+ python -m lidar_slam --no-model /working/5153ddea-9b42-49bd-aee0-96d92173aaca Lidar SLAM 0.0.15 ===================================================== The recording path: /working/5153ddea-9b42-49bd-aee0-96d92173aaca 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 0.029649246 Adjusted end_distance from 9.223372036854776e+18 to 120.849649246 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029649246 meters Centerline goodness : 0.910800 Centerline is valid? [0, False] SLAMing on 0.059649246 meters Centerline goodness : 0.916950 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 0.99996076 -0.0058646 -0.0066395 0.01120713] [ 0.00567276 0.99957618 -0.02855305 0.00473589] [ 0.00680414 0.02851426 0.99957023 -0.02350696] [ 0. 0. 0. 1. ]] SLAMing on 0.089649246 meters Centerline goodness : 0.914648 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.02 [[ 9.99952576e-01 -4.39159595e-03 -8.69246793e-03 1.77323483e-02] [ 4.20863134e-03 9.99771537e-01 -2.09561744e-02 2.59098999e-04] [ 8.78251307e-03 2.09185972e-02 9.99742607e-01 -1.74170709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11964924600000001 meters Centerline goodness : 0.924622 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:0.01 [[ 0.99993441 -0.00361938 -0.01086664 0.01913614] [ 0.00374071 0.99993067 0.01116568 -0.00992027] [ 0.01082548 -0.01120559 0.99987861 0.00505463] [ 0. 0. 0. 1. ]] SLAMing on 0.149649246 meters Centerline goodness : 0.929071 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:0.01 [[ 0.99992784 -0.00388754 -0.01136631 0.02033631] [ 0.0040239 0.99991992 0.01199806 -0.01103583] [ 0.01131876 -0.01204294 0.99986342 0.00625263] [ 0. 0. 0. 1. ]] SLAMing on 0.179649246 meters Centerline goodness : 0.938014 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.01 [[ 0.99979688 -0.0115907 -0.01648826 0.00977742] [ 0.01183963 0.99981619 0.01508039 -0.0097274 ] [ 0.01631044 -0.01527254 0.99975033 0.00892852] [ 0. 0. 0. 1. ]] SLAMing on 0.209649246 meters Centerline goodness : 0.940491 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.01 [[ 0.99977101 -0.01246238 -0.01739564 0.01247041] [ 0.01273478 0.99979663 0.01563701 -0.01178808] [ 0.01719722 -0.01585496 0.9997264 0.00936334] [ 0. 0. 0. 1. ]] SLAMing on 0.239649246 meters Centerline goodness : 0.919685 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.01 [[ 0.99954725 -0.02390034 -0.01827754 -0.01603899] [ 0.0243529 0.99939197 0.02495254 -0.0097756 ] [ 0.01767006 -0.02538636 0.99952154 0.0135401 ] [ 0. 0. 0. 1. ]] SLAMing on 0.269649246 meters Centerline goodness : 0.916632 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.01 [[ 0.99950251 -0.02509055 -0.0191101 -0.01294668] [ 0.02556603 0.99935906 0.02505687 -0.01137027] [ 0.01846916 -0.02553298 0.99950336 0.01332442] [ 0. 0. 0. 1. ]] SLAMing on 0.29964924600000004 meters Centerline goodness : 0.913692 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.02 [[ 0.99913039 -0.03386685 -0.02432075 -0.02251144] [ 0.03453562 0.99902158 0.02762555 -0.00959479] [ 0.02336137 -0.02844146 0.99932244 0.01626191] [ 0. 0. 0. 1. ]] SLAMing on 0.32964924600000006 meters Centerline goodness : 0.899660 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.02 [[ 0.9990611 -0.03519023 -0.02526972 -0.01913875] [ 0.03587518 0.99898649 0.02718372 -0.0100184 ] [ 0.0242875 -0.02806475 0.99931101 0.01571167] [ 0. 0. 0. 1. ]] SLAMing on 0.35964924600000003 meters Centerline goodness : 0.896004 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.01 [[ 0.9988573 -0.03901476 -0.02760325 -0.01017087] [ 0.0397203 0.99888563 0.02549091 -0.00811364] [ 0.02657797 -0.02655819 0.99929389 0.01410673] [ 0. 0. 0. 1. ]] SLAMing on 0.38964924600000006 meters Centerline goodness : 0.890586 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.01 [[ 0.99875604 -0.0408036 -0.02866062 -0.00580181] [ 0.04150249 0.99884459 0.02422865 -0.00654654] [ 0.02763889 -0.02538799 0.99929552 0.0123516 ] [ 0. 0. 0. 1. ]] SLAMing on 0.41964924600000003 meters Centerline goodness : 0.888682 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:0.01 [[ 0.9986652 -0.0413994 -0.03088546 0.02243254] [ 0.04201061 0.99892861 0.01941004 -0.0045708 ] [ 0.0300488 -0.02068165 0.99933445 0.00993719] [ 0. 0. 0. 1. ]] SLAMing on 0.44964924600000006 meters Centerline goodness : 0.878873 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:0.01 [[ 0.99868994 -0.03913843 -0.03296346 0.04328291] [ 0.03959263 0.99912818 0.01324053 -0.00359687] [ 0.03241651 -0.01452829 0.99936885 0.00719123] [ 0. 0. 0. 1. ]] SLAMing on 0.47964924600000003 meters Centerline goodness : 0.128415 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:0.01 [[ 0.99859709 -0.03684805 -0.03802737 0.07475539] [ 0.03735512 0.99922121 0.01271083 -0.00144774] [ 0.03752939 -0.01411351 0.99919585 0.00600485] [ 0. 0. 0. 1. ]] SLAMing on 0.5096492460000001 meters Centerline goodness : 0.136919 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.00, Z:0.01 [[ 0.99846863 -0.03294857 -0.0444385 0.09451024] [ 0.03337995 0.99940221 0.00900026 -0.0023147 ] [ 0.04411539 -0.01046984 0.99897158 0.00707954] [ 0. 0. 0. 1. ]] SLAMing on 0.539649246 meters Centerline goodness : 0.143354 Centerline is valid? [False, False] Translation: X:0.11, Y:0.00, Z:0.00 [[ 0.99832149 -0.03609747 -0.0452899 0.1109587 ] [ 0.03664859 0.99926321 0.01139776 0.00415637] [ 0.0448451 -0.01303844 0.99890886 0.0035653 ] [ 0. 0. 0. 1. ]] SLAMing on 0.569649246 meters Centerline goodness : 0.149860 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:-0.00 [[ 9.98115610e-01 -4.05137412e-02 -4.60854249e-02 1.29806683e-01] [ 4.11702958e-02 9.99062455e-01 1.33872527e-02 1.18159784e-02] [ 4.54998501e-02 -1.52593764e-02 9.98847794e-01 -8.97288515e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.599649246 meters Centerline goodness : 0.159898 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.00 [[ 0.99814898 -0.03786853 -0.04758771 0.15186141] [ 0.03837928 0.99921455 0.00986501 0.01234249] [ 0.04717676 -0.01167313 0.99881835 -0.00203351] [ 0. 0. 0. 1. ]] SLAMing on 0.629649246 meters Centerline goodness : 0.179376 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.00 [[ 0.99798541 -0.03727098 -0.05134192 0.18471987] [ 0.03779248 0.99924304 0.00922407 0.01427777] [ 0.05095927 -0.01114582 0.99863854 -0.00288086] [ 0. 0. 0. 1. ]] SLAMing on 0.659649246 meters Centerline goodness : 0.196248 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:-0.00 [[ 0.9978975 -0.03767824 -0.05273449 0.21740422] [ 0.03817971 0.99923445 0.00853412 0.0156147 ] [ 0.05237257 -0.01052956 0.9985721 -0.00359282] [ 0. 0. 0. 1. ]] SLAMing on 0.689649246 meters Centerline goodness : 0.207671 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:-0.01 [[ 0.99804601 -0.03594659 -0.05110785 0.23666983] [ 0.03618205 0.99933841 0.0036891 0.01601021] [ 0.05094143 -0.00553108 0.99868633 -0.00518948] [ 0. 0. 0. 1. ]] SLAMing on 0.719649246 meters Centerline goodness : 0.202964 Centerline is valid? [False, False] Translation: X:0.25, Y:0.02, Z:-0.01 [[ 0.99791259 -0.03715339 -0.05282128 0.2476328 ] [ 0.03756078 0.99927161 0.0067407 0.0169227 ] [ 0.05253236 -0.00871063 0.99858123 -0.00589841] [ 0. 0. 0. 1. ]] SLAMing on 0.749649246 meters Centerline goodness : 0.203466 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:-0.01 [[ 0.99777451 -0.04284638 -0.05109024 0.27195025] [ 0.04341854 0.99900549 0.01014165 0.0190849 ] [ 0.0506049 -0.01233734 0.99864255 -0.0111659 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7796492460000001 meters Centerline goodness : 0.205865 Centerline is valid? [False, False] Translation: X:0.29, Y:0.02, Z:-0.01 [[ 0.99791229 -0.041101 -0.04981738 0.29108537] [ 0.04140521 0.99912947 0.0050896 0.01894427] [ 0.04956482 -0.00714168 0.99874538 -0.0127553 ] [ 0. 0. 0. 1. ]] SLAMing on 0.809649246 meters Centerline goodness : 0.194979 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:-0.01 [[ 0.99793522 -0.03894183 -0.05107667 0.32469453] [ 0.0393357 0.9992034 0.00672869 0.01947301] [ 0.05077395 -0.00872394 0.99867207 -0.01440181] [ 0. 0. 0. 1. ]] SLAMing on 0.839649246 meters Centerline goodness : 0.189917 Centerline is valid? [False, False] Translation: X:0.34, Y:0.02, Z:-0.02 [[ 0.99818939 -0.03419871 -0.04948111 0.34433682] [ 0.03448386 0.99939314 0.00492035 0.01968241] [ 0.04928282 -0.00661774 0.99876294 -0.01596378] [ 0. 0. 0. 1. ]] SLAMing on 0.869649246 meters Centerline goodness : 0.181125 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.02 [[ 0.99846558 -0.02920275 -0.04704973 0.36987496] [ 0.02937328 0.9995642 0.00293713 0.02650658] [ 0.04694345 -0.00431463 0.99888823 -0.02144223] [ 0. 0. 0. 1. ]] SLAMing on 0.8996492460000001 meters Centerline goodness : 0.179278 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.02 [[ 9.98768275e-01 -2.35012776e-02 -4.36992346e-02 3.86807824e-01] [ 2.35312022e-02 9.99723088e-01 1.70446526e-04 2.90320679e-02] [ 4.36831280e-02 -1.19853211e-03 9.99044718e-01 -2.41354113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.929649246 meters Centerline goodness : 0.176193 Centerline is valid? [False, False] Translation: X:0.41, Y:0.04, Z:-0.03 [[ 9.99094338e-01 -1.48424775e-02 -3.98773726e-02 4.09438144e-01] [ 1.48402843e-02 9.99889815e-01 -3.51025683e-04 3.79073313e-02] [ 3.98781888e-02 -2.41083777e-04 9.99204520e-01 -3.06839529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.959649246 meters Centerline goodness : 0.174063 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:-0.04 [[ 9.99360129e-01 -5.28498755e-03 -3.53751646e-02 4.30077976e-01] [ 5.29707601e-03 9.99985940e-01 2.48007836e-04 4.78500890e-02] [ 3.53733565e-02 -4.35234079e-04 9.99374072e-01 -3.53679903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.989649246 meters Centerline goodness : 0.172210 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:-0.04 [[ 0.99954935 0.00143916 -0.02998385 0.4438871 ] [-0.00149153 0.9999974 -0.00172432 0.0516838 ] [ 0.02998129 0.00176826 0.9995489 -0.03702514] [ 0. 0. 0. 1. ]] SLAMing on 1.0196492460000002 meters Centerline goodness : 0.171162 Centerline is valid? [False, False] Translation: X:0.46, Y:0.06, Z:-0.04 [[ 0.99966637 0.00813653 -0.02451417 0.45743411] [-0.00824468 0.99995671 -0.00431417 0.05665884] [ 0.024478 0.00451484 0.99969017 -0.0392859 ] [ 0. 0. 0. 1. ]] SLAMing on 1.049649246 meters Centerline goodness : 0.169699 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:-0.04 [[ 0.99959765 0.02076605 -0.01932127 0.47488312] [-0.02080233 0.9997822 -0.0016789 0.06614817] [ 0.0192822 0.00208016 0.99981192 -0.04311979] [ 0. 0. 0. 1. ]] SLAMing on 1.079649246 meters Centerline goodness : 0.792900 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:-0.05 [[ 0.99941035 0.03174509 -0.01308472 0.49014971] [-0.03178537 0.99949056 -0.00288198 0.0774096 ] [ 0.01298657 0.00329619 0.99991024 -0.04837572] [ 0. 0. 0. 1. ]] SLAMing on 1.109649246 meters Centerline goodness : 0.763003 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:-0.05 [[ 0.99921481 0.03867902 -0.00858413 0.50446127] [-0.03872811 0.99923393 -0.00562868 0.08222569] [ 0.00835984 0.0059567 0.99994731 -0.05052106] [ 0. 0. 0. 1. ]] SLAMing on 1.139649246 meters Centerline goodness : 0.788138 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:-0.05 [[ 0.99909544 0.04246931 0.00216045 0.51462143] [-0.04237492 0.99855548 -0.0330351 0.09667019] [-0.00356031 0.03291367 0.99945186 -0.05445456] [ 0. 0. 0. 1. ]] SLAMing on 1.169649246 meters Centerline goodness : 0.788138 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:-0.05 [[ 0.99909544 0.04246931 0.00216045 0.51462143] [-0.04237492 0.99855548 -0.0330351 0.09667019] [-0.00356031 0.03291367 0.99945186 -0.05445456] [ 0. 0. 0. 1. ]] SLAMing on 1.1996492460000001 meters Centerline goodness : 0.162671 Centerline is valid? [False, False] Translation: X:0.53, Y:0.11, Z:-0.06 [[ 9.98954953e-01 4.57055866e-02 3.66783192e-05 5.31265207e-01] [-4.56854386e-02 9.98537783e-01 -2.88987301e-02 1.08175298e-01] [-1.35745810e-03 2.88668539e-02 9.99582344e-01 -5.77552230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2296492460000001 meters Centerline goodness : 0.776690 Centerline is valid? [False, False] Translation: X:0.54, Y:0.12, Z:-0.06 [[ 0.99882097 0.04820107 0.00577236 0.54218904] [-0.04794341 0.99810404 -0.0385973 0.11528229] [-0.00762185 0.03827504 0.99923817 -0.0602893 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2596492460000002 meters Centerline goodness : 0.154109 Centerline is valid? [False, False] Translation: X:0.57, Y:0.12, Z:-0.06 [[ 0.99847629 0.05456491 0.0082323 0.56928705] [-0.05422341 0.99783644 -0.03717867 0.12287178] [-0.01024314 0.03667564 0.99927472 -0.06406336] [ 0. 0. 0. 1. ]] SLAMing on 1.289649246 meters Centerline goodness : 0.152532 Centerline is valid? [False, False] Translation: X:0.59, Y:0.13, Z:-0.07 [[ 0.99826982 0.05725021 0.01340844 0.58500088] [-0.05663855 0.99750028 -0.0422523 0.126703 ] [-0.01579387 0.04141976 0.999017 -0.06579614] [ 0. 0. 0. 1. ]] SLAMing on 1.319649246 meters Centerline goodness : 0.772844 Centerline is valid? [False, False] Translation: X:0.62, Y:0.13, Z:-0.07 [[ 0.9981628 0.05793408 0.01773863 0.61736433] [-0.05719001 0.99756501 -0.03991676 0.13210753] [-0.02000797 0.03882895 0.99904554 -0.06831171] [ 0. 0. 0. 1. ]] SLAMing on 1.349649246 meters Centerline goodness : 0.774906 Centerline is valid? [False, False] Translation: X:0.63, Y:0.13, Z:-0.07 [[ 0.99826276 0.05641157 0.01700567 0.62864465] [-0.05576995 0.99779086 -0.03609863 0.13473495] [-0.01900449 0.03508751 0.99920353 -0.06905649] [ 0. 0. 0. 1. ]] SLAMing on 1.379649246 meters Centerline goodness : 0.636057 Centerline is valid? [False, False] Translation: X:0.67, Y:0.13, Z:-0.07 [[ 0.99828323 0.05606669 0.01694483 0.66760158] [-0.05554824 0.99801543 -0.02965796 0.13429643] [-0.01857402 0.02866578 0.99941647 -0.06874039] [ 0. 0. 0. 1. ]] SLAMing on 1.409649246 meters Centerline goodness : 0.242543 Centerline is valid? [False, False] Translation: X:0.68, Y:0.13, Z:-0.07 [[ 0.99854842 0.05093012 0.01752625 0.68194129] [-0.05047798 0.99840366 -0.02533974 0.13470431] [-0.01878883 0.02441827 0.99952525 -0.06862024] [ 0. 0. 0. 1. ]] SLAMing on 1.439649246 meters Centerline goodness : 0.453623 Centerline is valid? [False, False] Translation: X:0.71, Y:0.13, Z:-0.07 [[ 0.99898627 0.03883051 0.02277321 0.7145822 ] [-0.03836631 0.99905389 -0.02047821 0.13157943] [-0.02354685 0.01958373 0.9995309 -0.07131006] [ 0. 0. 0. 1. ]] SLAMing on 1.4696492460000001 meters Centerline goodness : 0.479957 Centerline is valid? [False, False] Translation: X:0.73, Y:0.13, Z:-0.07 [[ 0.99919698 0.03039627 0.02610501 0.73098793] [-0.0299671 0.99941175 -0.01667693 0.13016307] [-0.02659657 0.01588125 0.99952009 -0.07228319] [ 0. 0. 0. 1. ]] SLAMing on 1.4996492460000002 meters Centerline goodness : 0.536910 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:-0.07 [[ 0.99937297 0.01279591 0.03301425 0.76886121] [-0.01242114 0.99985635 -0.01153205 0.12294991] [-0.03315707 0.01111475 0.99938835 -0.07439815] [ 0. 0. 0. 1. ]] SLAMing on 1.5296492460000002 meters Centerline goodness : 0.795572 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:-0.08 [[ 0.99927471 -0.0058218 0.03763195 0.80679576] [ 0.00607915 0.99995889 -0.00672772 0.11290878] [-0.03759124 0.00695161 0.99926902 -0.07597832] [ 0. 0. 0. 1. ]] SLAMing on 1.559649246 meters Centerline goodness : 0.799971 Centerline is valid? [False, False] Translation: X:0.83, Y:0.11, Z:-0.08 [[ 0.99906205 -0.01641635 0.04006896 0.82510889] [ 0.01657263 0.99985629 -0.00357127 0.10886279] [-0.04000458 0.00423197 0.99919053 -0.07662813] [ 0. 0. 0. 1. ]] SLAMing on 1.589649246 meters Centerline goodness : 0.268198 Centerline is valid? [False, False] Translation: X:0.85, Y:0.10, Z:-0.07 [[ 0.99904958 -0.02115073 0.03811271 0.85435333] [ 0.02123396 0.99977295 -0.00178044 0.10058208] [-0.0380664 0.00258803 0.99927186 -0.07412699] [ 0. 0. 0. 1. ]] SLAMing on 1.619649246 meters Centerline goodness : 0.784433 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.07 [[ 9.98716264e-01 -3.53994144e-02 3.62312705e-02 8.98713041e-01] [ 3.53801872e-02 9.99373238e-01 1.17188710e-03 8.61478336e-02] [-3.62500462e-02 1.11486429e-04 9.99342745e-01 -7.22049504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.649649246 meters Centerline goodness : 0.756554 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.07 [[ 0.9987801 -0.038403 0.03104055 0.92457699] [ 0.0384566 0.99925963 -0.00113138 0.07845086] [-0.03097412 0.00232372 0.99951749 -0.07111602] [ 0. 0. 0. 1. ]] SLAMing on 1.679649246 meters Centerline goodness : 0.783024 Centerline is valid? [False, False] Translation: X:0.96, Y:0.06, Z:-0.07 [[ 9.98253226e-01 -5.11434862e-02 2.95776980e-02 9.64637201e-01] [ 5.11744442e-02 9.98689688e-01 -2.90142668e-04 6.41658218e-02] [-2.95241030e-02 1.80325811e-03 9.99562442e-01 -7.08436050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7096492460000001 meters Centerline goodness : 0.796997 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:-0.07 [[ 0.99824562 -0.05416107 0.02392179 0.98801229] [ 0.05433145 0.9985016 -0.00653053 0.05644706] [-0.02353224 0.00781878 0.9996925 -0.07173958] [ 0. 0. 0. 1. ]] SLAMing on 1.7396492460000001 meters Centerline goodness : 0.809176 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.07 [[ 0.99764084 -0.06467238 0.02302675 1.02296405] [ 0.06485696 0.99786743 -0.00736039 0.04059563] [-0.02250163 0.00883647 0.99970775 -0.07143913] [ 0. 0. 0. 1. ]] SLAMing on 1.7696492460000002 meters Centerline goodness : 0.815884 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:-0.07 [[ 0.99778923 -0.06418187 0.01724337 1.04524948] [ 0.06437118 0.99786912 -0.0106572 0.0326896 ] [-0.01652262 0.01174362 0.99979452 -0.07198071] [ 0. 0. 0. 1. ]] SLAMing on 1.7996492460000002 meters Centerline goodness : 0.171267 Centerline is valid? [False, False] Translation: X:1.08, Y:0.02, Z:-0.07 [[ 0.99759349 -0.0673558 0.01644447 1.07589818] [ 0.06745911 0.99770512 -0.00581008 0.01696746] [-0.01601539 0.00690543 0.9998479 -0.07013196] [ 0. 0. 0. 1. ]] SLAMing on 1.829649246 meters Centerline goodness : 0.823591 Centerline is valid? [False, False] Translation: X:1.10, Y:0.01, Z:-0.07 [[ 0.99792171 -0.06355918 0.01060582 1.09546057] [ 0.06364113 0.99794409 -0.00757636 0.00878467] [-0.01010246 0.00823558 0.99991505 -0.07021056] [ 0. 0. 0. 1. ]] SLAMing on 1.859649246 meters Centerline goodness : 0.630915 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.01, Z:-0.07 [[ 0.99800583 -0.06203264 0.01167517 1.12175532] [ 0.06206311 0.99806965 -0.00226595 -0.00588242] [-0.01151207 0.00298603 0.99992928 -0.06718934] [ 0. 0. 0. 1. ]] SLAMing on 1.889649246 meters Centerline goodness : 0.161740 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.07 [[ 0.99840192 -0.05612137 0.00663265 1.14065061] [ 0.05614841 0.99841457 -0.00396349 -0.0125874 ] [-0.0063997 0.00432957 0.99997015 -0.06704508] [ 0. 0. 0. 1. ]] SLAMing on 1.919649246 meters Centerline goodness : 0.152848 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.02, Z:-0.07 [[ 9.98723398e-01 -4.92199991e-02 1.13563408e-02 1.16069577e+00] [ 4.92242318e-02 9.98787748e-01 -9.33382212e-05 -2.19635986e-02] [-1.13379800e-02 6.52226220e-04 9.99935510e-01 -6.67244509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9496492460000001 meters Centerline goodness : 0.144640 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.02, Z:-0.07 [[ 0.99912698 -0.03850479 0.01620682 1.1682778 ] [ 0.03856783 0.99924952 -0.00359525 -0.0203674 ] [-0.01605622 0.00421717 0.9998622 -0.06961867] [ 0. 0. 0. 1. ]] SLAMing on 1.9796492460000001 meters Centerline goodness : 0.143279 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.02, Z:-0.07 [[ 0.99948712 -0.02356578 0.02168301 1.17991254] [ 0.02353105 0.99972138 0.00185535 -0.01872364] [-0.02172069 -0.00134418 0.99976317 -0.06998545] [ 0. 0. 0. 1. ]] SLAMing on 2.0096492460000004 meters Centerline goodness : 0.210858 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:-0.07 [[ 0.9996533 -0.01733572 0.01981779 1.18545175] [ 0.01715479 0.99980994 0.00926317 -0.01744446] [-0.01997461 -0.00891999 0.9997607 -0.07074457] [ 0. 0. 0. 1. ]] SLAMing on 2.039649246 meters Centerline goodness : 0.131006 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.01, Z:-0.07 [[ 0.99967186 -0.0037558 0.02533901 1.20040994] [ 0.00338192 0.99988502 0.01478183 -0.01320906] [-0.02539162 -0.01469128 0.99956962 -0.07274439] [ 0. 0. 0. 1. ]] SLAMing on 2.069649246 meters Centerline goodness : 0.188002 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.01, Z:-0.07 [[ 9.99717467e-01 -8.35405121e-04 2.37547591e-02 1.20469255e+00] [ 4.06306493e-04 9.99836772e-01 1.80627831e-02 -1.08106656e-02] [-2.37659714e-02 -1.80480280e-02 9.99554624e-01 -7.33849883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0996492460000002 meters Centerline goodness : 0.189170 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.01, Z:-0.08 [[ 0.99971453 0.00595384 0.02313896 1.22233583] [-0.0062128 0.99991869 0.01113605 -0.00711187] [-0.02307078 -0.01127663 0.99967023 -0.07926661] [ 0. 0. 0. 1. ]] SLAMing on 2.129649246 meters Centerline goodness : 0.186576 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.00, Z:-0.08 [[ 0.99975357 0.00481697 0.02167002 1.22658677] [-0.00503304 0.99993805 0.00992768 -0.00468362] [-0.02162085 -0.01003429 0.99971589 -0.08064563] [ 0. 0. 0. 1. ]] SLAMing on 2.1596492460000003 meters Centerline goodness : 0.187858 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.08 [[ 0.99980214 0.00292743 0.01967527 1.23910277] [-0.00319504 0.99990263 0.01358381 -0.00251492] [-0.01963359 -0.01364398 0.99971414 -0.08025789] [ 0. 0. 0. 1. ]] SLAMing on 2.189649246 meters Centerline goodness : 0.192663 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.08 [[ 9.99832785e-01 9.92379624e-04 1.82597018e-02 1.24438860e+00] [-1.21668047e-03 9.99923896e-01 1.22769215e-02 -6.16391827e-04] [-1.82461288e-02 -1.22970849e-02 9.99757901e-01 -8.21818260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2196492460000004 meters Centerline goodness : 0.220257 Centerline is valid? [False, False] Translation: X:1.25, Y:0.00, Z:-0.08 [[ 9.99858912e-01 -1.11381222e-03 1.67605369e-02 1.25010227e+00] [ 9.28650753e-04 9.99938502e-01 1.10511969e-02 1.02081745e-03] [-1.67718151e-02 -1.10340730e-02 9.99798457e-01 -8.41718362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.249649246 meters Centerline goodness : 0.178186 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:-0.09 [[ 0.99988719 -0.00541858 0.01400872 1.2664307 ] [ 0.0052391 0.99990413 0.01281718 0.00488702] [-0.01407683 -0.01274234 0.99981972 -0.08671363] [ 0. 0. 0. 1. ]] SLAMing on 2.279649246 meters Centerline goodness : 0.207940 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:-0.09 [[ 0.99988392 -0.01054709 0.01099601 1.27926452] [ 0.01042935 0.99988826 0.01070984 0.00900355] [-0.01110774 -0.01059391 0.99988219 -0.08958707] [ 0. 0. 0. 1. ]] SLAMing on 2.309649246 meters Centerline goodness : 0.195814 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:-0.09 [[ 0.99987891 -0.01254859 0.00920322 1.28498986] [ 0.01245806 0.99987409 0.00982902 0.01075078] [-0.00932541 -0.00971318 0.99990934 -0.09041128] [ 0. 0. 0. 1. ]] SLAMing on 2.339649246 meters Centerline goodness : 0.194615 Centerline is valid? [False, False] Translation: X:1.29, Y:0.01, Z:-0.09 [[ 0.9998661 -0.01461445 0.00736185 1.29097683] [ 0.01454829 0.999854 0.00896259 0.01310113] [-0.00749176 -0.00885429 0.99993274 -0.09116665] [ 0. 0. 0. 1. ]] SLAMing on 2.3696492460000003 meters Centerline goodness : 0.763385 Centerline is valid? [False, False] Translation: X:1.31, Y:0.02, Z:-0.09 [[ 0.99980835 -0.01831664 0.00691098 1.30660085] [ 0.01820108 0.99969935 0.01642925 0.0167281 ] [-0.00720983 -0.01630032 0.99984115 -0.08670191] [ 0. 0. 0. 1. ]] SLAMing on 2.399649246 meters Centerline goodness : 0.200237 Centerline is valid? [False, False] Translation: X:1.31, Y:0.02, Z:-0.09 [[ 0.99977987 -0.02034282 0.00513693 1.31237504] [ 0.02026296 0.99967995 0.01514621 0.02058194] [-0.0054434 -0.01503879 0.99987209 -0.08780449] [ 0. 0. 0. 1. ]] SLAMing on 2.4296492460000003 meters Centerline goodness : 0.203773 Centerline is valid? [False, False] Translation: X:1.34, Y:0.02, Z:-0.09 [[ 0.99973384 -0.02154669 0.00824603 1.34210437] [ 0.02142478 0.99966389 0.01459772 0.02486715] [-0.00855779 -0.01441717 0.99985944 -0.08883112] [ 0. 0. 0. 1. ]] SLAMing on 2.459649246 meters Centerline goodness : 0.854307 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:-0.09 [[ 0.99964993 -0.02437373 0.01029218 1.37430648] [ 0.02422327 0.99960143 0.01449844 0.02803599] [-0.01064146 -0.01424406 0.99984192 -0.08871973] [ 0. 0. 0. 1. ]] SLAMing on 2.4896492460000004 meters Centerline goodness : 0.767113 Centerline is valid? [False, False] Translation: X:1.38, Y:0.03, Z:-0.09 [[ 0.9996042 -0.02694518 0.00808709 1.38149249] [ 0.02683339 0.99954704 0.01362695 0.03036475] [-0.00845061 -0.01340455 0.99987444 -0.08938425] [ 0. 0. 0. 1. ]] SLAMing on 2.519649246 meters Centerline goodness : 0.849154 Centerline is valid? [False, False] Translation: X:1.42, Y:0.03, Z:-0.09 [[ 0.99950585 -0.02988109 0.00975544 1.41509877] [ 0.02974224 0.99945842 0.01408071 0.03336349] [-0.0101709 -0.0137836 0.99985327 -0.08936749] [ 0. 0. 0. 1. ]] SLAMing on 2.549649246 meters Centerline goodness : 0.852619 Centerline is valid? [False, False] Translation: X:1.42, Y:0.04, Z:-0.09 [[ 0.99944203 -0.03249292 0.00773612 1.42234143] [ 0.03239295 0.99939432 0.01271559 0.03649777] [-0.0081446 -0.0124579 0.99988923 -0.09113846] [ 0. 0. 0. 1. ]] SLAMing on 2.5796492460000002 meters Centerline goodness : 0.844289 Centerline is valid? [False, False] Translation: X:1.46, Y:0.04, Z:-0.09 [[ 0.99934869 -0.03497855 0.00887148 1.45744239] [ 0.03484737 0.99928697 0.01453346 0.03963052] [-0.00937351 -0.01421485 0.99985503 -0.09102532] [ 0. 0. 0. 1. ]] SLAMing on 2.609649246 meters Centerline goodness : 0.909405 Centerline is valid? [False, False] Translation: X:1.46, Y:0.04, Z:-0.09 [[ 0.99927783 -0.0373959 0.00673573 1.46440522] [ 0.03730249 0.99921287 0.01349676 0.04230467] [-0.00723515 -0.01323575 0.99988623 -0.09199508] [ 0. 0. 0. 1. ]] SLAMing on 2.6396492460000003 meters Centerline goodness : 0.864608 Centerline is valid? [False, False] Translation: X:1.47, Y:0.04, Z:-0.09 [[ 0.99919807 -0.03976147 0.00471595 1.47113976] [ 0.03969905 0.99913142 0.0126646 0.04468873] [-0.00521541 -0.01246723 0.99990868 -0.09283861] [ 0. 0. 0. 1. ]] SLAMing on 2.669649246 meters Centerline goodness : 0.918160 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:-0.09 [[ 0.99901185 -0.04380188 0.00753112 1.50554888] [ 0.04370105 0.99895918 0.0130682 0.04783284] [-0.00809569 -0.01272617 0.99988625 -0.09278365] [ 0. 0. 0. 1. ]] SLAMing on 2.6996492460000003 meters Centerline goodness : 0.891859 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:-0.09 [[ 0.99879575 -0.04822744 0.00900949 1.5403144 ] [ 0.04810103 0.99874774 0.01375635 0.04973401] [-0.00966164 -0.01330642 0.99986479 -0.09156894] [ 0. 0. 0. 1. ]] SLAMing on 2.729649246 meters Centerline goodness : 0.892572 Centerline is valid? [False, False] Translation: X:1.55, Y:0.05, Z:-0.09 [[ 0.99868976 -0.05073257 0.00670623 1.54758982] [ 0.05063973 0.99862768 0.01335585 0.05074553] [-0.0073746 -0.01299875 0.99988832 -0.09176323] [ 0. 0. 0. 1. ]] SLAMing on 2.7596492460000004 meters Centerline goodness : 0.903427 Centerline is valid? [False, False] Translation: X:1.58, Y:0.05, Z:-0.09 [[ 0.99853935 -0.05391785 0.0034673 1.58072855] [ 0.05387147 0.99847199 0.01231081 0.05012191] [-0.00412578 -0.01210604 0.99991821 -0.09031398] [ 0. 0. 0. 1. ]] SLAMing on 2.789649246 meters Centerline goodness : 0.896685 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:-0.09 [[ 9.98397680e-01 -5.65732567e-02 1.24056851e-03 1.58819334e+00] [ 5.65546890e-02 9.98329414e-01 1.18299839e-02 5.11560791e-02] [-1.90775675e-03 -1.17408686e-02 9.99929254e-01 -9.08382997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.819649246 meters Centerline goodness : 0.897555 Centerline is valid? [False, False] Translation: X:1.61, Y:0.05, Z:-0.09 [[ 0.99845097 -0.05493085 -0.00884686 1.60983782] [ 0.05501758 0.99843652 0.00987825 0.04940333] [ 0.00829041 -0.01034968 0.99991207 -0.08766095] [ 0. 0. 0. 1. ]] SLAMing on 2.8496492460000002 meters Centerline goodness : 0.906783 Centerline is valid? [False, False] Translation: X:1.63, Y:0.05, Z:-0.08 [[ 0.99857156 -0.04989632 -0.01911006 1.62821146] [ 0.05008378 0.99870022 0.00945961 0.04719631] [ 0.01861322 -0.01040321 0.99977263 -0.08284303] [ 0. 0. 0. 1. ]] SLAMing on 2.879649246 meters Centerline goodness : 0.912761 Centerline is valid? [False, False] Translation: X:1.63, Y:0.05, Z:-0.08 [[ 0.99861145 -0.04827102 -0.02109696 1.63405181] [ 0.04855059 0.99873682 0.01294629 0.04632543] [ 0.02044538 -0.01395258 0.99969361 -0.08280041] [ 0. 0. 0. 1. ]] SLAMing on 2.9096492460000003 meters Centerline goodness : 0.915740 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:-0.08 [[ 0.99873697 -0.04666152 -0.01863261 1.657149 ] [ 0.0468652 0.99884447 0.01064804 0.04606195] [ 0.01811423 -0.01150782 0.9997697 -0.08382091] [ 0. 0. 0. 1. ]] SLAMing on 2.939649246 meters Centerline goodness : 0.918606 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:-0.08 [[ 0.99869418 -0.04706493 -0.01987038 1.66011925] [ 0.04728749 0.99882203 0.01088322 0.04602931] [ 0.01933476 -0.01180863 0.99974333 -0.08338795] [ 0. 0. 0. 1. ]] SLAMing on 2.9696492460000004 meters Centerline goodness : 0.920327 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:-0.08 [[ 0.99865558 -0.0473449 -0.02110647 1.66308819] [ 0.04758488 0.99880645 0.01101624 0.0461275 ] [ 0.02055971 -0.01200578 0.99971654 -0.08324898] [ 0. 0. 0. 1. ]] SLAMing on 2.999649246 meters Centerline goodness : 0.924340 Centerline is valid? [False, False] Translation: X:1.68, Y:0.05, Z:-0.09 [[ 0.9989063 -0.04331955 -0.01759581 1.68162708] [ 0.04344533 0.99903246 0.00682945 0.04722761] [ 0.01728294 -0.00758644 0.99982186 -0.08729678] [ 0. 0. 0. 1. ]] SLAMing on 3.0296492460000004 meters Centerline goodness : 0.924546 Centerline is valid? [False, False] Translation: X:1.69, Y:0.05, Z:-0.09 [[ 0.99899473 -0.04035271 -0.01952429 1.68580849] [ 0.0405784 0.99911241 0.01130465 0.04561698] [ 0.01905078 -0.01208555 0.99974547 -0.0860004 ] [ 0. 0. 0. 1. ]] SLAMing on 3.059649246 meters Centerline goodness : 0.924726 Centerline is valid? [False, False] Translation: X:1.70, Y:0.04, Z:-0.08 [[ 0.99903548 -0.03274949 -0.02925033 1.69933083] [ 0.03307193 0.99939667 0.01060843 0.04227601] [ 0.02888526 -0.01156556 0.99951582 -0.08159863] [ 0. 0. 0. 1. ]] SLAMing on 3.089649246 meters Centerline goodness : 0.924726 Centerline is valid? [False, False] Translation: X:1.70, Y:0.04, Z:-0.08 [[ 0.99903548 -0.03274949 -0.02925033 1.69933083] [ 0.03307193 0.99939667 0.01060843 0.04227601] [ 0.02888526 -0.01156556 0.99951582 -0.08159863] [ 0. 0. 0. 1. ]] SLAMing on 3.1196492460000003 meters Centerline goodness : 0.927888 Centerline is valid? [False, False] Translation: X:1.71, Y:0.04, Z:-0.09 [[ 0.99921854 -0.02949523 -0.02631239 1.71459797] [ 0.02955857 0.99956101 0.00202162 0.04400741] [ 0.02624121 -0.00279779 0.99965172 -0.08747744] [ 0. 0. 0. 1. ]] SLAMing on 3.149649246 meters Centerline goodness : 0.929633 Centerline is valid? [False, False] Translation: X:1.72, Y:0.04, Z:-0.09 [[ 0.99928249 -0.02626758 -0.02728578 1.71799421] [ 0.02645352 0.99962907 0.0064759 0.0415348 ] [ 0.02710555 -0.00719305 0.9996067 -0.0873877 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1796492460000003 meters Centerline goodness : 0.930372 Centerline is valid? [False, False] Translation: X:1.74, Y:0.04, Z:-0.09 [[ 9.99233734e-01 -2.66688628e-02 -2.86481538e-02 1.73933644e+00] [ 2.66618541e-02 9.99644313e-01 -6.26670967e-04 3.93080841e-02] [ 2.86546766e-02 -1.37622127e-04 9.99589361e-01 -8.97800438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.209649246 meters Centerline goodness : 0.933520 Centerline is valid? [False, False] Translation: X:1.75, Y:0.03, Z:-0.09 [[ 0.99886774 -0.0366154 -0.03037351 1.74772561] [ 0.0365014 0.99932435 -0.00429942 0.02840171] [ 0.03051042 0.00318587 0.99952937 -0.08838681] [ 0. 0. 0. 1. ]] SLAMing on 3.2396492460000004 meters Centerline goodness : 0.938600 Centerline is valid? [False, False] Translation: X:1.75, Y:0.02, Z:-0.09 [[ 0.99855956 -0.04313003 -0.03191548 1.7540711 ] [ 0.04295844 0.99905858 -0.00604305 0.02152903] [ 0.03214607 0.00466331 0.9994723 -0.08623131] [ 0. 0. 0. 1. ]] SLAMing on 3.269649246 meters Centerline goodness : 0.942047 Centerline is valid? [False, False] Translation: X:1.77, Y:0.01, Z:-0.08 [[ 0.99788075 -0.05468785 -0.03525978 1.76691695] [ 0.054534 0.99849779 -0.00531109 0.00623626] [ 0.03549726 0.00337698 0.99936407 -0.07916095] [ 0. 0. 0. 1. ]] SLAMing on 3.2996492460000004 meters Centerline goodness : 0.944091 Centerline is valid? [False, False] Translation: X:1.77, Y:0.00, Z:-0.08 [[ 9.97879035e-01 -5.39791172e-02 -3.63824917e-02 1.76753356e+00] [ 5.38834649e-02 9.98540723e-01 -3.60521537e-03 3.26060923e-03] [ 3.65240059e-02 1.63715412e-03 9.99331435e-01 -7.59753608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3296492460000002 meters Centerline goodness : 0.944615 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.00, Z:-0.07 [[ 9.97920960e-01 -4.56960814e-02 -4.54491660e-02 1.77676686e+00] [ 4.56111780e-02 9.98955048e-01 -2.90391994e-03 -2.12969230e-03] [ 4.55343716e-02 8.24892577e-04 9.98962432e-01 -6.88973862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.359649246 meters Centerline goodness : 0.942842 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.00, Z:-0.07 [[ 0.99805262 -0.04178338 -0.0463155 1.7784936 ] [ 0.04191112 0.99911974 0.00178994 -0.00259987] [ 0.04619994 -0.00372759 0.99892526 -0.06788303] [ 0. 0. 0. 1. ]] SLAMing on 3.3896492460000003 meters Centerline goodness : 0.941984 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.00, Z:-0.07 [[ 9.98145458e-01 -3.81665316e-02 -4.74232084e-02 1.78202544e+00] [ 3.84569788e-02 9.99246586e-01 5.22702713e-03 -2.06172947e-04] [ 4.71879816e-02 -7.04108671e-03 9.98861210e-01 -6.96495065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.419649246 meters Centerline goodness : 0.942582 Centerline is valid? [False, False] Translation: X:1.78, Y:0.00, Z:-0.07 [[ 9.98117136e-01 -3.81524039e-02 -4.80268250e-02 1.78316263e+00] [ 3.84476728e-02 9.99246881e-01 5.23895563e-03 6.46770069e-04] [ 4.77907764e-02 -7.07561104e-03 9.98832307e-01 -6.94655877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4496492460000003 meters Centerline goodness : 0.945192 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.00, Z:-0.07 [[ 9.98014141e-01 -3.91530252e-02 -4.93438357e-02 1.78634325e+00] [ 3.94969574e-02 9.99201592e-01 6.01406363e-03 -1.47318161e-03] [ 4.90689704e-02 -7.95105192e-03 9.98763744e-01 -6.77019613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.479649246 meters Centerline goodness : 0.944239 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.00, Z:-0.07 [[ 0.99794661 -0.03975836 -0.05021781 1.78837566] [ 0.04014546 0.99917123 0.00672299 -0.00327281] [ 0.0499089 -0.0087252 0.99871566 -0.06635721] [ 0. 0. 0. 1. ]] SLAMing on 3.5096492460000004 meters Centerline goodness : 0.944038 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.01, Z:-0.06 [[ 0.99770518 -0.04262191 -0.05260944 1.7955402 ] [ 0.04309513 0.9990398 0.00789289 -0.00551207] [ 0.05222251 -0.01014198 0.99858397 -0.0635244 ] [ 0. 0. 0. 1. ]] SLAMing on 3.539649246 meters Centerline goodness : 0.941696 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.01, Z:-0.06 [[ 0.99760684 -0.04373225 -0.05355441 1.79878871] [ 0.04420598 0.99899282 0.0076928 -0.00564219] [ 0.05316404 -0.01004181 0.9985353 -0.06378414] [ 0. 0. 0. 1. ]] SLAMing on 3.5696492460000004 meters Centerline goodness : 0.943654 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.01, Z:-0.06 [[ 0.9975149 -0.0446513 -0.05450027 1.80197058] [ 0.04512046 0.99895409 0.00740781 -0.00542639] [ 0.0541125 -0.00984847 0.99848628 -0.06442466] [ 0. 0. 0. 1. ]] SLAMing on 3.5996492460000002 meters Centerline goodness : 0.944817 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.01, Z:-0.06 [[ 0.99759722 -0.0414719 -0.05549656 1.80444008] [ 0.04220433 0.99903584 0.01209109 -0.00734719] [ 0.05494161 -0.01440423 0.99838567 -0.06312609] [ 0. 0. 0. 1. ]] SLAMing on 3.629649246 meters Centerline goodness : 0.941772 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.01, Z:-0.07 [[ 0.99753582 -0.04201221 -0.05618954 1.80747094] [ 0.04268189 0.99903065 0.01077117 -0.00540157] [ 0.05568255 -0.0131429 0.99836202 -0.0660294 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6596492460000003 meters Centerline goodness : 0.943432 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.00, Z:-0.07 [[ 0.9978619 -0.03768304 -0.0534006 1.82295266] [ 0.03787485 0.99927915 0.00258409 -0.00272535] [ 0.05326473 -0.0046011 0.99856983 -0.07278692] [ 0. 0. 0. 1. ]] SLAMing on 3.689649246 meters Centerline goodness : 0.939406 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.00, Z:-0.07 [[ 0.99801202 -0.03276323 -0.05383853 1.82231651] [ 0.03322153 0.99941882 0.00763933 -0.00425185] [ 0.05355695 -0.00941274 0.99852043 -0.07090216] [ 0. 0. 0. 1. ]] SLAMing on 3.7196492460000004 meters Centerline goodness : 0.939625 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.00, Z:-0.07 [[ 0.99841652 -0.02560048 -0.05009067 1.83472729] [ 0.02576326 0.99966467 0.00260677 -0.00296928] [ 0.05000714 -0.00389314 0.99874127 -0.07439505] [ 0. 0. 0. 1. ]] SLAMing on 3.749649246 meters Centerline goodness : 0.939768 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.00, Z:-0.08 [[ 9.98717967e-01 -2.10825652e-02 -4.60211708e-02 1.84842169e+00] [ 2.09155143e-02 9.99772805e-01 -4.10844407e-03 -1.24671204e-03] [ 4.60973315e-02 3.14062046e-03 9.98932016e-01 -7.87107499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7796492460000004 meters Centerline goodness : 0.941725 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.00, Z:-0.08 [[ 9.98771246e-01 -1.67396915e-02 -4.66452702e-02 1.84908688e+00] [ 1.68165970e-02 9.99857801e-01 1.25677110e-03 -3.21115580e-03] [ 4.66175993e-02 -2.03964155e-03 9.98910726e-01 -7.65658986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.809649246 meters Centerline goodness : 0.938294 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.00, Z:-0.08 [[ 0.9990244 -0.01096815 -0.04277779 1.86283765] [ 0.01079127 0.99993225 -0.00436373 -0.00327463] [ 0.04282275 0.00389784 0.99907508 -0.0811086 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8396492460000005 meters Centerline goodness : 0.939254 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.00, Z:-0.08 [[ 0.99903828 -0.00980029 -0.04273732 1.86177971] [ 0.00965802 0.99994712 -0.00353408 -0.00398691] [ 0.0427697 0.00311792 0.99908009 -0.08036195] [ 0. 0. 0. 1. ]] SLAMing on 3.8696492460000003 meters Centerline goodness : 0.942566 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:-0.08 [[ 0.99927165 -0.00364052 -0.03798574 1.87381684] [ 0.00332313 0.99995907 -0.00841546 -0.00355728] [ 0.03801482 0.0082831 0.99924285 -0.08322275] [ 0. 0. 0. 1. ]] SLAMing on 3.899649246 meters Centerline goodness : 0.943069 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:-0.08 [[ 0.99926964 -0.00312114 -0.03808469 1.87331294] [ 0.0028349 0.99996735 -0.00756755 -0.00404211] [ 0.03810706 0.00745405 0.99924586 -0.08181389] [ 0. 0. 0. 1. ]] SLAMing on 3.9296492460000003 meters Centerline goodness : 0.942545 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.08 [[ 9.99250040e-01 -4.81269148e-04 -3.87185534e-02 1.87537489e+00] [ 4.20470972e-04 9.99998666e-01 -1.57838723e-03 -7.11134189e-03] [ 3.87192614e-02 1.56092347e-03 9.99248909e-01 -7.77266440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.959649246 meters Centerline goodness : 0.943808 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.08 [[ 9.99232394e-01 -8.28713104e-04 -3.91655006e-02 1.87674771e+00] [ 7.72205460e-04 9.99998639e-01 -1.45789701e-03 -6.62362966e-03] [ 3.91666555e-02 1.42653411e-03 9.99231674e-01 -7.75339825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9896492460000004 meters Centerline goodness : 0.945001 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.08 [[ 9.99193100e-01 -2.21023126e-03 -4.01031537e-02 1.87999837e+00] [ 2.14813302e-03 9.99996426e-01 -1.59148767e-03 -6.25767113e-03] [ 4.01065280e-02 1.50405659e-03 9.99194278e-01 -7.74183677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.019649246 meters Centerline goodness : 0.945146 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.08 [[ 9.99123523e-01 -4.53092339e-03 -4.16131735e-02 1.88494732e+00] [ 4.48323949e-03 9.99989182e-01 -1.23913517e-03 -7.12359464e-03] [ 4.16183378e-02 1.05148728e-03 9.99133028e-01 -7.61543584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.049649246 meters Centerline goodness : 0.944672 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.01, Z:-0.08 [[ 9.99068987e-01 -5.98232352e-03 -4.27243531e-02 1.88850476e+00] [ 5.95231766e-03 9.99981941e-01 -8.29492031e-04 -8.63833938e-03] [ 4.27285439e-02 5.74410842e-04 9.99086554e-01 -7.54531998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.079649246000001 meters Centerline goodness : 0.943960 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.01, Z:-0.07 [[ 9.99030344e-01 -7.26371514e-03 -4.34236061e-02 1.89110946e+00] [ 7.25189995e-03 9.99973612e-01 -4.29613516e-04 -1.00614571e-02] [ 4.34255809e-02 1.14293292e-04 9.99056658e-01 -7.46888177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109649246 meters Centerline goodness : 0.943727 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.01, Z:-0.07 [[ 9.98901763e-01 -1.29156256e-02 -4.50383718e-02 1.89981053e+00] [ 1.29327380e-02 9.99916365e-01 8.85783427e-05 -1.19469021e-02] [ 4.50334610e-02 -6.70950526e-04 9.98985254e-01 -7.18982443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.139649246 meters Centerline goodness : 0.944404 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.01, Z:-0.07 [[ 9.98823099e-01 -1.45928978e-02 -4.62543446e-02 1.90383410e+00] [ 1.46308047e-02 9.99892848e-01 4.81068331e-04 -1.30380111e-02] [ 4.62423682e-02 -1.15724044e-03 9.98929579e-01 -7.11260388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1696492460000005 meters Centerline goodness : 0.940213 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.01, Z:-0.07 [[ 0.99864872 -0.01894391 -0.04839275 1.91855885] [ 0.01925364 0.99979697 0.00594219 -0.01436436] [ 0.04827036 -0.0068659 0.99881071 -0.06651727] [ 0. 0. 0. 1. ]] SLAMing on 4.199649246 meters Centerline goodness : 0.942535 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.01, Z:-0.07 [[ 0.99860885 -0.01954238 -0.04897408 1.92029073] [ 0.01986725 0.99978368 0.00615543 -0.01409473] [ 0.0488432 -0.00711985 0.99878108 -0.06597561] [ 0. 0. 0. 1. ]] SLAMing on 4.229649246 meters Centerline goodness : 0.941467 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.02, Z:-0.06 [[ 0.99834467 -0.02263028 -0.0528752 1.91589372] [ 0.0238173 0.9994758 0.02192832 -0.01551642] [ 0.05235124 -0.02315137 0.99836034 -0.05639672] [ 0. 0. 0. 1. ]] SLAMing on 4.259649246 meters Centerline goodness : 0.940247 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.05 [[ 0.99809402 -0.0235129 -0.05705676 1.90162556] [ 0.02538437 0.99915582 0.03229994 -0.01662649] [ 0.05624913 -0.03368673 0.99784831 -0.04985508] [ 0. 0. 0. 1. ]] SLAMing on 4.289649246000001 meters Centerline goodness : 0.941362 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.02, Z:-0.05 [[ 0.99781295 -0.02606481 -0.06074492 1.88442471] [ 0.02838914 0.99888501 0.03772003 -0.01551625] [ 0.05969403 -0.03936203 0.99744035 -0.04625769] [ 0. 0. 0. 1. ]] SLAMing on 4.319649246 meters Centerline goodness : 0.941313 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.01, Z:-0.05 [[ 0.99791491 -0.02813001 -0.0580908 1.8559348 ] [ 0.03023142 0.99890811 0.03561813 -0.01108497] [ 0.05702544 -0.03730003 0.9976757 -0.04944204] [ 0. 0. 0. 1. ]] SLAMing on 4.349649246 meters Centerline goodness : 0.940174 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.01, Z:-0.05 [[ 0.99792929 -0.02700063 -0.05837886 1.85427192] [ 0.02914413 0.99892013 0.03618278 -0.01041776] [ 0.05733886 -0.03780925 0.99763857 -0.04733922] [ 0. 0. 0. 1. ]] SLAMing on 4.3796492460000005 meters Centerline goodness : 0.941418 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.01, Z:-0.05 [[ 0.9979515 -0.02614947 -0.05838666 1.85359017] [ 0.02828475 0.99894966 0.0360494 -0.01012449] [ 0.05738266 -0.037627 0.99764294 -0.04765377] [ 0. 0. 0. 1. ]] SLAMing on 4.409649246000001 meters Centerline goodness : 0.940348 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.01, Z:-0.05 [[ 0.99833695 -0.02067034 -0.05381515 1.86409486] [ 0.02222373 0.99934875 0.02842853 -0.01035522] [ 0.05319248 -0.02957722 0.99814616 -0.05283303] [ 0. 0. 0. 1. ]] SLAMing on 4.439649246 meters Centerline goodness : 0.941604 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.06 [[ 0.99861879 -0.0176944 -0.04947137 1.87667909] [ 0.01863809 0.99965178 0.01867968 -0.00960974] [ 0.04912362 -0.01957593 0.99860085 -0.05981443] [ 0. 0. 0. 1. ]] SLAMing on 4.469649246 meters Centerline goodness : 0.939503 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.01, Z:-0.07 [[ 0.99890071 -0.01402196 -0.04472986 1.88909769] [ 0.01452123 0.99983562 0.0108565 -0.01028053] [ 0.04457027 -0.0114941 0.99894013 -0.06540477] [ 0. 0. 0. 1. ]] SLAMing on 4.499649246000001 meters Centerline goodness : 0.938681 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.01, Z:-0.07 [[ 0.99918648 -0.0034134 -0.04018376 1.89775779] [ 0.00371765 0.99996497 0.00749918 -0.01092113] [ 0.04015675 -0.00764247 0.99916416 -0.06873306] [ 0. 0. 0. 1. ]] SLAMing on 4.529649246 meters Centerline goodness : 0.940526 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.01, Z:-0.07 [[ 9.99361203e-01 1.37884451e-03 -3.57111163e-02 1.91000188e+00] [-1.37114990e-03 9.99999031e-01 2.39957717e-04 -1.05089162e-02] [ 3.57114126e-02 -1.90839140e-04 9.99362126e-01 -7.39588875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.559649246 meters Centerline goodness : 0.939956 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.01, Z:-0.08 [[ 0.99944939 0.01092137 -0.0313312 1.91957527] [-0.01105136 0.99993102 -0.00397864 -0.01067977] [ 0.03128559 0.0043227 0.99950114 -0.07803071] [ 0. 0. 0. 1. ]] SLAMing on 4.5896492460000005 meters Centerline goodness : 0.942087 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.08 [[ 0.99945237 0.0194235 -0.02678955 1.93156647] [-0.01961543 0.99978365 -0.00692034 -0.01052611] [ 0.02664934 0.00744204 0.99961714 -0.08120926] [ 0. 0. 0. 1. ]] SLAMing on 4.619649246000001 meters Centerline goodness : 0.938035 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.08 [[ 0.99942981 0.02072635 -0.02665452 1.9300519 ] [-0.02090846 0.99975979 -0.00657196 -0.00950017] [ 0.02651191 0.00712552 0.9996231 -0.08048855] [ 0. 0. 0. 1. ]] SLAMing on 4.649649246 meters Centerline goodness : 0.940262 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.08 [[ 0.99933391 0.02405124 -0.02744592 1.93300429] [-0.02412929 0.99970568 -0.002516 -0.01014936] [ 0.02737732 0.00317658 0.99962012 -0.08081066] [ 0. 0. 0. 1. ]] SLAMing on 4.679649246 meters Centerline goodness : 0.935959 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.08 [[ 0.99932658 0.02381892 -0.02791135 1.93459871] [-0.02390704 0.99971019 -0.00282767 -0.00911268] [ 0.02783591 0.00349304 0.9996064 -0.08159527] [ 0. 0. 0. 1. ]] SLAMing on 4.709649246000001 meters Centerline goodness : 0.933845 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:-0.08 [[ 0.99932384 0.02286934 -0.02878989 1.93784566] [-0.02296546 0.99973172 -0.00301233 -0.00918005] [ 0.02871328 0.00367147 0.99958095 -0.08249015] [ 0. 0. 0. 1. ]] SLAMing on 4.739649246 meters Centerline goodness : 0.934914 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:-0.08 [[ 0.99932041 0.02228357 -0.02936258 1.93968768] [-0.0223765 0.99974558 -0.00284003 -0.00944879] [ 0.02929182 0.00349513 0.99956479 -0.08234835] [ 0. 0. 0. 1. ]] SLAMing on 4.769649246 meters Centerline goodness : 0.933095 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:-0.08 [[ 9.99305059e-01 2.13173025e-02 -3.05773118e-02 1.94266300e+00] [-2.13765311e-02 9.99770197e-01 -1.61139019e-03 -1.21200680e-02] [ 3.05359346e-02 2.26390722e-03 9.99531106e-01 -8.03397689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.799649246 meters Centerline goodness : 0.933306 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:-0.08 [[ 9.99300581e-01 2.05699876e-02 -3.12285815e-02 1.94471662e+00] [-2.06236598e-02 9.99786333e-01 -1.39752520e-03 -1.31938528e-02] [ 3.11931619e-02 2.04059539e-03 9.99511292e-01 -8.01291867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.829649246000001 meters Centerline goodness : 0.934605 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.01, Z:-0.08 [[ 9.99288782e-01 1.97236161e-02 -3.21389168e-02 1.94739620e+00] [-1.97782788e-02 9.99803433e-01 -1.38377502e-03 -1.34111042e-02] [ 3.21053063e-02 2.01844331e-03 9.99482454e-01 -8.01288828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.859649246 meters Centerline goodness : 0.932448 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.01, Z:-0.08 [[ 9.99278678e-01 1.90727345e-02 -3.28383086e-02 1.94975443e+00] [-1.91401799e-02 9.99815295e-01 -1.74071016e-03 -1.32343236e-02] [ 3.27990431e-02 2.36798568e-03 9.99459161e-01 -8.08789612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.889649246 meters Centerline goodness : 0.932846 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.01, Z:-0.08 [[ 9.99270876e-01 1.88952754e-02 -3.31765592e-02 1.95063272e+00] [-1.89568355e-02 9.99819114e-01 -1.54193431e-03 -1.34394734e-02] [ 3.31414228e-02 2.16973263e-03 9.99448317e-01 -8.05588955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9196492460000005 meters Centerline goodness : 0.933189 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.01, Z:-0.08 [[ 9.99246603e-01 1.93432439e-02 -3.36461750e-02 1.95082112e+00] [-1.93850890e-02 9.99811670e-01 -9.17884713e-04 -1.32034425e-02] [ 3.36220835e-02 1.56942728e-03 9.99433386e-01 -7.91728570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.949649246000001 meters Centerline goodness : 0.933594 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.02, Z:-0.08 [[ 0.999147 0.02207725 -0.03489791 1.95440292] [-0.02194563 0.99975055 0.00415029 -0.01557779] [ 0.03498083 -0.00338089 0.99938226 -0.07720835] [ 0. 0. 0. 1. ]] SLAMing on 4.979649246 meters Centerline goodness : 0.934426 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.08 [[ 0.99912474 0.02195851 -0.03560304 1.95591563] [-0.02181741 0.99975252 0.00434687 -0.01582764] [ 0.03568968 -0.0035663 0.99935656 -0.07681764] [ 0. 0. 0. 1. ]] SLAMing on 5.009649246 meters Centerline goodness : 0.934426 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.08 [[ 0.99912474 0.02195851 -0.03560304 1.95591563] [-0.02181741 0.99975252 0.00434687 -0.01582764] [ 0.03568968 -0.0035663 0.99935656 -0.07681764] [ 0. 0. 0. 1. ]] SLAMing on 5.039649246000001 meters Centerline goodness : 0.935193 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.08 [[ 0.99911809 0.02141305 -0.03611828 1.95750215] [-0.0212696 0.99976431 0.00435116 -0.01677935] [ 0.03620294 -0.0035791 0.99933805 -0.076944 ] [ 0. 0. 0. 1. ]] SLAMing on 5.069649246 meters Centerline goodness : 0.931536 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.08 [[ 0.99909968 0.02072209 -0.0370193 1.96050181] [-0.02057794 0.99977913 0.00427086 -0.01767389] [ 0.03709963 -0.00350524 0.99930542 -0.07772947] [ 0. 0. 0. 1. ]] SLAMing on 5.099649246 meters Centerline goodness : 0.934498 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.08 [[ 0.99908002 0.02080523 -0.03750013 1.96142141] [-0.02063673 0.99977516 0.00487473 -0.01981769] [ 0.03759311 -0.00409636 0.99928473 -0.07719224] [ 0. 0. 0. 1. ]] SLAMing on 5.1296492460000005 meters Centerline goodness : 0.934398 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.08 [[ 0.99905446 0.02128062 -0.03791205 1.96164509] [-0.02108094 0.99976176 0.00565904 -0.02081347] [ 0.03802345 -0.00485446 0.99926506 -0.07608592] [ 0. 0. 0. 1. ]] SLAMing on 5.159649246000001 meters Centerline goodness : 0.937426 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.08 [[ 0.99903514 0.02148815 -0.03830201 1.96220702] [-0.02127702 0.99975614 0.00591156 -0.02089557] [ 0.0384197 -0.00509091 0.99924872 -0.07562152] [ 0. 0. 0. 1. ]] SLAMing on 5.189649246 meters Centerline goodness : 0.930243 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.07 [[ 0.99901424 0.02229963 -0.03838322 1.96151538] [-0.0220753 0.99973672 0.00625863 -0.02059746] [ 0.03851268 -0.00540514 0.99924349 -0.07495305] [ 0. 0. 0. 1. ]] SLAMing on 5.219649246 meters Centerline goodness : 0.932225 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.07 [[ 0.99889574 0.02593758 -0.03917317 1.9632362 ] [-0.02552868 0.99961464 0.01090256 -0.02176608] [ 0.03944086 -0.00989048 0.99917296 -0.07342766] [ 0. 0. 0. 1. ]] SLAMing on 5.249649246000001 meters Centerline goodness : 0.930188 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.07 [[ 0.99887284 0.0262184 -0.03956812 1.96430964] [-0.02582847 0.99961297 0.01033412 -0.02029917] [ 0.03982375 -0.00930049 0.99916343 -0.07465186] [ 0. 0. 0. 1. ]] SLAMing on 5.279649246 meters Centerline goodness : 0.927858 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.07 [[ 0.99884209 0.02635272 -0.04024945 1.9658309 ] [-0.02594694 0.99960743 0.01057116 -0.02044889] [ 0.04051223 -0.00951457 0.99913374 -0.07461556] [ 0. 0. 0. 1. ]] SLAMing on 5.309649246 meters Centerline goodness : 0.927761 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.07 [[ 0.99881611 0.02641062 -0.0408517 1.96676802] [-0.02598138 0.99960187 0.01100277 -0.02127594] [ 0.04112603 -0.00992836 0.99910464 -0.0738445 ] [ 0. 0. 0. 1. ]] SLAMing on 5.3396492460000005 meters Centerline goodness : 0.930835 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.07 [[ 0.99877782 0.02627726 -0.04186134 1.96852986] [-0.02582611 0.99960279 0.01128186 -0.02256166] [ 0.04214117 -0.01018696 0.99905973 -0.07309176] [ 0. 0. 0. 1. ]] SLAMing on 5.369649246000001 meters Centerline goodness : 0.928194 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.07 [[ 0.99874455 0.0260059 -0.04281373 1.97079867] [-0.025551 0.99961147 0.01113843 -0.0221261 ] [ 0.04308676 -0.01003051 0.99902098 -0.07325908] [ 0. 0. 0. 1. ]] SLAMing on 5.399649246 meters Centerline goodness : 0.932438 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.07 [[ 0.998731 0.02549129 -0.04343475 1.9727878 ] [-0.02505063 0.99962935 0.01065987 -0.02150176] [ 0.04369038 -0.00955828 0.99899939 -0.0741131 ] [ 0. 0. 0. 1. ]] SLAMing on 5.429649246 meters Centerline goodness : 0.930293 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:-0.07 [[ 0.99871525 0.02474141 -0.04422347 1.97535485] [-0.02430482 0.99965067 0.01038298 -0.02112191] [ 0.04446491 -0.0092948 0.99896771 -0.07468249] [ 0. 0. 0. 1. ]] SLAMing on 5.459649246000001 meters Centerline goodness : 0.930950 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:-0.07 [[ 0.99869088 0.0244989 -0.04490356 1.97698239] [-0.02405384 0.9996563 0.01042525 -0.02109179] [ 0.04514353 -0.0093315 0.99893693 -0.07458561] [ 0. 0. 0. 1. ]] SLAMing on 5.489649246000001 meters Centerline goodness : 0.928694 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:-0.07 [[ 0.99867206 0.02400248 -0.04558514 1.97887754] [-0.0235549 0.99966917 0.01033052 -0.02112075] [ 0.04581802 -0.00924305 0.99890704 -0.07470723] [ 0. 0. 0. 1. ]] SLAMing on 5.519649246 meters Centerline goodness : 0.932039 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:-0.07 [[ 0.9986526 0.02331191 -0.04636306 1.98074297] [-0.02283889 0.99968183 0.01070649 -0.02306415] [ 0.04659789 -0.00963318 0.99886728 -0.07381519] [ 0. 0. 0. 1. ]] SLAMing on 5.549649246 meters Centerline goodness : 0.936731 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.03, Z:-0.07 [[ 0.99862073 0.02302707 -0.0471847 1.98209018] [-0.02243519 0.99966332 0.01303526 -0.02651429] [ 0.04746898 -0.01195869 0.99880112 -0.06992288] [ 0. 0. 0. 1. ]] SLAMing on 5.579649246000001 meters Centerline goodness : 0.937615 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.03, Z:-0.07 [[ 0.99859843 0.02226121 -0.04801689 1.98442498] [-0.0216677 0.9996827 0.01284576 -0.026818 ] [ 0.04828762 -0.01178734 0.99876392 -0.07003355] [ 0. 0. 0. 1. ]] SLAMing on 5.609649246 meters Centerline goodness : 0.937986 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.03, Z:-0.07 [[ 0.99857287 0.02144597 -0.04891102 1.98721167] [-0.02085764 0.99970422 0.01250753 -0.02685558] [ 0.04916478 -0.01146952 0.99872482 -0.07068149] [ 0. 0. 0. 1. ]] SLAMing on 5.639649246 meters Centerline goodness : 0.933936 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.03, Z:-0.07 [[ 0.99852459 0.01987504 -0.05053338 1.99241731] [-0.01929476 0.99974248 0.01194516 -0.0268032 ] [ 0.05075777 -0.01095251 0.99865094 -0.07179483] [ 0. 0. 0. 1. ]] SLAMing on 5.6696492460000005 meters Centerline goodness : 0.932520 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.07 [[ 0.99849357 0.01916083 -0.05141455 1.99504961] [-0.01857871 0.99975805 0.01177629 -0.02707432] [ 0.05162775 -0.01080334 0.99860796 -0.07222508] [ 0. 0. 0. 1. ]] SLAMing on 5.699649246000001 meters Centerline goodness : 0.934673 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.07 [[ 0.99845275 0.0180333 -0.05260139 1.99861521] [-0.01744764 0.99978081 0.01157199 -0.02821764] [ 0.05279854 -0.01063632 0.99854854 -0.07256922] [ 0. 0. 0. 1. ]] SLAMing on 5.729649246 meters Centerline goodness : 0.933331 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.07 [[ 0.99842197 0.0177756 -0.05326916 2.00004064] [-0.01718325 0.99978556 0.01155748 -0.0283575 ] [ 0.05346318 -0.01062391 0.99851331 -0.07239914] [ 0. 0. 0. 1. ]] SLAMing on 5.759649246 meters Centerline goodness : 0.933448 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.07 [[ 0.99840055 0.01754353 -0.05374543 2.00132384] [-0.01695681 0.99979176 0.01135329 -0.02835026] [ 0.05393341 -0.01042378 0.99849013 -0.07278091] [ 0. 0. 0. 1. ]] SLAMing on 5.789649246000001 meters Centerline goodness : 0.933190 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99827496 0.02061586 -0.05497348 2.00506884] [-0.01977957 0.99968088 0.01571354 -0.02940679] [ 0.05527989 -0.01459908 0.99836416 -0.07223111] [ 0. 0. 0. 1. ]] SLAMing on 5.819649246 meters Centerline goodness : 0.931032 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99824765 0.02034857 -0.05556583 2.00696492] [-0.01953254 0.99969383 0.01518968 -0.02865729] [ 0.0558579 -0.01407772 0.99833948 -0.07343364] [ 0. 0. 0. 1. ]] SLAMing on 5.849649246 meters Centerline goodness : 0.929233 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99810358 0.02365597 -0.05682986 2.01090157] [-0.02258634 0.99955683 0.01939089 -0.02992305] [ 0.05726338 -0.01807054 0.99819555 -0.07346277] [ 0. 0. 0. 1. ]] SLAMing on 5.8796492460000005 meters Centerline goodness : 0.926302 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99805562 0.02390921 -0.05756148 2.01232767] [-0.02284272 0.99955631 0.01911515 -0.02996607] [ 0.05799297 -0.01776312 0.99815895 -0.07421458] [ 0. 0. 0. 1. ]] SLAMing on 5.909649246000001 meters Centerline goodness : 0.928083 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99802651 0.02410887 -0.05798137 2.01313651] [-0.0230285 0.99954985 0.01922974 -0.03030588] [ 0.05841888 -0.01785657 0.99813244 -0.07432181] [ 0. 0. 0. 1. ]] SLAMing on 5.939649246 meters Centerline goodness : 0.930490 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99797507 0.02520679 -0.05839851 2.01269771] [-0.02406848 0.99950794 0.02011423 -0.03222625] [ 0.05887679 -0.01866793 0.99809069 -0.07320315] [ 0. 0. 0. 1. ]] SLAMing on 5.969649246 meters Centerline goodness : 0.932181 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99793731 0.02567844 -0.0588366 2.01311856] [-0.02452219 0.99949335 0.02029036 -0.03277243] [ 0.05932782 -0.01880571 0.9980614 -0.07309864] [ 0. 0. 0. 1. ]] SLAMing on 5.999649246000001 meters Centerline goodness : 0.933108 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.08 [[ 0.99808296 0.02974306 -0.05427489 2.02584191] [-0.02910114 0.99949731 0.01257958 -0.03095067] [ 0.05462176 -0.010976 0.99844679 -0.0778476 ] [ 0. 0. 0. 1. ]] SLAMing on 6.029649246000001 meters Centerline goodness : 0.934593 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.08 [[ 0.99805316 0.03018441 -0.05457821 2.02610201] [-0.02954384 0.99948525 0.01250595 -0.03003778] [ 0.0549276 -0.01086915 0.99843118 -0.07802314] [ 0. 0. 0. 1. ]] SLAMing on 6.059649246 meters Centerline goodness : 0.935616 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.08 [[ 0.99801601 0.03071231 -0.05496182 2.02647128] [-0.03009235 0.99947422 0.01207232 -0.0282509 ] [ 0.05530369 -0.01039444 0.99841547 -0.07855127] [ 0. 0. 0. 1. ]] SLAMing on 6.0896492460000005 meters Centerline goodness : 0.934391 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.08 [[ 0.99799083 0.03054342 -0.05551038 2.02778793] [-0.02993124 0.99948199 0.01182653 -0.02765085] [ 0.05584285 -0.01014127 0.99838807 -0.07889046] [ 0. 0. 0. 1. ]] SLAMing on 6.119649246000001 meters Centerline goodness : 0.933521 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.08 [[ 0.99795616 0.03019739 -0.05631713 2.0295326 ] [-0.02956917 0.99949124 0.01195523 -0.02813755] [ 0.05664949 -0.01026554 0.99834135 -0.07846236] [ 0. 0. 0. 1. ]] SLAMing on 6.149649246 meters Centerline goodness : 0.935624 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.08 [[ 0.99792237 0.030011 -0.05701132 2.03084847] [-0.02935679 0.99949358 0.01227843 -0.0290167 ] [ 0.05735093 -0.01057925 0.99829803 -0.07785566] [ 0. 0. 0. 1. ]] SLAMing on 6.179649246 meters Centerline goodness : 0.939762 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.08 [[ 0.99788541 0.02988085 -0.05772218 2.03203574] [-0.02918265 0.99949083 0.0129013 -0.03084249] [ 0.05807829 -0.01118953 0.99824932 -0.07674208] [ 0. 0. 0. 1. ]] SLAMing on 6.209649246000001 meters Centerline goodness : 0.940645 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.08 [[ 0.99786431 0.02984879 -0.05810224 2.0325948 ] [-0.02912198 0.99948716 0.01331615 -0.0316764 ] [ 0.05846991 -0.01159566 0.99822182 -0.07600117] [ 0. 