751e-02] [ 2.11823198e-04 -5.15409880e-04 9.99999845e-01 -6.86181252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.626547614999998 meters Centerline goodness : 0.829914 Centerline is valid? [False, False] Translation: X:3.32, Y:0.03, Z:-0.07 [[ 9.99995557e-01 -2.86223054e-03 -8.32619694e-04 3.31846800e+00] [ 2.86310200e-03 9.99995353e-01 1.04734636e-03 2.63267756e-02] [ 8.29618078e-04 -1.04972558e-03 9.99999105e-01 -6.80732914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.656547614999997 meters Centerline goodness : 0.832828 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.07 [[ 9.99982870e-01 -5.81223851e-03 -6.91313685e-04 3.31757666e+00] [ 5.81147807e-03 9.99982512e-01 -1.09695334e-03 1.95813040e-02] [ 6.97677349e-04 1.09291699e-03 9.99999159e-01 -6.70451795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.686547614999999 meters Centerline goodness : 0.833715 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.07 [[ 9.99981423e-01 -6.04533467e-03 -7.79394572e-04 3.31768876e+00] [ 6.04576653e-03 9.99981571e-01 5.52939246e-04 1.55464497e-02] [ 7.76037506e-04 -5.57641012e-04 9.99999543e-01 -6.50545558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.716547614999998 meters Centerline goodness : 0.833715 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.07 [[ 9.99981423e-01 -6.04533467e-03 -7.79394572e-04 3.31768876e+00] [ 6.04576653e-03 9.99981571e-01 5.52939246e-04 1.55464497e-02] [ 7.76037506e-04 -5.57641012e-04 9.99999543e-01 -6.50545558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.746547614999999 meters Centerline goodness : 0.833116 Centerline is valid? [False, False] Translation: X:3.32, Y:0.01, Z:-0.06 [[ 9.99969348e-01 -7.82922065e-03 -8.24022964e-05 3.31802942e+00] [ 7.82950310e-03 9.99960060e-01 4.31012512e-03 1.11198767e-02] [ 4.86540847e-05 -4.31063817e-03 9.99990708e-01 -5.97015349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.776547614999998 meters Centerline goodness : 0.832315 Centerline is valid? [False, False] Translation: X:3.32, Y:0.01, Z:-0.06 [[ 9.99963921e-01 -8.48552192e-03 -3.90682148e-04 3.31931600e+00] [ 8.48738104e-03 9.99951320e-01 5.03216090e-03 9.44014656e-03] [ 3.47962618e-04 -5.03529522e-03 9.99987262e-01 -5.91309992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806547614999998 meters Centerline goodness : 0.831212 Centerline is valid? [False, False] Translation: X:3.32, Y:0.01, Z:-0.06 [[ 9.99949659e-01 -9.95218324e-03 -1.27825179e-03 3.32325694e+00] [ 9.95880865e-03 9.99936439e-01 5.28584336e-03 6.81988243e-03] [ 1.22556486e-03 -5.29830713e-03 9.99985213e-01 -6.00905122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.836547614999999 meters Centerline goodness : 0.836166 Centerline is valid? [False, False] Translation: X:3.32, Y:0.00, Z:-0.06 [[ 9.99919909e-01 -1.25857241e-02 -1.33245731e-03 3.32177807e+00] [ 1.25894491e-02 9.99916759e-01 2.82512136e-03 3.97154721e-04] [ 1.29679020e-03 -2.84167000e-03 9.99995122e-01 -5.83400773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.866547614999998 meters Centerline goodness : 0.839325 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.00, Z:-0.06 [[ 9.99919459e-01 -1.25644623e-02 -1.79165005e-03 3.32286656e+00] [ 1.25709174e-02 9.99914364e-01 3.63830496e-03 -3.47909111e-03] [ 1.74578328e-03 -3.66053461e-03 9.99991776e-01 -5.78838237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.896547614999998 meters Centerline goodness : 0.838830 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.00, Z:-0.06 [[ 9.99919749e-01 -1.25688444e-02 -1.58727150e-03 3.32318667e+00] [ 1.25738706e-02 9.99915834e-01 3.19731721e-03 -3.01802178e-03] [ 1.54695132e-03 -3.21701877e-03 9.99993629e-01 -5.94029842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.926547614999999 meters Centerline goodness : 0.831512 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.07 [[ 9.99940200e-01 -1.07954300e-02 -1.74809534e-03 3.32780186e+00] [ 1.07994515e-02 9.99939022e-01 2.30760564e-03 7.87869012e-03] [ 1.72307714e-03 -2.32634612e-03 9.99995810e-01 -6.79390970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.956547614999998 meters Centerline goodness : 0.826700 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.07 [[ 9.99983072e-01 -4.95106247e-03 -3.05652176e-03 3.33321609e+00] [ 4.97504539e-03 9.99956502e-01 7.88937886e-03 1.38281368e-02] [ 3.01732800e-03 -7.90445164e-03 9.99964207e-01 -7.12600093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.986547614999997 meters Centerline goodness : 0.828029 Centerline is valid? [False, False] Translation: X:3.34, Y:0.02, Z:-0.08 [[ 9.99988896e-01 -3.03413645e-04 -4.70281797e-03 3.33560873e+00] [ 3.29343845e-04 9.99984744e-01 5.51396457e-03 2.44294609e-02] [ 4.70107321e-03 -5.51545219e-03 9.99973740e-01 -7.97143074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.016547614999999 meters Centerline goodness : 0.834402 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.08 [[ 9.99992576e-01 1.15441937e-03 -3.67643125e-03 3.32592339e+00] [-1.14525473e-03 9.99996234e-01 2.49393805e-03 2.21631557e-02] [ 3.67929646e-03 -2.48970908e-03 9.99990132e-01 -7.60320843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.046547614999998 meters Centerline goodness : 0.837490 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.07 [[ 9.99990365e-01 2.23687345e-03 -3.77717416e-03 3.32288640e+00] [-2.21553358e-03 9.99981616e-01 5.64445790e-03 1.72302899e-02] [ 3.78973065e-03 -5.63603506e-03 9.99976936e-01 -6.92984473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.076547614999997 meters Centerline goodness : 0.840471 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.06 [[ 9.99989674e-01 3.77962990e-03 -2.52316156e-03 3.31765456e+00] [-3.75962719e-03 9.99961838e-01 7.88586119e-03 1.80353688e-02] [ 2.55287091e-03 -7.87629361e-03 9.99965723e-01 -6.43525879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.106547614999998 meters Centerline goodness : 0.834730 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.07 [[ 9.99993179e-01 2.97194921e-03 -2.19317058e-03 3.31839729e+00] [-2.95721297e-03 9.99973235e-01 6.69207742e-03 2.16382968e-02] [ 2.21300040e-03 -6.68554610e-03 9.99975203e-01 -6.64769012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.136547614999998 meters Centerline goodness : 0.828658 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:-0.07 [[ 9.99995248e-01 1.35273478e-03 -2.77007158e-03 3.32196427e+00] [-1.33663241e-03 9.99982248e-01 5.80660200e-03 2.23661473e-02] [ 2.77787720e-03 -5.80287184e-03 9.99979305e-01 -6.87504596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.166547614999999 meters Centerline goodness : 0.828522 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.07 [[ 9.99994334e-01 -2.14026486e-03 -2.59821529e-03 3.32606717e+00] [ 2.14853312e-03 9.99992624e-01 3.18367565e-03 1.94032100e-02] [ 2.59138222e-03 -3.18923997e-03 9.99991557e-01 -7.33888891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.196547614999998 meters Centerline goodness : 0.829183 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.07 [[ 9.99994958e-01 8.81159777e-04 -3.05074916e-03 3.32800573e+00] [-8.58223629e-04 9.99971421e-01 7.51136556e-03 1.79551085e-02] [ 3.05728069e-03 -7.50870946e-03 9.99967136e-01 -7.30863639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.226547614999998 meters Centerline goodness : 0.828172 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.07 [[ 9.99995579e-01 1.62914032e-03 -2.48767163e-03 3.32617557e+00] [-1.61303336e-03 9.99977813e-01 6.46305002e-03 2.10824607e-02] [ 2.49814565e-03 -6.45900875e-03 9.99976020e-01 -7.40634256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.256547614999999 meters Centerline goodness : 0.828991 Centerline is valid? [False, False] Translation: X:3.32, Y:0.03, Z:-0.08 [[ 9.99992492e-01 3.05873459e-03 -2.37893214e-03 3.32453190e+00] [-3.04839377e-03 9.99985943e-01 4.33837950e-03 2.55693853e-02] [ 2.39216865e-03 -4.33109501e-03 9.99987759e-01 -7.62492313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.286547614999998 meters Centerline goodness : 0.829199 Centerline is valid? [False, False] Translation: X:3.33, Y:0.03, Z:-0.08 [[ 9.99991850e-01 2.96163001e-03 -2.74390414e-03 3.32545459e+00] [-2.95168063e-03 9.99989081e-01 3.62297364e-03 2.60280184e-02] [ 2.75460409e-03 -3.61484498e-03 9.99989672e-01 -7.70414414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.316547614999998 meters Centerline goodness : 0.836841 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.08 [[ 9.99995085e-01 -4.99753389e-04 -3.09529669e-03 3.32560217e+00] [ 4.98968819e-04 9.99999843e-01 -2.54238884e-04 2.24051620e-02] [ 3.09542326e-03 2.52693177e-04 9.99995177e-01 -7.71502520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.346547614999999 meters Centerline goodness : 0.837843 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.08 [[ 9.99993779e-01 -6.46932661e-04 -3.46743349e-03 3.32648249e+00] [ 6.50154172e-04 9.99999358e-01 9.28029781e-04 1.66230830e-02] [ 3.46683089e-03 -9.30278374e-04 9.99993558e-01 -7.62768418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.376547614999998 meters Centerline goodness : 0.836571 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.07 [[ 0.99996632 -0.00699215 -0.00429771 3.33606799] [ 0.00701098 0.99996583 0.00438106 0.01016115] [ 0.00426693 -0.00441105 0.99998117 -0.07251905] [ 0. 0. 0. 1. ]] SLAMing on 13.406547614999997 meters Centerline goodness : 0.832766 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.08 [[ 0.99994972 -0.00895386 -0.0045141 3.33969382] [ 0.00897096 0.99995261 0.00378073 0.01108914] [ 0.00448003 -0.00382104 0.99998266 -0.07501739] [ 0. 0. 0. 1. ]] SLAMing on 13.436547614999999 meters Centerline goodness : 0.827912 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.08 [[ 0.99991368 -0.0121537 -0.00499256 3.34524693] [ 0.01217261 0.99991878 0.00377566 0.00955791] [ 0.00494626 -0.0038361 0.99998041 -0.0771693 ] [ 0. 0. 0. 1. ]] SLAMing on 13.466547614999998 meters Centerline goodness : 0.834545 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.07 [[ 9.99878338e-01 -1.46144066e-02 -5.45231001e-03 3.34173908e+00] [ 1.46192704e-02 9.99892769e-01 8.53276118e-04 1.62809186e-03] [ 5.43925523e-03 -9.32881101e-04 9.99984772e-01 -7.30857582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.496547614999997 meters Centerline goodness : 0.839172 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.00, Z:-0.07 [[ 9.99897316e-01 -1.32417807e-02 -5.47847039e-03 3.33922969e+00] [ 1.32570412e-02 9.99908316e-01 2.75866038e-03 -3.55982766e-03] [ 5.44143853e-03 -2.83100542e-03 9.99981188e-01 -6.95070604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.526547614999998 meters Centerline goodness : 0.848976 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.00, Z:-0.07 [[ 9.99925726e-01 -1.10971552e-02 -5.03942180e-03 3.33547031e+00] [ 1.11140173e-02 9.99932691e-01 3.33045620e-03 -4.51440006e-03] [ 5.00212401e-03 -3.38621705e-03 9.99981756e-01 -6.78685150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.556547614999998 meters Centerline goodness : 0.848524 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.01, Z:-0.07 [[ 0.99995594 -0.0075882 -0.00552609 3.3370317 ] [ 0.00762952 0.9999428 0.00749549 -0.00526867] [ 0.0054689 -0.00753732 0.99995664 -0.06782103] [ 0. 0. 0. 1. ]] SLAMing on 13.586547614999999 meters Centerline goodness : 0.842454 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.00, Z:-0.07 [[ 9.99963059e-01 -5.89669444e-03 -6.25373360e-03 3.34245613e+00] [ 5.95009121e-03 9.99945708e-01 8.55442678e-03 -1.22782574e-04] [ 6.20295123e-03 -8.59132106e-03 9.99943855e-01 -7.33091369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.616547614999998 meters Centerline goodness : 0.843316 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.08 [[ 9.99958825e-01 -6.47660744e-03 -6.35629374e-03 3.34373970e+00] [ 6.52247567e-03 9.99952648e-01 7.22218783e-03 2.85425925e-03] [ 6.30921747e-03 -7.26334923e-03 9.99953718e-01 -7.53979339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.646547614999998 meters Centerline goodness : 0.838621 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.08 [[ 0.99995235 -0.00703629 -0.00676706 3.34497971] [ 0.00708351 0.99995055 0.00697945 0.00341236] [ 0.00671761 -0.00702705 0.99995275 -0.07546391] [ 0. 0. 0. 1. ]] SLAMing on 13.676547614999999 meters Centerline goodness : 0.841271 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.08 [[ 0.99995254 -0.00717512 -0.00659036 3.34507443] [ 0.00721576 0.99995497 0.0061642 0.00561775] [ 0.00654583 -0.00621146 0.99995928 -0.07673446] [ 0. 0. 0. 1. ]] SLAMing on 13.706547614999998 meters Centerline goodness : 0.833958 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.08 [[ 0.99996977 -0.00410542 -0.00660343 3.3474785 ] [ 0.00414797 0.99997063 0.00644402 0.01288336] [ 0.00657678 -0.00647122 0.99995743 -0.08308132] [ 0. 0. 0. 1. ]] SLAMing on 13.736547614999997 meters Centerline goodness : 0.838498 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.08 [[ 9.99977108e-01 -1.98726205e-03 -6.46793585e-03 3.34332736e+00] [ 2.03406224e-03 9.99971742e-01 7.23720552e-03 1.22967321e-02] [ 6.45337086e-03 -7.25019603e-03 9.99952893e-01 -7.96569510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.766547614999999 meters Centerline goodness : 0.842463 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.07 [[ 9.99977948e-01 -1.29568580e-03 -6.51336062e-03 3.33723938e+00] [ 1.33633165e-03 9.99979639e-01 6.23990655e-03 1.05570112e-02] [ 6.50514304e-03 -6.24847296e-03 9.99959319e-01 -7.46031549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.796547614999998 meters Centerline goodness : 0.844462 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.07 [[ 9.99979199e-01 -4.68203985e-04 -6.43283465e-03 3.33523350e+00] [ 5.12922257e-04 9.99975705e-01 6.95167531e-03 9.80249069e-03] [ 6.42942356e-03 -6.95483026e-03 9.99955145e-01 -7.23356232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.826547614999997 meters Centerline goodness : 0.838654 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.07 [[ 9.99980541e-01 -5.69354339e-04 -6.21241952e-03 3.33472083e+00] [ 6.05578983e-04 9.99982818e-01 5.83068194e-03 1.34899121e-02] [ 6.20899305e-03 -5.83433059e-03 9.99963704e-01 -7.31319843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.856547614999998 meters Centerline goodness : 0.833540 Centerline is valid? [False, False] Translation: X:3.34, Y:0.02, Z:-0.08 [[ 9.99982375e-01 -1.64353744e-03 -5.70516943e-03 3.33595630e+00] [ 1.67082870e-03 9.99987170e-01 4.78213628e-03 1.79785912e-02] [ 5.69723661e-03 -4.79158435e-03 9.99972291e-01 -7.56799310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.886547614999998 meters Centerline goodness : 0.833194 Centerline is valid? [False, False] Translation: X:3.34, Y:0.02, Z:-0.08 [[ 9.99978463e-01 -2.63763188e-03 -6.00963709e-03 3.33787412e+00] [ 2.66578534e-03 9.99985488e-01 4.68153522e-03 1.77171752e-02] [ 5.99720171e-03 -4.69745480e-03 9.99970983e-01 -7.63913715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.916547614999997 meters Centerline goodness : 0.830313 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.08 [[ 0.99997406 -0.00361069 -0.00623165 3.33998843] [ 0.00364265 0.99998024 0.00512441 0.01477621] [ 0.00621303 -0.00514698 0.99996745 -0.07712659] [ 0. 0. 0. 1. ]] SLAMing on 13.946547614999998 meters Centerline goodness : 0.832014 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.08 [[ 9.99978125e-01 -2.96794059e-03 -5.91111677e-03 3.33841408e+00] [ 3.00265614e-03 9.99978247e-01 5.87273575e-03 1.32471506e-02] [ 5.89355825e-03 -5.89035633e-03 9.99965284e-01 -7.58947850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.976547614999998 meters Centerline goodness : 0.831267 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.07 [[ 9.99987453e-01 9.20752278e-04 -4.92396854e-03 3.33129200e+00] [-8.89313822e-04 9.99979232e-01 6.38316243e-03 1.58278627e-02] [ 4.92974359e-03 -6.37870339e-03 9.99967504e-01 -7.35499418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.006547614999999 meters Centerline goodness : 0.833155 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.08 [[ 9.99986753e-01 2.18837042e-03 -4.65892977e-03 3.32974493e+00] [-2.16910055e-03 9.99989089e-01 4.13715776e-03 2.04573815e-02] [ 4.66793257e-03 -4.12699727e-03 9.99980589e-01 -7.63814588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.036547614999998 meters Centerline goodness : 0.831206 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.08 [[ 9.99977459e-01 2.62073688e-03 -6.18170846e-03 3.33255150e+00] [-2.62250437e-03 9.99996523e-01 -2.77834878e-04 2.32218412e-02] [ 6.18095883e-03 2.94040172e-04 9.99980854e-01 -8.33695190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.066547614999998 meters Centerline goodness : 0.831974 Centerline is valid? [False, False] Translation: X:3.33, Y:0.02, Z:-0.09 [[ 9.99974799e-01 2.23077142e-03 -6.73979694e-03 3.33490338e+00] [-2.24027401e-03 9.99996507e-01 -1.40270223e-03 2.35363799e-02] [ 6.73664429e-03 1.41776587e-03 9.99976304e-01 -8.57178415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.096547614999999 meters Centerline goodness : 0.827054 Centerline is valid? [False, False] Translation: X:3.34, Y:0.03, Z:-0.09 [[ 9.99962207e-01 2.52230934e-03 -8.31996082e-03 3.34344034e+00] [-2.52713040e-03 9.99996645e-01 -5.68995080e-04 2.95657146e-02] [ 8.31849773e-03 5.89999202e-04 9.99965227e-01 -9.11010534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.126547614999998 meters Centerline goodness : 0.816737 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.10 [[ 0.99994571 0.00445327 -0.00942027 3.35338425] [-0.00441076 0.99998002 0.0045289 0.03674312] [ 0.00944025 -0.0044871 0.99994537 -0.09544405] [ 0. 0. 0. 1. ]] SLAMing on 14.156547614999997 meters Centerline goodness : 0.815176 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.10 [[ 0.99994796 0.00356624 -0.00955858 3.3547733 ] [-0.00352797 0.99998571 0.00401768 0.0378578 ] [ 0.00957277 -0.00398374 0.99994624 -0.09639247] [ 0. 0. 0. 1. ]] SLAMing on 14.186547614999999 meters Centerline goodness : 0.822046 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:-0.09 [[ 9.99959329e-01 6.46416949e-07 -9.01888462e-03 3.35191691e+00] [ 5.47161919e-05 9.99981159e-01 6.13827248e-03 2.99068890e-02] [ 9.01871867e-03 -6.13851631e-03 9.99940489e-01 -8.55607431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.216547614999998 meters Centerline goodness : 0.824327 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.08 [[ 9.99961588e-01 -1.92870867e-03 -8.54998895e-03 3.34645978e+00] [ 1.97679102e-03 9.99982261e-01 5.61879432e-03 2.38109682e-02] [ 8.53900026e-03 -5.63548004e-03 9.99947662e-01 -7.82734008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.246547614999997 meters Centerline goodness : 0.840332 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.07 [[ 9.99992419e-01 -3.88267070e-03 -2.93004235e-04 3.34299551e+00] [ 3.88066107e-03 9.99970867e-01 -6.57307981e-03 1.46002441e-02] [ 3.18516804e-04 6.57189293e-03 9.99978354e-01 -6.87927278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.276547614999998 meters Centerline goodness : 0.833522 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.07 [[ 9.99999754e-01 6.23941007e-04 3.21729107e-04 3.34221711e+00] [-6.23534105e-04 9.99999008e-01 -1.26328893e-03 1.23364911e-02] [-3.22517006e-04 1.26308801e-03 9.99999150e-01 -6.87573462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.306547614999998 meters Centerline goodness : 0.829096 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.07 [[ 9.99995997e-01 2.82183213e-03 2.07361762e-04 3.34689905e+00] [-2.82206787e-03 9.99995362e-01 1.14549732e-03 1.62366712e-02] [-2.04128399e-04 -1.14607792e-03 9.99999322e-01 -7.39657382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.336547614999997 meters Centerline goodness : 0.826269 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.08 [[ 9.99999880e-01 2.37116640e-04 -4.27851507e-04 3.35258727e+00] [-2.37190701e-04 9.99999957e-01 -1.73058011e-04 1.74406502e-02] [ 4.27810453e-04 1.73159473e-04 9.99999893e-01 -7.80385901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.366547614999998 meters Centerline goodness : 0.819338 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:-0.09 [[ 9.99996914e-01 -5.44223847e-04 -2.42388281e-03 3.36389635e+00] [ 5.44431525e-04 9.99999848e-01 8.50206093e-05 2.32230443e-02] [ 2.42383617e-03 -8.63399851e-05 9.99997059e-01 -8.52521785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.396547614999998 meters Centerline goodness : 0.820744 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:-0.09 [[ 9.99996714e-01 -1.42295673e-04 -2.55975206e-03 3.36367395e+00] [ 1.40998236e-04 9.99999862e-01 -5.07033706e-04 2.47010465e-02] [ 2.55982386e-03 5.06671119e-04 9.99996595e-01 -8.55637182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.426547614999999 meters Centerline goodness : 0.827653 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:-0.08 [[ 9.99996906e-01 4.26951083e-04 -2.45063603e-03 3.35748059e+00] [-4.35197837e-04 9.99994242e-01 -3.36560214e-03 2.29246316e-02] [ 2.44918497e-03 3.36665824e-03 9.99991334e-01 -8.27117671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.456547614999998 meters Centerline goodness : 0.828381 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.08 [[ 9.99996117e-01 1.66699773e-03 -2.23304121e-03 3.35473432e+00] [-1.67139755e-03 9.99996663e-01 -1.96991238e-03 2.06225400e-02] [ 2.22974992e-03 1.97363704e-03 9.99995566e-01 -7.96476024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.486547614999997 meters Centerline goodness : 0.832652 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.07 [[ 9.99995264e-01 2.06829966e-03 -2.27890419e-03 3.35330167e+00] [-2.06609448e-03 9.99997396e-01 9.69578016e-04 1.58370898e-02] [ 2.28090364e-03 -9.64864993e-04 9.99996933e-01 -7.45470399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.516547614999999 meters Centerline goodness : 0.835750 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.07 [[ 9.99994357e-01 -2.63321081e-03 -2.08632823e-03 3.35468657e+00] [ 2.63056523e-03 9.99995734e-01 -1.26978299e-03 8.78931867e-03] [ 2.08966294e-03 1.26428760e-03 9.99997017e-01 -7.46244071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.546547614999998 meters Centerline goodness : 0.833015 Centerline is valid? [False, False] Translation: X:3.36, Y:0.00, Z:-0.07 [[ 9.99993531e-01 -2.90777891e-03 -2.11735331e-03 3.35530272e+00] [ 2.90858982e-03 9.99995698e-01 3.80003920e-04 4.90555823e-03] [ 2.11623924e-03 -3.86159974e-04 9.99997686e-01 -7.33927027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.576547614999997 meters Centerline goodness : 0.837894 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.00, Z:-0.07 [[ 9.99991032e-01 -4.21477097e-03 -4.13469584e-04 3.35389153e+00] [ 4.21714004e-03 9.99973663e-01 5.90674447e-03 -1.19346026e-03] [ 3.88563119e-04 -5.90843516e-03 9.99982470e-01 -6.52124876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.606547614999998 meters Centerline goodness : 0.837894 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.00, Z:-0.07 [[ 9.99991032e-01 -4.21477097e-03 -4.13469584e-04 3.35389153e+00] [ 4.21714004e-03 9.99973663e-01 5.90674447e-03 -1.19346026e-03] [ 3.88563119e-04 -5.90843516e-03 9.99982470e-01 -6.52124876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.636547614999998 meters Centerline goodness : 0.841004 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.07 [[ 9.99991494e-01 -4.11948397e-03 -2.06272048e-04 3.35325120e+00] [ 4.12056413e-03 9.99976148e-01 5.54301473e-03 1.80170740e-04] [ 1.83432767e-04 -5.54381754e-03 9.99984616e-01 -6.53879376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.666547614999997 meters Centerline goodness : 0.834139 Centerline is valid? [False, False] Translation: X:3.36, Y:0.00, Z:-0.07 [[ 9.99996335e-01 -2.32031721e-03 -1.39528525e-03 3.35920165e+00] [ 2.33102296e-03 9.99967478e-01 7.72076184e-03 2.00100883e-03] [ 1.37732526e-03 -7.72398598e-03 9.99969221e-01 -6.93268383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.696547614999998 meters Centerline goodness : 0.827317 Centerline is valid? [False, False] Translation: X:3.38, Y:0.01, Z:-0.09 [[ 9.99949871e-01 3.08885385e-03 -9.52446124e-03 3.37572776e+00] [-3.02492106e-03 9.99972848e-01 6.71959860e-03 1.26460271e-02] [ 9.54495849e-03 -6.69045101e-03 9.99932064e-01 -8.66049218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.726547614999998 meters Centerline goodness : 0.826616 Centerline is valid? [False, False] Translation: X:3.37, Y:0.02, Z:-0.09 [[ 9.99939764e-01 5.09703771e-03 -9.72056423e-03 3.37340410e+00] [-5.07624549e-03 9.99984778e-01 2.16246742e-03 2.11893880e-02] [ 9.73143843e-03 -2.11299319e-03 9.99950416e-01 -9.07023787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.756547614999997 meters Centerline goodness : 0.835442 Centerline is valid? [False, False] Translation: X:3.37, Y:0.02, Z:-0.09 [[ 9.99950080e-01 3.76211114e-03 -9.25661477e-03 3.36728865e+00] [-3.76284130e-03 9.99992919e-01 -6.14645823e-05 1.81100624e-02] [ 9.25631798e-03 9.62926862e-05 9.99957155e-01 -8.54610165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.786547614999998 meters Centerline goodness : 0.847448 Centerline is valid? [False, False] Translation: X:3.37, Y:0.01, Z:-0.07 [[ 9.99995219e-01 -1.70067705e-03 -2.58241881e-03 3.36899827e+00] [ 1.66719547e-03 9.99915241e-01 -1.29124691e-02 7.31610359e-03] [ 2.60415986e-03 1.29081020e-02 9.99913296e-01 -7.46913271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.816547614999998 meters Centerline goodness : 0.847084 Centerline is valid? [False, False] Translation: X:3.37, Y:0.00, Z:-0.07 [[ 9.99991539e-01 -3.00797651e-03 -2.80595537e-03 3.37094505e+00] [ 2.98315049e-03 9.99956739e-01 -8.81023917e-03 1.20328312e-03] [ 2.83233498e-03 8.80179404e-03 9.99957252e-01 -6.96825552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.846547614999999 meters Centerline goodness : 0.834498 Centerline is valid? [False, False] Translation: X:3.39, Y:0.00, Z:-0.08 [[ 9.99924380e-01 -1.21891801e-02 -1.63042149e-03 3.39022607e+00] [ 1.22073069e-02 9.99858051e-01 1.16128942e-02 2.14198919e-03] [ 1.48863839e-03 -1.16319191e-02 9.99931239e-01 -7.56159766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.876547614999998 meters Centerline goodness : 0.824403 Centerline is valid? [False, False] Translation: X:3.40, Y:0.01, Z:-0.08 [[ 9.99918909e-01 -1.25088073e-02 -2.38856312e-03 3.39815319e+00] [ 1.25412710e-02 9.99821968e-01 1.40978537e-02 5.31137076e-03] [ 2.21179054e-03 -1.41266661e-02 9.99897767e-01 -8.00463787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.906547614999997 meters Centerline goodness : 0.823609 Centerline is valid? [False, False] Translation: X:3.40, Y:0.00, Z:-0.08 [[ 9.99875821e-01 -1.56496858e-02 -1.85174036e-03 3.39538655e+00] [ 1.56697279e-02 9.99812742e-01 1.13551630e-02 3.49362249e-03] [ 1.67368887e-03 -1.13827692e-02 9.99933813e-01 -7.72335140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.936547614999999 meters Centerline goodness : 0.828540 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.00, Z:-0.07 [[ 9.99867975e-01 -1.31707014e-02 -9.51657820e-03 3.39942290e+00] [ 1.31910320e-02 9.99910838e-01 2.07673057e-03 -2.38055973e-03] [ 9.48837769e-03 -2.20198988e-03 9.99952560e-01 -6.77711808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.966547614999998 meters Centerline goodness : 0.839835 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.01, Z:-0.07 [[ 0.99993018 -0.01127938 -0.00352263 3.39706104] [ 0.01122887 0.99983833 -0.01404396 -0.00705909] [ 0.00368047 0.01400343 0.99989517 -0.06660774] [ 0. 0. 0. 1. ]] SLAMing on 14.996547614999997 meters Centerline goodness : 0.839888 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.00, Z:-0.07 [[ 9.99992085e-01 1.62146449e-03 -3.63329128e-03 3.39649907e+00] [-1.63204317e-03 9.99994433e-01 -2.91052597e-03 -1.92534368e-03] [ 3.62855173e-03 2.91643262e-03 9.99989164e-01 -6.72587832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.026547614999998 meters Centerline goodness : 0.835025 Centerline is valid? [False, False] Translation: X:3.40, Y:0.00, Z:-0.07 [[ 9.99984331e-01 3.32768952e-03 -4.50155412e-03 3.40160760e+00] [-3.33159924e-03 9.99994079e-01 -8.61306820e-04 3.21910780e-03] [ 4.49866131e-03 8.76290699e-04 9.99989497e-01 -7.04682826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.056547614999998 meters Centerline goodness : 0.824780 Centerline is valid? [False, False] Translation: X:3.42, Y:0.01, Z:-0.08 [[ 9.99972179e-01 3.69602321e-03 -6.47918936e-03 3.41583919e+00] [-3.67760764e-03 9.99989171e-01 2.85187949e-03 1.07387224e-02] [ 6.48965981e-03 -2.82797224e-03 9.99974943e-01 -7.71009761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.086547614999997 meters Centerline goodness : 0.825301 Centerline is valid? [False, False] Translation: X:3.42, Y:0.01, Z:-0.08 [[ 9.99979927e-01 -1.60131666e-04 -6.33399524e-03 3.41536581e+00] [ 1.52047564e-04 9.99999173e-01 -1.27676477e-03 1.11933503e-02] [ 6.33419446e-03 1.27577607e-03 9.99979125e-01 -7.72970364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.116547614999998 meters Centerline goodness : 0.830933 Centerline is valid? [False, False] Translation: X:3.41, Y:0.00, Z:-0.07 [[ 9.99980284e-01 -3.74858453e-03 -5.03788351e-03 3.41180250e+00] [ 3.76036276e-03 9.99990214e-01 2.33049770e-03 8.17853369e-04] [ 5.02909814e-03 -2.34939602e-03 9.99984594e-01 -6.50820152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.146547614999998 meters Centerline goodness : 0.835760 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.00, Z:-0.06 [[ 9.99984346e-01 -3.27874279e-03 -4.53398228e-03 3.40955015e+00] [ 3.29812016e-03 9.99985432e-01 4.27295544e-03 -2.29863719e-03] [ 4.51990631e-03 -4.28784217e-03 9.99980592e-01 -6.16996183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.176547614999997 meters Centerline goodness : 0.832290 Centerline is valid? [False, False] Translation: X:3.41, Y:0.00, Z:-0.06 [[ 9.99991100e-01 -2.23383196e-03 -3.57906865e-03 3.40677955e+00] [ 2.24879895e-03 9.99988722e-01 4.18326084e-03 1.37075792e-03] [ 3.56968359e-03 -4.19127221e-03 9.99984845e-01 -6.17877448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.206547614999998 meters Centerline goodness : 0.827710 Centerline is valid? [False, False] Translation: X:3.41, Y:0.01, Z:-0.07 [[ 9.99985162e-01 2.83268428e-03 -4.65316948e-03 3.40819334e+00] [-2.82112220e-03 9.99992922e-01 2.48946191e-03 9.54651872e-03] [ 4.66018841e-03 -2.47629781e-03 9.99986075e-01 -7.03660241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.236547614999997 meters Centerline goodness : 0.827409 Centerline is valid? [False, False] Translation: X:3.41, Y:0.01, Z:-0.07 [[ 9.99982291e-01 2.54742575e-03 -5.37858649e-03 3.40986821e+00] [-2.53995563e-03 9.99995801e-01 1.39523693e-03 9.59862081e-03] [ 5.38211816e-03 -1.38155085e-03 9.99984562e-01 -7.14538522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.266547614999999 meters Centerline goodness : 0.832243 Centerline is valid? [False, False] Translation: X:3.41, Y:0.01, Z:-0.07 [[ 9.99972398e-01 4.08883863e-03 -6.20356954e-03 3.40911136e+00] [-4.08439470e-03 9.99991393e-01 7.28849962e-04 8.05450651e-03] [ 6.20649630e-03 -7.03492018e-04 9.99980492e-01 -7.11062205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.296547614999998 meters Centerline goodness : 0.832519 Centerline is valid? [False, False] Translation: X:3.41, Y:0.01, Z:-0.07 [[ 9.99971682e-01 3.71895536e-03 -6.54246185e-03 3.41008695e+00] [-3.71457453e-03 9.99992869e-01 6.81623938e-04 7.85214284e-03] [ 6.54495012e-03 -6.57302174e-04 9.99978366e-01 -7.10925756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.326547614999997 meters Centerline goodness : 0.827357 Centerline is valid? [False, False] Translation: X:3.42, Y:0.02, Z:-0.07 [[ 0.99995749 0.00550087 -0.00739971 3.41990678] [-0.00545107 0.99996247 0.00673348 0.01563278] [ 0.00743647 -0.00669286 0.99994995 -0.07439011] [ 0. 0. 0. 1. ]] SLAMing on 15.356547614999998 meters Centerline goodness : 0.819499 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:-0.08 [[ 0.99995786 0.00372916 -0.00838899 3.42997366] [-0.00365562 0.9999549 0.0087654 0.02197969] [ 0.00842129 -0.00873436 0.99992639 -0.07877135] [ 0. 0. 0. 1. ]] SLAMing on 15.386547614999998 meters Centerline goodness : 0.819499 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:-0.08 [[ 0.99995786 0.00372916 -0.00838899 3.42997366] [-0.00365562 0.9999549 0.0087654 0.02197969] [ 0.00842129 -0.00873436 0.99992639 -0.07877135] [ 0. 0. 0. 1. ]] SLAMing on 15.416547614999997 meters Centerline goodness : 0.819634 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:-0.08 [[ 9.99961093e-01 3.55066374e-05 -8.82112009e-03 3.42936136e+00] [ 9.79363945e-06 9.99986814e-01 5.13533737e-03 1.98125406e-02] [ 8.82118611e-03 -5.13522396e-03 9.99947907e-01 -7.68497790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.446547614999998 meters Centerline goodness : 0.831481 Centerline is valid? [False, False] Translation: X:3.42, Y:0.01, Z:-0.07 [[ 9.99994722e-01 3.02825963e-03 -1.17744304e-03 3.42314028e+00] [-3.03593786e-03 9.99973776e-01 -6.57493876e-03 1.47149100e-02] [ 1.15750154e-03 6.57847869e-03 9.99977692e-01 -6.87180085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.476547614999998 meters Centerline goodness : 0.836946 Centerline is valid? [False, False] Translation: X:3.42, Y:0.01, Z:-0.06 [[ 9.99977109e-01 6.76108968e-03 -2.64376571e-04 3.41530186e+00] [-6.76204338e-03 9.99969954e-01 -3.79023319e-03 1.15435668e-02] [ 2.38742521e-04 3.79193416e-03 9.99992782e-01 -6.24572088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.506547614999997 meters Centerline goodness : 0.836280 Centerline is valid? [False, False] Translation: X:3.41, Y:0.02, Z:-0.06 [[ 9.99851273e-01 1.72250945e-02 8.52697173e-04 3.41176534e+00] [-1.72276894e-02 9.99846676e-01 3.13553371e-03 1.75687720e-02] [-7.98556569e-04 -3.14975738e-03 9.99994721e-01 -6.46845850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.536547614999998 meters Centerline goodness : 0.830242 Centerline is valid? [False, False] Translation: X:3.42, Y:0.02, Z:-0.07 [[ 9.99838711e-01 1.79580432e-02 2.45195532e-04 3.41857498e+00] [-1.79589765e-02 9.99828282e-01 4.56955235e-03 2.25989953e-02] [-1.63093209e-04 -4.57321879e-03 9.99989529e-01 -7.02595082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.566547614999998 meters Centerline goodness : 0.820273 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:-0.08 [[ 0.99986465 0.01535571 0.00590656 3.42277745] [-0.01541957 0.99982145 0.01092275 0.03106959] [-0.00573778 -0.01101235 0.9999229 -0.08264106] [ 0. 0. 0. 1. ]] SLAMing on 15.596547614999999 meters Centerline goodness : 0.819758 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:-0.08 [[ 0.9999169 0.01153852 0.00574901 3.4229893 ] [-0.01157455 0.99991333 0.00627413 0.0313962 ] [-0.00567612 -0.00634016 0.99996379 -0.08364346] [ 0. 0. 0. 1. ]] SLAMing on 15.626547614999998 meters Centerline goodness : 0.830424 Centerline is valid? [False, False] Translation: X:3.42, Y:0.02, Z:-0.08 [[ 9.99972937e-01 3.87855490e-03 6.25154889e-03 3.41527626e+00] [-3.86362437e-03 9.99989660e-01 -2.39860347e-03 2.22780187e-02] [-6.26078736e-03 2.37438492e-03 9.99977582e-01 -7.76069165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.656547614999997 meters Centerline goodness : 0.835354 Centerline is valid? [False, False] Translation: X:3.41, Y:0.01, Z:-0.07 [[ 9.99981472e-01 6.82647621e-04 6.04892208e-03 3.41349415e+00] [-6.71389627e-04 9.99998039e-01 -1.86299234e-03 1.41734591e-02] [-6.05018199e-03 1.85889664e-03 9.99979970e-01 -7.02777721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.686547614999999 meters Centerline goodness : 0.834652 Centerline is valid? [False, False] Translation: X:3.41, Y:0.02, Z:-0.07 [[ 9.99979819e-01 5.50401337e-04 6.32917709e-03 3.41386475e+00] [-5.36687765e-04 9.99997505e-01 -2.16821701e-03 1.59864971e-02] [-6.33035469e-03 2.16477646e-03 9.99977620e-01 -7.16448224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.716547614999998 meters Centerline goodness : 0.829067 Centerline is valid? [False, False] Translation: X:3.42, Y:0.02, Z:-0.08 [[ 9.99979750e-01 -1.54467256e-03 6.17356849e-03 3.41831580e+00] [ 1.56529893e-03 9.99993205e-01 -3.33764338e-03 1.98408838e-02] [-6.16837098e-03 3.34723927e-03 9.99975373e-01 -7.55386555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.746547614999997 meters Centerline goodness : 0.828942 Centerline is valid? [False, False] Translation: X:3.42, Y:0.02, Z:-0.08 [[ 9.99980924e-01 -1.97134306e-03 5.85373178e-03 3.41997788e+00] [ 1.99322223e-03 9.99991041e-01 -3.73416616e-03 2.00821249e-02] [-5.84631802e-03 3.74576272e-03 9.99975895e-01 -7.68298422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.776547614999998 meters Centerline goodness : 0.825879 Centerline is valid? [False, False] Translation: X:3.42, Y:0.02, Z:-0.08 [[ 9.99986565e-01 1.36596691e-03 5.00035403e-03 3.42270647e+00] [-1.36468480e-03 9.99999035e-01 -2.59805142e-04 1.92591693e-02] [-5.00070409e-03 2.52977745e-04 9.99987464e-01 -7.77737524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.806547614999998 meters Centerline goodness : 0.824996 Centerline is valid? [False, False] Translation: X:3.42, Y:0.02, Z:-0.08 [[ 9.99984917e-01 1.98227023e-03 5.12221096e-03 3.42121899e+00] [-1.98038977e-03 9.99997970e-01 -3.72164974e-04 2.02254970e-02] [-5.12293829e-03 3.62015386e-04 9.99986812e-01 -7.67672674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.836547614999997 meters Centerline goodness : 0.830311 Centerline is valid? [False, False] Translation: X:3.41, Y:0.02, Z:-0.07 [[ 9.99957388e-01 7.58491476e-03 5.26222757e-03 3.41448179e+00] [-7.59587670e-03 9.99969016e-01 2.06628906e-03 2.37937271e-02] [-5.24639190e-03 -2.10617225e-03 9.99984020e-01 -7.22706583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.866547614999998 meters Centerline goodness : 0.828501 Centerline is valid? [False, False] Translation: X:3.41, Y:0.03, Z:-0.07 [[ 9.99958379e-01 7.57200381e-03 5.08969575e-03 3.41472165e+00] [-7.57597744e-03 9.99971012e-01 7.61893415e-04 2.75982531e-02] [-5.08377915e-03 -8.00421124e-04 9.99986757e-01 -7.32184895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.896547614999998 meters Centerline goodness : 0.828133 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:-0.07 [[ 9.99966383e-01 6.89824368e-03 4.43247422e-03 3.41649920e+00] [-6.90076746e-03 9.99976036e-01 5.54341894e-04 2.78061114e-02] [-4.42854401e-03 -5.84910732e-04 9.99990023e-01 -7.31861246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.926547614999997 meters Centerline goodness : 0.827566 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:-0.07 [[ 9.99977558e-01 5.57928758e-03 3.70881848e-03 3.41968837e+00] [-5.58066076e-03 9.99984363e-01 3.60001135e-04 2.76372939e-02] [-3.70675194e-03 -3.80690714e-04 9.99993058e-01 -7.42332946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.956547614999998 meters Centerline goodness : 0.827192 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:-0.07 [[ 9.99997218e-01 7.12175531e-04 2.24863885e-03 3.42858785e+00] [-7.14957490e-04 9.99998980e-01 1.23661351e-03 2.70227401e-02] [-2.24775587e-03 -1.23821775e-03 9.99996707e-01 -7.39893415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.986547614999997 meters Centerline goodness : 0.823676 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:-0.07 [[ 9.99998013e-01 1.57575820e-04 1.98750076e-03 3.42964041e+00] [-1.61203538e-04 9.99998321e-01 1.82523784e-03 2.52724136e-02] [-1.98720981e-03 -1.82555461e-03 9.99996359e-01 -7.34958712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.016547614999997 meters Centerline goodness : 0.825927 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:-0.07 [[ 9.99997455e-01 3.47778934e-04 2.22921881e-03 3.42857883e+00] [-3.52893859e-04 9.99997305e-01 2.29450936e-03 2.37215824e-02] [-2.22841482e-03 -2.29529020e-03 9.99994883e-01 -7.23422386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.046547614999994 meters Centerline goodness : 0.827128 Centerline is valid? [False, False] Translation: X:3.42, Y:0.02, Z:-0.07 [[ 9.99997616e-01 1.36678862e-03 1.70300752e-03 3.42472026e+00] [-1.36944094e-03 9.99997850e-01 1.55724201e-03 2.27602451e-02] [-1.70087544e-03 -1.55957047e-03 9.99997337e-01 -6.85375336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.076547614999996 meters Centerline goodness : 0.831343 Centerline is valid? [False, False] Translation: X:3.42, Y:0.02, Z:-0.07 [[ 9.99997164e-01 1.89476233e-03 1.44265308e-03 3.42423300e+00] [-1.89672523e-03 9.99997276e-01 1.36046668e-03 2.30598745e-02] [-1.44007139e-03 -1.36319914e-03 9.99998034e-01 -6.79112035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.106547614999997 meters Centerline goodness : 0.825645 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:-0.08 [[ 9.99976032e-01 6.85786510e-03 9.51302044e-04 3.42526325e+00] [-6.85772529e-03 9.99976474e-01 -1.50148566e-04 2.95922793e-02] [-9.52309363e-04 1.43621199e-04 9.99999536e-01 -7.72173721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.136547614999994 meters Centerline goodness : 0.824344 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:-0.08 [[ 9.99980999e-01 6.08980673e-03 9.57063382e-04 3.42870790e+00] [-6.08834461e-03 9.99980306e-01 -1.52327908e-03 3.53288868e-02] [-9.66321008e-04 1.51742320e-03 9.99998382e-01 -8.16665397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.166547614999995 meters Centerline goodness : 0.819312 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:-0.09 [[ 9.99992791e-01 3.70589867e-03 -8.27569673e-04 3.44003118e+00] [-3.70630127e-03 9.99993014e-01 -4.85490332e-04 3.96386983e-02] [ 8.25764713e-04 4.88554054e-04 9.99999540e-01 -8.61035407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.196547614999997 meters Centerline goodness : 0.821286 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:-0.09 [[ 9.99995267e-01 2.71534958e-03 -1.44674522e-03 3.44269409e+00] [-2.71703373e-03 9.99995632e-01 -1.16340275e-03 4.08745957e-02] [ 1.44357986e-03 1.16732810e-03 9.99998277e-01 -8.75723255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.226547614999998 meters Centerline goodness : 0.818990 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:-0.09 [[ 9.99998520e-01 -1.08641682e-03 -1.33382493e-03 3.44215562e+00] [ 1.08079282e-03 9.99990554e-01 -4.20994950e-03 3.79057645e-02] [ 1.33838609e-03 4.20850168e-03 9.99990249e-01 -8.66512182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.256547614999995 meters Centerline goodness : 0.821231 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-0.08 [[ 9.99998753e-01 -5.70385900e-04 -1.47249419e-03 3.44147334e+00] [ 5.66734603e-04 9.99996767e-01 -2.47889554e-03 3.37277526e-02] [ 1.47390335e-03 2.47805793e-03 9.99995843e-01 -8.43010098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.286547614999996 meters Centerline goodness : 0.817704 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-0.08 [[ 9.99989466e-01 4.52698973e-03 -7.57891808e-04 3.43822832e+00] [-4.52539055e-03 9.99987558e-01 2.09861529e-03 3.48188392e-02] [ 7.67382788e-04 -2.09516343e-03 9.99997511e-01 -8.21688356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.316547614999998 meters Centerline goodness : 0.817989 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:-0.08 [[ 9.99981073e-01 6.15029545e-03 -1.66172589e-04 3.43468586e+00] [-6.14990758e-03 9.99978576e-01 2.24169167e-03 3.69206137e-02] [ 1.79956095e-04 -2.24062729e-03 9.99997474e-01 -8.05806754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.346547614999995 meters Centerline goodness : 0.822657 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:-0.08 [[ 9.99980834e-01 6.06091721e-03 1.26361526e-03 3.42581787e+00] [-6.06171150e-03 9.99981432e-01 6.25705630e-04 3.29886651e-02] [-1.25979945e-03 -6.33353309e-04 9.99999006e-01 -7.51801710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.376547614999996 meters Centerline goodness : 0.827011 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:-0.07 [[ 9.99980816e-01 6.11647238e-03 9.78008763e-04 3.42591920e+00] [-6.11811452e-03 9.99979865e-01 1.68499089e-03 2.92797181e-02] [-9.67682870e-04 -1.69094213e-03 9.99998102e-01 -7.36380724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.406547614999997 meters Centerline goodness : 0.829627 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:-0.07 [[ 9.99986702e-01 5.09425998e-03 8.03263244e-04 3.42764341e+00] [-5.09588634e-03 9.99984944e-01 2.03581679e-03 2.75658515e-02] [-7.92880170e-04 -2.03988305e-03 9.99997605e-01 -7.39538079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.436547614999995 meters Centerline goodness : 0.822996 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-0.08 [[ 9.99995975e-01 2.73730684e-03 -7.46936457e-04 3.43902072e+00] [-2.73476512e-03 9.99990538e-01 3.38293141e-03 3.10904771e-02] [ 7.56189511e-04 -3.38087510e-03 9.99993999e-01 -7.90200957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.466547614999996 meters Centerline goodness : 0.822750 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-0.08 [[ 9.99998461e-01 6.37790586e-04 -1.63466843e-03 3.44442884e+00] [-6.35216471e-04 9.99998558e-01 1.57473738e-03 3.43796909e-02] [ 1.63567042e-03 -1.57369658e-03 9.99997424e-01 -8.30990992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.496547614999997 meters Centerline goodness : 0.816997 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:-0.09 [[ 9.99996422e-01 -1.12883410e-03 -2.42524443e-03 3.44948601e+00] [ 1.12672758e-03 9.99998987e-01 -8.69770364e-04 3.73845062e-02] [ 2.42622380e-03 8.67034662e-04 9.99996681e-01 -8.82939522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.526547614999995 meters Centerline goodness : 0.816997 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:-0.09 [[ 9.99996422e-01 -1.12883410e-03 -2.42524443e-03 3.44948601e+00] [ 1.12672758e-03 9.99998987e-01 -8.69770364e-04 3.73845062e-02] [ 2.42622380e-03 8.67034662e-04 9.99996681e-01 -8.82939522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.556547614999996 meters Centerline goodness : 0.818413 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:-0.09 [[ 9.99994300e-01 -1.68949053e-03 -2.92338080e-03 3.45115451e+00] [ 1.68491390e-03 9.99997352e-01 -1.56727992e-03 3.83190341e-02] [ 2.92602096e-03 1.56234535e-03 9.99994499e-01 -8.91311135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.586547614999997 meters Centerline goodness : 0.820438 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:-0.09 [[ 9.99991712e-01 -1.95620733e-03 -3.57062480e-03 3.45215584e+00] [ 1.94845831e-03 9.99995742e-01 -2.17240468e-03 3.71212793e-02] [ 3.57485927e-03 2.16542946e-03 9.99991266e-01 -8.87940296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.616547614999995 meters Centerline goodness : 0.824674 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-0.08 [[ 9.99995874e-01 -2.05682080e-04 -2.86539257e-03 3.44303134e+00] [ 1.94009637e-04 9.99991685e-01 -4.07327557e-03 3.35587932e-02] [ 2.86620654e-03 4.07270285e-03 9.99987599e-01 -8.42521971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.646547614999996 meters Centerline goodness : 0.828455 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-0.08 [[ 9.99994841e-01 2.34003573e-03 -2.20069220e-03 3.43859862e+00] [-2.34457442e-03 9.99995125e-01 -2.06207858e-03 2.99501054e-02] [ 2.19585614e-03 2.06722763e-03 9.99995452e-01 -8.13301089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.676547614999997 meters Centerline goodness : 0.829518 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-0.08 [[ 9.99997485e-01 -5.67354212e-04 -2.16959580e-03 3.44206307e+00] [ 5.67026468e-04 9.99999828e-01 -1.51674516e-04 2.77940006e-02] [ 2.16968148e-03 1.50443917e-04 9.99997635e-01 -7.95492711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.706547614999995 meters Centerline goodness : 0.828169 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:-0.08 [[ 9.99988273e-01 -3.75040582e-03 -3.06410360e-03 3.44743217e+00] [ 3.75644168e-03 9.99991011e-01 1.96648607e-03 2.65583138e-02] [ 3.05670094e-03 -1.97797314e-03 9.99993372e-01 -7.70415371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.736547614999996 meters Centerline goodness : 0.825885 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:-0.08 [[ 9.99981281e-01 -4.92232268e-03 -3.63435393e-03 3.45050740e+00] [ 4.92949468e-03 9.99985915e-01 1.96707619e-03 2.57160595e-02] [ 3.62462016e-03 -1.98495490e-03 9.99991461e-01 -7.82892654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.766547614999997 meters Centerline goodness : 0.824130 Centerline is valid? [False, False] Translation: X:3.46, Y:0.03, Z:-0.08 [[ 0.99998286 -0.0044238 -0.00383417 3.45586481] [ 0.00443936 0.99998191 0.00405963 0.0263278 ] [ 0.00381614 -0.00407658 0.99998441 -0.08230632] [ 0. 0. 0. 1. ]] SLAMing on 16.796547614999994 meters Centerline goodness : 0.822766 Centerline is valid? [False, False] Translation: X:3.46, Y:0.03, Z:-0.08 [[ 9.99991475e-01 -1.07950247e-03 -3.98564629e-03 3.45710943e+00] [ 1.10417073e-03 9.99980218e-01 6.19227020e-03 3.02131243e-02] [ 3.97888288e-03 -6.19661824e-03 9.99972885e-01 -8.45355204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.826547614999996 meters Centerline goodness : 0.824405 Centerline is valid? [False, False] Translation: X:3.46, Y:0.03, Z:-0.08 [[ 9.99991853e-01 -4.31075792e-04 -4.01343606e-03 3.45608654e+00] [ 4.52140217e-04 9.99986121e-01 5.24904934e-03 3.07407209e-02] [ 4.01111762e-03 -5.25082122e-03 9.99978170e-01 -8.48244520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.856547614999997 meters Centerline goodness : 0.829286 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-0.08 [[ 9.99993449e-01 2.48853742e-03 -2.62850676e-03 3.44364037e+00] [-2.48761486e-03 9.99996843e-01 3.54193829e-04 2.68980035e-02] [ 2.62937989e-03 -3.47652797e-04 9.99996483e-01 -8.33311193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.886547614999994 meters Centerline goodness : 0.829064 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-0.08 [[ 9.99971096e-01 7.06309221e-03 -2.81409382e-03 3.44356051e+00] [-7.05203914e-03 9.99967456e-01 3.91850579e-03 2.75945491e-02] [ 2.84167900e-03 -3.89854743e-03 9.99988363e-01 -8.37443969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.916547614999995 meters Centerline goodness : 0.824837 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:-0.09 [[ 9.99980010e-01 5.22285441e-03 -3.56387232e-03 3.44770749e+00] [-5.21201201e-03 9.99981782e-01 3.04484302e-03 2.80951856e-02] [ 3.57971016e-03 -3.02620721e-03 9.99989014e-01 -8.60645981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.946547614999997 meters Centerline goodness : 0.823096 Centerline is valid? [False, False] Translation: X:3.46, Y:0.03, Z:-0.09 [[ 9.99987651e-01 9.33673150e-05 -4.96875109e-03 3.46272803e+00] [-7.05856525e-05 9.99989486e-01 4.58496554e-03 2.96864468e-02] [ 4.96912694e-03 -4.58455820e-03 9.99977145e-01 -9.25369846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.976547614999994 meters Centerline goodness : 0.818901 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:-0.09 [[ 9.99980845e-01 -3.20987728e-03 -5.29200751e-03 3.46728467e+00] [ 3.23806504e-03 9.99980571e-01 5.32654139e-03 2.90830121e-02] [ 5.27480715e-03 -5.34357523e-03 9.99971811e-01 -9.25517092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.006547614999995 meters Centerline goodness : 0.826881 Centerline is valid? [False, False] Translation: X:3.46, Y:0.02, Z:-0.08 [[ 9.99976257e-01 -6.21545153e-03 -2.97536790e-03 3.45570212e+00] [ 6.22880628e-03 9.99970474e-01 4.50041051e-03 1.81436887e-02] [ 2.94730797e-03 -4.51883665e-03 9.99985447e-01 -8.09573876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.036547614999996 meters Centerline goodness : 0.831666 Centerline is valid? [False, False] Translation: X:3.44, Y:0.01, Z:-0.07 [[ 9.99992309e-01 -3.82014814e-03 -8.87769259e-04 3.44284692e+00] [ 3.82420697e-03 9.99982033e-01 4.61611521e-03 1.17925312e-02] [ 8.70119065e-04 -4.61947472e-03 9.99988952e-01 -7.38285948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.066547614999998 meters Centerline goodness : 0.831836 Centerline is valid? [False, False] Translation: X:3.44, Y:0.01, Z:-0.07 [[ 9.99995278e-01 -3.05315044e-03 -3.49018553e-04 3.44117859e+00] [ 3.05442494e-03 9.99988448e-01 3.71137526e-03 1.46406372e-02] [ 3.37683134e-04 -3.71242379e-03 9.99993052e-01 -7.48707158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.096547614999995 meters Centerline goodness : 0.830336 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:-0.08 [[ 9.99995439e-01 -2.96771364e-03 -5.61028317e-04 3.44242057e+00] [ 2.96847857e-03 9.99994659e-01 1.36755894e-03 1.92791386e-02] [ 5.56966797e-04 -1.36921810e-03 9.99998908e-01 -7.87808348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.126547614999996 meters Centerline goodness : 0.824800 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:-0.09 [[ 9.99996624e-01 -1.69975091e-03 -1.96543933e-03 3.45009844e+00] [ 1.70032500e-03 9.99998512e-01 2.90455556e-04 2.41695586e-02] [ 1.96494270e-03 -2.93796461e-04 9.99998026e-01 -8.81999336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.156547614999997 meters Centerline goodness : 0.823782 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:-0.09 [[ 9.99995900e-01 9.51046914e-04 -2.70099472e-03 3.45386492e+00] [-9.44124020e-04 9.99996269e-01 2.56320973e-03 2.73974403e-02] [ 2.70342238e-03 -2.56064914e-03 9.99993067e-01 -9.11431642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.186547614999995 meters Centerline goodness : 0.823445 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:-0.09 [[ 9.99995377e-01 1.56637502e-03 -2.60620290e-03 3.45339412e+00] [-1.56670738e-03 9.99998765e-01 -1.25490331e-04 3.35384285e-02] [ 2.60600312e-03 1.29572908e-04 9.99996596e-01 -9.45232646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.216547614999996 meters Centerline goodness : 0.825163 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:-0.09 [[ 9.99994616e-01 -1.67039263e-03 -2.82440501e-03 3.45311658e+00] [ 1.66066966e-03 9.99992700e-01 -3.44133058e-03 2.90810440e-02] [ 2.83013276e-03 3.43662165e-03 9.99990090e-01 -9.41488341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.246547614999997 meters Centerline goodness : 0.827081 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:-0.09 [[ 9.99993629e-01 -1.40249431e-03 -3.28243211e-03 3.45320872e+00] [ 1.39846152e-03 9.99998265e-01 -1.23056959e-03 2.44717231e-02] [ 3.28415228e-03 1.22597140e-03 9.99993856e-01 -9.11051456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.276547614999995 meters Centerline goodness : 0.828394 Centerline is valid? [False, False] Translation: X:3.46, Y:0.02, Z:-0.08 [[ 0.99998798 -0.00346035 -0.00347468 3.45587324] [ 0.00347725 0.99998209 0.00487177 0.0179628 ] [ 0.00345776 -0.00488379 0.9999821 -0.08242634] [ 0. 0. 0. 1. ]] SLAMing on 17.306547614999996 meters Centerline goodness : 0.825697 Centerline is valid? [False, False] Translation: X:3.46, Y:0.02, Z:-0.09 [[ 9.99976575e-01 -5.96384478e-03 -3.35891545e-03 3.45989744e+00] [ 5.97977812e-03 9.99970822e-01 4.75369835e-03 1.76706053e-02] [ 3.33046713e-03 -4.77367256e-03 9.99983060e-01 -8.51373385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.336547614999997 meters Centerline goodness : 0.823547 Centerline is valid? [False, False] Translation: X:3.46, Y:0.02, Z:-0.09 [[ 0.99996772 -0.00710448 -0.00375236 3.46289713] [ 0.00711956 0.99996657 0.00402167 0.01813721] [ 0.00372366 -0.00404825 0.99998487 -0.0875055 ] [ 0. 0. 0. 1. ]] SLAMing on 17.366547614999995 meters Centerline goodness : 0.824799 Centerline is valid? [False, False] Translation: X:3.46, Y:0.02, Z:-0.09 [[ 0.99996882 -0.00672761 -0.00413429 3.46273381] [ 0.00674501 0.99996839 0.00421114 0.01688841] [ 0.00410583 -0.0042389 0.99998259 -0.08649085] [ 0. 0. 0. 1. ]] SLAMing on 17.396547614999996 meters Centerline goodness : 0.824618 Centerline is valid? [False, False] Translation: X:3.45, Y:0.01, Z:-0.08 [[ 9.99982354e-01 -4.52628882e-03 -3.84774536e-03 3.45419017e+00] [ 4.53443608e-03 9.99987491e-01 2.11133344e-03 1.41050060e-02] [ 3.83814072e-03 -2.12874354e-03 9.99990369e-01 -8.26020204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.426547614999997 meters Centerline goodness : 0.821120 Centerline is valid? [False, False] Translation: X:3.45, Y:0.01, Z:-0.08 [[ 9.99988009e-01 -3.03089627e-03 -3.84650113e-03 3.45217659e+00] [ 3.03839114e-03 9.99993494e-01 1.94414601e-03 1.42828915e-02] [ 3.84058360e-03 -1.95580987e-03 9.99990712e-01 -8.19856839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.456547614999995 meters Centerline goodness : 0.823831 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:-0.08 [[ 9.99985860e-01 -3.60876758e-03 -3.90599503e-03 3.45362299e+00] [ 3.61061059e-03 9.99993374e-01 4.64893347e-04 1.76995681e-02] [ 3.90429145e-03 -4.78989800e-04 9.99992264e-01 -8.45168805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.486547614999996 meters Centerline goodness : 0.815764 Centerline is valid? [False, False] Translation: X:3.46, Y:0.02, Z:-0.09 [[ 9.99972264e-01 -5.65332149e-03 -4.84882351e-03 3.46471959e+00] [ 5.66699586e-03 9.99979991e-01 2.81105340e-03 2.44897524e-02] [ 4.83283470e-03 -2.83845370e-03 9.99984293e-01 -8.94788414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.516547614999997 meters Centerline goodness : 0.814518 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:-0.09 [[ 9.99967637e-01 -6.15206585e-03 -5.18430705e-03 3.46582260e+00] [ 6.16521134e-03 9.99977811e-01 2.52347514e-03 2.61839759e-02] [ 5.16866743e-03 -2.55535582e-03 9.99983377e-01 -8.96409928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.546547614999994 meters Centerline goodness : 0.811658 Centerline is valid? [False, False] Translation: X:3.46, Y:0.02, Z:-0.09 [[ 9.99944519e-01 -9.12160972e-03 -5.26839270e-03 3.46365410e+00] [ 9.12377399e-03 9.99958303e-01 3.86914431e-04 2.26071917e-02] [ 5.26464374e-03 -4.34960589e-04 9.99986047e-01 -8.58591100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.576547614999996 meters Centerline goodness : 0.814342 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:-0.08 [[ 9.99929396e-01 -1.16995366e-02 2.07926675e-03 3.47026985e+00] [ 1.17220522e-02 9.99868925e-01 -1.11681210e-02 1.95236280e-02] [-1.94833237e-03 1.11917057e-02 9.99935473e-01 -8.38869139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.606547614999997 meters Centerline goodness : 0.817783 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:-0.08 [[ 9.99974112e-01 -6.79112327e-03 2.37833135e-03 3.46826775e+00] [ 6.80364065e-03 9.99962835e-01 -5.29515796e-03 1.71209390e-02] [-2.34228289e-03 5.31120219e-03 9.99983152e-01 -8.10630224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.636547614999994 meters Centerline goodness : 0.816368 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:-0.09 [[ 9.99997762e-01 -9.89214153e-04 1.87026298e-03 3.47372113e+00] [ 9.89521640e-04 9.99999497e-01 -1.63490183e-04 2.39939281e-02] [-1.87010032e-03 1.65340483e-04 9.99998238e-01 -8.71047444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.666547614999995 meters Centerline goodness : 0.813906 Centerline is valid? [False, False] Translation: X:3.48, Y:0.03, Z:-0.09 [[ 9.99996186e-01 2.24834432e-03 1.60384276e-03 3.47538801e+00] [-2.25076570e-03 9.99996328e-01 1.50953358e-03 3.02111476e-02] [-1.60044292e-03 -1.51313770e-03 9.99997574e-01 -8.97628118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.696547614999997 meters Centerline goodness : 0.814827 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:-0.09 [[ 9.99993640e-01 3.51404402e-03 6.09737781e-04 3.47473432e+00] [-3.51473362e-03 9.99993181e-01 1.13360261e-03 2.82909512e-02] [-6.05750094e-04 -1.13573847e-03 9.99999172e-01 -8.81995954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.726547614999994 meters Centerline goodness : 0.815693 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:-0.09 [[ 9.99987700e-01 4.89658717e-03 7.90089163e-04 3.47211087e+00] [-4.89761901e-03 9.99987149e-01 1.30937202e-03 2.82149238e-02] [-7.83667555e-04 -1.31322547e-03 9.99998831e-01 -8.65348175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.756547614999995 meters Centerline goodness : 0.813693 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:-0.09 [[ 9.99980274e-01 6.25419000e-03 5.80186025e-04 3.47680332e+00] [-6.25609782e-03 9.99974829e-01 3.34691113e-03 3.63684287e-02] [-5.59239204e-04 -3.35047481e-03 9.99994231e-01 -9.01145417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.786547614999996 meters Centerline goodness : 0.811045 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:-0.09 [[ 9.99989637e-01 4.51738736e-03 5.64065182e-04 3.48025946e+00] [-4.51826799e-03 9.99988560e-01 1.56982490e-03 4.26515654e-02] [-5.56967222e-04 -1.57235723e-03 9.99998609e-01 -9.40687042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.816547614999994 meters Centerline goodness : 0.811714 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:-0.09 [[ 9.99991467e-01 4.11088052e-03 -4.07864255e-04 3.48184341e+00] [-4.10989925e-03 9.99988726e-01 2.37822329e-03 3.98217882e-02] [ 4.17636248e-04 -2.37652672e-03 9.99997089e-01 -9.22045631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.846547614999995 meters Centerline goodness : 0.813003 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:-0.09 [[ 9.99991745e-01 3.97439258e-03 -8.45104797e-04 3.48239326e+00] [-3.97183900e-03 9.99987606e-01 3.00212800e-03 3.72230875e-02] [ 8.57025958e-04 -2.99874660e-03 9.99995137e-01 -9.09776319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.876547614999996 meters Centerline goodness : 0.815714 Centerline is valid? [False, False] Translation: X:3.48, Y:0.03, Z:-0.09 [[ 9.99990849e-01 4.21967960e-03 -7.04895930e-04 3.48105032e+00] [-4.21650327e-03 9.99981216e-01 4.44838939e-03 3.34988962e-02] [ 7.23653467e-04 -4.44537648e-03 9.99989857e-01 -8.82131396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.906547614999997 meters Centerline goodness : 0.812550 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:-0.09 [[ 9.99977787e-01 6.56749367e-03 -1.13734297e-03 3.48551425e+00] [-6.56127256e-03 9.99963949e-01 5.38983497e-03 3.76104809e-02] [ 1.17269968e-03 -5.38225283e-03 9.99984828e-01 -9.42291887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.936547614999995 meters Centerline goodness : 0.811503 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:-0.10 [[ 9.99977565e-01 6.58889649e-03 -1.20647207e-03 3.48573033e+00] [-6.58398431e-03 9.99970200e-01 4.03121261e-03 4.14865431e-02] [ 1.23299736e-03 -4.02317877e-03 9.99991147e-01 -9.56072510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.966547614999996 meters Centerline goodness : 0.812104 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:-0.10 [[ 9.99975410e-01 6.80490603e-03 -1.69466965e-03 3.48673463e+00] [-6.79880427e-03 9.99970477e-01 3.58066218e-03 4.11120334e-02] [ 1.71898569e-03 -3.56905241e-03 9.99992153e-01 -9.64308973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.996547614999997 meters Centerline goodness : 0.811046 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:-0.10 [[ 9.99984597e-01 5.18525228e-03 -1.97937932e-03 3.49050907e+00] [-5.18197098e-03 9.99985197e-01 1.65928950e-03 4.87566311e-02] [ 1.98795385e-03 -1.64900685e-03 9.99996664e-01 -1.00065632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.026547614999995 meters Centerline goodness : 0.806969 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:-0.10 [[ 9.99988993e-01 4.06760753e-03 -2.33844816e-03 3.49272548e+00] [-4.06856951e-03 9.99991641e-01 -4.06765698e-04 5.43391256e-02] [ 2.33677405e-03 4.16275359e-04 9.99997183e-01 -1.02603974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.056547614999996 meters Centerline goodness : 0.807781 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:-0.10 [[ 9.99988649e-01 3.87806093e-03 -2.76800322e-03 3.49328624e+00] [-3.87787527e-03 9.99992478e-01 7.24363697e-05 5.18176326e-02] [ 2.76826331e-03 -6.17015763e-05 9.99996166e-01 -1.01509169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.086547614999997 meters Centerline goodness : 0.817035 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:-0.09 [[ 9.99998318e-01 7.98120327e-04 -1.65126951e-03 3.48884843e+00] [-7.93912226e-04 9.99996440e-01 2.54749134e-03 4.02027565e-02] [ 1.65329684e-03 -2.54617609e-03 9.99995392e-01 -9.01061330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.116547614999995 meters Centerline goodness : 0.817164 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:-0.09 [[ 9.99998506e-01 1.26588049e-03 -1.17700518e-03 3.48768028e+00] [-1.26268660e-03 9.99995530e-01 2.71036155e-03 4.13161436e-02] [ 1.18043092e-03 -2.70887132e-03 9.99995634e-01 -9.02733096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.146547614999996 meters Centerline goodness : 0.815959 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:-0.09 [[ 9.99999206e-01 5.20026655e-04 -1.14801256e-03 3.48927315e+00] [-5.17293499e-04 9.99997035e-01 2.37978583e-03 4.23860835e-02] [ 1.14924671e-03 -2.37919008e-03 9.99996509e-01 -9.20336849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.176547614999997 meters Centerline goodness : 0.816457 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:-0.09 [[ 9.99998490e-01 -6.42316914e-04 -1.61497431e-03 3.49163024e+00] [ 6.45721965e-04 9.99997568e-01 2.10878779e-03 4.32188329e-02] [ 1.61361587e-03 -2.10982743e-03 9.99996472e-01 -9.27772375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.206547614999995 meters Centerline goodness : 0.812527 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:-0.10 [[ 9.99995877e-01 -1.77672256e-03 -2.25589736e-03 3.49488176e+00] [ 1.77587447e-03 9.99998352e-01 -3.77889644e-04 4.84023004e-02] [ 2.25656505e-03 3.73881896e-04 9.99997384e-01 -9.65891241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.236547614999996 meters Centerline goodness : 0.815626 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:-0.10 [[ 9.99989537e-01 -4.17514788e-03 -1.86905612e-03 3.49182766e+00] [ 4.16695913e-03 9.99981796e-01 -4.36388814e-03 4.75053645e-02] [ 1.88724197e-03 4.35605421e-03 9.99988731e-01 -9.54965865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.266547614999997 meters Centerline goodness : 0.820400 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:-0.09 [[ 9.99976808e-01 -6.59344448e-03 -1.70599853e-03 3.48893028e+00] [ 6.58445430e-03 9.99964683e-01 -5.22276352e-03 3.83854915e-02] [ 1.74037428e-03 5.21140932e-03 9.99984906e-01 -9.06092430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.296547614999994 meters Centerline goodness : 0.819241 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:-0.09 [[ 9.99970780e-01 -7.42178007e-03 -1.83228140e-03 3.49124465e+00] [ 7.41487755e-03 9.99965494e-01 -3.74565545e-03 3.25363111e-02] [ 1.86001761e-03 3.73195986e-03 9.99991306e-01 -9.10593180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.326547614999996 meters Centerline goodness : 0.820499 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:-0.09 [[ 9.99985770e-01 -5.07171302e-03 -1.65466345e-03 3.49276215e+00] [ 5.07422769e-03 9.99985972e-01 1.51910439e-03 2.76033973e-02] [ 1.64693578e-03 -1.52747891e-03 9.99997477e-01 -9.00148476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.356547614999997 meters Centerline goodness : 0.818926 Centerline is valid? [False, False] Translation: X:3.50, Y:0.02, Z:-0.09 [[ 9.99954690e-01 -9.29461724e-03 -2.05619395e-03 3.49851666e+00] [ 9.30353193e-03 9.99947175e-01 4.36930136e-03 2.20483154e-02] [ 2.01547435e-03 -4.38823325e-03 9.99988341e-01 -8.68580806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.386547614999994 meters Centerline goodness : 0.813541 Centerline is valid? [False, False] Translation: X:3.51, Y:0.03, Z:-0.10 [[ 9.99928235e-01 -1.16390676e-02 -2.83830469e-03 3.50539762e+00] [ 1.16387504e-02 9.99932259e-01 -1.28240114e-04 2.85566687e-02] [ 2.83960501e-03 9.51965910e-05 9.99995964e-01 -9.65751687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.416547614999995 meters Centerline goodness : 0.813541 Centerline is valid? [False, False] Translation: X:3.51, Y:0.03, Z:-0.10 [[ 9.99928235e-01 -1.16390676e-02 -2.83830469e-03 3.50539762e+00] [ 1.16387504e-02 9.99932259e-01 -1.28240114e-04 2.85566687e-02] [ 2.83960501e-03 9.51965910e-05 9.99995964e-01 -9.65751687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.446547614999997 meters Centerline goodness : 0.814494 Centerline is valid? [False, False] Translation: X:3.51, Y:0.03, Z:-0.10 [[ 9.99955379e-01 -8.68830860e-03 -3.70854335e-03 3.50793067e+00] [ 8.69689017e-03 9.99959527e-01 2.30417934e-03 2.75022434e-02] [ 3.68837383e-03 -2.33632932e-03 9.99990469e-01 -9.79815518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.476547614999994 meters Centerline goodness : 0.815274 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.10 [[ 9.99973728e-01 -6.33566099e-03 -3.52168209e-03 3.50361650e+00] [ 6.34626229e-03 9.99975340e-01 3.00731593e-03 2.54066073e-02] [ 3.50254191e-03 -3.02958644e-03 9.99989277e-01 -9.50382105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.506547614999995 meters Centerline goodness : 0.815000 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.10 [[ 9.99972052e-01 -6.47924043e-03 -3.73029461e-03 3.50447860e+00] [ 6.48832196e-03 9.99976004e-01 2.42760218e-03 2.56106697e-02] [ 3.71447608e-03 -2.45173768e-03 9.99990096e-01 -9.61207617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.536547614999996 meters Centerline goodness : 0.813093 Centerline is valid? [False, False] Translation: X:3.51, Y:0.02, Z:-0.10 [[ 0.99996136 -0.00785943 -0.00393746 3.50669519] [ 0.0078746 0.99996157 0.00385244 0.02128769] [ 0.00390703 -0.0038833 0.99998483 -0.09515768] [ 0. 0. 0. 1. ]] SLAMing on 18.566547614999994 meters Centerline goodness : 0.816098 Centerline is valid? [False, False] Translation: X:3.51, Y:0.01, Z:-0.09 [[ 0.9999147 -0.01248848 -0.00382435 3.50688471] [ 0.01250789 0.9999088 0.00509432 0.01420127] [ 0.00376038 -0.00514172 0.99997971 -0.08795023] [ 0. 0. 0. 1. ]] SLAMing on 18.596547614999995 meters Centerline goodness : 0.812981 Centerline is valid? [False, False] Translation: X:3.51, Y:0.01, Z:-0.09 [[ 0.99988483 -0.01462985 -0.00403603 3.51062211] [ 0.01465467 0.99987346 0.00618884 0.01001961] [ 0.00394498 -0.00624728 0.9999727 -0.08836089] [ 0. 0. 0. 1. ]] SLAMing on 18.626547614999996 meters Centerline goodness : 0.810245 Centerline is valid? [False, False] Translation: X:3.51, Y:0.01, Z:-0.09 [[ 0.99991503 -0.01220373 -0.00458346 3.51423453] [ 0.01224486 0.99988404 0.00905425 0.01307308] [ 0.00447243 -0.0091096 0.9999485 -0.09089819] [ 0. 0. 0. 1. ]] SLAMing on 18.656547614999994 meters Centerline goodness : 0.811456 Centerline is valid? [False, False] Translation: X:3.52, Y:0.02, Z:-0.09 [[ 9.99963318e-01 -8.48439761e-03 1.17345055e-03 3.51583185e+00] [ 8.49038438e-03 9.99950463e-01 -5.19460856e-03 1.70602068e-02] [-1.12931930e-03 5.20438106e-03 9.99985819e-01 -9.44242990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.686547614999995 meters Centerline goodness : 0.812965 Centerline is valid? [False, False] Translation: X:3.51, Y:0.01, Z:-0.09 [[ 9.99978495e-01 -6.53702160e-03 5.27033263e-04 3.51333847e+00] [ 6.53938964e-03 9.99967926e-01 -4.62414464e-03 1.47352084e-02] [-4.96788226e-04 4.62749167e-03 9.99989170e-01 -9.11683249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.716547614999996 meters Centerline goodness : 0.812004 Centerline is valid? [False, False] Translation: X:3.52, Y:0.01, Z:-0.09 [[ 9.99990582e-01 -4.30307819e-03 -5.64651458e-04 3.51830300e+00] [ 4.30184590e-03 9.99988402e-01 -2.16576770e-03 1.48174795e-02] [ 5.73964377e-04 2.16331826e-03 9.99997495e-01 -9.43126137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.746547614999997 meters Centerline goodness : 0.805218 Centerline is valid? [False, False] Translation: X:3.52, Y:0.02, Z:-0.10 [[ 9.99994019e-01 -3.20246228e-03 -1.30602249e-03 3.52380916e+00] [ 3.20403060e-03 9.99994146e-01 1.20052065e-03 1.76215547e-02] [ 1.30217022e-03 -1.20469801e-03 9.99998427e-01 -9.62243254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.776547614999995 meters Centerline goodness : 0.801470 Centerline is valid? [False, False] Translation: X:3.53, Y:0.02, Z:-0.10 [[ 9.99992102e-01 -3.07695065e-03 -2.51544419e-03 3.53159545e+00] [ 3.08767278e-03 9.99986117e-01 4.26980912e-03 2.22214326e-02] [ 2.50227128e-03 -4.27754227e-03 9.99987721e-01 -9.86657719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.806547614999996 meters Centerline goodness : 0.803827 Centerline is valid? [False, False] Translation: X:3.53, Y:0.02, Z:-0.10 [[ 9.99990932e-01 -3.12208750e-03 -2.89618870e-03 3.53167731e+00] [ 3.13870389e-03 9.99978539e-01 5.75063626e-03 1.85433243e-02] [ 2.87817256e-03 -5.75967440e-03 9.99979271e-01 -9.59916367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.836547614999997 meters Centerline goodness : 0.804588 Centerline is valid? [False, False] Translation: X:3.52, Y:0.02, Z:-0.09 [[ 9.99994230e-01 3.28754205e-03 -8.55914194e-04 3.51878865e+00] [-3.28119781e-03 9.99967891e-01 7.31103614e-03 1.89380595e-02] [ 8.79922050e-04 -7.30818553e-03 9.99972908e-01 -9.08775987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.866547614999995 meters Centerline goodness : 0.807857 Centerline is valid? [False, False] Translation: X:3.52, Y:0.02, Z:-0.09 [[ 9.99987151e-01 5.06178158e-03 -2.76259158e-04 3.51505819e+00] [-5.05974984e-03 9.99963277e-01 6.91693743e-03 2.17429562e-02] [ 3.11261039e-04 -6.91545075e-03 9.99976040e-01 -8.98277724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.896547614999996 meters Centerline goodness : 0.811108 Centerline is valid? [False, False] Translation: X:3.51, Y:0.03, Z:-0.09 [[ 9.99969975e-01 7.74177512e-03 3.37938529e-04 3.50966056e+00] [-7.74391661e-03 9.99946363e-01 6.87765099e-03 2.58394248e-02] [-2.84675176e-04 -6.88006145e-03 9.99976292e-01 -8.72851088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.926547614999997 meters Centerline goodness : 0.809154 Centerline is valid? [False, False] Translation: X:3.52, Y:0.03, Z:-0.10 [[ 9.99991191e-01 3.86086819e-03 -1.64649655e-03 3.51980016e+00] [-3.85632153e-03 9.99988767e-01 2.75570597e-03 3.07880183e-02] [ 1.65711747e-03 -2.74933228e-03 9.99994848e-01 -9.54415869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.956547614999995 meters Centerline goodness : 0.808532 Centerline is valid? [False, False] Translation: X:3.52, Y:0.03, Z:-0.10 [[ 9.99994289e-01 2.54736998e-03 -2.22112452e-03 3.52310323e+00] [-2.54371318e-03 9.99995407e-01 1.64764550e-03 3.33521713e-02] [ 2.22531149e-03 -1.64198618e-03 9.99996176e-01 -9.77797858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.986547614999996 meters Centerline goodness : 0.806756 Centerline is valid? [False, False] Translation: X:3.53, Y:0.04, Z:-0.10 [[ 9.99985344e-01 4.41309118e-03 -3.13640026e-03 3.52750032e+00] [-4.39957565e-03 9.99981063e-01 4.30316405e-03 3.80731718e-02] [ 3.15533112e-03 -4.28930215e-03 9.99985823e-01 -9.95536512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.016547614999997 meters Centerline goodness : 0.808596 Centerline is valid? [False, False] Translation: X:3.52, Y:0.04, Z:-0.09 [[ 9.99979304e-01 5.73535771e-03 -2.91485559e-03 3.51972249e+00] [-5.72739457e-03 9.99979864e-01 2.73295759e-03 3.83396438e-02] [ 2.93047138e-03 -2.71620651e-03 9.99992017e-01 -9.40551528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.046547614999994 meters Centerline goodness : 0.811935 Centerline is valid? [False, False] Translation: X:3.52, Y:0.04, Z:-0.10 [[ 9.99979693e-01 5.36774488e-03 -3.43521503e-03 3.52203579e+00] [-5.36461758e-03 9.99985188e-01 9.18935079e-04 3.96852834e-02] [ 3.44009676e-03 -9.00487804e-04 9.99993677e-01 -9.73649133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.076547614999996 meters Centerline goodness : 0.805673 Centerline is valid? [False, False] Translation: X:3.53, Y:0.05, Z:-0.10 [[ 9.99963620e-01 7.61656589e-03 -3.84011406e-03 3.52667414e+00] [-7.61214632e-03 9.99970349e-01 1.16420056e-03 4.81955263e-02] [ 3.84886741e-03 -1.13492670e-03 9.99991949e-01 -1.04103020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.106547614999997 meters Centerline goodness : 0.804347 Centerline is valid? [False, False] Translation: X:3.53, Y:0.05, Z:-0.11 [[ 9.99964782e-01 7.48582882e-03 -3.79429000e-03 3.52711897e+00] [-7.48711522e-03 9.99971918e-01 -3.24943474e-04 5.24156838e-02] [ 3.79175098e-03 3.53340316e-04 9.99992749e-01 -1.05967456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.136547614999994 meters Centerline goodness : 0.807026 Centerline is valid? [False, False] Translation: X:3.53, Y:0.05, Z:-0.10 [[ 9.99958539e-01 8.26067228e-03 -3.83169294e-03 3.52513103e+00] [-8.25580507e-03 9.99965095e-01 1.28433476e-03 4.85396163e-02] [ 3.84216866e-03 -1.25264780e-03 9.99991834e-01 -1.02299697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.166547614999995 meters Centerline goodness : 0.813212 Centerline is valid? [False, False] Translation: X:3.52, Y:0.04, Z:-0.10 [[ 9.99977897e-01 5.58198706e-03 -3.61200705e-03 3.52212367e+00] [-5.58221022e-03 9.99984418e-01 -5.17037349e-05 4.21574929e-02] [ 3.61166216e-03 7.18655747e-05 9.99993475e-01 -9.79284856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.196547614999997 meters Centerline goodness : 0.810807 Centerline is valid? [False, False] Translation: X:3.53, Y:0.04, Z:-0.10 [[ 9.99988349e-01 -2.01893797e-04 -4.82303290e-03 3.53035059e+00] [ 1.90215440e-04 9.99997050e-01 -2.42170801e-03 3.70247881e-02] [ 4.82350759e-03 2.42076238e-03 9.99985437e-01 -1.01049355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.226547614999994 meters Centerline goodness : 0.810602 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:-0.10 [[ 9.99986120e-01 -1.52589905e-03 -5.04299243e-03 3.53268410e+00] [ 1.51989769e-03 9.99998133e-01 -1.19365727e-03 3.49313579e-02] [ 5.04480441e-03 1.18597587e-03 9.99986572e-01 -1.00524640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.256547614999995 meters Centerline goodness : 0.808093 Centerline is valid? [False, False] Translation: X:3.54, Y:0.03, Z:-0.10 [[ 9.99983050e-01 -7.39508274e-04 -5.77512723e-03 3.53712602e+00] [ 7.71139148e-04 9.99984705e-01 5.47678219e-03 3.23308711e-02] [ 5.77098877e-03 -5.48114279e-03 9.99968326e-01 -9.56809819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.286547614999996 meters Centerline goodness : 0.808051 Centerline is valid? [False, False] Translation: X:3.54, Y:0.04, Z:-0.10 [[ 9.99983873e-01 -9.83780707e-04 -5.59331014e-03 3.53752338e+00] [ 1.00795016e-03 9.99990161e-01 4.31996098e-03 3.52709799e-02] [ 5.58900521e-03 -4.32552909e-03 9.99975026e-01 -9.75583832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.316547614999994 meters Centerline goodness : 0.806265 Centerline is valid? [False, False] Translation: X:3.54, Y:0.05, Z:-0.10 [[ 9.99979024e-01 3.05224447e-03 -5.71280428e-03 3.53875710e+00] [-3.02768576e-03 9.99986160e-01 4.30261266e-03 4.61641108e-02] [ 5.72585784e-03 -4.28522583e-03 9.99974425e-01 -1.03442870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.346547614999995 meters Centerline goodness : 0.800808 Centerline is valid? [False, False] Translation: X:3.54, Y:0.05, Z:-0.11 [[ 9.99962058e-01 5.35968836e-03 -6.86710693e-03 3.53827189e+00] [-5.36913932e-03 9.99984663e-01 -1.35857072e-03 5.46729703e-02] [ 6.85972010e-03 1.39538963e-03 9.99975498e-01 -1.10525036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.376547614999996 meters Centerline goodness : 0.806517 Centerline is valid? [False, False] Translation: X:3.53, Y:0.05, Z:-0.11 [[ 0.9999581 0.00660263 -0.00634082 3.52946904] [-0.00663449 0.99996541 -0.0050162 0.04979628] [ 0.00630749 0.00505805 0.99996732 -0.10743329] [ 0. 0. 0. 1. ]] SLAMing on 19.406547614999994 meters Centerline goodness : 0.812834 Centerline is valid? [False, False] Translation: X:3.52, Y:0.04, Z:-0.09 [[ 9.99966699e-01 7.01765161e-03 -4.16573471e-03 3.51924945e+00] [-7.01987702e-03 9.99975225e-01 -5.19836888e-04 4.03458635e-02] [ 4.16198347e-03 5.49062522e-04 9.99991188e-01 -9.39320295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.436547614999995 meters Centerline goodness : 0.813579 Centerline is valid? [False, False] Translation: X:3.53, Y:0.04, Z:-0.09 [[ 9.99989692e-01 2.18921031e-03 -3.97795161e-03 3.52919960e+00] [-2.16688146e-03 9.99981923e-01 5.60881967e-03 3.69889131e-02] [ 3.99015858e-03 -5.60014210e-03 9.99976358e-01 -9.07712414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.466547614999996 meters Centerline goodness : 0.803196 Centerline is valid? [False, False] Translation: X:3.56, Y:0.04, Z:-0.09 [[ 9.99941544e-01 1.74396213e-03 -1.06708150e-02 3.55984790e+00] [-1.50511964e-03 9.99749074e-01 2.23500143e-02 4.24498130e-02] [ 1.07071150e-02 -2.23326469e-02 9.99693258e-01 -9.33330393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.496547614999994 meters Centerline goodness : 0.803125 Centerline is valid? [False, False] Translation: X:3.56, Y:0.05, Z:-0.09 [[ 9.99938723e-01 1.20029264e-03 -1.10049708e-02 3.55972865e+00] [-9.71695914e-04 9.99784140e-01 2.07540006e-02 5.04546070e-02] [ 1.10275062e-02 -2.07420354e-02 9.99724043e-01 -9.28625512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.526547614999995 meters Centerline goodness : 0.807331 Centerline is valid? [False, False] Translation: X:3.55, Y:0.05, Z:-0.09 [[ 9.99988300e-01 1.81999875e-03 -4.48191828e-03 3.55055210e+00] [-1.82209028e-03 9.99998233e-01 -4.62620957e-04 4.94987509e-02] [ 4.48106840e-03 4.70782004e-04 9.99989849e-01 -8.91505692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.556547614999996 meters Centerline goodness : 0.810376 Centerline is valid? [False, False] Translation: X:3.54, Y:0.05, Z:-0.09 [[ 0.99998415 0.00378905 -0.004164 3.54175225] [-0.00380496 0.99998546 -0.00382095 0.04889267] [ 0.00414946 0.00383673 0.99998403 -0.08555734] [ 0. 0. 0. 1. ]] SLAMing on 19.586547614999997 meters Centerline goodness : 0.806401 Centerline is valid? [False, False] Translation: X:3.55, Y:0.06, Z:-0.09 [[ 9.99947315e-01 9.05739142e-03 -4.83023004e-03 3.54747705e+00] [-9.05294823e-03 9.99958579e-01 9.40943891e-04 5.95283782e-02] [ 4.83855246e-03 -8.97166495e-04 9.99987892e-01 -9.03601466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.616547614999995 meters Centerline goodness : 0.800750 Centerline is valid? [False, False] Translation: X:3.56, Y:0.07, Z:-0.10 [[ 9.99937069e-01 9.37461437e-03 -6.16229978e-03 3.55629100e+00] [-9.35841433e-03 9.99952691e-01 2.65249476e-03 6.58784372e-02] [ 6.18687436e-03 -2.59465849e-03 9.99977495e-01 -9.57015408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.646547614999996 meters Centerline goodness : 0.797342 Centerline is valid? [False, False] Translation: X:3.57, Y:0.06, Z:-0.10 [[ 9.99963577e-01 2.60525866e-03 -8.12754271e-03 3.56946470e+00] [-2.60643091e-03 9.99996594e-01 -1.33643198e-04 6.44607292e-02] [ 8.12716685e-03 1.54822209e-04 9.99966962e-01 -1.02321526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.676547614999997 meters Centerline goodness : 0.793358 Centerline is valid? [False, False] Translation: X:3.57, Y:0.07, Z:-0.10 [[ 9.99958144e-01 4.15118167e-04 -9.13987290e-03 3.57451809e+00] [-4.21240557e-04 9.99999688e-01 -6.67940132e-04 6.52742703e-02] [ 9.13959278e-03 6.71762260e-04 9.99958007e-01 -1.04242178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.706547614999995 meters Centerline goodness : 0.795047 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.10 [[ 9.99965983e-01 3.32309257e-03 -7.54915940e-03 3.56182330e+00] [-3.32607784e-03 9.99994395e-01 -3.82923093e-04 6.46683287e-02] [ 7.54784460e-03 4.08019159e-04 9.99971431e-01 -9.55379643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.736547614999996 meters Centerline goodness : 0.797477 Centerline is valid? [False, False] Translation: X:3.54, Y:0.07, Z:-0.09 [[ 9.99954751e-01 9.13703148e-03 -2.64789393e-03 3.54217298e+00] [-9.14280609e-03 9.99955834e-01 -2.17699411e-03 6.55884807e-02] [ 2.62788572e-03 2.20110479e-03 9.99994125e-01 -8.94091162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.766547614999997 meters Centerline goodness : 0.798806 Centerline is valid? [False, False] Translation: X:3.54, Y:0.07, Z:-0.09 [[ 9.99850777e-01 1.70827348e-02 -2.56962367e-03 3.54296471e+00] [-1.70722557e-02 9.99846071e-01 4.04618478e-03 7.03969875e-02] [ 2.63834804e-03 -4.00171173e-03 9.99988513e-01 -9.18108664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.796547614999994 meters Centerline goodness : 0.792767 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:-0.10 [[ 0.99980812 0.01919566 -0.00390528 3.55349164] [-0.01916197 0.99978035 0.00848995 0.07730348] [ 0.00406739 -0.00841349 0.99995633 -0.09758852] [ 0. 0. 0. 1. ]] SLAMing on 19.826547614999996 meters Centerline goodness : 0.792225 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:-0.10 [[ 0.99982542 0.01816084 -0.00439436 3.55544892] [-0.01812693 0.99980653 0.00763693 0.07935511] [ 0.0045322 -0.00755594 0.99996118 -0.09847538] [ 0. 0. 0. 1. ]] SLAMing on 19.856547614999997 meters Centerline goodness : 0.794545 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:-0.10 [[ 9.99893070e-01 1.36406504e-02 -5.27084021e-03 3.55639602e+00] [-1.36225813e-02 9.99901260e-01 3.44896108e-03 7.60516785e-02] [ 5.31736584e-03 -3.37678983e-03 9.99980161e-01 -9.71349848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.886547614999994 meters Centerline goodness : 0.795080 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:-0.10 [[ 0.99995304 0.0079177 -0.005588 3.55391921] [-0.00794295 0.99995828 -0.00451088 0.07191266] [ 0.00555205 0.00455505 0.99997421 -0.09652061] [ 0. 0. 0. 1. ]] SLAMing on 19.916547614999995 meters Centerline goodness : 0.796326 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:-0.10 [[ 9.99928110e-01 1.06708122e-02 -5.46889037e-03 3.55774857e+00] [-1.06813065e-02 9.99941161e-01 -1.89331885e-03 7.58563672e-02] [ 5.44836533e-03 1.95159763e-03 9.99983253e-01 -1.01472352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.946547614999997 meters Centerline goodness : 0.790027 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:-0.11 [[ 9.99943130e-01 1.05312941e-02 1.68189446e-03 3.55479938e+00] [-1.05456896e-02 9.99905734e-01 8.79272290e-03 7.94600363e-02] [-1.58913716e-03 -8.80995959e-03 9.99959929e-01 -1.11581631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.976547614999994 meters Centerline goodness : 0.790620 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:-0.11 [[ 9.99970823e-01 7.37014991e-03 2.00860400e-03 3.55345811e+00] [-7.38016890e-03 9.99960130e-01 5.02712662e-03 7.97299866e-02] [-1.97147324e-03 -5.04180378e-03 9.99985347e-01 -1.11614752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.006547614999995 meters Centerline goodness : 0.792481 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:-0.11 [[ 9.99990407e-01 3.10631667e-03 3.08813880e-03 3.54603769e+00] [-3.10370873e-03 9.99994823e-01 -8.48936175e-04 7.34409187e-02] [-3.09075988e-03 8.39343347e-04 9.99994871e-01 -1.07453316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.036547614999996 meters Centerline goodness : 0.796077 Centerline is valid? [False, False] Translation: X:3.54, Y:0.07, Z:-0.10 [[ 9.99988753e-01 3.74092210e-03 2.91523315e-03 3.54475370e+00] [-3.74218654e-03 9.99992906e-01 4.28401636e-04 6.87041276e-02] [-2.91360986e-03 -4.39306164e-04 9.99995659e-01 -1.04735038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.066547614999994 meters Centerline goodness : 0.798886 Centerline is valid? [False, False] Translation: X:3.54, Y:0.06, Z:-0.10 [[ 9.99973354e-01 5.92791814e-03 4.26051693e-03 3.53976113e+00] [-5.94256693e-03 9.99976447e-01 3.43387225e-03 6.14362073e-02] [-4.24006087e-03 -3.45909916e-03 9.99985028e-01 -1.01206027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.096547614999995 meters Centerline goodness : 0.800039 Centerline is valid? [False, False] Translation: X:3.54, Y:0.06, Z:-0.11 [[ 9.99983424e-01 3.93222853e-03 4.20593390e-03 3.54382687e+00] [-3.94120109e-03 9.99989971e-01 2.12715375e-03 6.47527366e-02] [-4.19752727e-03 -2.14369492e-03 9.99988893e-01 -1.05505251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.126547614999996 meters Centerline goodness : 0.797445 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:-0.11 [[ 9.99994027e-01 1.79268479e-03 2.95508239e-03 3.54912566e+00] [-1.79564837e-03 9.99997887e-01 1.00052888e-03 6.63646497e-02] [-2.95328251e-03 -1.00582919e-03 9.99995133e-01 -1.07886681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.156547614999994 meters Centerline goodness : 0.799571 Centerline is valid? [False, False] Translation: X:3.55, Y:0.06, Z:-0.11 [[ 9.99995721e-01 -1.60203282e-03 2.44785950e-03 3.54990780e+00] [ 1.60896024e-03 9.99994699e-01 -2.83064496e-03 6.29993005e-02] [-2.44331174e-03 2.83457136e-03 9.99992998e-01 -1.08413971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.186547614999995 meters Centerline goodness : 0.797626 Centerline is valid? [False, False] Translation: X:3.55, Y:0.06, Z:-0.11 [[ 9.99995263e-01 -2.72707554e-03 1.42750505e-03 3.55398666e+00] [ 2.73244023e-03 9.99989161e-01 -3.76972293e-03 6.07963397e-02] [-1.41720926e-03 3.77360564e-03 9.99991876e-01 -1.11060174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.216547614999996 meters Centerline goodness : 0.795851 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.12 [[ 9.99997809e-01 -2.02001028e-03 5.48835457e-04 3.56028763e+00] [ 2.02131784e-03 9.99995095e-01 -2.39240840e-03 6.09906666e-02] [-5.44000075e-04 2.39351253e-03 9.99996988e-01 -1.15911970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.246547614999994 meters Centerline goodness : 0.797868 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.12 [[ 9.99997331e-01 -2.24099945e-03 5.61962824e-04 3.56088812e+00] [ 2.24232110e-03 9.99994696e-01 -2.36235385e-03 6.15876634e-02] [-5.56665809e-04 2.36360765e-03 9.99997052e-01 -1.16503684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.276547614999995 meters Centerline goodness : 0.798802 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.11 [[ 9.99996973e-01 -2.26728010e-03 9.55505847e-04 3.55964748e+00] [ 2.26649728e-03 9.99997096e-01 8.19567545e-04 5.63858812e-02] [-9.57361261e-04 -8.17399413e-04 9.99999208e-01 -1.11885670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.306547614999996 meters Centerline goodness : 0.804345 Centerline is valid? [False, False] Translation: X:3.56, Y:0.05, Z:-0.10 [[ 9.99975661e-01 -6.19791913e-03 3.20354433e-03 3.55562100e+00] [ 6.18470168e-03 9.99972389e-01 4.11945126e-03 4.71959337e-02] [-3.22898791e-03 -4.09953803e-03 9.99986384e-01 -1.00596832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.336547614999994 meters Centerline goodness : 0.804345 Centerline is valid? [False, False] Translation: X:3.56, Y:0.05, Z:-0.10 [[ 9.99975661e-01 -6.19791913e-03 3.20354433e-03 3.55562100e+00] [ 6.18470168e-03 9.99972389e-01 4.11945126e-03 4.71959337e-02] [-3.22898791e-03 -4.09953803e-03 9.99986384e-01 -1.00596832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.366547614999995 meters Centerline goodness : 0.805949 Centerline is valid? [False, False] Translation: X:3.55, Y:0.05, Z:-0.10 [[ 0.99997758 -0.00566615 0.00356789 3.55372674] [ 0.00564791 0.99997104 0.00510103 0.04710861] [-0.00359669 -0.00508077 0.99998062 -0.09849231] [ 0. 0. 0. 