0. 0. 1. ]] SLAMing on 6.239649246000001 meters Centerline goodness : 0.941131 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.08 [[ 0.99783307 0.02957797 -0.05877343 2.03421848] [-0.02883788 0.99949427 0.01340103 -0.03234381] [ 0.05914008 -0.01167709 0.99818139 -0.07593269] [ 0. 0. 0. 1. ]] SLAMing on 6.269649246 meters Centerline goodness : 0.940751 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.03, Z:-0.08 [[ 0.99781038 0.02925994 -0.05931532 2.0358471 ] [-0.02853412 0.99950767 0.01304714 -0.0323523 ] [ 0.05966788 -0.01132606 0.99815403 -0.07672818] [ 0. 0. 0. 1. ]] SLAMing on 6.299649246 meters Centerline goodness : 0.937403 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.03, Z:-0.08 [[ 0.99776897 0.02875541 -0.06025118 2.03847848] [-0.02805654 0.99952926 0.01241347 -0.0322065 ] [ 0.06057978 -0.01069534 0.99810606 -0.07782888] [ 0. 0. 0. 1. ]] SLAMing on 6.329649246000001 meters Centerline goodness : 0.938957 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.03, Z:-0.08 [[ 0.99773547 0.02828174 -0.06102514 2.04060168] [-0.02759082 0.99954564 0.01213517 -0.03212414] [ 0.06134062 -0.01042395 0.99806246 -0.07829403] [ 0. 0. 0. 1. ]] SLAMing on 6.359649246 meters Centerline goodness : 0.937531 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.03, Z:-0.08 [[ 0.9977039 0.02771366 -0.0617971 2.04291153] [-0.02704248 0.99956615 0.01167128 -0.03238359] [ 0.06209375 -0.00997333 0.99802049 -0.07916284] [ 0. 0. 0. 1. ]] SLAMing on 6.389649246 meters Centerline goodness : 0.933744 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.03, Z:-0.08 [[ 0.99766804 0.02721347 -0.06259316 2.04489215] [-0.02653757 0.99958046 0.01160466 -0.03249472] [ 0.0628827 -0.00991652 0.99797166 -0.07911589] [ 0. 0. 0. 1. ]] SLAMing on 6.4196492460000005 meters Centerline goodness : 0.935991 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.08 [[ 0.99761862 0.02637535 -0.06372942 2.04823642] [-0.02572702 0.99960878 0.01097261 -0.03144951] [ 0.06399389 -0.00930691 0.99790689 -0.08001103] [ 0. 0. 0. 1. ]] SLAMing on 6.449649246000001 meters Centerline goodness : 0.936762 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.08 [[ 0.99760235 0.02604281 -0.06411961 2.0494909 ] [-0.02540985 0.9996202 0.01066751 -0.03100032] [ 0.06437307 -0.00901266 0.9978852 -0.08050945] [ 0. 0. 0. 1. ]] SLAMing on 6.479649246 meters Centerline goodness : 0.937852 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.08 [[ 0.99756579 0.02569687 -0.06482413 2.05106971] [-0.02506135 0.99962974 0.01059814 -0.03071177] [ 0.06507247 -0.00894776 0.99784042 -0.08029423] [ 0. 0. 0. 1. ]] SLAMing on 6.509649246 meters Centerline goodness : 0.934405 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.08 [[ 0.99753385 0.02539397 -0.0654322 2.05243914] [-0.02475724 0.9996381 0.0105238 -0.03083532] [ 0.06567576 -0.00887793 0.99780152 -0.0802175 ] [ 0. 0. 0. 1. ]] SLAMing on 6.539649246000001 meters Centerline goodness : 0.937675 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.08 [[ 0.99749511 0.02514292 -0.06611617 2.05376198] [-0.02447848 0.99964158 0.01084058 -0.03143423] [ 0.06636504 -0.009195 0.99775304 -0.07941454] [ 0. 0. 0. 1. ]] SLAMing on 6.569649246000001 meters Centerline goodness : 0.936549 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.08 [[ 0.99746664 0.02480834 -0.06666968 2.05509669] [-0.02413117 0.9996489 0.01094333 -0.03224411] [ 0.06691776 -0.00930679 0.99771509 -0.07922006] [ 0. 0. 0. 1. ]] SLAMing on 6.599649246 meters Centerline goodness : 0.935971 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.08 [[ 0.99743117 0.02465476 -0.0672548 2.05620259] [-0.02394674 0.99964922 0.01131358 -0.03352843] [ 0.06751015 -0.00967398 0.99767169 -0.0785803 ] [ 0. 0. 0. 1. ]] SLAMing on 6.6296492460000005 meters Centerline goodness : 0.937983 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.08 [[ 0.99740372 0.02445739 -0.06773221 2.05737666] [-0.02374926 0.99965475 0.01124057 -0.03357415] [ 0.06798374 -0.0096028 0.99764021 -0.07870089] [ 0. 0. 0. 1. ]] SLAMing on 6.659649246000001 meters Centerline goodness : 0.939469 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.08 [[ 0.99736788 0.0242748 -0.06832315 2.058613 ] [-0.023558 0.99965886 0.01127766 -0.03346316] [ 0.0685736 -0.00963842 0.9975995 -0.07846213] [ 0. 0. 0. 1. ]] SLAMing on 6.689649246 meters Centerline goodness : 0.941498 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.08 [[ 0.99734412 0.02419485 -0.06869722 2.05950262] [-0.02347364 0.99966074 0.01128648 -0.03384975] [ 0.06894699 -0.00964393 0.99757371 -0.07852841] [ 0. 0. 0. 1. ]] SLAMing on 6.719649246 meters Centerline goodness : 0.942231 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.08 [[ 0.99731907 0.02371844 -0.06922509 2.06133496] [-0.0230257 0.99967666 0.01078813 -0.03353028] [ 0.06945859 -0.00916525 0.99754273 -0.07948095] [ 0. 0. 0. 1. ]] SLAMing on 6.749649246000001 meters Centerline goodness : 0.940726 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.08 [[ 0.99727547 0.02337788 -0.06996513 2.06326202] [-0.02268828 0.99968602 0.01063499 -0.03351743] [ 0.07019179 -0.00901862 0.99749275 -0.07970232] [ 0. 0. 0. 1. ]] SLAMing on 6.779649246000001 meters Centerline goodness : 0.941047 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.08 [[ 0.99723832 0.02325634 -0.07053274 2.0642961 ] [-0.02253919 0.99968603 0.01094666 -0.03431653] [ 0.07076517 -0.00932668 0.9974494 -0.0790784 ] [ 0. 0. 0. 1. ]] SLAMing on 6.809649246 meters Centerline goodness : 0.943055 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.08 [[ 0.9971849 0.02336606 -0.07124817 2.06524483] [-0.02257981 0.99967516 0.01182093 -0.03608816] [ 0.07150123 -0.01017888 0.99738857 -0.07761788] [ 0. 0. 0. 1. ]] SLAMing on 6.8396492460000005 meters Centerline goodness : 0.941604 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.08 [[ 0.99714985 0.02319736 -0.07179183 2.06670676] [-0.02242948 0.99968247 0.01148379 -0.03571183] [ 0.07203543 -0.0098408 0.99735353 -0.07823675] [ 0. 0. 0. 1. ]] SLAMing on 6.869649246000001 meters Centerline goodness : 0.941206 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.08 [[ 0.99711819 0.02272621 -0.07237985 2.06862169] [-0.021984 0.99969742 0.01103464 -0.03508131] [ 0.07260873 -0.00941164 0.9973161 -0.07903698] [ 0. 0. 0. 1. ]] SLAMing on 6.899649246 meters Centerline goodness : 0.941015 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.03, Z:-0.08 [[ 0.99706444 0.02221795 -0.07327252 2.07108118] [-0.0214977 0.99971266 0.01060392 -0.03442543] [ 0.07348706 -0.0089976 0.99725558 -0.07968184] [ 0. 0. 0. 1. ]] SLAMing on 6.929649246 meters Centerline goodness : 0.941015 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.03, Z:-0.08 [[ 0.99706444 0.02221795 -0.07327252 2.07108118] [-0.0214977 0.99971266 0.01060392 -0.03442543] [ 0.07348706 -0.0089976 0.99725558 -0.07968184] [ 0. 0. 0. 1. ]] SLAMing on 6.959649246000001 meters Centerline goodness : 0.941414 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.03, Z:-0.08 [[ 0.99704582 0.02202328 -0.07358407 2.07193174] [-0.02131176 0.99971836 0.01044079 -0.03448334] [ 0.07379329 -0.00884174 0.99723436 -0.0799248 ] [ 0. 0. 0. 1. ]] SLAMing on 6.989649246000001 meters Centerline goodness : 0.941922 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.03, Z:-0.08 [[ 0.997006 0.02175575 -0.07420058 2.07328777] [-0.02103289 0.99972355 0.01050953 -0.03457875] [ 0.07440871 -0.00891741 0.99718796 -0.07962605] [ 0. 0. 0. 1. ]] SLAMing on 7.019649246 meters Centerline goodness : 0.943533 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.03, Z:-0.08 [[ 0.9969694 0.02156422 -0.07474627 2.0744532 ] [-0.02083895 0.99972803 0.01046953 -0.0347276 ] [ 0.07495171 -0.00888017 0.99714762 -0.07950922] [ 0. 0. 0. 1. ]] SLAMing on 7.049649246 meters Centerline goodness : 0.943042 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.03, Z:-0.08 [[ 0.99691492 0.02099284 -0.07563027 2.07693665] [-0.02028157 0.99974268 0.01016042 -0.03430367] [ 0.0758241 -0.00859517 0.99708416 -0.07992248] [ 0. 0. 0. 1. ]] SLAMing on 7.079649246000001 meters Centerline goodness : 0.943438 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.03, Z:-0.08 [[ 0.99688061 0.02067484 -0.07616828 2.0783213 ] [-0.01995027 0.99974831 0.01026155 -0.03495965] [ 0.07636127 -0.00870997 0.99704217 -0.07983771] [ 0. 0. 0. 1. ]] SLAMing on 7.109649246000001 meters Centerline goodness : 0.945825 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.04, Z:-0.08 [[ 0.99681151 0.02016891 -0.07720123 2.08017086] [-0.01931195 0.99974351 0.01183093 -0.03770802] [ 0.07742004 -0.0103023 0.99694533 -0.07696581] [ 0. 0. 0. 1. ]] SLAMing on 7.139649246 meters Centerline goodness : 0.945754 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.04, Z:-0.08 [[ 0.99677862 0.01981735 -0.07771525 2.081304 ] [-0.01893562 0.99974789 0.01206625 -0.03864212] [ 0.07793478 -0.01055579 0.99690258 -0.07640272] [ 0. 0. 0. 1. ]] SLAMing on 7.1696492460000005 meters Centerline goodness : 0.949199 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.07 [[ 0.99661945 0.02212605 -0.07912085 2.08542283] [-0.02066912 0.99960227 0.01918588 -0.0427616 ] [ 0.07951389 -0.01748567 0.99668039 -0.07032931] [ 0. 0. 0. 1. ]] SLAMing on 7.199649246000001 meters Centerline goodness : 0.948759 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.07 [[ 0.99658173 0.02170929 -0.07970928 2.0870148 ] [-0.02025867 0.99961492 0.01896281 -0.04239267] [ 0.08009026 -0.01728319 0.99663777 -0.07053422] [ 0. 0. 0. 1. ]] SLAMing on 7.229649246 meters Centerline goodness : 0.948307 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.07 [[ 0.99654957 0.02118529 -0.08025052 2.08923398] [-0.01980913 0.99964343 0.01790583 -0.04020181] [ 0.08060124 -0.01625435 0.99661389 -0.07229391] [ 0. 0. 0. 1. ]] SLAMing on 7.259649246 meters Centerline goodness : 0.948093 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.07 [[ 0.99651245 0.02098126 -0.08076332 2.09059745] [-0.01961742 0.99965187 0.0176436 -0.03982996] [ 0.08110539 -0.0159977 0.99657714 -0.07273679] [ 0. 0. 0. 1. ]] SLAMing on 7.289649246000001 meters Centerline goodness : 0.948688 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.07 [[ 0.99645038 0.02118619 -0.08147258 2.09120923] [-0.01976346 0.99963848 0.01822966 -0.04079524] [ 0.08182934 -0.01655478 0.99650885 -0.07131053] [ 0. 0. 0. 1. ]] SLAMing on 7.319649246000001 meters Centerline goodness : 0.947930 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.07 [[ 0.99642283 0.02119498 -0.08180663 2.09184763] [-0.01976569 0.99963821 0.01824211 -0.04109548] [ 0.08216367 -0.01655989 0.99648126 -0.07129763] [ 0. 0. 0. 1. ]] SLAMing on 7.349649246 meters Centerline goodness : 0.946174 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.07 [[ 0.99637829 0.02086209 -0.08243224 2.09346741] [-0.01944369 0.9996494 0.01797249 -0.04069241] [ 0.08277828 -0.01630461 0.9964346 -0.07162 ] [ 0. 0. 0. 1. ]] SLAMing on 7.3796492460000005 meters Centerline goodness : 0.944854 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.07 [[ 0.99632393 0.02063024 -0.08314463 2.09550629] [-0.019253 0.9996644 0.01733225 -0.03978681] [ 0.0834743 -0.01566775 0.99638675 -0.07279012] [ 0. 0. 0. 1. ]] SLAMing on 7.409649246000001 meters Centerline goodness : 0.944849 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.07 [[ 0.9962894 0.02051223 -0.08358632 2.09643947] [-0.01914807 0.9996706 0.01708954 -0.03943232] [ 0.08390933 -0.01542561 0.99635399 -0.07298772] [ 0. 0. 0. 1. ]] SLAMing on 7.439649246 meters Centerline goodness : 0.945265 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.07 [[ 0.99623814 0.02072153 -0.08414385 2.09721878] [-0.01932373 0.99966199 0.01739268 -0.03987147] [ 0.08447581 -0.01570128 0.99630182 -0.07250229] [ 0. 0. 0. 1. ]] SLAMing on 7.469649246 meters Centerline goodness : 0.947572 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.07 [[ 0.99619555 0.02072526 -0.08464562 2.09844783] [-0.01933037 0.99966406 0.01726576 -0.03957869] [ 0.08497503 -0.01556385 0.99626152 -0.0728723 ] [ 0. 0. 0. 1. ]] SLAMing on 7.499649246000001 meters Centerline goodness : 0.948199 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.07 [[ 0.99616731 0.02041541 -0.08505237 2.09965076] [-0.01904191 0.99967536 0.01692897 -0.03922714] [ 0.08537037 -0.01524453 0.99623266 -0.07333571] [ 0. 0. 0. 1. ]] SLAMing on 7.529649246000001 meters Centerline goodness : 0.946273 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.07 [[ 0.99604226 0.02327115 -0.08578039 2.10213749] [-0.02149379 0.99953593 0.02158576 -0.04210041] [ 0.0862429 -0.01965658 0.99608021 -0.07151833] [ 0. 0. 0. 1. ]] SLAMing on 7.559649246 meters Centerline goodness : 0.944728 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.07 [[ 0.99598682 0.02259641 -0.08660061 2.10434967] [-0.02082642 0.99955644 0.02128788 -0.04191255] [ 0.08704323 -0.01939886 0.99601564 -0.07166309] [ 0. 0. 0. 1. ]] SLAMing on 7.5896492460000005 meters Centerline goodness : 0.944369 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.07 [[ 0.99594173 0.02198383 -0.08727417 2.10650163] [-0.02022089 0.99957427 0.02103307 -0.04232631] [ 0.0876994 -0.01918295 0.99596226 -0.07218987] [ 0. 0. 0. 1. ]] SLAMing on 7.619649246000001 meters Centerline goodness : 0.942942 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.07 [[ 0.99589498 0.02141731 -0.0879459 2.10820582] [-0.01965306 0.99958885 0.02087789 -0.04249175] [ 0.08835689 -0.01906378 0.99590644 -0.07205537] [ 0. 0. 0. 1. ]] SLAMing on 7.649649246000001 meters Centerline goodness : 0.943705 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.07 [[ 0.99574769 0.0239585 -0.08895243 2.11175774] [-0.02178956 0.99944304 0.02527482 -0.04482505] [ 0.08950844 -0.02322911 0.99571514 -0.07066795] [ 0. 0. 0. 1. ]] SLAMing on 7.679649246 meters Centerline goodness : 0.943366 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.07 [[ 0.99583028 0.01972385 -0.08906753 2.11270278] [-0.01809546 0.9996547 0.01905337 -0.04114714] [ 0.08941258 -0.0173622 0.99584333 -0.07462742] [ 0. 0. 0. 1. ]] SLAMing on 7.709649246000001 meters Centerline goodness : 0.940926 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:-0.08 [[ 0.99576868 0.01881262 -0.089949 2.11566235] [-0.01722518 0.99968246 0.01839203 -0.04050101] [ 0.09026644 -0.01676482 0.99577654 -0.07562508] [ 0. 0. 0. 1. ]] SLAMing on 7.739649246000001 meters Centerline goodness : 0.939181 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:-0.08 [[ 0.99572568 0.01832231 -0.09052439 2.11724399] [-0.01672774 0.99969182 0.01834228 -0.04054321] [ 0.09083256 -0.01674961 0.99572531 -0.07551972] [ 0. 0. 0. 1. ]] SLAMing on 7.769649246 meters Centerline goodness : 0.940626 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:-0.07 [[ 0.99568246 0.01785949 -0.09109048 2.11835595] [-0.01621048 0.99969164 0.01881084 -0.04182662] [ 0.09139834 -0.017253 0.99566494 -0.07429873] [ 0. 0. 0. 1. ]] SLAMing on 7.799649246 meters Centerline goodness : 0.940893 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:-0.07 [[ 0.99562189 0.01758968 -0.09180231 2.11959145] [-0.01586781 0.99968485 0.01945259 -0.04283055] [ 0.09211554 -0.01791073 0.99558723 -0.07293144] [ 0. 0. 0. 1. ]] SLAMing on 7.829649246000001 meters Centerline goodness : 0.945333 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.07 [[ 0.99556313 0.01713245 -0.09252311 2.12072803] [-0.01525282 0.99966345 0.02098439 -0.04600505] [ 0.09285148 -0.01948005 0.99548939 -0.07006307] [ 0. 0. 0. 1. ]] SLAMing on 7.859649246000001 meters Centerline goodness : 0.945634 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.06 [[ 0.99538685 0.0199858 -0.09383807 2.12432603] [-0.01744923 0.9994619 0.02777458 -0.04966615] [ 0.09434267 -0.02600905 0.99519997 -0.06477852] [ 0. 0. 0. 1. ]] SLAMing on 7.889649246 meters Centerline goodness : 0.943255 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.07 [[ 0.99546142 0.0167215 -0.09368536 2.12456757] [-0.01464032 0.99963152 0.02285802 -0.04598989] [ 0.09403306 -0.0213827 0.99533942 -0.06784752] [ 0. 0. 0. 1. ]] SLAMing on 7.9196492460000005 meters Centerline goodness : 0.944391 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.04, Z:-0.07 [[ 0.99541304 0.01617047 -0.0942942 2.12651779] [-0.01414048 0.9996545 0.02215693 -0.04479297] [ 0.09461991 -0.02072193 0.99529778 -0.06876628] [ 0. 0. 0. 1. ]] SLAMing on 7.949649246000001 meters Centerline goodness : 0.942669 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.04, Z:-0.07 [[ 0.99536176 0.01553551 -0.09494009 2.1286477 ] [-0.01356202 0.99967907 0.0213967 -0.04356188] [ 0.09524203 -0.02000988 0.99525301 -0.06977589] [ 0. 0. 0. 1. ]] SLAMing on 7.979649246000001 meters Centerline goodness : 0.939625 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.04, Z:-0.07 [[ 0.9952995 0.01468866 -0.09572435 2.13143222] [-0.01279087 0.99970989 0.0204091 -0.04240043] [ 0.09599636 -0.01908877 0.99519863 -0.07124759] [ 0. 0. 0. 1. ]] SLAMing on 8.009649246 meters Centerline goodness : 0.936273 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.04, Z:-0.07 [[ 0.99521858 0.01404405 -0.09665789 2.13406655] [-0.01216661 0.99972624 0.01998568 -0.04212498] [ 0.0969121 -0.01871412 0.99511699 -0.07178627] [ 0. 0. 0. 1. ]] SLAMing on 8.039649246 meters Centerline goodness : 0.935928 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.04, Z:-0.07 [[ 0.99516522 0.01372014 -0.09725197 2.13544429] [-0.01183906 0.99973201 0.01989314 -0.04230589] [ 0.09749885 -0.01864559 0.99506096 -0.0716859 ] [ 0. 0. 0. 1. ]] SLAMing on 8.069649246 meters Centerline goodness : 0.935278 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.04, Z:-0.07 [[ 0.99512342 0.01351549 -0.09770728 2.13649836] [-0.01163495 0.99973644 0.01979093 -0.04269961] [ 0.09794901 -0.0185576 0.9950184 -0.07175052] [ 0. 0. 0. 1. ]] SLAMing on 8.099649246 meters Centerline goodness : 0.936478 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.04, Z:-0.07 [[ 0.99508292 0.01324258 -0.09815612 2.13747935] [-0.01134924 0.9997391 0.01982247 -0.04297631] [ 0.09839301 -0.018611 0.99497359 -0.07149541] [ 0. 0. 0. 1. ]] SLAMing on 8.129649246000001 meters Centerline goodness : 0.937618 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.07 [[ 0.99494008 0.01691028 -0.0990368 2.13928234] [-0.01443195 0.99956584 0.02568751 -0.0461396 ] [ 0.09942819 -0.02412824 0.99475216 -0.06795785] [ 0. 0. 0. 1. ]] SLAMing on 8.159649246 meters Centerline goodness : 0.944135 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.04, Z:-0.07 [[ 0.99541182 0.01835107 -0.09390715 2.15055616] [-0.01693337 0.99973064 0.01587155 -0.04376872] [ 0.09417311 -0.01420856 0.99545444 -0.07146953] [ 0. 0. 0. 1. ]] SLAMing on 8.189649246 meters Centerline goodness : 0.948439 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.04, Z:-0.07 [[ 0.99584169 0.02057742 -0.08874622 2.16323566] [-0.01994446 0.99976898 0.0080133 -0.04171181] [ 0.08889061 -0.00620998 0.99602204 -0.07435271] [ 0. 0. 0. 1. ]] SLAMing on 8.219649246000001 meters Centerline goodness : 0.947313 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.04, Z:-0.07 [[ 0.99583343 0.02058315 -0.0888376 2.16328833] [-0.01994952 0.99976887 0.00801447 -0.04154714] [ 0.08898203 -0.00620881 0.99601388 -0.07416257] [ 0. 0. 0. 1. ]] SLAMing on 8.249649246 meters Centerline goodness : 0.947454 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.04, Z:-0.07 [[ 0.99579955 0.02019919 -0.0893042 2.16462061] [-0.01956009 0.99977647 0.00802588 -0.04179929] [ 0.08944635 -0.00624537 0.99597206 -0.07410649] [ 0. 0. 0. 1. ]] SLAMing on 8.279649246 meters Centerline goodness : 0.945639 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.04, Z:-0.07 [[ 0.99571877 0.01929789 -0.09039753 2.16759593] [-0.01862219 0.99979204 0.00831229 -0.04318312] [ 0.09053914 -0.0065933 0.99587107 -0.0736212 ] [ 0. 0. 0. 1. ]] SLAMing on 8.309649246000001 meters Centerline goodness : 0.946483 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.05, Z:-0.07 [[ 0.99555539 0.02207297 -0.09155462 2.1711378 ] [-0.02089942 0.99968693 0.0137571 -0.04636742] [ 0.09182961 -0.01178252 0.99570502 -0.07085167] [ 0. 0. 0. 1. ]] SLAMing on 8.339649246 meters Centerline goodness : 0.944741 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.05, Z:-0.07 [[ 0.99551162 0.02134429 -0.09220108 2.17325317] [-0.0201978 0.99970687 0.01334999 -0.04650668] [ 0.092459 -0.01142782 0.99565091 -0.07139229] [ 0. 0. 0. 1. ]] SLAMing on 8.369649246 meters Centerline goodness : 0.941706 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.04, Z:-0.07 [[ 0.99547787 0.02067315 -0.09271699 2.17558627] [-0.01962639 0.9997331 0.0121875 -0.04461411] [ 0.0929442 -0.01031269 0.99561791 -0.07338203] [ 0. 0. 0. 1. ]] SLAMing on 8.399649246000001 meters Centerline goodness : 0.940432 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.05, Z:-0.07 [[ 0.99531701 0.023508 -0.09376255 2.17918194] [-0.02206664 0.99962231 0.01637987 -0.04604965] [ 0.0941122 -0.01423414 0.99545984 -0.07262311] [ 0. 0. 0. 1. ]] SLAMing on 8.429649246 meters Centerline goodness : 0.938018 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.04, Z:-0.07 [[ 0.99525871 0.02264712 -0.09458965 2.18179023] [-0.02126469 0.9996522 0.01559766 -0.04499938] [ 0.09491 -0.01351229 0.99539415 -0.07348106] [ 0. 0. 0. 1. ]] SLAMing on 8.459649246000001 meters Centerline goodness : 0.936495 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.05, Z:-0.07 [[ 0.99521187 0.02259529 -0.09509357 2.18257169] [-0.0211656 0.99964768 0.01601661 -0.0456207 ] [ 0.09542197 -0.01392721 0.99533948 -0.07261691] [ 0. 0. 0. 1. ]] SLAMing on 8.489649246 meters Centerline goodness : 0.938987 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.05, Z:-0.07 [[ 0.99517812 0.02221511 -0.09553536 2.18355908] [-0.02079532 0.9996584 0.01583155 -0.04533859] [ 0.09585442 -0.01376852 0.99530013 -0.07239917] [ 0. 0. 0. 1. ]] SLAMing on 8.519649246 meters Centerline goodness : 0.937694 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.9951343 0.02166834 -0.0961156 2.18534836] [-0.02028394 0.9996763 0.01535739 -0.04463472] [ 0.09641726 -0.01333306 0.9952517 -0.0729389 ] [ 0. 0. 0. 1. ]] SLAMing on 8.549649246000001 meters Centerline goodness : 0.937521 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.99508719 0.02129977 -0.09668403 2.18686402] [-0.01994757 0.99968953 0.01493097 -0.04367583] [ 0.09697204 -0.01292901 0.99520313 -0.07328958] [ 0. 0. 0. 1. ]] SLAMing on 8.579649246 meters Centerline goodness : 0.936164 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.99507809 0.02125425 -0.09678766 2.18718315] [-0.01993815 0.99969541 0.01454484 -0.04284627] [ 0.09706732 -0.01254348 0.99519877 -0.07372566] [ 0. 0. 0. 1. ]] SLAMing on 8.609649246 meters Centerline goodness : 0.936352 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.99506308 0.02163826 -0.0968569 2.18684326] [-0.02032262 0.9996876 0.0145494 -0.04173462] [ 0.09714147 -0.01250918 0.99519197 -0.07347596] [ 0. 0. 0. 1. ]] SLAMing on 8.639649246000001 meters Centerline goodness : 0.937186 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.99501292 0.02176865 -0.09734173 2.18689603] [-0.02031506 0.9996672 0.01589918 -0.04301751] [ 0.09765544 -0.01384239 0.99512401 -0.07071257] [ 0. 0. 0. 1. ]] SLAMing on 8.669649246 meters Centerline goodness : 0.939923 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.99499672 0.02176673 -0.09750765 2.18691256] [-0.02029601 0.99966518 0.01604982 -0.04313168] [ 0.09782435 -0.0139905 0.99510535 -0.07016507] [ 0. 0. 0. 1. ]] SLAMing on 8.699649246 meters Centerline goodness : 0.941519 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.99497256 0.02157846 -0.09779562 2.18750584] [-0.02011696 0.9996711 0.015906 -0.04268911] [ 0.09810668 -0.01385868 0.9950794 -0.07006816] [ 0. 0. 0. 1. ]] SLAMing on 8.729649246000001 meters Centerline goodness : 0.940427 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.99492583 0.02085309 -0.09842628 2.1897755 ] [-0.0194497 0.99969534 0.01519634 -0.04186538] [ 0.09871318 -0.01320487 0.99502831 -0.07110743] [ 0. 0. 0. 1. ]] SLAMing on 8.759649246 meters Centerline goodness : 0.939410 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.99489085 0.02037372 -0.09887924 2.19135003] [-0.01899701 0.99970933 0.01484479 -0.04152235] [ 0.09915294 -0.01289053 0.99498871 -0.07164262] [ 0. 0. 0. 1. ]] SLAMing on 8.789649246000002 meters Centerline goodness : 0.939866 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.99482797 0.01975141 -0.09963526 2.19316388] [-0.01835892 0.99972083 0.01487349 -0.04211777] [ 0.09990122 -0.01296737 0.99491286 -0.07114633] [ 0. 0. 0. 1. ]] SLAMing on 8.819649246 meters Centerline goodness : 0.939866 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.99482797 0.01975141 -0.09963526 2.19316388] [-0.01835892 0.99972083 0.01487349 -0.04211777] [ 0.09990122 -0.01296737 0.99491286 -0.07114633] [ 0. 0. 0. 1. ]] SLAMing on 8.849649246 meters Centerline goodness : 0.940910 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.07 [[ 0.99478093 0.01937846 -0.1001767 2.19425175] [-0.01795927 0.99972545 0.01504936 -0.04230342] [ 0.10044083 -0.01317172 0.99485584 -0.0703677 ] [ 0. 0. 0. 1. ]] SLAMing on 8.879649246000001 meters Centerline goodness : 0.942964 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.04, Z:-0.07 [[ 0.9947504 0.01885923 -0.10057822 2.19570485] [-0.01747895 0.99974082 0.01458713 -0.04164519] [ 0.10082726 -0.01275255 0.99482221 -0.07093526] [ 0. 0. 0. 1. ]] SLAMing on 8.909649246 meters Centerline goodness : 0.940715 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.04, Z:-0.07 [[ 0.99472817 0.01810389 -0.1009362 2.19772586] [-0.01681485 0.99976603 0.01360709 -0.04033568] [ 0.10115892 -0.01183813 0.99479984 -0.07258882] [ 0. 0. 0. 1. ]] SLAMing on 8.939649246 meters Centerline goodness : 0.940717 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.04, Z:-0.07 [[ 0.99467667 0.01746024 -0.10155523 2.19981937] [-0.01619589 0.99978089 0.01326121 -0.0401001 ] [ 0.10176453 -0.01154584 0.99474151 -0.07314889] [ 0. 0. 0. 1. ]] SLAMing on 8.969649246000001 meters Centerline goodness : 0.941486 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.04, Z:-0.07 [[ 0.99460452 0.01678175 -0.102373 2.2018804 ] [-0.01545545 0.99978621 0.01373513 -0.04226462] [ 0.10258161 -0.0120788 0.99465125 -0.07227277] [ 0. 0. 0. 1. ]] SLAMing on 8.999649246 meters Centerline goodness : 0.941562 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.04, Z:-0.07 [[ 0.99455797 0.01675735 -0.10282816 2.20232337] [-0.01536391 0.9997793 0.01432826 -0.04334445] [ 0.10304557 -0.01267044 0.99459593 -0.07093284] [ 0. 0. 0. 1. ]] SLAMing on 9.029649246 meters Centerline goodness : 0.941517 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.04, Z:-0.07 [[ 0.99449268 0.01638695 -0.10351709 2.2038121 ] [-0.01500049 0.99978725 0.01415791 -0.04325566] [ 0.10372707 -0.01252713 0.99452691 -0.07079124] [ 0. 0. 0. 1. ]] SLAMing on 9.059649246000001 meters Centerline goodness : 0.939138 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:-0.07 [[ 0.9944326 0.01593869 -0.10416224 2.20578753] [-0.01457814 0.99979836 0.01381018 -0.04265709] [ 0.10436135 -0.01221481 0.99446443 -0.07132317] [ 0. 0. 0. 1. ]] SLAMing on 9.089649246 meters Centerline goodness : 0.938267 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:-0.07 [[ 0.99438892 0.01559702 -0.10462984 2.20691309] [-0.01424907 0.99980573 0.01361824 -0.04216376] [ 0.10482192 -0.01205095 0.99441799 -0.0712648 ] [ 0. 0. 0. 1. ]] SLAMing on 9.119649246 meters Centerline goodness : 0.940184 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:-0.07 [[ 0.99437858 0.01553696 -0.10473702 2.20717108] [-0.01418463 0.9998063 0.01364426 -0.0418027 ] [ 0.10492872 -0.01208191 0.99440635 -0.07112946] [ 0. 0. 0. 1. ]] SLAMing on 9.149649246000001 meters Centerline goodness : 0.944291 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:-0.07 [[ 0.99438157 0.01582025 -0.10466616 2.2061961 ] [-0.01442259 0.99979661 0.01409695 -0.04128897] [ 0.10486789 -0.01250819 0.9944075 -0.06984138] [ 0. 0. 0. 1. ]] SLAMing on 9.179649246 meters Centerline goodness : 0.945377 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:-0.07 [[ 0.99435806 0.01607963 -0.10484984 2.20562324] [-0.0146116 0.99978438 0.01475443 -0.04193573] [ 0.10506448 -0.01313916 0.99437861 -0.06828512] [ 0. 0. 0. 1. ]] SLAMing on 9.209649246000001 meters Centerline goodness : 0.950553 Centerline is valid? [False, True] Translation: X:2.20, Y:-0.04, Z:-0.07 [[ 0.9943298 0.01660639 -0.10503559 2.20436596] [-0.01500786 0.9997595 0.01599103 -0.04317699] [ 0.10527588 -0.014324 0.99433989 -0.06553831] [ 0. 0. 0. 1. ]] SLAMing on 9.239649246 meters Centerline goodness : 0.949123 Centerline is valid? [True, False] Translation: X:2.20, Y:-0.04, Z:-0.07 [[ 0.99432303 0.01659212 -0.1051019 2.20469765] [-0.01500636 0.9997616 0.01586071 -0.04300174] [ 0.10534 -0.01419347 0.99433497 -0.06586933] [ 0. 0. 0. 1. ]] SLAMing on 9.269649246 meters Centerline goodness : 0.947502 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:-0.07 [[ 0.99419119 0.01767534 -0.10616716 2.21072805] [-0.01579773 0.99970404 0.01850052 -0.04357779] [ 0.10646274 -0.01671586 0.99417617 -0.06727939] [ 0. 0. 0. 1. ]] SLAMing on 9.299649246000001 meters Centerline goodness : 0.946092 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:-0.07 [[ 0.99413009 0.01687194 -0.10686768 2.21326275] [-0.01504729 0.99972731 0.01785744 -0.04311255] [ 0.10713983 -0.01614455 0.99411288 -0.06831052] [ 0. 0. 0. 1. ]] SLAMing on 9.329649246 meters Centerline goodness : 0.945265 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.07 [[ 0.99407177 0.01602656 -0.10753818 2.21606377] [-0.0142691 0.99975209 0.01709228 -0.04296735] [ 0.10778545 -0.01545648 0.99405402 -0.06980117] [ 0. 0. 0. 1. ]] SLAMing on 9.359649246 meters Centerline goodness : 0.944648 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.07 [[ 0.99403631 0.01570178 -0.10791325 2.21708578] [-0.01395531 0.99975945 0.01692026 -0.04317214] [ 0.10815297 -0.01531339 0.99401632 -0.06992512] [ 0. 0. 0. 1. ]] SLAMing on 9.389649246000001 meters Centerline goodness : 0.943551 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.07 [[ 0.99399662 0.01557085 -0.10829709 2.2179138 ] [-0.01381 0.99976027 0.01699048 -0.04325494] [ 0.10853568 -0.0153929 0.99397337 -0.06969836] [ 0. 0. 0. 1. ]] SLAMing on 9.419649246 meters Centerline goodness : 0.943982 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.07 [[ 0.99396002 0.01513774 -0.10869373 2.21926869] [-0.01339709 0.99977034 0.01672666 -0.04294758] [ 0.10892197 -0.01516946 0.99393455 -0.07002937] [ 0. 0. 0. 1. ]] SLAMing on 9.449649246 meters Centerline goodness : 0.945385 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.07 [[ 0.99390707 0.01476322 -0.10922817 2.22061224] [-0.01301122 0.9997753 0.01673517 -0.04302465] [ 0.10945069 -0.01521201 0.99387582 -0.06979074] [ 0. 0. 0. 1. ]] SLAMing on 9.479649246000001 meters Centerline goodness : 0.942723 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.07 [[ 0.99386733 0.01448929 -0.10962573 2.22176307] [-0.01276415 0.99978367 0.01642214 -0.04312081] [ 0.10983996 -0.01492215 0.99383727 -0.0702154 ] [ 0. 0. 0. 1. ]] SLAMing on 9.509649246 meters Centerline goodness : 0.942307 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.07 [[ 0.99381682 0.01419533 -0.11012089 2.22292431] [-0.01247596 0.99978952 0.01628678 -0.04329131] [ 0.11032891 -0.01481221 0.99378475 -0.07018481] [ 0. 0. 0. 1. ]] SLAMing on 9.539649246000002 meters Centerline goodness : 0.942519 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.07 [[ 0.99376893 0.01389414 -0.1105905 2.22403946] [-0.01216975 0.99979386 0.01625238 -0.04343664] [ 0.11079351 -0.01480525 0.99373316 -0.06998508] [ 0. 0. 0. 1. ]] SLAMing on 9.569649246 meters Centerline goodness : 0.942648 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.07 [[ 0.99375785 0.01381206 -0.11070031 2.22416803] [-0.01209031 0.99979552 0.01620943 -0.04350283] [ 0.11090156 -0.01476985 0.99372164 -0.06982265] [ 0. 0. 0. 1. ]] SLAMing on 9.599649246 meters Centerline goodness : 0.942961 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.07 [[ 0.99373671 0.01390625 -0.11087815 2.2242132 ] [-0.01216124 0.99979157 0.01639896 -0.04307009] [ 0.11108308 -0.01494783 0.9936987 -0.06925432] [ 0. 0. 0. 1. ]] SLAMing on 9.629649246000001 meters Centerline goodness : 0.943032 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:-0.07 [[ 0.99373758 0.01360325 -0.11090793 2.22501294] [-0.01195358 0.99980802 0.01552561 -0.04180333] [ 0.11109783 -0.01410263 0.99370941 -0.07069257] [ 0. 0. 0. 1. ]] SLAMing on 9.659649246 meters Centerline goodness : 0.942286 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:-0.07 [[ 0.99369476 0.01320891 -0.11133842 2.22620684] [-0.01157965 0.99981639 0.01526743 -0.04125678] [ 0.11151965 -0.01388191 0.99366527 -0.07077711] [ 0. 0. 0. 1. ]] SLAMing on 9.689649246 meters Centerline goodness : 0.942839 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:-0.07 [[ 0.99365862 0.01297008 -0.11168851 2.22717576] [-0.01134874 0.99982097 0.01514015 -0.04067904] [ 0.11186488 -0.01377662 0.99362792 -0.07081698] [ 0. 0. 0. 1. ]] SLAMing on 9.719649246000001 meters Centerline goodness : 0.941701 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:-0.07 [[ 0.99360741 0.01262814 -0.11218222 2.22834697] [-0.01101087 0.9998265 0.01502439 -0.04048088] [ 0.11235249 -0.01369312 0.99357406 -0.07070401] [ 0. 0. 0. 1. ]] SLAMing on 9.749649246 meters Centerline goodness : 0.941971 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:-0.07 [[ 0.99355828 0.01243722 -0.11263776 2.22904077] [-0.01079324 0.99982632 0.01519332 -0.04119955] [ 0.11280716 -0.01387973 0.99351995 -0.0700227 ] [ 0. 0. 0. 1. ]] SLAMing on 9.779649246 meters Centerline goodness : 0.941668 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:-0.07 [[ 0.99340017 0.01576073 -0.1136121 2.23169315] [-0.01356593 0.99970662 0.02006573 -0.04350014] [ 0.11389502 -0.01839204 0.99332253 -0.06809667] [ 0. 0. 0. 1. ]] SLAMing on 9.809649246000001 meters Centerline goodness : 0.942772 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:-0.07 [[ 0.99338437 0.0154336 -0.11379498 2.23302455] [-0.01332701 0.99972588 0.01924976 -0.04231908] [ 0.11406088 -0.01760586 0.99331775 -0.06964847] [ 0. 0. 0. 1. ]] SLAMing on 9.839649246 meters Centerline goodness : 0.942502 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:-0.07 [[ 0.99333569 0.01493267 -0.1142857 2.23462513] [-0.01287842 0.99974234 0.018692 -0.04158648] [ 0.11453538 -0.01709561 0.99327206 -0.07031869] [ 0. 0. 0. 1. ]] SLAMing on 9.869649246000002 meters Centerline goodness : 0.941454 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99330585 0.01467014 -0.11457869 2.23564695] [-0.01265302 0.99975225 0.01831219 -0.04130796] [ 0.11481895 -0.01673984 0.99324538 -0.07088798] [ 0. 0. 0. 1. ]] SLAMing on 9.899649246000001 meters Centerline goodness : 0.939419 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99327855 0.01461067 -0.11482265 2.23624945] [-0.01260426 0.99975527 0.01818065 -0.04143242] [ 0.11506018 -0.0166112 0.99321962 -0.07109738] [ 0. 0. 0. 1. ]] SLAMing on 9.929649246 meters Centerline goodness : 0.941018 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99323783 0.01457322 -0.11517913 2.23665343] [-0.0125408 0.99975296 0.01835075 -0.0422712 ] [ 0.11541811 -0.01678222 0.99317522 -0.07051995] [ 0. 0. 0. 1. ]] SLAMing on 9.959649246000001 meters Centerline goodness : 0.942758 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99322688 0.01468863 -0.11525887 2.23647367] [-0.01263046 0.99974784 0.01856706 -0.0426959 ] [ 0.11550253 -0.01698553 0.99316195 -0.07004292] [ 0. 0. 0. 1. ]] SLAMing on 9.989649246 meters Centerline goodness : 0.944138 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99320174 0.01473704 -0.11546917 2.23657018] [-0.01264866 0.99974329 0.01879796 -0.04286671] [ 0.11571655 -0.01720963 0.99313318 -0.06943336] [ 0. 0. 0. 1. ]] SLAMing on 10.019649246 meters Centerline goodness : 0.943659 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99316496 0.01438894 -0.11582881 2.23755558] [-0.0123355 0.99975414 0.0184256 -0.04177667] [ 0.11606546 -0.01687085 0.99309827 -0.06961413] [ 0. 0. 0. 1. ]] SLAMing on 10.049649246000001 meters Centerline goodness : 0.945039 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99313442 0.01411181 -0.11612444 2.23844052] [-0.01208265 0.99976209 0.01815945 -0.04139705] [ 0.11635308 -0.01663168 0.99306865 -0.06989807] [ 0. 0. 0. 1. ]] SLAMing on 10.079649246 meters Centerline goodness : 0.945264 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.9930992 0.01371001 -0.11647326 2.2395906 ] [-0.01171036 0.99977236 0.01783534 -0.04106474] [ 0.11669126 -0.01634832 0.99303368 -0.07020428] [ 0. 0. 0. 1. ]] SLAMing on 10.109649246 meters Centerline goodness : 0.945191 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99306393 0.01375877 -0.11676787 2.23966807] [-0.01171912 0.99976684 0.01813626 -0.0416426 ] [ 0.11699017 -0.01664205 0.99299363 -0.06930692] [ 0. 0. 0. 1. ]] SLAMing on 10.139649246000001 meters Centerline goodness : 0.949661 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99303253 0.01405325 -0.11699959 2.23921555] [-0.01194382 0.99975359 0.01871107 -0.04206957] [ 0.11723371 -0.01718328 0.99295569 -0.06790258] [ 0. 0. 0. 1. ]] SLAMing on 10.169649246 meters Centerline goodness : 0.948957 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99301141 0.01397741 -0.11718777 2.23962265] [-0.01188134 0.99975704 0.01856601 -0.04200584] [ 0.1174188 -0.01704391 0.99293622 -0.06802497] [ 0. 0. 0. 1. ]] SLAMing on 10.199649246 meters Centerline goodness : 0.948023 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99296908 0.01361711 -0.11758815 2.24088677] [-0.01155245 0.99976722 0.01822219 -0.04163707] [ 0.11780891 -0.01673564 0.99289525 -0.06847314] [ 0. 0. 0. 1. ]] SLAMing on 10.229649246000001 meters Centerline goodness : 0.945600 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99294748 0.01321582 -0.11781617 2.24207326] [-0.01121338 0.99978147 0.01764302 -0.04080992] [ 0.11802359 -0.01619747 0.99287868 -0.06944528] [ 0. 0. 0. 1. ]] SLAMing on 10.259649246 meters Centerline goodness : 0.943370 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99291683 0.01285982 -0.1181135 2.24314642] [-0.0109037 0.99979274 0.01719268 -0.04028726] [ 0.11831012 -0.01578303 0.99285125 -0.07001277] [ 0. 0. 0. 1. ]] SLAMing on 10.289649246000002 meters Centerline goodness : 0.943415 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:-0.07 [[ 0.99288358 0.01243436 -0.11843808 2.24451337] [-0.01055337 0.99980824 0.01649556 -0.03950258] [ 0.11862048 -0.01512825 0.99282441 -0.07108529] [ 0. 0. 0. 1. ]] SLAMing on 10.319649246 meters Centerline goodness : 0.943079 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.07 [[ 0.99284573 0.01194338 -0.11880538 2.24603356] [-0.01010864 0.99982035 0.01603388 -0.03908617] [ 0.11897553 -0.01471821 0.99278809 -0.07184857] [ 0. 0. 0. 1. ]] SLAMing on 10.349649246 meters Centerline goodness : 0.941371 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.07 [[ 0.99280554 0.01168901 -0.11916594 2.2470879 ] [-0.00988748 0.99982789 0.01569789 -0.03892435] [ 0.11932892 -0.0144067 0.99275025 -0.07229388] [ 0. 0. 0. 1. ]] SLAMing on 10.379649246000001 meters Centerline goodness : 0.942756 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.07 [[ 0.99276693 0.01159992 -0.11949591 2.24775259] [-0.00977936 0.99982718 0.01581051 -0.03922225] [ 0.11965866 -0.01452756 0.9927088 -0.07202982] [ 0. 0. 0. 1. ]] SLAMing on 10.409649246 meters Centerline goodness : 0.941663 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.07 [[ 0.99273859 0.0114901 -0.1197417 2.24827325] [-0.00967631 0.99982964 0.01571794 -0.03907948] [ 0.1199019 -0.01444515 0.99268065 -0.07198135] [ 0. 0. 0. 1. ]] SLAMing on 10.439649246 meters Centerline goodness : 0.941706 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.07 [[ 0.99273474 0.01137077 -0.11978499 2.24858628] [-0.00958355 0.99983416 0.01548574 -0.03854831] [ 0.11994121 -0.01422527 0.99267908 -0.07230552] [ 0. 0. 0. 1. ]] SLAMing on 10.469649246000001 meters Centerline goodness : 0.944414 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.07 [[ 0.99271962 0.01131214 -0.1199158 2.24895703] [-0.00954684 0.99983759 0.01528549 -0.03797828] [ 0.12006924 -0.01402939 0.99266639 -0.07252154] [ 0. 0. 0. 1. ]] SLAMing on 10.499649246 meters Centerline goodness : 0.943002 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.07 [[ 0.99269043 0.01105872 -0.12018076 2.24974726] [-0.00931543 0.99984323 0.01505773 -0.03775199] [ 0.12032844 -0.01382813 0.99263782 -0.07274095] [ 0. 0. 0. 1. ]] SLAMing on 10.529649246 meters Centerline goodness : 0.944835 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.07 [[ 0.99269243 0.01099663 -0.12016993 2.25002712] [-0.00927346 0.99984614 0.0148893 -0.03801692] [ 0.12031518 -0.01366611 0.99264168 -0.07321119] [ 0. 0. 0. 1. ]] SLAMing on 10.559649246000001 meters Centerline goodness : 0.944508 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.07 [[ 0.99265066 0.01065889 -0.12054485 2.25114248] [-0.00895446 0.99985226 0.01467226 -0.03797344] [ 0.12068343 -0.01348501 0.99259945 -0.07343571] [ 0. 0. 0. 1. ]] SLAMing on 10.589649246 meters Centerline goodness : 0.942135 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.07 [[ 0.99262802 0.01051799 -0.12074351 2.25179961] [-0.00883147 0.99985595 0.01449441 -0.0380153 ] [ 0.12087856 -0.01332121 0.99257792 -0.07377547] [ 0. 0. 0. 1. ]] SLAMing on 10.619649246000002 meters Centerline goodness : 0.942427 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.07 [[ 0.99258798 0.0100895 -0.12110867 2.25319444] [-0.00847817 0.99986866 0.01381278 -0.03755147] [ 0.12123213 -0.01268362 0.99254315 -0.07476513] [ 0. 0. 0. 1. ]] SLAMing on 10.649649246000001 meters Centerline goodness : 0.942554 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.08 [[ 0.99252689 0.0095917 -0.12164856 2.25492158] [-0.00802105 0.99987812 0.01339453 -0.037171 ] [ 0.12176221 -0.01231868 0.99248285 -0.07527792] [ 0. 0. 0. 1. ]] SLAMing on 10.679649246 meters Centerline goodness : 0.941158 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.08 [[ 0.99247806 0.00927038 -0.12207109 2.25609055] [-0.00771036 0.99988254 0.01324581 -0.03728107] [ 0.12217955 -0.01220497 0.99243297 -0.07540158] [ 0. 0. 0. 1. ]] SLAMing on 10.709649246000001 meters Centerline goodness : 0.939971 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.08 [[ 0.99242816 0.00881203 -0.12250998 2.25748947] [-0.00727031 0.99988873 0.01302586 -0.03652839] [ 0.12261113 -0.01203655 0.9923818 -0.07553989] [ 0. 0. 0. 1. ]] SLAMing on 10.739649246 meters Centerline goodness : 0.939971 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.08 [[ 0.99242816 0.00881203 -0.12250998 2.25748947] [-0.00727031 0.99988873 0.01302586 -0.03652839] [ 0.12261113 -0.01203655 0.9923818 -0.07553989] [ 0. 0. 0. 1. ]] SLAMing on 10.769649246 meters Centerline goodness : 0.939743 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.08 [[ 0.99240701 0.00863019 -0.1226941 2.25792587] [-0.00711335 0.99989283 0.01279543 -0.03591441] [ 0.12279138 -0.01182551 0.99236205 -0.07559903] [ 0. 0. 0. 1. ]] SLAMing on 10.799649246000001 meters Centerline goodness : 0.942650 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.07 [[ 0.99241659 0.00920059 -0.12257509 2.25635622] [-0.00760929 0.99988067 0.01344401 -0.03595776] [ 0.12268416 -0.01240934 0.99236818 -0.07406309] [ 0. 0. 0. 1. ]] SLAMing on 10.829649246 meters Centerline goodness : 0.945684 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.07 [[ 0.99241751 0.00928285 -0.12256147 2.25608677] [-0.00767966 0.99987875 0.01354661 -0.03592678] [ 0.12267236 -0.01250267 0.99236847 -0.07377581] [ 0. 0. 0. 1. ]] SLAMing on 10.859649246 meters Centerline goodness : 0.950353 Centerline is valid? [False, True] Translation: X:2.26, Y:-0.04, Z:-0.07 [[ 0.99241825 0.0095881 -0.12253195 2.25527161] [-0.0079324 0.99987063 0.01399309 -0.0360792 ] [ 0.12265027 -0.01291502 0.99236592 -0.07275238] [ 0. 0. 0. 1. ]] SLAMing on 10.889649246000001 meters Centerline goodness : 0.950077 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.03, Z:-0.08 [[ 9.92411061e-01 7.62764360e-03 -1.22727766e-01 2.28419979e+00] [-7.45136419e-03 9.99970442e-01 1.89526712e-03 -3.18758090e-02] [ 1.22738594e-01 -9.66394776e-04 9.92438564e-01 -7.67237241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.919649246 meters Centerline goodness : 0.948487 Centerline is valid? [True, False] Translation: X:2.29, Y:-0.03, Z:-0.07 [[ 0.99225842 0.01120392 -0.12368386 2.28634422] [-0.0103682 0.99991888 0.00739852 -0.03474763] [ 0.12375672 -0.00605886 0.99229409 -0.07386317] [ 0. 0. 0. 1. ]] SLAMing on 10.949649246000002 meters Centerline goodness : 0.949208 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:-0.07 [[ 0.99225961 0.01141243 -0.12365529 2.2861218 ] [-0.01055663 0.99991559 0.00757381 -0.03532581] [ 0.12373129 -0.0062098 0.99229633 -0.07378681] [ 0. 0. 0. 1. ]] SLAMing on 10.979649246000001 meters Centerline goodness : 0.947477 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:-0.07 [[ 0.99223953 0.01127654 -0.12382871 2.28676602] [-0.01041403 0.99991681 0.00761037 -0.03520356] [ 0.12390422 -0.00626176 0.99227442 -0.07381154] [ 0. 0. 0. 1. ]] SLAMing on 11.009649246 meters Centerline goodness : 0.951232 Centerline is valid? [False, True] Translation: X:2.29, Y:-0.04, Z:-0.07 [[ 0.99208558 0.01498531 -0.12466611 2.28870185] [-0.01346509 0.99982446 0.01302811 -0.03817888] [ 0.12483946 -0.01124636 0.99211321 -0.07120815] [ 0. 0. 0. 1. ]] SLAMing on 11.039649246000002 meters Centerline goodness : 0.950205 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.03, Z:-0.07 [[ 9.92082003e-01 1.32682420e-02 -1.24888963e-01 2.31854753e+00] [-1.30477919e-02 9.99911538e-01 2.58300448e-03 -3.48448911e-02] [ 1.24912187e-01 -9.33027066e-04 9.92167362e-01 -7.39424042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.069649246 meters Centerline goodness : 0.951483 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.04, Z:-0.07 [[ 9.92085589e-01 1.29913855e-02 -1.24889585e-01 2.34658200e+00] [-1.27725833e-02 9.99915169e-01 2.55255553e-03 -3.62656569e-02] [ 1.24912152e-01 -9.37190931e-04 9.92167363e-01 -6.84785753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.099649246 meters Centerline goodness : 0.949777 Centerline is valid? [True, False] Translation: X:2.35, Y:-0.04, Z:-0.07 [[ 9.92038385e-01 1.26875403e-02 -1.25295130e-01 2.34804741e+00] [-1.24909510e-02 9.99919213e-01 2.35454059e-03 -3.61158855e-02] [ 1.25314881e-01 -7.70739308e-04 9.92116720e-01 -6.90141109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129649246000001 meters Centerline goodness : 0.950194 Centerline is valid? [False, True] Translation: X:2.35, Y:-0.04, Z:-0.07 [[ 9.92005683e-01 1.26144062e-02 -1.25561147e-01 2.34875649e+00] [-1.24026142e-02 9.99920038e-01 2.46838864e-03 -3.61238465e-02] [ 1.25582244e-01 -8.91369090e-04 9.92082812e-01 -6.89364123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.159649246 meters Centerline goodness : 0.947533 Centerline is valid? [True, False] Translation: X:2.35, Y:-0.04, Z:-0.07 [[ 0.99184112 0.01570092 -0.12650958 2.35181882] [-0.01491824 0.99986328 0.00713191 -0.03816568] [ 0.12660426 -0.00518643 0.99193975 -0.06741705] [ 0. 0. 0. 1. ]] SLAMing on 11.189649246 meters Centerline goodness : 0.949433 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.04, Z:-0.07 [[ 0.99182244 0.01568048 -0.12665847 2.35207876] [-0.01489589 0.99986356 0.00713931 -0.03814225] [ 0.12675313 -0.00519423 0.99192069 -0.06734494] [ 0. 0. 0. 1. ]] SLAMing on 11.219649246000001 meters Centerline goodness : 0.949706 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.04, Z:-0.07 [[ 0.99182023 0.01587524 -0.12665154 2.35171165] [-0.01505289 0.99985896 0.00744759 -0.03812896] [ 0.1267519 -0.0054802 0.99191931 -0.06677498] [ 0. 0. 0. 1. ]] SLAMing on 11.249649246 meters Centerline goodness : 0.952399 Centerline is valid? [False, True] Translation: X:2.35, Y:-0.04, Z:-0.07 [[ 0.99180955 0.01607549 -0.12670985 2.35136013] [-0.01518859 0.99985294 0.00796259 -0.03854298] [ 0.12681922 -0.00597283 0.99190786 -0.06588918] [ 0. 0. 0. 1. ]] SLAMing on 11.279649246 meters Centerline goodness : 0.954877 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.04, Z:-0.07 [[ 9.91815785e-01 1.46988758e-02 -1.26828197e-01 2.37953577e+00] [-1.44400325e-02 9.99891356e-01 2.96012028e-03 -3.82040025e-02] [ 1.26857928e-01 -1.10449074e-03 9.91920282e-01 -6.50601787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309649246000001 meters Centerline goodness : 0.955420 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.04, Z:-0.06 [[ 9.91820573e-01 1.43699030e-02 -1.26828455e-01 2.40783940e+00] [-1.41097976e-02 9.99896103e-01 2.94904253e-03 -3.84525200e-02] [ 1.26857655e-01 -1.13539723e-03 9.91920282e-01 -6.16037966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.339649246 meters Centerline goodness : 0.955837 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.04, Z:-0.06 [[ 9.91843312e-01 1.26957469e-02 -1.26829268e-01 2.43544410e+00] [-1.24265388e-02 9.99918543e-01 2.91362828e-03 -3.88434839e-02] [ 1.26855928e-01 -1.31381390e-03 9.91920283e-01 -5.89365241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.369649246000002 meters Centerline goodness : 0.955043 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.04, Z:-0.06 [[ 9.91838917e-01 1.30308865e-02 -1.26829647e-01 2.46381926e+00] [-1.27665243e-02 9.99914308e-01 2.89706858e-03 -3.99023889e-02] [ 1.26856530e-01 -1.25425160e-03 9.91920283e-01 -5.56329834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.399649246000001 meters Centerline goodness : 0.957219 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.04, Z:-0.05 [[ 9.91860366e-01 1.12718451e-02 -1.26830434e-01 2.49121651e+00] [-1.09976247e-02 9.99935428e-01 2.86216182e-03 -3.99048514e-02] [ 1.26854507e-01 -1.44403136e-03 9.91920284e-01 -5.27675595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.429649246 meters Centerline goodness : 0.956627 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.04, Z:-0.05 [[ 9.91865859e-01 1.07734367e-02 -1.26830796e-01 2.51992727e+00] [-1.04972179e-02 9.99940852e-01 2.84605500e-03 -4.07978764e-02] [ 1.26853956e-01 -1.49153429e-03 9.91920284e-01 -4.90560908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459649246000001 meters Centerline goodness : 0.956757 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.04, Z:-0.05 [[ 9.91878089e-01 9.57271418e-03 -1.26831462e-01 2.54811402e+00] [-9.29055326e-03 9.99952877e-01 2.81607473e-03 -4.05408987e-02] [ 1.26852442e-01 -1.61486838e-03 9.91920284e-01 -4.64813329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.489649246 meters Centerline goodness : 0.955150 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.04, Z:-0.04 [[ 9.91881654e-01 9.18558421e-03 -1.26832213e-01 2.57569455e+00] [-8.90465355e-03 9.99956483e-01 2.78180116e-03 -4.07763922e-02] [ 1.26852246e-01 -1.62982062e-03 9.91920285e-01 -4.48435148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.519649246 meters Centerline goodness : 0.955039 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.04, Z:-0.04 [[ 9.91885509e-01 8.75603975e-03 -1.26832444e-01 2.60391814e+00] [-8.47296241e-03 9.99960264e-01 2.77124035e-03 -4.09350809e-02] [ 1.26851669e-01 -1.67410662e-03 9.91920285e-01 -4.23596572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549649246000001 meters Centerline goodness : 0.956660 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.04, Z:-0.04 [[ 9.91878813e-01 9.47448230e-03 -1.26833173e-01 2.63145950e+00] [-9.20157045e-03 9.99953918e-01 2.73747716e-03 -4.16101189e-02] [ 1.26853264e-01 -1.54818122e-03 9.91920285e-01 -3.92100208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.579649246 meters Centerline goodness : 0.955167 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.04, Z:-0.04 [[ 9.91861755e-01 1.11139360e-02 -1.26833512e-01 2.66059199e+00] [-1.08563898e-02 9.99937364e-01 2.72169444e-03 -4.22295750e-02] [ 1.26855816e-01 -1.32259059e-03 9.91920285e-01 -3.63335857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.609649246 meters Centerline goodness : 0.953994 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.04, Z:-0.03 [[ 9.91849645e-01 1.21402013e-02 -1.26834129e-01 2.68833901e+00] [-1.18947302e-02 9.99925630e-01 2.69260678e-03 -4.22378462e-02] [ 1.26857385e-01 -1.16200333e-03 9.91920286e-01 -3.35070355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639649246000001 meters Centerline goodness : 0.953349 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.04, Z:-0.03 [[ 9.91836467e-01 1.31662752e-02 -1.26834825e-01 2.71524831e+00] [-1.29334005e-02 9.99912823e-01 2.65943633e-03 -4.37772621e-02] [ 1.26858783e-01 -9.97320346e-04 9.91920286e-01 -2.89143446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669649246 meters Centerline goodness : 0.954184 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.04, Z:-0.03 [[ 9.91834890e-01 1.32816095e-02 -1.26835125e-01 2.74438937e+00] [-1.30515167e-02 9.99911327e-01 2.64502534e-03 -4.44460139e-02] [ 1.26859009e-01 -9.68037658e-04 9.91920287e-01 -2.52540013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.699649246000002 meters Centerline goodness : 0.951031 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.04, Z:-0.02 [[ 9.91843104e-01 1.26474094e-02 -1.26835720e-01 2.77185175e+00] [-1.24158384e-02 9.99919498e-01 2.61619966e-03 -4.46626384e-02] [ 1.26858597e-01 -1.02008779e-03 9.91920287e-01 -1.91987455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729649246000001 meters Centerline goodness : 0.952399 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.04, Z:-0.02 [[ 9.91855915e-01 1.15913208e-02 -1.26836449e-01 2.79925219e+00] [-1.13557325e-02 9.99932192e-01 2.58036556e-03 -4.48224395e-02] [ 1.26857758e-01 -1.11903006e-03 9.91920288e-01 -1.65060551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.759649246 meters Centerline goodness : 0.954143 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.05, Z:-0.01 [[ 9.91864985e-01 1.07846598e-02 -1.26836675e-01 2.82798467e+00] [-1.05439317e-02 9.99941111e-01 2.56919379e-03 -4.54972303e-02] [ 1.26856914e-01 -1.21093612e-03 9.91920288e-01 -9.68796124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789649246000002 meters Centerline goodness : 0.955898 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.05, Z:-0.01 [[ 9.91865757e-01 1.07060550e-02 -1.26837301e-01 2.85522899e+00] [-1.04686833e-02 9.99941981e-01 2.53793905e-03 -4.59048460e-02] [ 1.26857113e-01 -1.18947531e-03 9.91920288e-01 -5.68727234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.819649246 meters Centerline goodness : 0.955392 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.05, Z:-0.00 [[ 9.91861211e-01 1.11167244e-02 -1.26837520e-01 2.88308871e+00] [-1.08841007e-02 9.99937573e-01 2.52695778e-03 -4.59228666e-02] [ 1.26857693e-01 -1.12587907e-03 9.91920288e-01 -4.54664230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.849649246 meters Centerline goodness : 0.954714 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.05, Z:-0.00 [[ 9.91869768e-01 1.03223712e-02 -1.26837735e-01 2.91224334e+00] [-1.00846709e-02 9.99945983e-01 2.51607645e-03 -4.54559443e-02] [ 1.26856856e-01 -1.21650335e-03 9.91920288e-01 -4.65122358e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879649246000001 meters Centerline goodness : 0.956331 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.05, Z:0.01 [[ 9.91875602e-01 9.73803202e-03 -1.26838326e-01 2.93963252e+00] [-9.49942798e-03 9.99951789e-01 2.48593389e-03 -4.58116422e-02] [ 1.26856419e-01 -1.26084563e-03 9.91920289e-01 5.06381413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909649246 meters Centerline goodness : 0.958500 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.05, Z:0.01 [[ 9.91871370e-01 1.01512343e-02 -1.26839019e-01 2.96710242e+00] [-9.92058293e-03 9.99947788e-01 2.45005106e-03 -4.68090293e-02] [ 1.26857268e-01 -1.17181849e-03 9.91920289e-01 9.21985344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.939649246 meters Centerline goodness : 0.959122 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.05, Z:0.01 [[ 9.91870413e-01 1.02417271e-02 -1.26839233e-01 2.99522166e+00] [-1.00132305e-02 9.99946892e-01 2.43896221e-03 -4.74158051e-02] [ 1.26857476e-01 -1.14906398e-03 9.91920289e-01 1.30569211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969649246000001 meters Centerline goodness : 0.956510 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.05, Z:0.02 [[ 9.91875354e-01 9.74875605e-03 -1.26839444e-01 3.02302946e+00] [-9.51765639e-03 9.99951759e-01 2.42792733e-03 -4.77099838e-02] [ 1.26856994e-01 -1.20098704e-03 9.91920289e-01 1.62290144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.999649246 meters Centerline goodness : 0.955341 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.05, Z:0.02 [[ 9.91880069e-01 9.24748408e-03 -1.26840108e-01 3.05218214e+00] [-9.01680066e-03 9.99956485e-01 2.39275118e-03 -4.83807524e-02] [ 1.26856715e-01 -1.22963024e-03 9.91920290e-01 1.79630573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.029649246000002 meters Centerline goodness : 0.953847 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.05, Z:0.02 [[ 9.91885026e-01 8.69119424e-03 -1.26840679e-01 3.08074161e+00] [-8.45990793e-03 9.99961425e-01 2.36204169e-03 -4.87172797e-02] [ 1.26856315e-01 -1.26981331e-03 9.91920291e-01 1.97621362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059649246000001 meters Centerline goodness : 0.947336 Centerline is valid? [True, False] Translation: X:3.08, Y:-0.05, Z:0.02 [[ 9.91779050e-01 7.72399002e-03 -1.27728835e-01 3.08403201e+00] [-7.57196601e-03 9.99969928e-01 1.67574130e-03 -4.84238952e-02] [ 1.27737937e-01 -6.94806720e-04 9.91807712e-01 1.85902500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089649246 meters Centerline goodness : 0.945469 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:0.02 [[ 0.99159967 0.01082487 -0.12889109 3.08751879] [-0.01008709 0.9999288 0.00637553 -0.05065043] [ 0.12895093 -0.00502184 0.99163826 0.02008654] [ 0. 0. 0. 1. ]] SLAMing on 12.119649246000002 meters Centerline goodness : 0.942099 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:0.02 [[ 0.99155792 0.01036118 -0.12924988 3.08904827] [-0.00969194 0.99993618 0.00580583 -0.04989222] [ 0.12930179 -0.00450413 0.99159506 0.01917859] [ 0. 0. 0. 1. ]] SLAMing on 12.149649246000001 meters Centerline goodness : 0.938898 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:0.02 [[ 0.99151934 0.0101575 -0.12956166 3.08995701] [-0.00949309 0.99993844 0.00574472 -0.0495197 ] [ 0.12961204 -0.00446606 0.99155473 0.01913356] [ 0. 0. 0. 1. ]] SLAMing on 12.179649246 meters Centerline goodness : 0.939557 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:0.02 [[ 0.99135258 0.0134963 -0.13052932 3.09264974] [-0.01221346 0.99986898 0.01062356 -0.05122221] [ 0.1306556 -0.00893748 0.99138753 0.02108554] [ 0. 0. 0. 1. ]] SLAMing on 12.209649246000001 meters Centerline goodness : 0.942266 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:0.02 [[ 0.99132846 0.01355657 -0.13070614 3.09252678] [-0.0122197 0.99986456 0.01102474 -0.05122218] [ 0.13083789 -0.00933194 0.99135985 0.02210072] [ 0. 0. 0. 1. ]] SLAMing on 12.239649246 meters Centerline goodness : 0.947778 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:0.03 [[ 0.99133524 0.01444985 -0.13055898 3.09008727] [-0.01287439 0.99983387 0.01290308 -0.0529668 ] [ 0.13072373 -0.01111041 0.99135658 0.02565166] [ 0. 0. 0. 1. ]] SLAMing on 12.269649246 meters Centerline goodness : 0.947993 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:0.03 [[ 0.99130118 0.0144758 -0.13081445 3.09006508] [-0.01282234 0.99982701 0.01347323 -0.05329366] [ 0.13098686 -0.01167868 0.99131531 0.02698279] [ 0. 0. 0. 1. ]] SLAMing on 12.299649246000001 meters Centerline goodness : 0.945875 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:0.03 [[ 0.99110543 0.01744253 -0.13193101 3.09367947] [-0.01518404 0.99972078 0.01810551 -0.05486737] [ 0.13220998 -0.01594123 0.99109354 0.02856012] [ 0. 0. 0. 1. ]] SLAMing on 12.329649246 meters Centerline goodness : 0.945927 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99105792 0.01697353 -0.13234843 3.09519231] [-0.01476132 0.99973475 0.0176784 -0.05429176] [ 0.13261339 -0.01556668 0.99104559 0.02798771] [ 0. 0. 0. 1. ]] SLAMing on 12.359649246000002 meters Centerline goodness : 0.945093 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99104354 0.01667338 -0.13249416 3.09593414] [-0.01450392 0.99974475 0.01732236 -0.05418918] [ 0.13274916 -0.01524553 0.99103241 0.02745038] [ 0. 0. 0. 1. ]] SLAMing on 12.389649246000001 meters Centerline goodness : 0.944027 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99097879 0.01611297 -0.13304667 3.09759011] [-0.01394854 0.99975504 0.01718431 -0.05418616] [ 0.13329097 -0.01517348 0.99096079 0.02747741] [ 0. 0. 0. 1. ]] SLAMing on 12.419649246 meters Centerline goodness : 0.944463 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99093512 0.01566411 -0.13342501 3.09913622] [-0.01355622 0.99976877 0.01669215 -0.05407214] [ 0.13365562 -0.0147321 0.99091833 0.02659451] [ 0. 0. 0. 1. ]] SLAMing on 12.449649246000002 meters Centerline goodness : 0.944022 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99088913 0.01534569 -0.13380302 3.09996474] [-0.01322934 0.99977316 0.01669169 -0.05390935] [ 0.13402881 -0.01476949 0.99086737 0.02701837] [ 0. 0. 0. 1. ]] SLAMing on 12.479649246000001 meters Centerline goodness : 0.943551 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99087929 0.01521659 -0.13389056 3.10006377] [-0.0130893 0.99977396 0.01675423 -0.05362639] [ 0.13411524 -0.01484889 0.99085449 0.0274533 ] [ 0. 0. 0. 1. ]] SLAMing on 12.509649246 meters Centerline goodness : 0.943619 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99088122 0.01511727 -0.13388755 3.10026988] [-0.01301537 0.99977815 0.01656038 -0.05316391] [ 0.1341082 -0.01466677 0.99085815 0.02717328] [ 0. 0. 0. 1. ]] SLAMing on 12.539649246000002 meters Centerline goodness : 0.941680 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99084017 0.01458259 -0.13425013 3.10146837] [-0.01251504 0.99978993 0.01623176 -0.05249414] [ 0.13445862 -0.01440294 0.99081453 0.02708448] [ 0. 0. 0. 1. ]] SLAMing on 12.569649246 meters Centerline goodness : 0.943683 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99079787 0.01446594 -0.13457458 3.10193272] [-0.01236727 0.99978873 0.01641779 -0.05279286] [ 0.13478365 -0.01460239 0.99076745 0.02769685] [ 0. 0. 0. 1. ]] SLAMing on 12.599649246 meters Centerline goodness : 0.943683 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99079787 0.01446594 -0.13457458 3.10193272] [-0.01236727 0.99978873 0.01641779 -0.05279286] [ 0.13478365 -0.01460239 0.99076745 0.02769685] [ 0. 0. 0. 1. ]] SLAMing on 12.629649246000001 meters Centerline goodness : 0.943360 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.990781 0.0144007 -0.13470572 3.10192607] [-0.01226057 0.99978531 0.01670354 -0.05352501] [ 0.13491734 -0.01489798 0.99074485 0.02842645] [ 0. 0. 0. 1. ]] SLAMing on 12.659649246 meters Centerline goodness : 0.947302 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99079168 0.01448729 -0.13461787 3.10170591] [-0.01233871 0.99978305 0.01678126 -0.05366421] [ 0.13483178 -0.01496572 0.99075548 0.0284679 ] [ 0. 0. 0. 1. ]] SLAMing on 12.689649246 meters Centerline goodness : 0.948346 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99079038 0.01457626 -0.13461781 3.10130377] [-0.01236556 0.99977485 0.01724361 -0.05348239] [ 0.13483885 -0.01542018 0.99074755 0.02950722] [ 0. 0. 0. 1. ]] SLAMing on 12.719649246000001 meters Centerline goodness : 0.949419 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99076716 0.01422326 -0.13482632 3.10201689] [-0.01203603 0.99978264 0.0170239 -0.05332401] [ 0.13503915 -0.01524395 0.99072299 0.02942842] [ 0. 0. 0. 1. ]] SLAMing on 12.749649246 meters Centerline goodness : 0.950621 Centerline is valid? [False, True] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99072236 0.01390273 -0.13518846 3.10284439] [-0.01171307 0.99978724 0.01697905 -0.05330305] [ 0.13539575 -0.01523806 0.99067441 0.02972134] [ 0. 0. 0. 1. ]] SLAMing on 12.779649246000002 meters Centerline goodness : 0.948197 Centerline is valid? [True, False] Translation: X:3.10, Y:-0.05, Z:0.03 [[ 0.99070382 0.01361255 -0.13535379 3.10372298] [-0.01146879 0.99979634 0.01660543 -0.05312207] [ 0.13555227 -0.01489872 0.99065817 0.02904108] [ 0. 0. 0. 1. ]] SLAMing on 12.809649246000001 meters Centerline goodness : 0.945447 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99065922 0.01277132 -0.1357616 3.10610694] [-0.01077714 0.99982312 0.01541367 -0.05130223] [ 0.13593444 -0.01380658 0.99062163 0.02708494] [ 0. 0. 0. 1. ]] SLAMing on 12.839649246 meters Centerline goodness : 0.942617 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99063101 0.01243521 -0.13599839 3.10725557] [-0.01049123 0.99983243 0.01500156 -0.05099422] [ 0.13616215 -0.01343422 0.99059547 0.02629624] [ 0. 0. 0. 1. ]] SLAMing on 12.869649246000002 meters Centerline goodness : 0.941176 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99055267 0.01186532 -0.13661851 3.10933664] [-0.00996026 0.99984352 0.01461957 -0.0508549 ] [ 0.1367706 -0.0131207 0.99051585 0.02570021] [ 0. 0. 0. 1. ]] SLAMing on 12.899649246000001 meters Centerline goodness : 0.941222 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99054872 0.01190907 -0.13664334 3.10931684] [-0.01000586 0.99984325 0.01460671 -0.05050466] [ 0.13679587 -0.01310143 0.99051262 0.02577281] [ 0. 0. 0. 1. ]] SLAMing on 12.929649246 meters Centerline goodness : 0.939977 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99039306 0.01520949 -0.13744186 3.11180961] [-0.0127172 0.99973873 0.0189934 -0.05230915] [ 0.13769483 -0.01706306 0.99032772 0.02700857] [ 0. 0. 0. 1. ]] SLAMing on 12.959649246000001 meters Centerline goodness : 0.937941 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99037159 0.01487373 -0.13763318 3.11281188] [-0.0124342 0.99975028 0.01856771 -0.05170186] [ 0.13787498 -0.01667757 0.99030922 0.02634029] [ 0. 0. 0. 1. ]] SLAMing on 12.989649246 meters Centerline goodness : 0.937094 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.02 [[ 0.99035454 0.01433764 -0.13781261 3.11426408] [-0.01204309 0.99977487 0.01746924 -0.05014219] [ 0.13803205 -0.01564105 0.99030425 0.0246123 ] [ 0. 0. 0. 1. ]] SLAMing on 13.019649246 meters Centerline goodness : 0.937940 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.02 [[ 0.99032346 0.01430078 -0.13803958 3.11467984] [-0.01201815 0.99977715 0.01735547 -0.04983524] [ 0.13825702 -0.01552855 0.99027464 0.02461401] [ 0. 0. 0. 1. ]] SLAMing on 13.049649246000001 meters Centerline goodness : 0.939574 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99036387 0.01528288 -0.13764387 3.11233507] [-0.01294491 0.99975661 0.01786489 -0.04995033] [ 0.1378834 -0.01591095 0.99032066 0.02567998] [ 0. 0. 0. 1. ]] SLAMing on 13.079649246 meters Centerline goodness : 0.940355 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99017993 0.01938234 -0.13844868 3.11373723] [-0.0163657 0.99960393 0.02289423 -0.05216888] [ 0.13883759 -0.0204036 0.99010495 0.02787423] [ 0. 0. 0. 1. ]] SLAMing on 13.109649246000002 meters Centerline goodness : 0.939561 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99020837 0.0204558 -0.13809035 3.11205221] [-0.0175395 0.99959739 0.02230285 -0.05005215] [ 0.13849098 -0.01966244 0.99016849 0.02695419] [ 0. 0. 0. 1. ]] SLAMing on 13.139649246000001 meters Centerline goodness : 0.938447 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.9902275 0.02060369 -0.13793107 3.11194794] [-0.01779638 0.99960925 0.02155549 -0.04818258] [ 0.1383213 -0.01889017 0.99020724 0.02580596] [ 0. 0. 0. 1. ]] SLAMing on 13.169649246 meters Centerline goodness : 0.938065 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.02 [[ 0.99032396 0.02169173 -0.13706903 3.10964296] [-0.01901078 0.9996021 0.02083822 -0.04533194] [ 0.13746651 -0.0180308 0.99034229 0.02432965] [ 0. 0. 0. 1. ]] SLAMing on 13.199649246000002 meters Centerline goodness : 0.940119 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99030822 0.02180257 -0.13716516 3.10910319] [-0.0190061 0.99958462 0.02166454 -0.04666493] [ 0.13758052 -0.0188476 0.99031125 0.02596612] [ 0. 0. 0. 1. ]] SLAMing on 13.229649246000001 meters Centerline goodness : 0.941988 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99028557 0.02165016 -0.13735266 3.10951669] [-0.01882632 0.99958453 0.0218251 -0.04748913] [ 0.13776811 -0.01902724 0.99028173 0.02627203] [ 0. 0. 0. 1. ]] SLAMing on 13.259649246 meters Centerline goodness : 0.941101 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.03 [[ 0.99044147 0.0180957 -0.13674153 3.10767392] [-0.01586217 0.99972267 0.01740607 -0.04584863] [ 0.13701858 -0.01507067 0.99045383 0.02509593] [ 0. 0. 0. 1. ]] SLAMing on 13.289649246000002 meters Centerline goodness : 0.944781 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.02 [[ 0.99057955 0.01451841 -0.13616671 3.10593115] [-0.01283672 0.99983021 0.01322017 -0.0446868 ] [ 0.13633553 -0.0113477 0.99059773 0.02424285] [ 0. 0. 0. 1. ]] SLAMing on 13.319649246 meters Centerline goodness : 0.945659 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.02 [[ 0.99056109 0.01447764 -0.13630528 3.10620734] [-0.01275298 0.9998273 0.01351765 -0.04539135] [ 0.13647744 -0.01165176 0.99057465 0.02466924] [ 0. 0. 0. 1. ]] SLAMing on 13.349649246 meters Centerline goodness : 0.943390 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.02 [[ 0.99055433 0.01427941 -0.13637525 3.10675725] [-0.01256362 0.99983083 0.01343391 -0.04530431] [ 0.13654401 -0.01159365 0.99056616 0.02443653] [ 0. 0. 0. 1. ]] SLAMing on 13.379649246000001 meters Centerline goodness : 0.944121 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.02 [[ 0.99055505 0.01418186 -0.13638026 3.10715396] [-0.01249313 0.99983442 0.01323051 -0.04506575] [ 0.13654531 -0.01140173 0.99056821 0.02391652] [ 0. 0. 0. 1. ]] SLAMing on 13.409649246 meters Centerline goodness : 0.942432 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.02 [[ 0.99055412 0.01371783 -0.13643446 3.10868969] [-0.01212529 0.99984839 0.01249681 -0.04473962] [ 0.13658521 -0.01072446 0.99057027 0.02206592] [ 0. 0. 0. 1. ]] SLAMing on 13.439649246000002 meters Centerline goodness : 0.939406 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.02 [[ 0.99048203 0.01310908 -0.13701642 3.11057998] [-0.01151966 0.99985692 0.0123868 -0.04529452] [ 0.1371592 -0.01069052 0.99049133 0.02193686] [ 0. 0. 0. 1. ]] SLAMing on 13.469649246000001 meters Centerline goodness : 0.937734 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:0.02 [[ 0.99040141 0.01202836 -0.13769666 3.11373203] [-0.01043499 0.99987005 0.01228769 -0.04773287] [ 0.13782657 -0.01073288 0.99039822 0.02112229] [ 0. 0. 0. 1. ]] SLAMing on 13.499649246 meters Centerline goodness : 0.935876 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99035294 0.01172113 -0.13807125 3.11508109] [-0.01007595 0.99986974 0.01260836 -0.04961517] [ 0.13820105 -0.01109552 0.99034204 0.0211313 ] [ 0. 0. 0. 1. ]] SLAMing on 13.529649246000002 meters Centerline goodness : 0.936922 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99026019 0.01079406 -0.13881013 3.11775406] [-0.00903167 0.99987049 0.01332002 -0.05320632] [ 0.13893593 -0.0119366 0.99022943 0.02181651] [ 0. 0. 0. 1. ]] SLAMing on 13.559649246000001 meters Centerline goodness : 0.938992 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99024915 0.01097903 -0.13887437 3.11746095] [-0.00916925 0.99986459 0.01366485 -0.05390564] [ 0.13900559 -0.01225823 0.99021573 0.02241148] [ 0. 0. 0. 1. ]] SLAMing on 13.589649246 meters Centerline goodness : 0.939613 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99024117 0.01097766 -0.13893134 3.11744508] [-0.00915569 0.99986359 0.0137465 -0.0539648 ] [ 0.1390633 -0.01234034 0.9902066 0.02269663] [ 0. 0. 0. 1. ]] SLAMing on 13.619649246000002 meters Centerline goodness : 0.938087 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99028131 0.01135775 -0.1386143 3.11637837] [-0.00949411 0.99985553 0.01409863 -0.05405844] [ 0.13875441 -0.01264559 0.99024608 0.02310851] [ 0. 0. 0. 1. ]] SLAMing on 13.649649246000001 meters Centerline goodness : 0.939131 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99027418 0.01121604 -0.13867681 3.11675477] [-0.00935183 0.99985704 0.01408709 -0.05351286] [ 0.13881499 -0.0126532 0.99023749 0.02311235] [ 0. 0. 0. 1. ]] SLAMing on 13.679649246 meters Centerline goodness : 0.941995 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99028268 0.01137044 -0.13860352 3.11636158] [-0.00949197 0.99985403 0.01420634 -0.05351813] [ 0.13874482 -0.01275267 0.99024605 0.02334408] [ 0. 0. 0. 1. ]] SLAMing on 13.709649246000001 meters Centerline goodness : 0.942865 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99027315 0.01135927 -0.13867251 3.11637824] [-0.00946218 0.99985252 0.01433194 -0.05372883] [ 0.13881485 -0.0128804 0.99023458 0.02369023] [ 0. 0. 0. 1. ]] SLAMing on 13.739649246 meters Centerline goodness : 0.944595 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99028922 0.01166843 -0.13853197 3.11570018] [-0.00969636 0.99984195 0.01490183 -0.05481287] [ 0.13868395 -0.01341387 0.99024584 0.02441274] [ 0. 0. 0. 1. ]] SLAMing on 13.769649246 meters Centerline goodness : 0.943939 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99024181 0.01119639 -0.1389093 3.11716993] [-0.00925025 0.99984992 0.01464788 -0.05466807] [ 0.13905246 -0.01322 0.99019677 0.02402043] [ 0. 0. 0. 1. ]] SLAMing on 13.799649246000001 meters Centerline goodness : 0.943927 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99022066 0.01099867 -0.13907581 3.11779037] [-0.00907217 0.99985402 0.01447859 -0.05424726] [ 0.13921475 -0.01307528 0.99017589 0.02382323] [ 0. 0. 0. 1. ]] SLAMing on 13.829649246 meters Centerline goodness : 0.943996 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99019496 0.01070562 -0.13928147 3.11887755] [-0.00879262 0.99985848 0.01434289 -0.05396482] [ 0.13941531 -0.01297761 0.99014896 0.02343692] [ 0. 0. 0. 1. ]] SLAMing on 13.859649246000002 meters Centerline goodness : 0.943917 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99017766 0.0104202 -0.13942605 3.11961129] [-0.00853362 0.99986386 0.01412205 -0.05386808] [ 0.13955422 -0.01279353 0.99013178 0.02311894] [ 0. 0. 0. 1. ]] SLAMing on 13.889649246000001 meters Centerline goodness : 0.941876 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99015879 0.01051074 -0.1395532 3.1194993 ] [-0.00856848 0.99985799 0.01451125 -0.05483019] [ 0.13968591 -0.01317268 0.99010824 0.0238647 ] [ 0. 0. 0. 1. ]] SLAMing on 13.919649246 meters Centerline goodness : 0.940892 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.06, Z:0.02 [[ 0.99013755 0.01040772 -0.13971153 3.11986348] [-0.00844368 0.99985713 0.01464325 -0.05508532] [ 0.13984397 -0.01331915 0.99008397 0.02418804] [ 0. 0. 0. 1. ]] SLAMing on 13.949649246000002 meters Centerline goodness : 0.940587 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99011699 0.01050022 -0.13985024 3.11991034] [-0.0085206 0.99985496 0.01474653 -0.05446286] [ 0.1399848 -0.01340918 0.99006285 0.02460922] [ 0. 0. 0. 1. ]] SLAMing on 13.979649246000001 meters Centerline goodness : 0.940551 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.99013312 0.01061174 -0.13972759 3.11980949] [-0.00866898 0.99985721 0.01450524 -0.05353878] [ 0.13986156 -0.01315082 0.99008373 0.02417048] [ 0. 0. 0. 1. ]] SLAMing on 14.009649246 meters Centerline goodness : 0.935620 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.9899479 0.01383321 -0.1407544 3.12351627] [-0.01137455 0.99976862 0.01825731 -0.05378809] [ 0.14097439 -0.01647277 0.98987619 0.02410642] [ 0. 0. 0. 1. ]] SLAMing on 14.039649246000002 meters Centerline goodness : 0.934490 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.02 [[ 0.98994944 0.01356089 -0.14077004 3.12415179] [-0.01117384 0.99978031 0.01773366 -0.05309022] [ 0.1409796 -0.01598248 0.98988348 0.02319688] [ 0. 0. 0. 1. ]] SLAMing on 14.069649246 meters Centerline goodness : 0.933873 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:0.02 [[ 0.98990025 0.01304739 -0.14116397 3.1257709 ] [-0.01069178 0.99979087 0.01743269 -0.05308592] [ 0.1413619 -0.01574733 0.98983273 0.02269226] [ 0. 0. 0. 1. ]] SLAMing on 14.099649246 meters Centerline goodness : 0.935375 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:0.02 [[ 0.98988057 0.01285012 -0.14131995 3.12621702] [-0.01048487 0.99979243 0.01746877 -0.05342227] [ 0.14151509 -0.01581028 0.98980984 0.02289506] [ 0. 0. 0. 1. ]] SLAMing on 14.129649246000001 meters Centerline goodness : 0.932851 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:0.02 [[ 0.98984242 0.01250202 -0.14161807 3.12715288] [-0.01010438 0.9997934 0.01763679 -0.05426999] [ 0.14180931 -0.01602668 0.98976425 0.02326104] [ 0. 0. 0. 1. ]] SLAMing on 14.159649246 meters Centerline goodness : 0.933618 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:0.02 [[ 0.9898373 0.01252997 -0.1416514 3.12705964] [-0.01012306 0.9997921 0.01769971 -0.0544823 ] [ 0.14184372 -0.01608589 0.98975836 0.02350736] [ 0. 0. 0. 1. ]] SLAMing on 14.189649246000002 meters Centerline goodness : 0.933541 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:0.02 [[ 0.98980805 0.01233228 -0.14187296 3.12763248] [-0.00990837 0.99979285 0.01777887 -0.05472426] [ 0.14206282 -0.01619194 0.9897252 0.02382293] [ 0. 0. 0. 1. ]] SLAMing on 14.219649246000001 meters Centerline goodness : 0.933146 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:0.02 [[ 0.98978859 0.01194132 -0.14204205 3.12892112] [-0.00955696 0.99980194 0.01745674 -0.05398382] [ 0.14222237 -0.01592099 0.98970668 0.02311241] [ 0. 0. 0. 1. ]] SLAMing on 14.249649246 meters Centerline goodness : 0.932309 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:0.02 [[ 0.98978122 0.01132212 -0.14214409 3.13074647] [-0.00904251 0.9998201 0.01667307 -0.05304344] [ 0.14230729 -0.01521735 0.98970555 0.02135586] [ 0. 0. 0. 1. ]] SLAMing on 14.279649246000002 meters Centerline goodness : 0.931038 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:0.02 [[ 0.9897287 0.01083408 -0.14254724 3.13226543] [-0.00858929 0.99982938 0.01635358 -0.05291291] [ 0.14270009 -0.01496123 0.98965289 0.02091526] [ 0. 0. 0. 1. ]] SLAMing on 14.309649246000001 meters Centerline goodness : 0.929398 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:0.02 [[ 0.9897082 0.01058251 -0.14270841 3.13291415] [-0.00835598 0.99983398 0.01619228 -0.05303514] [ 0.14285607 -0.01483316 0.98963232 0.02074931] [ 0. 0. 0. 1. ]] SLAMing on 14.339649246 meters Centerline goodness : 0.931851 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:0.02 [[ 0.98968324 0.01045712 -0.14289064 3.13323782] [-0.00819387 0.99983164 0.0164183 -0.05342753] [ 0.14303827 -0.01507809 0.9896023 0.02128676] [ 0. 0. 0. 1. ]] SLAMing on 14.369649246000002 meters Centerline goodness : 0.930796 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:0.02 [[ 0.98966096 0.01019724 -0.14306364 3.13395598] [-0.00792528 0.99983342 0.01644167 -0.05305732] [ 0.14320747 -0.01513786 0.98957691 0.02141942] [ 0. 0. 0. 1. ]] SLAMing on 14.399649246000001 meters Centerline goodness : 0.932035 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:0.02 [[ 0.98960452 0.00976645 -0.1434835 3.13521649] [-0.00750111 0.99983867 0.01632066 -0.0528719 ] [ 0.14361975 -0.01507472 0.98951813 0.02146426] [ 0. 0. 0. 1. ]] SLAMing on 14.429649246 meters Centerline goodness : 0.932683 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:0.02 [[ 0.98957397 0.00955466 -0.14370823 3.13592122] [-0.00729021 0.99984097 0.01627563 -0.05300709] [ 0.14384089 -0.01505828 0.98948625 0.02146297] [ 0. 0. 0. 1. ]] SLAMing on 14.459649246000001 meters Centerline goodness : 0.934407 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:0.02 [[ 0.98953359 0.00891099 -0.1440273 3.13781788] [-0.00676083 0.99985838 0.01541141 -0.05242974] [ 0.14414423 -0.01427636 0.9894537 0.01996488] [ 0. 0. 0. 1. ]] SLAMing on 14.489649246 meters Centerline goodness : 0.931950 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:0.02 [[ 0.98940836 0.00766006 -0.14495663 3.14170979] [-0.00566654 0.99988368 0.01416044 -0.05137169] [ 0.14504824 -0.01318905 0.98933668 0.01802555] [ 0. 0. 0. 1. ]] SLAMing on 14.519649246000002 meters Centerline goodness : 0.930007 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:0.02 [[ 0.98934961 0.00714599 -0.14538324 3.14348836] [-0.00520804 0.9998925 0.01370622 -0.05125738] [ 0.14546556 -0.01280308 0.98928047 0.01722424] [ 0. 0. 0. 1. ]] SLAMing on 14.549649246000001 meters Centerline goodness : 0.930007 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:0.02 [[ 0.98934961 0.00714599 -0.14538324 3.14348836] [-0.00520804 0.9998925 0.01370622 -0.05125738] [ 0.14546556 -0.01280308 0.98928047 0.01722424] [ 0. 0. 0. 1. ]] SLAMing on 14.579649246 meters Centerline goodness : 0.923079 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.98923489 0.00618063 -0.14620576 3.14655996] [-0.00425091 0.99989973 0.01350746 -0.05197341] [ 0.14627458 -0.01274054 0.98916198 0.01681047] [ 0. 0. 0. 1. ]] SLAMing on 14.609649246000002 meters Centerline goodness : 0.926155 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.98919331 0.00587802 -0.14649927 3.1474917 ] [-0.00395278 0.99990201 0.01342931 -0.05192156] [ 0.14656385 -0.0127051 0.98911962 0.0168136 ] [ 0. 0. 0. 1. ]] SLAMing on 14.639649246000001 meters Centerline goodness : 0.923764 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.9891677 0.00569898 -0.14667922 3.14802333] [-0.00378573 0.99990412 0.0133196 -0.05178622] [ 0.14674106 -0.01262003 0.98909443 0.01679469] [ 0. 0. 0. 1. ]] SLAMing on 14.669649246 meters Centerline goodness : 0.925990 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.98916045 0.00591772 -0.14671942 3.14738036] [-0.00391581 0.99989531 0.01392953 -0.05258159] [ 0.14678649 -0.01320401 0.98908007 0.01810605] [ 0. 0. 0. 1. ]] SLAMing on 14.699649246000002 meters Centerline goodness : 0.931709 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.98912671 0.00603716 -0.14694181 3.14709941] [-0.00394677 0.99988689 0.01451332 -0.05312731] [ 0.14701281 -0.01377557 0.98903866 0.01954941] [ 0. 0. 0. 1. ]] SLAMing on 14.729649246000001 meters Centerline goodness : 0.934602 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.98907652 0.00584769 -0.14728695 3.14779302] [-0.0037405 0.99988672 0.01457963 -0.05285248] [ 0.14735552 -0.01386944 0.98898634 0.02000101] [ 0. 0. 0. 1. ]] SLAMing on 14.759649246 meters Centerline goodness : 0.932967 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.98907429 0.00555751 -0.14731312 3.1486931 ] [-0.00355986 0.99989815 0.01382079 -0.05151044] [ 0.14737493 -0.01314538 0.98899334 0.01865653] [ 0. 0. 0. 1. ]] SLAMing on 14.789649246000002 meters Centerline goodness : 0.929315 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.98905627 0.00522014 -0.14744639 3.14954619] [-0.00327533 0.99990445 0.01342964 -0.05088176] [ 0.1475024 -0.01279974 0.98897887 0.01808023] [ 0. 0. 0. 1. ]] SLAMing on 14.819649246 meters Centerline goodness : 0.932963 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.98890225 0.00866321 -0.14831485 3.15186848] [-0.00600306 0.99981316 0.01837408 -0.05297822] [ 0.14844632 -0.01727983 0.98876949 0.02039032] [ 0. 0. 0. 1. ]] SLAMing on 14.849649246 meters Centerline goodness : 0.934689 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.98889777 0.00871777 -0.1483415 3.15156301] [-0.00602515 0.99980901 0.01859123 -0.05292744] [ 0.14847524 -0.01749105 0.98876143 0.02105643] [ 0. 0. 0. 1. ]] SLAMing on 14.879649246000001 meters Centerline goodness : 0.937775 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.9888616 0.0083951 -0.14860098 3.1523163 ] [-0.00573102 0.99981526 0.01834693 -0.05250474] [ 0.14872755 -0.01729094 0.98872703 0.02102365] [ 0. 0. 0. 1. ]] SLAMing on 14.909649246 meters Centerline goodness : 0.937967 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:0.02 [[ 0.98882959 0.00805685 -0.14883255 3.15326373] [-0.00544274 0.99982384 0.01796303 -0.05215988] [ 0.14895105 -0.01695232 0.98869925 0.02053061] [ 0. 0. 0. 1. ]] SLAMing on 14.939649246000002 meters Centerline goodness : 0.937657 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.05, Z:0.02 [[ 0.98874273 0.00699931 -0.14946177 3.15650361] [-0.00457736 0.99985269 0.01654238 -0.05011868] [ 0.14955553 -0.01567202 0.98862912 0.01827261] [ 0. 0. 0. 1. ]] SLAMing on 14.969649246000001 meters Centerline goodness : 0.933968 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.05, Z:0.02 [[ 0.98869613 0.00637199 -0.14979776 3.15836548] [-0.00407168 0.99986912 0.0156578 -0.04910206] [ 0.14987793 -0.01487088 0.98859267 0.01686032] [ 0. 0. 0. 1. ]] SLAMing on 14.999649246 meters Centerline goodness : 0.929101 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.05, Z:0.02 [[ 0.98863322 0.00583143 -0.15023433 3.1600037 ] [-0.003572 0.99987649 0.01530478 -0.04867769] [ 0.15030502 -0.01459418 0.98853195 0.01644255] [ 0. 0. 0. 1. ]] SLAMing on 15.029649246000002 meters Centerline goodness : 0.932110 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.05, Z:0.02 [[ 9.88554942e-01 5.09321409e-03 -1.50775281e-01 3.16217039e+00] [-2.86413426e-03 9.99883428e-01 1.49975929e-02 -4.84112485e-02] [ 1.50834091e-01 -1.43941039e-02 9.88454292e-01 1.60918879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059649246000001 meters Centerline goodness : 0.934572 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.05, Z:0.02 [[ 9.88494298e-01 4.72148152e-03 -1.51184424e-01 3.16337891e+00] [-2.48173847e-03 9.99884415e-01 1.49999015e-02 -4.85848078e-02] [ 1.51237771e-01 -1.44521169e-02 9.88391761e-01 1.62932433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.089649246 meters Centerline goodness : 0.934334 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.05, Z:0.02 [[ 9.88428919e-01 4.27879311e-03 -1.51624416e-01 3.16472477e+00] [-2.04865820e-03 9.99887464e-01 1.48614494e-02 -4.84308659e-02] [ 1.51670942e-01 -1.43788597e-02 9.88326451e-01 1.63323112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.119649246000002 meters Centerline goodness : 0.934522 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.05, Z:0.02 [[ 9.88392814e-01 3.86306051e-03 -1.51870743e-01 3.16570602e+00] [-1.67850126e-03 9.99893317e-01 1.45099033e-02 -4.74134838e-02] [ 1.51910594e-01 -1.40865690e-02 9.88293853e-01 1.60570192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149649246000001 meters Centerline goodness : 0.936498 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.05, Z:0.02 [[ 9.88303159e-01 3.18660383e-03 -1.52468720e-01 3.16746359e+00] [-1.01669153e-03 9.99897123e-01 1.43076990e-02 -4.70003456e-02] [ 1.52498627e-01 -1.39853305e-02 9.88204725e-01 1.63262010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.179649246 meters Centerline goodness : 0.937114 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.05, Z:0.02 [[ 9.88243136e-01 2.92338989e-03 -1.52862543e-01 3.16842578e+00] [-7.47783143e-04 9.99897642e-01 1.42879940e-02 -4.67018856e-02] [ 1.52888666e-01 -1.40057040e-02 9.88144168e-01 1.66086901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209649246000001 meters Centerline goodness : 0.936367 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.05, Z:0.02 [[ 9.88187425e-01 2.54758381e-03 -1.53228986e-01 3.16956441e+00] [-3.86083772e-04 9.99900029e-01 1.41344406e-02 -4.62312858e-02] [ 1.53249676e-01 -1.39083172e-02 9.88089619e-01 1.66257419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.239649246 meters Centerline goodness : 0.934795 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.05, Z:0.02 [[ 9.88134438e-01 2.17756450e-03 -1.53576010e-01 3.17071072e+00] [-5.48631539e-05 9.99904433e-01 1.38247128e-02 -4.58383229e-02] [ 1.53591437e-01 -1.36522491e-02 9.88040124e-01 1.63705665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.269649246000002 meters Centerline goodness : 0.935952 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.05, Z:0.02 [[ 9.88064872e-01 1.66097656e-03 -1.54029382e-01 3.17223049e+00] [ 4.37431024e-04 9.99907576e-01 1.35885326e-02 -4.53701608e-02] [ 1.54037716e-01 -1.34937289e-02 9.87972824e-01 1.62719956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299649246000001 meters Centerline goodness : 0.936843 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.04, Z:0.02 [[ 9.87968862e-01 1.01023298e-03 -1.54649626e-01 3.17418063e+00] [ 1.05602852e-03 9.99911283e-01 1.32781870e-02 -4.45385797e-02] [ 1.54649320e-01 -1.32817497e-02 9.87880146e-01 1.62143352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329649246 meters Centerline goodness : 0.939221 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.05, Z:0.02 [[ 9.87859446e-01 4.10811952e-04 -1.55349753e-01 3.17576489e+00] [ 1.76255588e-03 9.99902501e-01 1.38521583e-02 -4.57765216e-02] [ 1.55340298e-01 -1.39577980e-02 9.87762407e-01 1.76554209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.359649246000002 meters Centerline goodness : 0.938440 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.05, Z:0.02 [[ 9.87801783e-01 2.36880689e-04 -1.55716349e-01 3.17634987e+00] [ 1.97260355e-03 9.99899566e-01 1.40344814e-02 -4.60137493e-02] [ 1.55704034e-01 -1.41704524e-02 9.87702107e-01 1.83599243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389649246000001 meters Centerline goodness : 0.938116 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.04, Z:0.02 [[ 9.87687102e-01 -5.98036542e-04 -1.56441143e-01 3.17931790e+00] [ 2.65572580e-03 9.99912691e-01 1.29444323e-02 -4.40545667e-02] [ 1.56419743e-01 -1.32005136e-02 9.87602456e-01 1.67684085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.419649246 meters Centerline goodness : 0.934250 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.04, Z:0.02 [[ 9.87610214e-01 -1.35737207e-03 -1.56921072e-01 3.18140637e+00] [ 3.36226091e-03 9.99916073e-01 1.25116726e-02 -4.43399564e-02] [ 1.56890919e-01 -1.28842652e-02 9.87531891e-01 1.61047813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.449649246000002 meters Centerline goodness : 0.939109 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.04, Z:0.02 [[ 9.87514925e-01 -1.85048651e-03 -1.57514598e-01 3.18298358e+00] [ 3.86495595e-03 9.99914605e-01 1.24837522e-02 -4.40492553e-02] [ 1.57478046e-01 -1.29366786e-02 9.87437749e-01 1.64797442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479649246000001 meters Centerline goodness : 0.938239 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.04, Z:0.02 [[ 9.87471948e-01 -2.14700480e-03 -1.57780045e-01 3.18380015e+00] [ 4.13178863e-03 9.99916399e-01 1.22525004e-02 -4.32039844e-02] [ 1.57740548e-01 -1.27509142e-02 9.87398265e-01 1.64482682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.509649246 meters Centerline goodness : 0.940131 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.04, Z:0.02 [[ 9.87408046e-01 -2.66960357e-03 -1.58171501e-01 3.18517729e+00] [ 4.60881419e-03 9.99918635e-01 1.18946451e-02 -4.24009797e-02] [ 1.58126877e-01 -1.24738513e-02 9.87340009e-01 1.62410570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.539649246000002 meters Centerline goodness : 0.942784 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.04, Z:0.02 [[ 9.87352675e-01 -2.82695629e-03 -1.58514049e-01 3.18552299e+00] [ 4.82315570e-03 9.99913824e-01 1.22099147e-02 -4.26296768e-02] [ 1.58465872e-01 -1.28200298e-02 9.87281224e-01 1.73157789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.569649246 meters Centerline goodness : 0.937746 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.04, Z:0.02 [[ 0.98724076 -0.00355634 -0.15919497 3.18776323] [ 0.00553745 0.99991263 0.01200272 -0.04234233] [ 0.15913838 -0.01273111 0.9871742 0.01731671] [ 0. 0. 0. 1. ]] SLAMing on 15.599649246000002 meters Centerline goodness : 0.938092 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.04, Z:0.02 [[ 0.98720971 -0.00385714 -0.15938038 3.18858263] [ 0.0057959 0.99991474 0.01170131 -0.04183603] [ 0.15932166 -0.0124754 0.9871479 0.01695274] [ 0. 0. 0. 1. ]] SLAMing on 15.629649246000001 meters Centerline goodness : 0.937163 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.04, Z:0.02 [[ 9.87052034e-01 -9.25166825e-04 -1.60397711e-01 3.19194089e+00] [ 3.55943668e-03 9.99863457e-01 1.61368183e-02 -4.38425315e-02] [ 1.60360880e-01 -1.64988049e-02 9.86920553e-01 1.85173852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.659649246 meters Centerline goodness : 0.937903 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.04, Z:0.02 [[ 9.87035863e-01 -1.07352988e-03 -1.60496268e-01 3.19241067e+00] [ 3.67162406e-03 9.99866970e-01 1.58921923e-02 -4.33929504e-02] [ 1.60457856e-01 -1.62754457e-02 9.86908499e-01 1.82342545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.689649246000002 meters Centerline goodness : 0.937169 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.04, Z:0.02 [[ 9.86816707e-01 1.52876150e-03 -1.61834639e-01 3.19718590e+00] [ 1.68730327e-03 9.99803857e-01 1.97332333e-02 -4.43533347e-02] [ 1.61833064e-01 -1.97461485e-02 9.86620570e-01 1.87880988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.719649246000001 meters Centerline goodness : 0.937398 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.04, Z:0.02 [[ 9.86753543e-01 8.07894198e-04 -1.62224515e-01 3.19918298e+00] [ 2.29444623e-03 9.99818075e-01 1.89354868e-02 -4.36532587e-02] [ 1.62210301e-01 -1.90568741e-02 9.86572174e-01 1.76208510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.749649246 meters Centerline goodness : 0.937036 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.04, Z:0.02 [[ 9.86671331e-01 2.90478783e-04 -1.62725537e-01 3.20075114e+00] [ 2.77677563e-03 9.99822749e-01 1.86214915e-02 -4.34525489e-02] [ 1.62702103e-01 -1.88251441e-02 9.86495636e-01 1.74690335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.779649246000002 meters Centerline goodness : 0.937167 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.04, Z:0.02 [[ 9.86538843e-01 -4.56999954e-04 -1.63526456e-01 3.20289456e+00] [ 3.51628117e-03 9.99824169e-01 1.84192114e-02 -4.37560667e-02] [ 1.63489285e-01 -1.87462725e-02 9.86366986e-01 1.78040760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809649246000001 meters Centerline goodness : 0.938324 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.04, Z:0.02 [[ 9.86482118e-01 -7.84310727e-04 -1.63867065e-01 3.20384086e+00] [ 3.83912301e-03 9.99824691e-01 1.83261534e-02 -4.39628580e-02] [ 1.63823964e-01 -1.87075284e-02 9.86312190e-01 1.79340802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.839649246 meters Centerline goodness : 0.938055 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.04, Z:0.02 [[ 9.86401683e-01 -1.22794155e-03 -1.64347840e-01 3.20524864e+00] [ 4.27987817e-03 9.99824893e-01 1.82171698e-02 -4.39513726e-02] [ 1.64296692e-01 -1.86728357e-02 9.86234213e-01 1.80477620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.869649246000002 meters Centerline goodness : 0.939014 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.04, Z:0.02 [[ 9.86342646e-01 -2.04004182e-03 -1.64693722e-01 3.20714877e+00] [ 4.98131601e-03 9.99835363e-01 1.74480145e-02 -4.29481637e-02] [ 1.64631013e-01 -1.80301123e-02 9.86190420e-01 1.70883647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899649246000001 meters Centerline goodness : 0.935218 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.04, Z:0.02 [[ 9.86266934e-01 -2.51819733e-03 -1.65139923e-01 3.20868936e+00] [ 5.42249671e-03 9.99838422e-01 1.71384284e-02 -4.24121153e-02] [ 1.65070082e-01 -1.77985359e-02 9.86121230e-01 1.68333244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.929649246000002 meters Centerline goodness : 0.936281 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.04, Z:0.02 [[ 0.9861818 -0.00330328 -0.16563379 3.21066095] [ 0.00613528 0.99984357 0.01658923 -0.04170717] [ 0.16555308 -0.01737621 0.98604779 0.01633845] [ 0. 0. 0. 1. ]] SLAMing on 15.959649246000001 meters Centerline goodness : 0.936368 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.04, Z:0.02 [[ 0.98607958 -0.00390867 -0.1662281 3.2124285 ] [ 0.00672755 0.99984291 0.01639821 -0.04098801] [ 0.16613789 -0.01728825 0.98595097 0.01656075] [ 0. 0. 0. 1. ]] SLAMing on 15.989649246 meters Centerline goodness : 0.936781 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.04, Z:0.02 [[ 0.98604283 -0.00400558 -0.16644364 3.21280571] [ 0.00682924 0.99984226 0.01639575 -0.0409906 ] [ 0.16635171 -0.0173036 0.98591465 0.01681527] [ 0. 0. 0. 1. ]] SLAMing on 16.019649246000004 meters Centerline goodness : 0.933474 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.04, Z:0.02 [[ 0.98597941 -0.00431936 -0.1668111 3.21383471] [ 0.00714081 0.99984135 0.01631795 -0.04099993] [ 0.16671415 -0.01728033 0.98585383 0.01695093] [ 0. 0. 0. 1. ]] SLAMing on 16.049649246 meters Centerline goodness : 0.932811 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:0.02 [[ 0.98584199 -0.00546105 -0.16758806 3.21690306] [ 0.00821366 0.99984244 0.01573612 -0.04029094] [ 0.16747572 -0.01688984 0.98573151 0.01639919] [ 0. 0. 0. 1. ]] SLAMing on 16.079649246000002 meters Centerline goodness : 0.933503 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:0.02 [[ 0.98576712 -0.00610491 -0.16800569 3.21865272] [ 0.00881086 0.99984312 0.01536558 -0.03989458] [ 0.16788552 -0.01662715 0.98566627 0.01599845] [ 0. 0. 0. 1. ]] SLAMing on 16.109649246000004 meters Centerline goodness : 0.931583 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:0.02 [[ 0.98564195 -0.00682813 -0.16871078 3.22065134] [ 0.00950456 0.99984139 0.01506159 -0.03920683] [ 0.16858118 -0.01644886 0.98555052 0.01620349] [ 0. 0. 0. 1. ]] SLAMing on 16.139649246000005 meters Centerline goodness : 0.935101 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:0.02 [[ 9.85500414e-01 -3.07816735e-03 -1.69645099e-01 3.22276379e+00] [ 6.51788208e-03 9.99784241e-01 1.97227760e-02 -3.98438409e-02] [ 1.69547787e-01 -2.05425306e-02 9.85307847e-01 1.81953094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.169649246000002 meters Centerline goodness : 0.934467 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:0.02 [[ 0.98548152 -0.00330376 -0.16975055 3.2232541 ] [ 0.00664451 0.99979519 0.01911602 -0.03809226] [ 0.16965263 -0.01996639 0.98530164 0.01764764] [ 0. 0. 0. 1. ]] SLAMing on 16.199649246000003 meters Centerline goodness : 0.934908 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:0.02 [[ 0.98545789 -0.00363704 -0.16988088 3.22387515] [ 0.00687682 0.99980546 0.01848638 -0.03642574] [ 0.1697806 -0.01938579 0.9852912 0.01714824] [ 0. 0. 0. 1. ]] SLAMing on 16.229649246000005 meters Centerline goodness : 0.936661 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:0.02 [[ 0.98549003 -0.00326932 -0.16970181 3.22291114] [ 0.00642948 0.99981595 0.01807563 -0.0345849 ] [ 0.16961148 -0.01890445 0.98532967 0.01698577] [ 0. 0. 0. 1. ]] SLAMing on 16.259649246000002 meters Centerline goodness : 0.935978 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:0.02 [[ 0.98543343 -0.00363909 -0.17002266 3.22390136] [ 0.00676044 0.99981901 0.0177831 -0.03395369] [ 0.16992717 -0.01867349 0.98527969 0.01691306] [ 0. 0. 0. 1. ]] SLAMing on 16.289649246000003 meters Centerline goodness : 0.936459 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.03, Z:0.02 [[ 0.9853171 -0.00482677 -0.17066611 3.22693358] [ 0.00777578 0.99983172 0.01661521 -0.03219066] [ 0.1705572 -0.01769832 0.98518882 0.01548544] [ 0. 0. 0. 1. ]] SLAMing on 16.319649246000004 meters Centerline goodness : 0.931054 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.03, Z:0.01 [[ 0.98520372 -0.00572358 -0.17129179 3.22955913] [ 0.00861676 0.99983242 0.01615165 -0.03198428] [ 0.17117064 -0.01738865 0.98508794 0.01484247] [ 0. 0. 0. 1. ]] SLAMing on 16.349649246000002 meters Centerline goodness : 0.928994 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:0.01 [[ 0.98493183 -0.00899823 -0.17270878 3.23640529] [ 0.01189326 0.99980546 0.01573498 -0.03418805] [ 0.1725336 -0.01755195 0.98484724 0.01493186] [ 0. 0. 0. 1. ]] SLAMing on 16.379649246000003 meters Centerline goodness : 0.927409 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.04, Z:0.02 [[ 0.9847435 -0.01499623 -0.17336481 3.23919987] [ 0.01729393 0.9997814 0.01175054 -0.03533334] [ 0.1731507 -0.01456943 0.98478757 0.01544818] [ 0. 0. 0. 1. ]] SLAMing on 16.409649246000004 meters Centerline goodness : 0.927406 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:0.02 [[ 0.98465036 -0.01564466 -0.17383586 3.24107507] [ 0.01789215 0.99977528 0.01136918 -0.03467458] [ 0.17361893 -0.01430497 0.98470901 0.01504008] [ 0. 0. 0. 1. ]] SLAMing on 16.439649246000002 meters Centerline goodness : 0.927406 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:0.02 [[ 0.98465036 -0.01564466 -0.17383586 3.24107507] [ 0.01789215 0.99977528 0.01136918 -0.03467458] [ 0.17361893 -0.01430497 0.98470901 0.01504008] [ 0. 0. 0. 1. ]] SLAMing on 16.469649246000003 meters Centerline goodness : 0.928045 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:0.02 [[ 0.98448405 -0.01226092 -0.1750452 3.24480964] [ 0.01510334 0.99977469 0.01491524 -0.03395365] [ 0.17482288 -0.01732758 0.98444742 0.015041 ] [ 0. 0. 0. 1. ]] SLAMing on 16.499649246000004 meters Centerline goodness : 0.931205 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.03, Z:0.02 [[ 0.98440953 -0.01260562 -0.17543936 3.24572453] [ 0.01545142 0.99977013 0.01486441 -0.03359362] [ 0.17521165 -0.01734346 0.98437802 0.01545992] [ 0. 0. 0. 1. ]] SLAMing on 16.529649246 meters Centerline goodness : 0.933783 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.03, Z:0.02 [[ 0.98441217 -0.01251544 -0.175431 3.24511184] [ 0.01541026 0.9997665 0.01514854 -0.03308934] [ 0.17520045 -0.01761585 0.98437518 0.01646847] [ 0. 0. 0. 1. ]] SLAMing on 16.559649246000003 meters Centerline goodness : 0.936684 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.03, Z:0.02 [[ 0.984353 -0.01271923 -0.17574812 3.24558379] [ 0.01564163 0.99976131 0.01525299 -0.03270178] [ 0.17551216 -0.01776331 0.98431699 0.01717081] [ 0. 0. 0. 1. ]] SLAMing on 16.589649246000004 meters Centerline goodness : 0.936990 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.03, Z:0.02 [[ 0.98418637 -0.00927539 -0.17689309 3.24828072] [ 0.01311982 0.99970221 0.0205758 -0.03470718] [ 0.17664956 -0.02257123 0.98401498 0.02040099] [ 0. 0. 0. 1. ]] SLAMing on 16.619649246 meters Centerline goodness : 0.937272 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.03, Z:0.02 [[ 0.98415591 -0.00967845 -0.1770409 3.24908593] [ 0.01348757 0.99970245 0.02032466 -0.03397117] [ 0.17679151 -0.02239048 0.98399361 0.02027567] [ 0. 0. 0. 1. ]] SLAMing on 16.649649246000003 meters Centerline goodness : 0.936407 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.03, Z:0.02 [[ 0.98414753 -0.01020153 -0.1770581 3.24999112] [ 0.01388253 0.99971223 0.01956342 -0.03225499] [ 0.17680757 -0.02171131 0.98400595 0.01931459] [ 0. 0. 0. 1. ]] SLAMing on 16.679649246000004 meters Centerline goodness : 0.938542 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.03, Z:0.02 [[ 0.98409144 -0.01062648 -0.17734463 3.25120851] [ 0.01424678 0.99971506 0.01915295 -0.03158593] [ 0.17709057 -0.02137484 0.98396242 0.01887414] [ 0. 0. 0. 1. ]] SLAMing on 16.709649246 meters Centerline goodness : 0.932844 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.03, Z:0.02 [[ 0.98384682 -0.00818155 -0.17882535 3.25617097] [ 0.01247771 0.9996596 0.02291278 -0.03258724] [ 0.17857701 -0.02477399 0.983614 0.01986278] [ 0. 0. 0. 1. ]] SLAMing on 16.739649246000003 meters Centerline goodness : 0.935522 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.03, Z:0.02 [[ 0.98374617 -0.00893991 -0.17934201 3.25841987] [ 0.01311931 0.99966898 0.0221316 -0.03133745] [ 0.17908479 -0.02412472 0.98353782 0.01887464] [ 0. 0. 0. 1. ]] SLAMing on 16.769649246000004 meters Centerline goodness : 0.931395 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.03, Z:0.02 [[ 0.983624 -0.01034035 -0.17993582 3.26196202] [ 0.01424682 0.99968974 0.02043156 -0.02904128] [ 0.17966873 -0.02266048 0.98346614 0.01646815] [ 0. 0. 0. 1. ]] SLAMing on 16.799649246 meters Centerline goodness : 0.925441 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.03, Z:0.02 [[ 0.98350643 -0.01116895 -0.18052798 3.26443031] [ 0.01499563 0.99969058 0.01984627 -0.02832633] [ 0.18025046 -0.02222607 0.9833696 0.01577472] [ 0. 0. 0. 1. ]] SLAMing on 16.829649246000002 meters Centerline goodness : 0.923201 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.03, Z:0.01 [[ 0.98336897 -0.01235391 -0.18119836 3.26748647] [ 0.01606428 0.99968997 0.01902353 -0.02737725] [ 0.18090717 -0.02161797 0.98326256 0.01483956] [ 0. 0. 0. 1. ]] SLAMing on 16.859649246000004 meters Centerline goodness : 0.926222 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.03, Z:0.01 [[ 0.98333712 -0.01268224 -0.1813485 3.26815998] [ 0.01635285 0.99969028 0.01875976 -0.02683622] [ 0.18105442 -0.02141274 0.98323995 0.01467438] [ 0. 0. 0. 1. ]] SLAMing on 16.889649246000005 meters Centerline goodness : 0.929738 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.03, Z:0.02 [[ 0.98320468 -0.00838488 -0.18231362 3.26921769] [ 0.01311663 0.99960728 0.02476359 -0.02906988] [ 0.18203438 -0.02673902 0.98292854 0.01898282] [ 0. 0. 0. 1. ]] SLAMing on 16.919649246000002 meters Centerline goodness : 0.933964 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.03, Z:0.02 [[ 0.98325714 -0.00796602 -0.18204929 3.26786835] [ 0.01260681 0.99962403 0.02434898 -0.0267641 ] [ 0.18178688 -0.02623637 0.98298789 0.01889575] [ 0. 0. 0. 1. ]] SLAMing on 16.949649246000003 meters Centerline goodness : 0.934566 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.03, Z:0.02 [[ 0.9831023 -0.00391094 -0.18301522 3.26948104] [ 0.00940125 0.99953109 0.02914123 -0.02759465] [ 0.18281544 -0.03036938 0.98267808 0.02128741] [ 0. 0. 0. 1. ]] SLAMing on 16.979649246000005 meters Centerline goodness : 0.935025 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.03, Z:0.02 [[ 0.98315339 -0.00381747 -0.18274253 3.2687951 ] [ 0.00917897 0.99955158 0.02850226 -0.02557588] [ 0.18255178 -0.02969948 0.98274757 0.02066518] [ 0. 0. 0. 1. ]] SLAMing on 17.009649246000002 meters Centerline goodness : 0.934536 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.02, Z:0.02 [[ 0.98316288 -0.00416574 -0.1826839 3.2691822 ] [ 0.00934317 0.99957843 0.02748939 -0.02244385] [ 0.18249237 -0.02873339 0.98278732 0.01958927] [ 0. 0. 0. 1. ]] SLAMing on 17.039649246000003 meters Centerline goodness : 0.934380 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.02, Z:0.02 [[ 0.98312214 -0.00473816 -0.18288908 3.27037447] [ 0.0098182 0.99959042 0.02688118 -0.02092408] [ 0.18268681 -0.02822312 0.98276599 0.01898144] [ 0. 0. 0. 1. ]] SLAMing on 17.069649246000004 meters Centerline goodness : 0.938036 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.02, Z:0.02 [[ 0.98305831 -0.00512381 -0.18322149 3.27123502] [ 0.01023834 0.99958356 0.02697942 -0.02103402] [ 0.18300695 -0.02839822 0.98270138 0.01958553] [ 0. 0. 0. 1. ]] SLAMing on 17.099649246000002 meters Centerline goodness : 0.933618 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.02, Z:0.02 [[ 0.98299217 -0.00565254 -0.18356048 3.27244162] [ 0.01070778 0.99958986 0.02656045 -0.02074391] [ 0.18333507 -0.02807424 0.98264953 0.01937227] [ 0. 0. 0. 1. ]] SLAMing on 17.129649246000003 meters Centerline goodness : 0.938944 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.02, Z:0.02 [[ 0.98287271 -0.00664806 -0.18416578 3.27519505] [ 0.011546 0.99960723 0.02553568 -0.01968338] [ 0.18392368 -0.0272247 0.98256343 0.018104 ] [ 0. 0. 0. 1. ]] SLAMing on 17.159649246000004 meters Centerline goodness : 0.935780 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.02, Z:0.02 [[ 0.98280727 -0.00724859 -0.18449207 3.27674627] [ 0.01204968 0.99961694 0.02491543 -0.01891939] [ 0.18424079 -0.02671014 0.98251814 0.01742264] [ 0. 0. 0. 1. ]] SLAMing on 17.189649246000002 meters Centerline goodness : 0.934022 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.02, Z:0.02 [[ 0.98268056 -0.0082953 -0.18512188 3.27941429] [ 0.01303148 0.99961778 0.02438205 -0.01849838] [ 0.18484887 -0.02637218 0.98241305 0.01701698] [ 0. 0. 0. 1. ]] SLAMing on 17.219649246000003 meters Centerline goodness : 0.933364 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.02, Z:0.02 [[ 0.98260299 -0.00888554 -0.18550583 3.28102959] [ 0.01356806 0.99962018 0.02398764 -0.0179531 ] [ 0.18522223 -0.02608728 0.98235033 0.01663489] [ 0. 0. 0. 1. ]] SLAMing on 17.249649246000004 meters Centerline goodness : 0.934535 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.02, Z:0.02 [[ 0.98250093 -0.00957033 -0.18601164 3.28258651] [ 0.01425411 0.99961371 0.02385897 -0.01776313] [ 0.18571145 -0.02609289 0.98225782 0.01705463] [ 0. 0. 0. 1. ]] SLAMing on 17.279649246 meters Centerline goodness : 0.934641 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.02, Z:0.02 [[ 0.98241465 -0.01012666 -0.18643743 3.28397577] [ 0.01477492 0.99961325 0.02355938 -0.0176537 ] [ 0.18612675 -0.02589968 0.98218432 0.01701533] [ 0. 0. 0. 1. ]] SLAMing on 17.309649246000003 meters Centerline goodness : 0.937086 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:0.02 [[ 0.98232834 -0.01095091 -0.18684513 3.2861019 ] [ 0.01545877 0.99962311 0.02268621 -0.01628591] [ 0.18652628 -0.0251737 0.9821274 0.01596505] [ 0. 0. 0. 1. ]] SLAMing on 17.339649246000004 meters Centerline goodness : 0.937722 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:0.02 [[ 0.98223376 -0.01165682 -0.18729912 3.28754364] [ 0.01611769 0.99962114 0.02231152 -0.01521023] [ 0.18696808 -0.02493396 0.98204951 0.01616302] [ 0. 0. 0. 1. ]] SLAMing on 17.369649246 meters Centerline goodness : 0.940171 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:0.02 [[ 0.98212606 -0.0121655 -0.18783077 3.28902754] [ 0.01664214 0.99961336 0.02227474 -0.01526015] [ 0.18748717 -0.0250025 0.9819488 0.01658204] [ 0. 0. 0. 1. ]] SLAMing on 17.399649246000003 meters Centerline goodness : 0.937177 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:0.02 [[ 0.98202709 -0.01264277 -0.18831609 3.29023213] [ 0.01715442 0.99960308 0.02234731 -0.01573655] [ 0.18795881 -0.02517612 0.98185419 0.01722251] [ 0. 0. 0. 1. ]] SLAMing on 17.429649246000004 meters Centerline goodness : 0.940814 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:0.02 [[ 0.98187393 -0.01353522 -0.18905126 3.29253379] [ 0.0180967 0.99958477 0.02242293 -0.01577573] [ 0.18866926 -0.0254377 0.98171118 0.01800657] [ 0. 0. 0. 1. ]] SLAMing on 17.459649246 meters Centerline goodness : 0.948210 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.02, Z:0.02 [[ 0.98181604 -0.01410437 -0.18931016 3.2939159 ] [ 0.01859822 0.99958535 0.02198249 -0.01535287] [ 0.18892161 -0.0251036 0.98167125 0.0174994 ] [ 0. 0. 0. 1. ]] SLAMing on 17.489649246000003 meters Centerline goodness : 0.946671 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.02, Z:0.02 [[ 0.98154628 -0.01583754 -0.19056777 3.29852406] [ 0.02031517 0.99956102 0.02156549 -0.01571377] [ 0.19014257 -0.02503894 0.98143714 0.01766091] [ 0. 0. 0. 1. ]] SLAMing on 17.519649246000004 meters Centerline goodness : 0.940662 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.02, Z:0.02 [[ 0.98137266 -0.0168582 -0.19137267 3.30142282] [ 0.02129533 0.99954944 0.02115267 -0.01568957] [ 0.19092985 -0.024834 0.98128949 0.01750037] [ 0. 0. 0. 1. ]] SLAMing on 17.549649246000005 meters Centerline goodness : 0.927294 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:0.02 [[ 0.98112081 -0.01850411 -0.19250858 3.30590908] [ 0.0228343 0.99953316 0.02029902 -0.01481587] [ 0.19204309 -0.02431159 0.98108532 0.01699 ] [ 0. 0. 0. 1. ]] SLAMing on 17.579649246000002 meters Centerline goodness : 0.923977 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:0.02 [[ 0.98072493 -0.01638346 -0.19470538 3.3129398 ] [ 0.02163381 0.99945659 0.0248697 -0.01565803] [ 0.19419212 -0.02860255 0.98054644 0.01967546] [ 0. 0. 0. 1. ]] SLAMing on 17.609649246000004 meters Centerline goodness : 0.924017 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:0.02 [[ 0.98060185 -0.01714904 -0.19525859 3.315219 ] [ 0.02228523 0.99946022 0.02413799 -0.01395337] [ 0.19473925 -0.02802114 0.98045471 0.01908746] [ 0. 0. 0. 1. ]] SLAMing on 17.639649246000005 meters Centerline goodness : 0.921366 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:0.02 [[ 0.98013695 -0.01592088 -0.19768177 3.32355549] [ 0.02212699 0.99932792 0.02922524 -0.01442568] [ 0.19708362 -0.03301884 0.9798305 0.02341643] [ 0. 0. 0. 1. ]] SLAMing on 17.669649246000002 meters Centerline goodness : 0.917126 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.01, Z:0.02 [[ 0.97998746 -0.01696955 -0.19833458 3.32636985] [ 0.02313401 0.9993173 0.02880526 -0.013394 ] [ 0.19771036 -0.03281707 0.979711 0.02333839] [ 0. 0. 0. 1. ]] SLAMing on 17.699649246000003 meters Centerline goodness : 0.915476 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.01, Z:0.02 [[ 0.97956604 -0.02009746 -0.20011613 3.33383695] [ 0.02632266 0.99924727 0.02849573 -0.01243422] [ 0.19939281 -0.03318104 0.97935771 0.02464042] [ 0. 0. 0. 1. ]] SLAMing on 17.729649246000005 meters Centerline goodness : 0.909962 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.01, Z:0.02 [[ 0.97941057 -0.02147588 -0.20073296 3.33708027] [ 0.02761148 0.99923164 0.02781603 -0.01113794] [ 0.19998135 -0.03278585 0.97925101 0.02421394] [ 0. 0. 0. 1. ]] SLAMing on 17.759649246000002 meters Centerline goodness : 0.913636 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:0.03 [[ 0.97894415 -0.02020725 -0.20312564 3.34535691] [ 0.02753402 0.99906576 0.03330893 -0.01115772] [ 0.20226279 -0.03820045 0.97858596 0.02927925] [ 0. 0. 0. 1. ]] SLAMing on 17.789649246000003 meters Centerline goodness : 0.893479 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:0.03 [[ 0.97881672 -0.02118822 -0.20363912 3.34758411] [ 0.02849388 0.99904875 0.03301048 -0.01028181] [ 0.20274598 -0.03811368 0.97848935 0.02955438] [ 0. 0. 0. 1. ]] SLAMing on 17.819649246000004 meters Centerline goodness : 0.919325 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.01, Z:0.03 [[ 0.97972616 -0.02364495 -0.19894113 3.36600869] [ 0.02896371 0.99929548 0.02386742 -0.0076883 ] [ 0.19823663 -0.02914561 0.97972076 0.02792392] [ 0. 0. 0. 1. ]] SLAMing on 17.849649246000002 meters Centerline goodness : 0.920455 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.01, Z:0.03 [[ 0.97959991 -0.02452134 -0.19945605 3.36819712] [ 0.02984432 0.99927297 0.02372442 -0.0069654 ] [ 0.19872929 -0.02919307 0.97961954 0.02832886] [ 0. 0. 0. 1. ]] SLAMing on 17.879649246000003 meters Centerline goodness : 0.921278 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.01, Z:0.03 [[ 0.9792164 -0.02339716 -0.20146416 3.37635942] [ 0.02981648 0.99913787 0.02888752 -0.0068684 ] [ 0.20061458 -0.03429409 0.97906982 0.0324112 ] [ 0. 0. 0. 1. ]] SLAMing on 17.909649246000004 meters Centerline goodness : 0.921204 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.01, Z:0.03 [[ 0.97910353 -0.02474409 -0.20185147 3.37943764] [ 0.03103822 0.99912379 0.02807623 -0.0055809 ] [ 0.20097989 -0.03375465 0.97901364 0.03145052] [ 0. 0. 0. 1. ]] SLAMing on 17.939649246000002 meters Centerline goodness : 0.918585 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.00, Z:0.03 [[ 0.97858722 -0.02616922 -0.20416227 3.39209491] [ 0.03339372 0.99892919 0.03202095 -0.00490297] [ 0.20310569 -0.03815303 0.97841322 0.03434154] [ 0. 0. 0. 1. ]] SLAMing on 17.969649246000003 meters Centerline goodness : 0.917902 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.00, Z:0.03 [[ 0.97830664 -0.02807053 -0.20525147 3.39688219] [ 0.03524199 0.99888643 0.03136737 -0.00378978] [ 0.20414241 -0.03792037 0.97820648 0.03431653] [ 0. 0. 0. 1. ]] SLAMing on 17.999649246000004 meters Centerline goodness : 0.916079 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.00, Z:0.04 [[ 9.77925425e-01 -3.07639130e-02 -2.06677151e-01 3.40340354e+00] [ 3.80243935e-02 9.98788098e-01 3.12486936e-02 -2.25284204e-03] [ 2.05465346e-01 -3.84176653e-02 9.77910054e-01 3.57248195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.029649246 meters Centerline goodness : 0.918658 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.00, Z:0.04 [[ 0.97756634 -0.02860074 -0.20867689 3.4098001 ] [ 0.03717254 0.99861359 0.03727069 -0.00390483] [ 0.20732161 -0.04419162 0.97727419 0.04097934] [ 0. 0. 0. 1. ]] SLAMing on 18.059649246000003 meters Centerline goodness : 0.916544 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.01, Z:0.05 [[ 0.97719888 -0.02669086 -0.21064175 3.41648764] [ 0.0364752 0.99842181 0.04270184 -0.00520267] [ 0.20916957 -0.04941139 0.97663023 0.04535752] [ 0. 0. 0. 1. ]] SLAMing on 18.089649246000004 meters Centerline goodness : 0.915207 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.00, Z:0.04 [[ 9.78121820e-01 -2.99012541e-02 -2.05872824e-01 3.43887003e+00] [ 3.78386788e-02 9.98680315e-01 3.47255329e-02 -7.17090382e-04] [ 2.04562800e-01 -4.17557571e-02 9.77962432e-01 4.38580804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.119649246 meters Centerline goodness : 0.912246 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.00, Z:0.06 [[ 9.78340792e-01 -2.75294081e-02 -2.05161950e-01 3.45811974e+00] [ 3.94080181e-02 9.97760902e-01 5.40387954e-02 -3.10465138e-03] [ 2.03214916e-01 -6.09533838e-02 9.77235070e-01 6.07233697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.149649246000003 meters Centerline goodness : 0.912079 Centerline is valid? [False, False] Translation: X:3.47, Y:0.00, Z:0.06 [[ 9.79153095e-01 -2.97784438e-02 -2.00928995e-01 3.47365825e+00] [ 3.89166009e-02 9.98372688e-01 4.16830094e-02 6.38162753e-04] [ 1.99360766e-01 -4.86335212e-02 9.78718584e-01 5.54322199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.179649246000004 meters Centerline goodness : 0.908662 Centerline is valid? [False, False] Translation: X:3.49, Y:0.00, Z:0.06 [[ 9.78860129e-01 -2.88512585e-02 -2.02485683e-01 3.48959174e+00] [ 4.02389648e-02 9.97817798e-01 5.23494744e-02 1.78959067e-03] [ 2.00533470e-01 -5.93906276e-02 9.77885004e-01 6.40712078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.209649246 meters Centerline goodness : 0.906466 Centerline is valid? [False, False] Translation: X:3.50, Y:0.01, Z:0.06 [[ 0.97973578 -0.03078014 -0.19791509 3.50458645] [ 0.03949054 0.99841038 0.04021466 0.00556689] [ 0.19636266 -0.04721552 0.97939389 0.05864106] [ 0. 0. 0. 1. ]] SLAMing on 18.239649246000003 meters Centerline goodness : 0.913196 Centerline is valid? [False, False] Translation: X:3.51, Y:0.00, Z:0.06 [[ 0.97935205 -0.0283671 -0.20016208 3.51082562] [ 0.03817125 0.99824424 0.04529228 0.00485418] [ 0.19852584 -0.05199753 0.97871536 0.06242711] [ 0. 0. 0. 1. ]] SLAMing on 18.269649246000004 meters Centerline goodness : 0.918421 Centerline is valid? [False, False] Translation: X:3.53, Y:0.01, Z:0.06 [[ 0.97999864 -0.0315399 -0.19648895 3.5328103 ] [ 0.03930063 0.99858867 0.03572305 0.00947633] [ 0.19508493 -0.04273068 0.97985507 0.05964115] [ 0. 0. 0. 1. ]] SLAMing on 18.299649246000005 meters Centerline goodness : 0.916369 Centerline is valid? [False, False] Translation: X:3.55, Y:0.02, Z:0.06 [[ 0.98076497 -0.03461343 -0.19209888 3.55385109] [ 0.04028058 0.99885852 0.02567352 0.01545979] [ 0.19099096 -0.03291754 0.9810397 0.05609928] [ 0. 0. 0. 1. ]] SLAMing on 18.329649246000002 meters Centerline goodness : 0.921545 Centerline is valid? [False, False] Translation: X:3.56, Y:0.01, Z:0.06 [[ 0.98042254 -0.03218252 -0.19425739 3.55985232] [ 0.03895433 0.99875565 0.03114028 0.0146035 ] [ 0.1930135 -0.0380978 0.98045619 0.06041622] [ 0. 0. 0. 1. ]] SLAMing on 18.359649246000004 meters Centerline goodness : 0.921545 Centerline is valid? [False, False] Translation: X:3.56, Y:0.01, Z:0.06 [[ 0.98042254 -0.03218252 -0.19425739 3.55985232] [ 0.03895433 0.99875565 0.03114028 0.0146035 ] [ 0.1930135 -0.0380978 0.98045619 0.06041622] [ 0. 0. 0. 1. ]] SLAMing on 18.389649246000005 meters Centerline goodness : 0.917836 Centerline is valid? [False, False] Translation: X:3.58, Y:0.02, Z:0.06 [[ 0.9812654 -0.03419304 -0.18960236 3.58111469] [ 0.03922877 0.99896852 0.02286928 0.02068334] [ 0.18862482 -0.0298787 0.98159459 0.0578708 ] [ 0. 0. 0. 1. ]] SLAMing on 18.419649246000002 meters Centerline goodness : 0.891938 Centerline is valid? [False, False] Translation: X:3.60, Y:0.02, Z:0.05 [[ 0.98214663 -0.03544797 -0.18474694 3.59769439] [ 0.03853847 0.99917041 0.01316319 0.02479421] [ 0.18412707 -0.02004805 0.98269797 0.05423242] [ 0. 0. 0. 1. ]] SLAMing on 18.449649246000003 meters Centerline goodness : 0.906677 Centerline is valid? [False, False] Translation: X:3.60, Y:0.02, Z:0.06 [[ 0.98189732 -0.03247569 -0.18660919 3.60242093] [ 0.03651549 0.99916641 0.01825123 0.02367216] [ 0.18586091 -0.02473496 0.98226468 0.05750807] [ 0. 0. 0. 1. ]] SLAMing on 18.479649246000005 meters Centerline goodness : 0.925385 Centerline is valid? [False, False] Translation: X:3.63, Y:0.03, Z:0.06 [[ 0.98267141 -0.03451659 -0.18211398 3.62561355] [ 0.03760212 0.99920138 0.01351626 0.02696811] [ 0.181502 -0.02012992 0.98318452 0.06007242] [ 0. 0. 0. 1. ]] SLAMing on 18.509649246000002 meters Centerline goodness : 0.927688 Centerline is valid? [False, False] Translation: X:3.64, Y:0.03, Z:0.07 [[ 0.98244496 -0.03427771 -0.1833765 3.6423428 ] [ 0.03951163 0.99890723 0.02496366 0.02582429] [ 0.18232041 -0.03177093 0.98272574 0.06948172] [ 0. 0. 0. 1. ]] SLAMing on 18.539649246000003 meters Centerline goodness : 0.929568 Centerline is valid? [False, False] Translation: X:3.65, Y:0.03, Z:0.07 [[ 0.98220681 -0.03559922 -0.18439762 3.64625472] [ 0.0408177 0.99886421 0.02458079 0.02594112] [ 0.18331313 -0.03167011 0.9825443 0.06935596] [ 0. 0. 0. 1. ]] SLAMing on 18.569649246000004 meters Centerline goodness : 0.916905 Centerline is valid? [False, False] Translation: X:3.66, Y:0.02, Z:0.07 [[ 0.98168368 -0.03917129 -0.18644776 3.66264903] [ 0.04553445 0.99851317 0.02996755 0.02477067] [ 0.18499667 -0.03790845 0.98200773 0.07459647] [ 0. 0. 0. 1. ]] SLAMing on 18.599649246000002 meters Centerline goodness : 0.927211 Centerline is valid? [False, False] Translation: X:3.67, Y:0.03, Z:0.07 [[ 0.98139097 -0.04070716 -0.18765579 3.66719468] [ 0.04700861 0.99846611 0.0292509 0.02521972] [ 0.18617723 -0.03752801 0.98179921 0.07412515] [ 0. 0. 0. 1. ]] SLAMing on 18.629649246000003 meters Centerline goodness : 0.923350 Centerline is valid? [False, False] Translation: X:3.67, Y:0.03, Z:0.07 [[ 0.98110242 -0.04207249 -0.18885962 3.67107488] [ 0.04830522 0.99842539 0.0285192 0.02593993] [ 0.18736237 -0.03710317 0.98158988 0.07406176] [ 0. 0. 0. 1. ]] SLAMing on 18.659649246000004 meters Centerline goodness : 0.924030 Centerline is valid? [False, False] Translation: X:3.68, Y:0.03, Z:0.08 [[ 0.98063266 -0.04214554 -0.1912677 3.68122728] [ 0.04906796 0.99829545 0.03159939 0.02630251] [ 0.1896099 -0.04037251 0.98102913 0.07534862] [ 0. 0. 0. 1. ]] SLAMing on 18.689649246000002 meters Centerline goodness : 0.927455 Centerline is valid? [False, False] Translation: X:3.70, Y:0.03, Z:0.07 [[ 0.98137518 -0.04490759 -0.18677813 3.70481988] [ 0.05020991 0.9984562 0.02375272 0.03161896] [ 0.1854231 -0.03268845 0.98211493 0.07287365] [ 0. 0. 0. 1. ]] SLAMing on 18.719649246000003 meters Centerline goodness : 0.926711 Centerline is valid? [False, False] Translation: X:3.71, Y:0.04, Z:0.07 [[ 0.98343574 -0.05090348 -0.1739626 3.71481195] [ 0.05508465 0.99829536 0.01928869 0.03608743] [ 0.17268419 -0.02855186 0.98456334 0.0650765 ] [ 0. 0. 0. 1. ]] SLAMing on 18.749649246000004 meters Centerline goodness : 0.934682 Centerline is valid? [False, False] Translation: X:3.74, Y:0.04, Z:0.07 [[ 0.98405407 -0.05296172 -0.16980177 3.74001768] [ 0.05619455 0.99831762 0.01428641 0.04042748] [ 0.16875947 -0.02360053 0.98537468 0.06557763] [ 0. 0. 0. 1. ]] SLAMing on 18.779649246 meters Centerline goodness : 0.932915 Centerline is valid? [False, False] Translation: X:3.74, Y:0.04, Z:0.07 [[ 0.98388698 -0.0499357 -0.17167657 3.74455314] [ 0.05398731 0.99836065 0.01900997 0.03971117] [ 0.17044585 -0.02797202 0.98496994 0.06806866] [ 0. 0. 0. 1. ]] SLAMing on 18.809649246000003 meters Centerline goodness : 0.935218 Centerline is valid? [False, False] Translation: X:3.77, Y:0.04, Z:0.07 [[ 0.98449873 -0.05223848 -0.16743176 3.7685407 ] [ 0.05507058 0.99840653 0.01231355 0.04451662] [ 0.16652172 -0.02134324 0.98580677 0.06700305] [ 0. 