1. ]] SLAMing on 20.396547614999996 meters Centerline goodness : 0.802097 Centerline is valid? [False, False] Translation: X:3.55, Y:0.05, Z:-0.10 [[ 9.99984699e-01 -4.27354276e-03 3.51256191e-03 3.55277864e+00] [ 4.26253978e-03 9.99986004e-01 3.13400506e-03 5.13112755e-02] [-3.52590606e-03 -3.11898467e-03 9.99988920e-01 -1.01100715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.426547614999997 meters Centerline goodness : 0.800515 Centerline is valid? [False, False] Translation: X:3.56, Y:0.05, Z:-0.11 [[ 9.99985793e-01 -4.45769041e-03 2.92292068e-03 3.55570812e+00] [ 4.45590888e-03 9.99989883e-01 6.15730978e-04 5.26540960e-02] [-2.92563585e-03 -6.02697962e-04 9.99995539e-01 -1.06289390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.456547614999995 meters Centerline goodness : 0.795303 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.12 [[ 9.99980869e-01 -5.99516666e-03 1.52317043e-03 3.56157039e+00] [ 6.00370821e-03 9.99965923e-01 -5.66646963e-03 5.95787897e-02] [-1.48914709e-03 5.67550590e-03 9.99982785e-01 -1.17482911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.486547614999996 meters Centerline goodness : 0.793360 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.12 [[ 9.99995457e-01 -2.92548504e-03 7.26597252e-04 3.56458841e+00] [ 2.92669110e-03 9.99994332e-01 -1.66439436e-03 5.79106211e-02] [-7.21723973e-04 1.66651333e-03 9.99998351e-01 -1.18296052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.516547614999997 meters Centerline goodness : 0.795936 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:-0.12 [[ 9.99994554e-01 -3.25401133e-03 5.51387035e-04 3.56495208e+00] [ 3.25422110e-03 9.99994633e-01 -3.79963197e-04 5.51148667e-02] [-5.50147671e-04 3.81755463e-04 9.99999776e-01 -1.16648188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.546547614999994 meters Centerline goodness : 0.796931 Centerline is valid? [False, False] Translation: X:3.57, Y:0.05, Z:-0.12 [[ 9.99990123e-01 -4.44438345e-03 4.38033117e-05 3.57100241e+00] [ 4.44416220e-03 9.99981433e-01 4.16918581e-03 5.34983717e-02] [-6.23319588e-05 -4.16894996e-03 9.99991308e-01 -1.15041777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.576547614999996 meters Centerline goodness : 0.796863 Centerline is valid? [False, False] Translation: X:3.57, Y:0.05, Z:-0.11 [[ 9.99989503e-01 -4.57572754e-03 2.37334410e-04 3.56969176e+00] [ 4.57418154e-03 9.99970627e-01 6.15000343e-03 5.15180002e-02] [-2.65468179e-04 -6.14885326e-03 9.99981060e-01 -1.11010740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.606547614999997 meters Centerline goodness : 0.802669 Centerline is valid? [False, False] Translation: X:3.56, Y:0.05, Z:-0.10 [[ 9.99978432e-01 -6.36640980e-03 1.61379789e-03 3.55846088e+00] [ 6.36262904e-03 9.99977027e-01 2.33717842e-03 4.69516992e-02] [-1.62864026e-03 -2.32686002e-03 9.99995967e-01 -1.03525077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.636547614999994 meters Centerline goodness : 0.802054 Centerline is valid? [False, False] Translation: X:3.56, Y:0.04, Z:-0.10 [[ 9.99987447e-01 -4.44762833e-03 2.30727356e-03 3.55506358e+00] [ 4.44000055e-03 9.99984696e-01 3.30062722e-03 4.32429446e-02] [-2.32191821e-03 -3.29034149e-03 9.99991891e-01 -1.02316720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.666547614999995 meters Centerline goodness : 0.799308 Centerline is valid? [False, False] Translation: X:3.56, Y:0.05, Z:-0.11 [[ 9.99981548e-01 -5.56227769e-03 2.44229926e-03 3.55771397e+00] [ 5.55896199e-03 9.99983621e-01 1.36230763e-03 4.71728072e-02] [-2.44983679e-03 -1.34870585e-03 9.99996090e-01 -1.07009932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.696547614999997 meters Centerline goodness : 0.798839 Centerline is valid? [False, False] Translation: X:3.57, Y:0.05, Z:-0.11 [[ 9.99983157e-01 -5.71127897e-03 1.03260064e-03 3.56665941e+00] [ 5.70790048e-03 9.99978442e-01 3.24568454e-03 4.92937987e-02] [-1.05111539e-03 -3.23973589e-03 9.99994200e-01 -1.11989641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.726547614999994 meters Centerline goodness : 0.795819 Centerline is valid? [False, False] Translation: X:3.57, Y:0.05, Z:-0.11 [[ 9.99976020e-01 -6.92276531e-03 1.85288837e-04 3.57035036e+00] [ 6.92241317e-03 9.99974351e-01 1.83804233e-03 5.14324461e-02] [-1.98008420e-04 -1.83671561e-03 9.99998294e-01 -1.14623313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.756547614999995 meters Centerline goodness : 0.794041 Centerline is valid? [False, False] Translation: X:3.57, Y:0.06, Z:-0.12 [[ 9.99974553e-01 -7.11429584e-03 -5.29810559e-04 3.57246066e+00] [ 7.11408954e-03 9.99974618e-01 -3.90258360e-04 5.51036324e-02] [ 5.32573525e-04 3.86479309e-04 9.99999783e-01 -1.17763161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.786547614999996 meters Centerline goodness : 0.797215 Centerline is valid? [False, False] Translation: X:3.57, Y:0.05, Z:-0.12 [[ 9.99983777e-01 -5.65317951e-03 -6.97655251e-04 3.57034814e+00] [ 5.65362943e-03 9.99983810e-01 6.44624582e-04 5.06095960e-02] [ 6.93999778e-04 -6.48558408e-04 9.99999549e-01 -1.15258761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.816547614999994 meters Centerline goodness : 0.796533 Centerline is valid? [False, False] Translation: X:3.57, Y:0.05, Z:-0.11 [[ 9.99987171e-01 -5.06542842e-03 8.09967237e-06 3.56811436e+00] [ 5.06537722e-03 9.99982136e-01 3.17324400e-03 4.57809840e-02] [-2.41733680e-05 -3.17316226e-03 9.99994965e-01 -1.11996719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.846547614999995 meters Centerline goodness : 0.798600 Centerline is valid? [False, False] Translation: X:3.58, Y:0.04, Z:-0.11 [[ 0.99993284 -0.01083639 0.0041087 3.58462525] [ 0.01077808 0.99984449 0.01395843 0.04290819] [-0.00425932 -0.01391321 0.99989413 -0.10777866] [ 0. 0. 0. 1. ]] SLAMing on 20.876547614999996 meters Centerline goodness : 0.798623 Centerline is valid? [False, False] Translation: X:3.59, Y:0.05, Z:-0.11 [[ 0.9999233 -0.01162308 0.00427837 3.58520684] [ 0.01156369 0.99983993 0.01365238 0.04672987] [-0.00443637 -0.01360185 0.99989765 -0.10828613] [ 0. 0. 0. 1. ]] SLAMing on 20.906547614999994 meters Centerline goodness : 0.795045 Centerline is valid? [False, False] Translation: X:3.60, Y:0.05, Z:-0.11 [[ 0.99997228 -0.00595831 -0.00446587 3.597916 ] [ 0.00598672 0.99996175 0.00637585 0.05021603] [ 0.00442771 -0.00640241 0.9999697 -0.11066381] [ 0. 0. 0. 1. ]] SLAMing on 20.936547614999995 meters Centerline goodness : 0.799087 Centerline is valid? [False, False] Translation: X:3.59, Y:0.04, Z:-0.11 [[ 9.99982899e-01 -4.69824749e-03 -3.48250328e-03 3.58684106e+00] [ 4.69960899e-03 9.99988883e-01 3.82876518e-04 4.46692432e-02] [ 3.48066572e-03 -3.99236374e-04 9.99993863e-01 -1.09799047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.966547614999996 meters Centerline goodness : 0.802194 Centerline is valid? [False, False] Translation: X:3.59, Y:0.04, Z:-0.11 [[ 9.99985803e-01 -3.56870806e-03 -3.95702953e-03 3.58540804e+00] [ 3.57508518e-03 9.99992320e-01 1.60569393e-03 3.81098884e-02] [ 3.95126889e-03 -1.61981785e-03 9.99990882e-01 -1.06896682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.996547614999994 meters Centerline goodness : 0.803329 Centerline is valid? [False, False] Translation: X:3.59, Y:0.04, Z:-0.11 [[ 9.99966025e-01 -6.66179412e-03 -4.85489963e-03 3.59194937e+00] [ 6.66820415e-03 9.99976915e-01 1.30533355e-03 3.72248340e-02] [ 4.84609170e-03 -1.33766266e-03 9.99987363e-01 -1.09651754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.026547614999995 meters Centerline goodness : 0.797519 Centerline is valid? [False, False] Translation: X:3.61, Y:0.04, Z:-0.11 [[ 0.9999141 -0.01136665 -0.00652596 3.60603059] [ 0.01139657 0.99992464 0.00456481 0.03742331] [ 0.00647358 -0.00463879 0.99996829 -0.11299761] [ 0. 0. 0. 1. ]] SLAMing on 21.056547614999996 meters Centerline goodness : 0.796542 Centerline is valid? [False, False] Translation: X:3.61, Y:0.04, Z:-0.11 [[ 0.99989319 -0.01285268 -0.00695829 3.60862975] [ 0.01289352 0.99989972 0.00585718 0.03611268] [ 0.00688231 -0.00594627 0.99995864 -0.11205321] [ 0. 0. 0. 1. ]] SLAMing on 21.086547614999994 meters Centerline goodness : 0.801521 Centerline is valid? [False, False] Translation: X:3.60, Y:0.03, Z:-0.11 [[ 0.99989764 -0.01312804 -0.00568893 3.59936145] [ 0.01315537 0.99990197 0.004795 0.03071607] [ 0.00562542 -0.00486934 0.99997232 -0.10520586] [ 0. 0. 0. 1. ]] SLAMing on 21.116547614999995 meters Centerline goodness : 0.805962 Centerline is valid? [False, False] Translation: X:3.60, Y:0.03, Z:-0.11 [[ 9.99939435e-01 -1.09372326e-02 1.22576585e-03 3.60440944e+00] [ 1.09455361e-02 9.99915695e-01 -6.98555221e-03 3.19679405e-02] [-1.14925990e-03 6.99854580e-03 9.99974849e-01 -1.07817278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.146547614999996 meters Centerline goodness : 0.807466 Centerline is valid? [False, False] Translation: X:3.60, Y:0.03, Z:-0.11 [[ 9.99977024e-01 -6.69758109e-03 1.04615624e-03 3.60432886e+00] [ 6.70004232e-03 9.99974753e-01 -2.36712644e-03 2.95712255e-02] [-1.03027581e-03 2.37408134e-03 9.99996651e-01 -1.06785234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.176547614999993 meters Centerline goodness : 0.807819 Centerline is valid? [False, False] Translation: X:3.60, Y:0.03, Z:-0.11 [[ 9.99978975e-01 -6.44707586e-03 6.96344514e-04 3.60473901e+00] [ 6.44811843e-03 9.99978077e-01 -1.50548490e-03 2.67838480e-02] [-6.86623273e-04 1.50994336e-03 9.99998624e-01 -1.05884841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.206547614999995 meters Centerline goodness : 0.808586 Centerline is valid? [False, False] Translation: X:3.61, Y:0.03, Z:-0.11 [[ 9.99973626e-01 -7.25233032e-03 -3.88551700e-04 3.61285535e+00] [ 7.25242115e-03 9.99973674e-01 2.32869448e-04 2.65195696e-02] [ 3.86852624e-04 -2.35681246e-04 9.99999897e-01 -1.09753957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.236547614999996 meters Centerline goodness : 0.802525 Centerline is valid? [False, False] Translation: X:3.63, Y:0.04, Z:-0.12 [[ 9.99977276e-01 -6.30925920e-03 -2.37503685e-03 3.62744702e+00] [ 6.31665390e-03 9.99975186e-01 3.11899500e-03 3.52377352e-02] [ 2.35529937e-03 -3.13392640e-03 9.99992316e-01 -1.19558391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.266547614999997 meters Centerline goodness : 0.799124 Centerline is valid? [False, False] Translation: X:3.63, Y:0.04, Z:-0.12 [[ 9.99989249e-01 -3.55874997e-03 -2.97288838e-03 3.63002640e+00] [ 3.57568620e-03 9.99977298e-01 5.71113891e-03 3.92483646e-02] [ 2.95249638e-03 -5.72170762e-03 9.99979272e-01 -1.21087455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.296547614999994 meters Centerline goodness : 0.803933 Centerline is valid? [False, False] Translation: X:3.62, Y:0.04, Z:-0.11 [[ 9.99992872e-01 -3.17496870e-03 -2.04363380e-03 3.62078446e+00] [ 3.18333001e-03 9.99986523e-01 4.10122407e-03 3.58824816e-02] [ 2.03058500e-03 -4.10770040e-03 9.99989502e-01 -1.14366871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326547614999996 meters Centerline goodness : 0.810289 Centerline is valid? [False, False] Translation: X:3.61, Y:0.03, Z:-0.11 [[ 9.99999722e-01 -4.65151578e-04 5.83147260e-04 3.60649448e+00] [ 4.62253377e-04 9.99987591e-01 4.96025294e-03 2.88845653e-02] [-5.85447293e-04 -4.95998200e-03 9.99987528e-01 -1.05726911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.356547614999997 meters Centerline goodness : 0.808414 Centerline is valid? [False, False] Translation: X:3.61, Y:0.03, Z:-0.11 [[ 9.99999197e-01 -5.15827357e-04 1.15750966e-03 3.60553233e+00] [ 5.10372828e-04 9.99988789e-01 4.70765489e-03 3.07418522e-02] [-1.15992502e-03 -4.70706035e-03 9.99988249e-01 -1.06165519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.386547614999994 meters Centerline goodness : 0.808349 Centerline is valid? [False, False] Translation: X:3.60, Y:0.03, Z:-0.11 [[ 9.99998337e-01 -6.05482052e-04 1.72052313e-03 3.60424058e+00] [ 5.96580384e-04 9.99986459e-01 5.16962613e-03 3.37118852e-02] [-1.72362995e-03 -5.16859111e-03 9.99985157e-01 -1.05113862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.416547614999995 meters Centerline goodness : 0.810002 Centerline is valid? [False, False] Translation: X:3.61, Y:0.03, Z:-0.10 [[ 9.99986973e-01 -4.97487661e-03 1.14217563e-03 3.60573400e+00] [ 4.97302116e-03 9.99986320e-01 1.62162808e-03 3.07170735e-02] [-1.15022741e-03 -1.61592690e-03 9.99998033e-01 -1.04845682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.446547614999997 meters Centerline goodness : 0.807400 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.11 [[ 9.99982381e-01 -5.86302845e-03 -9.28688746e-04 3.61632452e+00] [ 5.86396340e-03 9.99982300e-01 1.00724039e-03 3.24289099e-02] [ 9.22766829e-04 -1.01266844e-03 9.99999062e-01 -1.12631828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.476547614999994 meters Centerline goodness : 0.803202 Centerline is valid? [False, False] Translation: X:3.62, Y:0.04, Z:-0.11 [[ 9.99994826e-01 -2.94323663e-03 -1.29856636e-03 3.61847483e+00] [ 2.94853612e-03 9.99987255e-01 4.09816838e-03 3.52801932e-02] [ 1.28648794e-03 -4.10197604e-03 9.99990759e-01 -1.13994730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.506547614999995 meters Centerline goodness : 0.806235 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.11 [[ 9.99978999e-01 -6.37191981e-03 -1.18308185e-03 3.61650044e+00] [ 6.37416032e-03 9.99977880e-01 1.89977621e-03 3.20553506e-02] [ 1.17095046e-03 -1.90727746e-03 9.99997496e-01 -1.10217691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.536547614999996 meters Centerline goodness : 0.806526 Centerline is valid? [False, False] Translation: X:3.61, Y:0.02, Z:-0.10 [[ 9.99906435e-01 -1.36168040e-02 -1.30516754e-03 3.61446928e+00] [ 1.36159850e-02 9.99907097e-01 -6.34361826e-04 2.17640174e-02] [ 1.31368427e-03 6.16531330e-04 9.99998947e-01 -1.01051926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.566547614999994 meters Centerline goodness : 0.806543 Centerline is valid? [False, False] Translation: X:3.62, Y:0.02, Z:-0.10 [[ 9.99844325e-01 -1.75269656e-02 -2.03271327e-03 3.62051663e+00] [ 1.75324686e-02 9.99842590e-01 2.72175464e-03 1.67468203e-02] [ 1.98468920e-03 -2.75696941e-03 9.99994230e-01 -9.68871189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.596547614999995 meters Centerline goodness : 0.802242 Centerline is valid? [False, False] Translation: X:3.63, Y:0.02, Z:-0.10 [[ 9.99890083e-01 -1.45367577e-02 -2.91612040e-03 3.63035140e+00] [ 1.45613873e-02 9.99856902e-01 8.61050834e-03 2.34243072e-02] [ 2.79053424e-03 -8.65202466e-03 9.99958677e-01 -1.02920346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.626547614999996 meters Centerline goodness : 0.801023 Centerline is valid? [False, False] Translation: X:3.63, Y:0.03, Z:-0.11 [[ 9.99922146e-01 -1.19544663e-02 -3.57671886e-03 3.63411962e+00] [ 1.19876989e-02 9.99883784e-01 9.41883826e-03 2.92483443e-02] [ 3.46370600e-03 -9.46098160e-03 9.99949245e-01 -1.08049766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.656547614999994 meters Centerline goodness : 0.801566 Centerline is valid? [False, False] Translation: X:3.63, Y:0.03, Z:-0.10 [[ 9.99965958e-01 -4.89376165e-03 -6.64335434e-03 3.63270847e+00] [ 4.87196255e-03 9.99982708e-01 -3.29356636e-03 2.91838847e-02] [ 6.65935739e-03 3.26108806e-03 9.99972509e-01 -1.03512078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.686547614999995 meters Centerline goodness : 0.803550 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.10 [[ 9.99978810e-01 1.89149098e-03 -6.22904716e-03 3.62220390e+00] [-1.89642235e-03 9.99997893e-01 -7.85861552e-04 3.00715207e-02] [ 6.22754759e-03 7.97657804e-04 9.99980291e-01 -9.64328379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.716547614999996 meters Centerline goodness : 0.800617 Centerline is valid? [False, False] Translation: X:3.63, Y:0.04, Z:-0.10 [[ 0.9999381 0.00856356 -0.00710377 3.6251029 ] [-0.00852521 0.99994901 0.00541264 0.03722769] [ 0.00714976 -0.00535175 0.99996012 -0.09740365] [ 0. 0. 0. 1. ]] SLAMing on 21.746547614999994 meters Centerline goodness : 0.799692 Centerline is valid? [False, False] Translation: X:3.63, Y:0.04, Z:-0.10 [[ 0.99995367 0.004483 -0.00851807 3.63353975] [-0.00445178 0.99998332 0.0036808 0.03830445] [ 0.00853443 -0.00364271 0.99995695 -0.10144994] [ 0. 0. 0. 1. ]] SLAMing on 21.776547614999995 meters Centerline goodness : 0.800361 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.10 [[ 0.99992208 -0.0067051 -0.01053018 3.66031502] [ 0.00685297 0.99987754 0.01406894 0.03534708] [ 0.01043456 -0.01414001 0.99984558 -0.09527409] [ 0. 0. 0. 1. ]] SLAMing on 21.806547614999996 meters Centerline goodness : 0.798444 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.09 [[ 0.99991209 -0.0086725 -0.01002952 3.66011448] [ 0.00881663 0.99985721 0.01441653 0.03703169] [ 0.00990306 -0.01450369 0.99984577 -0.09281111] [ 0. 0. 0. 1. ]] SLAMing on 21.836547614999994 meters Centerline goodness : 0.805171 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.09 [[ 9.99979914e-01 -4.54814308e-03 -4.41426417e-03 3.65915707e+00] [ 4.54916546e-03 9.99989628e-01 2.21593431e-04 4.06615028e-02] [ 4.41321054e-03 -2.41670198e-04 9.99990233e-01 -9.31431466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.866547614999995 meters Centerline goodness : 0.804616 Centerline is valid? [False, False] Translation: X:3.64, Y:0.05, Z:-0.10 [[ 9.99939942e-01 1.08097943e-02 -1.80579313e-03 3.64253186e+00] [-1.08148742e-02 9.99937520e-01 -2.82744827e-03 4.84387270e-02] [ 1.77511617e-03 2.84680789e-03 9.99994372e-01 -9.85901208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.896547614999996 meters Centerline goodness : 0.806010 Centerline is valid? [False, False] Translation: X:3.64, Y:0.05, Z:-0.10 [[ 9.99871223e-01 1.59328901e-02 -1.91853993e-03 3.64238119e+00] [-1.59337818e-02 9.99872948e-01 -4.50369717e-04 5.49335691e-02] [ 1.91112049e-03 4.80881316e-04 9.99998058e-01 -1.00835488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.926547614999993 meters Centerline goodness : 0.800912 Centerline is valid? [False, False] Translation: X:3.62, Y:0.06, Z:-0.11 [[ 9.99611548e-01 2.78701690e-02 -8.01936584e-05 3.62157819e+00] [-2.78665022e-02 9.99519159e-01 1.35981096e-02 6.33304056e-02] [ 4.59136712e-04 -1.35905927e-02 9.99907538e-01 -1.06151624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.956547614999995 meters Centerline goodness : 0.799786 Centerline is valid? [False, False] Translation: X:3.62, Y:0.07, Z:-0.11 [[ 9.99471310e-01 3.25129750e-02 -7.73836485e-05 3.62185210e+00] [-3.25066263e-02 9.99317860e-01 1.75252162e-02 6.86679276e-02] [ 6.47127778e-04 -1.75134353e-02 9.99846419e-01 -1.06785557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.986547614999996 meters Centerline goodness : 0.802407 Centerline is valid? [False, False] Translation: X:3.62, Y:0.07, Z:-0.11 [[ 9.99581339e-01 2.89328194e-02 -1.99128303e-04 3.62115018e+00] [-2.89272695e-02 9.99485134e-01 1.38809337e-02 6.68346022e-02] [ 6.00640326e-04 -1.38693621e-02 9.99903635e-01 -1.06117197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.016547614999993 meters Centerline goodness : 0.805230 Centerline is valid? [False, False] Translation: X:3.62, Y:0.06, Z:-0.10 [[ 9.99676743e-01 2.54245801e-02 2.43365442e-05 3.61925359e+00] [-2.54234145e-02 9.99620783e-01 1.05801562e-02 6.40947611e-02] [ 2.44668715e-04 -1.05773549e-02 9.99944028e-01 -1.04391111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.046547614999994 meters Centerline goodness : 0.806081 Centerline is valid? [False, False] Translation: X:3.62, Y:0.07, Z:-0.11 [[ 9.99739003e-01 2.28414493e-02 4.40410990e-04 3.61677217e+00] [-2.28435700e-02 9.99723170e-01 5.63515438e-03 6.76294295e-02] [-3.11573978e-04 -5.64374418e-03 9.99984025e-01 -1.05012544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.076547614999996 meters Centerline goodness : 0.805012 Centerline is valid? [False, False] Translation: X:3.62, Y:0.07, Z:-0.11 [[ 9.99783154e-01 2.08197046e-02 4.28974155e-04 3.61579130e+00] [-2.08194229e-02 9.99783040e-01 -6.50935636e-04 7.12748387e-02] [-4.42433373e-04 6.41863489e-04 9.99999696e-01 -1.09133369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.106547614999997 meters Centerline goodness : 0.806353 Centerline is valid? [False, False] Translation: X:3.62, Y:0.07, Z:-0.11 [[ 9.99753484e-01 2.21959355e-02 5.58797958e-04 3.61519486e+00] [-2.21952203e-02 9.99752868e-01 -1.25514623e-03 7.11918572e-02] [-5.86519006e-04 1.24243418e-03 9.99999056e-01 -1.11139092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.136547614999994 meters Centerline goodness : 0.807345 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.11 [[ 9.99701658e-01 2.43786659e-02 1.50840461e-03 3.61082965e+00] [-2.43789921e-02 9.99702769e-01 1.98250771e-04 7.07800405e-02] [-1.50312317e-03 -2.34965008e-04 9.99998843e-01 -1.08884915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.166547614999995 meters Centerline goodness : 0.806084 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.11 [[ 0.9999266 0.01064423 0.00578725 3.61247112] [-0.01067757 0.9999264 0.00576109 0.06597499] [-0.0057255 -0.00582246 0.99996666 -0.11069329] [ 0. 0. 0. 1. ]] SLAMing on 22.196547614999997 meters Centerline goodness : 0.801521 Centerline is valid? [False, False] Translation: X:3.63, Y:0.07, Z:-0.12 [[ 9.99972925e-01 7.00790607e-03 2.24459781e-03 3.62838894e+00] [-7.01611355e-03 9.99968653e-01 3.66979048e-03 6.86471515e-02] [-2.21880990e-03 -3.68543948e-03 9.99990747e-01 -1.21215154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.226547614999994 meters Centerline goodness : 0.801521 Centerline is valid? [False, False] Translation: X:3.63, Y:0.07, Z:-0.12 [[ 9.99972925e-01 7.00790607e-03 2.24459781e-03 3.62838894e+00] [-7.01611355e-03 9.99968653e-01 3.66979048e-03 6.86471515e-02] [-2.21880990e-03 -3.68543948e-03 9.99990747e-01 -1.21215154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.256547614999995 meters Centerline goodness : 0.801278 Centerline is valid? [False, False] Translation: X:3.63, Y:0.07, Z:-0.13 [[ 9.99982081e-01 5.78487207e-03 1.54065774e-03 3.63241777e+00] [-5.78695308e-03 9.99982345e-01 1.34971242e-03 7.27447895e-02] [-1.53282262e-03 -1.35860395e-03 9.99997902e-01 -1.25719411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.286547614999996 meters Centerline goodness : 0.804833 Centerline is valid? [False, False] Translation: X:3.62, Y:0.07, Z:-0.12 [[ 9.99943392e-01 1.01481361e-02 3.19802578e-03 3.62384354e+00] [-1.01537878e-02 9.99946907e-01 1.75596624e-03 7.17614631e-02] [-3.18003621e-03 -1.78833891e-03 9.99993345e-01 -1.23182153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.316547614999994 meters Centerline goodness : 0.807718 Centerline is valid? [False, False] Translation: X:3.62, Y:0.07, Z:-0.12 [[ 9.99941868e-01 9.83765398e-03 4.41370339e-03 3.61528492e+00] [-9.84189996e-03 9.99951124e-01 9.41313285e-04 6.59146945e-02] [-4.40422735e-03 -9.84697792e-04 9.99989817e-01 -1.16089361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.346547614999995 meters Centerline goodness : 0.808511 Centerline is valid? [False, False] Translation: X:3.61, Y:0.07, Z:-0.11 [[ 9.99965594e-01 6.75733981e-03 4.81134324e-03 3.61319465e+00] [-6.74542353e-03 9.99974153e-01 -2.48864026e-03 6.74330277e-02] [-4.82803547e-03 2.45610009e-03 9.99985329e-01 -1.14943293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.376547614999996 meters Centerline goodness : 0.807343 Centerline is valid? [False, False] Translation: X:3.62, Y:0.07, Z:-0.12 [[ 9.99975918e-01 6.04299642e-03 3.41271347e-03 3.62214607e+00] [-6.04204399e-03 9.99981705e-01 -2.89322858e-04 7.03396428e-02] [-3.41439941e-03 2.68696126e-04 9.99994135e-01 -1.18977773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.406547614999994 meters Centerline goodness : 0.803698 Centerline is valid? [False, False] Translation: X:3.63, Y:0.07, Z:-0.12 [[ 9.99996024e-01 1.42457898e-03 2.43380312e-03 3.62844859e+00] [-1.41824109e-03 9.99995604e-01 -2.60385275e-03 6.65261598e-02] [-2.43750181e-03 2.60039067e-03 9.99993648e-01 -1.22108732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.436547614999995 meters Centerline goodness : 0.805687 Centerline is valid? [False, False] Translation: X:3.63, Y:0.06, Z:-0.12 [[ 9.99977200e-01 -6.30576523e-03 2.41600129e-03 3.62770299e+00] [ 6.32376931e-03 9.99951741e-01 -7.51829102e-03 5.82253017e-02] [-2.36847612e-03 7.53339784e-03 9.99968819e-01 -1.18289726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.466547614999996 meters Centerline goodness : 0.810093 Centerline is valid? [False, False] Translation: X:3.63, Y:0.05, Z:-0.11 [[ 9.99963675e-01 -7.93465027e-03 3.11284009e-03 3.62777321e+00] [ 7.94119265e-03 9.99966274e-01 -2.09503926e-03 5.13915885e-02] [-3.09611171e-03 2.11968282e-03 9.99992960e-01 -1.09545836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.496547614999994 meters Centerline goodness : 0.806834 Centerline is valid? [False, False] Translation: X:3.63, Y:0.05, Z:-0.11 [[ 9.99964715e-01 -7.61235520e-03 3.55264968e-03 3.62580579e+00] [ 7.61694888e-03 9.99970170e-01 -1.28129736e-03 5.27589508e-02] [-3.54279001e-03 1.30831250e-03 9.99992868e-01 -1.07482031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.526547614999995 meters Centerline goodness : 0.807716 Centerline is valid? [False, False] Translation: X:3.63, Y:0.05, Z:-0.11 [[ 9.99969006e-01 -7.51387582e-03 2.35130758e-03 3.63323215e+00] [ 7.51258622e-03 9.99971625e-01 5.56811801e-04 5.31252232e-02] [-2.35542467e-03 -5.39130142e-04 9.99997081e-01 -1.11497702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.556547614999996 meters Centerline goodness : 0.803550 Centerline is valid? [False, False] Translation: X:3.64, Y:0.06, Z:-0.12 [[ 9.99976397e-01 -6.86119099e-03 3.60819882e-04 3.64226412e+00] [ 6.86125196e-03 9.99976447e-01 -1.68005495e-04 5.89756709e-02] [-3.59658666e-04 1.70477205e-04 9.99999921e-01 -1.19714300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.586547614999994 meters Centerline goodness : 0.806749 Centerline is valid? [False, False] Translation: X:3.64, Y:0.06, Z:-0.12 [[ 9.99992851e-01 -3.65778429e-03 9.58556433e-04 3.63605750e+00] [ 3.65699389e-03 9.99992973e-01 8.25035523e-04 5.87411715e-02] [-9.61567499e-04 -8.21524190e-04 9.99999200e-01 -1.15540017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.616547614999995 meters Centerline goodness : 0.811940 Centerline is valid? [False, False] Translation: X:3.62, Y:0.06, Z:-0.11 [[ 9.99993868e-01 1.70746483e-03 3.05766728e-03 3.62105087e+00] [-1.70823807e-03 9.99998510e-01 2.50293453e-04 5.51465849e-02] [-3.05723536e-03 -2.55515142e-04 9.99995294e-01 -1.10331622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.646547614999996 meters Centerline goodness : 0.812147 Centerline is valid? [False, False] Translation: X:3.62, Y:0.06, Z:-0.12 [[ 9.99982134e-01 5.38266477e-03 2.59955934e-03 3.62367418e+00] [-5.38739484e-03 9.99983839e-01 1.81600659e-03 6.12216708e-02] [-2.58974237e-03 -1.82997900e-03 9.99994972e-01 -1.15069035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.676547614999993 meters Centerline goodness : 0.803294 Centerline is valid? [False, False] Translation: X:3.63, Y:0.07, Z:-0.12 [[ 9.99994391e-01 2.71536997e-03 1.96062703e-03 3.62884096e+00] [-2.71622551e-03 9.99996217e-01 4.33826506e-04 6.53801014e-02] [-1.95944162e-03 -4.39149578e-04 9.99997984e-01 -1.18475032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.706547614999995 meters Centerline goodness : 0.804114 Centerline is valid? [False, False] Translation: X:3.63, Y:0.06, Z:-0.12 [[ 9.99995132e-01 2.27459882e-03 2.13591229e-03 3.62880262e+00] [-2.27885294e-03 9.99995421e-01 1.99139325e-03 6.27954339e-02] [-2.13137289e-03 -1.99625099e-03 9.99995736e-01 -1.16756501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.736547614999996 meters Centerline goodness : 0.808263 Centerline is valid? [False, False] Translation: X:3.63, Y:0.06, Z:-0.12 [[ 9.99996815e-01 1.86326532e-03 1.70256358e-03 3.62945796e+00] [-1.86778120e-03 9.99994732e-01 2.65467370e-03 6.13144601e-02] [-1.69760825e-03 -2.65784526e-03 9.99995027e-01 -1.15237290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.766547614999993 meters Centerline goodness : 0.804778 Centerline is valid? [False, False] Translation: X:3.63, Y:0.06, Z:-0.11 [[ 9.99994269e-01 2.66015690e-03 2.09407148e-03 3.62751045e+00] [-2.66503528e-03 9.99993734e-01 2.33028187e-03 6.22560857e-02] [-2.08785944e-03 -2.33584929e-03 9.99995092e-01 -1.14703577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.796547614999994 meters Centerline goodness : 0.809025 Centerline is valid? [False, False] Translation: X:3.63, Y:0.06, Z:-0.12 [[ 9.99987188e-01 4.58411442e-03 2.14716291e-03 3.62529260e+00] [-4.58648674e-03 9.99988876e-01 1.10124343e-03 6.49074628e-02] [-2.14209080e-03 -1.11107726e-03 9.99997088e-01 -1.15278306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.826547614999996 meters Centerline goodness : 0.809845 Centerline is valid? [False, False] Translation: X:3.62, Y:0.06, Z:-0.11 [[ 9.99974960e-01 6.74981100e-03 2.12572240e-03 3.62291063e+00] [-6.75204630e-03 9.99976657e-01 1.04613099e-03 6.39446050e-02] [-2.11861160e-03 -1.06045777e-03 9.99997193e-01 -1.14656743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.856547614999993 meters Centerline goodness : 0.809608 Centerline is valid? [False, False] Translation: X:3.62, Y:0.06, Z:-0.12 [[ 9.99977709e-01 6.45031818e-03 1.72489714e-03 3.62498508e+00] [-6.45191517e-03 9.99978761e-01 9.21890454e-04 6.22448935e-02] [-1.71891401e-03 -9.32998794e-04 9.99998087e-01 -1.16388255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.886547614999994 meters Centerline goodness : 0.807785 Centerline is valid? [False, False] Translation: X:3.64, Y:0.07, Z:-0.12 [[ 9.99989623e-01 4.53338690e-03 4.50732781e-04 3.63612562e+00] [-4.53431088e-03 9.99987576e-01 2.07049431e-03 6.55145213e-02] [-4.41340830e-04 -2.07251659e-03 9.99997755e-01 -1.23205982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.916547614999995 meters Centerline goodness : 0.802607 Centerline is valid? [False, False] Translation: X:3.64, Y:0.07, Z:-0.13 [[ 9.99999048e-01 1.23328458e-03 -6.18545898e-04 3.64389290e+00] [-1.23291111e-03 9.99999058e-01 6.03803345e-04 6.66286139e-02] [ 6.19289976e-04 -6.03040158e-04 9.99999626e-01 -1.28586388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.946547614999997 meters Centerline goodness : 0.803995 Centerline is valid? [False, False] Translation: X:3.64, Y:0.06, Z:-0.12 [[ 9.99997939e-01 -1.98738066e-03 -4.16074198e-04 3.64184508e+00] [ 1.98717648e-03 9.99997905e-01 -4.90577238e-04 6.12217686e-02] [ 4.17048290e-04 4.89749414e-04 9.99999793e-01 -1.24210056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.976547614999994 meters Centerline goodness : 0.811105 Centerline is valid? [False, False] Translation: X:3.63, Y:0.05, Z:-0.11 [[ 9.99994678e-01 -2.97895838e-03 1.33018287e-03 3.63328254e+00] [ 2.97638537e-03 9.99993704e-01 1.93213200e-03 5.22678848e-02] [-1.33593023e-03 -1.92816259e-03 9.99997249e-01 -1.11779692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.006547614999995 meters Centerline goodness : 0.812954 Centerline is valid? [False, False] Translation: X:3.64, Y:0.05, Z:-0.12 [[ 9.99991488e-01 -4.04368623e-03 8.19513157e-04 3.63674139e+00] [ 4.04328216e-03 9.99991704e-01 4.94112697e-04 5.31145418e-02] [-8.21504395e-04 -4.90794969e-04 9.99999542e-01 -1.15386937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.036547614999996 meters Centerline goodness : 0.808100 Centerline is valid? [False, False] Translation: X:3.64, Y:0.06, Z:-0.12 [[ 9.99995321e-01 -3.02373151e-03 -4.62746140e-04 3.64455260e+00] [ 3.02459010e-03 9.99993685e-01 1.86610286e-03 5.61942335e-02] [ 4.57100624e-04 -1.86749375e-03 9.99998152e-01 -1.21491807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.066547614999994 meters Centerline goodness : 0.807733 Centerline is valid? [False, False] Translation: X:3.65, Y:0.05, Z:-0.12 [[ 9.99995517e-01 -2.86402398e-03 -8.73653399e-04 3.64533913e+00] [ 2.86632520e-03 9.99992396e-01 2.64424232e-03 5.18131891e-02] [ 8.66073582e-04 -2.64673464e-03 9.99996122e-01 -1.21021794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.096547614999995 meters Centerline goodness : 0.810548 Centerline is valid? [False, False] Translation: X:3.64, Y:0.05, Z:-0.12 [[ 9.99988107e-01 -4.86503865e-03 -3.43258517e-04 3.64123406e+00] [ 4.86524650e-03 9.99987980e-01 6.07294983e-04 4.74449128e-02] [ 3.40299878e-04 -6.08957798e-04 9.99999757e-01 -1.17478687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.126547614999996 meters Centerline goodness : 0.812011 Centerline is valid? [False, False] Translation: X:3.64, Y:0.04, Z:-0.12 [[ 9.99982312e-01 -5.79738457e-03 -1.32895931e-03 3.64377131e+00] [ 5.80004827e-03 9.99981161e-01 2.00934121e-03 4.33204567e-02] [ 1.31728535e-03 -2.01701369e-03 9.99997098e-01 -1.15629533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.156547614999994 meters Centerline goodness : 0.811461 Centerline is valid? [False, False] Translation: X:3.65, Y:0.04, Z:-0.12 [[ 9.99969928e-01 -7.59094925e-03 -1.58780832e-03 3.64704014e+00] [ 7.59557957e-03 9.99966858e-01 2.93075681e-03 4.01198954e-02] [ 1.56550847e-03 -2.94272900e-03 9.99994445e-01 -1.16191728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.186547614999995 meters Centerline goodness : 0.805477 Centerline is valid? [False, False] Translation: X:3.65, Y:0.04, Z:-0.12 [[ 9.99980547e-01 -6.06198181e-03 -1.46895719e-03 3.64949891e+00] [ 6.07283347e-03 9.99953441e-01 7.49904153e-03 4.06421730e-02] [ 1.42342975e-03 -7.50781638e-03 9.99970803e-01 -1.15674951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.216547614999996 meters Centerline goodness : 0.805607 Centerline is valid? [False, False] Translation: X:3.65, Y:0.04, Z:-0.12 [[ 9.99982918e-01 -5.74008385e-03 -1.10232526e-03 3.64815076e+00] [ 5.74829138e-03 9.99954653e-01 7.59271342e-03 4.13826789e-02] [ 1.05869246e-03 -7.59892021e-03 9.99970567e-01 -1.15104594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.246547614999994 meters Centerline goodness : 0.808356 Centerline is valid? [False, False] Translation: X:3.64, Y:0.04, Z:-0.11 [[ 9.99994246e-01 -3.37406077e-03 -3.52798476e-04 3.64325687e+00] [ 3.37697631e-03 9.99957156e-01 8.61869053e-03 3.84224828e-02] [ 3.23703375e-04 -8.61983233e-03 9.99962796e-01 -1.12359525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.276547614999995 meters Centerline goodness : 0.814605 Centerline is valid? [False, False] Translation: X:3.64, Y:0.04, Z:-0.11 [[ 9.99999025e-01 -1.38505854e-03 -1.79902431e-04 3.64034076e+00] [ 1.38640619e-03 9.99969237e-01 7.72034987e-03 3.98986664e-02] [ 1.69203760e-04 -7.72059176e-03 9.99970181e-01 -1.12198679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.306547614999996 meters Centerline goodness : 0.813482 Centerline is valid? [False, False] Translation: X:3.64, Y:0.04, Z:-0.11 [[ 9.99991035e-01 -4.22998001e-03 -1.91300566e-04 3.63950759e+00] [ 4.23048475e-03 9.99987353e-01 2.71989019e-03 4.17770904e-02] [ 1.79793065e-04 -2.72067511e-03 9.99996283e-01 -1.13725421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.336547614999994 meters Centerline goodness : 0.814698 Centerline is valid? [False, False] Translation: X:3.65, Y:0.04, Z:-0.12 [[ 9.99978352e-01 -6.40520483e-03 -1.50631567e-03 3.65009584e+00] [ 6.41016957e-03 9.99973961e-01 3.31454425e-03 4.22869676e-02] [ 1.48504612e-03 -3.32412824e-03 9.99993372e-01 -1.19579865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.366547614999995 meters Centerline goodness : 0.806329 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.12 [[ 9.99961146e-01 -8.55013212e-03 -2.14515591e-03 3.65508731e+00] [ 8.55544487e-03 9.99960327e-01 2.47979740e-03 4.27822935e-02] [ 2.12386821e-03 -2.49805381e-03 9.99994624e-01 -1.22951601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.396547614999996 meters Centerline goodness : 0.803679 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.12 [[ 9.99946227e-01 -1.01005396e-02 -2.34986628e-03 3.65820580e+00] [ 1.01084454e-02 9.99943205e-01 3.37718816e-03 3.89221539e-02] [ 2.31562140e-03 -3.40076006e-03 9.99991536e-01 -1.23927298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.426547614999993 meters Centerline goodness : 0.805468 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.12 [[ 9.99955478e-01 -9.22303012e-03 -1.99448362e-03 3.65577556e+00] [ 9.23217286e-03 9.99946689e-01 4.62445049e-03 3.73372674e-02] [ 1.95172584e-03 -4.64265801e-03 9.99987318e-01 -1.21380201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.456547614999995 meters Centerline goodness : 0.811416 Centerline is valid? [False, False] Translation: X:3.65, Y:0.03, Z:-0.11 [[ 9.99967847e-01 -7.96084443e-03 -9.63857473e-04 3.64617554e+00] [ 7.96509700e-03 9.99958190e-01 4.49165118e-03 3.29688233e-02] [ 9.28059839e-04 -4.49918398e-03 9.99989448e-01 -1.14168894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.486547614999996 meters Centerline goodness : 0.812422 Centerline is valid? [False, False] Translation: X:3.65, Y:0.03, Z:-0.11 [[ 9.99967754e-01 -7.94956353e-03 -1.13829685e-03 3.64650748e+00] [ 7.95515222e-03 9.99955895e-01 4.99235522e-03 3.01855666e-02] [ 1.09855960e-03 -5.00124956e-03 9.99986890e-01 -1.13665007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.516547614999993 meters Centerline goodness : 0.805712 Centerline is valid? [False, False] Translation: X:3.65, Y:0.04, Z:-0.12 [[ 9.99973595e-01 -6.85009594e-03 -2.42591530e-03 3.65419825e+00] [ 6.86336928e-03 9.99961288e-01 5.50608783e-03 3.63373692e-02] [ 2.38810416e-03 -5.52259239e-03 9.99981899e-01 -1.20592650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.546547614999994 meters Centerline goodness : 0.808146 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.12 [[ 9.99968141e-01 -7.57102375e-03 -2.52912517e-03 3.65619856e+00] [ 7.58029875e-03 9.99964505e-01 3.67804125e-03 3.94323849e-02] [ 2.50118886e-03 -3.69709559e-03 9.99990038e-01 -1.24058314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.576547614999996 meters Centerline goodness : 0.808222 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.12 [[ 9.99929131e-01 -1.15542994e-02 -2.86912271e-03 3.65566877e+00] [ 1.15547356e-02 9.99933233e-01 1.35516603e-04 3.82529705e-02] [ 2.86736534e-03 -1.68658954e-04 9.99995875e-01 -1.21709160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.606547614999993 meters Centerline goodness : 0.808683 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.12 [[ 9.99957240e-01 -8.37473698e-03 -3.92208985e-03 3.65956193e+00] [ 8.38476070e-03 9.99961605e-01 2.54627776e-03 4.00582984e-02] [ 3.90061486e-03 -2.57905467e-03 9.99989067e-01 -1.24903276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.636547614999994 meters Centerline goodness : 0.806897 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.13 [[ 9.99959849e-01 -8.12778157e-03 -3.77363172e-03 3.65896342e+00] [ 8.13642680e-03 9.99964297e-01 2.28128684e-03 4.13255895e-02] [ 3.75495519e-03 -2.31189912e-03 9.99990278e-01 -1.25014943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.666547614999995 meters Centerline goodness : 0.806927 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.12 [[ 9.99942477e-01 -1.00608414e-02 -3.71771959e-03 3.66069499e+00] [ 1.00729337e-02 9.99943991e-01 3.24835503e-03 3.82597504e-02] [ 3.68483018e-03 -3.28561652e-03 9.99987813e-01 -1.23672577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.696547614999997 meters Centerline goodness : 0.806123 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.13 [[ 0.99996666 -0.00717933 -0.00388985 3.6630114 ] [ 0.00720342 0.99995474 0.0062156 0.04221449] [ 0.00384505 -0.00624342 0.99997312 -0.12601194] [ 0. 0. 0. 1. ]] SLAMing on 23.726547614999994 meters Centerline goodness : 0.804660 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.12 [[ 9.99974052e-01 -6.36309411e-03 -3.37743353e-03 3.65948439e+00] [ 6.39009734e-03 9.99947217e-01 8.04554013e-03 4.08522865e-02] [ 3.32606073e-03 -8.06691349e-03 9.99961930e-01 -1.21394806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.756547614999995 meters Centerline goodness : 0.808357 Centerline is valid? [False, False] Translation: X:3.65, Y:0.04, Z:-0.12 [[ 9.99963041e-01 -8.27759527e-03 -2.32336792e-03 3.64898681e+00] [ 8.28547756e-03 9.99959882e-01 3.40374307e-03 3.56127055e-02] [ 2.29509991e-03 -3.42286749e-03 9.99991508e-01 -1.15280419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.786547614999996 meters Centerline goodness : 0.809264 Centerline is valid? [False, False] Translation: X:3.65, Y:0.04, Z:-0.12 [[ 9.99968734e-01 -7.58963085e-03 -2.21982447e-03 3.64929600e+00] [ 7.59354389e-03 9.99969620e-01 1.75968490e-03 3.65033583e-02] [ 2.20640167e-03 -1.77648622e-03 9.99995988e-01 -1.18914922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.816547614999994 meters Centerline goodness : 0.808857 Centerline is valid? [False, False] Translation: X:3.65, Y:0.04, Z:-0.12 [[ 9.99978758e-01 -5.62428162e-03 -3.29405936e-03 3.65383268e+00] [ 5.63974676e-03 9.99973030e-01 4.70453847e-03 3.89336376e-02] [ 3.26751087e-03 -4.72301619e-03 9.99983508e-01 -1.20485543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.846547614999995 meters Centerline goodness : 0.805003 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.12 [[ 0.99997139 -0.00648232 -0.0038987 3.65554692] [ 0.0065027 0.99996513 0.00523884 0.03852771] [ 0.0038646 -0.00526404 0.99997868 -0.11943444] [ 0. 0. 0. 1. ]] SLAMing on 23.876547614999996 meters Centerline goodness : 0.804660 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.12 [[ 0.99997514 -0.00463852 -0.00531058 3.66132576] [ 0.00468124 0.99995655 0.0080614 0.04113249] [ 0.00527295 -0.00808606 0.9999534 -0.12171583] [ 0. 0. 0. 1. ]] SLAMing on 23.906547614999994 meters Centerline goodness : 0.805393 Centerline is valid? [False, False] Translation: X:3.66, Y:0.05, Z:-0.12 [[ 9.99977429e-01 -3.63860869e-03 -5.64822258e-03 3.66153502e+00] [ 3.67592315e-03 9.99971396e-01 6.61014411e-03 4.70778125e-02] [ 5.62400929e-03 -6.63075735e-03 9.99962201e-01 -1.23931642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.936547614999995 meters Centerline goodness : 0.807252 Centerline is valid? [False, False] Translation: X:3.65, Y:0.05, Z:-0.12 [[ 9.99986737e-01 -2.30275862e-03 -4.60696150e-03 3.65226828e+00] [ 2.32560435e-03 9.99984996e-01 4.95976164e-03 4.63816113e-02] [ 4.59547125e-03 -4.97040982e-03 9.99977088e-01 -1.19101167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.966547614999996 meters Centerline goodness : 0.807789 Centerline is valid? [False, False] Translation: X:3.64, Y:0.05, Z:-0.11 [[ 9.99994065e-01 8.08016416e-04 -3.34915288e-03 3.64482827e+00] [-7.86234481e-04 9.99978566e-01 6.49993672e-03 4.75281552e-02] [ 3.35433315e-03 -6.49726493e-03 9.99973267e-01 -1.14229169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.996547614999994 meters Centerline goodness : 0.806497 Centerline is valid? [False, False] Translation: X:3.64, Y:0.05, Z:-0.12 [[ 9.99995783e-01 -9.07135429e-05 -2.90280095e-03 3.64498010e+00] [ 1.04252344e-04 9.99989117e-01 4.66423596e-03 5.49719939e-02] [ 2.90234625e-03 -4.66451891e-03 9.99984909e-01 -1.16089613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.026547614999995 meters Centerline goodness : 0.800553 Centerline is valid? [False, False] Translation: X:3.65, Y:0.06, Z:-0.12 [[ 9.99990588e-01 2.31495081e-03 -3.66951989e-03 3.64853821e+00] [-2.28917211e-03 9.99972783e-01 7.01379093e-03 5.84893477e-02] [ 3.68565659e-03 -7.00532475e-03 9.99968670e-01 -1.18276839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.056547614999996 meters Centerline goodness : 0.801641 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.12 [[ 9.99985444e-01 3.75943594e-03 -3.87013519e-03 3.64767617e+00] [-3.74667215e-03 9.99987536e-01 3.30000633e-03 6.52516965e-02] [ 3.88249312e-03 -3.28545817e-03 9.99987066e-01 -1.23049880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.086547614999994 meters Centerline goodness : 0.801430 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.12 [[ 9.99976197e-01 5.34725817e-03 -4.36024518e-03 3.64702284e+00] [-5.34018682e-03 9.99984410e-01 1.63181026e-03 6.86259880e-02] [ 4.36890291e-03 -1.60848689e-03 9.99989163e-01 -1.24581408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.116547614999995 meters Centerline goodness : 0.802703 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.13 [[ 0.99995367 0.00851187 -0.00449461 3.64845102] [-0.00849321 0.9999553 0.00415594 0.07317468] [ 0.00452978 -0.00411758 0.99998126 -0.12628442] [ 0. 0. 0. 1. ]] SLAMing on 24.146547614999996 meters Centerline goodness : 0.802703 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.13 [[ 0.99995367 0.00851187 -0.00449461 3.64845102] [-0.00849321 0.9999553 0.00415594 0.07317468] [ 0.00452978 -0.00411758 0.99998126 -0.12628442] [ 0. 0. 0. 1. ]] SLAMing on 24.176547614999993 meters Centerline goodness : 0.797167 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.13 [[ 9.99953818e-01 8.40277799e-03 -4.66424746e-03 3.64946530e+00] [-8.38855503e-03 9.99960132e-01 3.06059240e-03 8.05096331e-02] [ 4.68977898e-03 -3.02132476e-03 9.99984439e-01 -1.27774370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.206547614999995 meters Centerline goodness : 0.797280 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.13 [[ 9.99979899e-01 3.79590445e-03 -5.07874188e-03 3.65120271e+00] [-3.80638932e-03 9.99990641e-01 -2.05639075e-03 8.13302182e-02] [ 5.07088849e-03 2.07568108e-03 9.99984989e-01 -1.29622489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.236547614999996 meters Centerline goodness : 0.798181 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.13 [[ 9.99980816e-01 3.49934755e-03 -5.11106096e-03 3.65089086e+00] [-3.50614800e-03 9.99992979e-01 -1.32218148e-03 7.99368933e-02] [ 5.10639831e-03 1.34007626e-03 9.99986064e-01 -1.27954855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.266547614999993 meters Centerline goodness : 0.798335 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.12 [[ 9.99989535e-01 5.39392940e-04 -4.54291277e-03 3.64725124e+00] [-5.58451789e-04 9.99991045e-01 -4.19506967e-03 8.02786759e-02] [ 4.54060930e-03 4.19756277e-03 9.99980881e-01 -1.24637060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.296547614999994 meters Centerline goodness : 0.801517 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.12 [[ 9.99986277e-01 3.43417724e-04 -5.22754004e-03 3.64787844e+00] [-3.53896549e-04 9.99997930e-01 -2.00374925e-03 7.40000764e-02] [ 5.22684110e-03 2.00557176e-03 9.99984329e-01 -1.21157165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.326547614999996 meters Centerline goodness : 0.803207 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.12 [[ 9.99985650e-01 -2.08123949e-04 -5.35314273e-03 3.64947663e+00] [ 1.94589369e-04 9.99996784e-01 -2.52873941e-03 7.54483179e-02] [ 5.35365180e-03 2.52766146e-03 9.99982475e-01 -1.22893918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.356547614999993 meters Centerline goodness : 0.799901 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.13 [[ 9.99979316e-01 2.57204981e-03 -5.89504177e-03 3.65240861e+00] [-2.57232198e-03 9.99996691e-01 -3.85877783e-05 8.04701143e-02] [ 5.89492301e-03 5.37509257e-05 9.99982623e-01 -1.25175228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.386547614999994 meters Centerline goodness : 0.800771 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.13 [[ 9.99977862e-01 3.89290324e-03 -5.39629712e-03 3.65016161e+00] [-3.89415198e-03 9.99992393e-01 -2.20919857e-04 8.16326646e-02] [ 5.39539605e-03 2.41928967e-04 9.99985415e-01 -1.25092973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.416547614999995 meters Centerline goodness : 0.800935 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.13 [[ 9.99974898e-01 3.77481396e-03 -5.99622273e-03 3.65163978e+00] [-3.78172288e-03 9.99992198e-01 -1.14129141e-03 8.23217041e-02] [ 5.99186778e-03 1.16393881e-03 9.99981371e-01 -1.26200918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.446547614999993 meters Centerline goodness : 0.802035 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.13 [[ 9.99974048e-01 4.17731368e-03 -5.86971394e-03 3.65089021e+00] [-4.18389641e-03 9.99990632e-01 -1.10964330e-03 8.18212093e-02] [ 5.86502362e-03 1.13417277e-03 9.99982157e-01 -1.25922230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.476547614999994 meters Centerline goodness : 0.803428 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.12 [[ 9.99973107e-01 5.01493481e-03 -5.35124390e-03 3.64792090e+00] [-5.01455680e-03 9.99987423e-01 8.40554429e-05 8.12594698e-02] [ 5.35159813e-03 -5.72190660e-05 9.99985678e-01 -1.22943283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.506547614999995 meters Centerline goodness : 0.803324 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.12 [[ 9.99972622e-01 4.82225817e-03 -5.61265995e-03 3.64847130e+00] [-4.81772550e-03 9.99988058e-01 8.20819506e-04 7.95880683e-02] [ 5.61655113e-03 -7.93756779e-04 9.99983912e-01 -1.22147580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.536547614999996 meters Centerline goodness : 0.803124 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.13 [[ 9.99975265e-01 3.06420249e-03 -6.33086101e-03 3.65356408e+00] [-3.06269981e-03 9.99995279e-01 2.47039377e-04 7.67814801e-02] [ 6.33158811e-03 -2.27643740e-04 9.99979929e-01 -1.25926094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.566547614999994 meters Centerline goodness : 0.802676 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.13 [[ 9.99976530e-01 3.28863638e-03 -6.01029498e-03 3.65253920e+00] [-3.28744478e-03 9.99994575e-01 2.08128415e-04 7.75646690e-02] [ 6.01094683e-03 -1.88365017e-04 9.99981916e-01 -1.25634412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.596547614999995 meters Centerline goodness : 0.807977 Centerline is valid? [False, False] Translation: X:3.65, Y:0.08, Z:-0.12 [[ 9.99982497e-01 1.30990604e-03 -5.76976863e-03 3.64830389e+00] [-1.32545321e-03 9.99995499e-01 -2.69159177e-03 7.65862636e-02] [ 5.76621693e-03 2.69919222e-03 9.99979732e-01 -1.21901099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.626547614999996 meters Centerline goodness : 0.807620 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.12 [[ 9.99979333e-01 1.41393354e-03 -6.27168543e-03 3.64863630e+00] [-1.42463879e-03 9.99997535e-01 -1.70277728e-03 7.34298621e-02] [ 6.26926236e-03 1.71167697e-03 9.99978883e-01 -1.20173831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.656547614999994 meters Centerline goodness : 0.806524 Centerline is valid? [False, False] Translation: X:3.66, Y:0.08, Z:-0.12 [[ 9.99968198e-01 2.71321118e-03 -7.49949241e-03 3.65508057e+00] [-2.70871992e-03 9.99996146e-01 6.08967373e-04 7.53384869e-02] [ 7.50111577e-03 -5.88633982e-04 9.99971693e-01 -1.23813152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.686547614999995 meters Centerline goodness : 0.806093 Centerline is valid? [False, False] Translation: X:3.66, Y:0.08, Z:-0.13 [[ 9.99957005e-01 2.85871198e-03 -8.82132071e-03 3.66335189e+00] [-2.83774574e-03 9.99993121e-01 2.38837091e-03 7.84779954e-02] [ 8.82808770e-03 -2.36323556e-03 9.99958239e-01 -1.28550484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.716547614999996 meters Centerline goodness : 0.806917 Centerline is valid? [False, False] Translation: X:3.66, Y:0.08, Z:-0.13 [[ 9.99954402e-01 2.33612259e-03 -9.25938732e-03 3.66444098e+00] [-2.31082976e-03 9.99993573e-01 2.74134560e-03 7.61974089e-02] [ 9.26573193e-03 -2.71982373e-03 9.99953373e-01 -1.27908371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.746547614999994 meters Centerline goodness : 0.808313 Centerline is valid? [False, False] Translation: X:3.66, Y:0.07, Z:-0.12 [[ 9.99966321e-01 1.19947643e-03 -8.11899414e-03 3.65728740e+00] [-1.18897744e-03 9.99998451e-01 1.29784244e-03 7.23115594e-02] [ 8.12053829e-03 -1.28814543e-03 9.99966198e-01 -1.22176773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.776547614999995 meters Centerline goodness : 0.811504 Centerline is valid? [False, False] Translation: X:3.66, Y:0.07, Z:-0.12 [[ 9.99962431e-01 1.97989505e-03 -8.43903887e-03 3.65569315e+00] [-1.95321835e-03 9.99993074e-01 3.16817712e-03 6.84478156e-02] [ 8.44525307e-03 -3.15157481e-03 9.99959372e-01 -1.18065764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.806547614999996 meters Centerline goodness : 0.810616 Centerline is valid? [False, False] Translation: X:3.66, Y:0.07, Z:-0.12 [[ 9.99962728e-01 1.30216990e-03 -8.53506946e-03 3.65730461e+00] [-1.28426274e-03 9.99996964e-01 2.10321351e-03 7.07149890e-02] [ 8.53778228e-03 -2.09217385e-03 9.99961364e-01 -1.20175421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.836547614999994 meters Centerline goodness : 0.807997 Centerline is valid? [False, False] Translation: X:3.67, Y:0.07, Z:-0.13 [[ 9.99949422e-01 -7.14960819e-04 -1.00320458e-02 3.66856980e+00] [ 7.35714884e-04 9.99997597e-01 2.06523900e-03 7.42220838e-02] [ 1.00305451e-02 -2.07251527e-03 9.99947545e-01 -1.27361496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.866547614999995 meters Centerline goodness : 0.807105 Centerline is valid? [False, False] Translation: X:3.67, Y:0.08, Z:-0.13 [[ 9.99950220e-01 -1.17620805e-03 -9.90828159e-03 3.66948350e+00] [ 1.18125132e-03 9.99999176e-01 5.03158893e-04 7.79101557e-02] [ 9.90768161e-03 -5.14838016e-04 9.99950785e-01 -1.29819854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.896547614999996 meters Centerline goodness : 0.806658 Centerline is valid? [False, False] Translation: X:3.67, Y:0.08, Z:-0.13 [[ 9.99954371e-01 5.00698440e-04 -9.53964243e-03 3.66546721e+00] [-4.81716857e-04 9.99997900e-01 1.99195223e-03 7.51039373e-02] [ 9.54061977e-03 -1.98726594e-03 9.99952513e-01 -1.25811367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.926547614999993 meters Centerline goodness : 0.810474 Centerline is valid? [False, False] Translation: X:3.66, Y:0.07, Z:-0.12 [[ 9.99952561e-01 1.65353978e-03 -9.59906333e-03 3.66364762e+00] [-1.62112985e-03 9.99992963e-01 3.38316358e-03 7.09276231e-02] [ 9.60458997e-03 -3.36744176e-03 9.99948205e-01 -1.23204252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.956547614999995 meters Centerline goodness : 0.807338 Centerline is valid? [False, False] Translation: X:3.67, Y:0.07, Z:-0.13 [[ 9.99949228e-01 5.07457361e-04 -1.00640016e-02 3.66704257e+00] [-4.84347019e-04 9.99997241e-01 2.29864167e-03 7.20826470e-02] [ 1.00651403e-02 -2.29365050e-03 9.99946715e-01 -1.26438877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.986547614999996 meters Centerline goodness : 0.805071 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.13 [[ 9.99930080e-01 -1.79417794e-03 -1.16883135e-02 3.67798388e+00] [ 1.83595121e-03 9.99991963e-01 3.56418540e-03 7.65914193e-02] [ 1.16818248e-02 -3.58539536e-03 9.99925337e-01 -1.30832868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.016547614999993 meters Centerline goodness : 0.802615 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.13 [[ 9.99930568e-01 -1.91813190e-03 -1.16266643e-02 3.67746185e+00] [ 1.95524050e-03 9.99993029e-01 3.18115402e-03 7.87125504e-02] [ 1.16204814e-02 -3.20366608e-03 9.99927348e-01 -1.30297916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.046547614999994 meters Centerline goodness : 0.804431 Centerline is valid? [False, False] Translation: X:3.67, Y:0.08, Z:-0.13 [[ 9.99977770e-01 -6.60420629e-03 -9.19111758e-04 3.67380627e+00] [ 6.60357539e-03 9.99977960e-01 -6.87775830e-04 7.70196932e-02] [ 9.23633714e-04 6.81691116e-04 9.99999341e-01 -1.31665622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.076547614999996 meters Centerline goodness : 0.808281 Centerline is valid? [False, False] Translation: X:3.67, Y:0.07, Z:-0.13 [[ 9.99981961e-01 -5.78656484e-03 -1.61012738e-03 3.67279084e+00] [ 5.78864366e-03 9.99982414e-01 1.28943710e-03 7.04606658e-02] [ 1.60263765e-03 -1.29873429e-03 9.99997872e-01 -1.27355825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.106547614999993 meters Centerline goodness : 0.806648 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-0.13 [[ 9.99992841e-01 -2.99326530e-03 -2.31469472e-03 3.67630457e+00] [ 3.00593709e-03 9.99980409e-01 5.49053373e-03 6.81952321e-02] [ 2.29821475e-03 -5.49745225e-03 9.99982248e-01 -1.28688289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.136547614999994 meters Centerline goodness : 0.807349 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-0.13 [[ 9.99991525e-01 2.49978922e-03 -3.27110353e-03 3.68321317e+00] [-2.46104674e-03 9.99927411e-01 1.17947617e-02 7.22886901e-02] [ 3.30035050e-03 -1.17866114e-02 9.99925089e-01 -1.33961623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.166547614999995 meters Centerline goodness : 0.806073 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.14 [[ 9.99993644e-01 1.33338351e-03 -3.30657845e-03 3.68462641e+00] [-1.29836673e-03 9.99943297e-01 1.05696649e-02 7.67825755e-02] [ 3.32048437e-03 -1.05653046e-02 9.99938672e-01 -1.35532501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.196547614999993 meters Centerline goodness : 0.808700 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-0.13 [[ 9.99995347e-01 -2.17121375e-03 -2.14267180e-03 3.67549230e+00] [ 2.18321660e-03 9.99981850e-01 5.61546537e-03 7.12015929e-02] [ 2.13044054e-03 -5.62011716e-03 9.99981938e-01 -1.29105325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.226547614999994 meters Centerline goodness : 0.814304 Centerline is valid? [False, False] Translation: X:3.67, Y:0.07, Z:-0.13 [[ 9.99984111e-01 -5.28740798e-03 -1.95455662e-03 3.67441642e+00] [ 5.29183450e-03 9.99983430e-01 2.26652801e-03 6.60784079e-02] [ 1.94254018e-03 -2.27683519e-03 9.99995521e-01 -1.28795666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.256547614999995 meters Centerline goodness : 0.813178 Centerline is valid? [False, False] Translation: X:3.67, Y:0.07, Z:-0.13 [[ 9.99999055e-01 -1.82140248e-04 -1.36242268e-03 3.67329890e+00] [ 1.87733829e-04 9.99991550e-01 4.10661285e-03 7.22056840e-02] [ 1.36166319e-03 -4.10686475e-03 9.99990640e-01 -1.32892312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.286547614999993 meters Centerline goodness : 0.810699 Centerline is valid? [False, False] Translation: X:3.67, Y:0.07, Z:-0.13 [[ 9.99998734e-01 -5.99570746e-04 -1.47388994e-03 3.67358713e+00] [ 6.05112862e-04 9.99992738e-01 3.76263044e-03 7.36933639e-02] [ 1.47162327e-03 -3.76351755e-03 9.99991835e-01 -1.32775109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.316547614999994 meters Centerline goodness : 0.814634 Centerline is valid? [False, False] Translation: X:3.67, Y:0.07, Z:-0.13 [[ 9.99997785e-01 -5.68198746e-04 -2.02680883e-03 3.67486172e+00] [ 5.77359720e-04 9.99989608e-01 4.52218261e-03 6.97905408e-02] [ 2.02421827e-03 -4.52334279e-03 9.99987721e-01 -1.32469680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.346547614999995 meters Centerline goodness : 0.812954 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-0.14 [[ 9.99994244e-01 -1.98351716e-03 -2.75269326e-03 3.67931986e+00] [ 1.99227661e-03 9.99992949e-01 3.18305180e-03 7.03414772e-02] [ 2.74636021e-03 -3.18851761e-03 9.99991145e-01 -1.36396947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.376547614999996 meters Centerline goodness : 0.811712 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-0.14 [[ 9.99994044e-01 6.26116785e-04 -3.39415462e-03 3.68079716e+00] [-6.03386792e-04 9.99977415e-01 6.69369803e-03 7.46553957e-02] [ 3.39826900e-03 -6.69161018e-03 9.99971837e-01 -1.35024215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.406547614999994 meters Centerline goodness : 0.809171 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.14 [[ 9.99993920e-01 -2.04751155e-03 -2.82256768e-03 3.67872385e+00] [ 2.05254628e-03 9.99996306e-01 1.78199706e-03 7.67941721e-02] [ 2.81890859e-03 -1.78777968e-03 9.99994429e-01 -1.36349935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.436547614999995 meters Centerline goodness : 0.812035 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.14 [[ 9.99994197e-01 5.96263427e-04 -3.35425715e-03 3.68166826e+00] [-5.82457076e-04 9.99991361e-01 4.11554017e-03 7.94899823e-02] [ 3.35668212e-03 -4.11356257e-03 9.99985906e-01 -1.38682059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.466547614999996 meters Centerline goodness : 0.812186 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.14 [[ 9.99994928e-01 1.06292152e-03 -3.00235779e-03 3.67967676e+00] [-1.05221942e-03 9.99993096e-01 3.56389803e-03 8.22192165e-02] [ 3.00612521e-03 -3.56072081e-03 9.99989142e-01 -1.37741047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.496547614999994 meters Centerline goodness : 0.813550 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.14 [[ 9.99994809e-01 1.70322567e-03 -2.73521110e-03 3.67792483e+00] [-1.69275898e-03 9.99991254e-01 3.82441395e-03 8.21087001e-02] [ 2.74170102e-03 -3.81976405e-03 9.99988946e-01 -1.36495549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.526547614999995 meters Centerline goodness : 0.813100 Centerline is valid? [False, False] Translation: X:3.68, Y:0.09, Z:-0.14 [[ 0.99998434 0.0041518 -0.00375355 3.68232529] [-0.00413268 0.99997852 0.00508716 0.08707592] [ 0.00377459 -0.00507157 0.99998002 -0.14042411] [ 0. 0. 0. 1. ]] SLAMing on 25.556547614999996 meters Centerline goodness : 0.811670 Centerline is valid? [False, False] Translation: X:3.68, Y:0.09, Z:-0.14 [[ 9.99984722e-01 3.68329764e-03 -4.12173583e-03 3.68275807e+00] [-3.66106179e-03 9.99978775e-01 5.38938140e-03 8.70350776e-02] [ 4.14149904e-03 -5.37420913e-03 9.99976983e-01 -1.39076481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.586547614999994 meters Centerline goodness : 0.811379 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.14 [[ 9.99986675e-01 2.64465481e-03 -4.43349782e-03 3.68435332e+00] [-2.61776528e-03 9.99978212e-01 6.05995307e-03 8.42277420e-02] [ 4.44942771e-03 -6.04826646e-03 9.99971810e-01 -1.38519231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.616547614999995 meters Centerline goodness : 0.808249 Centerline is valid? [False, False] Translation: X:3.69, Y:0.09, Z:-0.14 [[ 9.99986495e-01 2.26602053e-04 -5.19218702e-03 3.68943804e+00] [-2.06882562e-04 9.99992766e-01 3.79813847e-03 9.02526645e-02] [ 5.19301013e-03 -3.79701300e-03 9.99979307e-01 -1.42583805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.646547614999996 meters Centerline goodness : 0.807067 Centerline is valid? [False, False] Translation: X:3.69, Y:0.09, Z:-0.14 [[ 9.99983892e-01 -4.64110311e-04 -5.65697204e-03 3.68992638e+00] [ 4.88588369e-04 9.99990522e-01 4.32644652e-03 8.91676488e-02] [ 5.65491047e-03 -4.32914076e-03 9.99974640e-01 -1.40467545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.676547614999993 meters Centerline goodness : 0.813883 Centerline is valid? [False, False] Translation: X:3.69, Y:0.08, Z:-0.14 [[ 9.99983598e-01 -2.52669377e-03 -5.13993106e-03 3.68506089e+00] [ 2.54031718e-03 9.99993273e-01 2.64570376e-03 8.28361376e-02] [ 5.13321161e-03 -2.65871742e-03 9.99983291e-01 -1.35423494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.706547614999995 meters Centerline goodness : 0.815965 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.13 [[ 9.99983672e-01 -2.42723153e-03 -5.17340690e-03 3.68375501e+00] [ 2.45242790e-03 9.99985136e-01 4.86959835e-03 7.73331933e-02] [ 5.16151036e-03 -4.88220624e-03 9.99974761e-01 -1.31151786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.736547614999996 meters Centerline goodness : 0.819370 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.13 [[ 9.99986662e-01 -2.21438687e-03 -4.66608128e-03 3.68343091e+00] [ 2.23400546e-03 9.99988670e-01 4.20350291e-03 7.94318075e-02] [ 4.65672023e-03 -4.21387090e-03 9.99980279e-01 -1.33095075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.766547614999993 meters Centerline goodness : 0.810082 Centerline is valid? [False, False] Translation: X:3.69, Y:0.08, Z:-0.14 [[ 9.99987618e-01 7.79082837e-04 -4.91501100e-03 3.68661281e+00] [-7.46773089e-04 9.99978125e-01 6.57210162e-03 8.30981640e-02] [ 4.92002370e-03 -6.56834985e-03 9.99966325e-01 -1.37208778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.796547614999994 meters Centerline goodness : 0.811446 Centerline is valid? [False, False] Translation: X:3.69, Y:0.08, Z:-0.14 [[ 9.99987398e-01 1.17407805e-03 -4.88114788e-03 3.68743463e+00] [-1.14564910e-03 9.99982390e-01 5.82295694e-03 8.32035308e-02] [ 4.88789853e-03 -5.81729147e-03 9.99971133e-01 -1.39773756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.826547614999996 meters Centerline goodness : 0.812948 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-0.14 [[ 9.99988019e-01 3.75994716e-03 -3.13445832e-03 3.67631401e+00] [-3.74468871e-03 9.99981180e-01 4.85970965e-03 7.88970379e-02] [ 3.15267158e-03 -4.84791386e-03 9.99983279e-01 -1.35322923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.856547614999993 meters Centerline goodness : 0.814461 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-0.13 [[ 9.99994590e-01 6.36785324e-04 -3.22718591e-03 3.67521818e+00] [-6.31696402e-04 9.99998556e-01 1.57766541e-03 7.47336112e-02] [ 3.22818588e-03 -1.57561827e-03 9.99993548e-01 -1.34153735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.886547614999994 meters Centerline goodness : 0.815607 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-0.14 [[ 9.99993854e-01 1.91667634e-04 -3.50071695e-03 3.67765369e+00] [-1.88431613e-04 9.99999555e-01 9.24694487e-04 7.41365344e-02] [ 3.50089263e-03 -9.24029159e-04 9.99993445e-01 -1.36980239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.916547614999995 meters Centerline goodness : 0.807701 Centerline is valid? [False, False] Translation: X:3.69, Y:0.08, Z:-0.14 [[ 9.99986772e-01 -1.96105149e-03 -4.75509086e-03 3.68974553e+00] [ 1.97113299e-03 9.99995818e-01 2.11639183e-03 7.74334444e-02] [ 4.75092062e-03 -2.12573675e-03 9.99986455e-01 -1.44772557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.946547614999993 meters Centerline goodness : 0.807584 Centerline is valid? [False, False] Translation: X:3.69, Y:0.07, Z:-0.14 [[ 9.99986544e-01 -2.18924145e-03 -4.70309582e-03 3.68904087e+00] [ 2.20897667e-03 9.99988761e-01 4.19513188e-03 7.31510623e-02] [ 4.69385881e-03 -4.20546446e-03 9.99980141e-01 -1.41291383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.976547614999994 meters Centerline goodness : 0.811977 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.14 [[ 9.99993573e-01 -3.31186449e-03 1.37304248e-03 3.70021275e+00] [ 3.31814369e-03 9.99983931e-01 -4.59642891e-03 7.16491602e-02] [-1.35779767e-03 4.60095532e-03 9.99988494e-01 -1.40566207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.006547614999995 meters Centerline goodness : 0.810635 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.14 [[ 9.99990245e-01 -4.34145148e-03 8.13774498e-04 3.70374673e+00] [ 4.34648151e-03 9.99970804e-01 -6.28476751e-03 7.35182556e-02] [-7.86465726e-04 6.28824326e-03 9.99979920e-01 -1.44439014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.036547614999993 meters Centerline goodness : 0.810635 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.14 [[ 9.99990245e-01 -4.34145148e-03 8.13774498e-04 3.70374673e+00] [ 4.34648151e-03 9.99970804e-01 -6.28476751e-03 7.35182556e-02] [-7.86465726e-04 6.28824326e-03 9.99979920e-01 -1.44439014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.066547614999994 meters Centerline goodness : 0.808895 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.14 [[ 9.99999164e-01 -1.27919653e-03 1.88153380e-04 3.70604234e+00] [ 1.27959563e-03 9.99996899e-01 -2.13652541e-03 7.18809803e-02] [-1.85419761e-04 2.13676438e-03 9.99997700e-01 -1.44499025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.096547614999995 meters Centerline goodness : 0.808734 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-0.14 [[ 9.99992037e-01 -3.98696716e-03 1.72177371e-04 3.70384322e+00] [ 3.98765091e-03 9.99983345e-01 -4.17243859e-03 6.71180170e-02] [-1.55539127e-04 4.17309195e-03 9.99991281e-01 -1.41150467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.126547614999993 meters Centerline goodness : 0.808956 Centerline is valid? [False, False] Translation: X:3.71, Y:0.06, Z:-0.14 [[ 9.99965724e-01 -8.27062747e-03 -3.83234699e-04 3.70634424e+00] [ 8.26760148e-03 9.99939033e-01 -7.31963069e-03 6.14831481e-02] [ 4.43749273e-04 7.31621137e-03 9.99973138e-01 -1.42281493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.156547614999994 meters Centerline goodness : 0.805524 Centerline is valid? [False, False] Translation: X:3.72, Y:0.06, Z:-0.15 [[ 9.99952901e-01 -9.48646831e-03 -2.04985485e-03 3.72060577e+00] [ 9.48243394e-03 9.99953102e-01 -1.96896226e-03 5.98270280e-02] [ 2.06843722e-03 1.94943192e-03 9.99995961e-01 -1.47346847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.186547614999995 meters Centerline goodness : 0.801580 Centerline is valid? [False, False] Translation: X:3.72, Y:0.06, Z:-0.15 [[ 9.99961054e-01 -8.46854817e-03 -2.48476112e-03 3.72499865e+00] [ 8.47451477e-03 9.99961209e-01 2.40065543e-03 5.83350667e-02] [ 2.46433467e-03 -2.42161908e-03 9.99994031e-01 -1.47674723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.216547614999996 meters Centerline goodness : 0.807864 Centerline is valid? [False, False] Translation: X:3.73, Y:0.05, Z:-0.14 [[ 0.99993574 -0.01017473 0.00499946 3.73023096] [ 0.01021213 0.99991963 -0.00751313 0.05466344] [-0.00492262 0.0075637 0.99995928 -0.14304225] [ 0. 0. 0. 1. ]] SLAMing on 26.246547614999994 meters Centerline goodness : 0.813729 Centerline is valid? [False, False] Translation: X:3.72, Y:0.05, Z:-0.13 [[ 0.99991847 -0.01118077 0.00616758 3.72267845] [ 0.0112136 0.999923 -0.00531456 0.04659405] [-0.00610768 0.00538328 0.99996686 -0.13181987] [ 0. 0. 0. 1. ]] SLAMing on 26.276547614999995 meters Centerline goodness : 0.811250 Centerline is valid? [False, False] Translation: X:3.73, Y:0.05, Z:-0.14 [[ 9.99938834e-01 -9.78813358e-03 5.14982966e-03 3.72904857e+00] [ 9.80479192e-03 9.99946749e-01 -3.21949371e-03 4.89481568e-02] [-5.11804259e-03 3.26978980e-03 9.99981557e-01 -1.36445006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.306547614999996 meters Centerline goodness : 0.806525 Centerline is valid? [False, False] Translation: X:3.74, Y:0.05, Z:-0.14 [[ 9.99948965e-01 -9.57661831e-03 3.21790487e-03 3.74269658e+00] [ 9.57767309e-03 9.99954084e-01 -3.12534002e-04 5.49724908e-02] [-3.21476409e-03 3.43338093e-04 9.99994774e-01 -1.43956264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.336547614999994 meters Centerline goodness : 0.805411 Centerline is valid? [False, False] Translation: X:3.74, Y:0.05, Z:-0.14 [[ 9.99960661e-01 -8.15497449e-03 3.48903361e-03 3.73910700e+00] [ 8.15205554e-03 9.99966410e-01 8.50011449e-04 5.47206512e-02] [-3.49584824e-03 -8.21535214e-04 9.99993552e-01 -1.40056639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.366547614999995 meters Centerline goodness : 0.810318 Centerline is valid? [False, False] Translation: X:3.73, Y:0.05, Z:-0.13 [[ 9.99969363e-01 -6.28110673e-03 4.67118493e-03 3.72870299e+00] [ 6.27660636e-03 9.99979824e-01 9.77467506e-04 4.92061910e-02] [-4.67723026e-03 -9.48118371e-04 9.99988612e-01 -1.32912298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.396547614999996 meters Centerline goodness : 0.811015 Centerline is valid? [False, False] Translation: X:3.73, Y:0.05, Z:-0.13 [[ 9.99986174e-01 -3.42916758e-03 3.98654675e-03 3.73043111e+00] [ 3.40658638e-03 9.99978194e-01 5.65740907e-03 4.93790818e-02] [-4.00586002e-03 -5.64375033e-03 9.99976050e-01 -1.31010646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426547614999993 meters Centerline goodness : 0.806444 Centerline is valid? [False, False] Translation: X:3.74, Y:0.05, Z:-0.13 [[ 9.99994405e-01 -1.87428796e-03 2.77081310e-03 3.73627096e+00] [ 1.85278911e-03 9.99968319e-01 7.74135032e-03 5.36772254e-02] [-2.78523484e-03 -7.73617327e-03 9.99966196e-01 -1.34439825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.456547614999995 meters Centerline goodness : 0.800040 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.14 [[ 9.99998305e-01 2.17271805e-04 1.82841691e-03 3.74181725e+00] [-2.29036109e-04 9.99979260e-01 6.43640000e-03 6.07829861e-02] [-1.82698054e-03 -6.43680787e-03 9.99977615e-01 -1.43513349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.486547614999996 meters Centerline goodness : 0.801529 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.14 [[ 9.99992590e-01 1.34008921e-03 3.60883853e-03 3.73244110e+00] [-1.34989398e-03 9.99995401e-01 2.71581090e-03 6.02567550e-02] [-3.60518250e-03 -2.72066232e-03 9.99989800e-01 -1.42778405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.516547614999993 meters Centerline goodness : 0.803604 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.14 [[ 9.99989444e-01 -9.41816793e-04 4.49724487e-03 3.72769395e+00] [ 9.40173885e-04 9.99999491e-01 3.67414587e-04 5.68201610e-02] [-4.49758861e-03 -3.63182517e-04 9.99989820e-01 -1.38944233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546547614999994 meters Centerline goodness : 0.804410 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.14 [[ 0.99997956 0.004094 0.00491029 3.72567064] [-0.00411557 0.99998189 0.00439201 0.06212687] [-0.00489222 -0.00441213 0.9999783 -0.13825262] [ 0. 0. 0. 1. ]] SLAMing on 26.576547614999996 meters Centerline goodness : 0.803229 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.14 [[ 9.99984456e-01 3.10836191e-03 4.62876178e-03 3.72698398e+00] [-3.12255063e-03 9.99990439e-01 3.06127379e-03 6.74268645e-02] [-4.61920198e-03 -3.07567974e-03 9.99984601e-01 -1.39220036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.606547614999993 meters Centerline goodness : 0.799768 Centerline is valid? [False, False] Translation: X:3.73, Y:0.07, Z:-0.14 [[ 9.99993351e-01 1.28191053e-03 3.41384702e-03 3.73223651e+00] [-1.28708981e-03 9.99998024e-01 1.51537439e-03 6.74882512e-02] [-3.41189770e-03 -1.51975824e-03 9.99993025e-01 -1.42548950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.636547614999994 meters Centerline goodness : 0.798137 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.14 [[ 9.99997222e-01 -6.07959093e-04 2.27737475e-03 3.73516183e+00] [ 6.09325626e-04 9.99999635e-01 -5.99401914e-04 6.38328702e-02] [-2.27700951e-03 6.00787912e-04 9.99997227e-01 -1.43943198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.666547614999995 meters Centerline goodness : 0.801250 Centerline is valid? [False, False] Translation: X:3.73, Y:0.06, Z:-0.14 [[ 9.99995741e-01 1.17016052e-03 2.67362391e-03 3.73187702e+00] [-1.17382127e-03 9.99998375e-01 1.36805067e-03 5.81759460e-02] [-2.67201873e-03 -1.37118321e-03 9.99995490e-01 -1.40852301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.696547614999993 meters Centerline goodness : 0.805467 Centerline is valid? [False, False] Translation: X:3.74, Y:0.06, Z:-0.14 [[ 9.99997182e-01 -7.51656063e-04 2.25167463e-03 3.73598122e+00] [ 7.47432383e-04 9.99997961e-01 1.87604947e-03 5.54955687e-02] [-2.25308018e-03 -1.87436121e-03 9.99995705e-01 -1.42417324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726547614999994 meters Centerline goodness : 0.817610 Centerline is valid? [False, False] Translation: X:3.62, Y:0.04, Z:0.05 [[ 0.70268293 0.05032158 -0.70972138 3.61589781] [-0.46891767 0.78296726 -0.40875236 0.03572084] [ 0.53511954 0.62002421 0.5737744 0.04927988] [ 0. 0. 0. 1. ]] SLAMing on 26.756547614999995 meters Centerline goodness : 0.798255 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.29, Z:0.14 [[ 0.77281742 0.32763611 -0.54351432 3.77615901] [-0.53001246 0.80425816 -0.26880403 -0.28713338] [ 0.34905592 0.4958058 0.79519593 0.14265201] [ 0. 0. 0. 1. ]] SLAMing on 26.786547614999993 meters Centerline goodness : 0.801466 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.28, Z:0.13 [[ 0.77485825 0.33374529 -0.53685079 3.73478231] [-0.52701771 0.81003551 -0.2570891 -0.27528401] [ 0.34906593 0.48213748 0.80355238 0.13357955] [ 0. 0. 0. 1. ]] SLAMing on 26.816547614999994 meters Centerline goodness : 0.805687 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.26, Z:0.12 [[ 0.7771467 0.34204028 -0.52825321 3.69218379] [-0.52592836 0.81396844 -0.24668755 -0.26030109] [ 0.34560436 0.46953576 0.81246157 0.12384491] [ 0. 0. 0. 1. ]] SLAMing on 26.846547614999995 meters Centerline goodness : 0.798867 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:0.11 [[ 0.77554287 0.35843827 -0.51966842 3.65078275] [-0.53063701 0.81606861 -0.22903359 -0.23507394] [ 0.34199068 0.45338066 0.8230968 0.10810103] [ 0. 0. 0. 1. ]] SLAMing on 26.876547614999993 meters Centerline goodness : 0.795250 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.21, Z:0.10 [[ 0.77371103 0.37082627 -0.5136722 3.61911051] [-0.53432827 0.81758139 -0.21460189 -0.21399523] [ 0.34038881 0.44050942 0.83071469 0.09652418] [ 0. 0. 0. 1. ]] SLAMing on 26.906547614999994 meters Centerline goodness : 0.794157 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.20, Z:0.09 [[ 0.77412024 0.37626135 -0.50908275 3.5814113 ] [-0.53316297 0.82107851 -0.20388069 -0.19755026] [ 0.34128448 0.42925224 0.83622211 0.08669101] [ 0. 0. 0. 1. ]] SLAMing on 26.936547614999995 meters Centerline goodness : 0.795243 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.19, Z:0.08 [[ 0.7760651 0.38185588 -0.50190542 3.543935 ] [-0.53026152 0.82591356 -0.19154506 -0.1873529 ] [ 0.34138789 0.41479257 0.84344617 0.07704297] [ 0. 0. 0. 1. ]] SLAMing on 26.966547614999993 meters Centerline goodness : 0.793470 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.17, Z:0.06 [[ 0.78218385 0.38937538 -0.48639001 3.5005243 ] [-0.52330873 0.83425166 -0.1737013 -0.16952205] [ 0.33813666 0.39039849 0.85630171 0.0641418 ] [ 0. 0. 0. 1. ]] SLAMing on 26.996547614999994 meters Centerline goodness : 0.795436 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.15, Z:0.05 [[ 0.78956373 0.39288242 -0.47141544 3.4539491 ] [-0.51643474 0.84035767 -0.16460298 -0.15444649] [ 0.33148797 0.37341985 0.86641407 0.05424236] [ 0. 0. 0. 1. ]] SLAMing on 27.026547614999995 meters Centerline goodness : 0.799960 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.15, Z:0.04 [[ 0.79535802 0.39274495 -0.46168932 3.41149678] [-0.50950331 0.84579401 -0.15823676 -0.1452276 ] [ 0.32834737 0.36108711 0.8728139 0.04411619] [ 0. 0. 0. 1. ]] SLAMing on 27.056547614999996 meters Centerline goodness : 0.799122 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:0.03 [[ 0.79461123 0.40270464 -0.45433684 3.37554636] [-0.51118134 0.84752333 -0.14282103 -0.13072255] [ 0.32754638 0.34573571 0.87930665 0.03310263] [ 0. 0. 0. 1. ]] SLAMing on 27.086547614999994 meters Centerline goodness : 0.797640 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.11, Z:0.02 [[ 0.79363562 0.41043794 -0.44909153 3.3369548 ] [-0.51301672 0.84827014 -0.13134537 -0.11163041] [ 0.32704181 0.33463183 0.88377893 0.0210778 ] [ 0. 0. 0. 1. ]] SLAMing on 27.116547614999995 meters Centerline goodness : 0.800563 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 0.79409797 0.41298662 -0.44592652 3.29252657] [-0.51198493 0.84990863 -0.12460641 -0.09338305] [ 0.32753602 0.32725735 0.88635364 0.00859213] [ 0. 0. 0. 1. ]] SLAMing on 27.146547614999996 meters Centerline goodness : 0.798349 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.08, Z:-0.00 [[ 0.7945013 0.41878935 -0.43975352 3.26031324] [-0.51051768 0.85277227 -0.11023223 -0.08074936] [ 0.32884552 0.3120816 0.89132805 -0.00378788] [ 0. 0. 0. 1. ]] SLAMing on 27.176547614999993 meters Centerline goodness : 0.798435 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.06, Z:-0.01 [[ 0.79704417 0.42491481 -0.42914799 3.22323791] [-0.50806281 0.85594072 -0.09611278 -0.06476958] [ 0.3264855 0.29464026 0.89810597 -0.01458682] [ 0. 0. 0. 1. ]] SLAMing on 27.206547614999995 meters Centerline goodness : 0.796976 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.05, Z:-0.02 [[ 0.80046609 0.42814146 -0.41946266 3.18993891] [-0.5032471 0.86021026 -0.08234479 -0.05387997] [ 0.32557087 0.27700758 0.90403009 -0.0216073 ] [ 0. 0. 0. 1. ]] SLAMing on 27.236547614999996 meters Centerline goodness : 0.798325 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.04, Z:-0.03 [[ 0.80269469 0.42884289 -0.41445749 3.15765476] [-0.50276537 0.86038271 -0.08347799 -0.04056329] [ 0.32079312 0.27538221 0.90623199 -0.02997876] [ 0. 0. 0. 1. ]] SLAMing on 27.266547614999993 meters Centerline goodness : 0.801266 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:-0.04 [[ 0.80475657 0.43198448 -0.40713177 3.10897754] [-0.50239024 0.86097699 -0.07951516 -0.0193817 ] [ 0.31618177 0.26852937 0.90990168 -0.04259853] [ 0. 0. 0. 1. ]] SLAMing on 27.296547614999994 meters Centerline goodness : 0.801411 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-0.05 [[ 0.80502399 0.43629154 -0.40197769 3.06883639] [-0.50152136 0.86244413 -0.06831139 -0.00363333] [ 0.31687962 0.25659271 0.91309774 -0.0519375 ] [ 0. 0. 0. 1. ]] SLAMing on 27.326547614999996 meters Centerline goodness : 0.799568 Centerline is valid? [False, False] Translation: X:3.03, Y:0.01, Z:-0.06 [[ 0.80824 0.43838776 -0.39314663 3.03211539] [-0.49719075 0.86578522 -0.05672135 0.0120304 ] [ 0.3155146 0.24131333 0.91772459 -0.06482175] [ 0. 0. 0. 1. ]] SLAMing on 27.356547614999993 meters Centerline goodness : 0.796621 Centerline is valid? [False, False] Translation: X:3.00, Y:0.03, Z:-0.08 [[ 0.81144073 0.44085614 -0.38367929 3.00043845] [-0.49280266 0.8690444 -0.04367342 0.02983056] [ 0.31418065 0.22451657 0.9224331 -0.08012006] [ 0. 0. 0. 1. ]] SLAMing on 27.386547614999994 meters Centerline goodness : 0.794758 Centerline is valid? [False, False] Translation: X:2.97, Y:0.05, Z:-0.09 [[ 0.81083812 0.44438399 -0.38087321 2.96560961] [-0.49272673 0.86950106 -0.03447148 0.04852941] [ 0.31585109 0.2156172 0.92398448 -0.09331918] [ 0. 0. 0. 1. ]] SLAMing on 27.416547614999995 meters Centerline goodness : 0.796822 Centerline is valid? [False, False] Translation: X:2.93, Y:0.06, Z:-0.10 [[ 0.81282632 0.44387636 -0.37720968 2.93231797] [-0.49236881 0.86956884 -0.03772247 0.06384722] [ 0.31126567 0.2163881 0.92535932 -0.1012908 ] [ 0. 0. 0. 1. ]] SLAMing on 27.446547614999993 meters Centerline goodness : 0.800185 Centerline is valid? [False, False] Translation: X:2.89, Y:0.08, Z:-0.11 [[ 0.81578751 0.44337743 -0.37135859 2.88951026] [-0.48778723 0.87245012 -0.0299065 0.07621842] [ 0.31073198 0.20554132 0.92800776 -0.10956994] [ 0. 0. 0. 1. ]] SLAMing on 27.476547614999994 meters Centerline goodness : 0.803369 Centerline is valid? [False, False] Translation: X:2.85, Y:0.09, Z:-0.12 [[ 0.81708151 0.44696073 -0.36414819 2.85374939] [-0.48566523 0.8739794 -0.01700849 0.09042169] [ 0.31065589 0.19075144 0.9311857 -0.11722933] [ 0. 0. 0. 1. ]] SLAMing on 27.506547614999995 meters Centerline goodness : 0.798029 Centerline is valid? [False, False] Translation: X:2.82, Y:0.11, Z:-0.13 [[ 8.21847812e-01 4.50708542e-01 -3.48465183e-01 2.81523347e+00] [-4.80731646e-01 8.76867698e-01 3.54441951e-04 1.09626484e-01] [ 3.05717613e-01 1.67226944e-01 9.37321658e-01 -1.29100400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.536547614999993 meters Centerline goodness : 0.794621 Centerline is valid? [False, False] Translation: X:2.77, Y:0.13, Z:-0.14 [[ 0.82149499 0.45448867 -0.34436322 2.77383067] [-0.48169726 0.87630618 0.00743211 0.13112633] [ 0.30514543 0.15977338 0.93880708 -0.14143554] [ 0. 0. 0. 1. ]] SLAMing on 27.566547614999994 meters Centerline goodness : 0.801668 Centerline is valid? [False, False] Translation: X:2.73, Y:0.15, Z:-0.15 [[ 8.22710152e-01 4.54238154e-01 -3.41783126e-01 2.72748768e+00] [-4.84098693e-01 8.75010195e-01 -2.36961106e-03 1.51020820e-01] [ 2.97987352e-01 1.67406268e-01 9.39775867e-01 -1.51334642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.596547614999995 meters Centerline goodness : 0.802987 Centerline is valid? [False, False] Translation: X:2.69, Y:0.17, Z:-0.16 [[ 0.82320885 0.45744921 -0.33625499 2.68614658] [-0.48366545 0.87522817 0.00658653 0.16994348] [ 0.29731284 0.15721284 0.94174795 -0.16030855] [ 0. 0. 0. 1. ]] SLAMing on 27.626547614999993 meters Centerline goodness : 0.803402 Centerline is valid? [False, False] Translation: X:2.65, Y:0.19, Z:-0.17 [[ 0.82431462 0.45992447 -0.33011343 2.64939224] [-0.48169973 0.87615451 0.01785073 0.18645986] [ 0.29744036 0.14430093 0.94377247 -0.16877692] [ 0. 0. 0. 1. ]] SLAMing on 27.656547614999994 meters Centerline goodness : 0.798430 Centerline is valid? [False, False] Translation: X:2.62, Y:0.20, Z:-0.18 [[ 0.82693567 0.46049691 -0.32267629 2.62250598] [-0.47693757 0.87838024 0.03128426 0.19826788] [ 0.29783878 0.12802638 0.94599223 -0.17655661] [ 0. 0. 0. 1. ]] SLAMing on 27.686547614999995 meters Centerline goodness : 0.798994 Centerline is valid? [False, False] Translation: X:2.59, Y:0.22, Z:-0.19 [[ 0.82696564 0.46434227 -0.31703956 2.58553639] [-0.47690371 0.87795555 0.04191556 0.21713542] [ 0.29780981 0.11653461 0.94748562 -0.18651523] [ 0. 0. 0. 1. ]] SLAMing on 27.716547614999993 meters Centerline goodness : 0.798624 Centerline is valid? [False, False] Translation: X:2.54, Y:0.24, Z:-0.20 [[ 0.82634817 0.46676228 -0.31508995 2.54183189] [-0.47852311 0.87696492 0.04413803 0.24012477] [ 0.2969248 0.11430444 0.94803489 -0.20342502] [ 0. 0. 0. 1. ]] SLAMing on 27.746547614999994 meters Centerline goodness : 0.798854 Centerline is valid? [False, False] Translation: X:2.49, Y:0.27, Z:-0.22 [[ 0.82728883 0.46649133 -0.31301602 2.49370669] [-0.47835866 0.87711637 0.04289365 0.26532086] [ 0.29456099 0.11424849 0.94877874 -0.22031731] [ 0. 0. 0. 1. ]] SLAMing on 27.776547614999995 meters Centerline goodness : 0.796367 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:-0.23 [[ 0.82649414 0.47209812 -0.30664441 2.45001117] [-0.48116738 0.87517297 0.05049981 0.28898465] [ 0.29220777 0.10580949 0.95048355 -0.2327858 ] [ 0. 0. 0. 1. ]] SLAMing on 27.806547614999992 meters Centerline goodness : 0.798448 Centerline is valid? [False, False] Translation: X:2.41, Y:0.31, Z:-0.24 [[ 0.82809264 0.47252252 -0.30163729 2.40616054] [-0.47901488 0.87594516 0.05713856 0.30801793] [ 0.29121698 0.09717273 0.95170906 -0.24213515] [ 0. 0. 0. 1. ]] SLAMing on 27.836547614999994 meters Centerline goodness : 0.799090 Centerline is valid? [False, False] Translation: X:2.38, Y:0.31, Z:-0.25 [[ 0.83082543 0.46841173 -0.30053211 2.38098918] [-0.47429023 0.87845674 0.05798734 0.31364327] [ 0.29116641 0.09436209 0.95200731 -0.24796931] [ 0. 0. 0. 1. ]] SLAMing on 27.866547614999995 meters Centerline goodness : 0.798986 Centerline is valid? [False, False] Translation: X:2.35, Y:0.32, Z:-0.26 [[ 0.83374594 0.46608642 -0.29602559 2.34958683] [-0.46818432 0.88097538 0.06845315 0.32386144] [ 0.29269634 0.081522 0.952724 -0.25771086] [ 0. 0. 0. 1. ]] SLAMing on 27.896547614999996 meters Centerline goodness : 0.797064 Centerline is valid? [False, False] Translation: X:2.31, Y:0.34, Z:-0.27 [[ 0.83487232 0.46719982 -0.29105417 2.31357299] [-0.46626608 0.88127303 0.07716077 0.34087048] [ 0.29254769 0.07128929 0.95358989 -0.27045491] [ 0. 0. 0. 1. ]] SLAMing on 27.926547614999993 meters Centerline goodness : 0.797277 Centerline is valid? [False, False] Translation: X:2.28, Y:0.36, Z:-0.28 [[ 0.83756636 0.46298681 -0.29004448 2.28183077] [-0.46399736 0.88308674 0.06974424 0.35544568] [ 0.2884251 0.07616444 0.95446841 -0.28232193] [ 0. 0. 0. 1. ]] SLAMing on 27.956547614999995 meters Centerline goodness : 0.797277 Centerline is valid? [False, False] Translation: X:2.24, Y:0.37, Z:-0.29 [[ 0.83862849 0.46328426 -0.28647853 2.24159637] [-0.46210017 0.88355487 0.07611981 0.37465474] [ 0.28838461 0.06854553 0.95505802 -0.29333228] [ 0. 0. 0. 1. ]] SLAMing on 27.986547614999996 meters Centerline goodness : 0.802518 Centerline is valid? [False, False] Translation: X:2.20, Y:0.39, Z:-0.30 [[ 0.84077243 0.46088302 -0.28405734 2.2029298 ] [-0.46162077 0.88441841 0.06863196 0.39069786] [ 0.28285684 0.07342291 0.95634778 -0.30422182] [ 0. 0. 0. 1. ]] SLAMing on 28.016547614999993 meters Centerline goodness : 0.803274 Centerline is valid? [False, False] Translation: X:2.16, Y:0.41, Z:-0.31 [[ 0.84196291 0.46221298 -0.27831207 2.16156132] [-0.46032773 0.88446497 0.0762896 0.41188099] [ 0.28141932 0.06388174 0.95745616 -0.31370432] [ 0. 0. 0. 1. ]] SLAMing on 28.046547614999994 meters Centerline goodness : 0.802578 Centerline is valid? [False, False] Translation: X:2.12, Y:0.43, Z:-0.33 [[ 0.84353662 0.4612096 -0.27519389 2.11834326] [-0.45774399 0.88540553 0.0807929 0.43287212] [ 0.28092065 0.05781658 0.95798791 -0.32540301] [ 0. 0. 0. 1. ]] SLAMing on 28.076547614999996 meters Centerline goodness : 0.799790 Centerline is valid? [False, False] Translation: X:2.08, Y:0.45, Z:-0.34 [[ 0.84606618 0.45687953 -0.27465089 2.08273472] [-0.45172992 0.88803168 0.08567272 0.44616836] [ 0.2830408 0.05158323 0.95771973 -0.33793857] [ 0. 0. 0. 1. ]] SLAMing on 28.106547614999993 meters Centerline goodness : 0.798418 Centerline is valid? [False, False] Translation: X:2.04, Y:0.47, Z:-0.35 [[ 0.84750206 0.45653366 -0.27077163 2.0427119 ] [-0.4495751 0.88858943 0.0910552 0.46619674] [ 0.28217457 0.04456272 0.95832754 -0.3518778 ] [ 0. 0. 0. 1. ]] SLAMing on 28.136547614999994 meters Centerline goodness : 0.797424 Centerline is valid? [False, False] Translation: X:2.00, Y:0.49, Z:-0.37 [[ 0.84999216 0.45712371 -0.26182291 1.99858698] [-0.44952556 0.88852342 0.09193972 0.49226333] [ 0.27466362 0.03954805 0.96072673 -0.36777331] [ 0. 0. 0. 1. ]] SLAMing on 28.166547614999995 meters Centerline goodness : 0.798116 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.39 [[ 0.85265338 0.45772496 -0.25193267 1.95185604] [-0.45099875 0.88823405 0.08740941 0.52002738] [ 0.26378464 0.03909139 0.96378915 -0.38539257] [ 0. 0. 0. 1. ]] SLAMing on 28.196547614999993 meters Centerline goodness : 0.798735 Centerline is valid? [False, False] Translation: X:1.92, Y:0.54, Z:-0.40 [[ 0.85269254 0.45844669 -0.25048367 1.9206317 ] [-0.4530715 0.88766631 0.08230878 0.53869795] [ 0.2600801 0.04330293 0.96461557 -0.39685134] [ 0. 0. 0. 1. ]] SLAMing on 28.226547614999994 meters Centerline goodness : 0.800632 Centerline is valid? [False, False] Translation: X:1.88, Y:0.56, Z:-0.41 [[ 0.85251734 0.46053151 -0.24723455 1.88247637] [-0.45363587 0.88685714 0.08774343 0.56241202] [ 0.25967035 0.03735166 0.9649747 -0.41061402] [ 0. 0. 0. 1. ]] SLAMing on 28.256547614999995 meters Centerline goodness : 0.797146 Centerline is valid? [False, False] Translation: X:1.84, Y:0.59, Z:-0.42 [[ 0.85157104 0.46399988 -0.2439895 1.8415592 ] [-0.45586908 0.88523739 0.09240208 0.58786523] [ 0.25886318 0.03254033 0.96536572 -0.42495725] [ 0. 0. 0. 1. ]] SLAMing on 28.286547614999993 meters Centerline goodness : 0.798068 Centerline is valid? [False, False] Translation: X:1.79, Y:0.61, Z:-0.44 [[ 0.85338781 0.46073796 -0.24382324 1.79260104] [-0.45315568 0.88689184 0.08984868 0.6103158 ] [ 0.25764154 0.03381412 0.96564871 -0.43894828] [ 0. 0. 0. 1. ]] SLAMing on 28.316547614999994 meters Centerline goodness : 0.801258 Centerline is valid? [False, False] Translation: X:1.76, Y:0.63, Z:-0.45 [[ 0.85765801 0.45724155 -0.23527196 1.76129975] [-0.44918366 0.88888793 0.09006825 0.6276881 ] [ 0.25031335 0.02843256 0.96774729 -0.45433952] [ 0. 0. 0. 1. ]] SLAMing on 28.346547614999995 meters Centerline goodness : 0.798672 Centerline is valid? [False, False] Translation: X:1.72, Y:0.65, Z:-0.47 [[ 0.86099776 0.4570893 -0.22305208 1.72129884] [-0.44601014 0.88933054 0.1008273 0.65360247] [ 0.2444541 0.01267141 0.96957807 -0.47490085] [ 0. 0. 0. 1. ]] SLAMing on 28.376547614999993 meters Centerline goodness : 0.795193 Centerline is valid? [False, False] Translation: X:1.68, Y:0.68, Z:-0.49 [[ 0.86080361 0.4599101 -0.21794459 1.67986958] [-0.44749953 0.88794498 0.1062915 0.67810999] [ 0.24240734 0.00603399 0.9701558 -0.4872629 ] [ 0. 0. 0. 1. ]] SLAMing on 28.406547614999994 meters Centerline goodness : 0.799757 Centerline is valid? [False, False] Translation: X:1.63, Y:0.70, Z:-0.50 [[ 0.86150136 0.45773826 -0.21975234 1.63387219] [-0.44894409 0.88886536 0.09147449 0.70111053] [ 0.23720162 0.01985112 0.9712576 -0.49864729] [ 0. 0. 0. 1. ]] SLAMing on 28.436547614999995 meters Centerline goodness : 0.807007 Centerline is valid? [False, False] Translation: X:1.59, Y:0.72, Z:-0.51 [[ 0.86311446 0.45348957 -0.22221757 1.59018683] [-0.44822188 0.89063281 0.07661819 0.72183249] [ 0.2326598 0.03347251 0.971982 -0.51102966] [ 0. 0. 0. 1. ]] SLAMing on 28.466547614999993 meters Centerline goodness : 0.809734 Centerline is valid? [False, False] Translation: X:1.55, Y:0.74, Z:-0.52 [[ 0.86360538 0.4550836 -0.21699003 1.55001426] [-0.44801944 0.8900991 0.08367897 0.7413297 ] [ 0.23122356 0.02495015 0.97258067 -0.52191115] [ 0. 0. 0. 1. ]] SLAMing on 28.496547614999994 meters Centerline goodness : 0.805648 Centerline is valid? [False, False] Translation: X:1.51, Y:0.77, Z:-0.54 [[ 0.86684905 0.45480921 -0.20425792 1.51105066] [-0.44466728 0.89055509 0.09582615 0.76504656] [ 0.22548554 0.00776001 0.97421561 -0.5401898 ] [ 0. 0. 0. 1. ]] SLAMing on 28.526547614999995 meters Centerline goodness : 0.805233 Centerline is valid? [False, False] Translation: X:1.49, Y:0.77, Z:-0.55 [[ 0.86793065 0.4504955 -0.20916547 1.49156366] [-0.44035937 0.89273085 0.09547388 0.77189766] [ 0.22973902 0.00924327 0.97320838 -0.54751298] [ 0. 0. 0. 1. ]] SLAMing on 28.556547614999992 meters Centerline goodness : 0.808429 Centerline is valid? [False, False] Translation: X:1.46, Y:0.78, Z:-0.56 [[ 0.87089239 0.44391203 -0.21092308 1.46384635] [-0.4354803 0.89593396 0.08751714 0.78371305] [ 0.22782306 0.01563484 0.97357702 -0.55873761] [ 0. 0. 0. 