0. 0. 1. ]] SLAMing on 18.839649246000004 meters Centerline goodness : 0.935748 Centerline is valid? [False, False] Translation: X:3.77, Y:0.04, Z:0.07 [[ 0.98433049 -0.04886659 -0.1694271 3.77235708] [ 0.0525252 0.99847186 0.01717698 0.04326231] [ 0.16832881 -0.02580702 0.98539302 0.07004156] [ 0. 0. 0. 1. ]] SLAMing on 18.869649246 meters Centerline goodness : 0.936420 Centerline is valid? [False, False] Translation: X:3.78, Y:0.04, Z:0.07 [[ 0.98415854 -0.04548668 -0.17135615 3.77630054] [ 0.05005746 0.99849408 0.0224462 0.04193593] [ 0.1700771 -0.03066827 0.98495342 0.07350561] [ 0. 0. 0. 1. ]] SLAMing on 18.899649246000003 meters Centerline goodness : 0.940245 Centerline is valid? [False, False] Translation: X:3.78, Y:0.04, Z:0.07 [[ 0.98393025 -0.0466007 -0.17236482 3.77948026] [ 0.05111791 0.99845336 0.02185965 0.04353526] [ 0.17107956 -0.0303193 0.9847906 0.07363554] [ 0. 0. 0. 1. ]] SLAMing on 18.929649246000004 meters Centerline goodness : 0.940172 Centerline is valid? [False, False] Translation: X:3.79, Y:0.04, Z:0.08 [[ 0.98348915 -0.04696242 -0.17476733 3.78934004] [ 0.0523951 0.99827212 0.02659955 0.0422997 ] [ 0.17321617 -0.03531732 0.9842504 0.07789293] [ 0. 0. 0. 1. ]] SLAMing on 18.959649246 meters Centerline goodness : 0.941550 Centerline is valid? [False, False] Translation: X:3.79, Y:0.04, Z:0.08 [[ 0.9832653 -0.0481771 -0.17569384 3.79272744] [ 0.05353287 0.99823093 0.02586967 0.04294728] [ 0.1741367 -0.03484214 0.98410489 0.077375 ] [ 0. 0. 0. 1. ]] SLAMing on 18.989649246000003 meters Centerline goodness : 0.939820 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:0.08 [[ 0.98284343 -0.04726683 -0.17828244 3.80178177] [ 0.05342161 0.99812494 0.02987882 0.04255151] [ 0.17653587 -0.03889033 0.98352561 0.07962795] [ 0. 0. 0. 1. ]] SLAMing on 19.019649246000004 meters Centerline goodness : 0.937711 Centerline is valid? [False, False] Translation: X:3.82, Y:0.05, Z:0.07 [[ 0.9835916 -0.04943344 -0.17350478 3.81800025] [ 0.05336037 0.99841237 0.018039 0.04629277] [ 0.17233759 -0.02700129 0.9846678 0.07398747] [ 0. 0. 0. 1. ]] SLAMing on 19.049649246000005 meters Centerline goodness : 0.938394 Centerline is valid? [False, False] Translation: X:3.82, Y:0.05, Z:0.07 [[ 0.98331343 -0.05056378 -0.17475124 3.8215347 ] [ 0.05448128 0.99835807 0.01769035 0.04727484] [ 0.17356982 -0.02691583 0.98445368 0.07461429] [ 0. 0. 0. 1. ]] SLAMing on 19.079649246000002 meters Centerline goodness : 0.939540 Centerline is valid? [False, False] Translation: X:3.83, Y:0.05, Z:0.08 [[ 0.98292292 -0.04894612 -0.17738886 3.82940482] [ 0.05365081 0.99832133 0.02182015 0.0474173 ] [ 0.17602308 -0.03096459 0.98389891 0.07699615] [ 0. 0. 0. 1. ]] SLAMing on 19.109649246000004 meters Centerline goodness : 0.939190 Centerline is valid? [False, False] Translation: X:3.83, Y:0.05, Z:0.08 [[ 0.9827122 -0.05000163 -0.17825984 3.83241713] [ 0.05462063 0.99828431 0.02109572 0.04853965] [ 0.17689918 -0.03046769 0.98375729 0.07659032] [ 0. 0. 0. 1. ]] SLAMing on 19.139649246000005 meters Centerline goodness : 0.936581 Centerline is valid? [False, False] Translation: X:3.84, Y:0.05, Z:0.08 [[ 0.9824833 -0.05102546 -0.17922883 3.8354234 ] [ 0.05557766 0.99824458 0.02046673 0.04968099] [ 0.17786988 -0.03006934 0.9835945 0.07649136] [ 0. 0. 0. 1. ]] SLAMing on 19.169649246000002 meters Centerline goodness : 0.939811 Centerline is valid? [False, False] Translation: X:3.84, Y:0.05, Z:0.08 [[ 0.98210142 -0.0489561 -0.18187937 3.84221897] [ 0.05440417 0.99820388 0.0250839 0.05001853] [ 0.18032468 -0.03452993 0.98300086 0.07997492] [ 0. 0. 0. 1. ]] SLAMing on 19.199649246000003 meters Centerline goodness : 0.939507 Centerline is valid? [False, False] Translation: X:3.84, Y:0.05, Z:0.08 [[ 0.98191051 -0.04978746 -0.18268268 3.84455982] [ 0.05517993 0.99817453 0.02455176 0.05144314] [ 0.18112683 -0.03418805 0.98286533 0.07997627] [ 0. 0. 0. 1. ]] SLAMing on 19.229649246000005 meters Centerline goodness : 0.943135 Centerline is valid? [False, False] Translation: X:3.87, Y:0.06, Z:0.08 [[ 0.9826283 -0.05168643 -0.17824179 3.86608041] [ 0.05569003 0.99829423 0.01752865 0.05518364] [ 0.17703176 -0.02715044 0.98383058 0.07924018] [ 0. 0. 0. 1. ]] SLAMing on 19.259649246000002 meters Centerline goodness : 0.942321 Centerline is valid? [False, False] Translation: X:3.87, Y:0.06, Z:0.08 [[ 0.98242425 -0.05260088 -0.17909701 3.86865708] [ 0.05655712 0.99825373 0.01705255 0.0562258 ] [ 0.17788728 -0.02688205 0.98368362 0.07933822] [ 0. 0. 0. 1. ]] SLAMing on 19.289649246000003 meters Centerline goodness : 0.941555 Centerline is valid? [False, False] Translation: X:3.88, Y:0.06, Z:0.08 [[ 0.98209606 -0.05066006 -0.18144115 3.87550779] [ 0.0553867 0.99824252 0.02107587 0.05647534] [ 0.18005456 -0.03074795 0.98317593 0.08142501] [ 0. 0. 0. 1. ]] SLAMing on 19.319649246000004 meters Centerline goodness : 0.941832 Centerline is valid? [False, False] Translation: X:3.88, Y:0.06, Z:0.08 [[ 0.98171718 -0.0484968 -0.18406369 3.88240331] [ 0.05412103 0.99820481 0.02565309 0.0559393 ] [ 0.18248917 -0.0351458 0.9825795 0.08463092] [ 0. 0. 0. 1. ]] SLAMing on 19.349649246000002 meters Centerline goodness : 0.940382 Centerline is valid? [False, False] Translation: X:3.88, Y:0.06, Z:0.08 [[ 0.9815283 -0.04930812 -0.18485376 3.88482818] [ 0.05488561 0.99817524 0.02517468 0.0564945 ] [ 0.18327512 -0.03485548 0.98244355 0.08463553] [ 0. 0. 0. 1. ]] SLAMing on 19.379649246000003 meters Centerline goodness : 0.937353 Centerline is valid? [False, False] Translation: X:3.89, Y:0.06, Z:0.08 [[ 0.98120631 -0.05055896 -0.18622024 3.88891565] [ 0.05608876 0.99812407 0.02454368 0.05718571] [ 0.18463 -0.03452728 0.98220142 0.08476494] [ 0. 0. 0. 1. ]] SLAMing on 19.409649246000004 meters Centerline goodness : 0.938733 Centerline is valid? [False, False] Translation: X:3.89, Y:0.06, Z:0.08 [[ 0.98098245 -0.05158384 -0.1871164 3.89206517] [ 0.05703153 0.99808759 0.02384474 0.05828621] [ 0.18552855 -0.0340628 0.98204831 0.08430441] [ 0. 0. 0. 1. ]] SLAMing on 19.439649246000002 meters Centerline goodness : 0.933581 Centerline is valid? [False, False] Translation: X:3.90, Y:0.06, Z:0.09 [[ 0.98074479 -0.04925563 -0.18898025 3.89779337] [ 0.0554164 0.99808586 0.0274526 0.05849529] [ 0.18726632 -0.0373966 0.98159708 0.08532453] [ 0. 0. 0. 1. ]] SLAMing on 19.469649246000003 meters Centerline goodness : 0.940005 Centerline is valid? [False, False] Translation: X:3.90, Y:0.06, Z:0.09 [[ 0.98054904 -0.04617889 -0.19076451 3.90203827] [ 0.05317035 0.99808241 0.03169251 0.05747771] [ 0.18893517 -0.04121908 0.98112409 0.08722646] [ 0. 0. 0. 1. ]] SLAMing on 19.499649246000004 meters Centerline goodness : 0.939955 Centerline is valid? [False, False] Translation: X:3.92, Y:0.06, Z:0.09 [[ 0.98136532 -0.04597866 -0.18656919 3.92097305] [ 0.05142241 0.99837785 0.02444183 0.06180752] [ 0.18514275 -0.03358021 0.98213774 0.08515602] [ 0. 0. 0. 1. ]] SLAMing on 19.529649246 meters Centerline goodness : 0.939263 Centerline is valid? [False, False] Translation: X:3.92, Y:0.06, Z:0.09 [[ 0.98117628 -0.04235492 -0.18841222 3.92437936] [ 0.04871291 0.99838469 0.02924148 0.06090313] [ 0.18686936 -0.03786915 0.98165461 0.0880152 ] [ 0. 0. 0. 1. ]] SLAMing on 19.559649246000003 meters Centerline goodness : 0.951213 Centerline is valid? [False, True] Translation: X:3.94, Y:0.07, Z:0.09 [[ 0.98182589 -0.04266749 -0.18492542 3.94491366] [ 0.04751718 0.99863095 0.02187106 0.06531152] [ 0.18373906 -0.0302607 0.98250916 0.08619341] [ 0. 0. 0. 1. ]] SLAMing on 19.589649246000004 meters Centerline goodness : 0.941408 Centerline is valid? [True, False] Translation: X:3.95, Y:0.07, Z:0.09 [[ 0.98163346 -0.04345112 -0.18576264 3.9473114 ] [ 0.04824908 0.9986064 0.02138398 0.06635216] [ 0.1845746 -0.02995411 0.98236193 0.0862657 ] [ 0. 0. 0. 1. ]] SLAMing on 19.619649246 meters Centerline goodness : 0.940590 Centerline is valid? [False, False] Translation: X:3.95, Y:0.07, Z:0.09 [[ 0.98130306 -0.04482174 -0.18717725 3.95172744] [ 0.04962472 0.99854606 0.02105128 0.06666766] [ 0.18596155 -0.02994631 0.98210057 0.08660499] [ 0. 0. 0. 1. ]] SLAMing on 19.649649246000003 meters Centerline goodness : 0.939126 Centerline is valid? [False, False] Translation: X:3.95, Y:0.07, Z:0.09 [[ 0.9810759 -0.04586166 -0.18811375 3.95489781] [ 0.05061451 0.99850707 0.02053806 0.06727548] [ 0.186891 -0.02967068 0.98193249 0.08641515] [ 0. 0. 0. 1. ]] SLAMing on 19.679649246000004 meters Centerline goodness : 0.939109 Centerline is valid? [False, False] Translation: X:3.96, Y:0.07, Z:0.09 [[ 0.98073169 -0.0470608 -0.18960651 3.95897662] [ 0.05183668 0.99844912 0.0203055 0.06721253] [ 0.18835686 -0.02974282 0.98165017 0.08719888] [ 0. 0. 0. 1. ]] SLAMing on 19.709649246000005 meters Centerline goodness : 0.940765 Centerline is valid? [False, False] Translation: X:3.96, Y:0.07, Z:0.09 [[ 0.98040987 -0.04835645 -0.19094016 3.96311519] [ 0.05307101 0.99839735 0.01965219 0.068211 ] [ 0.18968383 -0.02940059 0.98140494 0.0872346 ] [ 0. 0. 0. 1. ]] SLAMing on 19.739649246000003 meters Centerline goodness : 0.943629 Centerline is valid? [False, False] Translation: X:3.97, Y:0.07, Z:0.09 [[ 0.98024877 -0.04540082 -0.19248665 3.96734214] [ 0.05087928 0.99842565 0.02361207 0.0672693 ] [ 0.1911116 -0.03293928 0.98101547 0.08847651] [ 0. 0. 0. 1. ]] SLAMing on 19.769649246000004 meters Centerline goodness : 0.951779 Centerline is valid? [False, True] Translation: X:3.97, Y:0.07, Z:0.09 [[ 0.97992581 -0.04300822 -0.19466818 3.97337252] [ 0.04937007 0.99838953 0.02794522 0.0669786 ] [ 0.1931528 -0.03699502 0.98047099 0.09095089] [ 0. 0. 0. 1. ]] SLAMing on 19.799649246000005 meters Centerline goodness : 0.954077 Centerline is valid? [True, True] Translation: X:4.01, Y:0.08, Z:0.07 [[ 0.9797698 -0.04997622 -0.19378731 4.00562687] [ 0.04981544 0.99874214 -0.0057057 0.08175323] [ 0.19382871 -0.00406332 0.98102697 0.07316146] [ 0. 0. 0. 1. ]] SLAMing on 19.829649246000002 meters Centerline goodness : 0.953361 Centerline is valid? [True, True] Translation: X:4.03, Y:0.08, Z:0.08 [[ 0.97974213 -0.05052195 -0.19378567 4.03320556] [ 0.05036081 0.99871447 -0.00576101 0.0831895 ] [ 0.19382761 -0.00411489 0.98102697 0.07838624] [ 0. 0. 0. 1. ]] SLAMing on 19.859649246000004 meters Centerline goodness : 0.954545 Centerline is valid? [True, True] Translation: X:4.06, Y:0.08, Z:0.08 [[ 0.97972346 -0.05088906 -0.19378399 4.05951455] [ 0.05072396 0.99869577 -0.00581697 0.08406237] [ 0.19382727 -0.00413047 0.98102698 0.08446693] [ 0. 0. 0. 1. ]] SLAMing on 19.889649246000005 meters Centerline goodness : 0.954442 Centerline is valid? [True, True] Translation: X:4.09, Y:0.08, Z:0.09 [[ 0.97971825 -0.05099374 -0.19378284 4.08688323] [ 0.05082312 0.99869051 -0.00585511 0.08470652] [ 0.19382766 -0.00411229 0.98102698 0.089993 ] [ 0. 0. 0. 1. ]] SLAMing on 19.919649246000002 meters Centerline goodness : 0.958071 Centerline is valid? [True, True] Translation: X:4.11, Y:0.09, Z:0.10 [[ 9.79709521e-01 -5.11675340e-02 -1.93781162e-01 4.11409315e+00] [ 5.09894108e-02 9.98681706e-01 -5.91011509e-03 8.53036093e-02] [ 1.93828108e-01 -4.09059126e-03 9.81026978e-01 9.51120626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.949649246000003 meters Centerline goodness : 0.957710 Centerline is valid? [True, True] Translation: X:4.14, Y:0.09, Z:0.10 [[ 9.79685013e-01 -5.16410585e-02 -1.93779453e-01 4.14165633e+00] [ 5.14611291e-02 9.98657180e-01 -5.96563218e-03 8.61824581e-02] [ 1.93827314e-01 -4.12766901e-03 9.81026980e-01 1.00120594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.979649246000005 meters Centerline goodness : 0.957177 Centerline is valid? [True, True] Translation: X:4.17, Y:0.09, Z:0.11 [[ 9.79686795e-01 -5.16137559e-02 -1.93777720e-01 4.16974084e+00] [ 5.14222652e-02 9.98658847e-01 -6.02143460e-03 8.74180703e-02] [ 1.93828623e-01 -4.06536931e-03 9.81026981e-01 1.05025891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009649246000002 meters Centerline goodness : 0.956801 Centerline is valid? [True, True] Translation: X:4.20, Y:0.09, Z:0.11 [[ 9.79670435e-01 -5.19298556e-02 -1.93775977e-01 4.19746783e+00] [ 5.17335008e-02 9.98642436e-01 -6.07699793e-03 8.90115931e-02] [ 1.93828492e-01 -4.07125448e-03 9.81026983e-01 1.10078965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.039649246000003 meters Centerline goodness : 0.955872 Centerline is valid? [True, True] Translation: X:4.22, Y:0.09, Z:0.12 [[ 9.79677085e-01 -5.18107974e-02 -1.93774224e-01 4.22440581e+00] [ 5.16011811e-02 9.98648943e-01 -6.13241189e-03 8.93901722e-02] [ 1.93830149e-01 -3.99119541e-03 9.81026984e-01 1.15024093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.069649246000004 meters Centerline goodness : 0.956360 Centerline is valid? [True, True] Translation: X:4.25, Y:0.09, Z:0.12 [[ 9.79658808e-01 -5.21580736e-02 -1.93773463e-01 4.25189520e+00] [ 5.19504456e-02 9.98630688e-01 -6.15637093e-03 8.98452070e-02] [ 1.93829231e-01 -4.03547472e-03 9.81026984e-01 1.20650194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.099649246000002 meters Centerline goodness : 0.956189 Centerline is valid? [True, True] Translation: X:4.28, Y:0.09, Z:0.12 [[ 9.79671413e-01 -5.19273244e-02 -1.93771709e-01 4.27947877e+00] [ 5.17044089e-02 9.98643118e-01 -6.21109145e-03 9.08243885e-02] [ 1.93831309e-01 -3.93402294e-03 9.81026986e-01 1.24933557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.129649246000003 meters Centerline goodness : 0.952618 Centerline is valid? [True, True] Translation: X:4.31, Y:0.09, Z:0.13 [[ 9.79678003e-01 -5.18048869e-02 -1.93771163e-01 4.30775653e+00] [ 5.15762406e-02 9.98649639e-01 -6.22808478e-03 9.29906557e-02] [ 1.93832147e-01 -3.89247046e-03 9.81026986e-01 1.28757942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.159649246000004 meters Centerline goodness : 0.953828 Centerline is valid? [True, True] Translation: X:4.34, Y:0.09, Z:0.13 [[ 9.79690986e-01 -5.15655498e-02 -1.93769362e-01 4.33546076e+00] [ 5.13212876e-02 9.98662426e-01 -6.28362630e-03 9.43306669e-02] [ 1.93834200e-01 -3.78848111e-03 9.81026988e-01 1.34131548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189649246000002 meters Centerline goodness : 0.953378 Centerline is valid? [True, True] Translation: X:4.36, Y:0.10, Z:0.14 [[ 9.79672679e-01 -5.19191080e-02 -1.93767511e-01 4.36244631e+00] [ 5.16705037e-02 9.98644061e-01 -6.34021716e-03 9.55450465e-02] [ 1.93833952e-01 -3.80072735e-03 9.81026989e-01 1.39001743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.219649246000003 meters Centerline goodness : 0.955365 Centerline is valid? [True, True] Translation: X:4.39, Y:0.10, Z:0.14 [[ 9.79661760e-01 -5.21277323e-02 -1.93766706e-01 4.38978846e+00] [ 5.18783242e-02 9.98633131e-01 -6.36471674e-03 9.62594480e-02] [ 1.93833630e-01 -3.81702239e-03 9.81026989e-01 1.44731900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.249649246000004 meters Centerline goodness : 0.955365 Centerline is valid? [True, True] Translation: X:4.42, Y:0.10, Z:0.15 [[ 9.79646898e-01 -5.24130833e-02 -1.93764869e-01 4.41790730e+00] [ 5.21582401e-02 9.98618195e-01 -6.42015525e-03 9.73865852e-02] [ 1.93833624e-01 -3.81694942e-03 9.81026991e-01 1.50253888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.279649246 meters Centerline goodness : 0.957806 Centerline is valid? [True, True] Translation: X:4.45, Y:0.10, Z:0.16 [[ 9.79683113e-01 -5.17386835e-02 -1.93763019e-01 4.44563598e+00] [ 5.14598344e-02 9.98654071e-01 -6.47551903e-03 9.79306070e-02] [ 1.93837263e-01 -3.62705626e-03 9.81026992e-01 1.57647525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.309649246000003 meters Centerline goodness : 0.958945 Centerline is valid? [True, True] Translation: X:4.47, Y:0.10, Z:0.16 [[ 9.79706807e-01 -5.12951481e-02 -1.93761142e-01 4.47226275e+00] [ 5.09966962e-02 9.98677465e-01 -6.53122776e-03 9.94320764e-02] [ 1.93839906e-01 -3.48248979e-03 9.81026994e-01 1.63072997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.339649246000004 meters Centerline goodness : 0.960801 Centerline is valid? [True, True] Translation: X:4.50, Y:0.10, Z:0.17 [[ 9.79672299e-01 -5.19530872e-02 -1.93760325e-01 4.49945273e+00] [ 5.16625990e-02 9.98643081e-01 -6.55538695e-03 1.00975764e-01] [ 1.93837980e-01 -3.58803095e-03 9.81026994e-01 1.69276392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.369649246 meters Centerline goodness : 0.959782 Centerline is valid? [True, True] Translation: X:4.53, Y:0.10, Z:0.17 [[ 9.79743355e-01 -5.06025671e-02 -1.93758454e-01 4.52705905e+00] [ 5.02750868e-02 9.98713533e-01 -6.61022221e-03 1.00863602e-01] [ 1.93843684e-01 -3.26490181e-03 9.81026996e-01 1.72736844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.399649246000003 meters Centerline goodness : 0.959034 Centerline is valid? [True, True] Translation: X:4.56, Y:0.10, Z:0.18 [[ 9.79721176e-01 -5.10323836e-02 -1.93757875e-01 4.55503561e+00] [ 5.07098749e-02 9.98691438e-01 -6.62716981e-03 1.02287771e-01] [ 1.93842531e-01 -3.33265898e-03 9.81026996e-01 1.77353966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.429649246000004 meters Centerline goodness : 0.956249 Centerline is valid? [True, True] Translation: X:4.58, Y:0.10, Z:0.18 [[ 9.79722013e-01 -5.10233885e-02 -1.93756011e-01 4.58340042e+00] [ 5.06900175e-02 9.98692086e-01 -6.68122917e-03 1.04362440e-01] [ 1.93843494e-01 -3.27574828e-03 9.81026997e-01 1.79884693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.459649246000005 meters Centerline goodness : 0.953235 Centerline is valid? [True, True] Translation: X:4.61, Y:0.11, Z:0.18 [[ 9.79734798e-01 -5.07806117e-02 -1.93755144e-01 4.61220459e+00] [ 5.04375872e-02 9.98704699e-01 -6.70627979e-03 1.05455362e-01] [ 1.93844721e-01 -3.20216629e-03 9.81026998e-01 1.84196965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.489649246000003 meters Centerline goodness : 0.951734 Centerline is valid? [True, True] Translation: X:4.64, Y:0.11, Z:0.19 [[ 9.79734829e-01 -5.07861986e-02 -1.93753520e-01 4.64052375e+00] [ 5.04340699e-02 9.98704563e-01 -6.75287581e-03 1.05876466e-01] [ 1.93845477e-01 -3.15575094e-03 9.81026999e-01 1.88811809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.519649246000004 meters Centerline goodness : 0.951698 Centerline is valid? [True, True] Translation: X:4.67, Y:0.11, Z:0.19 [[ 9.79691639e-01 -5.16187273e-02 -1.93751902e-01 4.66837904e+00] [ 5.12736019e-02 9.98661500e-01 -6.79898666e-03 1.07096013e-01] [ 1.93843520e-01 -3.27344750e-03 9.81027000e-01 1.94096535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.549649246000005 meters Centerline goodness : 0.952960 Centerline is valid? [True, True] Translation: X:4.69, Y:0.11, Z:0.20 [[ 9.79738774e-01 -5.07233274e-02 -1.93750041e-01 4.69439166e+00] [ 5.03504578e-02 9.98708109e-01 -6.85162485e-03 1.07376217e-01] [ 1.93847274e-01 -3.04260072e-03 9.81027001e-01 1.99704859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.579649246000002 meters Centerline goodness : 0.954492 Centerline is valid? [True, True] Translation: X:4.72, Y:0.11, Z:0.21 [[ 9.79725423e-01 -5.09836557e-02 -1.93749227e-01 4.72194665e+00] [ 5.06112924e-02 9.98694767e-01 -6.87455800e-03 1.08245572e-01] [ 1.93846829e-01 -3.07071955e-03 9.81027001e-01 2.05890755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.609649246000004 meters Centerline goodness : 0.956325 Centerline is valid? [True, True] Translation: X:4.75, Y:0.11, Z:0.21 [[ 9.79763210e-01 -5.02593921e-02 -1.93747375e-01 4.74866343e+00] [ 4.98627605e-02 9.98732061e-01 -6.92637987e-03 1.09304265e-01] [ 1.93849831e-01 -2.87456678e-03 9.81027003e-01 2.11249684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.639649246000005 meters Centerline goodness : 0.956482 Centerline is valid? [True, True] Translation: X:4.78, Y:0.11, Z:0.22 [[ 9.79731665e-01 -5.08736712e-02 -1.93746572e-01 4.77647457e+00] [ 5.04845049e-02 9.98700671e-01 -6.94877551e-03 1.10815558e-01] [ 1.93848341e-01 -2.97326435e-03 9.81027003e-01 2.17478382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669649246000002 meters Centerline goodness : 0.956080 Centerline is valid? [True, True] Translation: X:4.80, Y:0.11, Z:0.22 [[ 9.79770451e-01 -5.01273683e-02 -1.93744962e-01 4.80405880e+00] [ 4.97149347e-02 9.98738964e-01 -6.99337859e-03 1.12151842e-01] [ 1.93851202e-01 -2.78011243e-03 9.81027004e-01 2.21777601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.699649246000003 meters Centerline goodness : 0.955580 Centerline is valid? [True, True] Translation: X:4.83, Y:0.11, Z:0.23 [[ 9.79772237e-01 -5.00946511e-02 -1.93744391e-01 4.83185150e+00] [ 4.96784641e-02 9.98740668e-01 -7.00915989e-03 1.12890379e-01] [ 1.93851524e-01 -2.75754351e-03 9.81027004e-01 2.26350446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.729649246000005 meters Centerline goodness : 0.954564 Centerline is valid? [True, True] Translation: X:4.86, Y:0.11, Z:0.23 [[ 9.79724161e-01 -5.10332259e-02 -1.93742559e-01 4.85969345e+00] [ 5.06252685e-02 9.98692769e-01 -7.05944527e-03 1.13691482e-01] [ 1.93849559e-01 -2.89195997e-03 9.81027005e-01 2.30851619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.759649246000002 meters Centerline goodness : 0.953904 Centerline is valid? [True, True] Translation: X:4.89, Y:0.12, Z:0.24 [[ 9.79690251e-01 -5.16822270e-02 -1.93741991e-01 4.88706023e+00] [ 5.12837603e-02 9.98659061e-01 -7.07499849e-03 1.15211581e-01] [ 1.93847847e-01 -3.00451078e-03 9.81027005e-01 2.35393251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.789649246000003 meters Centerline goodness : 0.950814 Centerline is valid? [True, True] Translation: X:4.91, Y:0.11, Z:0.24 [[ 9.79804610e-01 -4.94739602e-02 -1.93740171e-01 4.91422101e+00] [ 4.90229538e-02 9.98772242e-01 -7.12450083e-03 1.14372960e-01] [ 1.93854782e-01 -2.51709670e-03 9.81027007e-01 2.40452476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.819649246000004 meters Centerline goodness : 0.950808 Centerline is valid? [True, True] Translation: X:4.94, Y:0.12, Z:0.25 [[ 9.79728755e-01 -5.09561678e-02 -1.93739607e-01 4.94138661e+00] [ 5.05308292e-02 9.98696980e-01 -7.13981295e-03 1.16874500e-01] [ 1.93850978e-01 -2.79474292e-03 9.81027007e-01 2.45098837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849649246000002 meters Centerline goodness : 0.950087 Centerline is valid? [True, True] Translation: X:4.97, Y:0.12, Z:0.25 [[ 9.79771241e-01 -5.01347809e-02 -1.93739046e-01 4.97012761e+00] [ 4.96905413e-02 9.98739033e-01 -7.15498126e-03 1.17547012e-01] [ 1.93853461e-01 -2.61675322e-03 9.81027007e-01 2.50112961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.879649246000003 meters Centerline goodness : 0.949995 Centerline is valid? [True, False] Translation: X:4.97, Y:0.12, Z:0.25 [[ 9.79630237e-01 -4.65478807e-02 -1.95340457e-01 4.97332094e+00] [ 4.71129518e-02 9.98888026e-01 -1.75513369e-03 1.15107228e-01] [ 1.95204941e-01 -7.48368351e-03 9.80733922e-01 2.53408774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.909649246000004 meters Centerline goodness : 0.949836 Centerline is valid? [False, False] Translation: X:4.98, Y:0.11, Z:0.26 [[ 9.79443537e-01 -4.34863155e-02 -1.96975373e-01 4.97713984e+00] [ 4.51635637e-02 9.98971482e-01 4.02878569e-03 1.12884862e-01] [ 1.96597583e-01 -1.28420779e-02 9.80400159e-01 2.57750482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.939649246000002 meters Centerline goodness : 0.953127 Centerline is valid? [False, True] Translation: X:4.98, Y:0.11, Z:0.26 [[ 0.97931064 -0.03980506 -0.19840924 4.97991797] [ 0.0425452 0.99904876 0.00956494 0.11068005] [ 0.19783977 -0.01780841 0.98007259 0.2613229 ] [ 0. 0. 0. 1. ]] SLAMing on 20.969649246000003 meters Centerline goodness : 0.953087 Centerline is valid? [True, True] Translation: X:5.01, Y:0.12, Z:0.26 [[ 9.79300976e-01 -4.21627439e-02 -1.97969446e-01 5.00928464e+00] [ 4.18177659e-02 9.99107687e-01 -5.92486686e-03 1.16639792e-01] [ 1.98042604e-01 -2.47641205e-03 9.80190285e-01 2.55836489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.999649246000004 meters Centerline goodness : 0.955152 Centerline is valid? [True, True] Translation: X:5.04, Y:0.12, Z:0.26 [[ 9.79366857e-01 -4.06058705e-02 -1.97968994e-01 5.03686551e+00] [ 4.02263632e-02 9.99172937e-01 -5.93992025e-03 1.16755979e-01] [ 1.98046457e-01 -2.14621164e-03 9.80190285e-01 2.61067182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029649246 meters Centerline goodness : 0.954631 Centerline is valid? [True, True] Translation: X:5.06, Y:0.12, Z:0.27 [[ 9.79394456e-01 -3.99368753e-02 -1.97968546e-01 5.06470022e+00] [ 3.95408249e-02 9.99200212e-01 -5.95483249e-03 1.18162790e-01] [ 1.98048030e-01 -1.99570968e-03 9.80190285e-01 2.65238096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.059649246000003 meters Centerline goodness : 0.954582 Centerline is valid? [True, True] Translation: X:5.09, Y:0.12, Z:0.27 [[ 9.79426339e-01 -3.91544347e-02 -1.97967108e-01 5.09164485e+00] [ 3.87329775e-02 9.99231569e-01 -6.00225400e-03 1.20350852e-01] [ 1.98049999e-01 -1.78908988e-03 9.80190286e-01 2.69438693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.089649246000004 meters Centerline goodness : 0.953030 Centerline is valid? [True, True] Translation: X:5.12, Y:0.12, Z:0.27 [[ 9.79469027e-01 -3.80749158e-02 -1.97966479e-01 5.12051879e+00] [ 3.76274499e-02 9.99273686e-01 -6.02293770e-03 1.20919480e-01] [ 1.98052016e-01 -1.54969284e-03 9.80190286e-01 2.74337727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.119649246000005 meters Centerline goodness : 0.951950 Centerline is valid? [True, True] Translation: X:5.15, Y:0.12, Z:0.28 [[ 9.79459439e-01 -3.83272588e-02 -1.97965222e-01 5.14763381e+00] [ 3.78766030e-02 9.99264025e-01 -6.06396668e-03 1.22639280e-01] [ 1.98051940e-01 -1.55884074e-03 9.80190287e-01 2.78386358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.149649246000003 meters Centerline goodness : 0.950679 Centerline is valid? [True, True] Translation: X:5.18, Y:0.12, Z:0.28 [[ 9.79459615e-01 -3.83259732e-02 -1.97964598e-01 5.17546550e+00] [ 3.78711833e-02 9.99264107e-01 -6.08429367e-03 1.23249681e-01] [ 1.98052103e-01 -1.53783363e-03 9.80190287e-01 2.83180695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.179649246000004 meters Centerline goodness : 0.952199 Centerline is valid? [True, True] Translation: X:5.20, Y:0.12, Z:0.29 [[ 9.79445147e-01 -3.87012623e-02 -1.97963167e-01 5.20263758e+00] [ 3.82447197e-02 9.99249598e-01 -6.13051291e-03 1.21932367e-01] [ 1.98051873e-01 -1.56654469e-03 9.80190288e-01 2.89333845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.209649246000005 meters Centerline goodness : 0.952700 Centerline is valid? [True, True] Translation: X:5.23, Y:0.12, Z:0.29 [[ 9.79418842e-01 -3.93685803e-02 -1.97961731e-01 5.23016985e+00] [ 3.89162324e-02 9.99223387e-01 -6.17652148e-03 1.22280540e-01] [ 1.98051153e-01 -1.65452322e-03 9.80190289e-01 2.94951834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.239649246000003 meters Centerline goodness : 0.952088 Centerline is valid? [True, True] Translation: X:5.26, Y:0.12, Z:0.30 [[ 9.79460566e-01 -3.83239436e-02 -1.97960285e-01 5.25619154e+00] [ 3.78411748e-02 9.99264392e-01 -6.22252973e-03 1.22526831e-01] [ 1.98053136e-01 -1.39632727e-03 9.80190290e-01 3.00439229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.269649246000004 meters Centerline goodness : 0.951792 Centerline is valid? [True, True] Translation: X:5.28, Y:0.12, Z:0.31 [[ 9.79440065e-01 -3.88475785e-02 -1.97959657e-01 5.28432403e+00] [ 3.83713675e-02 9.99244049e-01 -6.24246873e-03 1.24795022e-01] [ 1.98052514e-01 -1.48185876e-03 9.80190291e-01 3.05251881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.299649246000005 meters Centerline goodness : 0.951350 Centerline is valid? [True, True] Translation: X:5.31, Y:0.13, Z:0.31 [[ 9.79445629e-01 -3.87144194e-02 -1.97958213e-01 5.31235157e+00] [ 3.82263294e-02 9.99249323e-01 -6.28792353e-03 1.26963890e-01] [ 1.98053044e-01 -1.40853666e-03 9.80190292e-01 3.09256150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.329649246000002 meters Centerline goodness : 0.951925 Centerline is valid? [True, True] Translation: X:5.34, Y:0.13, Z:0.31 [[ 9.79428901e-01 -3.91376043e-02 -1.97957765e-01 5.33992562e+00] [ 3.86552264e-02 9.99232735e-01 -6.30199827e-03 1.28765807e-01] [ 1.98052524e-01 -1.47974299e-03 9.80190292e-01 3.14574669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.359649246000004 meters Centerline goodness : 0.952274 Centerline is valid? [True, True] Translation: X:5.37, Y:0.13, Z:0.32 [[ 9.79428795e-01 -3.91475439e-02 -1.97956324e-01 5.36720211e+00] [ 3.86562825e-02 9.99232409e-01 -6.34694784e-03 1.30674251e-01] [ 1.98052842e-01 -1.43587210e-03 9.80190293e-01 3.18358572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.389649246000005 meters Centerline goodness : 0.952186 Centerline is valid? [True, True] Translation: X:5.39, Y:0.13, Z:0.33 [[ 9.79478257e-01 -3.78921376e-02 -1.97955877e-01 5.39400610e+00] [ 3.73726818e-02 9.99281153e-01 -6.36086058e-03 1.30655593e-01] [ 1.98054604e-01 -1.16781736e-03 9.80190293e-01 3.31338737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.419649246000002 meters Centerline goodness : 0.952685 Centerline is valid? [True, True] Translation: X:5.42, Y:0.13, Z:0.34 [[ 9.79480062e-01 -3.78537068e-02 -1.97954302e-01 5.42077345e+00] [ 3.73236443e-02 9.99282675e-01 -6.40949905e-03 1.31394728e-01] [ 1.98054928e-01 -1.11039945e-03 9.80190294e-01 3.36783167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.449649246000003 meters Centerline goodness : 0.950442 Centerline is valid? [True, True] Translation: X:5.45, Y:0.13, Z:0.34 [[ 9.79476091e-01 -3.79627167e-02 -1.97953074e-01 5.44852389e+00] [ 3.74272369e-02 9.99278557e-01 -6.44720992e-03 1.31623520e-01] [ 1.98055016e-01 -1.09394864e-03 9.80190295e-01 3.42829716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.479649246000005 meters Centerline goodness : 0.951763 Centerline is valid? [True, True] Translation: X:5.48, Y:0.13, Z:0.35 [[ 9.79467910e-01 -3.81825274e-02 -1.97951275e-01 5.47626451e+00] [ 3.76404218e-02 9.99270195e-01 -6.50198581e-03 1.32946466e-01] [ 1.98055072e-01 -1.08248305e-03 9.80190296e-01 3.47824692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509649246000002 meters Centerline goodness : 0.952529 Centerline is valid? [True, True] Translation: X:5.50, Y:0.13, Z:0.35 [[ 9.79456864e-01 -3.84741010e-02 -1.97949477e-01 5.50446649e+00] [ 3.79269147e-02 9.99259008e-01 -6.55629462e-03 1.34698841e-01] [ 1.98055045e-01 -1.08600516e-03 9.80190298e-01 3.54006572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.539649246000003 meters Centerline goodness : 0.951856 Centerline is valid? [True, True] Translation: X:5.53, Y:0.14, Z:0.36 [[ 9.79472328e-01 -3.80865999e-02 -1.97947896e-01 5.53289368e+00] [ 3.75219999e-02 9.99273982e-01 -6.60369587e-03 1.37128656e-01] [ 1.98055694e-01 -9.59263555e-04 9.80190299e-01 3.58522523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.569649246000004 meters Centerline goodness : 0.953113 Centerline is valid? [True, True] Translation: X:5.56, Y:0.14, Z:0.36 [[ 9.79480960e-01 -3.78722375e-02 -1.97946311e-01 5.55922581e+00] [ 3.72937695e-02 9.99282213e-01 -6.65087504e-03 1.38385552e-01] [ 1.98056111e-01 -8.67758620e-04 9.80190300e-01 3.62599514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.599649246000002 meters Centerline goodness : 0.951922 Centerline is valid? [True, True] Translation: X:5.59, Y:0.14, Z:0.37 [[ 9.79479947e-01 -3.79025466e-02 -1.97945522e-01 5.58713224e+00] [ 3.73199601e-02 9.99281079e-01 -6.67428605e-03 1.38090576e-01] [ 1.98056187e-01 -8.49989626e-04 9.80190300e-01 3.69762938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.629649246000003 meters Centerline goodness : 0.952913 Centerline is valid? [True, True] Translation: X:5.61, Y:0.14, Z:0.38 [[ 9.79449489e-01 -3.86900212e-02 -1.97943881e-01 5.61469400e+00] [ 3.81135921e-02 9.99250800e-01 -6.72259399e-03 1.38941777e-01] [ 1.98055679e-01 -9.59911084e-04 9.80190301e-01 3.75128781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.659649246000004 meters Centerline goodness : 0.950780 Centerline is valid? [True, True] Translation: X:5.64, Y:0.14, Z:0.38 [[ 9.79415167e-01 -3.95587095e-02 -1.97942009e-01 5.64185798e+00] [ 3.89887930e-02 9.99216665e-01 -6.77727054e-03 1.38981497e-01] [ 1.98055054e-01 -1.07975847e-03 9.80190303e-01 3.79376761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689649246000002 meters Centerline goodness : 0.947636 Centerline is valid? [True, False] Translation: X:5.65, Y:0.14, Z:0.38 [[ 9.79174547e-01 -3.69688769e-02 -1.99625921e-01 5.64704387e+00] [ 3.72855610e-02 9.99302287e-01 -2.17412127e-03 1.37959048e-01] [ 1.99567014e-01 -5.31432022e-03 9.79869769e-01 3.81542297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.719649246000003 meters Centerline goodness : 0.949913 Centerline is valid? [False, False] Translation: X:5.65, Y:0.14, Z:0.38 [[ 9.79122278e-01 -3.72684623e-02 -1.99826489e-01 5.64778689e+00] [ 3.75528198e-02 9.99291837e-01 -2.36839331e-03 1.38620340e-01] [ 1.99773246e-01 -5.18510147e-03 9.79828437e-01 3.81508189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.749649246000004 meters Centerline goodness : 0.952681 Centerline is valid? [False, True] Translation: X:5.65, Y:0.14, Z:0.39 [[ 9.78939115e-01 -3.33664569e-02 -2.01407271e-01 5.65032907e+00] [ 3.48214987e-02 9.99386755e-01 3.68473345e-03 1.35907653e-01] [ 2.01160812e-01 -1.06204327e-02 9.79500655e-01 3.85944555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.779649246 meters Centerline goodness : 0.953091 Centerline is valid? [True, True] Translation: X:5.68, Y:0.14, Z:0.39 [[ 9.78935481e-01 -3.50547981e-02 -2.01137976e-01 5.67887399e+00] [ 3.45819504e-02 9.99384654e-01 -5.86527268e-03 1.40114260e-01] [ 2.01219812e-01 -1.21401997e-03 9.79545360e-01 3.85936108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.809649246000003 meters Centerline goodness : 0.954661 Centerline is valid? [True, True] Translation: X:5.71, Y:0.14, Z:0.39 [[ 9.78917031e-01 -3.55690628e-02 -2.01137487e-01 5.70721599e+00] [ 3.51035223e-02 9.99366372e-01 -5.88199350e-03 1.40397950e-01] [ 2.01219257e-01 -1.30265065e-03 9.79545361e-01 3.93265916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.839649246000004 meters Centerline goodness : 0.954682 Centerline is valid? [True, True] Translation: X:5.74, Y:0.14, Z:0.40 [[ 9.78926510e-01 -3.53150809e-02 -2.01136108e-01 5.73501869e+00] [ 3.48346197e-02 9.99375504e-01 -5.92879137e-03 1.40610772e-01] [ 2.01219875e-01 -1.20264879e-03 9.79545362e-01 3.98241401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869649246000005 meters Centerline goodness : 0.953791 Centerline is valid? [True, True] Translation: X:5.76, Y:0.14, Z:0.40 [[ 9.78914723e-01 -3.56430467e-02 -2.01135620e-01 5.76300915e+00] [ 3.51660491e-02 9.99363799e-01 -5.94527853e-03 1.42249450e-01] [ 2.01219565e-01 -1.25322442e-03 9.79545362e-01 4.03616564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.899649246000003 meters Centerline goodness : 0.951338 Centerline is valid? [True, True] Translation: X:5.79, Y:0.14, Z:0.41 [[ 9.78922698e-01 -3.54322911e-02 -2.01134044e-01 5.79037104e+00] [ 3.49400302e-02 9.99371411e-01 -5.99813974e-03 1.43218202e-01] [ 2.01220141e-01 -1.15591443e-03 9.79545363e-01 4.11973830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.929649246000004 meters Centerline goodness : 0.953893 Centerline is valid? [True, True] Translation: X:5.82, Y:0.14, Z:0.42 [[ 9.78892331e-01 -3.62713984e-02 -2.01132269e-01 5.81670872e+00] [ 3.57845546e-02 9.99341172e-01 -6.05708731e-03 1.44498186e-01] [ 2.01219457e-01 -1.26819236e-03 9.79545365e-01 4.17198771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.959649246000005 meters Centerline goodness : 0.952537 Centerline is valid? [True, True] Translation: X:5.84, Y:0.15, Z:0.42 [[ 9.78892746e-01 -3.62669548e-02 -2.01131051e-01 5.84368512e+00] [ 3.57717608e-02 9.99341385e-01 -6.09727690e-03 1.45661160e-01] [ 2.01219713e-01 -1.22623172e-03 9.79545366e-01 4.17961611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.989649246000003 meters Centerline goodness : 0.952635 Centerline is valid? [True, True] Translation: X:5.87, Y:0.15, Z:0.42 [[ 9.78871313e-01 -3.68451100e-02 -2.01130280e-01 5.87155959e+00] [ 3.63567888e-02 9.99320118e-01 -6.12260881e-03 1.47360343e-01] [ 2.01219123e-01 -1.31920499e-03 9.79545366e-01 4.22518852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.019649246000004 meters Centerline goodness : 0.951756 Centerline is valid? [True, True] Translation: X:5.90, Y:0.15, Z:0.43 [[ 9.78793581e-01 -3.88578305e-02 -2.01129796e-01 5.89832159e+00] [ 3.84082959e-02 9.99243275e-01 -6.13848563e-03 1.47050413e-01] [ 2.01216124e-01 -1.71674237e-03 9.79545366e-01 4.32591596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.049649246000005 meters Centerline goodness : 0.950239 Centerline is valid? [True, True] Translation: X:5.93, Y:0.15, Z:0.44 [[ 9.78758030e-01 -3.97522440e-02 -2.01128013e-01 5.92558599e+00] [ 3.93095039e-02 9.99207870e-01 -6.19636480e-03 1.47733532e-01] [ 2.01215013e-01 -1.84150059e-03 9.79545368e-01 4.38774228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.079649246000002 meters Centerline goodness : 0.950960 Centerline is valid? [True, True] Translation: X:5.95, Y:0.15, Z:0.44 [[ 9.78749789e-01 -3.99638512e-02 -2.01126180e-01 5.95256676e+00] [ 3.95134203e-02 9.99199460e-01 -6.25531060e-03 1.49307812e-01] [ 2.01215157e-01 -1.82479935e-03 9.79545369e-01 4.44435426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.109649246000004 meters Centerline goodness : 0.951601 Centerline is valid? [True, True] Translation: X:5.98, Y:0.15, Z:0.45 [[ 9.78766166e-01 -3.95650853e-02 -2.01125324e-01 5.98082458e+00] [ 3.91006954e-02 9.99215524e-01 -6.28269809e-03 1.51781854e-01] [ 2.01216122e-01 -1.71484774e-03 9.79545370e-01 4.47524411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.139649246000005 meters Centerline goodness : 0.951041 Centerline is valid? [True, True] Translation: X:6.01, Y:0.15, Z:0.45 [[ 9.78746169e-01 -4.00595634e-02 -2.01124757e-01 6.00846319e+00] [ 3.96017840e-02 9.99195676e-01 -6.30080617e-03 1.53587336e-01] [ 2.01215395e-01 -1.79800929e-03 9.79545370e-01 4.53953248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169649246000002 meters Centerline goodness : 0.951041 Centerline is valid? [True, True] Translation: X:6.04, Y:0.15, Z:0.46 [[ 9.78735067e-01 -4.03387397e-02 -2.01122985e-01 6.03653535e+00] [ 3.98752729e-02 9.99184444e-01 -6.35687273e-03 1.54681276e-01] [ 2.01215386e-01 -1.79813969e-03 9.79545372e-01 4.59684284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.199649246000003 meters Centerline goodness : 0.954250 Centerline is valid? [True, True] Translation: X:6.07, Y:0.16, Z:0.47 [[ 9.78734083e-01 -4.03715285e-02 -2.01121194e-01 6.06524153e+00] [ 3.98971992e-02 9.99183209e-01 -6.41307191e-03 1.56040708e-01] [ 2.01215825e-01 -1.74748029e-03 9.79545373e-01 4.65615784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.229649246000005 meters Centerline goodness : 0.954587 Centerline is valid? [True, True] Translation: X:6.09, Y:0.16, Z:0.47 [[ 9.78740382e-01 -4.02265331e-02 -2.01119593e-01 6.09214553e+00] [ 3.97389400e-02 9.99189195e-01 -6.46288049e-03 1.56318714e-01] [ 2.01216504e-01 -1.66679734e-03 9.79545374e-01 4.72690490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.259649246000002 meters Centerline goodness : 0.954894 Centerline is valid? [True, True] Translation: X:6.12, Y:0.16, Z:0.48 [[ 9.78728603e-01 -4.05216311e-02 -2.01117673e-01 6.11870394e+00] [ 4.00280330e-02 9.99177271e-01 -6.52211202e-03 1.56413184e-01] [ 2.01216494e-01 -1.66696726e-03 9.79545376e-01 4.78953424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.289649246000003 meters Centerline goodness : 0.955052 Centerline is valid? [True, True] Translation: X:6.15, Y:0.16, Z:0.48 [[ 9.78693203e-01 -4.13742231e-02 -2.01116355e-01 6.14556817e+00] [ 4.08901402e-02 9.99142097e-01 -6.56249824e-03 1.57077959e-01] [ 2.01215335e-01 -1.80100354e-03 9.79545377e-01 4.83485786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.319649246000004 meters Centerline goodness : 0.954108 Centerline is valid? [True, True] Translation: X:6.17, Y:0.16, Z:0.49 [[ 9.78672585e-01 -4.18630743e-02 -2.01115525e-01 6.17361114e+00] [ 4.13839965e-02 9.99121597e-01 -6.58784937e-03 1.58584939e-01] [ 2.01214652e-01 -1.87561661e-03 9.79545377e-01 4.88737650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349649246000002 meters Centerline goodness : 0.953600 Centerline is valid? [True, True] Translation: X:6.20, Y:0.16, Z:0.49 [[ 9.78670783e-01 -4.19143609e-02 -2.01113613e-01 6.20053929e+00] [ 4.14244655e-02 9.99119536e-01 -6.64571012e-03 1.60020389e-01] [ 2.01215091e-01 -1.82706161e-03 9.79545379e-01 4.92104063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.379649246000003 meters Centerline goodness : 0.953087 Centerline is valid? [True, True] Translation: X:6.23, Y:0.16, Z:0.50 [[ 9.78641829e-01 -4.25889643e-02 -2.01112781e-01 6.22835783e+00] [ 4.21080084e-02 9.99090795e-01 -6.67080331e-03 1.61846808e-01] [ 2.01214031e-01 -1.94013151e-03 9.79545379e-01 4.97612915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.409649246000004 meters Centerline goodness : 0.953866 Centerline is valid? [True, True] Translation: X:6.26, Y:0.16, Z:0.50 [[ 9.78522429e-01 -4.52579021e-02 -2.01110862e-01 6.25623194e+00] [ 4.48209276e-02 9.98972380e-01 -6.72818582e-03 1.61488767e-01] [ 2.01208700e-01 -2.43029464e-03 9.79545381e-01 5.02355303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.439649246000002 meters Centerline goodness : 0.954984 Centerline is valid? [True, True] Translation: X:6.28, Y:0.16, Z:0.51 [[ 9.78394161e-01 -4.79533644e-02 -2.01110267e-01 6.28376566e+00] [ 4.75690860e-02 9.98845171e-01 -6.74590322e-03 1.60944145e-01] [ 2.01201508e-01 -2.96647928e-03 9.79545381e-01 5.10109451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.469649246000003 meters Centerline goodness : 0.949983 Centerline is valid? [True, False] Translation: X:6.29, Y:0.16, Z:0.51 [[ 9.77887337e-01 -4.73042273e-02 -2.03712215e-01 6.29373884e+00] [ 4.76176232e-02 9.98859967e-01 -3.36567041e-03 1.61279791e-01] [ 2.03639186e-01 -6.40904500e-03 9.79025028e-01 5.11166766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.499649246000004 meters Centerline goodness : 0.946631 Centerline is valid? [False, False] Translation: X:6.30, Y:0.16, Z:0.51 [[ 9.77671435e-01 -4.40317013e-02 -2.05474509e-01 6.29791103e+00] [ 4.53001580e-02 9.98972338e-01 1.47083406e-03 1.59320904e-01] [ 2.05198588e-01 -1.07460202e-02 9.78661363e-01 5.13689744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529649246 meters Centerline goodness : 0.946099 Centerline is valid? [False, False] Translation: X:6.31, Y:0.16, Z:0.52 [[ 9.77378666e-01 -4.37373635e-02 -2.06925072e-01 6.30521512e+00] [ 4.57917892e-02 9.98937747e-01 5.14686026e-03 1.58318031e-01] [ 2.06480156e-01 -1.45059007e-02 9.78343255e-01 5.15730226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.559649246000003 meters Centerline goodness : 0.944806 Centerline is valid? [False, False] Translation: X:6.31, Y:0.16, Z:0.52 [[ 9.77203237e-01 -4.43982668e-02 -2.07611724e-01 6.30759419e+00] [ 4.64902345e-02 9.98905180e-01 5.20562561e-03 1.57861644e-01] [ 2.07153306e-01 -1.47388719e-02 9.78197461e-01 5.15997965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.589649246000004 meters Centerline goodness : 0.944138 Centerline is valid? [False, False] Translation: X:6.31, Y:0.16, Z:0.52 [[ 9.77030361e-01 -4.51197065e-02 -2.08268782e-01 6.30980273e+00] [ 4.71723641e-02 9.98874761e-01 4.89701752e-03 1.58431629e-01] [ 2.07813478e-01 -1.46090656e-02 9.78059371e-01 5.16022055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.619649246000005 meters Centerline goodness : 0.947359 Centerline is valid? [False, False] Translation: X:6.31, Y:0.16, Z:0.52 [[ 0.97687319 -0.04116037 -0.20982038 6.31218467] [ 0.04439347 0.9989566 0.01072043 0.15602547] [ 0.2091602 -0.01978715 0.97768117 0.52029727] [ 0. 0. 0. 1. ]] SLAMing on 22.649649246000003 meters Centerline goodness : 0.945676 Centerline is valid? [False, False] Translation: X:6.31, Y:0.15, Z:0.52 [[ 0.97671255 -0.03740982 -0.21126546 6.31473266] [ 0.0418313 0.99898849 0.01649668 0.15383701] [ 0.21043462 -0.02495002 0.9772895 0.52463307] [ 0. 0. 0. 1. ]] SLAMing on 22.679649246000004 meters Centerline goodness : 0.947354 Centerline is valid? [False, False] Translation: X:6.31, Y:0.15, Z:0.53 [[ 0.9766443 -0.03736058 -0.21158945 6.31470502] [ 0.04189193 0.99897798 0.0169721 0.15414471] [ 0.21073911 -0.02543959 0.97721126 0.52606411] [ 0. 0. 0. 1. ]] SLAMing on 22.709649246000005 meters Centerline goodness : 0.948469 Centerline is valid? [False, False] Translation: X:6.32, Y:0.15, Z:0.53 [[ 0.97644371 -0.03390717 -0.21309151 6.31816179] [ 0.03945226 0.99898313 0.02182261 0.15244823] [ 0.21213488 -0.02971549 0.9767885 0.5286979 ] [ 0. 0. 0. 1. ]] SLAMing on 22.739649246000003 meters Centerline goodness : 0.949328 Centerline is valid? [False, False] Translation: X:6.32, Y:0.15, Z:0.53 [[ 0.97639352 -0.03440445 -0.21324171 6.31923356] [ 0.0398163 0.99898347 0.02113518 0.15385802] [ 0.21229779 -0.02912675 0.97677084 0.52793356] [ 0. 0. 0. 1. ]] SLAMing on 22.769649246000004 meters Centerline goodness : 0.949133 Centerline is valid? [False, False] Translation: X:6.32, Y:0.16, Z:0.53 [[ 0.97632364 -0.03526684 -0.21342071 6.32098495] [ 0.04046789 0.99897967 0.02004917 0.15631183] [ 0.21249588 -0.02821116 0.97675464 0.52660393] [ 0. 0. 0. 1. ]] SLAMing on 22.799649246000005 meters Centerline goodness : 0.950040 Centerline is valid? [False, True] Translation: X:6.32, Y:0.16, Z:0.53 [[ 0.97620094 -0.03589314 -0.21387706 6.32250444] [ 0.04104699 0.99896291 0.0197038 0.15735564] [ 0.21294802 -0.02801387 0.97666185 0.52670035] [ 0. 0. 0. 1. ]] SLAMing on 22.829649246000002 meters Centerline goodness : 0.947714 Centerline is valid? [True, False] Translation: X:6.32, Y:0.16, Z:0.53 [[ 0.97610121 -0.0365432 -0.21422189 6.32405984] [ 0.0415524 0.99895707 0.01892552 0.15928059] [ 0.21330687 -0.02737465 0.97660166 0.52607647] [ 0. 0. 0. 1. ]] SLAMing on 22.859649246000004 meters Centerline goodness : 0.948219 Centerline is valid? [False, False] Translation: X:6.32, Y:0.16, Z:0.53 [[ 0.97602906 -0.03673609 -0.21451742 6.3247236 ] [ 0.0416629 0.99896063 0.01848937 0.16080568] [ 0.21361524 -0.02698358 0.97654514 0.52599365] [ 0. 0. 0. 1. ]] SLAMing on 22.889649246000005 meters Centerline goodness : 0.949026 Centerline is valid? [False, False] Translation: X:6.33, Y:0.16, Z:0.53 [[ 0.97592274 -0.03679574 -0.21499043 6.32525965] [ 0.04178787 0.99895112 0.01871985 0.16092548] [ 0.21407612 -0.02725312 0.97643673 0.52704812] [ 0. 0. 0. 1. ]] SLAMing on 22.919649246000002 meters Centerline goodness : 0.950419 Centerline is valid? [False, True] Translation: X:6.32, Y:0.16, Z:0.53 [[ 0.97595687 -0.03630536 -0.21491884 6.32432099] [ 0.04125908 0.99897521 0.01860668 0.16181019] [ 0.21402307 -0.02702667 0.97645465 0.52716071] [ 0. 0. 0. 1. ]] SLAMing on 22.949649246000003 meters Centerline goodness : 0.951283 Centerline is valid? [True, True] Translation: X:6.36, Y:0.17, Z:0.51 [[ 9.75931944e-01 -4.09363362e-02 -2.14198641e-01 6.35537039e+00] [ 4.04441609e-02 9.99159460e-01 -6.68155017e-03 1.74508277e-01] [ 2.14292117e-01 -2.14234609e-03 9.76767270e-01 5.14936149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.979649246000005 meters Centerline goodness : 0.948118 Centerline is valid? [True, False] Translation: X:6.36, Y:0.18, Z:0.52 [[ 9.75845422e-01 -3.69368419e-02 -2.15316934e-01 6.35792711e+00] [ 3.72059157e-02 9.99303684e-01 -2.80470117e-03 1.75884235e-01] [ 2.15270602e-01 -5.27410888e-03 9.76540195e-01 5.15771406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009649246000002 meters Centerline goodness : 0.948725 Centerline is valid? [False, False] Translation: X:6.36, Y:0.18, Z:0.52 [[ 9.75606438e-01 -3.33178141e-02 -2.16983876e-01 6.36167287e+00] [ 3.45522628e-02 9.99401093e-01 1.89668549e-03 1.75336220e-01] [ 2.16790729e-01 -9.34770246e-03 9.76173345e-01 5.18202851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.039649246000003 meters Centerline goodness : 0.945330 Centerline is valid? [False, False] Translation: X:6.36, Y:0.18, Z:0.52 [[ 9.75469019e-01 -3.43544088e-02 -2.17439572e-01 6.36416992e+00] [ 3.52696224e-02 9.99377779e-01 3.28326747e-04 1.78941509e-01] [ 2.17292997e-01 -7.98928416e-03 9.76073729e-01 5.16487150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.069649246000004 meters Centerline goodness : 0.949069 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:0.52 [[ 9.75147887e-01 -3.50380325e-02 -2.18766852e-01 6.36620119e+00] [ 3.65227078e-02 9.99329053e-01 2.74501134e-03 1.75433832e-01] [ 2.18523891e-01 -1.06667498e-02 9.75773298e-01 5.21578697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.099649246000002 meters Centerline goodness : 0.945867 Centerline is valid? [False, False] Translation: X:6.37, Y:0.17, Z:0.52 [[ 9.74667204e-01 -3.75667919e-02 -2.20482600e-01 6.37225832e+00] [ 3.91324758e-02 9.99230285e-01 2.73610981e-03 1.74639268e-01] [ 2.20210105e-01 -1.12948265e-02 9.75387070e-01 5.23073801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.129649246000003 meters Centerline goodness : 0.941768 Centerline is valid? [False, False] Translation: X:6.38, Y:0.17, Z:0.52 [[ 0.97434049 -0.03554534 -0.22225465 6.3793598 ] [ 0.03796387 0.9992572 0.0066176 0.17346924] [ 0.22185433 -0.01488544 0.97496619 0.52371135] [ 0. 0. 0. 1. ]] SLAMing on 23.159649246000004 meters Centerline goodness : 0.938699 Centerline is valid? [False, False] Translation: X:6.38, Y:0.17, Z:0.53 [[ 0.97420674 -0.03173324 -0.22341493 6.38222365] [ 0.03524137 0.99930997 0.01173169 0.17083918] [ 0.22288848 -0.01930254 0.97465283 0.52599314] [ 0. 0. 0. 1. ]] SLAMing on 23.189649246000002 meters Centerline goodness : 0.942356 Centerline is valid? [False, False] Translation: X:6.38, Y:0.17, Z:0.53 [[ 0.97419362 -0.03019866 -0.22368468 6.37912035] [ 0.03443576 0.99929336 0.01506486 0.16681061] [ 0.22307168 -0.02237884 0.97454513 0.5319275 ] [ 0. 0. 0. 1. ]] SLAMing on 23.219649246000003 meters Centerline goodness : 0.946840 Centerline is valid? [False, False] Translation: X:6.38, Y:0.16, Z:0.54 [[ 0.97395118 -0.02622893 -0.22523577 6.38154824] [ 0.03193013 0.99925438 0.02170622 0.16345115] [ 0.2244985 -0.02833261 0.97406247 0.53758334] [ 0. 0. 0. 1. ]] SLAMing on 23.249649246000004 meters Centerline goodness : 0.948543 Centerline is valid? [False, False] Translation: X:6.38, Y:0.16, Z:0.54 [[ 0.97397359 -0.02602822 -0.22516213 6.38094833] [ 0.03185867 0.9992436 0.02229935 0.16276478] [ 0.2244114 -0.02889234 0.97406609 0.53851965] [ 0. 0. 0. 1. ]] SLAMing on 23.279649246000005 meters Centerline goodness : 0.950798 Centerline is valid? [False, True] Translation: X:6.38, Y:0.16, Z:0.54 [[ 0.97387059 -0.02640458 -0.22556346 6.38207109] [ 0.03225684 0.99923084 0.02229844 0.16310123] [ 0.22480118 -0.02899176 0.97397326 0.53893541] [ 0. 0. 0. 1. ]] SLAMing on 23.309649246000003 meters Centerline goodness : 0.947988 Centerline is valid? [True, False] Translation: X:6.38, Y:0.16, Z:0.54 [[ 0.97373202 -0.02743628 -0.22603806 6.38487088] [ 0.03314668 0.99921909 0.02150581 0.16406801] [ 0.22527151 -0.0284333 0.97388105 0.53788757] [ 0. 0. 0. 1. ]] SLAMing on 23.339649246000004 meters Centerline goodness : 0.946849 Centerline is valid? [False, False] Translation: X:6.39, Y:0.16, Z:0.54 [[ 0.97355877 -0.02831399 -0.22667519 6.38730847] [ 0.03393122 0.99920515 0.02092226 0.16490643] [ 0.22590263 -0.02806042 0.97374566 0.53752208] [ 0. 0. 0. 1. ]] SLAMing on 23.369649246000005 meters Centerline goodness : 0.946142 Centerline is valid? [False, False] Translation: X:6.39, Y:0.17, Z:0.54 [[ 0.97333315 -0.02971855 -0.22746293 6.39101708] [ 0.03512681 0.99918741 0.01976445 0.16649945] [ 0.22669073 -0.02722744 0.97358614 0.53632185] [ 0. 0. 0. 1. ]] SLAMing on 23.399649246000003 meters Centerline goodness : 0.940118 Centerline is valid? [False, False] Translation: X:6.39, Y:0.17, Z:0.54 [[ 0.97315936 -0.03066209 -0.22808046 6.39375171] [ 0.03593894 0.99917302 0.01901778 0.16758607] [ 0.22730872 -0.0267043 0.97345654 0.53556738] [ 0. 0. 0. 1. ]] SLAMing on 23.429649246000004 meters Centerline goodness : 0.936410 Centerline is valid? [False, False] Translation: X:6.40, Y:0.17, Z:0.54 [[ 0.97296976 -0.03166547 -0.22875126 6.39638024] [ 0.0368176 0.99915462 0.01828937 0.16908073] [ 0.22797874 -0.02621708 0.97331308 0.53512951] [ 0. 0. 0. 1. ]] SLAMing on 23.459649246000005 meters Centerline goodness : 0.936451 Centerline is valid? [False, False] Translation: X:6.40, Y:0.17, Z:0.54 [[ 0.97282998 -0.0322386 -0.22926512 6.3979271 ] [ 0.03736296 0.99913883 0.01804449 0.17003534] [ 0.22848595 -0.02612024 0.97319674 0.53538724] [ 0. 0. 0. 1. ]] SLAMing on 23.489649246000003 meters Centerline goodness : 0.933177 Centerline is valid? [False, False] Translation: X:6.40, Y:0.17, Z:0.54 [[ 0.97268912 -0.03269931 -0.22979695 6.39931016] [ 0.03775824 0.999131 0.01765097 0.17172015] [ 0.22902008 -0.02584564 0.97307852 0.53558261] [ 0. 0. 0. 1. ]] SLAMing on 23.519649246000004 meters Centerline goodness : 0.935635 Centerline is valid? [False, False] Translation: X:6.40, Y:0.17, Z:0.54 [[ 0.97252385 -0.03339165 -0.23039609 6.40103989] [ 0.03848571 0.99910326 0.01765032 0.17197904] [ 0.22960011 -0.02603231 0.97293685 0.53627938] [ 0. 0. 0. 1. ]] SLAMing on 23.549649246000005 meters Centerline goodness : 0.935650 Centerline is valid? [False, False] Translation: X:6.40, Y:0.17, Z:0.54 [[ 0.97228743 -0.03444891 -0.23123674 6.40373054] [ 0.0396346 0.99905539 0.01781658 0.17151246] [ 0.23040455 -0.02648781 0.97273436 0.53731444] [ 0. 0. 0. 1. ]] SLAMing on 23.579649246000002 meters Centerline goodness : 0.931682 Centerline is valid? [False, False] Translation: X:6.41, Y:0.17, Z:0.54 [[ 0.97213714 -0.03512602 -0.23176614 6.40597574] [ 0.0402439 0.99903855 0.01738971 0.1724295 ] [ 0.23093247 -0.02623236 0.97261609 0.53685126] [ 0. 0. 0. 1. ]] SLAMing on 23.609649246000004 meters Centerline goodness : 0.933017 Centerline is valid? [False, False] Translation: X:6.41, Y:0.17, Z:0.54 [[ 0.97201948 -0.03566527 -0.23217691 6.40734939] [ 0.04075953 0.99902128 0.01717955 0.17285131] [ 0.23133697 -0.02616228 0.97252185 0.53711835] [ 0. 0. 0. 1. ]] SLAMing on 23.639649246000005 meters Centerline goodness : 0.931296 Centerline is valid? [False, False] Translation: X:6.41, Y:0.17, Z:0.54 [[ 0.97190494 -0.03599925 -0.23260447 6.40846596] [ 0.04114305 0.99900351 0.01729867 0.17298355] [ 0.23174994 -0.02638272 0.97241756 0.53773202] [ 0. 0. 0. 1. ]] SLAMing on 23.669649246000002 meters Centerline goodness : 0.928237 Centerline is valid? [False, False] Translation: X:6.41, Y:0.17, Z:0.54 [[ 0.97174287 -0.03637387 -0.23322252 6.40960735] [ 0.04158825 0.99898195 0.01747791 0.17298735] [ 0.23234935 -0.02668335 0.97226631 0.53887912] [ 0. 0. 0. 1. ]] SLAMing on 23.699649246000003 meters Centerline goodness : 0.929783 Centerline is valid? [False, False] Translation: X:6.41, Y:0.17, Z:0.54 [[ 0.97164026 -0.03669628 -0.23359921 6.41070016] [ 0.04192844 0.99896787 0.01746991 0.17328114] [ 0.23271702 -0.02676892 0.97217602 0.53922889] [ 0. 0. 0. 1. ]] SLAMing on 23.729649246000005 meters Centerline goodness : 0.931706 Centerline is valid? [False, False] Translation: X:6.41, Y:0.17, Z:0.54 [[ 0.9715648 -0.03711114 -0.23384738 6.4117591 ] [ 0.04232486 0.99895385 0.01731481 0.17426771] [ 0.23296017 -0.02672002 0.97211913 0.53929102] [ 0. 0. 0. 1. ]] SLAMing on 23.759649246000002 meters Centerline goodness : 0.932476 Centerline is valid? [False, False] Translation: X:6.41, Y:0.18, Z:0.54 [[ 0.97143315 -0.03741315 -0.23434568 6.41260885] [ 0.04265855 0.99893901 0.01735245 0.17509541] [ 0.23344783 -0.0268536 0.97199845 0.54019346] [ 0. 0. 0. 1. ]] SLAMing on 23.789649246000003 meters Centerline goodness : 0.933063 Centerline is valid? [False, False] Translation: X:6.41, Y:0.18, Z:0.54 [[ 0.97134804 -0.03770448 -0.23465158 6.41344641] [ 0.04291394 0.99893187 0.0171325 0.17612984] [ 0.23375497 -0.02671145 0.97192855 0.54032399] [ 0. 0. 0. 1. ]] SLAMing on 23.819649246000004 meters Centerline goodness : 0.930490 Centerline is valid? [False, False] Translation: X:6.41, Y:0.18, Z:0.54 [[ 0.97129559 -0.03786909 -0.23484209 6.41405866] [ 0.04299751 0.99893469 0.01675399 0.17805451] [ 0.23395745 -0.0263707 0.97188914 0.54015906] [ 0. 0. 0. 1. ]] SLAMing on 23.849649246000002 meters Centerline goodness : 0.928748 Centerline is valid? [False, False] Translation: X:6.42, Y:0.18, Z:0.54 [[ 0.97108727 -0.03459146 -0.23620532 6.41792909] [ 0.04064253 0.99895732 0.02079569 0.17734976] [ 0.23523968 -0.02979441 0.97148061 0.54145985] [ 0. 0. 0. 1. ]] SLAMing on 23.879649246000003 meters Centerline goodness : 0.924974 Centerline is valid? [False, False] Translation: X:6.42, Y:0.18, Z:0.54 [[ 0.97098533 -0.0354127 -0.23650249 6.41976677] [ 0.04115678 0.99896447 0.01939344 0.18092449] [ 0.23557081 -0.02856443 0.97143732 0.53993105] [ 0. 0. 0. 1. ]] SLAMing on 23.909649246000004 meters Centerline goodness : 0.926400 Centerline is valid? [False, False] Translation: X:6.42, Y:0.18, Z:0.54 [[ 0.97090526 -0.03578203 -0.23677545 6.42070593] [ 0.04143112 0.99896213 0.01892425 0.18252519] [ 0.23585256 -0.02818352 0.97138008 0.53969566] [ 0. 0. 0. 1. ]] SLAMing on 23.939649246000002 meters Centerline goodness : 0.924843 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:0.54 [[ 0.9707669 -0.03607739 -0.23729738 6.42157485] [ 0.04156928 0.99897023 0.01817904 0.18517634] [ 0.23639716 -0.02751189 0.97126694 0.53967257] [ 0. 0. 0. 1. ]] SLAMing on 23.969649246000003 meters Centerline goodness : 0.928111 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:0.54 [[ 0.97076033 -0.03530358 -0.23744058 6.4201905 ] [ 0.04079599 0.99900069 0.01825648 0.18740977] [ 0.23655879 -0.02740929 0.97123049 0.54054761] [ 0. 0. 0. 1. ]] SLAMing on 23.999649246000004 meters Centerline goodness : 0.929141 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:0.54 [[ 0.97070807 -0.03541457 -0.23763765 6.42030942] [ 0.04088205 0.99899971 0.01811745 0.18897134] [ 0.23675832 -0.02730187 0.9711849 0.54098499] [ 0. 0. 0. 1. ]] SLAMing on 24.029649246000005 meters Centerline goodness : 0.929873 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:0.54 [[ 0.97049331 -0.03139412 -0.23907558 6.42281249] [ 0.0379638 0.99901615 0.02292322 0.18803334] [ 0.23812072 -0.03132305 0.97073034 0.54371655] [ 0. 0. 0. 1. ]] SLAMing on 24.059649246000003 meters Centerline goodness : 0.929873 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:0.54 [[ 0.97049331 -0.03139412 -0.23907558 6.42281249] [ 0.0379638 0.99901615 0.02292322 0.18803334] [ 0.23812072 -0.03132305 0.97073034 0.54371655] [ 0. 0. 0. 1. ]] SLAMing on 24.089649246000004 meters Centerline goodness : 0.933918 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:0.54 [[ 0.97048173 -0.03121956 -0.23914547 6.42203433] [ 0.0377299 0.99903028 0.02269283 0.19040387] [ 0.2382051 -0.03104591 0.97071854 0.54422349] [ 0. 0. 0. 1. ]] SLAMing on 24.119649246000005 meters Centerline goodness : 0.930567 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:0.54 [[ 0.97041623 -0.03141431 -0.23938565 6.4224351 ] [ 0.03789202 0.9990284 0.02250444 0.19165933] [ 0.2384461 -0.03090948 0.97066372 0.5445321 ] [ 0. 0. 0. 1. ]] SLAMing on 24.149649246000003 meters Centerline goodness : 0.931735 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:0.55 [[ 0.97039511 -0.03122692 -0.23949574 6.42175286] [ 0.03767709 0.99903887 0.02240019 0.19345637] [ 0.23856606 -0.03076054 0.97063898 0.54518138] [ 0. 0. 0. 1. ]] SLAMing on 24.179649246000004 meters Centerline goodness : 0.931183 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:0.55 [[ 0.97031116 -0.03124193 -0.23983367 6.42217114] [ 0.03757592 0.99905418 0.02188163 0.19486656] [ 0.2389232 -0.03024396 0.97056736 0.54507607] [ 0. 0. 0. 1. ]] SLAMing on 24.209649246000005 meters Centerline goodness : 0.932708 Centerline is valid? [False, False] Translation: X:6.42, Y:0.20, Z:0.54 [[ 0.97021605 -0.03159158 -0.2401724 6.42340324] [ 0.03778177 0.99906085 0.02121217 0.19637559] [ 0.23927671 -0.02965453 0.97049846 0.5444884 ] [ 0. 0. 0. 1. ]] SLAMing on 24.239649246000003 meters Centerline goodness : 0.930632 Centerline is valid? [False, False] Translation: X:6.42, Y:0.20, Z:0.54 [[ 0.9701071 -0.03187956 -0.24057412 6.42452432] [ 0.03789249 0.9990734 0.0204085 0.19879554] [ 0.23970059 -0.02891438 0.97041619 0.5438988 ] [ 0. 0. 0. 1. ]] SLAMing on 24.269649246000004 meters Centerline goodness : 0.930458 Centerline is valid? [False, False] Translation: X:6.43, Y:0.20, Z:0.54 [[ 0.97004084 -0.03213143 -0.24080767 6.42520343] [ 0.03817884 0.99906086 0.02048847 0.19818086] [ 0.2399232 -0.02906841 0.97035658 0.54424609] [ 0. 0. 0. 1. ]] SLAMing on 24.299649246000005 meters Centerline goodness : 0.928150 Centerline is valid? [False, False] Translation: X:6.43, Y:0.20, Z:0.54 [[ 0.96987663 -0.03306854 -0.24134165 6.42793933] [ 0.03908691 0.9990318 0.02019112 0.19780337] [ 0.2404403 -0.02901619 0.97023014 0.54380047] [ 0. 0. 0. 1. ]] SLAMing on 24.329649246000002 meters Centerline goodness : 0.927433 Centerline is valid? [False, False] Translation: X:6.43, Y:0.20, Z:0.54 [[ 0.96977696 -0.03374145 -0.24164885 6.42979525] [ 0.03966442 0.9990191 0.01968677 0.19855779] [ 0.24074756 -0.02867664 0.97016404 0.54318758] [ 0. 0. 0. 1. ]] SLAMing on 24.359649246000004 meters Centerline goodness : 0.923663 Centerline is valid? [False, False] Translation: X:6.43, Y:0.20, Z:0.54 [[ 0.96952568 -0.03474105 -0.24251397 6.43271399] [ 0.04064613 0.9989855 0.0193872 0.19875921] [ 0.2415944 -0.02865364 0.96995418 0.54345974] [ 0. 0. 0. 1. ]] SLAMing on 24.389649246000005 meters Centerline goodness : 0.926403 Centerline is valid? [False, False] Translation: X:6.44, Y:0.20, Z:0.54 [[ 0.96898485 -0.04141671 -0.24362473 6.43719681] [ 0.0465745 0.99879538 0.01544656 0.19663023] [ 0.24269151 -0.02631419 0.96974656 0.54458458] [ 0. 0. 0. 1. ]] SLAMing on 24.419649246000002 meters Centerline goodness : 0.922859 Centerline is valid? [False, False] Translation: X:6.44, Y:0.19, Z:0.55 [[ 0.9686364 -0.04318205 -0.24470152 6.44129929] [ 0.04847581 0.99870175 0.01564945 0.19438686] [ 0.24370806 -0.02702073 0.96947216 0.5458055 ] [ 0. 0. 0. 1. ]] SLAMing on 24.449649246000003 meters Centerline goodness : 0.924264 Centerline is valid? [False, False] Translation: X:6.44, Y:0.19, Z:0.55 [[ 0.96845617 -0.04388482 -0.24528917 6.44384023] [ 0.0491168 0.99867661 0.01525025 0.19483405] [ 0.2442953 -0.02681702 0.96933 0.54535119] [ 0. 0. 0. 1. ]] SLAMing on 24.479649246000005 meters Centerline goodness : 0.925618 Centerline is valid? [False, False] Translation: X:6.44, Y:0.19, Z:0.55 [[ 0.96835124 -0.04363521 -0.24574752 6.443831 ] [ 0.04894331 0.9986808 0.01553084 0.19491383] [ 0.24474564 -0.027067 0.96920944 0.54651851] [ 0. 0. 0. 1. ]] SLAMing on 24.509649246000002 meters Centerline goodness : 0.927525 Centerline is valid? [False, False] Translation: X:6.44, Y:0.20, Z:0.55 [[ 0.96824837 -0.04391445 -0.24610285 6.44481612] [ 0.0492119 0.99866942 0.0154136 0.19571136] [ 0.24509851 -0.02703539 0.96912115 0.54674549] [ 0. 0. 0. 1. ]] SLAMing on 24.539649246000003 meters Centerline goodness : 0.916646 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.55 [[ 0.96804526 -0.04466564 -0.2467658 6.44737682] [ 0.0499206 0.99863938 0.01507721 0.19638823] [ 0.24575661 -0.02691412 0.96895785 0.54655395] [ 0. 0. 0. 1. ]] SLAMing on 24.569649246000004 meters Centerline goodness : 0.918668 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.55 [[ 0.96788645 -0.04500226 -0.24732694 6.44861887] [ 0.05031899 0.9986173 0.0152148 0.19665859] [ 0.24630026 -0.02717144 0.96881262 0.54736714] [ 0. 0. 0. 1. ]] SLAMing on 24.599649246000002 meters Centerline goodness : 0.919655 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.55 [[ 0.96770583 -0.0454314 -0.24795448 6.44992591] [ 0.05087123 0.9985838 0.01557273 0.19562837] [ 0.24689583 -0.02768357 0.96864651 0.5486007 ] [ 0. 0. 0. 1. ]] SLAMing on 24.629649246000003 meters Centerline goodness : 0.920792 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.55 [[ 0.96751807 -0.04607183 -0.24856823 6.45181557] [ 0.05153219 0.99855101 0.01550179 0.19619201] [ 0.24749387 -0.02780753 0.96849033 0.54913591] [ 0. 0. 0. 1. ]] SLAMing on 24.659649246000004 meters Centerline goodness : 0.920845 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.55 [[ 0.96740891 -0.0460981 -0.24898788 6.45205917] [ 0.0517276 0.99853127 0.01611059 0.19604694] [ 0.24787952 -0.02846507 0.9683726 0.55073108] [ 0. 0. 0. 1. ]] SLAMing on 24.689649246000005 meters Centerline goodness : 0.916826 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.55 [[ 0.96726718 -0.04621022 -0.24951717 6.45264687] [ 0.05196763 0.99851192 0.01653242 0.19607773] [ 0.24838191 -0.02895808 0.96822924 0.55208825] [ 0. 0. 0. 1. ]] SLAMing on 24.719649246000003 meters Centerline goodness : 0.917504 Centerline is valid? [False, False] Translation: X:6.46, Y:0.19, Z:0.55 [[ 0.96704695 -0.04274977 -0.25098339 6.45586714] [ 0.04961693 0.99854554 0.02109429 0.19482497] [ 0.24971656 -0.0328522 0.96776153 0.55470236] [ 0. 0. 0. 1. ]] SLAMing on 24.749649246000004 meters Centerline goodness : 0.918695 Centerline is valid? [False, False] Translation: X:6.46, Y:0.20, Z:0.56 [[ 0.96693112 -0.0431312 -0.2513641 6.45687159] [ 0.05002865 0.99852463 0.02111156 0.19568245] [ 0.25008267 -0.03298883 0.96766233 0.55526404] [ 0. 0. 0. 1. ]] SLAMing on 24.779649246000005 meters Centerline goodness : 0.923349 Centerline is valid? [False, False] Translation: X:6.46, Y:0.20, Z:0.56 [[ 0.96679934 -0.04299097 -0.25189444 6.45643622] [ 0.05007934 0.99850742 0.02179431 0.19601918] [ 0.25058151 -0.03368544 0.96750928 0.55757332] [ 0. 0. 0. 1. ]] SLAMing on 24.809649246000003 meters Centerline goodness : 0.927628 Centerline is valid? [False, False] Translation: X:6.46, Y:0.20, Z:0.56 [[ 0.96663886 -0.04309397 -0.25249204 6.45708466] [ 0.05032162 0.99848553 0.02223488 0.19619716] [ 0.25115146 -0.03419891 0.96734346 0.55907303] [ 0. 0. 0. 1. ]] SLAMing on 24.839649246000004 meters Centerline goodness : 0.931379 Centerline is valid? [False, False] Translation: X:6.46, Y:0.20, Z:0.56 [[ 0.9664887 -0.04354258 -0.25298941 6.4583852 ] [ 0.0507913 0.99846277 0.02218897 0.19675249] [ 0.25163434 -0.03429505 0.96721456 0.55961945] [ 0. 0. 0. 1. ]] SLAMing on 24.869649246000005 meters Centerline goodness : 0.929810 Centerline is valid? [False, False] Translation: X:6.46, Y:0.20, Z:0.56 [[ 0.96636482 -0.0439364 -0.2533942 6.45958756] [ 0.05125861 0.99843498 0.02236388 0.1966982 ] [ 0.25201504 -0.0346003 0.96710456 0.56026384] [ 0. 0. 0. 1. ]] SLAMing on 24.899649246000003 meters Centerline goodness : 0.927675 Centerline is valid? [False, False] Translation: X:6.46, Y:0.20, Z:0.56 [[ 0.9660752 -0.04451287 -0.25439599 6.46177165] [ 0.05204946 0.99838035 0.02296782 0.19524211] [ 0.25296159 -0.03542981 0.96682737 0.56205536] [ 0. 0. 0. 1. ]] SLAMing on 24.929649246000004 meters Centerline goodness : 0.927126 Centerline is valid? [False, False] Translation: X:6.46, Y:0.19, Z:0.56 [[ 0.96588893 -0.04501276 -0.25501455 6.4631588 ] [ 0.0526198 0.9983478 0.02308298 0.19479688] [ 0.25355419 -0.03571441 0.96666165 0.56295693] [ 0. 0. 0. 1. ]] SLAMing on 24.959649246000005 meters Centerline goodness : 0.928446 Centerline is valid? [False, False] Translation: X:6.47, Y:0.19, Z:0.56 [[ 0.96560087 -0.04617278 -0.25589654 6.46603212] [ 0.05384482 0.99828318 0.02305266 0.19429109] [ 0.25439281 -0.03603837 0.96642927 0.56386979] [ 0. 0. 0. 1. ]] SLAMing on 24.989649246000003 meters Centerline goodness : 0.933566 Centerline is valid? [False, False] Translation: X:6.47, Y:0.19, Z:0.56 [[ 0.96536457 -0.04700907 -0.25663475 6.468319 ] [ 0.05472696 0.99823618 0.02301056 0.1939886 ] [ 0.25510039 -0.03625842 0.9662345 0.56450647] [ 0. 0. 0. 1. ]] SLAMing on 25.019649246000004 meters Centerline goodness : 0.930140 Centerline is valid? [False, False] Translation: X:6.47, Y:0.19, Z:0.56 [[ 0.96528632 -0.04724509 -0.25688562 6.46888565] [ 0.05496519 0.99822445 0.02295165 0.19458078] [ 0.25534516 -0.03627468 0.96616924 0.56483274] [ 0. 0. 0. 1. ]] SLAMing on 25.049649246000005 meters Centerline goodness : 0.934494 Centerline is valid? [False, False] Translation: X:6.47, Y:0.20, Z:0.57 [[ 0.96510607 -0.04776341 -0.25746635 6.47025062] [ 0.05547236 0.99820084 0.02275728 0.19565662] [ 0.25591616 -0.03624545 0.96601925 0.5654361 ] [ 0. 0. 0. 1. ]] SLAMing on 25.079649246000002 meters Centerline goodness : 0.933585 Centerline is valid? [False, False] Translation: X:6.47, Y:0.20, Z:0.57 [[ 0.96493108 -0.04800066 -0.25807742 6.47081428] [ 0.05572625 0.99818801 0.02269978 0.1965969 ] [ 0.25652018 -0.03628541 0.96585753 0.56660611] [ 0. 0. 0. 1. ]] SLAMing on 25.109649246000004 meters Centerline goodness : 0.932763 Centerline is valid? [False, False] Translation: X:6.47, Y:0.20, Z:0.57 [[ 0.96473583 -0.04859764 -0.25869488 6.4724489 ] [ 0.05627651 0.99816489 0.02235645 0.19789687] [ 0.25713367 -0.03612651 0.96570034 0.56697589] [ 0. 0. 0. 1. ]] SLAMing on 25.139649246000005 meters Centerline goodness : 0.930742 Centerline is valid? [False, False] Translation: X:6.47, Y:0.20, Z:0.57 [[ 0.96456393 -0.04946529 -0.25917102 6.47444991] [ 0.0568625 0.99815864 0.02111852 0.2013433 ] [ 0.25764916 -0.03510727 0.96560053 0.56593279] [ 0. 0. 0. 1. ]] SLAMing on 25.169649246000002 meters Centerline goodness : 0.928885 Centerline is valid? [False, False] Translation: X:6.48, Y:0.20, Z:0.57 [[ 0.96437417 -0.04998272 -0.25977718 6.47573505] [ 0.05729713 0.99814346 0.02065594 0.20358567] [ 0.25826246 -0.03480455 0.96544764 0.56632089] [ 0. 0. 0. 1. ]] SLAMing on 25.199649246000003 meters Centerline goodness : 0.924318 Centerline is valid? [False, False] Translation: X:6.48, Y:0.20, Z:0.57 [[ 0.964228 -0.05028569 -0.26026087 6.4765388 ] [ 0.05769367 0.99811558 0.02089797 0.2036629 ] [ 0.25871956 -0.03516581 0.96531215 0.56746057] [ 0. 0. 0. 1. ]] SLAMing on 25.229649246000005 meters Centerline goodness : 0.925759 Centerline is valid? [False, False] Translation: X:6.48, Y:0.20, Z:0.57 [[ 0.96402396 -0.05076289 -0.26092325 6.47776246] [ 0.05820459 0.99808655 0.02086767 0.2042609 ] [ 0.25936468 -0.03530387 0.96513398 0.56849599] [ 0. 0. 0. 1. ]] SLAMing on 25.259649246000002 meters Centerline goodness : 0.931381 Centerline is valid? [False, False] Translation: X:6.48, Y:0.20, Z:0.57 [[ 0.96376886 -0.0509802 -0.2618217 6.47832265] [ 0.05868957 0.99804029 0.02170518 0.20367844] [ 0.26020207 -0.03628498 0.96487216 0.57137311] [ 0. 0. 0. 1. ]] SLAMing on 25.289649246000003 meters Centerline goodness : 0.927525 Centerline is valid? [False, False] Translation: X:6.48, Y:0.20, Z:0.57 [[ 0.96357722 -0.05139314 -0.26244559 6.47965108] [ 0.05919877 0.99800559 0.02191674 0.20370087] [ 0.26079579 -0.03665492 0.96469786 0.57246943] [ 0. 0. 0. 1. ]] SLAMing on 25.319649246000004 meters Centerline goodness : 0.936000 Centerline is valid? [False, False] Translation: X:6.48, Y:0.20, Z:0.58 [[ 0.96315951 -0.05624653 -0.26298306 6.47882581] [ 0.06387936 0.99774587 0.02055748 0.20057079] [ 0.26123397 -0.03659932 0.96458141 0.57816061] [ 0. 0. 0. 1. ]] SLAMing on 25.349649246000002 meters Centerline goodness : 0.936145 Centerline is valid? [False, False] Translation: X:6.49, Y:0.20, Z:0.58 [[ 0.96261188 -0.05714876 -0.26478743 6.48802471] [ 0.0656765 0.9975652 0.02345793 0.20111931] [ 0.26280213 -0.03997119 0.96402144 0.58044229] [ 0. 0. 0. 1. ]] SLAMing on 25.379649246000003 meters Centerline goodness : 0.931498 Centerline is valid? [False, False] Translation: X:6.49, Y:0.20, Z:0.58 [[ 0.96238617 -0.05729853 -0.26557436 6.49424917] [ 0.06638441 0.99747191 0.02535548 0.20147795] [ 0.26345013 -0.04203176 0.9637569 0.58045367] [ 0. 0. 0. 1. ]] SLAMing on 25.409649246000004 meters Centerline goodness : 0.932252 Centerline is valid? [False, False] Translation: X:6.51, Y:0.20, Z:0.59 [[ 0.96169187 -0.06252688 -0.2669066 6.51015884] [ 0.07348578 0.99680623 0.03125994 0.20082746] [ 0.26409957 -0.04967627 0.96321528 0.59025759] [ 0. 0. 0. 1. ]] SLAMing on 25.439649246000005 meters Centerline goodness : 0.931743 Centerline is valid? [False, False] Translation: X:6.52, Y:0.20, Z:0.59 [[ 0.96135246 -0.06157442 -0.26834688 6.51600767] [ 0.07340646 0.99671297 0.0342745 0.20101433] [ 0.26535438 -0.05264827 0.96271242 0.59207982] [ 0. 0. 0. 1. ]] SLAMing on 25.469649246000003 meters Centerline goodness : 0.923606 Centerline is valid? [False, False] Translation: X:6.52, Y:0.20, Z:0.59 [[ 0.96099513 -0.05869667 -0.27026478 6.52175843] [ 0.07125373 0.99677623 0.03687879 0.20403456] [ 0.26722885 -0.05469771 0.96207947 0.59191993] [ 0. 0. 0. 1. ]] SLAMing on 25.499649246000004 meters Centerline goodness : 0.921045 Centerline is valid? [False, False] Translation: X:6.52, Y:0.21, Z:0.59 [[ 0.96068024 -0.05978886 -0.27114344 6.5243782 ] [ 0.07214224 0.99675111 0.03581505 0.20684184] [ 0.26812119 -0.0539677 0.9618724 0.59174835] [ 0. 0. 0. 1. ]] SLAMing on 25.529649246000005 meters Centerline goodness : 0.924607 Centerline is valid? [False, False] Translation: X:6.53, Y:0.20, Z:0.60 [[ 0.96031693 -0.0560491 -0.27322133 6.52751575] [ 0.07017272 0.99664227 0.04218979 0.20497615] [ 0.26993923 -0.05968825 0.96102556 0.59826181] [ 0. 0. 0. 1. ]] SLAMing on 25.559649246000003 meters Centerline goodness : 0.920039 Centerline is valid? [False, False] Translation: X:6.53, Y:0.21, Z:0.60 [[ 0.95999614 -0.05697071 -0.27415642 6.52930952] [ 0.07093367 0.99662645 0.04128127 0.20868534] [ 0.27087972 -0.05907678 0.96079868 0.59895098] [ 0. 0. 0. 1. ]] SLAMing on 25.589649246000004 meters Centerline goodness : 0.919146 Centerline is valid? [False, False] Translation: X:6.53, Y:0.21, Z:0.60 [[ 0.95976171 -0.05785213 -0.27479189 6.53081995] [ 0.07145323 0.99665207 0.0397378 0.21320268] [ 0.27157299 -0.05777358 0.96068222 0.59828616] [ 0. 0. 0. 1. ]] SLAMing on 25.619649246000005 meters Centerline goodness : 0.921179 Centerline is valid? [False, False] Translation: X:6.53, Y:0.22, Z:0.60 [[ 0.95956704 -0.05829119 -0.27537835 6.53225741] [ 0.07174096 0.99665997 0.03901456 0.21532716] [ 0.27218438 -0.05719299 0.96054392 0.59813363] [ 0. 0. 0. 1. ]] SLAMing on 25.649649246000003 meters Centerline goodness : 0.920716 Centerline is valid? [False, False] Translation: X:6.53, Y:0.22, Z:0.60 [[ 0.95925667 -0.05892292 -0.27632359 6.53386018] [ 0.07218955 0.99666379 0.03807842 0.21904221] [ 0.27315802 -0.05647465 0.96031001 0.59857468] [ 0. 0. 0. 1. ]] SLAMing on 25.679649246000004 meters Centerline goodness : 0.921233 Centerline is valid? [False, False] Translation: X:6.53, Y:0.22, Z:0.60 [[ 0.95907774 -0.05940606 -0.27684078 6.53497825] [ 0.07256701 0.99665716 0.03753035 0.22068419] [ 0.27368582 -0.05608404 0.96018261 0.5987765 ] [ 0. 0. 0. 1. ]] SLAMing on 25.709649246000005 meters Centerline goodness : 0.918615 Centerline is valid? [False, False] Translation: X:6.54, Y:0.22, Z:0.60 [[ 0.95884282 -0.06003891 -0.27751716 6.5362269 ] [ 0.07295739 0.99666873 0.03645095 0.22378397] [ 0.27440419 -0.05519766 0.96002894 0.59873008] [ 0. 0. 0. 1. ]] SLAMing on 25.739649246000003 meters Centerline goodness : 0.920626 Centerline is valid? [False, False] Translation: X:6.54, Y:0.23, Z:0.60 [[ 0.95862893 -0.06057552 -0.27813878 6.53777916] [ 0.07325057 0.9966852 0.03539738 0.22728202] [ 0.27507259 -0.05430678 0.95988845 0.59828605] [ 0. 0. 0. 1. ]] SLAMing on 25.769649246000004 meters Centerline goodness : 0.919134 Centerline is valid? [False, False] Translation: X:6.54, Y:0.23, Z:0.60 [[ 0.95845599 -0.06110958 -0.27861754 6.53947148] [ 0.07364618 0.99667907 0.03474292 0.22930643] [ 0.27556914 -0.05381867 0.95977351 0.59790892] [ 0. 0. 0. 1. ]] SLAMing on 25.799649246000005 meters Centerline goodness : 0.918760 Centerline is valid? [False, False] Translation: X:6.54, Y:0.23, Z:0.60 [[ 0.9582933 -0.06158556 -0.27907198 6.54082535] [ 0.07396917 0.99667898 0.0340526 0.23125661] [ 0.27604803 -0.0532751 0.95966622 0.59762109] [ 0. 0. 0. 1. ]] SLAMing on 25.829649246000002 meters Centerline goodness : 0.918022 Centerline is valid? [False, False] Translation: X:6.54, Y:0.23, Z:0.60 [[ 0.95805732 -0.05785168 -0.28067662 6.54407 ] [ 0.07125855 0.99674178 0.03778938 0.2316463 ] [ 0.27757593 -0.056205 0.95905818 0.59927092] [ 0. 0. 0. 1. ]] SLAMing on 25.859649246000004 meters Centerline goodness : 0.914599 Centerline is valid? [False, False] Translation: X:6.54, Y:0.23, Z:0.60 [[ 0.95796051 -0.05797105 -0.28098223 6.54458534] [ 0.07129146 0.99675374 0.03741 0.23290502] [ 0.27790139 -0.05586894 0.95898357 0.59932219] [ 0. 0. 0. 1. ]] SLAMing on 25.889649246000005 meters Centerline goodness : 0.917691 Centerline is valid? [False, False] Translation: X:6.54, Y:0.24, Z:0.60 [[ 0.9578729 -0.05797613 -0.28127971 6.54473655] [ 0.07110185 0.99679456 0.0366761 0.23552185] [ 0.27825174 -0.05513055 0.9589247 0.59910967] [ 0. 0. 0. 1. ]] SLAMing on 25.919649246000002 meters Centerline goodness : 0.919119 Centerline is valid? [False, False] Translation: X:6.55, Y:0.24, Z:0.60 [[ 0.95777773 -0.05805192 -0.28158797 6.54551037] [ 0.07101349 0.99682417 0.03603699 0.23775642] [ 0.27860168 -0.05451197 0.95885846 0.59859014] [ 0. 0. 0. 1. ]] SLAMing on 25.949649246000003 meters Centerline goodness : 0.919023 Centerline is valid? [False, False] Translation: X:6.55, Y:0.24, Z:0.60 [[ 0.95782848 -0.05340463 -0.28233409 6.54628812] [ 0.06716417 0.99696858 0.0392762 0.24038941] [ 0.27938069 -0.0565826 0.95851178 0.59867411] [ 0. 0. 0. 1. ]] SLAMing on 25.979649246000005 meters Centerline goodness : 0.919023 Centerline is valid? [False, False] Translation: X:6.55, Y:0.24, Z:0.60 [[ 0.95782848 -0.05340463 -0.28233409 6.54628812] [ 0.06716417 0.99696858 0.0392762 0.24038941] [ 0.27938069 -0.0565826 0.95851178 0.59867411] [ 0. 0. 0. 1. ]] SLAMing on 26.009649246000002 meters Centerline goodness : 0.920327 Centerline is valid? [False, False] Translation: X:6.55, Y:0.24, Z:0.60 [[ 0.9578588 -0.05240979 -0.28241767 6.54528966] [ 0.06580652 0.99710268 0.03815417 0.24461157] [ 0.27959977 -0.05513123 0.95853248 0.5972853 ] [ 0. 0. 0. 1. ]] SLAMing on 26.039649246000003 meters Centerline goodness : 0.917417 Centerline is valid? [False, False] Translation: X:6.55, Y:0.25, Z:0.60 [[ 0.95776894 -0.05246678 -0.28271169 6.54612122] [ 0.06564991 0.99714329 0.03735447 0.24696239] [ 0.27994419 -0.05433694 0.95847731 0.59648449] [ 0. 0. 0. 1. ]] SLAMing on 26.069649246000004 meters Centerline goodness : 0.918459 Centerline is valid? [False, False] Translation: X:6.55, Y:0.25, Z:0.60 [[ 0.95777142 -0.04764704 -0.2835554 6.54672742] [ 0.06184892 0.99722903 0.04133979 0.24782748] [ 0.28079995 -0.05713167 0.95806438 0.59776271] [ 0. 0. 0. 1. ]] SLAMing on 26.099649246000002 meters Centerline goodness : 0.919763 Centerline is valid? [False, False] Translation: X:6.55, Y:0.25, Z:0.60 [[ 0.95770846 -0.04781651 -0.28373948 6.54734054] [ 0.06191115 0.99724283 0.04091134 0.24895222] [ 0.28100093 -0.05674777 0.95802827 0.5974955 ] [ 0. 0. 0. 1. ]] SLAMing on 26.129649246000003 meters Centerline goodness : 0.918398 Centerline is valid? [False, False] Translation: X:6.55, Y:0.25, Z:0.60 [[ 0.9576149 -0.04811441 -0.28400476 6.54856204] [ 0.06208366 0.9972535 0.04038658 0.25008727] [ 0.28128156 -0.05630685 0.95797193 0.59696604] [ 0. 0. 0. 1. ]] SLAMing on 26.159649246000004 meters Centerline goodness : 0.916111 Centerline is valid? [False, False] Translation: X:6.55, Y:0.25, Z:0.60 [[ 0.95750266 -0.04837776 -0.28433826 6.55033203] [ 0.0620442 0.99730134 0.03925 0.25208922] [ 0.2816721 -0.05522352 0.95792024 0.59536803] [ 0. 0. 0. 1. ]] SLAMing on 26.189649246000005 meters Centerline goodness : 0.916726 Centerline is valid? [False, False] Translation: X:6.55, Y:0.25, Z:0.60 [[ 0.95741642 -0.04817274 -0.28466329 6.55092315] [ 0.06186661 0.99731017 0.0393059 0.25138979] [ 0.28200412 -0.05524326 0.95782141 0.59562216] [ 0. 0. 0. 1. ]] SLAMing on 26.219649246000003 meters Centerline goodness : 0.918317 Centerline is valid? [False, False] Translation: X:6.55, Y:0.25, Z:0.60 [[ 0.95728133 -0.04829628 -0.28509633 6.55198238] [ 0.06200719 0.99730333 0.03925791 0.25104483] [ 0.28243151 -0.05525889 0.95769457 0.59592162] [ 0. 0. 0. 1. ]] SLAMing on 26.249649246000004 meters Centerline goodness : 0.918252 Centerline is valid? [False, False] Translation: X:6.55, Y:0.25, Z:0.60 [[ 0.95716862 -0.04837744 -0.28546079 6.55289149] [ 0.06209688 0.99729998 0.03920107 0.25057204] [ 0.28279359 -0.05524826 0.95758833 0.59617309] [ 0. 0. 0. 1. ]] SLAMing on 26.279649246000005 meters Centerline goodness : 0.918805 Centerline is valid? [False, False] Translation: X:6.55, Y:0.25, Z:0.60 [[ 0.95704191 -0.04878632 -0.28581582 6.55420163] [ 0.06247704 0.99728515 0.03897359 0.25066672] [ 0.28313849 -0.05515629 0.95749171 0.59619834] [ 0. 0. 0. 1. ]] SLAMing on 26.309649246000003 meters Centerline goodness : 0.920198 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:0.60 [[ 0.95700693 -0.04885052 -0.28592196 6.55528017] [ 0.06237512 0.9973145 0.03838139 0.25148591] [ 0.28327916 -0.05456568 0.95748394 0.59506698] [ 0. 0. 0. 1. ]] SLAMing on 26.339649246000004 meters Centerline goodness : 0.918000 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:0.59 [[ 0.9568503 -0.04921197 -0.2863838 6.55700346] [ 0.06268667 0.99730694 0.03806893 0.25206348] [ 0.2837391 -0.05437871 0.95735839 0.59485447] [ 0. 0. 0. 1. ]] SLAMing on 26.369649246000005 meters Centerline goodness : 0.919983 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:0.59 [[ 0.95684454 -0.05289119 -0.28574649 6.55568448] [ 0.0652531 0.99729247 0.03390801 0.25294618] [ 0.28317939 -0.05109054 0.95770517 0.59345816] [ 0. 0. 0. 1. ]] SLAMing on 26.399649246000003 meters Centerline goodness : 0.922219 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:0.59 [[ 0.95667699 -0.05274749 -0.28633343 6.55654742] [ 0.06532174 0.99726647 0.03453493 0.25138973] [ 0.28372909 -0.05174257 0.95750745 0.59479589] [ 0. 0. 0. 1. ]] SLAMing on 26.429649246000004 meters Centerline goodness : 0.922168 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:0.59 [[ 0.95659366 -0.05296593 -0.28657142 6.55763926] [ 0.06554261 0.99725434 0.0344666 0.25081371] [ 0.28395904 -0.05175317 0.95743871 0.59474214] [ 0. 0. 0. 1. ]] SLAMing on 26.459649246000005 meters Centerline goodness : 0.921228 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:0.59 [[ 0.95631889 -0.0537417 -0.28734301 6.56082293] [ 0.0663198 0.99721167 0.03421357 0.24982996] [ 0.2847031 -0.05177561 0.9572165 0.59467668] [ 0. 0. 0. 1. ]] SLAMing on 26.489649246000003 meters Centerline goodness : 0.919867 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:0.59 [[ 0.95617921 -0.05420527 -0.28772052 6.5628088 ] [ 0.06675823 0.99719003 0.03399091 0.2496432 ] [ 0.28506955 -0.05170911 0.95711103 0.59434327] [ 0. 0. 0. 1. ]] SLAMing on 26.519649246000004 meters Centerline goodness : 0.920903 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:0.59 [[ 0.95589871 -0.05843835 -0.28782392 6.56409463] [ 0.06998932 0.9970966 0.02999758 0.24959652] [ 0.28523524 -0.04881925 0.95721342 0.59340899] [ 0. 0. 0. 1. ]] SLAMing on 26.549649246000005 meters Centerline goodness : 0.921715 Centerline is valid? [False, False] Translation: X:6.56, Y:0.25, Z:0.59 [[ 0.95578154 -0.05812693 -0.28827575 6.56492631] [ 0.06984525 0.99709077 0.03052277 0.24792107] [ 0.2856629 -0.0493078 0.95706084 0.59423013] [ 0. 0. 0. 1. ]] SLAMing on 26.579649246000002 meters Centerline goodness : 0.924238 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:0.59 [[ 0.95565794 -0.05834453 -0.28864132 6.56602767] [ 0.07009234 0.99707339 0.03052411 0.24831211] [ 0.28601566 -0.04940215 0.95695061 0.59456782] [ 0. 0. 0. 1. ]] SLAMing on 26.609649246000004 meters Centerline goodness : 0.925876 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:0.60 [[ 0.95557697 -0.0583851 -0.28890109 6.56658517] [ 0.07020179 0.99706024 0.03070169 0.24851251] [ 0.28625927 -0.0496192 0.95686653 0.59508574] [ 0. 0. 0. 1. ]] SLAMing on 26.639649246000005 meters Centerline goodness : 0.923362 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:0.60 [[ 0.95547092 -0.05822582 -0.28928374 6.56731648] [ 0.07021375 0.99704307 0.03122729 0.24734171] [ 0.28661011 -0.05014846 0.95673391 0.59601424] [ 0. 0. 0. 1. ]] SLAMing on 26.669649246000002 meters Centerline goodness : 0.926742 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:0.60 [[ 0.95532785 -0.05802967 -0.28979519 6.56838137] [ 0.07010894 0.99704291 0.03146688 0.24695133] [ 0.28711223 -0.05037842 0.95657126 0.59661909] [ 0. 0. 0. 1. ]] SLAMing on 26.699649246000003 meters Centerline goodness : 0.927466 Centerline is valid? [False, False] Translation: X:6.57, Y:0.25, Z:0.60 [[ 0.95523562 -0.05801432 -0.29010215 6.56907698] [ 0.07018673 0.99702933 0.03172291 0.24620839] [ 0.28739997 -0.05066417 0.95646976 0.59712549] [ 0. 0. 0. 1. ]] SLAMing on 26.729649246000005 meters Centerline goodness : 0.926997 Centerline is valid? [False, False] Translation: X:6.57, Y:0.24, Z:0.60 [[ 0.95503319 -0.05815299 -0.29074016 6.57098035] [ 0.07051085 0.99699112 0.0322012 0.2438787 ] [ 0.28799276 -0.05125355 0.95626003 0.59798196] [ 0. 0. 0. 1. ]] SLAMing on 26.759649246000002 meters Centerline goodness : 0.927109 Centerline is valid? [False, False] Translation: X:6.57, Y:0.24, Z:0.60 [[ 0.95482796 -0.05855883 -0.29133216 6.57328418] [ 0.07097702 0.99695705 0.03223194 0.24291385] [ 0.28855819 -0.05145384 0.9560788 0.59811106] [ 0. 0. 0. 1. ]] SLAMing on 26.789649246000003 meters Centerline goodness : 0.924854 Centerline is valid? [False, False] Translation: X:6.58, Y:0.24, Z:0.60 [[ 0.95461888 -0.05896933 -0.29193391 6.57554051] [ 0.07144544 0.99692296 0.03225145 0.24179674] [ 0.28913377 -0.05164519 0.95589457 0.59826667] [ 0. 0. 0. 1. ]] SLAMing on 26.819649246000004 meters Centerline goodness : 0.923792 Centerline is valid? [False, False] Translation: X:6.58, Y:0.24, Z:0.60 [[ 0.95430763 -0.05969673 -0.29280241 6.57886325] [ 0.07238073 0.99684193 0.03266803 0.23786286] [ 0.28992754 -0.0523686 0.95561475 0.59921201] [ 0. 0. 0. 1. ]] SLAMing on 26.849649246000006 meters Centerline goodness : 0.925372 Centerline is valid? [False, False] Translation: X:6.58, Y:0.24, Z:0.60 [[ 0.95414153 -0.05998964 -0.29328344 6.58067792] [ 0.07277733 0.99680623 0.03287543 0.23635672] [ 0.29037458 -0.0527122 0.95546011 0.59951842] [ 0. 0. 0. 1. ]] SLAMing on 26.879649246000003 meters Centerline goodness : 0.924430 Centerline is valid? [False, False] Translation: X:6.58, Y:0.23, Z:0.60 [[ 0.95379406 -0.06059346 -0.29428783 6.58407395] [ 0.07377553 0.99669889 0.03388938 0.23264739] [ 0.29126288 -0.05403473 0.9551158 0.60132939] [ 0. 0. 0. 1. ]] SLAMing on 26.909649246000004 meters Centerline goodness : 0.925707 Centerline is valid? [False, False] Translation: X:6.59, Y:0.23, Z:0.60 [[ 0.95359919 -0.06034938 -0.29496872 6.58555735] [ 0.07391749 0.99664801 0.03505649 0.22853657] [ 0.29186434 -0.05523319 0.9548636 0.60306162] [ 0. 0. 0. 1. ]] SLAMing on 26.939649246000005 meters Centerline goodness : 0.926806 Centerline is valid? [False, False] Translation: X:6.59, Y:0.23, Z:0.60 [[ 0.95340089 -0.06032594 -0.29561382 6.58684938] [ 0.074129 0.99660947 0.03569944 0.22717366] [ 0.29245793 -0.05594943 0.95464026 0.60433871] [ 0. 0. 0. 1. ]] SLAMing on 26.969649246000003 meters Centerline goodness : 0.923750 Centerline is valid? [False, False] Translation: X:6.59, Y:0.23, Z:0.60 [[ 0.953263 -0.06012173 -0.2960997 6.58807466] [ 0.07406733 0.99659973 0.0360971 0.22573384] [ 0.29292266 -0.05634134 0.95447471 0.60494341] [ 0. 0. 0. 1. ]] SLAMing on 26.999649246000004 meters Centerline goodness : 0.923101 Centerline is valid? [False, False] Translation: X:6.59, Y:0.23, Z:0.60 [[ 0.95299112 -0.06085611 -0.29682395 6.59112276] [ 0.07474416 0.99656509 0.03565563 0.22629296] [ 0.29363452 -0.05616536 0.95426633 0.60466657] [ 0. 0. 0. 1. ]] SLAMing on 27.029649246000005 meters Centerline goodness : 0.919244 Centerline is valid? [False, False] Translation: X:6.59, Y:0.23, Z:0.60 [[ 0.9528711 -0.06083064 -0.29721424 6.59318047] [ 0.07465704 0.9965814 0.0353814 0.22694561] [ 0.29404591 -0.05590305 0.95415505 0.60376998] [ 0. 0. 0. 1. ]] SLAMing on 27.059649246000003 meters Centerline goodness : 0.921208 Centerline is valid? [False, False] Translation: X:6.59, Y:0.23, Z:0.60 [[ 0.9527445 -0.06093048 -0.29759939 6.59422763] [ 0.07478974 0.99657091 0.03539648 0.22718783] [ 0.29442217 -0.05598119 0.95403443 0.60409704] [ 0. 0. 0. 1. ]] SLAMing on 27.089649246000004 meters Centerline goodness : 0.924307 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.61 [[ 0.95297124 -0.05996437 -0.29706917 6.60709985] [ 0.07689222 0.99599525 0.04561851 0.22606319] [ 0.293144 -0.06631544 0.95376562 0.61356104] [ 0. 0. 0. 1. ]] SLAMing on 27.119649246000005 meters Centerline goodness : 0.923406 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.61 [[ 0.95444892 -0.0620687 -0.29184712 6.62263142] [ 0.07586094 0.99646215 0.03617057 0.22965971] [ 0.28856955 -0.05666276 0.95578081 0.61165489] [ 0. 0. 0. 1. ]] SLAMing on 27.149649246000003 meters Centerline goodness : 0.922543 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.61 [[ 0.95427515 -0.06191859 -0.29244663 6.62388212] [ 0.07578937 0.99646181 0.03632936 0.22880721] [ 0.28916244 -0.05683256 0.95559152 0.61225024] [ 0. 0. 0. 1. ]] SLAMing on 27.179649246000004 meters Centerline goodness : 0.920696 Centerline is valid? [False, False] Translation: X:6.63, Y:0.23, Z:0.61 [[ 0.95406063 -0.06225039 -0.29307543 6.6260175 ] [ 0.07614126 0.99643904 0.03621818 0.22891299] [ 0.2897772 -0.05686947 0.95540308 0.61237933] [ 0. 0. 0. 1. ]] SLAMing on 27.209649246000005 meters Centerline goodness : 0.922365 Centerline is valid? [False, False] Translation: X:6.63, Y:0.23, Z:0.61 [[ 0.95382959 -0.06193815 -0.29389247 6.62750487] [ 0.07604608 0.9964246 0.03681041 0.22747879] [ 0.29056172 -0.05746023 0.95512942 0.61365221] [ 0. 0. 0. 1. ]] SLAMing on 27.239649246000003 meters Centerline goodness : 0.921704 Centerline is valid? [False, False] Translation: X:6.63, Y:0.23, Z:0.61 [[ 0.9536285 -0.06207808 -0.29451485 6.62908196] [ 0.07627981 0.99640086 0.03696909 0.22678945] [ 0.29115988 -0.05772032 0.95493156 0.61422694] [ 0. 0. 0. 1. ]] SLAMing on 27.269649246000004 meters Centerline goodness : 0.921609 Centerline is valid? [False, False] Translation: X:6.63, Y:0.23, Z:0.61 [[ 0.9534331 -0.06204672 -0.29515339 6.63110273] [ 0.07624272 0.99640911 0.03682294 0.22668906] [ 0.29180878 -0.0576115 0.95474004 0.61415182] [ 0. 0. 0. 1. ]] SLAMing on 27.299649246000005 meters Centerline goodness : 0.918245 Centerline is valid? [False, False] Translation: X:6.63, Y:0.23, Z:0.61 [[ 0.95313325 -0.06226863 -0.29607369 6.6340826 ] [ 0.07644825 0.99640351 0.03654727 0.22709588] [ 0.29273312 -0.05746873 0.95446564 0.61399294] [ 0. 0. 0. 1. ]] SLAMing on 27.329649246000002 meters Centerline goodness : 0.918633 Centerline is valid? [False, False] Translation: X:6.64, Y:0.23, Z:0.61 [[ 0.95289171 -0.06255347 -0.29679023 6.63627978] [ 0.07674106 0.99638698 0.03638414 0.22722307] [ 0.29344197 -0.05744615 0.95424931 0.61409487] [ 0. 0. 0. 1. ]] SLAMing on 27.359649246000004 meters Centerline goodness : 0.919074 Centerline is valid? [False, False] Translation: X:6.64, Y:0.23, Z:0.61 [[ 0.95264359 -0.06273035 -0.29754847 6.63843352] [ 0.07708196 0.99634779 0.03673481 0.22540343] [ 0.29415738 -0.0579308 0.95399972 0.61494215] [ 0. 0. 0. 1. ]] SLAMing on 27.389649246000005 meters Centerline goodness : 0.916533 Centerline is valid? [False, False] Translation: X:6.64, Y:0.22, Z:0.62 [[ 0.95234329 -0.06328575 -0.29839096 6.64106014] [ 0.07770359 0.99630105 0.03669292 0.22474953] [ 0.29496509 -0.0581303 0.95373815 0.61549459] [ 0. 0. 0. 1. ]] SLAMing on 27.419649246000002 meters Centerline goodness : 0.916977 Centerline is valid? [False, False] Translation: X:6.64, Y:0.22, Z:0.62 [[ 0.9520946 -0.06356715 -0.29912387 6.64319011] [ 0.07815547 0.9962525 0.03704976 0.22321632] [ 0.29564776 -0.05865305 0.95349474 0.61630207] [ 0. 0. 0. 1. ]] SLAMing on 27.449649246000003 meters Centerline goodness : 0.915229 Centerline is valid? [False, False] Translation: X:6.64, Y:0.22, Z:0.62 [[ 0.95180607 -0.06340723 -0.30007454 6.64497553] [ 0.07827138 0.9962166 0.0377634 0.22159747] [ 0.29654477 -0.05943068 0.95316798 0.61792685] [ 0. 0. 0. 1. ]] SLAMing on 27.479649246000005 meters Centerline goodness : 0.918876 Centerline is valid? [False, False] Translation: X:6.65, Y:0.22, Z:0.62 [[ 0.95164417 -0.06338053 -0.30059322 6.64582701] [ 0.0783102 0.99620954 0.03786895 0.22098333] [ 0.29705368 -0.05957728 0.95300035 0.61871273] [ 0. 0. 0. 1. ]] SLAMing on 27.509649246000002 meters Centerline goodness : 0.916243 Centerline is valid? [False, False] Translation: X:6.65, Y:0.22, Z:0.62 [[ 0.95147051 -0.05932207 -0.30196816 6.64898164] [ 0.07552026 0.99624912 0.04224202 0.21934587] [ 0.29832963 -0.06299675 0.95238167 0.62048866] [ 0. 0. 0. 1. ]] SLAMing on 27.539649246000003 meters Centerline goodness : 0.914236 Centerline is valid? [False, False] Translation: X:6.65, Y:0.22, Z:0.62 [[ 0.95113985 -0.05937683 -0.30299733 6.65126146] [ 0.07580451 0.99620643 0.04273671 0.21713121] [ 0.29931031 -0.06361715 0.95203266 0.62192135] [ 0. 0. 0. 1. ]] SLAMing on 27.569649246000004 meters Centerline goodness : 0.915202 Centerline is valid? [False, False] Translation: X:6.65, Y:0.22, Z:0.62 [[ 0.9508294 -0.05988063 -0.30387128 6.65389133] [ 0.07637976 0.99616437 0.04269297 0.21705485] [ 0.30014926 -0.06380334 0.95175604 0.62241998] [ 0. 0. 0. 1. ]] SLAMing on 27.599649246000006 meters Centerline goodness : 0.913253 Centerline is valid? [False, False] Translation: X:6.66, Y:0.22, Z:0.62 [[ 0.95057104 -0.06031387 -0.30459306 6.65624445] [ 0.07682556 0.99613805 0.04250659 0.21734854] [ 0.300853 -0.06380607 0.95153363 0.62252623] [ 0. 0. 0. 1. ]] SLAMing on 27.629649246000003 meters Centerline goodness : 0.913675 Centerline is valid? [False, False] Translation: X:6.66, Y:0.22, Z:0.62 [[ 0.95031031 -0.06003265 -0.30546097 6.65785103] [ 0.07669898 0.99613333 0.04284444 0.21646408] [ 0.30170779 -0.06414406 0.95124022 0.62348982] [ 0. 0. 0. 1. ]] SLAMing on 27.659649246000004 meters Centerline goodness : 0.916690 Centerline is valid? [False, False] Translation: X:6.66, Y:0.22, Z:0.62 [[ 0.95008354 -0.06022803 -0.30612719 6.65949566] [ 0.07696917 0.99611003 0.04290176 0.21675991] [ 0.30235248 -0.06432261 0.95102344 0.62405368] [ 0. 0. 0. 1. ]] SLAMing on 27.689649246000005 meters Centerline goodness : 0.920044 Centerline is valid? [False, False] Translation: X:6.67, Y:0.22, Z:0.63 [[ 0.95166257 -0.06139367 -0.30094713 6.67477208] [ 0.07591289 0.99643591 0.0367792 0.21838708] [ 0.29761652 -0.05784715 0.95293133 0.62698062] [ 0. 0. 0. 1. ]] SLAMing on 27.719649246000003 meters Centerline goodness : 0.919203 Centerline is valid? [False, False] Translation: X:6.68, Y:0.22, Z:0.63 [[ 0.95127471 -0.06154803 -0.30213947 6.67679283] [ 0.07637112 0.99637468 0.03748273 0.21763359] [ 0.29873713 -0.05873111 0.95252653 0.62932772] [ 0. 0. 0. 1. ]] SLAMing on 27.749649246000004 meters Centerline goodness : 0.922117 Centerline is valid? [False, False] Translation: X:6.68, Y:0.22, Z:0.63 [[ 0.9509667 -0.06233045 -0.30294762 6.67951015] [ 0.0770933 0.99633686 0.03700652 0.21852926] [ 0.29953125 -0.0585472 0.95228843 0.62941122] [ 0. 0. 0. 1. ]] SLAMing on 27.779649246000005 meters Centerline goodness : 0.923041 Centerline is valid? [False, False] Translation: X:6.69, Y:0.22, Z:0.63 [[ 0.9505965 -0.05934425 -0.30470403 6.68520755] [ 0.07519481 0.99634446 0.0405397 0.21845891] [ 0.30118437 -0.06144906 0.95158394 0.63033921] [ 0. 0. 0. 1. ]] SLAMing on 27.809649246000003 meters Centerline goodness : 0.919132 Centerline is valid? [False, False] Translation: X:6.69, Y:0.22, Z:0.63 [[ 0.95032479 -0.06015132 -0.30539255 6.68842631] [ 0.07587656 0.9963196 0.03987471 0.21942388] [ 0.30187007 -0.06106606 0.9513913 0.62960445] [ 0. 0. 0. 1. ]] SLAMing on 27.839649246000004 meters Centerline goodness : 0.913590 Centerline is valid? [False, False] Translation: X:6.69, Y:0.22, Z:0.63 [[ 0.94995411 -0.06056985 -0.30646122 6.69136999] [ 0.07629978 0.99629827 0.0395993 0.21979082] [ 0.30292825 -0.06100044 0.9510591 0.63007596] [ 0. 0. 0. 1. ]] SLAMing on 27.869649246000005 meters Centerline goodness : 0.913590 Centerline is valid? [False, False] Translation: X:6.69, Y:0.22, Z:0.63 [[ 0.94995411 -0.06056985 -0.30646122 6.69136999] [ 0.07629978 0.99629827 0.0395993 0.21979082] [ 0.30292825 -0.06100044 0.9510591 0.63007596] [ 0. 0. 0. 1. ]] SLAMing on 27.899649246000003 meters Centerline goodness : 0.914241 Centerline is valid? [False, False] Translation: X:6.69, Y:0.22, Z:0.63 [[ 0.94970416 -0.06072088 -0.30720512 6.69320255] [ 0.07651443 0.99628104 0.0396185 0.21987534] [ 0.30365696 -0.06113148 0.95081827 0.63059927] [ 0. 0. 0. 1. ]] SLAMing on 27.929649246000004 meters Centerline goodness : 0.918864 Centerline is valid? [False, False] Translation: X:6.70, Y:0.22, Z:0.63 [[ 0.9493837 -0.06076501 -0.30818533 6.69528315] [ 0.07658929 0.99627995 0.0395011 0.22012788] [ 0.30463858 -0.0611054 0.9505059 0.63129149] [ 0. 0. 0. 1. ]] SLAMing on 27.959649246000005 meters Centerline goodness : 0.916377 Centerline is valid? [False, False] Translation: X:6.70, Y:0.22, Z:0.63 [[ 0.94910723 -0.06087638 -0.30901381 6.69704961] [ 0.07679006 0.99626105 0.039588 0.22031131] [ 0.30544845 -0.06130245 0.95023326 0.63211336] [ 0. 0. 0. 1. ]] SLAMing on 27.989649246000003 meters Centerline goodness : 0.913849 Centerline is valid? [False, False] Translation: X:6.70, Y:0.22, Z:0.63 [[ 0.94880019 -0.05648811 -0.31078496 6.70019863] [ 0.07380216 0.99629176 0.04422632 0.21852173] [ 0.30713423 -0.06489854 0.94945076 0.63494935] [ 0. 0. 0. 1. ]] SLAMing on 28.019649246000004 meters Centerline goodness : 0.914602 Centerline is valid? [False, False] Translation: X:6.70, Y:0.22, Z:0.64 [[ 0.9485442 -0.05683363 -0.31150254 6.70213794] [ 0.07415912 0.99627311 0.04404903 0.21922885] [ 0.30783814 -0.06488321 0.94922381 0.63531221] [ 0. 0. 0. 1. ]] SLAMing on 28.049649246000005 meters Centerline goodness : 0.911943 Centerline is valid? [False, False] Translation: X:6.70, Y:0.22, Z:0.64 [[ 0.94817223 -0.05206808 -0.31346185 6.70457892] [ 0.07121678 0.99620978 0.04994243 0.21679655] [ 0.30967335 -0.06967777 0.94828657 0.64028684] [ 0. 0. 0. 1. ]] SLAMing on 28.079649246000002 meters Centerline goodness : 0.910900 Centerline is valid? [False, False] Translation: X:6.71, Y:0.22, Z:0.64 [[ 0.94793259 -0.05223144 -0.31415868 6.70636179] [ 0.07144437 0.99619317 0.04994876 0.21710155] [ 0.31035383 -0.06979292 0.94805561 0.64078982] [ 0. 0. 0. 1. ]] SLAMing on 28.109649246000004 meters Centerline goodness : 0.911138 Centerline is valid? [False, False] Translation: X:6.71, Y:0.22, Z:0.64 [[ 0.94760485 -0.0524492 -0.31510973 6.70906115] [ 0.07161558 0.99620084 0.04954888 0.2184563 ] [ 0.31131377 -0.06951953 0.94776092 0.64087249] [ 0. 0. 0. 1. ]] SLAMing on 28.139649246000005 meters Centerline goodness : 0.913896 Centerline is valid? [False, False] Translation: X:6.71, Y:0.22, Z:0.64 [[ 0.94735714 -0.05273403 -0.31580622 6.71092779] [ 0.07191955 0.99618638 0.04939922 0.21929485] [ 0.31199683 -0.06951134 0.94753689 0.64124766] [ 0. 0. 0. 1. ]] SLAMing on 28.169649246000002 meters Centerline goodness : 0.915107 Centerline is valid? [False, False] Translation: X:6.71, Y:0.22, Z:0.64 [[ 0.94698349 -0.05301386 -0.31687821 6.71374673] [ 0.07206702 0.99620993 0.04870432 0.2210199 ] [ 0.31309521 -0.06895866 0.94721491 0.6411388 ] [ 0. 0. 0. 1. ]] SLAMing on 28.199649246000003 meters Centerline goodness : 0.913603 Centerline is valid? [False, False] Translation: X:6.72, Y:0.22, Z:0.64 [[ 0.94676447 -0.0489595 -0.31818234 6.71680474] [ 0.069286 0.99619453 0.05287639 0.21977424] [ 0.31438271 -0.07210707 0.94655379 0.64271789] [ 0. 0. 0. 1. ]] SLAMing on 28.229649246000005 meters Centerline goodness : 0.913034 Centerline is valid? [False, False] Translation: X:6.72, Y:0.22, Z:0.64 [[ 0.94652489 -0.04897989 -0.3188912 6.71850995] [ 0.06919187 0.99622842 0.05235851 0.22136641] [ 0.31512396 -0.07162331 0.94634401 0.64252093] [ 0. 0. 0. 1. ]] SLAMing on 28.259649246000006 meters Centerline goodness : 0.914094 Centerline is valid? [False, False] Translation: X:6.73, Y:0.22, Z:0.64 [[ 0.94801066 -0.04956496 -0.31435505 6.73398291] [ 0.06687982 0.99676688 0.04452951 0.22474851] [ 0.3111316 -0.06323846 0.94826053 0.64208136] [ 0. 0. 0. 1. ]] SLAMing on 28.289649246000003 meters Centerline goodness : 0.912789 Centerline is valid? [False, False] Translation: X:6.74, Y:0.22, Z:0.64 [[ 0.94781598 -0.04479132 -0.31565583 6.73594992] [ 0.06345817 0.99677576 0.04910338 0.22385929] [ 0.31243868 -0.06657191 0.94760237 0.64431872] [ 0. 0. 0. 1. ]] SLAMing on 28.319649246000004 meters Centerline goodness : 0.912964 Centerline is valid? [False, False] Translation: X:6.74, Y:0.23, Z:0.64 [[ 0.94765081 -0.04499059 -0.31612307 6.73737521] [ 0.06354267 0.99679407 0.04862001 0.22523253] [ 0.31292216 -0.06616209 0.94747153 0.64395597] [ 0. 0. 0. 1. ]] SLAMing on 28.349649246000006 meters Centerline goodness : 0.908813 Centerline is valid? [False, False] Translation: X:6.74, Y:0.23, Z:0.64 [[ 0.94739995 -0.04490929 -0.3168856 6.73971938] [ 0.06316897 0.99686797 0.04758072 0.22752546] [ 0.31375629 -0.06509531 0.94726954 0.64271603] [ 0. 0. 0. 1. ]] SLAMing on 28.379649246000003 meters Centerline goodness : 0.904216 Centerline is valid? [False, False] Translation: X:6.76, Y:0.23, Z:0.64 [[ 0.94894943 -0.04321738 -0.31245358 6.75525068] [ 0.05891585 0.99742174 0.04097313 0.23106407] [ 0.30987724 -0.05728989 0.94904898 0.64200405] [ 0. 0. 0. 1. ]] SLAMing on 28.409649246000004 meters Centerline goodness : 0.909519 Centerline is valid? [False, False] Translation: X:6.76, Y:0.23, Z:0.64 [[ 0.95226837 -0.04809429 -0.30144966 6.76352565] [ 0.06241996 0.99732378 0.03806598 0.23435824] [ 0.29881216 -0.05506551 0.95272193 0.63603034] [ 0. 0. 0. 1. ]] SLAMing on 28.439649246000005 meters Centerline goodness : 0.907041 Centerline is valid? [False, False] Translation: X:6.76, Y:0.23, Z:0.64 [[ 0.9520048 -0.04820157 -0.30226391 6.76496574] [ 0.06265536 0.99730005 0.03830024 0.23400458] [ 0.29960168 -0.05540046 0.95245452 0.63717032] [ 0. 0. 0. 1. ]] SLAMing on 28.469649246000003 meters Centerline goodness : 0.906351 Centerline is valid? [False, False] Translation: X:6.77, Y:0.23, Z:0.64 [[ 0.9516197 -0.04854495 -0.30341941 6.76851811] [ 0.06310282 0.99726976 0.03835442 0.2334261 ] [ 0.30072909 -0.05564544 0.95208487 0.63755984] [ 0. 0. 0. 1. ]] SLAMing on 28.499649246000004 meters Centerline goodness : 0.903653 Centerline is valid? [False, False] Translation: X:6.77, Y:0.23, Z:0.64 [[ 0.95134413 -0.04898337 -0.30421207 6.77179892] [ 0.06363494 0.99723303 0.0384301 0.23232262] [ 0.30148789 -0.05591877 0.95182884 0.63745236] [ 0. 0. 0. 1. ]] SLAMing on 28.529649246000005 meters Centerline goodness : 0.902314 Centerline is valid? [False, False] Translation: X:6.77, Y:0.23, Z:0.64 [[ 0.95102287 -0.0495486 -0.30512364 6.77458344] [ 0.06431787 0.99718508 0.0385373 0.23144395] [ 0.30235527 -0.05627475 0.95153268 0.63814298] [ 0. 0. 0. 1. ]] SLAMing on 28.559649246000003 meters Centerline goodness : 0.905093 Centerline is valid? [False, False] Translation: X:6.78, Y:0.23, Z:0.64 [[ 0.95066301 -0.04936593 -0.30627249 6.77631082] [ 0.06452172 0.99713213 0.03955322 0.22835435] [ 0.30344156 -0.05736301 0.95112181 0.64059833] [ 0. 0. 0. 1. ]] SLAMing on 28.589649246000004 meters Centerline goodness : 0.905196 Centerline is valid? [False, False] Translation: X:6.78, Y:0.23, Z:0.64 [[ 0.95043227 -0.04947261 -0.30697062 6.77777644] [ 0.0648233 0.99709443 0.04000806 0.22684061] [ 0.30409939 -0.0579238 0.9508777 0.64173453] [ 0. 0. 0. 1. ]] SLAMing on 28.619649246000005 meters Centerline goodness : 0.908782 Centerline is valid? [False, False] Translation: X:6.78, Y:0.23, Z:0.64 [[ 0.95007167 -0.04987504 -0.30801997 6.78032971] [ 0.06546177 0.99703398 0.04047224 0.2250265 ] [ 0.30508782 -0.05861506 0.95051865 0.64327076] [ 0. 0. 0. 1. ]] SLAMing on 28.649649246000003 meters Centerline goodness : 0.905253 Centerline is valid? [False, False] Translation: X:6.78, Y:0.23, Z:0.64 [[ 0.94975882 -0.05082919 -0.30882774 6.78384876] [ 0.066392 0.99698799 0.04008802 0.22516488] [ 0.3058599 -0.05857764 0.95027279 0.6431121 ] [ 0. 0. 0. 1. ]] SLAMing on 28.679649246000004 meters Centerline goodness : 0.902590 Centerline is valid? [False, False] Translation: X:6.79, Y:0.23, Z:0.64 [[ 0.9494382 -0.05139517 -0.30971864 6.78720896] [ 0.06690215 0.99697146 0.0396487 0.22556279] [ 0.30674289 -0.05836483 0.95000123 0.64273227] [ 0. 0. 0. 1. ]] SLAMing on 28.709649246000005 meters Centerline goodness : 0.904692 Centerline is valid? [False, False] Translation: X:6.79, Y:0.23, Z:0.64 [[ 0.94915729 -0.05182484 -0.31050703 6.78972839] [ 0.06736026 0.99694602 0.0395125 0.22554001] [ 0.30751102 -0.05841941 0.94974952 0.64295036] [ 0. 0. 0. 1. ]] SLAMing on 28.739649246000003 meters Centerline goodness : 0.902376 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:0.64 [[ 0.94873238 -0.05221871 -0.31173721 6.79259548] [ 0.06798201 0.99688809 0.03990708 0.22432765] [ 0.30868321 -0.05905366 0.94932994 0.64459697] [ 0. 0. 0. 1. ]] SLAMing on 28.769649246000004 meters Centerline goodness : 0.907924 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:0.65 [[ 0.94846465 -0.05249939 -0.3125038 6.79474416] [ 0.06838357 0.99685369 0.04008011 0.22378935] [ 0.30941639 -0.05938469 0.94907058 0.64525017] [ 0. 0. 0. 1. ]] SLAMing on 28.799649246000005 meters Centerline goodness : 0.906175 Centerline is valid? [False, False] Translation: X:6.80, Y:0.22, Z:0.65 [[ 0.94822944 -0.05258216 -0.31320289 6.79682778] [ 0.06851149 0.99684553 0.04006451 0.22348092] [ 0.31010822 -0.05944834 0.94884076 0.64545478] [ 0. 0. 0. 1. ]] SLAMing on 28.829649246000002 meters Centerline goodness : 0.904590 Centerline is valid? [False, False] Translation: X:6.80, Y:0.22, Z:0.65 [[ 0.94803342 -0.0527173 -0.31377304 6.79855849] [ 0.06871015 0.99682952 0.0401225 0.2236253 ] [ 0.31066308 -0.05959686 0.94864992 0.64574512] [ 0. 0. 0. 1. ]] SLAMing on 28.859649246000004 meters Centerline goodness : 0.900875 Centerline is valid? [False, False] Translation: X:6.80, Y:0.22, Z:0.65 [[ 0.94769941 -0.05283223 -0.31476115 6.80062067] [ 0.06895513 0.99680539 0.04030132 0.22286697] [ 0.31162641 -0.05989793 0.94831494 0.64683694] [ 0. 0. 0. 1. ]] SLAMing on 28.889649246000005 meters Centerline goodness : 0.901147 Centerline is valid? [False, False] Translation: X:6.80, Y:0.22, Z:0.65 [[ 0.94740056 -0.05298686 -0.31563361 6.80236471] [ 0.06929713 0.99676673 0.04066931 0.22213444] [ 0.31245814 -0.06040263 0.94800919 0.64812964] [ 0. 0. 0. 1. ]] SLAMing on 28.919649246000002 meters Centerline goodness : 0.908581 Centerline is valid? [False, False] Translation: X:6.80, Y:0.22, Z:0.65 [[ 0.94702539 -0.05277437 -0.31679294 6.80426864] [ 0.06934933 0.9967385 0.04126771 0.22101117] [ 0.31358184 -0.06105095 0.94759654 0.6498942 ] [ 0. 0. 0. 1. ]] SLAMing on 28.949649246000003 meters Centerline goodness : 0.904310 Centerline is valid? [False, False] Translation: X:6.81, Y:0.22, Z:0.65 [[ 0.94682811 -0.05278238 -0.31738078 6.80545388] [ 0.06949901 0.99671537 0.04157343 0.22073888] [ 0.31414396 -0.06142054 0.94738645 0.65073737] [ 0. 0. 0. 1. ]] SLAMing on 28.979649246000005 meters Centerline goodness : 0.903480 Centerline is valid? [False, False] Translation: X:6.81, Y:0.22, Z:0.65 [[ 0.94661045 -0.05277574 -0.31803046 6.80704564] [ 0.0696048 0.99669938 0.04177928 0.22024712] [ 0.31477583 -0.06168515 0.9471595 0.65137122] [ 0. 0. 0. 1. ]] SLAMing on 29.009649246000006 meters Centerline goodness : 0.906706 Centerline is valid? [False, False] Translation: X:6.81, Y:0.22, Z:0.65 [[ 0.9462791 -0.05328757 -0.31892992 6.80947621] [ 0.0701905 0.99666021 0.04173394 0.22038101] [ 0.31564086 -0.06187781 0.94685901 0.65207518] [ 0. 0. 0. 1. ]] SLAMing on 29.039649246000003 meters Centerline goodness : 0.906260 Centerline is valid? [False, False] Translation: X:6.81, Y:0.22, Z:0.65 [[ 0.94583286 -0.05392912 -0.32014348 6.81300435] [ 0.07098938 0.99659871 0.04185124 0.21940765] [ 0.31679758 -0.06231107 0.9464442 0.65312845] [ 0. 0. 0. 1. ]] SLAMing on 29.069649246000004 meters Centerline goodness : 0.906331 Centerline is valid? [False, False] Translation: X:6.82, Y:0.22, Z:0.65 [[ 0.94544992 -0.05447407 -0.32118066 6.81576954] [ 0.07177141 0.99652566 0.04225493 0.21744399] [ 0.31776297 -0.06300151 0.94607479 0.65461745] [ 0. 0. 0. 1. ]] SLAMing on 29.099649246000006 meters Centerline goodness : 0.913771 Centerline is valid? [False, False] Translation: X:6.82, Y:0.22, Z:0.66 [[ 0.94512792 -0.05508475 -0.32202312 6.81851994] [ 0.07245709 0.99647822 0.0422034 0.21713552] [ 0.31856426 -0.06322047 0.94579066 0.65512424] [ 0. 0. 0. 1. ]] SLAMing on 29.129649246000003 meters Centerline goodness : 0.903274 Centerline is valid? [False, False] Translation: X:6.82, Y:0.22, Z:0.66 [[ 0.9446872 -0.05597587 -0.32316065 6.82259589] [ 0.07343462 0.99641199 0.04207727 0.21577807] [ 0.31964584 -0.06348104 0.94540822 0.65560385] [ 0. 0. 0. 1. ]] SLAMing on 29.159649246000004 meters Centerline goodness : 0.904200 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:0.66 [[ 0.94434598 -0.0564349 -0.32407679 6.82502452] [ 0.07400087 0.99636798 0.04212733 0.21500073] [ 0.32052229 -0.06376474 0.94509233 0.65648716] [ 0. 0. 0. 1. ]] SLAMing on 29.189649246000005 meters Centerline goodness : 0.904107 Centerline is valid? [False, False] Translation: X:6.83, Y:0.21, Z:0.66 [[ 0.9439203 -0.05717013 -0.32518616 6.82808542] [ 0.07481507 0.99631225 0.04200723 0.21485189] [ 0.3215854 -0.06398031 0.94471655 0.65742717] [ 0. 0. 0. 1. ]] SLAMing on 29.219649246000003 meters Centerline goodness : 0.900402 Centerline is valid? [False, False] Translation: X:6.83, Y:0.21, Z:0.66 [[ 0.94361461 -0.05770397 -0.32597811 6.83094849] [ 0.07531763 0.99628887 0.04166231 0.21485784] [ 0.32236428 -0.06386506 0.94445885 0.65737662] [ 0. 0. 0. 1. ]] SLAMing on 29.249649246000004 meters Centerline goodness : 0.907799 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:0.66 [[ 0.94338184 -0.05807555 -0.32658527 6.83272527] [ 0.0757309 0.99626029 0.04159645 0.21549353] [ 0.3229482 -0.06397393 0.94425198 0.65786494] [ 0. 0. 0. 1. ]] SLAMing on 29.279649246000005 meters Centerline goodness : 0.906187 Centerline is valid? [False, False] Translation: X:6.84, Y:0.21, Z:0.66 [[ 0.94279971 -0.05418829 -0.32892603 6.83694509] [ 0.07369404 0.99616723 0.04711733 0.21351087] [ 0.32511212 -0.06866209 0.94317953 0.66312231] [ 0. 0. 0. 1. ]] SLAMing on 29.309649246000003 meters Centerline goodness : 0.900336 Centerline is valid? [False, False] Translation: X:6.84, Y:0.21, Z:0.66 [[ 0.94232714 -0.05519105 -0.33011136 6.84076982] [ 0.07460072 0.99613292 0.04641057 0.21418351] [ 0.32627334 -0.06836049 0.94280038 0.66330456] [ 0. 0. 0. 1. ]] SLAMing on 29.339649246000004 meters Centerline goodness : 0.907309 Centerline is valid? [False, False] Translation: X:6.84, Y:0.21, Z:0.67 [[ 0.94196031 -0.0555127 -0.33110287 6.84177743] [ 0.07543916 0.99601236 0.04762677 0.21219703] [ 0.32713867 -0.06984065 0.94239194 0.66676047] [ 0. 0. 0. 1. ]] SLAMing on 29.369649246000005 meters Centerline goodness : 0.912514 Centerline is valid? [False, False] Translation: X:6.85, Y:0.21, Z:0.68 [[ 0.94106795 -0.05928815 -0.33298052 6.84819798] [ 0.08058375 0.99546776 0.05049949 0.21079018] [ 0.32847735 -0.07435627 0.94158047 0.67624132] [ 0. 0. 0. 1. ]] SLAMing on 29.399649246000003 meters Centerline goodness : 0.904914 Centerline is valid? [False, False] Translation: X:6.86, Y:0.21, Z:0.67 [[ 0.94046187 -0.06187003 -0.33422084 6.85543766] [ 0.08275167 0.99538486 0.0485915 0.21411482] [ 0.32967201 -0.07335579 0.94124136 0.67450979] [ 0. 0. 0. 1. ]] SLAMing on 29.429649246000004 meters Centerline goodness : 0.897580 Centerline is valid? [False, False] Translation: X:6.86, Y:0.22, Z:0.67 [[ 0.93986012 -0.06025294 -0.33620312 6.8639239 ] [ 0.08214758 0.99530049 0.05127097 0.21525402] [ 0.33153391 -0.07580582 0.94039287 0.67486398] [ 0. 0. 0. 1. ]] SLAMing on 29.459649246000005 meters Centerline goodness : 0.888051 Centerline is valid? [False, False] Translation: X:6.88, Y:0.22, Z:0.68 [[ 0.93893597 -0.06019145 -0.33878642 6.87596692] [ 0.08310688 0.99510187 0.05353052 0.21735747] [ 0.33390492 -0.07841721 0.93933926 0.6757679 ] [ 0. 0. 0. 1. ]] SLAMing on 29.489649246000003 meters Centerline goodness : 0.892305 Centerline is valid? [False, False] Translation: X:6.88, Y:0.22, Z:0.68 [[ 0.93848832 -0.06105335 -0.33987081 6.87910447] [ 0.08404364 0.9950342 0.05332557 0.2172332 ] [ 0.33492738 -0.07860941 0.93895911 0.67671259] [ 0. 0. 0. 1. ]] SLAMing on 29.519649246000004 meters Centerline goodness : 0.894659 Centerline is valid? [False, False] Translation: X:6.89, Y:0.22, Z:0.68 [[ 0.94005547 -0.06470362 -0.33482704 6.89235469] [ 0.08408096 0.99550071 0.04368902 0.21881124] [ 0.33049372 -0.06922268 0.94126623 0.67906438] [ 0. 0. 0. 1. ]] SLAMing on 29.549649246000005 meters Centerline goodness : 0.904840 Centerline is valid? [False, False] Translation: X:6.91, Y:0.22, Z:0.68 [[ 0.94180997 -0.06560354 -0.32968189 6.90503185] [ 0.08204543 0.99597122 0.03619234 0.22057475] [ 0.32597932 -0.0611352 0.9433981 0.68153577] [ 0. 0. 0. 1. ]] SLAMing on 29.579649246000002 meters Centerline goodness : 0.906105 Centerline is valid? [False, False] Translation: X:6.91, Y:0.22, Z:0.68 [[ 0.94154183 -0.0615986 -0.33121683 6.90796455] [ 0.07944071 0.99601291 0.04058896 0.21950274] [ 0.32739601 -0.0645283 0.94268126 0.68408995] [ 0. 0. 0. 1. ]] SLAMing on 29.609649246000004 meters Centerline goodness : 0.905777 Centerline is valid? [False, False] Translation: X:6.91, Y:0.22, Z:0.68 [[ 0.94126604 -0.06220317 -0.33188703 6.91004376] [ 0.07993194 0.99599651 0.0400229 0.22122685] [ 0.32806878 -0.06420057 0.94246972 0.68407842] [ 0. 0. 0. 1. ]] SLAMing on 29.639649246000005 meters Centerline goodness : 0.903494 Centerline is valid? [False, False] Translation: X:6.92, Y:0.22, Z:0.69 [[ 0.94083922 -0.05878501 -0.33371528 6.91504877] [ 0.07771916 0.99601881 0.04366074 0.22207265] [ 0.3298201 -0.0670138 0.94166228 0.68564637] [ 0. 0. 0. 1. ]] SLAMing on 29.669649246000002 meters Centerline goodness : 0.900670 Centerline is valid? [False, False] Translation: X:6.92, Y:0.23, Z:0.68 [[ 0.94037728 -0.05988304 -0.33482024 6.91917463] [ 0.07835394 0.9960438 0.04192139 0.2254359 ] [ 0.33098525 -0.06565641 0.94134903 0.68416827] [ 0. 0. 0. 1. ]] SLAMing on 29.699649246000003 meters Centerline goodness : 0.897729 Centerline is valid? [False, False] Translation: X:6.92, Y:0.23, Z:0.68 [[ 0.94005185 -0.06051923 -0.33561874 6.92151922] [ 0.07884135 0.99603443 0.04122453 0.22706742] [ 0.33179294 -0.06521383 0.94109543 0.68417249] [ 0. 0. 0. 1. ]] SLAMing on 29.729649246000005 meters Centerline goodness : 0.900634 Centerline is valid? [False, False] Translation: X:6.92, Y:0.23, Z:0.68 [[ 0.93963295 -0.0609944 -0.33670402 6.9242332 ] [ 0.07907727 0.99605589 0.0402424 0.22949967] [ 0.33292146 -0.06443872 0.94075021 0.68403118] [ 0. 0. 0. 1. ]] SLAMing on 29.759649246000006 meters Centerline goodness : 0.901501 Centerline is valid? [False, False] Translation: X:6.93, Y:0.23, Z:0.68 [[ 0.93939597 -0.06145882 -0.33728033 6.92627379] [ 0.07939092 0.99605588 0.03962014 0.23155821] [ 0.33351505 -0.063996 0.94057016 0.68366065] [ 0. 0. 0. 1. ]] SLAMing on 29.789649246000003 meters Centerline goodness : 0.901501 Centerline is valid? [False, False] Translation: X:6.93, Y:0.23, Z:0.68 [[ 0.93939597 -0.06145882 -0.33728033 6.92627379] [ 0.07939092 0.99605588 0.03962014 0.23155821] [ 0.33351505 -0.063996 0.94057016 0.68366065] [ 0. 0. 0. 1. ]] SLAMing on 29.819649246000004 meters Centerline goodness : 0.901936 Centerline is valid? [False, False] Translation: X:6.93, Y:0.24, Z:0.68 [[ 0.93918659 -0.06097488 -0.3379506 6.92753988] [ 0.07879695 0.99611743 0.03925692 0.23535592] [ 0.33424479 -0.06349905 0.94034477 0.68332271] [ 0. 0. 0. 1. ]] SLAMing on 29.849649246000006 meters Centerline goodness : 0.899801 Centerline is valid? [False, False] Translation: X:6.93, Y:0.24, Z:0.68 [[ 0.93895052 -0.06124972 -0.33855632 6.92903833] [ 0.07890779 0.99613326 0.03862763 0.23754308] [ 0.33488128 -0.06298417 0.94015292 0.68318485] [ 0. 0. 0. 1. ]] SLAMing on 29.879649246000003 meters Centerline goodness : 0.902161 Centerline is valid? [False, False] Translation: X:6.93, Y:0.24, Z:0.68 [[ 0.93875425 -0.05661663 -0.33990443 6.93094973] [ 0.0753494 0.99626565 0.04215703 0.24006828] [ 0.33624832 -0.06518668 0.93951464 0.68442692] [ 0. 0. 0. 1. ]] SLAMing on 29.909649246000004 meters Centerline goodness : 0.901772 Centerline is valid? [False, False] Translation: X:6.93, Y:0.24, Z:0.68 [[ 0.93853731 -0.05682899 -0.34046758 6.93209192] [ 0.07538645 0.99628977 0.041516 0.24261789] [ 0.33684506 -0.06463096 0.93933926 0.68431683] [ 0. 0. 0. 1. ]] SLAMing on 29.939649246000005 meters Centerline goodness : 0.902934 Centerline is valid? [False, False] Translation: X:6.93, Y:0.25, Z:0.68 [[ 0.93825776 -0.05619778 -0.34134174 6.93280735] [ 0.07459256 0.99637111 0.0409947 0.24505307] [ 0.33779924 -0.06392515 0.93904486 0.68449889] [ 0. 0. 0. 1. ]] SLAMing on 29.969649246000003 meters Centerline goodness : 0.904354 Centerline is valid? [False, False] Translation: X:6.94, Y:0.24, Z:0.69 [[ 0.93803235 -0.05182407 -0.34265082 6.93502179] [ 0.07155758 0.99641215 0.04519234 0.24434371] [ 0.33907939 -0.06691114 0.93837523 0.68647619] [ 0. 0. 0. 1. ]] SLAMing on 29.999649246000004 meters Centerline goodness : 0.907135 Centerline is valid? [False, False] Translation: X:6.95, Y:0.25, Z:0.69 [[ 0.93996344 -0.05097289 -0.33744704 6.94975541] [ 0.06792778 0.99694244 0.03862114 0.24892392] [ 0.33444664 -0.05922449 0.94055191 0.68657091] [ 0. 0. 0. 1. ]] SLAMing on 30.029649246000005 meters Centerline goodness : 0.908567 Centerline is valid? [False, False] Translation: X:6.95, Y:0.25, Z:0.69 [[ 0.93979589 -0.05103711 -0.33790367 6.95081739] [ 0.06805414 0.9969308 0.03869901 0.24925482] [ 0.33489149 -0.05936492 0.94038476 0.68705737] [ 0. 0. 0. 1. ]] SLAMing on 30.059649246000003 meters Centerline goodness : 0.908692 Centerline is valid? [False, False] Translation: X:6.95, Y:0.25, Z:0.69 [[ 0.93951752 -0.05187841 -0.33854904 6.95355386] [ 0.06881658 0.99689721 0.03821291 0.24920199] [ 0.33551617 -0.05919948 0.94017249 0.68696735] [ 0. 0. 0. 1. ]] SLAMing on 30.089649246000004 meters Centerline goodness : 0.908388 Centerline is valid? [False, False] Translation: X:6.96, Y:0.25, Z:0.69 [[ 0.93924203 -0.05232771 -0.3392436 6.95573446] [ 0.0693352 0.99686178 0.03819979 0.24912091] [ 0.33618007 -0.05940037 0.93992263 0.68746233] [ 0. 0. 0. 1. ]] SLAMing on 30.119649246000005 meters Centerline goodness : 0.908449 Centerline is valid? [False, False] Translation: X:6.96, Y:0.25, Z:0.69 [[ 0.93888634 -0.05310996 -0.34010552 6.95890741] [ 0.07015942 0.99681095 0.03802094 0.24782531] [ 0.33700161 -0.05955895 0.93961835 0.68783131] [ 0. 0. 0. 1. ]] SLAMing on 30.149649246000003 meters Centerline goodness : 0.907984 Centerline is valid? [False, False] Translation: X:6.96, Y:0.25, Z:0.69 [[ 0.93831444 -0.05890326 -0.34072924 6.96245533] [ 0.0748171 0.99662619 0.03374359 0.24614159] [ 0.33759207 -0.05715447 0.93955572 0.68769854] [ 0. 0. 0. 1. ]] SLAMing on 30.179649246000004 meters Centerline goodness : 0.909003 Centerline is valid? [False, False] Translation: X:6.97, Y:0.24, Z:0.69 [[ 0.9379497 -0.05953561 -0.3416224 6.9650206 ] [ 0.07557818 0.99656581 0.03383086 0.24499429] [ 0.33843507 -0.05755085 0.9392282 0.68867619] [ 0. 0. 0. 1. ]] SLAMing on 30.209649246000005 meters Centerline goodness : 0.910627 Centerline is valid? [False, False] Translation: X:6.97, Y:0.24, Z:0.69 [[ 0.93762682 -0.06005022 -0.34241775 6.96737856] [ 0.07619706 0.99651679 0.03388654 0.24446418] [ 0.33919014 -0.05786415 0.93893652 0.68944619] [ 0. 0. 0. 1. ]] SLAMing on 30.239649246000003 meters Centerline goodness : 0.912405 Centerline is valid? [False, False] Translation: X:6.97, Y:0.24, Z:0.69 [[ 0.93726808 -0.06042341 -0.34333301 6.96922771] [ 0.07691356 0.99643711 0.03460344 0.24268063] [ 0.34001889 -0.05883967 0.93857608 0.69153943] [ 0. 0. 0. 1. ]] SLAMing on 30.269649246000004 meters Centerline goodness : 0.911391 Centerline is valid? [False, False] Translation: X:6.97, Y:0.24, Z:0.69 [[ 0.93699502 -0.06113504 -0.34395181 6.97166777] [ 0.07760412 0.9963938 0.03430741 0.24270411] [ 0.34061407 -0.05883795 0.93836035 0.69173594] [ 0. 0. 0. 1. ]] SLAMing on 30.299649246000005 meters Centerline goodness : 0.912516 Centerline is valid? [False, False] Translation: X:6.97, Y:0.24, Z:0.69 [[ 0.93667905 -0.0619391 -0.34466782 6.97445787] [ 0.078398 0.99634194 0.03400737 0.24303339] [ 0.34130062 -0.05887526 0.93810852 0.69199628] [ 0. 0. 0. 1. ]] SLAMing on 30.329649246000002 meters Centerline goodness : 0.914030 Centerline is valid? [False, False] Translation: X:6.98, Y:0.24, Z:0.70 [[ 0.93583981 -0.06378164 -0.34660605 6.97925276] [ 0.08127857 0.99603509 0.03616489 0.23949844] [ 0.34292513 -0.06201619 0.93731337 0.69819815] [ 0. 0. 0. 1. ]] SLAMing on 30.359649246000004 meters Centerline goodness : 0.915974 Centerline is valid? [False, False] Translation: X:6.98, Y:0.24, Z:0.70 [[ 0.93550972 -0.06446357 -0.34737015 6.98164772] [ 0.08201501 0.99597901 0.0360465 0.23910215] [ 0.34364969 -0.06221142 0.93703502 0.69888055] [ 0. 0. 0. 1. ]] SLAMing on 30.389649246000005 meters Centerline goodness : 0.918833 Centerline is valid? [False, False] Translation: X:6.99, Y:0.24, Z:0.70 [[ 0.9349924 -0.06580979 -0.34850867 6.98553177] [ 0.08345845 0.99586606 0.03585357 0.23849008] [ 0.34470844 -0.0626088 0.93661958 0.70007486] [ 0. 0. 0. 1. ]] SLAMing on 30.419649246000006 meters Centerline goodness : 0.918053 Centerline is valid? [False, False] Translation: X:6.99, Y:0.24, Z:0.70 [[ 0.93476389 -0.06643814 -0.34900208 6.98753725] [ 0.08405283 0.99582678 0.03555471 0.23846363] [ 0.34518343 -0.06256987 0.93644723 0.70017426] [ 0. 0. 0. 1. ]] SLAMing on 30.449649246000003 meters Centerline goodness : 0.918425 Centerline is valid? [False, False] Translation: X:6.99, Y:0.24, Z:0.70 [[ 0.93435283 -0.06721618 -0.34995254 6.99088055] [ 0.0848321 0.99577201 0.03523655 0.2378356 ] [ 0.34610448 -0.06261058 0.93610448 0.70051138] [ 0. 0. 0. 1. ]] SLAMing on 30.479649246000005 meters Centerline goodness : 0.917041 Centerline is valid? [False, False] Translation: X:6.99, Y:0.24, Z:0.70 [[ 0.93395882 -0.06803989 -0.35084397 6.99380939] [ 0.08562642 0.99571802 0.03483887 0.23805703] [ 0.34697123 -0.06257959 0.93578564 0.70093001] [ 0. 0. 0. 1. ]] SLAMing on 30.509649246000006 meters Centerline goodness : 0.918320 Centerline is valid? [False, False] Translation: X:7.00, Y:0.24, Z:0.70 [[ 0.93360748 -0.06897689 -0.3515953 6.99706123] [ 0.08646101 0.99566627 0.03425155 0.23851762] [ 0.34770902 -0.06237678 0.93552529 0.70076484] [ 0. 0. 0. 1. ]] SLAMing on 30.539649246000003 meters Centerline goodness : 0.917949 Centerline is valid? [False, False] Translation: X:7.00, Y:0.24, Z:0.70 [[ 0.93339217 -0.06934166 -0.35209486 6.99863971] [ 0.08683684 0.99563807 0.03412044 0.23871974] [ 0.34819308 -0.06242256 0.93534219 0.70108526] [ 0. 0. 0. 1. ]] SLAMing on 30.569649246000004 meters Centerline goodness : 0.920483 Centerline is valid? [False, False] Translation: X:7.00, Y:0.24, Z:0.70 [[ 0.93314797 -0.06969127 -0.35267265 7.00022322] [ 0.0872257 0.9956064 0.03405257 0.23860889] [ 0.34874998 -0.06253821 0.93512696 0.70167843] [ 0. 0. 0. 1. ]] SLAMing on 30.599649246000006 meters Centerline goodness : 0.920877 Centerline is valid? [False, False] Translation: X:7.00, Y:0.24, Z:0.70 [[ 0.93289727 -0.07019269 -0.353236 7.00187645] [ 0.08772729 0.99556906 0.03385519 0.23935193] [ 0.34929445 -0.06257185 0.93492147 0.70216569] [ 0. 0. 0. 1. ]] SLAMing on 30.629649246000003 meters Centerline goodness : 0.919460 Centerline is valid? [False, False] Translation: X:7.00, Y:0.24, Z:0.70 [[ 0.93279448 -0.07031628 -0.35348277 7.00304393] [ 0.08783275 0.99556376 0.03373731 0.23938429] [ 0.34954236 -0.06251734 0.93483246 0.702001 ] [ 0. 0. 0. 1. ]] SLAMing on 30.659649246000004 meters Centerline goodness : 0.919811 Centerline is valid? [False, False] Translation: X:7.01, Y:0.24, Z:0.70 [[ 0.9324604 -0.07097558 -0.35423166 7.00552175] [ 0.08850753 0.99551144 0.03351696 0.23940431] [ 0.35026278 -0.0626054 0.93455687 0.70250213] [ 0. 0. 0. 1. ]] SLAMing on 30.689649246000005 meters Centerline goodness : 0.919544 Centerline is valid? [False, False] Translation: X:7.01, Y:0.24, Z:0.70 [[ 0.93208407 -0.07093362 -0.3552291 7.00707257] [ 0.08880041 0.99546126 0.03422517 0.23735563] [ 0.3511891 -0.06344523 0.93415252 0.70462778] [ 0. 0. 0. 