1. ]] SLAMing on 28.586547614999994 meters Centerline goodness : 0.811894 Centerline is valid? [False, False] Translation: X:1.43, Y:0.80, Z:-0.57 [[ 0.87357864 0.43990474 -0.20819266 1.43427037] [-0.43284277 0.89783362 0.08088215 0.79986868] [ 0.22250281 0.01945777 0.97473786 -0.56809794] [ 0. 0. 0. 1. ]] SLAMing on 28.616547614999995 meters Centerline goodness : 0.809973 Centerline is valid? [False, False] Translation: X:1.41, Y:0.81, Z:-0.58 [[ 0.87542401 0.43566359 -0.20935626 1.40692569] [-0.42953048 0.89981462 0.07640172 0.81246471] [ 0.22166727 0.023041 0.97485011 -0.57578842] [ 0. 0. 0. 1. ]] SLAMing on 28.646547614999992 meters Centerline goodness : 0.813076 Centerline is valid? [False, False] Translation: X:1.39, Y:0.82, Z:-0.58 [[ 0.87575724 0.43303311 -0.21338132 1.39078752] [-0.42596872 0.90114765 0.08052052 0.81598468] [ 0.22715612 0.02037734 0.97364514 -0.57982797] [ 0. 0. 0. 1. ]] SLAMing on 28.676547614999993 meters Centerline goodness : 0.813770 Centerline is valid? [False, False] Translation: X:1.36, Y:0.83, Z:-0.59 [[ 0.87701959 0.43273045 -0.20876063 1.35571951] [-0.42323591 0.90147935 0.09058885 0.82927175] [ 0.22739395 0.0089068 0.97376212 -0.58886057] [ 0. 0. 0. 1. ]] SLAMing on 28.706547614999995 meters Centerline goodness : 0.813247 Centerline is valid? [False, False] Translation: X:1.33, Y:0.84, Z:-0.60 [[ 0.87832446 0.43138292 -0.20604592 1.32586528] [-0.42286709 0.90209519 0.08606799 0.84389964] [ 0.2230013 0.01153442 0.97474991 -0.59895693] [ 0. 0. 0. 1. ]] SLAMing on 28.736547614999996 meters Centerline goodness : 0.813615 Centerline is valid? [False, False] Translation: X:1.29, Y:0.86, Z:-0.61 [[ 0.87914646 0.43191616 -0.20137015 1.28767111] [-0.4245735 0.9017955 0.0806364 0.86108556] [ 0.21642286 0.01460522 0.97619047 -0.60683338] [ 0. 0. 0. 1. ]] SLAMing on 28.766547614999993 meters Centerline goodness : 0.818138 Centerline is valid? [False, False] Translation: X:1.26, Y:0.88, Z:-0.62 [[ 0.87917773 0.43100014 -0.20318807 1.2560856 ] [-0.4254567 0.90206695 0.07253833 0.8778258 ] [ 0.21455327 0.02267364 0.97644908 -0.62109391] [ 0. 0. 0. 1. ]] SLAMing on 28.796547614999994 meters Centerline goodness : 0.814488 Centerline is valid? [False, False] Translation: X:1.21, Y:0.90, Z:-0.63 [[ 0.88026482 0.4305192 -0.19946696 1.21325946] [-0.42399258 0.90241889 0.07661874 0.89863117] [ 0.2129886 0.01712773 0.97690455 -0.63129037] [ 0. 0. 0. 1. ]] SLAMing on 28.826547614999996 meters Centerline goodness : 0.812634 Centerline is valid? [False, False] Translation: X:1.18, Y:0.91, Z:-0.64 [[ 0.88241713 0.42782993 -0.19570783 1.18261387] [-0.42226047 0.90364834 0.07152462 0.91425897] [ 0.20745143 0.01952513 0.97805045 -0.63864749] [ 0. 0. 0. 1. ]] SLAMing on 28.856547614999993 meters Centerline goodness : 0.814634 Centerline is valid? [False, False] Translation: X:1.15, Y:0.93, Z:-0.65 [[ 0.883771 0.42540352 -0.19488629 1.15423894] [-0.42061411 0.90472779 0.06746412 0.92757934] [ 0.20501852 0.02234909 0.9785029 -0.64747812] [ 0. 0. 0. 1. ]] SLAMing on 28.886547614999994 meters Centerline goodness : 0.812798 Centerline is valid? [False, False] Translation: X:1.12, Y:0.94, Z:-0.66 [[ 0.88497491 0.42386774 -0.19275775 1.11905251] [-0.41768808 0.90559525 0.07371504 0.94470461] [ 0.20580593 0.01527665 0.97847358 -0.65943947] [ 0. 0. 0. 1. ]] SLAMing on 28.916547614999995 meters Centerline goodness : 0.811361 Centerline is valid? [False, False] Translation: X:1.09, Y:0.96, Z:-0.67 [[ 0.88530523 0.42351372 -0.19201764 1.09221814] [-0.41812513 0.90570145 0.06983018 0.96015526] [ 0.20348469 0.01846637 0.97890396 -0.67083106] [ 0. 0. 0. 1. ]] SLAMing on 28.946547614999993 meters Centerline goodness : 0.810667 Centerline is valid? [False, False] Translation: X:1.06, Y:0.98, Z:-0.68 [[ 0.88577277 0.42351472 -0.189847 1.05715637] [-0.41942433 0.90558233 0.06327621 0.9784926 ] [ 0.19872049 0.0235781 0.97977254 -0.68043742] [ 0. 0. 0. 1. ]] SLAMing on 28.976547614999994 meters Centerline goodness : 0.809440 Centerline is valid? [False, False] Translation: X:1.02, Y:1.00, Z:-0.70 [[ 0.8876399 0.42287323 -0.18241064 1.0192832 ] [-0.41901234 0.90591828 0.06116155 1.00143707] [ 0.19111271 0.02214288 0.98131831 -0.69629557] [ 0. 0. 0. 1. ]] SLAMing on 29.006547614999995 meters Centerline goodness : 0.809549 Centerline is valid? [False, False] Translation: X:0.99, Y:1.02, Z:-0.71 [[ 0.8870926 0.42401858 -0.18241425 0.99184867] [-0.42090975 0.90528431 0.0574047 1.0177939 ] [ 0.18947742 0.02585665 0.98154457 -0.70813013] [ 0. 0. 0. 1. ]] SLAMing on 29.036547614999993 meters Centerline goodness : 0.809718 Centerline is valid? [False, False] Translation: X:0.96, Y:1.03, Z:-0.72 [[ 0.88814251 0.42183798 -0.18236116 0.96018568] [-0.41993557 0.90612726 0.05086753 1.03317626] [ 0.18670027 0.03140233 0.98191492 -0.71749831] [ 0. 0. 0. 1. ]] SLAMing on 29.066547614999994 meters Centerline goodness : 0.812783 Centerline is valid? [False, False] Translation: X:0.93, Y:1.05, Z:-0.73 [[ 0.88999102 0.41885307 -0.18021681 0.9284031 ] [-0.41781908 0.90738818 0.04554013 1.04574803] [ 0.18260122 0.03476771 0.98257213 -0.72513754] [ 0. 0. 0. 1. ]] SLAMing on 29.096547614999995 meters Centerline goodness : 0.807090 Centerline is valid? [False, False] Translation: X:0.89, Y:1.06, Z:-0.73 [[ 0.89255466 0.41557888 -0.1750439 0.8902474 ] [-0.41269552 0.90924714 0.05433265 1.05890647] [ 0.18173767 0.02374497 0.98306032 -0.73011175] [ 0. 0. 0. 1. ]] SLAMing on 29.126547614999993 meters Centerline goodness : 0.805102 Centerline is valid? [False, False] Translation: X:0.87, Y:1.07, Z:-0.74 [[ 0.89665187 0.4092805 -0.16883394 0.86832934] [-0.40455392 0.91233348 0.06311693 1.06807555] [ 0.17986538 0.01170852 0.98362155 -0.73840616] [ 0. 0. 0. 1. ]] SLAMing on 29.156547614999994 meters Centerline goodness : 0.804128 Centerline is valid? [False, False] Translation: X:0.85, Y:1.08, Z:-0.74 [[ 0.89765778 0.40507417 -0.17356681 0.84679234] [-0.40033671 0.91419353 0.06309285 1.07531754] [ 0.18423094 0.01284937 0.98279899 -0.74250182] [ 0. 0. 0. 1. ]] SLAMing on 29.186547614999995 meters Centerline goodness : 0.818367 Centerline is valid? [False, False] Translation: X:0.81, Y:1.09, Z:-0.75 [[ 0.90316664 0.39302436 -0.1726901 0.81154556] [-0.39053789 0.91924933 0.04960672 1.08639105] [ 0.17824191 0.02263889 0.98372623 -0.74695438] [ 0. 0. 0. 1. ]] SLAMing on 29.216547614999993 meters Centerline goodness : 0.816005 Centerline is valid? [False, False] Translation: X:0.79, Y:1.10, Z:-0.76 [[ 0.90716383 0.38813972 -0.16248491 0.78503624] [-0.38488834 0.9214776 0.05234501 1.09921096] [ 0.17004338 0.01505305 0.9853216 -0.75708985] [ 0. 0. 0. 1. ]] SLAMing on 29.246547614999994 meters Centerline goodness : 0.816149 Centerline is valid? [False, False] Translation: X:0.76, Y:1.11, Z:-0.76 [[ 0.90942718 0.38643589 -0.15365387 0.76261373] [-0.38256103 0.92227677 0.05525048 1.11206371] [ 0.16306216 0.00853569 0.98657887 -0.76338977] [ 0. 0. 0. 1. ]] SLAMing on 29.276547614999995 meters Centerline goodness : 0.815077 Centerline is valid? [False, False] Translation: X:0.74, Y:1.13, Z:-0.77 [[ 0.91068516 0.3845318 -0.1509564 0.73610018] [-0.38112875 0.92305606 0.05204223 1.12586179] [ 0.15935311 0.01013973 0.98716958 -0.77062253] [ 0. 0. 0. 1. ]] SLAMing on 29.306547614999992 meters Centerline goodness : 0.814740 Centerline is valid? [False, False] Translation: X:0.71, Y:1.14, Z:-0.78 [[ 0.91105732 0.38471712 -0.14821371 0.7065425 ] [-0.3819752 0.92294076 0.04770008 1.14194797] [ 0.15514352 0.01315646 0.98780433 -0.77936024] [ 0. 0. 0. 1. ]] SLAMing on 29.336547614999994 meters Centerline goodness : 0.816345 Centerline is valid? [False, False] Translation: X:0.68, Y:1.16, Z:-0.79 [[ 0.91171384 0.38485033 -0.14376406 0.67696325] [-0.38275715 0.92284446 0.0430706 1.15872791] [ 0.1492476 0.01575866 0.98867427 -0.7868852 ] [ 0. 0. 0. 1. ]] SLAMing on 29.366547614999995 meters Centerline goodness : 0.821438 Centerline is valid? [False, False] Translation: X:0.65, Y:1.17, Z:-0.79 [[ 0.91158315 0.38613138 -0.14113367 0.64640285] [-0.3845809 0.92225775 0.0392195 1.1748371 ] [ 0.1453055 0.01852548 0.98921338 -0.79493571] [ 0. 0. 0. 1. ]] SLAMing on 29.396547614999992 meters Centerline goodness : 0.818791 Centerline is valid? [False, False] Translation: X:0.61, Y:1.19, Z:-0.80 [[ 0.90884652 0.39381372 -0.13750916 0.61232458] [-0.39233125 0.91900184 0.03888206 1.19420226] [ 0.14168346 0.01861132 0.98973704 -0.80232844] [ 0. 0. 0. 1. ]] SLAMing on 29.426547614999993 meters Centerline goodness : 0.819160 Centerline is valid? [False, False] Translation: X:0.59, Y:1.21, Z:-0.81 [[ 0.90685078 0.39768781 -0.13952087 0.58573846] [-0.39639454 0.91728713 0.03815348 1.20772397] [ 0.14315387 0.02070579 0.98948382 -0.81205122] [ 0. 0. 0. 1. ]] SLAMing on 29.456547614999995 meters Centerline goodness : 0.820605 Centerline is valid? [False, False] Translation: X:0.57, Y:1.21, Z:-0.82 [[ 0.90545516 0.39965041 -0.14293528 0.5686506 ] [-0.3977856 0.91648626 0.04265628 1.21331538] [ 0.14804582 0.01823425 0.98881239 -0.8197088 ] [ 0. 0. 0. 1. ]] SLAMing on 29.486547614999992 meters Centerline goodness : 0.811998 Centerline is valid? [False, False] Translation: X:0.54, Y:1.22, Z:-0.83 [[ 0.90679246 0.39853742 -0.13746036 0.54099981] [-0.39672157 0.91699742 0.04156586 1.22493245] [ 0.14261635 0.01684188 0.98963474 -0.82500424] [ 0. 0. 0. 1. ]] SLAMing on 29.516547614999993 meters Centerline goodness : 0.814122 Centerline is valid? [False, False] Translation: X:0.52, Y:1.24, Z:-0.83 [[ 0.90939066 0.39472583 -0.13114934 0.52014534] [-0.39272611 0.91870104 0.04188787 1.235619 ] [ 0.13702126 0.01341334 0.99047729 -0.82889839] [ 0. 0. 0. 1. ]] SLAMing on 29.546547614999994 meters Centerline goodness : 0.816545 Centerline is valid? [False, False] Translation: X:0.49, Y:1.25, Z:-0.83 [[ 0.9112678 0.39175087 -0.12697347 0.48959792] [-0.39038127 0.91992758 0.03654738 1.24894591] [ 0.13112387 0.01626361 0.99123258 -0.83471328] [ 0. 0. 0. 1. ]] SLAMing on 29.576547614999996 meters Centerline goodness : 0.819041 Centerline is valid? [False, False] Translation: X:0.46, Y:1.26, Z:-0.84 [[ 0.91396967 0.38552812 -0.1265998 0.45747892] [-0.38518705 0.92240873 0.02816135 1.25981019] [ 0.12763375 0.02302598 0.99155405 -0.84002765] [ 0. 0. 0. 1. ]] SLAMing on 29.606547614999993 meters Centerline goodness : 0.820630 Centerline is valid? [False, False] Translation: X:0.43, Y:1.27, Z:-0.85 [[ 0.91507685 0.38206606 -0.12907314 0.43250421] [-0.38198164 0.92379281 0.02639835 1.26694441] [ 0.12932276 0.02514705 0.99128364 -0.8451777 ] [ 0. 0. 0. 1. ]] SLAMing on 29.636547614999994 meters Centerline goodness : 0.816857 Centerline is valid? [False, False] Translation: X:0.41, Y:1.28, Z:-0.85 [[ 0.91477134 0.38317564 -0.12794461 0.40892516] [-0.38263344 0.92342021 0.02977869 1.27532452] [ 0.1295571 0.0217152 0.99133416 -0.85020536] [ 0. 0. 0. 1. ]] SLAMing on 29.666547614999995 meters Centerline goodness : 0.812796 Centerline is valid? [False, False] Translation: X:0.38, Y:1.29, Z:-0.86 [[ 0.9143127 0.3859574 -0.12275653 0.37879158] [-0.3832594 0.92250233 0.0458441 1.28580546] [ 0.13093706 0.00513175 0.9913774 -0.85702165] [ 0. 0. 0. 1. ]] SLAMing on 29.696547614999993 meters Centerline goodness : 0.808067 Centerline is valid? [False, False] Translation: X:0.36, Y:1.30, Z:-0.86 [[ 0.91808897 0.3783884 -0.11804601 0.35829077] [-0.3748944 0.92564231 0.05138588 1.29535451] [ 0.1287122 -0.00292203 0.99167769 -0.86480775] [ 0. 0. 0. 1. ]] SLAMing on 29.726547614999994 meters Centerline goodness : 0.812699 Centerline is valid? [False, False] Translation: X:0.32, Y:1.31, Z:-0.87 [[ 0.91985709 0.37380974 -0.11886639 0.32055191] [-0.37170356 0.92747788 0.04026462 1.30894492] [ 0.12529725 0.00714536 0.99209352 -0.869403 ] [ 0. 0. 0. 1. ]] SLAMing on 29.756547614999995 meters Centerline goodness : 0.816494 Centerline is valid? [False, False] Translation: X:0.29, Y:1.32, Z:-0.88 [[ 0.92066706 0.3715795 -0.11958608 0.28645334] [-0.37041525 0.92829206 0.03265582 1.31947478] [ 0.12314504 0.01423137 0.99228664 -0.87656053] [ 0. 0. 0. 1. ]] SLAMing on 29.786547614999993 meters Centerline goodness : 0.815522 Centerline is valid? [False, False] Translation: X:0.27, Y:1.32, Z:-0.88 [[ 0.91995806 0.37331042 -0.11965155 0.27014986] [-0.37095355 0.92769006 0.04224485 1.32476119] [ 0.12677 0.00552168 0.99191677 -0.87705102] [ 0. 0. 0. 1. ]] SLAMing on 29.816547614999994 meters Centerline goodness : 0.810246 Centerline is valid? [False, False] Translation: X:0.25, Y:1.33, Z:-0.88 [[ 0.92310516 0.36778098 -0.11231213 0.24674636] [-0.36428253 0.92989214 0.05097896 1.33306456] [ 0.12318726 -0.00614559 0.99236441 -0.88307459] [ 0. 0. 0. 1. ]] SLAMing on 29.846547614999995 meters Centerline goodness : 0.810246 Centerline is valid? [False, False] Translation: X:0.25, Y:1.33, Z:-0.88 [[ 0.92310516 0.36778098 -0.11231213 0.24674636] [-0.36428253 0.92989214 0.05097896 1.33306456] [ 0.12318726 -0.00614559 0.99236441 -0.88307459] [ 0. 0. 0. 1. ]] SLAMing on 29.876547614999993 meters Centerline goodness : 0.810932 Centerline is valid? [False, False] Translation: X:0.25, Y:1.33, Z:-0.88 [[ 0.92458176 0.36357082 -0.11386322 0.24688888] [-0.36047238 0.93156228 0.04744881 1.32855513] [ 0.12332168 -0.00282576 0.99236272 -0.88481645] [ 0. 0. 0. 1. ]] SLAMing on 29.906547614999994 meters Centerline goodness : 0.811684 Centerline is valid? [False, False] Translation: X:0.23, Y:1.34, Z:-0.89 [[ 0.92658616 0.35978034 -0.10952712 0.22583872] [-0.35670733 0.9330256 0.04714981 1.33681215] [ 0.11915518 -0.00461924 0.9928649 -0.88961679] [ 0. 0. 0. 1. ]] SLAMing on 29.936547614999995 meters Centerline goodness : 0.810966 Centerline is valid? [False, False] Translation: X:0.19, Y:1.35, Z:-0.89 [[ 0.92734727 0.35977631 -0.10289825 0.19457381] [-0.35696767 0.93302438 0.04516189 1.35045579] [ 0.11225475 -0.00514941 0.99366612 -0.89398389] [ 0. 0. 0. 1. ]] SLAMing on 29.966547614999993 meters Centerline goodness : 0.813099 Centerline is valid? [False, False] Translation: X:0.16, Y:1.36, Z:-0.90 [[ 0.92771242 0.35860451 -0.10369415 0.16151141] [-0.35660619 0.93348773 0.03785087 1.3647345 ] [ 0.11037071 0.00186325 0.99388874 -0.8995673 ] [ 0. 0. 0. 1. ]] SLAMing on 29.996547614999994 meters Centerline goodness : 0.814735 Centerline is valid? [False, False] Translation: X:0.16, Y:1.36, Z:-0.90 [[ 0.92916339 0.3541659 -0.1059335 0.1634364 ] [-0.35270708 0.9351575 0.03283557 1.36293395] [ 0.11069374 0.00685389 0.99383093 -0.90308498] [ 0. 0. 0. 1. ]] SLAMing on 30.026547614999995 meters Centerline goodness : 0.815385 Centerline is valid? [False, False] Translation: X:0.14, Y:1.37, Z:-0.90 [[ 0.93243308 0.34719911 -0.10010661 0.13839542] [-0.34575336 0.93777933 0.03200863 1.36595705] [ 0.10499128 0.00476629 0.99446172 -0.90487491] [ 0. 0. 0. 1. ]] SLAMing on 30.056547614999992 meters Centerline goodness : 0.813358 Centerline is valid? [False, False] Translation: X:0.11, Y:1.37, Z:-0.91 [[ 0.93715787 0.33834213 -0.08520408 0.11090726] [-0.33604932 0.94097802 0.04038823 1.37239784] [ 0.0938402 -0.00921738 0.9955446 -0.90772729] [ 0. 0. 0. 1. ]] SLAMing on 30.086547614999994 meters Centerline goodness : 0.814065 Centerline is valid? [False, False] Translation: X:0.09, Y:1.38, Z:-0.91 [[ 0.93997323 0.33335388 -0.07297617 0.08597088] [-0.33073679 0.94261265 0.0457664 1.38254803] [ 0.08404467 -0.01888329 0.99628305 -0.91440416] [ 0. 0. 0. 1. ]] SLAMing on 30.116547614999995 meters Centerline goodness : 0.810376 Centerline is valid? [False, False] Translation: X:0.08, Y:1.38, Z:-0.91 [[ 0.94091123 0.33043831 -0.07413897 0.08394183] [-0.32815005 0.94371244 0.04152568 1.38335432] [ 0.08368754 -0.01474327 0.99638297 -0.91463689] [ 0. 0. 0. 1. ]] SLAMing on 30.146547614999992 meters Centerline goodness : 0.815865 Centerline is valid? [False, False] Translation: X:0.08, Y:1.39, Z:-0.92 [[ 0.94221482 0.32633688 -0.07573295 0.07581432] [-0.32478324 0.94523525 0.03234444 1.38585637] [ 0.08214064 -0.00587861 0.99660341 -0.91651701] [ 0. 0. 0. 1. ]] SLAMing on 30.176547614999993 meters Centerline goodness : 0.822321 Centerline is valid? [False, False] Translation: X:0.05, Y:1.40, Z:-0.92 [[ 0.94292454 0.32537569 -0.07088004 0.04693971] [-0.32413721 0.9455762 0.02864808 1.39839471] [ 0.07634387 -0.00403812 0.99707337 -0.91988771] [ 0. 0. 0. 1. ]] SLAMing on 30.206547614999995 meters Centerline goodness : 0.816353 Centerline is valid? [False, False] Translation: X:0.03, Y:1.41, Z:-0.92 [[ 0.94301435 0.32631062 -0.06515612 0.02670614] [-0.32479077 0.94521021 0.03299409 1.40999091] [ 0.07235256 -0.00995179 0.99732947 -0.92335209] [ 0. 0. 0. 1. ]] SLAMing on 30.236547614999992 meters Centerline goodness : 0.811202 Centerline is valid? [False, False] Translation: X:0.02, Y:1.41, Z:-0.93 [[ 0.94300107 0.32558267 -0.06888326 0.02079074] [-0.32324198 0.94533538 0.04307702 1.41234399] [ 0.07914291 -0.01835572 0.99669427 -0.92650912] [ 0. 0. 0. 1. ]] SLAMing on 30.266547614999993 meters Centerline goodness : 0.810046 Centerline is valid? [False, False] Translation: X:0.00, Y:1.42, Z:-0.93 [[ 0.94227883 0.32696167 -0.07215731 0.0022273 ] [-0.32411759 0.94477522 0.04845169 1.41927306] [ 0.08401429 -0.02226755 0.99621572 -0.92956697] [ 0. 0. 0. 1. ]] SLAMing on 30.296547614999994 meters Centerline goodness : 0.811303 Centerline is valid? [False, False] Translation: X:-0.02, Y:1.43, Z:-0.93 [[ 0.94188366 0.32932235 -0.06634732 -0.02374153] [-0.32769354 0.9441573 0.03440845 1.43253361] [ 0.07397377 -0.01066717 0.99720313 -0.93289934] [ 0. 0. 0. 1. ]] SLAMing on 30.326547614999992 meters Centerline goodness : 0.815341 Centerline is valid? [False, False] Translation: X:-0.06, Y:1.45, Z:-0.94 [[ 0.94224804 0.32923196 -0.06144059 -0.05968983] [-0.32812176 0.94423069 0.02764993 1.44758073] [ 0.06711733 -0.0058931 0.99772769 -0.93704522] [ 0. 0. 0. 1. ]] SLAMing on 30.356547614999993 meters Centerline goodness : 0.811605 Centerline is valid? [False, False] Translation: X:-0.08, Y:1.46, Z:-0.95 [[ 0.94274429 0.32891826 -0.05519049 -0.08404207] [-0.32731522 0.94422196 0.03618898 1.4618485 ] [ 0.06401529 -0.01605227 0.99781981 -0.94821674] [ 0. 0. 0. 1. ]] SLAMing on 30.386547614999994 meters Centerline goodness : 0.806743 Centerline is valid? [False, False] Translation: X:-0.10, Y:1.48, Z:-0.95 [[ 0.94212115 0.33084833 -0.05428736 -0.10238615] [-0.32903795 0.94348147 0.03970828 1.4750875 ] [ 0.06435653 -0.01954741 0.9977355 -0.95450412] [ 0. 0. 0. 1. ]] SLAMing on 30.416547614999995 meters Centerline goodness : 0.809157 Centerline is valid? [False, False] Translation: X:-0.14, Y:1.49, Z:-0.96 [[ 0.94220794 0.33114881 -0.05083966 -0.13591551] [-0.32975805 0.94345639 0.03390686 1.48993566] [ 0.05919321 -0.01518252 0.99813108 -0.9583875 ] [ 0. 0. 0. 1. ]] SLAMing on 30.446547614999993 meters Centerline goodness : 0.810649 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.49, Z:-0.96 [[ 0.94260198 0.32997519 -0.05116527 -0.14880302] [-0.32895204 0.9439457 0.02751497 1.49347519] [ 0.05737649 -0.00910475 0.99831109 -0.95503424] [ 0. 0. 0. 1. ]] SLAMing on 30.476547614999994 meters Centerline goodness : 0.814258 Centerline is valid? [False, False] Translation: X:-0.15, Y:1.49, Z:-0.96 [[ 0.94364219 0.32683003 -0.05216848 -0.1502212 ] [-0.32603624 0.94507 0.02330362 1.49326295] [ 0.05691919 -0.00498146 0.99836636 -0.95619531] [ 0. 0. 0. 1. ]] SLAMing on 30.506547614999995 meters Centerline goodness : 0.809118 Centerline is valid? [False, False] Translation: X:-0.17, Y:1.50, Z:-0.97 [[ 0.94537616 0.32277508 -0.04560872 -0.1699598 ] [-0.32139748 0.94629517 0.03505865 1.50131005] [ 0.05447537 -0.01848509 0.998344 -0.96554734] [ 0. 0. 0. 1. ]] SLAMing on 30.536547614999993 meters Centerline goodness : 0.804174 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.50, Z:-0.97 [[ 0.94782891 0.31670608 -0.03629891 -0.17713685] [-0.31542397 0.94823009 0.03697854 1.50469335] [ 0.04613105 -0.02359979 0.99865659 -0.97177571] [ 0. 0. 0. 1. ]] SLAMing on 30.566547614999994 meters Centerline goodness : 0.806323 Centerline is valid? [False, False] Translation: X:-0.18, Y:1.51, Z:-0.97 [[ 0.94869495 0.31402063 -0.03699925 -0.17962573] [-0.31290915 0.94921316 0.0328975 1.50667278] [ 0.04545067 -0.01963229 0.99877365 -0.97143343] [ 0. 0. 0. 1. ]] SLAMing on 30.596547614999995 meters Centerline goodness : 0.809189 Centerline is valid? [False, False] Translation: X:-0.21, Y:1.52, Z:-0.98 [[ 0.94796723 0.31626626 -0.03652093 -0.21292214] [-0.31540537 0.94855927 0.0274731 1.52020409] [ 0.04333108 -0.0145247 0.99895518 -0.97542186] [ 0. 0. 0. 1. ]] SLAMing on 30.626547614999993 meters Centerline goodness : 0.807873 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.53, Z:-0.98 [[ 0.94851502 0.31434636 -0.03880238 -0.23828432] [-0.31367034 0.94926327 0.02258671 1.53164661] [ 0.04393372 -0.00925268 0.9989916 -0.98269099] [ 0. 0. 0. 1. ]] SLAMing on 30.656547614999994 meters Centerline goodness : 0.807503 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.53, Z:-0.98 [[ 0.94957079 0.31108062 -0.0392958 -0.24076273] [-0.31054083 0.95036367 0.0193206 1.52985208] [ 0.04335556 -0.00614333 0.99904082 -0.98223751] [ 0. 0. 0. 1. ]] SLAMing on 30.686547614999995 meters Centerline goodness : 0.807854 Centerline is valid? [False, False] Translation: X:-0.24, Y:1.53, Z:-0.98 [[ 0.94980806 0.31032585 -0.03952852 -0.23928424] [-0.30976585 0.95060802 0.01973612 1.52794767] [ 0.04370076 -0.00650094 0.99902351 -0.98267459] [ 0. 0. 0. 1. ]] SLAMing on 30.716547614999993 meters Centerline goodness : 0.803533 Centerline is valid? [False, False] Translation: X:-0.25, Y:1.53, Z:-0.99 [[ 0.9522742 0.30382144 -0.0294343 -0.247695 ] [-0.30320201 0.95263097 0.02372291 1.52824854] [ 0.03524755 -0.01366617 0.99928517 -0.9880868 ] [ 0. 0. 0. 1. ]] SLAMing on 30.746547614999994 meters Centerline goodness : 0.806562 Centerline is valid? [False, False] Translation: X:-0.27, Y:1.54, Z:-0.99 [[ 0.95455786 0.29722089 -0.02188689 -0.27457955] [-0.29686774 0.95474899 0.01799754 1.53502884] [ 0.02624573 -0.01068218 0.99959845 -0.98751593] [ 0. 0. 0. 1. ]] SLAMing on 30.776547614999995 meters Centerline goodness : 0.810289 Centerline is valid? [False, False] Translation: X:-0.28, Y:1.53, Z:-0.99 [[ 0.95513851 0.29531952 -0.02228921 -0.27906392] [-0.29505052 0.95537015 0.01459656 1.5341563 ] [ 0.0256051 -0.0073653 0.999645 -0.98611217] [ 0. 0. 0. 1. ]] SLAMing on 30.806547614999992 meters Centerline goodness : 0.806667 Centerline is valid? [False, False] Translation: X:-0.29, Y:1.54, Z:-0.99 [[ 0.95454926 0.2968392 -0.02687395 -0.28917557] [-0.29628106 0.95482653 0.02288739 1.53803861] [ 0.03245384 -0.0138849 0.99937678 -0.98980985] [ 0. 0. 0. 1. ]] SLAMing on 30.836547614999994 meters Centerline goodness : 0.805167 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.55, Z:-0.99 [[ 0.9544321 0.29735755 -0.02525572 -0.31510567] [-0.29686457 0.95467717 0.0215156 1.54980012] [ 0.03050888 -0.01303765 0.99944946 -0.99465689] [ 0. 0. 0. 1. ]] SLAMing on 30.866547614999995 meters Centerline goodness : 0.804800 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.55, Z:-0.99 [[ 0.95626639 0.29130039 -0.0264325 -0.32046106] [-0.29098595 0.95660759 0.01513583 1.54794897] [ 0.0296946 -0.0067824 0.99953601 -0.99173461] [ 0. 0. 0. 1. ]] SLAMing on 30.896547614999992 meters Centerline goodness : 0.806181 Centerline is valid? [False, False] Translation: X:-0.32, Y:1.55, Z:-0.99 [[ 0.95755281 0.28693957 -0.02753733 -0.31951487] [-0.28672542 0.95794356 0.01151821 1.54623299] [ 0.02968424 -0.00313364 0.99955441 -0.99305371] [ 0. 0. 0. 1. ]] SLAMing on 30.926547614999993 meters Centerline goodness : 0.797604 Centerline is valid? [False, False] Translation: X:-0.34, Y:1.55, Z:-1.00 [[ 0.95893473 0.28292524 -0.01993734 -0.33550683] [-0.28229751 0.95887708 0.0293744 1.55407501] [ 0.02742822 -0.02253987 0.99936962 -0.99972622] [ 0. 0. 0. 1. ]] SLAMing on 30.956547614999995 meters Centerline goodness : 0.795378 Centerline is valid? [False, False] Translation: X:-0.36, Y:1.57, Z:-1.00 [[ 0.95914073 0.28256194 -0.01441583 -0.35833825] [-0.28205574 0.95893801 0.02970595 1.56619787] [ 0.02221766 -0.02442612 0.99945472 -1.0045663 ] [ 0. 0. 0. 1. ]] SLAMing on 30.986547614999992 meters Centerline goodness : 0.801835 Centerline is valid? [False, False] Translation: X:-0.39, Y:1.58, Z:-1.01 [[ 0.95792564 0.28680465 -0.01102513 -0.38820529] [-0.28666238 0.95794521 0.01287035 1.57848763] [ 0.01425274 -0.00916835 0.99985639 -1.006853 ] [ 0. 0. 0. 1. ]] SLAMing on 31.016547614999993 meters Centerline goodness : 0.803733 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.59, Z:-1.01 [[ 0.95553438 0.29476603 -0.00818768 -0.42404208] [-0.29481097 0.95554283 -0.00493973 1.59347991] [ 0.00636762 0.0071339 0.99995428 -1.01029401] [ 0. 0. 0. 1. ]] SLAMing on 31.046547614999994 meters Centerline goodness : 0.803259 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.59, Z:-1.02 [[ 0.95586914 0.29365557 -0.00897724 -0.41436918] [-0.29369589 0.95589238 -0.00353329 1.59366714] [ 0.0075437 0.00601394 0.99995346 -1.01519072] [ 0. 0. 0. 1. ]] SLAMing on 31.076547614999992 meters Centerline goodness : 0.801103 Centerline is valid? [False, False] Translation: X:-0.44, Y:1.60, Z:-1.02 [[ 0.95709401 0.28976133 -0.00307007 -0.43873473] [-0.28973074 0.95707606 0.00784255 1.60105821] [ 0.00521075 -0.00661656 0.99996453 -1.01756713] [ 0. 0. 0. 1. ]] SLAMing on 31.106547614999993 meters Centerline goodness : 0.796724 Centerline is valid? [False, False] Translation: X:-0.45, Y:1.61, Z:-1.02 [[ 0.9599354 0.28007773 0.0089715 -0.44694671] [-0.2802021 0.95975288 0.0190049 1.60504436] [-0.00328758 -0.02075731 0.99977914 -1.02457904] [ 0. 0. 0. 1. ]] SLAMing on 31.136547614999994 meters Centerline goodness : 0.794292 Centerline is valid? [False, False] Translation: X:-0.45, Y:1.61, Z:-1.02 [[ 0.95977219 0.28062704 0.00926332 -0.44813095] [-0.28075651 0.95959555 0.01876573 1.60748206] [-0.00362286 -0.02061157 0.999781 -1.02378981] [ 0. 0. 0. 1. ]] SLAMing on 31.166547614999995 meters Centerline goodness : 0.798940 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.61, Z:-1.02 [[ 0.95897062 0.28332208 0.01019523 -0.46012545] [-0.28345699 0.95885141 0.01600339 1.61114249] [-0.0052416 -0.01823669 0.99981996 -1.01949437] [ 0. 0. 0. 1. ]] SLAMing on 31.196547614999993 meters Centerline goodness : 0.800920 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.61, Z:-1.02 [[ 0.95887825 0.28364758 0.00982609 -0.46700265] [-0.28373907 0.95885285 0.00966179 1.61497329] [-0.00668123 -0.01205253 0.99990504 -1.02241116] [ 0. 0. 0. 1. ]] SLAMing on 31.226547614999994 meters Centerline goodness : 0.797873 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.63, Z:-1.03 [[ 0.95798065 0.28657782 0.01209228 -0.49244196] [-0.28670286 0.95796424 0.01029471 1.62691506] [-0.00863374 -0.01332903 0.99987389 -1.02780642] [ 0. 0. 0. 1. ]] SLAMing on 31.256547614999995 meters Centerline goodness : 0.799418 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.64, Z:-1.03 [[ 0.95825503 0.28519121 0.02032892 -0.51439252] [-0.28547826 0.95829798 0.01292824 1.63703492] [-0.01579414 -0.01819202 0.99970976 -1.02661349] [ 0. 0. 0. 1. ]] SLAMing on 31.286547614999993 meters Centerline goodness : 0.800159 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.64, Z:-1.03 [[ 0.9591721 0.28214072 0.01963428 -0.51599801] [-0.28235119 0.95927006 0.00887448 1.63872169] [-0.01633073 -0.01405592 0.99976784 -1.0261665 ] [ 0. 0. 0. 1. ]] SLAMing on 31.316547614999994 meters Centerline goodness : 0.799604 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.64, Z:-1.03 [[ 0.95975002 0.28027045 0.01812131 -0.51012601] [-0.28043281 0.95984746 0.00709176 1.63889995] [-0.01540608 -0.01188813 0.99981064 -1.03124172] [ 0. 0. 0. 1. ]] SLAMing on 31.346547614999995 meters Centerline goodness : 0.799762 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.65, Z:-1.03 [[ 0.96015476 0.27870053 0.02070872 -0.53201772] [-0.27892511 0.96027225 0.00883122 1.64843885] [-0.01742474 -0.01425552 0.99974655 -1.03325724] [ 0. 0. 0. 1. ]] SLAMing on 31.376547614999993 meters Centerline goodness : 0.801418 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.65, Z:-1.03 [[ 0.95991789 0.27947368 0.0212629 -0.53405247] [-0.27970958 0.96004234 0.00901372 1.64963101] [-0.01789419 -0.01459987 0.99973329 -1.03191664] [ 0. 0. 0. 1. ]] SLAMing on 31.406547614999994 meters Centerline goodness : 0.804106 Centerline is valid? [False, False] Translation: X:-0.54, Y:1.65, Z:-1.03 [[ 0.95993259 0.27939476 0.0216331 -0.54128936] [-0.27959344 0.96009498 0.00671866 1.65081379] [-0.01889267 -0.01249793 0.9997434 -1.02761126] [ 0. 0. 0. 1. ]] SLAMing on 31.436547614999995 meters Centerline goodness : 0.804250 Centerline is valid? [False, False] Translation: X:-0.54, Y:1.65, Z:-1.03 [[ 0.96061185 0.27707523 0.02131181 -0.54453533] [-0.27719959 0.96080748 0.00306212 1.65130061] [-0.01962811 -0.00884913 0.99976819 -1.02657818] [ 0. 0. 0. 1. ]] SLAMing on 31.466547614999993 meters Centerline goodness : 0.800440 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.65, Z:-1.03 [[ 0.96043378 0.27787615 0.01875656 -0.56073688] [-0.27811529 0.96047773 0.01159396 1.65470875] [-0.01479357 -0.01635172 0.99975686 -1.0257655 ] [ 0. 0. 0. 1. ]] SLAMing on 31.496547614999994 meters Centerline goodness : 0.801286 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.66, Z:-1.03 [[ 0.9606707 0.27708694 0.01829287 -0.55834178] [-0.27730537 0.96072238 0.01068829 1.65501899] [-0.01461278 -0.01534064 0.99977554 -1.02842847] [ 0. 0. 0. 1. ]] SLAMing on 31.526547614999995 meters Centerline goodness : 0.801945 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.66, Z:-1.03 [[ 0.96133667 0.27479208 0.01791965 -0.5607293 ] [-0.27494396 0.9614376 0.00660024 1.6568696 ] [-0.01541493 -0.01127195 0.99981764 -1.02878647] [ 0. 0. 0. 1. ]] SLAMing on 31.556547614999992 meters Centerline goodness : 0.801125 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.66, Z:-1.03 [[ 0.96229514 0.27106995 0.02256442 -0.58129209] [-0.27128711 0.96247201 0.0071364 1.66467779] [-0.01978316 -0.01298876 0.99971992 -1.03016952] [ 0. 0. 0. 1. ]] SLAMing on 31.586547614999994 meters Centerline goodness : 0.803029 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.67, Z:-1.03 [[ 0.96276447 0.26941861 0.02232016 -0.58483151] [-0.26956371 0.9629754 0.00371237 1.66701332] [-0.02049358 -0.00959085 0.99974398 -1.02856518] [ 0. 0. 0. 1. ]] SLAMing on 31.616547614999995 meters Centerline goodness : 0.804073 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.67, Z:-1.03 [[ 0.96338466 0.26732027 0.02073332 -0.57896305] [-0.26742429 0.96357597 0.0023665 1.66654506] [-0.01934551 -0.00782444 0.99978224 -1.03265587] [ 0. 0. 0. 1. ]] SLAMing on 31.646547614999992 meters Centerline goodness : 0.801622 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.67, Z:-1.03 [[ 9.63624576e-01 2.66495700e-01 2.01920270e-02 -5.76408192e-01] [-2.66578597e-01 9.63812044e-01 1.48190943e-03 1.66769753e+00] [-1.90663964e-02 -6.81076659e-03 9.99795022e-01 -1.03488344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.676547614999993 meters Centerline goodness : 0.805140 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.67, Z:-1.03 [[ 9.64559292e-01 2.63094737e-01 2.01626455e-02 -5.79523856e-01] [-2.63123249e-01 9.64761388e-01 -1.27305285e-03 1.66795966e+00] [-1.97870754e-02 -4.07732585e-03 9.99795903e-01 -1.03131810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.706547614999995 meters Centerline goodness : 0.808204 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.67, Z:-1.03 [[ 0.96611886 0.25740464 0.01889966 -0.58361076] [-0.25728458 0.96629766 -0.00857253 1.66902282] [-0.02046931 0.00341949 0.99978463 -1.0292293 ] [ 0. 0. 0. 1. ]] SLAMing on 31.736547614999992 meters Centerline goodness : 0.807485 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.67, Z:-1.03 [[ 0.96635199 0.25658108 0.01816538 -0.58111623] [-0.25644266 0.96651159 -0.0096179 1.67098238] [-0.02002482 0.0046359 0.99978874 -1.0307522 ] [ 0. 0. 0. 1. ]] SLAMing on 31.766547614999993 meters Centerline goodness : 0.807485 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.67, Z:-1.03 [[ 0.96635199 0.25658108 0.01816538 -0.58111623] [-0.25644266 0.96651159 -0.0096179 1.67098238] [-0.02002482 0.0046359 0.99978874 -1.0307522 ] [ 0. 0. 0. 1. ]] SLAMing on 31.796547614999994 meters Centerline goodness : 0.806685 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.67, Z:-1.03 [[ 0.96622824 0.25706995 0.0178335 -0.58017629] [-0.25690978 0.9663751 -0.01079501 1.67366361] [-0.02000892 0.00584884 0.99978269 -1.03288421] [ 0. 0. 0. 1. ]] SLAMing on 31.826547614999992 meters Centerline goodness : 0.807762 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.68, Z:-1.03 [[ 0.96573956 0.25863451 0.02133748 -0.61322894] [-0.25845036 0.96596161 -0.0110263 1.67928937] [-0.02346297 0.00513386 0.99971152 -1.03194415] [ 0. 0. 0. 1. ]] SLAMing on 31.856547614999993 meters Centerline goodness : 0.804612 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.68, Z:-1.03 [[ 9.64572957e-01 2.62800460e-01 2.31285181e-02 -6.14548988e-01] [-2.62729800e-01 9.64850185e-01 -6.09689047e-03 1.67943226e+00] [-2.39178206e-02 -1.95655254e-04 9.99713909e-01 -1.03043992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.886547614999994 meters Centerline goodness : 0.804175 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.68, Z:-1.03 [[ 9.64721760e-01 2.62236578e-01 2.33217058e-02 -6.14231193e-01] [-2.62180224e-01 9.65003274e-01 -5.49656424e-03 1.67917211e+00] [-2.39469227e-02 -8.11834922e-04 9.99712902e-01 -1.02958572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.916547614999992 meters Centerline goodness : 0.805202 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.68, Z:-1.03 [[ 9.64735613e-01 2.62201348e-01 2.31441177e-02 -6.14062124e-01] [-2.62152534e-01 9.65012587e-01 -5.17261508e-03 1.67880951e+00] [-2.36906315e-02 -1.07708311e-03 9.99718757e-01 -1.02891042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.946547614999993 meters Centerline goodness : 0.803789 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.68, Z:-1.03 [[ 9.64749560e-01 2.62187094e-01 2.27203554e-02 -6.12972899e-01] [-2.62113807e-01 9.65017060e-01 -6.19881636e-03 1.68078863e+00] [-2.35507802e-02 2.49865084e-05 9.99722642e-01 -1.03028014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.976547614999994 meters Centerline goodness : 0.807730 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.68, Z:-1.03 [[ 9.64055362e-01 2.64635722e-01 2.37738048e-02 -6.17683420e-01] [-2.64562670e-01 9.64348408e-01 -6.22433396e-03 1.68419779e+00] [-2.45734119e-02 -2.89058765e-04 9.99697986e-01 -1.02807868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.006547614999995 meters Centerline goodness : 0.810652 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.69, Z:-1.03 [[ 9.63591471e-01 2.66306651e-01 2.39216388e-02 -6.19805663e-01] [-2.66221744e-01 9.63888352e-01 -6.72515105e-03 1.68679438e+00] [-2.48487414e-02 1.11837794e-04 9.99691216e-01 -1.02745328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.036547614999996 meters Centerline goodness : 0.812781 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.69, Z:-1.03 [[ 0.964338 0.26364749 0.0232856 -0.62173952] [-0.26346433 0.96461016 -0.01066662 1.68532157] [-0.02527375 0.0041513 0.99967195 -1.02830677] [ 0. 0. 0. 1. ]] SLAMing on 32.06654761499999 meters Centerline goodness : 0.811214 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.69, Z:-1.03 [[ 9.65846842e-01 2.57080387e-01 3.23967862e-02 -6.32108012e-01] [-2.56916957e-01 9.66389868e-01 -9.18147622e-03 1.68607675e+00] [-3.36683034e-02 5.44616097e-04 9.99432914e-01 -1.03136537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09654761499999 meters Centerline goodness : 0.808099 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.69, Z:-1.04 [[ 0.96772087 0.24811267 0.04423147 -0.64009679] [-0.24859747 0.96858993 0.00573186 1.69086979] [-0.04142001 -0.01654268 0.99900487 -1.03860339] [ 0. 0. 0. 1. ]] SLAMing on 32.12654761499999 meters Centerline goodness : 0.806768 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.69, Z:-1.04 [[ 9.69085470e-01 2.43054247e-01 4.24026511e-02 -6.36936898e-01] [-2.43294964e-01 9.69952203e-01 5.33253551e-04 1.68980124e+00] [-4.09989353e-02 -1.08331197e-02 9.99100461e-01 -1.04207050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.156547614999994 meters Centerline goodness : 0.807454 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.69, Z:-1.04 [[ 0.96981775 0.24023799 0.04170416 -0.63849944] [-0.24028917 0.97069369 -0.00385569 1.69196059] [-0.04140825 -0.00628174 0.99912256 -1.04176774] [ 0. 0. 0. 1. ]] SLAMing on 32.186547614999995 meters Centerline goodness : 0.810449 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.69, Z:-1.04 [[ 9.69750030e-01 2.40486151e-01 4.18484130e-02 -6.51366447e-01] [-2.40263885e-01 9.70652569e-01 -1.03370884e-02 1.69352232e+00] [-4.31061962e-02 -3.02704916e-05 9.99070495e-01 -1.03875258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.216547614999996 meters Centerline goodness : 0.812581 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.70, Z:-1.04 [[ 0.96818844 0.24516181 0.0500682 -0.67744839] [-0.24526229 0.96944756 -0.00422237 1.70416668] [-0.04957366 -0.00819179 0.99873688 -1.0396412 ] [ 0. 0. 0. 1. ]] SLAMing on 32.24654761499999 meters Centerline goodness : 0.810365 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.71, Z:-1.04 [[ 9.67651152e-01 2.47342696e-01 4.97276407e-02 -6.72538550e-01] [-2.47587136e-01 9.68864785e-01 -1.27998546e-03 1.70552656e+00] [-4.84959550e-02 -1.10733447e-02 9.98761995e-01 -1.04239425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27654761499999 meters Centerline goodness : 0.810459 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.70, Z:-1.04 [[ 0.96912634 0.24175377 0.04846907 -0.67600239] [-0.24162451 0.97033174 -0.00859685 1.70293612] [-0.04910939 -0.00337988 0.99878769 -1.04227266] [ 0. 0. 0. 1. ]] SLAMing on 32.30654761499999 meters Centerline goodness : 0.810376 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.70, Z:-1.04 [[ 0.97075726 0.23532344 0.04746803 -0.67897815] [-0.23483105 0.97190818 -0.01577547 1.70194437] [-0.04984691 0.00416719 0.99874818 -1.04125705] [ 0. 0. 0. 1. ]] SLAMing on 32.33654761499999 meters Centerline goodness : 0.809359 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.70, Z:-1.04 [[ 0.97063618 0.23570033 0.04807032 -0.68075697] [-0.23528468 0.97182261 -0.01421 1.70112602] [-0.05006513 0.00248253 0.99874287 -1.03821054] [ 0. 0. 0. 1. ]] SLAMing on 32.366547614999995 meters Centerline goodness : 0.808214 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.70, Z:-1.04 [[ 0.97093575 0.23459335 0.04743124 -0.67759968] [-0.23414129 0.97208761 -0.01495098 1.70274965] [-0.04961472 0.00341083 0.99876261 -1.04028942] [ 0. 0. 0. 1. ]] SLAMing on 32.396547614999996 meters Centerline goodness : 0.806674 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.70, Z:-1.04 [[ 0.9711332 0.23391852 0.04671661 -0.67517434] [-0.2334305 0.97224643 -0.01571899 1.70289927] [-0.04909702 0.00436015 0.9987845 -1.04234731] [ 0. 0. 0. 1. ]] SLAMing on 32.426547615 meters Centerline goodness : 0.806063 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.70, Z:-1.04 [[ 0.97116906 0.2337505 0.04681186 -0.68085674] [-0.23309873 0.97226733 -0.01900582 1.70422641] [-0.04995627 0.00754608 0.9987229 -1.04057001] [ 0. 0. 0. 1. ]] SLAMing on 32.45654761499999 meters Centerline goodness : 0.809098 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.71, Z:-1.04 [[ 0.97060343 0.23587145 0.04789207 -0.68522163] [-0.23524144 0.97176143 -0.01847133 1.70599763] [-0.05089652 0.00666214 0.99868171 -1.03824784] [ 0. 0. 0. 1. ]] SLAMing on 32.48654761499999 meters Centerline goodness : 0.807822 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.71, Z:-1.04 [[ 0.96957438 0.23977975 0.04930716 -0.68522393] [-0.23932272 0.97082327 -0.01506045 1.71128106] [-0.05147973 0.0028019 0.99867011 -1.03823509] [ 0. 0. 0. 1. ]] SLAMing on 32.51654761499999 meters Centerline goodness : 0.803446 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.71, Z:-1.04 [[ 0.96998458 0.23838513 0.04798371 -0.68057779] [-0.23783087 0.97115727 -0.01703035 1.71477524] [-0.05065951 0.00510716 0.99870292 -1.04165511] [ 0. 0. 0. 1. ]] SLAMing on 32.546547614999994 meters Centerline goodness : 0.803851 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.72, Z:-1.04 [[ 0.97073531 0.2355355 0.04686135 -0.68110351] [-0.23474749 0.97181322 -0.02174146 1.71739681] [-0.05066136 0.01010461 0.99866477 -1.04198878] [ 0. 0. 0. 1. ]] SLAMing on 32.576547614999996 meters Centerline goodness : 0.803250 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.72, Z:-1.04 [[ 0.97057636 0.23612448 0.0471886 -0.68237564] [-0.2353146 0.97166756 -0.02211777 1.72124725] [-0.05107418 0.01036282 0.9986411 -1.04061878] [ 0. 0. 0. 1. ]] SLAMing on 32.606547615 meters Centerline goodness : 0.805139 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.72, Z:-1.04 [[ 0.97102062 0.2343631 0.04682839 -0.68558335] [-0.23338399 0.97205127 -0.02546073 1.72327257] [-0.05148665 0.01379389 0.99857842 -1.03833175] [ 0. 0. 0. 1. ]] SLAMing on 32.63654761499999 meters Centerline goodness : 0.805806 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.72, Z:-1.04 [[ 0.97178927 0.23129841 0.04611567 -0.686376 ] [-0.23011115 0.97271257 -0.02964993 1.72313586] [-0.05171527 0.01820176 0.99849598 -1.03937217] [ 0. 0. 0. 1. ]] SLAMing on 32.66654761499999 meters Centerline goodness : 0.801339 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.73, Z:-1.04 [[ 0.97177274 0.22928814 0.05554004 -0.69444521] [-0.22832567 0.97330879 -0.0231814 1.72781487] [-0.05937283 0.00984584 0.99818732 -1.04335266] [ 0. 0. 0. 1. ]] SLAMing on 32.69654761499999 meters Centerline goodness : 0.799374 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.73, Z:-1.04 [[ 0.97152555 0.23017087 0.05620919 -0.69613448] [-0.22925984 0.97311117 -0.0222392 1.73020473] [-0.0598166 0.00871945 0.9981713 -1.0411305 ] [ 0. 0. 0. 1. ]] SLAMing on 32.726547614999994 meters Centerline goodness : 0.802521 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.73, Z:-1.03 [[ 0.97178914 0.2289024 0.05682912 -0.7060677 ] [-0.22777967 0.97337633 -0.02559203 1.72892874] [-0.06117419 0.01192554 0.99805586 -1.03478048] [ 0. 0. 0. 1. ]] SLAMing on 32.756547614999995 meters Centerline goodness : 0.805792 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.73, Z:-1.03 [[ 0.97204984 0.22775253 0.05699037 -0.71137965] [-0.2264638 0.97361073 -0.02821878 1.72998325] [-0.06191334 0.01452381 0.99797585 -1.03064436] [ 0. 0. 0. 1. ]] SLAMing on 32.786547614999996 meters Centerline goodness : 0.806807 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.73, Z:-1.03 [[ 0.97204422 0.22786768 0.05662462 -0.71061573] [-0.22652079 0.97356705 -0.0292495 1.73251472] [-0.06179288 0.01560515 0.99796699 -1.03161476] [ 0. 0. 0. 1. ]] SLAMing on 32.81654761499999 meters Centerline goodness : 0.801769 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.73, Z:-1.04 [[ 0.97221799 0.22728966 0.05596058 -0.70767002] [-0.22585174 0.97367192 -0.03088658 1.73461531] [-0.06150744 0.01738969 0.99795513 -1.0355101 ] [ 0. 0. 0. 1. ]] SLAMing on 32.84654761499999 meters Centerline goodness : 0.799021 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.74, Z:-1.04 [[ 0.97169054 0.22954505 0.05591564 -0.70359751] [-0.22829228 0.97319184 -0.02793353 1.73596222] [-0.06082865 0.01437764 0.99804467 -1.03811406] [ 0. 0. 0. 1. ]] SLAMing on 32.87654761499999 meters Centerline goodness : 0.796682 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.74, Z:-1.04 [[ 0.97135362 0.23113745 0.05520532 -0.69737359] [-0.23001723 0.97284085 -0.02593755 1.73955074] [-0.05970113 0.01249636 0.99813807 -1.04191073] [ 0. 0. 0. 1. ]] SLAMing on 32.906547614999994 meters Centerline goodness : 0.799944 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.74, Z:-1.04 [[ 0.97185591 0.2290963 0.05487229 -0.7006033 ] [-0.22774894 0.97326537 -0.02974799 1.73966025] [-0.06022046 0.01641366 0.99805014 -1.04077643] [ 0. 0. 0. 1. ]] SLAMing on 32.936547614999995 meters Centerline goodness : 0.800298 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.74, Z:-1.04 [[ 0.97231405 0.22711545 0.05499048 -0.70494915] [-0.22556718 0.97366944 -0.03297361 1.73949291] [-0.06103137 0.01965666 0.99794228 -1.0383059 ] [ 0. 0. 0. 1. ]] SLAMing on 32.966547614999996 meters Centerline goodness : 0.803933 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.74, Z:-1.03 [[ 0.97251349 0.22602794 0.05593649 -0.71209299] [-0.22435455 0.97389102 -0.03465994 1.73781421] [-0.06231016 0.02115765 0.99783255 -1.03310126] [ 0. 0. 0. 1. ]] SLAMing on 32.99654761499999 meters Centerline goodness : 0.804828 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.74, Z:-1.04 [[ 0.9721233 0.22491425 0.06625607 -0.72221352] [-0.22356508 0.97430899 -0.02721482 1.74159316] [-0.07067488 0.01164361 0.99743145 -1.0357022 ] [ 0. 0. 0. 1. ]] SLAMing on 33.02654761499999 meters Centerline goodness : 0.800355 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.75, Z:-1.04 [[ 0.97264012 0.22139387 0.07039846 -0.73968659] [-0.22098735 0.97518171 -0.01360951 1.74986215] [-0.07166436 -0.00232002 0.99742611 -1.04306554] [ 0. 0. 0. 1. ]] SLAMing on 33.05654761499999 meters Centerline goodness : 0.798711 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.75, Z:-1.04 [[ 0.97258576 0.22163157 0.07040161 -0.74597533] [-0.22090424 0.97512841 -0.01805243 1.75173557] [-0.0726516 0.00200552 0.99735536 -1.04202256] [ 0. 0. 0. 1. ]] SLAMing on 33.08654761499999 meters Centerline goodness : 0.803426 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.75, Z:-1.04 [[ 0.97246869 0.22205404 0.07068703 -0.75730097] [-0.22091056 0.97500602 -0.02370201 1.75247894] [-0.07418341 0.00743395 0.99721691 -1.03868541] [ 0. 0. 0. 1. ]] SLAMing on 33.116547614999995 meters Centerline goodness : 0.804824 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.76, Z:-1.04 [[ 0.97270286 0.22125868 0.06995529 -0.75422753] [-0.22002505 0.97517457 -0.02497084 1.75571098] [-0.07374364 0.00889729 0.99723754 -1.04117324] [ 0. 0. 0. 1. ]] SLAMing on 33.146547614999996 meters Centerline goodness : 0.800621 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.75, Z:-1.04 [[ 0.97351675 0.21803084 0.06875822 -0.75186089] [-0.21801912 0.9759136 -0.00776628 1.75449842] [-0.06879537 -0.00743 0.99760312 -1.04143208] [ 0. 0. 0. 1. ]] SLAMing on 33.17654761499999 meters Centerline goodness : 0.797565 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.76, Z:-1.05 [[ 0.97493145 0.20893931 0.07650514 -0.76047945] [-0.20892385 0.97789673 -0.00829527 1.75703412] [-0.07654733 -0.00789643 0.99703468 -1.045639 ] [ 0. 0. 0. 1. ]] SLAMing on 33.20654761499999 meters Centerline goodness : 0.800415 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.75, Z:-1.04 [[ 9.76451085e-01 2.02080875e-01 7.55420285e-02 -7.63362025e-01] [-2.01519964e-01 9.79368698e-01 -1.50551343e-02 1.75496114e+00] [-7.70258528e-02 -5.22624610e-04 9.97028959e-01 -1.04243177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23654761499999 meters Centerline goodness : 0.808437 Centerline is valid? [False, False] Translation: X:-0.78, Y:1.75, Z:-1.04 [[ 0.97724373 0.19804268 0.07598552 -0.77613992] [-0.19682803 0.9801628 -0.02322951 1.75431004] [-0.07907861 0.00774482 0.9968383 -1.03567527] [ 0. 0. 0. 1. ]] SLAMing on 33.26654761499999 meters Centerline goodness : 0.808261 Centerline is valid? [False, False] Translation: X:-0.78, Y:1.76, Z:-1.04 [[ 0.9771096 0.19855347 0.07637638 -0.77698492] [-0.19730028 0.98005673 -0.02369404 1.75573874] [-0.07955772 0.00808259 0.99679749 -1.036437 ] [ 0. 0. 0. 1. ]] SLAMing on 33.296547614999994 meters Centerline goodness : 0.803631 Centerline is valid? [False, False] Translation: X:-0.80, Y:1.76, Z:-1.04 [[ 0.97649922 0.19910923 0.08249113 -0.80001357] [-0.19903711 0.97994895 -0.00918039 1.76489328] [-0.082665 -0.00745415 0.99654951 -1.03953993] [ 0. 0. 0. 1. ]] SLAMing on 33.326547614999996 meters Centerline goodness : 0.803544 Centerline is valid? [False, False] Translation: X:-0.80, Y:1.77, Z:-1.04 [[ 0.97600392 0.20116187 0.08336816 -0.80359624] [-0.2011563 0.97952181 -0.00855371 1.76636084] [-0.08338161 -0.00842157 0.9964821 -1.03761907] [ 0. 0. 0. 1. ]] SLAMing on 33.356547615 meters Centerline goodness : 0.806157 Centerline is valid? [False, False] Translation: X:-0.81, Y:1.76, Z:-1.04 [[ 0.97628336 0.19965027 0.08372919 -0.80846879] [-0.19938828 0.97985232 -0.01156495 1.76480402] [-0.08435119 -0.00540395 0.99642143 -1.03523654] [ 0. 0. 0. 1. ]] SLAMing on 33.38654761499999 meters Centerline goodness : 0.808909 Centerline is valid? [False, False] Translation: X:-0.81, Y:1.77, Z:-1.03 [[ 0.97748716 0.19402382 0.0829072 -0.81216415] [-0.19312714 0.98099402 -0.01877891 1.76536421] [-0.08497502 0.00234451 0.99638032 -1.03251503] [ 0. 0. 0. 1. ]] SLAMing on 33.41654761499999 meters Centerline goodness : 0.808769 Centerline is valid? [False, False] Translation: X:-0.81, Y:1.77, Z:-1.03 [[ 0.97817709 0.19067949 0.08252823 -0.81274059] [-0.18940634 0.9816279 -0.02306314 1.7656248 ] [-0.08540968 0.00692846 0.99632183 -1.03379465] [ 0. 0. 0. 1. ]] SLAMing on 33.44654761499999 meters Centerline goodness : 0.804288 Centerline is valid? [False, False] Translation: X:-0.83, Y:1.77, Z:-1.04 [[ 0.97923684 0.18345743 0.08624719 -0.82787505] [-0.18331333 0.98300711 -0.00965588 1.76784113] [-0.08655304 -0.00635487 0.99622698 -1.04036796] [ 0. 0. 0. 1. ]] SLAMing on 33.476547614999994 meters Centerline goodness : 0.802553 Centerline is valid? [False, False] Translation: X:-0.83, Y:1.77, Z:-1.04 [[ 0.97931267 0.18315263 0.0860338 -0.82718189] [-0.18297089 0.98306685 -0.01006085 1.76937287] [-0.08641965 -0.00588896 0.99624142 -1.04052918] [ 0. 0. 0. 1. ]] SLAMing on 33.506547614999995 meters Centerline goodness : 0.805500 Centerline is valid? [False, False] Translation: X:-0.84, Y:1.77, Z:-1.04 [[ 9.79377287e-01 1.82681666e-01 8.62991193e-02 -8.37684094e-01] [-1.82009300e-01 9.83172047e-01 -1.56633580e-02 1.76965806e+00] [-8.77082901e-02 -3.66905156e-04 9.96146134e-01 -1.03569951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.536547614999996 meters Centerline goodness : 0.811206 Centerline is valid? [False, False] Translation: X:-0.84, Y:1.77, Z:-1.04 [[ 0.97967508 0.18115839 0.08612998 -0.8407116 ] [-0.18011686 0.98344634 -0.01977888 1.76932719] [-0.08828732 0.00386341 0.99608756 -1.03610307] [ 0. 0. 0. 1. ]] SLAMing on 33.56654761499999 meters Centerline goodness : 0.805812 Centerline is valid? [False, False] Translation: X:-0.84, Y:1.77, Z:-1.04 [[ 9.79209032e-01 1.83637453e-01 8.61797946e-02 -8.36515235e-01] [-1.82809200e-01 9.82993106e-01 -1.74742867e-02 1.77158647e+00] [-8.79230774e-02 1.35652012e-03 9.96126344e-01 -1.04135579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59654761499999 meters Centerline goodness : 0.802682 Centerline is valid? [False, False] Translation: X:-0.84, Y:1.78, Z:-1.05 [[ 0.97918549 0.17926983 0.09517404 -0.8448577 ] [-0.17892753 0.98378675 -0.01218858 1.77807789] [-0.095816 -0.00509437 0.99538603 -1.0453463 ] [ 0. 0. 0. 1. ]] SLAMing on 33.62654761499999 meters Centerline goodness : 0.804438 Centerline is valid? [False, False] Translation: X:-0.85, Y:1.78, Z:-1.04 [[ 0.97961463 0.17681444 0.09535113 -0.84831728] [-0.17617464 0.98424227 -0.01515442 1.77841758] [-0.09652813 -0.00195296 0.99532834 -1.04206342] [ 0. 0. 0. 1. ]] SLAMing on 33.656547614999994 meters Centerline goodness : 0.804438 Centerline is valid? [False, False] Translation: X:-0.85, Y:1.78, Z:-1.04 [[ 0.97961463 0.17681444 0.09535113 -0.84831728] [-0.17617464 0.98424227 -0.01515442 1.77841758] [-0.09652813 -0.00195296 0.99532834 -1.04206342] [ 0. 0. 0. 1. ]] SLAMing on 33.686547614999995 meters Centerline goodness : 0.810849 Centerline is valid? [False, False] Translation: X:-0.86, Y:1.77, Z:-1.04 [[ 0.98043448 0.17213549 0.09548615 -0.8601274 ] [-0.1706654 0.98505075 -0.02341658 1.77316564] [-0.09808953 0.00666224 0.99515529 -1.03520139] [ 0. 0. 0. 1. ]] SLAMing on 33.716547614999996 meters Centerline goodness : 0.811069 Centerline is valid? [False, False] Translation: X:-0.86, Y:1.78, Z:-1.04 [[ 0.98057251 0.1714854 0.09523814 -0.85820767] [-0.16992974 0.98515722 -0.02427225 1.77681945] [-0.09798687 0.00761691 0.99515856 -1.03681852] [ 0. 0. 0. 1. ]] SLAMing on 33.74654761499999 meters Centerline goodness : 0.804118 Centerline is valid? [False, False] Translation: X:-0.87, Y:1.78, Z:-1.04 [[ 0.9808004 0.17266178 0.09065588 -0.86730447] [-0.172262 0.98497468 -0.01227548 1.78104683] [-0.09141325 -0.00357676 0.99580662 -1.03608739] [ 0. 0. 0. 1. ]] SLAMing on 33.77654761499999 meters Centerline goodness : 0.801817 Centerline is valid? [False, False] Translation: X:-0.87, Y:1.78, Z:-1.04 [[ 0.98092074 0.17224994 0.09013582 -0.8654141 ] [-0.17169877 0.98505154 -0.01389219 1.78289947] [-0.09118135 -0.00184907 0.99583259 -1.03910208] [ 0. 0. 0. 1. ]] SLAMing on 33.80654761499999 meters Centerline goodness : 0.806024 Centerline is valid? [False, False] Translation: X:-0.87, Y:1.78, Z:-1.03 [[ 0.98138952 0.16973534 0.08980266 -0.87229006] [-0.1686564 0.9854815 -0.01952515 1.7843307 ] [-0.09181297 0.00401598 0.99576817 -1.03386329] [ 0. 0. 0. 1. ]] SLAMing on 33.83654761499999 meters Centerline goodness : 0.813062 Centerline is valid? [False, False] Translation: X:-0.88, Y:1.78, Z:-1.03 [[ 0.98156804 0.16831807 0.09051634 -0.87831804] [-0.16700752 0.98571198 -0.02191758 1.7816995 ] [-0.09291217 0.00639669 0.99565376 -1.02968624] [ 0. 0. 0. 1. ]] SLAMing on 33.866547614999995 meters Centerline goodness : 0.808809 Centerline is valid? [False, False] Translation: X:-0.88, Y:1.79, Z:-1.04 [[ 0.98105453 0.16616598 0.09960363 -0.88379888] [-0.16567144 0.98609166 -0.01327436 1.78612871] [-0.10042405 -0.00347861 0.99493865 -1.03726386] [ 0. 0. 0. 1. ]] SLAMing on 33.896547614999996 meters Centerline goodness : 0.805920 Centerline is valid? [False, False] Translation: X:-0.88, Y:1.78, Z:-1.04 [[ 0.98128658 0.16506781 0.09914267 -0.8815171 ] [-0.1645882 0.98627598 -0.01305414 1.78367526] [-0.09993685 -0.00350787 0.9949876 -1.03866694] [ 0. 0. 0. 1. ]] SLAMing on 33.92654761499999 meters Centerline goodness : 0.804989 Centerline is valid? [False, False] Translation: X:-0.88, Y:1.78, Z:-1.04 [[ 9.81804375e-01 1.62037632e-01 9.90150252e-02 -8.83145717e-01] [-1.61152869e-01 9.86784360e-01 -1.69227785e-02 1.78313364e+00] [-1.00448605e-01 6.58302555e-04 9.94942031e-01 -1.03840893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95654761499999 meters Centerline goodness : 0.810331 Centerline is valid? [False, False] Translation: X:-0.89, Y:1.79, Z:-1.04 [[ 0.98200366 0.1608712 0.09894077 -0.88672966] [-0.15963062 0.98696638 -0.020382 1.78517146] [-0.10093009 0.00422122 0.99488457 -1.03627634] [ 0. 0. 0. 1. ]] SLAMing on 33.98654761499999 meters Centerline goodness : 0.811365 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.79, Z:-1.03 [[ 0.98160369 0.16276941 0.09980136 -0.89507648] [-0.16141763 0.98665136 -0.02152794 1.78575805] [-0.10197323 0.0050222 0.99477447 -1.0310146 ] [ 0. 0. 0. 1. ]] SLAMing on 34.01654761499999 meters Centerline goodness : 0.811560 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.78, Z:-1.03 [[ 0.98218613 0.15953618 0.09929054 -0.89580046] [-0.15778086 0.98714902 -0.02533783 1.78498882] [-0.10205686 0.00922032 0.99473584 -1.03078712] [ 0. 0. 0. 1. ]] SLAMing on 34.046547614999994 meters Centerline goodness : 0.807984 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.78, Z:-1.03 [[ 0.9831896 0.15564379 0.09546313 -0.89562738] [-0.15539541 0.98780096 -0.01007652 1.78317796] [-0.09586692 -0.0049274 0.99538196 -1.02949433] [ 0. 0. 0. 1. ]] SLAMing on 34.076547614999996 meters Centerline goodness : 0.801120 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.79, Z:-1.03 [[ 9.84063548e-01 1.53447851e-01 8.98481541e-02 -9.01365174e-01] [-1.53942003e-01 9.88078828e-01 -1.44531931e-03 1.78732309e+00] [-8.89988400e-02 -1.24091187e-02 9.95954427e-01 -1.03270978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.106547615 meters Centerline goodness : 0.801089 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.79, Z:-1.03 [[ 0.98438293 0.15161938 0.08945284 -0.90347115] [-0.15165437 0.98841257 -0.00644502 1.7901689 ] [-0.0893935 -0.00722155 0.99597021 -1.03350093] [ 0. 0. 0. 1. ]] SLAMing on 34.13654761499999 meters Centerline goodness : 0.806780 Centerline is valid? [False, False] Translation: X:-0.92, Y:1.79, Z:-1.03 [[ 9.83932233e-01 1.53432598e-01 9.13006000e-02 -9.19685375e-01] [-1.52905954e-01 9.88158140e-01 -1.27772784e-02 1.79163828e+00] [-9.21798821e-02 -1.38842930e-03 9.95741403e-01 -1.02818101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16654761499999 meters Centerline goodness : 0.807766 Centerline is valid? [False, False] Translation: X:-0.92, Y:1.79, Z:-1.03 [[ 9.83803895e-01 1.54019091e-01 9.16952294e-02 -9.21222946e-01] [-1.53474514e-01 9.88067043e-01 -1.30035433e-02 1.79280370e+00] [-9.26038281e-02 -1.27994421e-03 9.95702211e-01 -1.02752581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19654761499999 meters Centerline goodness : 0.804758 Centerline is valid? [False, False] Translation: X:-0.92, Y:1.80, Z:-1.03 [[ 9.83811003e-01 1.53834065e-01 9.19292701e-02 -9.20770058e-01] [-1.53232025e-01 9.88096453e-01 -1.36141863e-02 1.79686880e+00] [-9.29293113e-02 -6.92721904e-04 9.95672468e-01 -1.02841343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.226547614999994 meters Centerline goodness : 0.799599 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.80, Z:-1.03 [[ 0.9843143 0.14597055 0.09908559 -0.92529691] [-0.14572727 0.98927698 -0.00972764 1.80169729] [-0.09944304 -0.00486442 0.99503137 -1.03417289] [ 0. 0. 0. 1. ]] SLAMing on 34.256547614999995 meters Centerline goodness : 0.796494 Centerline is valid? [False, False] Translation: X:-0.94, Y:1.80, Z:-1.03 [[ 0.9852387 0.14348805 0.09335887 -0.93855408] [-0.14365163 0.98961568 -0.00500095 1.80294817] [-0.09310698 -0.00848402 0.99561996 -1.03289138] [ 0. 0. 0. 1. ]] SLAMing on 34.286547614999996 meters Centerline goodness : 0.799307 Centerline is valid? [False, False] Translation: X:-0.94, Y:1.80, Z:-1.03 [[ 9.86097293e-01 1.38130878e-01 9.23687706e-02 -9.40953960e-01] [-1.37415377e-01 9.90413253e-01 -1.40926545e-02 1.80479904e+00] [-9.34298853e-02 1.20383906e-03 9.95625134e-01 -1.03354302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31654761499999 meters Centerline goodness : 0.805050 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.80, Z:-1.03 [[ 0.98672101 0.13331781 0.09277939 -0.94709796] [-0.1319319 0.99103754 -0.0209419 1.80119852] [-0.09473979 0.00842325 0.99546643 -1.03101567] [ 0. 0. 0. 1. ]] SLAMing on 34.34654761499999 meters Centerline goodness : 0.810100 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.80, Z:-1.03 [[ 0.98650201 0.13424454 0.09376663 -0.95021599] [-0.13304886 0.99092892 -0.01891749 1.79819705] [-0.09545564 0.0061866 0.99541446 -1.02793607] [ 0. 0. 0. 1. ]] SLAMing on 34.37654761499999 meters Centerline goodness : 0.807522 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.80, Z:-1.03 [[ 9.86188438e-01 1.30491194e-01 1.02002027e-01 -9.57303101e-01] [-1.29897225e-01 9.91449014e-01 -1.24725442e-02 1.79879824e+00] [-1.02757366e-01 -9.49501405e-04 9.94705998e-01 -1.03304175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.406547614999994 meters Centerline goodness : 0.805089 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.79, Z:-1.03 [[ 0.98796997 0.11931443 0.09838397 -0.9567731 ] [-0.11961302 0.99281642 -0.00287909 1.79297338] [-0.09802074 -0.00892355 0.99514436 -1.03064779] [ 0. 0. 0. 1. ]] SLAMing on 34.436547614999995 meters Centerline goodness : 0.802741 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.79, Z:-1.03 [[ 0.98838902 0.11613844 0.09797451 -0.95672791] [-0.11589133 0.99322781 -0.00822878 1.79490091] [-0.09826669 -0.00322116 0.9951549 -1.03336536] [ 0. 0. 0. 1. ]] SLAMing on 34.466547614999996 meters Centerline goodness : 0.802699 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.80, Z:-1.04 [[ 0.98871784 0.11345345 0.09780264 -0.95792641] [-0.11267971 0.99354078 -0.01341665 1.79657248] [-0.09869308 0.00224491 0.99511539 -1.03518791] [ 0. 0. 0. 1. ]] SLAMing on 34.49654761499999 meters Centerline goodness : 0.800409 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.80, Z:-1.04 [[ 0.98859417 0.1141354 0.09825824 -0.95923556] [-0.11328955 0.99346106 -0.01416357 1.79944148] [-0.0992323 0.00287039 0.99506015 -1.03580033] [ 0. 0. 0. 1. ]] SLAMing on 34.52654761499999 meters Centerline goodness : 0.802284 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.80, Z:-1.03 [[ 0.98861609 0.11408805 0.09809251 -0.95920194] [-0.11328595 0.9934676 -0.01372656 1.79882488] [-0.09901777 0.0024578 0.99508263 -1.03471368] [ 0. 0. 0. 1. ]] SLAMing on 34.55654761499999 meters Centerline goodness : 0.797233 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.80, Z:-1.03 [[ 0.98876464 0.11585728 0.09445412 -0.97469326] [-0.11615138 0.99322863 -0.00239682 1.80203596] [-0.09409223 -0.00860109 0.99552633 -1.02885923] [ 0. 0. 0. 1. ]] SLAMing on 34.58654761499999 meters Centerline goodness : 0.794574 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.81, Z:-1.03 [[ 0.98867266 0.11652888 0.09459069 -0.97605355] [-0.11673491 0.99315739 -0.0033714 1.80655539] [-0.09433631 -0.00770882 0.99551054 -1.02820757] [ 0. 0. 0. 1. ]] SLAMing on 34.616547614999995 meters Centerline goodness : 0.793865 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.81, Z:-1.03 [[ 0.98859344 0.11714308 0.09465995 -0.97690076] [-0.11716861 0.99309785 -0.00530758 1.81104974] [-0.09462834 -0.00584414 0.99549552 -1.02957504] [ 0. 0. 0. 1. ]] SLAMing on 34.646547614999996 meters Centerline goodness : 0.790356 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.82, Z:-1.03 [[ 0.98847292 0.11818252 0.09462656 -0.97762885] [-0.11804102 0.99298326 -0.00711128 1.81615714] [-0.09480302 -0.00414051 0.99548744 -1.03123012] [ 0. 0. 0. 1. ]] SLAMing on 34.67654761499999 meters Centerline goodness : 0.791228 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.82, Z:-1.03 [[ 0.98838004 0.11863052 0.09503527 -0.9790855 ] [-0.11848625 0.99292974 -0.00717972 1.81788032] [-0.09521508 -0.00416408 0.99544801 -1.03029921] [ 0. 0. 0. 1. ]] SLAMing on 34.70654761499999 meters Centerline goodness : 0.790700 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.82, Z:-1.03 [[ 0.9883057 0.11887664 0.09549967 -0.9803059 ] [-0.11877594 0.99289808 -0.00675858 1.81785346] [-0.09562488 -0.00466352 0.99540652 -1.0294384 ] [ 0. 0. 0. 1. ]] SLAMing on 34.73654761499999 meters Centerline goodness : 0.794139 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.82, Z:-1.03 [[ 9.88732032e-01 1.15392823e-01 9.53596677e-02 -9.81692558e-01] [-1.14972723e-01 9.93319249e-01 -9.90668970e-03 1.81676496e+00] [-9.58657544e-02 -1.16869919e-03 9.95393586e-01 -1.02730776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76654761499999 meters Centerline goodness : 0.791563 Centerline is valid? [False, False] Translation: X:-0.99, Y:1.82, Z:-1.02 [[ 9.89561744e-01 1.12379576e-01 9.02130069e-02 -9.93935069e-01] [-1.12691172e-01 9.93628695e-01 -1.64830876e-03 1.81560961e+00] [-8.98234685e-02 -8.53510615e-03 9.95921130e-01 -1.02203301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.796547614999994 meters Centerline goodness : 0.788151 Centerline is valid? [False, False] Translation: X:-0.99, Y:1.82, Z:-1.02 [[ 0.99030491 0.11605131 0.07634322 -0.99383704] [-0.11655613 0.99318172 0.00217536 1.8177316 ] [-0.07557024 -0.01105254 0.99707922 -1.01959498] [ 0. 0. 0. 1. ]] SLAMing on 34.826547614999996 meters Centerline goodness : 0.787874 Centerline is valid? [False, False] Translation: X:-1.00, Y:1.82, Z:-1.02 [[ 0.99054832 0.11397315 0.07631612 -0.99598101] [-0.11408896 0.99346644 -0.00285488 1.82113971] [-0.07614289 -0.00587893 0.99707959 -1.02047602] [ 0. 0. 0. 1. ]] SLAMing on 34.85654761499999 meters Centerline goodness : 0.787988 Centerline is valid? [False, False] Translation: X:-1.00, Y:1.82, Z:-1.02 [[ 9.90869955e-01 1.11406032e-01 7.59304227e-02 -9.97364062e-01] [-1.11154272e-01 9.93774507e-01 -7.54699693e-03 1.82185417e+00] [-7.62984994e-02 -9.61898329e-04 9.97084557e-01 -1.02095597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88654761499999 meters Centerline goodness : 0.789598 Centerline is valid? [False, False] Translation: X:-1.00, Y:1.82, Z:-1.03 [[ 0.99122086 0.10264028 0.08334372 -1.00303021] [-0.10255929 0.99471297 -0.00526383 1.81890058] [-0.08344336 -0.00333006 0.99650696 -1.02814858] [ 0. 0. 0. 1. ]] SLAMing on 34.91654761499999 meters Centerline goodness : 0.783012 Centerline is valid? [False, False] Translation: X:-1.00, Y:1.82, Z:-1.02 [[ 0.99209676 0.09754923 0.07891868 -1.0040603 ] [-0.09857989 0.99508604 0.00926162 1.81738793] [-0.07762741 -0.01696822 0.99683803 -1.02468908] [ 0. 0. 0. 1. ]] SLAMing on 34.94654761499999 meters Centerline goodness : 0.785020 Centerline is valid? [False, False] Translation: X:-1.01, Y:1.82, Z:-1.02 [[ 0.99239664 0.09444119 0.07892892 -1.0058338 ] [-0.09519302 0.99544188 0.00580918 1.81714677] [-0.07802053 -0.01327849 0.99686332 -1.02315589] [ 0. 0. 0. 1. ]] SLAMing on 34.976547614999994 meters Centerline goodness : 0.791319 Centerline is valid? [False, False] Translation: X:-1.01, Y:1.81, Z:-1.01 [[ 9.92964298e-01 9.44882131e-02 7.13714283e-02 -1.00702897e+00] [-9.43564428e-02 9.95524777e-01 -5.22307397e-03 1.80973105e+00] [-7.15455442e-02 -1.54802812e-03 9.97436133e-01 -1.00920612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.006547614999995 meters Centerline goodness : 0.793738 Centerline is valid? [False, False] Translation: X:-1.01, Y:1.81, Z:-1.01 [[ 0.99330188 0.09092078 0.07130769 -1.00770211] [-0.09045583 0.99585294 -0.00972934 1.80988003] [-0.07189657 0.00321398 0.99740691 -1.01003657] [ 0. 0. 0. 1. ]] SLAMing on 35.036547614999996 meters Centerline goodness : 0.789223 Centerline is valid? [False, False] Translation: X:-1.02, Y:1.81, Z:-1.01 [[ 0.99343726 0.09337955 0.06605055 -1.01586313] [-0.09376906 0.99559 0.00281499 1.81415278] [-0.06549641 -0.00899001 0.99781231 -1.01122682] [ 0. 0. 0. 1. ]] SLAMing on 35.06654761499999 meters Centerline goodness : 0.783877 Centerline is valid? [False, False] Translation: X:-1.02, Y:1.82, Z:-1.02 [[ 0.99299321 0.09774629 0.06640889 -1.01558634] [-0.09817622 0.99516379 0.0032338 1.82255925] [-0.06577163 -0.00973091 0.99778725 -1.01654999] [ 0. 0. 0. 1. ]] SLAMing on 35.09654761499999 meters Centerline goodness : 0.785230 Centerline is valid? [False, False] Translation: X:-1.03, Y:1.82, Z:-1.01 [[ 9.92695764e-01 9.98281399e-02 6.77455724e-02 -1.02550396e+00] [-1.00100392e-01 9.94977144e-01 6.27604998e-04 1.82217395e+00] [-6.73426435e-02 -7.40437917e-03 9.97702432e-01 -1.01329011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12654761499999 meters Centerline goodness : 0.791860 Centerline is valid? [False, False] Translation: X:-1.04, Y:1.82, Z:-1.01 [[ 0.9927726 0.09848632 0.0685785 -1.03512967] [-0.09846617 0.99513359 -0.00368237 1.82089361] [-0.06860743 -0.00309691 0.99763893 -1.00755069] [ 0. 0. 0. 1. ]] SLAMing on 35.156547614999994 meters Centerline goodness : 0.790582 Centerline is valid? [False, False] Translation: X:-1.05, Y:1.82, Z:-1.00 [[ 0.99341845 0.09524643 0.06362312 -1.04592462] [-0.09584298 0.99537599 0.00638413 1.81791211] [-0.06272086 -0.01243994 0.99795358 -1.00215723] [ 0. 0. 0. 1. ]] SLAMing on 35.186547614999995 meters Centerline goodness : 0.784220 Centerline is valid? [False, False] Translation: X:-1.04, Y:1.82, Z:-1.01 [[ 0.99370029 0.09306544 0.06243844 -1.04035612] [-0.09359098 0.99559532 0.00553938 1.81832442] [-0.06164789 -0.01134816 0.99803344 -1.00550524] [ 0. 0. 0. 1. ]] SLAMing on 35.216547614999996 meters Centerline goodness : 0.784755 Centerline is valid? [False, False] Translation: X:-1.04, Y:1.82, Z:-1.01 [[ 9.94106999e-01 8.89995626e-02 6.18898470e-02 -1.03912745e+00] [-8.92070344e-02 9.96012929e-01 5.91732321e-04 1.82267066e+00] [-6.15904239e-02 -6.10925495e-03 9.98082811e-01 -1.00699983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24654761499999 meters Centerline goodness : 0.786541 Centerline is valid? [False, False] Translation: X:-1.04, Y:1.82, Z:-1.01 [[ 9.94451066e-01 8.54321366e-02 6.13875204e-02 -1.03858731e+00] [-8.52990345e-02 9.96343880e-01 -4.79039781e-03 1.82252672e+00] [-6.15723341e-02 -4.72480015e-04 9.98102512e-01 -1.00972051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27654761499999 meters Centerline goodness : 0.784629 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.83, Z:-1.01 [[ 9.94275620e-01 8.77499262e-02 6.09585285e-02 -1.06205754e+00] [-8.76755895e-02 9.96141453e-01 -3.89835294e-03 1.83066019e+00] [-6.10653974e-02 -1.46853763e-03 9.98132687e-01 -1.01237922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30654761499999 meters Centerline goodness : 0.786757 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.83, Z:-1.01 [[ 0.99443293 0.08564815 0.06138028 -1.06589139] [-0.08534885 0.996323 -0.00748651 1.82988995] [-0.06179579 0.0022061 0.99808638 -1.01056269] [ 0. 0. 0. 1. ]] SLAMing on 35.33654761499999 meters Centerline goodness : 0.792160 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.83, Z:-1.01 [[ 0.99464031 0.08281739 0.06190262 -1.06846971] [-0.0823204 0.99655017 -0.01054077 1.8285447 ] [-0.06256202 0.00538843 0.99802653 -1.0094738 ] [ 0. 0. 0. 1. ]] SLAMing on 35.366547614999995 meters Centerline goodness : 0.787981 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.83, Z:-1.01 [[ 0.99459749 0.08301807 0.0623204 -1.06920322] [-0.08259363 0.99653935 -0.00936054 1.82904206] [-0.06288183 0.0041627 0.9980123 -1.00814829] [ 0. 0. 0. 1. ]] SLAMing on 35.396547614999996 meters Centerline goodness : 0.786071 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.83, Z:-1.01 [[ 9.94220018e-01 8.70389661e-02 6.28551786e-02 -1.06987504e+00] [-8.69342359e-02 9.96204317e-01 -4.40434817e-03 1.82862119e+00] [-6.29999502e-02 -1.08537581e-03 9.98012940e-01 -1.00672921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42654761499999 meters Centerline goodness : 0.787246 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.83, Z:-1.01 [[ 0.99449176 0.0841849 0.06244233 -1.07062037] [-0.08376073 0.99644171 -0.00938451 1.83069623] [-0.06301018 0.00410261 0.99800445 -1.0076879 ] [ 0. 0. 0. 1. ]] SLAMing on 35.45654761499999 meters Centerline goodness : 0.787395 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.83, Z:-1.01 [[ 0.99451802 0.08426289 0.06191664 -1.06915167] [-0.08372432 0.99642549 -0.01124657 1.83356114] [-0.06264299 0.00600099 0.99801796 -1.01063188] [ 0. 0. 0. 1. ]] SLAMing on 35.48654761499999 meters Centerline goodness : 0.785195 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.83, Z:-1.01 [[ 9.94760624e-01 8.51689498e-02 5.65468879e-02 -1.08385347e+00] [-8.50714569e-02 9.96366279e-01 -4.13345495e-03 1.83451487e+00] [-5.66934543e-02 -6.98727911e-04 9.98391388e-01 -1.00958266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51654761499999 meters Centerline goodness : 0.784360 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.84, Z:-1.01 [[ 9.94694205e-01 8.57199272e-02 5.68817431e-02 -1.08532839e+00] [-8.56242760e-02 9.96318975e-01 -4.12116208e-03 1.83501069e+00] [-5.70256257e-02 -7.71162030e-04 9.98372417e-01 -1.00885028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.546547614999994 meters Centerline goodness : 0.789344 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.83, Z:-1.01 [[ 0.99462344 0.08640519 0.057082 -1.08710992] [-0.08638171 0.99625794 -0.00288317 1.83366452] [-0.05711752 -0.00206317 0.99836533 -1.00612861] [ 0. 0. 0. 1. ]] SLAMing on 35.576547614999996 meters Centerline goodness : 0.789344 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.83, Z:-1.01 [[ 0.99462344 0.08640519 0.057082 -1.08710992] [-0.08638171 0.99625794 -0.00288317 1.83366452] [-0.05711752 -0.00206317 0.99836533 -1.00612861] [ 0. 0. 0. 1. ]] SLAMing on 35.60654761499999 meters Centerline goodness : 0.789950 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.83, Z:-1.01 [[ 9.94778534e-01 8.45172974e-02 5.72057268e-02 -1.08933106e+00] [-8.43083825e-02 9.96421283e-01 -6.05996659e-03 1.83497341e+00] [-5.75131757e-02 1.20540239e-03 9.98344020e-01 -1.00552625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63654761499999 meters Centerline goodness : 0.789602 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.83, Z:-1.00 [[ 9.94835172e-01 8.41520280e-02 5.67575209e-02 -1.08814377e+00] [-8.39853109e-02 9.96452788e-01 -5.32055946e-03 1.83278491e+00] [-5.70039258e-02 5.26281650e-04 9.98373815e-01 -1.00498533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66654761499999 meters Centerline goodness : 0.787711 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.83, Z:-1.01 [[ 9.94953164e-01 8.30968276e-02 5.62416133e-02 -1.08587077e+00] [-8.29482469e-02 9.96541437e-01 -4.97516531e-03 1.83006635e+00] [-5.64605186e-02 2.84913248e-04 9.98404792e-01 -1.00556875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69654761499999 meters Centerline goodness : 0.786190 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.83, Z:-1.01 [[ 0.99514825 0.08135117 0.05533491 -1.08133811] [-0.08109652 0.99668281 -0.00683573 1.83311616] [-0.05570745 0.00231509 0.99844445 -1.00938512] [ 0. 0. 0. 1. ]] SLAMing on 35.726547614999994 meters Centerline goodness : 0.784215 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.84, Z:-1.01 [[ 9.94744320e-01 8.57430987e-02 5.59630074e-02 -1.08208807e+00] [-8.56087688e-02 9.96317279e-01 -4.79771028e-03 1.83805129e+00] [-5.61682818e-02 -1.84291151e-05 9.98421316e-01 -1.01164127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.756547614999995 meters Centerline goodness : 0.792678 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.83, Z:-1.00 [[ 9.94248180e-01 9.01157100e-02 5.78767286e-02 -1.09733378e+00] [-8.99512127e-02 9.95931280e-01 -5.44648768e-03 1.83466043e+00] [-5.81320586e-02 2.09078537e-04 9.98308880e-01 -1.00259011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.786547614999996 meters Centerline goodness : 0.793840 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.83, Z:-1.00 [[ 9.94365147e-01 8.93151800e-02 5.71030048e-02 -1.09466560e+00] [-8.91475903e-02 9.96003348e-01 -5.48064970e-03 1.83324102e+00] [-5.73642892e-02 3.59171768e-04 9.98353249e-01 -1.00375834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.81654761499999 meters Centerline goodness : 0.790811 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.84, Z:-1.01 [[ 0.99424473 0.09108852 0.05639421 -1.08947009] [-0.09110149 0.99583885 -0.00234614 1.83505251] [-0.05637325 -0.00280496 0.99840582 -1.00659404] [ 0. 0. 0. 1. ]] SLAMing on 35.84654761499999 meters Centerline goodness : 0.785146 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.84, Z:-1.02 [[ 0.994286 0.08640658 0.06268379 -1.08960681] [-0.08704966 0.99617501 0.00759659 1.83915863] [-0.06178763 -0.01300979 0.99800453 -1.01548603] [ 0. 0. 0. 1. ]] SLAMing on 35.87654761499999 meters Centerline goodness : 0.788616 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.84, Z:-1.01 [[ 0.99443139 0.08437598 0.06314192 -1.09859049] [-0.08471131 0.99640202 0.00264794 1.83692484] [-0.06269132 -0.00798203 0.99800105 -1.00952796] [ 0. 0. 0. 1. ]] SLAMing on 35.906547614999994 meters Centerline goodness : 0.791616 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.83, Z:-1.00 [[ 0.9944559 0.08350474 0.06390948 -1.10944272] [-0.08350712 0.99650369 -0.00263857 1.83480061] [-0.06390637 -0.00271295 0.99795221 -1.00400632] [ 0. 0. 0. 1. ]] SLAMing on 35.936547614999995 meters Centerline goodness : 0.789220 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.84, Z:-1.01 [[ 0.99449763 0.08322336 0.06362649 -1.10836893] [-0.08319418 0.99652849 -0.00311245 1.83513008] [-0.06366464 -0.00219803 0.99796893 -1.00504304] [ 0. 0. 0. 1. ]] SLAMing on 35.966547614999996 meters Centerline goodness : 0.789759 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.83, Z:-1.00 [[ 0.99489025 0.08192245 0.05900925 -1.1158857 ] [-0.08269089 0.99651784 0.01069608 1.83443176] [-0.05792752 -0.01552096 0.99820013 -1.00077404] [ 0. 0. 0. 1. ]] SLAMing on 35.99654761499999 meters Centerline goodness : 0.786485 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.84, Z:-1.01 [[ 0.99514498 0.07926149 0.05834451 -1.1094649 ] [-0.07990412 0.99676405 0.00876141 1.83984364] [-0.05746127 -0.01338084 0.99825806 -1.0063031 ] [ 0. 0. 0. 1. ]] SLAMing on 36.02654761499999 meters Centerline goodness : 0.784237 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.84, Z:-1.01 [[ 0.99522516 0.07855816 0.05792667 -1.10751012] [-0.07909204 0.99684289 0.00697853 1.84280689] [-0.05719557 -0.01152675 0.99829645 -1.0089772 ] [ 0. 0. 0. 1. ]] SLAMing on 36.05654761499999 meters Centerline goodness : 0.785875 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.84, Z:-1.00 [[ 9.95164932e-01 7.83323200e-02 5.92520446e-02 -1.12028998e+00] [-7.85061292e-02 9.96913446e-01 6.07637235e-04 1.83996026e+00] [-5.90215624e-02 -5.25634794e-03 9.98242869e-01 -1.00441246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08654761499999 meters Centerline goodness : 0.788276 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.84, Z:-1.00 [[ 9.94976767e-01 8.03166289e-02 5.97534311e-02 -1.12795579e+00] [-8.03894861e-02 9.96762820e-01 -1.18752378e-03 1.83968822e+00] [-5.96553764e-02 -3.62198905e-03 9.98212461e-01 -1.00080700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.116547614999995 meters Centerline goodness : 0.787544 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.84, Z:-1.00 [[ 0.99541366 0.079327 0.05346837 -1.13410391] [-0.07989479 0.99676652 0.00856329 1.84320931] [-0.05261618 -0.01279586 0.99853283 -1.00257877] [ 0. 0. 0. 1. ]] SLAMing on 36.146547614999996 meters Centerline goodness : 0.781462 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.85, Z:-1.00 [[ 0.99598201 0.07627319 0.04692808 -1.13715712] [-0.07720869 0.99684416 0.01845346 1.8475117 ] [-0.04537248 -0.02200257 0.9987278 -1.0045185 ] [ 0. 0. 0. 1. ]] SLAMing on 36.17654761499999 meters Centerline goodness : 0.781634 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.85, Z:-1.01 [[ 0.99622803 0.07322013 0.04656752 -1.13768775] [-0.07391759 0.99717387 0.01343381 1.85185937] [-0.04545229 -0.0168253 0.99882481 -1.00536122] [ 0. 0. 0. 1. ]] SLAMing on 36.20654761499999 meters Centerline goodness : 0.783131 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.85, Z:-1.00 [[ 0.99630546 0.07212564 0.04661898 -1.1420599 ] [-0.07263005 0.99731637 0.00921586 1.85499896] [-0.04582917 -0.01256775 0.99887023 -1.00313181] [ 0. 0. 0. 1. ]] SLAMing on 36.23654761499999 meters Centerline goodness : 0.786041 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.86, Z:-1.00 [[ 0.99563155 0.0777917 0.05163597 -1.1615107 ] [-0.07807989 0.99694066 0.00358466 1.85872237] [-0.05119914 -0.00760073 0.99865954 -1.00098648] [ 0. 0. 0. 1. ]] SLAMing on 36.26654761499999 meters Centerline goodness : 0.784198 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.86, Z:-1.00 [[ 0.99532074 0.08138371 0.0520895 -1.16091464] [-0.08182101 0.99662703 0.00631488 1.86338933] [-0.05139987 -0.01054735 0.99862245 -1.00287921] [ 0. 0. 0. 1. ]] SLAMing on 36.296547614999994 meters Centerline goodness : 0.778811 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.87, Z:-1.00 [[ 0.99505347 0.08450853 0.05221979 -1.15906642] [-0.08510615 0.99632826 0.00932465 1.8693308 ] [-0.05124004 -0.01372275 0.99859208 -1.0045123 ] [ 0. 0. 0. 1. ]] SLAMing on 36.326547614999996 meters Centerline goodness : 0.777040 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.87, Z:-1.01 [[ 0.99511856 0.08404809 0.05172003 -1.15759175] [-0.08459485 0.99637942 0.00847086 1.87195741] [-0.05082081 -0.01280476 0.9986257 -1.00538741] [ 0. 0. 0. 1. ]] SLAMing on 36.35654761499999 meters Centerline goodness : 0.779632 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.87, Z:-1.01 [[ 9.95633908e-01 7.83974676e-02 5.06651604e-02 -1.15873358e+00] [-7.84879293e-02 9.96915043e-01 -2.04696415e-04 1.87364306e+00] [-5.05249083e-02 -3.77280084e-03 9.98715675e-01 -1.00596705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38654761499999 meters Centerline goodness : 0.782960 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.87, Z:-1.01 [[ 9.95914303e-01 7.49554555e-02 5.03624942e-02 -1.15964389e+00] [-7.48113346e-02 9.97186425e-01 -4.74330080e-03 1.87424529e+00] [-5.05763318e-02 9.56235704e-04 9.98719741e-01 -1.00556043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41654761499999 meters Centerline goodness : 0.781000 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.88, Z:-1.01 [[ 9.95944522e-01 7.45200149e-02 5.04110818e-02 -1.15946889e+00] [-7.43514279e-02 9.97218472e-01 -5.21389585e-03 1.87654652e+00] [-5.06594015e-02 1.44461510e-03 9.98714943e-01 -1.00561073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44654761499999 meters Centerline goodness : 0.781124 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.88, Z:-1.01 [[ 0.99599412 0.07388376 0.05036778 -1.15835658] [-0.07368532 0.99726475 -0.00578796 1.87896368] [-0.05065764 0.00205341 0.99871397 -1.0067771 ] [ 0. 0. 0. 1. ]] SLAMing on 36.476547614999994 meters Centerline goodness : 0.780795 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.88, Z:-1.01 [[ 0.99604438 0.07341034 0.05006509 -1.15720166] [-0.07316973 0.9972975 -0.00662438 1.88225228] [-0.05041609 0.00293492 0.99872399 -1.00750324] [ 0. 0. 0. 1. ]] SLAMing on 36.506547614999995 meters Centerline goodness : 0.778506 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.88, Z:-1.01 [[ 0.9961603 0.07248182 0.04910235 -1.15484761] [-0.07218826 0.99736108 -0.00772804 1.88457399] [-0.04953291 0.00415376 0.99876385 -1.00792407] [ 0. 0. 0. 1. ]] SLAMing on 36.53654761499999 meters Centerline goodness : 0.784661 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.88, Z:-1.01 [[ 0.99635801 0.06964082 0.04920231 -1.15720111] [-0.06913907 0.9975369 -0.01182913 1.88390122] [-0.04990491 0.00838425 0.99871878 -1.00680118] [ 0. 0. 0. 1. ]] SLAMing on 36.56654761499999 meters Centerline goodness : 0.785455 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.88, Z:-1.01 [[ 0.99637781 0.06945999 0.04905687 -1.15687759] [-0.06895524 0.99754866 -0.01190959 1.88447496] [-0.04976386 0.00848372 0.99872498 -1.00665311] [ 0. 0. 0. 1. ]] SLAMing on 36.59654761499999 meters Centerline goodness : 0.779338 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.88, Z:-1.00 [[ 9.97049977e-01 6.44936113e-02 4.16163104e-02 -1.15825428e+00] [-6.44948500e-02 9.97917174e-01 -1.31423604e-03 1.88250939e+00] [-4.16143907e-02 -1.37367868e-03 9.99132802e-01 -1.00485389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62654761499999 meters Centerline goodness : 0.779418 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.88, Z:-1.01 [[ 9.97178021e-01 6.30713507e-02 4.07185477e-02 -1.15425021e+00] [-6.30456903e-02 9.98008804e-01 -1.91526155e-03 1.88219338e+00] [-4.07582672e-02 -6.57272225e-04 9.99168820e-01 -1.00744639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.656547614999994 meters Centerline goodness : 0.777830 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.88, Z:-1.01 [[ 9.97231260e-01 6.25001330e-02 4.02932755e-02 -1.15299926e+00] [-6.24685826e-02 9.98044840e-01 -2.04281991e-03 1.88210943e+00] [-4.03421722e-02 -4.79899934e-04 9.99185808e-01 -1.00751426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.686547614999995 meters Centerline goodness : 0.777999 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.88, Z:-1.01 [[ 0.99741996 0.05947289 0.04020436 -1.155082 ] [-0.05927224 0.99822282 -0.00616544 1.88432289] [-0.04049958 0.00376653 0.99917246 -1.005505 ] [ 0. 0. 0. 1. ]] SLAMing on 36.716547614999996 meters Centerline goodness : 0.780304 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.89, Z:-1.00 [[ 0.99758125 0.05659836 0.04035188 -1.15795307] [-0.05623972 0.99836752 -0.00996929 1.88534978] [-0.04085025 0.0076758 0.9991358 -1.00292007] [ 0. 0. 0. 1. ]] SLAMing on 36.74654761499999 meters Centerline goodness : 0.783568 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.88, Z:-1.00 [[ 0.99767324 0.055417 0.03971222 -1.15594429] [-0.05508336 0.99843706 -0.00944768 1.88217716] [-0.04017371 0.00723821 0.99916649 -1.00212716] [ 0. 0. 0. 1. ]] SLAMing on 36.77654761499999 meters Centerline goodness : 0.784861 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.88, Z:-1.00 [[ 0.99761046 0.05051444 0.04713453 -1.16436321] [-0.05030695 0.99871822 -0.00557875 1.88477384] [-0.04735593 0.00319423 0.99887297 -1.00497477] [ 0. 0. 0. 1. ]] SLAMing on 36.80654761499999 meters Centerline goodness : 0.785246 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.89, Z:-1.00 [[ 9.97830505e-01 4.74773929e-02 4.56090015e-02 -1.15889394e+00] [-4.73429476e-02 9.98870588e-01 -4.02407481e-03 1.88597729e+00] [-4.57485427e-02 1.85608003e-03 9.98951263e-01 -1.00183006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83654761499999 meters Centerline goodness : 0.786421 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.88, Z:-1.00 [[ 0.99808955 0.04257163 0.04477618 -1.15733634] [-0.04228865 0.99907914 -0.00724869 1.88353437] [-0.04504353 0.00534132 0.99897075 -1.00021513] [ 0. 0. 0. 1. ]] SLAMing on 36.866547614999995 meters Centerline goodness : 0.789224 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.88, Z:-1.00 [[ 0.99829837 0.03805265 0.0441855 -1.15657639] [-0.03760699 0.99923344 -0.01087422 1.88198161] [-0.04456542 0.00919403 0.99896416 -0.99874423] [ 0. 0. 0. 1. ]] SLAMing on 36.896547614999996 meters Centerline goodness : 0.789820 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.88, Z:-1.00 [[ 0.99842537 0.0359709 0.04304507 -1.15306022] [-0.03550505 0.99930288 -0.01153863 1.88413396] [-0.04343012 0.00999214 0.9990065 -0.99825483] [ 0. 0. 0. 1. ]] SLAMing on 36.92654761499999 meters Centerline goodness : 0.789550 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.88, Z:-1.00 [[ 0.99849873 0.03487169 0.04224051 -1.15137989] [-0.0344167 0.99934196 -0.01145148 1.88478137] [-0.04261204 0.00998051 0.99904184 -0.99657407] [ 0. 0. 0. 1. ]] SLAMing on 36.95654761499999 meters Centerline goodness : 0.791868 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.88, Z:-0.99 [[ 0.99851666 0.03467043 0.04198152 -1.15123038] [-0.03424799 0.99935565 -0.01074047 1.8834832 ] [-0.04232684 0.00928676 0.99906066 -0.99494153] [ 0. 0. 0. 1. ]] SLAMing on 36.98654761499999 meters Centerline goodness : 0.789058 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.89, Z:-0.99 [[ 0.99875845 0.0355608 0.03488541 -1.15459802] [-0.03569505 0.9993575 0.00323268 1.88738995] [-0.03474804 -0.00447391 0.99938609 -0.99366183] [ 0. 0. 0. 1. ]] SLAMing on 37.01654761499999 meters Centerline goodness : 0.786376 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.89, Z:-0.99 [[ 0.99893504 0.04120555 0.02075798 -1.15324945] [-0.04141886 0.9990923 0.00995265 1.89350815] [-0.02032903 -0.01080182 0.99973499 -0.99172865] [ 0. 0. 0. 1. ]] SLAMing on 37.046547614999994 meters Centerline goodness : 0.787410 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.90, Z:-0.99 [[ 0.99847925 0.04892847 0.02540066 -1.17036894] [-0.04904415 0.9987888 0.00395086 1.90213554] [-0.02517659 -0.00519061 0.99966954 -0.99363639] [ 0. 0. 0. 1. ]] SLAMing on 37.076547614999996 meters Centerline goodness : 0.788188 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.91, Z:-0.99 [[ 0.99843653 0.04970288 0.02557577 -1.17220344] [-0.04980753 0.9987528 0.00347082 1.90541365] [-0.02537136 -0.00473926 0.99966686 -0.99233023] [ 0. 0. 0. 1. ]] SLAMing on 37.10654761499999 meters Centerline goodness : 0.788254 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-0.99 [[ 0.99803938 0.05701483 0.02582056 -1.17254187] [-0.05729453 0.99830496 0.01022454 1.91505702] [-0.02519384 -0.01168387 0.9996143 -0.99071041] [ 0. 0. 0. 1. ]] SLAMing on 37.13654761499999 meters Centerline goodness : 0.788186 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-0.99 [[ 0.9980177 0.0575792 0.02540298 -1.17152027] [-0.05781323 0.99829058 0.00857593 1.92153491] [-0.02486576 -0.01002756 0.99964051 -0.99287686] [ 0. 0. 0. 1. ]] SLAMing on 37.16654761499999 meters Centerline goodness : 0.786545 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 0.9980743 0.05688924 0.02472442 -1.16863814] [-0.05704789 0.99835483 0.00575877 1.92621762] [-0.02435613 -0.00715816 0.99967772 -0.99715279] [ 0. 0. 0. 1. ]] SLAMing on 37.19654761499999 meters Centerline goodness : 0.784481 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 0.99804316 0.0574802 0.02461457 -1.16859313] [-0.05758335 0.99833456 0.00350203 1.93191442] [-0.02437228 -0.00491257 0.99969088 -0.9994492 ] [ 0. 0. 0. 1. ]] SLAMing on 37.226547614999994 meters Centerline goodness : 0.785510 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99775439 0.0621083 0.02507446 -1.17050491] [-0.06230709 0.99803087 0.00722514 1.93522231] [-0.02457634 -0.00877123 0.99965948 -0.9975469 ] [ 0. 0. 0. 1. ]] SLAMing on 37.256547614999995 meters Centerline goodness : 0.785098 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99741147 0.06715069 0.02571256 -1.17303775] [-0.06746068 0.99765699 0.01138345 1.93668002] [-0.02488791 -0.01308857 0.99960456 -0.99544668] [ 0. 0. 0. 1. ]] SLAMing on 37.28654761499999 meters Centerline goodness : 0.783493 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99735418 0.06797746 0.02576246 -1.17358028] [-0.06827504 0.99760752 0.01085156 1.93818309] [-0.02496316 -0.01258178 0.99960919 -0.99601531] [ 0. 0. 0. 1. ]] SLAMing on 37.31654761499999 meters Centerline goodness : 0.784174 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99734508 0.06804275 0.02594176 -1.17402769] [-0.06834157 0.99760341 0.01081078 1.93915672] [-0.02514399 -0.01255498 0.999605 -0.99587727] [ 0. 0. 0. 1. ]] SLAMing on 37.34654761499999 meters Centerline goodness : 0.783971 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99765952 0.06338614 0.02564542 -1.17263357] [-0.06356145 0.99795941 0.00607875 1.94161418] [-0.02520778 -0.00769458 0.99965262 -0.99764801] [ 0. 0. 0. 1. ]] SLAMing on 37.37654761499999 meters Centerline goodness : 0.781577 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 9.97981659e-01 5.83924630e-02 2.49585208e-02 -1.17075162e+00] [-5.84552948e-02 9.98288414e-01 1.79469190e-03 1.94032057e+00] [-2.48110057e-02 -3.25002729e-03 9.99686877e-01 -9.98565779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.406547614999994 meters Centerline goodness : 0.783044 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99837301 0.0513217 0.02484806 -1.1726529 ] [-0.05118641 0.99867079 -0.00605065 1.93915899] [-0.02512556 0.00476892 0.99967293 -0.99756825] [ 0. 0. 0. 1. ]] SLAMing on 37.436547614999995 meters Centerline goodness : 0.785837 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99841671 0.05073536 0.02429003 -1.17135035] [-0.05060216 0.99870046 -0.0060674 1.93856482] [-0.02456629 0.00482866 0.99968654 -0.99731853] [ 0. 0. 0. 1. ]] SLAMing on 37.466547614999996 meters Centerline goodness : 0.785837 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99841671 0.05073536 0.02429003 -1.17135035] [-0.05060216 0.99870046 -0.0060674 1.93856482] [-0.02456629 0.00482866 0.99968654 -0.99731853] [ 0. 0. 0. 1. ]] SLAMing on 37.49654761499999 meters Centerline goodness : 0.784476 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.998458 0.05021884 0.02365757 -1.16907016] [-0.05008758 0.99872614 -0.00610921 1.93736502] [-0.02393423 0.00491483 0.99970145 -0.99856973] [ 0. 0. 0. 1. ]] SLAMing on 37.52654761499999 meters Centerline goodness : 0.785649 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99845202 0.05031804 0.02369917 -1.16899184] [-0.05019411 0.99872266 -0.00579592 1.93590385] [-0.02396054 0.00459739 0.99970233 -0.99879603] [ 0. 0. 0. 1. ]] SLAMing on 37.55654761499999 meters Centerline goodness : 0.786315 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 0.99844082 0.0503968 0.02400196 -1.16943409] [-0.0502961 0.9987229 -0.00478153 1.93335578] [-0.02421228 0.00356687 0.99970048 -0.99835422] [ 0. 0. 0. 1. ]] SLAMing on 37.58654761499999 meters Centerline goodness : 0.786392 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 0.99850188 0.04950609 0.02330562 -1.16639205] [-0.0493966 0.99876544 -0.00525107 1.93340213] [-0.02353681 0.00409199 0.9997146 -1.00038696] [ 0. 0. 0. 1. ]] SLAMing on 37.616547614999995 meters Centerline goodness : 0.784495 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.93, Z:-1.00 [[ 0.99850456 0.04952555 0.02314865 -1.16463598] [-0.04939313 0.99875981 -0.00625804 1.93197473] [-0.02342988 0.00510529 0.99971245 -1.00386452] [ 0. 