1. ]] SLAMing on 30.719649246000003 meters Centerline goodness : 0.920597 Centerline is valid? [False, False] Translation: X:7.01, Y:0.24, Z:0.70 [[ 0.93183539 -0.07144707 -0.3557782 7.00932937] [ 0.08927573 0.99542902 0.03392506 0.23695837] [ 0.3517281 -0.06337493 0.93395448 0.70463096] [ 0. 0. 0. 1. ]] SLAMing on 30.749649246000004 meters Centerline goodness : 0.920660 Centerline is valid? [False, False] Translation: X:7.01, Y:0.24, Z:0.71 [[ 0.9315533 -0.07196792 -0.35641138 7.01142706] [ 0.08980386 0.99538821 0.03372806 0.23730127] [ 0.35234035 -0.0634266 0.93372016 0.7050368 ] [ 0. 0. 0. 1. ]] SLAMing on 30.779649246000005 meters Centerline goodness : 0.921491 Centerline is valid? [False, False] Translation: X:7.01, Y:0.24, Z:0.71 [[ 0.93129163 -0.07248144 -0.35699067 7.01343852] [ 0.09030859 0.99535024 0.03350008 0.23754621] [ 0.35290261 -0.06343767 0.93350705 0.70534883] [ 0. 0. 0. 1. ]] SLAMing on 30.809649246000003 meters Centerline goodness : 0.921167 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.71 [[ 0.93099418 -0.07303436 -0.35765321 7.01584435] [ 0.09076164 0.99532546 0.0330085 0.23837967] [ 0.35357059 -0.06319191 0.93327092 0.70532321] [ 0. 0. 0. 1. ]] SLAMing on 30.839649246000004 meters Centerline goodness : 0.920973 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.71 [[ 0.9307787 -0.07352055 -0.35811414 7.01737513] [ 0.09126614 0.99528358 0.03287997 0.23894464] [ 0.35400777 -0.06328768 0.93309869 0.70576268] [ 0. 0. 0. 1. ]] SLAMing on 30.869649246000005 meters Centerline goodness : 0.922013 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.71 [[ 0.93045775 -0.07402892 -0.35884272 7.01921965] [ 0.09194149 0.99521456 0.03308694 0.23786847] [ 0.35467611 -0.06377853 0.93281143 0.70702459] [ 0. 0. 0. 1. ]] SLAMing on 30.899649246000003 meters Centerline goodness : 0.922381 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.71 [[ 0.93020779 -0.07446393 -0.35940032 7.0209234 ] [ 0.09246 0.99516544 0.03311928 0.23749407] [ 0.35519658 -0.06403796 0.93259559 0.70768187] [ 0. 0. 0. 1. ]] SLAMing on 30.929649246000004 meters Centerline goodness : 0.925569 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.71 [[ 0.92970952 -0.07533395 -0.36050658 7.02387365] [ 0.09359042 0.99504946 0.03342767 0.23673592] [ 0.35620364 -0.06481799 0.93215749 0.70963307] [ 0. 0. 0. 1. ]] SLAMing on 30.959649246000005 meters Centerline goodness : 0.924422 Centerline is valid? [False, False] Translation: X:7.03, Y:0.24, Z:0.71 [[ 0.92930958 -0.07612956 -0.3613696 7.02618996] [ 0.09451328 0.99496163 0.03344528 0.23613335] [ 0.35700271 -0.06523525 0.93182264 0.71094756] [ 0. 0. 0. 1. ]] SLAMing on 30.989649246000003 meters Centerline goodness : 0.927491 Centerline is valid? [False, False] Translation: X:7.03, Y:0.23, Z:0.72 [[ 0.92865061 -0.07702859 -0.36287 7.02910908] [ 0.09610341 0.99476347 0.03478179 0.23289223] [ 0.35829063 -0.06717317 0.93119041 0.71527621] [ 0. 0. 0. 1. ]] SLAMing on 31.019649246000004 meters Centerline goodness : 0.925647 Centerline is valid? [False, False] Translation: X:7.03, Y:0.23, Z:0.72 [[ 0.92840843 -0.07730469 -0.36343055 7.03103439] [ 0.09647735 0.99472411 0.034872 0.23285477] [ 0.35881737 -0.06743828 0.93096841 0.71571272] [ 0. 0. 0. 1. ]] SLAMing on 31.049649246000005 meters Centerline goodness : 0.926292 Centerline is valid? [False, False] Translation: X:7.03, Y:0.23, Z:0.72 [[ 0.928085 -0.07807194 -0.36409204 7.03347089] [ 0.09736462 0.99463642 0.03490723 0.23185997] [ 0.35941393 -0.06784656 0.93070859 0.71658959] [ 0. 0. 0. 1. ]] SLAMing on 31.079649246000002 meters Centerline goodness : 0.929657 Centerline is valid? [False, False] Translation: X:7.03, Y:0.23, Z:0.72 [[ 0.92782446 -0.07838694 -0.36468789 7.03472183] [ 0.09776819 0.99459508 0.03495717 0.23187552] [ 0.35997659 -0.068089 0.9304734 0.71756173] [ 0. 0. 0. 1. ]] SLAMing on 31.109649246000004 meters Centerline goodness : 0.927131 Centerline is valid? [False, False] Translation: X:7.04, Y:0.23, Z:0.72 [[ 0.9275609 -0.07891557 -0.3652439 7.03609414] [ 0.09826034 0.99455726 0.03465189 0.23216873] [ 0.3605214 -0.06803073 0.9302667 0.71815568] [ 0. 0. 0. 1. ]] SLAMing on 31.139649246000005 meters Centerline goodness : 0.929898 Centerline is valid? [False, False] Translation: X:7.04, Y:0.23, Z:0.72 [[ 0.92715885 -0.0755602 -0.3669702 7.04016406] [ 0.09638966 0.99458941 0.03874196 0.23076192] [ 0.36205733 -0.07129208 0.92942559 0.72100054] [ 0. 0. 0. 1. ]] SLAMing on 31.169649246000006 meters Centerline goodness : 0.928876 Centerline is valid? [False, False] Translation: X:7.04, Y:0.23, Z:0.72 [[ 0.92687336 -0.07621434 -0.36755564 7.04229152] [ 0.09697808 0.99454826 0.0383277 0.23166914] [ 0.36263071 -0.07116976 0.92921141 0.72115042] [ 0. 0. 0. 1. ]] SLAMing on 31.199649246000003 meters Centerline goodness : 0.928671 Centerline is valid? [False, False] Translation: X:7.04, Y:0.23, Z:0.72 [[ 0.92662498 -0.07675847 -0.36806833 7.04395707] [ 0.09748422 0.99451056 0.03802067 0.23225913] [ 0.36312943 -0.07111176 0.92902106 0.72146004] [ 0. 0. 0. 1. ]] SLAMing on 31.229649246000005 meters Centerline goodness : 0.930331 Centerline is valid? [False, False] Translation: X:7.05, Y:0.23, Z:0.72 [[ 0.92624331 -0.0774191 -0.3688897 7.04600182] [ 0.09817194 0.99445158 0.03779328 0.23272067] [ 0.36391702 -0.07122039 0.9287045 0.7224527 ] [ 0. 0. 0. 1. ]] SLAMing on 31.259649246000006 meters Centerline goodness : 0.931186 Centerline is valid? [False, False] Translation: X:7.05, Y:0.23, Z:0.72 [[ 0.92600911 -0.07798888 -0.36935737 7.04770891] [ 0.0986799 0.99441503 0.03743035 0.23340306] [ 0.36437537 -0.071109 0.92853331 0.72262652] [ 0. 0. 0. 1. ]] SLAMing on 31.289649246000003 meters Centerline goodness : 0.931625 Centerline is valid? [False, False] Translation: X:7.05, Y:0.23, Z:0.72 [[ 0.92570464 -0.07836045 -0.3700413 7.04946021] [ 0.09909444 0.99437771 0.03732637 0.23404378] [ 0.36503591 -0.07122223 0.92826515 0.72335907] [ 0. 0. 0. 1. ]] SLAMing on 31.319649246000004 meters Centerline goodness : 0.932661 Centerline is valid? [False, False] Translation: X:7.05, Y:0.23, Z:0.72 [[ 0.92547563 -0.07891561 -0.37049585 7.0514925 ] [ 0.09958727 0.99434186 0.03696802 0.23457687] [ 0.36548218 -0.07110967 0.92809816 0.72329411] [ 0. 0. 0. 1. ]] SLAMing on 31.349649246000006 meters Centerline goodness : 0.929376 Centerline is valid? [False, False] Translation: X:7.05, Y:0.24, Z:0.72 [[ 0.92504909 -0.07990264 -0.37134856 7.05473757] [ 0.10040527 0.99428877 0.03617492 0.23575548] [ 0.36633723 -0.07074893 0.92778856 0.72326833] [ 0. 0. 0. 1. ]] SLAMing on 31.379649246000003 meters Centerline goodness : 0.930856 Centerline is valid? [False, False] Translation: X:7.06, Y:0.24, Z:0.72 [[ 0.92484939 -0.08060308 -0.37169443 7.05651957] [ 0.10094962 0.99425528 0.03557534 0.23682468] [ 0.36669167 -0.07042424 0.92767324 0.72302271] [ 0. 0. 0. 1. ]] SLAMing on 31.409649246000004 meters Centerline goodness : 0.932165 Centerline is valid? [False, False] Translation: X:7.06, Y:0.24, Z:0.72 [[ 0.9245553 -0.0808609 -0.37236946 7.0578011 ] [ 0.10120829 0.99423563 0.03538923 0.23742962] [ 0.36736138 -0.07040617 0.92740961 0.72387209] [ 0. 0. 0. 1. ]] SLAMing on 31.439649246000005 meters Centerline goodness : 0.932030 Centerline is valid? [False, False] Translation: X:7.06, Y:0.24, Z:0.72 [[ 0.92439389 -0.08100314 -0.3727391 7.05853375] [ 0.10132357 0.99422997 0.03521803 0.23803172] [ 0.36773561 -0.07032259 0.92726763 0.72417259] [ 0. 0. 0. 1. ]] SLAMing on 31.469649246000003 meters Centerline goodness : 0.931342 Centerline is valid? [False, False] Translation: X:7.06, Y:0.24, Z:0.73 [[ 0.92407295 -0.07734262 -0.3743091 7.06226507] [ 0.09887145 0.9943502 0.03862792 0.2393009 ] [ 0.36920674 -0.0727035 0.9264991 0.72562322] [ 0. 0. 0. 1. ]] SLAMing on 31.499649246000004 meters Centerline goodness : 0.926734 Centerline is valid? [False, False] Translation: X:7.07, Y:0.24, Z:0.72 [[ 0.92373675 -0.07847685 -0.37490238 7.06565851] [ 0.09966775 0.99431618 0.03743897 0.24191602] [ 0.36983341 -0.07194943 0.92630801 0.72456317] [ 0. 0. 0. 1. ]] SLAMing on 31.529649246000005 meters Centerline goodness : 0.926965 Centerline is valid? [False, False] Translation: X:7.07, Y:0.24, Z:0.72 [[ 0.92337119 -0.07945648 -0.37559595 7.06855082] [ 0.10051292 0.99425607 0.03676996 0.24306316] [ 0.37051694 -0.07170456 0.92605381 0.72454776] [ 0. 0. 0. 1. ]] SLAMing on 31.559649246000003 meters Centerline goodness : 0.924886 Centerline is valid? [False, False] Translation: X:7.07, Y:0.24, Z:0.73 [[ 0.92301629 -0.08007218 -0.37633679 7.07091585] [ 0.10114863 0.99419981 0.03654726 0.24336386] [ 0.37122754 -0.07179967 0.9257618 0.72512404] [ 0. 0. 0. 1. ]] SLAMing on 31.589649246000004 meters Centerline goodness : 0.926769 Centerline is valid? [False, False] Translation: X:7.07, Y:0.24, Z:0.73 [[ 0.92279903 -0.08005281 -0.37687331 7.07131319] [ 0.10127695 0.99417716 0.03680705 0.24262345] [ 0.37173233 -0.07213409 0.92553323 0.72649573] [ 0. 0. 0. 1. ]] SLAMing on 31.619649246000005 meters Centerline goodness : 0.929124 Centerline is valid? [False, False] Translation: X:7.07, Y:0.24, Z:0.73 [[ 0.92256306 -0.0800895 -0.3774428 7.07204886] [ 0.10152372 0.99413724 0.0372032 0.24216216] [ 0.37225035 -0.07264169 0.92528528 0.72787874] [ 0. 0. 0. 1. ]] SLAMing on 31.649649246000003 meters Centerline goodness : 0.930496 Centerline is valid? [False, False] Translation: X:7.07, Y:0.24, Z:0.73 [[ 0.92235508 -0.08012494 -0.37794324 7.07226074] [ 0.10176438 0.99409769 0.03760056 0.24147918] [ 0.37269976 -0.07314223 0.92506492 0.72946536] [ 0. 0. 0. 1. ]] SLAMing on 31.679649246000004 meters Centerline goodness : 0.930496 Centerline is valid? [False, False] Translation: X:7.07, Y:0.24, Z:0.73 [[ 0.92235508 -0.08012494 -0.37794324 7.07226074] [ 0.10176438 0.99409769 0.03760056 0.24147918] [ 0.37269976 -0.07314223 0.92506492 0.72946536] [ 0. 0. 0. 1. ]] SLAMing on 31.709649246000005 meters Centerline goodness : 0.927503 Centerline is valid? [False, False] Translation: X:7.07, Y:0.24, Z:0.73 [[ 0.92211215 -0.08059692 -0.37843536 7.07391497] [ 0.10221269 0.99406126 0.03734662 0.24228661] [ 0.37317791 -0.07311867 0.924874 0.72976163] [ 0. 0. 0. 1. ]] SLAMing on 31.739649246000003 meters Centerline goodness : 0.928906 Centerline is valid? [False, False] Translation: X:7.07, Y:0.24, Z:0.73 [[ 0.92192132 -0.08066213 -0.37888613 7.07490831] [ 0.10228119 0.99405796 0.03724699 0.2433272 ] [ 0.37363036 -0.07309172 0.92469344 0.73012193] [ 0. 0. 0. 1. ]] SLAMing on 31.769649246000004 meters Centerline goodness : 0.929611 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.73 [[ 0.92176267 -0.08103188 -0.37919312 7.07599536] [ 0.10258676 0.99403748 0.03695194 0.24350961] [ 0.37393788 -0.07296112 0.92457944 0.7302348 ] [ 0. 0. 0. 1. ]] SLAMing on 31.799649246000005 meters Centerline goodness : 0.933574 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.73 [[ 0.9215671 -0.08118829 -0.37963474 7.07698458] [ 0.10282497 0.99400994 0.03703071 0.24287624] [ 0.37435425 -0.07316222 0.92439504 0.73095925] [ 0. 0. 0. 1. ]] SLAMing on 31.829649246000006 meters Centerline goodness : 0.932320 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.73 [[ 0.92134383 -0.08140565 -0.3801298 7.07802292] [ 0.10313999 0.99397378 0.03712499 0.24272267] [ 0.37481687 -0.07341146 0.92418779 0.73177222] [ 0. 0. 0. 1. ]] SLAMing on 31.859649246000004 meters Centerline goodness : 0.932900 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.73 [[ 0.92124277 -0.08174774 -0.38030127 7.07918266] [ 0.10343358 0.99395155 0.03690268 0.24300417] [ 0.37498433 -0.07333225 0.92412615 0.73161861] [ 0. 0. 0. 1. ]] SLAMing on 31.889649246000005 meters Centerline goodness : 0.934523 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.73 [[ 0.92104019 -0.08222479 -0.38068891 7.08091932] [ 0.1038873 0.99391282 0.03667064 0.24268991] [ 0.37535635 -0.07332387 0.92397577 0.73169709] [ 0. 0. 0. 1. ]] SLAMing on 31.919649246000006 meters Centerline goodness : 0.933064 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.73 [[ 0.92077152 -0.08284041 -0.38120502 7.08322652] [ 0.10446305 0.99386447 0.03634387 0.24282598] [ 0.37585539 -0.07328624 0.92377587 0.73173307] [ 0. 0. 0. 1. ]] SLAMing on 31.949649246000003 meters Centerline goodness : 0.933247 Centerline is valid? [False, False] Translation: X:7.09, Y:0.24, Z:0.73 [[ 0.9204346 -0.08370748 -0.38182876 7.08593129] [ 0.10518315 0.99381248 0.03568267 0.2436912 ] [ 0.37647928 -0.07300552 0.92354402 0.73159844] [ 0. 0. 0. 1. ]] SLAMing on 31.979649246000005 meters Centerline goodness : 0.930512 Centerline is valid? [False, False] Translation: X:7.09, Y:0.24, Z:0.73 [[ 0.92025004 -0.08417487 -0.3821707 7.08789967] [ 0.10551304 0.99379534 0.03518265 0.24410186] [ 0.37683797 -0.07270083 0.92342175 0.73110447] [ 0. 0. 0. 1. ]] SLAMing on 32.009649246 meters Centerline goodness : 0.929107 Centerline is valid? [False, False] Translation: X:7.09, Y:0.24, Z:0.73 [[ 0.91993547 -0.08478972 -0.38279163 7.08991726] [ 0.10611532 0.99374111 0.03490207 0.24486363] [ 0.37743644 -0.07272771 0.92317518 0.73158896] [ 0. 0. 0. 1. ]] SLAMing on 32.039649246 meters Centerline goodness : 0.929159 Centerline is valid? [False, False] Translation: X:7.09, Y:0.25, Z:0.73 [[ 0.91985787 -0.08520533 -0.38288582 7.09104135] [ 0.10644215 0.99371728 0.0345838 0.24581129] [ 0.37753353 -0.07256737 0.9231481 0.73126473] [ 0. 0. 0. 1. ]] SLAMing on 32.069649246 meters Centerline goodness : 0.926135 Centerline is valid? [False, False] Translation: X:7.09, Y:0.25, Z:0.73 [[ 0.91958119 -0.08520783 -0.3835493 7.09164119] [ 0.10673095 0.99366663 0.03514436 0.2456753 ] [ 0.37812556 -0.07325467 0.92285146 0.73316024] [ 0. 0. 0. 1. ]] SLAMing on 32.099649246 meters Centerline goodness : 0.930241 Centerline is valid? [False, False] Translation: X:7.09, Y:0.25, Z:0.73 [[ 0.91934722 -0.08529172 -0.38409114 7.09241862] [ 0.1069704 0.99363204 0.03539358 0.24526677] [ 0.37862648 -0.07362538 0.92261655 0.73431684] [ 0. 0. 0. 1. ]] SLAMing on 32.129649246 meters Centerline goodness : 0.930235 Centerline is valid? [False, False] Translation: X:7.09, Y:0.25, Z:0.74 [[ 0.91911873 -0.08537568 -0.38461897 7.09309804] [ 0.10719586 0.99359999 0.03561044 0.24518582] [ 0.37911714 -0.07395978 0.92238828 0.73543373] [ 0. 0. 0. 1. ]] SLAMing on 32.159649246 meters Centerline goodness : 0.927609 Centerline is valid? [False, False] Translation: X:7.09, Y:0.25, Z:0.74 [[ 0.91888692 -0.08595073 -0.38504454 7.09498375] [ 0.10768696 0.9935614 0.03520324 0.24607569] [ 0.37953965 -0.07381207 0.92222635 0.73541223] [ 0. 0. 0. 1. ]] SLAMing on 32.189649246 meters Centerline goodness : 0.928781 Centerline is valid? [False, False] Translation: X:7.10, Y:0.25, Z:0.74 [[ 0.91865796 -0.08647368 -0.38547355 7.09676821] [ 0.10813228 0.99352649 0.03482131 0.24681188] [ 0.37996706 -0.07367101 0.92206161 0.73541837] [ 0. 0. 0. 1. ]] SLAMing on 32.219649246 meters Centerline goodness : 0.930277 Centerline is valid? [False, False] Translation: X:7.10, Y:0.25, Z:0.74 [[ 0.91834226 -0.086952 -0.38611765 7.09896118] [ 0.10866891 0.99347103 0.03473284 0.24597368] [ 0.38057661 -0.07385562 0.92179542 0.73598695] [ 0. 0. 0. 1. ]] SLAMing on 32.249649246000004 meters Centerline goodness : 0.926263 Centerline is valid? [False, False] Translation: X:7.10, Y:0.25, Z:0.74 [[ 0.91802956 -0.08766682 -0.38669918 7.10134926] [ 0.10937161 0.99340413 0.03443965 0.24607769] [ 0.38112935 -0.07391053 0.92156261 0.73630209] [ 0. 0. 0. 1. ]] SLAMing on 32.279649246 meters Centerline goodness : 0.924936 Centerline is valid? [False, False] Translation: X:7.10, Y:0.25, Z:0.74 [[ 0.91769434 -0.08800773 -0.38741675 7.10342913] [ 0.10984164 0.99334902 0.03453301 0.24540956] [ 0.38180088 -0.07424524 0.92125769 0.73720774] [ 0. 0. 0. 1. ]] SLAMing on 32.309649246 meters Centerline goodness : 0.925292 Centerline is valid? [False, False] Translation: X:7.10, Y:0.25, Z:0.74 [[ 0.9176346 -0.08811097 -0.38753476 7.10415072] [ 0.10989213 0.99334943 0.03436036 0.24564164] [ 0.38192991 -0.07411727 0.92121451 0.7369763 ] [ 0. 0. 0. 1. ]] SLAMing on 32.339649246 meters Centerline goodness : 0.924575 Centerline is valid? [False, False] Translation: X:7.11, Y:0.25, Z:0.74 [[ 0.91743186 -0.08863235 -0.38789572 7.10597649] [ 0.11035124 0.99330988 0.03403066 0.24676448] [ 0.38228443 -0.07402558 0.92107482 0.73691485] [ 0. 0. 0. 1. ]] SLAMing on 32.369649246 meters Centerline goodness : 0.924029 Centerline is valid? [False, False] Translation: X:7.11, Y:0.25, Z:0.74 [[ 0.91714992 -0.08921737 -0.38842796 7.10810469] [ 0.11090167 0.9932592 0.0337192 0.24752121] [ 0.38280131 -0.07400287 0.92086195 0.73709997] [ 0. 0. 0. 1. ]] SLAMing on 32.399649246 meters Centerline goodness : 0.924019 Centerline is valid? [False, False] Translation: X:7.11, Y:0.25, Z:0.74 [[ 0.9167529 -0.08966217 -0.38926189 7.11012447] [ 0.11148557 0.99319144 0.03378963 0.24730999] [ 0.38358193 -0.07437383 0.92050716 0.73840698] [ 0. 0. 0. 1. ]] SLAMing on 32.429649246000004 meters Centerline goodness : 0.926844 Centerline is valid? [False, False] Translation: X:7.11, Y:0.25, Z:0.74 [[ 0.9166447 -0.08994873 -0.38945052 7.11093128] [ 0.11178573 0.99315989 0.03372526 0.24730777] [ 0.38375309 -0.07444909 0.92042973 0.73863521] [ 0. 0. 0. 1. ]] SLAMing on 32.459649246 meters Centerline goodness : 0.925484 Centerline is valid? [False, False] Translation: X:7.11, Y:0.25, Z:0.74 [[ 0.91626843 -0.0875654 -0.39087654 7.11444322] [ 0.11144532 0.99301342 0.03878518 0.245022 ] [ 0.38474941 -0.07909899 0.9196256 0.74426662] [ 0. 0. 0. 1. ]] SLAMing on 32.489649246 meters Centerline goodness : 0.929885 Centerline is valid? [False, False] Translation: X:7.11, Y:0.24, Z:0.75 [[ 0.91613427 -0.08755148 -0.391194 7.11461344] [ 0.11164508 0.9929736 0.03922753 0.24387574] [ 0.38501088 -0.07961257 0.91947184 0.74549226] [ 0. 0. 0. 1. ]] SLAMing on 32.519649246 meters Centerline goodness : 0.929026 Centerline is valid? [False, False] Translation: X:7.12, Y:0.24, Z:0.75 [[ 0.91580375 -0.08799011 -0.3918689 7.11631487] [ 0.11216661 0.99291647 0.039186 0.24375621] [ 0.38564511 -0.07984129 0.91918617 0.74643431] [ 0. 0. 0. 1. ]] SLAMing on 32.549649246 meters Centerline goodness : 0.930767 Centerline is valid? [False, False] Translation: X:7.12, Y:0.24, Z:0.75 [[ 0.91552151 -0.08832155 -0.3924534 7.11802328] [ 0.11247911 0.99289066 0.03894325 0.24410841] [ 0.38622379 -0.07979619 0.91894709 0.74685624] [ 0. 0. 0. 1. ]] SLAMing on 32.579649246 meters Centerline goodness : 0.929367 Centerline is valid? [False, False] Translation: X:7.12, Y:0.24, Z:0.75 [[ 0.91541384 -0.08848602 -0.39266744 7.11884113] [ 0.11257132 0.9928901 0.03869037 0.24495013] [ 0.38645206 -0.07962079 0.91886633 0.74675337] [ 0. 0. 0. 1. ]] SLAMing on 32.609649246000004 meters Centerline goodness : 0.926878 Centerline is valid? [False, False] Translation: X:7.12, Y:0.25, Z:0.75 [[ 0.91503766 -0.08936603 -0.39334437 7.12163394] [ 0.11325033 0.99284395 0.03788486 0.24687341] [ 0.38714396 -0.07921245 0.91861033 0.74657308] [ 0. 0. 0. 1. ]] SLAMing on 32.639649246 meters Centerline goodness : 0.928262 Centerline is valid? [False, False] Translation: X:7.12, Y:0.25, Z:0.75 [[ 0.91483604 -0.08995756 -0.39367836 7.12340613] [ 0.11369341 0.99281397 0.03733938 0.24786395] [ 0.38749042 -0.07891805 0.91848959 0.74627937] [ 0. 0. 0. 1. ]] SLAMing on 32.669649246 meters Centerline goodness : 0.928203 Centerline is valid? [False, False] Translation: X:7.12, Y:0.25, Z:0.75 [[ 0.91472569 -0.09023858 -0.39387042 7.12440189] [ 0.1137783 0.99282529 0.03677553 0.24939462] [ 0.38772595 -0.07845343 0.91842999 0.74577316] [ 0. 0. 0. 1. ]] SLAMing on 32.699649246 meters Centerline goodness : 0.927682 Centerline is valid? [False, False] Translation: X:7.12, Y:0.25, Z:0.75 [[ 0.91466596 -0.09017528 -0.39402361 7.12452969] [ 0.11370887 0.99283455 0.0367402 0.24989422] [ 0.3878872 -0.07840899 0.9183657 0.74593306] [ 0. 0. 0. 1. ]] SLAMing on 32.729649246 meters Centerline goodness : 0.928795 Centerline is valid? [False, False] Translation: X:7.13, Y:0.25, Z:0.75 [[ 0.91433605 -0.09027734 -0.39476524 7.12519093] [ 0.11401597 0.99278814 0.03704136 0.24967864] [ 0.38857426 -0.07887779 0.91803504 0.74778311] [ 0. 0. 0. 1. ]] SLAMing on 32.759649246 meters Centerline goodness : 0.930959 Centerline is valid? [False, False] Translation: X:7.13, Y:0.25, Z:0.75 [[ 0.91394935 -0.09097772 -0.39549924 7.12703028] [ 0.11489852 0.99268169 0.03716699 0.2486279 ] [ 0.38922349 -0.07941102 0.91771399 0.74928742] [ 0. 0. 0. 1. ]] SLAMing on 32.789649246 meters Centerline goodness : 0.934300 Centerline is valid? [False, False] Translation: X:7.13, Y:0.25, Z:0.75 [[ 0.91365761 -0.09154552 -0.3960419 7.12849015] [ 0.1155526 0.99260699 0.03713444 0.2484394 ] [ 0.38971447 -0.07969184 0.91748125 0.75022567] [ 0. 0. 0. 1. ]] SLAMing on 32.819649246 meters Centerline goodness : 0.929928 Centerline is valid? [False, False] Translation: X:7.13, Y:0.25, Z:0.75 [[ 0.91320535 -0.09294925 -0.3967574 7.13195322] [ 0.11683895 0.9924831 0.03641369 0.24894169] [ 0.39039038 -0.0796099 0.91720097 0.7504468 ] [ 0. 0. 0. 1. ]] SLAMing on 32.849649246 meters Centerline goodness : 0.924075 Centerline is valid? [False, False] Translation: X:7.14, Y:0.25, Z:0.75 [[ 0.91277188 -0.09012848 -0.39840224 7.13793449] [ 0.11524844 0.99255088 0.03950387 0.24862959] [ 0.39187407 -0.08197325 0.9163597 0.75147571] [ 0. 0. 0. 1. ]] SLAMing on 32.879649246 meters Centerline goodness : 0.922855 Centerline is valid? [False, False] Translation: X:7.14, Y:0.25, Z:0.75 [[ 0.91258522 -0.09045189 -0.39875641 7.13929255] [ 0.11554655 0.99252439 0.03929809 0.24886104] [ 0.39222088 -0.08193779 0.91621448 0.75165312] [ 0. 0. 0. 1. ]] SLAMing on 32.909649246 meters Centerline goodness : 0.922694 Centerline is valid? [False, False] Translation: X:7.14, Y:0.25, Z:0.75 [[ 0.91216587 -0.09112504 -0.39956183 7.14156236] [ 0.11621462 0.9924595 0.03896542 0.24879456] [ 0.39299821 -0.08197785 0.91587774 0.75248317] [ 0. 0. 0. 1. ]] SLAMing on 32.939649246 meters Centerline goodness : 0.922775 Centerline is valid? [False, False] Translation: X:7.14, Y:0.25, Z:0.75 [[ 0.91182573 -0.09172948 -0.40019937 7.14378778] [ 0.11683807 0.99239509 0.03874087 0.2486307 ] [ 0.39360221 -0.08208345 0.91560887 0.7530368 ] [ 0. 0. 0. 1. ]] SLAMing on 32.969649246 meters Centerline goodness : 0.921763 Centerline is valid? [False, False] Translation: X:7.15, Y:0.25, Z:0.75 [[ 0.91136183 -0.09253858 -0.40106886 7.1464736 ] [ 0.11768843 0.99230503 0.03847279 0.24905486] [ 0.39442243 -0.0822638 0.91523965 0.75400871] [ 0. 0. 0. 1. ]] SLAMing on 32.999649246000004 meters Centerline goodness : 0.922059 Centerline is valid? [False, False] Translation: X:7.15, Y:0.25, Z:0.75 [[ 0.91113084 -0.09291191 -0.40150711 7.1480514 ] [ 0.11801608 0.99227703 0.03819044 0.24959192] [ 0.39485794 -0.08218078 0.9150593 0.75411913] [ 0. 0. 0. 1. ]] SLAMing on 33.029649246 meters Centerline goodness : 0.921513 Centerline is valid? [False, False] Translation: X:7.15, Y:0.25, Z:0.76 [[ 0.91095172 -0.08878322 -0.40284551 7.15062263] [ 0.11540884 0.99241897 0.04225375 0.24902935] [ 0.3960401 -0.08498306 0.91429214 0.75631958] [ 0. 0. 0. 1. ]] SLAMing on 33.059649246 meters Centerline goodness : 0.923648 Centerline is valid? [False, False] Translation: X:7.15, Y:0.25, Z:0.76 [[ 0.91082914 -0.08871505 -0.40313759 7.15094333] [ 0.11535854 0.99242537 0.04224078 0.24973976] [ 0.39633658 -0.0849795 0.91416399 0.75676093] [ 0. 0. 0. 1. ]] SLAMing on 33.089649246 meters Centerline goodness : 0.924074 Centerline is valid? [False, False] Translation: X:7.15, Y:0.25, Z:0.76 [[ 0.91063727 -0.08878242 -0.40355599 7.15158439] [ 0.1152179 0.99246668 0.04165002 0.25191427] [ 0.39681808 -0.08442493 0.91400648 0.75674523] [ 0. 0. 0. 1. ]] SLAMing on 33.119649246 meters Centerline goodness : 0.919069 Centerline is valid? [False, False] Translation: X:7.15, Y:0.25, Z:0.76 [[ 0.91039007 -0.08910414 -0.40404254 7.1531178 ] [ 0.11543579 0.99245882 0.04123181 0.2532854 ] [ 0.39732165 -0.084178 0.91381047 0.75679216] [ 0. 0. 0. 1. ]] SLAMing on 33.149649246 meters Centerline goodness : 0.920828 Centerline is valid? [False, False] Translation: X:7.15, Y:0.26, Z:0.76 [[ 0.91026441 -0.08910004 -0.40432646 7.1537955 ] [ 0.11519974 0.9925109 0.04063414 0.25500208] [ 0.39767792 -0.08356611 0.91371165 0.75637635] [ 0. 0. 0. 1. ]] SLAMing on 33.179649246000004 meters Centerline goodness : 0.921088 Centerline is valid? [False, False] Translation: X:7.15, Y:0.26, Z:0.76 [[ 0.91024226 -0.08903934 -0.40438969 7.15414675] [ 0.11501124 0.99254481 0.0403387 0.25616649] [ 0.39778316 -0.08322735 0.91369676 0.75594077] [ 0. 0. 0. 1. ]] SLAMing on 33.209649246 meters Centerline goodness : 0.920450 Centerline is valid? [False, False] Translation: X:7.16, Y:0.26, Z:0.76 [[ 0.91004483 -0.08495542 -0.40571048 7.15762878] [ 0.1120198 0.99275832 0.04338769 0.25796577] [ 0.39908643 -0.08493235 0.91297126 0.75626723] [ 0. 0. 0. 1. ]] SLAMing on 33.239649246 meters Centerline goodness : 0.913125 Centerline is valid? [False, False] Translation: X:7.16, Y:0.26, Z:0.75 [[ 0.90997639 -0.08481958 -0.40589236 7.158494 ] [ 0.11150672 0.99285399 0.04251134 0.26075108] [ 0.39938605 -0.08394404 0.91293164 0.75496296] [ 0. 0. 0. 1. ]] SLAMing on 33.269649246 meters Centerline goodness : 0.915747 Centerline is valid? [False, False] Translation: X:7.16, Y:0.26, Z:0.76 [[ 0.90975562 -0.08498635 -0.40635211 7.15964176] [ 0.1116181 0.99285285 0.04224477 0.26191969] [ 0.39985762 -0.08378867 0.91273947 0.75522355] [ 0. 0. 0. 1. ]] SLAMing on 33.299649246 meters Centerline goodness : 0.917633 Centerline is valid? [False, False] Translation: X:7.16, Y:0.26, Z:0.76 [[ 0.90955477 -0.08496232 -0.40680649 7.16035399] [ 0.11158097 0.99286249 0.0421161 0.26299475] [ 0.40032462 -0.08369876 0.91254299 0.75569324] [ 0. 0. 0. 1. ]] SLAMing on 33.329649246 meters Centerline goodness : 0.920740 Centerline is valid? [False, False] Translation: X:7.16, Y:0.26, Z:0.76 [[ 0.90979018 -0.08370909 -0.4065398 7.1577707 ] [ 0.11027526 0.99299975 0.04231872 0.26409563] [ 0.40015146 -0.08333243 0.91265246 0.7556941 ] [ 0. 0. 0. 1. ]] SLAMing on 33.359649246000004 meters Centerline goodness : 0.921655 Centerline is valid? [False, False] Translation: X:7.16, Y:0.26, Z:0.76 [[ 0.9096051 -0.08369449 -0.40695674 7.15855025] [ 0.11033791 0.99298919 0.04240303 0.2642514 ] [ 0.40055474 -0.08347276 0.91246271 0.75635323] [ 0. 0. 0. 1. ]] SLAMing on 33.389649246 meters Centerline goodness : 0.924280 Centerline is valid? [False, False] Translation: X:7.16, Y:0.26, Z:0.76 [[ 0.90920805 -0.08414701 -0.40774994 7.16078667] [ 0.11089973 0.99292773 0.04237653 0.26348946] [ 0.40130036 -0.08374844 0.91210976 0.75735981] [ 0. 0. 0. 1. ]] SLAMing on 33.419649246 meters Centerline goodness : 0.923740 Centerline is valid? [False, False] Translation: X:7.16, Y:0.26, Z:0.76 [[ 0.90884895 -0.08497492 -0.40837832 7.16329621] [ 0.11168737 0.99285678 0.04196848 0.26359762] [ 0.40189492 -0.08375371 0.91184746 0.757738 ] [ 0. 0. 0. 1. ]] SLAMing on 33.449649246 meters Centerline goodness : 0.924356 Centerline is valid? [False, False] Translation: X:7.17, Y:0.26, Z:0.76 [[ 0.90847134 -0.08532312 -0.40914521 7.1654581 ] [ 0.11216316 0.99280139 0.04200981 0.26260989] [ 0.40261552 -0.08405572 0.91150172 0.75878569] [ 0. 0. 0. 1. ]] SLAMing on 33.479649246 meters Centerline goodness : 0.923720 Centerline is valid? [False, False] Translation: X:7.17, Y:0.26, Z:0.76 [[ 0.90816034 -0.08552178 -0.40979363 7.1668541 ] [ 0.11248739 0.99276072 0.04210393 0.26220371] [ 0.40322622 -0.08433373 0.91120604 0.75986538] [ 0. 0. 0. 1. ]] SLAMing on 33.509649246 meters Centerline goodness : 0.924786 Centerline is valid? [False, False] Translation: X:7.17, Y:0.26, Z:0.76 [[ 0.90785868 -0.085874 -0.41038794 7.16888352] [ 0.11283882 0.9927298 0.04189213 0.26178115] [ 0.4038069 -0.08433983 0.91094829 0.76025616] [ 0. 0. 0. 1. ]] SLAMing on 33.539649246 meters Centerline goodness : 0.927044 Centerline is valid? [False, False] Translation: X:7.17, Y:0.26, Z:0.76 [[ 0.90766 -0.08597732 -0.41080559 7.1700549 ] [ 0.11302478 0.99270572 0.0419612 0.26133621] [ 0.40420135 -0.08451771 0.91075684 0.76078066] [ 0. 0. 0. 1. ]] SLAMing on 33.569649246 meters Centerline goodness : 0.927044 Centerline is valid? [False, False] Translation: X:7.17, Y:0.26, Z:0.76 [[ 0.90766 -0.08597732 -0.41080559 7.1700549 ] [ 0.11302478 0.99270572 0.0419612 0.26133621] [ 0.40420135 -0.08451771 0.91075684 0.76078066] [ 0. 0. 0. 1. ]] SLAMing on 33.599649246 meters Centerline goodness : 0.924618 Centerline is valid? [False, False] Translation: X:7.17, Y:0.26, Z:0.76 [[ 0.90720492 -0.09115703 -0.41069409 7.17130252] [ 0.11686364 0.99242572 0.03786927 0.26145813] [ 0.40413133 -0.0823504 0.91098643 0.76047848] [ 0. 0. 0. 1. ]] SLAMing on 33.629649246 meters Centerline goodness : 0.923208 Centerline is valid? [False, False] Translation: X:7.17, Y:0.26, Z:0.76 [[ 0.90681448 -0.09170282 -0.41143418 7.17366361] [ 0.11742139 0.99236953 0.03761557 0.2624221 ] [ 0.40484529 -0.08242152 0.91066293 0.7610645 ] [ 0. 0. 0. 1. ]] SLAMing on 33.659649246 meters Centerline goodness : 0.923422 Centerline is valid? [False, False] Translation: X:7.18, Y:0.26, Z:0.76 [[ 0.90644221 -0.08835222 -0.41298476 7.17789717] [ 0.11568677 0.99241411 0.04160293 0.26114314] [ 0.40617619 -0.08548752 0.90978722 0.76379555] [ 0. 0. 0. 1. ]] SLAMing on 33.689649246 meters Centerline goodness : 0.925012 Centerline is valid? [False, False] Translation: X:7.18, Y:0.26, Z:0.76 [[ 0.90598471 -0.08943427 -0.41375502 7.18082318] [ 0.11677341 0.99230342 0.04120551 0.26105474] [ 0.40688533 -0.08564715 0.90945527 0.76458992] [ 0. 0. 0. 1. ]] SLAMing on 33.719649246 meters Centerline goodness : 0.924861 Centerline is valid? [False, False] Translation: X:7.18, Y:0.26, Z:0.77 [[ 0.90535649 -0.09081212 -0.41482862 7.18465299] [ 0.11828863 0.99213368 0.0409702 0.26002317] [ 0.40784486 -0.08616214 0.90897671 0.7661923 ] [ 0. 0. 0. 1. ]] SLAMing on 33.749649246000004 meters Centerline goodness : 0.923476 Centerline is valid? [False, False] Translation: X:7.19, Y:0.26, Z:0.77 [[ 0.90503309 -0.09120967 -0.41544664 7.18686903] [ 0.11879977 0.99207159 0.04099492 0.26004181] [ 0.40841367 -0.08645672 0.9086933 0.76689015] [ 0. 0. 0. 1. ]] SLAMing on 33.779649246 meters Centerline goodness : 0.926489 Centerline is valid? [False, False] Translation: X:7.19, Y:0.26, Z:0.77 [[ 0.90445231 -0.09158288 -0.41662765 7.18931662] [ 0.11938621 0.99199625 0.04111407 0.25879537] [ 0.40952772 -0.08692532 0.90814703 0.76887351] [ 0. 0. 0. 1. ]] SLAMing on 33.809649246 meters Centerline goodness : 0.926047 Centerline is valid? [False, False] Translation: X:7.19, Y:0.26, Z:0.77 [[ 0.90404054 -0.09208369 -0.41741023 7.19138663] [ 0.11997196 0.9919298 0.0410123 0.25870483] [ 0.41026508 -0.0871543 0.90779221 0.76992568] [ 0. 0. 0. 1. ]] SLAMing on 33.839649246 meters Centerline goodness : 0.925485 Centerline is valid? [False, False] Translation: X:7.20, Y:0.26, Z:0.78 [[ 0.9032694 -0.08825336 -0.41989968 7.19629483] [ 0.1185371 0.99185903 0.04652549 0.25655823] [ 0.41237525 -0.09179874 0.90637721 0.77599066] [ 0. 0. 0. 1. ]] SLAMing on 33.869649246 meters Centerline goodness : 0.927623 Centerline is valid? [False, False] Translation: X:7.20, Y:0.26, Z:0.78 [[ 0.90285513 -0.08872024 -0.42069149 7.19826391] [ 0.11908477 0.99179891 0.04640848 0.2567529 ] [ 0.41312398 -0.09199808 0.90601596 0.77703615] [ 0. 0. 0. 1. ]] SLAMing on 33.899649246 meters Centerline goodness : 0.926450 Centerline is valid? [False, False] Translation: X:7.20, Y:0.26, Z:0.78 [[ 0.90219175 -0.0898295 -0.4218776 7.20232234] [ 0.12020639 0.991687 0.04590543 0.25731452] [ 0.41424687 -0.09212788 0.90548991 0.77814116] [ 0. 0. 0. 1. ]] SLAMing on 33.929649246000004 meters Centerline goodness : 0.926648 Centerline is valid? [False, False] Translation: X:7.21, Y:0.26, Z:0.78 [[ 0.90181497 -0.09065546 -0.42250603 7.20503369] [ 0.12083351 0.99164599 0.04513865 0.25887965] [ 0.41488434 -0.0917596 0.90523542 0.77795101] [ 0. 0. 0. 1. ]] SLAMing on 33.959649246 meters Centerline goodness : 0.927645 Centerline is valid? [False, False] Translation: X:7.21, Y:0.26, Z:0.78 [[ 0.90143153 -0.09168437 -0.42310186 7.20821778] [ 0.12144053 0.99162962 0.04385089 0.26137171] [ 0.41553989 -0.09091029 0.9050204 0.77704603] [ 0. 0. 0. 1. ]] SLAMing on 33.989649246 meters Centerline goodness : 0.926282 Centerline is valid? [False, False] Translation: X:7.21, Y:0.26, Z:0.78 [[ 0.90109721 -0.0922007 -0.42370137 7.21016132] [ 0.12186667 0.99159727 0.04339791 0.26218437] [ 0.4161398 -0.09074081 0.90476172 0.77734017] [ 0. 0. 0. 1. ]] SLAMing on 34.019649246 meters Centerline goodness : 0.923997 Centerline is valid? [False, False] Translation: X:7.21, Y:0.26, Z:0.78 [[ 0.90080613 -0.09236127 -0.42428493 7.21163587] [ 0.1220604 0.99157794 0.04329486 0.26245672] [ 0.41671281 -0.09078866 0.90449315 0.7778793 ] [ 0. 0. 0. 1. ]] SLAMing on 34.049649246 meters Centerline goodness : 0.926961 Centerline is valid? [False, False] Translation: X:7.21, Y:0.26, Z:0.78 [[ 0.90039006 -0.09280798 -0.4250699 7.21390978] [ 0.12234815 0.99156979 0.04266466 0.26400807] [ 0.41752685 -0.09042135 0.90415447 0.77812278] [ 0. 0. 0. 1. ]] SLAMing on 34.079649246 meters Centerline goodness : 0.926170 Centerline is valid? [False, False] Translation: X:7.22, Y:0.27, Z:0.78 [[ 0.89997827 -0.09340538 -0.42581046 7.21619494] [ 0.12283106 0.99153382 0.04210956 0.26562012] [ 0.41827221 -0.09020044 0.90383198 0.77858518] [ 0. 0. 0. 1. ]] SLAMing on 34.109649246000004 meters Centerline goodness : 0.924357 Centerline is valid? [False, False] Translation: X:7.22, Y:0.27, Z:0.78 [[ 0.89955176 -0.09381254 -0.42662141 7.21836057] [ 0.12334052 0.99147319 0.04204798 0.26600549] [ 0.41903906 -0.09044404 0.90345234 0.77958537] [ 0. 0. 0. 1. ]] SLAMing on 34.139649246 meters Centerline goodness : 0.926701 Centerline is valid? [False, False] Translation: X:7.22, Y:0.27, Z:0.78 [[ 0.89889817 -0.09440115 -0.4278674 7.2216407 ] [ 0.1239697 0.99140903 0.04170913 0.26649995] [ 0.42025421 -0.09053485 0.90287864 0.78079701] [ 0. 0. 0. 1. ]] SLAMing on 34.169649246 meters Centerline goodness : 0.924176 Centerline is valid? [False, False] Translation: X:7.22, Y:0.27, Z:0.78 [[ 0.89852024 -0.09528599 -0.42846466 7.22453972] [ 0.12466503 0.99135287 0.0409649 0.26761897] [ 0.42085628 -0.09022235 0.90262945 0.78061193] [ 0. 0. 0. 1. ]] SLAMing on 34.199649246 meters Centerline goodness : 0.920427 Centerline is valid? [False, False] Translation: X:7.23, Y:0.27, Z:0.78 [[ 0.8978973 -0.09628107 -0.42954673 7.22832265] [ 0.12554118 0.99127224 0.04023388 0.26837889] [ 0.42192399 -0.0900517 0.9021479 0.78125011] [ 0. 0. 0. 1. ]] SLAMing on 34.229649246 meters Centerline goodness : 0.922743 Centerline is valid? [False, False] Translation: X:7.23, Y:0.27, Z:0.78 [[ 0.89748485 -0.09693025 -0.4302621 7.23087805] [ 0.12620916 0.99119845 0.03996098 0.26836409] [ 0.4226017 -0.09016739 0.90181907 0.78185286] [ 0. 0. 0. 1. ]] SLAMing on 34.259649246 meters Centerline goodness : 0.923079 Centerline is valid? [False, False] Translation: X:7.23, Y:0.27, Z:0.78 [[ 0.89677389 -0.09821983 -0.4314504 7.23453433] [ 0.12781229 0.990989 0.04006012 0.26689087] [ 0.42362791 -0.09106954 0.90124677 0.78422667] [ 0. 0. 0. 1. ]] SLAMing on 34.289649246 meters Centerline goodness : 0.924457 Centerline is valid? [False, False] Translation: X:7.24, Y:0.27, Z:0.79 [[ 0.8963119 -0.09887635 -0.4322597 7.23699182] [ 0.12863559 0.99088187 0.04007506 0.26648376] [ 0.42435582 -0.09152373 0.90085823 0.7854105 ] [ 0. 0. 0. 1. ]] SLAMing on 34.319649246 meters Centerline goodness : 0.923435 Centerline is valid? [False, False] Translation: X:7.24, Y:0.27, Z:0.79 [[ 0.8956809 -0.1000896 -0.43328721 7.24085885] [ 0.12993639 0.9907255 0.03974321 0.2661479 ] [ 0.4252908 -0.09189701 0.90037918 0.78658803] [ 0. 0. 0. 1. ]] SLAMing on 34.349649246 meters Centerline goodness : 0.927317 Centerline is valid? [False, False] Translation: X:7.24, Y:0.27, Z:0.79 [[ 0.89539483 -0.10010689 -0.43387407 7.24184842] [ 0.13010048 0.99069728 0.03990945 0.26598438] [ 0.42584265 -0.09218194 0.90008918 0.78766093] [ 0. 0. 0. 1. ]] SLAMing on 34.379649246 meters Centerline goodness : 0.929614 Centerline is valid? [False, False] Translation: X:7.24, Y:0.27, Z:0.79 [[ 0.89492793 -0.10029779 -0.43479231 7.24309825] [ 0.13063955 0.99060724 0.04038082 0.26534469] [ 0.4266583 -0.092939 0.89962494 0.78999838] [ 0. 0. 0. 1. ]] SLAMing on 34.409649246 meters Centerline goodness : 0.931998 Centerline is valid? [False, False] Translation: X:7.25, Y:0.27, Z:0.79 [[ 0.89453764 -0.10080103 -0.43547854 7.24512507] [ 0.13116492 0.99054726 0.04014842 0.26562096] [ 0.42731507 -0.09303378 0.89930337 0.79071048] [ 0. 0. 0. 1. ]] SLAMing on 34.439649246 meters Centerline goodness : 0.932059 Centerline is valid? [False, False] Translation: X:7.25, Y:0.27, Z:0.79 [[ 0.89419243 -0.10113811 -0.43610891 7.247218 ] [ 0.1315063 0.99051085 0.03992934 0.26511752] [ 0.42793223 -0.09305558 0.8990076 0.79118114] [ 0. 0. 0. 1. ]] SLAMing on 34.469649246 meters Centerline goodness : 0.928336 Centerline is valid? [False, False] Translation: X:7.25, Y:0.27, Z:0.79 [[ 0.89378215 -0.10171353 -0.43681556 7.2497305 ] [ 0.13202839 0.99045793 0.03951701 0.26564241] [ 0.42862802 -0.09299165 0.89868269 0.79149523] [ 0. 0. 0. 1. ]] SLAMing on 34.499649246000004 meters Centerline goodness : 0.928567 Centerline is valid? [False, False] Translation: X:7.25, Y:0.27, Z:0.79 [[ 0.89308317 -0.102645 -0.43802562 7.25369322] [ 0.13295957 0.9903533 0.03901404 0.26683183] [ 0.42979553 -0.09308248 0.8981155 0.79253904] [ 0. 0. 0. 1. ]] SLAMing on 34.529649246 meters Centerline goodness : 0.924936 Centerline is valid? [False, False] Translation: X:7.26, Y:0.27, Z:0.79 [[ 0.89269443 -0.10324491 -0.43867658 7.25610178] [ 0.13353011 0.99029043 0.03865976 0.26741181] [ 0.43042579 -0.09308789 0.89781306 0.79297728] [ 0. 0. 0. 1. ]] SLAMing on 34.559649246 meters Centerline goodness : 0.924981 Centerline is valid? [False, False] Translation: X:7.26, Y:0.27, Z:0.79 [[ 0.89218261 -0.10390222 -0.43956174 7.25895107] [ 0.13418742 0.99021565 0.03829743 0.26772652] [ 0.43128173 -0.09315196 0.89739555 0.79381498] [ 0. 0. 0. 1. ]] SLAMing on 34.589649246 meters Centerline goodness : 0.925477 Centerline is valid? [False, False] Translation: X:7.26, Y:0.27, Z:0.79 [[ 0.89161231 -0.10466248 -0.44053746 7.26229598] [ 0.13484458 0.99015024 0.03767558 0.26874851] [ 0.43225505 -0.0929961 0.89694331 0.79431599] [ 0. 0. 0. 1. ]] SLAMing on 34.619649246 meters Centerline goodness : 0.923729 Centerline is valid? [False, False] Translation: X:7.26, Y:0.27, Z:0.79 [[ 0.89143698 -0.10483716 -0.44085063 7.2635305 ] [ 0.13499221 0.99013661 0.03750463 0.26902242] [ 0.43257047 -0.09294442 0.89679659 0.79441062] [ 0. 0. 0. 1. ]] SLAMing on 34.649649246 meters Centerline goodness : 0.925484 Centerline is valid? [False, False] Translation: X:7.27, Y:0.27, Z:0.80 [[ 0.89103614 -0.10529314 -0.44155175 7.26550483] [ 0.13545799 0.9900825 0.03725288 0.26973777] [ 0.43325019 -0.09300537 0.89646209 0.79509447] [ 0. 0. 0. 1. ]] SLAMing on 34.679649246000004 meters Centerline goodness : 0.924633 Centerline is valid? [False, False] Translation: X:7.27, Y:0.27, Z:0.80 [[ 0.89054082 -0.10544061 -0.44251477 7.26696906] [ 0.13584466 0.99002083 0.03748309 0.2699478 ] [ 0.4341466 -0.0934935 0.89597751 0.79702653] [ 0. 0. 0. 1. ]] SLAMing on 34.709649246 meters Centerline goodness : 0.926667 Centerline is valid? [False, False] Translation: X:7.27, Y:0.27, Z:0.80 [[ 0.89022805 -0.10551616 -0.44312566 7.26814647] [ 0.13606481 0.9899855 0.03761742 0.26997483] [ 0.43471874 -0.09378189 0.8956699 0.79805004] [ 0. 0. 0. 1. ]] SLAMing on 34.739649246 meters Centerline goodness : 0.928237 Centerline is valid? [False, False] Translation: X:7.27, Y:0.27, Z:0.80 [[ 0.88987207 -0.10526064 -0.44390077 7.26889471] [ 0.13599939 0.98998442 0.0378816 0.270245 ] [ 0.43546741 -0.09408001 0.89527487 0.79955316] [ 0. 0. 0. 1. ]] SLAMing on 34.769649246 meters Centerline goodness : 0.928109 Centerline is valid? [False, False] Translation: X:7.27, Y:0.27, Z:0.80 [[ 0.88952921 -0.10557138 -0.44451374 7.27054194] [ 0.13634566 0.98994237 0.03773532 0.27088206] [ 0.43605922 -0.09417419 0.89497686 0.80020231] [ 0. 0. 0. 1. ]] SLAMing on 34.799649246 meters Centerline goodness : 0.931302 Centerline is valid? [False, False] Translation: X:7.27, Y:0.27, Z:0.80 [[ 0.88909281 -0.10613641 -0.44525165 7.27267045] [ 0.13718451 0.98981682 0.03798786 0.26967404] [ 0.43668568 -0.09485636 0.89459929 0.80180025] [ 0. 0. 0. 1. ]] SLAMing on 34.829649246 meters Centerline goodness : 0.931320 Centerline is valid? [False, False] Translation: X:7.27, Y:0.27, Z:0.80 [[ 0.88847433 -0.10665825 -0.44636015 7.27482874] [ 0.13812393 0.98966825 0.03845164 0.26929188] [ 0.43764729 -0.09581631 0.89402689 0.80438888] [ 0. 0. 0. 1. ]] SLAMing on 34.859649246000004 meters Centerline goodness : 0.933340 Centerline is valid? [False, False] Translation: X:7.28, Y:0.27, Z:0.81 [[ 0.88823854 -0.10676625 -0.44680338 7.27578863] [ 0.13838148 0.98962558 0.0386236 0.26958101] [ 0.43804436 -0.09613628 0.89379805 0.8052368 ] [ 0. 0. 0. 1. ]] SLAMing on 34.889649246 meters Centerline goodness : 0.929417 Centerline is valid? [False, False] Translation: X:7.28, Y:0.27, Z:0.81 [[ 0.88788994 -0.10696506 -0.44744824 7.27767635] [ 0.13864087 0.98959241 0.03854307 0.27016801] [ 0.43866862 -0.09625662 0.89347888 0.8058962 ] [ 0. 0. 0. 1. ]] SLAMing on 34.919649246 meters Centerline goodness : 0.930859 Centerline is valid? [False, False] Translation: X:7.28, Y:0.27, Z:0.81 [[ 0.88753531 -0.10743522 -0.44803878 7.27984024] [ 0.13911118 0.98953626 0.03828918 0.27073256] [ 0.43923701 -0.09631021 0.89319382 0.80627894] [ 0. 0. 0. 1. ]] SLAMing on 34.949649246 meters Centerline goodness : 0.929467 Centerline is valid? [False, False] Translation: X:7.28, Y:0.27, Z:0.81 [[ 0.88716378 -0.10789491 -0.44866369 7.28193882] [ 0.13958921 0.98947755 0.03806616 0.27109119] [ 0.4398355 -0.09639953 0.89288961 0.80680475] [ 0. 0. 0. 1. ]] SLAMing on 34.979649246 meters Centerline goodness : 0.928394 Centerline is valid? [False, False] Translation: X:7.29, Y:0.27, Z:0.81 [[ 0.88644487 -0.10877811 -0.44986977 7.28619308] [ 0.14047354 0.98937148 0.03756661 0.27130507] [ 0.44100189 -0.09649553 0.89230373 0.80768961] [ 0. 0. 0. 1. ]] SLAMing on 35.009649246 meters Centerline goodness : 0.926008 Centerline is valid? [False, False] Translation: X:7.29, Y:0.27, Z:0.81 [[ 0.88564904 -0.10957688 -0.45124127 7.28996992] [ 0.14147489 0.98923313 0.03745228 0.27066827] [ 0.44227891 -0.09700889 0.89161575 0.80967153] [ 0. 0. 0. 1. ]] SLAMing on 35.039649246 meters Centerline goodness : 0.922938 Centerline is valid? [False, False] Translation: X:7.29, Y:0.27, Z:0.81 [[ 0.88530348 -0.10972406 -0.45188314 7.29139304] [ 0.14181505 0.98917696 0.03764877 0.26996826] [ 0.44286142 -0.09741441 0.89128233 0.81080178] [ 0. 0. 0. 1. ]] SLAMing on 35.069649246000004 meters Centerline goodness : 0.923346 Centerline is valid? [False, False] Translation: X:7.30, Y:0.27, Z:0.81 [[ 0.88459884 -0.11095802 -0.45296049 7.29532992] [ 0.14306499 0.98901679 0.03712417 0.27058398] [ 0.4438663 -0.09764279 0.89075731 0.81195221] [ 0. 0. 0. 1. ]] SLAMing on 35.099649246 meters Centerline goodness : 0.921974 Centerline is valid? [False, False] Translation: X:7.30, Y:0.27, Z:0.81 [[ 0.88433716 -0.11126152 -0.45339681 7.29701017] [ 0.14345175 0.98896123 0.03711184 0.27079101] [ 0.44426275 -0.09785995 0.89053582 0.81243287] [ 0. 0. 0. 1. ]] SLAMing on 35.129649246 meters Centerline goodness : 0.921798 Centerline is valid? [False, False] Translation: X:7.30, Y:0.27, Z:0.82 [[ 0.88357896 -0.10758318 -0.45575661 7.30172792] [ 0.14191631 0.98900092 0.04167664 0.27059043] [ 0.44626 -0.10150389 0.88912821 0.81721414] [ 0. 0. 0. 1. ]] SLAMing on 35.159649246 meters Centerline goodness : 0.922581 Centerline is valid? [False, False] Translation: X:7.30, Y:0.27, Z:0.82 [[ 0.88327524 -0.10782407 -0.45628809 7.3030129 ] [ 0.14217742 0.98896982 0.0415243 0.2714156 ] [ 0.44677783 -0.10155125 0.88886271 0.81784072] [ 0. 0. 0. 1. ]] SLAMing on 35.189649246 meters Centerline goodness : 0.926225 Centerline is valid? [False, False] Translation: X:7.30, Y:0.27, Z:0.82 [[ 0.882887 -0.1021479 -0.45834087 7.30296719] [ 0.1391934 0.98911645 0.04768477 0.27053116] [ 0.44848159 -0.10589828 0.88749637 0.82426846] [ 0. 0. 0. 1. ]] SLAMing on 35.219649246 meters Centerline goodness : 0.928543 Centerline is valid? [False, False] Translation: X:7.30, Y:0.27, Z:0.82 [[ 0.88277987 -0.10197662 -0.45858529 7.30279071] [ 0.13898756 0.98914984 0.04759259 0.27182147] [ 0.44875623 -0.10575143 0.88737505 0.824623 ] [ 0. 0. 0. 1. ]] SLAMing on 35.249649246000004 meters Centerline goodness : 0.925574 Centerline is valid? [False, False] Translation: X:7.30, Y:0.27, Z:0.83 [[ 0.88258001 -0.09699444 -0.46004849 7.30411667] [ 0.13562765 0.98941573 0.05159115 0.27334207] [ 0.45017516 -0.10792862 0.88639367 0.82692753] [ 0. 0. 0. 1. ]] SLAMing on 35.279649246 meters Centerline goodness : 0.926531 Centerline is valid? [False, False] Translation: X:7.31, Y:0.28, Z:0.83 [[ 0.88229138 -0.09743086 -0.46050966 7.30548797] [ 0.13575179 0.98944226 0.05074905 0.27573872] [ 0.45070319 -0.10729046 0.88620279 0.82662191] [ 0. 0. 0. 1. ]] SLAMing on 35.309649246 meters Centerline goodness : 0.925028 Centerline is valid? [False, False] Translation: X:7.31, Y:0.28, Z:0.83 [[ 0.88213468 -0.09707637 -0.46088457 7.30555153] [ 0.13474501 0.98964549 0.04945285 0.27994577] [ 0.45131163 -0.10572597 0.88608116 0.82534303] [ 0. 0. 0. 1. ]] SLAMing on 35.339649246 meters Centerline goodness : 0.926967 Centerline is valid? [False, False] Translation: X:7.31, Y:0.28, Z:0.83 [[ 0.88183517 -0.09739876 -0.46138943 7.30695283] [ 0.1347926 0.98967613 0.04870425 0.28193194] [ 0.45188238 -0.10514101 0.88585986 0.82510629] [ 0. 0. 0. 1. ]] SLAMing on 35.369649246 meters Centerline goodness : 0.925469 Centerline is valid? [False, False] Translation: X:7.31, Y:0.28, Z:0.82 [[ 0.88153336 -0.09784256 -0.46187203 7.30835388] [ 0.13486472 0.98971309 0.04774414 0.28432541] [ 0.45244938 -0.10437829 0.88566062 0.82478348] [ 0. 0. 0. 1. ]] SLAMing on 35.399649246 meters Centerline goodness : 0.924465 Centerline is valid? [False, False] Translation: X:7.31, Y:0.29, Z:0.83 [[ 0.88094399 -0.098702 -0.4628127 7.31105626] [ 0.13555703 0.98965567 0.0469675 0.28627726] [ 0.45338943 -0.10411325 0.88521097 0.825446 ] [ 0. 0. 0. 1. ]] SLAMing on 35.429649246000004 meters Centerline goodness : 0.921717 Centerline is valid? [False, False] Translation: X:7.31, Y:0.29, Z:0.83 [[ 0.88069543 -0.09906249 -0.46320857 7.31267767] [ 0.13588065 0.98962364 0.04670658 0.28654262] [ 0.45377528 -0.10407535 0.88501769 0.82559334] [ 0. 0. 0. 1. ]] SLAMing on 35.459649246 meters Centerline goodness : 0.921717 Centerline is valid? [False, False] Translation: X:7.31, Y:0.29, Z:0.83 [[ 0.88069543 -0.09906249 -0.46320857 7.31267767] [ 0.13588065 0.98962364 0.04670658 0.28654262] [ 0.45377528 -0.10407535 0.88501769 0.82559334] [ 0. 0. 0. 1. ]] SLAMing on 35.489649246 meters Centerline goodness : 0.925774 Centerline is valid? [False, False] Translation: X:7.31, Y:0.29, Z:0.83 [[ 0.8803866 -0.09959354 -0.46368154 7.31438557] [ 0.1364173 0.98956107 0.04646739 0.28641665] [ 0.45421335 -0.10416345 0.88478258 0.82609352] [ 0. 0. 0. 1. ]] SLAMing on 35.519649246 meters Centerline goodness : 0.925589 Centerline is valid? [False, False] Translation: X:7.32, Y:0.29, Z:0.83 [[ 0.87963278 -0.10503965 -0.46391039 7.316269 ] [ 0.14045049 0.98918202 0.04233903 0.28635571] [ 0.45444454 -0.10239924 0.8848698 0.8264705 ] [ 0. 0. 0. 1. ]] SLAMing on 35.549649246 meters Centerline goodness : 0.925273 Centerline is valid? [False, False] Translation: X:7.32, Y:0.29, Z:0.83 [[ 0.87904913 -0.10575774 -0.46485259 7.3187289 ] [ 0.14144082 0.98903594 0.0424548 0.28516909] [ 0.45526599 -0.10306899 0.88436964 0.82828955] [ 0. 0. 0. 1. ]] SLAMing on 35.579649246 meters Centerline goodness : 0.927226 Centerline is valid? [False, False] Translation: X:7.32, Y:0.28, Z:0.83 [[ 0.87830975 -0.10725674 -0.46590555 7.32367624] [ 0.14304716 0.98882305 0.04202951 0.28418819] [ 0.4561902 -0.10356139 0.8838357 0.82938188] [ 0. 0. 0. 1. ]] SLAMing on 35.609649246000004 meters Centerline goodness : 0.923207 Centerline is valid? [False, False] Translation: X:7.33, Y:0.28, Z:0.83 [[ 0.8776944 -0.10854755 -0.46676544 7.32788967] [ 0.14425621 0.98867661 0.04133647 0.28435502] [ 0.4569931 -0.1036146 0.88341458 0.82976439] [ 0. 0. 0. 1. ]] SLAMing on 35.639649246 meters Centerline goodness : 0.917898 Centerline is valid? [False, False] Translation: X:7.33, Y:0.28, Z:0.83 [[ 0.87684814 -0.11043732 -0.46791124 7.3334661 ] [ 0.14609539 0.98844182 0.04048332 0.28344239] [ 0.45803217 -0.1038574 0.88284776 0.83068356] [ 0. 0. 0. 1. ]] SLAMing on 35.669649246 meters Centerline goodness : 0.923022 Centerline is valid? [False, False] Translation: X:7.34, Y:0.28, Z:0.83 [[ 0.87608418 -0.11135722 -0.46912267 7.33669259] [ 0.14727553 0.98826813 0.04044777 0.2833676 ] [ 0.45911484 -0.10452594 0.88220627 0.83285866] [ 0. 0. 0. 1. ]] SLAMing on 35.699649246 meters Centerline goodness : 0.919964 Centerline is valid? [False, False] Translation: X:7.34, Y:0.28, Z:0.83 [[ 0.87583615 -0.11168389 -0.46950798 7.33786785] [ 0.14758582 0.98823045 0.04023696 0.28354716] [ 0.45948826 -0.1045337 0.88201091 0.83323927] [ 0. 0. 0. 1. ]] SLAMing on 35.729649246 meters Centerline goodness : 0.919505 Centerline is valid? [False, False] Translation: X:7.34, Y:0.29, Z:0.83 [[ 0.87511271 -0.11271701 -0.47060878 7.34096712] [ 0.1485886 0.98810424 0.03964146 0.28537074] [ 0.46054226 -0.10461785 0.88145104 0.83454528] [ 0. 0. 0. 1. ]] SLAMing on 35.759649246 meters Centerline goodness : 0.915051 Centerline is valid? [False, False] Translation: X:7.35, Y:0.28, Z:0.84 [[ 0.8804183 -0.10389749 -0.46267584 7.34649872] [ 0.14106464 0.98891426 0.04636114 0.28055607] [ 0.45272993 -0.1060844 0.88531447 0.83508703] [ 0. 0. 0. 1. ]] SLAMing on 35.789649246 meters Centerline goodness : 0.917582 Centerline is valid? [False, False] Translation: X:7.35, Y:0.28, Z:0.84 [[ 0.88503252 -0.09463905 -0.45580795 7.35193409] [ 0.13389565 0.98949378 0.05453449 0.27706334] [ 0.44585804 -0.1092955 0.88840593 0.83857502] [ 0. 0. 0. 1. ]] SLAMing on 35.819649246000004 meters Centerline goodness : 0.919572 Centerline is valid? [False, False] Translation: X:7.35, Y:0.28, Z:0.84 [[ 0.88459987 -0.09953417 -0.45560511 7.35221206] [ 0.13709354 0.98929269 0.05005322 0.27951729] [ 0.4457448 -0.10673759 0.88877368 0.83751341] [ 0. 0. 0. 1. ]] SLAMing on 35.849649246 meters Centerline goodness : 0.921084 Centerline is valid? [False, False] Translation: X:7.35, Y:0.28, Z:0.84 [[ 0.88415257 -0.09999112 -0.45637266 7.35352376] [ 0.13764056 0.98922352 0.04991905 0.27996407] [ 0.44646311 -0.10695144 0.88838735 0.83894068] [ 0. 0. 0. 1. ]] SLAMing on 35.879649246 meters Centerline goodness : 0.917965 Centerline is valid? [False, False] Translation: X:7.36, Y:0.28, Z:0.84 [[ 0.88373647 -0.10080879 -0.4569983 7.35581316] [ 0.13834982 0.9891535 0.04934244 0.28094045] [ 0.44706732 -0.10683135 0.8880979 0.8392855 ] [ 0. 0. 0. 1. ]] SLAMing on 35.909649246 meters Centerline goodness : 0.920839 Centerline is valid? [False, False] Translation: X:7.36, Y:0.28, Z:0.84 [[ 0.88324494 -0.10208505 -0.45766474 7.35897996] [ 0.13933242 0.98906805 0.04827901 0.28305023] [ 0.44773301 -0.10640973 0.88781311 0.83916403] [ 0. 0. 0. 1. ]] SLAMing on 35.939649246 meters Centerline goodness : 0.919669 Centerline is valid? [False, False] Translation: X:7.36, Y:0.28, Z:0.84 [[ 0.8828068 -0.10319478 -0.45826083 7.3616953 ] [ 0.14024196 0.98897914 0.04746004 0.28432619] [ 0.44831278 -0.10616544 0.88754975 0.83926875] [ 0. 0. 0. 1. ]] SLAMing on 35.969649246 meters Centerline goodness : 0.919742 Centerline is valid? [False, False] Translation: X:7.36, Y:0.28, Z:0.84 [[ 0.88245955 -0.10375262 -0.45880337 7.36337235] [ 0.14082905 0.9889062 0.047241 0.28431782] [ 0.44881212 -0.10630112 0.8872811 0.83994085] [ 0. 0. 0. 1. ]] SLAMing on 35.999649246000004 meters Centerline goodness : 0.919563 Centerline is valid? [False, False] Translation: X:7.36, Y:0.29, Z:0.84 [[ 0.88196516 -0.10937003 -0.45844918 7.36438065] [ 0.14445804 0.98861667 0.04205902 0.28656146] [ 0.4486305 -0.10332126 0.88772484 0.83824286] [ 0. 0. 0. 1. ]] SLAMing on 36.029649246 meters Centerline goodness : 0.925414 Centerline is valid? [False, False] Translation: X:7.37, Y:0.29, Z:0.84 [[ 0.88160385 -0.10960285 -0.45908809 7.36530149] [ 0.14481886 0.9885625 0.04209128 0.28648599] [ 0.44922394 -0.10359245 0.88739307 0.83959662] [ 0. 0. 0. 1. ]] SLAMing on 36.059649246 meters Centerline goodness : 0.923340 Centerline is valid? [False, False] Translation: X:7.37, Y:0.28, Z:0.84 [[ 0.88635473 -0.10090988 -0.45187663 7.37051547] [ 0.13725863 0.98935714 0.0482962 0.28203775] [ 0.44219381 -0.10483154 0.89077213 0.84190551] [ 0. 0. 0. 1. ]] SLAMing on 36.089649246 meters Centerline goodness : 0.922748 Centerline is valid? [False, False] Translation: X:7.37, Y:0.28, Z:0.84 [[ 0.885817 -0.10243639 -0.45258704 7.37415329] [ 0.13825846 0.98929496 0.04669132 0.28489562] [ 0.44295919 -0.10393395 0.89049699 0.84115667] [ 0. 0. 0. 1. ]] SLAMing on 36.119649246 meters Centerline goodness : 0.919087 Centerline is valid? [False, False] Translation: X:7.38, Y:0.29, Z:0.84 [[ 0.88553893 -0.10335613 -0.45292197 7.37646317] [ 0.13886055 0.98925464 0.04574937 0.28624889] [ 0.44332668 -0.10340584 0.89037559 0.84049485] [ 0. 0. 0. 1. ]] SLAMing on 36.149649246 meters Centerline goodness : 0.916318 Centerline is valid? [False, False] Translation: X:7.38, Y:0.29, Z:0.84 [[ 0.88510094 -0.10473519 -0.45346098 7.38004533] [ 0.13979362 0.98918517 0.04438965 0.2880256 ] [ 0.44390772 -0.10268027 0.89017004 0.8395596 ] [ 0. 0. 0. 1. ]] SLAMing on 36.179649246000004 meters Centerline goodness : 0.915261 Centerline is valid? [False, False] Translation: X:7.38, Y:0.29, Z:0.84 [[ 0.88484404 -0.10523967 -0.4538454 7.38160256] [ 0.14023972 0.98913702 0.04405427 0.28836499] [ 0.44427903 -0.10262831 0.88999077 0.83975532] [ 0. 0. 0. 1. ]] SLAMing on 36.209649246 meters Centerline goodness : 0.914385 Centerline is valid? [False, False] Translation: X:7.38, Y:0.29, Z:0.84 [[ 0.884338 -0.10606429 -0.45463905 7.38422108] [ 0.14104526 0.98904189 0.04361628 0.28847254] [ 0.44503094 -0.10269622 0.88960719 0.84052484] [ 0. 0. 0. 1. ]] SLAMing on 36.239649246 meters Centerline goodness : 0.914666 Centerline is valid? [False, False] Translation: X:7.39, Y:0.29, Z:0.84 [[ 0.88403839 -0.10670014 -0.45507274 7.38585384] [ 0.14159058 0.98898342 0.04317298 0.28885862] [ 0.44545283 -0.10260059 0.88940704 0.84081699] [ 0. 0. 0. 1. ]] SLAMing on 36.269649246 meters Centerline goodness : 0.918587 Centerline is valid? [False, False] Translation: X:7.39, Y:0.28, Z:0.84 [[ 0.88848902 -0.09875039 -0.44814688 7.39076609] [ 0.1346738 0.98968151 0.04892316 0.28394393] [ 0.4386915 -0.10382133 0.89262024 0.84469676] [ 0. 0. 0. 1. ]] SLAMing on 36.299649246 meters Centerline goodness : 0.918379 Centerline is valid? [False, False] Translation: X:7.39, Y:0.28, Z:0.85 [[ 0.8882292 -0.09909175 -0.44858635 7.3917666 ] [ 0.13505058 0.98963624 0.04880015 0.28410367] [ 0.43910161 -0.10392756 0.8924062 0.84539763] [ 0. 0. 0. 1. ]] SLAMing on 36.329649246 meters Centerline goodness : 0.918400 Centerline is valid? [False, False] Translation: X:7.39, Y:0.29, Z:0.85 [[ 0.88779675 -0.10001667 -0.44923669 7.39379194] [ 0.13570736 0.98959183 0.04786981 0.28613428] [ 0.43977318 -0.10346338 0.89212941 0.84553975] [ 0. 0. 0. 1. ]] SLAMing on 36.359649246000004 meters Centerline goodness : 0.917758 Centerline is valid? [False, False] Translation: X:7.40, Y:0.29, Z:0.84 [[ 0.88760828 -0.10100523 -0.4493879 7.3956563 ] [ 0.1359795 0.98963629 0.04614741 0.29002002] [ 0.44006945 -0.10206836 0.89214401 0.84368812] [ 0. 0. 0. 1. ]] SLAMing on 36.389649246 meters Centerline goodness : 0.918137 Centerline is valid? [False, False] Translation: X:7.40, Y:0.29, Z:0.85 [[ 0.89211157 -0.09023243 -0.4427133 7.40015624] [ 0.12729209 0.99035832 0.05465458 0.2858901 ] [ 0.43351318 -0.10511189 0.89499598 0.8474958 ] [ 0. 0. 0. 1. ]] SLAMing on 36.419649246 meters Centerline goodness : 0.919378 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.85 [[ 0.89444036 -0.09241818 -0.43753323 7.4136033 ] [ 0.12476253 0.99113375 0.04569678 0.29173678] [ 0.42943074 -0.0954608 0.89804035 0.84786151] [ 0. 0. 0. 1. ]] SLAMing on 36.449649246 meters Centerline goodness : 0.923869 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.85 [[ 0.89428666 -0.09239015 -0.4378532 7.41343317] [ 0.12474999 0.99113718 0.04565672 0.29253439] [ 0.42975435 -0.09545238 0.89788643 0.84856837] [ 0. 0. 0. 1. ]] SLAMing on 36.479649246 meters Centerline goodness : 0.923091 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.85 [[ 0.89390516 -0.09301215 -0.43850007 7.41471644] [ 0.12534777 0.99107784 0.04530612 0.29342407] [ 0.43037369 -0.09546438 0.89758846 0.84953015] [ 0. 0. 0. 1. ]] SLAMing on 36.509649246 meters Centerline goodness : 0.924606 Centerline is valid? [False, False] Translation: X:7.42, Y:0.29, Z:0.85 [[ 0.89363316 -0.09373707 -0.43889992 7.41670999] [ 0.12586349 0.99104417 0.04460747 0.2945201 ] [ 0.43078784 -0.09510419 0.89742801 0.84925371] [ 0. 0. 0. 1. ]] SLAMing on 36.539649246 meters Centerline goodness : 0.922877 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.85 [[ 0.89328691 -0.09456561 -0.43942671 7.41889765] [ 0.1264932 0.99099663 0.04387653 0.2953293 ] [ 0.43132118 -0.09477882 0.89720623 0.84921939] [ 0. 0. 0. 1. ]] SLAMing on 36.569649246000004 meters Centerline goodness : 0.922483 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.85 [[ 0.89295951 -0.09514523 -0.4399667 7.42085135] [ 0.12700467 0.99094907 0.04347136 0.29559047] [ 0.43184849 -0.09469599 0.89696129 0.84947675] [ 0. 0. 0. 1. ]] SLAMing on 36.599649246 meters Centerline goodness : 0.920644 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.85 [[ 0.89240943 -0.09624821 -0.44084202 7.42412552] [ 0.12810326 0.99082833 0.04299749 0.29514643] [ 0.43266032 -0.09484467 0.89655426 0.85029927] [ 0. 0. 0. 1. ]] SLAMing on 36.629649246 meters Centerline goodness : 0.924079 Centerline is valid? [False, False] Translation: X:7.43, Y:0.29, Z:0.85 [[ 0.89208212 -0.09650337 -0.44144828 7.42540726] [ 0.12855172 0.9907618 0.04319157 0.29400858] [ 0.43320196 -0.09527937 0.89624656 0.8515115 ] [ 0. 0. 0. 1. ]] SLAMing on 36.659649246 meters Centerline goodness : 0.926107 Centerline is valid? [False, False] Translation: X:7.43, Y:0.29, Z:0.85 [[ 0.89158097 -0.0966901 -0.44241881 7.42681457] [ 0.12939004 0.99060566 0.04425656 0.29145999] [ 0.43398341 -0.09670289 0.89571589 0.85459885] [ 0. 0. 0. 1. ]] SLAMing on 36.689649246 meters Centerline goodness : 0.927886 Centerline is valid? [False, False] Translation: X:7.43, Y:0.29, Z:0.86 [[ 0.89126264 -0.09692604 -0.44300817 7.4278254 ] [ 0.12995794 0.99050957 0.04474068 0.28987445] [ 0.4344673 -0.09744813 0.89540049 0.85636214] [ 0. 0. 0. 1. ]] SLAMing on 36.719649246 meters Centerline goodness : 0.932663 Centerline is valid? [False, False] Translation: X:7.43, Y:0.29, Z:0.86 [[ 0.89107782 -0.09717397 -0.44332555 7.4283459 ] [ 0.13022225 0.99047947 0.04463838 0.28988675] [ 0.43476717 -0.09750712 0.8952485 0.85696612] [ 0. 0. 0. 1. ]] SLAMing on 36.749649246000004 meters Centerline goodness : 0.931129 Centerline is valid? [False, False] Translation: X:7.43, Y:0.29, Z:0.86 [[ 0.89082919 -0.09786121 -0.44367391 7.42965907] [ 0.13070081 0.99044659 0.04396426 0.29126728] [ 0.43513291 -0.09715318 0.89510927 0.85692243] [ 0. 0. 0. 1. ]] SLAMing on 36.779649246 meters Centerline goodness : 0.929419 Centerline is valid? [False, False] Translation: X:7.43, Y:0.29, Z:0.86 [[ 0.89046974 -0.09873897 -0.4442007 7.43223559] [ 0.13136486 0.9903927 0.04319235 0.29238237] [ 0.43566836 -0.09681384 0.89488556 0.85668269] [ 0. 0. 0. 1. ]] SLAMing on 36.809649246 meters Centerline goodness : 0.929614 Centerline is valid? [False, False] Translation: X:7.43, Y:0.29, Z:0.86 [[ 0.89026358 -0.09945505 -0.4444541 7.43401003] [ 0.13185847 0.99035671 0.04250793 0.29319173] [ 0.43594048 -0.0964483 0.8947925 0.8562385 ] [ 0. 0. 0. 1. ]] SLAMing on 36.839649246 meters Centerline goodness : 0.929822 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:0.86 [[ 0.88987459 -0.10017756 -0.4450704 7.43591581] [ 0.13248449 0.99029519 0.04199162 0.29400675] [ 0.43654446 -0.0963322 0.8945105 0.85673356] [ 0. 0. 0. 1. ]] SLAMing on 36.869649246 meters Centerline goodness : 0.929008 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:0.86 [[ 0.88954155 -0.10067151 -0.44562437 7.43745592] [ 0.13293524 0.99024909 0.04165289 0.29452207] [ 0.43708587 -0.09629116 0.8942505 0.85730116] [ 0. 0. 0. 1. ]] SLAMing on 36.899649246 meters Centerline goodness : 0.930133 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.86 [[ 0.88927005 -0.10130287 -0.44602299 7.43915112] [ 0.13343579 0.99020315 0.04114143 0.29510739] [ 0.43748562 -0.09610127 0.89407543 0.85734061] [ 0. 0. 0. 1. ]] SLAMing on 36.929649246000004 meters Centerline goodness : 0.927100 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.86 [[ 0.88884749 -0.10243471 -0.44660639 7.44203986] [ 0.13430626 0.99012402 0.04020256 0.29617752] [ 0.43807758 -0.09571598 0.89382688 0.85713209] [ 0. 0. 0. 1. ]] SLAMing on 36.959649246 meters Centerline goodness : 0.929368 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.86 [[ 0.88852301 -0.10297935 -0.44712651 7.4435414 ] [ 0.13480508 0.99007025 0.0398559 0.29653817] [ 0.43858232 -0.09568781 0.89358234 0.85765581] [ 0. 0. 0. 1. ]] SLAMing on 36.989649246 meters Centerline goodness : 0.932368 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.86 [[ 0.88824143 -0.10746654 -0.44662971 7.44185729] [ 0.13788231 0.98979215 0.03605502 0.29736408] [ 0.43819588 -0.0936079 0.89399213 0.85761586] [ 0. 0. 0. 1. ]] SLAMing on 37.019649246 meters Centerline goodness : 0.934300 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.86 [[ 0.88804353 -0.10766722 -0.44697479 7.44239637] [ 0.13815287 0.98975393 0.0360685 0.29727754] [ 0.43851166 -0.09378125 0.89381911 0.85836033] [ 0. 0. 0. 1. ]] SLAMing on 37.049649246 meters Centerline goodness : 0.936323 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.86 [[ 0.88787414 -0.1080198 -0.44722615 7.4428981 ] [ 0.13848458 0.98971429 0.03588372 0.29819174] [ 0.43874996 -0.09379415 0.89370081 0.85885833] [ 0. 0. 0. 1. ]] SLAMing on 37.079649246 meters Centerline goodness : 0.935204 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.86 [[ 0.88766044 -0.10857529 -0.44751576 7.44435041] [ 0.13887779 0.98967824 0.03535456 0.29934672] [ 0.43905798 -0.09353285 0.89357691 0.85866143] [ 0. 0. 0. 1. ]] SLAMing on 37.109649246000004 meters Centerline goodness : 0.934579 Centerline is valid? [False, False] Translation: X:7.45, Y:0.30, Z:0.86 [[ 0.88746912 -0.10924928 -0.44773113 7.44579044] [ 0.13932598 0.98963889 0.03468637 0.30068868] [ 0.43930267 -0.09316366 0.89349521 0.85830116] [ 0. 0. 0. 1. ]] SLAMing on 37.139649246 meters Centerline goodness : 0.934031 Centerline is valid? [False, False] Translation: X:7.45, Y:0.29, Z:0.86 [[ 0.89244958 -0.09908343 -0.44013205 7.44834059] [ 0.13134771 0.99038703 0.04337395 0.29478908] [ 0.43160344 -0.0965194 0.89688487 0.86127238] [ 0. 0. 0. 1. ]] SLAMing on 37.169649246 meters Centerline goodness : 0.933535 Centerline is valid? [False, False] Translation: X:7.45, Y:0.29, Z:0.86 [[ 0.89225229 -0.09939705 -0.44046122 7.44916472] [ 0.13162913 0.99035929 0.04315385 0.2948913 ] [ 0.43192549 -0.09648165 0.89673389 0.86163233] [ 0. 0. 0. 1. ]] SLAMing on 37.199649246 meters Centerline goodness : 0.936707 Centerline is valid? [False, False] Translation: X:7.45, Y:0.29, Z:0.86 [[ 0.89189669 -0.09964128 -0.44112573 7.45012316] [ 0.13206203 0.99029421 0.04332439 0.29420223] [ 0.43252735 -0.09689684 0.89639896 0.86312147] [ 0. 0. 0. 1. ]] SLAMing on 37.229649246 meters Centerline goodness : 0.936781 Centerline is valid? [False, False] Translation: X:7.45, Y:0.29, Z:0.86 [[ 0.8916218 -0.10001228 -0.44159723 7.45141155] [ 0.13248365 0.99024214 0.04322704 0.29387789] [ 0.43296495 -0.09704659 0.89617148 0.86383951] [ 0. 0. 0. 1. ]] SLAMing on 37.259649246 meters Centerline goodness : 0.937593 Centerline is valid? [False, False] Translation: X:7.45, Y:0.29, Z:0.87 [[ 0.89135679 -0.10023305 -0.44208191 7.45213307] [ 0.13284876 0.99018767 0.0433542 0.29331305] [ 0.43339853 -0.09737409 0.89592634 0.8650095 ] [ 0. 0. 0. 1. ]] SLAMing on 37.289649246 meters Centerline goodness : 0.936573 Centerline is valid? [False, False] Translation: X:7.45, Y:0.29, Z:0.87 [[ 0.89095924 -0.10123702 -0.44265416 7.45447619] [ 0.13368981 0.99010528 0.04264472 0.29452504] [ 0.433957 -0.09717306 0.8956778 0.86521864] [ 0. 0. 0. 1. ]] SLAMing on 37.319649246000004 meters Centerline goodness : 0.935653 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.87 [[ 0.89068149 -0.10200063 -0.44303764 7.45635744] [ 0.13428251 0.99005172 0.04202138 0.29555074] [ 0.43434397 -0.09691987 0.89551764 0.86513702] [ 0. 0. 0. 1. ]] SLAMing on 37.349649246 meters Centerline goodness : 0.935532 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.87 [[ 0.89036476 -0.10271397 -0.44350922 7.45776825] [ 0.13494659 0.98997759 0.04163873 0.29638622] [ 0.43478731 -0.09692371 0.89530206 0.86575414] [ 0. 0. 0. 1. ]] SLAMing on 37.379649246 meters Centerline goodness : 0.935532 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.87 [[ 0.89036476 -0.10271397 -0.44350922 7.45776825] [ 0.13494659 0.98997759 0.04163873 0.29638622] [ 0.43478731 -0.09692371 0.89530206 0.86575414] [ 0. 0. 0. 1. ]] SLAMing on 37.409649246 meters Centerline goodness : 0.935692 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.87 [[ 0.89028759 -0.10270555 -0.44366606 7.45779803] [ 0.13497915 0.98997116 0.04168615 0.29650969] [ 0.4349352 -0.09699833 0.89522215 0.86616892] [ 0. 0. 0. 1. ]] SLAMing on 37.439649246 meters Centerline goodness : 0.937993 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.87 [[ 0.89005474 -0.10300279 -0.44406416 7.45810097] [ 0.13530784 0.9899306 0.04158356 0.29671885] [ 0.43530948 -0.09709701 0.89502951 0.86714639] [ 0. 0. 0. 1. ]] SLAMing on 37.469649246 meters Centerline goodness : 0.936044 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.87 [[ 0.88982784 -0.10317347 -0.44447908 7.45887006] [ 0.13550478 0.98990737 0.04149518 0.29700599] [ 0.43571191 -0.0971526 0.89482764 0.86775463] [ 0. 0. 0. 1. ]] SLAMing on 37.499649246000004 meters Centerline goodness : 0.938451 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.87 [[ 0.88973493 -0.10332272 -0.44463038 7.4590332 ] [ 0.13565077 0.98989067 0.0414165 0.29701559] [ 0.4358562 -0.09716416 0.89475611 0.86816648] [ 0. 0. 0. 1. ]] SLAMing on 37.529649246 meters Centerline goodness : 0.938161 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.87 [[ 0.88945349 -0.10379878 -0.44508235 7.46057421] [ 0.1360549 0.98985061 0.04104682 0.29744461] [ 0.43630442 -0.09706487 0.89454841 0.86843045] [ 0. 0. 0. 1. ]] SLAMing on 37.559649246 meters Centerline goodness : 0.937711 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.87 [[ 0.88916903 -0.10459694 -0.44546372 7.46275016] [ 0.13654454 0.98982055 0.04013566 0.29915885] [ 0.43673108 -0.09651302 0.89439991 0.86785294] [ 0. 0. 0. 1. ]] SLAMing on 37.589649246 meters Centerline goodness : 0.930860 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.87 [[ 0.88899323 -0.10505431 -0.44570689 7.46420399] [ 0.13683864 0.98980008 0.03963561 0.2998186 ] [ 0.43699682 -0.09622571 0.89430106 0.86754044] [ 0. 0. 0. 1. ]] SLAMing on 37.619649246 meters Centerline goodness : 0.935562 Centerline is valid? [False, False] Translation: X:7.47, Y:0.30, Z:0.87 [[ 0.88877422 -0.10516978 -0.44611624 7.4650849 ] [ 0.13702835 0.98977285 0.03966022 0.29923919] [ 0.43738269 -0.09637956 0.89409584 0.86827605] [ 0. 0. 0. 1. ]] SLAMing on 37.649649246 meters Centerline goodness : 0.935933 Centerline is valid? [False, False] Translation: X:7.47, Y:0.30, Z:0.87 [[ 0.88863651 -0.10513641 -0.44639835 7.4653877 ] [ 0.13705722 0.98976622 0.03972591 0.2992223 ] [ 0.43765337 -0.09648401 0.8939521 0.86881398] [ 0. 0. 0. 1. ]] SLAMing on 37.679649246000004 meters Centerline goodness : 0.935170 Centerline is valid? [False, False] Translation: X:7.47, Y:0.30, Z:0.87 [[ 0.88842316 -0.10550082 -0.44673691 7.46682409] [ 0.13724114 0.98976211 0.03918972 0.30072022] [ 0.43802872 -0.09612774 0.89380664 0.8685563 ] [ 0. 0. 0. 1. ]] SLAMing on 37.709649246 meters Centerline goodness : 0.934296 Centerline is valid? [False, False] Translation: X:7.47, Y:0.30, Z:0.87 [[ 0.88824609 -0.10605687 -0.4469573 7.46838846] [ 0.13759289 0.98973685 0.03858972 0.30192254] [ 0.43827741 -0.09577532 0.89372255 0.86809326] [ 0. 0. 0. 1. ]] SLAMing on 37.739649246 meters Centerline goodness : 0.930061 Centerline is valid? [False, False] Translation: X:7.47, Y:0.30, Z:0.87 [[ 0.88788411 -0.1068578 -0.44748544 7.47102792] [ 0.13808772 0.98970409 0.03765104 0.30371955] [ 0.43885487 -0.09522201 0.89349828 0.86760514] [ 0. 0. 0. 1. ]] SLAMing on 37.769649246 meters Centerline goodness : 0.931503 Centerline is valid? [False, False] Translation: X:7.47, Y:0.30, Z:0.87 [[ 0.88783342 -0.10699005 -0.4475544 7.47174137] [ 0.13811983 0.98970914 0.03739964 0.30395805] [ 0.43894729 -0.09502079 0.8934743 0.86728307] [ 0. 0. 0. 1. ]] SLAMing on 37.799649246 meters Centerline goodness : 0.930101 Centerline is valid? [False, False] Translation: X:7.47, Y:0.30, Z:0.87 [[ 0.88757409 -0.10740778 -0.44796853 7.47346625] [ 0.13845254 0.98967658 0.03702921 0.30449781] [ 0.43936674 -0.09488855 0.89328217 0.86731956] [ 0. 0. 0. 1. ]] SLAMing on 37.829649246 meters Centerline goodness : 0.931575 Centerline is valid? [False, False] Translation: X:7.47, Y:0.30, Z:0.87 [[ 0.88748587 -0.10736357 -0.44815387 7.47391877] [ 0.13842633 0.98968016 0.03703152 0.30411399] [ 0.43955316 -0.09490125 0.8931891 0.86758501] [ 0. 0. 0. 1. ]] SLAMing on 37.859649246000004 meters Centerline goodness : 0.932228 Centerline is valid? [False, False] Translation: X:7.47, Y:0.30, Z:0.87 [[ 0.88725506 -0.10740409 -0.44860096 7.47473165] [ 0.13857739 0.989655 0.03713878 0.30392034] [ 0.43997133 -0.09511752 0.89296018 0.86837536] [ 0. 0. 0. 1. ]] SLAMing on 37.889649246 meters Centerline goodness : 0.932464 Centerline is valid? [False, False] Translation: X:7.48, Y:0.30, Z:0.87 [[ 0.88711018 -0.10760779 -0.4488386 7.47571319] [ 0.13873016 0.98964139 0.03693046 0.30431159] [ 0.44021525 -0.09502884 0.8928494 0.8684385 ] [ 0. 0. 0. 1. ]] SLAMing on 37.919649246 meters Centerline goodness : 0.930359 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.8869099 -0.10819029 -0.44909429 7.47742329] [ 0.1391272 0.98960691 0.03635634 0.30524446] [ 0.44049341 -0.09472603 0.89274438 0.86806342] [ 0. 0. 0. 1. ]] SLAMing on 37.949649246 meters Centerline goodness : 0.929265 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88668855 -0.10873837 -0.44939891 7.47916808] [ 0.1394561 0.98958412 0.03571073 0.30624339] [ 0.4408349 -0.09433572 0.89261714 0.86766607] [ 0. 0. 0. 1. ]] SLAMing on 37.979649246 meters Centerline goodness : 0.927776 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88652896 -0.10889437 -0.4496759 7.47990753] [ 0.13959666 0.98956914 0.03557667 0.3067885 ] [ 0.44111129 -0.094313 0.89248299 0.8679326 ] [ 0. 0. 0. 1. ]] SLAMing on 38.009649246 meters Centerline goodness : 0.926172 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88652302 -0.10887482 -0.44969234 7.47991681] [ 0.1395031 0.98958768 0.03542762 0.30799337] [ 0.44115282 -0.09414088 0.89248063 0.86779197] [ 0. 0. 0. 1. ]] SLAMing on 38.039649246 meters Centerline goodness : 0.927216 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88645242 -0.10873828 -0.44986453 7.47980926] [ 0.1393536 0.98961 0.03539254 0.30866603] [ 0.44134191 -0.09406404 0.89239524 0.86809495] [ 0. 0. 0. 1. ]] SLAMing on 38.069649246000004 meters Centerline goodness : 0.926461 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88640815 -0.10863226 -0.44997735 7.47989647] [ 0.13924371 0.98962581 0.03538283 0.30886879] [ 0.44146548 -0.09402015 0.89233875 0.86819693] [ 0. 0. 0. 1. ]] SLAMing on 38.099649246 meters Centerline goodness : 0.926182 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88629084 -0.10862169 -0.45021091 7.47994809] [ 0.13926944 0.98962146 0.03540312 0.30912529] [ 0.44169284 -0.09407808 0.89222013 0.86876803] [ 0. 0. 0. 1. ]] SLAMing on 38.129649246 meters Centerline goodness : 0.927414 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88624202 -0.10843493 -0.45035202 7.47967341] [ 0.13917778 0.98962709 0.03560559 0.30906165] [ 0.44181968 -0.09423417 0.89214085 0.86929844] [ 0. 0. 0. 1. ]] SLAMing on 38.159649246 meters Centerline goodness : 0.924520 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88620052 -0.10830406 -0.45046517 7.47956929] [ 0.1390954 0.98963501 0.03570737 0.30900854] [ 0.44192885 -0.09430152 0.89207966 0.8696077 ] [ 0. 0. 0. 1. ]] SLAMing on 38.189649246 meters Centerline goodness : 0.930679 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88607122 -0.10374199 -0.45179132 7.48124315] [ 0.13661707 0.98978915 0.04065982 0.30701464] [ 0.44296001 -0.0977499 0.8911966 0.87317249] [ 0. 0. 0. 1. ]] SLAMing on 38.219649246 meters Centerline goodness : 0.927632 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88606403 -0.10358796 -0.45184075 7.48114857] [ 0.13655002 0.9897902 0.04085889 0.30640615] [ 0.44299506 -0.09790245 0.89116244 0.87350792] [ 0. 0. 0. 1. ]] SLAMing on 38.249649246000004 meters Centerline goodness : 0.926606 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88584305 -0.10398963 -0.45218165 7.48260073] [ 0.13686441 0.98976134 0.04050467 0.30675949] [ 0.44333985 -0.09776836 0.89100568 0.87352746] [ 0. 0. 0. 1. ]] SLAMing on 38.279649246 meters Centerline goodness : 0.928636 Centerline is valid? [False, False] Translation: X:7.48, Y:0.31, Z:0.87 [[ 0.88566537 -0.1042007 -0.45248102 7.48366833] [ 0.13716279 0.98971791 0.04055649 0.30596235] [ 0.44360255 -0.09798304 0.89085133 0.87409025] [ 0. 0. 0. 1. ]] SLAMing on 38.309649246 meters Centerline goodness : 0.926424 Centerline is valid? [False, False] Translation: X:7.48, Y:0.30, Z:0.87 [[ 0.88547354 -0.10430676 -0.45283188 7.48438064] [ 0.13739938 0.98967892 0.04070675 0.3049304 ] [ 0.44391218 -0.09826358 0.89066618 0.87486204] [ 0. 0. 0. 1. ]] SLAMing on 38.339649246 meters Centerline goodness : 0.926976 Centerline is valid? [False, False] Translation: X:7.49, Y:0.30, Z:0.88 [[ 0.88534144 -0.10437487 -0.45307442 7.48530107] [ 0.13756151 0.98965177 0.0408192 0.30390808] [ 0.4441254 -0.09846453 0.89053768 0.87523248] [ 0. 0. 0. 1. ]] SLAMing on 38.369649246 meters Centerline goodness : 0.927184 Centerline is valid? [False, False] Translation: X:7.49, Y:0.30, Z:0.88 [[ 0.88519023 -0.10477216 -0.45327811 7.48665222] [ 0.13784437 0.98962775 0.04044548 0.30405765] [ 0.44433904 -0.09828378 0.89045108 0.87501351] [ 0. 0. 0. 1. ]] SLAMing on 38.399649246 meters Centerline goodness : 0.925498 Centerline is valid? [False, False] Translation: X:7.49, Y:0.30, Z:0.87 [[ 0.88481168 -0.10566724 -0.45380913 7.48959969] [ 0.13852281 0.98956446 0.03966878 0.30497797] [ 0.4448817 -0.09796232 0.89021551 0.87467883] [ 0. 0. 0. 1. ]] SLAMing on 38.429649246000004 meters Centerline goodness : 0.924635 Centerline is valid? [False, False] Translation: X:7.49, Y:0.31, Z:0.87 [[ 0.88460686 -0.10597956 -0.45413549 7.49109921] [ 0.13875714 0.98954402 0.03935846 0.30513012] [ 0.44521586 -0.09783131 0.89006285 0.87459529] [ 0. 0. 0. 1. ]] SLAMing on 38.459649246 meters Centerline goodness : 0.922407 Centerline is valid? [False, False] Translation: X:7.49, Y:0.31, Z:0.87 [[ 0.88422015 -0.10691626 -0.45466872 7.49376794] [ 0.1395117 0.98946618 0.03864141 0.30565757] [ 0.44574793 -0.09759912 0.889822 0.87457942] [ 0. 0. 0. 1. ]] SLAMing on 38.489649246 meters Centerline goodness : 0.919512 Centerline is valid? [False, False] Translation: X:7.50, Y:0.31, Z:0.87 [[ 0.88387197 -0.10756401 -0.45519262 7.49588774] [ 0.14008529 0.98940185 0.03821115 0.30617048] [ 0.44625827 -0.09753955 0.8895727 0.87481519] [ 0. 0. 0. 1. ]] SLAMing on 38.519649246 meters Centerline goodness : 0.919736 Centerline is valid? [False, False] Translation: X:7.50, Y:0.31, Z:0.88 [[ 0.88372646 -0.10673414 -0.45567025 7.49544155] [ 0.1397079 0.98941681 0.03919285 0.30669712] [ 0.44666459 -0.09829649 0.88928541 0.8761563 ] [ 0. 0. 0. 1. ]] SLAMing on 38.549649246 meters Centerline goodness : 0.916219 Centerline is valid? [False, False] Translation: X:7.50, Y:0.31, Z:0.88 [[ 0.88355116 -0.10722216 -0.45589555 7.49681357] [ 0.13999849 0.98939794 0.03862825 0.30782695] [ 0.44692031 -0.09795472 0.88919464 0.87575602] [ 0. 0. 0. 1. ]] SLAMing on 38.579649246 meters Centerline goodness : 0.916419 Centerline is valid? [False, False] Translation: X:7.50, Y:0.30, Z:0.88 [[ 0.88836991 -0.09614889 -0.44894799 7.50095254] [ 0.13125168 0.99020317 0.04765165 0.30267027] [ 0.43996807 -0.10125747 0.8922864 0.87886903] [ 0. 0. 0. 1. ]] SLAMing on 38.609649246000004 meters Centerline goodness : 0.918749 Centerline is valid? [False, False] Translation: X:7.50, Y:0.30, Z:0.88 [[ 0.88824788 -0.09620269 -0.44917786 7.50120174] [ 0.13136519 0.99018573 0.04770121 0.30245358] [ 0.44018052 -0.10137683 0.89216806 0.87942416] [ 0. 0. 0. 1. ]] SLAMing on 38.639649246000005 meters Centerline goodness : 0.919124 Centerline is valid? [False, False] Translation: X:7.50, Y:0.30, Z:0.88 [[ 0.88798198 -0.09634216 -0.44967344 7.50168412] [ 0.13163148 0.99014569 0.04779826 0.30252386] [ 0.44063722 -0.10163518 0.89191318 0.88065845] [ 0. 0. 0. 1. ]] SLAMing on 38.669649246 meters Centerline goodness : 0.921096 Centerline is valid? [False, False] Translation: X:7.50, Y:0.30, Z:0.88 [[ 0.88789272 -0.09644562 -0.44982748 7.50203849] [ 0.13169364 0.99014452 0.047651 0.30342634] [ 0.44079848 -0.10154839 0.89184339 0.88074899] [ 0. 0. 0. 1. ]] SLAMing on 38.699649246 meters Centerline goodness : 0.925165 Centerline is valid? [False, False] Translation: X:7.50, Y:0.30, Z:0.88 [[ 0.8878537 -0.09656371 -0.44987916 7.50210845] [ 0.13169171 0.99015838 0.04736741 0.30428365] [ 0.44087765 -0.10130068 0.89183242 0.88064464] [ 0. 0. 0. 1. ]] SLAMing on 38.729649246 meters Centerline goodness : 0.927383 Centerline is valid? [False, False] Translation: X:7.50, Y:0.30, Z:0.88 [[ 0.88758952 -0.09682672 -0.45034368 7.50305609] [ 0.13194147 0.99013502 0.04716031 0.30459047] [ 0.44133467 -0.101278 0.89160893 0.88121532] [ 0. 0. 0. 1. ]] SLAMing on 38.759649246 meters Centerline goodness : 0.930059 Centerline is valid? [False, False] Translation: X:7.50, Y:0.30, Z:0.88 [[ 0.88757944 -0.0968427 -0.45036011 7.50309673] [ 0.13182943 0.9901626 0.04689375 0.30490517] [ 0.44138842 -0.10099264 0.89161469 0.88107555] [ 0. 0. 0. 1. ]] SLAMing on 38.789649246 meters Centerline goodness : 0.929551 Centerline is valid? [False, False] Translation: X:7.50, Y:0.31, Z:0.88 [[ 0.88755057 -0.09697297 -0.45038898 7.50344154] [ 0.13177941 0.99018821 0.04649181 0.30550102] [ 0.44146141 -0.10061582 0.89162115 0.88066425] [ 0. 0. 0. 1. ]] SLAMing on 38.819649246000004 meters Centerline goodness : 0.930292 Centerline is valid? [False, False] Translation: X:7.50, Y:0.31, Z:0.88 [[ 0.88733088 -0.09732783 -0.45074517 7.50468131] [ 0.13200892 0.99017757 0.0460654 0.30626307] [ 0.44183431 -0.10037764 0.89146328 0.88064939] [ 0. 0. 0. 1. ]] SLAMing on 38.849649246 meters Centerline goodness : 0.931015 Centerline is valid? [False, False] Translation: X:7.51, Y:0.31, Z:0.88 [[ 0.88720699 -0.09764753 -0.45091986 7.50583561] [ 0.13216193 0.99017824 0.04561015 0.30694547] [ 0.44203731 -0.10006008 0.89139834 0.88020203] [ 0. 0. 0. 1. ]] SLAMing on 38.879649246 meters Centerline goodness : 0.926332 Centerline is valid? [False, False] Translation: X:7.51, Y:0.31, Z:0.88 [[ 0.88707585 -0.0981622 -0.45106609 7.50760894] [ 0.13232726 0.99019547 0.04474855 0.30800514] [ 0.44225098 -0.0993837 0.89136802 0.87911109] [ 0. 0. 0. 1. ]] SLAMing on 38.909649246 meters Centerline goodness : 0.929633 Centerline is valid? [False, False] Translation: X:7.51, Y:0.31, Z:0.88 [[ 0.88685646 -0.09864305 -0.45139247 7.50917972] [ 0.13261807 0.99018248 0.04417125 0.30875615] [ 0.44260373 -0.09903636 0.89123159 0.87881268] [ 0. 0. 0. 1. ]] SLAMing on 38.939649246 meters Centerline goodness : 0.923760 Centerline is valid? [False, False] Translation: X:7.51, Y:0.31, Z:0.88 [[ 0.88655495 -0.09950041 -0.45179639 7.51194691] [ 0.13314975 0.99015337 0.04321395 0.30952777] [ 0.44304792 -0.09846812 0.89107383 0.8780302 ] [ 0. 0. 0. 1. ]] SLAMing on 38.969649246 meters Centerline goodness : 0.926351 Centerline is valid? [False, False] Translation: X:7.51, Y:0.31, Z:0.88 [[ 0.88627679 -0.10006204 -0.45221791 7.51382862] [ 0.13358442 0.99011617 0.04272216 0.30996443] [ 0.4434734 -0.09827292 0.89088371 0.87795992] [ 0. 0. 0. 1. ]] SLAMing on 38.999649246000004 meters Centerline goodness : 0.922465 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88603425 -0.10069282 -0.45255304 7.5158055 ] [ 0.13395352 0.99009866 0.04196544 0.31071317] [ 0.44384654 -0.09780389 0.89074948 0.87744372] [ 0. 0. 0. 1. ]] SLAMing on 39.029649246 meters Centerline goodness : 0.923198 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88595046 -0.10105921 -0.45263541 7.5163116 ] [ 0.13405461 0.99011185 0.04132647 0.31252093] [ 0.44398327 -0.09729106 0.89073751 0.8769594 ] [ 0. 0. 0. 1. ]] SLAMing on 39.059649246 meters Centerline goodness : 0.923753 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88587374 -0.10113015 -0.4527697 7.51668112] [ 0.1340545 0.99011987 0.04113437 0.3129935 ] [ 0.44413635 -0.09713567 0.89067815 0.87687016] [ 0. 0. 0. 1. ]] SLAMing on 39.089649246 meters Centerline goodness : 0.923006 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88573765 -0.10117737 -0.45302533 7.51669975] [ 0.13414796 0.99010642 0.04115341 0.31331448] [ 0.44437949 -0.09722355 0.89054727 0.87749536] [ 0. 0. 0. 1. ]] SLAMing on 39.119649246 meters Centerline goodness : 0.924362 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88558936 -0.10134445 -0.45327783 7.51701847] [ 0.1343569 0.99007881 0.04113601 0.3135382 ] [ 0.44461187 -0.09733061 0.89041959 0.87803291] [ 0. 0. 0. 1. ]] SLAMing on 39.149649246 meters Centerline goodness : 0.924276 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88560485 -0.10132468 -0.45325197 7.51686984] [ 0.13427664 0.99009427 0.04102587 0.31424259] [ 0.44460525 -0.09719386 0.89043783 0.8778993 ] [ 0. 0. 0. 1. ]] SLAMing on 39.179649246000004 meters Centerline goodness : 0.928479 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88536458 -0.10147918 -0.4536866 7.51722453] [ 0.13469735 0.99002089 0.04141573 0.31331075] [ 0.44495638 -0.0977784 0.89019841 0.87939965] [ 0. 0. 0. 1. ]] SLAMing on 39.209649246 meters Centerline goodness : 0.929585 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88498731 -0.10151312 -0.45441451 7.51790084] [ 0.13507617 0.98994815 0.04191763 0.31215199] [ 0.44559161 -0.09847715 0.88980355 0.88131187] [ 0. 0. 0. 1. ]] SLAMing on 39.239649246 meters Centerline goodness : 0.930551 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88497646 -0.10138002 -0.45446534 7.51797438] [ 0.1350367 0.9899448 0.04212352 0.31137851] [ 0.44562512 -0.09864782 0.88976787 0.88155193] [ 0. 0. 0. 1. ]] SLAMing on 39.269649246 meters Centerline goodness : 0.930551 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88497646 -0.10138002 -0.45446534 7.51797438] [ 0.1350367 0.9899448 0.04212352 0.31137851] [ 0.44562512 -0.09864782 0.88976787 0.88155193] [ 0. 0. 0. 1. ]] SLAMing on 39.299649246 meters Centerline goodness : 0.926663 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88489248 -0.10140964 -0.45462224 7.51854335] [ 0.13516791 0.9899202 0.04228041 0.31096706] [ 0.4457521 -0.09886396 0.88968027 0.8818765 ] [ 0. 0. 0. 1. ]] SLAMing on 39.329649246 meters Centerline goodness : 0.927534 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88468586 -0.10199332 -0.45489372 7.52019335] [ 0.13565908 0.9898696 0.04189018 0.31132583] [ 0.44601295 -0.09877011 0.88955996 0.88179783] [ 0. 0. 0. 1. ]] SLAMing on 39.359649246000004 meters Centerline goodness : 0.928307 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88445802 -0.10251302 -0.45521983 7.52188041] [ 0.13605011 0.98983531 0.04142966 0.31126532] [ 0.44634558 -0.09857551 0.88941469 0.88166121] [ 0. 0. 0. 1. ]] SLAMing on 39.389649246000005 meters Centerline goodness : 0.930702 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88428186 -0.10274555 -0.45550954 7.52292762] [ 0.13625549 0.98981462 0.04124877 0.31125619] [ 0.44663187 -0.09854122 0.88927476 0.88180977] [ 0. 0. 0. 1. ]] SLAMing on 39.419649246 meters Centerline goodness : 0.931200 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88412734 -0.10310443 -0.45572835 7.52410004] [ 0.13647932 0.9898007 0.04084069 0.31163286] [ 0.44686938 -0.09830586 0.88918149 0.8815993 ] [ 0. 0. 0. 1. ]] SLAMing on 39.449649246 meters Centerline goodness : 0.930690 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88403536 -0.10310345 -0.45590697 7.52428034] [ 0.13652583 0.9897922 0.0408914 0.3116605 ] [ 0.44703711 -0.09839253 0.88908758 0.88195682] [ 0. 0. 0. 1. ]] SLAMing on 39.479649246 meters Centerline goodness : 0.933457 Centerline is valid? [False, False] Translation: X:7.52, Y:0.31, Z:0.88 [[ 0.88369746 -0.10814049 -0.4553948 7.52422246] [ 0.14002884 0.98946469 0.03676356 0.31195174] [ 0.44662145 -0.09625627 0.88953022 0.88121638] [ 0. 0. 0. 1. ]] SLAMing on 39.509649246 meters Centerline goodness : 0.927703 Centerline is valid? [False, False] Translation: X:7.53, Y:0.31, Z:0.88 [[ 0.88335614 -0.10914044 -0.45581826 7.52703952] [ 0.14089299 0.98936452 0.0361526 0.31261494] [ 0.44702471 -0.09615722 0.88933835 0.88101366] [ 0. 0. 0. 1. ]] SLAMing on 39.539649246 meters Centerline goodness : 0.925357 Centerline is valid? [False, False] Translation: X:7.53, Y:0.31, Z:0.88 [[ 0.88315958 -0.10948843 -0.4561156 7.52817848] [ 0.14124036 0.98932068 0.03599661 0.31293858] [ 0.44730338 -0.09621268 0.88919222 0.88127319] [ 0. 0. 0. 1. ]] SLAMing on 39.569649246000004 meters Centerline goodness : 0.924276 Centerline is valid? [False, False] Translation: X:7.53, Y:0.31, Z:0.88 [[ 0.88276736 -0.11010639 -0.4567257 7.53001752] [ 0.14195682 0.98922174 0.03589729 0.31279155] [ 0.44785047 -0.09652429 0.88888302 0.88224323] [ 0. 0. 0. 1. ]] SLAMing on 39.599649246 meters Centerline goodness : 0.925963 Centerline is valid? [False, False] Translation: X:7.53, Y:0.31, Z:0.88 [[ 0.8825032 -0.11043684 -0.45715621 7.53095345] [ 0.14232223 0.98917336 0.03578347 0.31327924] [ 0.44825492 -0.09664252 0.88866627 0.88291781] [ 0. 0. 0. 1. ]] SLAMing on 39.629649246 meters Centerline goodness : 0.929287 Centerline is valid? [False, False] Translation: X:7.53, Y:0.31, Z:0.88 [[ 0.8824425 -0.11054464 -0.45724732 7.53124327] [ 0.14242918 0.98915975 0.03573394 0.31333081] [ 0.44834045 -0.09665851 0.88862139 0.88306657] [ 0. 0. 0. 1. ]] SLAMing on 39.659649246 meters Centerline goodness : 0.926332 Centerline is valid? [False, False] Translation: X:7.53, Y:0.31, Z:0.88 [[ 0.88233054 -0.11077296 -0.4574081 7.53179072] [ 0.14263465 0.98913515 0.03559508 0.31412539] [ 0.44849546 -0.09664887 0.88854421 0.88320244] [ 0. 0. 0. 1. ]] SLAMing on 39.689649246 meters Centerline goodness : 0.927358 Centerline is valid? [False, False] Translation: X:7.53, Y:0.31, Z:0.88 [[ 0.88236792 -0.11051634 -0.45739807 7.53106919] [ 0.14248512 0.98914673 0.03587121 0.31468696] [ 0.44846945 -0.09682402 0.88853827 0.88363149] [ 0. 0. 0. 1. ]] SLAMing on 39.719649246 meters Centerline goodness : 0.930965 Centerline is valid? [False, False] Translation: X:7.53, Y:0.31, Z:0.89 [[ 0.88236788 -0.10976801 -0.4575783 7.52916736] [ 0.14221937 0.98914479 0.03696274 0.3141398 ] [ 0.44855387 -0.09769123 0.88840073 0.88563887] [ 0. 0. 0. 1. ]] SLAMing on 39.749649246000004 meters Centerline goodness : 0.933941 Centerline is valid? [False, False] Translation: X:7.53, Y:0.31, Z:0.89 [[ 0.88238612 -0.10953316 -0.45759942 7.5285109 ] [ 0.14205231 0.98916185 0.03714813 0.31426705] [ 0.44857093 -0.09778205 0.88838212 0.88599985] [ 0. 0. 0. 1. ]] SLAMing on 39.779649246 meters Centerline goodness : 0.936752 Centerline is valid? [False, False] Translation: X:7.53, Y:0.32, Z:0.89 [[ 0.88244741 -0.10960669 -0.45746359 7.52812614] [ 0.14205017 0.98916719 0.03701379 0.31505318] [ 0.44845101 -0.0976455 0.88845768 0.88583289] [ 0. 0. 0. 1. ]] SLAMing on 39.809649246 meters Centerline goodness : 0.936848 Centerline is valid? [False, False] Translation: X:7.53, Y:0.32, Z:0.89 [[ 0.88224648 -0.10983997 -0.45779508 7.52859956] [ 0.14231163 0.98913263 0.03693277 0.31572888] [ 0.44876335 -0.09773337 0.88829029 0.88646007] [ 0. 0. 0. 1. ]] SLAMing on 39.839649246 meters Centerline goodness : 0.932316 Centerline is valid? [False, False] Translation: X:7.53, Y:0.32, Z:0.88 [[ 0.8822052 -0.11046616 -0.45772396 7.53034557] [ 0.14248747 0.98914504 0.03590839 0.31802812] [ 0.44878872 -0.0968985 0.88836894 0.88477519] [ 0. 0. 0. 1. ]] SLAMing on 39.869649246 meters Centerline goodness : 0.935554 Centerline is valid? [False, False] Translation: X:7.53, Y:0.32, Z:0.88 [[ 0.88198059 -0.11121915 -0.45797439 7.53226301] [ 0.1429608 0.98910527 0.03511377 0.31966967] [ 0.44907955 -0.09644205 0.88827163 0.88413395] [ 0. 0. 0. 1. ]] SLAMing on 39.899649246 meters Centerline goodness : 0.930273 Centerline is valid? [False, False] Translation: X:7.53, Y:0.32, Z:0.88 [[ 0.88176122 -0.11171064 -0.45827708 7.53406057] [ 0.14326085 0.98908191 0.03454437 0.31994855] [ 0.4494146 -0.09611305 0.88813783 0.88376169] [ 0. 0. 0. 1. ]] SLAMing on 39.929649246000004 meters Centerline goodness : 0.931400 Centerline is valid? [False, False] Translation: X:7.53, Y:0.32, Z:0.88 [[ 0.88166017 -0.11174438 -0.45846323 7.5347106 ] [ 0.14331964 0.9890735 0.03454109 0.31947005] [ 0.44959406 -0.09616028 0.88804188 0.88393597] [ 0. 0. 0. 1. ]] SLAMing on 39.959649246 meters Centerline goodness : 0.930949 Centerline is valid? [False, False] Translation: X:7.54, Y:0.32, Z:0.88 [[ 0.88149859 -0.11220051 -0.45866249 7.53606916] [ 0.14368194 0.98903285 0.03419822 0.31978384] [ 0.44979521 -0.0960472 0.88795225 0.88380501] [ 0. 0. 0. 1. ]] SLAMing on 39.989649246 meters Centerline goodness : 0.927378 Centerline is valid? [False, False] Translation: X:7.54, Y:0.32, Z:0.88 [[ 0.88136013 -0.11251949 -0.4588504 7.5371616 ] [ 0.14394538 0.98900252 0.03396677 0.32050392] [ 0.44998228 -0.09598635 0.88786405 0.88373249] [ 0. 0. 0. 1. ]] SLAMing on 40.019649246 meters Centerline goodness : 0.927969 Centerline is valid? [False, False] Translation: X:7.54, Y:0.32, Z:0.88 [[ 0.88122772 -0.11272733 -0.45905366 7.5380236 ] [ 0.14414195 0.98897804 0.03384578 0.32100055] [ 0.45017864 -0.09599473 0.8877636 0.88382488] [ 0. 0. 0. 1. ]] SLAMing on 40.049649246 meters Centerline goodness : 0.929212 Centerline is valid? [False, False] Translation: X:7.54, Y:0.32, Z:0.88 [[ 0.881058 -0.11273674 -0.45937701 7.53824188] [ 0.14429434 0.98894888 0.03404785 0.32064768] [ 0.45046193 -0.09628363 0.88758859 0.88473467] [ 0. 0. 0. 1. ]] SLAMing on 40.079649246 meters Centerline goodness : 0.927856 Centerline is valid? [False, False] Translation: X:7.54, Y:0.32, Z:0.89 [[ 0.88090108 -0.11242806 -0.45975343 7.5378061 ] [ 0.14437645 0.98891066 0.0348014 0.31997075] [ 0.45074242 -0.09703416 0.88736444 0.88646965] [ 0. 0. 0. 1. ]] SLAMing on 40.109649246000004 meters Centerline goodness : 0.929779 Centerline is valid? [False, False] Translation: X:7.54, Y:0.32, Z:0.89 [[ 0.88085794 -0.11246696 -0.45982656 7.53795205] [ 0.14446838 0.98889452 0.0348787 0.32025516] [ 0.45079726 -0.09715358 0.88732351 0.88673299] [ 0. 0. 0. 1. ]] SLAMing on 40.139649246000005 meters Centerline goodness : 0.931487 Centerline is valid? [False, False] Translation: X:7.54, Y:0.32, Z:0.89 [[ 0.88063442 -0.11256193 -0.46023128 7.53821955] [ 0.14472039 0.98885102 0.03506665 0.32085213] [ 0.451153 -0.09748575 0.88710625 0.88786115] [ 0. 0. 0. 1. ]] SLAMing on 40.169649246 meters Centerline goodness : 0.936835 Centerline is valid? [False, False] Translation: X:7.54, Y:0.32, Z:0.89 [[ 0.88060336 -0.11242042 -0.46032529 7.53767434] [ 0.1446736 0.98885084 0.03526427 0.32100512] [ 0.45122863 -0.09765076 0.88704964 0.88846488] [ 0. 0. 0. 1. ]] SLAMing on 40.199649246 meters Centerline goodness : 0.933995 Centerline is valid? [False, False] Translation: X:7.54, Y:0.32, Z:0.89 [[ 0.88062538 -0.11237678 -0.46029382 7.53718819] [ 0.14461511 0.98885979 0.03525327 0.32196041] [ 0.45120439 -0.09761037 0.88706641 0.88855896] [ 0. 0. 0. 1. ]] SLAMing on 40.229649246 meters Centerline goodness : 0.935157 Centerline is valid? [False, False] Translation: X:7.54, Y:0.32, Z:0.89 [[ 0.88056312 -0.1124739 -0.46038921 7.53743008] [ 0.14474048 0.98884113 0.03526214 0.32257752] [ 0.45128571 -0.0976875 0.88701655 0.88875832] [ 0. 0. 0. 1. ]] SLAMing on 40.259649246 meters Centerline goodness : 0.932120 Centerline is valid? [False, False] Translation: X:7.54, Y:0.32, Z:0.89 [[ 0.88056251 -0.11263676 -0.46035055 7.53769781] [ 0.14474774 0.98885198 0.03492631 0.3241223 ] [ 0.45128457 -0.0973895 0.8870499 0.88828857] [ 0. 0. 0. 1. ]] SLAMing on 40.289649246 meters Centerline goodness : 0.931502 Centerline is valid? [False, False] Translation: X:7.54, Y:0.33, Z:0.89 [[ 0.88045349 -0.11311791 -0.46044109 7.53864459] [ 0.14507146 0.98882025 0.03447867 0.32500442] [ 0.45139332 -0.09715373 0.88702042 0.88798996] [ 0. 0. 0. 1. ]] SLAMing on 40.319649246000004 meters Centerline goodness : 0.934427 Centerline is valid? [False, False] Translation: X:7.54, Y:0.33, Z:0.89 [[ 0.88003797 -0.11315115 -0.46122661 7.53947055] [ 0.1450558 0.98883275 0.03418503 0.32592792] [ 0.4522079 -0.09698772 0.88662359 0.88933408] [ 0. 0. 0. 1. ]] SLAMing on 40.349649246 meters Centerline goodness : 0.933757 Centerline is valid? [False, False] Translation: X:7.54, Y:0.33, Z:0.89 [[ 0.87975391 -0.11276357 -0.46186301 7.54027878] [ 0.14470595 0.98888349 0.03419974 0.3260985 ] [ 0.45287222 -0.09692168 0.88629168 0.89032491] [ 0. 0. 0. 1. ]] SLAMing on 40.379649246 meters Centerline goodness : 0.933374 Centerline is valid? [False, False] Translation: X:7.54, Y:0.33, Z:0.89 [[ 0.87927614 -0.11196986 -0.4629646 7.54322233] [ 0.14396965 0.98898955 0.03424032 0.3260029 ] [ 0.45403327 -0.09675955 0.88571518 0.89089389] [ 0. 0. 0. 1. ]] SLAMing on 40.409649246 meters Centerline goodness : 0.930203 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:0.89 [[ 0.88440081 -0.10209068 -0.45542584 7.54702674] [ 0.13630779 0.98974011 0.04283349 0.32017309] [ 0.44638031 -0.09996007 0.88924271 0.89339523] [ 0. 0. 0. 1. ]] SLAMing on 40.439649246 meters Centerline goodness : 0.926222 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:0.89 [[ 0.88408747 -0.10245832 -0.45595136 7.54812498] [ 0.13685821 0.98965787 0.04297817 0.31922759] [ 0.44683238 -0.10039715 0.88896639 0.89424838] [ 0. 0. 0. 1. ]] SLAMing on 40.469649246 meters Centerline goodness : 0.927712 Centerline is valid? [False, False] Translation: X:7.55, Y:0.31, Z:0.90 [[ 0.88885778 -0.09393139 -0.4484515 7.55102654] [ 0.12951561 0.99035249 0.04927126 0.31362503] [ 0.43949694 -0.10187661 0.89244809 0.89789855] [ 0. 0. 0. 1. ]] SLAMing on 40.499649246000004 meters Centerline goodness : 0.928567 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:0.90 [[ 0.88851095 -0.09920163 -0.44800371 7.55141466] [ 0.13292088 0.9901329 0.04437207 0.31550542] [ 0.43918143 -0.09897412 0.89292989 0.8962129 ] [ 0. 0. 0. 1. ]] SLAMing on 40.529649246 meters Centerline goodness : 0.932196 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:0.90 [[ 0.88855115 -0.09947704 -0.4478629 7.55127349] [ 0.13300167 0.99014098 0.04394758 0.31713429] [ 0.43907563 -0.09861619 0.89302152 0.89577752] [ 0. 0. 0. 1. ]] SLAMing on 40.559649246 meters Centerline goodness : 0.930190 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:0.90 [[ 0.88844475 -0.09977583 -0.4480075 7.55189502] [ 0.13318627 0.99013111 0.04360973 0.31772146] [ 0.43923496 -0.09841328 0.89296555 0.89567331] [ 0. 0. 0. 1. ]] SLAMing on 40.589649246 meters Centerline goodness : 0.929535 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:0.89 [[ 0.88831478 -0.10053227 -0.4480961 7.55336651] [ 0.13357324 0.99012033 0.04266057 0.31908417] [ 0.43938029 -0.09774966 0.89296694 0.89479892] [ 0. 0. 0. 1. ]] SLAMing on 40.619649246 meters Centerline goodness : 0.931479 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:0.89 [[ 0.88817452 -0.10097505 -0.44827454 7.55418238] [ 0.13383751 0.99010648 0.04215055 0.32038023] [ 0.43958338 -0.097433 0.8929016 0.89460039] [ 0. 0. 0. 1. ]] SLAMing on 40.649649246 meters Centerline goodness : 0.929268 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:0.89 [[ 0.88818196 -0.10111331 -0.44822862 7.5541947 ] [ 0.13379443 0.9901288 0.04176126 0.32145251] [ 0.43958145 -0.09706209 0.89294294 0.8942049 ] [ 0. 0. 0. 1. ]] SLAMing on 40.679649246000004 meters Centerline goodness : 0.927698 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:0.89 [[ 0.88804003 -0.1012403 -0.44848111 7.55466308] [ 0.1338869 0.99012312 0.04159944 0.32173712] [ 0.43983997 -0.09698771 0.89282371 0.89450161] [ 0. 0. 0. 1. ]] SLAMing on 40.709649246 meters Centerline goodness : 0.933485 Centerline is valid? [False, False] Translation: X:7.55, Y:0.32, Z:0.89 [[ 0.88807135 -0.10131141 -0.44840303 7.55470308] [ 0.1338075 0.99014653 0.04129647 0.32291098] [ 0.4398009 -0.0966739 0.89287699 0.89404184] [ 0. 0. 0. 1. ]] SLAMing on 40.739649246 meters Centerline goodness : 0.931739 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:0.89 [[ 0.88803724 -0.10158736 -0.44840816 7.55528701] [ 0.13394156 0.99014309 0.04094278 0.32387316] [ 0.43982897 -0.0964192 0.89289071 0.89362423] [ 0. 0. 0. 1. ]] SLAMing on 40.769649246 meters Centerline goodness : 0.933581 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.89 [[ 0.88793028 -0.10191756 -0.44854502 7.55584818] [ 0.13412034 0.99013608 0.04052494 0.32528299] [ 0.43999041 -0.09614233 0.89284102 0.89345973] [ 0. 0. 0. 1. ]] SLAMing on 40.799649246 meters Centerline goodness : 0.931710 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.89 [[ 0.88787827 -0.10229755 -0.44856148 7.55684401] [ 0.13434405 0.99012245 0.04011504 0.32620858] [ 0.44002712 -0.09587884 0.89285127 0.89290809] [ 0. 0. 0. 1. ]] SLAMing on 40.829649246 meters Centerline goodness : 0.933847 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.89 [[ 0.88759067 -0.10316256 -0.44893239 7.55905102] [ 0.13490819 0.99008189 0.03921274 0.32799462] [ 0.44043454 -0.09536952 0.89270492 0.89237426] [ 0. 0. 0. 1. ]] SLAMing on 40.859649246000004 meters Centerline goodness : 0.932498 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.89 [[ 0.88749764 -0.10347223 -0.44904503 7.55988223] [ 0.13513238 0.99006208 0.03893983 0.32859047] [ 0.44055327 -0.09523953 0.89266021 0.8922618 ] [ 0. 0. 0. 1. ]] SLAMing on 40.889649246000005 meters Centerline goodness : 0.933543 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.89 [[ 0.88746472 -0.10350468 -0.44910261 7.56034269] [ 0.13510932 0.99007049 0.03880588 0.32864936] [ 0.44062665 -0.0951168 0.89263708 0.89214857] [ 0. 0. 0. 1. ]] SLAMing on 40.919649246 meters Centerline goodness : 0.934030 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.89 [[ 0.88736665 -0.10372011 -0.44924666 7.5611485 ] [ 0.13527999 0.99005406 0.03863007 0.32868994] [ 0.44077176 -0.09505312 0.89257221 0.89212365] [ 0. 0. 0. 1. ]] SLAMing on 40.949649246 meters Centerline goodness : 0.932833 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.89 [[ 0.88714697 -0.10405429 -0.44960311 7.56265499] [ 0.13567291 0.99000206 0.03858482 0.32827285] [ 0.44109309 -0.09522937 0.89239467 0.89252758] [ 0. 0. 0. 1. ]] SLAMing on 40.979649246 meters Centerline goodness : 0.937723 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.89 [[ 0.88701536 -0.10436744 -0.44979017 7.56360149] [ 0.13596841 0.98996752 0.03843056 0.32808139] [ 0.44126676 -0.09524575 0.89230706 0.89267233] [ 0. 0. 0. 1. ]] SLAMing on 41.009649246 meters Centerline goodness : 0.936051 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.89 [[ 0.88687823 -0.1044032 -0.4500522 7.56417386] [ 0.13607321 0.98995047 0.03849859 0.32776578] [ 0.44151001 -0.09538361 0.892172 0.89310909] [ 0. 0. 0. 1. ]] SLAMing on 41.039649246 meters Centerline goodness : 0.937569 Centerline is valid? [False, False] Translation: X:7.57, Y:0.33, Z:0.89 [[ 0.88657621 -0.10493485 -0.45052337 7.56601824] [ 0.13668355 0.98986949 0.03841882 0.3274647 ] [ 0.44192786 -0.09564035 0.8919376 0.89379132] [ 0. 0. 0. 1. ]] SLAMing on 41.069649246000004 meters Centerline goodness : 0.936053 Centerline is valid? [False, False] Translation: X:7.57, Y:0.33, Z:0.89 [[ 0.88645766 -0.1051634 -0.45070331 7.56713138] [ 0.1368505 0.98985499 0.03819731 0.32738985] [ 0.44211396 -0.09553928 0.89185621 0.89367772] [ 0. 0. 0. 1. ]] SLAMing on 41.099649246 meters Centerline goodness : 0.936283 Centerline is valid? [False, False] Translation: X:7.57, Y:0.33, Z:0.89 [[ 0.88628379 -0.10554712 -0.45095548 7.56824 ] [ 0.13717219 0.98982108 0.0379211 0.32777964] [ 0.44236277 -0.09546741 0.89174052 0.89378462] [ 0. 0. 0. 1. ]] SLAMing on 41.129649246 meters Centerline goodness : 0.934052 Centerline is valid? [False, False] Translation: X:7.57, Y:0.33, Z:0.89 [[ 0.88618364 -0.10588215 -0.45107375 7.56929359] [ 0.13741911 0.98979771 0.0376361 0.328097 ] [ 0.44248678 -0.09533865 0.89169277 0.89358403] [ 0. 0. 0. 1. ]] SLAMing on 41.159649246 meters Centerline goodness : 0.936684 Centerline is valid? [False, False] Translation: X:7.57, Y:0.33, Z:0.89 [[ 0.88600396 -0.10628313 -0.45133234 7.57059829] [ 0.13775602 0.98976171 0.03735031 0.32851107] [ 0.44274176 -0.09526627 0.89157393 0.89359717] [ 0. 0. 0. 1. ]] SLAMing on 41.189649246 meters Centerline goodness : 0.937907 Centerline is valid? [False, False] Translation: X:7.57, Y:0.33, Z:0.89 [[ 0.88554955 -0.11246102 -0.45072665 7.57245715] [ 0.14211049 0.98932169 0.03236053 0.33015707] [ 0.44227435 -0.09270984 0.89207527 0.89188896] [ 0. 0. 0. 1. ]] SLAMing on 41.219649246 meters Centerline goodness : 0.937907 Centerline is valid? [False, False] Translation: X:7.57, Y:0.33, Z:0.89 [[ 0.88554955 -0.11246102 -0.45072665 7.57245715] [ 0.14211049 0.98932169 0.03236053 0.33015707] [ 0.44227435 -0.09270984 0.89207527 0.89188896] [ 0. 0. 0. 1. ]] SLAMing on 41.249649246000004 meters Centerline goodness : 0.938995 Centerline is valid? [False, False] Translation: X:7.57, Y:0.33, Z:0.89 [[ 0.88531168 -0.1130681 -0.45104195 7.57431661] [ 0.14260309 0.98926536 0.03191239 0.33073716] [ 0.44259191 -0.09257239 0.89193204 0.89173527] [ 0. 0. 0. 1. ]] SLAMing on 41.279649246 meters Centerline goodness : 0.935100 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:0.89 [[ 0.88515573 -0.11414227 -0.45107746 7.5756567 ] [ 0.14336157 0.98918432 0.03101366 0.33093506] [ 0.44265878 -0.09211909 0.89194578 0.89137701] [ 0. 0. 0. 1. ]] SLAMing on 41.309649246 meters Centerline goodness : 0.932870 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:0.90 [[ 0.88973592 -0.10490261 -0.44425829 7.5799932 ] [ 0.13608051 0.98993846 0.03878057 0.32630958] [ 0.43572019 -0.09495936 0.89505901 0.89536511] [ 0. 0. 0. 1. ]] SLAMing on 41.339649246 meters Centerline goodness : 0.935705 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:0.90 [[ 0.8897128 -0.10496887 -0.44428894 7.5802853 ] [ 0.13609676 0.98994114 0.03865509 0.32696205] [ 0.43576232 -0.09485822 0.89504923 0.89520158] [ 0. 0. 0. 1. ]] SLAMing on 41.369649246 meters Centerline goodness : 0.935731 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:0.89 [[ 0.88962332 -0.10522539 -0.44440744 7.58113052] [ 0.13626049 0.98992945 0.03837649 0.32747736] [ 0.43589384 -0.09469579 0.89500239 0.8949836 ] [ 0. 0. 0. 1. ]] SLAMing on 41.399649246 meters Centerline goodness : 0.935902 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:0.89 [[ 0.88937357 -0.10592396 -0.44474124 7.58319684] [ 0.13668219 0.98990241 0.03756598 0.32851201] [ 0.43627129 -0.09419839 0.89487096 0.89441001] [ 0. 0. 0. 1. ]] SLAMing on 41.429649246000004 meters Centerline goodness : 0.934986 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:0.89 [[ 0.88925388 -0.10649766 -0.44484355 7.58454413] [ 0.13700529 0.989883 0.03689447 0.32979243] [ 0.43641389 -0.09375447 0.89484804 0.89372041] [ 0. 0. 0. 1. ]] SLAMing on 41.459649246 meters Centerline goodness : 0.936965 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:0.89 [[ 0.88926731 -0.10647646 -0.44482179 7.5846622 ] [ 0.13674426 0.98993692 0.03641284 0.331569 ] [ 0.4364684 -0.09320758 0.89487859 0.89299725] [ 0. 0. 0. 1. ]] SLAMing on 41.489649246 meters Centerline goodness : 0.937350 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:0.89 [[ 0.8892986 -0.10603695 -0.44486421 7.58362285] [ 0.13635957 0.98998245 0.03661716 0.33177746] [ 0.43652499 -0.09322508 0.89484916 0.89342515] [ 0. 0. 0. 1. ]] SLAMing on 41.519649246 meters Centerline goodness : 0.938162 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:0.89 [[ 0.8895145 -0.10502969 -0.44467146 7.58134794] [ 0.1354757 0.99008396 0.03714964 0.33246516] [ 0.43636027 -0.09328732 0.89492301 0.89384419] [ 0. 0. 0. 1. ]] SLAMing on 41.549649246 meters Centerline goodness : 0.939970 Centerline is valid? [False, False] Translation: X:7.58, Y:0.33, Z:0.89 [[ 0.88970492 -0.10478152 -0.44434895 7.58063363] [ 0.1349592 0.99017003 0.03673317 0.33484376] [ 0.43613205 -0.09265067 0.89510038 0.89268837] [ 0. 0. 0. 1. ]] SLAMing on 41.579649246 meters Centerline goodness : 0.935710 Centerline is valid? [False, False] Translation: X:7.58, Y:0.34, Z:0.89 [[ 0.88978878 -0.10470831 -0.44419825 7.58046676] [ 0.13469271 0.99021903 0.03638893 0.3360698 ] [ 0.43604334 -0.09220873 0.89518923 0.89196722] [ 0. 0. 0. 1. ]] SLAMing on 41.609649246000004 meters Centerline goodness : 0.936794 Centerline is valid? [False, False] Translation: X:7.58, Y:0.34, Z:0.89 [[ 0.88984998 -0.10000133 -0.44515924 7.58179897] [ 0.13144938 0.99050536 0.04025161 0.33682101] [ 0.4369074 -0.0943338 0.89454629 0.89313598] [ 0. 0. 0. 1. ]] SLAMing on 41.639649246000005 meters Centerline goodness : 0.934991 Centerline is valid? [False, False] Translation: X:7.58, Y:0.34, Z:0.89 [[ 0.88988577 -0.09985522 -0.4451205 7.58166558] [ 0.13125903 0.99053253 0.04020416 0.33721717] [ 0.43689174 -0.0942032 0.8945677 0.89292875] [ 0. 0. 0. 1. ]] SLAMing on 41.669649246 meters Centerline goodness : 0.934219 Centerline is valid? [False, False] Translation: X:7.58, Y:0.34, Z:0.89 [[ 0.88981973 -0.09992076 -0.44523779 7.58235714] [ 0.13124279 0.99054321 0.03999344 0.3371709 ] [ 0.4370311 -0.0940212 0.89451877 0.89269079] [ 0. 0. 0. 1. ]] SLAMing on 41.699649246 meters Centerline goodness : 0.936011 Centerline is valid? [False, False] Translation: X:7.58, Y:0.34, Z:0.89 [[ 0.88967144 -0.10033789 -0.44544028 7.58369884] [ 0.13154219 0.99051901 0.03960743 0.33737236] [ 0.43724293 -0.09383179 0.89443514 0.89241833] [ 0. 0. 0. 1. ]] SLAMing on 41.729649246 meters Centerline goodness : 0.933527 Centerline is valid? [False, False] Translation: X:7.59, Y:0.34, Z:0.89 [[ 0.88936002 -0.10140261 -0.44582089 7.58659935] [ 0.13244027 0.99042623 0.03892881 0.3376627 ] [ 0.43760522 -0.09366637 0.89427528 0.89209527] [ 0. 0. 0. 1. ]] SLAMing on 41.759649246 meters Centerline goodness : 0.930244 Centerline is valid? [False, False] Translation: X:7.59, Y:0.34, Z:0.89 [[ 0.88902597 -0.10215864 -0.44631429 7.5888914 ] [ 0.13311086 0.99035461 0.03846107 0.33802819] [ 0.43808028 -0.09360217 0.89404938 0.89222028] [ 0. 0. 0. 1. ]] SLAMing on 41.789649246 meters Centerline goodness : 0.929571 Centerline is valid? [False, False] Translation: X:7.59, Y:0.34, Z:0.89 [[ 0.88880782 -0.1025166 -0.44666654 7.59042943] [ 0.13350399 0.99030539 0.03836563 0.3372287 ] [ 0.43840317 -0.09373143 0.89387755 0.89252292] [ 0. 0. 0. 1. ]] SLAMing on 41.819649246000004 meters Centerline goodness : 0.932151 Centerline is valid? [False, False] Translation: X:7.59, Y:0.34, Z:0.89 [[ 0.88842545 -0.10301511 -0.4473121 7.59278468] [ 0.13419852 0.9902065 0.03849471 0.33529907] [ 0.43896581 -0.0942283 0.89354913 0.89350159] [ 0. 0. 0. 1. ]] SLAMing on 41.849649246 meters Centerline goodness : 0.930137 Centerline is valid? [False, False] Translation: X:7.59, Y:0.33, Z:0.89 [[ 0.88818799 -0.10337587 -0.44770026 7.59448166] [ 0.1346418 0.99014668 0.03848545 0.33445325] [ 0.43931046 -0.09446148 0.89335511 0.89388264] [ 0. 0. 0. 1. ]] SLAMing on 41.879649246 meters Centerline goodness : 0.930264 Centerline is valid? [False, False] Translation: X:7.60, Y:0.33, Z:0.89 [[ 0.88763131 -0.10438886 -0.44856842 7.5980393 ] [ 0.1357681 0.99000121 0.03827046 0.33247636] [ 0.44008827 -0.09487135 0.89292874 0.89492944] [ 0. 0. 0. 1. ]] SLAMing on 41.909649246 meters Centerline goodness : 0.929252 Centerline is valid? [False, False] Translation: X:7.60, Y:0.33, Z:0.90 [[ 0.88748091 -0.10443325 -0.44885557 7.59893366] [ 0.13589832 0.98997968 0.03836506 0.33158699] [ 0.44035131 -0.09504698 0.89278037 0.89529361] [ 0. 0. 0. 1. ]] SLAMing on 41.939649246 meters Centerline goodness : 0.928928 Centerline is valid? [False, False] Translation: X:7.60, Y:0.33, Z:0.90 [[ 0.88720444 -0.10489219 -0.4492949 7.60076466] [ 0.13635006 0.98992637 0.03813717 0.33156152] [ 0.44076858 -0.09509686 0.89256913 0.8955698 ] [ 0. 0. 0. 1. ]] SLAMing on 41.969649246 meters Centerline goodness : 0.929192 Centerline is valid? [False, False] Translation: X:7.60, Y:0.33, Z:0.89 [[ 0.88718378 -0.10519023 -0.44926601 7.60155423] [ 0.13647702 0.98992456 0.03772777 0.33201967] [ 0.44077087 -0.09478595 0.89260107 0.8949352 ] [ 0. 0. 0. 1. ]] SLAMing on 41.999649246000004 meters Centerline goodness : 0.931527 Centerline is valid? [False, False] Translation: X:7.60, Y:0.33, Z:0.89 [[ 0.88705698 -0.10565165 -0.4494081 7.60270724] [ 0.13670483 0.98991638 0.03711254 0.3332495 ] [ 0.44095544 -0.0943572 0.89255533 0.89434803] [ 0. 0. 0. 1. ]] SLAMing on 42.029649246 meters Centerline goodness : 0.929908 Centerline is valid? [False, False] Translation: X:7.60, Y:0.33, Z:0.89 [[ 0.88693145 -0.10600781 -0.44957197 7.6035014 ] [ 0.13697585 0.98988994 0.03681752 0.33371115] [ 0.44112382 -0.09423512 0.89248502 0.89432028] [ 0. 0. 0. 1. ]] SLAMing on 42.059649246 meters Centerline goodness : 0.928673 Centerline is valid? [False, False] Translation: X:7.60, Y:0.33, Z:0.89 [[ 0.88672643 -0.10645768 -0.44986998 7.6046779 ] [ 0.13741184 0.98983711 0.03661268 0.33362595] [ 0.4414003 -0.0942829 0.89234327 0.89463673] [ 0. 0. 0. 1. ]] SLAMing on 42.089649246 meters Centerline goodness : 0.927805 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:0.89 [[ 0.88656842 -0.10676409 -0.45010872 7.60556695] [ 0.137696 0.98980404 0.03643874 0.33379091] [ 0.44162908 -0.09428361 0.89222999 0.89482741] [ 0. 0. 0. 1. ]] SLAMing on 42.119649246 meters Centerline goodness : 0.928658 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:0.89 [[ 0.8865505 -0.10677966 -0.45014033 7.60562364] [ 0.13773814 0.98979661 0.03648123 0.33407502] [ 0.44165191 -0.09434394 0.89221231 0.89496619] [ 0. 0. 0. 1. ]] SLAMing on 42.149649246 meters Centerline goodness : 0.928130 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:0.90 [[ 0.88638164 -0.10695466 -0.45043123 7.60633792] [ 0.13793779 0.98977104 0.03642042 0.33435556] [ 0.44192846 -0.09441388 0.89206797 0.89536084] [ 0. 0. 0. 1. ]] SLAMing on 42.179649246000004 meters Centerline goodness : 0.932158 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:0.90 [[ 0.88637254 -0.10687184 -0.45046878 7.60608184] [ 0.13787978 0.98977689 0.03648105 0.33427829] [ 0.4419648 -0.09444634 0.89204653 0.89563347] [ 0. 0. 0. 1. ]] SLAMing on 42.209649246000005 meters Centerline goodness : 0.931408 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:0.90 [[ 0.88611551 -0.10737589 -0.45085443 7.60750614] [ 0.13830897 0.98973028 0.03611932 0.33483336] [ 0.44234594 -0.0943631 0.8918664 0.89584767] [ 0. 0. 0. 1. ]] SLAMing on 42.239649246 meters Centerline goodness : 0.931557 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:0.90 [[ 0.88603819 -0.10749818 -0.45097723 7.60795539] [ 0.13839721 0.98972256 0.0359926 0.33491851] [ 0.4424732 -0.09430481 0.89180944 0.89587849] [ 0. 0. 0. 1. ]] SLAMing on 42.269649246 meters Centerline goodness : 0.932139 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:0.90 [[ 0.88565819 -0.10777614 -0.4516568 7.60923265] [ 0.13890796 0.98964221 0.03623362 0.33389981] [ 0.44307352 -0.09482933 0.8914557 0.89741976] [ 0. 0. 0. 1. ]] SLAMing on 42.299649246 meters Centerline goodness : 0.932393 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:0.90 [[ 0.8854981 -0.10779252 -0.45196668 7.60979926] [ 0.13908871 0.98960755 0.03648609 0.33288196] [ 0.44333671 -0.09517182 0.89128833 0.89817644] [ 0. 0. 0. 1. ]] SLAMing on 42.329649246 meters Centerline goodness : 0.929879 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:0.90 [[ 0.88509016 -0.10866842 -0.45255562 7.61212798] [ 0.13998175 0.98949315 0.03617193 0.33329616] [ 0.44386994 -0.09536494 0.89100224 0.89886141] [ 0. 0. 0. 1. ]] SLAMing on 42.359649246000004 meters Centerline goodness : 0.930474 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:0.90 [[ 0.88499081 -0.10901322 -0.45266696 7.61307405] [ 0.14023728 0.98946744 0.03588436 0.33390856] [ 0.44398735 -0.09523811 0.89095731 0.89864644] [ 0. 0. 0. 1. ]] SLAMing on 42.389649246000005 meters Centerline goodness : 0.933585 Centerline is valid? [False, False] Translation: X:7.61, Y:0.33, Z:0.90 [[ 0.8848979 -0.10928023 -0.45278421 7.6137963 ] [ 0.14040471 0.98945421 0.03559323 0.33483361] [ 0.44411961 -0.09506941 0.89090941 0.89849255] [ 0. 0. 0. 1. ]] SLAMing on 42.419649246 meters Centerline goodness : 0.930261 Centerline is valid? [False, False] Translation: X:7.61, Y:0.34, Z:0.90 [[ 0.88485386 -0.10943472 -0.45283295 7.61423479] [ 0.14049392 0.98944798 0.035414 0.33515636] [ 0.44417913 -0.09495649 0.89089178 0.89836232] [ 0. 0. 0. 1. ]] SLAMing on 42.449649246 meters Centerline goodness : 0.929567 Centerline is valid? [False, False] Translation: X:7.62, Y:0.33, Z:0.90 [[ 0.89034511 -0.09967162 -0.44424223 7.61661979] [ 0.13237103 0.99026195 0.04311811 0.32872058] [ 0.43561852 -0.0971948 0.89486852 0.89977397] [ 0. 0. 0. 1. ]] SLAMing on 42.479649246 meters Centerline goodness : 0.927562 Centerline is valid? [False, False] Translation: X:7.62, Y:0.33, Z:0.90 [[ 0.88999774 -0.10041278 -0.44477106 7.61864725] [ 0.13307394 0.99018425 0.04273739 0.32885998] [ 0.43611392 -0.09722362 0.89462407 0.9002183 ] [ 0. 0. 0. 1. ]] SLAMing on 42.509649246 meters Centerline goodness : 0.930605 Centerline is valid? [False, False] Translation: X:7.62, Y:0.33, Z:0.90 [[ 0.88984296 -0.10122293 -0.44489709 7.62009177] [ 0.13364544 0.99013757 0.04202955 0.32995874] [ 0.43625497 -0.09685817 0.89459493 0.89969964] [ 0. 0. 0. 1. ]] SLAMing on 42.539649246 meters Centerline goodness : 0.926314 Centerline is valid? [False, False] Translation: X:7.62, Y:0.33, Z:0.90 [[ 0.88973769 -0.10150889 -0.44504247 7.62080231] [ 0.13384066 0.99012339 0.04174153 0.33048059] [ 0.43640982 -0.09670379 0.89453611 0.89959634] [ 0. 0. 0. 1. ]] SLAMing on 42.569649246000004 meters Centerline goodness : 0.929975 Centerline is valid? [False, False] Translation: X:7.62, Y:0.33, Z:0.90 [[ 0.88939783 -0.1022374 -0.44555473 7.62199229] [ 0.134722 0.9900031 0.04175943 0.32979087] [ 0.43683118 -0.09716677 0.89428023 0.90101889] [ 0. 0. 0. 1. ]] SLAMing on 42.599649246 meters Centerline goodness : 0.930192 Centerline is valid? [False, False] Translation: X:7.62, Y:0.33, Z:0.90 [[ 0.88905824 -0.10282641 -0.4460966 7.62344974] [ 0.13531675 0.98993287 0.0415005 0.3299722 ] [ 0.43733834 -0.0972607 0.89402211 0.90174915] [ 0. 0. 0. 1. ]] SLAMing on 42.629649246 meters Centerline goodness : 0.929296 Centerline is valid? [False, False] Translation: X:7.63, Y:0.33, Z:0.90 [[ 0.88886139 -0.10364116 -0.44630028 7.62530852] [ 0.13574726 0.98991635 0.04047593 0.33162961] [ 0.43760497 -0.09656153 0.89396743 0.90082111] [ 0. 0. 0. 1. ]] SLAMing on 42.659649246 meters Centerline goodness : 0.926488 Centerline is valid? [False, False] Translation: X:7.63, Y:0.33, Z:0.90 [[ 0.88858543 -0.10464147 -0.44661627 7.6275644 ] [ 0.13651434 0.9898427 0.03968969 0.33253945] [ 0.43792667 -0.09623721 0.89384486 0.90042662] [ 0. 0. 0. 1. ]] SLAMing on 42.689649246 meters Centerline goodness : 0.922240 Centerline is valid? [False, False] Translation: X:7.63, Y:0.33, Z:0.90 [[ 0.89340155 -0.09554816 -0.4389809 7.63111611] [ 0.12918152 0.9904914 0.04731717 0.32678912] [ 0.43028574 -0.09898145 0.89724961 0.90277832] [ 0. 0. 0. 1. ]] SLAMing on 42.719649246 meters Centerline goodness : 0.923890 Centerline is valid? [False, False] Translation: X:7.63, Y:0.33, Z:0.90 [[ 0.89310325 -0.09620833 -0.43944344 7.6330857 ] [ 0.12978006 0.990432 0.04692115 0.32707886] [ 0.43072464 -0.09893643 0.89704396 0.90294703] [ 0. 0. 0. 1. ]] SLAMing on 42.749649246000004 meters Centerline goodness : 0.920299 Centerline is valid? [False, False] Translation: X:7.63, Y:0.33, Z:0.90 [[ 0.89279114 -0.09684202 -0.43993817 7.634839 ] [ 0.13040037 0.99036458 0.04662335 0.32702587] [ 0.43118409 -0.09899301 0.89681696 0.90339569] [ 0. 0. 0. 1. ]] SLAMing on 42.779649246 meters Centerline goodness : 0.922572 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:0.90 [[ 0.89257078 -0.09718876 -0.44030869 7.63582147] [ 0.13075055 0.99032622 0.04645729 0.32711587] [ 0.43153411 -0.09903702 0.89664373 0.90387419] [ 0. 0. 0. 1. ]] SLAMing on 42.809649246 meters Centerline goodness : 0.923558 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:0.90 [[ 0.89242676 -0.09758427 -0.4405131 7.63641648] [ 0.13101567 0.99031046 0.0460444 0.32793297] [ 0.43175152 -0.09880537 0.89656462 0.90388167] [ 0. 0. 0. 1. ]] SLAMing on 42.839649246 meters Centerline goodness : 0.926307 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:0.90 [[ 0.89236016 -0.09787288 -0.44058397 7.63671976] [ 0.1311658 0.99030778 0.04567317 0.32897284] [ 0.43184357 -0.09854647 0.89654879 0.90371096] [ 0. 0. 0. 1. ]] SLAMing on 42.869649246 meters Centerline goodness : 0.929435 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:0.91 [[ 0.89224763 -0.09332251 -0.44179756 7.63841716] [ 0.12830156 0.99047936 0.0498933 0.32847572] [ 0.4329352 -0.1012005 0.89572628 0.90590529] [ 0. 0. 0. 1. ]] SLAMing on 42.899649246 meters Centerline goodness : 0.927416 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:0.91 [[ 0.8921951 -0.09371399 -0.44182078 7.63883697] [ 0.12847264 0.9904848 0.04934211 0.32976534] [ 0.43299272 -0.10078467 0.89574536 0.90545481] [ 0. 0. 0. 1. ]] SLAMing on 42.929649246000004 meters Centerline goodness : 0.925369 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:0.90 [[ 0.89204986 -0.0942023 -0.44201014 7.63962834] [ 0.12849569 0.99053708 0.04821992 0.3324125 ] [ 0.43328501 -0.09981097 0.89571305 0.90447806] [ 0. 0. 0. 1. ]] SLAMing on 42.959649246000005 meters Centerline goodness : 0.922858 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:0.90 [[ 0.89205043 -0.09454622 -0.44193556 7.64009179] [ 0.12849413 0.99057464 0.04744619 0.33410227] [ 0.4332843 -0.09911052 0.89579117 0.90349083] [ 0. 0. 0. 1. ]] SLAMing on 42.989649246 meters Centerline goodness : 0.924469 Centerline is valid? [False, False] Translation: X:7.64, Y:0.34, Z:0.90 [[ 0.8920116 -0.09465102 -0.4419915 7.63991116] [ 0.12821809 0.99064959 0.04662087 0.33676929] [ 0.43344599 -0.09825766 0.8958069 0.90272967] [ 0. 0. 0. 1. ]] SLAMing on 43.019649246 meters Centerline goodness : 0.925232 Centerline is valid? [False, False] Translation: X:7.64, Y:0.34, Z:0.90 [[ 0.8918699 -0.09489598 -0.44222487 7.6402747 ] [ 0.12825338 0.99067065 0.04607308 0.3383468 ] [ 0.43372705 -0.09780802 0.89572007 0.9025821 ] [ 0. 0. 0. 1. ]] SLAMing on 43.049649246 meters Centerline goodness : 0.923520 Centerline is valid? [False, False] Translation: X:7.64, Y:0.34, Z:0.90 [[ 0.89202387 -0.09490084 -0.44191316 7.63965322] [ 0.12786402 0.99075502 0.04533532 0.34146188] [ 0.43352532 -0.09694498 0.89591153 0.9012487 ] [ 0. 0. 0. 1. ]] SLAMing on 43.079649246 meters Centerline goodness : 0.927031 Centerline is valid? [False, False] Translation: X:7.64, Y:0.34, Z:0.90 [[ 0.89195849 -0.09532565 -0.4419537 7.64033035] [ 0.12811605 0.99074359 0.04487103 0.34258181] [ 0.43358543 -0.09664446 0.89591491 0.90082523] [ 0. 0. 0. 1. ]] SLAMing on 43.109649246000004 meters Centerline goodness : 0.927031 Centerline is valid? [False, False] Translation: X:7.64, Y:0.34, Z:0.90 [[ 0.89195849 -0.09532565 -0.4419537 7.64033035] [ 0.12811605 0.99074359 0.04487103 0.34258181] [ 0.43358543 -0.09664446 0.89591491 0.90082523] [ 0. 0. 0. 1. ]] SLAMing on 43.139649246000005 meters Centerline goodness : 0.925120 Centerline is valid? [False, False] Translation: X:7.64, Y:0.34, Z:0.90 [[ 0.89174422 -0.09623267 -0.44218946 7.64219128] [ 0.1288469 0.99067714 0.04424114 0.34318577] [ 0.43380955 -0.09642653 0.8958299 0.90057156] [ 0. 0. 0. 1. ]] SLAMing on 43.169649246 meters Centerline goodness : 0.923618 Centerline is valid? [False, False] Translation: X:7.64, Y:0.34, Z:0.90 [[ 0.89144361 -0.0969812 -0.44263182 7.64406472] [ 0.12946963 0.99061994 0.04370079 0.34380333] [ 0.43424175 -0.09626417 0.89563794 0.90067323] [ 0. 0. 0. 1. ]] SLAMing on 43.199649246 meters Centerline goodness : 0.923811 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.90 [[ 0.89135316 -0.09745574 -0.44270975 7.64505854] [ 0.12974556 0.99060741 0.04316313 0.34460035] [ 0.43434506 -0.09591322 0.89562549 0.90013707] [ 0. 0. 0. 1. ]] SLAMing on 43.229649246 meters Centerline goodness : 0.923105 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.90 [[ 0.89129444 -0.09755771 -0.4428055 7.64545301] [ 0.12981169 0.990604 0.04304233 0.34473133] [ 0.43444579 -0.09584472 0.89558397 0.90011718] [ 0. 0. 0. 1. ]] SLAMing on 43.259649246 meters Centerline goodness : 0.923906 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.90 [[ 0.8911332 -0.0977209 -0.44309395 7.64610159] [ 0.13000331 0.99058103 0.04299268 0.34430716] [ 0.43471917 -0.09591588 0.89544368 0.90054573] [ 0. 0. 0. 1. ]] SLAMing on 43.289649246 meters Centerline goodness : 0.925855 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.90 [[ 0.89093174 -0.09727015 -0.44359795 7.64579277] [ 0.12999131 0.9905439 0.04387537 0.34213035] [ 0.43513548 -0.09675383 0.89515128 0.90255799] [ 0. 0. 0. 1. ]] SLAMing on 43.319649246000004 meters Centerline goodness : 0.927866 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.90 [[ 0.89073855 -0.09770816 -0.44388958 7.6471313 ] [ 0.13061739 0.99045204 0.0440891 0.34052794] [ 0.43534348 -0.09725156 0.8949962 0.90334011] [ 0. 0. 0. 1. ]] SLAMing on 43.349649246 meters Centerline goodness : 0.929602 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.90 [[ 0.89051876 -0.09808589 -0.4442471 7.64859385] [ 0.13110414 0.99038558 0.04413726 0.33946484] [ 0.43564668 -0.0975477 0.89481641 0.90384813] [ 0. 0. 0. 1. ]] SLAMing on 43.379649246 meters Centerline goodness : 0.924869 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.90 [[ 0.89001461 -0.09938602 -0.44496788 7.65228235] [ 0.13245902 0.99022159 0.04377007 0.3384013 ] [ 0.43626667 -0.09789601 0.89447625 0.9045149 ] [ 0. 0. 0. 1. ]] SLAMing on 43.409649246 meters Centerline goodness : 0.926277 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.90 [[ 0.88985446 -0.09978925 -0.44519787 7.65327223] [ 0.13287197 0.99017202 0.04363945 0.33804869] [ 0.43646773 -0.09798708 0.89436819 0.90481983] [ 0. 0. 0. 1. ]] SLAMing on 43.439649246 meters Centerline goodness : 0.929847 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.91 [[ 0.88964713 -0.10011902 -0.44553807 7.6540192 ] [ 0.13329148 0.99011465 0.04366198 0.33805792] [ 0.43676237 -0.09823019 0.89419766 0.90559411] [ 0. 0. 0. 1. ]] SLAMing on 43.469649246 meters Centerline goodness : 0.928646 Centerline is valid? [False, False] Translation: X:7.65, Y:0.33, Z:0.90 [[ 0.89620383 -0.08903987 -0.43461545 7.65275671] [ 0.12377903 0.99093447 0.05222677 0.32855237] [ 0.42602517 -0.10060211 0.89910054 0.90465124] [ 0. 0. 0. 1. ]] SLAMing on 43.499649246000004 meters Centerline goodness : 0.922832 Centerline is valid? [False, False] Translation: X:7.66, Y:0.33, Z:0.90 [[ 0.89581823 -0.08999348 -0.4352136 7.65529363] [ 0.12464612 0.99085469 0.05167532 0.32867707] [ 0.42658299 -0.10053938 0.89884303 0.90491757] [ 0. 0. 0. 1. ]] SLAMing on 43.529649246 meters Centerline goodness : 0.924354 Centerline is valid? [False, False] Translation: X:7.66, Y:0.33, Z:0.90 [[ 0.89553882 -0.09091697 -0.43559652 7.65761318] [ 0.12536258 0.99080273 0.05093308 0.32913753] [ 0.42695954 -0.10022006 0.89869989 0.90457435] [ 0. 0. 0. 