0. 0. 1. ]] SLAMing on 37.646547614999996 meters Centerline goodness : 0.785581 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.94, Z:-1.00 [[ 0.99848009 0.05001055 0.02316142 -1.16471722] [-0.04985917 0.99873124 -0.00706853 1.93569815] [-0.02348554 0.00590297 0.99970675 -1.00475041] [ 0. 0. 0. 1. ]] SLAMing on 37.67654761499999 meters Centerline goodness : 0.785931 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99854628 0.04849018 0.02353763 -1.16918639] [-0.04827875 0.99878901 -0.00946952 1.93580074] [-0.02396831 0.00831938 0.9996781 -1.00084325] [ 0. 0. 0. 1. ]] SLAMing on 37.70654761499999 meters Centerline goodness : 0.787576 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 0.99869602 0.04531401 0.02351397 -1.17059246] [-0.04502519 0.99890549 -0.01267073 1.93325539] [-0.02406239 0.01159549 0.99964321 -0.99954275] [ 0. 0. 0. 1. ]] SLAMing on 37.73654761499999 meters Centerline goodness : 0.785188 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 0.99885282 0.04169222 0.02355404 -1.17060656] [-0.04132843 0.99902184 -0.01572674 1.92927164] [-0.02418668 0.01473525 0.99959886 -1.00017231] [ 0. 0. 0. 1. ]] SLAMing on 37.76654761499999 meters Centerline goodness : 0.787033 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.93, Z:-1.00 [[ 0.99881048 0.03735159 0.03134468 -1.17940176] [-0.03705235 0.99926255 -0.01007412 1.92560245] [-0.03169785 0.00890074 0.99945786 -1.0031887 ] [ 0. 0. 0. 1. ]] SLAMing on 37.796547614999994 meters Centerline goodness : 0.786216 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-1.00 [[ 0.99880646 0.03833441 0.03026768 -1.17421589] [-0.03822808 0.99926069 -0.00408408 1.92273213] [-0.03040186 0.00292213 0.99953349 -1.00112283] [ 0. 0. 0. 1. ]] SLAMing on 37.826547614999996 meters Centerline goodness : 0.784278 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-1.00 [[ 0.99880872 0.03858927 0.02986652 -1.17365907] [-0.03848529 0.99925096 -0.00404888 1.92185654] [-0.0300004 0.00289463 0.9995457 -1.0010573 ] [ 0. 0. 0. 1. ]] SLAMing on 37.85654761499999 meters Centerline goodness : 0.784507 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.92, Z:-1.00 [[ 0.99883059 0.03757708 0.03042078 -1.17846942] [-0.03737165 0.99927482 -0.00729381 1.91855859] [-0.03067279 0.00614841 0.99951057 -0.99902676] [ 0. 0. 0. 1. ]] SLAMing on 37.88654761499999 meters Centerline goodness : 0.787517 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.91, Z:-1.00 [[ 0.9987611 0.03908015 0.030806 -1.18134759] [-0.03891939 0.99922551 -0.00580098 1.91484764] [-0.03100884 0.00459484 0.99950855 -0.99629006] [ 0. 0. 0. 1. ]] SLAMing on 37.91654761499999 meters Centerline goodness : 0.790858 Centerline is valid? [False, False] Translation: X:-1.19, Y:1.91, Z:-0.99 [[ 0.99888354 0.0400216 0.02509853 -1.19239686] [-0.04018028 0.99917532 0.00584985 1.91159883] [-0.02484371 -0.00685178 0.99966787 -0.99315551] [ 0. 0. 0. 1. ]] SLAMing on 37.94654761499999 meters Centerline goodness : 0.788181 Centerline is valid? [False, False] Translation: X:-1.19, Y:1.91, Z:-1.00 [[ 0.99896385 0.03832542 0.02454341 -1.18758045] [-0.03846199 0.99924696 0.0051166 1.91221668] [-0.02432883 -0.00605529 0.99968567 -0.99746243] [ 0. 0. 0. 1. ]] SLAMing on 37.976547614999994 meters Centerline goodness : 0.784983 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.91, Z:-1.00 [[ 9.99186501e-01 3.26994963e-02 2.36025202e-02 -1.18320716e+00] [-3.27179987e-02 9.99464544e-01 3.98072397e-04 1.91162911e+00] [-2.35768653e-02 -1.16997579e-03 9.99721342e-01 -1.00066317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.006547614999995 meters Centerline goodness : 0.787928 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.91, Z:-1.00 [[ 0.99943284 0.02466324 0.02292879 -1.18239863] [-0.02451415 0.99967662 -0.0067611 1.90658301] [-0.02308813 0.00619519 0.99971424 -0.99994099] [ 0. 0. 0. 1. ]] SLAMing on 38.03654761499999 meters Centerline goodness : 0.792723 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.90, Z:-1.00 [[ 0.99954621 0.02027955 0.02227347 -1.18184505] [-0.02007667 0.99975524 -0.00929466 1.90201686] [-0.02245651 0.00884327 0.99970871 -0.99706646] [ 0. 0. 0. 1. ]] SLAMing on 38.06654761499999 meters Centerline goodness : 0.791914 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.90, Z:-1.00 [[ 0.99951593 0.02246551 0.0215222 -1.17816073] [-0.02235211 0.99973506 -0.00549536 1.90093896] [-0.02163995 0.00501163 0.99975327 -0.99810779] [ 0. 0. 0. 1. ]] SLAMing on 38.09654761499999 meters Centerline goodness : 0.791237 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.90, Z:-1.00 [[ 0.99953102 0.02283148 0.02040752 -1.17158522] [-0.02278031 0.99973675 -0.00273664 1.9031939 ] [-0.02046463 0.00227047 0.999788 -1.00045629] [ 0. 0. 0. 1. ]] SLAMing on 38.12654761499999 meters Centerline goodness : 0.791995 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.90, Z:-1.00 [[ 0.99957845 0.02144022 0.01957664 -1.16878772] [-0.02138828 0.99976716 -0.00285893 1.90087346] [-0.01963338 0.00243902 0.99980427 -1.00064518] [ 0. 0. 0. 1. ]] SLAMing on 38.156547614999994 meters Centerline goodness : 0.793961 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.90, Z:-1.00 [[ 0.99958973 0.02122875 0.01922774 -1.16874524] [-0.0211738 0.99977114 -0.00305691 1.90283807] [-0.01928823 0.00264853 0.99981046 -0.99935673] [ 0. 0. 0. 1. ]] SLAMing on 38.186547614999995 meters Centerline goodness : 0.792237 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.91, Z:-1.00 [[ 0.99959245 0.02130975 0.01899549 -1.16913525] [-0.02124098 0.99976711 -0.00381482 1.90728986] [-0.01907236 0.00340979 0.99981229 -0.99860258] [ 0. 0. 0. 1. ]] SLAMing on 38.21654761499999 meters Centerline goodness : 0.792678 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.91, Z:-1.00 [[ 0.99958208 0.02234039 0.01834595 -1.16886225] [-0.02227113 0.99974408 -0.00397102 1.91268642] [-0.01842997 0.00356078 0.99982381 -0.99812568] [ 0. 0. 0. 1. ]] SLAMing on 38.24654761499999 meters Centerline goodness : 0.790353 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-1.00 [[ 9.99492345e-01 2.64097027e-02 1.78207889e-02 -1.16790706e+00] [-2.63809234e-02 9.99650254e-01 -1.84812425e-03 1.91812175e+00] [-1.78633645e-02 1.37705717e-03 9.99839489e-01 -9.99353498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27654761499999 meters Centerline goodness : 0.787971 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-1.00 [[ 9.99388539e-01 3.03439832e-02 1.73721306e-02 -1.16655773e+00] [-3.03525373e-02 9.99539229e-01 2.28891765e-04 1.92254535e+00] [-1.73571806e-02 -7.56040049e-04 9.99849067e-01 -1.00131027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30654761499999 meters Centerline goodness : 0.788025 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 0.99927833 0.033766 0.01739776 -1.1658071 ] [-0.03382568 0.99942279 0.00314746 1.92637978] [-0.01728144 -0.00373368 0.99984369 -1.00220534] [ 0. 0. 0. 1. ]] SLAMing on 38.33654761499999 meters Centerline goodness : 0.788334 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 0.99928568 0.03346393 0.01755842 -1.16609211] [-0.03351078 0.99943552 0.00238077 1.93063127] [-0.01746884 -0.00296747 0.999843 -1.00230944] [ 0. 0. 0. 1. ]] SLAMing on 38.366547614999995 meters Centerline goodness : 0.790050 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 9.99403863e-01 2.97223697e-02 1.75641749e-02 -1.16733249e+00] [-2.96987740e-02 9.99557609e-01 -1.60277397e-03 1.93033833e+00] [-1.76040429e-02 1.08018403e-03 9.99844453e-01 -1.00108299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.396547614999996 meters Centerline goodness : 0.789455 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 0.99948984 0.02660282 0.01767356 -1.16939885] [-0.02650451 0.99963202 -0.00577387 1.93206243] [-0.01782066 0.00530249 0.99982714 -0.99966714] [ 0. 0. 0. 1. ]] SLAMing on 38.42654761499999 meters Centerline goodness : 0.791940 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99950195 0.02623873 0.01753246 -1.1693248 ] [-0.0261291 0.99963775 -0.00645302 1.93560575] [-0.01769543 0.0059917 0.99982547 -0.99927068] [ 0. 0. 0. 1. ]] SLAMing on 38.45654761499999 meters Centerline goodness : 0.789391 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99950587 0.02609469 0.01752395 -1.16892974] [-0.0259705 0.99963622 -0.00727763 1.93813495] [-0.01770748 0.00681893 0.99981996 -1.00024857] [ 0. 0. 0. 1. ]] SLAMing on 38.48654761499999 meters Centerline goodness : 0.789460 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99949866 0.02647855 0.01735838 -1.16848649] [-0.02635251 0.99962495 -0.00745008 1.93759087] [-0.01754914 0.00698891 0.99982158 -1.00106561] [ 0. 0. 0. 1. ]] SLAMing on 38.51654761499999 meters Centerline goodness : 0.788957 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.9994277 0.02943643 0.01666647 -1.16568709] [-0.02937245 0.99956025 -0.0040708 1.93861222] [-0.01677898 0.00357894 0.99985282 -1.00215817] [ 0. 0. 0. 1. ]] SLAMing on 38.546547614999994 meters Centerline goodness : 0.786249 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.94, Z:-1.00 [[ 9.99352122e-01 3.22274699e-02 1.60227092e-02 -1.16375467e+00] [-3.22210013e-02 9.99480550e-01 -6.61770045e-04 1.94202520e+00] [-1.60357134e-02 1.45073565e-04 9.99871409e-01 -1.00164235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.576547614999996 meters Centerline goodness : 0.784924 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.94, Z:-1.00 [[ 0.99946768 0.02848041 0.01591316 -1.16470057] [-0.02840603 0.99958455 -0.00488102 1.94286072] [-0.01604556 0.00442639 0.99986146 -1.00069686] [ 0. 0. 0. 1. ]] SLAMing on 38.60654761499999 meters Centerline goodness : 0.788895 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.94, Z:-1.00 [[ 0.99960061 0.0235689 0.01559282 -1.16367516] [-0.02344036 0.99969016 -0.00837505 1.93734722] [-0.01578538 0.0080062 0.99984335 -1.0002638 ] [ 0. 0. 0. 1. ]] SLAMing on 38.63654761499999 meters Centerline goodness : 0.786574 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99973013 0.02174479 0.00817495 -1.16731135] [-0.02177581 0.99975594 0.00372469 1.9385754 ] [-0.00809196 -0.0039017 0.99995965 -0.99778116] [ 0. 0. 0. 1. ]] SLAMing on 38.66654761499999 meters Centerline goodness : 0.785549 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99973065 0.0218782 0.00774385 -1.16585093] [-0.02189469 0.99975818 0.00205132 1.94282406] [-0.0076971 -0.00222032 0.99996791 -1.00028915] [ 0. 0. 0. 1. ]] SLAMing on 38.69654761499999 meters Centerline goodness : 0.787844 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 9.99703183e-01 2.27413595e-02 8.73933140e-03 -1.17305981e+00] [-2.27382018e-02 9.99741348e-01 -4.60516493e-04 1.94071092e+00] [-8.74754372e-03 2.61663123e-04 9.99961705e-01 -9.97545468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.726547614999994 meters Centerline goodness : 0.790084 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 9.99684659e-01 2.36154261e-02 8.53780574e-03 -1.17322533e+00] [-2.36072909e-02 9.99720755e-01 -1.05238993e-03 1.94259297e+00] [-8.56027424e-03 8.50503606e-04 9.99962998e-01 -9.98209015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.756547614999995 meters Centerline goodness : 0.784074 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.95, Z:-1.00 [[ 0.99955689 0.02878348 0.00758548 -1.1664051 ] [-0.02882107 0.9995726 0.00489445 1.94737211] [-0.00744136 -0.0051109 0.99995925 -1.00300591] [ 0. 0. 0. 1. ]] SLAMing on 38.78654761499999 meters Centerline goodness : 0.782676 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.95, Z:-1.00 [[ 0.99954068 0.02924608 0.00794364 -1.16737331] [-0.02928416 0.99955998 0.00472092 1.94830414] [-0.00780208 -0.00495138 0.9999573 -1.00325345] [ 0. 0. 0. 1. ]] SLAMing on 38.81654761499999 meters Centerline goodness : 0.784024 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 9.99647149e-01 2.49844691e-02 9.01960214e-03 -1.17399699e+00] [-2.49736843e-02 9.99687255e-01 -1.30638271e-03 1.94327300e+00] [-9.04942058e-03 1.08066905e-03 9.99958469e-01 -1.00032639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84654761499999 meters Centerline goodness : 0.783388 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 9.99648978e-01 2.50343322e-02 8.67193294e-03 -1.17307923e+00] [-2.50267683e-02 9.99686301e-01 -9.79673444e-04 1.94117367e+00] [-8.69373804e-03 7.62299101e-04 9.99961918e-01 -1.00062233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87654761499999 meters Centerline goodness : 0.781568 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.94, Z:-1.00 [[ 0.99953952 0.02909918 0.00860137 -1.17286862] [-0.02912734 0.99957069 0.00316682 1.94229687] [-0.00850553 -0.0034159 0.99995799 -1.00023255] [ 0. 0. 0. 1. ]] SLAMing on 38.906547614999994 meters Centerline goodness : 0.781209 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.94, Z:-1.00 [[ 0.99944834 0.0318341 0.00946641 -1.17768124] [-0.03188128 0.99947977 0.00487606 1.94015943] [-0.00930626 -0.00517517 0.9999433 -0.99728649] [ 0. 0. 0. 1. ]] SLAMing on 38.936547614999995 meters Centerline goodness : 0.781756 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.94, Z:-1.00 [[ 9.99524203e-01 2.93111488e-02 9.60329274e-03 -1.17845577e+00] [-2.93188056e-02 9.99569895e-01 6.57474276e-04 1.93978306e+00] [-9.57989099e-03 -9.38718526e-04 9.99953671e-01 -9.99026818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96654761499999 meters Centerline goodness : 0.780511 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.94, Z:-1.00 [[ 9.99543120e-01 2.87429609e-02 9.34844951e-03 -1.17667751e+00] [-2.87535000e-02 9.99586038e-01 9.94903399e-04 1.93676329e+00] [-9.31598313e-03 -1.26324949e-03 9.99955807e-01 -1.00027610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.99654761499999 meters Centerline goodness : 0.783044 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.93, Z:-1.00 [[ 9.99657520e-01 2.43727828e-02 9.52945695e-03 -1.17745254e+00] [-2.43765066e-02 9.99702811e-01 2.74792319e-04 1.92989755e+00] [-9.51992745e-03 -5.06993078e-04 9.99954556e-01 -9.96049421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02654761499999 meters Centerline goodness : 0.780934 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.93, Z:-1.00 [[ 0.99975947 0.01994526 0.00912107 -1.17586217] [-0.01990584 0.99979221 -0.00439166 1.93001056] [-0.00920676 0.00420904 0.99994876 -0.9977053 ] [ 0. 0. 0. 1. ]] SLAMing on 39.05654761499999 meters Centerline goodness : 0.782919 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 0.99984981 0.0150568 0.00858209 -1.17327792] [-0.01498959 0.99985688 -0.00784374 1.92569402] [-0.00869896 0.00771392 0.99993241 -0.99894926] [ 0. 0. 0. 1. ]] SLAMing on 39.08654761499999 meters Centerline goodness : 0.780258 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.93, Z:-1.00 [[ 0.99986351 0.01432019 0.00823987 -1.17166362] [-0.01424894 0.99986114 -0.00864117 1.92876368] [-0.00836247 0.00852258 0.99992871 -0.99997126] [ 0. 0. 0. 1. ]] SLAMing on 39.116547614999995 meters Centerline goodness : 0.780299 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-1.00 [[ 0.99987397 0.01404892 0.00739359 -1.17004384] [-0.01398928 0.99986968 -0.00805686 1.92431979] [-0.00750582 0.00795242 0.99994021 -0.99916587] [ 0. 0. 0. 1. ]] SLAMing on 39.146547614999996 meters Centerline goodness : 0.779789 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-1.00 [[ 0.99985845 0.0150561 0.00750928 -1.1708517 ] [-0.01500249 0.99986192 -0.00714552 1.9202369 ] [-0.00761582 0.00703185 0.99994627 -0.99887427] [ 0. 0. 0. 1. ]] SLAMing on 39.17654761499999 meters Centerline goodness : 0.780285 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-1.00 [[ 0.99978365 0.01927485 0.00781891 -1.17135328] [-0.01925554 0.99981138 -0.00253734 1.92018565] [-0.00786634 0.00238623 0.99996621 -0.99843821] [ 0. 0. 0. 1. ]] SLAMing on 39.20654761499999 meters Centerline goodness : 0.777969 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-1.00 [[ 0.99977779 0.01958026 0.00780975 -1.17083575] [-0.01956024 0.99980522 -0.00263218 1.92261196] [-0.00785977 0.00247883 0.99996604 -0.99951363] [ 0. 0. 0. 1. ]] SLAMing on 39.23654761499999 meters Centerline goodness : 0.775215 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-1.00 [[ 0.99978122 0.01954315 0.00745493 -1.16936822] [-0.01952471 0.99980615 -0.00253764 1.92126062] [-0.00750308 0.00239153 0.99996899 -1.00065467] [ 0. 0. 0. 1. ]] SLAMing on 39.26654761499999 meters Centerline goodness : 0.774862 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-1.00 [[ 0.99977763 0.01983041 0.00717315 -1.16852601] [-0.01981549 0.99980135 -0.00214433 1.91807975] [-0.00721425 0.00200171 0.99997197 -1.00124115] [ 0. 0. 0. 1. ]] SLAMing on 39.296547614999994 meters Centerline goodness : 0.777575 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.92, Z:-1.00 [[ 0.99980481 0.01827387 0.00751024 -1.17179986] [-0.01823303 0.9998188 -0.00547011 1.91762602] [-0.00760884 0.00533211 0.99995684 -1.00009069] [ 0. 0. 0. 1. ]] SLAMing on 39.326547614999996 meters Centerline goodness : 0.780325 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.92, Z:-1.00 [[ 0.99975825 0.02038582 0.00823744 -1.17609649] [-0.02035521 0.99978565 -0.00378296 1.91543484] [-0.00831279 0.00361437 0.99995892 -0.99687913] [ 0. 0. 0. 1. ]] SLAMing on 39.35654761499999 meters Centerline goodness : 0.778518 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.91, Z:-1.00 [[ 0.99972756 0.02162089 0.00879464 -1.17601554] [-0.0215904 0.99976061 -0.00354727 1.91207609] [-0.00886923 0.00335643 0.99995503 -1.00017453] [ 0. 0. 0. 1. ]] SLAMing on 39.38654761499999 meters Centerline goodness : 0.778518 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.91, Z:-1.00 [[ 0.99972756 0.02162089 0.00879464 -1.17601554] [-0.0215904 0.99976061 -0.00354727 1.91207609] [-0.00886923 0.00335643 0.99995503 -1.00017453] [ 0. 0. 0. 1. ]] SLAMing on 39.41654761499999 meters Centerline goodness : 0.770839 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.91, Z:-1.00 [[ 9.99656054e-01 2.47608634e-02 8.64133741e-03 -1.17271645e+00] [-2.47594871e-02 9.99693401e-01 -2.66220577e-04 1.91346971e+00] [-8.64527984e-03 5.21739288e-05 9.99962628e-01 -1.00388614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44654761499999 meters Centerline goodness : 0.771229 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.91, Z:-1.00 [[ 0.99969899 0.02273419 0.00922409 -1.17595252] [-0.02270434 0.99973668 -0.00332798 1.91208674] [-0.00929732 0.00311756 0.99995192 -1.00285005] [ 0. 0. 0. 1. ]] SLAMing on 39.476547614999994 meters Centerline goodness : 0.776704 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.90, Z:-1.00 [[ 0.9997234 0.0213093 0.00995177 -1.18112605] [-0.02126729 0.99976454 -0.00430863 1.9034885 ] [-0.01004124 0.00409579 0.9999412 -0.99844228] [ 0. 0. 0. 1. ]] SLAMing on 39.506547614999995 meters Centerline goodness : 0.777108 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.90, Z:-1.00 [[ 0.9997463 0.0205236 0.00928014 -1.17883237] [-0.0204916 0.99978379 -0.00353026 1.90041456] [-0.00935059 0.0033392 0.99995071 -0.99821426] [ 0. 0. 0. 1. ]] SLAMing on 39.53654761499999 meters Centerline goodness : 0.769096 Centerline is valid? [False, False] Translation: X:-1.19, Y:1.90, Z:-1.00 [[ 0.99986662 0.01620986 0.00199373 -1.18500327] [-0.01621778 0.99986038 0.00402421 1.89538867] [-0.00192822 -0.00405601 0.99998992 -0.99742416] [ 0. 0. 0. 1. ]] SLAMing on 39.56654761499999 meters Centerline goodness : 0.765552 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.90, Z:-1.00 [[ 9.99902550e-01 1.39344431e-02 8.49250473e-04 -1.17846951e+00] [-1.39363614e-02 9.99900247e-01 2.29636456e-03 1.89672984e+00] [-8.17167196e-04 -2.30797624e-03 9.99997003e-01 -1.00230587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59654761499999 meters Centerline goodness : 0.763605 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.90, Z:-1.00 [[ 9.99906937e-01 1.36332207e-02 5.02982277e-04 -1.17782851e+00] [-1.36341813e-02 9.99905132e-01 1.95845498e-03 1.89778034e+00] [-4.76234511e-04 -1.96513047e-03 9.99997956e-01 -1.00206540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62654761499999 meters Centerline goodness : 0.767060 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.89, Z:-1.00 [[ 9.99924493e-01 1.22604738e-02 8.30321976e-04 -1.18326106e+00] [-1.22602537e-02 9.99924804e-01 -2.69666846e-04 1.88969877e+00] [-8.33565782e-04 2.59466526e-04 9.99999619e-01 -9.97900699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.656547614999994 meters Centerline goodness : 0.770686 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.89, Z:-1.00 [[ 9.99965382e-01 8.30197834e-03 5.58204830e-04 -1.18256748e+00] [-8.29997368e-03 9.99959421e-01 -3.50246588e-03 1.88568698e+00] [-5.87259574e-04 3.49771155e-03 9.99993711e-01 -9.97843413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.686547614999995 meters Centerline goodness : 0.766996 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.89, Z:-1.00 [[ 9.99977373e-01 6.59895667e-03 -1.30655873e-03 -1.17179743e+00] [-6.59845741e-03 9.99978155e-01 3.86056553e-04 1.88788099e+00] [ 1.30907776e-03 -3.77426546e-04 9.99999072e-01 -9.99075160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.71654761499999 meters Centerline goodness : 0.765070 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.89, Z:-1.00 [[ 9.99988104e-01 4.47944618e-03 -1.93041598e-03 -1.16781584e+00] [-4.47829478e-03 9.99989792e-01 6.00361758e-04 1.88700914e+00] [ 1.93308557e-03 -5.91709644e-04 9.99997957e-01 -9.99952712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74654761499999 meters Centerline goodness : 0.762873 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.88, Z:-1.00 [[ 9.99989281e-01 3.86989462e-03 -2.54205548e-03 -1.16619689e+00] [-3.86668310e-03 9.99991722e-01 1.26705426e-03 1.88332657e+00] [ 2.54693780e-03 -1.25721135e-03 9.99995966e-01 -9.99082769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77654761499999 meters Centerline goodness : 0.766158 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.88, Z:-1.00 [[ 0.99999378 0.00267796 -0.00229712 -1.17073843] [-0.00268259 0.99999438 -0.00201232 1.87950877] [ 0.00229171 0.00201847 0.99999534 -0.9965684 ] [ 0. 0. 0. 1. ]] SLAMing on 39.80654761499999 meters Centerline goodness : 0.769155 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.88, Z:-0.99 [[ 9.99990998e-01 3.82804669e-03 -1.83005699e-03 -1.17319435e+00] [-3.82989745e-03 9.99992157e-01 -1.00887969e-03 1.87762206e+00] [ 1.82618060e-03 1.01587954e-03 9.99997817e-01 -9.94974493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83654761499999 meters Centerline goodness : 0.769347 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.88, Z:-1.00 [[ 0.99998242 0.00548215 -0.00225936 -1.16931785] [-0.00547765 0.99998302 0.00199097 1.88212934] [ 0.00227024 -0.00197855 0.99999547 -0.9966934 ] [ 0. 0. 0. 1. ]] SLAMing on 39.866547614999995 meters Centerline goodness : 0.764428 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.89, Z:-1.00 [[ 0.99998109 0.00487776 -0.00374658 -1.16015979] [-0.00486414 0.99998156 0.00363699 1.8853406 ] [ 0.00376425 -0.0036187 0.99998637 -1.00110745] [ 0. 0. 0. 1. ]] SLAMing on 39.896547614999996 meters Centerline goodness : 0.761388 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.89, Z:-1.00 [[ 9.99992578e-01 9.04335237e-04 -3.74503574e-03 -1.15948152e+00] [-9.10845283e-04 9.99998077e-01 -1.73697280e-03 1.88692804e+00] [ 3.74345773e-03 1.74037106e-03 9.99991479e-01 -1.00370679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92654761499999 meters Centerline goodness : 0.771366 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.88, Z:-0.99 [[ 9.99996298e-01 8.78001274e-04 -2.57546893e-03 -1.16917209e+00] [-8.82322566e-04 9.99998204e-01 -1.67721009e-03 1.87886898e+00] [ 2.57399172e-03 1.67947628e-03 9.99995277e-01 -9.94764808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95654761499999 meters Centerline goodness : 0.778688 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.88, Z:-0.99 [[ 9.99993071e-01 3.32136774e-03 -1.68094025e-03 -1.17498979e+00] [-3.32074452e-03 9.99994417e-01 3.73417623e-04 1.87745343e+00] [ 1.68217112e-03 -3.67833063e-04 9.99998517e-01 -9.90021918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98654761499999 meters Centerline goodness : 0.775558 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.88, Z:-0.99 [[ 0.99998552 0.00470255 -0.00261622 -1.16905188] [-0.00469663 0.99998641 0.00226324 1.88381392] [ 0.00262683 -0.00225092 0.99999402 -0.99383498] [ 0. 0. 0. 1. ]] SLAMing on 40.01654761499999 meters Centerline goodness : 0.766762 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.89, Z:-1.00 [[ 9.99989382e-01 3.76525921e-03 -2.65668108e-03 -1.16542017e+00] [-3.76526204e-03 9.99992911e-01 3.93529192e-06 1.88979480e+00] [ 2.65667706e-03 6.06785027e-06 9.99996471e-01 -9.99549029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.046547614999994 meters Centerline goodness : 0.766950 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.89, Z:-1.00 [[ 9.99988926e-01 3.65270216e-03 -2.96731871e-03 -1.16449196e+00] [-3.65408551e-03 9.99993218e-01 -4.60906260e-04 1.88923127e+00] [ 2.96561503e-03 4.71743993e-04 9.99995491e-01 -1.00021173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.076547614999996 meters Centerline goodness : 0.772586 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.89, Z:-1.00 [[ 0.99999614 0.00189495 -0.00203445 -1.17014992] [-0.0019002 0.99999486 -0.00258432 1.88626372] [ 0.00202955 0.00258818 0.99999459 -0.99591034] [ 0. 0. 0. 1. ]] SLAMing on 40.10654761499999 meters Centerline goodness : 0.775089 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.89, Z:-1.00 [[ 9.99995186e-01 2.62385087e-03 -1.65657260e-03 -1.17164293e+00] [-2.62858781e-03 9.99992445e-01 -2.86381079e-03 1.88982726e+00] [ 1.64904587e-03 2.86815145e-03 9.99994527e-01 -9.95934407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.13654761499999 meters Centerline goodness : 0.771334 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.90, Z:-1.00 [[ 9.99987305e-01 4.20936818e-03 -2.76966581e-03 -1.16634427e+00] [-4.21090357e-03 9.99990984e-01 -5.48764296e-04 1.89611339e+00] [ 2.76733088e-03 5.60420125e-04 9.99996014e-01 -9.98174924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16654761499999 meters Centerline goodness : 0.770784 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.90, Z:-1.00 [[ 9.99987540e-01 3.86058860e-03 -3.16487028e-03 -1.16535875e+00] [-3.86375451e-03 9.99992041e-01 -9.94823426e-04 1.89705058e+00] [ 3.16100449e-03 1.00703931e-03 9.99994497e-01 -9.98333213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19654761499999 meters Centerline goodness : 0.774372 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.90, Z:-1.00 [[ 9.99987952e-01 3.41335779e-03 -3.52784843e-03 -1.16446718e+00] [-3.41658911e-03 9.99993749e-01 -9.10324202e-04 1.89593912e+00] [ 3.52471911e-03 9.22366442e-04 9.99993363e-01 -9.97765181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.226547614999994 meters Centerline goodness : 0.775199 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.90, Z:-1.00 [[ 9.99987307e-01 3.46362951e-03 -3.65921146e-03 -1.16457084e+00] [-3.46575350e-03 9.99993829e-01 -5.74269243e-04 1.89527877e+00] [ 3.65719982e-03 5.86943879e-04 9.99993140e-01 -9.96995723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.256547614999995 meters Centerline goodness : 0.773881 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.89, Z:-1.00 [[ 9.99986240e-01 3.01836269e-03 -4.29050431e-03 -1.16272991e+00] [-3.02029146e-03 9.99995341e-01 -4.43134849e-04 1.89357307e+00] [ 4.28914677e-03 4.56087325e-04 9.99990698e-01 -9.97159892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28654761499999 meters Centerline goodness : 0.768928 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.90, Z:-1.00 [[ 9.99976224e-01 4.30018852e-03 -5.39079647e-03 -1.15658416e+00] [-4.29020566e-03 9.99989063e-01 1.86203178e-03 1.89600302e+00] [ 5.39874460e-03 -1.83885988e-03 9.99983736e-01 -1.00057069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.31654761499999 meters Centerline goodness : 0.769927 Centerline is valid? [False, False] Translation: X:-1.16, Y:1.89, Z:-1.00 [[ 0.9999746 0.00387059 -0.00598488 -1.15521245] [-0.00385726 0.99999006 0.00223812 1.89327443] [ 0.00599348 -0.00221497 0.99997959 -0.99995077] [ 0. 0. 0. 1. ]] SLAMing on 40.34654761499999 meters Centerline goodness : 0.768498 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.89, Z:-1.00 [[ 9.99974741e-01 2.17200644e-03 -6.76759685e-03 -1.15174467e+00] [-2.16091817e-03 9.99996312e-01 1.64531721e-03 1.89192924e+00] [ 6.77114552e-03 -1.63065142e-03 9.99975746e-01 -1.00103024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37654761499999 meters Centerline goodness : 0.770415 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.89, Z:-1.00 [[ 9.99973570e-01 1.85264725e-03 -7.03038981e-03 -1.15127661e+00] [-1.84468826e-03 9.99997651e-01 1.13839995e-03 1.89361172e+00] [ 7.03248235e-03 -1.12540099e-03 9.99974639e-01 -1.00088357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.406547614999994 meters Centerline goodness : 0.770742 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.89, Z:-1.00 [[ 9.99972130e-01 1.56732681e-03 -7.29948608e-03 -1.15123150e+00] [-1.55770295e-03 9.99997910e-01 1.32392726e-03 1.89356135e+00] [ 7.30154585e-03 -1.31251993e-03 9.99972482e-01 -9.99523052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.436547614999995 meters Centerline goodness : 0.769630 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.89, Z:-1.00 [[ 9.99968885e-01 -1.09684957e-03 -7.81185233e-03 -1.14734067e+00] [ 1.10221003e-03 9.99999160e-01 6.81924733e-04 1.89126611e+00] [ 7.81109780e-03 -6.90513818e-04 9.99969254e-01 -1.00061202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46654761499999 meters Centerline goodness : 0.769237 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.89, Z:-1.00 [[ 9.99961071e-01 -3.49901311e-03 -8.10019859e-03 -1.14390178e+00] [ 3.49873448e-03 9.99993878e-01 -4.85690850e-05 1.88819312e+00] [ 8.10031895e-03 2.02267502e-05 9.99967192e-01 -1.00235742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.49654761499999 meters Centerline goodness : 0.771055 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.89, Z:-1.00 [[ 9.99957630e-01 -4.04350511e-03 -8.26966177e-03 -1.14284405e+00] [ 4.03954211e-03 9.99991718e-01 -4.95868753e-04 1.89163398e+00] [ 8.27159833e-03 4.62442096e-04 9.99965683e-01 -1.00292587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52654761499999 meters Centerline goodness : 0.772470 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.89, Z:-1.00 [[ 9.99965154e-01 -1.19868289e-03 -8.26158332e-03 -1.14550093e+00] [ 1.22072128e-03 9.99995709e-01 2.66304839e-03 1.89403001e+00] [ 8.25835572e-03 -2.67304069e-03 9.99962326e-01 -9.99014744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.55654761499999 meters Centerline goodness : 0.774813 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.89, Z:-1.00 [[ 9.99963638e-01 -3.32828240e-03 -7.85150407e-03 -1.14938822e+00] [ 3.32524304e-03 9.99994391e-01 -4.00128074e-04 1.89200332e+00] [ 7.85279177e-03 3.74005365e-04 9.99969096e-01 -9.96244328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58654761499999 meters Centerline goodness : 0.775302 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.89, Z:-1.00 [[ 9.99958980e-01 -3.57591711e-03 -8.32173138e-03 -1.14754296e+00] [ 3.57076954e-03 9.99993424e-01 -6.33344727e-04 1.89056162e+00] [ 8.32394145e-03 6.03603763e-04 9.99965173e-01 -9.97464525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.616547614999995 meters Centerline goodness : 0.771386 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.90, Z:-1.00 [[ 9.99964658e-01 -6.74524061e-04 -8.38021024e-03 -1.14424553e+00] [ 6.84510624e-04 9.99999059e-01 1.18887301e-03 1.89655068e+00] [ 8.37940043e-03 -1.19456733e-03 9.99964179e-01 -1.00254005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64654761499999 meters Centerline goodness : 0.770490 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.90, Z:-1.00 [[ 0.99995857 0.00479724 -0.00773553 -1.14628611] [-0.00476327 0.99997896 0.00440431 1.90230249] [ 0.0077565 -0.00436728 0.99996038 -1.00388991] [ 0. 0. 0. 1. ]] SLAMing on 40.67654761499999 meters Centerline goodness : 0.774977 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.90, Z:-1.00 [[ 9.99942766e-01 1.06871538e-02 -5.00205180e-04 -1.14239422e+00] [-1.06881138e-02 9.99940964e-01 -1.95752496e-03 1.90292771e+00] [ 4.79255279e-04 1.96275917e-03 9.99997959e-01 -1.00279579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70654761499999 meters Centerline goodness : 0.776716 Centerline is valid? [False, False] Translation: X:-1.15, Y:1.90, Z:-1.00 [[ 9.99958758e-01 9.08114238e-03 -1.20266158e-04 -1.14532749e+00] [-9.08167718e-03 9.99942782e-01 -5.65292977e-03 1.90137649e+00] [ 6.89242166e-05 5.65378885e-03 9.99984015e-01 -1.00278687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73654761499999 meters Centerline goodness : 0.775438 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.90, Z:-1.00 [[ 9.99933320e-01 1.15247399e-02 -7.32099079e-04 -1.14150555e+00] [-1.15263653e-02 9.99931024e-01 -2.25628130e-03 1.90204188e+00] [ 7.06045526e-04 2.26456930e-03 9.99997187e-01 -1.00493424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76654761499999 meters Centerline goodness : 0.775749 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.90, Z:-1.00 [[ 9.99934275e-01 1.14266249e-02 -9.36519406e-04 -1.14103717e+00] [-1.14283418e-02 9.99932985e-01 -1.84892539e-03 1.90141591e+00] [ 9.15329669e-04 1.85950673e-03 9.99997852e-01 -1.00455256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.796547614999994 meters Centerline goodness : 0.775702 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.90, Z:-1.01 [[ 9.99933337e-01 1.14781193e-02 -1.25511490e-03 -1.13958212e+00] [-1.14800849e-02 9.99932869e-01 -1.57024864e-03 1.89716717e+00] [ 1.23700715e-03 1.58455279e-03 9.99997980e-01 -1.00585926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.826547614999996 meters Centerline goodness : 0.775547 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.90, Z:-1.01 [[ 9.99935791e-01 1.12327729e-02 -1.49620823e-03 -1.13849734e+00] [-1.12356337e-02 9.99935040e-01 -1.91758434e-03 1.89758587e+00] [ 1.47457125e-03 1.93427207e-03 9.99997042e-01 -1.00673730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.85654761499999 meters Centerline goodness : 0.775920 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.90, Z:-1.00 [[ 9.99933613e-01 1.14173634e-02 -1.55356947e-03 -1.13954111e+00] [-1.14194149e-02 9.99933928e-01 -1.31810715e-03 1.89786091e+00] [ 1.53841751e-03 1.33576050e-03 9.99997925e-01 -1.00450046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88654761499999 meters Centerline goodness : 0.777513 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.90, Z:-1.01 [[ 9.99968988e-01 7.72533491e-03 -1.53054947e-03 -1.13949785e+00] [-7.73373072e-03 9.99954650e-01 -5.55768542e-03 1.89674968e+00] [ 1.48754507e-03 5.56934992e-03 9.99983385e-01 -1.00553705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91654761499999 meters Centerline goodness : 0.774882 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.90, Z:-1.01 [[ 0.99997669 0.00635631 -0.00249412 -1.13490388] [-0.00637177 0.99996021 -0.00624383 1.89611734] [ 0.00245433 0.00625958 0.9999774 -1.00838352] [ 0. 0. 0. 1. ]] SLAMing on 40.94654761499999 meters Centerline goodness : 0.775205 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.89, Z:-1.01 [[ 0.99997662 0.0064564 -0.00225164 -1.13568754] [-0.00646787 0.99996596 -0.00512308 1.89496363] [ 0.00221849 0.00513752 0.99998434 -1.0069084 ] [ 0. 0. 0. 1. ]] SLAMing on 40.976547614999994 meters Centerline goodness : 0.775624 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 0.99997757 0.00613756 -0.00268061 -1.13483462] [-0.00615034 0.99996963 -0.0047866 1.89489522] [ 0.00265115 0.00480298 0.99998495 -1.00608034] [ 0. 0. 0. 1. ]] SLAMing on 41.006547614999995 meters Centerline goodness : 0.771995 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 0.9999786 0.00565999 -0.00327984 -1.13263878] [-0.00567621 0.99997159 -0.00495906 1.89388829] [ 0.00325168 0.00497757 0.99998233 -1.00709196] [ 0. 0. 0. 1. ]] SLAMing on 41.03654761499999 meters Centerline goodness : 0.772783 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 0.99997695 0.00587572 -0.00340103 -1.13242969] [-0.00589157 0.99997173 -0.00467165 1.89165278] [ 0.00337349 0.00469158 0.9999833 -1.00714756] [ 0. 0. 0. 1. ]] SLAMing on 41.06654761499999 meters Centerline goodness : 0.771091 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 0.99997837 0.0050324 -0.00423454 -1.12975119] [-0.00505148 0.99997709 -0.00450545 1.88957564] [ 0.00421177 0.00452675 0.99998088 -1.00741209] [ 0. 0. 0. 1. ]] SLAMing on 41.09654761499999 meters Centerline goodness : 0.767990 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 0.99998031 0.00415262 -0.00470513 -1.12681265] [-0.00417412 0.99998085 -0.0045689 1.8884024 ] [ 0.00468607 0.00458845 0.99997849 -1.0093059 ] [ 0. 0. 0. 1. ]] SLAMing on 41.12654761499999 meters Centerline goodness : 0.769028 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.88, Z:-1.01 [[ 0.9999866 0.00236559 -0.00460452 -1.12539106] [-0.00237942 0.99999267 -0.00300123 1.8821449 ] [ 0.00459739 0.00301215 0.9999849 -1.0075086 ] [ 0. 0. 0. 1. ]] SLAMing on 41.156547614999994 meters Centerline goodness : 0.769988 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.88, Z:-1.01 [[ 9.99986588e-01 2.44569414e-03 -4.56536412e-03 -1.12612373e+00] [-2.45260042e-03 9.99995856e-01 -1.50776909e-03 1.88020528e+00] [ 4.56165766e-03 1.51894588e-03 9.99988442e-01 -1.00508160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.186547614999995 meters Centerline goodness : 0.770210 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.88, Z:-1.00 [[ 9.99985573e-01 3.17636949e-03 -4.33178748e-03 -1.12828176e+00] [-3.17997841e-03 9.99994602e-01 -8.26490992e-04 1.88191825e+00] [ 4.32913886e-03 8.40254059e-04 9.99990276e-01 -1.00269630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.21654761499999 meters Centerline goodness : 0.771359 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.88, Z:-1.00 [[ 9.99982118e-01 3.95008456e-03 -4.49005404e-03 -1.12948062e+00] [-3.95040842e-03 9.99992195e-01 -6.32614885e-05 1.87804303e+00] [ 4.48976911e-03 8.09979046e-05 9.99989918e-01 -1.00082563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24654761499999 meters Centerline goodness : 0.769686 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.88, Z:-1.00 [[ 9.99980728e-01 4.43045158e-03 -4.34901295e-03 -1.12973315e+00] [-4.43320301e-03 9.99989979e-01 -6.23219603e-04 1.87810636e+00] [ 4.34620823e-03 6.42487650e-04 9.99990349e-01 -1.00206495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27654761499999 meters Centerline goodness : 0.769686 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.88, Z:-1.00 [[ 9.99980728e-01 4.43045158e-03 -4.34901295e-03 -1.12973315e+00] [-4.43320301e-03 9.99989979e-01 -6.23219603e-04 1.87810636e+00] [ 4.34620823e-03 6.42487650e-04 9.99990349e-01 -1.00206495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30654761499999 meters Centerline goodness : 0.765890 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.88, Z:-1.00 [[ 0.99998287 0.00393086 -0.00433786 -1.12880909] [-0.00393961 0.99999022 -0.00201058 1.88269248] [ 0.00432991 0.00202764 0.99998857 -1.00397534] [ 0. 0. 0. 1. ]] SLAMing on 41.33654761499999 meters Centerline goodness : 0.769505 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.88, Z:-1.00 [[ 0.99998229 0.00378215 -0.00459459 -1.12853762] [-0.00379133 0.99999083 -0.00199243 1.88374504] [ 0.00458702 0.00200982 0.99998746 -1.00331919] [ 0. 0. 0. 1. ]] SLAMing on 41.366547614999995 meters Centerline goodness : 0.769368 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.88, Z:-1.00 [[ 9.99981789e-01 3.15886499e-03 -5.14236049e-03 -1.12691472e+00] [-3.16686659e-03 9.99993786e-01 -1.54861700e-03 1.88148689e+00] [ 5.13743667e-03 1.56487397e-03 9.99985579e-01 -1.00287621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39654761499999 meters Centerline goodness : 0.766359 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.88, Z:-1.01 [[ 0.99998244 0.00217715 -0.00551103 -1.12384084] [-0.00219465 0.99999256 -0.0031716 1.88438401] [ 0.00550409 0.00318364 0.99997978 -1.00649559] [ 0. 0. 0. 1. ]] SLAMing on 41.42654761499999 meters Centerline goodness : 0.765519 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.01 [[ 9.99969751e-01 5.18931755e-03 -5.79378572e-03 -1.12157860e+00] [-5.19114778e-03 9.99986481e-01 -3.00902051e-04 1.88785169e+00] [ 5.79214591e-03 3.30969347e-04 9.99983171e-01 -1.00842420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45654761499999 meters Centerline goodness : 0.765499 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.01 [[ 9.99965467e-01 6.53926145e-03 -5.12863361e-03 -1.12497256e+00] [-6.54080033e-03 9.99978569e-01 -2.83340795e-04 1.88854505e+00] [ 5.12667086e-03 3.16876378e-04 9.99986808e-01 -1.00711572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48654761499999 meters Centerline goodness : 0.769359 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.00 [[ 9.99949806e-01 8.67173112e-03 -5.01853840e-03 -1.12891051e+00] [-8.67031551e-03 9.99962366e-01 3.03765368e-04 1.88750414e+00] [ 5.02098371e-03 -2.60237809e-04 9.99987361e-01 -1.00388157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51654761499999 meters Centerline goodness : 0.770285 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.00 [[ 9.99948311e-01 8.65332188e-03 -5.33812286e-03 -1.12853762e+00] [-8.64968931e-03 9.99962343e-01 7.03207734e-04 1.88567439e+00] [ 5.34400693e-03 -6.56998282e-04 9.99985505e-01 -1.00312490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.546547614999994 meters Centerline goodness : 0.769549 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99988822e-01 4.71799254e-03 3.11495584e-04 -1.12945229e+00] [-4.71914042e-03 9.99981670e-01 3.79335482e-03 1.88964015e+00] [-2.93592854e-04 -3.79478240e-03 9.99992757e-01 -1.01156762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.576547614999996 meters Centerline goodness : 0.764567 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.02 [[ 9.99999459e-01 1.50811973e-04 -1.02918170e-03 -1.11889428e+00] [-1.49024622e-04 9.99998481e-01 1.73652841e-03 1.89314277e+00] [ 1.02944202e-03 -1.73637410e-03 9.99997963e-01 -1.01770650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60654761499999 meters Centerline goodness : 0.766763 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.02 [[ 9.99993385e-01 -3.52063926e-03 -9.13608465e-04 -1.11965352e+00] [ 3.51910705e-03 9.99992408e-01 -1.67332244e-03 1.89063456e+00] [ 9.19492693e-04 1.67009629e-03 9.99998183e-01 -1.01691573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.63654761499999 meters Centerline goodness : 0.774646 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99987442e-01 -5.00836601e-03 -1.77566026e-04 -1.12581758e+00] [ 5.00787647e-03 9.99983928e-01 -2.65783569e-03 1.88531409e+00] [ 1.90874586e-04 2.65691308e-03 9.99996452e-01 -1.01041213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66654761499999 meters Centerline goodness : 0.780522 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.88, Z:-1.01 [[ 9.99999351e-01 -9.89524653e-04 -5.63885266e-04 -1.12611316e+00] [ 9.90742997e-04 9.99997167e-01 2.16445630e-03 1.88354278e+00] [ 5.61741885e-04 -2.16501356e-03 9.99997499e-01 -1.00796666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69654761499999 meters Centerline goodness : 0.780418 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99999797e-01 -4.65015618e-04 -4.34892705e-04 -1.12661971e+00] [ 4.65656923e-04 9.99998803e-01 1.47569158e-03 1.88721631e+00] [ 4.34205965e-04 -1.47589379e-03 9.99998817e-01 -1.00897221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.726547614999994 meters Centerline goodness : 0.777536 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99999747e-01 -5.74618307e-04 -4.18821853e-04 -1.12518986e+00] [ 5.74960713e-04 9.99999500e-01 8.17884148e-04 1.88994235e+00] [ 4.18351673e-04 -8.18124747e-04 9.99999578e-01 -1.01149520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.756547614999995 meters Centerline goodness : 0.776946 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99999780e-01 -6.42035585e-04 -1.65347239e-04 -1.12531280e+00] [ 6.42087478e-04 9.99999745e-01 3.13982648e-04 1.89330686e+00] [ 1.65145609e-04 -3.14088747e-04 9.99999937e-01 -1.01233474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78654761499999 meters Centerline goodness : 0.779984 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99999857e-01 5.34596738e-04 1.68340132e-05 -1.12735448e+00] [-5.34607761e-04 9.99999638e-01 6.61723494e-04 1.89173562e+00] [-1.64802519e-05 -6.61732399e-04 9.99999781e-01 -1.01113034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.81654761499999 meters Centerline goodness : 0.781023 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99998460e-01 1.68730994e-03 4.82375779e-04 -1.12998578e+00] [-1.68779448e-03 9.99998070e-01 1.00585287e-03 1.89102546e+00] [-4.80677663e-04 -1.00666547e-03 9.99999378e-01 -1.00975250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84654761499999 meters Centerline goodness : 0.781486 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99997822e-01 1.99235128e-03 6.22084402e-04 -1.13121313e+00] [-1.99301459e-03 9.99997444e-01 1.06747612e-03 1.89320295e+00] [-6.19956024e-04 -1.06871362e-03 9.99999237e-01 -1.00853055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87654761499999 meters Centerline goodness : 0.784346 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99998840e-01 1.48350014e-03 3.44455917e-04 -1.13007873e+00] [-1.48372393e-03 9.99998688e-01 6.50360149e-04 1.89447121e+00] [-3.43490655e-04 -6.50870473e-04 9.99999729e-01 -1.00914758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.906547614999994 meters Centerline goodness : 0.783233 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.90, Z:-1.01 [[ 9.99999761e-01 -6.22125157e-05 -6.87891300e-04 -1.12579420e+00] [ 6.18758606e-05 9.99999878e-01 -4.89412033e-04 1.89628491e+00] [ 6.87921663e-04 4.89369353e-04 9.99999644e-01 -1.01148508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.936547614999995 meters Centerline goodness : 0.782185 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.90, Z:-1.01 [[ 9.99999037e-01 -8.38828745e-04 -1.10572313e-03 -1.12411778e+00] [ 8.37815323e-04 9.99999229e-01 -9.16668551e-04 1.89766359e+00] [ 1.10649120e-03 9.15741276e-04 9.99998969e-01 -1.01204282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96654761499999 meters Centerline goodness : 0.783701 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99999389e-01 1.49055822e-04 -1.09491866e-03 -1.12603282e+00] [-1.48897539e-04 9.99999978e-01 1.44641739e-04 1.89430348e+00] [ 1.09494019e-03 -1.44478620e-04 9.99999390e-01 -1.00943396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.99654761499999 meters Centerline goodness : 0.784596 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99999245e-01 6.91096247e-04 -1.01645494e-03 -1.12683352e+00] [-6.90655027e-04 9.99999667e-01 4.34364915e-04 1.89362879e+00] [ 1.01675479e-03 -4.33662567e-04 9.99999389e-01 -1.00891808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02654761499999 meters Centerline goodness : 0.784515 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.89, Z:-1.01 [[ 9.99998585e-01 8.59980039e-04 -1.44607252e-03 -1.12617641e+00] [-8.58077669e-04 9.99998766e-01 1.31564898e-03 1.88983195e+00] [ 1.44720217e-03 -1.31440627e-03 9.99998089e-01 -1.00810601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05654761499999 meters Centerline goodness : 0.784701 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.01 [[ 9.99998365e-01 -3.19998637e-04 -1.77964110e-03 -1.12340258e+00] [ 3.20790104e-04 9.99999850e-01 4.44466157e-04 1.89173181e+00] [ 1.77949860e-03 -4.45036321e-04 9.99998318e-01 -1.01044642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08654761499999 meters Centerline goodness : 0.781949 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.01 [[ 9.99995213e-01 -1.55685789e-03 -2.67401662e-03 -1.11977994e+00] [ 1.55836480e-03 9.99998628e-01 5.61547812e-04 1.88987934e+00] [ 2.67313870e-03 -5.65712217e-04 9.99996267e-01 -1.01146712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.116547614999995 meters Centerline goodness : 0.781639 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.01 [[ 9.99991832e-01 -2.31030891e-03 -3.31641321e-03 -1.11691214e+00] [ 2.31228382e-03 9.99997152e-01 5.91783293e-04 1.88749943e+00] [ 3.31503656e-03 -5.99446947e-04 9.99994326e-01 -1.01283949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14654761499999 meters Centerline goodness : 0.780769 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.01 [[ 9.99990349e-01 -2.68845681e-03 -3.47477774e-03 -1.11564785e+00] [ 2.68834538e-03 9.99996386e-01 -3.67385999e-05 1.88829737e+00] [ 3.47486395e-03 2.73968426e-05 9.99993962e-01 -1.01431421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.17654761499999 meters Centerline goodness : 0.780583 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.02 [[ 9.99992135e-01 -2.42150068e-03 -3.14119580e-03 -1.11662439e+00] [ 2.41840190e-03 9.99996586e-01 -9.89922265e-04 1.89224889e+00] [ 3.14358217e-03 9.82317805e-04 9.99994576e-01 -1.01502718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20654761499999 meters Centerline goodness : 0.780217 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.01 [[ 9.99994285e-01 -1.64565395e-03 -2.95330566e-03 -1.11820681e+00] [ 1.64268650e-03 9.99998144e-01 -1.00693366e-03 1.89251068e+00] [ 2.95495725e-03 1.00207655e-03 9.99995132e-01 -1.01424627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23654761499999 meters Centerline goodness : 0.782047 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.01 [[ 9.99993159e-01 -1.29650050e-03 -3.46415000e-03 -1.11840955e+00] [ 1.29578031e-03 9.99999138e-01 -2.10132263e-04 1.89008965e+00] [ 3.46441945e-03 2.05642048e-04 9.99993978e-01 -1.01216152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26654761499999 meters Centerline goodness : 0.782663 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.89, Z:-1.01 [[ 9.99989247e-01 -2.14032281e-03 -4.11397200e-03 -1.11664941e+00] [ 2.14077272e-03 9.99997703e-01 1.04962963e-04 1.88985181e+00] [ 4.11373790e-03 -1.13768914e-04 9.99991532e-01 -1.01136116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.296547614999994 meters Centerline goodness : 0.779277 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.89, Z:-1.02 [[ 9.99980131e-01 -3.73343059e-03 -5.07929082e-03 -1.10822261e+00] [ 3.73964176e-03 9.99992271e-01 1.21389384e-03 1.89098631e+00] [ 5.07471957e-03 -1.23286445e-03 9.99986364e-01 -1.01560391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32654761499999 meters Centerline goodness : 0.776951 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.89, Z:-1.02 [[ 9.99965447e-01 -5.96763610e-03 -5.78720395e-03 -1.10371270e+00] [ 5.97222278e-03 9.99981865e-01 7.75598067e-04 1.88870865e+00] [ 5.78247051e-03 -8.10133739e-04 9.99982953e-01 -1.01750196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.35654761499999 meters Centerline goodness : 0.778681 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.89, Z:-1.02 [[ 9.99965429e-01 -5.86375870e-03 -5.89559568e-03 -1.10417588e+00] [ 5.87387987e-03 9.99981302e-01 1.70088793e-03 1.88669113e+00] [ 5.88551185e-03 -1.73545915e-03 9.99981174e-01 -1.01568956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38654761499999 meters Centerline goodness : 0.784920 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.88, Z:-1.01 [[ 0.99997651 -0.00440221 -0.00525392 -1.10934873] [ 0.00442924 0.99997696 0.00514495 1.88242709] [ 0.00523115 -0.0051681 0.99997296 -1.00770067] [ 0. 0. 0. 1. ]] SLAMing on 42.41654761499999 meters Centerline goodness : 0.787623 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.88, Z:-1.00 [[ 0.99997628 -0.00419766 -0.00546094 -1.11045614] [ 0.00423351 0.99996946 0.00656978 1.88019553] [ 0.00543319 -0.00659274 0.99996351 -1.00423324] [ 0. 0. 0. 1. ]] SLAMing on 42.44654761499999 meters Centerline goodness : 0.784236 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.88, Z:-1.01 [[ 0.99995933 -0.00609131 -0.00665047 -1.10532423] [ 0.00612378 0.99996938 0.00487294 1.88360276] [ 0.00662059 -0.00491347 0.99996601 -1.00724525] [ 0. 0. 0. 1. ]] SLAMing on 42.476547614999994 meters Centerline goodness : 0.781822 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.88, Z:-1.01 [[ 0.99991376 -0.01032674 -0.00811404 -1.09690934] [ 0.01034829 0.99994303 0.00261843 1.88355175] [ 0.00808654 -0.00270218 0.99996365 -1.01141175] [ 0. 0. 0. 1. ]] SLAMing on 42.506547614999995 meters Centerline goodness : 0.782031 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.88, Z:-1.01 [[ 0.9998955 -0.01225741 -0.0076644 -1.09662251] [ 0.01229202 0.99991439 0.00448479 1.87841243] [ 0.00760877 -0.00457853 0.99996057 -1.00787476] [ 0. 0. 0. 1. ]] SLAMing on 42.53654761499999 meters Centerline goodness : 0.784499 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.88, Z:-1.00 [[ 0.99980886 -0.01802926 -0.00756201 -1.09594369] [ 0.01805446 0.99983163 0.00327731 1.87698877] [ 0.00750165 -0.00341321 0.99996604 -1.0025307 ] [ 0. 0. 0. 1. ]] SLAMing on 42.56654761499999 meters Centerline goodness : 0.787687 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.88, Z:-1.00 [[ 0.9998029 -0.01830276 -0.00769225 -1.09651035] [ 0.018338 0.99982156 0.00453598 1.87517745] [ 0.00760786 -0.00467615 0.99996013 -0.99948608] [ 0. 0. 0. 1. ]] SLAMing on 42.59654761499999 meters Centerline goodness : 0.790026 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.87, Z:-1.00 [[ 0.99980532 -0.01806018 -0.00794634 -1.09765596] [ 0.01810159 0.99982278 0.0051717 1.87438783] [ 0.00785153 -0.00531454 0.99995505 -0.9966066 ] [ 0. 0. 0. 1. ]] SLAMing on 42.62654761499999 meters Centerline goodness : 0.791249 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.88, Z:-1.00 [[ 0.99979843 -0.01828398 -0.00829432 -1.09607936] [ 0.01831328 0.99982627 0.00347125 1.87668014] [ 0.00822941 -0.00362245 0.99995958 -0.99939829] [ 0. 0. 0. 1. ]] SLAMing on 42.656547614999994 meters Centerline goodness : 0.790116 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.88, Z:-1.00 [[ 0.99990317 -0.01082227 -0.00874813 -1.09471376] [ 0.01091313 0.9998863 0.01040597 1.88114043] [ 0.00863452 -0.01050043 0.99990759 -1.00028007] [ 0. 0. 0. 1. ]] SLAMing on 42.686547614999995 meters Centerline goodness : 0.791125 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.88, Z:-1.00 [[ 0.99995348 -0.00520365 -0.0081221 -1.09898635] [ 0.00532488 0.99987368 0.01497566 1.88405082] [ 0.00804315 -0.01501822 0.99985487 -0.99726738] [ 0. 0. 0. 1. ]] SLAMing on 42.71654761499999 meters Centerline goodness : 0.788508 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.89, Z:-1.00 [[ 9.99961258e-01 -1.43406479e-03 -8.68483656e-03 -1.09764443e+00] [ 1.58167607e-03 9.99854009e-01 1.70134882e-02 1.88909289e+00] [ 8.65917021e-03 -1.70265656e-02 9.99817541e-01 -9.99148750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74654761499999 meters Centerline goodness : 0.786240 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.90, Z:-1.00 [[ 9.99955275e-01 1.93327718e-03 -9.25804149e-03 -1.09555254e+00] [-1.76554600e-03 9.99834779e-01 1.80913775e-02 1.89527634e+00] [ 9.29148752e-03 -1.80742229e-02 9.99793474e-01 -1.00252715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77654761499999 meters Centerline goodness : 0.786615 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.90, Z:-1.00 [[ 0.99995512 0.00256878 -0.00911873 -1.09727783] [-0.00240845 0.99984309 0.01754984 1.8971323 ] [ 0.00916238 -0.01752709 0.99980441 -1.00165818] [ 0. 0. 0. 1. ]] SLAMing on 42.80654761499999 meters Centerline goodness : 0.786704 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.90, Z:-1.00 [[ 0.99995551 0.00217188 -0.00917903 -1.09650716] [-0.002024 0.99986851 0.01608922 1.89999817] [ 0.00921276 -0.01606993 0.99982843 -1.00344046] [ 0. 0. 0. 1. ]] SLAMing on 42.83654761499999 meters Centerline goodness : 0.782558 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.90, Z:-1.01 [[ 0.99993975 0.00506564 -0.00973852 -1.09389154] [-0.00488342 0.99981424 0.01864507 1.9047227 ] [ 0.00983116 -0.01859639 0.99977874 -1.00529107] [ 0. 0. 0. 1. ]] SLAMing on 42.866547614999995 meters Centerline goodness : 0.782033 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.91, Z:-1.01 [[ 0.99993749 0.005385 -0.00979865 -1.09370323] [-0.0052157 0.99983808 0.01722255 1.90861832] [ 0.00988981 -0.01717037 0.99980367 -1.00717266] [ 0. 0. 0. 1. ]] SLAMing on 42.89654761499999 meters Centerline goodness : 0.777784 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.91, Z:-1.01 [[ 0.999933 0.00489789 -0.01048874 -1.0907708 ] [-0.00474546 0.99988349 0.01450826 1.9119043 ] [ 0.01055858 -0.01445751 0.99983974 -1.01178881] [ 0. 0. 0. 1. ]] SLAMing on 42.92654761499999 meters Centerline goodness : 0.774904 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.91, Z:-1.01 [[ 0.99992914 0.00503383 -0.01078808 -1.08975159] [-0.00489389 0.99990405 0.01295912 1.91382895] [ 0.01085228 -0.0129054 0.99985783 -1.01412595] [ 0. 0. 0. 1. ]] SLAMing on 42.95654761499999 meters Centerline goodness : 0.778802 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.92, Z:-1.02 [[ 0.99995017 0.00912606 -0.00404662 -1.08132615] [-0.00910286 0.99994223 0.0057158 1.91610445] [ 0.00409855 -0.00567868 0.99997548 -1.01634876] [ 0. 0. 0. 1. ]] SLAMing on 42.98654761499999 meters Centerline goodness : 0.782378 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.92, Z:-1.01 [[ 0.99993853 0.01050966 -0.00353338 -1.08450698] [-0.01048442 0.99991991 0.00708884 1.91503794] [ 0.0036076 -0.00705136 0.99996863 -1.01360475] [ 0. 0. 0. 1. ]] SLAMing on 43.01654761499999 meters Centerline goodness : 0.784074 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.91, Z:-1.01 [[ 0.99996495 0.00775587 -0.00315449 -1.08590149] [-0.00774559 0.9999647 0.00325571 1.91450104] [ 0.00317963 -0.00323116 0.99998972 -1.01446544] [ 0. 0. 0. 1. ]] SLAMing on 43.046547614999994 meters Centerline goodness : 0.782340 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.91, Z:-1.02 [[ 0.99997188 0.00654085 -0.0036688 -1.08188458] [-0.00652818 0.99997272 0.00345447 1.9108413 ] [ 0.00369129 -0.00343042 0.9999873 -1.01724949] [ 0. 0. 0. 1. ]] SLAMing on 43.07654761499999 meters Centerline goodness : 0.782926 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.91, Z:-1.02 [[ 0.99997201 0.00629924 -0.00403638 -1.08110968] [-0.00628368 0.99997282 0.00385751 1.90946328] [ 0.00406057 -0.00383204 0.99998441 -1.01665112] [ 0. 0. 0. 1. ]] SLAMing on 43.10654761499999 meters Centerline goodness : 0.786899 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.91, Z:-1.02 [[ 9.99987449e-01 3.21140588e-03 -3.84564598e-03 -1.08216529e+00] [-3.21275375e-03 9.99994780e-01 -3.44366352e-04 1.90722554e+00] [ 3.84452000e-03 3.56717143e-04 9.99992546e-01 -1.01731616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.13654761499999 meters Centerline goodness : 0.785014 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.91, Z:-1.02 [[ 9.99988198e-01 1.58929151e-03 -4.59104714e-03 -1.07807051e+00] [-1.59448440e-03 9.99998093e-01 -1.12765083e-03 1.90610909e+00] [ 4.58924622e-03 1.13495788e-03 9.99988825e-01 -1.01977870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16654761499999 meters Centerline goodness : 0.786357 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.90, Z:-1.02 [[ 9.99987038e-01 1.03609533e-03 -4.98497345e-03 -1.07653441e+00] [-1.03916448e-03 9.99999272e-01 -6.13128340e-04 1.90369890e+00] [ 4.98433456e-03 6.18300600e-04 9.99987387e-01 -1.01968492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19654761499999 meters Centerline goodness : 0.786357 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.90, Z:-1.02 [[ 9.99987038e-01 1.03609533e-03 -4.98497345e-03 -1.07653441e+00] [-1.03916448e-03 9.99999272e-01 -6.13128340e-04 1.90369890e+00] [ 4.98433456e-03 6.18300600e-04 9.99987387e-01 -1.01968492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.226547614999994 meters Centerline goodness : 0.783957 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.90, Z:-1.02 [[ 9.99984371e-01 2.23115328e-05 -5.59077786e-03 -1.07355408e+00] [-2.67999710e-05 9.99999677e-01 -8.02755296e-04 1.90352870e+00] [ 5.59075815e-03 8.02892583e-04 9.99984049e-01 -1.02113446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.256547614999995 meters Centerline goodness : 0.786099 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.90, Z:-1.02 [[ 9.99981912e-01 -5.26272793e-04 -5.99148855e-03 -1.07244593e+00] [ 5.28578766e-04 9.99999787e-01 3.83297892e-04 1.90006961e+00] [ 5.99128555e-03 -3.86457932e-04 9.99981977e-01 -1.01970645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28654761499999 meters Centerline goodness : 0.786202 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.89, Z:-1.02 [[ 9.99977283e-01 -7.10782206e-04 -6.70292356e-03 -1.07170569e+00] [ 7.25317501e-04 9.99997390e-01 2.16631929e-03 1.89452524e+00] [ 6.70136629e-03 -2.17113182e-03 9.99975189e-01 -1.01667615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.31654761499999 meters Centerline goodness : 0.790591 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.89, Z:-1.02 [[ 9.99974893e-01 -1.06553544e-03 -7.00555404e-03 -1.07063273e+00] [ 1.08545741e-03 9.99995377e-01 2.84055233e-03 1.89238737e+00] [ 7.00249494e-03 -2.84808524e-03 9.99971426e-01 -1.01625767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34654761499999 meters Centerline goodness : 0.786233 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.89, Z:-1.02 [[ 9.99968171e-01 9.55298591e-04 -7.92108151e-03 -1.06588636e+00] [-9.07784554e-04 9.99981589e-01 5.99985528e-03 1.89387536e+00] [ 7.92666732e-03 -5.99247367e-03 9.99950628e-01 -1.01833873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37654761499999 meters Centerline goodness : 0.787205 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.90, Z:-1.02 [[ 9.99970590e-01 1.90441269e-03 -7.42916023e-03 -1.06865448e+00] [-1.85884494e-03 9.99979449e-01 6.13572421e-03 1.89513639e+00] [ 7.44069250e-03 -6.12173410e-03 9.99953579e-01 -1.01680203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.406547614999994 meters Centerline goodness : 0.791691 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.89, Z:-1.01 [[ 9.99976183e-01 -4.24287493e-04 -6.88860113e-03 -1.07245043e+00] [ 4.43487148e-04 9.99996021e-01 2.78587480e-03 1.89306967e+00] [ 6.88739171e-03 -2.78886345e-03 9.99972393e-01 -1.01467047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.436547614999995 meters Centerline goodness : 0.795057 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.89, Z:-1.01 [[ 9.99974558e-01 -3.32389885e-03 -6.31142254e-03 -1.07467840e+00] [ 3.31755604e-03 9.99993982e-01 -1.01517661e-03 1.89149285e+00] [ 6.31475889e-03 9.94212287e-04 9.99979567e-01 -1.01459311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46654761499999 meters Centerline goodness : 0.790568 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.90, Z:-1.02 [[ 9.99976473e-01 -1.78172796e-03 -6.62411248e-03 -1.07039683e+00] [ 1.79729678e-03 9.99995635e-01 2.34511688e-03 1.89569232e+00] [ 6.61990520e-03 -2.35696720e-03 9.99975310e-01 -1.01675979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.49654761499999 meters Centerline goodness : 0.786754 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.90, Z:-1.02 [[ 9.99973140e-01 -2.61583761e-03 -6.84672059e-03 -1.06876937e+00] [ 2.62386472e-03 9.99995881e-01 1.16368332e-03 1.89922089e+00] [ 6.84364838e-03 -1.18161693e-03 9.99975884e-01 -1.01840420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52654761499999 meters Centerline goodness : 0.784926 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.90, Z:-1.02 [[ 9.99970018e-01 -2.81292052e-03 -7.21462890e-03 -1.06778394e+00] [ 2.81917130e-03 9.99995659e-01 8.56380153e-04 1.89938510e+00] [ 7.21218865e-03 -8.76693751e-04 9.99973608e-01 -1.01873910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55654761499999 meters Centerline goodness : 0.788639 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.90, Z:-1.02 [[ 9.99977767e-01 -7.97096413e-04 -6.62038258e-03 -1.07616658e+00] [ 7.87160752e-04 9.99998560e-01 -1.50323865e-03 1.89827692e+00] [ 6.62157128e-03 1.49799392e-03 9.99976955e-01 -1.01550219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58654761499999 meters Centerline goodness : 0.789212 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.90, Z:-1.01 [[ 0.99997202 0.00385484 -0.0064111 -1.07781994] [-0.00383178 0.99998616 0.00360516 1.89717661] [ 0.00642491 -0.00358049 0.99997295 -1.01314174] [ 0. 0. 0. 1. ]] SLAMing on 43.616547614999995 meters Centerline goodness : 0.788645 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.90, Z:-1.01 [[ 0.99997399 0.00287968 -0.00661255 -1.0765 ] [-0.00286028 0.99999158 0.00294186 1.90072752] [ 0.00662096 -0.00292287 0.99997381 -1.01361799] [ 0. 0. 0. 1. ]] SLAMing on 43.64654761499999 meters Centerline goodness : 0.785985 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.90, Z:-1.02 [[ 9.99972522e-01 1.65832757e-03 -7.22537355e-03 -1.07326362e+00] [-1.64446057e-03 9.99996796e-01 1.92472724e-03 1.90235968e+00] [ 7.22854223e-03 -1.91279251e-03 9.99972044e-01 -1.01594381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.67654761499999 meters Centerline goodness : 0.786274 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.90, Z:-1.02 [[ 9.99971134e-01 1.29922256e-03 -7.48616293e-03 -1.07204014e+00] [-1.29020286e-03 9.99998436e-01 1.20955390e-03 1.90338169e+00] [ 7.48772270e-03 -1.19986031e-03 9.99971247e-01 -1.01718253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70654761499999 meters Centerline goodness : 0.787867 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.90, Z:-1.01 [[ 0.99997319 0.00260422 -0.00684324 -1.07579831] [-0.00258554 0.99999291 0.00273848 1.90158805] [ 0.00685032 -0.00272072 0.99997284 -1.0137022 ] [ 0. 0. 0. 1. ]] SLAMing on 43.73654761499999 meters Centerline goodness : 0.787822 Centerline is valid? [False, False] Translation: X:-1.08, Y:1.90, Z:-1.01 [[ 0.99997477 0.00277496 -0.00653945 -1.07675459] [-0.00275752 0.99999262 0.00267391 1.90227805] [ 0.00654683 -0.00265581 0.99997504 -1.01341373] [ 0. 0. 0. 1. ]] SLAMing on 43.76654761499999 meters Centerline goodness : 0.786568 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.90, Z:-1.02 [[ 9.99972272e-01 1.78813172e-03 -7.22895371e-03 -1.07386431e+00] [-1.77451083e-03 9.99996639e-01 1.89018865e-03 1.90154867e+00] [ 7.23230932e-03 -1.87730839e-03 9.99972084e-01 -1.01508596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.796547614999994 meters Centerline goodness : 0.786439 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.90, Z:-1.02 [[ 9.99970612e-01 3.36998973e-05 -7.66646796e-03 -1.07199645e+00] [-3.47566476e-05 9.99999990e-01 -1.37707387e-04 1.89787366e+00] [ 7.66646324e-03 1.37969801e-04 9.99970603e-01 -1.01686168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82654761499999 meters Centerline goodness : 0.787196 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.89, Z:-1.02 [[ 9.99968915e-01 -9.92652660e-04 -7.82204354e-03 -1.06923388e+00] [ 9.91662163e-04 9.99999500e-01 -1.30506358e-04 1.89466336e+00] [ 7.82216918e-03 1.22745477e-04 9.99969399e-01 -1.01922357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.85654761499999 meters Centerline goodness : 0.789133 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.89, Z:-1.02 [[ 9.99967493e-01 -1.04656015e-03 -7.99485337e-03 -1.06432603e+00] [ 1.06797766e-03 9.99995852e-01 2.67511326e-03 1.89328502e+00] [ 7.99202054e-03 -2.68356463e-03 9.99964462e-01 -1.02118119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88654761499999 meters Centerline goodness : 0.788654 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.89, Z:-1.02 [[ 9.99962752e-01 -1.77619221e-03 -8.44626943e-03 -1.06301988e+00] [ 1.81067453e-03 9.99990051e-01 4.07665807e-03 1.88945113e+00] [ 8.43894447e-03 -4.09179967e-03 9.99956020e-01 -1.01928630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91654761499999 meters Centerline goodness : 0.792906 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.88, Z:-1.02 [[ 0.99995882 -0.00224578 -0.00879286 -1.06277162] [ 0.0022971 0.99998036 0.00583045 1.8842681 ] [ 0.00877959 -0.00585041 0.99994434 -1.01613139] [ 0. 0. 0. 1. ]] SLAMing on 43.94654761499999 meters Centerline goodness : 0.795667 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.88, Z:-1.02 [[ 0.9999517 -0.00281638 -0.00941572 -1.06103054] [ 0.00287826 0.99997431 0.00656421 1.881236 ] [ 0.00939699 -0.00659099 0.99993413 -1.01535593] [ 0. 0. 0. 1. ]] SLAMing on 43.976547614999994 meters Centerline goodness : 0.795591 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.88, Z:-1.02 [[ 0.99993757 -0.00440507 -0.01026857 -1.05655484] [ 0.00445901 0.99997635 0.00523592 1.8810821 ] [ 0.01024526 -0.00528138 0.99993357 -1.0185669 ] [ 0. 0. 0. 1. ]] SLAMing on 44.00654761499999 meters Centerline goodness : 0.794855 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.88, Z:-1.02 [[ 0.99993587 -0.0044181 -0.010428 -1.05557135] [ 0.00446479 0.99998009 0.00445835 1.88144801] [ 0.0104081 -0.00450462 0.99993569 -1.02029271] [ 0. 0. 0. 1. ]] SLAMing on 44.03654761499999 meters Centerline goodness : 0.798462 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.88, Z:-1.02 [[ 0.99993855 -0.00397138 -0.01035051 -1.05639924] [ 0.00402588 0.99997811 0.00525009 1.87891098] [ 0.01032943 -0.00529144 0.99993265 -1.01914705] [ 0. 0. 0. 1. ]] SLAMing on 44.06654761499999 meters Centerline goodness : 0.796001 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.88, Z:-1.02 [[ 0.99993929 -0.00420862 -0.01018377 -1.05632774] [ 0.0042634 0.99997653 0.0053635 1.8810663 ] [ 0.01016096 -0.00540659 0.99993376 -1.01918286] [ 0. 0. 0. 1. ]] SLAMing on 44.09654761499999 meters Centerline goodness : 0.796575 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.89, Z:-1.02 [[ 0.99994306 -0.0040458 -0.0098749 -1.05724645] [ 0.00409291 0.99998032 0.00475539 1.88512082] [ 0.00985547 -0.00479553 0.99993993 -1.01945556] [ 0. 0. 0. 1. ]] SLAMing on 44.12654761499999 meters Centerline goodness : 0.794598 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.89, Z:-1.02 [[ 0.99994507 -0.0035487 -0.00986216 -1.05837996] [ 0.00359553 0.99998233 0.00473469 1.88610438] [ 0.00984518 -0.00476989 0.99994016 -1.01846253] [ 0. 0. 0. 1. ]] SLAMing on 44.156547614999994 meters Centerline goodness : 0.796693 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.89, Z:-1.02 [[ 0.99995608 -0.00202436 -0.00915077 -1.06215125] [ 0.00206995 0.99998548 0.00497553 1.88675909] [ 0.00914057 -0.00499426 0.99994575 -1.01680941] [ 0. 0. 0. 1. ]] SLAMing on 44.186547614999995 meters Centerline goodness : 0.794518 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.89, Z:-1.02 [[ 9.99963479e-01 -8.68203223e-04 -8.50213033e-03 -1.06432211e+00] [ 9.01743448e-04 9.99991824e-01 3.94188166e-03 1.88881943e+00] [ 8.49863846e-03 -3.94940444e-03 9.99956087e-01 -1.01816058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.21654761499999 meters Centerline goodness : 0.795711 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.89, Z:-1.02 [[ 0.99995898 0.00228139 -0.00876519 -1.06256209] [-0.0022282 0.99997908 0.00607247 1.89418713] [ 0.00877886 -0.00605269 0.99994315 -1.02043289] [ 0. 0. 0. 1. ]] SLAMing on 44.24654761499999 meters Centerline goodness : 0.792418 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.90, Z:-1.02 [[ 0.99996119 0.00236299 -0.00848708 -1.06341731] [-0.00232411 0.99998677 0.00458808 1.89979144] [ 0.00849781 -0.00456818 0.99995346 -1.0214621 ] [ 0. 0. 0. 1. ]] SLAMing on 44.27654761499999 meters Centerline goodness : 0.791451 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.91, Z:-1.03 [[ 9.99959094e-01 1.94814394e-03 -8.83265181e-03 -1.06161635e+00] [-1.93988111e-03 9.99997673e-01 9.43957705e-04 1.90703050e+00] [ 8.83447022e-03 -9.26784797e-04 9.99960546e-01 -1.02658074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30654761499999 meters Centerline goodness : 0.791688 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.91, Z:-1.03 [[ 9.99955060e-01 1.91049634e-03 -9.28590781e-03 -1.06126905e+00] [-1.90991039e-03 9.99998174e-01 7.19683663e-05 1.90875438e+00] [ 9.28602835e-03 -5.42298802e-05 9.99956882e-01 -1.02642095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33654761499999 meters Centerline goodness : 0.793238 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.91, Z:-1.02 [[ 9.99953103e-01 2.52721539e-03 -9.34904382e-03 -1.06283398e+00] [-2.51999119e-03 9.99996517e-01 7.84420744e-04 1.90763969e+00] [ 9.35099366e-03 -7.60824449e-04 9.99955989e-01 -1.02399007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.366547614999995 meters Centerline goodness : 0.791887 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.91, Z:-1.02 [[ 9.99957469e-01 2.53726410e-03 -8.86688313e-03 -1.06351978e+00] [-2.53292677e-03 9.99996667e-01 5.00356722e-04 1.90906831e+00] [ 8.86812311e-03 -4.77876275e-04 9.99960563e-01 -1.02461279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39654761499999 meters Centerline goodness : 0.789682 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.91, Z:-1.02 [[ 9.99958825e-01 2.31405647e-03 -8.77462554e-03 -1.06362259e+00] [-2.30396786e-03 9.99996673e-01 1.15968223e-03 1.90991635e+00] [ 8.77727992e-03 -1.13941802e-03 9.99960830e-01 -1.02363763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42654761499999 meters Centerline goodness : 0.787917 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.91, Z:-1.02 [[ 9.99960195e-01 2.39300709e-03 -8.59549562e-03 -1.06388929e+00] [-2.38606079e-03 9.99996819e-01 8.18296194e-04 1.91345190e+00] [ 8.59742646e-03 -7.97754246e-04 9.99962723e-01 -1.02406070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.45654761499999 meters Centerline goodness : 0.790094 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.91, Z:-1.02 [[ 9.99959424e-01 3.28252469e-03 -8.38896000e-03 -1.06565505e+00] [-3.27259544e-03 9.99993929e-01 1.19706244e-03 1.91212392e+00] [ 8.39283845e-03 -1.16956020e-03 9.99964096e-01 -1.02283789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48654761499999 meters Centerline goodness : 0.792303 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.91, Z:-1.02 [[ 9.99972213e-01 1.46766022e-03 -7.30887234e-03 -1.07003959e+00] [-1.48361480e-03 9.99996528e-01 -2.17796199e-03 1.90886720e+00] [ 7.30565045e-03 2.18874503e-03 9.99970918e-01 -1.02223101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51654761499999 meters Centerline goodness : 0.791360 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.91, Z:-1.02 [[ 9.99975073e-01 1.56112471e-03 -6.88601029e-03 -1.07047811e+00] [-1.57944120e-03 9.99995227e-01 -2.65532163e-03 1.91136472e+00] [ 6.88183214e-03 2.66613149e-03 9.99972766e-01 -1.02330594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.546547614999994 meters Centerline goodness : 0.786042 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.91, Z:-1.02 [[ 9.99962293e-01 4.29190065e-03 -7.54925130e-03 -1.06729993e+00] [-4.28849717e-03 9.99990695e-01 4.66967050e-04 1.91365108e+00] [ 7.55118524e-03 -4.34574500e-04 9.99971395e-01 -1.02497758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.57654761499999 meters Centerline goodness : 0.786498 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.91, Z:-1.03 [[ 9.99959662e-01 3.93285228e-03 -8.07508014e-03 -1.06568770e+00] [-3.92828137e-03 9.99992115e-01 5.81835063e-04 1.91114761e+00] [ 8.07730474e-03 -5.50090407e-04 9.99967227e-01 -1.02529170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60654761499999 meters Centerline goodness : 0.788268 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.91, Z:-1.02 [[ 9.99955452e-01 4.29260526e-03 -8.40635567e-03 -1.06569614e+00] [-4.27897719e-03 9.99989503e-01 1.63847728e-03 1.90688184e+00] [ 8.41330076e-03 -1.60243368e-03 9.99963324e-01 -1.02386526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.63654761499999 meters Centerline goodness : 0.789245 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.90, Z:-1.02 [[ 0.99995383 0.00487172 -0.00828259 -1.06689466] [-0.00484781 0.99998403 0.0029043 1.90437545] [ 0.00829661 -0.00286401 0.99996148 -1.02201787] [ 0. 0. 0. 1. ]] SLAMing on 44.66654761499999 meters Centerline goodness : 0.788788 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.91, Z:-1.02 [[ 0.99993362 0.0074937 -0.00875227 -1.06375957] [-0.00743692 0.9999512 0.00650283 1.90655607] [ 0.00880057 -0.00643731 0.99994055 -1.02344928] [ 0. 0. 0. 1. ]] SLAMing on 44.69654761499999 meters Centerline goodness : 0.783817 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.91, Z:-1.03 [[ 9.99952554e-01 4.44385439e-03 -8.66841165e-03 -1.06436045e+00] [-4.42897529e-03 9.99988687e-01 1.73491611e-03 1.90931319e+00] [ 8.67602330e-03 -1.69644162e-03 9.99960924e-01 -1.02500212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.726547614999994 meters Centerline goodness : 0.783921 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.91, Z:-1.02 [[ 9.99948684e-01 4.19725399e-03 -9.22019980e-03 -1.06314043e+00] [-4.18144760e-03 9.99989756e-01 1.73293065e-03 1.90778651e+00] [ 9.22737890e-03 -1.69428794e-03 9.99955991e-01 -1.02492291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75654761499999 meters Centerline goodness : 0.787490 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.90, Z:-1.02 [[ 9.99943231e-01 3.95586960e-03 -9.89368773e-03 -1.06241381e+00] [-3.93790227e-03 9.99990563e-01 1.83486192e-03 1.90321428e+00] [ 9.90085284e-03 -1.79579738e-03 9.99949373e-01 -1.02372752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78654761499999 meters Centerline goodness : 0.786173 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.91, Z:-1.02 [[ 9.99942376e-01 2.84146188e-03 -1.03523750e-02 -1.06040884e+00] [-2.82904442e-03 9.99995261e-01 1.21392539e-03 1.90538706e+00] [ 1.03557752e-02 -1.18456811e-03 9.99945676e-01 -1.02433722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.81654761499999 meters Centerline goodness : 0.783944 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.91, Z:-1.03 [[ 9.99934257e-01 8.69258890e-04 -1.14335266e-02 -1.05535478e+00] [-8.71852406e-04 9.99999595e-01 -2.21851968e-04 1.90809167e+00] [ 1.14333291e-02 2.31805730e-04 9.99934610e-01 -1.02728671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84654761499999 meters Centerline goodness : 0.783652 Centerline is valid? [False, False] Translation: X:-1.05, Y:1.91, Z:-1.03 [[ 9.99914863e-01 -1.13759544e-03 -1.29989272e-02 -1.05001581e+00] [ 1.13370685e-03 9.99999310e-01 -3.06511461e-04 1.90621115e+00] [ 1.29992669e-02 2.91748393e-04 9.99915463e-01 -1.02777832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87654761499999 meters Centerline goodness : 0.783610 Centerline is valid? [False, False] Translation: X:-1.05, Y:1.90, Z:-1.03 [[ 9.99902469e-01 -2.96097904e-03 -1.36486071e-02 -1.04700352e+00] [ 2.95638480e-03 9.99995566e-01 -3.56772463e-04 1.90463611e+00] [ 1.36496030e-02 3.16387132e-04 9.99906790e-01 -1.02777334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.906547614999994 meters Centerline goodness : 0.781817 Centerline is valid? [False, False] Translation: X:-1.05, Y:1.90, Z:-1.03 [[ 9.99890369e-01 -4.60823980e-03 -1.40717378e-02 -1.04555840e+00] [ 4.61668111e-03 9.99989182e-01 5.67451265e-04 1.90342984e+00] [ 1.40689706e-02 -6.32353781e-04 9.99900827e-01 -1.02509697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.936547614999995 meters Centerline goodness : 0.785234 Centerline is valid? [False, False] Translation: X:-1.05, Y:1.90, Z:-1.02 [[ 9.99860671e-01 -8.78516446e-03 -1.41936195e-02 -1.04688865e+00] [ 8.76965954e-03 9.99960880e-01 -1.15425871e-03 1.90007637e+00] [ 1.42032046e-02 1.02962468e-03 9.99898599e-01 -1.01988889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96654761499999 meters Centerline goodness : 0.791148 Centerline is valid? [False, False] Translation: X:-1.02, Y:1.90, Z:-1.01 [[ 0.99975493 -0.01396882 -0.01717394 -1.01768162] [ 0.0139308 0.99990024 -0.00233169 1.89531779] [ 0.01720479 0.00209187 0.9998498 -1.01264441] [ 0. 0. 0. 1. ]] SLAMing on 44.99654761499999 meters Centerline goodness : 0.787289 Centerline is valid? [False, False] Translation: X:-1.01, Y:1.90, Z:-1.02 [[ 9.99710557e-01 -1.56446830e-02 -1.82769397e-02 -1.00842834e+00] [ 1.56261829e-02 9.99877237e-01 -1.15458940e-03 1.89866036e+00] [ 1.82927592e-02 8.68656413e-04 9.99832296e-01 -1.01702717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02654761499999 meters Centerline goodness : 0.784161 Centerline is valid? [False, False] Translation: X:-1.00, Y:1.90, Z:-1.02 [[ 0.99975773 -0.01046946 -0.01936156 -1.00293927] [ 0.0105754 0.99992962 0.00537718 1.90424745] [ 0.0193039 -0.00558064 0.99979809 -1.01888236] [ 0. 0. 0. 1. ]] SLAMing on 45.05654761499999 meters Centerline goodness : 0.786393 Centerline is valid? [False, False] Translation: X:-0.99, Y:1.91, Z:-1.02 [[ 0.99985131 -0.01124882 -0.01306961 -0.99239788] [ 0.01117406 0.99992087 -0.00577899 1.90795901] [ 0.01313358 0.00563209 0.99989789 -1.02094048] [ 0. 0. 0. 1. ]] SLAMing on 45.08654761499999 meters Centerline goodness : 0.786393 Centerline is valid? [False, False] Translation: X:-0.99, Y:1.91, Z:-1.02 [[ 0.99985131 -0.01124882 -0.01306961 -0.99239788] [ 0.01117406 0.99992087 -0.00577899 1.90795901] [ 0.01313358 0.00563209 0.99989789 -1.02094048] [ 0. 0. 0. 1. ]] SLAMing on 45.116547614999995 meters Centerline goodness : 0.792302 Centerline is valid? [False, False] Translation: X:-1.00, Y:1.90, Z:-1.01 [[ 0.99982517 -0.01370493 -0.01272019 -0.99705922] [ 0.01361976 0.99988441 -0.00675856 1.90249115] [ 0.01281135 0.00658413 0.99989625 -1.01378837] [ 0. 0. 0. 1. ]] SLAMing on 45.14654761499999 meters Centerline goodness : 0.792482 Centerline is valid? [False, False] Translation: X:-1.00, Y:1.90, Z:-1.01 [[ 0.99985436 -0.01104703 -0.01300886 -0.99592494] [ 0.01101717 0.99993651 -0.00236442 1.90332144] [ 0.01303416 0.00222075 0.99991259 -1.01212794] [ 0. 0. 0. 1. ]] SLAMing on 45.17654761499999 meters Centerline goodness : 0.790593 Centerline is valid? [False, False] Translation: X:-0.99, Y:1.91, Z:-1.01 [[ 0.99986043 -0.00845927 -0.01440673 -0.98721956] [ 0.00850893 0.99995805 0.00338962 1.90818501] [ 0.01437745 -0.00351174 0.99989047 -1.01465281] [ 0. 0. 0. 1. ]] SLAMing on 45.20654761499999 meters Centerline goodness : 0.783249 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.91, Z:-1.02 [[ 0.99985136 -0.00658403 -0.01593437 -0.98131878] [ 0.00666922 0.99996372 0.00529883 1.91225396] [ 0.0158989 -0.00540431 0.999859 -1.01784202] [ 0. 0. 0. 1. ]] SLAMing on 45.23654761499999 meters Centerline goodness : 0.783751 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.91, Z:-1.02 [[ 0.99984131 -0.00667319 -0.01651707 -0.97989925] [ 0.00672731 0.99997218 0.00322341 1.91473789] [ 0.0164951 -0.00333401 0.99985839 -1.02015337] [ 0. 0. 0. 1. ]] SLAMing on 45.26654761499999 meters Centerline goodness : 0.788093 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.92, Z:-1.02 [[ 0.99993422 -0.00396931 -0.0107615 -0.97143285] [ 0.00389011 0.99996527 -0.00737041 1.91841498] [ 0.01079038 0.00732806 0.99991493 -1.02338593] [ 0. 0. 0. 1. ]] SLAMing on 45.296547614999994 meters Centerline goodness : 0.792259 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.92, Z:-1.02 [[ 9.99934391e-01 4.41019334e-03 -1.05718640e-02 -9.73362854e-01] [-4.39839599e-03 9.99989678e-01 1.13890961e-03 1.92213292e+00] [ 1.05767777e-02 -1.09233565e-03 9.99943468e-01 -1.02049308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32654761499999 meters Centerline goodness : 0.791538 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.93, Z:-1.02 [[ 0.9999035 0.00887755 -0.01068516 -0.97287177] [-0.00883944 0.99995442 0.00360834 1.92601182] [ 0.01071671 -0.00351354 0.9999364 -1.02272103] [ 0. 0. 0. 1. ]] SLAMing on 45.35654761499999 meters Centerline goodness : 0.790374 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.93, Z:-1.03 [[ 0.99986459 0.01196427 -0.01129853 -0.96867793] [-0.01190186 0.99991363 0.00557522 1.9269087 ] [ 0.01136426 -0.00543999 0.99992063 -1.02768739] [ 0. 0. 0. 1. ]] SLAMing on 45.38654761499999 meters Centerline goodness : 0.790979 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.93, Z:-1.03 [[ 0.99985761 0.01288888 -0.0108919 -0.97018675] [-0.01283611 0.9999056 0.00490112 1.93057369] [ 0.01095404 -0.00476061 0.99992867 -1.02825356] [ 0. 0. 0. 1. ]] SLAMing on 45.41654761499999 meters Centerline goodness : 0.791971 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.93, Z:-1.02 [[ 0.99980968 0.01674228 -0.01001518 -0.9769841 ] [-0.01667447 0.99983774 0.0068163 1.93141888] [ 0.01012768 -0.006648 0.99992661 -1.02373881] [ 0. 0. 0. 1. ]] SLAMing on 45.44654761499999 meters Centerline goodness : 0.793819 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.93, Z:-1.02 [[ 0.99982199 0.01631741 -0.00947213 -0.98130921] [-0.01628136 0.99985996 0.00387099 1.93111734] [ 0.00953397 -0.00371608 0.99994765 -1.02272414] [ 0. 0. 0. 1. ]] SLAMing on 45.476547614999994 meters Centerline goodness : 0.794262 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.93, Z:-1.03 [[ 0.99983768 0.01531536 -0.00948989 -0.97731673] [-0.01529371 0.99988028 0.00235037 1.93340546] [ 0.00952475 -0.00220486 0.99995221 -1.02828773] [ 0. 0. 0. 1. ]] SLAMing on 45.50654761499999 meters Centerline goodness : 0.791193 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.94, Z:-1.03 [[ 0.99979301 0.01741474 -0.01051997 -0.97200186] [-0.01736271 0.99983667 0.00501669 1.93669258] [ 0.01060562 -0.00483299 0.99993208 -1.03152558] [ 0. 0. 0. 1. ]] SLAMing on 45.53654761499999 meters Centerline goodness : 0.792381 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.94, Z:-1.03 [[ 9.99800183e-01 1.95275150e-02 -4.27427751e-03 -9.62463815e-01] [-1.95324980e-02 9.99808587e-01 -1.12717663e-03 1.93798967e+00] [ 4.25144840e-03 1.21043872e-03 9.99990230e-01 -1.02968164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56654761499999 meters Centerline goodness : 0.798280 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.93, Z:-1.02 [[ 9.99875895e-01 1.56488461e-02 -1.81873821e-03 -9.78245363e-01] [-1.56623588e-02 9.99847923e-01 -7.66944533e-03 1.92855470e+00] [ 1.69844365e-03 7.69697924e-03 9.99968935e-01 -1.02040565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59654761499999 meters Centerline goodness : 0.800244 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.92, Z:-1.01 [[ 9.99857073e-01 1.68377096e-02 -1.52486947e-03 -9.80817385e-01] [-1.68423704e-02 9.99853360e-01 -3.09711187e-03 1.91882022e+00] [ 1.47249759e-03 3.12235163e-03 9.99994041e-01 -1.01398703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62654761499999 meters Centerline goodness : 0.796031 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.92, Z:-1.03 [[ 0.9998706 0.015337 0.00485283 -0.98139176] [-0.01537143 0.99985637 0.00713866 1.92202471] [-0.00474265 -0.00721233 0.99996274 -1.0252445 ] [ 0. 0. 0. 1. ]] SLAMing on 45.656547614999994 meters Centerline goodness : 0.791860 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.92, Z:-1.03 [[ 0.99988882 0.01448264 0.00354895 -0.97089152] [-0.01451127 0.99986126 0.00817848 1.92243384] [-0.00343001 -0.00822907 0.99996026 -1.03321266] [ 0. 0. 0. 1. ]] SLAMing on 45.68654761499999 meters Centerline goodness : 0.792605 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.92, Z:-1.04 [[ 0.99993194 0.01109086 0.00362116 -0.97017775] [-0.01110575 0.99992984 0.00411949 1.91822254] [-0.00357522 -0.00415942 0.99998496 -1.03576577] [ 0. 0. 0. 1. ]] SLAMing on 45.71654761499999 meters Centerline goodness : 0.797051 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.91, Z:-1.03 [[ 0.99994021 0.00996632 0.0044996 -0.9763335 ] [-0.00997637 0.99994778 0.00221594 1.91306379] [-0.00447728 -0.00226069 0.99998742 -1.03136118] [ 0. 0. 0. 1. ]] SLAMing on 45.74654761499999 meters Centerline goodness : 0.800084 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.91, Z:-1.03 [[ 0.99991565 0.01195208 0.00508299 -0.98055366] [-0.0119707 0.99992169 0.00364835 1.91203582] [-0.00503899 -0.00370889 0.99998043 -1.02782169] [ 0. 0. 0. 1. ]] SLAMing on 45.77654761499999 meters Centerline goodness : 0.795291 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.92, Z:-1.03 [[ 9.99930512e-01 1.08152616e-02 4.69064418e-03 -9.77045839e-01] [-1.08243331e-02 9.99939585e-01 1.91291439e-03 1.91818236e+00] [-4.66967212e-03 -1.96355456e-03 9.99987169e-01 -1.03161541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80654761499999 meters Centerline goodness : 0.792655 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.92, Z:-1.04 [[ 9.99988454e-01 4.12305501e-03 2.46845151e-03 -9.64491952e-01] [-4.12114697e-03 9.99991206e-01 -7.77557185e-04 1.91722544e+00] [-2.47163572e-03 7.67375356e-04 9.99996651e-01 -1.03655656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83654761499999 meters Centerline goodness : 0.792735 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.91, Z:-1.04 [[ 9.99997994e-01 -7.97019895e-04 1.83739439e-03 -9.62091863e-01] [ 8.03651664e-04 9.99993156e-01 -3.61142532e-03 1.91211525e+00] [-1.83450343e-03 3.61289470e-03 9.99991791e-01 -1.03609447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.866547614999995 meters Centerline goodness : 0.795470 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.91, Z:-1.03 [[ 0.99998972 -0.00364338 0.00269991 -0.9663457 ] [ 0.00365075 0.99998962 -0.0027269 1.90592532] [-0.00268995 0.00273673 0.99999264 -1.02773689] [ 0. 0. 0. 1. ]] SLAMing on 45.89654761499999 meters Centerline goodness : 0.798571 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.91, Z:-1.03 [[ 9.99991868e-01 -2.56624650e-03 3.11096963e-03 -9.68870553e-01] [ 2.57161025e-03 9.99995212e-01 -1.72136936e-03 1.90629208e+00] [-3.10653727e-03 1.72935556e-03 9.99993679e-01 -1.02549567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92654761499999 meters Centerline goodness : 0.792801 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.91, Z:-1.03 [[ 9.99991191e-01 3.84202085e-03 1.69021223e-03 -9.62799443e-01] [-3.84623920e-03 9.99989479e-01 2.49961813e-03 1.91174064e+00] [-1.68059086e-03 -2.50609707e-03 9.99995448e-01 -1.03234403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.95654761499999 meters Centerline goodness : 0.792242 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.91, Z:-1.03 [[ 9.99987942e-01 4.58315710e-03 1.76353426e-03 -9.62878830e-01] [-4.58527349e-03 9.99988770e-01 1.19791816e-03 1.91319810e+00] [-1.75802421e-03 -1.20599001e-03 9.99997727e-01 -1.03474035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98654761499999 meters Centerline goodness : 0.796258 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.91, Z:-1.03 [[ 9.99984085e-01 5.26137477e-03 2.03677046e-03 -9.64363371e-01] [-5.26419738e-03 9.99985188e-01 1.38295537e-03 1.91295706e+00] [-2.02946404e-03 -1.39365533e-03 9.99996969e-01 -1.03403752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01654761499999 meters Centerline goodness : 0.794487 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.92, Z:-1.03 [[ 9.99971074e-01 7.12130892e-03 2.67167635e-03 -9.67864301e-01] [-7.12623739e-03 9.99972916e-01 1.83974797e-03 1.91591942e+00] [-2.65850258e-03 -1.85873376e-03 9.99994739e-01 -1.03249068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.046547614999994 meters Centerline goodness : 0.796689 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.92, Z:-1.03 [[ 0.99996609 0.00771756 0.00287265 -0.97012434] [-0.00772449 0.99996726 0.00240947 1.91694816] [-0.00285396 -0.00243157 0.99999297 -1.02969598] [ 0. 0. 0. 1. ]] SLAMing on 46.07654761499999 meters Centerline goodness : 0.794860 Centerline is valid? [False, False] Translation: X:-0.97, Y:1.92, Z:-1.03 [[ 9.99978639e-01 6.24864923e-03 1.91711334e-03 -9.66110981e-01] [-6.25004294e-03 9.99980208e-01 7.21856578e-04 1.92021123e+00] [-1.91256477e-03 -7.33823200e-04 9.99997902e-01 -1.03233927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10654761499999 meters Centerline goodness : 0.794614 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.92, Z:-1.03 [[ 9.99984526e-01 5.41410346e-03 1.27893746e-03 -9.63557811e-01] [-5.41415574e-03 9.99985343e-01 3.74151780e-05 1.91979992e+00] [-1.27871615e-03 -4.43389656e-05 9.99999181e-01 -1.03380015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.13654761499999 meters Centerline goodness : 0.793118 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.92, Z:-1.03 [[ 9.99987025e-01 5.01819035e-03 8.76696061e-04 -9.62538367e-01] [-5.01813141e-03 9.99987407e-01 -6.94179805e-05 1.91995899e+00] [-8.77033373e-04 6.50177038e-05 9.99999613e-01 -1.03363019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16654761499999 meters Centerline goodness : 0.794816 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.92, Z:-1.03 [[ 9.99990957e-01 4.25024325e-03 -1.46645592e-04 -9.59753708e-01] [-4.25026992e-03 9.99990951e-01 -1.82060147e-04 1.91802802e+00] [ 1.45870465e-04 1.82681784e-04 9.99999973e-01 -1.03382934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19654761499999 meters Centerline goodness : 0.795477 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.92, Z:-1.04 [[ 9.99994632e-01 3.15147772e-03 -8.96660590e-04 -9.56575131e-01] [-3.15240298e-03 9.99994498e-01 -1.03236992e-03 1.91933724e+00] [ 8.93402166e-04 1.03519102e-03 9.99999065e-01 -1.03560575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.226547614999994 meters Centerline goodness : 0.791563 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.92, Z:-1.04 [[ 9.99998009e-01 5.54678367e-04 -1.91685000e-03 -9.50826899e-01] [-5.58675745e-04 9.99997669e-01 -2.08548355e-03 1.92157249e+00] [ 1.91568876e-03 2.08655030e-03 9.99995988e-01 -1.03841850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.25654761499999 meters Centerline goodness : 0.790041 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.92, Z:-1.04 [[ 0.99998369 -0.00493562 -0.00287304 -0.94683378] [ 0.00491788 0.99996901 -0.00614835 1.91897228] [ 0.00290329 0.00613412 0.99997697 -1.03970386] [ 0. 0. 0. 1. ]] SLAMing on 46.28654761499999 meters Centerline goodness : 0.794314 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.91, Z:-1.03 [[ 0.99995388 -0.00903817 -0.00324877 -0.94723673] [ 0.00901588 0.99993617 -0.00680998 1.91211125] [ 0.00331012 0.00678038 0.99997153 -1.03387146] [ 0. 0. 0. 1. ]] SLAMing on 46.31654761499999 meters Centerline goodness : 0.793339 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.91, Z:-1.03 [[ 0.99991557 -0.01265894 -0.00293415 -0.94936834] [ 0.01263388 0.99988485 -0.00840674 1.90770885] [ 0.00304023 0.00836896 0.99996036 -1.02946949] [ 0. 0. 0. 1. ]] SLAMing on 46.34654761499999 meters Centerline goodness : 0.793308 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.91, Z:-1.03 [[ 0.99993998 -0.01043479 -0.00333891 -0.94666355] [ 0.0104212 0.99993745 -0.00406202 1.907288 ] [ 0.00338109 0.00402698 0.99998618 -1.02926304] [ 0. 0. 0. 1. ]] SLAMing on 46.37654761499999 meters Centerline goodness : 0.789957 Centerline is valid? [False, False] Translation: X:-0.94, Y:1.91, Z:-1.03 [[ 9.99971523e-01 -5.41755552e-03 -5.25396800e-03 -9.38742785e-01] [ 5.42497484e-03 9.99984306e-01 1.39891468e-03 1.91342421e+00] [ 5.24630684e-03 -1.42737749e-03 9.99985219e-01 -1.03325801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.406547614999994 meters Centerline goodness : 0.786792 Centerline is valid? [False, False] Translation: X:-0.94, Y:1.92, Z:-1.03 [[ 9.99981031e-01 -3.05194619e-03 -5.34999926e-03 -9.42107525e-01] [ 3.05854671e-03 9.99994571e-01 1.22599455e-03 1.91557621e+00] [ 5.34622855e-03 -1.24233452e-03 9.99984937e-01 -1.03125776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43654761499999 meters Centerline goodness : 0.789077 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.91, Z:-1.03 [[ 9.99984903e-01 -1.88155582e-03 -5.16266528e-03 -9.45721065e-01] [ 1.89952205e-03 9.99992150e-01 3.47733627e-03 1.91143483e+00] [ 5.15608195e-03 -3.48709037e-03 9.99980627e-01 -1.02556609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46654761499999 meters Centerline goodness : 0.786465 Centerline is valid? [False, False] Translation: X:-0.94, Y:1.92, Z:-1.03 [[ 9.99978824e-01 -6.10529670e-04 -6.47904312e-03 -9.38772356e-01] [ 6.43849785e-04 9.99986573e-01 5.14191328e-03 1.91725252e+00] [ 6.47581684e-03 -5.14597593e-03 9.99965791e-01 -1.03002929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.49654761499999 meters Centerline goodness : 0.783623 Centerline is valid? [False, False] Translation: X:-0.94, Y:1.92, Z:-1.03 [[ 9.99980285e-01 -6.28048049e-04 -6.24784313e-03 -9.37691906e-01] [ 6.47967951e-04 9.99994712e-01 3.18677140e-03 1.92378677e+00] [ 6.24580865e-03 -3.19075698e-03 9.99975404e-01 -1.03401247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52654761499999 meters Centerline goodness : 0.784777 Centerline is valid? [False, False] Translation: X:-0.94, Y:1.92, Z:-1.03 [[ 9.99984214e-01 3.84734901e-04 -5.60577518e-03 -9.40976534e-01] [-3.58422535e-04 9.99988919e-01 4.69404497e-03 1.92143151e+00] [ 5.60751903e-03 -4.69196164e-03 9.99973270e-01 -1.03080542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55654761499999 meters Centerline goodness : 0.788638 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.92, Z:-1.03 [[ 0.99998655 0.00218844 -0.00470319 -0.94623776] [-0.00215682 0.9999751 0.00671847 1.91807244] [ 0.00471778 -0.00670823 0.99996637 -1.02559765] [ 0. 0. 0. 1. ]] SLAMing on 46.58654761499999 meters Centerline goodness : 0.795280 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.92, Z:-1.02 [[ 0.99998414 0.00344324 -0.00445706 -0.94852745] [-0.00341282 0.99997095 0.00681539 1.91796911] [ 0.0044804 -0.00680007 0.99996684 -1.02449964] [ 0. 0. 0. 1. ]] SLAMing on 46.616547614999995 meters Centerline goodness : 0.789250 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.92, Z:-1.03 [[ 0.99998385 0.00324097 -0.00466825 -0.94694949] [-0.00322037 0.99998508 0.00441242 1.92336677] [ 0.00468249 -0.00439731 0.99997937 -1.02840984] [ 0. 0. 0. 1. ]] SLAMing on 46.64654761499999 meters Centerline goodness : 0.788415 Centerline is valid? [False, False] Translation: X:-0.94, Y:1.92, Z:-1.03 [[ 0.9999837 0.00262214 -0.00507139 -0.944805 ] [-0.00260186 0.99998861 0.00400128 1.92232195] [ 0.00508182 -0.00398802 0.99997914 -1.03007608] [ 0. 0. 0. 1. ]] SLAMing on 46.67654761499999 meters Centerline goodness : 0.788815 Centerline is valid? [False, False] Translation: X:-0.94, Y:1.92, Z:-1.03 [[ 9.99983685e-01 9.40403189e-04 -5.63429902e-03 -9.40924314e-01] [-9.20767079e-04 9.99993498e-01 3.48668361e-03 1.92011004e+00] [ 5.63754127e-03 -3.48143884e-03 9.99978049e-01 -1.03256969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70654761499999 meters Centerline goodness : 0.789208 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.92, Z:-1.03 [[ 0.99996139 -0.00475952 -0.00738642 -0.93142469] [ 0.00478249 0.99998377 0.00309611 1.91798938] [ 0.00737157 -0.00313131 0.99996793 -1.03301667] [ 0. 0. 0. 1. ]] SLAMing on 46.73654761499999 meters Centerline goodness : 0.787219 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.91, Z:-1.03 [[ 0.99996021 -0.00465668 -0.00760925 -0.93180224] [ 0.00469045 0.9999792 0.00442662 1.91452604] [ 0.00758848 -0.00446213 0.99996125 -1.03077317] [ 0. 0. 0. 1. ]] SLAMing on 46.76654761499999 meters Centerline goodness : 0.792572 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.91, Z:-1.03 [[ 0.9999412 -0.00785286 -0.0074788 -0.93414879] [ 0.00786989 0.9999665 0.00225001 1.91130401] [ 0.00746088 -0.00230873 0.9999695 -1.02697711] [ 0. 0. 0. 1. ]] SLAMing on 46.796547614999994 meters Centerline goodness : 0.791361 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.91, Z:-1.03 [[ 9.99922957e-01 -9.31069763e-03 -8.20916235e-03 -9.30553773e-01] [ 9.32147127e-03 9.99955741e-01 1.27510881e-03 1.91261766e+00] [ 8.19692687e-03 -1.35153205e-03 9.99965491e-01 -1.02904554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82654761499999 meters Centerline goodness : 0.790147 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.91, Z:-1.03 [[ 0.99993817 -0.00658688 -0.00895928 -0.92708076] [ 0.00662565 0.99996878 0.00430466 1.91394124] [ 0.00893065 -0.00436376 0.9999506 -1.03102829] [ 0. 0. 0. 1. ]] SLAMing on 46.85654761499999 meters Centerline goodness : 0.789544 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.92, Z:-1.03 [[ 0.99994368 -0.00606962 -0.00870644 -0.92779666] [ 0.00610063 0.99997513 0.00353883 1.91527872] [ 0.00868475 -0.00359174 0.99995584 -1.03209702] [ 0. 0. 0. 1. ]] SLAMing on 46.88654761499999 meters Centerline goodness : 0.791691 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.91, Z:-1.03 [[ 0.99994834 -0.00533445 -0.00865266 -0.92915995] [ 0.005373 0.99997572 0.00443786 1.91269013] [ 0.00862878 -0.00448412 0.99995272 -1.03040947] [ 0. 0. 0. 1. ]] SLAMing on 46.91654761499999 meters Centerline goodness : 0.789413 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.92, Z:-1.03 [[ 0.99995248 -0.00247472 -0.00942929 -0.92571512] [ 0.0025436 0.99997012 0.00729973 1.91557825] [ 0.00941095 -0.00732337 0.9999289 -1.03255027] [ 0. 0. 0. 1. ]] SLAMing on 46.94654761499999 meters Centerline goodness : 0.785704 Centerline is valid? [False, False] Translation: X:-0.92, Y:1.92, Z:-1.04 [[ 9.99949053e-01 4.77255734e-04 -1.00828356e-02 -9.22312551e-01] [-3.82305484e-04 9.99955587e-01 9.41684816e-03 1.91948924e+00] [ 1.00868820e-02 -9.41251368e-03 9.99904825e-01 -1.03582228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.976547614999994 meters Centerline goodness : 0.785468 Centerline is valid? [False, False] Translation: X:-0.92, Y:1.92, Z:-1.03 [[ 9.99949485e-01 1.46486479e-03 -9.94397162e-03 -9.24258970e-01] [-1.37549323e-03 9.99958657e-01 8.98840910e-03 1.92226665e+00] [ 9.95672731e-03 -8.97427718e-03 9.99910159e-01 -1.03493283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00654761499999 meters Centerline goodness : 0.785468 Centerline is valid? [False, False] Translation: X:-0.92, Y:1.92, Z:-1.03 [[ 9.99949485e-01 1.46486479e-03 -9.94397162e-03 -9.24258970e-01] [-1.37549323e-03 9.99958657e-01 8.98840910e-03 1.92226665e+00] [ 9.95672731e-03 -8.97427718e-03 9.99910159e-01 -1.03493283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.03654761499999 meters Centerline goodness : 0.788480 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.92, Z:-1.03 [[ 9.99954308e-01 -6.64563875e-04 -9.53629796e-03 -9.28647446e-01] [ 7.19542660e-04 9.99983135e-01 5.76294021e-03 1.92197048e+00] [ 9.53230729e-03 -5.76953866e-03 9.99937922e-01 -1.03147200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06654761499999 meters Centerline goodness : 0.788138 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.92, Z:-1.03 [[ 9.99953128e-01 -6.48011212e-04 -9.66030538e-03 -9.28718058e-01] [ 7.05425726e-04 9.99982103e-01 5.94112137e-03 1.92091370e+00] [ 9.65628258e-03 -5.94765753e-03 9.99935689e-01 -1.03084210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.09654761499999 meters Centerline goodness : 0.788560 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.93, Z:-1.03 [[ 9.99954630e-01 -8.03966314e-04 -9.49165872e-03 -9.28698423e-01] [ 8.53649382e-04 9.99985951e-01 5.23150213e-03 1.92577539e+00] [ 9.48731942e-03 -5.23936733e-03 9.99941268e-01 -1.03167288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12654761499999 meters Centerline goodness : 0.784616 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.93, Z:-1.03 [[ 9.99944797e-01 1.66239023e-03 -1.03749172e-02 -9.25005053e-01] [-1.58045783e-03 9.99967543e-01 7.90037037e-03 1.92976341e+00] [ 1.03877140e-02 -7.88353713e-03 9.99914969e-01 -1.03347614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.156547614999994 meters Centerline goodness : 0.784491 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.93, Z:-1.03 [[ 9.99948491e-01 -1.22122166e-03 -1.00758999e-02 -9.26762897e-01] [ 1.25648449e-03 9.99993106e-01 3.49413244e-03 1.92993956e+00] [ 1.00715633e-02 -3.50661267e-03 9.99943132e-01 -1.03376771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18654761499999 meters Centerline goodness : 0.791109 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.93, Z:-1.03 [[ 9.99951477e-01 -3.08399164e-03 -9.35590231e-03 -9.30914033e-01] [ 3.09000905e-03 9.99995028e-01 6.28780310e-04 1.92635387e+00] [ 9.35391664e-03 -6.57659622e-04 9.99956035e-01 -1.03173777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.21654761499999 meters Centerline goodness : 0.789965 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.93, Z:-1.03 [[ 9.99955839e-01 1.18756271e-03 -9.32253002e-03 -9.32240014e-01] [-1.13628952e-03 9.99984211e-01 5.50329310e-03 1.92741131e+00] [ 9.32891834e-03 -5.49245698e-03 9.99941400e-01 -1.02913163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24654761499999 meters Centerline goodness : 0.791101 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.93, Z:-1.03 [[ 0.99994274 0.00484805 -0.00953974 -0.93179916] [-0.00476085 0.99994687 0.0091428 1.93102096] [ 0.00958356 -0.00909685 0.9999127 -1.02874072] [ 0. 0. 0. 1. ]] SLAMing on 47.27654761499999 meters Centerline goodness : 0.784260 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.94, Z:-1.04 [[ 0.99994227 0.00306255 -0.01029925 -0.92657755] [-0.00300714 0.99998095 0.00539093 1.93516262] [ 0.01031557 -0.00535964 0.99993243 -1.0357897 ] [ 0. 0. 0. 1. ]] SLAMing on 47.30654761499999 meters Centerline goodness : 0.787481 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.93, Z:-1.04 [[ 9.99947967e-01 -7.54395054e-04 -1.01731650e-02 -9.27465916e-01] [ 7.65611338e-04 9.99999103e-01 1.09868695e-03 1.93451844e+00] [ 1.01723270e-02 -1.10641848e-03 9.99947648e-01 -1.03554032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33654761499999 meters Centerline goodness : 0.790435 Centerline is valid? [False, False] Translation: X:-0.92, Y:1.93, Z:-1.04 [[ 9.99986305e-01 -5.23340880e-03 2.33126594e-05 -9.23805159e-01] [ 5.23334191e-03 9.99983698e-01 2.28393575e-03 1.93230072e+00] [-3.52650488e-05 -2.28378246e-03 9.99997392e-01 -1.03673024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.366547614999995 meters Centerline goodness : 0.794274 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.93, Z:-1.03 [[ 9.99957701e-01 -9.19369930e-03 2.68763121e-04 -9.25007214e-01] [ 9.19394477e-03 9.99957305e-01 -9.26832599e-04 1.93266018e+00] [-2.60230626e-04 9.29264388e-04 9.99999534e-01 -1.03493791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.39654761499999 meters Centerline goodness : 0.789083 Centerline is valid? [False, False] Translation: X:-0.92, Y:1.94, Z:-1.04 [[ 9.99946914e-01 -1.01819486e-02 -1.57998442e-03 -9.15091086e-01] [ 1.01833796e-02 9.99947743e-01 9.00282898e-04 1.93566697e+00] [ 1.57073522e-03 -9.16324687e-04 9.99998347e-01 -1.03906382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42654761499999 meters Centerline goodness : 0.789057 Centerline is valid? [False, False] Translation: X:-0.91, Y:1.93, Z:-1.04 [[ 0.99988889 -0.01463845 -0.00281645 -0.90816355] [ 0.01463261 0.99989076 -0.00208584 1.93403758] [ 0.00284667 0.0020444 0.99999386 -1.04268002] [ 0. 0. 0. 1. ]] SLAMing on 47.45654761499999 meters Centerline goodness : 0.787454 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.93, Z:-1.04 [[ 0.999849 -0.01701037 -0.00355435 -0.90416521] [ 0.01700047 0.99985157 -0.00279716 1.93196619] [ 0.0036014 0.00273631 0.99998977 -1.04386897] [ 0. 0. 0. 1. ]] SLAMing on 47.48654761499999 meters Centerline goodness : 0.787549 Centerline is valid? [False, False] Translation: X:-0.91, Y:1.93, Z:-1.04 [[ 0.99984543 -0.01719659 -0.00365871 -0.90502267] [ 0.01718896 0.99985004 -0.00210778 1.93222419] [ 0.00369441 0.00204456 0.99999109 -1.04124515] [ 0. 0. 0. 1. ]] SLAMing on 47.51654761499999 meters Centerline goodness : 0.790411 Centerline is valid? [False, False] Translation: X:-0.91, Y:1.93, Z:-1.04 [[ 9.99868294e-01 -1.59141836e-02 -3.18318436e-03 -9.08707391e-01] [ 1.59135994e-02 9.99873349e-01 -2.08781690e-04 1.93062007e+00] [ 3.18610379e-03 1.58098272e-04 9.99994912e-01 -1.03690465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.546547614999994 meters Centerline goodness : 0.794346 Centerline is valid? [False, False] Translation: X:-0.91, Y:1.93, Z:-1.03 [[ 0.99991904 -0.01226719 -0.00338067 -0.90924869] [ 0.01228492 0.99991062 0.00527605 1.92931756] [ 0.00331565 -0.00531716 0.99998037 -1.03354716] [ 0. 0. 0. 1. ]] SLAMing on 47.57654761499999 meters Centerline goodness : 0.791396 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.93, Z:-1.03 [[ 0.99993463 -0.0104463 -0.00464879 -0.90450425] [ 0.01048401 0.99991173 0.00816182 1.93299509] [ 0.00456311 -0.00821002 0.99995589 -1.03485538] [ 0. 0. 0. 1. ]] SLAMing on 47.60654761499999 meters Centerline goodness : 0.786282 Centerline is valid? [False, False] Translation: X:-0.91, Y:1.93, Z:-1.04 [[ 0.99994086 -0.00992275 -0.00445244 -0.90545975] [ 0.00995592 0.99992238 0.00749039 1.93473108] [ 0.00437777 -0.00753428 0.99996203 -1.03519643] [ 0. 0. 0. 1. ]] SLAMing on 47.63654761499999 meters Centerline goodness : 0.787353 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.94, Z:-1.03 [[ 0.99992174 -0.00388348 -0.01189253 -0.89808539] [ 0.00391859 0.99998803 0.00293028 1.93545832] [ 0.01188101 -0.00297665 0.99992499 -1.02897237] [ 0. 0. 0. 1. ]] SLAMing on 47.66654761499999 meters Centerline goodness : 0.786997 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.94, Z:-1.03 [[ 9.99921141e-01 -3.81777151e-03 -1.19639319e-02 -8.98256319e-01] [ 3.83841742e-03 9.99991183e-01 1.70319251e-03 1.94041688e+00] [ 1.19573240e-02 -1.74898076e-03 9.99926979e-01 -1.02953935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69654761499999 meters Centerline goodness : 0.787871 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.94, Z:-1.03 [[ 9.99916670e-01 -4.51547748e-03 -1.20939246e-02 -8.97499132e-01] [ 4.52549639e-03 9.99989439e-01 8.01186379e-04 1.94435368e+00] [ 1.20901792e-02 -8.55850628e-04 9.99926545e-01 -1.03007499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.726547614999994 meters Centerline goodness : 0.786298 Centerline is valid? [False, False] Translation: X:-0.89, Y:1.95, Z:-1.03 [[ 9.99901484e-01 -6.04881677e-03 -1.26662718e-02 -8.94571804e-01] [ 6.04306133e-03 9.99981619e-01 -4.92615101e-04 1.94819623e+00] [ 1.26690187e-02 4.16023513e-04 9.99919658e-01 -1.03180620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.75654761499999 meters Centerline goodness : 0.785522 Centerline is valid? [False, False] Translation: X:-0.89, Y:1.95, Z:-1.03 [[ 9.99874051e-01 -7.52666566e-03 -1.39725473e-02 -8.87313654e-01] [ 7.54168445e-03 9.99971038e-01 1.02249805e-03 1.95107927e+00] [ 1.39644466e-02 -1.12774581e-03 9.99901856e-01 -1.03324977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78654761499999 meters Centerline goodness : 0.783342 Centerline is valid? [False, False] Translation: X:-0.88, Y:1.95, Z:-1.03 [[ 9.99836947e-01 -9.71149872e-03 -1.52238674e-02 -8.83578670e-01] [ 9.70998400e-03 9.99952842e-01 -1.73411471e-04 1.95326354e+00] [ 1.52248336e-02 2.55596865e-05 9.99884095e-01 -1.03324843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.81654761499999 meters Centerline goodness : 0.784931 Centerline is valid? [False, False] Translation: X:-0.88, Y:1.95, Z:-1.03 [[ 9.99825153e-01 -1.01979803e-02 -1.56737028e-02 -8.83621963e-01] [ 1.01997797e-02 9.99947980e-01 3.48643358e-05 1.95270092e+00] [ 1.56725319e-02 -1.94726555e-04 9.99877159e-01 -1.03081430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84654761499999 meters Centerline goodness : 0.786965 Centerline is valid? [False, False] Translation: X:-0.88, Y:1.96, Z:-1.03 [[ 0.99985493 -0.00648726 -0.01574917 -0.88362941] [ 0.00653889 0.99997341 0.00322898 1.95635052] [ 0.01572781 -0.0033315 0.99987076 -1.03070295] [ 0. 0. 0. 1. ]] SLAMing on 47.87654761499999 meters Centerline goodness : 0.783310 Centerline is valid? [False, False] Translation: X:-0.88, Y:1.97, Z:-1.03 [[ 0.99986009 0.00367014 -0.01631949 -0.88346882] [-0.00345612 0.99990791 0.01312321 1.96591273] [ 0.01636616 -0.01306497 0.9997807 -1.02862971] [ 0. 0. 0. 1. ]] SLAMing on 47.906547614999994 meters Centerline goodness : 0.781640 Centerline is valid? [False, False] Translation: X:-0.87, Y:1.97, Z:-1.03 [[ 0.99991551 0.00549287 -0.01178147 -0.87172135] [-0.00546336 0.99998186 0.00253555 1.97270043] [ 0.01179518 -0.00247097 0.99992738 -1.03225506] [ 0. 0. 0. 1. ]] SLAMing on 47.93654761499999 meters Centerline goodness : 0.782777 Centerline is valid? [False, False] Translation: X:-0.87, Y:1.97, Z:-1.03 [[ 9.99914359e-01 5.18169318e-03 -1.20176467e-02 -8.70884978e-01] [-5.15973263e-03 9.99984963e-01 1.85764471e-03 1.97331079e+00] [ 1.20270918e-02 -1.79547778e-03 9.99926060e-01 -1.03292437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96654761499999 meters Centerline goodness : 0.783587 Centerline is valid? [False, False] Translation: X:-0.87, Y:1.98, Z:-1.03 [[ 9.99917271e-01 3.76229527e-03 -1.23002707e-02 -8.68719508e-01] [-3.76285444e-03 9.99992920e-01 -2.23177197e-05 1.98113278e+00] [ 1.23000996e-02 6.86000016e-05 9.99924349e-01 -1.03472627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.99654761499999 meters Centerline goodness : 0.780190 Centerline is valid? [False, False] Translation: X:-0.87, Y:1.99, Z:-1.04 [[ 9.99914632e-01 2.50307490e-03 -1.28243328e-02 -8.67026804e-01] [-2.51883773e-03 9.99996092e-01 -1.21312970e-03 1.98564739e+00] [ 1.28212461e-02 1.24532856e-03 9.99917029e-01 -1.03508734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02654761499999 meters Centerline goodness : 0.781957 Centerline is valid? [False, False] Translation: X:-0.87, Y:1.99, Z:-1.03 [[ 9.99912463e-01 1.81074982e-03 -1.31068035e-02 -8.67185590e-01] [-1.82602001e-03 9.99997668e-01 -1.15318506e-03 1.98594581e+00] [ 1.31046848e-02 1.17701740e-03 9.99913437e-01 -1.03313585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05654761499999 meters Centerline goodness : 0.782345 Centerline is valid? [False, False] Translation: X:-0.86, Y:1.99, Z:-1.03 [[ 9.99901287e-01 -1.97784329e-04 -1.40491178e-02 -8.64127886e-01] [ 1.71378494e-04 9.99998217e-01 -1.88071596e-03 1.98611382e+00] [ 1.40494647e-02 1.87812259e-03 9.99899538e-01 -1.03303446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08654761499999 meters Centerline goodness : 0.782456 Centerline is valid? [False, False] Translation: X:-0.86, Y:1.99, Z:-1.04 [[ 0.99988486 -0.00240349 -0.01498309 -0.85973822] [ 0.00234356 0.99998919 -0.00401623 1.99029929] [ 0.01499258 0.00398065 0.99987968 -1.03584246] [ 0. 0. 0. 1. ]] SLAMing on 48.11654761499999 meters Centerline goodness : 0.783586 Centerline is valid? [False, False] Translation: X:-0.86, Y:1.99, Z:-1.04 [[ 0.99987342 -0.00336165 -0.01555113 -0.85804959] [ 0.0032777 0.99997994 -0.00542088 1.99431993] [ 0.01556904 0.00536922 0.99986438 -1.03656445] [ 0. 0. 0. 1. ]] SLAMing on 48.14654761499999 meters Centerline goodness : 0.784487 Centerline is valid? [False, False] Translation: X:-0.86, Y:2.00, Z:-1.04 [[ 9.99868456e-01 -5.37367428e-04 -1.62105338e-02 -8.56285214e-01] [ 5.02797216e-04 9.99997591e-01 -2.13657723e-03 1.99631302e+00] [ 1.62116429e-02 2.12814556e-03 9.99866318e-01 -1.03621851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.17654761499999 meters Centerline goodness : 0.785129 Centerline is valid? [False, False] Translation: X:-0.86, Y:2.00, Z:-1.03 [[ 9.99867814e-01 2.32520567e-03 -1.60918659e-02 -8.60137334e-01] [-2.31979260e-03 9.99997246e-01 3.55043730e-04 2.00102155e+00] [ 1.60926471e-02 -3.17667006e-04 9.99870455e-01 -1.03150247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20654761499999 meters Centerline goodness : 0.785998 Centerline is valid? [False, False] Translation: X:-0.86, Y:2.00, Z:-1.03 [[ 0.99984221 0.00497605 -0.01705258 -0.85802771] [-0.00491373 0.9999811 0.00369418 2.00271141] [ 0.01707064 -0.0036098 0.99984777 -1.03057603] [ 0. 0. 0. 1. ]] SLAMing on 48.23654761499999 meters Centerline goodness : 0.786604 Centerline is valid? [False, False] Translation: X:-0.85, Y:2.01, Z:-1.03 [[ 9.99836758e-01 2.02629468e-03 -1.79541411e-02 -8.53127783e-01] [-2.01200895e-03 9.99997645e-01 8.13706326e-04 2.00921602e+00] [ 1.79557476e-02 -7.77449603e-04 9.99838480e-01 -1.03392083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26654761499999 meters Centerline goodness : 0.785930 Centerline is valid? [False, False] Translation: X:-0.85, Y:2.02, Z:-1.03 [[ 9.99824256e-01 6.59910835e-04 -1.87355843e-02 -8.50881945e-01] [-6.81066855e-04 9.99999138e-01 -1.12283103e-03 2.01506667e+00] [ 1.87348272e-02 1.13539389e-03 9.99823843e-01 -1.03483272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.296547614999994 meters Centerline goodness : 0.786358 Centerline is valid? [False, False] Translation: X:-0.85, Y:2.02, Z:-1.04 [[ 9.99809485e-01 -5.02303515e-04 -1.95125779e-02 -8.49046902e-01] [ 4.41073279e-04 9.99994966e-01 -3.14216498e-03 2.02239669e+00] [ 1.95140580e-02 3.13295987e-03 9.99804674e-01 -1.03531357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32654761499999 meters Centerline goodness : 0.789062 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.03, Z:-1.03 [[ 0.99991585 0.00216405 -0.01279139 -0.84039782] [-0.00227883 0.99995721 -0.00896563 2.0276052 ] [ 0.01277144 0.00899402 0.99987799 -1.03343031] [ 0. 0. 0. 1. ]] SLAMing on 48.35654761499999 meters Centerline goodness : 0.795537 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.03, Z:-1.03 [[ 0.99991791 0.00336646 -0.01236251 -0.84477281] [-0.00347115 0.99995822 -0.00845653 2.03046805] [ 0.01233352 0.00849875 0.99988782 -1.02869133] [ 0. 0. 0. 1. ]] SLAMing on 48.38654761499999 meters Centerline goodness : 0.794490 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.04, Z:-1.03 [[ 0.99987029 0.00918722 -0.01322901 -0.84160625] [-0.00922097 0.99995438 -0.00249246 2.03778476] [ 0.01320551 0.00261412 0.99990939 -1.02941976] [ 0. 0. 0. 1. ]] SLAMing on 48.41654761499999 meters Centerline goodness : 0.793813 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.05, Z:-1.03 [[ 9.99833225e-01 1.19356102e-02 -1.38225818e-02 -8.39194205e-01] [-1.19445570e-02 9.99928502e-01 -5.64882690e-04 2.04603594e+00] [ 1.38148513e-02 7.29893098e-04 9.99904304e-01 -1.03086220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44654761499999 meters Centerline goodness : 0.795430 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.05, Z:-1.03 [[ 0.99983451 0.0113888 -0.01418613 -0.83813136] [-0.0114192 0.99993267 -0.00206369 2.04901104] [ 0.01416167 0.00222534 0.99989724 -1.03175881] [ 0. 0. 0. 1. ]] SLAMing on 48.476547614999994 meters Centerline goodness : 0.796204 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.05, Z:-1.03 [[ 9.99791305e-01 1.43404978e-02 -1.45498278e-02 -8.36606971e-01] [-1.43408053e-02 9.99897162e-01 8.32002111e-05 2.05273047e+00] [ 1.45495247e-02 1.25473401e-04 9.99894142e-01 -1.03274952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50654761499999 meters Centerline goodness : 0.798282 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.06, Z:-1.03 [[ 0.99972198 0.01993529 -0.01259171 -0.84101751] [-0.01986081 0.99978468 0.00601255 2.0602378 ] [ 0.01270886 -0.00576079 0.99990264 -1.03116057] [ 0. 0. 0. 1. ]] SLAMing on 48.53654761499999 meters Centerline goodness : 0.800602 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.07, Z:-1.03 [[ 9.99715717e-01 2.02072728e-02 -1.26551292e-02 -8.42828966e-01] [-2.01907919e-02 9.99795124e-01 1.42872970e-03 2.06671242e+00] [ 1.26814072e-02 -1.17280645e-03 9.99918900e-01 -1.02683490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56654761499999 meters Centerline goodness : 0.799981 Centerline is valid? [False, False] Translation: X:-0.85, Y:2.07, Z:-1.02 [[ 0.99971412 0.02034545 -0.01255936 -0.84635384] [-0.02037715 0.99978948 -0.00240047 2.07221444] [ 0.01250788 0.00265571 0.99991825 -1.02049237] [ 0. 0. 0. 1. ]] SLAMing on 48.59654761499999 meters Centerline goodness : 0.799004 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.08, Z:-1.02 [[ 9.99640984e-01 2.36593194e-02 -1.25753419e-02 -8.44190793e-01] [-2.36611018e-02 9.99720037e-01 7.04447749e-06 2.07644479e+00] [ 1.25719880e-02 2.90504497e-04 9.99920927e-01 -1.02318665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62654761499999 meters Centerline goodness : 0.798382 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.08, Z:-1.03 [[ 0.99955857 0.02750211 -0.01123867 -0.84385077] [-0.02739874 0.99958178 0.00925042 2.07510582] [ 0.01148838 -0.00893841 0.99989406 -1.02828928] [ 0. 0. 0. 1. ]] SLAMing on 48.656547614999994 meters Centerline goodness : 0.797923 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.08, Z:-1.03 [[ 0.99961178 0.02499457 -0.01231087 -0.84158497] [-0.02495339 0.99968253 0.00348706 2.07854397] [ 0.01239412 -0.00317851 0.99991814 -1.02795308] [ 0. 0. 0. 1. ]] SLAMing on 48.68654761499999 meters Centerline goodness : 0.797716 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.08, Z:-1.03 [[ 9.99614651e-01 2.46326485e-02 -1.27977677e-02 -8.42246315e-01] [-2.46164549e-02 9.99695959e-01 1.42135237e-03 2.07926698e+00] [ 1.28288883e-02 -1.10576898e-03 9.99917095e-01 -1.02516809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.71654761499999 meters Centerline goodness : 0.800562 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.08, Z:-1.02 [[ 9.99607454e-01 2.49829627e-02 -1.26802827e-02 -8.42406583e-01] [-2.49771527e-02 9.99687832e-01 6.16373314e-04 2.08380070e+00] [ 1.26917232e-02 -2.99414001e-04 9.99919412e-01 -1.02478951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74654761499999 meters Centerline goodness : 0.794624 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.09, Z:-1.03 [[ 0.99948165 0.03040596 -0.01057853 -0.84211729] [-0.03031422 0.99950232 0.00872711 2.09057533] [ 0.01083862 -0.0084019 0.99990596 -1.03122826] [ 0. 0. 0. 1. ]] SLAMing on 48.77654761499999 meters Centerline goodness : 0.796111 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.09, Z:-1.03 [[ 9.99346995e-01 3.27974411e-02 -1.51628193e-02 -8.35520146e-01] [-3.28152164e-02 9.99461008e-01 -9.24916046e-04 2.09201300e+00] [ 1.51243118e-02 1.42188327e-03 9.99884610e-01 -1.02564806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80654761499999 meters Centerline goodness : 0.796089 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.09, Z:-1.03 [[ 9.99262614e-01 3.55075116e-02 -1.46097805e-02 -8.35829623e-01] [-3.54760841e-02 9.99367632e-01 2.40477924e-03 2.09425371e+00] [ 1.46859295e-02 -1.88470819e-03 9.99890380e-01 -1.02647995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83654761499999 meters Centerline goodness : 0.794498 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.10, Z:-1.03 [[ 0.99912836 0.03989449 -0.01228577 -0.83669939] [-0.03974568 0.99913623 0.01212712 2.09951064] [ 0.01275897 -0.01162824 0.99985099 -1.03186286] [ 0. 0. 0. 1. ]] SLAMing on 48.86654761499999 meters Centerline goodness : 0.794232 Centerline is valid? [False, False] Translation: X:-0.83, Y:2.10, Z:-1.03 [[ 0.99895473 0.04289944 -0.01578247 -0.83208458] [-0.04281676 0.99906758 0.00553979 2.10165967] [ 0.01600541 -0.00485825 0.9998601 -1.02665154] [ 0. 0. 0. 1. ]] SLAMing on 48.89654761499999 meters Centerline goodness : 0.794232 Centerline is valid? [False, False] Translation: X:-0.83, Y:2.10, Z:-1.03 [[ 0.99895473 0.04289944 -0.01578247 -0.83208458] [-0.04281676 0.99906758 0.00553979 2.10165967] [ 0.01600541 -0.00485825 0.9998601 -1.02665154] [ 0. 0. 0. 1. ]] SLAMing on 48.92654761499999 meters Centerline goodness : 0.794589 Centerline is valid? [False, False] Translation: X:-0.83, Y:2.10, Z:-1.02 [[ 9.98918654e-01 4.26276362e-02 -1.85581888e-02 -8.28141675e-01] [-4.26538162e-02 9.99089394e-01 -1.01698964e-03 2.10224058e+00] [ 1.84979377e-02 1.80746750e-03 9.99827265e-01 -1.02328337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.95654761499999 meters Centerline goodness : 0.794707 Centerline is valid? [False, False] Translation: X:-0.83, Y:2.11, Z:-1.02 [[ 9.98717291e-01 4.72921001e-02 -1.80894809e-02 -8.29787185e-01] [-4.72595418e-02 9.98880169e-01 2.22336014e-03 2.10500322e+00] [ 1.81743711e-02 -1.36560763e-03 9.99833900e-01 -1.02101232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98654761499999 meters Centerline goodness : 0.793063 Centerline is valid? [False, False] Translation: X:-0.83, Y:2.11, Z:-1.03 [[ 0.99820752 0.05722441 -0.01752457 -0.82594085] [-0.05696963 0.99826756 0.01470849 2.10639095] [ 0.01833589 -0.01368375 0.99973824 -1.02725604] [ 0. 0. 0. 1. ]] SLAMing on 49.01654761499999 meters Centerline goodness : 0.788388 Centerline is valid? [False, False] Translation: X:-0.82, Y:2.10, Z:-1.03 [[ 0.9977996 0.06270004 -0.02155627 -0.81773256] [-0.06243165 0.99796578 0.01290668 2.10384582] [ 0.02232166 -0.01153249 0.99968432 -1.02617864] [ 0. 0. 0. 1. ]] SLAMing on 49.046547614999994 meters Centerline goodness : 0.788121 Centerline is valid? [False, False] Translation: X:-0.81, Y:2.10, Z:-1.02 [[ 0.99794567 0.05803157 -0.02714373 -0.81256889] [-0.05811368 0.99830745 -0.00224545 2.10005235] [ 0.02696748 0.00381826 0.99962902 -1.01749158] [ 0. 0. 0. 1. ]] SLAMing on 49.07654761499999 meters Centerline goodness : 0.789577 Centerline is valid? [False, False] Translation: X:-0.81, Y:2.10, Z:-1.02 [[ 0.99823462 0.05299313 -0.02682128 -0.81235963] [-0.05314433 0.99857454 -0.00495588 2.10017983] [ 0.02652042 0.00637253 0.99962796 -1.01988485] [ 0. 0. 0. 1. ]] SLAMing on 49.10654761499999 meters Centerline goodness : 0.788965 Centerline is valid? [False, False] Translation: X:-0.81, Y:2.10, Z:-1.03 [[ 0.9983843 0.05201086 -0.02288378 -0.81374878] [-0.0518846 0.99863459 0.00607737 2.10157085] [ 0.02316862 -0.00488024 0.99971966 -1.03041147] [ 0. 0. 0. 1. ]] SLAMing on 49.13654761499999 meters Centerline goodness : 0.785047 Centerline is valid? [False, False] Translation: X:-0.81, Y:2.10, Z:-1.03 [[ 0.9985606 0.04706809 -0.02571601 -0.81100219] [-0.04714621 0.99888502 -0.00243963 2.09736974] [ 0.02557251 0.00364853 0.99966631 -1.0267512 ] [ 0. 0. 0. 1. ]] SLAMing on 49.16654761499999 meters Centerline goodness : 0.784495 Centerline is valid? [False, False] Translation: X:-0.81, Y:2.09, Z:-1.02 [[ 0.99859888 0.04306055 -0.03075802 -0.80576489] [-0.04353209 0.99894197 -0.01482901 2.09033831] [ 0.03008694 0.0161472 0.99941685 -1.02007798] [ 0. 0. 0. 1. ]] SLAMing on 49.19654761499999 meters Centerline goodness : 0.783319 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.09, Z:-1.02 [[ 0.99849724 0.04547985 -0.03057516 -0.80376938] [-0.04581341 0.99889692 -0.01029886 2.08981863] [ 0.03007304 0.01168414 0.99947941 -1.02349475] [ 0. 0. 0. 1. ]] SLAMing on 49.226547614999994 meters Centerline goodness : 0.785819 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.09, Z:-1.03 [[ 9.98302902e-01 5.11749095e-02 -2.77928703e-02 -8.04337851e-01] [-5.11548133e-02 9.98689706e-01 1.43406529e-03 2.09373683e+00] [ 2.78298416e-02 -9.89244587e-06 9.99612675e-01 -1.03024548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.25654761499999 meters Centerline goodness : 0.786042 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.10, Z:-1.03 [[ 9.98249331e-01 5.16917649e-02 -2.87442855e-02 -8.04005900e-01] [-5.17386725e-02 9.98660261e-01 -8.90048882e-04 2.09562897e+00] [ 2.86597675e-02 2.37568187e-03 9.99586401e-01 -1.02727430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28654761499999 meters Centerline goodness : 0.783150 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.09, Z:-1.03 [[ 0.99856234 0.04856706 -0.02268237 -0.80007835] [-0.04897041 0.99864552 -0.01757916 2.09153331] [ 0.02179788 0.01866465 0.99958816 -1.0285359 ] [ 0. 0. 0. 1. ]] SLAMing on 49.31654761499999 meters Centerline goodness : 0.549712 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.09, Z:-1.03 [[ 0.99848775 0.04964188 -0.02361984 -0.79902956] [-0.0500496 0.99860213 -0.01699499 2.08814447] [ 0.02274316 0.01815146 0.99957655 -1.02739134] [ 0. 0. 0. 1. ]] SLAMing on 49.34654761499999 meters Centerline goodness : 0.786815 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.09, Z:-1.04 [[ 0.9985406 0.05009049 -0.02018957 -0.79957385] [-0.05022321 0.99871926 -0.00612123 2.08808463] [ 0.0198571 0.00712629 0.99977743 -1.03734009] [ 0. 0. 0. 1. ]] SLAMing on 49.37654761499999 meters Centerline goodness : 0.784058 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.08, Z:-1.04 [[ 0.99863312 0.04767462 -0.02142479 -0.79555584] [-0.04785878 0.99882073 -0.00816628 2.08471584] [ 0.0210102 0.00918049 0.99973711 -1.04043789] [ 0. 0. 0. 1. ]] SLAMing on 49.406547614999994 meters Centerline goodness : 0.790031 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.08, Z:-1.04 [[ 0.99876974 0.0445679 -0.02174198 -0.79557841] [-0.04480415 0.99894058 -0.01050266 2.07717346] [ 0.02125086 0.01146387 0.99970845 -1.04028267] [ 0. 0. 0. 1. ]] SLAMing on 49.43654761499999 meters Centerline goodness : 0.782783 Centerline is valid? [False, False] Translation: X:-0.79, Y:2.08, Z:-1.04 [[ 0.99890235 0.04125552 -0.02218304 -0.79370887] [-0.04156525 0.99904203 -0.01368767 2.07688427] [ 0.0215971 0.01459469 0.99966022 -1.04228742] [ 0. 0. 0. 1. ]] SLAMing on 49.46654761499999 meters Centerline goodness : 0.784930 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.08, Z:-1.04 [[ 0.99898867 0.03955388 -0.02138056 -0.79539048] [-0.03982845 0.99912743 -0.01257243 2.07506075] [ 0.02086462 0.01341127 0.99969236 -1.04274105] [ 0. 0. 0. 1. ]] SLAMing on 49.49654761499999 meters Centerline goodness : 0.784828 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.07, Z:-1.04 [[ 0.99897209 0.04010651 -0.0211243 -0.79645466] [-0.04036157 0.99911559 -0.01178935 2.0739819 ] [ 0.02063279 0.01262984 0.99970734 -1.04189684] [ 0. 0. 0. 1. ]] SLAMing on 49.52654761499999 meters Centerline goodness : 0.786581 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.07, Z:-1.04 [[ 0.999054 0.03817473 -0.02082798 -0.79973098] [-0.03847096 0.99916147 -0.01401243 2.07037684] [ 0.02027559 0.01480044 0.99968487 -1.03940742] [ 0. 0. 0. 1. ]] SLAMing on 49.55654761499999 meters Centerline goodness : 0.786177 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.07, Z:-1.04 [[ 0.99904973 0.03823086 -0.02092914 -0.79894547] [-0.03850815 0.99917359 -0.01300979 2.06596466] [ 0.02041447 0.01380337 0.99969631 -1.0398961 ] [ 0. 0. 0. 1. ]] SLAMing on 49.58654761499999 meters Centerline goodness : 0.783873 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.07, Z:-1.05 [[ 0.99887329 0.03620588 -0.03068029 -0.7995242 ] [-0.03641349 0.99931736 -0.00623501 2.07133066] [ 0.0304336 0.00734516 0.9995098 -1.04557567] [ 0. 0. 0. 1. ]] SLAMing on 49.61654761499999 meters Centerline goodness : 0.785883 Centerline is valid? [False, False] Translation: X:-0.80, Y:2.07, Z:-1.04 [[ 0.99868747 0.04052467 -0.03132227 -0.79844542] [-0.04068087 0.99916265 -0.00436557 2.0705017 ] [ 0.03111913 0.00563405 0.9994998 -1.04448476] [ 0. 0. 0. 1. ]] SLAMing on 49.64654761499999 meters Centerline goodness : 0.783930 Centerline is valid? [False, False] Translation: X:-0.79, Y:2.07, Z:-1.04 [[ 0.99883022 0.04214043 -0.02371427 -0.79294609] [-0.04245335 0.9990158 -0.01285049 2.06882454] [ 0.0231494 0.01384221 0.99963618 -1.04415232] [ 0. 0. 0. 1. ]] SLAMing on 49.67654761499999 meters Centerline goodness : 0.785038 Centerline is valid? [False, False] Translation: X:-0.79, Y:2.06, Z:-1.04 [[ 0.99881126 0.04232088 -0.02418704 -0.79357108] [-0.04259663 0.99903178 -0.01100126 2.06303379] [ 0.02369804 0.01201847 0.99964692 -1.04106039] [ 0. 0. 0. 1. ]] SLAMing on 49.70654761499999 meters Centerline goodness : 0.782967 Centerline is valid? [False, False] Translation: X:-0.79, Y:2.06, Z:-1.05 [[ 0.99873343 0.04384516 -0.02468087 -0.78637998] [-0.04405823 0.99899567 -0.00815612 2.05982684] [ 0.02429848 0.00923318 0.99966211 -1.04784945] [ 0. 0. 0. 1. ]] SLAMing on 49.73654761499999 meters Centerline goodness : 0.781540 Centerline is valid? [False, False] Translation: X:-0.79, Y:2.06, Z:-1.05 [[ 0.99870646 0.04458075 -0.02445321 -0.78679115] [-0.04476673 0.99897216 -0.00711114 2.05738324] [ 0.02411106 0.00819663 0.99967568 -1.04791467] [ 0. 0. 0. 1. ]] SLAMing on 49.76654761499999 meters Centerline goodness : 0.780896 Centerline is valid? [False, False] Translation: X:-0.79, Y:2.05, Z:-1.05 [[ 0.99867959 0.04523679 -0.0243455 -0.78731724] [-0.04539008 0.99895261 -0.0057809 2.05373287] [ 0.0240585 0.00687831 0.99968689 -1.04728087] [ 0. 0. 0. 1. ]] SLAMing on 49.79654761499999 meters Centerline goodness : 0.780527 Centerline is valid? [False, False] Translation: X:-0.79, Y:2.05, Z:-1.05 [[ 0.99867325 0.04526683 -0.02454896 -0.7866723 ] [-0.04541692 0.99895247 -0.00559085 2.05280074] [ 0.02427017 0.00669837 0.999683 -1.04757509] [ 0. 0. 0. 1. ]] SLAMing on 49.82654761499999 meters Centerline goodness : 0.779011 Centerline is valid? [False, False] Translation: X:-0.78, Y:2.05, Z:-1.05 [[ 0.99874568 0.04675532 -0.01791656 -0.77871444] [-0.04700676 0.99879814 -0.01387952 2.04916668] [ 0.01724609 0.01470431 0.99974314 -1.0485694 ] [ 0. 0. 0. 1. ]] SLAMing on 49.85654761499999 meters Centerline goodness : 0.779103 Centerline is valid? [False, False] Translation: X:-0.78, Y:2.04, Z:-1.05 [[ 0.99871967 0.04727132 -0.0180122 -0.77880315] [-0.04749738 0.99879518 -0.01233605 2.04438404] [ 0.01740736 0.01317579 0.99976166 -1.0477463 ] [ 0. 0. 0. 1. ]] SLAMing on 49.88654761499999 meters Centerline goodness : 0.780969 Centerline is valid? [False, False] Translation: X:-0.78, Y:2.04, Z:-1.05 [[ 0.99872342 0.04717174 -0.01806528 -0.77834316] [-0.04738749 0.99880797 -0.01170709 2.0434971 ] [ 0.0174915 0.01254822 0.99976827 -1.04777036] [ 0. 0. 0. 1. ]] SLAMing on 49.91654761499999 meters Centerline goodness : 0.779728 Centerline is valid? [False, False] Translation: X:-0.78, Y:2.04, Z:-1.04 [[ 0.99872287 0.04714587 -0.01816289 -0.77891245] [-0.04732141 0.99883587 -0.00935938 2.03850351] [ 0.01770049 0.01020692 0.99979123 -1.04485556] [ 0. 0. 0. 1. ]] SLAMing on 49.94654761499999 meters Centerline goodness : 0.780657 Centerline is valid? [False, False] Translation: X:-0.78, Y:2.03, Z:-1.05 [[ 0.99892456 0.04241596 -0.01872457 -0.77698214] [-0.04266293 0.99900503 -0.01299344 2.03342008] [ 0.01815482 0.01377831 0.99974025 -1.046163 ] [ 0. 0. 0. 1. ]] SLAMing on 49.976547614999994 meters Centerline goodness : 0.781859 Centerline is valid? [False, False] Translation: X:-0.77, Y:2.03, Z:-1.05 [[ 0.99909348 0.03789411 -0.0193972 -0.77489392] [-0.03821092 0.99913787 -0.01623117 2.02827275] [ 0.01876541 0.01695764 0.9996801 -1.04724399] [ 0. 0. 0. 1. ]] SLAMing on 50.00654761499999 meters Centerline goodness : 0.780717 Centerline is valid? [False, False] Translation: X:-0.77, Y:2.03, Z:-1.05 [[ 0.99909797 0.03775485 -0.01943767 -0.7749044 ] [-0.03804907 0.99916334 -0.01499598 2.02536284] [ 0.01885524 0.01572204 0.9996986 -1.04613964] [ 0. 0. 0. 1. ]] SLAMing on 50.03654761499999 meters Centerline goodness : 0.780162 Centerline is valid? [False, False] Translation: X:-0.77, Y:2.02, Z:-1.05 [[ 0.99899125 0.04022531 -0.01995996 -0.77238212] [-0.04044108 0.99912647 -0.01052658 2.02272972] [ 0.01951909 0.01132317 0.99974536 -1.04595273] [ 0. 0. 0. 1. ]] SLAMing on 50.06654761499999 meters Centerline goodness : 0.781247 Centerline is valid? [False, False] Translation: X:-0.77, Y:2.02, Z:-1.05 [[ 0.99898744 0.04014458 -0.02031015 -0.77194153] [-0.04035138 0.99913674 -0.00987672 2.02060474] [ 0.01989612 0.01068626 0.99974494 -1.0450874 ] [ 0. 0. 0. 1. ]] SLAMing on 50.09654761499999 meters Centerline goodness : 0.782226 Centerline is valid? [False, False] Translation: X:-0.77, Y:2.02, Z:-1.04 [[ 0.99912313 0.03663598 -0.02026754 -0.7730471 ] [-0.03690827 0.9992311 -0.01322832 2.0187206 ] [ 0.01976733 0.01396476 0.99970708 -1.04428905] [ 0. 0. 0. 1. ]] SLAMing on 50.12654761499999 meters Centerline goodness : 0.785225 Centerline is valid? [False, False] Translation: X:-0.77, Y:2.02, Z:-1.04 [[ 0.99911979 0.03656826 -0.02055254 -0.77220765] [-0.03683208 0.99924193 -0.0126077 2.01663043] [ 0.02007592 0.01335359 0.99970928 -1.04426813] [ 0. 0. 0. 1. ]] SLAMing on 50.156547614999994 meters Centerline goodness : 0.782714 Centerline is valid? [False, False] Translation: X:-0.77, Y:2.01, Z:-1.04 [[ 0.99910035 0.03697408 -0.02077032 -0.77180265] [-0.03721057 0.99924561 -0.01111727 2.0127483 ] [ 0.0203436 0.01188014 0.99972246 -1.04371518] [ 0. 0. 0. 1. ]] SLAMing on 50.18654761499999 meters Centerline goodness : 0.784831 Centerline is valid? [False, False] Translation: X:-0.77, Y:2.01, Z:-1.04 [[ 0.99908362 0.03751783 -0.02059931 -0.77255791] [-0.03774059 0.99923205 -0.01053392 2.01223616] [ 0.02018828 0.0113017 0.99973232 -1.04319073] [ 0. 0. 0. 1. ]] SLAMing on 50.21654761499999 meters Centerline goodness : 0.783938 Centerline is valid? [False, False] Translation: X:-0.77, Y:2.01, Z:-1.04 [[ 0.9989127 0.04181948 -0.02060461 -0.77279235] [-0.04193694 0.99910619 -0.00530182 2.01034622] [ 0.02036448 0.00616015 0.99977364 -1.04152918] [ 0. 0. 0. 1. ]] SLAMing on 50.24654761499999 meters Centerline goodness : 0.787571 Centerline is valid? [False, False] Translation: X:-0.78, Y:2.01, Z:-1.04 [[ 0.99891097 0.04233416 -0.01961371 -0.77982773] [-0.04246304 0.99907879 -0.00620157 2.00755429] [ 0.01933311 0.00702768 0.9997884 -1.03720171] [ 0. 0. 0. 1. ]] SLAMing on 50.27654761499999 meters Centerline goodness : 0.789680 Centerline is valid? [False, False] Translation: X:-0.78, Y:2.00, Z:-1.04 [[ 0.99884793 0.04384292 -0.01950948 -0.78153411] [-0.04394128 0.99902333 -0.00464152 2.00173752] [ 0.01928693 0.00549344 0.9997989 -1.03563197] [ 0. 0. 0. 1. ]] SLAMing on 50.30654761499999 meters Centerline goodness : 0.787488 Centerline is valid? [False, False] Translation: X:-0.78, Y:2.00, Z:-1.04 [[ 9.98676267e-01 4.75917119e-02 -1.95126539e-02 -7.79100867e-01] [-4.76167191e-02 9.98865345e-01 -8.18723949e-04 2.00051922e+00] [ 1.94515493e-02 1.74676873e-03 9.99809275e-01 -1.03840450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33654761499999 meters Centerline goodness : 0.786161 Centerline is valid? [False, False] Translation: X:-0.78, Y:2.00, Z:-1.04 [[ 0.99843805 0.05258688 -0.01886991 -0.77950642] [-0.05252237 0.99861214 0.00389821 1.99937242] [ 0.01904872 -0.00290103 0.99981435 -1.03937488] [ 0. 0. 0. 1. ]] SLAMing on 50.36654761499999 meters Centerline goodness : 0.789588 Centerline is valid? [False, False] Translation: X:-0.77, Y:2.00, Z:-1.04 [[ 0.99842678 0.05463954 -0.01258884 -0.77067599] [-0.05470903 0.99848857 -0.00524349 1.99847406] [ 0.01228331 0.00592397 0.99990701 -1.0425165 ] [ 0. 0. 0. 1. ]] SLAMing on 50.39654761499999 meters Centerline goodness : 0.789498 Centerline is valid? [False, False] Translation: X:-0.77, Y:2.00, Z:-1.04 [[ 0.99859819 0.05139667 -0.01265078 -0.77199098] [-0.05150456 0.9986378 -0.00835599 1.99603501] [ 0.01220407 0.00899585 0.99988506 -1.04134557] [ 0. 0. 0. 1. ]] SLAMing on 50.42654761499999 meters Centerline goodness : 0.789213 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.99, Z:-1.04 [[ 0.99878615 0.04756279 -0.01280648 -0.77202584] [-0.04771852 0.99878702 -0.01214243 1.99484869] [ 0.01221341 0.01273879 0.99984427 -1.04166319] [ 0. 0. 0. 1. ]] SLAMing on 50.45654761499999 meters Centerline goodness : 0.791190 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.99, Z:-1.04 [[ 0.99898385 0.04301334 -0.01345833 -0.76978283] [-0.04321748 0.99894908 -0.01526379 1.98967483] [ 0.01278764 0.01582992 0.99979292 -1.0428851 ] [ 0. 0. 0. 1. ]] SLAMing on 50.48654761499999 meters Centerline goodness : 0.792555 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.98, Z:-1.04 [[ 0.99898352 0.04309526 -0.0132186 -0.77038904] [-0.0432696 0.99897624 -0.01319899 1.98465155] [ 0.01263626 0.01375753 0.99982551 -1.04123419] [ 0. 0. 0. 1. ]] SLAMing on 50.51654761499999 meters Centerline goodness : 0.795779 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.98, Z:-1.04 [[ 0.99896308 0.04343654 -0.01363951 -0.76869387] [-0.0436037 0.99897433 -0.01220705 1.98036741] [ 0.01309529 0.01278912 0.99983246 -1.04237818] [ 0. 0. 0. 1. ]] SLAMing on 50.54654761499999 meters Centerline goodness : 0.791301 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.98, Z:-1.05 [[ 0.99877888 0.04746024 -0.01372104 -0.7664884 ] [-0.04757719 0.99883285 -0.00832704 1.97792207] [ 0.01330982 0.00896968 0.99987119 -1.04505482] [ 0. 0. 0. 1. ]] SLAMing on 50.57654761499999 meters Centerline goodness : 0.792140 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.98, Z:-1.04 [[ 0.99869546 0.04940387 -0.01290843 -0.76926039] [-0.04950047 0.99874761 -0.00727397 1.97709351] [ 0.0125329 0.00790345 0.99989022 -1.04448558] [ 0. 0. 0. 1. ]] SLAMing on 50.60654761499999 meters Centerline goodness : 0.795546 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.98, Z:-1.04 [[ 0.99863692 0.05073936 -0.01223994 -0.77131183] [-0.05081804 0.99868865 -0.00620527 1.97528109] [ 0.01190904 0.00681882 0.99990583 -1.0439552 ] [ 0. 0. 0. 1. ]] SLAMing on 50.63654761499999 meters Centerline goodness : 0.796175 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.97, Z:-1.04 [[ 0.99859541 0.05153295 -0.01231068 -0.7714831 ] [-0.05159652 0.99865598 -0.00490287 1.97134695] [ 0.01204147 0.00553118 0.9999122 -1.04347819] [ 0. 0. 0. 1. ]] SLAMing on 50.66654761499999 meters Centerline goodness : 0.797104 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.97, Z:-1.04 [[ 0.99872143 0.04915989 -0.01178164 -0.77452319] [-0.04925343 0.99875597 -0.00778498 1.96935754] [ 0.01138428 0.00835531 0.99990029 -1.04226317] [ 0. 0. 0. 1. ]] SLAMing on 50.69654761499999 meters Centerline goodness : 0.801827 Centerline is valid? [False, False] Translation: X:-0.78, Y:1.96, Z:-1.04 [[ 0.99879603 0.0478625 -0.01075484 -0.77869966] [-0.04794736 0.99881959 -0.00777611 1.95906013] [ 0.01036996 0.00828241 0.99991193 -1.03981235] [ 0. 0. 0. 1. ]] SLAMing on 50.726547614999994 meters Centerline goodness : 0.798115 Centerline is valid? [False, False] Translation: X:-0.78, Y:1.96, Z:-1.04 [[ 0.99877855 0.04828834 -0.01047067 -0.77550865] [-0.04835704 0.99880954 -0.006411 1.95542981] [ 0.01014862 0.0069095 0.99992463 -1.04386989] [ 0. 0. 0. 1. ]] SLAMing on 50.75654761499999 meters Centerline goodness : 0.797868 Centerline is valid? [False, False] Translation: X:-0.78, Y:1.95, Z:-1.04 [[ 0.99876861 0.04852672 -0.01031595 -0.77533837] [-0.04857811 0.9988079 -0.00479102 1.94949441] [ 0.01007116 0.00528625 0.99993531 -1.0438206 ] [ 0. 0. 0. 1. ]] SLAMing on 50.78654761499999 meters Centerline goodness : 0.802596 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.94, Z:-1.04 [[ 0.99886397 0.04751375 -0.00363466 -0.76759328] [-0.04755968 0.99877287 -0.01381405 1.94269691] [ 0.00297384 0.01397122 0.99989798 -1.04226119] [ 0. 0. 0. 1. ]] SLAMing on 50.81654761499999 meters Centerline goodness : 0.802596 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.94, Z:-1.04 [[ 0.99886397 0.04751375 -0.00363466 -0.76759328] [-0.04755968 0.99877287 -0.01381405 1.94269691] [ 0.00297384 0.01397122 0.99989798 -1.04226119] [ 0. 0. 0. 1. ]] SLAMing on 50.84654761499999 meters Centerline goodness : 0.804303 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.94, Z:-1.04 [[ 0.99895745 0.04553795 -0.00321079 -0.77052958] [-0.04558282 0.99883789 -0.01565497 1.93674193] [ 0.00249417 0.01578501 0.9998723 -1.04072875] [ 0. 0. 0. 1. ]] SLAMing on 50.87654761499999 meters Centerline goodness : 0.804315 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.93, Z:-1.04 [[ 0.99889737 0.04686742 -0.00273497 -0.76862507] [-0.04690079 0.99880451 -0.01377917 1.93312062] [ 0.0020859 0.01389225 0.99990132 -1.04392069] [ 0. 0. 0. 1. ]] SLAMing on 50.906547614999994 meters Centerline goodness : 0.802163 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.93, Z:-1.05 [[ 9.98888387e-01 4.70702716e-02 -2.52582295e-03 -7.67216440e-01] [-4.70994672e-02 9.98804074e-01 -1.31172464e-02 1.92979840e+00] [ 1.90536990e-03 1.32216300e-02 9.99910775e-01 -1.04653116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93654761499999 meters Centerline goodness : 0.801284 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.92, Z:-1.05 [[ 9.99019788e-01 4.42142341e-02 -2.13665783e-03 -7.67748902e-01] [-4.42413662e-02 9.98908388e-01 -1.49911564e-02 1.92172712e+00] [ 1.47150293e-03 1.50709905e-02 9.99885343e-01 -1.04742396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96654761499999 meters Centerline goodness : 0.804745 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.91, Z:-1.05 [[ 9.99131742e-01 4.16204453e-02 -1.87095090e-03 -7.69623210e-01] [-4.16450025e-02 9.99005639e-01 -1.59193606e-02 1.91197281e+00] [ 1.20651963e-03 1.59834542e-02 9.99871528e-01 -1.04555755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.99654761499999 meters Centerline goodness : 0.806099 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.91, Z:-1.04 [[ 9.99084440e-01 4.27587857e-02 -1.40288007e-03 -7.71016044e-01] [-4.27742591e-02 9.98986676e-01 -1.39994400e-02 1.90693659e+00] [ 8.02859446e-04 1.40466298e-02 9.99901019e-01 -1.04482507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02654761499999 meters Centerline goodness : 0.807546 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.90, Z:-1.05 [[ 9.98952491e-01 4.57332314e-02 -1.54672574e-03 -7.69631681e-01] [-4.57477086e-02 9.98890392e-01 -1.11861941e-02 1.90226498e+00] [ 1.03342868e-03 1.12452356e-02 9.99936236e-01 -1.04668997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05654761499999 meters Centerline goodness : 0.809219 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.90, Z:-1.05 [[ 9.99118075e-01 4.19546437e-02 -1.69730685e-03 -7.69069020e-01] [-4.19746750e-02 9.99016195e-01 -1.43097469e-02 1.89670935e+00] [ 1.09527670e-03 1.43683707e-02 9.99896170e-01 -1.04764081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08654761499999 meters Centerline goodness : 0.807219 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.89, Z:-1.05 [[ 9.99186366e-01 4.02563032e-02 -2.45699832e-03 -7.64636340e-01] [-4.02877274e-02 9.99083390e-01 -1.44664669e-02 1.89410166e+00] [ 1.87237973e-03 1.45536834e-02 9.99892336e-01 -1.05012750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11654761499999 meters Centerline goodness : 0.807380 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.89, Z:-1.05 [[ 0.99923804 0.03893642 -0.00270037 -0.76224111] [-0.03896829 0.9991562 -0.01297505 1.88936333] [ 0.00219289 0.01307039 0.99991217 -1.04980954] [ 0. 0. 0. 1. ]] SLAMing on 51.14654761499999 meters Centerline goodness : 0.805487 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.89, Z:-1.05 [[ 0.99931827 0.03676864 -0.0033254 -0.75815622] [-0.03680896 0.99923767 -0.01300711 1.88635605] [ 0.00284461 0.01312065 0.99990987 -1.05133677] [ 0. 0. 0. 1. ]] SLAMing on 51.17654761499999 meters Centerline goodness : 0.807315 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.88, Z:-1.05 [[ 0.99943426 0.03346936 -0.00331072 -0.75925864] [-0.03351856 0.99930789 -0.01613241 1.8830809 ] [ 0.00276848 0.01623425 0.99986438 -1.05057279] [ 0. 0. 0. 1. ]] SLAMing on 51.20654761499999 meters Centerline goodness : 0.813620 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.88, Z:-1.05 [[ 0.99953581 0.0302956 -0.00321494 -0.7605556 ] [-0.03035011 0.99936751 -0.01853231 1.87804691] [ 0.00265146 0.01862128 0.99982309 -1.04925646] [ 0. 0. 0. 1. ]] SLAMing on 51.23654761499999 meters Centerline goodness : 0.813496 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.88, Z:-1.05 [[ 0.99955264 0.02974149 -0.00315526 -0.75956153] [-0.02979335 0.99939562 -0.01790936 1.87628161] [ 0.0026207 0.01799535 0.99983464 -1.0496046 ] [ 0. 0. 0. 1. ]] SLAMing on 51.26654761499999 meters Centerline goodness : 0.810823 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.87, Z:-1.05 [[ 0.99957688 0.0288667 -0.00357455 -0.75756228] [-0.02892368 0.99943579 -0.01707424 1.87447903] [ 0.00307965 0.01717041 0.99984783 -1.0492676 ] [ 0. 0. 0. 1. ]] SLAMing on 51.29654761499999 meters Centerline goodness : 0.811866 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.87, Z:-1.05 [[ 0.99961621 0.02742543 -0.00390929 -0.75586214] [-0.02748443 0.99949518 -0.01593704 1.86947922] [ 0.00347023 0.01603837 0.99986535 -1.04768002] [ 0. 0. 0. 1. ]] SLAMing on 51.32654761499999 meters Centerline goodness : 0.817407 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.86, Z:-1.05 [[ 0.99962428 0.02702009 -0.00460644 -0.75399401] [-0.02708533 0.99952441 -0.01474224 1.863959 ] [ 0.00420592 0.01486147 0.99988072 -1.04686271] [ 0. 0. 0. 1. ]] SLAMing on 51.35654761499999 meters Centerline goodness : 0.816383 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.86, Z:-1.05 [[ 0.99962304 0.02704312 -0.00473835 -0.75374368] [-0.02710862 0.99952945 -0.01435284 1.86372468] [ 0.00434798 0.01447588 0.99988577 -1.04636806] [ 0. 0. 0. 1. ]] SLAMing on 51.38654761499999 meters Centerline goodness : 0.818637 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.86, Z:-1.04 [[ 0.99959868 0.0279771 -0.0044442 -0.75614328] [-0.02803103 0.99952795 -0.01257519 1.8614446 ] [ 0.00409028 0.01269472 0.99991105 -1.04307053] [ 0. 0. 0. 1. ]] SLAMing on 51.41654761499999 meters Centerline goodness : 0.818273 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.86, Z:-1.05 [[ 0.99957415 0.02879425 -0.00473323 -0.75176731] [-0.02884095 0.99953286 -0.01011261 1.86131796] [ 0.00443983 0.01024481 0.99993766 -1.04525426] [ 0. 0. 0. 1. ]] SLAMing on 51.44654761499999 meters Centerline goodness : 0.814402 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.86, Z:-1.05 [[ 0.99959828 0.02790306 -0.00496929 -0.7494149 ] [-0.02795846 0.99954347 -0.01145319 1.86464685] [ 0.00464744 0.01158752 0.99992206 -1.04793506] [ 0. 0. 0. 1. ]] SLAMing on 51.47654761499999 meters Centerline goodness : 0.813912 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.99958851 0.02831039 -0.00461879 -0.75035245] [-0.02836262 0.99952965 -0.01166361 1.86600546] [ 0.00428642 0.01178981 0.99992131 -1.04823431] [ 0. 0. 0. 1. ]] SLAMing on 51.50654761499999 meters Centerline goodness : 0.815056 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.86, Z:-1.05 [[ 0.99955855 0.02937263 -0.0044678 -0.75237725] [-0.02941919 0.99950949 -0.01073761 1.86443384] [ 0.00415022 0.01086431 0.99993237 -1.04616927] [ 0. 0. 0. 1. ]] SLAMing on 51.53654761499999 meters Centerline goodness : 0.815720 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.86, Z:-1.04 [[ 0.99953374 0.0302497 -0.00415503 -0.75448157] [-0.03028806 0.99949605 -0.00950171 1.86225506] [ 0.00386551 0.00962313 0.99994623 -1.04388362] [ 0. 0. 0. 1. ]] SLAMing on 51.56654761499999 meters Centerline goodness : 0.815143 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.86, Z:-1.04 [[ 0.99954787 0.02973624 -0.00444998 -0.75296868] [-0.02977935 0.99950691 -0.00995602 1.86308565] [ 0.00415173 0.01008403 0.99994054 -1.0449217 ] [ 0. 0. 0. 1. ]] SLAMing on 51.59654761499999 meters Centerline goodness : 0.811859 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.86, Z:-1.04 [[ 0.99945693 0.03257397 -0.00497771 -0.75049501] [-0.03260149 0.99945302 -0.00555088 1.86276388] [ 0.00479417 0.00571015 0.9999722 -1.04431075] [ 0. 0. 0. 1. ]] SLAMing on 51.62654761499999 meters Centerline goodness : 0.809812 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.86, Z:-1.05 [[ 0.99945449 0.03268677 -0.00472289 -0.7507812 ] [-0.03271533 0.99944608 -0.00610319 1.86448516] [ 0.00452078 0.00625437 0.99997022 -1.04522609] [ 0. 0. 0. 1. ]] SLAMing on 51.656547614999994 meters Centerline goodness : 0.813917 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.86, Z:-1.05 [[ 0.99945479 0.03263663 -0.00499792 -0.74993372] [-0.03266783 0.99944644 -0.00629425 1.86348546] [ 0.00478973 0.00645409 0.9999677 -1.04586259] [ 0. 0. 0. 1. ]] SLAMing on 51.68654761499999 meters Centerline goodness : 0.812581 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.99942852 0.03349686 -0.00453761 -0.75202595] [-0.033526 0.99941667 -0.00650641 1.86509701] [ 0.00431701 0.00665482 0.99996854 -1.04544599] [ 0. 0. 0. 1. ]] SLAMing on 51.71654761499999 meters Centerline goodness : 0.810980 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.04 [[ 0.99939882 0.03441158 -0.00422504 -0.75376611] [-0.03443943 0.99938428 -0.0067071 1.86924884] [ 0.00399164 0.00684858 0.99996858 -1.04485354] [ 0. 0. 0. 1. ]] SLAMing on 51.74654761499999 meters Centerline goodness : 0.808373 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.9993883 0.0347384 -0.00403403 -0.75441863] [-0.03476678 0.99936959 -0.00718996 1.87095727] [ 0.00378172 0.00732581 0.99996601 -1.04522271] [ 0. 0. 0. 1. ]] SLAMing on 51.77654761499999 meters Centerline goodness : 0.808799 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.99938713 0.03473667 -0.00432803 -0.75375092] [-0.03476792 0.99936826 -0.00736711 1.87077362] [ 0.00406939 0.00751307 0.9999635 -1.04553909] [ 0. 0. 0. 1. ]] SLAMing on 51.80654761499999 meters Centerline goodness : 0.808991 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.99940435 0.03416978 -0.00483495 -0.75194134] [-0.03420508 0.9993873 -0.00741918 1.86954873] [ 0.00457848 0.00758014 0.99996079 -1.0460726 ] [ 0. 0. 0. 1. ]] SLAMing on 51.83654761499999 meters Centerline goodness : 0.804326 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.99938621 0.03478226 -0.00416982 -0.75385117] [-0.03480979 0.99937136 -0.00672047 1.8699739 ] [ 0.00393345 0.00686149 0.99996872 -1.04516361] [ 0. 0. 0. 1. ]] SLAMing on 51.86654761499999 meters Centerline goodness : 0.806316 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.99939026 0.03469743 -0.00389803 -0.75378745] [-0.03472423 0.9993722 -0.00703043 1.87162444] [ 0.00365164 0.0071615 0.99996769 -1.04608662] [ 0. 0. 0. 1. ]] SLAMing on 51.89654761499999 meters Centerline goodness : 0.803036 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.99938008 0.03498635 -0.00392505 -0.75423431] [-0.03501385 0.9993611 -0.00717108 1.87241908] [ 0.00367165 0.00730406 0.99996658 -1.04580778] [ 0. 0. 0. 1. ]] SLAMing on 51.92654761499999 meters Centerline goodness : 0.807512 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.04 [[ 0.99937582 0.03507974 -0.00416826 -0.7542054 ] [-0.03510756 0.99936042 -0.006798 1.87152329] [ 0.00392712 0.00694009 0.99996821 -1.04492388] [ 0. 0. 0. 1. ]] SLAMing on 51.95654761499999 meters Centerline goodness : 0.807880 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.87, Z:-1.05 [[ 0.99948784 0.03175337 -0.00397141 -0.75543616] [-0.03179567 0.99943292 -0.01108478 1.87174517] [ 0.00361718 0.01120538 0.99993068 -1.04545386] [ 0. 0. 0. 1. ]] SLAMing on 51.98654761499999 meters Centerline goodness : 0.807721 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.99942436 0.03363437 -0.00443594 -0.7512279 ] [-0.03366889 0.99940141 -0.00795218 1.87072231] [ 0.00416582 0.00809695 0.99995854 -1.04777991] [ 0. 0. 0. 1. ]] SLAMing on 52.01654761499999 meters Centerline goodness : 0.807463 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.99944511 0.03302576 -0.00433304 -0.74961354] [-0.0330624 0.99941564 -0.00867513 1.87191182] [ 0.00404401 0.00881358 0.99995298 -1.05032221] [ 0. 0. 0. 1. ]] SLAMing on 52.04654761499999 meters Centerline goodness : 0.807388 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.9993963 0.03453762 -0.00376602 -0.75379738] [-0.03456073 0.99938304 -0.006253 1.86989935] [ 0.00354774 0.00637938 0.99997336 -1.04516637] [ 0. 0. 0. 1. ]] SLAMing on 52.07654761499999 meters Centerline goodness : 0.809611 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.87, Z:-1.04 [[ 0.99937235 0.0352413 -0.00359817 -0.75558833] [-0.03526189 0.9993611 -0.00582968 1.87081038] [ 0.00339043 0.0059529 0.99997653 -1.04333242] [ 0. 0. 0. 1. ]] SLAMing on 52.10654761499999 meters Centerline goodness : 0.807064 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.05 [[ 0.99939423 0.03456812 -0.00402783 -0.75281401] [-0.03459997 0.99936822 -0.00812419 1.87521318] [ 0.00374445 0.00825863 0.99995889 -1.04744563] [ 0. 0. 0. 1. ]] SLAMing on 52.13654761499999 meters Centerline goodness : 0.805976 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.05 [[ 0.99942366 0.03363875 -0.00455878 -0.74996103] [-0.03368148 0.99938607 -0.00964547 1.87746108] [ 0.00423152 0.00979346 0.99994309 -1.05027498] [ 0. 0. 0. 1. ]] SLAMing on 52.16654761499999 meters Centerline goodness : 0.806456 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.05 [[ 0.99939862 0.03440021 -0.00436226 -0.75165292] [-0.03443551 0.9993725 -0.00829441 1.87559029] [ 0.0040742 0.00843964 0.99995609 -1.04795479] [ 0. 0. 0. 1. ]] SLAMing on 52.19654761499999 meters Centerline goodness : 0.807473 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.04 [[ 0.99938359 0.03485909 -0.0041569 -0.753523 ] [-0.03488137 0.99937679 -0.00541507 1.87039018] [ 0.00396554 0.00555673 0.9999767 -1.04326279] [ 0. 0. 0. 1. ]] SLAMing on 52.22654761499999 meters Centerline goodness : 0.808873 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.04 [[ 0.99941322 0.03395582 -0.00449628 -0.7515112 ] [-0.03398131 0.9994061 -0.00571958 1.87103724] [ 0.0042994 0.00586901 0.99997353 -1.04425296] [ 0. 0. 0. 1. ]] SLAMing on 52.25654761499999 meters Centerline goodness : 0.807557 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.99944381 0.03295874 -0.00507929 -0.74870383] [-0.03299379 0.99943119 -0.00697919 1.87305467] [ 0.00484637 0.00714289 0.99996275 -1.04653579] [ 0. 0. 0. 1. ]] SLAMing on 52.28654761499999 meters Centerline goodness : 0.806640 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.05 [[ 0.99941984 0.03370253 -0.00491178 -0.74980443] [-0.03373894 0.99940233 -0.00752815 1.87558577] [ 0.00465513 0.0076895 0.9999596 -1.04677035] [ 0. 0. 0. 1. ]] SLAMing on 52.31654761499999 meters Centerline goodness : 0.806067 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.04 [[ 0.99938152 0.03483565 -0.00480099 -0.75229344] [-0.03486644 0.99937094 -0.00648531 1.87493167] [ 0.00457205 0.00664869 0.99996745 -1.04374566] [ 0. 0. 0. 1. ]] SLAMing on 52.34654761499999 meters Centerline goodness : 0.808418 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.87, Z:-1.04 [[ 0.9994407 0.03315583 -0.00435614 -0.75640565] [-0.03319431 0.99940768 -0.00907925 1.87321058] [ 0.00405253 0.00921877 0.99994929 -1.04131364] [ 0. 0. 0. 1. ]] SLAMing on 52.37654761499999 meters Centerline goodness : 0.807750 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.87, Z:-1.05 [[ 0.99945038 0.0327801 -0.00493944 -0.74881087] [-0.032818 0.99943093 -0.00779732 1.87405017] [ 0.00468104 0.00795514 0.9999574 -1.04689439] [ 0. 0. 0. 1. ]] SLAMing on 52.406547614999994 meters Centerline goodness : 0.806028 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.05 [[ 0.99936538 0.03523742 -0.0052111 -0.74568492] [-0.03525978 0.99936909 -0.00426337 1.87625558] [ 0.00505758 0.00444441 0.99997733 -1.04828092] [ 0. 0. 0. 1. ]] SLAMing on 52.43654761499999 meters Centerline goodness : 0.809986 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.04 [[ 0.99930939 0.03683228 -0.00491169 -0.74934677] [-0.03684676 0.99931675 -0.00289113 1.87593415] [ 0.00480185 0.00307011 0.99998376 -1.04426194] [ 0. 0. 0. 1. ]] SLAMing on 52.46654761499999 meters Centerline goodness : 0.810478 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.04 [[ 0.99934492 0.03586051 -0.00487301 -0.75373975] [-0.0358891 0.9993383 -0.00591135 1.87758325] [ 0.0046578 0.00608237 0.99997065 -1.04128969] [ 0. 0. 0. 1. ]] SLAMing on 52.49654761499999 meters Centerline goodness : 0.809334 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.04 [[ 0.99933497 0.03609115 -0.00520094 -0.75311043] [-0.03612734 0.99932239 -0.00704042 1.8794191 ] [ 0.00494332 0.00722363 0.99996169 -1.04260266] [ 0. 0. 0. 1. ]] SLAMing on 52.52654761499999 meters Centerline goodness : 0.807430 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.05 [[ 0.99936553 0.03518612 -0.00552047 -0.75047252] [-0.03523233 0.99934293 -0.00850824 1.88157212] [ 0.00521747 0.00869734 0.99994857 -1.04569106] [ 0. 0. 0. 1. ]] SLAMing on 52.55654761499999 meters Centerline goodness : 0.809353 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.05 [[ 0.99938159 0.03473118 -0.00549386 -0.74988125] [-0.03477712 0.99935895 -0.00849992 1.88347345] [ 0.00519512 0.00868572 0.99994878 -1.04581484] [ 0. 0. 0. 1. ]] SLAMing on 52.58654761499999 meters Centerline goodness : 0.809999 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.05 [[ 0.99939356 0.03432932 -0.00583155 -0.7485243 ] [-0.0343789 0.99937165 -0.00862576 1.88385291] [ 0.00553177 0.00882102 0.99994579 -1.04633146] [ 0. 0. 0. 1. ]] SLAMing on 52.61654761499999 meters Centerline goodness : 0.809559 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.89, Z:-1.05 [[ 0.99938194 0.03470707 -0.00558136 -0.74933799] [-0.03475796 0.99935253 -0.00929576 1.88674367] [ 0.00525512 0.00948401 0.99994122 -1.0467479 ] [ 0. 0. 0. 1. ]] SLAMing on 52.64654761499999 meters Centerline goodness : 0.813963 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.88, Z:-1.04 [[ 0.99939902 0.03428403 -0.00511824 -0.75576911] [-0.03434167 0.99934243 -0.01163412 1.88304504] [ 0.00471601 0.0118029 0.99991922 -1.04276337] [ 0. 0. 0. 1. ]] SLAMing on 52.67654761499999 meters Centerline goodness : 0.812684 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.04 [[ 0.99942066 0.0335514 -0.00571434 -0.75327576] [-0.03361657 0.9993661 -0.01171854 1.88195492] [ 0.00531754 0.01190385 0.99991501 -1.04390354] [ 0. 0. 0. 1. ]] SLAMing on 52.70654761499999 meters Centerline goodness : 0.812684 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.04 [[ 0.99942066 0.0335514 -0.00571434 -0.75327576] [-0.03361657 0.9993661 -0.01171854 1.88195492] [ 0.00531754 0.01190385 0.99991501 -1.04390354] [ 0. 0. 0. 1. ]] SLAMing on 52.73654761499999 meters Centerline goodness : 0.810842 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.88, Z:-1.05 [[ 0.99939649 0.03412201 -0.00650796 -0.74670975] [-0.03418008 0.99937489 -0.00903008 1.88321853] [ 0.00619577 0.00924707 0.99993805 -1.0470325 ] [ 0. 0. 0. 1. ]] SLAMing on 52.76654761499999 meters Centerline goodness : 0.805978 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.88, Z:-1.05 [[ 0.99944093 0.03259854 -0.00742781 -0.74228818] [-0.03267192 0.99941628 -0.00998204 1.88329334] [ 0.00709807 0.01021914 0.99992259 -1.04981682] [ 0. 0. 0. 1. ]] SLAMing on 52.79654761499999 meters Centerline goodness : 0.808032 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.88, Z:-1.05 [[ 0.99942463 0.03299021 -0.00787748 -0.74260561] [-0.03305871 0.99941529 -0.00872884 1.87871618] [ 0.00758491 0.00898424 0.99993087 -1.04761156] [ 0. 0. 0. 1. ]] SLAMing on 52.82654761499999 meters Centerline goodness : 0.815585 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.88, Z:-1.04 [[ 0.9993892 0.03404614 -0.00787931 -0.74454612] [-0.03410258 0.99939281 -0.00714348 1.8750658 ] [ 0.00763132 0.00740782 0.99994344 -1.04465613] [ 0. 0. 0. 1. ]] SLAMing on 52.85654761499999 meters Centerline goodness : 0.809985 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.88, Z:-1.04 [[ 0.99939315 0.03390566 -0.00798341 -0.74436214] [-0.03395937 0.99940082 -0.00669059 1.8750799 ] [ 0.00775178 0.00695764 0.99994575 -1.04378652] [ 0. 0. 0. 1. ]] SLAMing on 52.88654761499999 meters Centerline goodness : 0.813036 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.88, Z:-1.05 [[ 0.99941833 0.03303135 -0.00848092 -0.74191017] [-0.03309572 0.99942355 -0.00756543 1.87737586] [ 0.00822613 0.00784171 0.99993542 -1.04546831] [ 0. 0. 0. 1. ]] SLAMing on 52.91654761499999 meters Centerline goodness : 0.812324 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.88, Z:-1.05 [[ 0.99944397 0.03213398 -0.00889759 -0.73996006] [-0.03220831 0.99944638 -0.0083406 1.87955555] [ 0.00862465 0.00862254 0.99992563 -1.04644139] [ 0. 0. 0. 1. ]] SLAMing on 52.94654761499999 meters Centerline goodness : 0.809754 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.88, Z:-1.05 [[ 0.99943919 0.03225478 -0.00899595 -0.74041449] [-0.03233174 0.99944066 -0.00854565 1.88150244] [ 0.00871528 0.00883171 0.99992302 -1.04556388] [ 0. 0. 0. 1. ]] SLAMing on 52.97654761499999 meters Centerline goodness : 0.808932 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.88, Z:-1.05 [[ 0.99943916 0.03216333 -0.00932125 -0.73948694] [-0.03225137 0.99943508 -0.00945384 1.88275678] [ 0.00901192 0.00974916 0.99991187 -1.04662574] [ 0. 0. 0. 1. ]] SLAMing on 53.00654761499999 meters Centerline goodness : 0.806934 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.88, Z:-1.05 [[ 0.99942557 0.03268951 -0.00893958 -0.74082834] [-0.032777 0.99941442 -0.00982252 1.88465654] [ 0.00861325 0.01010989 0.9999118 -1.04664619] [ 0. 0. 0. 1. ]] SLAMing on 53.03654761499999 meters Centerline goodness : 0.809254 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.89, Z:-1.05 [[ 0.99929794 0.03636703 -0.0090034 -0.74005701] [-0.03642068 0.99931931 -0.00586888 1.88545283] [ 0.00878384 0.00619267 0.99994225 -1.04650899] [ 0. 0. 0. 1. ]] SLAMing on 53.06654761499999 meters Centerline goodness : 0.810069 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.89, Z:-1.04 [[ 9.99120913e-01 4.10426991e-02 -8.53809253e-03 -7.42291368e-01] [-4.10510886e-02 9.99156721e-01 -8.09607594e-04 1.88567877e+00] [ 8.49766406e-03 1.15939387e-03 9.99963222e-01 -1.04356877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09654761499999 meters Centerline goodness : 0.810778 Centerline is valid? [False, False] Translation: X:-0.73, Y:1.89, Z:-1.04 [[ 9.99108887e-01 4.21503021e-02 -2.18704515e-03 -7.33278177e-01] [-4.21683493e-02 9.99070044e-01 -8.99314300e-03 1.88748967e+00] [ 1.80594760e-03 9.07735318e-03 9.99957169e-01 -1.04279040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12654761499999 meters Centerline goodness : 0.811922 Centerline is valid? [False, False] Translation: X:-0.73, Y:1.89, Z:-1.04 [[ 0.99912441 0.04174445 -0.00279691 -0.73168316] [-0.04176784 0.99908766 -0.00890497 1.88641738] [ 0.00242262 0.00901399 0.99995644 -1.04278516] [ 0. 0. 0. 1. ]] SLAMing on 53.15654761499999 meters Centerline goodness : 0.808970 Centerline is valid? [False, False] Translation: X:-0.73, Y:1.89, Z:-1.05 [[ 0.9991627 0.04078117 -0.00328482 -0.72883731] [-0.04081293 0.99911407 -0.01026561 1.88910157] [ 0.00286327 0.01039107 0.99994191 -1.0454541 ] [ 0. 0. 0. 1. ]] SLAMing on 53.18654761499999 meters Centerline goodness : 0.809776 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.89, Z:-1.05 [[ 0.99928887 0.0374645 -0.0042625 -0.72216906] [-0.03751648 0.99921341 -0.01284838 1.88848471] [ 0.00377779 0.01299916 0.99990837 -1.05067086] [ 0. 0. 0. 1. ]] SLAMing on 53.21654761499999 meters Centerline goodness : 0.808010 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.89, Z:-1.05 [[ 0.99928796 0.0374915 -0.00423844 -0.7223015 ] [-0.03754206 0.9992162 -0.01255339 1.88821667] [ 0.00376447 0.01270357 0.99991222 -1.05027249] [ 0. 0. 0. 1. ]] SLAMing on 53.24654761499999 meters Centerline goodness : 0.813362 Centerline is valid? [False, False] Translation: X:-0.73, Y:1.89, Z:-1.05 [[ 0.99924845 0.0385583 -0.0039751 -0.72540607] [-0.03859683 0.99920362 -0.01012014 1.88561782] [ 0.00358172 0.01026596 0.99994089 -1.0452009 ] [ 0. 0. 0. 1. ]] SLAMing on 53.27654761499999 meters Centerline goodness : 0.811418 Centerline is valid? [False, False] Translation: X:-0.73, Y:1.88, Z:-1.05 [[ 0.9993586 0.03558398 -0.0040215 -0.72640526] [-0.03563756 0.99926462 -0.01414838 1.88499738] [ 0.00351509 0.01428263 0.99989182 -1.04561889] [ 0. 0. 0. 1. ]] SLAMing on 53.30654761499999 meters Centerline goodness : 0.810517 Centerline is valid? [False, False] Translation: X:-0.73, Y:1.89, Z:-1.05 [[ 0.99937179 0.03519345 -0.00417631 -0.72537877] [-0.03525083 0.9992723 -0.01456902 1.88667127] [ 0.00366054 0.01470709 0.99988514 -1.04638306] [ 0. 0. 0. 1. ]] SLAMing on 53.33654761499999 meters Centerline goodness : 0.812568 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.88, Z:-1.05 [[ 0.99937708 0.03501936 -0.00437088 -0.72495278] [-0.03507502 0.99929509 -0.01338174 1.88438504] [ 0.00389918 0.01352672 0.99990091 -1.04501551] [ 0. 0. 0. 1. ]] SLAMing on 53.36654761499999 meters Centerline goodness : 0.815678 Centerline is valid? [False, False] Translation: X:-0.73, Y:1.88, Z:-1.04 [[ 0.99935732 0.03559768 -0.0042142 -0.7262545 ] [-0.03564598 0.99929241 -0.01200142 1.88239386] [ 0.003784 0.01214393 0.9999191 -1.04291267] [ 0. 0. 0. 1. ]] SLAMing on 53.39654761499999 meters Centerline goodness : 0.814098 Centerline is valid? [False, False] Translation: X:-0.73, Y:1.88, Z:-1.04 [[ 0.99933074 0.03636475 -0.00395939 -0.72861663] [-0.03640633 0.99927663 -0.01099045 1.88289329] [ 0.00355686 0.01112724 0.99993176 -1.03998858] [ 0. 0. 0. 1. ]] SLAMing on 53.42654761499999 meters Centerline goodness : 0.815247 Centerline is valid? [False, False] Translation: X:-0.73, Y:1.88, Z:-1.04 [[ 0.999327 0.03644566 -0.00415411 -0.72854316] [-0.03648799 0.9992777 -0.01061584 1.88198347] [ 0.00376421 0.01076027 0.99993502 -1.03926464] [ 0. 0. 0. 1. ]] SLAMing on 53.45654761499999 meters Centerline goodness : 0.810281 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.88, Z:-1.05 [[ 0.99935104 0.03569954 -0.00480099 -0.72103028] [-0.03575034 0.99930078 -0.01094843 1.88463181] [ 0.00440678 0.01111296 0.99992854 -1.04579483] [ 0. 0. 0. 1. ]] SLAMing on 53.48654761499999 meters Centerline goodness : 0.811906 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.89, Z:-1.05 [[ 0.99937439 0.03490444 -0.00570093 -0.71402545] [-0.03495774 0.99934332 -0.00953367 1.88689868] [ 0.00536442 0.00972699 0.9999383 -1.04848599] [ 0. 0. 0. 1. ]] SLAMing on 53.51654761499999 meters Centerline goodness : 0.811660 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.88, Z:-1.04 [[ 0.99935641 0.0354109 -0.00572954 -0.71604815] [-0.03545315 0.99934359 -0.00744793 1.88432423] [ 0.00546204 0.00764626 0.99995585 -1.04363594] [ 0. 0. 0. 1. ]] SLAMing on 53.54654761499999 meters Centerline goodness : 0.814776 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.88, Z:-1.04 [[ 0.99933811 0.03587373 -0.00603444 -0.7173153 ] [-0.03591357 0.99933292 -0.00662825 1.88372365] [ 0.00579263 0.00684058 0.99995983 -1.04065021] [ 0. 0. 0. 1. ]] SLAMing on 53.57654761499999 meters Centerline goodness : 0.814454 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.89, Z:-1.04 [[ 0.99940298 0.03378656 -0.00722139 -0.71187949] [-0.03385051 0.99938705 -0.00892525 1.88915805] [ 0.00691541 0.00916437 0.99993409 -1.04418889] [ 0. 0. 0. 1. ]] SLAMing on 53.60654761499999 meters Centerline goodness : 0.812294 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.89, Z:-1.05 [[ 0.99948532 0.03089388 -0.00864128 -0.70489498] [-0.03098628 0.99946177 -0.01077089 1.89152623] [ 0.00830387 0.01103311 0.99990465 -1.04787854] [ 0. 0. 0. 1. ]] SLAMing on 53.63654761499999 meters Centerline goodness : 0.811326 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.89, Z:-1.05 [[ 0.9995486 0.02858298 -0.00925257 -0.70199806] [-0.02867777 0.99953586 -0.01027912 1.89109191] [ 0.00895447 0.01053982 0.99990436 -1.0461833 ] [ 0. 0. 0. 1. ]] SLAMing on 53.66654761499999 meters Centerline goodness : 0.815114 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.89, Z:-1.04 [[ 0.99965762 0.02445356 -0.00930897 -0.70342498] [-0.02458021 0.9996034 -0.01374235 1.8909828 ] [ 0.00896922 0.01396646 0.99986224 -1.0434637 ] [ 0. 0. 0. 1. ]] SLAMing on 53.69654761499999 meters Centerline goodness : 0.815008 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.89, Z:-1.03 [[ 0.99965878 0.02423933 -0.00973531 -0.70459512] [-0.02433087 0.99965979 -0.00939729 1.88638434] [ 0.00950422 0.00963095 0.99990845 -1.03394828] [ 0. 0. 0. 1. ]] SLAMing on 53.72654761499999 meters Centerline goodness : 0.816651 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.89, Z:-1.03 [[ 0.99966074 0.02402527 -0.01005947 -0.7045581 ] [-0.0241235 0.99966134 -0.00976001 1.88949055] [ 0.00982158 0.00999937 0.99990177 -1.03280795] [ 0. 0. 0. 1. ]] SLAMing on 53.75654761499999 meters Centerline goodness : 0.810828 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.89, Z:-1.04 [[ 0.99963201 0.02417333 -0.01230808 -0.69458788] [-0.02427522 0.9996717 -0.00819738 1.89406664] [ 0.01210589 0.00849315 0.99989065 -1.03680164] [ 0. 0. 0. 1. ]] SLAMing on 53.78654761499999 meters Centerline goodness : 0.808174 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.04 [[ 0.99958187 0.02563591 -0.01337449 -0.68826369] [-0.02572515 0.99964764 -0.00654359 1.89980962] [ 0.01320202 0.00688491 0.99988915 -1.04084269] [ 0. 0. 0. 1. ]] SLAMing on 53.81654761499999 meters Centerline goodness : 0.813287 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.03 [[ 0.99959901 0.0253526 -0.01261218 -0.69495319] [-0.02544704 0.99964889 -0.00738507 1.90055846] [ 0.01242052 0.00770305 0.99989319 -1.03499767] [ 0. 0. 0. 1. ]] SLAMing on 53.84654761499999 meters Centerline goodness : 0.816964 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.90, Z:-1.03 [[ 0.99956959 0.02646046 -0.01266835 -0.69846686] [-0.02653241 0.99963257 -0.00554621 1.89813739] [ 0.01251694 0.00587995 0.99990437 -1.02922798] [ 0. 0. 0. 1. ]] SLAMing on 53.87654761499999 meters Centerline goodness : 0.815129 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.90, Z:-1.03 [[ 0.99945122 0.030487 -0.01295376 -0.69768279] [-0.03052246 0.99953083 -0.0025488 1.90155313] [ 0.01286998 0.00294278 0.99991285 -1.02980661] [ 0. 0. 0. 1. ]] SLAMing on 53.90654761499999 meters Centerline goodness : 0.812239 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.91, Z:-1.03 [[ 0.99920801 0.03743075 -0.01350152 -0.69408167] [-0.03738927 0.99929529 0.00331169 1.90708923] [ 0.01361596 -0.00280426 0.99990337 -1.03281702] [ 0. 0. 0. 1. ]] SLAMing on 53.93654761499999 meters Centerline goodness : 0.812461 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.91, Z:-1.03 [[ 9.99182759e-01 3.81183577e-02 -1.34463634e-02 -6.94093501e-01] [-3.80916773e-02 9.99271750e-01 2.23486329e-03 1.91109815e+00] [ 1.35217604e-02 -1.72084233e-03 9.99907096e-01 -1.03459225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96654761499999 meters Centerline goodness : 0.811055 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.91, Z:-1.04 [[ 0.99930272 0.03478801 -0.01355953 -0.69434694] [-0.03482642 0.99938998 -0.00260696 1.91130706] [ 0.01346057 0.00307737 0.99990467 -1.0362087 ] [ 0. 0. 0. 1. ]] SLAMing on 53.99654761499999 meters Centerline goodness : 0.813675 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.91, Z:-1.03 [[ 9.99280690e-01 3.56426720e-02 -1.29500143e-02 -6.96919882e-01] [-3.56690109e-02 9.99362022e-01 -1.80857338e-03 1.91072412e+00] [ 1.28772900e-02 2.26918665e-03 9.99914509e-01 -1.03449418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02654761499999 meters Centerline goodness : 0.813202 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.91, Z:-1.03 [[ 0.99914331 0.03928051 -0.01302606 -0.69704761] [-0.03924925 0.99922594 0.00264715 1.91286164] [ 0.01311996 -0.00213362 0.99991165 -1.03237886] [ 0. 0. 0. 1. ]] SLAMing on 54.05654761499999 meters Centerline goodness : 0.813663 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.91, Z:-1.03 [[ 9.99166628e-01 3.84206772e-02 -1.37804295e-02 -6.94525429e-01] [-3.83967797e-02 9.99260581e-01 1.99466780e-03 1.91250541e+00] [ 1.38468765e-02 -1.46388138e-03 9.99903056e-01 -1.03354569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08654761499999 meters Centerline goodness : 0.814253 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.91, Z:-1.04 [[ 0.99931435 0.03417124 -0.01425332 -0.69317202] [-0.03422001 0.99940923 -0.00319212 1.91313079] [ 0.01413582 0.00367768 0.99989332 -1.03555385] [ 0. 0. 0. 1. ]] SLAMing on 54.11654761499999 meters Centerline goodness : 0.815168 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.91, Z:-1.04 [[ 0.99934121 0.03308441 -0.014919 -0.69040879] [-0.03314166 0.99944416 -0.00360643 1.91273277] [ 0.01479139 0.0040985 0.9998822 -1.03674185] [ 0. 0. 0. 1. ]] SLAMing on 54.14654761499999 meters Centerline goodness : 0.814244 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.91, Z:-1.04 [[ 0.99934693 0.03292051 -0.01489793 -0.69025888] [-0.03298106 0.99944861 -0.00383694 1.91462649] [ 0.0147634 0.00432579 0.99988166 -1.03688579] [ 0. 0. 0. 1. ]] SLAMing on 54.17654761499999 meters Centerline goodness : 0.815809 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.91, Z:-1.03 [[ 0.99934674 0.03296671 -0.01480868 -0.69128114] [-0.03300334 0.99945274 -0.00223598 1.91142116] [ 0.01472686 0.00272325 0.99988785 -1.03422904] [ 0. 0. 0. 1. ]] SLAMing on 54.20654761499999 meters Centerline goodness : 0.816650 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.91, Z:-1.03 [[ 0.99934755 0.03285435 -0.01500248 -0.69062088] [-0.03289136 0.99945645 -0.00222725 1.91142011] [ 0.01492115 0.00271925 0.99988498 -1.03449315] [ 0. 0. 0. 1. ]] SLAMing on 54.23654761499999 meters Centerline goodness : 0.816554 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.92, Z:-1.03 [[ 9.99213777e-01 3.65238257e-02 -1.54219866e-02 -6.89205642e-01] [-3.65183049e-02 9.99332780e-01 6.39538652e-04 1.91759760e+00] [ 1.54350551e-02 -7.58510243e-05 9.99880870e-01 -1.03492602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26654761499999 meters Centerline goodness : 0.815461 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.92, Z:-1.04 [[ 9.99195005e-01 3.69478929e-02 -1.56267439e-02 -6.89624143e-01] [-3.69650713e-02 9.99316228e-01 -8.11786929e-04 1.92196006e+00] [ 1.55860650e-02 1.38877715e-03 9.99877565e-01 -1.03534505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29654761499999 meters Centerline goodness : 0.818771 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.92, Z:-1.04 [[ 0.99929773 0.03429278 -0.01510146 -0.69244037] [-0.03437299 0.99939614 -0.00508391 1.92319525] [ 0.014918 0.00559942 0.99987304 -1.03510031] [ 0. 0. 0. 1. ]] SLAMing on 54.32654761499999 meters Centerline goodness : 0.820742 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.92, Z:-1.03 [[ 0.9992912 0.03447202 -0.01512534 -0.69328224] [-0.03454674 0.999392 -0.00470674 1.9214191 ] [ 0.0149539 0.00522594 0.99987453 -1.0337321 ] [ 0. 0. 0. 1. ]] SLAMing on 54.35654761499999 meters Centerline goodness : 0.820814 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.93, Z:-1.04 [[ 9.99518120e-01 3.00927100e-02 -7.61288962e-03 -7.02534292e-01] [-3.00977029e-02 9.99546815e-01 -5.42102860e-04 1.92597836e+00] [ 7.59312622e-03 7.70972121e-04 9.99970875e-01 -1.03684942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38654761499999 meters Centerline goodness : 0.818290 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.93, Z:-1.04 [[ 9.99456459e-01 3.18185352e-02 -8.62363327e-03 -6.97937009e-01] [-3.18018530e-02 9.99492060e-01 2.06478827e-03 1.93073370e+00] [ 8.68495152e-03 -1.78941846e-03 9.99960684e-01 -1.03832309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41654761499999 meters Centerline goodness : 0.822740 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.93, Z:-1.04 [[ 0.99955776 0.02841021 -0.00878325 -0.6988438 ] [-0.02843082 0.99959327 -0.00223028 1.93003509] [ 0.00871631 0.00247901 0.99995894 -1.03806676] [ 0. 0. 0. 1. ]] SLAMing on 54.44654761499999 meters Centerline goodness : 0.818646 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.93, Z:-1.04 [[ 0.99958194 0.02729027 -0.00954963 -0.69592903] [-0.02732097 0.99962191 -0.00309828 1.93010128] [ 0.00946147 0.00335789 0.9999496 -1.03959223] [ 0. 0. 0. 1. ]] SLAMing on 54.47654761499999 meters Centerline goodness : 0.817354 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.93, Z:-1.04 [[ 0.99960101 0.02658876 -0.00953188 -0.69479616] [-0.02662932 0.99963675 -0.0041534 1.93401024] [ 0.00941798 0.00440557 0.99994594 -1.04112578] [ 0. 0. 0. 1. ]] SLAMing on 54.50654761499999 meters Centerline goodness : 0.820806 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.93, Z:-1.04 [[ 0.99958941 0.02709183 -0.00932962 -0.69650215] [-0.02712515 0.99962605 -0.00346289 1.93431372] [ 0.00923232 0.00371453 0.99995048 -1.03907619] [ 0. 0. 0. 1. ]] SLAMing on 54.53654761499999 meters Centerline goodness : 0.820417 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.94, Z:-1.04 [[ 0.99958833 0.02693012 -0.00989667 -0.6956331 ] [-0.02697033 0.99962842 -0.00395293 1.93671384] [ 0.00978654 0.00421822 0.99994321 -1.03878723] [ 0. 0. 0. 1. ]] SLAMing on 54.56654761499999 meters Centerline goodness : 0.818485 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.94, Z:-1.04 [[ 0.99959565 0.02627249 -0.0108758 -0.69233557] [-0.02633499 0.99963724 -0.00564433 1.93964307] [ 0.01072357 0.00592846 0.99992493 -1.04133858] [ 0. 0. 0. 1. ]] SLAMing on 54.59654761499999 meters Centerline goodness : 0.819105 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.94, Z:-1.04 [[ 0.9995811 0.02687156 -0.0107488 -0.69229692] [-0.02693965 0.99961758 -0.00624106 1.9399522 ] [ 0.01057698 0.00652801 0.99992275 -1.04297918] [ 0. 0. 0. 1. ]] SLAMing on 54.62654761499999 meters Centerline goodness : 0.819105 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.94, Z:-1.04 [[ 0.9995811 0.02687156 -0.0107488 -0.69229692] [-0.02693965 0.99961758 -0.00624106 1.9399522 ] [ 0.01057698 0.00652801 0.99992275 -1.04297918] [ 0. 0. 0. 1. ]] SLAMing on 54.65654761499999 meters Centerline goodness : 0.820768 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.94, Z:-1.04 [[ 9.99460228e-01 3.12556375e-02 -1.01161640e-02 -6.93711960e-01] [-3.12761277e-02 9.99509026e-01 -1.87363163e-03 1.94166380e+00] [ 1.00526357e-02 2.18901473e-03 9.99947075e-01 -1.04219051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68654761499999 meters Centerline goodness : 0.820281 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.94, Z:-1.04 [[ 0.9994503 0.03166114 -0.00983169 -0.6949679 ] [-0.03168183 0.99949609 -0.001956 1.94382591] [ 0.00976481 0.00226641 0.99994975 -1.04153772] [ 0. 0. 0. 1. ]] SLAMing on 54.71654761499999 meters Centerline goodness : 0.820455 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.94, Z:-1.04 [[ 0.9994419 0.03186793 -0.01001645 -0.69461597] [-0.03189043 0.99948918 -0.00209424 1.94289191] [ 0.00994459 0.0024125 0.99994764 -1.04192706] [ 0. 0. 0. 1. ]] SLAMing on 54.74654761499999 meters Centerline goodness : 0.820496 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.94, Z:-1.04 [[ 9.99420945e-01 3.25929473e-02 -9.77111137e-03 -6.96058000e-01] [-3.26111890e-02 9.99466645e-01 -1.71337916e-03 1.94168937e+00] [ 9.71005583e-03 2.03103458e-03 9.99950794e-01 -1.04105946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.77654761499999 meters Centerline goodness : 0.823141 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.94, Z:-1.04 [[ 9.99384580e-01 3.37470169e-02 -9.57078662e-03 -6.98074891e-01] [-3.37607489e-02 9.99429128e-01 -1.27682223e-03 1.94178174e+00] [ 9.52223398e-03 1.59915337e-03 9.99953384e-01 -1.03961884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80654761499999 meters Centerline goodness : 0.825563 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.94, Z:-1.04 [[ 9.99333131e-01 3.52734078e-02 -9.43822490e-03 -6.99368590e-01] [-3.52851472e-02 9.99376702e-01 -1.08014326e-03 1.94331638e+00] [ 9.39424173e-03 1.41245210e-03 9.99954876e-01 -1.03963051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83654761499999 meters Centerline goodness : 0.822599 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.94, Z:-1.04 [[ 9.99303381e-01 3.62852228e-02 -8.72556805e-03 -7.00687603e-01] [-3.62943943e-02 9.99340741e-01 -8.95016991e-04 1.94246884e+00] [ 8.68733975e-03 1.21108271e-03 9.99961531e-01 -1.04079329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86654761499999 meters Centerline goodness : 0.824351 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.94, Z:-1.04 [[ 9.99288712e-01 3.67706764e-02 -8.36585502e-03 -7.01497060e-01] [-3.67738916e-02 9.99323585e-01 -2.30767821e-04 1.94083823e+00] [ 8.35171074e-03 5.38248725e-04 9.99964979e-01 -1.04072852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.89654761499999 meters Centerline goodness : 0.821624 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.94, Z:-1.04 [[ 9.99300732e-01 3.62894062e-02 -9.00694949e-03 -6.99090191e-01] [-3.62946278e-02 9.99341046e-01 -4.16903025e-04 1.93979648e+00] [ 8.98588516e-03 7.43515378e-04 9.99959350e-01 -1.04214413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92654761499999 meters Centerline goodness : 0.822290 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.94, Z:-1.04 [[ 9.99297993e-01 3.62534014e-02 -9.44521948e-03 -6.96977114e-01] [-3.62644500e-02 9.99341727e-01 -1.00106499e-03 1.93814126e+00] [ 9.40270994e-03 1.34288792e-03 9.99954892e-01 -1.04463540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.95654761499999 meters Centerline goodness : 0.823504 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.93, Z:-1.04 [[ 9.99267235e-01 3.70992567e-02 -9.41477455e-03 -6.97465348e-01] [-3.71034063e-02 9.99311396e-01 -2.66419162e-04 1.93446922e+00] [ 9.39840754e-03 6.15544145e-04 9.99955645e-01 -1.04453733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98654761499999 meters Centerline goodness : 0.825698 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.93, Z:-1.04 [[ 9.99253081e-01 3.74717662e-02 -9.44178548e-03 -6.97423042e-01] [-3.74707099e-02 9.99297685e-01 2.88816308e-04 1.93257340e+00] [ 9.44597683e-03 6.51898186e-05 9.99955384e-01 -1.04457896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01654761499999 meters Centerline goodness : 0.823063 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.93, Z:-1.04 [[ 9.99234082e-01 3.80656107e-02 -9.06965933e-03 -6.98636897e-01] [-3.80540033e-02 9.99274634e-01 1.44902507e-03 1.93063239e+00] [ 9.11823853e-03 -1.10277839e-03 9.99957820e-01 -1.04365316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04654761499999 meters Centerline goodness : 0.826425 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.93, Z:-1.04 [[ 0.99922674 0.03831689 -0.00881709 -0.69972562] [-0.03828702 0.99926054 0.0035321 1.92609906] [ 0.00894591 -0.00319179 0.99995489 -1.04125872] [ 0. 0. 0. 1. ]] SLAMing on 55.07654761499999 meters Centerline goodness : 0.825900 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.92, Z:-1.04 [[ 9.99388181e-01 3.36859849e-02 -9.40839171e-03 -6.97148848e-01] [-3.36941435e-02 9.99431939e-01 -7.09955147e-04 1.92338768e+00] [ 9.37913163e-03 1.02652848e-03 9.99955488e-01 -1.04355296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10654761499999 meters Centerline goodness : 0.824727 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.92, Z:-1.04 [[ 0.99950644 0.02993811 -0.00951731 -0.6969511 ] [-0.02998052 0.99954104 -0.0043446 1.92024519] [ 0.00938287 0.00462779 0.99994527 -1.04422906] [ 0. 0. 0. 1. ]] SLAMing on 55.13654761499999 meters Centerline goodness : 0.827715 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.92, Z:-1.04 [[ 0.99959495 0.02692362 -0.00922217 -0.69867274] [-0.02698718 0.9996124 -0.00683741 1.91584026] [ 0.00903451 0.00708352 0.9999341 -1.04302234] [ 0. 0. 0. 1. ]] SLAMing on 55.16654761499999 meters Centerline goodness : 0.826427 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.91, Z:-1.04 [[ 0.99956558 0.02824786 -0.00840851 -0.70009962] [-0.02829774 0.99958228 -0.0058737 1.91248978] [ 0.00823907 0.00610909 0.9999474 -1.0442503 ] [ 0. 0. 0. 1. ]] SLAMing on 55.19654761499999 meters Centerline goodness : 0.827565 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.91, Z:-1.05 [[ 9.99471329e-01 3.11367843e-02 -9.35754308e-03 -6.96194935e-01] [-3.11558883e-02 9.99512726e-01 -1.90272846e-03 1.91077540e+00] [ 9.29373855e-03 2.19326511e-03 9.99954407e-01 -1.04544243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22654761499999 meters Centerline goodness : 0.828185 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.91, Z:-1.05 [[ 0.9994467 0.03203597 -0.00894411 -0.69600338] [-0.03205441 0.99948427 -0.00192637 1.90844704] [ 0.00887778 0.002212 0.99995815 -1.04835257] [ 0. 0. 0. 1. ]] SLAMing on 55.25654761499999 meters Centerline goodness : 0.826569 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.91, Z:-1.05 [[ 9.99425754e-01 3.26584250e-02 -9.03273024e-03 -6.95727281e-01] [-3.26750736e-02 9.99464579e-01 -1.70170778e-03 1.90605496e+00] [ 8.97231883e-03 1.99587570e-03 9.99957756e-01 -1.04921493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28654761499999 meters Centerline goodness : 0.827908 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.05 [[ 0.99944884 0.03175206 -0.00968586 -0.69305879] [-0.03177406 0.99949281 -0.00212676 1.90477516] [ 0.00961342 0.00243335 0.99995083 -1.05058917] [ 0. 0. 0. 1. ]] SLAMing on 55.31654761499999 meters Centerline goodness : 0.827738 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.05 [[ 9.99457242e-01 3.14454227e-02 -9.81867728e-03 -6.92217743e-01] [-3.14653564e-02 9.99503071e-01 -1.88230443e-03 1.90359983e+00] [ 9.75460824e-03 2.19023098e-03 9.99950024e-01 -1.05086606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34654761499999 meters Centerline goodness : 0.825654 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.05 [[ 0.99958137 0.02720161 -0.0098566 -0.69147098] [-0.02726424 0.99960856 -0.00627577 1.90334677] [ 0.00968203 0.00654187 0.99993173 -1.05247428] [ 0. 0. 0. 1. ]] SLAMing on 55.37654761499999 meters Centerline goodness : 0.824594 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.05 [[ 0.99967541 0.02357156 -0.00966699 -0.69230378] [-0.02366731 0.99967075 -0.0099126 1.90242445] [ 0.00943015 0.01013818 0.99990414 -1.05242368] [ 0. 0. 0. 1. ]] SLAMing on 55.40654761499999 meters Centerline goodness : 0.823826 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.05 [[ 0.99966776 0.02387987 -0.00970156 -0.6931023 ] [-0.02396827 0.99967131 -0.00909956 1.90170997] [ 0.00948107 0.00932907 0.99991153 -1.05080528] [ 0. 0. 0. 1. ]] SLAMing on 55.43654761499999 meters Centerline goodness : 0.827780 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.05 [[ 0.99965235 0.02446331 -0.00983465 -0.69491189] [-0.02453139 0.99967551 -0.00686217 1.89978021] [ 0.00966358 0.00710105 0.99992809 -1.04616962] [ 0. 0. 0. 1. ]] SLAMing on 55.46654761499999 meters Centerline goodness : 0.825059 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.05 [[ 0.99967262 0.02330955 -0.01055056 -0.69098543] [-0.02340148 0.99968851 -0.00867541 1.9018176 ] [ 0.01034505 0.00891947 0.99990671 -1.05011862] [ 0. 0. 0. 1. ]] SLAMing on 55.49654761499999 meters Centerline goodness : 0.826333 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.05 [[ 0.99968764 0.02223353 -0.01141459 -0.68724871] [-0.02234889 0.99969941 -0.01008042 1.90277595] [ 0.01118704 0.01033237 0.99988404 -1.05295239] [ 0. 0. 0. 1. ]] SLAMing on 55.52654761499999 meters Centerline goodness : 0.826387 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.05 [[ 0.99973795 0.02035528 -0.01047332 -0.69261554] [-0.02048116 0.99971755 -0.01205604 1.89921267] [ 0.01022496 0.01226739 0.99987247 -1.04925905] [ 0. 0. 0. 1. ]] SLAMing on 55.55654761499999 meters Centerline goodness : 0.826771 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.05 [[ 0.99975129 0.01943514 -0.01093746 -0.69053007] [-0.0195611 0.99974219 -0.0115293 1.89721711] [ 0.01071056 0.01174038 0.99987372 -1.04922506] [ 0. 0. 0. 1. ]] SLAMing on 55.586547614999986 meters Centerline goodness : 0.824479 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.90, Z:-1.05 [[ 0.99973829 0.01973905 -0.01156374 -0.68454069] [-0.01984505 0.99976143 -0.00912482 1.89876942] [ 0.01138087 0.00935192 0.9998915 -1.05198717] [ 0. 0. 0. 1. ]] SLAMing on 55.61654761499999 meters Centerline goodness : 0.823054 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.90, Z:-1.05 [[ 0.99973384 0.01966471 -0.01206441 -0.68547493] [-0.01974735 0.99978209 -0.00676917 1.89751702] [ 0.01192866 0.00700561 0.99990431 -1.04629194] [ 0. 0. 0. 1. ]] SLAMing on 55.64654761499999 meters Centerline goodness : 0.824772 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.89, Z:-1.04 [[ 0.99980478 0.0143221 -0.01361166 -0.68278432] [-0.01445043 0.99985162 -0.00937693 1.89272127] [ 0.01347534 0.00957179 0.99986339 -1.04274373] [ 0. 0. 0. 1. ]] SLAMing on 55.67654761499999 meters Centerline goodness : 0.823308 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.89, Z:-1.05 [[ 0.99986247 0.00709323 -0.01499057 -0.67592098] [-0.00731919 0.9998596 -0.01507315 1.89252649] [ 0.01488155 0.0151808 0.99977402 -1.04609952] [ 0. 0. 0. 1. ]] SLAMing on 55.70654761499999 meters Centerline goodness : 0.819751 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.90, Z:-1.05 [[ 0.99995377 -0.00328065 -0.0090389 -0.67215051] [ 0.00324162 0.99998537 -0.00432918 1.89505724] [ 0.00905297 0.00429968 0.99994978 -1.04827357] [ 0. 0. 0. 1. ]] SLAMing on 55.73654761499999 meters Centerline goodness : 0.818558 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.90, Z:-1.05 [[ 0.99985478 -0.01306065 -0.01094697 -0.66261172] [ 0.01297252 0.99988318 -0.00808365 1.89584982] [ 0.01105127 0.00794047 0.9999074 -1.04645722] [ 0. 0. 0. 1. ]] SLAMing on 55.76654761499999 meters Centerline goodness : 0.818327 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.89, Z:-1.04 [[ 0.99960674 -0.02587173 -0.01081755 -0.64461163] [ 0.02580093 0.99964509 -0.00663396 1.89193673] [ 0.01098535 0.00635225 0.99991948 -1.04178534] [ 0. 0. 0. 1. ]] SLAMing on 55.79654761499999 meters Centerline goodness : 0.821640 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.89, Z:-1.04 [[ 0.99941131 -0.03220394 -0.01182946 -0.64054688] [ 0.03206894 0.9994203 -0.01142996 1.89266069] [ 0.01219069 0.01104387 0.9998647 -1.04188977] [ 0. 0. 0. 1. ]] SLAMing on 55.82654761499999 meters Centerline goodness : 0.820122 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.89, Z:-1.04 [[ 0.99939667 -0.0319995 -0.01350292 -0.6345644 ] [ 0.03192183 0.99947278 -0.00592914 1.89344116] [ 0.01368553 0.00549452 0.99989125 -1.03742934] [ 0. 0. 0. 1. ]] SLAMing on 55.85654761499999 meters Centerline goodness : 0.817121 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.90, Z:-1.03 [[ 9.99506481e-01 -2.82183890e-02 -1.38028187e-02 -6.35258593e-01] [ 2.82033861e-02 9.99601385e-01 -1.28043086e-03 1.89557574e+00] [ 1.38334484e-02 8.90512719e-04 9.99903917e-01 -1.03449216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88654761499999 meters Centerline goodness : 0.816079 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.90, Z:-1.03 [[ 0.9996304 -0.02237205 -0.01544512 -0.63062964] [ 0.02245794 0.99973315 0.00541026 1.8992343 ] [ 0.01531996 -0.00575512 0.99986608 -1.03478689] [ 0. 0. 0. 1. ]] SLAMing on 55.91654761499999 meters Centerline goodness : 0.814087 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.91, Z:-1.04 [[ 0.99965472 -0.0201622 -0.01684995 -0.62593852] [ 0.02027219 0.99977412 0.00638286 1.90563328] [ 0.01671745 -0.00672225 0.99983766 -1.03804152] [ 0. 0. 0. 1. ]] SLAMing on 55.94654761499999 meters Centerline goodness : 0.816291 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.91, Z:-1.04 [[ 0.99966827 -0.01963213 -0.01667142 -0.62772776] [ 0.01971443 0.99979419 0.00478643 1.91135572] [ 0.01657402 -0.00511351 0.99984957 -1.03807949] [ 0. 0. 0. 1. ]] SLAMing on 55.97654761499999 meters Centerline goodness : 0.819251 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.92, Z:-1.03 [[ 0.99976079 -0.01545422 -0.0154765 -0.63559637] [ 0.0155732 0.99984987 0.00759664 1.91660386] [ 0.01535678 -0.00783584 0.99985137 -1.03191316] [ 0. 0. 0. 1. ]] SLAMing on 56.00654761499999 meters Centerline goodness : 0.823046 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.93, Z:-1.03 [[ 0.99980707 -0.01193673 -0.01559956 -0.63853106] [ 0.01208735 0.99988089 0.00959704 1.92596096] [ 0.01548314 -0.00978375 0.99983226 -1.02869844] [ 0. 0. 0. 1. ]] SLAMing on 56.03654761499999 meters Centerline goodness : 0.821731 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.93, Z:-1.03 [[ 0.99979464 -0.01062014 -0.01725974 -0.63219538] [ 0.01080991 0.99988174 0.01093863 1.93110526] [ 0.01714153 -0.01112296 0.9997912 -1.03196552] [ 0. 0. 0. 1. ]] SLAMing on 56.06654761499999 meters Centerline goodness : 0.820777 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.94, Z:-1.03 [[ 0.999778 -0.01151361 -0.01764592 -0.63022346] [ 0.01167574 0.99989031 0.00911245 1.93592963] [ 0.01753907 -0.00931646 0.99980277 -1.03412408] [ 0. 0. 0. 1. ]] SLAMing on 56.09654761499999 meters Centerline goodness : 0.820894 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.94, Z:-1.03 [[ 0.9997814 -0.01141988 -0.01751396 -0.63087268] [ 0.01155384 0.99990462 0.00756707 1.94354008] [ 0.01742588 -0.00776777 0.99981798 -1.03483416] [ 0. 0. 0. 1. ]] SLAMing on 56.12654761499999 meters Centerline goodness : 0.821229 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.95, Z:-1.04 [[ 9.99887004e-01 -8.17742072e-03 -1.26138724e-02 -6.19318318e-01] [ 8.15695199e-03 9.99965331e-01 -1.67331137e-03 1.95148699e+00] [ 1.26271185e-02 1.57023154e-03 9.99919042e-01 -1.03919238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15654761499999 meters Centerline goodness : 0.818603 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.96, Z:-1.04 [[ 9.99911201e-01 -3.71914001e-03 -1.27967858e-02 -6.20456662e-01] [ 3.73698134e-03 9.99992078e-01 1.37057474e-03 1.95703104e+00] [ 1.27915871e-02 -1.41827438e-03 9.99917178e-01 -1.03792823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18654761499999 meters Centerline goodness : 0.819857 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.97, Z:-1.04 [[ 9.99918684e-01 2.84109737e-04 -1.27492690e-02 -6.22906730e-01] [-2.32138231e-04 9.99991659e-01 4.07772500e-03 1.96556226e+00] [ 1.27503212e-02 -4.07443383e-03 9.99910410e-01 -1.03534562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.21654761499999 meters Centerline goodness : 0.817673 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.97, Z:-1.04 [[ 9.99906472e-01 -5.69197247e-04 -1.36646838e-02 -6.19926220e-01] [ 6.05653640e-04 9.99996268e-01 2.66393804e-03 1.97434748e+00] [ 1.36631165e-02 -2.67196495e-03 9.99903085e-01 -1.03652343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24654761499999 meters Centerline goodness : 0.815892 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.98, Z:-1.04 [[ 9.99889656e-01 -1.88897711e-03 -1.47345898e-02 -6.16396620e-01] [ 1.90579828e-03 9.99997548e-01 1.12765309e-03 1.97657609e+00] [ 1.47324235e-02 -1.15560982e-03 9.99890804e-01 -1.03825880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.27654761499999 meters Centerline goodness : 0.816849 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.98, Z:-1.04 [[ 9.99895073e-01 -8.60252321e-04 -1.44603651e-02 -6.15869487e-01] [ 8.96346699e-04 9.99996499e-01 2.48979461e-03 1.97997020e+00] [ 1.44581726e-02 -2.50249486e-03 9.99892344e-01 -1.03868402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30654761499999 meters Centerline goodness : 0.817508 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.99, Z:-1.04 [[ 9.99881396e-01 1.79133670e-03 -1.52965861e-02 -6.15138576e-01] [-1.71495055e-03 9.99986003e-01 5.00533090e-03 1.98728937e+00] [ 1.53053382e-02 -4.97850436e-03 9.99870472e-01 -1.03683410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.336547614999986 meters Centerline goodness : 0.818184 Centerline is valid? [False, False] Translation: X:-0.61, Y:2.00, Z:-1.04 [[ 9.99954021e-01 4.52265265e-03 -8.45586790e-03 -6.06634720e-01] [-4.53374026e-03 9.99988887e-01 -1.29252461e-03 1.99501081e+00] [ 8.44992829e-03 1.33080189e-03 9.99963413e-01 -1.03527382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36654761499999 meters Centerline goodness : 0.817058 Centerline is valid? [False, False] Translation: X:-0.61, Y:2.00, Z:-1.03 [[ 9.99948889e-01 5.67256412e-03 -8.36910055e-03 -6.08774664e-01] [-5.68614838e-03 9.99982553e-01 -1.60024393e-03 1.99815174e+00] [ 8.35987705e-03 1.64775008e-03 9.99963698e-01 -1.03353845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39654761499999 meters Centerline goodness : 0.818445 Centerline is valid? [False, False] Translation: X:-0.61, Y:2.00, Z:-1.03 [[ 9.99919527e-01 9.16905908e-03 -8.76738614e-03 -6.07769087e-01] [-9.15926659e-03 9.99957384e-01 1.15642438e-03 2.00480378e+00] [ 8.77761584e-03 -1.07602849e-03 9.99960897e-01 -1.03375317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42654761499999 meters Centerline goodness : 0.816075 Centerline is valid? [False, False] Translation: X:-0.61, Y:2.01, Z:-1.03 [[ 0.99983238 0.0156759 -0.00945886 -0.60590147] [-0.01560193 0.99984751 0.00784448 2.01123725] [ 0.00958039 -0.00769559 0.99992449 -1.03316168] [ 0. 0. 0. 1. ]] SLAMing on 56.45654761499999 meters Centerline goodness : 0.814190 Centerline is valid? [False, False] Translation: X:-0.61, Y:2.02, Z:-1.03 [[ 0.99981984 0.01628158 -0.00975719 -0.60660639] [-0.01621792 0.99984691 0.0065681 2.01642428] [ 0.00986264 -0.00640867 0.99993083 -1.03259093] [ 0. 0. 0. 1. ]] SLAMing on 56.48654761499999 meters Centerline goodness : 0.813560 Centerline is valid? [False, False] Translation: X:-0.61, Y:2.02, Z:-1.03 [[ 0.9997971 0.01737795 -0.01018683 -0.60773686] [-0.0173171 0.99983186 0.00603112 2.01798145] [ 0.01028992 -0.00585349 0.99992992 -1.03103009] [ 0. 0. 0. 1. ]] SLAMing on 56.51654761499999 meters Centerline goodness : 0.813560 Centerline is valid? [False, False] Translation: X:-0.61, Y:2.02, Z:-1.03 [[ 0.9997971 0.01737795 -0.01018683 -0.60773686] [-0.0173171 0.99983186 0.00603112 2.01798145] [ 0.01028992 -0.00585349 0.99992992 -1.03103009] [ 0. 0. 0. 1. ]] SLAMing on 56.54654761499999 meters Centerline goodness : 0.817753 Centerline is valid? [False, False] Translation: X:-0.61, Y:2.02, Z:-1.03 [[ 0.99978258 0.01813254 -0.01029601 -0.60824765] [-0.01807814 0.99982225 0.00535306 2.02097225] [ 0.01039124 -0.00516576 0.99993267 -1.03101745] [ 0. 0. 0. 1. ]] SLAMing on 56.57654761499999 meters Centerline goodness : 0.812771 Centerline is valid? [False, False] Translation: X:-0.61, Y:2.03, Z:-1.03 [[ 0.99960079 0.02616265 -0.01066686 -0.60666458] [-0.0260351 0.99958988 0.01192646 2.02619052] [ 0.01097451 -0.01164398 0.99987198 -1.03246277] [ 0. 0. 0. 1. ]] SLAMing on 56.60654761499999 meters Centerline goodness : 0.811162 Centerline is valid? [False, False] Translation: X:-0.61, Y:2.03, Z:-1.04 [[ 0.99930694 0.03568089 -0.01060743 -0.60529872] [-0.03548253 0.9992021 0.01833423 2.03071113] [ 0.01125314 -0.01794515 0.99977564 -1.03676666] [ 0. 0. 0. 1. ]] SLAMing on 56.63654761499999 meters Centerline goodness : 0.810083 Centerline is valid? [False, False] Translation: X:-0.60, Y:2.03, Z:-1.04 [[ 0.99921288 0.03922116 -0.00594365 -0.59588819] [-0.03917499 0.99920273 0.00769547 2.03228938] [ 0.00624074 -0.00745657 0.99995273 -1.04233524] [ 0. 0. 0. 1. ]] SLAMing on 56.66654761499999 meters Centerline goodness : 0.807925 Centerline is valid? [False, False] Translation: X:-0.60, Y:2.03, Z:-1.04 [[ 0.99931223 0.03656701 -0.00615874 -0.5965653 ] [-0.0365448 0.99932524 0.00368088 2.03344477] [ 0.00628918 -0.00345328 0.99997426 -1.0424771 ] [ 0. 0. 0. 1. ]] SLAMing on 56.69654761499999 meters Centerline goodness : 0.807884 Centerline is valid? [False, False] Translation: X:-0.60, Y:2.04, Z:-1.04 [[ 9.99404649e-01 3.39471309e-02 -6.15959601e-03 -5.98020625e-01] [-3.39480783e-02 9.99423597e-01 -4.92864748e-05 2.03512652e+00] [ 6.15437246e-03 2.58363579e-04 9.99981028e-01 -1.04178574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72654761499999 meters Centerline goodness : 0.808626 Centerline is valid? [False, False] Translation: X:-0.60, Y:2.03, Z:-1.04 [[ 0.999474 0.03192778 -0.00568747 -0.60111216] [-0.03194548 0.99948496 -0.00304997 2.03437265] [ 0.00558716 0.00323006 0.99997917 -1.04023598] [ 0. 0. 0. 1. ]] SLAMing on 56.75654761499999 meters Centerline goodness : 0.809447 Centerline is valid? [False, False] Translation: X:-0.60, Y:2.03, Z:-1.04 [[ 9.99442979e-01 3.29375774e-02 -5.37107791e-03 -6.03098877e-01] [-3.29443361e-02 9.99456498e-01 -1.17474044e-03 2.02942331e+00] [ 5.32946561e-03 1.35103268e-03 9.99984886e-01 -1.03787342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78654761499999 meters Centerline goodness : 0.809367 Centerline is valid? [False, False] Translation: X:-0.60, Y:2.03, Z:-1.04 [[ 9.99461616e-01 3.22863360e-02 -5.83694875e-03 -6.00757362e-01] [-3.22927149e-02 9.99477952e-01 -1.00189658e-03 2.02760271e+00] [ 5.80155401e-03 1.18984809e-03 9.99982463e-01 -1.03927160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.81654761499999 meters Centerline goodness : 0.805769 Centerline is valid? [False, False] Translation: X:-0.60, Y:2.03, Z:-1.04 [[ 9.99472413e-01 3.18424764e-02 -6.39940704e-03 -5.98568680e-01] [-3.18464431e-02 9.99492639e-01 -5.18896180e-04 2.02557560e+00] [ 6.37963728e-03 7.22420770e-04 9.99979389e-01 -1.04019011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84654761499999 meters Centerline goodness : 0.809505 Centerline is valid? [False, False] Translation: X:-0.60, Y:2.02, Z:-1.04 [[ 0.99956644 0.02869376 -0.00660337 -0.59855835] [-0.02871776 0.99958119 -0.00356784 2.02022787] [ 0.00649823 0.00375593 0.99997183 -1.04048501] [ 0. 0. 0. 1. ]] SLAMing on 56.87654761499999 meters Centerline goodness : 0.810602 Centerline is valid? [False, False] Translation: X:-0.59, Y:2.01, Z:-1.04 [[ 0.99962711 0.02627124 -0.00744783 -0.59441266] [-0.02631644 0.99963543 -0.00603776 2.01469726] [ 0.00728649 0.00623151 0.99995404 -1.04447894] [ 0. 0. 0. 1. ]] SLAMing on 56.90654761499999 meters Centerline goodness : 0.809855 Centerline is valid? [False, False] Translation: X:-0.59, Y:2.01, Z:-1.05 [[ 0.99961524 0.02672109 -0.0074403 -0.59343002] [-0.02676285 0.99962629 -0.00557083 2.01193411] [ 0.00728867 0.00576781 0.9999568 -1.04616163] [ 0. 0. 0. 1. ]] SLAMing on 56.93654761499999 meters Centerline goodness : 0.810158 Centerline is valid? [False, False] Translation: X:-0.60, Y:2.01, Z:-1.05 [[ 0.99958025 0.02820961 -0.00659797 -0.59559442] [-0.0282322 0.99959576 -0.00335643 2.00555655] [ 0.00650062 0.00354129 0.9999726 -1.04546751] [ 0. 0. 0. 1. ]] SLAMing on 56.96654761499999 meters Centerline goodness : 0.808707 Centerline is valid? [False, False] Translation: X:-0.60, Y:2.00, Z:-1.04 [[ 9.99540623e-01 2.97076809e-02 -5.99968542e-03 -5.97529130e-01] [-2.97132844e-02 9.99558104e-01 -8.46979673e-04 1.99650014e+00] [ 5.97187238e-03 1.02486095e-03 9.99981643e-01 -1.04444458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.99654761499999 meters Centerline goodness : 0.811121 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.99, Z:-1.05 [[ 0.99961186 0.0272666 -0.00571547 -0.59799979] [-0.02728284 0.99962388 -0.00278263 1.98882657] [ 0.00563744 0.00293749 0.9999798 -1.04523221] [ 0. 0. 0. 1. ]] SLAMing on 57.02654761499999 meters Centerline goodness : 0.809538 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.98, Z:-1.05 [[ 9.99607051e-01 2.73825537e-02 -5.99501435e-03 -5.96544871e-01] [-2.73921923e-02 9.99623590e-01 -1.53159645e-03 1.98406409e+00] [ 5.95081874e-03 1.69521119e-03 9.99980857e-01 -1.04592032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05654761499999 meters Centerline goodness : 0.811852 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.98, Z:-1.04 [[ 0.9996445 0.02617317 -0.00508315 -0.60123098] [-0.02618636 0.99965383 -0.00254713 1.97661713] [ 0.00501472 0.00267933 0.99998384 -1.0431527 ] [ 0. 0. 0. 1. ]] SLAMing on 57.086547614999986 meters Centerline goodness : 0.815127 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.97, Z:-1.04 [[ 0.99968624 0.0247033 -0.00414369 -0.60514634] [-0.02471921 0.99968708 -0.00383474 1.96726268] [ 0.00404766 0.00393596 0.99998406 -1.0416815 ] [ 0. 0. 0. 1. ]] SLAMing on 57.11654761499999 meters Centerline goodness : 0.812190 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.97, Z:-1.04 [[ 0.99966826 0.02548911 -0.00369773 -0.60540117] [-0.02549974 0.99967075 -0.00285729 1.96524328] [ 0.00362368 0.00295063 0.99998908 -1.04271202] [ 0. 0. 0. 1. ]] SLAMing on 57.14654761499999 meters Centerline goodness : 0.810798 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.96, Z:-1.05 [[ 0.99970144 0.02404546 -0.00434154 -0.60106395] [-0.02405719 0.99970701 -0.00267215 1.95997655] [ 0.00427601 0.0027758 0.99998701 -1.0456436 ] [ 0. 0. 0. 1. ]] SLAMing on 57.17654761499999 meters Centerline goodness : 0.811582 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.96, Z:-1.05 [[ 0.99978331 0.0203766 -0.00425878 -0.60082291] [-0.02040467 0.99976965 -0.0066558 1.95765602] [ 0.00412218 0.00674126 0.99996878 -1.04711769] [ 0. 0. 0. 1. ]] SLAMing on 57.20654761499999 meters Centerline goodness : 0.814414 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.95, Z:-1.05 [[ 0.99985152 0.01672891 -0.00413277 -0.5997701 ] [-0.01676928 0.99981004 -0.00993402 1.95202059] [ 0.0039658 0.01000185 0.99994212 -1.04932536] [ 0. 0. 0. 1. ]] SLAMing on 57.23654761499999 meters Centerline goodness : 0.811476 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.95, Z:-1.05 [[ 0.99985598 0.0163548 -0.00453214 -0.59790362] [-0.01639778 0.99981932 -0.00961495 1.95011717] [ 0.00437407 0.00968788 0.9999435 -1.05028704] [ 0. 0. 0. 1. ]] SLAMing on 57.266547614999986 meters Centerline goodness : 0.816213 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.94, Z:-1.04 [[ 0.99986789 0.01593368 -0.00321264 -0.60518113] [-0.01595612 0.9998476 -0.0070838 1.93780807] [ 0.00309927 0.00713412 0.99996975 -1.04160572] [ 0. 0. 0. 1. ]] SLAMing on 57.29654761499999 meters Centerline goodness : 0.819450 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.93, Z:-1.04 [[ 0.99986453 0.01604057 -0.00369105 -0.60403787] [-0.01605961 0.99985758 -0.00518826 1.93233833] [ 0.0036073 0.00524684 0.99997973 -1.04045112] [ 0. 0. 0. 1. ]] SLAMing on 57.32654761499999 meters Centerline goodness : 0.815831 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.93, Z:-1.05 [[ 0.99987742 0.01496104 -0.00461726 -0.59477624] [-0.01498026 0.99987915 -0.00415647 1.93121044] [ 0.00455452 0.00422513 0.9999807 -1.04717136] [ 0. 0. 0. 1. ]] SLAMing on 57.35654761499999 meters Centerline goodness : 0.811054 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.93, Z:-1.05 [[ 0.99993716 0.00994528 -0.00517335 -0.58788615] [-0.00998384 0.99992218 -0.00748005 1.92894644] [ 0.00509856 0.00753123 0.99995864 -1.05262867] [ 0. 0. 0. 1. ]] SLAMing on 57.38654761499999 meters Centerline goodness : 0.816082 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.92, Z:-1.05 [[ 0.99996147 0.00742485 -0.00468277 -0.59135223] [-0.00746299 0.9999387 -0.00817871 1.9211386 ] [ 0.00462176 0.00821334 0.99995559 -1.04785435] [ 0. 0. 0. 1. ]] SLAMing on 57.41654761499999 meters Centerline goodness : 0.817832 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.92, Z:-1.04 [[ 0.99995103 0.00876643 -0.00459211 -0.59417141] [-0.00878919 0.99994908 -0.00495926 1.91627872] [ 0.0045484 0.00499938 0.99997716 -1.04229402] [ 0. 0. 0. 1. ]] SLAMing on 57.44654761499999 meters Centerline goodness : 0.819855 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.91, Z:-1.04 [[ 0.99994447 0.00960797 -0.00432904 -0.59617334] [-0.0096226 0.99994802 -0.0033712 1.9149125 ] [ 0.00429642 0.00341267 0.99998495 -1.03960816] [ 0. 0. 0. 1. ]] SLAMing on 57.47654761499999 meters Centerline goodness : 0.818751 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.91, Z:-1.04 [[ 9.99958474e-01 7.76212184e-03 -4.77500975e-03 -5.93680961e-01] [-7.77053563e-03 9.99968285e-01 -1.74602382e-03 1.90972736e+00] [ 4.76130546e-03 1.78305570e-03 9.99987075e-01 -1.03760864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50654761499999 meters Centerline goodness : 0.818295 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.91, Z:-1.04 [[ 0.99997009 0.00506808 -0.00584255 -0.58766541] [-0.00508353 0.99998361 -0.0026322 1.90928392] [ 0.00582911 0.00266182 0.99997947 -1.0403904 ] [ 0. 0. 0. 1. ]] SLAMing on 57.53654761499999 meters Centerline goodness : 0.814714 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.91, Z:-1.04 [[ 0.99996892 0.00436623 -0.00656479 -0.58502051] [-0.00438325 0.99998706 -0.0025808 1.90713532] [ 0.00655344 0.00260949 0.99997512 -1.04120354] [ 0. 0. 0. 1. ]] SLAMing on 57.56654761499999 meters Centerline goodness : 0.817313 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.91, Z:-1.04 [[ 0.9999678 0.00426571 -0.00679764 -0.58409232] [-0.00428263 0.99998776 -0.00247623 1.90540865] [ 0.00678699 0.00250526 0.99997383 -1.04163031] [ 0. 0. 0. 1. ]] SLAMing on 57.59654761499999 meters Centerline goodness : 0.812997 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.91, Z:-1.04 [[ 0.99996794 0.00445933 -0.00665011 -0.5843202 ] [-0.00448231 0.99998403 -0.00344361 1.90895372] [ 0.00663464 0.0034733 0.99997196 -1.04272108] [ 0. 0. 0. 1. ]] SLAMing on 57.62654761499999 meters Centerline goodness : 0.814024 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.91, Z:-1.05 [[ 0.99996562 0.00368499 -0.00742866 -0.58113372] [-0.00372085 0.99998147 -0.00481817 1.91017328] [ 0.00741077 0.00484564 0.9999608 -1.04535719] [ 0. 0. 0. 1. ]] SLAMing on 57.65654761499999 meters Centerline goodness : 0.812073 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.91, Z:-1.05 [[ 0.99996655 0.00320293 -0.00752596 -0.5794109 ] [-0.0032474 0.9999773 -0.00590352 1.91213108] [ 0.00750688 0.00592776 0.99995425 -1.04790362] [ 0. 0. 0. 1. ]] SLAMing on 57.68654761499999 meters Centerline goodness : 0.812642 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.91, Z:-1.04 [[ 9.99957771e-01 5.64154105e-03 -7.25462200e-03 -5.80690173e-01] [-5.65043291e-03 9.99983309e-01 -1.20576997e-03 1.91366335e+00] [ 7.24769852e-03 1.24671080e-03 9.99972958e-01 -1.04340792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.71654761499999 meters Centerline goodness : 0.815018 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.91, Z:-1.04 [[ 9.99954760e-01 6.06519453e-03 -7.32737717e-03 -5.81935827e-01] [-6.06586406e-03 9.99981600e-01 -6.91532191e-05 1.91097920e+00] [ 7.32682292e-03 1.13596965e-04 9.99973152e-01 -1.04086182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74654761499999 meters Centerline goodness : 0.821268 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.91, Z:-1.04 [[ 9.99969478e-01 3.92126134e-03 -6.75777697e-03 -5.86612136e-01] [-3.93181255e-03 9.99991071e-01 -1.54876707e-03 1.90581631e+00] [ 6.75164351e-03 1.57529011e-03 9.99975967e-01 -1.03585718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.77654761499999 meters Centerline goodness : 0.815884 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.91, Z:-1.04 [[ 9.99952611e-01 6.37625705e-03 -7.35657133e-03 -5.83061549e-01] [-6.36811486e-03 9.99979085e-01 1.12968477e-03 1.90983081e+00] [ 7.36362063e-03 -1.08278374e-03 9.99972302e-01 -1.03814411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80654761499999 meters Centerline goodness : 0.815620 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.91, Z:-1.04 [[ 9.99953723e-01 5.79104036e-03 -7.68217173e-03 -5.81513210e-01] [-5.79004076e-03 9.99983226e-01 1.52353146e-04 1.91225600e+00] [ 7.68292516e-03 -1.07866009e-04 9.99970480e-01 -1.03951139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.836547614999986 meters Centerline goodness : 0.811615 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.91, Z:-1.04 [[ 9.99954264e-01 4.06609113e-03 -8.65657355e-03 -5.76806764e-01] [-4.08026230e-03 9.99990363e-01 -1.62001053e-03 1.91294556e+00] [ 8.64990302e-03 1.65525753e-03 9.99961219e-01 -1.04301326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86654761499999 meters Centerline goodness : 0.814953 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.91, Z:-1.04 [[ 9.99951130e-01 3.69359904e-03 -9.17035996e-03 -5.75231231e-01] [-3.71052115e-03 9.99991443e-01 -1.82897663e-03 1.91188193e+00] [ 9.16352599e-03 1.86291406e-03 9.99956279e-01 -1.04348344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89654761499999 meters Centerline goodness : 0.820277 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.91, Z:-1.04 [[ 9.99950743e-01 5.07369170e-03 -8.53043551e-03 -5.79366418e-01] [-5.07522835e-03 9.99987108e-01 -1.58499344e-04 1.91103833e+00] [ 8.52952137e-03 2.01785445e-04 9.99963603e-01 -1.03922776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92654761499999 meters Centerline goodness : 0.820673 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.92, Z:-1.04 [[ 0.99992354 0.00872683 -0.00876131 -0.57836218] [-0.0087063 0.99995927 0.00237838 1.91689945] [ 0.00878171 -0.00230192 0.99995879 -1.04056937] [ 0. 0. 0. 1. ]] SLAMing on 57.95654761499999 meters Centerline goodness : 0.817465 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.92, Z:-1.04 [[ 9.99924735e-01 8.66490525e-03 -8.68580269e-03 -5.78258308e-01] [-8.65569136e-03 9.99961936e-01 1.09783101e-03 1.92129939e+00] [ 8.69498468e-03 -1.02256676e-03 9.99961675e-01 -1.04195988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98654761499999 meters Centerline goodness : 0.819663 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.92, Z:-1.04 [[ 9.99923458e-01 8.34602518e-03 -9.13360759e-03 -5.77352095e-01] [-8.33728347e-03 9.99964749e-01 9.94751118e-04 1.92010006e+00] [ 9.14158784e-03 -9.18525501e-04 9.99957793e-01 -1.04165548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.016547614999986 meters Centerline goodness : 0.819733 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.92, Z:-1.04 [[ 9.99922389e-01 8.15230953e-03 -9.42107178e-03 -5.76475862e-01] [-8.14271531e-03 9.99966290e-01 1.05628805e-03 1.91866099e+00] [ 9.42936538e-03 -9.79492961e-04 9.99955063e-01 -1.04183062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04654761499999 meters Centerline goodness : 0.821120 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.92, Z:-1.04 [[ 9.99924810e-01 8.35955543e-03 -8.97172150e-03 -5.77413622e-01] [-8.35596501e-03 9.99964993e-01 4.37603359e-04 1.92185773e+00] [ 8.97506559e-03 -3.62603065e-04 9.99959658e-01 -1.04239033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.07654761499999 meters Centerline goodness : 0.821459 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.92, Z:-1.04 [[ 0.99990626 0.01030904 -0.00901064 -0.58116866] [-0.01029074 0.9999449 0.00207469 1.92392239] [ 0.00903154 -0.00198177 0.99995725 -1.03737655] [ 0. 0. 0. 1. ]] SLAMing on 58.10654761499999 meters Centerline goodness : 0.819961 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.92, Z:-1.04 [[ 0.99993385 0.00647634 -0.00950512 -0.57734502] [-0.00649495 0.99997705 -0.00192883 1.92315835] [ 0.00949241 0.00199044 0.99995297 -1.04105083] [ 0. 0. 0. 1. ]] SLAMing on 58.13654761499999 meters Centerline goodness : 0.817160 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.92, Z:-1.04 [[ 0.99993584 0.00424301 -0.01050322 -0.57186835] [-0.00427857 0.99998519 -0.00336503 1.92453712] [ 0.01048879 0.00340975 0.99993918 -1.0445403 ] [ 0. 0. 0. 1. ]] SLAMing on 58.16654761499999 meters Centerline goodness : 0.817250 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.93, Z:-1.05 [[ 9.99924819e-01 3.92183621e-03 -1.16178977e-02 -5.64786574e-01] [-3.93240533e-03 9.99991875e-01 -8.87023036e-04 1.92572760e+00] [ 1.16143246e-02 9.32642632e-04 9.99932117e-01 -1.04653916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19654761499999 meters Centerline goodness : 0.816940 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.93, Z:-1.05 [[ 9.99935348e-01 2.81456424e-04 -1.13674816e-02 -5.66201670e-01] [-3.38448483e-04 9.99987383e-01 -5.01199219e-03 1.92651567e+00] [ 1.13659275e-02 5.01551546e-03 9.99922827e-01 -1.04592397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22654761499999 meters Centerline goodness : 0.820019 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.92, Z:-1.04 [[ 9.99928753e-01 -6.45552622e-04 -1.19193677e-02 -5.65199998e-01] [ 6.13729379e-04 9.99996238e-01 -2.67334155e-03 1.92127880e+00] [ 1.19210486e-02 2.66583581e-03 9.99925388e-01 -1.04157902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25654761499999 meters Centerline goodness : 0.822334 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.92, Z:-1.04 [[ 9.99920520e-01 -1.53762160e-03 -1.25135684e-02 -5.63913277e-01] [ 1.51727439e-03 9.99997512e-01 -1.63534257e-03 1.91957204e+00] [ 1.25160518e-02 1.61622607e-03 9.99920365e-01 -1.03938682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28654761499999 meters Centerline goodness : 0.820063 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.92, Z:-1.04 [[ 9.99905014e-01 -3.28300838e-03 -1.33860281e-02 -5.60492229e-01] [ 3.25734400e-03 9.99992816e-01 -1.93860287e-03 1.92068212e+00] [ 1.33922964e-02 1.89481583e-03 9.99908524e-01 -1.03970275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.31654761499999 meters Centerline goodness : 0.816440 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.92, Z:-1.04 [[ 0.99988197 -0.00538163 -0.01439045 -0.55605515] [ 0.0053512 0.99998337 -0.00215255 1.91969784] [ 0.0144018 0.00207529 0.99989414 -1.0406158 ] [ 0. 0. 0. 1. ]] SLAMing on 58.34654761499999 meters Centerline goodness : 0.816247 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.92, Z:-1.04 [[ 0.99985761 -0.00678713 -0.01544957 -0.5523294 ] [ 0.00674499 0.99997339 -0.00277805 1.92014652] [ 0.01546801 0.00267345 0.99987679 -1.04165434] [ 0. 0. 0. 1. ]] SLAMing on 58.37654761499999 meters Centerline goodness : 0.816940 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.92, Z:-1.04 [[ 0.99983783 -0.00782187 -0.01622131 -0.55037344] [ 0.00778068 0.99996635 -0.00260105 1.91951596] [ 0.0162411 0.00247442 0.99986504 -1.04055496] [ 0. 0. 0. 1. ]] SLAMing on 58.40654761499999 meters Centerline goodness : 0.817783 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.92, Z:-1.04 [[ 9.99829226e-01 -8.11656264e-03 -1.66024353e-02 -5.50100125e-01] [ 8.08927646e-03 9.99965819e-01 -1.71000167e-03 1.91744768e+00] [ 1.66157471e-02 1.57540796e-03 9.99860708e-01 -1.03845465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43654761499999 meters Centerline goodness : 0.817783 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.92, Z:-1.04 [[ 9.99829226e-01 -8.11656264e-03 -1.66024353e-02 -5.50100125e-01] [ 8.08927646e-03 9.99965819e-01 -1.71000167e-03 1.91744768e+00] [ 1.66157471e-02 1.57540796e-03 9.99860708e-01 -1.03845465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46654761499999 meters Centerline goodness : 0.820757 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.92, Z:-1.04 [[ 9.99845042e-01 -7.10882624e-03 -1.61045517e-02 -5.53213957e-01] [ 7.09921181e-03 9.99974586e-01 -6.54091306e-04 1.91787127e+00] [ 1.61087923e-02 5.39660326e-04 9.99870099e-01 -1.03551540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.49654761499999 meters Centerline goodness : 0.821737 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.92, Z:-1.03 [[ 9.99846790e-01 -6.79296326e-03 -1.61323152e-02 -5.54337331e-01] [ 6.79180961e-03 9.99976927e-01 -1.26298899e-04 1.91975409e+00] [ 1.61328009e-02 1.67119359e-05 9.99869858e-01 -1.03355949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52654761499999 meters Centerline goodness : 0.820763 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.92, Z:-1.03 [[ 9.99842906e-01 -6.78811601e-03 -1.63733073e-02 -5.53862346e-01] [ 6.78519927e-03 9.99976953e-01 -2.33685384e-04 1.92090340e+00] [ 1.63745163e-02 1.22552521e-04 9.99865921e-01 -1.03358827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55654761499999 meters Centerline goodness : 0.817020 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.92, Z:-1.04 [[ 9.99856284e-01 -5.43752948e-03 -1.60575242e-02 -5.54679823e-01] [ 5.42731677e-03 9.99985041e-01 -6.79517112e-04 1.92112168e+00] [ 1.60609789e-02 5.92270185e-04 9.99870839e-01 -1.03566208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.586547614999986 meters Centerline goodness : 0.817620 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.92, Z:-1.04 [[ 9.99861963e-01 -1.72613309e-03 -1.65250089e-02 -5.53099895e-01] [ 1.77938446e-03 9.99993270e-01 3.20831065e-03 1.92119253e+00] [ 1.65193597e-02 -3.23727213e-03 9.99858305e-01 -1.03611897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61654761499999 meters Centerline goodness : 0.816509 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.92, Z:-1.03 [[ 0.99986484 0.00406227 -0.0159311 -0.55661933] [-0.0039249 0.99995493 0.00864448 1.92017006] [ 0.0159655 -0.00858078 0.99983572 -1.0333542 ] [ 0. 0. 0. 1. ]] SLAMing on 58.64654761499999 meters Centerline goodness : 0.822205 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.92, Z:-1.03 [[ 0.99984725 0.00915498 -0.01488842 -0.56366672] [-0.00898889 0.99989704 0.01118513 1.91964974] [ 0.01498929 -0.01104959 0.9998266 -1.03055107] [ 0. 0. 0. 1. ]] SLAMing on 58.67654761499999 meters Centerline goodness : 0.823726 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.92, Z:-1.03 [[ 0.99984317 0.01008161 -0.0145601 -0.56418945] [-0.00992899 0.9998954 0.01051718 1.91965257] [ 0.0146646 -0.01037097 0.99983868 -1.03260694] [ 0. 0. 0. 1. ]] SLAMing on 58.70654761499999 meters Centerline goodness : 0.823408 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.92, Z:-1.03 [[ 0.99987068 0.00756094 -0.01419315 -0.56553406] [-0.00748104 0.99995592 0.00567426 1.92150424] [ 0.01423543 -0.00556735 0.99988317 -1.03474596] [ 0. 0. 0. 1. ]] SLAMing on 58.73654761499999 meters Centerline goodness : 0.822915 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.92, Z:-1.04 [[ 0.99986881 0.00943995 -0.01316268 -0.56839931] [-0.00935586 0.99993553 0.00643511 1.91936489] [ 0.01322257 -0.00631112 0.99989266 -1.03540904] [ 0. 0. 0. 1. ]] SLAMing on 58.766547614999986 meters Centerline goodness : 0.824028 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.92, Z:-1.04 [[ 9.99966880e-01 8.11981999e-03 5.54871095e-04 -5.66558728e-01] [-8.12092923e-03 9.99964970e-01 2.02698007e-03 1.91917642e+00] [-5.38392945e-04 -2.03141900e-03 9.99997792e-01 -1.04073270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79654761499999 meters Centerline goodness : 0.828076 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.92, Z:-1.04 [[ 9.99992563e-01 3.85344228e-03 1.59933158e-04 -5.65835596e-01] [-3.85322245e-03 9.99991661e-01 -1.35278214e-03 1.91672503e+00] [-1.65144693e-04 1.35215582e-03 9.99999072e-01 -1.03991470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82654761499999 meters Centerline goodness : 0.822155 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.92, Z:-1.05 [[ 9.99993728e-01 3.14966250e-03 -1.61962545e-03 -5.55779261e-01] [-3.15003252e-03 9.99995013e-01 -2.25958057e-04 1.91965984e+00] [ 1.61890568e-03 2.31058512e-04 9.99998663e-01 -1.04530712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.85654761499999 meters Centerline goodness : 0.822090 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.92, Z:-1.05 [[ 9.99994548e-01 2.34880044e-03 -2.32089989e-03 -5.52378284e-01] [-2.35086684e-03 9.99996842e-01 -8.88015589e-04 1.91779726e+00] [ 2.31880679e-03 8.93466874e-04 9.99996912e-01 -1.04800655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88654761499999 meters Centerline goodness : 0.820559 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.91, Z:-1.05 [[ 9.99993318e-01 2.41238229e-03 -2.74652833e-03 -5.51137843e-01] [-2.41356954e-03 9.99996995e-01 -4.29041094e-04 1.91383209e+00] [ 2.74548506e-03 4.35667165e-04 9.99996136e-01 -1.04837263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91654761499999 meters Centerline goodness : 0.823792 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.91, Z:-1.05 [[ 9.99991582e-01 2.94334837e-03 -2.85870341e-03 -5.52061933e-01] [-2.94186688e-03 9.99995536e-01 5.22304254e-04 1.91222070e+00] [ 2.86022798e-03 -5.13889932e-04 9.99995777e-01 -1.04640969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.946547614999986 meters Centerline goodness : 0.823621 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.91, Z:-1.05 [[ 9.99992287e-01 2.41999659e-03 -3.09351087e-03 -5.50938705e-01] [-2.41817290e-03 9.99996900e-01 5.93124078e-04 1.91163856e+00] [ 3.09493664e-03 -5.85638859e-04 9.99995039e-01 -1.04663112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97654761499999 meters Centerline goodness : 0.820129 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.91, Z:-1.05 [[ 9.99992920e-01 1.07069394e-03 -3.60734132e-03 -5.47206142e-01] [-1.07207434e-03 9.99999353e-01 -3.80752894e-04 1.91272301e+00] [ 3.60693131e-03 3.84617537e-04 9.99993421e-01 -1.04978070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00654761499999 meters Centerline goodness : 0.819652 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.91, Z:-1.05 [[ 9.99992455e-01 9.05014496e-04 -3.77772973e-03 -5.47090210e-01] [-9.04987927e-04 9.99999590e-01 8.74233700e-06 1.91345310e+00] [ 3.77773610e-03 -5.32347124e-06 9.99992864e-01 -1.04871778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.03654761499999 meters Centerline goodness : 0.825556 Centerline is valid? [False, False] Translation: X:-0.54, Y:1.91, Z:-1.04 [[ 9.99995908e-01 5.64798060e-04 2.80454114e-03 -5.39176316e-01] [-5.43922502e-04 9.99972185e-01 -7.43867622e-03 1.91034751e+00] [-2.80866448e-03 7.43712033e-03 9.99968400e-01 -1.04397220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06654761499999 meters Centerline goodness : 0.828610 Centerline is valid? [False, False] Translation: X:-0.54, Y:1.91, Z:-1.04 [[ 0.99999229 -0.00290586 0.00264069 -0.53903643] [ 0.00293271 0.99994344 -0.01022357 1.90534686] [-0.00261084 0.01023124 0.99994425 -1.04341696] [ 0. 0. 0. 1. ]] SLAMing on 59.09654761499999 meters Centerline goodness : 0.822689 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.91, Z:-1.05 [[ 9.99997630e-01 -1.45899968e-03 1.61620158e-03 -5.32881720e-01] [ 1.47090467e-03 9.99971616e-01 -7.38949209e-03 1.90640607e+00] [-1.60537444e-03 7.39185185e-03 9.99971391e-01 -1.04686219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12654761499999 meters Centerline goodness : 0.819350 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.91, Z:-1.05 [[ 9.99999891e-01 -3.47952241e-04 3.11933089e-04 -5.25814057e-01] [ 3.49427815e-04 9.99988691e-01 -4.74291052e-03 1.90881919e+00] [-3.10279255e-04 4.74301901e-03 9.99988704e-01 -1.05038999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15654761499999 meters Centerline goodness : 0.819839 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.90, Z:-1.04 [[ 9.99999966e-01 1.94205979e-04 -1.72337772e-04 -5.27032617e-01] [-1.94486021e-04 9.99998658e-01 -1.62643087e-03 1.90424919e+00] [ 1.72021678e-04 1.62646433e-03 9.99998663e-01 -1.04427644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18654761499999 meters Centerline goodness : 0.824892 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.90, Z:-1.04 [[ 9.99999611e-01 -7.19044047e-04 5.11002039e-04 -5.33669561e-01] [ 7.20537290e-04 9.99995454e-01 -2.92803409e-03 1.90098026e+00] [-5.08894331e-04 2.92840114e-03 9.99995583e-01 -1.03820303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.21654761499999 meters Centerline goodness : 0.823283 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.90, Z:-1.04 [[ 9.99998616e-01 1.61509522e-03 -3.98301228e-04 -5.29144054e-01] [-1.61505514e-03 9.99998691e-01 1.00909835e-04 1.90163835e+00] [ 3.98463686e-04 -1.00266417e-04 9.99999916e-01 -1.04068102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24654761499999 meters Centerline goodness : 0.821703 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.90, Z:-1.04 [[ 9.99985741e-01 5.33030986e-03 -3.25425668e-04 -5.28836268e-01] [-5.32913326e-03 9.99979621e-01 3.51530510e-03 1.90467288e+00] [ 3.44156702e-04 -3.51352074e-03 9.99993768e-01 -1.04130300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.27654761499999 meters Centerline goodness : 0.826136 Centerline is valid? [False, False] Translation: X:-0.54, Y:1.90, Z:-1.04 [[ 9.99983167e-01 5.79658735e-03 2.54812049e-04 -5.36002348e-01] [-5.79722065e-03 9.99979921e-01 2.55914713e-03 1.90415336e+00] [-2.39972613e-04 -2.56058126e-03 9.99996693e-01 -1.03569432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30654761499999 meters Centerline goodness : 0.827769 Centerline is valid? [False, False] Translation: X:-0.54, Y:1.90, Z:-1.03 [[ 9.99982211e-01 5.96400171e-03 -8.65623601e-05 -5.36088465e-01] [-5.96368996e-03 9.99976968e-01 3.24013563e-03 1.90224578e+00] [ 1.05884541e-04 -3.23956176e-03 9.99994747e-01 -1.03416121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.336547614999986 meters Centerline goodness : 0.828771 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.90, Z:-1.04 [[ 9.99984834e-01 5.49418157e-03 -3.80519595e-04 -5.34340329e-01] [-5.49335466e-03 9.99982619e-01 2.14108158e-03 1.90395538e+00] [ 3.92276472e-04 -2.13895878e-03 9.99997635e-01 -1.03625476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36654761499999 meters Centerline goodness : 0.824668 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.91, Z:-1.05 [[ 9.99987858e-01 4.03581067e-03 -2.82781394e-03 -5.22177542e-01] [-4.03725551e-03 9.99991723e-01 -5.05414087e-04 1.91094649e+00] [ 2.82575077e-03 5.16824557e-04 9.99995874e-01 -1.04751210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39654761499999 meters Centerline goodness : 0.824392 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.91, Z:-1.05 [[ 9.99988552e-01 3.20669108e-03 -3.55137148e-03 -5.19699631e-01] [-3.20937291e-03 9.99994569e-01 -7.49713443e-04 1.90990360e+00] [ 3.54894809e-03 7.61102536e-04 9.99993413e-01 -1.04814630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42654761499999 meters Centerline goodness : 0.830274 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.91, Z:-1.05 [[ 9.99986099e-01 3.94489377e-03 -3.49846637e-03 -5.21553276e-01] [-3.94357937e-03 9.99992151e-01 3.82525297e-04 1.90782613e+00] [ 3.49994793e-03 -3.68723500e-04 9.99993807e-01 -1.04542540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.45654761499999 meters Centerline goodness : 0.833041 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.91, Z:-1.04 [[ 9.99979904e-01 5.57186332e-03 -3.02415730e-03 -5.25653223e-01] [-5.56619098e-03 9.99982740e-01 1.88086276e-03 1.90756920e+00] [ 3.03458501e-03 -1.86399193e-03 9.99993658e-01 -1.04136045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48654761499999 meters Centerline goodness : 0.833089 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.91, Z:-1.04 [[ 0.99997854 0.00570377 -0.00322393 -0.52617318] [-0.00569694 0.99998152 0.00212285 1.9091479 ] [ 0.00323598 -0.00210444 0.99999255 -1.03981313] [ 0. 0. 0. 1. ]] SLAMing on 59.516547614999986 meters Centerline goodness : 0.831711 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.91, Z:-1.04 [[ 9.99982961e-01 4.13640044e-03 -4.11910531e-03 -5.21129706e-01] [-4.13757463e-03 9.99991402e-01 -2.76577804e-04 1.91429559e+00] [ 4.11792585e-03 2.93616197e-04 9.99991478e-01 -1.04458782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54654761499999 meters Centerline goodness : 0.829156 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.91, Z:-1.05 [[ 9.99983768e-01 3.17575868e-03 -4.73057825e-03 -5.17989263e-01] [-3.18130157e-03 9.99994261e-01 -1.16465249e-03 1.91425914e+00] [ 4.72685245e-03 1.17968299e-03 9.99988133e-01 -1.04693599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.57654761499999 meters Centerline goodness : 0.831307 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.91, Z:-1.04 [[ 9.99982498e-01 3.07906416e-03 -5.05198862e-03 -5.18017523e-01] [-3.07912265e-03 9.99995259e-01 -3.79955496e-06 1.91053115e+00] [ 5.05195297e-03 1.93551810e-05 9.99987239e-01 -1.04464700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60654761499999 meters Centerline goodness : 0.834202 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.91, Z:-1.04 [[ 9.99981913e-01 3.33404163e-03 -5.00570041e-03 -5.19131879e-01] [-3.32737527e-03 9.99993567e-01 1.33949024e-03 1.90808618e+00] [ 5.01013412e-03 -1.32281017e-03 9.99986574e-01 -1.04206312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.63654761499999 meters Centerline goodness : 0.834073 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.91, Z:-1.04 [[ 9.99983374e-01 3.30412431e-03 -4.72603185e-03 -5.20349665e-01] [-3.29612248e-03 9.99993123e-01 1.69992777e-03 1.90954293e+00] [ 4.73161612e-03 -1.68432193e-03 9.99987387e-01 -1.04049987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66654761499999 meters Centerline goodness : 0.838236 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.91, Z:-1.04 [[ 9.99981931e-01 1.59491756e-03 -5.79599019e-03 -5.16427405e-01] [-1.58658099e-03 9.99997701e-01 1.44264888e-03 1.90815084e+00] [ 5.79827777e-03 -1.43342700e-03 9.99982162e-01 -1.04105483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.696547614999986 meters Centerline goodness : 0.840076 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.91, Z:-1.05 [[ 9.99974445e-01 -1.07577738e-03 -7.06774372e-03 -5.09640377e-01] [ 1.07191172e-03 9.99999274e-01 -5.50709275e-04 1.90804302e+00] [ 7.06833103e-03 5.43119204e-04 9.99974872e-01 -1.04562243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72654761499999 meters Centerline goodness : 0.835631 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.91, Z:-1.05 [[ 0.99996618 -0.00258811 -0.00780688 -0.50556644] [ 0.00256652 0.99999286 -0.00277394 1.91279561] [ 0.00781401 0.00275381 0.99996568 -1.04939579] [ 0. 0. 0. 1. ]] SLAMing on 59.75654761499999 meters Centerline goodness : 0.838420 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.91, Z:-1.05 [[ 9.99965589e-01 -2.43396362e-03 -7.93077114e-03 -5.06588397e-01] [ 2.42822717e-03 9.99996783e-01 -7.32863658e-04 1.90898701e+00] [ 7.93252939e-03 7.13580725e-04 9.99968282e-01 -1.04543621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78654761499999 meters Centerline goodness : 0.842783 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.91, Z:-1.04 [[ 0.99995172 -0.00587879 -0.00787356 -0.50805363] [ 0.00585528 0.99997834 -0.00300605 1.90531927] [ 0.00789106 0.0029598 0.99996448 -1.04259764] [ 0. 0. 0. 1. ]] SLAMing on 59.81654761499999 meters Centerline goodness : 0.837302 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.91, Z:-1.04 [[ 9.99941867e-01 -6.34391311e-03 -8.71875174e-03 -5.01227519e-01] [ 6.33843826e-03 9.99979697e-01 -6.55428708e-04 1.90667455e+00] [ 8.72273271e-03 6.00127337e-04 9.99961776e-01 -1.04498262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84654761499999 meters Centerline goodness : 0.836166 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.91, Z:-1.04 [[ 9.99933686e-01 -7.10873905e-03 -9.06032294e-03 -5.00067314e-01] [ 7.10118176e-03 9.99974411e-01 -8.66006378e-04 1.90863980e+00] [ 9.06624731e-03 8.01609950e-04 9.99958579e-01 -1.04469725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87654761499999 meters Centerline goodness : 0.839838 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.90, Z:-1.04 [[ 9.99934322e-01 -6.55593132e-03 -9.40055612e-03 -5.02240516e-01] [ 6.56954779e-03 9.99977414e-01 1.41832816e-03 1.90247036e+00] [ 9.39104534e-03 -1.47999241e-03 9.99954808e-01 -1.03916569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90654761499999 meters Centerline goodness : 0.844555 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.90, Z:-1.04 [[ 0.99993305 -0.00646258 -0.00959815 -0.50308228] [ 0.00648929 0.99997515 0.0027547 1.90034834] [ 0.00958011 -0.00281681 0.99995014 -1.03607257] [ 0. 0. 0. 1. ]] SLAMing on 59.93654761499999 meters Centerline goodness : 0.838999 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.91, Z:-1.04 [[ 0.99994511 -0.00381144 -0.00976007 -0.50071626] [ 0.00385692 0.99998177 0.00464509 1.9075411 ] [ 0.00974219 -0.00468247 0.99994158 -1.03898221] [ 0. 0. 0. 1. ]] SLAMing on 59.96654761499999 meters Centerline goodness : 0.836876 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.91, Z:-1.04 [[ 0.99994353 -0.00384816 -0.00990577 -0.50017921] [ 0.00389047 0.99998338 0.00425552 1.90785315] [ 0.00988923 -0.00429382 0.99994188 -1.03961602] [ 0. 0. 0. 1. ]] SLAMing on 59.99654761499999 meters Centerline goodness : 0.834627 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.91, Z:-1.04 [[ 0.99994084 -0.00399828 -0.01011622 -0.4995806 ] [ 0.00403966 0.99998354 0.00407367 1.90779702] [ 0.01009977 -0.00411429 0.99994053 -1.03984601] [ 0. 0. 0. 1. ]] SLAMing on 60.02654761499999 meters Centerline goodness : 0.840402 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.91, Z:-1.04 [[ 0.99995277 -0.00222913 -0.00945991 -0.50401309] [ 0.00227154 0.99998741 0.00447517 1.91069749] [ 0.00944981 -0.00449644 0.99994524 -1.03703476] [ 0. 0. 0. 1. ]] SLAMing on 60.05654761499999 meters Centerline goodness : 0.838312 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.91, Z:-1.03 [[ 9.99957640e-01 -6.68453147e-04 -9.17991833e-03 -5.07253589e-01] [ 7.14332270e-04 9.99987268e-01 4.99540117e-03 1.91139327e+00] [ 9.17646226e-03 -5.00174708e-03 9.99945386e-01 -1.03464924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.086547614999986 meters Centerline goodness : 0.840838 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.91, Z:-1.04 [[ 9.99957845e-01 -7.28443709e-04 -9.15296229e-03 -5.06728430e-01] [ 7.64267605e-04 9.99992060e-01 3.91102477e-03 1.91448034e+00] [ 9.15004065e-03 -3.91785521e-03 9.99950462e-01 -1.03630206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11654761499999 meters Centerline goodness : 0.838664 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.92, Z:-1.04 [[ 0.99994919 0.0024131 -0.00978747 -0.50295571] [-0.00238044 0.99999157 0.00334651 1.92305759] [ 0.00979547 -0.00332304 0.9999465 -1.04434073] [ 0. 0. 0. 1. ]] SLAMing on 60.14654761499999 meters Centerline goodness : 0.838365 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.93, Z:-1.05 [[ 9.99948199e-01 2.30668926e-03 -9.91356954e-03 -5.01928389e-01] [-2.28774391e-03 9.99995536e-01 1.92196768e-03 1.92532533e+00] [ 9.91795867e-03 -1.89918841e-03 9.99949012e-01 -1.04667613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.17654761499999 meters Centerline goodness : 0.834606 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.92, Z:-1.04 [[ 0.99994855 0.00350006 -0.00952118 -0.50537886] [-0.00347004 0.99998896 0.00316771 1.9239994 ] [ 0.00953216 -0.00313451 0.99994966 -1.0430113 ] [ 0. 0. 0. 1. ]] SLAMing on 60.20654761499999 meters Centerline goodness : 0.840186 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.92, Z:-1.04 [[ 9.99956564e-01 1.85089709e-03 -9.13478548e-03 -5.09777560e-01] [-1.84397531e-03 9.99998006e-01 7.66102299e-04 1.92438018e+00] [ 9.13618524e-03 -7.49224704e-04 9.99957984e-01 -1.03930972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23654761499999 meters Centerline goodness : 0.839573 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.93, Z:-1.04 [[ 9.99954618e-01 1.18840393e-03 -9.45249976e-03 -5.07357504e-01] [-1.19756744e-03 9.99998818e-01 -9.63826013e-04 1.92740052e+00] [ 9.45134317e-03 9.75102279e-04 9.99954860e-01 -1.04263136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.266547614999986 meters Centerline goodness : 0.840305 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.93, Z:-1.05 [[ 9.99939787e-01 4.02699187e-03 -1.02081527e-02 -5.03274260e-01] [-4.01356122e-03 9.99991053e-01 1.33582341e-03 1.93024884e+00] [ 1.02134407e-02 -1.29477193e-03 9.99947003e-01 -1.04620936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29654761499999 meters Centerline goodness : 0.831096 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.93, Z:-1.05 [[ 9.99942156e-01 4.62507171e-03 -9.71049455e-03 -5.04584487e-01] [-4.61488266e-03 9.99988777e-01 1.07142652e-03 1.93186764e+00] [ 9.71534100e-03 -1.02655175e-03 9.99952278e-01 -1.04667754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32654761499999 meters Centerline goodness : 0.831096 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.93, Z:-1.05 [[ 9.99942156e-01 4.62507171e-03 -9.71049455e-03 -5.04584487e-01] [-4.61488266e-03 9.99988777e-01 1.07142652e-03 1.93186764e+00] [ 9.71534100e-03 -1.02655175e-03 9.99952278e-01 -1.04667754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.35654761499999 meters Centerline goodness : 0.833141 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.93, Z:-1.04 [[ 9.99947779e-01 4.93989556e-03 -8.94629891e-03 -5.10981497e-01] [-4.94006052e-03 9.99987798e-01 3.65941650e-06 1.92913623e+00] [ 8.94620782e-03 4.05360326e-05 9.99959981e-01 -1.04275282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38654761499999 meters Centerline goodness : 0.839838 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.93, Z:-1.04 [[ 9.99942221e-01 5.86410805e-03 -9.00929665e-03 -5.12141838e-01] [-5.85693488e-03 9.99982510e-01 8.22374611e-04 1.92710683e+00] [ 9.01396157e-03 -7.69560231e-04 9.99959077e-01 -1.04136125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41654761499999 meters Centerline goodness : 0.837634 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.93, Z:-1.04 [[ 9.99941069e-01 6.03392829e-03 -9.02492526e-03 -5.10882901e-01] [-6.03663735e-03 9.99981742e-01 -2.72964798e-04 1.92892689e+00] [ 9.02311344e-03 3.27428913e-04 9.99959237e-01 -1.04437907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.446547614999986 meters Centerline goodness : 0.833567 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.93, Z:-1.05 [[ 9.99943377e-01 6.49888377e-03 -8.42654679e-03 -5.11211954e-01] [-6.50490704e-03 9.99978606e-01 -6.87585642e-04 1.92968899e+00] [ 8.42189797e-03 7.42360612e-04 9.99964260e-01 -1.04656840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47654761499999 meters Centerline goodness : 0.831747 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.93, Z:-1.05 [[ 0.9999638 0.0031443 -0.00790598 -0.51204145] [-0.00318052 0.99998449 -0.00457313 1.92808015] [ 0.00789148 0.00459811 0.99995829 -1.04784171] [ 0. 0. 0. 1. ]] SLAMing on 60.50654761499999 meters Centerline goodness : 0.837550 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.93, Z:-1.05 [[ 0.99996067 0.00323794 -0.00825703 -0.51165973] [-0.00327196 0.9999862 -0.00411037 1.92641667] [ 0.00824361 0.00413722 0.99995746 -1.04712363] [ 0. 0. 0. 1. ]] SLAMing on 60.53654761499999 meters Centerline goodness : 0.837242 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.92, Z:-1.05 [[ 0.99995642 0.00318417 -0.00877598 -0.51096844] [-0.00321333 0.99998936 -0.00331088 1.92414607] [ 0.00876535 0.00333894 0.99995601 -1.04575379] [ 0. 0. 0. 1. ]] SLAMing on 60.56654761499999 meters Centerline goodness : 0.836298 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.92, Z:-1.05 [[ 0.99995438 0.00304544 -0.0090534 -0.51020362] [-0.00307049 0.99999149 -0.00275409 1.9228471 ] [ 0.00904493 0.00278176 0.99995522 -1.04538155] [ 0. 0. 0. 1. ]] SLAMing on 60.59654761499999 meters Centerline goodness : 0.832821 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.92, Z:-1.05 [[ 0.99995324 0.00230635 -0.00939168 -0.50869192] [-0.00232905 0.99999439 -0.00240651 1.92290062] [ 0.00938607 0.00242827 0.999953 -1.04519008] [ 0. 0. 0. 1. ]] SLAMing on 60.626547614999986 meters Centerline goodness : 0.834017 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.92, Z:-1.04 [[ 9.99953295e-01 2.19094701e-03 -9.41318361e-03 -5.09649337e-01] [-2.18849303e-03 9.99997569e-01 2.70988754e-04 1.91821141e+00] [ 9.41375445e-03 -2.50375410e-04 9.99955658e-01 -1.04053533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65654761499999 meters Centerline goodness : 0.837277 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.92, Z:-1.04 [[ 9.99955843e-01 -1.18089892e-03 -9.32299822e-03 -5.10435440e-01] [ 1.14994939e-03 9.99993813e-01 -3.32436007e-03 1.91612920e+00] [ 9.32686628e-03 3.31349230e-03 9.99951014e-01 -1.04029803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68654761499999 meters Centerline goodness : 0.834083 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.92, Z:-1.04 [[ 9.99949830e-01 1.80330574e-03 -9.85320972e-03 -5.06694188e-01] [-1.81452494e-03 9.99997716e-01 -1.12981280e-03 1.91887172e+00] [ 9.85114982e-03 1.14763501e-03 9.99950818e-01 -1.04434373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.71654761499999 meters Centerline goodness : 0.830116 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.92, Z:-1.05 [[ 9.99933531e-01 5.47284963e-03 -1.01479403e-02 -5.04937337e-01] [-5.46081111e-03 9.99984353e-01 1.21363166e-03 1.92323072e+00] [ 1.01544236e-02 -1.15813501e-03 9.99947772e-01 -1.04687131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74654761499999 meters Centerline goodness : 0.828481 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.93, Z:-1.05 [[ 9.99929229e-01 3.50301011e-03 -1.13695366e-02 -5.00856300e-01] [-3.50454059e-03 9.99993853e-01 -1.14692027e-04 1.92537783e+00] [ 1.13690650e-02 1.54528913e-04 9.99935358e-01 -1.04782240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.77654761499999 meters Centerline goodness : 0.830852 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.92, Z:-1.04 [[ 9.99921888e-01 -1.86132300e-03 -1.23593567e-02 -4.99731082e-01] [ 1.83648260e-03 9.99996272e-01 -2.02089064e-03 1.92196917e+00] [ 1.23630721e-02 1.99803504e-03 9.99921578e-01 -1.04230028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80654761499999 meters Centerline goodness : 0.829239 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.92, Z:-1.04 [[ 0.99991457 -0.00257072 -0.01281551 -0.49825329] [ 0.00253974 0.99999381 -0.00243339 1.92386326] [ 0.01282169 0.00240063 0.99991492 -1.04249748] [ 0. 0. 0. 1. ]] SLAMing on 60.836547614999986 meters Centerline goodness : 0.831016 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.93, Z:-1.04 [[ 9.99904912e-01 -4.24978313e-04 -1.37835361e-02 -4.94555879e-01] [ 4.34692348e-04 9.99999659e-01 7.01768031e-04 1.92687642e+00] [ 1.37832332e-02 -7.07692899e-04 9.99904756e-01 -1.04307102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86654761499999 meters Centerline goodness : 0.827747 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.93, Z:-1.04 [[ 9.99895624e-01 -1.02352833e-03 -1.44115831e-02 -4.92809858e-01] [ 1.03016707e-03 9.99999367e-01 4.53237260e-04 1.92688305e+00] [ 1.44111100e-02 -4.68036291e-04 9.99896045e-01 -1.04321317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89654761499999 meters Centerline goodness : 0.828839 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.93, Z:-1.04 [[ 9.99895449e-01 -7.59500997e-04 -1.44400099e-02 -4.93923599e-01] [ 7.75500819e-04 9.99999092e-01 1.10245305e-03 1.92568222e+00] [ 1.44391595e-02 -1.11353603e-03 9.99895130e-01 -1.04114569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92654761499999 meters Centerline goodness : 0.833469 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.93, Z:-1.04 [[ 9.99902627e-01 3.33422924e-05 -1.39547947e-02 -4.96363952e-01] [-1.72154961e-05 9.99999332e-01 1.15576407e-03 1.92770346e+00] [ 1.39548240e-02 -1.15541129e-03 9.99901959e-01 -1.03986669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.95654761499999 meters Centerline goodness : 0.837916 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.93, Z:-1.04 [[ 0.99989129 0.00451914 -0.01403543 -0.49801794] [-0.00444305 0.99997529 0.0054478 1.9304849 ] [ 0.0140597 -0.00538484 0.99988666 -1.03722952] [ 0. 0. 0. 1. ]] SLAMing on 60.98654761499999 meters Centerline goodness : 0.836339 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.93, Z:-1.04 [[ 0.99989085 0.00413632 -0.0141835 -0.49720848] [-0.00407075 0.99998091 0.00464881 1.93186675] [ 0.01420246 -0.00459056 0.9998886 -1.03821746] [ 0. 0. 0. 1. ]] SLAMing on 61.016547614999986 meters Centerline goodness : 0.832911 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.94, Z:-1.04 [[ 0.99988515 0.00233984 -0.01497347 -0.49296094] [-0.002299 0.99999359 0.00274391 1.93555678] [ 0.01497979 -0.00270917 0.99988413 -1.04146136] [ 0. 0. 0. 1. ]] SLAMing on 61.04654761499999 meters Centerline goodness : 0.831735 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.94, Z:-1.04 [[ 9.99882490e-01 2.03988139e-03 -1.51935927e-02 -4.92691501e-01] [-2.01300615e-03 9.99996383e-01 1.78393669e-03 1.93952102e+00] [ 1.51971768e-02 -1.75314227e-03 9.99882979e-01 -1.04154262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.07654761499999 meters Centerline goodness : 0.832257 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.94, Z:-1.04 [[ 0.99988293 0.00263943 -0.01507153 -0.4943239 ] [-0.00260814 0.9999944 0.00209518 1.93953398] [ 0.01507697 -0.00205563 0.99988422 -1.04001367] [ 0. 0. 0. 1. ]] SLAMing on 61.10654761499999 meters Centerline goodness : 0.834565 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.94, Z:-1.04 [[ 9.99878165e-01 2.98121391e-03 -1.53221065e-02 -4.94178124e-01] [-2.95529251e-03 9.99994164e-01 1.71412845e-03 1.93856513e+00] [ 1.53271272e-02 -1.66863831e-03 9.99881140e-01 -1.04031529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.13654761499999 meters Centerline goodness : 0.828799 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.94, Z:-1.04 [[ 9.99880666e-01 2.66145069e-03 -1.52174257e-02 -4.93079572e-01] [-2.65247688e-03 9.99996296e-01 6.09859201e-04 1.94067996e+00] [ 1.52189924e-02 -5.69422554e-04 9.99884022e-01 -1.04273270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16654761499999 meters Centerline goodness : 0.831740 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.94, Z:-1.05 [[ 9.99995284e-01 2.78127933e-03 -1.30262810e-03 -4.92268529e-01] [-2.78078649e-03 9.99996061e-01 3.80004041e-04 1.94202555e+00] [ 1.30367987e-03 -3.76379918e-04 9.99999079e-01 -1.04565323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.196547614999986 meters Centerline goodness : 0.828142 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.94, Z:-1.04 [[ 9.99991180e-01 4.11499358e-03 -8.41032397e-04 -4.94938065e-01] [-4.11423084e-03 9.99991126e-01 9.06634394e-04 1.94345251e+00] [ 8.44755728e-04 -9.03166196e-04 9.99999235e-01 -1.04416634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22654761499999 meters Centerline goodness : 0.827599 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.94, Z:-1.05 [[ 0.99997606 0.00657224 -0.00216341 -0.48998181] [-0.00656383 0.99997095 0.00387452 1.94357167] [ 0.00218881 -0.00386023 0.99999015 -1.04635426] [ 0. 0. 0. 1. ]] SLAMing on 61.25654761499999 meters Centerline goodness : 0.826241 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.94, Z:-1.05 [[ 9.99991363e-01 3.85574022e-03 -1.55154905e-03 -4.91701920e-01] [-3.85727169e-03 9.99992075e-01 -9.85281090e-04 1.94398908e+00] [ 1.54773777e-03 9.91257326e-04 9.99998311e-01 -1.04833046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28654761499999 meters Centerline goodness : 0.827818 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.94, Z:-1.05 [[ 9.99986245e-01 5.17580382e-03 -8.49559232e-04 -4.95126932e-01] [-5.17557790e-03 9.99986571e-01 2.67908852e-04 1.94293887e+00] [ 8.50934466e-04 -2.63508207e-04 9.99999603e-01 -1.04576679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.31654761499999 meters Centerline goodness : 0.831704 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.95, Z:-1.04 [[ 9.99981754e-01 6.02028864e-03 -4.98327135e-04 -4.97228441e-01] [-6.02013041e-03 9.99981828e-01 3.18420284e-04 1.94512352e+00] [ 5.00235061e-04 -3.15414480e-04 9.99999825e-01 -1.04459548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34654761499999 meters Centerline goodness : 0.831291 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.95, Z:-1.05 [[ 9.99984677e-01 5.44461298e-03 -1.00117563e-03 -4.94192557e-01] [-5.44576592e-03 9.99984508e-01 -1.15249370e-03 1.94635640e+00] [ 9.94885233e-04 1.15792821e-03 9.99998835e-01 -1.04826323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.376547614999986 meters Centerline goodness : 0.838007 Centerline is valid? [False, False] Translation: X:-1.05, Y:2.03, Z:-1.06 [[ 0.99359285 -0.03804246 -0.10642381 -1.04868313] [ 0.00654517 0.95943485 -0.28185444 2.03176631] [ 0.11282914 0.279352 0.9535366 -1.06340508] [ 0. 0. 0. 1. ]] SLAMing on 61.40654761499999 meters Centerline goodness : 0.826884 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.85, Z:-0.93 [[ 0.98894585 0.08393094 -0.12223623 -0.71487567] [-0.0899765 0.99493584 -0.04479839 1.8522411 ] [ 0.11785724 0.05530157 0.99148949 -0.92518606] [ 0. 0. 0. 1. ]] SLAMing on 61.43654761499999 meters Centerline goodness : 0.829532 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.85, Z:-0.92 [[ 0.9888884 0.08405488 -0.1226153 -0.71451265] [-0.089967 0.99499453 -0.04349518 1.84913043] [ 0.11834557 0.05404321 0.99150071 -0.92385249] [ 0. 0. 0. 1. ]] SLAMing on 61.46654761499999 meters Centerline goodness : 0.829799 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.85, Z:-0.92 [[ 0.98886807 0.0837055 -0.12301761 -0.71239813] [-0.08957351 0.99505324 -0.04296097 1.84588942] [ 0.118813 0.05350185 0.99147417 -0.92485961] [ 0. 0. 0. 1. ]] SLAMing on 61.49654761499999 meters Centerline goodness : 0.827618 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.84, Z:-0.93 [[ 0.988866 0.08310114 -0.12344321 -0.70929233] [-0.08899168 0.99510428 -0.04298772 1.84341723] [ 0.11926654 0.05349451 0.99142011 -0.92713462] [ 0. 0. 0. 1. ]] SLAMing on 61.52654761499999 meters Centerline goodness : 0.826914 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.84, Z:-0.93 [[ 0.98884904 0.0838204 -0.1230923 -0.71059853] [-0.08961039 0.99507948 -0.04227058 1.84275541] [ 0.11894349 0.05282957 0.99149457 -0.92656647] [ 0. 0. 0. 1. ]] SLAMing on 61.55654761499999 meters Centerline goodness : 0.833447 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.84, Z:-0.92 [[ 0.98873061 0.08576521 -0.12270333 -0.71494708] [-0.09107771 0.995105 -0.03835208 1.83678611] [ 0.11881342 0.04909542 0.99170208 -0.92063141] [ 0. 0. 0. 1. ]] SLAMing on 61.586547614999986 meters Centerline goodness : 0.832800 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.83, Z:-0.92 [[ 0.98903966 0.08199378 -0.12279074 -0.71599463] [-0.08769115 0.99527335 -0.0417279 1.83410948] [ 0.11878892 0.05203821 0.99155495 -0.92060233] [ 0. 0. 0. 1. ]] SLAMing on 61.61654761499999 meters Centerline goodness : 0.832669 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.83, Z:-0.92 [[ 0.9890378 0.08092738 -0.12351105 -0.71363586] [-0.08646621 0.99544522 -0.04015492 1.83012359] [ 0.11969885 0.05039427 0.99153043 -0.91888267] [ 0. 0. 0. 1. ]] SLAMing on 61.64654761499999 meters Centerline goodness : 0.826526 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.83, Z:-0.92 [[ 0.98950517 0.07417207 -0.12400814 -0.71282614] [-0.07797222 0.9966146 -0.02607042 1.82518947] [ 0.12165463 0.035466 0.99193866 -0.91541801] [ 0. 0. 0. 1. ]] SLAMing on 61.67654761499999 meters Centerline goodness : 0.823859 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.83, Z:-0.92 [[ 0.98949223 0.07336033 -0.12459287 -0.71036833] [-0.07723163 0.99666029 -0.02652454 1.82640589] [ 0.12223092 0.03586834 0.99185335 -0.91615226] [ 0. 0. 0. 1. ]] SLAMing on 61.70654761499999 meters Centerline goodness : 0.829546 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.83, Z:-0.91 [[ 0.98942775 0.07465875 -0.12433343 -0.71312025] [-0.078437 0.99658598 -0.02576845 1.82633422] [ 0.12198512 0.03524836 0.99190583 -0.91418784] [ 0. 0. 0. 1. ]] SLAMing on 61.73654761499999 meters Centerline goodness : 0.828432 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.83, Z:-0.91 [[ 0.98937684 0.0758711 -0.12400423 -0.71586455] [-0.079566 0.9965132 -0.0251137 1.82646676] [ 0.12166645 0.03471343 0.99196384 -0.91232065] [ 0. 0. 0. 1. ]] SLAMing on 61.766547614999986 meters Centerline goodness : 0.827457 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.83, Z:-0.91 [[ 0.98906564 0.07970068 -0.12408452 -0.71402059] [-0.08303672 0.99630491 -0.02194141 1.82828394] [ 0.12187727 0.03200506 0.99202904 -0.91329009] [ 0. 0. 0. 1. ]] SLAMing on 61.79654761499999 meters Centerline goodness : 0.828598 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.83, Z:-0.91 [[ 0.98872672 0.08394259 -0.12398839 -0.7137786 ] [-0.08671198 0.99608663 -0.01710129 1.82736086] [ 0.12206765 0.02765978 0.99213629 -0.91173155] [ 0. 0. 0. 1. ]] SLAMing on 61.82654761499999 meters Centerline goodness : 0.833528 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.83, Z:-0.91 [[ 0.98871949 0.08509959 -0.12325517 -0.71688043] [-0.0877931 0.99600075 -0.01657941 1.82963761] [ 0.12135135 0.02721334 0.99223651 -0.9103123 ] [ 0. 0. 0. 1. ]] SLAMing on 61.85654761499999 meters Centerline goodness : 0.832910 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.83, Z:-0.91 [[ 0.98865837 0.08647177 -0.12278948 -0.72045426] [-0.0889721 0.9959209 -0.01501729 1.82764908] [ 0.12099003 0.02577181 0.99231911 -0.90729589] [ 0. 0. 0. 1. ]] SLAMing on 61.88654761499999 meters Centerline goodness : 0.832129 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.83, Z:-0.91 [[ 0.98859182 0.08709934 -0.12288175 -0.72163205] [-0.08955201 0.99587558 -0.01456911 1.82738083] [ 0.12110597 0.02540721 0.99231437 -0.90590375] [ 0. 0. 0. 1. ]] SLAMing on 61.91654761499999 meters Centerline goodness : 0.830480 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.83, Z:-0.91 [[ 0.98832885 0.08885496 -0.12373712 -0.71581537] [-0.09103557 0.99577449 -0.01207057 1.82824874] [ 0.12214174 0.02319417 0.99224162 -0.9079467 ] [ 0. 0. 0. 1. ]] SLAMing on 61.946547614999986 meters Centerline goodness : 0.834057 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.83, Z:-0.91 [[ 0.98803329 0.09087555 -0.12462686 -0.71012166] [-0.0927581 0.99564454 -0.00937473 1.83012607] [ 0.12323212 0.0208227 0.99215939 -0.90969496] [ 0. 0. 0. 1. ]] SLAMing on 61.97654761499999 meters Centerline goodness : 0.827028 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.83, Z:-0.91 [[ 0.9877292 0.09301031 -0.12545963 -0.70494341] [-0.09454923 0.9954999 -0.00635485 1.83075192] [ 0.12430398 0.01813899 0.99207837 -0.91087272] [ 0. 0. 0. 1. ]] SLAMing on 62.00654761499999 meters Centerline goodness : 0.832593 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.83, Z:-0.91 [[ 0.98808154 0.08913014 -0.12550177 -0.70615848] [-0.09120045 0.99577359 -0.01083683 1.83159789] [ 0.12400546 0.02215349 0.99203421 -0.91145104] [ 0. 0. 0. 1. ]] SLAMing on 62.03654761499999 meters Centerline goodness : 0.825689 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.83, Z:-0.91 [[ 0.9880597 0.08932013 -0.12553858 -0.70724046] [-0.09124446 0.99578175 -0.00965137 1.82930315] [ 0.12414697 0.02099083 0.99204179 -0.90921716] [ 0. 0. 0. 1. ]] SLAMing on 62.06654761499999 meters Centerline goodness : 0.829544 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.82, Z:-0.90 [[ 0.98810936 0.08943218 -0.12506713 -0.70986251] [-0.0908883 0.99584317 -0.00597405 1.82494247] [ 0.12401297 0.01727015 0.9921303 -0.90274147] [ 0. 0. 0. 1. ]] SLAMing on 62.09654761499999 meters Centerline goodness : 0.828563 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.82, Z:-0.90 [[ 0.98810137 0.08893756 -0.12548227 -0.70847798] [-0.09033724 0.99589606 -0.00549702 1.82276261] [ 0.12447841 0.01676733 0.99208063 -0.90249539] [ 0. 0. 0. 1. ]] SLAMing on 62.126547614999986 meters Centerline goodness : 0.827578 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.82, Z:-0.90 [[ 0.98806896 0.0887133 -0.12589552 -0.70750938] [-0.09004024 0.99592618 -0.00487765 1.82076051] [ 0.12494993 0.01615511 0.99203151 -0.9018745 ] [ 0. 0. 0. 1. ]] SLAMing on 62.15654761499999 meters Centerline goodness : 0.824430 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.82, Z:-0.90 [[ 0.98806743 0.08849506 -0.12606097 -0.70643983] [-0.08976881 0.9959527 -0.00444818 1.81865686] [ 0.12515712 0.01571144 0.99201252 -0.90219424] [ 0. 0. 0. 1. ]] SLAMing on 62.18654761499999 meters Centerline goodness : 0.820394 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.82, Z:-0.90 [[ 9.87705445e-01 9.21335410e-02 -1.26290797e-01 -7.03234803e-01] [-9.30642759e-02 9.95659008e-01 -1.47676601e-03 1.82041747e+00] [ 1.25606510e-01 1.32117714e-02 9.91992164e-01 -9.04298942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.21654761499999 meters Centerline goodness : 0.815823 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.82, Z:-0.91 [[ 0.98765706 0.09292408 -0.12608982 -0.70410094] [-0.09393837 0.99557578 -0.00210905 1.81986804] [ 0.12533599 0.01392769 0.99201659 -0.90565272] [ 0. 0. 0. 1. ]] SLAMing on 62.24654761499999 meters Centerline goodness : 0.815823 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.82, Z:-0.91 [[ 0.98765706 0.09292408 -0.12608982 -0.70410094] [-0.09393837 0.99557578 -0.00210905 1.81986804] [ 0.12533599 0.01392769 0.99201659 -0.90565272] [ 0. 0. 0. 1. ]] SLAMing on 62.27654761499999 meters Centerline goodness : 0.817490 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.82, Z:-0.91 [[ 0.98801012 0.08932325 -0.12592602 -0.70561937] [-0.09068319 0.99586675 -0.00509706 1.81536616] [ 0.12495025 0.01645532 0.99202654 -0.90572076] [ 0. 0. 0. 1. ]] SLAMing on 62.30654761499999 meters Centerline goodness : 0.815055 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.82, Z:-0.91 [[ 0.98913991 0.08845997 -0.11737581 -0.71391328] [-0.08869771 0.99605343 0.00320688 1.81629222] [ 0.11719626 0.00723891 0.99308239 -0.90880854] [ 0. 0. 0. 1. ]] SLAMing on 62.336547614999986 meters Centerline goodness : 0.815413 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.81, Z:-0.91 [[ 0.98914534 0.08778324 -0.11783718 -0.71320306] [-0.08788382 0.99612122 0.00435236 1.81475509] [ 0.11776218 0.00605087 0.99302339 -0.9063762 ] [ 0. 0. 0. 1. ]] SLAMing on 62.36654761499999 meters Centerline goodness : 0.811535 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.81, Z:-0.91 [[ 9.89476825e-01 8.24747340e-02 -1.18884525e-01 -7.10314532e-01] [-8.30657617e-02 9.96544068e-01 -1.63123555e-05 1.81009389e+00] [ 1.18472323e-01 9.89137434e-03 9.92908087e-01 -9.08119226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39654761499999 meters Centerline goodness : 0.817091 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.81, Z:-0.91 [[ 0.98980718 0.07854644 -0.11879478 -0.71147557] [-0.07954263 0.99682474 -0.00366032 1.80873117] [ 0.11813007 0.01307226 0.99291208 -0.90826403] [ 0. 0. 0. 1. ]] SLAMing on 62.42654761499999 meters Centerline goodness : 0.819906 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.81, Z:-0.91 [[ 0.98978699 0.07998852 -0.11799814 -0.7154488 ] [-0.08078146 0.99672994 -0.0019449 1.80855496] [ 0.11745671 0.0114571 0.99301191 -0.90518753] [ 0. 0. 0. 1. ]] SLAMing on 62.45654761499999 meters Centerline goodness : 0.819249 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.81, Z:-0.90 [[ 0.98941835 0.08401032 -0.11829455 -0.71420808] [-0.08423855 0.99644086 0.00307834 1.80725315] [ 0.11813213 0.00691919 0.99297378 -0.90331064] [ 0. 0. 0. 1. ]] SLAMing on 62.48654761499999 meters Centerline goodness : 0.814538 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.81, Z:-0.91 [[ 9.89496384e-01 8.09178397e-02 -1.19788186e-01 -7.06595413e-01] [-8.13808642e-02 9.96682545e-01 1.02954686e-03 1.80773047e+00] [ 1.19474102e-01 8.72973317e-03 9.92798938e-01 -9.07024174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.516547614999986 meters Centerline goodness : 0.811411 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.91 [[ 9.89527609e-01 7.89704743e-02 -1.20825393e-01 -7.01457423e-01] [-7.96391298e-02 9.96823509e-01 -7.07569874e-04 1.80947694e+00] [ 1.20385715e-01 1.03225891e-02 9.92673523e-01 -9.09860537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54654761499999 meters Centerline goodness : 0.810549 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.91 [[ 0.9898283 0.07578762 -0.12040005 -0.70497096] [-0.07687156 0.9970314 -0.00437718 1.81007331] [ 0.11971089 0.013588 0.9927158 -0.90875845] [ 0. 0. 0. 1. ]] SLAMing on 62.57654761499999 meters Centerline goodness : 0.814709 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.81, Z:-0.91 [[ 0.98986913 0.07534264 -0.12034364 -0.70529362] [-0.07627363 0.99708197 -0.00314201 1.80594275] [ 0.11975575 0.01228923 0.99272732 -0.90682402] [ 0. 0. 0. 1. ]] SLAMing on 62.60654761499999 meters Centerline goodness : 0.811887 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.91 [[ 0.98990041 0.074845 -0.12039683 -0.70452173] [-0.07577022 0.99712043 -0.00311884 1.8071524 ] [ 0.11981671 0.01220984 0.99272095 -0.90671364] [ 0. 0. 0. 1. ]] SLAMing on 62.63654761499999 meters Centerline goodness : 0.812139 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.91 [[ 0.98988283 0.0749055 -0.12050372 -0.70477681] [-0.07577055 0.99712187 -0.00260622 1.8077243 ] [ 0.11996167 0.01171048 0.99270945 -0.90544505] [ 0. 0. 0. 1. ]] SLAMing on 62.66654761499999 meters Centerline goodness : 0.814287 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.91 [[ 9.89530508e-01 7.84554550e-02 -1.21136761e-01 -7.01922874e-01] [-7.88898306e-02 9.96882602e-01 1.21337201e-03 1.80726006e+00] [ 1.20854325e-01 8.35578995e-03 9.92635085e-01 -9.05408174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.696547614999986 meters Centerline goodness : 0.813029 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.90 [[ 9.89534301e-01 7.88894985e-02 -1.20823481e-01 -7.03509955e-01] [-7.93252316e-02 9.96848058e-01 1.20676692e-03 1.80887921e+00] [ 1.20537854e-01 8.39021338e-03 9.92673275e-01 -9.04613678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72654761499999 meters Centerline goodness : 0.813325 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.90 [[ 0.98950529 0.07902523 -0.12097231 -0.70410379] [-0.07934507 0.99684483 0.00217841 1.80669033] [ 0.12076277 0.007443 0.99265349 -0.90277256] [ 0. 0. 0. 1. ]] SLAMing on 62.75654761499999 meters Centerline goodness : 0.812200 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.90 [[ 0.98950161 0.07874922 -0.12118218 -0.70355964] [-0.07908891 0.99686554 0.00201167 1.80793746] [ 0.12096076 0.00759362 0.99262824 -0.90253218] [ 0. 0. 0. 1. ]] SLAMing on 62.78654761499999 meters Centerline goodness : 0.812797 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.90 [[ 9.89483622e-01 7.84899177e-02 -1.21496893e-01 -7.02609935e-01] [-7.89005433e-02 9.96881460e-01 1.43500310e-03 1.80990918e+00] [ 1.21230633e-01 8.16625878e-03 9.92590775e-01 -9.02950088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.81654761499999 meters Centerline goodness : 0.813944 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.81, Z:-0.90 [[ 0.98941312 0.07981377 -0.12120823 -0.7054355 ] [-0.08003873 0.99678718 0.00301935 1.80654766] [ 0.1210598 0.00671397 0.99262251 -0.9004574 ] [ 0. 0. 0. 1. ]] SLAMing on 62.84654761499999 meters Centerline goodness : 0.813109 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.90 [[ 0.9890498 0.08400162 -0.12134336 -0.70400712] [-0.08375202 0.99646087 0.00716488 1.80668918] [ 0.12151577 0.00307633 0.99258473 -0.90033174] [ 0. 0. 0. 1. ]] SLAMing on 62.876547614999986 meters Centerline goodness : 0.810927 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.90 [[ 9.88720591e-01 8.75347998e-02 -1.21528809e-01 -7.01015176e-01] [-8.69461682e-02 9.96161320e-01 1.01483328e-02 1.80924554e+00] [ 1.21950631e-01 5.32598664e-04 9.92536025e-01 -9.02183434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90654761499999 meters Centerline goodness : 0.810633 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.90 [[ 9.88703206e-01 8.87122443e-02 -1.20814350e-01 -7.03402910e-01] [-8.81451936e-02 9.96057035e-01 1.00403586e-02 1.80986695e+00] [ 1.21228686e-01 7.22269512e-04 9.92624342e-01 -9.02696078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93654761499999 meters Centerline goodness : 0.814400 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.81, Z:-0.90 [[ 9.89448816e-01 8.82633472e-02 -1.14893964e-01 -6.94800399e-01] [-8.89432458e-02 9.96036379e-01 -7.94510202e-04 1.81051273e+00] [ 1.14368441e-01 1.10051692e-02 9.93377444e-01 -9.03809262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96654761499999 meters Centerline goodness : 0.817709 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.81, Z:-0.90 [[ 0.98963196 0.08754287 -0.11386324 -0.70243566] [-0.08842267 0.99607941 -0.00268963 1.80805813] [ 0.11318137 0.01272984 0.99349279 -0.90076784] [ 0. 0. 0. 1. ]] SLAMing on 62.99654761499999 meters Centerline goodness : 0.818549 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.80, Z:-0.90 [[ 9.89589759e-01 8.79992695e-02 -1.13878171e-01 -7.02534594e-01] [-8.87438399e-02 9.96053389e-01 -1.47547605e-03 1.80440586e+00] [ 1.13298897e-01 1.15661021e-02 9.93493626e-01 -9.00190847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02654761499999 meters Centerline goodness : 0.814121 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.80, Z:-0.90 [[ 9.89745648e-01 8.55935497e-02 -1.14356011e-01 -6.94383694e-01] [-8.63544458e-02 9.96263015e-01 -1.70737888e-03 1.80377955e+00] [ 1.13782524e-01 1.15650208e-02 9.93438366e-01 -9.04634981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.056547614999985 meters Centerline goodness : 0.807538 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.80, Z:-0.91 [[ 0.98985081 0.08279173 -0.1155028 -0.68726594] [-0.0836998 0.99648642 -0.00302573 1.80348001] [ 0.11484647 0.01266259 0.99330255 -0.90815422] [ 0. 0. 0. 1. ]] SLAMing on 63.086547614999986 meters Centerline goodness : 0.811953 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.80, Z:-0.91 [[ 0.99017083 0.07923373 -0.11525515 -0.68953716] [-0.08050835 0.99673314 -0.00643904 1.80150613] [ 0.11436844 0.01565475 0.99331505 -0.90761083] [ 0. 0. 0. 1. ]] SLAMing on 63.11654761499999 meters Centerline goodness : 0.819145 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.80, Z:-0.91 [[ 0.99042232 0.07641844 -0.11499498 -0.69293723] [-0.07795998 0.99691621 -0.00896151 1.79740078] [ 0.11395554 0.01784069 0.99332565 -0.90587984] [ 0. 0. 0. 1. ]] SLAMing on 63.14654761499999 meters Centerline goodness : 0.815346 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.80, Z:-0.91 [[ 0.9904241 0.07572708 -0.11543619 -0.69061459] [-0.07726566 0.99697076 -0.00890617 1.79583219] [ 0.11441207 0.01774013 0.99327497 -0.90677179] [ 0. 0. 0. 1. ]] SLAMing on 63.17654761499999 meters Centerline goodness : 0.810870 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.80, Z:-0.91 [[ 0.99046296 0.07466296 -0.1157954 -0.68811136] [-0.07629856 0.99703733 -0.00975117 1.79862766] [ 0.11472428 0.01849319 0.99322522 -0.90808997] [ 0. 0. 0. 1. ]] SLAMing on 63.20654761499999 meters Centerline goodness : 0.805869 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.80, Z:-0.91 [[ 0.99047018 0.07420092 -0.11603033 -0.68685663] [-0.07586904 0.99706744 -0.01002063 1.79979218] [ 0.11494652 0.01872825 0.99319512 -0.90857379] [ 0. 0. 0. 1. ]] SLAMing on 63.23654761499999 meters Centerline goodness : 0.807261 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.80, Z:-0.91 [[ 0.99045878 0.07362547 -0.11649332 -0.68506707] [-0.07525502 0.99711766 -0.00964638 1.79703613] [ 0.11544733 0.01832105 0.99314463 -0.9086765 ] [ 0. 0. 0. 1. ]] SLAMing on 63.266547614999986 meters Centerline goodness : 0.808600 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.80, Z:-0.91 [[ 0.99041846 0.07457826 -0.11622976 -0.68716691] [-0.07612093 0.99705901 -0.00888458 1.79613896] [ 0.11522534 0.01764697 0.99318261 -0.90719868] [ 0. 0. 0. 1. ]] SLAMing on 63.29654761499999 meters Centerline goodness : 0.809151 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.79, Z:-0.91 [[ 0.99068602 0.07129338 -0.11601065 -0.68988391] [-0.07318662 0.99724441 -0.0121372 1.79460665] [ 0.11482567 0.02051458 0.99317381 -0.90608566] [ 0. 0. 0. 1. ]] SLAMing on 63.32654761499999 meters Centerline goodness : 0.808742 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.79, Z:-0.90 [[ 0.99094218 0.06781969 -0.11590554 -0.69238971] [-0.07001008 0.99743458 -0.014928 1.79312599] [ 0.11459578 0.02290734 0.99314806 -0.90405112] [ 0. 0. 0. 1. ]] SLAMing on 63.35654761499999 meters Centerline goodness : 0.808473 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.79, Z:-0.90 [[ 0.99094307 0.06736235 -0.11616432 -0.69115861] [-0.06954646 0.99746821 -0.01484768 1.79400069] [ 0.11487004 0.02279203 0.99311902 -0.90402387] [ 0. 0. 0. 1. ]] SLAMing on 63.38654761499999 meters Centerline goodness : 0.804307 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.80, Z:-0.91 [[ 0.99192862 0.06502359 -0.10885564 -0.69238792] [-0.06599891 0.99780521 -0.00537711 1.79924721] [ 0.10826708 0.01251806 0.99404303 -0.91193463] [ 0. 0. 0. 1. ]] SLAMing on 63.41654761499999 meters Centerline goodness : 0.804842 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.80, Z:-0.91 [[ 0.99187859 0.06501159 -0.10931765 -0.69217023] [-0.06591833 0.99781397 -0.00469732 1.79564774] [ 0.1087733 0.01186521 0.99399577 -0.91054803] [ 0. 0. 0. 1. ]] SLAMing on 63.446547614999986 meters Centerline goodness : 0.808268 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.80, Z:-0.91 [[ 0.9925516 0.06486389 -0.1031213 -0.68407986] [-0.06676929 0.99765371 -0.01513037 1.79538894] [ 0.10189794 0.02190301 0.9945537 -0.91116271] [ 0. 0. 0. 1. ]] SLAMing on 63.47654761499999 meters Centerline goodness : 0.809481 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.79, Z:-0.91 [[ 0.992272 0.06940005 -0.10285872 -0.68450845] [-0.07081687 0.99743736 -0.01018285 1.79418783] [ 0.10188843 0.01738829 0.99464385 -0.90961695] [ 0. 0. 0. 1. ]] SLAMing on 63.50654761499999 meters Centerline goodness : 0.802614 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.80, Z:-0.91 [[ 0.99207742 0.07027144 -0.10413605 -0.67635911] [-0.07156871 0.99739713 -0.00876894 1.79856962] [ 0.10324879 0.01615235 0.9945244 -0.91328646] [ 0. 0. 0. 1. ]] SLAMing on 63.53654761499999 meters Centerline goodness : 0.804135 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.80, Z:-0.92 [[ 0.99208152 0.06958102 -0.10455973 -0.67379924] [-0.071001 0.99742696 -0.00991585 1.79995986] [ 0.10360074 0.01726117 0.99446917 -0.91558448] [ 0. 0. 0. 1. ]] SLAMing on 63.56654761499999 meters Centerline goodness : 0.802899 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.80, Z:-0.92 [[ 0.99203386 0.06991218 -0.10479079 -0.6737175 ] [-0.07127137 0.99741381 -0.00927787 1.79722589] [ 0.10387115 0.01667254 0.99445101 -0.91505872] [ 0. 0. 0. 1. ]] SLAMing on 63.59654761499999 meters Centerline goodness : 0.804149 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.79, Z:-0.91 [[ 0.99200532 0.07105486 -0.10429115 -0.67708765] [-0.07211686 0.99737538 -0.00644296 1.79382659] [ 0.10355962 0.0139126 0.99452594 -0.91028641] [ 0. 0. 0. 1. ]] SLAMing on 63.626547614999986 meters Centerline goodness : 0.801164 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.80, Z:-0.91 [[ 0.99172417 0.07426396 -0.10472838 -0.67421297] [-0.07499552 0.99717918 -0.00305924 1.79659637] [ 0.10420577 0.01088809 0.99449616 -0.91061297] [ 0. 0. 0. 1. ]] SLAMing on 63.65654761499999 meters Centerline goodness : 0.803092 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.80, Z:-0.91 [[ 0.99167069 0.07450804 -0.10506092 -0.67411938] [-0.07527916 0.99715674 -0.00338793 1.7974082 ] [ 0.10450978 0.01126861 0.99446002 -0.91040256] [ 0. 0. 0. 1. ]] SLAMing on 63.68654761499999 meters Centerline goodness : 0.801195 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.80, Z:-0.91 [[ 0.99165854 0.07455182 -0.10514449 -0.67413388] [-0.07531424 0.99715441 -0.00329386 1.79658586] [ 0.10459973 0.01118527 0.9944515 -0.91014678] [ 0. 0. 0. 1. ]] SLAMing on 63.71654761499999 meters Centerline goodness : 0.804909 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.79, Z:-0.91 [[ 9.91634205e-01 7.54620346e-02 -1.04723854e-01 -6.76579509e-01] [-7.60588441e-02 9.97101862e-01 -1.71132134e-03 1.79349918e+00] [ 1.04291210e-01 9.66218008e-03 9.94499867e-01 -9.07821079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74654761499999 meters Centerline goodness : 0.807173 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.80, Z:-0.91 [[ 0.99167417 0.07453897 -0.1050061 -0.67415197] [-0.07519809 0.9971659 -0.0023264 1.79502734] [ 0.10453509 0.01020329 0.99446886 -0.90936334] [ 0. 0. 0. 1. ]] SLAMing on 63.77654761499999 meters Centerline goodness : 0.803719 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.80, Z:-0.91 [[ 0.99171731 0.07347735 -0.10534635 -0.67175472] [-0.07416846 0.9972422 -0.00265257 1.79591367] [ 0.10486092 0.01044398 0.99443205 -0.91026196] [ 0. 0. 0. 1. ]] SLAMing on 63.806547614999985 meters Centerline goodness : 0.806069 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.79, Z:-0.91 [[ 0.99196865 0.07010356 -0.1052791 -0.67496539] [-0.07098081 0.99746705 -0.00460441 1.79334928] [ 0.10468965 0.01204022 0.99443205 -0.90632916] [ 0. 0. 0. 1. ]] SLAMing on 63.836547614999986 meters Centerline goodness : 0.809413 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.79, Z:-0.90 [[ 0.99223218 0.06518037 -0.10595668 -0.67485677] [-0.06643549 0.99775573 -0.0083558 1.79378745] [ 0.10517426 0.01533017 0.99433564 -0.90438522] [ 0. 0. 0. 1. ]] SLAMing on 63.86654761499999 meters Centerline goodness : 0.809238 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.79, Z:-0.90 [[ 0.992483 0.0595672 -0.10690768 -0.6727419 ] [-0.06127186 0.99803994 -0.01272905 1.79366594] [ 0.1059399 0.0191838 0.99418747 -0.90416625] [ 0. 0. 0. 1. ]] SLAMing on 63.89654761499999 meters Centerline goodness : 0.807762 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.79, Z:-0.91 [[ 0.99276649 0.05293114 -0.10776357 -0.66919652] [-0.0551399 0.99832318 -0.01761874 1.79436542] [ 0.10665029 0.02343336 0.99402042 -0.90500543] [ 0. 0. 0. 1. ]] SLAMing on 63.92654761499999 meters Centerline goodness : 0.806946 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.80, Z:-0.91 [[ 0.99408894 0.04199583 -0.10011753 -0.67005035] [-0.04345188 0.99897848 -0.01240648 1.7975442 ] [ 0.09949424 0.01668344 0.99489827 -0.90621216] [ 0. 0. 0. 1. ]] SLAMing on 63.95654761499999 meters Centerline goodness : 0.809527 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.80, Z:-0.90 [[ 0.99411027 0.03842134 -0.10133398 -0.66440716] [-0.03990257 0.99912374 -0.0126304 1.79887541] [ 0.10075991 0.0165995 0.99477228 -0.90473516] [ 0. 0. 0. 1. ]] SLAMing on 63.98654761499999 meters Centerline goodness : 0.808350 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.80, Z:-0.90 [[ 0.99409625 0.03801089 -0.10162588 -0.66494108] [-0.03951249 0.99913705 -0.01280315 1.80145729] [ 0.10105152 0.01674306 0.9947403 -0.90246015] [ 0. 0. 0. 1. ]] SLAMing on 64.016547615 meters Centerline goodness : 0.810205 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.81, Z:-0.90 [[ 0.99389212 0.04172108 -0.10216556 -0.66448532] [-0.04299657 0.99902199 -0.01031333 1.80944567] [ 0.10163536 0.0146431 0.99471395 -0.90107424] [ 0. 0. 0. 1. ]] SLAMing on 64.046547615 meters Centerline goodness : 0.810345 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.82, Z:-0.90 [[ 0.99363405 0.04680988 -0.10247056 -0.6657887 ] [-0.04781311 0.99882922 -0.0073549 1.81706016] [ 0.10200631 0.01220751 0.99470885 -0.89925566] [ 0. 0. 0. 1. ]] SLAMing on 64.076547615 meters Centerline goodness : 0.807589 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.82, Z:-0.90 [[ 9.93182000e-01 5.51591130e-02 -1.02698525e-01 -6.65722684e-01] [-5.54802097e-02 9.98459750e-01 -2.70611859e-04 1.82238023e+00] [ 1.02525417e-01 5.96650256e-03 9.94712491e-01 -8.97438786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10654761499998 meters Centerline goodness : 0.800877 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.84, Z:-0.90 [[ 0.99221549 0.06744273 -0.10468952 -0.65426292] [-0.06682678 0.99772046 0.00938415 1.83775873] [ 0.10508377 -0.00231504 0.99446068 -0.90292709] [ 0. 0. 0. 1. ]] SLAMing on 64.13654761499998 meters Centerline goodness : 0.800877 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.84, Z:-0.90 [[ 0.99221549 0.06744273 -0.10468952 -0.65426292] [-0.06682678 0.99772046 0.00938415 1.83775873] [ 0.10508377 -0.00231504 0.99446068 -0.90292709] [ 0. 0. 0. 1. ]] SLAMing on 64.16654761499998 meters Centerline goodness : 0.800028 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.84, Z:-0.90 [[ 9.92147814e-01 6.84733761e-02 -1.04661893e-01 -6.55773645e-01] [-6.79377197e-02 9.97651816e-01 8.67868808e-03 1.84245561e+00] [ 1.05010387e-01 -1.50005103e-03 9.94469994e-01 -9.02509514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19654761499999 meters Centerline goodness : 0.802467 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.86, Z:-0.90 [[ 0.99231035 0.07737101 -0.09661212 -0.67424113] [-0.07730922 0.99699751 0.00438832 1.85690726] [ 0.09666157 0.00311443 0.99531243 -0.90037064] [ 0. 0. 0. 1. ]] SLAMing on 64.22654761499999 meters Centerline goodness : 0.802177 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.86, Z:-0.90 [[ 9.91935068e-01 8.21762270e-02 -9.64981275e-02 -6.76941347e-01] [-8.18397802e-02 9.96617683e-01 7.44608178e-03 1.86418414e+00] [ 9.67836312e-02 5.11355912e-04 9.95305314e-01 -8.97220118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25654761499999 meters Centerline goodness : 0.801344 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.87, Z:-0.90 [[ 0.99129674 0.08885825 -0.09713389 -0.67134662] [-0.08801796 0.99603522 0.0129104 1.86882427] [ 0.09789597 -0.00424851 0.99518758 -0.90052172] [ 0. 0. 0. 1. ]] SLAMing on 64.28654761499999 meters Centerline goodness : 0.798636 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.87, Z:-0.90 [[ 0.99060985 0.09604384 -0.0973021 -0.66763068] [-0.09460301 0.99532749 0.0193253 1.87363129] [ 0.09870353 -0.00993876 0.99506725 -0.90202414] [ 0. 0. 0. 1. ]] SLAMing on 64.31654761499999 meters Centerline goodness : 0.797259 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.88, Z:-0.90 [[ 0.99020356 0.10005402 -0.09739667 -0.66708861] [-0.09832981 0.99490272 0.02235697 1.87745511] [ 0.09913711 -0.01256096 0.9949945 -0.90146207] [ 0. 0. 0. 1. ]] SLAMing on 64.34654761499999 meters Centerline goodness : 0.796707 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.88, Z:-0.90 [[ 0.99008621 0.10096793 -0.09764613 -0.668391 ] [-0.09933208 0.99482238 0.02148411 1.88060382] [ 0.09930976 -0.01157173 0.99498928 -0.90061885] [ 0. 0. 0. 1. ]] SLAMing on 64.37654761499999 meters Centerline goodness : 0.799352 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.88, Z:-0.90 [[ 0.98995873 0.10246192 -0.09738206 -0.6708081 ] [-0.10087477 0.99467542 0.02109723 1.88201023] [ 0.0990252 -0.01106199 0.99502344 -0.90000261] [ 0. 0. 0. 1. ]] SLAMing on 64.406547615 meters Centerline goodness : 0.799207 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.88, Z:-0.90 [[ 0.98956619 0.10598343 -0.09760258 -0.66788343] [-0.10412392 0.99427552 0.02396683 1.8838657 ] [ 0.09958394 -0.013554 0.99493685 -0.90198309] [ 0. 0. 0. 1. ]] SLAMing on 64.436547615 meters Centerline goodness : 0.793813 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.89, Z:-0.90 [[ 0.98920632 0.10915131 -0.09775913 -0.66452507] [-0.10697069 0.99388753 0.02729194 1.88732361] [ 0.10014053 -0.01653999 0.99483582 -0.90347283] [ 0. 0. 0. 1. ]] SLAMing on 64.46654761499998 meters Centerline goodness : 0.795800 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.89, Z:-0.90 [[ 0.9892071 0.10874815 -0.09819955 -0.66315671] [-0.10658948 0.99393692 0.02698307 1.88784267] [ 0.10053851 -0.0162248 0.99480087 -0.90391637] [ 0. 0. 0. 1. ]] SLAMing on 64.49654761499998 meters Centerline goodness : 0.797111 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.89, Z:-0.90 [[ 0.98954688 0.10544109 -0.09838269 -0.6649493 ] [-0.10365213 0.9943445 0.02313538 1.8870021 ] [ 0.10026571 -0.01269597 0.99487969 -0.9034402 ] [ 0. 0. 0. 1. ]] SLAMing on 64.52654761499998 meters Centerline goodness : 0.798048 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.89, Z:-0.90 [[ 0.98985358 0.10189332 -0.09903355 -0.66571454] [-0.10051807 0.99475776 0.01879155 1.88792488] [ 0.10042912 -0.00864622 0.99490665 -0.90308156] [ 0. 0. 0. 1. ]] SLAMing on 64.55654761499999 meters Centerline goodness : 0.799489 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.89, Z:-0.90 [[ 0.9897828 0.10263781 -0.09897214 -0.66635901] [-0.10129635 0.9946843 0.01849848 1.88892121] [ 0.10034468 -0.00828396 0.99491825 -0.9033538 ] [ 0. 0. 0. 1. ]] SLAMing on 64.58654761499999 meters Centerline goodness : 0.796984 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.89, Z:-0.90 [[ 0.98991382 0.10978033 -0.08954836 -0.65910856] [-0.10860201 0.9939234 0.01794117 1.89016947] [ 0.0909738 -0.00803508 0.99582087 -0.90428434] [ 0. 0. 0. 1. ]] SLAMing on 64.61654761499999 meters Centerline goodness : 0.797968 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.89, Z:-0.91 [[ 0.98974137 0.11173143 -0.08903989 -0.66021276] [-0.11047862 0.99369893 0.01889209 1.88822459] [ 0.09058968 -0.00886128 0.99584888 -0.90544972] [ 0. 0. 0. 1. ]] SLAMing on 64.64654761499999 meters Centerline goodness : 0.793967 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.89, Z:-0.91 [[ 0.9896327 0.11256943 -0.08919214 -0.65509628] [-0.11120951 0.99359393 0.02008842 1.88639182] [ 0.09088212 -0.00996114 0.99581184 -0.90993521] [ 0. 0. 0. 1. ]] SLAMing on 64.67654761499999 meters Centerline goodness : 0.793589 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.88, Z:-0.91 [[ 0.98995919 0.10986846 -0.08893667 -0.65763587] [-0.10880934 0.9939226 0.01668533 1.88466894] [ 0.09022936 -0.00684065 0.99589752 -0.90995606] [ 0. 0. 0. 1. ]] SLAMing on 64.70654761499999 meters Centerline goodness : 0.798315 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.88, Z:-0.91 [[ 0.99070394 0.10873676 -0.08174368 -0.65590489] [-0.10876313 0.99405906 0.0041435 1.88137116] [ 0.08170859 0.00478572 0.99664477 -0.90900503] [ 0. 0. 0. 1. ]] SLAMing on 64.73654761499999 meters Centerline goodness : 0.798923 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.88, Z:-0.91 [[ 0.99117787 0.108896 -0.07555195 -0.64767583] [-0.10960852 0.99396051 -0.00533706 1.87738594] [ 0.07451447 0.01357111 0.99712758 -0.91019489] [ 0. 0. 0. 1. ]] SLAMing on 64.766547615 meters Centerline goodness : 0.796464 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.87, Z:-0.91 [[ 9.90772942e-01 1.12860259e-01 -7.50435862e-02 -6.46271435e-01] [-1.13207601e-01 9.93571284e-01 -3.77316069e-04 1.87442343e+00] [ 7.45185683e-02 8.86933889e-03 9.97180183e-01 -9.11088375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.796547615 meters Centerline goodness : 0.793653 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.87, Z:-0.91 [[ 9.90812109e-01 1.12356772e-01 -7.52816069e-02 -6.43549602e-01] [-1.12675772e-01 9.93631808e-01 9.86820047e-06 1.87227502e+00] [ 7.48033079e-02 8.47263566e-03 9.97162314e-01 -9.13235511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.826547615 meters Centerline goodness : 0.793476 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.87, Z:-0.91 [[ 0.99122301 0.10838596 -0.07569296 -0.64293852] [-0.10894098 0.99404297 -0.00323018 1.86800896] [ 0.07489195 0.0114479 0.99712594 -0.9143933 ] [ 0. 0. 0. 1. ]] SLAMing on 64.85654761499998 meters Centerline goodness : 0.792764 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.86, Z:-0.91 [[ 0.99152903 0.10570459 -0.07547657 -0.64623848] [-0.10640935 0.99430793 -0.00536648 1.86144446] [ 0.07447969 0.01335243 0.99713313 -0.91276288] [ 0. 0. 0. 1. ]] SLAMing on 64.88654761499998 meters Centerline goodness : 0.795976 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.86, Z:-0.91 [[ 0.99179152 0.10361348 -0.07492544 -0.6506605 ] [-0.1044579 0.99450156 -0.00742995 1.85681724] [ 0.07374362 0.01519551 0.99716146 -0.91076446] [ 0. 0. 0. 1. ]] SLAMing on 64.91654761499998 meters Centerline goodness : 0.794051 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.85, Z:-0.91 [[ 0.99141066 0.10727135 -0.07481818 -0.64832314] [-0.10779644 0.99416845 -0.00300389 1.8535072 ] [ 0.07405964 0.01104323 0.99719267 -0.91215594] [ 0. 0. 0. 1. ]] SLAMing on 64.94654761499999 meters Centerline goodness : 0.793690 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.85, Z:-0.91 [[ 9.91008691e-01 1.11023527e-01 -7.46696064e-02 -6.46190332e-01] [-1.11198442e-01 9.93796549e-01 1.82371013e-03 1.85105617e+00] [ 7.44088719e-02 6.49583130e-03 9.97206661e-01 -9.12847464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97654761499999 meters Centerline goodness : 0.793617 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.84, Z:-0.91 [[ 0.99166672 0.10498865 -0.07466255 -0.64730727] [-0.10555261 0.99440707 -0.00363713 1.84282376] [ 0.07386311 0.01148765 0.99720222 -0.91450088] [ 0. 0. 0. 1. ]] SLAMing on 65.00654761499999 meters Centerline goodness : 0.798398 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.84, Z:-0.91 [[ 0.99196923 0.10220631 -0.07450447 -0.64956592] [-0.10294154 0.99466879 -0.00608572 1.83771296] [ 0.07348528 0.01370645 0.99720211 -0.91397765] [ 0. 0. 0. 1. ]] SLAMing on 65.03654761499999 meters Centerline goodness : 0.796830 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.84, Z:-0.92 [[ 0.99195624 0.10246363 -0.0743238 -0.64846769] [-0.10319636 0.99464244 -0.00607615 1.83637539] [ 0.07330303 0.01369722 0.99721565 -0.91628099] [ 0. 0. 0. 1. ]] SLAMing on 65.06654761499999 meters Centerline goodness : 0.798165 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.84, Z:-0.92 [[ 0.99194413 0.10278086 -0.07404692 -0.64833271] [-0.10352147 0.99460774 -0.00622409 1.83674292] [ 0.07300793 0.0138394 0.99723534 -0.91762383] [ 0. 0. 0. 1. ]] SLAMing on 65.09654761499999 meters Centerline goodness : 0.794080 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.83, Z:-0.92 [[ 0.99312192 0.0967892 -0.06588403 -0.65685481] [-0.09716711 0.99526482 -0.00254842 1.83481539] [ 0.0653254 0.00893265 0.99782403 -0.92228752] [ 0. 0. 0. 1. ]] SLAMing on 65.12654761499999 meters Centerline goodness : 0.798146 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.83, Z:-0.92 [[ 0.99377041 0.08991719 -0.06584283 -0.6605281 ] [-0.09072277 0.99583236 -0.00934274 1.83147282] [ 0.06472834 0.01525798 0.99778627 -0.92086813] [ 0. 0. 0. 1. ]] SLAMing on 65.156547615 meters Centerline goodness : 0.800985 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.83, Z:-0.92 [[ 0.99403754 0.08695832 -0.06578459 -0.66305612] [-0.08791434 0.99605845 -0.01177458 1.82725583] [ 0.0645014 0.01748778 0.99776437 -0.91918282] [ 0. 0. 0. 1. ]] SLAMing on 65.186547615 meters Centerline goodness : 0.796145 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.83, Z:-0.92 [[ 0.99373725 0.09032835 -0.0657804 -0.66100886] [-0.09099495 0.9958253 -0.00720298 1.82561403] [ 0.06485515 0.01314355 0.99780813 -0.91925902] [ 0. 0. 0. 1. ]] SLAMing on 65.21654761499998 meters Centerline goodness : 0.797269 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.82, Z:-0.92 [[ 0.99382242 0.08906643 -0.06621303 -0.65846492] [-0.08972751 0.99594124 -0.00707243 1.82432245] [ 0.06531437 0.01296987 0.99778044 -0.91986429] [ 0. 0. 0. 1. ]] SLAMing on 65.24654761499998 meters Centerline goodness : 0.794800 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.82, Z:-0.92 [[ 0.994182 0.08478208 -0.06643902 -0.65815217] [-0.08570963 0.99625685 -0.01123198 1.82389281] [ 0.06523806 0.0168611 0.99772727 -0.92091781] [ 0. 0. 0. 1. ]] SLAMing on 65.27654761499998 meters Centerline goodness : 0.792909 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.82, Z:-0.92 [[ 0.99417036 0.08463995 -0.06679358 -0.65751267] [-0.0855194 0.99628208 -0.01041407 1.82033534] [ 0.0656638 0.0160655 0.99771247 -0.92013648] [ 0. 0. 0. 1. ]] SLAMing on 65.30654761499999 meters Centerline goodness : 0.798506 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.82, Z:-0.92 [[ 0.99409963 0.08574988 -0.06642958 -0.65941651] [-0.08658193 0.99619708 -0.00974389 1.81902787] [ 0.06534141 0.015438 0.99774354 -0.91934511] [ 0. 0. 0. 1. ]] SLAMing on 65.33654761499999 meters Centerline goodness : 0.794737 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.82, Z:-0.92 [[ 0.99409835 0.08568804 -0.06652838 -0.65901697] [-0.08653466 0.9961992 -0.00994473 1.81944036] [ 0.06542338 0.01564305 0.99773497 -0.91965753] [ 0. 0. 0. 1. ]] SLAMing on 65.36654761499999 meters Centerline goodness : 0.793157 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.82, Z:-0.92 [[ 0.99410752 0.08533043 -0.0668502 -0.65809007] [-0.08613007 0.99624173 -0.00916709 1.81648822] [ 0.06581673 0.01487089 0.99772091 -0.91903519] [ 0. 0. 0. 1. ]] SLAMing on 65.39654761499999 meters Centerline goodness : 0.791934 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.81, Z:-0.92 [[ 0.99423072 0.08333492 -0.06753193 -0.65459203] [-0.08413284 0.99641341 -0.00905389 1.81386757] [ 0.06653522 0.01468331 0.99767603 -0.91941587] [ 0. 0. 0. 1. ]] SLAMing on 65.42654761499999 meters Centerline goodness : 0.790541 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.81, Z:-0.92 [[ 0.99431666 0.0819344 -0.06797894 -0.65173524] [-0.08276451 0.99652403 -0.00948135 1.81469931] [ 0.0669658 0.01505371 0.9976417 -0.92047992] [ 0. 0. 0. 1. ]] SLAMing on 65.45654761499999 meters Centerline goodness : 0.788239 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.82, Z:-0.92 [[ 0.99437247 0.08069011 -0.06864767 -0.6485684 ] [-0.08165925 0.99659481 -0.01142592 1.81955654] [ 0.06749195 0.01696734 0.99757553 -0.92282041] [ 0. 0. 0. 1. ]] SLAMing on 65.48654761499999 meters Centerline goodness : 0.791294 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.82, Z:-0.92 [[ 0.99431688 0.08124124 -0.06880264 -0.64971844] [-0.08213756 0.99656782 -0.01029549 1.81667697] [ 0.06773008 0.01588826 0.99757716 -0.92067871] [ 0. 0. 0. 1. ]] SLAMing on 65.516547615 meters Centerline goodness : 0.793996 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.82, Z:-0.92 [[ 0.99493667 0.07900499 -0.06212276 -0.64388593] [-0.08047281 0.99652516 -0.02148785 1.8150794 ] [ 0.06020925 0.02637824 0.99783718 -0.91831501] [ 0. 0. 0. 1. ]] SLAMing on 65.546547615 meters Centerline goodness : 0.794294 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.82, Z:-0.92 [[ 0.99470716 0.08173846 -0.06226147 -0.64074823] [-0.08300435 0.99638625 -0.01801981 1.81775993] [ 0.06056357 0.02309241 0.99789719 -0.91922906] [ 0. 0. 0. 1. ]] SLAMing on 65.57654761499998 meters Centerline goodness : 0.788569 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.82, Z:-0.92 [[ 0.99447859 0.08382931 -0.06312671 -0.63520032] [-0.08492421 0.99627658 -0.01486094 1.81711134] [ 0.06164588 0.02013988 0.99789487 -0.9215032 ] [ 0. 0. 0. 1. ]] SLAMing on 65.60654761499998 meters Centerline goodness : 0.788871 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.82, Z:-0.92 [[ 0.99444919 0.08414376 -0.06317148 -0.63466004] [-0.08526763 0.99624051 -0.01530597 1.81642118] [ 0.06164609 0.02060749 0.99788531 -0.92312315] [ 0. 0. 0. 1. ]] SLAMing on 65.63654761499998 meters Centerline goodness : 0.793729 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.82, Z:-0.92 [[ 0.9943182 0.08640314 -0.0621756 -0.6401136 ] [-0.08743457 0.99607105 -0.01405898 1.81666323] [ 0.06071658 0.0194154 0.9979662 -0.91991684] [ 0. 0. 0. 1. ]] SLAMing on 65.66654761499998 meters Centerline goodness : 0.793858 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.82, Z:-0.92 [[ 0.99425625 0.08739214 -0.06178281 -0.64220122] [-0.08840196 0.99598929 -0.01379937 1.8170833 ] [ 0.06032906 0.01918183 0.99799422 -0.91908748] [ 0. 0. 0. 1. ]] SLAMing on 65.69654761499999 meters Centerline goodness : 0.793966 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.82, Z:-0.92 [[ 0.9943281 0.0857815 -0.0628742 -0.63703879] [-0.0869048 0.99609837 -0.01534921 1.81819769] [ 0.06131221 0.02072622 0.99790342 -0.92254173] [ 0. 0. 0. 1. ]] SLAMing on 65.72654761499999 meters Centerline goodness : 0.797377 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.82, Z:-0.93 [[ 0.99435457 0.08445795 -0.06423271 -0.62749367] [-0.08556955 0.99622299 -0.01475143 1.81894044] [ 0.06274423 0.02016452 0.99782591 -0.9270941 ] [ 0. 0. 0. 1. ]] SLAMing on 65.75654761499999 meters Centerline goodness : 0.798969 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.82, Z:-0.92 [[ 0.99429113 0.08527254 -0.0641385 -0.62954036] [-0.08621937 0.99620224 -0.01213725 1.81500032] [ 0.06285994 0.01759794 0.9978672 -0.92284934] [ 0. 0. 0. 1. ]] SLAMing on 65.78654761499999 meters Centerline goodness : 0.802700 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.81, Z:-0.92 [[ 0.99425796 0.08578994 -0.06396247 -0.63080425] [-0.08666801 0.99617567 -0.01107701 1.81321827] [ 0.06276756 0.01655691 0.99789083 -0.921272 ] [ 0. 0. 0. 1. ]] SLAMing on 65.81654761499999 meters Centerline goodness : 0.806795 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.82, Z:-0.92 [[ 0.99424872 0.08603163 -0.06378116 -0.63153586] [-0.08690481 0.99615545 -0.01103957 1.81532237] [ 0.0625862 0.01651897 0.99790285 -0.92063724] [ 0. 0. 0. 1. ]] SLAMing on 65.84654761499999 meters Centerline goodness : 0.802139 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.82, Z:-0.92 [[ 0.99392544 0.08957891 -0.06393626 -0.62994275] [-0.09020929 0.99589798 -0.00703588 1.81647594] [ 0.06304372 0.01276078 0.99792918 -0.9201261 ] [ 0. 0. 0. 1. ]] SLAMing on 65.87654761499999 meters Centerline goodness : 0.805139 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.81, Z:-0.92 [[ 0.99384895 0.09069047 -0.0635571 -0.63290589] [-0.09123013 0.99581389 -0.00563478 1.81415685] [ 0.06278002 0.01139845 0.9979623 -0.91717585] [ 0. 0. 0. 1. ]] SLAMing on 65.906547615 meters Centerline goodness : 0.809500 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.82, Z:-0.92 [[ 0.99418491 0.09078623 -0.0579156 -0.62376175] [-0.09186654 0.99563847 -0.01626605 1.81548722] [ 0.05618626 0.02149197 0.99818896 -0.91823058] [ 0. 0. 0. 1. ]] SLAMing on 65.936547615 meters Centerline goodness : 0.810250 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.82, Z:-0.92 [[ 0.9941743 0.09082526 -0.05803652 -0.62327317] [-0.0918988 0.99563821 -0.01609883 1.81502583] [ 0.0563212 0.02133853 0.99818465 -0.91841962] [ 0. 0. 0. 1. ]] SLAMing on 65.96654761499998 meters Centerline goodness : 0.806502 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.82, Z:-0.92 [[ 0.9942185 0.09002631 -0.05852212 -0.61566192] [-0.09104703 0.99573346 -0.01501029 1.81592965] [ 0.05692112 0.02025177 0.99817326 -0.9226922 ] [ 0. 0. 0. 1. ]] SLAMing on 65.99654761499998 meters Centerline goodness : 0.789123 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.82, Z:-0.92 [[ 0.99409841 0.0907572 -0.05942632 -0.60893611] [-0.09165121 0.99571284 -0.01248956 1.81793078] [ 0.05803803 0.01786235 0.99815456 -0.92477849] [ 0. 0. 0. 1. ]] SLAMing on 66.02654761499998 meters Centerline goodness : 0.806308 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.82, Z:-0.92 [[ 0.99410277 0.09026595 -0.06009783 -0.60735141] [-0.09119769 0.99574873 -0.01293996 1.81794877] [ 0.0586743 0.01834443 0.99810862 -0.92496017] [ 0. 0. 0. 1. ]] SLAMing on 66.05654761499999 meters Centerline goodness : 0.806308 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.82, Z:-0.92 [[ 0.99410277 0.09026595 -0.06009783 -0.60735141] [-0.09119769 0.99574873 -0.01293996 1.81794877] [ 0.0586743 0.01834443 0.99810862 -0.92496017] [ 0. 0. 0. 1. ]] SLAMing on 66.08654761499999 meters Centerline goodness : 0.804258 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.82, Z:-0.92 [[ 0.99402669 0.09108027 -0.06012756 -0.60883819] [-0.09202107 0.99567139 -0.01306189 1.81916035] [ 0.05867761 0.01851687 0.99810524 -0.92387314] [ 0. 0. 0. 1. ]] SLAMing on 66.11654761499999 meters Centerline goodness : 0.810906 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.82, Z:-0.92 [[ 0.99398944 0.09135934 -0.06031971 -0.60918 ] [-0.09231261 0.99564251 -0.01320495 1.81984004] [ 0.05885047 0.01869385 0.99809176 -0.92326095] [ 0. 0. 0. 1. ]] SLAMing on 66.14654761499999 meters Centerline goodness : 0.811854 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.82, Z:-0.92 [[ 0.99395767 0.09169267 -0.06033745 -0.60945843] [-0.09259286 0.9956282 -0.01229044 1.81721462] [ 0.05894672 0.017803 0.99810237 -0.92252311] [ 0. 0. 0. 1. ]] SLAMing on 66.17654761499999 meters Centerline goodness : 0.802980 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.82, Z:-0.92 [[ 0.99369348 0.09437544 -0.06055198 -0.60601554] [-0.095027 0.99544282 -0.0079661 1.81752212] [ 0.05952423 0.01366993 0.99813326 -0.92273384] [ 0. 0. 0. 1. ]] SLAMing on 66.20654761499999 meters Centerline goodness : 0.802721 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.82, Z:-0.92 [[ 0.99369447 0.09455811 -0.06025002 -0.60692057] [-0.09516461 0.99543499 -0.00727132 1.81787037] [ 0.05928742 0.01295915 0.99815683 -0.92154902] [ 0. 0. 0. 1. ]] SLAMing on 66.23654761499999 meters Centerline goodness : 0.806334 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.81, Z:-0.92 [[ 0.99395234 0.09195178 -0.06003005 -0.61067094] [-0.09269993 0.99564593 -0.00979343 1.81485527] [ 0.05886815 0.01529898 0.99814853 -0.91897294] [ 0. 0. 0. 1. ]] SLAMing on 66.266547615 meters Centerline goodness : 0.807058 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.81, Z:-0.92 [[ 0.99393888 0.09199797 -0.06018209 -0.61098228] [-0.09272925 0.99564635 -0.00946745 1.81447167] [ 0.05904909 0.01499071 0.99814252 -0.91780167] [ 0. 0. 0. 1. ]] SLAMing on 66.296547615 meters Centerline goodness : 0.805854 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.82, Z:-0.92 [[ 0.99369239 0.09425819 -0.06075223 -0.60608195] [-0.09483803 0.99546999 -0.00672619 1.81523107] [ 0.05984302 0.01244538 0.99813021 -0.92044514] [ 0. 0. 0. 1. ]] SLAMing on 66.32654761499998 meters Centerline goodness : 0.802289 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.82, Z:-0.92 [[ 0.99359002 0.09487436 -0.0614633 -0.59921723] [-0.09536417 0.9954295 -0.00507856 1.81651686] [ 0.06070055 0.0109074 0.99809642 -0.92439328] [ 0. 0. 0. 1. ]] SLAMing on 66.35654761499998 meters Centerline goodness : 0.807237 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.81, Z:-0.92 [[ 0.99362968 0.09411743 -0.06198357 -0.59754819] [-0.09459831 0.99550365 -0.0048633 1.81394496] [ 0.06124715 0.01069586 0.99806532 -0.92432482] [ 0. 0. 0. 1. ]] SLAMing on 66.38654761499998 meters Centerline goodness : 0.806550 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.81, Z:-0.92 [[ 0.99358338 0.09469947 -0.06183915 -0.59841452] [-0.09511982 0.99545826 -0.00388266 1.81079751] [ 0.06119061 0.00973988 0.99807858 -0.92358343] [ 0. 0. 0. 1. ]] SLAMing on 66.41654761499998 meters Centerline goodness : 0.803281 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.81, Z:-0.92 [[ 9.93247151e-01 9.82386770e-02 -6.17191932e-02 -5.96961527e-01] [-9.84132981e-02 9.95145606e-01 2.11600967e-04 1.81221178e+00] [ 6.14403713e-02 5.86381730e-03 9.98093531e-01 -9.23328060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44654761499999 meters Centerline goodness : 0.800817 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.81, Z:-0.92 [[ 9.93194484e-01 9.91174078e-02 -6.11592673e-02 -5.99024986e-01] [-9.92719014e-02 9.95060212e-01 5.14785007e-04 1.81248878e+00] [ 6.09081776e-02 5.56011513e-03 9.98127887e-01 -9.22744503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47654761499999 meters Centerline goodness : 0.761742 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.81, Z:-0.92 [[ 0.99376503 0.09621798 -0.05633084 -0.59042083] [-0.09714051 0.99517405 -0.01386827 1.81103589] [ 0.05472462 0.01925381 0.99831584 -0.92462902] [ 0. 0. 0. 1. ]] SLAMing on 66.50654761499999 meters Centerline goodness : 0.806586 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.81, Z:-0.92 [[ 0.99376244 0.09631612 -0.05620874 -0.59089401] [-0.09719557 0.9951788 -0.01312145 1.81077019] [ 0.05467394 0.01850284 0.99833281 -0.92351108] [ 0. 0. 0. 1. ]] SLAMing on 66.53654761499999 meters Centerline goodness : 0.805627 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.81, Z:-0.92 [[ 0.99381886 0.09571189 -0.0562433 -0.59018105] [-0.0965732 0.99524364 -0.01279473 1.81225173] [ 0.05475118 0.01814724 0.99833511 -0.92279034] [ 0. 0. 0. 1. ]] SLAMing on 66.56654761499999 meters Centerline goodness : 0.807389 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.81, Z:-0.92 [[ 0.99383699 0.09512087 -0.05692155 -0.58867559] [-0.09594355 0.99531573 -0.0118928 1.81006658] [ 0.05552366 0.01728076 0.99830782 -0.92134598] [ 0. 0. 0. 1. ]] SLAMing on 66.59654761499999 meters Centerline goodness : 0.808289 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.81, Z:-0.92 [[ 0.99391044 0.09402984 -0.05744936 -0.58589426] [-0.09488784 0.99541089 -0.01238805 1.80776731] [ 0.05602087 0.01776386 0.99827156 -0.92313323] [ 0. 0. 0. 1. ]] SLAMing on 66.62654761499999 meters Centerline goodness : 0.804487 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.81, Z:-0.93 [[ 0.99392774 0.09398455 -0.05722375 -0.58532231] [-0.09487902 0.99540243 -0.01311412 1.8090696 ] [ 0.05572813 0.01846382 0.99827524 -0.92508895] [ 0. 0. 0. 1. ]] SLAMing on 66.656547615 meters Centerline goodness : 0.806059 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.81, Z:-0.92 [[ 0.99386121 0.09494966 -0.05678422 -0.58776124] [-0.09579662 0.99532396 -0.01237798 1.80907393] [ 0.05534341 0.01774173 0.99830974 -0.9233211 ] [ 0. 0. 0. 1. ]] SLAMing on 66.686547615 meters Centerline goodness : 0.808001 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.81, Z:-0.92 [[ 0.99418594 0.09132478 -0.05704465 -0.5885304 ] [-0.09239186 0.99558845 -0.01635195 1.80746632] [ 0.05529966 0.02152734 0.99823771 -0.92369685] [ 0. 0. 0. 1. ]] SLAMing on 66.71654761499998 meters Centerline goodness : 0.803239 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.93 [[ 0.99411683 0.09165869 -0.05770966 -0.58109917] [-0.09264235 0.99559239 -0.01460109 1.80921254] [ 0.05611698 0.01986155 0.99822663 -0.92774395] [ 0. 0. 0. 1. ]] SLAMing on 66.74654761499998 meters Centerline goodness : 0.801020 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.93 [[ 0.99395266 0.09294991 -0.05846738 -0.5748674 ] [-0.09381623 0.99551422 -0.01224511 1.81051207] [ 0.05706692 0.01765625 0.99821422 -0.93068984] [ 0. 0. 0. 1. ]] SLAMing on 66.77654761499998 meters Centerline goodness : 0.799681 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.93 [[ 0.99392934 0.09294422 -0.05887136 -0.57411358] [-0.09381343 0.9955154 -0.01217082 1.80941439] [ 0.05747613 0.01761986 0.99819138 -0.9306662 ] [ 0. 0. 0. 1. ]] SLAMing on 66.80654761499999 meters Centerline goodness : 0.799364 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.93 [[ 0.99389791 0.0931949 -0.05900549 -0.57422429] [-0.09408114 0.99548708 -0.012418 1.81060943] [ 0.0575819 0.01789353 0.99818042 -0.93051432] [ 0. 0. 0. 1. ]] SLAMing on 66.83654761499999 meters Centerline goodness : 0.803570 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.93 [[ 0.99380787 0.0945023 -0.05844007 -0.57791743] [-0.09524429 0.99540332 -0.010038 1.80771374] [ 0.05722282 0.01554192 0.99824045 -0.92601264] [ 0. 0. 0. 1. ]] SLAMing on 66.86654761499999 meters Centerline goodness : 0.804174 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 0.99377148 0.09501177 -0.05823232 -0.57943711] [-0.09568229 0.99537276 -0.00883025 1.80660965] [ 0.05712388 0.01434705 0.99826401 -0.9237673 ] [ 0. 0. 0. 1. ]] SLAMing on 66.89654761499999 meters Centerline goodness : 0.802589 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 0.99377288 0.09497359 -0.05827078 -0.57935942] [-0.09562487 0.99538127 -0.0084857 1.80681863] [ 0.05719572 0.014005 0.99826475 -0.9232058 ] [ 0. 0. 0. 1. ]] SLAMing on 66.92654761499999 meters Centerline goodness : 0.801729 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 0.99377197 0.09491396 -0.05838339 -0.57925942] [-0.09552285 0.99539729 -0.00772185 1.80553602] [ 0.05738176 0.0132507 0.99826437 -0.92211831] [ 0. 0. 0. 1. ]] SLAMing on 66.95654761499999 meters Centerline goodness : 0.802234 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 0.99379519 0.09444587 -0.05874605 -0.57884409] [-0.09504463 0.99544493 -0.00747683 1.80613021] [ 0.05777231 0.01301394 0.99824496 -0.92065933] [ 0. 0. 0. 1. ]] SLAMing on 66.98654761499999 meters Centerline goodness : 0.805150 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 0.99416995 0.09022103 -0.05904471 -0.57977224] [-0.09106453 0.99577568 -0.01174897 1.80737644] [ 0.05773528 0.01705735 0.9981862 -0.91978417] [ 0. 0. 0. 1. ]] SLAMing on 67.016547615 meters Centerline goodness : 0.804042 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 0.99422813 0.08899386 -0.05992089 -0.57595999] [-0.08993167 0.99586132 -0.01313475 1.80787697] [ 0.05850398 0.01844772 0.99811671 -0.92252798] [ 0. 0. 0. 1. ]] SLAMing on 67.046547615 meters Centerline goodness : 0.798784 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.92 [[ 0.99363841 0.09511512 -0.06029782 -0.57026997] [-0.09568861 0.99538884 -0.00668937 1.81168862] [ 0.05938351 0.01241663 0.99815802 -0.92495992] [ 0. 0. 0. 1. ]] SLAMing on 67.07654761499998 meters Centerline goodness : 0.798751 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.92 [[ 0.9935816 0.09587655 -0.06002744 -0.57174636] [-0.09641907 0.99532151 -0.0062009 1.81131848] [ 0.05915208 0.01194889 0.99817747 -0.92409052] [ 0. 0. 0. 1. ]] SLAMing on 67.10654761499998 meters Centerline goodness : 0.801540 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 0.99335506 0.09887079 -0.05890925 -0.57797428] [-0.09926865 0.99505319 -0.00385877 1.80736773] [ 0.05823632 0.00968097 0.99825588 -0.9204926 ] [ 0. 0. 0. 1. ]] SLAMing on 67.13654761499998 meters Centerline goodness : 0.799555 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 9.92975084e-01 1.02815690e-01 -5.85612134e-02 -5.77022420e-01] [-1.03009967e-01 9.94680279e-01 -3.00392570e-04 1.81039081e+00] [ 5.82187990e-02 6.33067098e-03 9.98283774e-01 -9.21103880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16654761499998 meters Centerline goodness : 0.800156 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 9.92891577e-01 1.03822081e-01 -5.82004502e-02 -5.79410821e-01] [-1.03965346e-01 9.94580757e-01 5.69190899e-04 1.81062819e+00] [ 5.79441424e-02 5.48568512e-03 9.98304755e-01 -9.18941768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19654761499999 meters Centerline goodness : 0.800035 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 9.92904597e-01 1.03448379e-01 -5.86420928e-02 -5.78302928e-01] [-1.03592505e-01 9.94619651e-01 5.85176196e-04 1.80960738e+00] [ 5.83871134e-02 5.49385715e-03 9.98278900e-01 -9.18904376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22654761499999 meters Centerline goodness : 0.800017 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 9.92908645e-01 1.03338071e-01 -5.87678931e-02 -5.77898725e-01] [-1.03476362e-01 9.94631671e-01 6.93314875e-04 1.80853556e+00] [ 5.85240536e-02 5.39268942e-03 9.98271433e-01 -9.18982972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25654761499999 meters Centerline goodness : 0.799815 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 9.92556516e-01 1.06806677e-01 -5.85140643e-02 -5.77223542e-01] [-1.06677447e-01 9.94279357e-01 5.33682273e-03 1.80710446e+00] [ 5.87493346e-02 9.45032830e-04 9.98272319e-01 -9.17649781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28654761499999 meters Centerline goodness : 0.797692 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 9.92536190e-01 1.06979366e-01 -5.85433699e-02 -5.77043342e-01] [-1.06888693e-01 9.94259945e-01 4.68717587e-03 1.81103581e+00] [ 5.87087588e-02 1.60543259e-03 9.98273862e-01 -9.18156839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31654761499999 meters Centerline goodness : 0.798929 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 9.92833496e-01 1.04423487e-01 -5.81152695e-02 -5.80475572e-01] [-1.04537653e-01 9.94520342e-01 1.08059411e-03 1.81016980e+00] [ 5.79096572e-02 5.00238383e-03 9.98309295e-01 -9.17804318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34654761499999 meters Centerline goodness : 0.797010 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 9.92922126e-01 1.03402224e-01 -5.84262892e-02 -5.77821768e-01] [-1.03575154e-01 9.94621628e-01 6.89128286e-05 1.81257713e+00] [ 5.81191766e-02 5.98308682e-03 9.98291723e-01 -9.20002590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37654761499999 meters Centerline goodness : 0.792395 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 0.99261473 0.10629437 -0.05845937 -0.57500561] [-0.10626726 0.99433115 0.00358115 1.81305838] [ 0.05850863 0.00265761 0.99828337 -0.92115758] [ 0. 0. 0. 1. ]] SLAMing on 67.406547615 meters Centerline goodness : 0.795676 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.81, Z:-0.92 [[ 0.9925404 0.10718933 -0.05808617 -0.57723559] [-0.10712183 0.99423667 0.00428361 1.81213607] [ 0.05821056 0.00197064 0.99830238 -0.91949584] [ 0. 0. 0. 1. ]] SLAMing on 67.436547615 meters Centerline goodness : 0.798037 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.92 [[ 0.99281419 0.10700882 -0.05356393 -0.56705369] [-0.10757124 0.9941674 -0.00772117 1.81297987] [ 0.05242528 0.01342763 0.99853457 -0.9221188 ] [ 0. 0. 0. 1. ]] SLAMing on 67.46654761499998 meters Centerline goodness : 0.798097 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.92 [[ 0.99272364 0.108036 -0.05317901 -0.56896291] [-0.10855108 0.99406702 -0.00688621 1.81139099] [ 0.05211954 0.01260874 0.99856125 -0.92110783] [ 0. 0. 0. 1. ]] SLAMing on 67.49654761499998 meters Centerline goodness : 0.792497 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.93 [[ 0.9933729 0.10522919 -0.04622866 -0.57008876] [-0.10542631 0.99442542 -0.00183985 1.81467843] [ 0.04577735 0.00670137 0.99892919 -0.93073746] [ 0. 0. 0. 1. ]] SLAMing on 67.52654761499998 meters Centerline goodness : 0.790533 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.93 [[ 0.99348246 0.1038846 -0.04691043 -0.56641531] [-0.10409836 0.99456472 -0.00213053 1.8130827 ] [ 0.04643413 0.00699994 0.99889683 -0.93279022] [ 0. 0. 0. 1. ]] SLAMing on 67.55654761499999 meters Centerline goodness : 0.792698 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.93 [[ 0.99384027 0.10052284 -0.04665488 -0.56834124] [-0.10091215 0.99487689 -0.00605957 1.81276281] [ 0.04580674 0.01073029 0.99889269 -0.9330988 ] [ 0. 0. 0. 1. ]] SLAMing on 67.58654761499999 meters Centerline goodness : 0.793809 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.93 [[ 0.99377971 0.10136607 -0.04611735 -0.57053908] [-0.10170413 0.99480193 -0.00503802 1.81227124] [ 0.04536695 0.009697 0.99892332 -0.93131325] [ 0. 0. 0. 1. ]] SLAMing on 67.61654761499999 meters Centerline goodness : 0.793699 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.93 [[ 0.99369406 0.10240897 -0.04565654 -0.57277894] [-0.10274077 0.99469573 -0.00497473 1.81402033] [ 0.04490491 0.00963415 0.99894481 -0.93043216] [ 0. 0. 0. 1. ]] SLAMing on 67.64654761499999 meters Centerline goodness : 0.791382 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.93 [[ 0.99372517 0.10174707 -0.04645238 -0.56992987] [-0.10212311 0.99475492 -0.00578876 1.81277755] [ 0.04561974 0.0104963 0.99890373 -0.9325567 ] [ 0. 0. 0. 1. ]] SLAMing on 67.67654761499999 meters Centerline goodness : 0.790284 Centerline is valid? [False, False] Translation: X:-0.57, Y:1.81, Z:-0.94 [[ 0.99381608 0.10059601 -0.04701108 -0.5658977 ] [-0.10106846 0.99484908 -0.00777713 1.81435681] [ 0.04598658 0.01248038 0.99886409 -0.93726679] [ 0. 0. 0. 1. ]] SLAMing on 67.70654761499999 meters Centerline goodness : 0.787612 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.82, Z:-0.94 [[ 0.99351614 0.10337896 -0.04731258 -0.5627122 ] [-0.10370214 0.99459857 -0.00442139 1.81672649] [ 0.04659995 0.00929914 0.99887035 -0.93809538] [ 0. 0. 0. 1. ]] SLAMing on 67.73654761499999 meters Centerline goodness : 0.787492 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.82, Z:-0.94 [[ 0.99352351 0.10331928 -0.04728798 -0.56265676] [-0.10364516 0.99460422 -0.00448558 1.81675715] [ 0.04656938 0.0093577 0.99887123 -0.93823375] [ 0. 0. 0. 1. ]] SLAMing on 67.766547615 meters Centerline goodness : 0.790703 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.81, Z:-0.94 [[ 0.99353634 0.10307353 -0.04755409 -0.56241971] [-0.10335908 0.99463767 -0.00357866 1.81389767] [ 0.04693022 0.00847068 0.99886225 -0.93680638] [ 0. 0. 0. 1. ]] SLAMing on 67.796547615 meters Centerline goodness : 0.787238 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.81, Z:-0.94 [[ 0.99360603 0.10200347 -0.04839787 -0.55960668] [-0.10231291 0.99474441 -0.00395355 1.81425498] [ 0.04774024 0.00888 0.99882031 -0.93736348] [ 0. 0. 0. 1. ]] SLAMing on 67.82654761499998 meters Centerline goodness : 0.786868 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.81, Z:-0.94 [[ 0.99364285 0.10148573 -0.04872918 -0.55801673] [-0.10180857 0.99479521 -0.00418309 1.8138952 ] [ 0.04805103 0.00911755 0.99880327 -0.93829108] [ 0. 0. 0. 1. ]] SLAMing on 67.85654761499998 meters Centerline goodness : 0.787729 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.81, Z:-0.94 [[ 0.99367308 0.10110725 -0.04889923 -0.55744001] [-0.10139991 0.99483946 -0.00353539 1.81327497] [ 0.04828943 0.0084714 0.99879746 -0.93731669] [ 0. 0. 0. 1. ]] SLAMing on 67.88654761499998 meters Centerline goodness : 0.788561 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.81, Z:-0.93 [[ 0.9936236 0.10171336 -0.048647 -0.55927284] [-0.10193183 0.99478933 -0.002025 1.8098644 ] [ 0.04818755 0.00697076 0.99881398 -0.93486412] [ 0. 0. 0. 1. ]] SLAMing on 67.91654761499998 meters Centerline goodness : 0.790267 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.81, Z:-0.93 [[ 9.93602595e-01 1.01981900e-01 -4.85136688e-02 -5.60135297e-01] [-1.02167381e-01 9.94766303e-01 -1.35255047e-03 1.80870548e+00] [ 4.81218273e-02 6.30041216e-03 9.98821603e-01 -9.33731696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94654761499999 meters Centerline goodness : 0.790267 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.81, Z:-0.93 [[ 9.93602595e-01 1.01981900e-01 -4.85136688e-02 -5.60135297e-01] [-1.02167381e-01 9.94766303e-01 -1.35255047e-03 1.80870548e+00] [ 4.81218273e-02 6.30041216e-03 9.98821603e-01 -9.33731696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97654761499999 meters Centerline goodness : 0.787628 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.81, Z:-0.94 [[ 0.99363745 0.10147989 -0.04885138 -0.55844409] [-0.10170002 0.99481303 -0.00203532 1.81022593] [ 0.04839144 0.00699056 0.99880398 -0.93502095] [ 0. 0. 0. 1. ]] SLAMing on 68.00654761499999 meters Centerline goodness : 0.788021 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.81, Z:-0.94 [[ 0.99362447 0.1016648 -0.04873064 -0.55869138] [-0.10187943 0.99479487 -0.00193456 1.81043349] [ 0.04828031 0.00688687 0.99881008 -0.93503494] [ 0. 0. 0. 1. ]] SLAMing on 68.03654761499999 meters Centerline goodness : 0.786654 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.81, Z:-0.94 [[ 0.9935962 0.10206365 -0.04847278 -0.55939107] [-0.10229316 0.9947517 -0.00227143 1.81279667] [ 0.04798655 0.00721532 0.99882192 -0.93524222] [ 0. 0. 0. 1. ]] SLAMing on 68.06654761499999 meters Centerline goodness : 0.787727 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.81, Z:-0.94 [[ 0.99375368 0.10301866 -0.04290424 -0.54798041] [-0.10356922 0.99456353 -0.01080758 1.81408042] [ 0.04155761 0.01518363 0.99902073 -0.93651951] [ 0. 0. 0. 1. ]] SLAMing on 68.09654761499999 meters Centerline goodness : 0.786898 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.82, Z:-0.94 [[ 0.99372095 0.10339939 -0.04274617 -0.54869865] [-0.10395525 0.9945213 -0.01098596 1.81644081] [ 0.04137604 0.01536067 0.99902556 -0.93618164] [ 0. 0. 0. 1. ]] SLAMing on 68.12654761499999 meters Centerline goodness : 0.784439 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.82, Z:-0.94 [[ 0.99335523 0.10676337 -0.04297632 -0.54632074] [-0.10717594 0.99421248 -0.00740659 1.81697648] [ 0.04193684 0.01196341 0.99904864 -0.93687183] [ 0. 0. 0. 1. ]] SLAMing on 68.156547615 meters Centerline goodness : 0.785641 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.82, Z:-0.94 [[ 0.99322982 0.1081582 -0.04238307 -0.54932335] [-0.1085496 0.99406612 -0.00703821 1.81722671] [ 0.04137033 0.01159123 0.99907664 -0.93553278] [ 0. 0. 0. 1. ]] SLAMing on 68.186547615 meters Centerline goodness : 0.787497 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.81, Z:-0.93 [[ 0.99316502 0.1087864 -0.0422937 -0.55084649] [-0.10913398 0.99400899 -0.00599128 1.81471468] [ 0.04138855 0.01056601 0.99908726 -0.9335413 ] [ 0. 0. 0. 1. ]] SLAMing on 68.21654761499998 meters Centerline goodness : 0.787133 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.81, Z:-0.94 [[ 0.9929656 0.11049302 -0.04255126 -0.54595584] [-0.11072088 0.99384693 -0.0030288 1.81474457] [ 0.04195478 0.00771881 0.99908969 -0.93625947] [ 0. 0. 0. 1. ]] SLAMing on 68.24654761499998 meters Centerline goodness : 0.785432 Centerline is valid? [False, False] Translation: X:-0.54, Y:1.82, Z:-0.94 [[ 0.99301753 0.10994426 -0.04276033 -0.54446532] [-0.11020403 0.99390188 -0.00375887 1.81795541] [ 0.04208631 0.00844498 0.99907829 -0.93729667] [ 0. 0. 0. 1. ]] SLAMing on 68.27654761499998 meters Centerline goodness : 0.785356 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.82, Z:-0.94 [[ 0.99323749 0.10978369 -0.03777351 -0.53336178] [-0.11037091 0.99379435 -0.01382219 1.82030992] [ 0.03602165 0.01789782 0.99919073 -0.9377399 ] [ 0. 0. 0. 1. ]] SLAMing on 68.30654761499999 meters Centerline goodness : 0.786892 Centerline is valid? [False, False] Translation: X:-0.53, Y:1.82, Z:-0.94 [[ 0.99353728 0.10687999 -0.03821452 -0.53485276] [-0.10761261 0.99403618 -0.0176521 1.81837538] [ 0.03609996 0.02165038 0.99911363 -0.93751592] [ 0. 0. 0. 1. ]] SLAMing on 68.33654761499999 meters Centerline goodness : 0.784017 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.82, Z:-0.94 [[ 0.99321878 0.10941777 -0.03929649 -0.52319264] [-0.11001932 0.99383804 -0.01347984 1.82260197] [ 0.03757941 0.01771181 0.99913667 -0.94395161] [ 0. 0. 0. 1. ]] SLAMing on 68.36654761499999 meters Centerline goodness : 0.779867 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.82, Z:-0.95 [[ 0.99287585 0.11243084 -0.03945697 -0.52030837] [-0.11290945 0.99355383 -0.01011157 1.82480637] [ 0.03806577 0.0144946 0.99917011 -0.94502071] [ 0. 0. 0. 1. ]] SLAMing on 68.39654761499999 meters Centerline goodness : 0.784806 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.82, Z:-0.94 [[ 0.9927935 0.11316283 -0.03943656 -0.52235197] [-0.11356181 0.99349855 -0.00802117 1.82085062] [ 0.03827247 0.01244185 0.99918988 -0.94110892] [ 0. 0. 0. 1. ]] SLAMing on 68.42654761499999 meters Centerline goodness : 0.783785 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.82, Z:-0.94 [[ 0.99273985 0.11362222 -0.03946628 -0.5234344 ] [-0.113979 0.99345917 -0.00690361 1.81819515] [ 0.03842374 0.01135181 0.99919705 -0.93921439] [ 0. 0. 0. 1. ]] SLAMing on 68.45654761499999 meters Centerline goodness : 0.785057 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.82, Z:-0.94 [[ 0.99267081 0.11422228 -0.03947079 -0.52410487] [-0.11456577 0.9933941 -0.00654552 1.81836395] [ 0.03846241 0.01101955 0.99919929 -0.93852357] [ 0. 0. 0. 1. ]] SLAMing on 68.48654761499999 meters Centerline goodness : 0.781325 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.82, Z:-0.94 [[ 0.99248897 0.11538894 -0.04063297 -0.5165524 ] [-0.11565493 0.99328036 -0.0042495 1.82020682] [ 0.03986958 0.00891698 0.9991651 -0.94220437] [ 0. 0. 0. 1. ]] SLAMing on 68.516547615 meters Centerline goodness : 0.780588 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.82, Z:-0.94 [[ 0.99256866 0.11456841 -0.04100663 -0.51400925] [-0.11487101 0.99336736 -0.00509286 1.82024637] [ 0.04015117 0.00976549 0.99914589 -0.94474376] [ 0. 0. 0. 1. ]] SLAMing on 68.546547615 meters Centerline goodness : 0.780965 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.82, Z:-0.94 [[ 0.99291602 0.1135149 -0.03510185 -0.50426704] [-0.11408337 0.9933634 -0.01463358 1.82041683] [ 0.03320777 0.01853446 0.9992766 -0.94375992] [ 0. 0. 0. 1. ]] SLAMing on 68.57654761499998 meters Centerline goodness : 0.784092 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.82, Z:-0.94 [[ 0.99301333 0.11276513 -0.03476428 -0.510814 ] [-0.11337603 0.99342126 -0.01612661 1.81913842] [ 0.03271705 0.01995538 0.99926542 -0.93833873] [ 0. 0. 0. 1. ]] SLAMing on 68.60654761499998 meters Centerline goodness : 0.784678 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.82, Z:-0.94 [[ 0.9929121 0.11369594 -0.03462366 -0.51230852] [-0.1142983 0.9933186 -0.01593927 1.81949711] [ 0.03258009 0.01978372 0.99927331 -0.93750947] [ 0. 0. 0. 1. ]] SLAMing on 68.63654761499998 meters Centerline goodness : 0.782848 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.82, Z:-0.94 [[ 0.99278627 0.11448141 -0.03562912 -0.50504931] [-0.11502899 0.9932675 -0.01371163 1.81902836] [ 0.03381952 0.0177111 0.99927101 -0.94134176] [ 0. 0. 0. 1. ]] SLAMing on 68.66654761499998 meters Centerline goodness : 0.780058 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.82, Z:-0.95 [[ 0.99266809 0.1152025 -0.03658469 -0.49631513] [-0.11569078 0.99321852 -0.01151545 1.82006787] [ 0.03500999 0.01566354 0.99926421 -0.94677207] [ 0. 0. 0. 1. ]] SLAMing on 68.69654761499999 meters Centerline goodness : 0.778333 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.82, Z:-0.95 [[ 0.99269551 0.11501784 -0.03642158 -0.49573773] [-0.11550448 0.99323987 -0.01154464 1.82026026] [ 0.03484752 0.01566717 0.99926983 -0.94771005] [ 0. 0. 0. 1. ]] SLAMing on 68.72654761499999 meters Centerline goodness : 0.779729 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.82, Z:-0.95 [[ 0.99294798 0.11463298 -0.03022565 -0.48770129] [-0.11528242 0.99311719 -0.02069327 1.81905072] [ 0.02764548 0.02403183 0.99932887 -0.94598059] [ 0. 0. 0. 1. ]] SLAMing on 68.75654761499999 meters Centerline goodness : 0.786389 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.81, Z:-0.94 [[ 0.99311343 0.11334996 -0.02962262 -0.49455039] [-0.11399477 0.99325801 -0.02106443 1.81298064] [ 0.02703525 0.02429619 0.99933918 -0.93941829] [ 0. 0. 0. 1. ]] SLAMing on 68.78654761499999 meters Centerline goodness : 0.789646 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.81, Z:-0.94 [[ 0.99287949 0.11556572 -0.02889441 -0.49852439] [-0.11613713 0.99305254 -0.01894267 1.81067695] [ 0.02650454 0.02216351 0.99940297 -0.93638593] [ 0. 0. 0. 1. ]] SLAMing on 68.81654761499999 meters Centerline goodness : 0.787395 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.81, Z:-0.94 [[ 0.99257964 0.11800479 -0.02933473 -0.49325407] [-0.11849585 0.99283199 -0.01560035 1.81092836] [ 0.02728355 0.01896063 0.9994479 -0.93966058] [ 0. 0. 0. 1. ]] SLAMing on 68.84654761499999 meters Centerline goodness : 0.782124 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.81, Z:-0.94 [[ 0.99261402 0.11768883 -0.02944041 -0.48922679] [-0.11817251 0.9928758 -0.01526132 1.80891633] [ 0.02743458 0.01862765 0.99945003 -0.94371931] [ 0. 0. 0. 1. ]] SLAMing on 68.87654761499999 meters Centerline goodness : 0.785351 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.80, Z:-0.94 [[ 0.99301483 0.11424101 -0.02950474 -0.49064203] [-0.11481187 0.99321621 -0.0184333 1.8046592 ] [ 0.02719875 0.02169204 0.99939466 -0.94363953] [ 0. 0. 0. 1. ]] SLAMing on 68.906547615 meters Centerline goodness : 0.786294 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.80, Z:-0.94 [[ 0.99293881 0.11500564 -0.02908996 -0.49255833] [-0.11552495 0.99316175 -0.01684434 1.79971645] [ 0.02695384 0.02008601 0.99943486 -0.94190697] [ 0. 0. 0. 1. ]] SLAMing on 68.93654761499998 meters Centerline goodness : 0.787677 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.80, Z:-0.94 [[ 0.9928292 0.11608531 -0.02853744 -0.49479285] [-0.11656044 0.9930613 -0.01558558 1.79752411] [ 0.02653017 0.01880015 0.99947121 -0.94044825] [ 0. 0. 0. 1. ]] SLAMing on 68.96654761499998 meters Centerline goodness : 0.789240 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.79, Z:-0.94 [[ 0.99291987 0.11520898 -0.0289312 -0.49399058] [-0.11562469 0.99320623 -0.01312684 1.79254174] [ 0.02722231 0.01637906 0.99949521 -0.93657247] [ 0. 0. 0. 1. ]] SLAMing on 68.99654761499998 meters Centerline goodness : 0.787757 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.79, Z:-0.94 [[ 0.99306329 0.11370154 -0.02995424 -0.48995706] [-0.1141457 0.99337154 -0.013555 1.79249075] [ 0.02821447 0.01688012 0.99945936 -0.93793713] [ 0. 0. 0. 1. ]] SLAMing on 69.02654761499998 meters Centerline goodness : 0.786171 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.79, Z:-0.94 [[ 0.9931271 0.11308328 -0.03017847 -0.48487932] [-0.11351493 0.99345137 -0.01299003 1.79226605] [ 0.02851188 0.01632646 0.99946011 -0.94155492] [ 0. 0. 0. 1. ]] SLAMing on 69.05654761499999 meters Centerline goodness : 0.784732 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.79, Z:-0.94 [[ 0.99320638 0.1122262 -0.03076318 -0.48265371] [-0.11265664 0.99355371 -0.01262993 1.78931029] [ 0.02914746 0.01600981 0.9994469 -0.94202773] [ 0. 0. 0. 1. ]] SLAMing on 69.08654761499999 meters Centerline goodness : 0.786388 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.79, Z:-0.94 [[ 0.99313333 0.11288485 -0.03071149 -0.48357758] [-0.11328754 0.99349337 -0.01169848 1.78649783] [ 0.02919109 0.01509738 0.99945983 -0.94102318] [ 0. 0. 0. 1. ]] SLAMing on 69.11654761499999 meters Centerline goodness : 0.788619 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.78, Z:-0.94 [[ 0.99309982 0.11316479 -0.03076471 -0.48380723] [-0.11354837 0.9934714 -0.01101526 1.78496338] [ 0.02931732 0.01443253 0.99946596 -0.94023839] [ 0. 0. 0. 1. ]] SLAMing on 69.14654761499999 meters Centerline goodness : 0.787513 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.78, Z:-0.94 [[ 0.99301052 0.1140717 -0.03029432 -0.48610177] [-0.11440126 0.99339041 -0.00937214 1.78159323] [ 0.02902499 0.01277235 0.99949708 -0.93800538] [ 0. 0. 0. 1. ]] SLAMing on 69.17654761499999 meters Centerline goodness : 0.787258 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.78, Z:-0.94 [[ 0.99301968 0.11393372 -0.03051266 -0.48564458] [-0.11423662 0.99341831 -0.00836931 1.77908906] [ 0.02935829 0.01179656 0.99949934 -0.93695512] [ 0. 0. 0. 1. ]] SLAMing on 69.20654761499999 meters Centerline goodness : 0.788706 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.78, Z:-0.94 [[ 0.99310335 0.11300088 -0.03124957 -0.48340571] [-0.11328888 0.99353303 -0.00759891 1.77568395] [ 0.0301888 0.01108673 0.99948273 -0.93640024] [ 0. 0. 0. 1. ]] SLAMing on 69.23654761499999 meters Centerline goodness : 0.787270 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.77, Z:-0.94 [[ 0.99320722 0.11188597 -0.03195233 -0.48057822] [-0.11216831 0.99366329 -0.00717918 1.77307945] [ 0.03094661 0.01071445 0.99946361 -0.93679779] [ 0. 0. 0. 1. ]] SLAMing on 69.266547615 meters Centerline goodness : 0.787220 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.77, Z:-0.94 [[ 0.99336839 0.11013684 -0.0330017 -0.4755306 ] [-0.11045795 0.99384808 -0.00806494 1.77327684] [ 0.03191043 0.01165676 0.99942276 -0.93958112] [ 0. 0. 0. 1. ]] SLAMing on 69.296547615 meters Centerline goodness : 0.787671 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.77, Z:-0.94 [[ 0.9934108 0.10962994 -0.0334106 -0.47387778] [-0.1099633 0.99390096 -0.00830361 1.77223216] [ 0.0322965 0.01192284 0.99940722 -0.94052072] [ 0. 0. 0. 1. ]] SLAMing on 69.32654761499998 meters Centerline goodness : 0.784288 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.77, Z:-0.94 [[ 0.99372158 0.10677899 -0.03340165 -0.4766605 ] [-0.10721839 0.99416726 -0.01164766 1.7704786 ] [ 0.0319631 0.0151558 0.99937414 -0.93915119] [ 0. 0. 0. 1. ]] SLAMing on 69.35654761499998 meters Centerline goodness : 0.788781 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.77, Z:-0.94 [[ 0.99374338 0.10662405 -0.03324752 -0.47663664] [-0.10706943 0.99418019 -0.01191129 1.7729222 ] [ 0.03178399 0.01539656 0.99937617 -0.93923414] [ 0. 0. 0. 1. ]] SLAMing on 69.38654761499998 meters Centerline goodness : 0.788272 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.78, Z:-0.94 [[ 0.99383262 0.10564532 -0.03370145 -0.47398995] [-0.10613361 0.99426637 -0.01303977 1.77674738] [ 0.03213063 0.01653621 0.99934687 -0.94094986] [ 0. 0. 0. 1. ]] SLAMing on 69.41654761499998 meters Centerline goodness : 0.781353 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.78, Z:-0.94 [[ 0.99347479 0.10882432 -0.03413355 -0.47102591] [-0.10920356 0.99397454 -0.00944444 1.77760061] [ 0.03290009 0.01311032 0.99937265 -0.94159862] [ 0. 0. 0. 1. ]] SLAMing on 69.44654761499999 meters Centerline goodness : 0.787743 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.78, Z:-0.94 [[ 0.99330855 0.11052115 -0.03351421 -0.47486223] [-0.11087124 0.9937961 -0.00876838 1.77903069] [ 0.0323372 0.01242546 0.99939978 -0.93895066] [ 0. 0. 0. 1. ]] SLAMing on 69.47654761499999 meters Centerline goodness : 0.788843 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.78, Z:-0.94 [[ 0.99320218 0.11151917 -0.03336035 -0.47700625] [-0.11183513 0.99369652 -0.00775433 1.77733652] [ 0.03228531 0.01143247 0.99941331 -0.93666701] [ 0. 0. 0. 1. ]] SLAMing on 69.50654761499999 meters Centerline goodness : 0.785643 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.78, Z:-0.94 [[ 0.99290898 0.11404233 -0.03355736 -0.47352889] [-0.11424926 0.99344277 -0.0043086 1.77891893] [ 0.03284596 0.00811196 0.99942751 -0.93764666] [ 0. 0. 0. 1. ]] SLAMing on 69.53654761499999 meters Centerline goodness : 0.784567 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.78, Z:-0.94 [[ 0.99290843 0.11410849 -0.03334812 -0.4739517 ] [-0.11432058 0.99343364 -0.00451777 1.78146419] [ 0.03261363 0.00829811 0.99943359 -0.93746173] [ 0. 0. 0. 1. ]] SLAMing on 69.56654761499999 meters Centerline goodness : 0.784843 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.78, Z:-0.94 [[ 0.99314285 0.11365226 -0.02739411 -0.46562195] [-0.11407137 0.99337034 -0.01425064 1.78143464] [ 0.02559288 0.0172778 0.99952313 -0.93597552] [ 0. 0. 0. 1. ]] SLAMing on 69.59654761499999 meters Centerline goodness : 0.786721 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.78, Z:-0.94 [[ 0.99347786 0.11063392 -0.02760227 -0.46713599] [-0.11115968 0.99363411 -0.0182972 1.78082831] [ 0.02540227 0.02124612 0.99945151 -0.93637029] [ 0. 0. 0. 1. ]] SLAMing on 69.62654761499999 meters Centerline goodness : 0.784595 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.78, Z:-0.94 [[ 0.99349162 0.11048736 -0.02769365 -0.46646532] [-0.11102712 0.99364009 -0.01877108 1.78260333] [ 0.02544355 0.02172366 0.9994402 -0.93707484] [ 0. 0. 0. 1. ]] SLAMing on 69.656547615 meters Centerline goodness : 0.783322 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.79, Z:-0.94 [[ 0.99313327 0.11364134 -0.02778403 -0.4639511 ] [-0.11409604 0.99335093 -0.01536295 1.78572021] [ 0.02585343 0.01842751 0.99949589 -0.93780095] [ 0. 0. 0. 1. ]] SLAMing on 69.68654761499998 meters Centerline goodness : 0.788641 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.78, Z:-0.94 [[ 0.99320694 0.11285269 -0.02835918 -0.46154528] [-0.11332417 0.99343555 -0.01560244 1.78438998] [ 0.02641224 0.01871023 0.99947602 -0.9390785 ] [ 0. 0. 0. 1. ]] SLAMing on 69.71654761499998 meters Centerline goodness : 0.787911 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.78, Z:-0.94 [[ 0.99356983 0.10961179 -0.02835937 -0.46376493] [-0.11017823 0.99372554 -0.01924327 1.78437244] [ 0.02607214 0.02224412 0.99941255 -0.93795623] [ 0. 0. 0. 1. ]] SLAMing on 69.74654761499998 meters Centerline goodness : 0.788833 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.78, Z:-0.94 [[ 0.99312679 0.11353641 -0.02843716 -0.46301283] [-0.1139868 0.99337281 -0.01474695 1.78479278] [ 0.02657439 0.01788705 0.9994868 -0.93635783] [ 0. 0. 0. 1. ]] SLAMing on 69.77654761499998 meters Centerline goodness : 0.787670 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.79, Z:-0.94 [[ 0.99305859 0.1141379 -0.02841093 -0.46364082] [-0.11459448 0.99329921 -0.01499249 1.78663359] [ 0.02650934 0.01814416 0.99948389 -0.93628022] [ 0. 0. 0. 1. ]] SLAMing on 69.80654761499999 meters Centerline goodness : 0.788305 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.79, Z:-0.94 [[ 0.99357149 0.10942948 -0.028998 -0.46299097] [-0.11000545 0.99374805 -0.01906858 1.78560836] [ 0.02673004 0.02213593 0.99939757 -0.93638354] [ 0. 0. 0. 1. ]] SLAMing on 69.83654761499999 meters Centerline goodness : 0.788085 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.79, Z:-0.94 [[ 0.99404375 0.106972 -0.0208331 -0.46918353] [-0.10726165 0.99414163 -0.01331772 1.79096435] [ 0.01928643 0.01547299 0.99969426 -0.94224616] [ 0. 0. 0. 1. ]] SLAMing on 69.86654761499999 meters Centerline goodness : 0.788085 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.79, Z:-0.94 [[ 0.99404375 0.106972 -0.0208331 -0.46918353] [-0.10726165 0.99414163 -0.01331772 1.79096435] [ 0.01928643 0.01547299 0.99969426 -0.94224616] [ 0. 0. 0. 1. ]] SLAMing on 69.89654761499999 meters Centerline goodness : 0.787851 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.79, Z:-0.94 [[ 0.99354128 0.11163489 -0.02033149 -0.47048576] [-0.11183341 0.99368711 -0.00890007 1.7934898 ] [ 0.01920958 0.01111633 0.99975368 -0.94006274] [ 0. 0. 0. 1. ]] SLAMing on 69.92654761499999 meters Centerline goodness : 0.788391 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.80, Z:-0.94 [[ 0.99304677 0.116064 -0.01967897 -0.4767132 ] [-0.11624555 0.99318546 -0.00834314 1.79540102] [ 0.01857653 0.01057272 0.99977154 -0.93821023] [ 0. 0. 0. 1. ]] SLAMing on 69.95654761499999 meters Centerline goodness : 0.790487 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.80, Z:-0.94 [[ 0.99298118 0.11661701 -0.01971919 -0.47748959] [-0.11680257 0.9931185 -0.00853231 1.79646126] [ 0.01858848 0.01077567 0.99976915 -0.93770738] [ 0. 0. 0. 1. ]] SLAMing on 69.98654761499999 meters Centerline goodness : 0.788719 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.80, Z:-0.94 [[ 0.99295997 0.11690127 -0.01909443 -0.47540064] [-0.11706408 0.99309498 -0.00763967 1.80076289] [ 0.01806949 0.00982116 0.9997885 -0.93929311] [ 0. 0. 0. 1. ]] SLAMing on 70.016547615 meters Centerline goodness : 0.786218 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.80, Z:-0.94 [[ 0.99309537 0.11562418 -0.01981499 -0.47250199] [-0.11581013 0.99323495 -0.00850515 1.80459499] [ 0.01869754 0.0107412 0.99976749 -0.93995714] [ 0. 0. 0. 1. ]] SLAMing on 70.046547615 meters Centerline goodness : 0.785456 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.81, Z:-0.94 [[ 0.99309983 0.11556448 -0.0199393 -0.47211252] [-0.11576185 0.99323584 -0.00904171 1.80644732] [ 0.01875953 0.01128753 0.99976031 -0.94032712] [ 0. 0. 0. 1. ]] SLAMing on 70.07654761499998 meters Centerline goodness : 0.784087 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.81, Z:-0.94 [[ 0.9929839 0.11653596 -0.02005853 -0.47306331] [-0.11674409 0.99311627 -0.00953386 1.81122091] [ 0.01880942 0.01180869 0.99975335 -0.93951494] [ 0. 0. 0. 1. ]] SLAMing on 70.10654761499998 meters Centerline goodness : 0.786471 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.81, Z:-0.94 [[ 0.9929685 0.11662856 -0.02028137 -0.47352768] [-0.11684853 0.99309922 -0.01001833 1.81353779] [ 0.01897299 0.01231774 0.99974412 -0.93836587] [ 0. 0. 0. 1. ]] SLAMing on 70.13654761499998 meters Centerline goodness : 0.785347 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.82, Z:-0.94 [[ 0.99305838 0.11577895 -0.02074327 -0.47162048] [-0.11602131 0.99318708 -0.0108846 1.81600601] [ 0.01934174 0.0132157 0.99972558 -0.93923871] [ 0. 0. 0. 1. ]] SLAMing on 70.16654761499998 meters Centerline goodness : 0.786448 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.82, Z:-0.94 [[ 0.99314276 0.11497613 -0.02116488 -0.4703577 ] [-0.1152338 0.99327318 -0.01138256 1.81980989] [ 0.01971378 0.01374341 0.9997112 -0.93859362] [ 0. 0. 0. 1. ]] SLAMing on 70.19654761499999 meters Centerline goodness : 0.784144 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.82, Z:-0.94 [[ 0.99315884 0.11474945 -0.0216354 -0.46998338] [-0.11500797 0.99330249 -0.01110532 1.82036384] [ 0.02021617 0.01351759 0.99970425 -0.93695956] [ 0. 0. 0. 1. ]] SLAMing on 70.22654761499999 meters Centerline goodness : 0.783363 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.82, Z:-0.94 [[ 0.99314444 0.1148157 -0.02194251 -0.46989063] [-0.11508144 0.99329231 -0.01125392 1.82141893] [ 0.0205032 0.01370195 0.99969589 -0.93623079] [ 0. 0. 0. 1. ]] SLAMing on 70.25654761499999 meters Centerline goodness : 0.780506 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.82, Z:-0.94 [[ 0.99288071 0.11688704 -0.02291969 -0.46415775] [-0.11712724 0.99307215 -0.00942909 1.82479155] [ 0.02165877 0.01204648 0.99969284 -0.93975508] [ 0. 0. 0. 1. ]] SLAMing on 70.28654761499999 meters Centerline goodness : 0.780821 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.83, Z:-0.94 [[ 0.99288383 0.11684185 -0.02301472 -0.463454 ] [-0.11710304 0.9930659 -0.01034345 1.82810581] [ 0.02164659 0.01296494 0.99968162 -0.94079599] [ 0. 0. 0. 1. ]] SLAMing on 70.31654761499999 meters Centerline goodness : 0.780607 Centerline is valid? [False, False] Translation: X:-0.47, Y:1.83, Z:-0.94 [[ 0.99272782 0.11822171 -0.02269597 -0.46586194] [-0.1184709 0.99290754 -0.00996341 1.8316244 ] [ 0.02135711 0.01257976 0.99969276 -0.93858362] [ 0. 0. 0. 1. ]] SLAMing on 70.34654761499999 meters Centerline goodness : 0.783290 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.83, Z:-0.93 [[ 0.99286171 0.11810803 -0.01661696 -0.46108329] [-0.11841463 0.99278503 -0.01886408 1.82896903] [ 0.01426907 0.02069711 0.99968396 -0.93278744] [ 0. 0. 0. 1. ]] SLAMing on 70.37654761499999 meters Centerline goodness : 0.785449 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.83, Z:-0.93 [[ 0.9928503 0.11819571 -0.01667503 -0.46113061] [-0.11849552 0.99278579 -0.01830824 1.82935565] [ 0.01439078 0.02015326 0.99969333 -0.93183059] [ 0. 0. 0. 1. ]] SLAMing on 70.406547615 meters Centerline goodness : 0.782461 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.83, Z:-0.93 [[ 0.99253254 0.12075441 -0.01724926 -0.45694425] [-0.12101135 0.99254201 -0.01471804 1.82965655] [ 0.01534335 0.01669549 0.99974289 -0.9333131 ] [ 0. 0. 0. 1. ]] SLAMing on 70.43654761499998 meters Centerline goodness : 0.778226 Centerline is valid? [False, False] Translation: X:-0.45, Y:1.83, Z:-0.94 [[ 0.99230958 0.12245996 -0.01803469 -0.4507689 ] [-0.12268948 0.99236988 -0.01221935 1.83069781] [ 0.0164007 0.01433805 0.99976269 -0.93708767] [ 0. 0. 0. 1. ]] SLAMing on 70.46654761499998 meters Centerline goodness : 0.780520 Centerline is valid? [False, False] Translation: X:-0.45, Y:1.83, Z:-0.94 [[ 0.99232531 0.12230801 -0.01819995 -0.44944856] [-0.12255447 0.9923753 -0.01310188 1.83065397] [ 0.01645872 0.01523182 0.99974852 -0.93936081] [ 0. 0. 0. 1. ]] SLAMing on 70.49654761499998 meters Centerline goodness : 0.781935 Centerline is valid? [False, False] Translation: X:-0.45, Y:1.83, Z:-0.94 [[ 0.99237407 0.1227657 -0.01105852 -0.44833613] [-0.12301243 0.99207985 -0.025407 1.82876574] [ 0.00785183 0.02657359 0.99961602 -0.9377748 ] [ 0. 0. 0. 1. ]] SLAMing on 70.52654761499998 meters Centerline goodness : 0.785142 Centerline is valid? [False, False] Translation: X:-0.45, Y:1.83, Z:-0.93 [[ 0.99225665 0.12374866 -0.01063107 -0.45096321] [-0.12397201 0.99199922 -0.02384295 1.82633963] [ 0.00759548 0.02497628 0.99965919 -0.93496506] [ 0. 0. 0. 1. ]] SLAMing on 70.55654761499999 meters Centerline goodness : 0.783878 Centerline is valid? [False, False] Translation: X:-0.45, Y:1.82, Z:-0.93 [[ 0.99176577 0.12765823 -0.01019997 -0.45049838] [-0.12782729 0.99163075 -0.01812852 1.82289106] [ 0.00780035 0.01928308 0.99978364 -0.93361005] [ 0. 0. 0. 1. ]] SLAMing on 70.58654761499999 meters Centerline goodness : 0.780902 Centerline is valid? [False, False] Translation: X:-0.44, Y:1.82, Z:-0.94 [[ 0.99137687 0.1306017 -0.0107285 -0.44140494] [-0.13073444 0.99133512 -0.01277442 1.822101 ] [ 0.00896718 0.01406685 0.99986085 -0.93879301] [ 0. 0. 0. 1. ]] SLAMing on 70.61654761499999 meters Centerline goodness : 0.775355 Centerline is valid? [False, False] Translation: X:-0.44, Y:1.82, Z:-0.94 [[ 0.99106641 0.13289268 -0.01126555 -0.43594262] [-0.13300485 0.99106623 -0.00987067 1.82146331] [ 0.00985316 0.01128086 0.99988782 -0.94296907] [ 0. 0. 0. 1. ]] SLAMing on 70.64654761499999 meters Centerline goodness : 0.746530 Centerline is valid? [False, False] Translation: X:-0.44, Y:1.82, Z:-0.94 [[ 0.991613 0.12878115 -0.01091219 -0.44298331] [-0.12894946 0.99151463 -0.01645529 1.81688488] [ 0.00870047 0.0177244 0.99980505 -0.94153183] [ 0. 0. 0. 1. ]] SLAMing on 70.67654761499999 meters Centerline goodness : 0.715931 Centerline is valid? [False, False] Translation: X:-0.45, Y:1.81, Z:-0.94 [[ 0.99145799 0.13000599 -0.01046394 -0.44556042] [-0.1301505 0.99138716 -0.0145724 1.81201994] [ 0.00847932 0.01580981 0.99983906 -0.93916315] [ 0. 0. 0. 1. ]] SLAMing on 70.70654761499999 meters Centerline goodness : 0.780429 Centerline is valid? [False, False] Translation: X:-0.44, Y:1.81, Z:-0.94 [[ 0.9909887 0.13356992 -0.01002354 -0.44464207] [-0.13366541 0.9909805 -0.00955047 1.81104518] [ 0.00865748 0.01080421 0.99990415 -0.93829073] [ 0. 0. 0. 1. ]] SLAMing on 70.73654761499999 meters Centerline goodness : 0.778276 Centerline is valid? [False, False] Translation: X:-0.44, Y:1.81, Z:-0.94 [[ 0.99095723 0.13380501 -0.0099998 -0.44480273] [-0.13389721 0.99095253 -0.00919928 1.81219853] [ 0.00867842 0.01045504 0.99990768 -0.93768029] [ 0. 0. 0. 1. ]] SLAMing on 70.766547615 meters Centerline goodness : 0.779980 Centerline is valid? [False, False] Translation: X:-0.44, Y:1.81, Z:-0.94 [[ 0.99097927 0.13362576 -0.01021044 -0.44412031] [-0.13370609 0.99099162 -0.00763469 1.80831195] [ 0.00909827 0.00893102 0.99991873 -0.93659323] [ 0. 0. 0. 1. ]] SLAMing on 70.796547615 meters Centerline goodness : 0.784587 Centerline is valid? [False, False] Translation: X:-0.44, Y:1.81, Z:-0.94 [[ 0.9914753 0.12986704 -0.0105489 -0.44476147] [-0.12998764 0.99144675 -0.011686 1.80769745] [ 0.00894105 0.0129576 0.99987607 -0.93686018] [ 0. 0. 0. 1. ]] SLAMing on 70.82654761499998 meters Centerline goodness : 0.786734 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.81, Z:-0.94 [[ 0.99171822 0.12832286 -0.00531248 -0.43438475] [-0.12841183 0.99145493 -0.02296807 1.80726232] [ 0.00231976 0.02346004 0.99972208 -0.93773285] [ 0. 0. 0. 1. ]] SLAMing on 70.85654761499998 meters Centerline goodness : 0.790412 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.81, Z:-0.94 [[ 0.99182134 0.12750286 -0.00578302 -0.43278666] [-0.12760207 0.99156782 -0.02260452 1.80587614] [ 0.00285211 0.02315757 0.99972776 -0.93737137] [ 0. 0. 0. 1. ]] SLAMing on 70.88654761499998 meters Centerline goodness : 0.783505 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.80, Z:-0.94 [[ 0.99236181 0.12303985 -0.00890094 -0.42752451] [-0.12311284 0.99235899 -0.00817649 1.80438535] [ 0.00782689 0.00920985 0.99992696 -0.94014867] [ 0. 0. 0. 1. ]] SLAMing on 70.91654761499998 meters Centerline goodness : 0.779270 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.81, Z:-0.95 [[ 9.93387878e-01 1.14796297e-01 -1.52753174e-03 -4.32307636e-01] [-1.14804188e-01 9.93363990e-01 -6.92688935e-03 1.80635479e+00] [ 7.22213774e-04 7.05645495e-03 9.99974842e-01 -9.47923303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94654761499999 meters Centerline goodness : 0.782503 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.80, Z:-0.94 [[ 9.94258468e-01 1.06977654e-01 -2.42514001e-03 -4.34391875e-01] [-1.06998537e-01 9.94193514e-01 -1.14266906e-02 1.80015669e+00] [ 1.18865792e-03 1.16205703e-02 9.99931772e-01 -9.41097615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97654761499999 meters Centerline goodness : 0.785784 Centerline is valid? [False, False] Translation: X:-0.44, Y:1.79, Z:-0.93 [[ 9.95101901e-01 9.88015706e-02 -3.23360860e-03 -4.36071628e-01] [-9.88391851e-02 9.94990820e-01 -1.49694204e-02 1.79313653e+00] [ 1.73840862e-03 1.52157059e-02 9.99882723e-01 -9.32879808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00654761499999 meters Centerline goodness : 0.787433 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.79, Z:-0.93 [[ 0.99564515 0.09312959 -0.00419723 -0.43302715] [-0.09319428 0.99545628 -0.01953518 1.79467422] [ 0.00235886 0.01984126 0.99980036 -0.93379887] [ 0. 0. 0. 1. ]] SLAMing on 71.03654761499999 meters Centerline goodness : 0.785952 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.80, Z:-0.94 [[ 9.96469187e-01 8.39567686e-02 6.49059616e-04 -4.28228464e-01] [-8.39474209e-02 9.96428610e-01 -9.10251982e-03 1.79568114e+00] [-1.41095972e-03 9.01589364e-03 9.99958361e-01 -9.37208520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06654761499999 meters Centerline goodness : 0.782059 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.80, Z:-0.94 [[ 9.96798794e-01 7.99495651e-02 -4.81434700e-04 -4.21781454e-01] [-7.99500058e-02 9.96737894e-01 -1.10257595e-02 1.79624162e+00] [-4.01640471e-04 1.10289545e-02 9.99939099e-01 -9.40036256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09654761499999 meters Centerline goodness : 0.784743 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.79, Z:-0.94 [[ 9.97402783e-01 7.20214083e-02 -7.77451308e-04 -4.24417389e-01] [-7.20239591e-02 9.97248936e-01 -1.75245491e-02 1.79437469e+00] [-4.86830218e-04 1.75350292e-02 9.99846131e-01 -9.35098787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12654761499999 meters Centerline goodness : 0.785781 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.79, Z:-0.93 [[ 9.97422193e-01 7.17485667e-02 -1.05441403e-03 -4.24540325e-01] [-7.17562478e-02 9.97293593e-01 -1.60165738e-02 1.79159655e+00] [-9.76058561e-05 1.60509470e-02 9.99871170e-01 -9.32053543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.156547615 meters Centerline goodness : 0.786398 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.79, Z:-0.93 [[ 9.97498764e-01 7.06652099e-02 -1.62588418e-03 -4.22317469e-01] [-7.06826252e-02 9.97355476e-01 -1.69121755e-02 1.79498553e+00] [ 4.26482053e-04 1.69847960e-02 9.99855657e-01 -9.32623326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18654761499998 meters Centerline goodness : 0.783285 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.80, Z:-0.94 [[ 0.99723286 0.07427825 -0.00305956 -0.41289458] [-0.07430928 0.99716625 -0.01173067 1.80246167] [ 0.00217955 0.01192556 0.99992651 -0.93624949] [ 0. 0. 0. 1. ]] SLAMing on 71.21654761499998 meters Centerline goodness : 0.784790 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.81, Z:-0.94 [[ 0.99726804 0.0737839 -0.00352111 -0.41159538] [-0.07382439 0.99718332 -0.01324298 1.80683753] [ 0.00253408 0.01346675 0.99990611 -0.93720818] [ 0. 0. 0. 1. ]] SLAMing on 71.24654761499998 meters Centerline goodness : 0.786305 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.81, Z:-0.93 [[ 0.99716651 0.07515139 -0.00334859 -0.41453884] [-0.07519055 0.99707479 -0.01372027 1.8124991 ] [ 0.0023077 0.01393318 0.99990027 -0.93454562] [ 0. 0. 0. 1. ]] SLAMing on 71.27654761499998 meters Centerline goodness : 0.788937 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.82, Z:-0.93 [[ 0.99694906 0.07794715 -0.00410089 -0.41292762] [-0.07798808 0.99689352 -0.01100729 1.81825035] [ 0.00323016 0.01129353 0.99993101 -0.93273207] [ 0. 0. 0. 1. ]] SLAMing on 71.30654761499999 meters Centerline goodness : 0.787553 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.83, Z:-0.93 [[ 0.99701639 0.07706202 -0.00444571 -0.41184347] [-0.07711268 0.99694214 -0.01264927 1.82635305] [ 0.00345733 0.01295435 0.99991011 -0.93254104] [ 0. 0. 0. 1. ]] SLAMing on 71.33654761499999 meters Centerline goodness : 0.788229 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.83, Z:-0.93 [[ 0.99710516 0.07586105 -0.00513774 -0.41004613] [-0.07592591 0.99701666 -0.01389363 1.83001914] [ 0.00406842 0.01424349 0.99989028 -0.93245277] [ 0. 0. 0. 1. ]] SLAMing on 71.36654761499999 meters Centerline goodness : 0.787269 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.84, Z:-0.93 [[ 0.99717737 0.07485239 -0.00586677 -0.40811293] [-0.07493536 0.99706793 -0.01549955 1.83728706] [ 0.00468939 0.01589543 0.99986266 -0.93249193] [ 0. 0. 0. 1. ]] SLAMing on 71.39654761499999 meters Centerline goodness : 0.785078 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.84, Z:-0.93 [[ 0.99697503 0.07747212 -0.00623353 -0.40625074] [-0.07754829 0.99690278 -0.01308072 1.8448061 ] [ 0.00520083 0.01352455 0.99989501 -0.93187155] [ 0. 0. 0. 1. ]] SLAMing on 71.42654761499999 meters Centerline goodness : 0.783148 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.85, Z:-0.93 [[ 0.99664435 0.08163855 -0.00593213 -0.40770136] [-0.08169506 0.99660715 -0.01000558 1.85213832] [ 0.00509516 0.01045663 0.99993235 -0.92941496] [ 0. 0. 0. 1. ]] SLAMing on 71.45654761499999 meters Centerline goodness : 0.782567 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.86, Z:-0.93 [[ 0.99629174 0.08585282 -0.00566209 -0.4093817 ] [-0.08589459 0.99627525 -0.00759966 1.85981371] [ 0.00498855 0.00805782 0.99995509 -0.92737363] [ 0. 0. 0. 1. ]] SLAMing on 71.48654761499999 meters Centerline goodness : 0.777242 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.87, Z:-0.93 [[ 0.99572235 0.09218563 -0.00622996 -0.4068907 ] [-0.09219986 0.99573844 -0.00203787 1.86842097] [ 0.00601555 0.00260355 0.99997852 -0.92663856] [ 0. 0. 0. 1. ]] SLAMing on 71.516547615 meters Centerline goodness : 0.778859 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.88, Z:-0.93 [[ 9.95392047e-01 9.56654727e-02 -6.54134447e-03 -4.06589170e-01] [-9.56680902e-02 9.95413285e-01 -8.77135465e-05 1.87564784e+00] [ 6.50295003e-03 7.13107300e-04 9.99978601e-01 -9.25514848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.546547615 meters Centerline goodness : 0.780156 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.88, Z:-0.93 [[ 9.95382408e-01 9.57388607e-02 -6.92336237e-03 -4.06227391e-01] [-9.57533875e-02 9.95403465e-01 -1.79735525e-03 1.87987950e+00] [ 6.71946215e-03 2.45199119e-03 9.99974418e-01 -9.26135582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57654761499998 meters Centerline goodness : 0.777397 Centerline is valid? [False, False] Translation: X:-0.40, Y:1.89, Z:-0.93 [[ 9.95068536e-01 9.89273562e-02 -7.21013527e-03 -4.03290246e-01] [-9.89288217e-02 9.95094500e-01 1.53984679e-04 1.88634787e+00] [ 7.18999925e-03 5.60064878e-04 9.99973995e-01 -9.28577779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60654761499998 meters Centerline goodness : 0.777504 Centerline is valid? [False, False] Translation: X:-0.40, Y:1.89, Z:-0.93 [[ 0.99463483 0.10323397 -0.00665652 -0.40365621] [-0.10321217 0.99465306 0.00354001 1.89244078] [ 0.00698637 -0.00283399 0.99997158 -0.92816754] [ 0. 0. 0. 1. ]] SLAMing on 71.63654761499998 meters Centerline goodness : 0.774429 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.90, Z:-0.93 [[ 0.99409826 0.10832735 -0.0058162 -0.40615133] [-0.10828337 0.99409245 0.0074098 1.89640973] [ 0.00658452 -0.00673627 0.99995563 -0.92610977] [ 0. 0. 0. 1. ]] SLAMing on 71.66654761499998 meters Centerline goodness : 0.777211 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.90, Z:-0.92 [[ 0.99323317 0.11601617 -0.00530238 -0.40886267] [-0.11593498 0.99316277 0.01366717 1.90152327] [ 0.00685173 -0.01295996 0.99989254 -0.92223715] [ 0. 0. 0. 1. ]] SLAMing on 71.69654761499999 meters Centerline goodness : 0.775844 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.90, Z:-0.92 [[ 0.99299119 0.11805065 -0.0057046 -0.41006051] [-0.11796762 0.99292991 0.01318433 1.9044915 ] [ 0.00722069 -0.01241897 0.99989681 -0.92153856] [ 0. 0. 0. 1. ]] SLAMing on 71.72654761499999 meters Centerline goodness : 0.775981 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.90, Z:-0.92 [[ 0.99287959 0.11898739 -0.00566736 -0.40995955] [-0.11890825 0.99282405 0.01269797 1.90426159] [ 0.00713759 -0.01193366 0.99990332 -0.923332 ] [ 0. 0. 0. 1. ]] SLAMing on 71.75654761499999 meters Centerline goodness : 0.775981 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.90, Z:-0.92 [[ 0.99287959 0.11898739 -0.00566736 -0.40995955] [-0.11890825 0.99282405 0.01269797 1.90426159] [ 0.00713759 -0.01193366 0.99990332 -0.923332 ] [ 0. 0. 0. 1. ]] SLAMing on 71.78654761499999 meters Centerline goodness : 0.776860 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.90, Z:-0.92 [[ 0.99232853 0.12354137 -0.00464943 -0.4112984 ] [-0.12344265 0.99219637 0.01755751 1.9046467 ] [ 0.00678222 -0.01684888 0.99983504 -0.92231561] [ 0. 0. 0. 1. ]] SLAMing on 71.81654761499999 meters Centerline goodness : 0.776576 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.91, Z:-0.92 [[ 0.99184078 0.12741203 -0.0042466 -0.41039538] [-0.12729276 0.99163088 0.02155812 1.90564501] [ 0.00695782 -0.02084167 0.99975858 -0.92295259] [ 0. 0. 0. 1. ]] SLAMing on 71.84654761499999 meters Centerline goodness : 0.774398 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.90, Z:-0.92 [[ 0.99213862 0.12507119 -0.00426201 -0.41219498] [-0.12497599 0.9919966 0.017993 1.90403041] [ 0.0064783 -0.0173189 0.99982903 -0.92329068] [ 0. 0. 0. 1. ]] SLAMing on 71.87654761499999 meters Centerline goodness : 0.777103 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.90, Z:-0.93 [[ 9.92080276e-01 1.25604188e-01 5.59663978e-04 -4.06845568e-01] [-1.25605424e-01 9.92072125e-01 4.02202308e-03 1.90283693e+00] [-5.00440900e-05 -4.06046660e-03 9.99991755e-01 -9.26607753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.906547615 meters Centerline goodness : 0.775721 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.90, Z:-0.93 [[ 9.91982320e-01 1.26373428e-01 9.12492316e-04 -4.08030582e-01] [-1.26376276e-01 9.91972156e-01 4.50311297e-03 1.90219415e+00] [-3.36093147e-04 -4.58232583e-03 9.99989445e-01 -9.26236681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93654761499998 meters Centerline goodness : 0.777255 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.90, Z:-0.93 [[ 9.91814090e-01 1.27680275e-01 1.59940603e-03 -4.10412141e-01] [-1.27687140e-01 9.91799813e-01 5.39674422e-03 1.90112922e+00] [-8.97232815e-04 -5.55679054e-03 9.99984158e-01 -9.25247992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96654761499998 meters Centerline goodness : 0.777874 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.90, Z:-0.93 [[ 9.91693087e-01 1.28608742e-01 2.14750074e-03 -4.11638275e-01] [-1.28620173e-01 9.91672586e-01 6.50645499e-03 1.89774141e+00] [-1.29283062e-03 -6.72861836e-03 9.99976527e-01 -9.25413255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99654761499998 meters Centerline goodness : 0.777492 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.89, Z:-0.93 [[ 9.91733187e-01 1.28299588e-01 2.12174895e-03 -4.10061243e-01] [-1.28311210e-01 9.91710688e-01 6.79298228e-03 1.89486070e+00] [-1.23262428e-03 -7.00907014e-03 9.99974676e-01 -9.27611104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02654761499998 meters Centerline goodness : 0.778412 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.89, Z:-0.93 [[ 9.92215827e-01 1.24516790e-01 1.82235820e-03 -4.10256100e-01] [-1.24522215e-01 9.92211498e-01 3.24977883e-03 1.89263634e+00] [-1.40351273e-03 -3.45140607e-03 9.99993059e-01 -9.28176297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05654761499999 meters Centerline goodness : 0.777518 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.89, Z:-0.93 [[ 9.93082404e-01 1.17409912e-01 1.50068717e-03 -4.11799217e-01] [-1.17402714e-01 9.93075432e-01 -4.21770726e-03 1.89015364e+00] [-1.98549620e-03 4.01234612e-03 9.99989979e-01 -9.28734846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08654761499999 meters Centerline goodness : 0.777923 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.89, Z:-0.93 [[ 9.93559617e-01 1.13304933e-01 1.13090140e-03 -4.11479503e-01] [-1.13293540e-01 9.93533821e-01 -7.42431857e-03 1.88512606e+00] [-1.96480070e-03 7.24837929e-03 9.99971800e-01 -9.29592765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11654761499999 meters Centerline goodness : 0.779854 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.88, Z:-0.93 [[ 9.93576029e-01 1.13161143e-01 1.10958448e-03 -4.10715030e-01] [-1.13151744e-01 9.93556770e-01 -6.45188060e-03 1.88072382e+00] [-1.83253735e-03 6.28488249e-03 9.99978571e-01 -9.30335213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14654761499999 meters Centerline goodness : 0.777398 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.88, Z:-0.93 [[ 9.93460697e-01 1.14163413e-01 1.59944450e-03 -4.11704193e-01] [-1.14152735e-01 9.93447083e-01 -5.66103545e-03 1.87852569e+00] [-2.23524660e-03 5.44143526e-03 9.99982697e-01 -9.30924255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17654761499999 meters Centerline goodness : 0.780535 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.87, Z:-0.93 [[ 0.993317 0.11540121 0.00197395 -0.41333966] [-0.11539252 0.99331167 -0.00406091 1.87416009] [-0.00242938 0.003806 0.99998981 -0.93003263] [ 0. 0. 0. 1. ]] SLAMing on 72.20654761499999 meters Centerline goodness : 0.779089 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.87, Z:-0.93 [[ 0.9932352 0.11610176 0.00205584 -0.41400119] [-0.11609648 0.99323473 -0.0025269 1.86957529] [-0.00233531 0.00227113 0.99999469 -0.92925782] [ 0. 0. 0. 1. ]] SLAMing on 72.23654761499999 meters Centerline goodness : 0.782268 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.87, Z:-0.93 [[ 0.9935832 0.11308524 0.00203955 -0.41430282] [-0.11307154 0.99356933 -0.00590077 1.86553735] [-0.00269372 0.00563229 0.99998051 -0.93125191] [ 0. 0. 0. 1. ]] SLAMing on 72.266547615 meters Centerline goodness : 0.779973 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.86, Z:-0.93 [[ 0.99352085 0.11362357 0.00245001 -0.41524528] [-0.1136117 0.99351487 -0.00453755 1.8622658 ] [-0.0029497 0.0042298 0.9999867 -0.93077399] [ 0. 0. 0. 1. ]] SLAMing on 72.296547615 meters Centerline goodness : 0.781618 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.86, Z:-0.93 [[ 0.99339344 0.11471531 0.00314183 -0.41774979] [-0.11470765 0.9933961 -0.00252001 1.85789579] [-0.00341016 0.00214297 0.99999189 -0.92881903] [ 0. 0. 0. 1. ]] SLAMing on 72.32654761499998 meters Centerline goodness : 0.784285 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.85, Z:-0.93 [[ 0.99354924 0.11332482 0.00416941 -0.42359422] [-0.11330879 0.99355217 -0.00389956 1.85128838] [-0.00458445 0.00340198 0.9999837 -0.92582239] [ 0. 0. 0. 1. ]] SLAMing on 72.35654761499998 meters Centerline goodness : 0.788912 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.85, Z:-0.92 [[ 0.99377756 0.11126014 0.00522947 -0.42835929] [-0.11122718 0.99377554 -0.00621982 1.84836018] [-0.00588894 0.00559946 0.99996698 -0.92403385] [ 0. 0. 0. 1. ]] SLAMing on 72.38654761499998 meters Centerline goodness : 0.786941 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.85, Z:-0.92 [[ 0.99381341 0.11094808 0.00504358 -0.42729035] [-0.11091903 0.99381301 -0.0057165 1.84720335] [-0.00564661 0.00512171 0.99997094 -0.92435557] [ 0. 0. 0. 1. ]] SLAMing on 72.41654761499998 meters Centerline goodness : 0.785742 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.84, Z:-0.93 [[ 0.994001 0.10928403 0.00435924 -0.42340716] [-0.10925538 0.99399347 -0.00634437 1.84472847] [-0.00502639 0.00583004 0.99997037 -0.92735668] [ 0. 0. 0. 1. ]] SLAMing on 72.44654761499999 meters Centerline goodness : 0.786317 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.84, Z:-0.93 [[ 0.99441494 0.10546074 0.00411874 -0.42356066] [-0.10541705 0.99438099 -0.00967949 1.83995016] [-0.0051164 0.00919125 0.99994467 -0.92809962] [ 0. 0. 0. 1. ]] SLAMing on 72.47654761499999 meters Centerline goodness : 0.787497 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.83, Z:-0.93 [[ 0.99468184 0.10289249 0.00460194 -0.42681123] [-0.10283552 0.99463466 -0.01125861 1.83381222] [-0.00573567 0.01072549 0.99992603 -0.92582743] [ 0. 0. 0. 1. ]] SLAMing on 72.50654761499999 meters Centerline goodness : 0.788956 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.83, Z:-0.93 [[ 0.99468383 0.10287168 0.00463584 -0.42660073] [-0.10281528 0.99463858 -0.0110959 1.83362856] [-0.00575244 0.01056027 0.99992769 -0.92608661] [ 0. 0. 0. 1. ]] SLAMing on 72.53654761499999 meters Centerline goodness : 0.786768 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.83, Z:-0.93 [[ 0.99448392 0.1048019 0.00427638 -0.42212843] [-0.1047688 0.99446949 -0.0073442 1.83122509] [-0.00502242 0.00685566 0.99996389 -0.92841644] [ 0. 0. 0. 1. ]] SLAMing on 72.56654761499999 meters Centerline goodness : 0.785323 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.83, Z:-0.93 [[ 0.99449482 0.10469985 0.00424187 -0.41958018] [-0.10466262 0.99447388 -0.00821159 1.82912835] [-0.00507818 0.00772242 0.99995729 -0.9334197 ] [ 0. 0. 0. 1. ]] SLAMing on 72.59654761499999 meters Centerline goodness : 0.786636 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.83, Z:-0.93 [[ 0.99461404 0.10351803 0.00519007 -0.42544051] [-0.10345787 0.9945756 -0.01076322 1.82659239] [-0.00627611 0.0101683 0.99992861 -0.93124421] [ 0. 0. 0. 1. ]] SLAMing on 72.62654761499999 meters Centerline goodness : 0.788987 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.82, Z:-0.93 [[ 0.99478206 0.10185221 0.00589744 -0.43019673] [-0.10176529 0.99471643 -0.01352947 1.82477913] [-0.00724429 0.01285872 0.99989108 -0.92941913] [ 0. 0. 0. 1. ]] SLAMing on 72.656547615 meters Centerline goodness : 0.788409 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.82, Z:-0.93 [[ 0.99470173 0.10259583 0.006524 -0.43112163] [-0.10251064 0.99465619 -0.01227309 1.82163821] [-0.00774831 0.01153928 0.9999034 -0.92990938] [ 0. 0. 0. 1. ]] SLAMing on 72.68654761499998 meters Centerline goodness : 0.785734 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.82, Z:-0.93 [[ 0.99477321 0.10191991 0.00621203 -0.42470676] [-0.10184774 0.99473919 -0.01099959 1.8208769 ] [-0.00730043 0.01030941 0.99992021 -0.93460858] [ 0. 0. 0. 1. ]] SLAMing on 72.71654761499998 meters Centerline goodness : 0.784243 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.82, Z:-0.93 [[ 0.99511161 0.09856344 0.00617449 -0.42588073] [-0.09846323 0.99502993 -0.01484684 1.82028761] [-0.00760716 0.01416631 0.99987072 -0.93479489] [ 0. 0. 0. 1. ]] SLAMing on 72.74654761499998 meters Centerline goodness : 0.785413 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.81, Z:-0.93 [[ 0.9954252 0.09533917 0.00625419 -0.42832187] [-0.0952267 0.99532176 -0.0163238 1.81398076] [-0.00778122 0.01565356 0.9998472 -0.93145019] [ 0. 0. 0. 1. ]] SLAMing on 72.77654761499998 meters Centerline goodness : 0.792159 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.81, Z:-0.93 [[ 0.99572841 0.0921128 0.00633718 -0.43100452] [-0.09198355 0.9955919 -0.01832495 1.80990502] [-0.00799721 0.01766376 0.999812 -0.92797292] [ 0. 0. 0. 1. ]] SLAMing on 72.80654761499999 meters Centerline goodness : 0.793456 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.81, Z:-0.93 [[ 0.99604807 0.08859765 0.00622086 -0.43221616] [-0.08844547 0.99584845 -0.02152368 1.80759307] [-0.00810198 0.02088842 0.99974898 -0.92698683] [ 0. 0. 0. 1. ]] SLAMing on 72.83654761499999 meters Centerline goodness : 0.791495 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.81, Z:-0.93 [[ 0.9962321 0.08655876 0.00540289 -0.42775957] [-0.08642287 0.99602229 -0.02169506 1.80541639] [-0.0072593 0.02114638 0.99975004 -0.92896337] [ 0. 0. 0. 1. ]] SLAMing on 72.86654761499999 meters Centerline goodness : 0.789849 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.80, Z:-0.94 [[ 0.99639013 0.08478332 0.00430141 -0.41804175] [-0.08467564 0.99618807 -0.02096101 1.80452939] [-0.00606216 0.02052111 0.99977104 -0.93503071] [ 0. 0. 0. 1. ]] SLAMing on 72.89654761499999 meters Centerline goodness : 0.788869 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.81, Z:-0.94 [[ 0.99645359 0.08405807 0.00380448 -0.41541755] [-0.08395732 0.99623574 -0.02157569 1.80527554] [-0.00560377 0.02117976 0.99975998 -0.93717266] [ 0. 0. 0. 1. ]] SLAMing on 72.92654761499999 meters Centerline goodness : 0.790777 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.80, Z:-0.93 [[ 0.99642609 0.08438195 0.00383949 -0.4166752 ] [-0.0842923 0.99625162 -0.01942987 1.80033515] [-0.00546463 0.01903679 0.99980385 -0.93380546] [ 0. 0. 0. 1. ]] SLAMing on 72.95654761499999 meters Centerline goodness : 0.794902 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.80, Z:-0.93 [[ 0.99661229 0.08214536 0.00401154 -0.42002911] [-0.08203451 0.99637252 -0.02263054 1.79918497] [-0.00585599 0.02222479 0.99973585 -0.93204064] [ 0. 0. 0. 1. ]] SLAMing on 72.98654761499999 meters Centerline goodness : 0.795732 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.80, Z:-0.93 [[ 0.99654395 0.08296263 0.00416617 -0.42151888] [-0.08285631 0.99633464 -0.02126328 1.79659474] [-0.00591496 0.0208446 0.99976523 -0.93007782] [ 0. 0. 0. 1. ]] SLAMing on 73.016547615 meters Centerline goodness : 0.794179 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.79, Z:-0.93 [[ 0.99624616 0.08645455 0.00438257 -0.42079992] [-0.0863749 0.99613544 -0.01592385 1.79499597] [-0.00574233 0.01548553 0.9998636 -0.92838924] [ 0. 0. 0. 1. ]] SLAMing on 73.04654761499998 meters Centerline goodness : 0.792401 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.79, Z:-0.93 [[ 0.99594928 0.08981384 0.00430107 -0.41884981] [-0.08975905 0.99589619 -0.01157985 1.79493451] [-0.00532345 0.01114689 0.9999237 -0.92861385] [ 0. 0. 0. 1. ]] SLAMing on 73.07654761499998 meters Centerline goodness : 0.794594 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.79, Z:-0.93 [[ 0.99590331 0.09031899 0.00436751 -0.41978484] [-0.09026753 0.99585883 -0.01081513 1.79361708] [-0.00532623 0.01037658 0.99993198 -0.92736494] [ 0. 0. 0. 1. ]] SLAMing on 73.10654761499998 meters Centerline goodness : 0.798406 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.79, Z:-0.92 [[ 0.99586272 0.09076367 0.00440508 -0.42122531] [-0.09071833 0.99583046 -0.009585 1.79134559] [-0.00525669 0.00914573 0.99994436 -0.92466896] [ 0. 0. 0. 1. ]] SLAMing on 73.13654761499998 meters Centerline goodness : 0.800983 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.79, Z:-0.92 [[ 0.99616783 0.08734891 0.00445302 -0.42328705] [-0.0872834 0.99609555 -0.0132388 1.79063613] [-0.00559203 0.01279939 0.99990245 -0.92332163] [ 0. 0. 0. 1. ]] SLAMing on 73.16654761499998 meters Centerline goodness : 0.802921 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.79, Z:-0.92 [[ 0.99634152 0.08537717 0.00378328 -0.41978829] [-0.08531899 0.9962619 -0.01352427 1.78911111] [-0.0049238 0.013152 0.99990139 -0.92436921] [ 0. 0. 0. 1. ]] SLAMing on 73.19654761499999 meters Centerline goodness : 0.799695 Centerline is valid? [False, False] Translation: X:-0.41, Y:1.79, Z:-0.93 [[ 0.99651428 0.0833718 0.00290218 -0.41497882] [-0.08331856 0.99640702 -0.01520073 1.79291153] [-0.00415906 0.01490594 0.99988025 -0.92752381] [ 0. 0. 0. 1. ]] SLAMing on 73.22654761499999 meters Centerline goodness : 0.803312 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.79, Z:-0.93 [[ 0.99650816 0.08344532 0.00289133 -0.41573272] [-0.08339559 0.99641268 -0.01438586 1.79225029] [-0.00408139 0.0140945 0.99989234 -0.92547068] [ 0. 0. 0. 1. ]] SLAMing on 73.25654761499999 meters Centerline goodness : 0.814034 Centerline is valid? [False, False] Translation: X:-1.81, Y:2.21, Z:-1.01 [[ 0.73140427 -0.23645393 0.63963844 -1.80512614] [ 0.56657385 0.73271225 -0.37699712 2.20962979] [-0.37952847 0.63813972 0.66987748 -1.00926991] [ 0. 0. 0. 1. ]] SLAMing on 73.28654761499999 meters Centerline goodness : 0.804344 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.68, Z:-0.30 [[ 0.94803819 -0.31799382 0.01017401 -0.5774853 ] [ 0.19029531 0.59237661 0.78286502 1.677977 ] [-0.25497309 -0.74024988 0.62210838 -0.29951197] [ 0. 0. 0. 1. ]] SLAMing on 73.31654761499999 meters Centerline goodness : 0.802945 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.67, Z:-0.31 [[ 0.94814635 -0.31758842 0.0124935 -0.57634811] [ 0.1900192 0.59792707 0.77870144 1.67205297] [-0.25477676 -0.73594893 0.62727026 -0.30927423] [ 0. 0. 0. 1. ]] SLAMing on 73.34654761499999 meters Centerline goodness : 0.799233 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.67, Z:-0.31 [[ 0.94764058 -0.31890405 0.01665936 -0.57941399] [ 0.18956995 0.60376596 0.77429316 1.66711286] [-0.25698358 -0.73059351 0.63260775 -0.31440185] [ 0. 0. 0. 1. ]] SLAMing on 73.37654761499999 meters Centerline goodness : 0.802266 Centerline is valid? [False, False] Translation: X:-0.58, Y:1.66, Z:-0.32 [[ 0.94689811 -0.32086359 0.02074915 -0.58343965] [ 0.18917602 0.60813163 0.77096585 1.66376323] [-0.25999309 -0.72610087 0.63653839 -0.31727206] [ 0. 0. 0. 1. ]] SLAMing on 73.406547615 meters Centerline goodness : 0.800726 Centerline is valid? [False, False] Translation: X:-0.60, Y:1.65, Z:-0.32 [[ 0.94883696 -0.31437986 0.02955906 -0.6018324 ] [ 0.17976256 0.61475184 0.76796198 1.6515424 ] [-0.25960326 -0.72335709 0.63981299 -0.31904518] [ 0. 0. 0. 1. ]] SLAMing on 73.43654761499998 meters Centerline goodness : 0.797800 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.65, Z:-0.33 [[ 0.95053226 -0.30902115 0.03153341 -0.60614955] [ 0.17445259 0.61507059 0.76893073 1.64814522] [-0.25701113 -0.72539238 0.63855398 -0.3261838 ] [ 0. 0. 0. 1. ]] SLAMing on 73.46654761499998 meters Centerline goodness : 0.800595 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.64, Z:-0.33 [[ 0.952884 -0.30138189 0.03436615 -0.61262559] [ 0.16959018 0.62324712 0.76341483 1.6421383 ] [-0.251498 -0.72161762 0.64499362 -0.3325328 ] [ 0. 0. 0. 1. ]] SLAMing on 73.49654761499998 meters Centerline goodness : 0.800741 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.63, Z:-0.33 [[ 0.95485027 -0.29442603 0.03967701 -0.62612115] [ 0.16463025 0.63555994 0.75429466 1.63361141] [-0.2473011 -0.71370643 0.65533602 -0.33433979] [ 0. 0. 0. 1. ]] SLAMing on 73.52654761499998 meters Centerline goodness : 0.801177 Centerline is valid? [False, False] Translation: X:-0.64, Y:1.63, Z:-0.34 [[ 0.95665386 -0.28768725 0.04527081 -0.64207118] [ 0.15727843 0.64119417 0.75108824 1.62581312] [-0.24510589 -0.71141133 0.65864787 -0.33529343] [ 0. 0. 0. 1. ]] SLAMing on 73.55654761499999 meters Centerline goodness : 0.799723 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.62, Z:-0.34 [[ 0.95678108 -0.28618601 0.05164809 -0.67329367] [ 0.15323083 0.64707179 0.74687242 1.61588991] [-0.24716446 -0.70667932 0.66295857 -0.33583169] [ 0. 0. 0. 1. ]] SLAMing on 73.58654761499999 meters Centerline goodness : 0.799477 Centerline is valid? [False, False] Translation: X:-0.68, Y:1.61, Z:-0.34 [[ 0.95589622 -0.28791383 0.05803486 -0.6817241 ] [ 0.15166276 0.65308553 0.74194184 1.60869125] [-0.25151704 -0.70041767 0.6679478 -0.34405718] [ 0. 0. 0. 1. ]] SLAMing on 73.61654761499999 meters Centerline goodness : 0.799463 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.60, Z:-0.35 [[ 0.95651271 -0.28480138 0.06302069 -0.68950053] [ 0.14928229 0.66357951 0.73306004 1.59860114] [-0.25059575 -0.69177337 0.67723804 -0.35256 ] [ 0. 0. 0. 1. ]] SLAMing on 73.64654761499999 meters Centerline goodness : 0.798806 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.59, Z:-0.36 [[ 0.95738295 -0.28084164 0.067423 -0.69726785] [ 0.14625138 0.67269847 0.72531876 1.59219889] [-0.24905506 -0.6845471 0.68510352 -0.35995948] [ 0. 0. 0. 1. ]] SLAMing on 73.67654761499999 meters Centerline goodness : 0.798806 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.59, Z:-0.36 [[ 0.95773302 -0.27920563 0.06922192 -0.699844 ] [ 0.1441497 0.67407494 0.72446107 1.58915299] [-0.24893437 -0.68386197 0.68583123 -0.36058395] [ 0. 0. 0. 1. ]] SLAMing on 73.70654761499999 meters Centerline goodness : 0.802060 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.58, Z:-0.36 [[ 0.9598966 -0.27032035 0.0743332 -0.71475484] [ 0.13655772 0.68238274 0.71812658 1.58038297] [-0.24484792 -0.67917649 0.69193121 -0.3627698 ] [ 0. 0. 0. 1. ]] SLAMing on 73.73654761499999 meters Centerline goodness : 0.802341 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.57, Z:-0.37 [[ 0.96207273 -0.26157297 0.07743151 -0.72300634] [ 0.12911822 0.6866764 0.71540479 1.57162043] [-0.24030094 -0.67827362 0.69440647 -0.36795216] [ 0. 0. 0. 1. ]] SLAMing on 73.766547615 meters Centerline goodness : 0.796495 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.56, Z:-0.37 [[ 0.96320704 -0.25553128 0.0832824 -0.73713499] [ 0.12187704 0.69147548 0.7120447 1.56206357] [-0.23953743 -0.67569625 0.69717745 -0.37108843] [ 0. 0. 0. 1. ]] SLAMing on 73.79654761499998 meters Centerline goodness : 0.799960 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.56, Z:-0.37 [[ 0.96319201 -0.25483246 0.08556624 -0.74175617] [ 0.12077083 0.69460377 0.70918264 1.56126119] [-0.24015738 -0.67274514 0.69981312 -0.37201547] [ 0. 0. 0. 1. ]] SLAMing on 73.82654761499998 meters Centerline goodness : 0.801971 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.55, Z:-0.37 [[ 0.96414703 -0.24925514 0.09106252 -0.76097561] [ 0.11689071 0.70697464 0.69751231 1.55186676] [-0.23823742 -0.66186006 0.71076311 -0.37308492] [ 0. 0. 0. 1. ]] SLAMing on 73.85654761499998 meters Centerline goodness : 0.803894 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.54, Z:-0.38 [[ 0.96496905 -0.24466987 0.09471737 -0.77146599] [ 0.11372814 0.71541521 0.6893816 1.54387146] [-0.23643315 -0.65445988 0.71817939 -0.38011415] [ 0. 0. 0. 1. ]] SLAMing on 73.88654761499998 meters Centerline goodness : 0.807190 Centerline is valid? [False, False] Translation: X:-0.85, Y:1.54, Z:-0.38 [[ 0.96569635 -0.23901062 0.10151099 -0.84525799] [ 0.1147713 0.7435188 0.65879234 1.53649149] [-0.23293369 -0.62454281 0.74544495 -0.37818636] [ 0. 0. 0. 1. ]] SLAMing on 73.91654761499998 meters Centerline goodness : 0.810273 Centerline is valid? [False, False] Translation: X:-0.91, Y:1.53, Z:-0.38 [[ 0.96595489 -0.23472363 0.10879327 -0.91338762] [ 0.11622787 0.76942178 0.62807738 1.52987484] [-0.23113251 -0.59404961 0.77050816 -0.37812084] [ 0. 0. 0. 1. ]] SLAMing on 73.94654761499999 meters Centerline goodness : 0.810882 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.52, Z:-0.38 [[ 0.965838 -0.23264674 0.11415977 -0.97783613] [ 0.12005355 0.79208394 0.59848991 1.52379573] [-0.22966085 -0.56433901 0.79295484 -0.38268844] [ 0. 0. 0. 1. ]] SLAMing on 73.97654761499999 meters Centerline goodness : 0.803440 Centerline is valid? [False, False] Translation: X:-1.04, Y:1.52, Z:-0.39 [[ 0.96708726 -0.22728049 0.1143932 -1.03674726] [ 0.12282442 0.8107208 0.57240365 1.51932759] [-0.22283713 -0.539514 0.81195336 -0.39206273] [ 0. 0. 0. 1. ]] SLAMing on 74.00654761499999 meters Centerline goodness : 0.805464 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.52, Z:-0.40 [[ 0.96822199 -0.2210682 0.11694023 -1.09026386] [ 0.12439407 0.83134137 0.54166192 1.51679384] [-0.21696148 -0.50990232 0.83242257 -0.39918043] [ 0. 0. 0. 1. ]] SLAMing on 74.03654761499999 meters Centerline goodness : 0.812866 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.51, Z:-0.40 [[ 0.96875348 -0.21472002 0.12414513 -1.14107227] [ 0.1243422 0.85353735 0.50597728 1.51259429] [-0.21460596 -0.47473077 0.85356604 -0.40483667] [ 0. 0. 0. 1. ]] SLAMing on 74.06654761499999 meters Centerline goodness : 0.810671 Centerline is valid? [False, False] Translation: X:-1.18, Y:1.51, Z:-0.41 [[ 0.96984864 -0.20787169 0.12721232 -1.18424843] [ 0.12274963 0.86759869 0.48187659 1.51178007] [-0.21053774 -0.45173209 0.86695558 -0.4114358 ] [ 0. 0. 0. 1. ]] SLAMing on 74.09654761499999 meters Centerline goodness : 0.807106 Centerline is valid? [False, False] Translation: X:-1.23, Y:1.51, Z:-0.42 [[ 0.97127792 -0.20022911 0.12855934 -1.22784743] [ 0.12029361 0.87934625 0.46073813 1.51289994] [-0.20530136 -0.4320399 0.87817588 -0.4153844 ] [ 0. 0. 0. 1. ]] SLAMing on 74.12654761499999 meters Centerline goodness : 0.805637 Centerline is valid? [False, False] Translation: X:-1.26, Y:1.51, Z:-0.42 [[ 0.97172619 -0.1967886 0.13047014 -1.26349429] [ 0.12263935 0.8928636 0.4333061 1.51225868] [-0.20176174 -0.40505412 0.89175297 -0.42067759] [ 0. 0. 0. 1. ]] SLAMing on 74.156547615 meters Centerline goodness : 0.810500 Centerline is valid? [False, False] Translation: X:-1.29, Y:1.51, Z:-0.43 [[ 0.97232731 -0.19386694 0.13036571 -1.29120882] [ 0.12599678 0.90506471 0.4061806 1.51127843] [-0.19673439 -0.37851483 0.90444574 -0.42659103] [ 0. 0. 0. 1. ]] SLAMing on 74.18654761499998 meters Centerline goodness : 0.809397 Centerline is valid? [False, False] Translation: X:-1.32, Y:1.51, Z:-0.44 [[ 0.97286252 -0.1911817 0.13033831 -1.31797593] [ 0.12824794 0.9143915 0.38398002 1.51208224] [-0.19259019 -0.35684415 0.91409587 -0.43537876] [ 0. 0. 0. 1. ]] SLAMing on 74.21654761499998 meters Centerline goodness : 0.803570 Centerline is valid? [False, False] Translation: X:-1.34, Y:1.51, Z:-0.44 [[ 0.97381212 -0.18626709 0.13036309 -1.3438909 ] [ 0.127632 0.92239843 0.36454246 1.51295807] [-0.18814898 -0.33835736 0.92201641 -0.44380542] [ 0. 0. 0. 1. ]] SLAMing on 74.24654761499998 meters Centerline goodness : 0.802693 Centerline is valid? [False, False] Translation: X:-1.37, Y:1.51, Z:-0.45 [[ 0.97461653 -0.18123065 0.13144606 -1.37220878] [ 0.12645747 0.93012664 0.34477956 1.51331058] [-0.18474611 -0.31940552 0.92943477 -0.45000969] [ 0. 0. 0. 1. ]] SLAMing on 74.27654761499998 meters Centerline goodness : 0.808924 Centerline is valid? [False, False] Translation: X:-1.39, Y:1.52, Z:-0.45 [[ 0.97447323 -0.17624466 0.13906742 -1.39087097] [ 0.12462626 0.93990209 0.31788734 1.51625232] [-0.1867357 -0.29244125 0.93787414 -0.45364584] [ 0. 0. 0. 1. ]] SLAMing on 74.30654761499999 meters Centerline goodness : 0.803012 Centerline is valid? [False, False] Translation: X:-1.41, Y:1.52, Z:-0.46 [[ 0.97500177 -0.17201832 0.14064584 -1.40946878] [ 0.12251725 0.94425878 0.30555668 1.51984791] [-0.18536741 -0.28068676 0.94172919 -0.45965659] [ 0. 0. 0. 1. ]] SLAMing on 74.33654761499999 meters Centerline goodness : 0.801480 Centerline is valid? [False, False] Translation: X:-1.43, Y:1.52, Z:-0.47 [[ 0.97614904 -0.16581726 0.1401345 -1.43075536] [ 0.11966155 0.94951677 0.28999831 1.52133965] [-0.18114679 -0.26631287 0.94671184 -0.46698054] [ 0. 0. 0. 1. ]] SLAMing on 74.36654761499999 meters Centerline goodness : 0.812495 Centerline is valid? [False, False] Translation: X:-1.45, Y:1.53, Z:-0.47 [[ 0.97721932 -0.15711634 0.14267745 -1.44639657] [ 0.11488898 0.95687448 0.26681781 1.52586828] [-0.17844585 -0.24434745 0.95312717 -0.47247858] [ 0. 0. 0. 1. ]] SLAMing on 74.39654761499999 meters Centerline goodness : 0.813070 Centerline is valid? [False, False] Translation: X:-1.46, Y:1.53, Z:-0.48 [[ 0.97755331 -0.14937842 0.14857861 -1.46069251] [ 0.11018274 0.96354615 0.24380029 1.5306729 ] [-0.17958085 -0.22195698 0.95837666 -0.47758031] [ 0. 0. 0. 1. ]] SLAMing on 74.42654761499999 meters Centerline goodness : 0.817238 Centerline is valid? [False, False] Translation: X:-1.48, Y:1.53, Z:-0.48 [[ 0.97801072 -0.14484077 0.15005393 -1.47857316] [ 0.10788684 0.96711213 0.23033576 1.53291068] [-0.17848098 -0.209082 0.96147244 -0.4843118 ] [ 0. 0. 0. 1. ]] SLAMing on 74.45654761499999 meters Centerline goodness : 0.811663 Centerline is valid? [False, False] Translation: X:-1.49, Y:1.54, Z:-0.49 [[ 0.97823394 -0.14213275 0.15118413 -1.48721469] [ 0.10658543 0.96929424 0.22160377 1.53795276] [-0.17803906 -0.2006663 0.9633458 -0.49284461] [ 0. 0. 0. 1. ]] SLAMing on 74.48654761499999 meters Centerline goodness : 0.799657 Centerline is valid? [False, False] Translation: X:-1.49, Y:1.54, Z:-0.49 [[ 0.97919337 -0.13982316 0.14707086 -1.49071921] [ 0.10850879 0.97319269 0.20278518 1.54289216] [-0.17148235 -0.18260742 0.96811587 -0.49478173] [ 0. 0. 0. 1. ]] SLAMing on 74.516547615 meters Centerline goodness : 0.816167 Centerline is valid? [False, False] Translation: X:-1.49, Y:1.55, Z:-0.50 [[ 0.97812641 -0.13939355 0.15439615 -1.49305507] [ 0.11113007 0.97762545 0.17860174 1.54711604] [-0.17583753 -0.15753703 0.97173209 -0.50226853] [ 0. 0. 0. 1. ]] SLAMing on 74.54654761499998 meters Centerline goodness : 0.815222 Centerline is valid? [False, False] Translation: X:-1.49, Y:1.55, Z:-0.51 [[ 0.97739855 -0.14280034 0.155885 -1.49411258] [ 0.11567513 0.97845035 0.17103853 1.55345863] [-0.17695009 -0.14914079 0.9728544 -0.50900444] [ 0. 0. 0. 1. ]] SLAMing on 74.57654761499998 meters Centerline goodness : 0.809853 Centerline is valid? [False, False] Translation: X:-1.49, Y:1.56, Z:-0.52 [[ 0.97667571 -0.14640375 0.15706845 -1.49457379] [ 0.12039126 0.97908678 0.16399699 1.56061888] [-0.17779342 -0.14126221 0.97387601 -0.51503063] [ 0. 0. 0. 1. ]] SLAMing on 74.60654761499998 meters Centerline goodness : 0.816402 Centerline is valid? [False, False] Translation: X:-1.50, Y:1.56, Z:-0.52 [[ 0.97565341 -0.14919731 0.16075006 -1.50379583] [ 0.12457782 0.98023632 0.15367862 1.56230367] [-0.18050148 -0.12991117 0.97495759 -0.51733395] [ 0. 0. 0. 1. ]] SLAMing on 74.63654761499998 meters Centerline goodness : 0.813811 Centerline is valid? [False, False] Translation: X:-1.51, Y:1.57, Z:-0.52 [[ 0.97498784 -0.15217339 0.16199376 -1.50616333] [ 0.12829542 0.98049611 0.14888811 1.56560072] [-0.18149106 -0.12438104 0.97549493 -0.51725891] [ 0. 0. 0. 1. ]] SLAMing on 74.66654761499998 meters Centerline goodness : 0.812420 Centerline is valid? [False, False] Translation: X:-1.51, Y:1.57, Z:-0.52 [[ 0.97430869 -0.15530147 0.16310742 -1.50732723] [ 0.13233883 0.98078644 0.14333318 1.56912613] [-0.1822334 -0.11806532 0.97614116 -0.51952398] [ 0. 0. 0. 1. ]] SLAMing on 74.69654761499999 meters Centerline goodness : 0.815084 Centerline is valid? [False, False] Translation: X:-1.51, Y:1.58, Z:-0.53 [[ 0.97380459 -0.1572981 0.16420088 -1.50904619] [ 0.13558776 0.98138454 0.13601596 1.5755242 ] [-0.18253925 -0.11018934 0.97700447 -0.52567867] [ 0. 0. 0. 1. ]] SLAMing on 74.72654761499999 meters Centerline goodness : 0.814272 Centerline is valid? [False, False] Translation: X:-1.51, Y:1.58, Z:-0.53 [[ 0.97341441 -0.15841464 0.16543634 -1.51183693] [ 0.13764914 0.98187512 0.13028419 1.58013592] [-0.18307675 -0.10404834 0.97757703 -0.52953796] [ 0. 0. 0. 1. ]] SLAMing on 74.75654761499999 meters Centerline goodness : 0.812761 Centerline is valid? [False, False] Translation: X:-1.52, Y:1.58, Z:-0.53 [[ 0.97297647 -0.15868782 0.16773481 -1.51816437] [ 0.13872468 0.98244173 0.12475461 1.58265942] [-0.18458671 -0.09811435 0.9779066 -0.53109664] [ 0. 0. 0. 1. ]] SLAMing on 74.78654761499999 meters Centerline goodness : 0.809358 Centerline is valid? [False, False] Translation: X:-1.52, Y:1.59, Z:-0.53 [[ 0.97268003 -0.1594266 0.16875044 -1.52179355] [ 0.14009566 0.98272711 0.12091577 1.58570079] [-0.18511282 -0.09397116 0.97821402 -0.53077559] [ 0. 0. 0. 1. ]] SLAMing on 74.81654761499999 meters Centerline goodness : 0.810496 Centerline is valid? [False, False] Translation: X:-1.52, Y:1.59, Z:-0.53 [[ 0.97312392 -0.15742345 0.16807048 -1.51965034] [ 0.13915834 0.98351311 0.11548559 1.59284142] [-0.18347966 -0.08899338 0.97898692 -0.53447551] [ 0. 0. 0. 1. ]] SLAMing on 74.84654761499999 meters Centerline goodness : 0.809262 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.60, Z:-0.54 [[ 0.97330455 -0.1542408 0.16996478 -1.52655282] [ 0.13617981 0.98418408 0.11329941 1.5964308 ] [-0.18475202 -0.08712906 0.97891533 -0.53692546] [ 0. 0. 0. 1. ]] SLAMing on 74.87654761499999 meters Centerline goodness : 0.807938 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.60, Z:-0.54 [[ 0.97391925 -0.14784484 0.17211389 -1.53804232] [ 0.13027206 0.98543234 0.10932658 1.59876201] [-0.18576996 -0.08405363 0.97899158 -0.54153152] [ 0. 0. 0. 1. ]] SLAMing on 74.906547615 meters Centerline goodness : 0.810763 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.60, Z:-0.54 [[ 0.97384168 -0.14621385 0.17393643 -1.54537351] [ 0.1290391 0.98592393 0.10631513 1.5980256 ] [-0.18703284 -0.08108951 0.97900113 -0.54018296] [ 0. 0. 0. 1. ]] SLAMing on 74.93654761499998 meters Centerline goodness : 0.807474 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.60, Z:-0.54 [[ 0.97384588 -0.14596406 0.17412263 -1.5450506 ] [ 0.12902218 0.98606721 0.10499872 1.59978705] [-0.18702266 -0.07978689 0.97911009 -0.54351892] [ 0. 0. 0. 1. ]] SLAMing on 74.96654761499998 meters Centerline goodness : 0.807509 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.60, Z:-0.55 [[ 0.97380948 -0.14612765 0.17418902 -1.54416487] [ 0.12952417 0.98619038 0.10320869 1.60305437] [-0.18686518 -0.07794391 0.9792886 -0.54745218] [ 0. 0. 0. 1. ]] SLAMing on 74.99654761499998 meters Centerline goodness : 0.806791 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.60, Z:-0.55 [[ 0.9735087 -0.14569117 0.17622398 -1.54997408] [ 0.12999861 0.98669932 0.09759515 1.60419138] [-0.18809883 -0.07210086 0.97950002 -0.55043701] [ 0. 0. 0. 1. ]] SLAMing on 75.02654761499998 meters Centerline goodness : 0.793559 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.60, Z:-0.55 [[ 0.97472311 -0.14391619 0.1708888 -1.54202352] [ 0.13071391 0.98766537 0.08620323 1.60118892] [-0.18118699 -0.06168673 0.98151211 -0.54613595] [ 0. 0. 0. 1. ]] SLAMing on 75.05654761499999 meters Centerline goodness : 0.811355 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.60, Z:-0.55 [[ 0.97472068 -0.14433986 0.170545 -1.53958941] [ 0.13126285 0.98763874 0.08567254 1.60017217] [-0.18080282 -0.06112058 0.98161837 -0.54930881] [ 0. 0. 0. 1. ]] SLAMing on 75.08654761499999 meters Centerline goodness : 0.811551 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.60, Z:-0.56 [[ 0.97514297 -0.14269326 0.16951348 -1.53506479] [ 0.12924426 0.98770552 0.08794165 1.60204208] [-0.17997808 -0.06384703 0.98159638 -0.55592923] [ 0. 0. 0. 1. ]] SLAMing on 75.11654761499999 meters Centerline goodness : 0.809671 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.60, Z:-0.56 [[ 0.97519008 -0.14219569 0.16966054 -1.53537499] [ 0.12851678 0.98769605 0.08910641 1.59877423] [-0.18024359 -0.06509146 0.98146592 -0.55519127] [ 0. 0. 0. 1. ]] SLAMing on 75.14654761499999 meters Centerline goodness : 0.811171 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.59, Z:-0.55 [[ 0.97415964 -0.14764765 0.17091858 -1.53678131] [ 0.13514898 0.9873721 0.08265039 1.59370983] [-0.18096337 -0.0574152 0.98181248 -0.55228004] [ 0. 0. 0. 1. ]] SLAMing on 75.17654761499999 meters Centerline goodness : 0.816957 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.59, Z:-0.55 [[ 0.97299792 -0.15305196 0.17277194 -1.53896595] [ 0.14196143 0.98703493 0.07489326 1.59153171] [-0.1819945 -0.04834404 0.98211041 -0.55168117] [ 0. 0. 0. 1. ]] SLAMing on 75.20654761499999 meters Centerline goodness : 0.816374 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.60, Z:-0.56 [[ 0.97226577 -0.15663385 0.17368107 -1.53833812] [ 0.14678815 0.98681169 0.06823441 1.59689123] [-0.18207833 -0.04084766 0.98243521 -0.55715878] [ 0. 0. 0. 1. ]] SLAMing on 75.23654761499999 meters Centerline goodness : 0.812405 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.60, Z:-0.56 [[ 0.97282089 -0.16183012 0.16562162 -1.54514316] [ 0.15162402 0.98576848 0.0725993 1.59544667] [-0.17501333 -0.0455139 0.98351351 -0.55658058] [ 0. 0. 0. 1. ]] SLAMing on 75.266547615 meters Centerline goodness : 0.809904 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.60, Z:-0.56 [[ 0.97206699 -0.16602184 0.16589914 -1.54263278] [ 0.156801 0.98533417 0.0673054 1.59628913] [-0.17464026 -0.03941221 0.98384321 -0.55982914] [ 0. 0. 0. 1. ]] SLAMing on 75.29654761499998 meters Centerline goodness : 0.813175 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.59, Z:-0.56 [[ 0.97104128 -0.17026627 0.16759543 -1.54627416] [ 0.16218041 0.98487955 0.06090797 1.59437395] [-0.17543189 -0.03196345 0.98397256 -0.55652607] [ 0. 0. 0. 1. ]] SLAMing on 75.32654761499998 meters Centerline goodness : 0.815553 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.59, Z:-0.55 [[ 0.97092311 -0.16928421 0.16926658 -1.55490268] [ 0.16101559 0.98503143 0.0615391 1.58919514] [-0.1771505 -0.03249518 0.98364717 -0.54652138] [ 0. 0. 0. 1. ]] SLAMing on 75.35654761499998 meters Centerline goodness : 0.815056 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.59, Z:-0.55 [[ 0.97092845 -0.1692287 0.16929147 -1.55478371] [ 0.16107288 0.98506156 0.06090357 1.59039658] [-0.17706915 -0.03186474 0.98368245 -0.54774444] [ 0. 0. 0. 1. ]] SLAMing on 75.38654761499998 meters Centerline goodness : 0.813345 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.59, Z:-0.55 [[ 0.97082648 -0.16942828 0.1696762 -1.55479804] [ 0.16162108 0.98509269 0.05891537 1.59498113] [-0.17712871 -0.02977335 0.98373724 -0.55155211] [ 0. 0. 0. 1. ]] SLAMing on 75.41654761499998 meters Centerline goodness : 0.813458 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.60, Z:-0.55 [[ 0.97030565 -0.17153774 0.17053371 -1.55698744] [ 0.16444355 0.98485211 0.05499674 1.59676228] [-0.1773845 -0.02532048 0.98381584 -0.55034577] [ 0. 0. 0. 1. ]] SLAMing on 75.44654761499999 meters Centerline goodness : 0.815753 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.59, Z:-0.55 [[ 0.96971069 -0.17441488 0.17099894 -1.55741555] [ 0.16778318 0.98441913 0.05260968 1.59269844] [-0.17751054 -0.02232542 0.98386563 -0.54699238] [ 0. 0. 0. 1. ]] SLAMing on 75.47654761499999 meters Centerline goodness : 0.815222 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.60, Z:-0.55 [[ 0.96887378 -0.17846582 0.17156206 -1.55677924] [ 0.17283877 0.98381286 0.04731825 1.59662366] [-0.17722965 -0.01619284 0.9840363 -0.54816558] [ 0. 0. 0. 1. ]] SLAMing on 75.50654761499999 meters Centerline goodness : 0.811319 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.60, Z:-0.55 [[ 0.96798557 -0.18236189 0.17247629 -1.55592929] [ 0.17793246 0.98319087 0.04093601 1.60097993] [-0.17704229 -0.00893634 0.98416268 -0.55224033] [ 0. 0. 0. 1. ]] SLAMing on 75.53654761499999 meters Centerline goodness : 0.817341 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.60, Z:-0.55 [[ 0.96713934 -0.18632398 0.17298807 -1.55467471] [ 0.18280554 0.98248253 0.03619687 1.60193562] [-0.1767021 -0.00338424 0.98425856 -0.5532614 ] [ 0. 0. 0. 1. ]] SLAMing on 75.56654761499999 meters Centerline goodness : 0.817341 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.60, Z:-0.55 [[ 0.96713934 -0.18632398 0.17298807 -1.55467471] [ 0.18280554 0.98248253 0.03619687 1.60193562] [-0.1767021 -0.00338424 0.98425856 -0.5532614 ] [ 0. 0. 0. 1. ]] SLAMing on 75.59654761499999 meters Centerline goodness : 0.817563 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.60, Z:-0.55 [[ 9.66326907e-01 -1.89293588e-01 1.74299301e-01 -1.55659625e+00] [ 1.86473267e-01 9.81919997e-01 3.25705495e-02 1.60178659e+00] [-1.77313365e-01 1.02836172e-03 9.84153907e-01 -5.51754602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62654761499999 meters Centerline goodness : 0.819351 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.61, Z:-0.55 [[ 0.96620273 -0.18978937 0.1744485 -1.55727694] [ 0.18716685 0.98182237 0.03151836 1.60689577] [-0.17725929 0.00219785 0.98416173 -0.55212813] [ 0. 0. 0. 1. ]] SLAMing on 75.656547615 meters Centerline goodness : 0.814860 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.61, Z:-0.55 [[ 0.96672043 -0.18767671 0.17386507 -1.55762057] [ 0.18420188 0.98222677 0.03605884 1.60680758] [-0.17754233 -0.00283254 0.98410909 -0.5513642 ] [ 0. 0. 0. 1. ]] SLAMing on 75.68654761499998 meters Centerline goodness : 0.815402 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.61, Z:-0.55 [[ 0.96695398 -0.1880613 0.17214226 -1.55367368] [ 0.18575894 0.98215135 0.02953554 1.6075687 ] [-0.17462424 0.00341745 0.98462922 -0.54930455] [ 0. 0. 0. 1. ]] SLAMing on 75.71654761499998 meters Centerline goodness : 0.819431 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.61, Z:-0.55 [[ 0.96713685 -0.18751408 0.17171136 -1.5538337 ] [ 0.18529653 0.98225468 0.02899911 1.60857279] [-0.17410203 0.00377141 0.9847204 -0.54693487] [ 0. 0. 0. 1. ]] SLAMing on 75.74654761499998 meters Centerline goodness : 0.815216 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.61, Z:-0.55 [[ 0.96811086 -0.18309605 0.17098886 -1.55494223] [ 0.17910145 0.98307165 0.03863691 1.60812108] [-0.17516857 -0.00678046 0.98451511 -0.54719425] [ 0. 0. 0. 1. ]] SLAMing on 75.77654761499998 meters Centerline goodness : 0.816550 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.61, Z:-0.55 [[ 0.96963841 -0.17675058 0.16899878 -1.55468913] [ 0.17122069 0.98411717 0.04687086 1.60866848] [-0.17459906 -0.0165117 0.98450116 -0.54504117] [ 0. 0. 0. 1. ]] SLAMing on 75.80654761499999 meters Centerline goodness : 0.814786 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.61, Z:-0.54 [[ 0.97109668 -0.17122472 0.1662929 -1.55270715] [ 0.16526692 0.9850243 0.04913227 1.61090865] [-0.1722152 -0.02022947 0.98485161 -0.54102477] [ 0. 0. 0. 1. ]] SLAMing on 75.83654761499999 meters Centerline goodness : 0.814617 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.61, Z:-0.53 [[ 0.97364687 -0.16850607 0.15367978 -1.55593655] [ 0.16129685 0.98518117 0.05832149 1.61061101] [-0.16122995 -0.03199647 0.98639806 -0.53021941] [ 0. 0. 0. 1. ]] SLAMing on 75.86654761499999 meters Centerline goodness : 0.817517 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.61, Z:-0.53 [[ 0.97370213 -0.16023098 0.16195739 -1.56078078] [ 0.15468426 0.98687472 0.04637957 1.61123951] [-0.1672631 -0.02010763 0.98570723 -0.53018633] [ 0. 0. 0. 1. ]] SLAMing on 75.89654761499999 meters Centerline goodness : 0.816195 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.61, Z:-0.53 [[ 0.97372524 -0.15986754 0.16217748 -1.56049913] [ 0.154599 0.98696626 0.04468513 1.61389641] [-0.1672074 -0.01843857 0.98574931 -0.53402911] [ 0. 0. 0. 1. ]] SLAMing on 75.92654761499999 meters Centerline goodness : 0.814123 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.62, Z:-0.54 [[ 0.97430011 -0.15714838 0.16138056 -1.5573378 ] [ 0.15182841 0.98738819 0.04486305 1.61860965] [-0.16639541 -0.01920792 0.98587201 -0.54296333] [ 0. 0. 0. 1. ]] SLAMing on 75.95654761499999 meters Centerline goodness : 0.810796 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.62, Z:-0.55 [[ 0.97428102 -0.15683711 0.16179804 -1.557573 ] [ 0.15178451 0.98746875 0.04320799 1.62181515] [-0.16654713 -0.01753829 0.98587751 -0.54650831] [ 0. 0. 0. 1. ]] SLAMing on 75.98654761499999 meters Centerline goodness : 0.811234 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.62, Z:-0.55 [[ 0.97430341 -0.15615713 0.1623201 -1.55857326] [ 0.15112027 0.98757948 0.04300507 1.62118138] [-0.16701955 -0.01737013 0.98580056 -0.54758224] [ 0. 0. 0. 1. ]] SLAMing on 76.016547615 meters Centerline goodness : 0.817009 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.62, Z:-0.54 [[ 0.97553159 -0.15319872 0.15769678 -1.55366287] [ 0.14985498 0.98815873 0.03295178 1.6152288 ] [-0.16087762 -0.00851386 0.98693764 -0.53913053] [ 0. 0. 0. 1. ]] SLAMing on 76.04654761499998 meters Centerline goodness : 0.820616 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.61, Z:-0.54 [[ 0.97560276 -0.1530598 0.15739109 -1.55347681] [ 0.14959708 0.98817297 0.03368827 1.61401691] [-0.16068594 -0.00932112 0.98696157 -0.53780565] [ 0. 0. 0. 1. ]] SLAMing on 76.07654761499998 meters Centerline goodness : 0.815322 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.61, Z:-0.54 [[ 0.97750188 -0.15327896 0.1448987 -1.55517636] [ 0.1490064 0.98802854 0.03995864 1.61052508] [-0.14928887 -0.01746881 0.9886393 -0.53551893] [ 0. 0. 0. 1. ]] SLAMing on 76.10654761499998 meters Centerline goodness : 0.817553 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.61, Z:-0.54 [[ 0.97689953 -0.15618161 0.1458582 -1.55456268] [ 0.15276888 0.98766364 0.03438303 1.61170481] [-0.14942883 -0.01130617 0.98870784 -0.54040453] [ 0. 0. 0. 1. ]] SLAMing on 76.13654761499998 meters Centerline goodness : 0.816356 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.61, Z:-0.54 [[ 0.97641364 -0.15842823 0.14668637 -1.55626208] [ 0.1554753 0.98733883 0.03145581 1.60941693] [-0.14981263 -0.00790777 0.98868278 -0.53861719] [ 0. 0. 0. 1. ]] SLAMing on 76.16654761499998 meters Centerline goodness : 0.821525 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.60, Z:-0.53 [[ 0.97541831 -0.16289322 0.14840798 -1.56081279] [ 0.16076425 0.98664205 0.02631197 1.60472882] [-0.15071159 -0.00180648 0.98857612 -0.53240012] [ 0. 0. 0. 1. ]] SLAMing on 76.19654761499999 meters Centerline goodness : 0.824472 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.61, Z:-0.53 [[ 0.97485782 -0.16544993 0.14926005 -1.56235769] [ 0.16395403 0.98621456 0.02235872 1.60560244] [-0.15090168 0.00267521 0.98854516 -0.53178586] [ 0. 0. 0. 1. ]] SLAMing on 76.22654761499999 meters Centerline goodness : 0.818118 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.61, Z:-0.53 [[ 0.9756653 -0.16903833 0.13965407 -1.5656561 ] [ 0.16646074 0.98559094 0.03002189 1.60532837] [-0.14271663 -0.00604439 0.98974513 -0.53218601] [ 0. 0. 0. 1. ]] SLAMing on 76.25654761499999 meters Centerline goodness : 0.821411 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.61, Z:-0.54 [[ 0.97555496 -0.17011472 0.13911688 -1.5622968 ] [ 0.16781241 0.98541545 0.02820255 1.60780281] [-0.14188559 -0.0041676 0.98987429 -0.53643638] [ 0. 0. 0. 1. ]] SLAMing on 76.28654761499999 meters Centerline goodness : 0.821882 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.61, Z:-0.54 [[ 9.74903396e-01 -1.73248759e-01 1.39815006e-01 -1.56192745e+00] [ 1.71599346e-01 9.84877827e-01 2.38606497e-02 1.60626199e+00] [-1.41834528e-01 7.30335212e-04 9.89890112e-01 -5.37467048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31654761499999 meters Centerline goodness : 0.824878 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.60, Z:-0.53 [[ 0.97416854 -0.17544673 0.14217629 -1.5702093 ] [ 0.17437868 0.9844748 0.02003616 1.60038159] [-0.14348425 0.00527392 0.98963855 -0.52966006] [ 0. 0. 0. 1. ]] SLAMing on 76.34654761499999 meters Centerline goodness : 0.825079 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.60, Z:-0.53 [[ 0.97373202 -0.17680864 0.14347353 -1.57424401] [ 0.176057 0.98421503 0.01801988 1.59845374] [-0.14439488 0.00771298 0.98949009 -0.52621593] [ 0. 0. 0. 1. ]] SLAMing on 76.37654761499999 meters Centerline goodness : 0.815754 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.52 [[ 0.97467073 -0.17842635 0.134837 -1.58182237] [ 0.17610013 0.9839425 0.02908425 1.59603043] [-0.13786125 -0.00460275 0.99044086 -0.52114638] [ 0. 0. 0. 1. ]] SLAMing on 76.40654761499998 meters Centerline goodness : 0.812396 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.52 [[ 0.9745285 -0.17936349 0.13462145 -1.57998313] [ 0.17727225 0.9837786 0.02746295 1.59957702] [-0.13736355 -0.00289878 0.99051646 -0.52408925] [ 0. 0. 0. 1. ]] SLAMing on 76.43654761499998 meters Centerline goodness : 0.817402 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.53 [[ 0.97382564 -0.18278601 0.13510331 -1.57904187] [ 0.18139312 0.98314968 0.02265481 1.59935838] [-0.13696775 0.00244498 0.99057249 -0.52526512] [ 0. 0. 0. 1. ]] SLAMing on 76.46654761499998 meters Centerline goodness : 0.815112 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.60, Z:-0.52 [[ 0.97467496 -0.18200819 0.12992979 -1.57172112] [ 0.18218586 0.98320677 0.01061875 1.59831353] [-0.12968054 0.01332154 0.99146633 -0.52002379] [ 0. 0. 0. 1. ]] SLAMing on 76.49654761499998 meters Centerline goodness : 0.816868 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.60, Z:-0.52 [[ 0.97404243 -0.18476231 0.13078314 -1.57320799] [ 0.18536917 0.98263937 0.00762542 1.59638267] [-0.12992155 0.01681568 0.99138167 -0.51781025] [ 0. 0. 0. 1. ]] SLAMing on 76.52654761499998 meters Centerline goodness : 0.809744 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.59, Z:-0.51 [[ 0.9743453 -0.18803721 0.12366587 -1.58225234] [ 0.18720826 0.98214799 0.01839545 1.58967066] [-0.12491721 0.00522775 0.9921534 -0.51051851] [ 0. 0. 0. 1. ]] SLAMing on 76.55654761499999 meters Centerline goodness : 0.808965 Centerline is valid? [False, False] Translation: X:-1.59, Y:1.59, Z:-0.51 [[ 0.97496865 -0.1905954 0.11449686 -1.58768602] [ 0.1886035 0.98165161 0.02808618 1.58692572] [-0.11774913 -0.00578864 0.9930265 -0.50766747] [ 0. 0. 0. 1. ]] SLAMing on 76.58654761499999 meters Centerline goodness : 0.808501 Centerline is valid? [False, False] Translation: X:-1.59, Y:1.59, Z:-0.51 [[ 9.74171938e-01 -1.94068732e-01 1.15439864e-01 -1.58765681e+00] [ 1.92728531e-01 9.80987932e-01 2.27681945e-02 1.58852216e+00] [-1.17663708e-01 6.84192618e-05 9.93053497e-01 -5.09604997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61654761499999 meters Centerline goodness : 0.818509 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.59, Z:-0.51 [[ 0.97528545 -0.19192983 0.10945886 -1.57863315] [ 0.19166645 0.98137373 0.01302218 1.58838762] [-0.10991939 0.00827925 0.99390602 -0.50582253] [ 0. 0. 0. 1. ]] SLAMing on 76.64654761499999 meters Centerline goodness : 0.815380 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.59, Z:-0.51 [[ 0.97528696 -0.19180123 0.10967061 -1.57999886] [ 0.19159328 0.98139442 0.01253053 1.59139949] [-0.11003349 0.00879129 0.993889 -0.50531833] [ 0. 0. 0. 1. ]] SLAMing on 76.67654761499999 meters Centerline goodness : 0.808848 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.51 [[ 0.97582041 -0.18969462 0.10858397 -1.57816683] [ 0.1891319 0.98182851 0.01555314 1.59526265] [-0.10956118 0.00535963 0.9939656 -0.50643562] [ 0. 0. 0. 1. ]] SLAMing on 76.70654761499999 meters Centerline goodness : 0.813950 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.51 [[ 0.97521681 -0.1920648 0.10983302 -1.58022077] [ 0.19208485 0.98132217 0.01049838 1.5976208 ] [-0.10979794 0.01085906 0.99389461 -0.50772119] [ 0. 0. 0. 1. ]] SLAMing on 76.73654761499999 meters Centerline goodness : 0.808277 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.51 [[ 0.97472197 -0.19410013 0.11064455 -1.58266076] [ 0.19451555 0.98087351 0.00713183 1.59715759] [-0.10991259 0.01457054 0.99383445 -0.50549325] [ 0. 0. 0. 1. ]] SLAMing on 76.766547615 meters Centerline goodness : 0.813190 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.50 [[ 0.97545016 -0.19110719 0.10943048 -1.58236693] [ 0.19104358 0.98151807 0.01116396 1.59905847] [-0.1095415 0.0100161 0.99393176 -0.50391623] [ 0. 0. 0. 1. ]] SLAMing on 76.79654761499998 meters Centerline goodness : 0.807488 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.50 [[ 0.97737158 -0.18928458 0.09442537 -1.58275084] [ 0.18868533 0.98191815 0.01531667 1.59617599] [-0.09561719 0.0028466 0.99541411 -0.49520251] [ 0. 0. 0. 1. ]] SLAMing on 76.82654761499998 meters Centerline goodness : 0.806561 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.50 [[ 0.97730196 -0.18966442 0.09438377 -1.58209707] [ 0.18917957 0.98184068 0.01414101 1.5997091 ] [-0.09535187 0.00403544 0.99543545 -0.49705055] [ 0. 0. 0. 1. ]] SLAMing on 76.85654761499998 meters Centerline goodness : 0.803766 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.50 [[ 0.97719723 -0.1903031 0.0941823 -1.58141495] [ 0.1899698 0.98170939 0.01257543 1.60422 ] [-0.09485279 0.00560312 0.99547554 -0.49835541] [ 0. 0. 0. 1. ]] SLAMing on 76.88654761499998 meters Centerline goodness : 0.802869 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.60, Z:-0.49 [[ 9.77857063e-01 -1.89421852e-01 8.89658681e-02 -1.57474902e+00] [ 1.90128385e-01 9.81759086e-01 5.42223582e-04 1.59951707e+00] [-8.74457584e-02 1.63847197e-02 9.96034528e-01 -4.89802279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91654761499998 meters Centerline goodness : 0.807905 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.49 [[ 9.77920027e-01 -1.89052277e-01 8.90598505e-02 -1.57623214e+00] [ 1.89721070e-01 9.81837548e-01 9.72270164e-04 1.60142461e+00] [-8.76261152e-02 1.59457277e-02 9.96025802e-01 -4.88318986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94654761499999 meters Centerline goodness : 0.800965 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.49 [[ 9.79082455e-01 -1.87484743e-01 7.90380736e-02 -1.58225119e+00] [ 1.87002914e-01 9.82266304e-01 1.35209936e-02 1.60066241e+00] [-8.01714165e-02 1.54218251e-03 9.96779898e-01 -4.86444496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97654761499999 meters Centerline goodness : 0.799123 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.49 [[ 9.79295732e-01 -1.86420399e-01 7.89132721e-02 -1.58286280e+00] [ 1.85943895e-01 9.82468858e-01 1.34093315e-02 1.60427784e+00] [-8.00296053e-02 1.54174004e-03 9.96791295e-01 -4.87654969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00654761499999 meters Centerline goodness : 0.800794 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.48 [[ 0.9808029 -0.18106965 0.07238413 -1.57547109] [ 0.18109771 0.98344538 0.00623001 1.60294913] [-0.0723139 0.00699818 0.99735737 -0.47967 ] [ 0. 0. 0. 1. ]] SLAMing on 77.03654761499999 meters Centerline goodness : 0.801370 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.60, Z:-0.47 [[ 0.98190731 -0.17741 0.06620969 -1.569326 ] [ 0.17792832 0.98404148 -0.00196832 1.59974673] [-0.06480388 0.01371329 0.99780379 -0.47065647] [ 0. 0. 0. 1. ]] SLAMing on 77.06654761499999 meters Centerline goodness : 0.799721 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.60, Z:-0.47 [[ 0.98191937 -0.17726907 0.06640807 -1.56958453] [ 0.17780487 0.98406331 -0.00219932 1.60113493] [-0.06495987 0.01396724 0.99779012 -0.47153425] [ 0. 0. 0. 1. ]] SLAMing on 77.09654761499999 meters Centerline goodness : 0.794752 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.60, Z:-0.47 [[ 0.98259625 -0.17684843 0.05682636 -1.57473558] [ 0.17639483 0.98423442 0.01294142 1.59856883] [-0.05821913 -0.00269232 0.9983002 -0.46539843] [ 0. 0. 0. 1. ]] SLAMing on 77.12654761499999 meters Centerline goodness : 0.792524 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.60, Z:-0.47 [[ 0.98249597 -0.17759639 0.05622438 -1.572623 ] [ 0.17715822 0.98410013 0.0127239 1.59888032] [-0.05759014 -0.00254057 0.99833708 -0.46586342] [ 0. 0. 0. 1. ]] SLAMing on 77.15654761499998 meters Centerline goodness : 0.794561 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.60, Z:-0.46 [[ 9.81916984e-01 -1.80530380e-01 5.69896266e-02 -1.57410935e+00] [ 1.80268529e-01 9.83569157e-01 9.74534644e-03 1.59583931e+00] [-5.78125701e-02 7.04314966e-04 9.98327206e-01 -4.63538444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18654761499998 meters Centerline goodness : 0.796979 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.59, Z:-0.46 [[ 0.98152029 -0.18218895 0.05852438 -1.57904514] [ 0.18208446 0.98325684 0.0071583 1.59365182] [-0.05884866 0.00363037 0.99826031 -0.4599974 ] [ 0. 0. 0. 1. ]] SLAMing on 77.21654761499998 meters Centerline goodness : 0.794882 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.60, Z:-0.46 [[ 0.9815199 -0.18218734 0.05853596 -1.57926398] [ 0.18210066 0.98325599 0.00685694 1.59534669] [-0.05880508 0.00392922 0.99826175 -0.46018669] [ 0. 0. 0. 1. ]] SLAMing on 77.24654761499998 meters Centerline goodness : 0.792956 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.59, Z:-0.45 [[ 0.9832505 -0.17717589 0.04274534 -1.57918965] [ 0.17677924 0.98416576 0.01291774 1.59440775] [-0.04435722 -0.00514488 0.99900249 -0.45404345] [ 0. 0. 0. 1. ]] SLAMing on 77.27654761499998 meters Centerline goodness : 0.789185 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.59, Z:-0.45 [[ 0.98446325 -0.17339866 0.02765897 -1.57845975] [ 0.17306486 0.98481013 0.01405541 1.59303779] [-0.02967602 -0.00905024 0.9995186 -0.45021068] [ 0. 0. 0. 1. ]] SLAMing on 77.30654761499999 meters Centerline goodness : 0.790843 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.59, Z:-0.45 [[ 0.98381372 -0.17688003 0.02870569 -1.57942395] [ 0.17665735 0.98422022 0.01013647 1.59213293] [-0.03004566 -0.00490133 0.99953651 -0.45020318] [ 0. 0. 0. 1. ]] SLAMing on 77.33654761499999 meters Centerline goodness : 0.791285 Centerline is valid? [False, False] Translation: X:-1.58, Y:1.59, Z:-0.45 [[ 0.98354334 -0.17851724 0.02782266 -1.57577151] [ 0.17830597 0.9839251 0.00991809 1.59165197] [-0.02914596 -0.00479393 0.99956367 -0.45048889] [ 0. 0. 0. 1. ]] SLAMing on 77.36654761499999 meters Centerline goodness : 0.790401 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.59, Z:-0.45 [[ 0.98325215 -0.18023491 0.0270292 -1.57194341] [ 0.18002595 0.98361108 0.00999496 1.58977857] [-0.02838766 -0.0049616 0.99958468 -0.45066956] [ 0. 0. 0. 1. ]] SLAMing on 77.39654761499999 meters Centerline goodness : 0.792554 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.59, Z:-0.45 [[ 0.9831365 -0.18094849 0.02646259 -1.57116214] [ 0.18071548 0.98347428 0.01096646 1.58931104] [-0.02800964 -0.00599933 0.99958965 -0.44812401] [ 0. 0. 0. 1. ]] SLAMing on 77.42654761499999 meters Centerline goodness : 0.790650 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.59, Z:-0.45 [[ 0.98343529 -0.17797644 0.03434251 -1.56155313] [ 0.17779165 0.98403242 0.00838635 1.58770918] [-0.03528672 -0.00214162 0.99937494 -0.45111464] [ 0. 0. 0. 1. ]] SLAMing on 77.45654761499999 meters Centerline goodness : 0.791185 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.58, Z:-0.45 [[ 0.9835093 -0.17788207 0.03267148 -1.55661058] [ 0.17770815 0.98404928 0.0081754 1.5847655 ] [-0.03360461 -0.0022346 0.99943271 -0.4529358 ] [ 0. 0. 0. 1. ]] SLAMing on 77.48654761499999 meters Centerline goodness : 0.791185 Centerline is valid? [False, False] Translation: X:-1.56, Y:1.58, Z:-0.45 [[ 0.9835093 -0.17788207 0.03267148 -1.55661058] [ 0.17770815 0.98404928 0.0081754 1.5847655 ] [-0.03360461 -0.0022346 0.99943271 -0.4529358 ] [ 0. 0. 0. 1. ]] SLAMing on 77.516547615 meters Centerline goodness : 0.795000 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.58, Z:-0.46 [[ 0.9832997 -0.17909867 0.03233212 -1.55244932] [ 0.17888196 0.98382469 0.00949886 1.5836371 ] [-0.03351037 -0.00355659 0.99943204 -0.4585886 ] [ 0. 0. 0. 1. ]] SLAMing on 77.54654761499998 meters Centerline goodness : 0.799560 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.58, Z:-0.46 [[ 0.9829268 -0.18090167 0.03360779 -1.55364077] [ 0.18062954 0.98348981 0.01098953 1.58167236] [-0.03504095 -0.00473134 0.99937468 -0.46020908] [ 0. 0. 0. 1. ]] SLAMing on 77.57654761499998 meters Centerline goodness : 0.800322 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.58, Z:-0.47 [[ 0.98254151 -0.18117449 0.04228449 -1.54479164] [ 0.18114777 0.98344562 0.00449478 1.58370885] [-0.04239883 0.00324344 0.9990955 -0.46920565] [ 0. 0. 0. 1. ]] SLAMing on 77.60654761499998 meters Centerline goodness : 0.791370 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.59, Z:-0.47 [[ 0.98146165 -0.1864898 0.04421074 -1.54467204] [ 0.18659446 0.9824354 0.00178395 1.58554904] [-0.04376689 0.0064986 0.99902063 -0.47398112] [ 0. 0. 0. 1. ]] SLAMing on 77.63654761499998 meters Centerline goodness : 0.788106 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.59, Z:-0.47 [[ 0.98084091 -0.18970877 0.04429105 -1.54379569] [ 0.19002832 0.98177377 -0.00308091 1.58504794] [-0.04289932 0.01143843 0.99901392 -0.4727773 ] [ 0. 0. 0. 1. ]] SLAMing on 77.66654761499998 meters Centerline goodness : 0.790054 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.58, Z:-0.47 [[ 0.98182262 -0.18287346 0.05080993 -1.53578263] [ 0.18302455 0.98310687 0.00170258 1.58156573] [-0.05026295 0.00762784 0.99870689 -0.47159068] [ 0. 0. 0. 1. ]] SLAMing on 77.69654761499999 meters Centerline goodness : 0.788101 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.58, Z:-0.48 [[ 0.98241036 -0.17664049 0.06056423 -1.53099471] [ 0.1766172 0.98426265 0.00578011 1.57965229] [-0.06063211 0.00501824 0.99814757 -0.47687714] [ 0. 0. 0. 1. ]] SLAMing on 77.72654761499999 meters Centerline goodness : 0.789913 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.57, Z:-0.48 [[ 9.82600434e-01 -1.71884228e-01 7.03718708e-02 -1.52701649e+00] [ 1.71413102e-01 9.85117058e-01 1.27252127e-02 1.57471541e+00] [-7.15117936e-02 -4.41138904e-04 9.97439657e-01 -4.79283074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75654761499999 meters Centerline goodness : 0.787590 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.58, Z:-0.48 [[ 9.82059430e-01 -1.74245704e-01 7.20951445e-02 -1.52965074e+00] [ 1.73714518e-01 9.84701836e-01 1.36220537e-02 1.57599052e+00] [-7.33658055e-02 -8.53693014e-04 9.97304733e-01 -4.80638970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78654761499999 meters Centerline goodness : 0.789751 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.58, Z:-0.48 [[ 0.98103729 -0.17900637 0.07431392 -1.53309396] [ 0.17892367 0.98383185 0.00782335 1.58152632] [-0.07451283 0.00562152 0.99720421 -0.47951583] [ 0. 0. 0. 1. ]] SLAMing on 77.81654761499999 meters Centerline goodness : 0.791631 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.58, Z:-0.48 [[ 0.98128722 -0.17353863 0.08342499 -1.52913001] [ 0.17317956 0.98482222 0.01157703 1.57771462] [-0.08416784 0.00308711 0.99644681 -0.47838037] [ 0. 0. 0. 1. ]] SLAMing on 77.84654761499999 meters Centerline goodness : 0.790214 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.58, Z:-0.48 [[ 0.98060387 -0.17642347 0.08538628 -1.53350288] [ 0.1761015 0.9843066 0.01134806 1.58353386] [-0.08604834 0.00390871 0.9962833 -0.47772531] [ 0. 0. 0. 1. ]] SLAMing on 77.87654761499999 meters Centerline goodness : 0.791366 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.59, Z:-0.48 [[ 0.98134548 -0.17258428 0.08470964 -1.53331403] [ 0.1716902 0.98499046 0.01778396 1.58605723] [-0.08650742 -0.0029084 0.99624696 -0.48024431] [ 0. 0. 0. 1. ]] SLAMing on 77.90654761499998 meters Centerline goodness : 0.787645 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.59, Z:-0.48 [[ 0.98259475 -0.16612503 0.08312658 -1.53223677] [ 0.16467845 0.98605493 0.02401425 1.58916869] [-0.08595675 -0.00990712 0.99624961 -0.48137113] [ 0. 0. 0. 1. ]] SLAMing on 77.93654761499998 meters Centerline goodness : 0.786870 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.59, Z:-0.48 [[ 0.98409126 -0.15804495 0.08115534 -1.53229162] [ 0.15628784 0.9873257 0.02760557 1.5930216 ] [-0.08448967 -0.01448281 0.9963191 -0.47743611] [ 0. 0. 0. 1. ]] SLAMing on 77.96654761499998 meters Centerline goodness : 0.790227 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.60, Z:-0.47 [[ 0.98468311 -0.15486242 0.08010495 -1.53337474] [ 0.15363438 0.98789794 0.02131057 1.60084709] [-0.08243572 -0.00867728 0.99655861 -0.4703708 ] [ 0. 0. 0. 1. ]] SLAMing on 77.99654761499998 meters Centerline goodness : 0.790472 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.61, Z:-0.47 [[ 0.98532316 -0.15109688 0.07942292 -1.53516527] [ 0.14982659 0.98847299 0.02175162 1.60821264] [-0.08179401 -0.00953271 0.99660367 -0.46663317] [ 0. 0. 0. 1. ]] SLAMing on 78.02654761499998 meters Centerline goodness : 0.788259 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.61, Z:-0.47 [[ 0.98599336 -0.14684911 0.07907235 -1.53576307] [ 0.14491622 0.98899858 0.02968334 1.61135657] [-0.08256141 -0.01780871 0.99642685 -0.46900686] [ 0. 0. 0. 1. ]] SLAMing on 78.05654761499999 meters Centerline goodness : 0.788275 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.61, Z:-0.47 [[ 0.98621664 -0.1455115 0.07875999 -1.5353549 ] [ 0.14319332 0.98909839 0.03435186 1.61296467] [-0.08289997 -0.02260047 0.99630157 -0.47124629] [ 0. 0. 0. 1. ]] SLAMing on 78.08654761499999 meters Centerline goodness : 0.787504 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.61, Z:-0.47 [[ 0.98603937 -0.14687293 0.07845186 -1.5337605 ] [ 0.14462214 0.9889139 0.03367107 1.61386777] [-0.08252751 -0.02185513 0.99634912 -0.47294421] [ 0. 0. 0. 1. ]] SLAMing on 78.11654761499999 meters Centerline goodness : 0.788383 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.62, Z:-0.47 [[ 0.98543837 -0.15062678 0.07888468 -1.53373334] [ 0.14881481 0.98845719 0.02839971 1.61651072] [-0.08225189 -0.01624696 0.99647913 -0.47231551] [ 0. 0. 0. 1. ]] SLAMing on 78.14654761499999 meters Centerline goodness : 0.788691 Centerline is valid? [False, False] Translation: X:-1.54, Y:1.62, Z:-0.47 [[ 0.98538459 -0.15084153 0.07914567 -1.53566486] [ 0.14917274 0.98845265 0.0266242 1.6193771 ] [-0.08224778 -0.0144287 0.99650746 -0.46926499] [ 0. 0. 0. 1. ]] SLAMing on 78.17654761499999 meters Centerline goodness : 0.787560 Centerline is valid? [False, False] Translation: X:-1.53, Y:1.62, Z:-0.47 [[ 0.98634437 -0.14531169 0.07751971 -1.53343736] [ 0.143395 0.98921758 0.02977345 1.62233925] [-0.08101029 -0.01825094 0.99654615 -0.47011044] [ 0. 0. 0. 1. ]] SLAMing on 78.20654761499999 meters Centerline goodness : 0.793207 Centerline is valid? [False, False] Translation: X:-1.49, Y:1.55, Z:-0.47 [[ 0.9879507 -0.13282014 0.07944954 -1.49347681] [ 0.13109357 0.99101335 0.02658984 1.55415134] [-0.08226722 -0.01585412 0.99648419 -0.47451716] [ 0. 0. 0. 1. ]] SLAMing on 78.23654761499999 meters Centerline goodness : 0.803072 Centerline is valid? [False, False] Translation: X:-2.04, Y:1.96, Z:-0.37 [[ 0.98349791 -0.17371901 0.05053276 -2.0388408 ] [ 0.16956884 0.9824833 0.07728505 1.95903011] [-0.06307348 -0.06744091 0.9957276 -0.36839249] [ 0. 0. 0. 1. ]] SLAMing on 78.266547615 meters Centerline goodness : 0.803956 Centerline is valid? [False, False] Translation: X:-2.04, Y:1.97, Z:-0.37 [[ 0.98311167 -0.17581758 0.05078994 -2.03856628] [ 0.17186466 0.98234721 0.0738681 1.96626418] [-0.06288066 -0.0638916 0.99597384 -0.37014883] [ 0. 0. 0. 1. ]] SLAMing on 78.29654761499998 meters Centerline goodness : 0.804475 Centerline is valid? [False, False] Translation: X:-2.04, Y:1.98, Z:-0.37 [[ 0.9834342 -0.17410379 0.05044853 -2.03877434] [ 0.17019415 0.98266197 0.07354865 1.97799297] [-0.06237895 -0.06374422 0.99601483 -0.3724914 ] [ 0. 0. 0. 1. ]] SLAMing on 78.32654761499998 meters Centerline goodness : 0.805576 Centerline is valid? [False, False] Translation: X:-2.03, Y:1.99, Z:-0.37 [[ 0.98525393 -0.16480364 0.04598318 -2.02800192] [ 0.1616394 0.984662 0.06567683 1.99338167] [-0.05610167 -0.05727566 0.99678087 -0.37429397] [ 0. 0. 0. 1. ]] SLAMing on 78.35654761499998 meters Centerline goodness : 0.807678 Centerline is valid? [False, False] Translation: X:-2.03, Y:2.00, Z:-0.37 [[ 0.98563143 -0.16272934 0.0452753 -2.02881072] [ 0.15960399 0.98499021 0.06573319 2.00109682] [-0.05529244 -0.05756258 0.99680956 -0.37347835] [ 0. 0. 0. 1. ]] SLAMing on 78.38654761499998 meters Centerline goodness : 0.806410 Centerline is valid? [False, False] Translation: X:-2.03, Y:2.01, Z:-0.38 [[ 0.98564987 -0.16280541 0.04459516 -2.02511194] [ 0.15975603 0.98501011 0.0650623 2.0067411 ] [-0.05451918 -0.0570043 0.99688423 -0.37826817] [ 0. 0. 0. 1. ]] SLAMing on 78.41654761499998 meters Centerline goodness : 0.806365 Centerline is valid? [False, False] Translation: X:-2.02, Y:2.01, Z:-0.38 [[ 0.98534852 -0.16464103 0.04451539 -2.02370674] [ 0.1617453 0.98486377 0.06230413 2.01239974] [-0.05409941 -0.05419113 0.99706398 -0.38048049] [ 0. 0. 0. 1. ]] SLAMing on 78.44654761499999 meters Centerline goodness : 0.805891 Centerline is valid? [False, False] Translation: X:-2.02, Y:2.02, Z:-0.38 [[ 0.98532252 -0.16483149 0.0443859 -2.02387876] [ 0.1620197 0.98490781 0.06087876 2.01707394] [-0.05375076 -0.05279382 0.9971578 -0.38066931] [ 0. 0. 0. 1. ]] SLAMing on 78.47654761499999 meters Centerline goodness : 0.804297 Centerline is valid? [False, False] Translation: X:-2.02, Y:2.02, Z:-0.38 [[ 0.98519528 -0.16560688 0.04432412 -2.02336297] [ 0.16290452 0.98488238 0.05889659 2.02233021] [-0.05340772 -0.05080405 0.99727958 -0.38188883] [ 0. 0. 0. 1. ]] SLAMing on 78.50654761499999 meters Centerline goodness : 0.805000 Centerline is valid? [False, False] Translation: X:-2.02, Y:2.02, Z:-0.38 [[ 0.98508003 -0.16625963 0.04444184 -2.02345259] [ 0.16359848 0.98481982 0.05801255 2.02418928] [-0.05341235 -0.04987639 0.99732616 -0.38219517] [ 0. 0. 0. 1. ]] SLAMing on 78.53654761499999 meters Centerline goodness : 0.804560 Centerline is valid? [False, False] Translation: X:-2.02, Y:2.03, Z:-0.38 [[ 0.98550367 -0.16218496 0.04978506 -2.02213504] [ 0.15972057 0.98589265 0.05005028 2.03424976] [-0.05720013 -0.04137304 0.9975051 -0.37959045] [ 0. 0. 0. 1. ]] SLAMing on 78.56654761499999 meters Centerline goodness : 0.806232 Centerline is valid? [False, False] Translation: X:-2.01, Y:2.04, Z:-0.38 [[ 0.98647698 -0.15755098 0.04517585 -2.00956285] [ 0.15587478 0.98702563 0.03851573 2.04363875] [-0.05065791 -0.0309531 0.99823629 -0.37878264] [ 0. 0. 0. 1. ]] SLAMing on 78.59654761499999 meters Centerline goodness : 0.806023 Centerline is valid? [False, False] Translation: X:-2.01, Y:2.05, Z:-0.38 [[ 0.98689466 -0.15515473 0.04433894 -2.00799106] [ 0.15341777 0.98734226 0.04022742 2.04974661] [-0.05001919 -0.03289784 0.9982063 -0.38092394] [ 0. 0. 0. 1. ]] SLAMing on 78.62654761499999 meters Centerline goodness : 0.805721 Centerline is valid? [False, False] Translation: X:-2.01, Y:2.05, Z:-0.38 [[ 0.98700146 -0.15468895 0.04358262 -2.00756386] [ 0.15305416 0.98746149 0.03865526 2.05441125] [-0.0490157 -0.03148229 0.99830172 -0.37964205] [ 0. 0. 0. 1. ]] SLAMing on 78.65654761499998 meters Centerline goodness : 0.805353 Centerline is valid? [False, False] Translation: X:-2.01, Y:2.06, Z:-0.38 [[ 0.98629937 -0.15881473 0.04462548 -2.00961787] [ 0.15739593 0.98696008 0.03370924 2.05683449] [-0.04939709 -0.02622354 0.9984349 -0.37776759] [ 0. 0. 0. 1. ]] SLAMing on 78.68654761499998 meters Centerline goodness : 0.806432 Centerline is valid? [False, False] Translation: X:-2.01, Y:2.06, Z:-0.38 [[ 0.98603333 -0.16054656 0.0443065 -2.00813067] [ 0.15923784 0.98673251 0.03165861 2.06183174] [-0.04880135 -0.02416118 0.99851623 -0.37936011] [ 0. 0. 0. 1. ]] SLAMing on 78.71654761499998 meters Centerline goodness : 0.807197 Centerline is valid? [False, False] Translation: X:-2.01, Y:2.06, Z:-0.38 [[ 0.98533335 -0.16448244 0.04542804 -2.00939868] [ 0.16340093 0.98620109 0.02659987 2.06449704] [-0.04917639 -0.01878676 0.99861341 -0.37877383] [ 0. 0. 0. 1. ]] SLAMing on 78.74654761499998 meters Centerline goodness : 0.806443 Centerline is valid? [False, False] Translation: X:-2.01, Y:2.07, Z:-0.38 [[ 0.98564789 -0.16284634 0.04448936 -2.00759178] [ 0.16174551 0.98645375 0.0273383 2.07300621] [-0.04833864 -0.01974998 0.99863573 -0.38113478] [ 0. 0. 0. 1. ]] SLAMing on 78.77654761499998 meters Centerline goodness : 0.805404 Centerline is valid? [False, False] Translation: X:-2.01, Y:2.08, Z:-0.38 [[ 0.98567334 -0.16272381 0.04437363 -2.00766746] [ 0.16171578 0.986509 0.02545599 2.07787997] [-0.04791729 -0.01791538 0.99869063 -0.38082261] [ 0. 0. 0. 1. ]] SLAMing on 78.80654761499999 meters Centerline goodness : 0.807658 Centerline is valid? [False, False] Translation: X:-2.02, Y:2.09, Z:-0.38 [[ 0.98642051 -0.15775411 0.04569697 -2.0151413 ] [ 0.15660442 0.98727136 0.02775462 2.09170016] [-0.04949372 -0.02022138 0.99856971 -0.37617327] [ 0. 0. 0. 1. ]] SLAMing on 78.83654761499999 meters Centerline goodness : 0.806198 Centerline is valid? [False, False] Translation: X:-2.01, Y:2.10, Z:-0.38 [[ 0.98622847 -0.15879668 0.046228 -2.01450429] [ 0.15775513 0.98715174 0.02539202 2.09591803] [-0.04966622 -0.01774963 0.99860814 -0.378489 ] [ 0. 0. 0. 1. ]] SLAMing on 78.86654761499999 meters Centerline goodness : 0.804191 Centerline is valid? [False, False] Translation: X:-2.02, Y:2.10, Z:-0.38 [[ 0.98555938 -0.1655727 0.03547367 -2.01759407] [ 0.16496815 0.98610885 0.01936076 2.10286161] [-0.03818652 -0.01322915 0.99918306 -0.38039524] [ 0. 0. 0. 1. ]] SLAMing on 78.89654761499999 meters Centerline goodness : 0.806755 Centerline is valid? [False, False] Translation: X:-2.02, Y:2.11, Z:-0.38 [[ 0.98498185 -0.16880751 0.03625988 -2.02066272] [ 0.16831686 0.98559974 0.01620467 2.10873918] [-0.0384732 -0.00985816 0.999211 -0.37790265] [ 0. 0. 0. 1. ]] SLAMing on 78.92654761499999 meters Centerline goodness : 0.804349 Centerline is valid? [False, False] Translation: X:-2.03, Y:2.12, Z:-0.37 [[ 0.98469371 -0.17021122 0.03750257 -2.02693628] [ 0.16982762 0.98538523 0.01321049 2.11743819] [-0.03920306 -0.00663932 0.99920921 -0.37249416] [ 0. 0. 0. 1. ]] SLAMing on 78.95654761499999 meters Centerline goodness : 0.805332 Centerline is valid? [False, False] Translation: X:-2.03, Y:2.12, Z:-0.37 [[ 0.98464876 -0.1704602 0.03755188 -2.02647776] [ 0.17016108 0.98535435 0.01104612 2.12247337] [-0.03888484 -0.00448668 0.99923363 -0.37335062] [ 0. 0. 0. 1. ]] SLAMing on 78.98654761499999 meters Centerline goodness : 0.807748 Centerline is valid? [False, False] Translation: X:-2.03, Y:2.13, Z:-0.38 [[ 0.9858902 -0.16339784 0.03635459 -2.02587746] [ 0.1629133 0.98651172 0.01593373 2.13023621] [-0.03846777 -0.00978627 0.99921192 -0.37510475] [ 0. 0. 0. 1. ]] SLAMing on 79.016547615 meters Centerline goodness : 0.805363 Centerline is valid? [False, False] Translation: X:-2.04, Y:2.14, Z:-0.37 [[ 0.98764813 -0.15365864 0.03066256 -2.04138658] [ 0.15323503 0.98806455 0.01573138 2.14218985] [-0.03271385 -0.01083849 0.99940599 -0.36819016] [ 0. 0. 0. 1. ]] SLAMing on 79.04654761499998 meters Centerline goodness : 0.805167 Centerline is valid? [False, False] Translation: X:-2.04, Y:2.15, Z:-0.38 [[ 0.98872978 -0.14643274 0.03115881 -2.04318722] [ 0.14616196 0.98920161 0.01080996 2.15099587] [-0.03240527 -0.00613389 0.99945599 -0.37721906] [ 0. 0. 0. 1. ]] SLAMing on 79.07654761499998 meters Centerline goodness : 0.805086 Centerline is valid? [False, False] Translation: X:-2.06, Y:2.16, Z:-0.37 [[ 9.89732312e-01 -1.40081981e-01 2.84075714e-02 -2.05635865e+00] [ 1.39995218e-01 9.90139402e-01 5.03029244e-03 2.15699220e+00] [-2.88321091e-02 -1.00171883e-03 9.99583766e-01 -3.71201196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10654761499998 meters Centerline goodness : 0.808456 Centerline is valid? [False, False] Translation: X:-2.06, Y:2.16, Z:-0.37 [[ 9.89631933e-01 -1.40795345e-01 2.83779353e-02 -2.05696194e+00] [ 1.40744471e-01 9.90038693e-01 3.79226153e-03 2.15949580e+00] [-2.86291868e-02 2.41094386e-04 9.99590072e-01 -3.70317221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13654761499998 meters Centerline goodness : 0.803609 Centerline is valid? [False, False] Translation: X:-2.06, Y:2.16, Z:-0.37 [[ 0.98897528 -0.14635175 0.02256241 -2.0591567 ] [ 0.14604629 0.98916931 0.0146478 2.15732149] [-0.02446177 -0.01119115 0.99963812 -0.36936305] [ 0. 0. 0. 1. ]] SLAMing on 79.16654761499998 meters Centerline goodness : 0.801694 Centerline is valid? [False, False] Translation: X:-2.06, Y:2.15, Z:-0.37 [[ 0.98824306 -0.15128812 0.02208085 -2.05649634] [ 0.15106205 0.98845645 0.01158026 2.1535841 ] [-0.02357791 -0.00810853 0.99968912 -0.36939749] [ 0. 0. 0. 1. ]] SLAMing on 79.19654761499999 meters Centerline goodness : 0.802905 Centerline is valid? [False, False] Translation: X:-2.06, Y:2.16, Z:-0.36 [[ 0.98836087 -0.15167604 0.01171185 -2.0635184 ] [ 0.15161071 0.98842031 0.006283 2.15519267] [-0.01252921 -0.00443423 0.99991167 -0.36279234] [ 0. 0. 0. 1. ]] SLAMing on 79.22654761499999 meters Centerline goodness : 0.809736 Centerline is valid? [False, False] Translation: X:-2.06, Y:2.16, Z:-0.36 [[ 9.87465471e-01 -1.57348072e-01 1.23906550e-02 -2.06352465e+00] [ 1.57348595e-01 9.87542677e-01 9.38783421e-04 2.15778767e+00] [-1.23840163e-02 1.02263594e-03 9.99922792e-01 -3.62777092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25654761499999 meters Centerline goodness : 0.810053 Centerline is valid? [False, False] Translation: X:-2.06, Y:2.16, Z:-0.36 [[ 9.87144674e-01 -1.59359605e-01 1.22437177e-02 -2.06401330e+00] [ 1.59377348e-01 9.87217620e-01 -4.81039245e-04 2.15994346e+00] [-1.20105556e-02 2.42622659e-03 9.99924927e-01 -3.61394963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28654761499999 meters Centerline goodness : 0.808764 Centerline is valid? [False, False] Translation: X:-2.07, Y:2.17, Z:-0.36 [[ 0.98667742 -0.16218384 0.01280916 -2.06656188] [ 0.16224981 0.98674041 -0.00428409 2.1679436 ] [-0.0119445 0.0063053 0.99990878 -0.35961185] [ 0. 0. 0. 1. ]] SLAMing on 79.31654761499999 meters Centerline goodness : 0.805356 Centerline is valid? [False, False] Translation: X:-2.07, Y:2.17, Z:-0.36 [[ 9.87993241e-01 -1.54488044e-01 1.67347843e-03 -2.07209948e+00] [ 1.54490575e-01 9.87993115e-01 -1.50581639e-03 2.17382509e+00] [-1.42075454e-03 1.74627306e-03 9.99997466e-01 -3.59429673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34654761499999 meters Centerline goodness : 0.810754 Centerline is valid? [False, False] Translation: X:-2.09, Y:2.20, Z:-0.35 [[ 9.90401078e-01 -1.38222367e-01 -5.30285772e-04 -2.09221428e+00] [ 1.38222724e-01 9.90400918e-01 7.07530624e-04 2.19597508e+00] [ 4.27398958e-04 -7.74036637e-04 9.99999609e-01 -3.54379885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37654761499999 meters Centerline goodness : 0.810754 Centerline is valid? [False, False] Translation: X:-2.09, Y:2.20, Z:-0.35 [[ 9.90401078e-01 -1.38222367e-01 -5.30285772e-04 -2.09221428e+00] [ 1.38222724e-01 9.90400918e-01 7.07530624e-04 2.19597508e+00] [ 4.27398958e-04 -7.74036637e-04 9.99999609e-01 -3.54379885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40654761499998 meters Centerline goodness : 0.805754 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.20, Z:-0.35 [[ 9.90003397e-01 -1.41041987e-01 -6.57613581e-04 -2.09988849e+00] [ 1.41042793e-01 9.89972563e-01 7.82660653e-03 2.19851565e+00] [-4.52860734e-04 -7.84111870e-03 9.99969155e-01 -3.54912539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43654761499998 meters Centerline goodness : 0.806142 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.21, Z:-0.36 [[ 9.89233104e-01 -1.46345369e-01 -9.47590027e-04 -2.09752843e+00] [ 1.46346303e-01 9.89232910e-01 1.00450955e-03 2.20521156e+00] [ 7.90381918e-04 -1.13237040e-03 9.99999047e-01 -3.56694372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46654761499998 meters Centerline goodness : 0.811003 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.21, Z:-0.35 [[ 0.98997463 -0.14077944 -0.0114622 -2.10595063] [ 0.14082429 0.99002943 0.003201 2.21444995] [ 0.01089728 -0.00478307 0.99992918 -0.35076208] [ 0. 0. 0. 1. ]] SLAMing on 79.49654761499998 meters Centerline goodness : 0.805802 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.22, Z:-0.35 [[ 9.90436912e-01 -1.36325851e-01 -2.12128450e-02 -2.11282155e+00] [ 1.36337732e-01 9.90662015e-01 -8.91921662e-04 2.22150904e+00] [ 2.11363517e-02 -2.00871904e-03 9.99774584e-01 -3.46541725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52654761499998 meters Centerline goodness : 0.805083 Centerline is valid? [False, False] Translation: X:-2.12, Y:2.23, Z:-0.34 [[ 9.90868024e-01 -1.31501342e-01 -2.97985754e-02 -2.12287147e+00] [ 1.31429206e-01 9.91315904e-01 -4.37517611e-03 2.22984571e+00] [ 3.01151432e-02 4.18819001e-04 9.99546348e-01 -3.40547703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55654761499999 meters Centerline goodness : 0.807568 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.23, Z:-0.34 [[ 0.99102593 -0.1293062 -0.03387503 -2.13531607] [ 0.12900122 0.99158289 -0.01104819 2.23371192] [ 0.0350185 0.00657913 0.99936501 -0.33524247] [ 0. 0. 0. 1. ]] SLAMing on 79.58654761499999 meters Centerline goodness : 0.808999 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.24, Z:-0.33 [[ 0.99102966 -0.12878841 -0.03568976 -2.13494698] [ 0.1285487 0.99166289 -0.00894129 2.24187025] [ 0.03654374 0.00427321 0.99932292 -0.33240247] [ 0. 0. 0. 1. ]] SLAMing on 79.61654761499999 meters Centerline goodness : 0.807395 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.25, Z:-0.33 [[ 0.99118392 -0.12491685 -0.04416118 -2.14389786] [ 0.12449525 0.99214541 -0.01218249 2.24622946] [ 0.04533611 0.00657723 0.99895014 -0.32685317] [ 0. 0. 0. 1. ]] SLAMing on 79.64654761499999 meters Centerline goodness : 0.808871 Centerline is valid? [False, False] Translation: X:-2.15, Y:2.24, Z:-0.32 [[ 0.99080799 -0.12336544 -0.05550218 -2.14821401] [ 0.12279746 0.99233934 -0.01354326 2.2438302 ] [ 0.05674776 0.00660325 0.99836671 -0.32271418] [ 0. 0. 0. 1. ]] SLAMing on 79.67654761499999 meters Centerline goodness : 0.809596 Centerline is valid? [False, False] Translation: X:-2.15, Y:2.25, Z:-0.32 [[ 9.90532828e-01 -1.17800412e-01 -7.04824831e-02 -2.14808537e+00] [ 1.17380681e-01 9.93035814e-01 -1.00820735e-02 2.25203243e+00] [ 7.11793023e-02 1.71334293e-03 9.97462065e-01 -3.18368762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70654761499999 meters Centerline goodness : 0.808189 Centerline is valid? [False, False] Translation: X:-2.15, Y:2.25, Z:-0.32 [[ 9.90944452e-01 -1.13931547e-01 -7.10541781e-02 -2.14755626e+00] [ 1.13758536e-01 9.93487229e-01 -6.49007875e-03 2.25242043e+00] [ 7.13308432e-02 -1.65171174e-03 9.97451344e-01 -3.18794012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73654761499999 meters Centerline goodness : 0.809234 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.25, Z:-0.32 [[ 0.99102441 -0.11177152 -0.07333314 -2.14373473] [ 0.11187356 0.99371871 -0.00272765 2.25440724] [ 0.07317739 -0.00550088 0.99730377 -0.31853586] [ 0. 0. 0. 1. ]] SLAMing on 79.766547615 meters Centerline goodness : 0.809937 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.26, Z:-0.32 [[ 9.90882890e-01 -1.11402925e-01 -7.57660037e-02 -2.14000086e+00] [ 1.11677565e-01 9.93744304e-01 -6.15499458e-04 2.25960824e+00] [ 7.53606031e-02 -7.85147493e-03 9.97125435e-01 -3.17632946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79654761499998 meters Centerline goodness : 0.813680 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.26, Z:-0.32 [[ 9.91271917e-01 -1.08073558e-01 -7.54989589e-02 -2.13955533e+00] [ 1.08345365e-01 9.94113189e-01 -4.98442731e-04 2.26375641e+00] [ 7.51083793e-02 -7.68586997e-03 9.97145756e-01 -3.20682723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82654761499998 meters Centerline goodness : 0.812808 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.27, Z:-0.32 [[ 9.91588762e-01 -1.04765442e-01 -7.59995338e-02 -2.14157068e+00] [ 1.05229970e-01 9.94445649e-01 2.12261247e-03 2.26893385e+00] [ 7.53550292e-02 -1.01021873e-02 9.97105594e-01 -3.18238302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85654761499998 meters Centerline goodness : 0.816938 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.28, Z:-0.31 [[ 0.99190559 -0.10024216 -0.07794108 -2.14358942] [ 0.10108373 0.99485387 0.00691825 2.27852712] [ 0.07684648 -0.01474083 0.99693396 -0.31264003] [ 0. 0. 0. 1. ]] SLAMing on 79.88654761499998 meters Centerline goodness : 0.818679 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.29, Z:-0.31 [[ 0.99149437 -0.10306511 -0.07947637 -2.14394221] [ 0.10386707 0.99457302 0.00601239 2.28586929] [ 0.07842538 -0.01421623 0.99681862 -0.30821645] [ 0. 0. 0. 1. ]] SLAMing on 79.91654761499998 meters Centerline goodness : 0.815967 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.29, Z:-0.31 [[ 0.99117729 -0.105245 -0.08056721 -2.14020458] [ 0.10587042 0.99437371 0.00351876 2.29182061] [ 0.07974358 -0.0120174 0.99674297 -0.3103967 ] [ 0. 0. 0. 1. ]] SLAMing on 79.94654761499999 meters Centerline goodness : 0.822759 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.31, Z:-0.31 [[ 0.99122907 -0.1022357 -0.08374238 -2.13381562] [ 0.10298911 0.99467131 0.00471539 2.3081065 ] [ 0.08281406 -0.01329858 0.99647628 -0.3134435 ] [ 0. 0. 0. 1. ]] SLAMing on 79.97654761499999 meters Centerline goodness : 0.823763 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.32, Z:-0.32 [[ 9.92119674e-01 -9.46547153e-02 -8.20916357e-02 -2.13420447e+00] [ 9.50570302e-02 9.95471328e-01 9.97601193e-04 2.31807739e+00] [ 8.16254420e-02 -8.79312687e-03 9.96624286e-01 -3.21941239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00654761499999 meters Centerline goodness : 0.824363 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.32, Z:-0.32 [[ 0.99274013 -0.08724242 -0.08279974 -2.13309982] [ 0.08812076 0.99608516 0.00700654 2.3230214 ] [ 0.08186433 -0.01425205 0.99654158 -0.32318576] [ 0. 0. 0. 1. ]] SLAMing on 80.03654761499999 meters Centerline goodness : 0.824818 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.33, Z:-0.32 [[ 0.99322855 -0.08192654 -0.08237168 -2.13915397] [ 0.08307671 0.99648648 0.01062834 2.33174545] [ 0.08121152 -0.01739954 0.996545 -0.31863395] [ 0. 0. 0. 1. ]] SLAMing on 80.06654761499999 meters Centerline goodness : 0.821015 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.34, Z:-0.32 [[ 0.99284588 -0.08636309 -0.08245291 -2.13559473] [ 0.08708537 0.99618729 0.00519743 2.33681495] [ 0.08168967 -0.01234068 0.99658141 -0.32156385] [ 0. 0. 0. 1. ]] SLAMing on 80.09654761499999 meters Centerline goodness : 0.824982 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.34, Z:-0.32 [[ 0.99318924 -0.08937638 -0.07474623 -2.12708322] [ 0.09027799 0.99587803 0.00876497 2.34124941] [ 0.07365475 -0.01545321 0.99716407 -0.32102998] [ 0. 0. 0. 1. ]] SLAMing on 80.12654761499999 meters Centerline goodness : 0.825226 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.34, Z:-0.32 [[ 0.99307062 -0.09072874 -0.07469301 -2.12794996] [ 0.09152125 0.99577673 0.00724968 2.34431089] [ 0.07371981 -0.01403544 0.99718022 -0.32012594] [ 0. 0. 0. 1. ]] SLAMing on 80.15654761499998 meters Centerline goodness : 0.826825 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.35, Z:-0.32 [[ 0.99297175 -0.09198803 -0.07446681 -2.12952714] [ 0.0926551 0.99568282 0.00554608 2.34728315] [ 0.07363515 -0.01240683 0.99720807 -0.31866785] [ 0. 0. 0. 1. ]] SLAMing on 80.18654761499998 meters Centerline goodness : 0.831212 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.35, Z:-0.32 [[ 0.99292492 -0.09246884 -0.07449576 -2.13018695] [ 0.09303542 0.99565409 0.00416401 2.35208342] [ 0.07378697 -0.01106529 0.99721264 -0.31773665] [ 0. 0. 0. 1. ]] SLAMing on 80.21654761499998 meters Centerline goodness : 0.827679 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.36, Z:-0.32 [[ 0.99297242 -0.09165687 -0.07486515 -2.12693916] [ 0.09220219 0.99573285 0.00385331 2.35588384] [ 0.0741925 -0.01072897 0.99718622 -0.32066729] [ 0. 0. 0. 1. ]] SLAMing on 80.24654761499998 meters Centerline goodness : 0.829399 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.36, Z:-0.32 [[ 0.99364373 -0.08427513 -0.07463141 -2.13051226] [ 0.08517301 0.9963262 0.00892538 2.36280164] [ 0.07360504 -0.01522523 0.99717124 -0.31808466] [ 0. 0. 0. 1. ]] SLAMing on 80.27654761499998 meters Centerline goodness : 0.828522 Centerline is valid? [False, False] Translation: X:-2.14, Y:2.37, Z:-0.32 [[ 0.99529759 -0.06706604 -0.06989176 -2.13787407] [ 0.06812739 0.99759308 0.01291153 2.36905839] [ 0.06885761 -0.01761235 0.99747102 -0.32077266] [ 0. 0. 0. 1. ]] SLAMing on 80.30654761499999 meters Centerline goodness : 0.831980 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.37, Z:-0.33 [[ 0.99576846 -0.05438203 -0.07407951 -2.12994591] [ 0.0550598 0.99845756 0.0071364 2.36943709] [ 0.07357716 -0.01118501 0.9972268 -0.32584008] [ 0. 0. 0. 1. ]] SLAMing on 80.33654761499999 meters Centerline goodness : 0.835833 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.37, Z:-0.33 [[ 0.99636637 -0.04121493 -0.07453443 -2.13056242] [ 0.04279605 0.99888877 0.01974143 2.36955333] [ 0.07363797 -0.02285948 0.99702302 -0.32570504] [ 0. 0. 0. 1. ]] SLAMing on 80.36654761499999 meters Centerline goodness : 0.828906 Centerline is valid? [False, False] Translation: X:-2.13, Y:2.37, Z:-0.33 [[ 0.99650795 -0.03312504 -0.07664619 -2.12875407] [ 0.03429279 0.99931419 0.01396956 2.36714807] [ 0.07613089 -0.01654919 0.99696049 -0.33205612] [ 0. 0. 0. 1. ]] SLAMing on 80.39654761499999 meters Centerline goodness : 0.829267 Centerline is valid? [False, False] Translation: X:-2.12, Y:2.36, Z:-0.33 [[ 0.99630265 -0.03823446 -0.07693605 -2.12438858] [ 0.03905045 0.99919554 0.00912914 2.35978489] [ 0.07652511 -0.01209978 0.99699423 -0.33493431] [ 0. 0. 0. 1. ]] SLAMing on 80.42654761499999 meters Centerline goodness : 0.831370 Centerline is valid? [False, False] Translation: X:-2.12, Y:2.36, Z:-0.34 [[ 0.99685271 -0.037576 -0.0698049 -2.1176554 ] [ 0.03912469 0.99901464 0.02095236 2.35654748] [ 0.06894882 -0.02361752 0.9973406 -0.3364923 ] [ 0. 0. 0. 1. ]] SLAMing on 80.45654761499999 meters Centerline goodness : 0.829653 Centerline is valid? [False, False] Translation: X:-2.12, Y:2.35, Z:-0.34 [[ 0.99672781 -0.04051098 -0.06994668 -2.11720279] [ 0.0418979 0.99895106 0.01847575 2.35076763] [ 0.06912484 -0.02134592 0.99737962 -0.33591224] [ 0. 0. 0. 1. ]] SLAMing on 80.48654761499999 meters Centerline goodness : 0.828652 Centerline is valid? [False, False] Translation: X:-2.12, Y:2.35, Z:-0.34 [[ 0.99738561 -0.04690523 -0.05497135 -2.12012353] [ 0.04782973 0.9987333 0.01562412 2.34528914] [ 0.05416886 -0.01821254 0.99836568 -0.33721567] [ 0. 0. 0. 1. ]] SLAMing on 80.51654761499998 meters Centerline goodness : 0.832377 Centerline is valid? [False, False] Translation: X:-2.12, Y:2.35, Z:-0.34 [[ 0.99711415 -0.05165059 -0.05563808 -2.11796364] [ 0.05240626 0.99855122 0.01220862 2.34533491] [ 0.05492689 -0.01508918 0.99837636 -0.33827587] [ 0. 0. 0. 1. ]] SLAMing on 80.54654761499998 meters Centerline goodness : 0.828813 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.34, Z:-0.34 [[ 9.96417168e-01 -6.30850953e-02 -5.63302634e-02 -2.11068543e+00] [ 6.32586394e-02 9.97996318e-01 1.30128086e-03 2.33680887e+00] [ 5.61353041e-02 -4.85999441e-03 9.98411342e-01 -3.42062862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57654761499998 meters Centerline goodness : 0.830199 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.33, Z:-0.34 [[ 0.99644727 -0.06870898 -0.0487023 -2.10393913] [ 0.06912381 0.99758434 0.00688321 2.33322289] [ 0.04811171 -0.01022525 0.99878962 -0.34353935] [ 0. 0. 0. 1. ]] SLAMing on 80.60654761499998 meters Centerline goodness : 0.828544 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.33, Z:-0.34 [[ 0.99643293 -0.06837786 -0.04945595 -2.10174486] [ 0.06886758 0.99759157 0.00826496 2.33404643] [ 0.0487717 -0.01164138 0.99874211 -0.34497049] [ 0. 0. 0. 1. ]] SLAMing on 80.63654761499998 meters Centerline goodness : 0.827242 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.33, Z:-0.35 [[ 0.99598807 -0.07443923 -0.04966461 -2.0976171 ] [ 0.07465878 0.99720581 0.00257777 2.32975325] [ 0.04933395 -0.00627532 0.99876263 -0.34792826] [ 0. 0. 0. 1. ]] SLAMing on 80.66654761499998 meters Centerline goodness : 0.826985 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.33, Z:-0.35 [[ 9.95694091e-01 -7.82888853e-02 -4.96399815e-02 -2.09630541e+00] [ 7.83568063e-02 9.96925211e-01 -5.79258444e-04 2.32703386e+00] [ 4.95326985e-02 -3.31286621e-03 9.98767008e-01 -3.48851208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69654761499999 meters Centerline goodness : 0.829776 Centerline is valid? [False, False] Translation: X:-2.09, Y:2.33, Z:-0.35 [[ 0.99590429 -0.080028 -0.04207336 -2.09051256] [ 0.08044064 0.99672563 0.00820523 2.32753021] [ 0.04127895 -0.01155603 0.99908083 -0.34978959] [ 0. 0. 0. 1. ]] SLAMing on 80.72654761499999 meters Centerline goodness : 0.828527 Centerline is valid? [False, False] Translation: X:-2.09, Y:2.33, Z:-0.35 [[ 0.99615266 -0.08288323 -0.02846476 -2.08855022] [ 0.08308041 0.99652589 0.00581356 2.32748433] [ 0.02788402 -0.00815605 0.99957789 -0.35346115] [ 0. 0. 0. 1. ]] SLAMing on 80.75654761499999 meters Centerline goodness : 0.829555 Centerline is valid? [False, False] Translation: X:-2.09, Y:2.32, Z:-0.36 [[ 0.99616879 -0.08627071 -0.01432174 -2.08807091] [ 0.08635623 0.99624935 0.00546284 2.32348225] [ 0.01379674 -0.00667868 0.99988252 -0.3570889 ] [ 0. 0. 0. 1. ]] SLAMing on 80.78654761499999 meters Centerline goodness : 0.832187 Centerline is valid? [False, False] Translation: X:-2.09, Y:2.33, Z:-0.35 [[ 0.99643201 -0.0831758 -0.01431913 -2.0904236 ] [ 0.08330258 0.99648808 0.00849645 2.32518759] [ 0.01356214 -0.00965895 0.99986138 -0.35478584] [ 0. 0. 0. 1. ]] SLAMing on 80.81654761499999 meters Centerline goodness : 0.830572 Centerline is valid? [False, False] Translation: X:-2.09, Y:2.33, Z:-0.36 [[ 0.99679402 -0.07856561 -0.01513671 -2.08636864] [ 0.07875552 0.996817 0.01238676 2.32842766] [ 0.01411535 -0.01353914 0.99980871 -0.35890917] [ 0. 0. 0. 1. ]] SLAMing on 80.84654761499999 meters Centerline goodness : 0.827744 Centerline is valid? [False, False] Translation: X:-2.09, Y:2.33, Z:-0.37 [[ 0.9975419 -0.06855556 -0.01450125 -2.08704866] [ 0.06868591 0.99760048 0.0086901 2.33302929] [ 0.0138707 -0.00966477 0.99985709 -0.36735434] [ 0. 0. 0. 1. ]] SLAMing on 80.87654761499999 meters Centerline goodness : 0.824411 Centerline is valid? [False, False] Translation: X:-2.09, Y:2.34, Z:-0.37 [[ 0.99852034 -0.05131845 -0.01798768 -2.08787363] [ 0.05149695 0.99862696 0.0096047 2.34282279] [ 0.01747009 -0.0105168 0.99979207 -0.37111688] [ 0. 0. 0. 1. ]] SLAMing on 80.90654761499998 meters Centerline goodness : 0.822680 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.35, Z:-0.38 [[ 0.9994569 -0.02816783 -0.01710193 -2.09767146] [ 0.02831021 0.99956603 0.00814107 2.3484165 ] [ 0.01686519 -0.0086208 0.99982061 -0.3764827 ] [ 0. 0. 0. 1. ]] SLAMing on 80.93654761499998 meters Centerline goodness : 0.823112 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.35, Z:-0.38 [[ 0.99978539 -0.01279691 -0.01629134 -2.10142912] [ 0.01294365 0.99987632 0.00893385 2.35321431] [ 0.016175 -0.0091428 0.99982737 -0.38126977] [ 0. 0. 0. 1. ]] SLAMing on 80.96654761499998 meters Centerline goodness : 0.819839 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.35, Z:-0.38 [[ 9.99861265e-01 -1.65109840e-02 -2.19957371e-03 -2.10222665e+00] [ 1.65278995e-02 9.99832132e-01 7.90794896e-03 2.35370439e+00] [ 2.06863646e-03 -7.94320619e-03 9.99966313e-01 -3.83173582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99654761499998 meters Centerline goodness : 0.819361 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.35, Z:-0.38 [[ 9.99735521e-01 -2.29763442e-02 -9.87467689e-04 -2.10844557e+00] [ 2.29791421e-02 9.99731674e-01 2.92211586e-03 2.34995977e+00] [ 9.20063186e-04 -2.94403418e-03 9.99995243e-01 -3.77017463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02654761499998 meters Centerline goodness : 0.819635 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.34, Z:-0.38 [[ 9.99669128e-01 -2.57016950e-02 -1.02864364e-03 -2.10714267e+00] [ 2.57028060e-02 9.99669043e-01 1.08182236e-03 2.34330630e+00] [ 1.00049854e-03 -1.10790344e-03 9.99998886e-01 -3.78315074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05654761499999 meters Centerline goodness : 0.819321 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.34, Z:-0.38 [[ 9.99669679e-01 -2.56897625e-02 -7.54278644e-04 -2.11028919e+00] [ 2.56917542e-02 9.99666098e-01 2.76171490e-03 2.34045448e+00] [ 6.83078989e-04 -2.78018139e-03 9.99995902e-01 -3.75307509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08654761499999 meters Centerline goodness : 0.819491 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.33, Z:-0.37 [[ 9.99526193e-01 -3.07624655e-02 -1.02930823e-03 -2.11067723e+00] [ 3.07621820e-02 9.99526690e-01 -2.90137923e-04 2.33391840e+00] [ 1.03774641e-03 2.58336687e-04 9.99999428e-01 -3.74231939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11654761499999 meters Centerline goodness : 0.818665 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.33, Z:-0.38 [[ 9.99283406e-01 -3.78357108e-02 -1.06487599e-03 -2.10865014e+00] [ 3.78281150e-02 9.99263609e-01 -6.42451585e-03 2.32881264e+00] [ 1.30716795e-03 6.37962983e-03 9.99978796e-01 -3.76232954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14654761499999 meters Centerline goodness : 0.817572 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.33, Z:-0.38 [[ 9.99415344e-01 -3.41651401e-02 -1.30912006e-03 -2.10710351e+00] [ 3.41617572e-02 9.99413128e-01 -2.52472284e-03 2.33336019e+00] [ 1.39460928e-03 2.47852490e-03 9.99995956e-01 -3.78538013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17654761499999 meters Centerline goodness : 0.814624 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.34, Z:-0.38 [[ 9.99262848e-01 -3.83295807e-02 -2.14554052e-03 -2.10036815e+00] [ 3.83126622e-02 9.99238119e-01 -7.43782796e-03 2.33795655e+00] [ 2.42899470e-03 7.35014378e-03 9.99970037e-01 -3.84945658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20654761499999 meters Centerline goodness : 0.816555 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.34, Z:-0.39 [[ 9.99029083e-01 -4.40067520e-02 -2.07278800e-03 -2.09958783e+00] [ 4.39737470e-02 9.98935651e-01 -1.39239219e-02 2.34490448e+00] [ 2.68332841e-03 1.38192547e-02 9.99900909e-01 -3.85684125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23654761499999 meters Centerline goodness : 0.820303 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.35, Z:-0.38 [[ 9.99056503e-01 -4.34216857e-02 -8.12528638e-04 -2.10815589e+00] [ 4.34083128e-02 9.98980616e-01 -1.23873522e-02 2.35315256e+00] [ 1.34958008e-03 1.23403943e-02 9.99922944e-01 -3.79829344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26654761499998 meters Centerline goodness : 0.819659 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.37, Z:-0.38 [[ 9.99206668e-01 -3.98224440e-02 4.55901275e-04 -2.11188984e+00] [ 3.98250508e-02 9.99145399e-01 -1.10651314e-02 2.37071693e+00] [-1.48710844e-05 1.10745094e-02 9.99938676e-01 -3.78820820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29654761499998 meters Centerline goodness : 0.819659 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.37, Z:-0.38 [[ 9.99206668e-01 -3.98224440e-02 4.55901275e-04 -2.11188984e+00] [ 3.98250508e-02 9.99145399e-01 -1.10651314e-02 2.37071693e+00] [-1.48710844e-05 1.10745094e-02 9.99938676e-01 -3.78820820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32654761499998 meters Centerline goodness : 0.820965 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.38, Z:-0.38 [[ 9.99340661e-01 -3.63071721e-02 1.82727571e-04 -2.11016754e+00] [ 3.63072759e-02 9.99295915e-01 -9.45810680e-03 2.37962383e+00] [ 1.60798196e-04 9.45850504e-03 9.99955254e-01 -3.80481400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35654761499998 meters Centerline goodness : 0.825009 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.39, Z:-0.38 [[ 9.99690333e-01 -2.48843438e-02 -8.21736266e-05 -2.11167267e+00] [ 2.48843257e-02 9.99690314e-01 -2.14718289e-04 2.39463513e+00] [ 8.74913023e-05 2.12606963e-04 9.99999974e-01 -3.78675790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38654761499998 meters Centerline goodness : 0.831540 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.41, Z:-0.38 [[ 9.99914728e-01 -1.30265411e-02 -9.19757800e-04 -2.10815261e+00] [ 1.30333315e-02 9.99884566e-01 7.80941541e-03 2.41144268e+00] [ 8.17921959e-04 -7.82073699e-03 9.99969083e-01 -3.81215525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41654761499998 meters Centerline goodness : 0.832230 Centerline is valid? [False, False] Translation: X:-2.11, Y:2.42, Z:-0.38 [[ 9.99982400e-01 -5.84668803e-03 -1.00765838e-03 -2.10788824e+00] [ 5.85937010e-03 9.99897295e-01 1.30792636e-02 2.42137382e+00] [ 9.31084511e-04 -1.30849377e-02 9.99913955e-01 -3.81134414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44654761499999 meters Centerline goodness : 0.828879 Centerline is valid? [False, False] Translation: X:-2.10, Y:2.44, Z:-0.39 [[ 9.99968428e-01 -1.20275276e-03 7.85474979e-03 -2.09871610e+00] [ 1.11608164e-03 9.99938552e-01 1.10293082e-02 2.43708446e+00] [-7.86753267e-03 -1.10201935e-02 9.99908324e-01 -3.86539661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47654761499999 meters Centerline goodness : 0.817748 Centerline is valid? [False, False] Translation: X:-2.07, Y:2.46, Z:-0.39 [[ 0.99998025 0.0050866 0.00369052 -2.07343966] [-0.00513493 0.99989961 0.0132059 2.46295715] [-0.00362298 -0.01322459 0.99990599 -0.39317733] [ 0. 0. 0. 1. ]] SLAMing on 81.50654761499999 meters Centerline goodness : 0.815790 Centerline is valid? [False, False] Translation: X:-2.07, Y:2.47, Z:-0.39 [[ 0.9999533 0.008998 0.00352692 -2.07097461] [-0.00904832 0.99985363 0.0145208 2.47154825] [-0.00339575 -0.01455204 0.99988835 -0.39493139] [ 0. 0. 0. 1. ]] SLAMing on 81.53654761499999 meters Centerline goodness : 0.812880 Centerline is valid? [False, False] Translation: X:-2.06, Y:2.49, Z:-0.39 [[ 0.9998658 0.01144701 0.01171914 -2.06453618] [-0.01170635 0.99968265 0.02230593 2.48809216] [-0.01146008 -0.02244013 0.9996825 -0.39269791] [ 0. 0. 0. 1. ]] SLAMing on 81.56654761499999 meters Centerline goodness : 0.806578 Centerline is valid? [False, False] Translation: X:-2.05, Y:2.51, Z:-0.39 [[ 0.99982332 0.01432551 0.01216986 -2.04636706] [-0.01457383 0.99968224 0.02056756 2.51105648] [-0.01187135 -0.02074129 0.99971439 -0.39105849] [ 0. 0. 0. 1. ]] SLAMing on 81.59654761499999 meters Centerline goodness : 0.802516 Centerline is valid? [False, False] Translation: X:-2.03, Y:2.54, Z:-0.39 [[ 0.99946578 0.03115286 0.00988241 -2.0324846 ] [-0.03130535 0.999387 0.01567132 2.53714805] [-0.00938815 -0.01597232 0.99982836 -0.38960824] [ 0. 0. 0. 1. ]] SLAMing on 81.62654761499999 meters Centerline goodness : 0.801977 Centerline is valid? [False, False] Translation: X:-2.03, Y:2.55, Z:-0.39 [[ 0.99920826 0.0383537 0.01057596 -2.03154735] [-0.03855693 0.99906156 0.01973222 2.5502659 ] [-0.00980923 -0.02012438 0.99974936 -0.39011079] [ 0. 0. 0. 1. ]] SLAMing on 81.65654761499998 meters Centerline goodness : 0.800534 Centerline is valid? [False, False] Translation: X:-2.01, Y:2.58, Z:-0.41 [[ 0.99855615 0.05220792 0.01264738 -2.01327989] [-0.05266291 0.99785811 0.03880477 2.57853947] [-0.01059438 -0.03941478 0.99916677 -0.40540209] [ 0. 0. 0. 1. ]] SLAMing on 81.68654761499998 meters Centerline goodness : 0.798150 Centerline is valid? [False, False] Translation: X:-2.03, Y:2.61, Z:-0.38 [[ 0.99721757 0.06733479 0.03198671 -2.02932877] [-0.06776433 0.99762256 0.0125388 2.61205019] [-0.03106637 -0.01467147 0.99940964 -0.37560238] [ 0. 0. 0. 1. ]] SLAMing on 81.71654761499998 meters Centerline goodness : 0.797069 Centerline is valid? [False, False] Translation: X:-2.03, Y:2.65, Z:-0.38 [[ 0.99571013 0.08074066 0.04519163 -2.02792844] [-0.0812849 0.99663733 0.01033474 2.64751635] [-0.04420523 -0.0139638 0.99892488 -0.38025143] [ 0. 0. 0. 1. ]] SLAMing on 81.74654761499998 meters Centerline goodness : 0.797958 Centerline is valid? [False, False] Translation: X:-2.02, Y:2.67, Z:-0.39 [[ 0.9940639 0.09776133 0.04774613 -2.02447827] [-0.09849226 0.99505029 0.0131982 2.67302344] [-0.04621953 -0.01782248 0.9987723 -0.38941101] [ 0. 0. 0. 1. ]] SLAMing on 81.77654761499998 meters Centerline goodness : 0.804067 Centerline is valid? [False, False] Translation: X:-2.03, Y:2.71, Z:-0.39 [[ 0.99294999 0.1009776 0.06207936 -2.02848698] [-0.10212672 0.99464881 0.01561677 2.70683349] [-0.06017021 -0.02184663 0.99794903 -0.39149068] [ 0. 0. 0. 1. ]] SLAMing on 81.80654761499999 meters Centerline goodness : 0.808100 Centerline is valid? [False, False] Translation: X:-2.04, Y:2.72, Z:-0.39 [[ 0.99371624 0.09286144 0.06248836 -2.03747367] [-0.0935953 0.99557041 0.00891477 2.7214861 ] [-0.06138372 -0.01470736 0.99800588 -0.38579976] [ 0. 0. 0. 1. ]] Total time of SLAM: 4010.48 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%| | 0/2726 [00:00