1. ]] SLAMing on 43.559649246 meters Centerline goodness : 0.923255 Centerline is valid? [False, False] Translation: X:7.66, Y:0.33, Z:0.90 [[ 0.89529273 -0.09165384 -0.43594781 7.65959133] [ 0.12593941 0.99075988 0.05034017 0.32952447] [ 0.42730573 -0.0999722 0.89856295 0.90435218] [ 0. 0. 0. 1. ]] SLAMing on 43.589649246 meters Centerline goodness : 0.919561 Centerline is valid? [False, False] Translation: X:7.66, Y:0.33, Z:0.90 [[ 0.89490981 -0.0928878 -0.43647255 7.66258573] [ 0.12689242 0.99068872 0.0493373 0.3304753 ] [ 0.4278256 -0.09953749 0.89836382 0.90393474] [ 0. 0. 0. 1. ]] SLAMing on 43.619649246 meters Centerline goodness : 0.921832 Centerline is valid? [False, False] Translation: X:7.66, Y:0.33, Z:0.90 [[ 0.89470067 -0.09312952 -0.43684963 7.66343083] [ 0.12719044 0.99065217 0.04930394 0.33013613] [ 0.42817438 -0.09967536 0.89818234 0.90457481] [ 0. 0. 0. 1. ]] SLAMing on 43.649649246 meters Centerline goodness : 0.924422 Centerline is valid? [False, False] Translation: X:7.66, Y:0.33, Z:0.90 [[ 0.89452755 -0.09375226 -0.4370709 7.66470555] [ 0.12763569 0.99062307 0.04873463 0.33075508] [ 0.42840353 -0.09938031 0.89810577 0.90432621] [ 0. 0. 0. 1. ]] SLAMing on 43.679649246000004 meters Centerline goodness : 0.922662 Centerline is valid? [False, False] Translation: X:7.67, Y:0.32, Z:0.91 [[ 0.90009721 -0.08252404 -0.42780229 7.66533738] [ 0.11864424 0.99121676 0.05841984 0.32478337] [ 0.41922376 -0.10333981 0.90198244 0.90582257] [ 0. 0. 0. 1. ]] SLAMing on 43.709649246000005 meters Centerline goodness : 0.923760 Centerline is valid? [False, False] Translation: X:7.67, Y:0.33, Z:0.91 [[ 0.89997796 -0.08315511 -0.42793095 7.66665487] [ 0.11904173 0.99120865 0.057745 0.32569094] [ 0.41936706 -0.10291087 0.90196487 0.90519522] [ 0. 0. 0. 1. ]] SLAMing on 43.739649246 meters Centerline goodness : 0.921288 Centerline is valid? [False, False] Translation: X:7.67, Y:0.33, Z:0.90 [[ 0.9000001 -0.08760152 -0.42699626 7.66753164] [ 0.12209359 0.99104734 0.05402152 0.32849198] [ 0.41844114 -0.10075288 0.90263828 0.90294662] [ 0. 0. 0. 1. ]] SLAMing on 43.769649246 meters Centerline goodness : 0.919932 Centerline is valid? [False, False] Translation: X:7.67, Y:0.33, Z:0.90 [[ 0.89992988 -0.08776862 -0.42710992 7.66757214] [ 0.12222025 0.9910401 0.05386771 0.32894103] [ 0.41855516 -0.10067865 0.9025937 0.90318178] [ 0. 0. 0. 1. ]] SLAMing on 43.799649246 meters Centerline goodness : 0.921853 Centerline is valid? [False, False] Translation: X:7.67, Y:0.33, Z:0.90 [[ 0.8998755 -0.08801656 -0.42717347 7.66783953] [ 0.12235294 0.99104104 0.05354824 0.32956325] [ 0.41863331 -0.10045268 0.90258263 0.9030559 ] [ 0. 0. 0. 1. ]] SLAMing on 43.829649246 meters Centerline goodness : 0.922415 Centerline is valid? [False, False] Translation: X:7.67, Y:0.33, Z:0.90 [[ 0.89975509 -0.08851333 -0.42732442 7.66840577] [ 0.12256458 0.99105582 0.05278533 0.33154915] [ 0.41883015 -0.09986871 0.90255612 0.90258152] [ 0. 0. 0. 1. ]] SLAMing on 43.859649246000004 meters Centerline goodness : 0.922732 Centerline is valid? [False, False] Translation: X:7.67, Y:0.33, Z:0.90 [[ 0.89974202 -0.08871781 -0.42730954 7.66864098] [ 0.1226267 0.99106659 0.05243771 0.33239299] [ 0.41884004 -0.09957997 0.90258343 0.90222102] [ 0. 0. 0. 1. ]] SLAMing on 43.889649246000005 meters Centerline goodness : 0.921766 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89969305 -0.09369909 -0.42634833 7.66773496] [ 0.1257753 0.99091421 0.04764038 0.33541867] [ 0.41801076 -0.09648581 0.90330366 0.89990678] [ 0. 0. 0. 1. ]] SLAMing on 43.919649246 meters Centerline goodness : 0.924516 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89942141 -0.09438293 -0.42677041 7.66912386] [ 0.12641211 0.99085036 0.04728161 0.33607605] [ 0.41840303 -0.09647504 0.90312317 0.90034568] [ 0. 0. 0. 1. ]] SLAMing on 43.949649246 meters Centerline goodness : 0.923518 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.8992064 -0.09502825 -0.42708017 7.67055894] [ 0.12695262 0.99080245 0.04683521 0.33696061] [ 0.41870141 -0.09633346 0.90299999 0.90036132] [ 0. 0. 0. 1. ]] SLAMing on 43.979649246 meters Centerline goodness : 0.923511 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89913736 -0.0957013 -0.42707526 7.6718414 ] [ 0.12737628 0.9907802 0.04615068 0.338166 ] [ 0.41872103 -0.09589506 0.90303756 0.89952092] [ 0. 0. 0. 1. ]] SLAMing on 44.009649246 meters Centerline goodness : 0.922795 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89895281 -0.09605673 -0.42738385 7.67278692] [ 0.12764199 0.99076221 0.04580134 0.33824755] [ 0.41903624 -0.09572537 0.90290934 0.89965008] [ 0. 0. 0. 1. ]] SLAMing on 44.039649246 meters Centerline goodness : 0.922329 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89889039 -0.09615683 -0.42749261 7.67282533] [ 0.12771101 0.99075869 0.04568496 0.3381435 ] [ 0.4191491 -0.09566128 0.90286375 0.8998582 ] [ 0. 0. 0. 1. ]] SLAMing on 44.069649246000004 meters Centerline goodness : 0.924741 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89881875 -0.09606628 -0.42766358 7.67258082] [ 0.12778338 0.99073419 0.04601269 0.33715929] [ 0.41928066 -0.09600537 0.90276614 0.90077335] [ 0. 0. 0. 1. ]] SLAMing on 44.099649246 meters Centerline goodness : 0.924041 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89874969 -0.09623636 -0.42777046 7.67303488] [ 0.12794554 0.99071704 0.04593121 0.33699264] [ 0.41937923 -0.09601198 0.90271965 0.90085909] [ 0. 0. 0. 1. ]] SLAMing on 44.129649246 meters Centerline goodness : 0.922407 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89873943 -0.09657138 -0.4277165 7.67356809] [ 0.1281709 0.99070161 0.04563494 0.33746046] [ 0.4193324 -0.09583473 0.90276024 0.90047046] [ 0. 0. 0. 1. ]] SLAMing on 44.159649246 meters Centerline goodness : 0.921363 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89874148 -0.09692016 -0.42763329 7.67427528] [ 0.12833675 0.99070075 0.04518517 0.33836022] [ 0.41927727 -0.09549085 0.90282228 0.89972124] [ 0. 0. 0. 1. ]] SLAMing on 44.189649246 meters Centerline goodness : 0.923992 Centerline is valid? [False, False] Translation: X:7.68, Y:0.34, Z:0.90 [[ 0.89861236 -0.09747156 -0.42777929 7.67526131] [ 0.12859878 0.99070209 0.04440415 0.33996307] [ 0.41947369 -0.09491401 0.90279186 0.89909856] [ 0. 0. 0. 1. ]] SLAMing on 44.219649246 meters Centerline goodness : 0.920036 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89865629 -0.09746392 -0.42768873 7.67475773] [ 0.12839476 0.99074633 0.0440057 0.3411613 ] [ 0.41944207 -0.09445899 0.90285428 0.89866129] [ 0. 0. 0. 1. ]] SLAMing on 44.249649246000004 meters Centerline goodness : 0.918967 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89866081 -0.09749914 -0.42767122 7.67460638] [ 0.12833358 0.9907636 0.04379475 0.3419077 ] [ 0.41945113 -0.09424121 0.90287283 0.89846985] [ 0. 0. 0. 1. ]] SLAMing on 44.279649246 meters Centerline goodness : 0.922156 Centerline is valid? [False, False] Translation: X:7.67, Y:0.34, Z:0.90 [[ 0.89876865 -0.09761614 -0.42741783 7.67437336] [ 0.12824324 0.99079332 0.04338515 0.34323957] [ 0.41924764 -0.09380666 0.90301258 0.89767192] [ 0. 0. 0. 1. ]] SLAMing on 44.309649246 meters Centerline goodness : 0.920213 Centerline is valid? [False, False] Translation: X:7.68, Y:0.34, Z:0.90 [[ 0.89867783 -0.09805217 -0.42750898 7.67527903] [ 0.12851087 0.9907796 0.04290384 0.34416749] [ 0.41936036 -0.09349628 0.90299243 0.89723613] [ 0. 0. 0. 1. ]] SLAMing on 44.339649246 meters Centerline goodness : 0.918154 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:0.90 [[ 0.89850082 -0.09890059 -0.42768558 7.67701701] [ 0.12903007 0.99075235 0.04196455 0.34597552] [ 0.41958017 -0.09288948 0.90295295 0.89639923] [ 0. 0. 0. 1. ]] SLAMing on 44.369649246 meters Centerline goodness : 0.917298 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:0.90 [[ 0.89833705 -0.09930122 -0.42793668 7.67802372] [ 0.12933442 0.99072772 0.04160763 0.34638898] [ 0.41983704 -0.09272462 0.90285049 0.89639091] [ 0. 0. 0. 1. ]] SLAMing on 44.399649246 meters Centerline goodness : 0.918446 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:0.90 [[ 0.89814033 -0.09950226 -0.42830274 7.67876077] [ 0.12958942 0.99069514 0.04158993 0.34598471] [ 0.42017915 -0.09285709 0.9026777 0.89705938] [ 0. 0. 0. 1. ]] SLAMing on 44.429649246000004 meters Centerline goodness : 0.914050 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:0.90 [[ 0.89808185 -0.09958124 -0.42840701 7.67901375] [ 0.12968972 0.99068189 0.0415928 0.34584002] [ 0.4202732 -0.09291372 0.90262809 0.89725896] [ 0. 0. 0. 1. ]] SLAMing on 44.459649246000005 meters Centerline goodness : 0.914448 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:0.90 [[ 0.89793042 -0.09994842 -0.42863886 7.67977823] [ 0.1300574 0.99063943 0.04145601 0.34625619] [ 0.42048309 -0.09297227 0.90252431 0.89759646] [ 0. 0. 0. 1. ]] SLAMing on 44.489649246 meters Centerline goodness : 0.923709 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:0.90 [[ 0.89784417 -0.10432443 -0.42777594 7.6767585 ] [ 0.13339041 0.99031728 0.03845356 0.34551972] [ 0.41962226 -0.09158651 0.90306648 0.89844547] [ 0. 0. 0. 1. ]] SLAMing on 44.519649246 meters Centerline goodness : 0.917227 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:0.90 [[ 0.89774082 -0.10468244 -0.42790537 7.67774752] [ 0.13361113 0.99030321 0.03804769 0.34682252] [ 0.41977313 -0.09132988 0.90302235 0.89803046] [ 0. 0. 0. 1. ]] SLAMing on 44.549649246 meters Centerline goodness : 0.915283 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:0.90 [[ 0.89756611 -0.10542054 -0.42809063 7.67926266] [ 0.13422512 0.99023832 0.03757256 0.34827299] [ 0.41995083 -0.09118437 0.90295444 0.89781879] [ 0. 0. 0. 1. ]] SLAMing on 44.579649246 meters Centerline goodness : 0.915299 Centerline is valid? [False, False] Translation: X:7.68, Y:0.34, Z:0.90 [[ 0.90363774 -0.0950774 -0.41761121 7.67888532] [ 0.12545149 0.99104085 0.04582519 0.34164558] [ 0.40951283 -0.09379932 0.90746952 0.89755991] [ 0. 0. 0. 1. ]] SLAMing on 44.609649246000004 meters Centerline goodness : 0.916227 Centerline is valid? [False, False] Translation: X:7.68, Y:0.34, Z:0.90 [[ 0.90349539 -0.09542197 -0.41784055 7.67929145] [ 0.12577372 0.99100836 0.04564424 0.3418631 ] [ 0.40972802 -0.09379272 0.90737306 0.89800815] [ 0. 0. 0. 1. ]] SLAMing on 44.639649246000005 meters Centerline goodness : 0.918408 Centerline is valid? [False, False] Translation: X:7.68, Y:0.34, Z:0.90 [[ 0.90359077 -0.09539372 -0.41764071 7.67901617] [ 0.12561931 0.99103821 0.04542091 0.34247977] [ 0.40956504 -0.09350565 0.90747627 0.89744817] [ 0. 0. 0. 1. ]] SLAMing on 44.669649246 meters Centerline goodness : 0.918153 Centerline is valid? [False, False] Translation: X:7.68, Y:0.34, Z:0.90 [[ 0.90355145 -0.09576646 -0.41764046 7.67974072] [ 0.12584233 0.99102869 0.04500931 0.34308979] [ 0.4095833 -0.09322507 0.90749689 0.89695087] [ 0. 0. 0. 1. ]] SLAMing on 44.699649246 meters Centerline goodness : 0.914106 Centerline is valid? [False, False] Translation: X:7.68, Y:0.34, Z:0.90 [[ 0.90343289 -0.09576926 -0.41789623 7.68005233] [ 0.12589956 0.99101887 0.04506541 0.34311682] [ 0.40982717 -0.09332652 0.90737635 0.8974469 ] [ 0. 0. 0. 1. ]] SLAMing on 44.729649246 meters Centerline goodness : 0.917500 Centerline is valid? [False, False] Translation: X:7.68, Y:0.34, Z:0.90 [[ 0.90334468 -0.0959036 -0.41805607 7.68035586] [ 0.12600561 0.99101136 0.04493401 0.34306915] [ 0.40998899 -0.09326831 0.90730924 0.89765409] [ 0. 0. 0. 1. ]] SLAMing on 44.759649246 meters Centerline goodness : 0.911594 Centerline is valid? [False, False] Translation: X:7.68, Y:0.34, Z:0.90 [[ 0.90317868 -0.09671958 -0.41822673 7.68247786] [ 0.12651599 0.99098646 0.04404011 0.34435842] [ 0.41019749 -0.09268845 0.90727442 0.89658242] [ 0. 0. 0. 1. ]] SLAMing on 44.789649246 meters Centerline goodness : 0.912683 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:0.90 [[ 0.90299505 -0.09725576 -0.41849882 7.68395381] [ 0.12694183 0.99095088 0.04361341 0.34503469] [ 0.41047012 -0.0925077 0.90716956 0.89643194] [ 0. 0. 0. 1. ]] SLAMing on 44.819649246000004 meters Centerline goodness : 0.915236 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:0.90 [[ 0.9029257 -0.09752172 -0.41858654 7.68460802] [ 0.12713743 0.99093609 0.04337897 0.34561826] [ 0.41056212 -0.092386 0.90714033 0.89628119] [ 0. 0. 0. 1. ]] SLAMing on 44.849649246 meters Centerline goodness : 0.916267 Centerline is valid? [False, False] Translation: X:7.68, Y:0.35, Z:0.90 [[ 0.90288838 -0.09771985 -0.41862082 7.68491499] [ 0.1271427 0.99095619 0.04290177 0.34687609] [ 0.41064254 -0.09196009 0.9071472 0.89584064] [ 0. 0. 0. 1. ]] SLAMing on 44.879649246 meters Centerline goodness : 0.913365 Centerline is valid? [False, False] Translation: X:7.69, Y:0.35, Z:0.90 [[ 0.90289615 -0.09790428 -0.41856097 7.68507692] [ 0.12713756 0.99097597 0.04245791 0.34808625] [ 0.41062705 -0.0915499 0.9071957 0.89527637] [ 0. 0. 0. 1. ]] SLAMing on 44.909649246 meters Centerline goodness : 0.908237 Centerline is valid? [False, False] Translation: X:7.69, Y:0.35, Z:0.89 [[ 0.90286568 -0.09810801 -0.41857901 7.68550589] [ 0.12694529 0.99103973 0.04153482 0.35078627] [ 0.41075353 -0.090637 0.90723011 0.8941013 ] [ 0. 0. 0. 1. ]] SLAMing on 44.939649246 meters Centerline goodness : 0.907464 Centerline is valid? [False, False] Translation: X:7.69, Y:0.35, Z:0.89 [[ 0.90288247 -0.09851737 -0.41844662 7.6860661 ] [ 0.12699677 0.99106827 0.04068792 0.35257833] [ 0.4107007 -0.08987778 0.90732955 0.89288334] [ 0. 0. 0. 1. ]] SLAMing on 44.969649246 meters Centerline goodness : 0.908976 Centerline is valid? [False, False] Translation: X:7.69, Y:0.36, Z:0.89 [[ 0.90280846 -0.09914279 -0.4184586 7.68745334] [ 0.12717498 0.991091 0.03956215 0.35566698] [ 0.41080825 -0.0889345 0.90737381 0.89136193] [ 0. 0. 0. 1. ]] SLAMing on 44.999649246000004 meters Centerline goodness : 0.903801 Centerline is valid? [False, False] Translation: X:7.69, Y:0.36, Z:0.89 [[ 0.90276343 -0.09936394 -0.41850329 7.68780282] [ 0.12727625 0.99109084 0.03923901 0.35669044] [ 0.41087583 -0.08868907 0.90736723 0.89110089] [ 0. 0. 0. 1. ]] SLAMing on 45.029649246 meters Centerline goodness : 0.903801 Centerline is valid? [False, False] Translation: X:7.69, Y:0.36, Z:0.89 [[ 0.90276343 -0.09936394 -0.41850329 7.68780282] [ 0.12727625 0.99109084 0.03923901 0.35669044] [ 0.41087583 -0.08868907 0.90736723 0.89110089] [ 0. 0. 0. 1. ]] SLAMing on 45.059649246 meters Centerline goodness : 0.905560 Centerline is valid? [False, False] Translation: X:7.69, Y:0.36, Z:0.89 [[ 0.9026761 -0.09964294 -0.41862531 7.68825593] [ 0.12751422 0.99106736 0.03905921 0.35711369] [ 0.4109939 -0.08863849 0.9073187 0.89126185] [ 0. 0. 0. 1. ]] SLAMing on 45.089649246 meters Centerline goodness : 0.904916 Centerline is valid? [False, False] Translation: X:7.69, Y:0.36, Z:0.89 [[ 0.90255551 -0.09980839 -0.41884584 7.6888818 ] [ 0.12769591 0.99104602 0.03900704 0.35710346] [ 0.41120227 -0.08869092 0.90721917 0.89155323] [ 0. 0. 0. 1. ]] SLAMing on 45.119649246 meters Centerline goodness : 0.909035 Centerline is valid? [False, False] Translation: X:7.69, Y:0.36, Z:0.89 [[ 0.9024777 -0.10015612 -0.41893049 7.6898106 ] [ 0.12792808 0.99102979 0.03865686 0.35753925] [ 0.41130088 -0.08847993 0.90719507 0.89119359] [ 0. 0. 0. 1. ]] SLAMing on 45.149649246 meters Centerline goodness : 0.909938 Centerline is valid? [False, False] Translation: X:7.69, Y:0.36, Z:0.89 [[ 0.90232589 -0.100662 -0.4191362 7.69117411] [ 0.12832701 0.9909935 0.03826297 0.3578469 ] [ 0.41150963 -0.08831216 0.90711674 0.89098164] [ 0. 0. 0. 1. ]] SLAMing on 45.179649246000004 meters Centerline goodness : 0.905364 Centerline is valid? [False, False] Translation: X:7.69, Y:0.36, Z:0.89 [[ 0.90207547 -0.10063944 -0.4196803 7.69203172] [ 0.12861414 0.99093456 0.03882138 0.35653225] [ 0.41196875 -0.08899664 0.90684141 0.89246878] [ 0. 0. 0. 1. ]] SLAMing on 45.209649246000005 meters Centerline goodness : 0.909458 Centerline is valid? [False, False] Translation: X:7.69, Y:0.36, Z:0.89 [[ 0.90191416 -0.1008454 -0.41997744 7.69259333] [ 0.12896842 0.99088022 0.03903241 0.35570521] [ 0.41221111 -0.08936771 0.90669478 0.89333894] [ 0. 0. 0. 1. ]] SLAMing on 45.239649246 meters Centerline goodness : 0.908107 Centerline is valid? [False, False] Translation: X:7.69, Y:0.36, Z:0.89 [[ 0.90156457 -0.10163474 -0.42053739 7.69481373] [ 0.12981754 0.99077616 0.03885889 0.35563865] [ 0.41270901 -0.08962693 0.90644266 0.89403625] [ 0. 0. 0. 1. ]] SLAMing on 45.269649246 meters Centerline goodness : 0.910635 Centerline is valid? [False, False] Translation: X:7.70, Y:0.36, Z:0.89 [[ 0.90138846 -0.10228544 -0.4207571 7.69674721] [ 0.13032408 0.99072954 0.03834853 0.35618689] [ 0.41293399 -0.08940171 0.90636243 0.8935428 ] [ 0. 0. 0. 1. ]] SLAMing on 45.299649246 meters Centerline goodness : 0.908247 Centerline is valid? [False, False] Translation: X:7.70, Y:0.36, Z:0.89 [[ 0.90111348 -0.10317435 -0.42112889 7.69926453] [ 0.13114837 0.99063708 0.0379248 0.35602768] [ 0.41327303 -0.08940491 0.90620757 0.893459 ] [ 0. 0. 0. 1. ]] SLAMing on 45.329649246 meters Centerline goodness : 0.908631 Centerline is valid? [False, False] Translation: X:7.70, Y:0.36, Z:0.89 [[ 0.9009957 -0.10340858 -0.4213234 7.70013418] [ 0.13143496 0.99059842 0.03794224 0.35524574] [ 0.41343874 -0.08956242 0.90611643 0.89374601] [ 0. 0. 0. 1. ]] SLAMing on 45.359649246000004 meters Centerline goodness : 0.908787 Centerline is valid? [False, False] Translation: X:7.70, Y:0.35, Z:0.90 [[ 0.90078286 -0.1033561 -0.42179113 7.70057597] [ 0.1316789 0.99054485 0.03849119 0.35351359] [ 0.41382473 -0.0902132 0.90587564 0.89526067] [ 0. 0. 0. 1. ]] SLAMing on 45.389649246000005 meters Centerline goodness : 0.910402 Centerline is valid? [False, False] Translation: X:7.70, Y:0.35, Z:0.90 [[ 0.90061798 -0.10363376 -0.422075 7.70159003] [ 0.13199086 0.99050541 0.03843758 0.35365489] [ 0.41408414 -0.09032762 0.90574569 0.89560355] [ 0. 0. 0. 1. ]] SLAMing on 45.419649246 meters Centerline goodness : 0.905005 Centerline is valid? [False, False] Translation: X:7.70, Y:0.35, Z:0.90 [[ 0.90047554 -0.10414918 -0.42225201 7.70264496] [ 0.1324925 0.9904456 0.03825241 0.35434422] [ 0.41423369 -0.09039058 0.90567102 0.89582852] [ 0. 0. 0. 1. ]] SLAMing on 45.449649246 meters Centerline goodness : 0.907815 Centerline is valid? [False, False] Translation: X:7.71, Y:0.35, Z:0.90 [[ 0.90491667 -0.09518402 -0.41480818 7.70587593] [ 0.12550301 0.99100821 0.04638678 0.34941441] [ 0.40666303 -0.09403584 0.90872572 0.89949225] [ 0. 0. 0. 1. ]] SLAMing on 45.479649246 meters Centerline goodness : 0.907689 Centerline is valid? [False, False] Translation: X:7.71, Y:0.35, Z:0.90 [[ 0.90468732 -0.09587539 -0.41514909 7.70768597] [ 0.12602397 0.99097063 0.04577293 0.35008373] [ 0.40701206 -0.09372892 0.90860116 0.89922731] [ 0. 0. 0. 1. ]] SLAMing on 45.509649246 meters Centerline goodness : 0.902768 Centerline is valid? [False, False] Translation: X:7.71, Y:0.35, Z:0.90 [[ 0.90405308 -0.09772179 -0.41609912 7.71178839] [ 0.12772742 0.99079603 0.04482108 0.351501 ] [ 0.40788936 -0.0936679 0.90821396 0.89984879] [ 0. 0. 0. 1. ]] SLAMing on 45.539649246 meters Centerline goodness : 0.900814 Centerline is valid? [False, False] Translation: X:7.71, Y:0.35, Z:0.90 [[ 0.90377667 -0.09911556 -0.41636984 7.71468825] [ 0.12861487 0.99074763 0.04332833 0.35418145] [ 0.40822292 -0.09271049 0.90816233 0.89839883] [ 0. 0. 0. 1. ]] SLAMing on 45.569649246000004 meters Centerline goodness : 0.900922 Centerline is valid? [False, False] Translation: X:7.72, Y:0.35, Z:0.90 [[ 0.90355708 -0.09961866 -0.4167262 7.71592982] [ 0.12910905 0.99069279 0.04311202 0.35471549] [ 0.40855288 -0.09275729 0.90800915 0.89881485] [ 0. 0. 0. 1. ]] SLAMing on 45.599649246 meters Centerline goodness : 0.901904 Centerline is valid? [False, False] Translation: X:7.72, Y:0.35, Z:0.90 [[ 0.90343435 -0.09965724 -0.41698299 7.71579904] [ 0.12923699 0.9906706 0.04323832 0.35492934] [ 0.40878378 -0.09295261 0.90788525 0.8997105 ] [ 0. 0. 0. 1. ]] SLAMing on 45.629649246 meters Centerline goodness : 0.901743 Centerline is valid? [False, False] Translation: X:7.72, Y:0.36, Z:0.90 [[ 0.90327188 -0.09987486 -0.41728279 7.71628221] [ 0.12948514 0.99064054 0.04318463 0.35523769] [ 0.40906419 -0.09303938 0.90775005 0.90029926] [ 0. 0. 0. 1. ]] SLAMing on 45.659649246 meters Centerline goodness : 0.903884 Centerline is valid? [False, False] Translation: X:7.71, Y:0.36, Z:0.90 [[ 0.90333802 -0.09939999 -0.41725299 7.71496361] [ 0.1291062 0.9906759 0.04350686 0.35522239] [ 0.4090379 -0.09317135 0.90774837 0.90093512] [ 0. 0. 0. 1. ]] SLAMing on 45.689649246 meters Centerline goodness : 0.906241 Centerline is valid? [False, False] Translation: X:7.71, Y:0.36, Z:0.90 [[ 0.9033552 -0.09938622 -0.41721909 7.71451645] [ 0.12905299 0.99068618 0.04343073 0.35572172] [ 0.40901676 -0.09307674 0.9077676 0.90106596] [ 0. 0. 0. 1. ]] SLAMing on 45.719649246 meters Centerline goodness : 0.907992 Centerline is valid? [False, False] Translation: X:7.72, Y:0.36, Z:0.90 [[ 0.90314791 -0.09983726 -0.41756003 7.71579005] [ 0.12946928 0.99064318 0.04317177 0.35623844] [ 0.40934285 -0.09305169 0.90762317 0.90129466] [ 0. 0. 0. 1. ]] SLAMing on 45.749649246000004 meters Centerline goodness : 0.905575 Centerline is valid? [False, False] Translation: X:7.72, Y:0.36, Z:0.90 [[ 0.90307715 -0.10028593 -0.41760555 7.71672961] [ 0.12974135 0.99062921 0.04267252 0.35691319] [ 0.40941281 -0.09271729 0.90762584 0.90073645] [ 0. 0. 0. 1. ]] SLAMing on 45.779649246000005 meters Centerline goodness : 0.902619 Centerline is valid? [False, False] Translation: X:7.72, Y:0.36, Z:0.90 [[ 0.90300263 -0.10119077 -0.41754842 7.71862763] [ 0.13016791 0.99062593 0.04143177 0.35976521] [ 0.40944178 -0.0917644 0.9077096 0.89896185] [ 0. 0. 0. 1. ]] SLAMing on 45.809649246 meters Centerline goodness : 0.898294 Centerline is valid? [False, False] Translation: X:7.72, Y:0.36, Z:0.90 [[ 0.90280395 -0.10204766 -0.41776943 7.72087561] [ 0.13065024 0.99060655 0.0403631 0.3615908 ] [ 0.40972618 -0.09102164 0.90765606 0.89778653] [ 0. 0. 0. 1. ]] SLAMing on 45.839649246 meters Centerline goodness : 0.900056 Centerline is valid? [False, False] Translation: X:7.72, Y:0.36, Z:0.90 [[ 0.9027271 -0.10250242 -0.41782418 7.72200252] [ 0.13045532 0.99069418 0.03881297 0.3643381 ] [ 0.40995756 -0.08954491 0.90769847 0.89587888] [ 0. 0. 0. 1. ]] SLAMing on 45.869649246 meters Centerline goodness : 0.898143 Centerline is valid? [False, False] Translation: X:7.72, Y:0.37, Z:0.90 [[ 0.90262027 -0.10300154 -0.41793221 7.72291773] [ 0.13062025 0.99070628 0.03793965 0.36627906] [ 0.41014023 -0.08883551 0.90768565 0.89509257] [ 0. 0. 0. 1. ]] SLAMing on 45.899649246 meters Centerline goodness : 0.897701 Centerline is valid? [False, False] Translation: X:7.72, Y:0.37, Z:0.89 [[ 0.90268974 -0.10309369 -0.4177594 7.72313284] [ 0.13007461 0.99083034 0.03654895 0.36997571] [ 0.41016073 -0.08733226 0.90782226 0.89288747] [ 0. 0. 0. 1. ]] SLAMing on 45.929649246000004 meters Centerline goodness : 0.894690 Centerline is valid? [False, False] Translation: X:7.72, Y:0.37, Z:0.89 [[ 0.90261949 -0.10355942 -0.417796 7.7241821 ] [ 0.13027616 0.99082922 0.03585506 0.37161838] [ 0.41025135 -0.08679234 0.90783309 0.89200395] [ 0. 0. 0. 1. ]] SLAMing on 45.959649246000005 meters Centerline goodness : 0.893847 Centerline is valid? [False, False] Translation: X:7.73, Y:0.37, Z:0.89 [[ 0.90246435 -0.09977659 -0.41904979 7.72767633] [ 0.12786323 0.99100871 0.03940473 0.3721975 ] [ 0.41135033 -0.08914242 0.90710779 0.89314926] [ 0. 0. 0. 1. ]] SLAMing on 45.989649246 meters Centerline goodness : 0.890074 Centerline is valid? [False, False] Translation: X:7.73, Y:0.37, Z:0.89 [[ 0.90237545 -0.10009235 -0.41916592 7.72824144] [ 0.12806172 0.99099711 0.03905023 0.3730098 ] [ 0.41148358 -0.08891708 0.90706947 0.89297674] [ 0. 0. 0. 1. ]] SLAMing on 46.019649246 meters Centerline goodness : 0.891360 Centerline is valid? [False, False] Translation: X:7.73, Y:0.37, Z:0.89 [[ 0.90220833 -0.10029286 -0.41947762 7.72897855] [ 0.12830809 0.99096589 0.03903384 0.37297826] [ 0.4117732 -0.08903902 0.90692606 0.89346985] [ 0. 0. 0. 1. ]] SLAMing on 46.049649246 meters Centerline goodness : 0.897116 Centerline is valid? [False, False] Translation: X:7.73, Y:0.37, Z:0.89 [[ 0.90192553 -0.10496626 -0.41894203 7.72803599] [ 0.13145678 0.99071142 0.03478513 0.37400925] [ 0.41139939 -0.08644636 0.90734644 0.89268945] [ 0. 0. 0. 1. ]] SLAMing on 46.079649246 meters Centerline goodness : 0.897220 Centerline is valid? [False, False] Translation: X:7.73, Y:0.37, Z:0.89 [[ 0.90150136 -0.10542275 -0.41973962 7.72994038] [ 0.13223305 0.99059325 0.03520567 0.37235577] [ 0.41207976 -0.08724141 0.90696153 0.89453324] [ 0. 0. 0. 1. ]] SLAMing on 46.109649246000004 meters Centerline goodness : 0.895772 Centerline is valid? [False, False] Translation: X:7.73, Y:0.37, Z:0.90 [[ 0.90127459 -0.1056691 -0.42016444 7.73099755] [ 0.13261964 0.99053601 0.03536155 0.37150838] [ 0.41245138 -0.08759252 0.90675874 0.89535964] [ 0. 0. 0. 1. ]] SLAMing on 46.139649246000005 meters Centerline goodness : 0.899560 Centerline is valid? [False, False] Translation: X:7.73, Y:0.37, Z:0.90 [[ 0.90101764 -0.10605517 -0.42061801 7.73262911] [ 0.13337768 0.99041165 0.03598841 0.36895361] [ 0.41276822 -0.08852724 0.90652376 0.89680026] [ 0. 0. 0. 1. ]] SLAMing on 46.169649246 meters Centerline goodness : 0.900403 Centerline is valid? [False, False] Translation: X:7.73, Y:0.37, Z:0.90 [[ 0.90085762 -0.10639019 -0.42087609 7.73347978] [ 0.13372179 0.99036938 0.03587447 0.36895561] [ 0.4130061 -0.0885981 0.90640848 0.8971555 ] [ 0. 0. 0. 1. ]] SLAMing on 46.199649246 meters Centerline goodness : 0.898890 Centerline is valid? [False, False] Translation: X:7.73, Y:0.37, Z:0.90 [[ 0.90074083 -0.10635897 -0.42113386 7.73379696] [ 0.1338064 0.99035068 0.03607455 0.36835273] [ 0.41323335 -0.08884422 0.90628081 0.89786128] [ 0. 0. 0. 1. ]] SLAMing on 46.229649246 meters Centerline goodness : 0.899715 Centerline is valid? [False, False] Translation: X:7.73, Y:0.37, Z:0.90 [[ 0.9006304 -0.10680245 -0.42125779 7.7347212 ] [ 0.1341186 0.99032344 0.03566063 0.36929489] [ 0.41337282 -0.08861555 0.90623959 0.89758382] [ 0. 0. 0. 1. ]] SLAMing on 46.259649246 meters Centerline goodness : 0.895351 Centerline is valid? [False, False] Translation: X:7.74, Y:0.37, Z:0.90 [[ 0.90045434 -0.10736959 -0.42148992 7.73617968] [ 0.13454684 0.99028262 0.0351777 0.37076076] [ 0.41361713 -0.08838605 0.90615053 0.89725917] [ 0. 0. 0. 1. ]] SLAMing on 46.289649246 meters Centerline goodness : 0.898359 Centerline is valid? [False, False] Translation: X:7.74, Y:0.37, Z:0.90 [[ 0.90032813 -0.10795343 -0.42161038 7.73756459] [ 0.13494023 0.99024929 0.03460466 0.37151087] [ 0.41376369 -0.08804775 0.90611655 0.89674038] [ 0. 0. 0. 1. ]] SLAMing on 46.319649246000004 meters Centerline goodness : 0.898041 Centerline is valid? [False, False] Translation: X:7.74, Y:0.37, Z:0.90 [[ 0.90022314 -0.10820858 -0.42176913 7.73847699] [ 0.13518257 0.99022046 0.03448363 0.37145103] [ 0.41391299 -0.08805879 0.90604728 0.89680652] [ 0. 0. 0. 1. ]] SLAMing on 46.349649246 meters Centerline goodness : 0.899632 Centerline is valid? [False, False] Translation: X:7.74, Y:0.37, Z:0.90 [[ 0.89992203 -0.10855381 -0.42232263 7.73981997] [ 0.13561665 0.99016148 0.03447273 0.3709495 ] [ 0.41442546 -0.08829675 0.90578983 0.89768379] [ 0. 0. 0. 1. ]] SLAMing on 46.379649246 meters Centerline goodness : 0.900012 Centerline is valid? [False, False] Translation: X:7.74, Y:0.37, Z:0.90 [[ 0.89953282 -0.10921431 -0.42298102 7.74206867] [ 0.13634421 0.99006687 0.03431979 0.37047735] [ 0.41503128 -0.08854279 0.90548838 0.8984572 ] [ 0. 0. 0. 1. ]] SLAMing on 46.409649246 meters Centerline goodness : 0.901344 Centerline is valid? [False, False] Translation: X:7.74, Y:0.37, Z:0.90 [[ 0.89929756 -0.10983873 -0.42331944 7.74386951] [ 0.13687624 0.99000786 0.03390172 0.37095087] [ 0.41536585 -0.08843011 0.90534597 0.89834613] [ 0. 0. 0. 1. ]] SLAMing on 46.439649246 meters Centerline goodness : 0.895050 Centerline is valid? [False, False] Translation: X:7.75, Y:0.37, Z:0.90 [[ 0.89902217 -0.11099187 -0.42360353 7.7467894 ] [ 0.13772484 0.98992336 0.03291812 0.37204265] [ 0.41568139 -0.08793485 0.90524938 0.89742918] [ 0. 0. 0. 1. ]] SLAMing on 46.469649246 meters Centerline goodness : 0.898836 Centerline is valid? [False, False] Translation: X:7.75, Y:0.37, Z:0.90 [[ 0.89867772 -0.11142069 -0.42422139 7.74841572] [ 0.13830941 0.98983852 0.03301836 0.37136006] [ 0.41623175 -0.08834668 0.90495635 0.89850738] [ 0. 0. 0. 1. ]] SLAMing on 46.499649246000004 meters Centerline goodness : 0.901524 Centerline is valid? [False, False] Translation: X:7.75, Y:0.37, Z:0.90 [[ 0.90293855 -0.10311671 -0.41721567 7.7522645 ] [ 0.13069848 0.99069352 0.03800347 0.36513755] [ 0.40941407 -0.08884426 0.90801256 0.90266695] [ 0. 0. 0. 1. ]] SLAMing on 46.529649246000005 meters Centerline goodness : 0.899086 Centerline is valid? [False, False] Translation: X:7.75, Y:0.36, Z:0.90 [[ 0.90284483 -0.10290154 -0.41747154 7.75214068] [ 0.13066857 0.99068219 0.03839954 0.36400904] [ 0.40963025 -0.08921924 0.90787829 0.90360809] [ 0. 0. 0. 1. ]] SLAMing on 46.559649246 meters Centerline goodness : 0.905856 Centerline is valid? [False, False] Translation: X:7.75, Y:0.36, Z:0.90 [[ 0.9026683 -0.10306822 -0.41781203 7.75270045] [ 0.1309491 0.99063991 0.03853433 0.36357077] [ 0.40992961 -0.08949582 0.90771593 0.90447714] [ 0. 0. 0. 1. ]] SLAMing on 46.589649246 meters Centerline goodness : 0.896485 Centerline is valid? [False, False] Translation: X:7.75, Y:0.36, Z:0.90 [[ 0.90252909 -0.10347459 -0.41801226 7.75356833] [ 0.13124369 0.99061576 0.03815124 0.36477065] [ 0.41014185 -0.08929408 0.90763992 0.90436583] [ 0. 0. 0. 1. ]] SLAMing on 46.619649246 meters Centerline goodness : 0.898265 Centerline is valid? [False, False] Translation: X:7.75, Y:0.37, Z:0.90 [[ 0.90259001 -0.1037569 -0.41781069 7.75362436] [ 0.13126142 0.99063628 0.03755264 0.36681607] [ 0.41000208 -0.08873706 0.90775769 0.9034329 ] [ 0. 0. 0. 1. ]] SLAMing on 46.649649246 meters Centerline goodness : 0.898368 Centerline is valid? [False, False] Translation: X:7.75, Y:0.37, Z:0.90 [[ 0.90245825 -0.10426792 -0.41796808 7.75474982] [ 0.13160784 0.9906096 0.03704059 0.36794863] [ 0.41018104 -0.08843546 0.90770627 0.90306467] [ 0. 0. 0. 1. ]] SLAMing on 46.679649246000004 meters Centerline goodness : 0.893914 Centerline is valid? [False, False] Translation: X:7.76, Y:0.37, Z:0.90 [[ 0.90245823 -0.10452409 -0.41790412 7.75517625] [ 0.13170736 0.99061076 0.03665362 0.36928994] [ 0.41014913 -0.08811941 0.90775143 0.90247439] [ 0. 0. 0. 1. ]] SLAMing on 46.709649246000005 meters Centerline goodness : 0.896541 Centerline is valid? [False, False] Translation: X:7.76, Y:0.37, Z:0.90 [[ 0.90231645 -0.10502247 -0.41808528 7.75637415] [ 0.13207424 0.99057815 0.03621224 0.36981018] [ 0.41034304 -0.08789319 0.90768572 0.90225129] [ 0. 0. 0. 1. ]] SLAMing on 46.739649246 meters Centerline goodness : 0.898700 Centerline is valid? [False, False] Translation: X:7.76, Y:0.37, Z:0.90 [[ 0.90212283 -0.10483058 -0.41855101 7.75642866] [ 0.1321687 0.99054475 0.03677693 0.36879907] [ 0.41073815 -0.08849665 0.90744835 0.90383152] [ 0. 0. 0. 1. ]] SLAMing on 46.769649246 meters Centerline goodness : 0.900118 Centerline is valid? [False, False] Translation: X:7.76, Y:0.37, Z:0.90 [[ 0.90207911 -0.10477375 -0.41865945 7.75632549] [ 0.1321839 0.9905373 0.03692267 0.36826744] [ 0.41082928 -0.08864721 0.90739241 0.90428408] [ 0. 0. 0. 1. ]] SLAMing on 46.799649246 meters Centerline goodness : 0.900628 Centerline is valid? [False, False] Translation: X:7.76, Y:0.37, Z:0.90 [[ 0.90198066 -0.10493612 -0.41883087 7.75693198] [ 0.13232333 0.99052338 0.03679623 0.36807999] [ 0.41100051 -0.08861058 0.90731843 0.90436806] [ 0. 0. 0. 1. ]] SLAMing on 46.829649246 meters Centerline goodness : 0.900847 Centerline is valid? [False, False] Translation: X:7.76, Y:0.37, Z:0.90 [[ 0.90180891 -0.10570409 -0.41900756 7.75904178] [ 0.13277864 0.99049541 0.03589804 0.36969768] [ 0.4112305 -0.08800842 0.90727283 0.90328785] [ 0. 0. 0. 1. ]] SLAMing on 46.859649246000004 meters Centerline goodness : 0.900947 Centerline is valid? [False, False] Translation: X:7.76, Y:0.37, Z:0.90 [[ 0.9014639 -0.10656282 -0.41953212 7.76131098] [ 0.13328302 0.99046659 0.03480762 0.37179762] [ 0.41182335 -0.08729432 0.90707289 0.90271092] [ 0. 0. 0. 1. ]] SLAMing on 46.889649246000005 meters Centerline goodness : 0.898134 Centerline is valid? [False, False] Translation: X:7.76, Y:0.37, Z:0.90 [[ 0.90133933 -0.1070483 -0.41967616 7.76245996] [ 0.13352645 0.99045719 0.03413556 0.37282573] [ 0.41201711 -0.08680559 0.9070318 0.90211351] [ 0. 0. 0. 1. ]] SLAMing on 46.919649246 meters Centerline goodness : 0.898134 Centerline is valid? [False, False] Translation: X:7.76, Y:0.37, Z:0.90 [[ 0.90133933 -0.1070483 -0.41967616 7.76245996] [ 0.13352645 0.99045719 0.03413556 0.37282573] [ 0.41201711 -0.08680559 0.9070318 0.90211351] [ 0. 0. 0. 1. ]] SLAMing on 46.949649246 meters Centerline goodness : 0.897965 Centerline is valid? [False, False] Translation: X:7.77, Y:0.37, Z:0.90 [[ 0.90089443 -0.1083376 -0.42030012 7.76513181] [ 0.13480718 0.99029891 0.03369123 0.3729914 ] [ 0.41257272 -0.08701172 0.90675946 0.90286554] [ 0. 0. 0. 1. ]] SLAMing on 46.979649246 meters Centerline goodness : 0.896247 Centerline is valid? [False, False] Translation: X:7.77, Y:0.37, Z:0.90 [[ 0.90075625 -0.10874032 -0.42049223 7.76588141] [ 0.13524151 0.99024183 0.03362826 0.37320013] [ 0.41273225 -0.08715887 0.90667272 0.90323033] [ 0. 0. 0. 1. ]] SLAMing on 47.009649246 meters Centerline goodness : 0.896073 Centerline is valid? [False, False] Translation: X:7.77, Y:0.37, Z:0.91 [[ 0.90063173 -0.1050448 -0.42169666 7.76884058] [ 0.13330571 0.99034581 0.03800996 0.37155557] [ 0.41363278 -0.09044755 0.90593994 0.90588983] [ 0. 0. 0. 1. ]] SLAMing on 47.039649246 meters Centerline goodness : 0.898305 Centerline is valid? [False, False] Translation: X:7.77, Y:0.37, Z:0.91 [[ 0.90557671 -0.09427368 -0.41357381 7.77080265] [ 0.12465136 0.99108564 0.04702445 0.36548404] [ 0.40545389 -0.09413679 0.90925541 0.90890508] [ 0. 0. 0. 1. ]] SLAMing on 47.069649246000004 meters Centerline goodness : 0.902572 Centerline is valid? [False, False] Translation: X:7.77, Y:0.36, Z:0.91 [[ 0.9055613 -0.09385511 -0.41370272 7.77005718] [ 0.12443929 0.99108753 0.04754326 0.36431494] [ 0.40555343 -0.09453421 0.90916978 0.90990795] [ 0. 0. 0. 1. ]] SLAMing on 47.099649246 meters Centerline goodness : 0.904429 Centerline is valid? [False, False] Translation: X:7.77, Y:0.36, Z:0.91 [[ 0.90541109 -0.09823605 -0.41301384 7.76831634] [ 0.12736004 0.99090169 0.04351169 0.36466705] [ 0.40498169 -0.09199743 0.90968473 0.90916095] [ 0. 0. 0. 1. ]] SLAMing on 47.129649246 meters Centerline goodness : 0.905628 Centerline is valid? [False, False] Translation: X:7.77, Y:0.37, Z:0.91 [[ 0.90530035 -0.09860937 -0.4131676 7.76911222] [ 0.1276338 0.99088138 0.04317069 0.36501857] [ 0.40514304 -0.09181659 0.90963115 0.90903386] [ 0. 0. 0. 1. ]] SLAMing on 47.159649246 meters Centerline goodness : 0.903411 Centerline is valid? [False, False] Translation: X:7.77, Y:0.37, Z:0.91 [[ 0.90535115 -0.09868587 -0.41303801 7.7691112 ] [ 0.12759767 0.99089633 0.04293365 0.36571514] [ 0.4050409 -0.09157272 0.90970122 0.90853586] [ 0. 0. 0. 1. ]] SLAMing on 47.189649246 meters Centerline goodness : 0.901841 Centerline is valid? [False, False] Translation: X:7.77, Y:0.37, Z:0.91 [[ 0.90530983 -0.09912761 -0.4130228 7.76983468] [ 0.12776302 0.99090556 0.0422229 0.36709481] [ 0.40508114 -0.09099384 0.90974139 0.90770192] [ 0. 0. 0. 1. ]] SLAMing on 47.219649246 meters Centerline goodness : 0.901101 Centerline is valid? [False, False] Translation: X:7.77, Y:0.37, Z:0.91 [[ 0.9052281 -0.09960854 -0.41308622 7.77080134] [ 0.12802158 0.99089829 0.04160585 0.36820167] [ 0.40518213 -0.09054674 0.90974102 0.90707289] [ 0. 0. 0. 1. ]] SLAMing on 47.249649246000004 meters Centerline goodness : 0.896077 Centerline is valid? [False, False] Translation: X:7.77, Y:0.37, Z:0.90 [[ 0.90514842 -0.1004536 -0.41305619 7.77281041] [ 0.12824105 0.99093487 0.04002897 0.37117512] [ 0.40529072 -0.08920292 0.90982541 0.90478573] [ 0. 0. 0. 1. ]] SLAMing on 47.279649246000005 meters Centerline goodness : 0.898455 Centerline is valid? [False, False] Translation: X:7.77, Y:0.37, Z:0.90 [[ 0.90493768 -0.10140181 -0.41328618 7.77478038] [ 0.12879855 0.99090772 0.03889514 0.37323129] [ 0.40558443 -0.08842834 0.90977014 0.90378374] [ 0. 0. 0. 1. ]] SLAMing on 47.309649246 meters Centerline goodness : 0.894998 Centerline is valid? [False, False] Translation: X:7.78, Y:0.38, Z:0.90 [[ 0.90485181 -0.10205982 -0.41331223 7.77637452] [ 0.12881348 0.99096686 0.03730647 0.37636502] [ 0.40577124 -0.08699701 0.90982483 0.90158755] [ 0. 0. 0. 1. ]] SLAMing on 47.339649246 meters Centerline goodness : 0.894505 Centerline is valid? [False, False] Translation: X:7.78, Y:0.38, Z:0.90 [[ 0.90485188 -0.10237964 -0.41323297 7.77671423] [ 0.1288419 0.99098938 0.03660332 0.37829319] [ 0.40576205 -0.08636231 0.90988939 0.900687 ] [ 0. 0. 0. 1. ]] SLAMing on 47.369649246 meters Centerline goodness : 0.894249 Centerline is valid? [False, False] Translation: X:7.78, Y:0.38, Z:0.90 [[ 0.90473257 -0.10269398 -0.41341617 7.7770452 ] [ 0.12901462 0.9909826 0.0361761 0.38036875] [ 0.40597317 -0.08606642 0.90982326 0.90067447] [ 0. 0. 0. 1. ]] SLAMing on 47.399649246 meters Centerline goodness : 0.893886 Centerline is valid? [False, False] Translation: X:7.78, Y:0.38, Z:0.90 [[ 0.9045859 -0.10298629 -0.41366432 7.77780423] [ 0.12924421 0.99096216 0.03591554 0.38063159] [ 0.40622688 -0.08595241 0.90972078 0.90079606] [ 0. 0. 0. 1. ]] SLAMing on 47.429649246000004 meters Centerline goodness : 0.890976 Centerline is valid? [False, False] Translation: X:7.78, Y:0.38, Z:0.90 [[ 0.90460809 -0.1031772 -0.41356822 7.77808627] [ 0.12936795 0.99095213 0.03574653 0.38126564] [ 0.40613808 -0.08583907 0.90977113 0.90047168] [ 0. 0. 0. 1. ]] SLAMing on 47.459649246000005 meters Centerline goodness : 0.891414 Centerline is valid? [False, False] Translation: X:7.78, Y:0.38, Z:0.90 [[ 0.90454466 -0.10336408 -0.41366028 7.77855809] [ 0.12958457 0.99092363 0.03575184 0.38096905] [ 0.40621029 -0.08594312 0.90972907 0.90062848] [ 0. 0. 0. 1. ]] SLAMing on 47.489649246 meters Centerline goodness : 0.894211 Centerline is valid? [False, False] Translation: X:7.78, Y:0.38, Z:0.90 [[ 0.90442553 -0.10317968 -0.41396669 7.77862154] [ 0.12977158 0.99086999 0.03655144 0.37941526] [ 0.4064158 -0.08677917 0.9095579 0.90214544] [ 0. 0. 0. 1. ]] SLAMing on 47.519649246 meters Centerline goodness : 0.894638 Centerline is valid? [False, False] Translation: X:7.78, Y:0.38, Z:0.90 [[ 0.9042625 -0.10323893 -0.41430792 7.77927253] [ 0.13000003 0.99082945 0.03683729 0.37859665] [ 0.40670545 -0.08717063 0.90939098 0.90300057] [ 0. 0. 0. 1. ]] SLAMing on 47.549649246 meters Centerline goodness : 0.894324 Centerline is valid? [False, False] Translation: X:7.78, Y:0.38, Z:0.90 [[ 0.90420733 -0.10775547 -0.41327698 7.77784173] [ 0.13316536 0.99054149 0.03308396 0.37786967] [ 0.40580301 -0.08494893 0.91000417 0.90199889] [ 0. 0. 0. 1. ]] SLAMing on 47.579649246 meters Centerline goodness : 0.896916 Centerline is valid? [False, False] Translation: X:7.78, Y:0.37, Z:0.90 [[ 0.90399683 -0.10798081 -0.41367847 7.77925993] [ 0.13369969 0.99045092 0.03363578 0.37481492] [ 0.4060962 -0.08571532 0.90980149 0.90318122] [ 0. 0. 0. 1. ]] SLAMing on 47.609649246000004 meters Centerline goodness : 0.896477 Centerline is valid? [False, False] Translation: X:7.78, Y:0.37, Z:0.90 [[ 0.90357373 -0.10890472 -0.41436007 7.78216942] [ 0.13465163 0.99033187 0.03334264 0.37445984] [ 0.40672281 -0.08592179 0.90950206 0.90368137] [ 0. 0. 0. 1. ]] SLAMing on 47.639649246000005 meters Centerline goodness : 0.900096 Centerline is valid? [False, False] Translation: X:7.78, Y:0.37, Z:0.91 [[ 0.90369107 -0.11059459 -0.413656 7.77846141] [ 0.13741945 0.9898744 0.03556088 0.37244309] [ 0.40553464 -0.08898043 0.9097385 0.90564483] [ 0. 0. 0. 1. ]] SLAMing on 47.669649246 meters Centerline goodness : 0.902788 Centerline is valid? [False, False] Translation: X:7.78, Y:0.37, Z:0.91 [[ 0.90327004 -0.11753388 -0.41266091 7.77686844] [ 0.14209633 0.98942125 0.02922701 0.37454445] [ 0.40486031 -0.08503749 0.9104157 0.90587283] [ 0. 0. 0. 1. ]] SLAMing on 47.699649246 meters Centerline goodness : 0.905030 Centerline is valid? [False, False] Translation: X:7.78, Y:0.37, Z:0.91 [[ 0.90814348 -0.11138451 -0.40357021 7.77746963] [ 0.13704371 0.98994065 0.0351644 0.37178098] [ 0.39559378 -0.08724108 0.91427269 0.90795137] [ 0. 0. 0. 1. ]] SLAMing on 47.729649246 meters Centerline goodness : 0.895766 Centerline is valid? [False, False] Translation: X:7.78, Y:0.37, Z:0.91 [[ 0.9092642 -0.1000723 -0.40401009 7.77917926] [ 0.13008551 0.9903663 0.04745887 0.3722954 ] [ 0.39536866 -0.09570851 0.91352258 0.90581295] [ 0. 0. 0. 1. ]] SLAMing on 47.759649246 meters Centerline goodness : 0.885105 Centerline is valid? [False, False] Translation: X:7.78, Y:0.37, Z:0.90 [[ 0.90985152 -0.09119273 -0.40478895 7.78120047] [ 0.12431594 0.99064702 0.05624967 0.372198 ] [ 0.3958734 -0.10150057 0.91267841 0.90467761] [ 0. 0. 0. 1. ]] SLAMing on 47.789649246 meters Centerline goodness : 0.883493 Centerline is valid? [False, False] Translation: X:7.78, Y:0.37, Z:0.91 [[ 0.91027833 -0.08505916 -0.40516453 7.78013875] [ 0.12037608 0.99076216 0.06244954 0.37071378] [ 0.39610978 -0.10561858 0.91210841 0.90562 ] [ 0. 0. 0. 1. ]] SLAMing on 47.819649246000004 meters Centerline goodness : 0.882042 Centerline is valid? [False, False] Translation: X:7.78, Y:0.37, Z:0.90 [[ 0.91005896 -0.09021844 -0.40454087 7.77975452] [ 0.12361858 0.99068235 0.05715708 0.37369533] [ 0.39561487 -0.10202508 0.91273203 0.90335027] [ 0. 0. 0. 1. ]] SLAMing on 47.849649246 meters Centerline goodness : 0.883788 Centerline is valid? [False, False] Translation: X:7.78, Y:0.37, Z:0.91 [[ 0.91458812 -0.08033128 -0.39632746 7.77873219] [ 0.11400223 0.99153747 0.06210423 0.36948118] [ 0.38798462 -0.10198201 0.91600633 0.90869258] [ 0. 0. 0. 1. ]] SLAMing on 47.879649246 meters Centerline goodness : 0.883914 Centerline is valid? [False, False] Translation: X:7.79, Y:0.37, Z:0.91 [[ 0.91654184 -0.08355424 -0.39111346 7.79312834] [ 0.11264046 0.99227516 0.05198209 0.37388165] [ 0.38374884 -0.09169895 0.91887329 0.90776617] [ 0. 0. 0. 1. ]] SLAMing on 47.909649246 meters Centerline goodness : 0.889120 Centerline is valid? [False, False] Translation: X:7.79, Y:0.37, Z:0.91 [[ 0.92154355 -0.07321267 -0.38131009 7.79318838] [ 0.10452854 0.9925847 0.06204354 0.36937711] [ 0.37394019 -0.09703361 0.92236284 0.9095557 ] [ 0. 0. 0. 1. ]] SLAMing on 47.939649246 meters Centerline goodness : 0.884334 Centerline is valid? [False, False] Translation: X:7.79, Y:0.37, Z:0.91 [[ 0.92150329 -0.07365655 -0.3813219 7.79377846] [ 0.1047844 0.99259204 0.06149205 0.37084966] [ 0.37396779 -0.09662171 0.92239489 0.90896245] [ 0. 0. 0. 1. ]] SLAMing on 47.969649246 meters Centerline goodness : 0.889598 Centerline is valid? [False, False] Translation: X:7.81, Y:0.37, Z:0.91 [[ 0.92389584 -0.07623038 -0.37497387 7.80593628] [ 0.10327241 0.99326522 0.05252623 0.37478982] [ 0.36844441 -0.08725322 0.92554611 0.90877534] [ 0. 0. 0. 1. ]] SLAMing on 47.999649246000004 meters Centerline goodness : 0.891041 Centerline is valid? [False, False] Translation: X:7.82, Y:0.38, Z:0.91 [[ 0.9259646 -0.07863962 -0.36933098 7.81874834] [ 0.10159972 0.99389124 0.04310094 0.37893054] [ 0.36368538 -0.07743387 0.92829787 0.90867601] [ 0. 0. 0. 1. ]] SLAMing on 48.029649246000005 meters Centerline goodness : 0.895553 Centerline is valid? [False, False] Translation: X:7.82, Y:0.38, Z:0.91 [[ 0.92588887 -0.07877405 -0.36949214 7.81901151] [ 0.10169089 0.99388938 0.04292859 0.37948441] [ 0.36385265 -0.07732109 0.92824172 0.90884706] [ 0. 0. 0. 1. ]] SLAMing on 48.059649246 meters Centerline goodness : 0.898958 Centerline is valid? [False, False] Translation: X:7.82, Y:0.38, Z:0.91 [[ 0.92586946 -0.07891132 -0.3695115 7.81897256] [ 0.10172953 0.99389756 0.04264684 0.38009246] [ 0.36389126 -0.07707563 0.928247 0.9087682 ] [ 0. 0. 0. 1. ]] SLAMing on 48.089649246 meters Centerline goodness : 0.897184 Centerline is valid? [False, False] Translation: X:7.82, Y:0.38, Z:0.91 [[ 0.92589255 -0.07900339 -0.36943396 7.81917609] [ 0.10155387 0.99394458 0.04196415 0.3817759 ] [ 0.36388157 -0.07637174 0.92830898 0.90777596] [ 0. 0. 0. 1. ]] SLAMing on 48.119649246 meters Centerline goodness : 0.890902 Centerline is valid? [False, False] Translation: X:7.82, Y:0.38, Z:0.91 [[ 0.92578876 -0.07964623 -0.36955602 7.82049192] [ 0.10187984 0.99395113 0.04100799 0.38418039] [ 0.36405449 -0.07561505 0.92830312 0.90673677] [ 0. 0. 0. 1. ]] SLAMing on 48.149649246 meters Centerline goodness : 0.892583 Centerline is valid? [False, False] Translation: X:7.82, Y:0.39, Z:0.90 [[ 0.92590277 -0.07943558 -0.36931565 7.82026837] [ 0.1012478 0.99405574 0.04002597 0.38829746] [ 0.36394085 -0.07445256 0.92844164 0.90484966] [ 0. 0. 0. 1. ]] SLAMing on 48.179649246000004 meters Centerline goodness : 0.892851 Centerline is valid? [False, False] Translation: X:7.82, Y:0.39, Z:0.90 [[ 0.92596572 -0.07950634 -0.36914257 7.81995397] [ 0.10104963 0.99410232 0.03936433 0.39042272] [ 0.36383577 -0.07375174 0.92853875 0.90398831] [ 0. 0. 0. 1. ]] SLAMing on 48.209649246000005 meters Centerline goodness : 0.893202 Centerline is valid? [False, False] Translation: X:7.82, Y:0.39, Z:0.90 [[ 0.92616985 -0.07466209 -0.36964169 7.82059669] [ 0.09718392 0.99435181 0.04265869 0.39282097] [ 0.36436889 -0.07543242 0.92819462 0.90358376] [ 0. 0. 0. 1. ]] SLAMing on 48.239649246 meters Centerline goodness : 0.889421 Centerline is valid? [False, False] Translation: X:7.82, Y:0.40, Z:0.90 [[ 0.92627281 -0.07478129 -0.3693595 7.82063882] [ 0.09694114 0.99441297 0.04177627 0.39538943] [ 0.36417179 -0.07450236 0.92834708 0.90201181] [ 0. 0. 0. 1. ]] SLAMing on 48.269649246 meters Centerline goodness : 0.889756 Centerline is valid? [False, False] Translation: X:7.82, Y:0.40, Z:0.90 [[ 0.92647682 -0.0739758 -0.36900987 7.81904802] [ 0.0959203 0.99452542 0.04145451 0.39694674] [ 0.36392307 -0.07380218 0.92850053 0.90105088] [ 0. 0. 0. 1. ]] SLAMing on 48.299649246 meters Centerline goodness : 0.890711 Centerline is valid? [False, False] Translation: X:7.82, Y:0.40, Z:0.90 [[ 0.92642759 -0.07394096 -0.36914042 7.81911873] [ 0.09583272 0.99454037 0.04129814 0.39760228] [ 0.36407143 -0.07363547 0.92845561 0.90110563] [ 0. 0. 0. 1. ]] SLAMing on 48.329649246 meters Centerline goodness : 0.890916 Centerline is valid? [False, False] Translation: X:7.82, Y:0.40, Z:0.90 [[ 0.92648875 -0.07353454 -0.36906812 7.81835538] [ 0.09531853 0.99459737 0.04111512 0.3985745 ] [ 0.3640508 -0.07327172 0.92849247 0.90083188] [ 0. 0. 0. 1. ]] SLAMing on 48.359649246000004 meters Centerline goodness : 0.891719 Centerline is valid? [False, False] Translation: X:7.82, Y:0.40, Z:0.90 [[ 0.92645243 -0.07430393 -0.36900519 7.81942937] [ 0.09564122 0.99461808 0.03984501 0.40219728] [ 0.36405859 -0.07220661 0.92857285 0.89932462] [ 0. 0. 0. 1. ]] SLAMing on 48.389649246000005 meters Centerline goodness : 0.890924 Centerline is valid? [False, False] Translation: X:7.82, Y:0.40, Z:0.90 [[ 0.92629555 -0.07947009 -0.36832194 7.81857879] [ 0.09930882 0.99443419 0.03519079 0.40470969] [ 0.36347532 -0.06917469 0.92903205 0.89820718] [ 0. 0. 0. 1. ]] SLAMing on 48.419649246 meters Centerline goodness : 0.893139 Centerline is valid? [False, False] Translation: X:7.82, Y:0.40, Z:0.90 [[ 0.92617995 -0.07974206 -0.36855379 7.81898625] [ 0.09962665 0.99440174 0.03520942 0.40446227] [ 0.36368286 -0.06932803 0.9289394 0.89881098] [ 0. 0. 0. 1. ]] SLAMing on 48.449649246 meters Centerline goodness : 0.887773 Centerline is valid? [False, False] Translation: X:7.82, Y:0.41, Z:0.90 [[ 0.92587259 -0.08086806 -0.36908036 7.82216845] [ 0.10048676 0.99435003 0.03421146 0.40565352] [ 0.36422845 -0.06876314 0.92876761 0.89790824] [ 0. 0. 0. 1. ]] SLAMing on 48.479649246 meters Centerline goodness : 0.885333 Centerline is valid? [False, False] Translation: X:7.82, Y:0.41, Z:0.90 [[ 0.92582217 -0.08121223 -0.36913125 7.82350901] [ 0.10063564 0.99435453 0.03363833 0.40695482] [ 0.36431549 -0.06829087 0.92876832 0.8968405 ] [ 0. 0. 0. 1. ]] SLAMing on 48.509649246 meters Centerline goodness : 0.883260 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.9257461 -0.07684392 -0.37025556 7.82635271] [ 0.09772944 0.99448909 0.03795272 0.40483935] [ 0.36529867 -0.07131945 0.92815431 0.89820429] [ 0. 0. 0. 1. ]] SLAMing on 48.539649246 meters Centerline goodness : 0.886411 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92563261 -0.08148409 -0.36954651 7.82550433] [ 0.10109915 0.9942955 0.03399139 0.40482582] [ 0.36466867 -0.06882438 0.92859031 0.89735298] [ 0. 0. 0. 1. ]] SLAMing on 48.569649246000004 meters Centerline goodness : 0.889339 Centerline is valid? [False, False] Translation: X:7.82, Y:0.40, Z:0.90 [[ 0.92553412 -0.08081682 -0.36993949 7.82489189] [ 0.10104129 0.99424552 0.03558799 0.4013795 ] [ 0.36493457 -0.07031706 0.92837399 0.89991332] [ 0. 0. 0. 1. ]] SLAMing on 48.599649246 meters Centerline goodness : 0.893859 Centerline is valid? [False, False] Translation: X:7.82, Y:0.40, Z:0.90 [[ 0.92537732 -0.08058846 -0.3703813 7.82493551] [ 0.10125112 0.99418548 0.03665307 0.39801432] [ 0.3652739 -0.07141944 0.92815637 0.9020108 ] [ 0. 0. 0. 1. ]] SLAMing on 48.629649246 meters Centerline goodness : 0.895367 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92529937 -0.08061697 -0.3705698 7.82540321] [ 0.10138534 0.99416353 0.03687656 0.39695242] [ 0.3654341 -0.0716922 0.92807227 0.90246546] [ 0. 0. 0. 1. ]] SLAMing on 48.659649246 meters Centerline goodness : 0.895120 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92523021 -0.08089957 -0.37068088 7.82631526] [ 0.10166782 0.99413754 0.03679942 0.39666144] [ 0.36553072 -0.07173425 0.92803097 0.90236787] [ 0. 0. 0. 1. ]] SLAMing on 48.689649246 meters Centerline goodness : 0.887056 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.9250599 -0.0815016 -0.37097396 7.82865603] [ 0.10223067 0.99408997 0.03652429 0.39581622] [ 0.3658047 -0.07171207 0.92792473 0.90188723] [ 0. 0. 0. 1. ]] SLAMing on 48.719649246 meters Centerline goodness : 0.887480 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92486938 -0.08206651 -0.37132427 7.83055402] [ 0.10271172 0.99405475 0.03613102 0.39544364] [ 0.36615151 -0.07155583 0.9278 0.90163769] [ 0. 0. 0. 1. ]] SLAMing on 48.749649246000004 meters Centerline goodness : 0.891327 Centerline is valid? [False, False] Translation: X:7.83, Y:0.39, Z:0.90 [[ 0.9246148 -0.08240113 -0.37188376 7.83231174] [ 0.10306289 0.99402345 0.03599194 0.39472545] [ 0.3666954 -0.0716061 0.92758129 0.90202036] [ 0. 0. 0. 1. ]] SLAMing on 48.779649246000005 meters Centerline goodness : 0.890622 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92465671 -0.08237038 -0.37178635 7.8323607 ] [ 0.10289338 0.99405272 0.03566712 0.39528939] [ 0.36663732 -0.0712342 0.92763288 0.90138752] [ 0. 0. 0. 1. ]] SLAMing on 48.809649246 meters Centerline goodness : 0.890622 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92465671 -0.08237038 -0.37178635 7.8323607 ] [ 0.10289338 0.99405272 0.03566712 0.39528939] [ 0.36663732 -0.0712342 0.92763288 0.90138752] [ 0. 0. 0. 1. ]] SLAMing on 48.839649246 meters Centerline goodness : 0.892602 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92461865 -0.08257338 -0.37183596 7.8330229 ] [ 0.1029854 0.99405496 0.03533748 0.39604681] [ 0.36670745 -0.07096737 0.92762561 0.90096737] [ 0. 0. 0. 1. ]] SLAMing on 48.869649246 meters Centerline goodness : 0.894447 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92475855 -0.08221633 -0.3715671 7.8322219 ] [ 0.10253664 0.9941052 0.03522904 0.39697633] [ 0.36648038 -0.0706776 0.92773747 0.90040363] [ 0. 0. 0. 1. ]] SLAMing on 48.899649246 meters Centerline goodness : 0.892716 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92474456 -0.08227281 -0.37158939 7.83221633] [ 0.10253335 0.99411143 0.0350624 0.39796511] [ 0.36651658 -0.07052407 0.92773485 0.90036912] [ 0. 0. 0. 1. ]] SLAMing on 48.929649246000004 meters Centerline goodness : 0.889368 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92487524 -0.08221528 -0.37127676 7.83166923] [ 0.10230694 0.99414712 0.03471016 0.39955993] [ 0.36625001 -0.07008676 0.92787325 0.8996131 ] [ 0. 0. 0. 1. ]] SLAMing on 48.959649246000005 meters Centerline goodness : 0.895958 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92470213 -0.08274237 -0.37159072 7.83280337] [ 0.10288083 0.99408951 0.03466395 0.39927726] [ 0.36652626 -0.07028339 0.92774929 0.90010986] [ 0. 0. 0. 1. ]] SLAMing on 48.989649246 meters Centerline goodness : 0.891843 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.92456899 -0.08307852 -0.37184693 7.83352381] [ 0.10329209 0.9940443 0.03473723 0.39876265] [ 0.3667464 -0.07052581 0.92764389 0.90067635] [ 0. 0. 0. 1. ]] SLAMing on 49.019649246 meters Centerline goodness : 0.889172 Centerline is valid? [False, False] Translation: X:7.83, Y:0.40, Z:0.90 [[ 0.9244493 -0.08343891 -0.37206376 7.83455522] [ 0.10374717 0.99399249 0.03486324 0.39790029] [ 0.36691963 -0.07082986 0.92755222 0.90106255] [ 0. 0. 0. 1. ]] SLAMing on 49.049649246 meters Centerline goodness : 0.898628 Centerline is valid? [False, False] Translation: X:7.84, Y:0.40, Z:0.90 [[ 0.92416657 -0.08371297 -0.37270402 7.83602109] [ 0.10436374 0.99390389 0.03554251 0.39597112] [ 0.36745661 -0.07174398 0.92726935 0.90269319] [ 0. 0. 0. 1. ]] SLAMing on 49.079649246 meters Centerline goodness : 0.895614 Centerline is valid? [False, False] Translation: X:7.84, Y:0.39, Z:0.90 [[ 0.92395855 -0.08391094 -0.37317496 7.83710702] [ 0.10478869 0.99384351 0.03597793 0.39424006] [ 0.36785857 -0.07234663 0.92706312 0.90384196] [ 0. 0. 0. 1. ]] SLAMing on 49.109649246000004 meters Centerline goodness : 0.895960 Centerline is valid? [False, False] Translation: X:7.84, Y:0.39, Z:0.90 [[ 0.92390846 -0.08837254 -0.37226798 7.83572177] [ 0.10794127 0.99364173 0.03201244 0.39476809] [ 0.36707197 -0.06975964 0.92757305 0.90275004] [ 0. 0. 0. 1. ]] SLAMing on 49.139649246000005 meters Centerline goodness : 0.898391 Centerline is valid? [False, False] Translation: X:7.84, Y:0.39, Z:0.91 [[ 0.92330525 -0.08954811 -0.37348166 7.83895154] [ 0.10980324 0.99339643 0.0332684 0.39191919] [ 0.36803622 -0.07172638 0.92704081 0.90636223] [ 0. 0. 0. 1. ]] SLAMing on 49.169649246 meters Centerline goodness : 0.899641 Centerline is valid? [False, False] Translation: X:7.84, Y:0.39, Z:0.91 [[ 0.92295207 -0.09056315 -0.37410934 7.84204319] [ 0.11084067 0.9932902 0.03299872 0.39069089] [ 0.36861067 -0.07192276 0.92679733 0.9066359 ] [ 0. 0. 0. 1. ]] SLAMing on 49.199649246 meters Centerline goodness : 0.897455 Centerline is valid? [False, False] Translation: X:7.84, Y:0.39, Z:0.91 [[ 0.92267895 -0.09121153 -0.37462516 7.84408975] [ 0.11147943 0.99322722 0.03274192 0.3905457 ] [ 0.36910146 -0.07197328 0.92659806 0.90691671] [ 0. 0. 0. 1. ]] SLAMing on 49.229649246 meters Centerline goodness : 0.902181 Centerline is valid? [False, False] Translation: X:7.84, Y:0.39, Z:0.91 [[ 0.92253542 -0.09127293 -0.37496353 7.84437893] [ 0.11172527 0.993187 0.03312172 0.39026823] [ 0.36938578 -0.07244886 0.92644768 0.90811591] [ 0. 0. 0. 1. ]] SLAMing on 49.259649246 meters Centerline goodness : 0.902461 Centerline is valid? [False, False] Translation: X:7.84, Y:0.39, Z:0.91 [[ 0.92263389 -0.09115624 -0.37474959 7.84394731] [ 0.11163738 0.99319221 0.03326157 0.39014805] [ 0.36916637 -0.07252432 0.92652923 0.90805001] [ 0. 0. 0. 1. ]] SLAMing on 49.289649246 meters Centerline goodness : 0.904257 Centerline is valid? [False, False] Translation: X:7.85, Y:0.39, Z:0.91 [[ 0.9224605 -0.09162758 -0.37506135 7.8451532 ] [ 0.11208576 0.99314885 0.03304755 0.39061214] [ 0.36946368 -0.0725241 0.92641073 0.90823533] [ 0. 0. 0. 1. ]] SLAMing on 49.319649246000004 meters Centerline goodness : 0.903677 Centerline is valid? [False, False] Translation: X:7.85, Y:0.39, Z:0.91 [[ 0.92237137 -0.09213936 -0.37515515 7.84632529] [ 0.11246281 0.99312129 0.03259162 0.39146215] [ 0.3695716 -0.07225258 0.9263889 0.90771446] [ 0. 0. 0. 1. ]] SLAMing on 49.349649246000006 meters Centerline goodness : 0.903532 Centerline is valid? [False, False] Translation: X:7.85, Y:0.39, Z:0.91 [[ 0.9220481 -0.09294684 -0.37575016 7.84839323] [ 0.11333641 0.99302575 0.03247642 0.39169071] [ 0.370111 -0.072531 0.92615177 0.90854213] [ 0. 0. 0. 1. ]] SLAMing on 49.379649246 meters Centerline goodness : 0.906026 Centerline is valid? [False, False] Translation: X:7.85, Y:0.39, Z:0.91 [[ 0.92175094 -0.09362665 -0.37631005 7.85034272] [ 0.11406203 0.99294706 0.03234161 0.39094983] [ 0.37062792 -0.0727336 0.92592914 0.90921684] [ 0. 0. 0. 1. ]] SLAMing on 49.409649246 meters Centerline goodness : 0.902719 Centerline is valid? [False, False] Translation: X:7.85, Y:0.39, Z:0.91 [[ 0.92146894 -0.09413711 -0.37687293 7.85208615] [ 0.11469261 0.99287175 0.03242365 0.39007075] [ 0.37113422 -0.07310192 0.92569731 0.91017148] [ 0. 0. 0. 1. ]] SLAMing on 49.439649246 meters Centerline goodness : 0.902431 Centerline is valid? [False, False] Translation: X:7.85, Y:0.39, Z:0.91 [[ 0.92122338 -0.09489359 -0.3772833 7.854043 ] [ 0.11541661 0.99279807 0.03210931 0.39017311] [ 0.37151917 -0.0731246 0.92554109 0.9103308 ] [ 0. 0. 0. 1. ]] SLAMing on 49.469649246 meters Centerline goodness : 0.905426 Centerline is valid? [False, False] Translation: X:7.86, Y:0.39, Z:0.91 [[ 0.92107211 -0.09535844 -0.37753534 7.85547235] [ 0.11582921 0.99275882 0.03183575 0.39074556] [ 0.37176573 -0.07305264 0.92544776 0.91016545] [ 0. 0. 0. 1. ]] SLAMing on 49.499649246000004 meters Centerline goodness : 0.899136 Centerline is valid? [False, False] Translation: X:7.86, Y:0.39, Z:0.91 [[ 0.9206858 -0.09658072 -0.37816641 7.85945405] [ 0.11698495 0.99264035 0.03129962 0.39088595] [ 0.37236029 -0.0730569 0.92520836 0.90981377] [ 0. 0. 0. 1. ]] SLAMing on 49.529649246000005 meters Centerline goodness : 0.900018 Centerline is valid? [False, False] Translation: X:7.86, Y:0.39, Z:0.91 [[ 0.92049546 -0.09694431 -0.37853653 7.86061193] [ 0.1173488 0.99260206 0.03115133 0.39068831] [ 0.3727162 -0.07309547 0.92506199 0.91016844] [ 0. 0. 0. 1. ]] SLAMing on 49.559649246 meters Centerline goodness : 0.901409 Centerline is valid? [False, False] Translation: X:7.86, Y:0.39, Z:0.91 [[ 0.92031777 -0.09653351 -0.37907319 7.86028723] [ 0.11736058 0.99256834 0.03216509 0.3888042 ] [ 0.37315104 -0.07409036 0.92480751 0.9125116 ] [ 0. 0. 0. 1. ]] SLAMing on 49.589649246 meters Centerline goodness : 0.899975 Centerline is valid? [False, False] Translation: X:7.86, Y:0.39, Z:0.91 [[ 0.92020516 -0.09691204 -0.37924993 7.86151292] [ 0.11778107 0.99251877 0.03215748 0.38790854] [ 0.37329623 -0.07425994 0.9247353 0.91261767] [ 0. 0. 0. 1. ]] SLAMing on 49.619649246 meters Centerline goodness : 0.899818 Centerline is valid? [False, False] Translation: X:7.86, Y:0.39, Z:0.91 [[ 0.91999333 -0.09765803 -0.37957236 7.86366968] [ 0.11843989 0.99245422 0.03172725 0.38819499] [ 0.37360977 -0.07414537 0.92461787 0.91229477] [ 0. 0. 0. 1. ]] SLAMing on 49.649649246 meters Centerline goodness : 0.899682 Centerline is valid? [False, False] Translation: X:7.87, Y:0.39, Z:0.91 [[ 0.9196667 -0.09845887 -0.38015657 7.86619561] [ 0.11922202 0.99237098 0.03139967 0.38838211] [ 0.37416478 -0.07420027 0.92438901 0.91251073] [ 0. 0. 0. 1. ]] SLAMing on 49.679649246000004 meters Centerline goodness : 0.903027 Centerline is valid? [False, False] Translation: X:7.87, Y:0.39, Z:0.91 [[ 0.91922207 -0.09965196 -0.3809203 7.86996446] [ 0.12037799 0.99224676 0.03091137 0.38802527] [ 0.37488656 -0.07426883 0.92409102 0.91267818] [ 0. 0. 0. 1. ]] SLAMing on 49.709649246000005 meters Centerline goodness : 0.903116 Centerline is valid? [False, False] Translation: X:7.87, Y:0.38, Z:0.92 [[ 0.92318409 -0.09070463 -0.37350208 7.87420169] [ 0.11343965 0.99276749 0.03929584 0.38211368] [ 0.36723641 -0.07864724 0.92679665 0.91564025] [ 0. 0. 0. 1. ]] SLAMing on 49.739649246 meters Centerline goodness : 0.902196 Centerline is valid? [False, False] Translation: X:7.88, Y:0.38, Z:0.92 [[ 0.92304469 -0.09102856 -0.37376771 7.87525377] [ 0.11377478 0.99273288 0.03920125 0.38210076] [ 0.36748306 -0.07870985 0.92669356 0.91584673] [ 0. 0. 0. 1. ]] SLAMing on 49.769649246 meters Centerline goodness : 0.900034 Centerline is valid? [False, False] Translation: X:7.88, Y:0.38, Z:0.92 [[ 0.92282719 -0.09148639 -0.37419276 7.87660895] [ 0.11435191 0.992662 0.03931661 0.38175744] [ 0.36785 -0.07907209 0.92651713 0.91667928] [ 0. 0. 0. 1. ]] SLAMing on 49.799649246 meters Centerline goodness : 0.900992 Centerline is valid? [False, False] Translation: X:7.88, Y:0.38, Z:0.92 [[ 0.92266508 -0.09201787 -0.37446209 7.8779638 ] [ 0.11481165 0.9926225 0.03897242 0.38231571] [ 0.36811334 -0.0789511 0.92642285 0.91660131] [ 0. 0. 0. 1. ]] SLAMing on 49.829649246 meters Centerline goodness : 0.898542 Centerline is valid? [False, False] Translation: X:7.88, Y:0.38, Z:0.92 [[ 0.92251721 -0.09248792 -0.37471053 7.87926267] [ 0.1151128 0.99260991 0.03840059 0.38355367] [ 0.3683898 -0.07855918 0.92634627 0.91619854] [ 0. 0. 0. 1. ]] SLAMing on 49.859649246000004 meters Centerline goodness : 0.900071 Centerline is valid? [False, False] Translation: X:7.88, Y:0.38, Z:0.92 [[ 0.92243083 -0.09285829 -0.37483157 7.88020773] [ 0.1153325 0.99260276 0.03792331 0.38477635] [ 0.36853736 -0.07821189 0.92631696 0.91577064] [ 0. 0. 0. 1. ]] SLAMing on 49.889649246000005 meters Centerline goodness : 0.903747 Centerline is valid? [False, False] Translation: X:7.88, Y:0.38, Z:0.92 [[ 0.92686253 -0.08323106 -0.36605798 7.88177989] [ 0.10717518 0.99319645 0.04554433 0.38128354] [ 0.35977679 -0.08144566 0.92947688 0.9183253 ] [ 0. 0. 0. 1. ]] SLAMing on 49.919649246 meters Centerline goodness : 0.903385 Centerline is valid? [False, False] Translation: X:7.88, Y:0.38, Z:0.92 [[ 0.92693565 -0.08336014 -0.36584339 7.88162795] [ 0.10687805 0.99327711 0.04447083 0.38456523] [ 0.35967677 -0.08032223 0.92961334 0.91680963] [ 0. 0. 0. 1. ]] SLAMing on 49.949649246 meters Centerline goodness : 0.903659 Centerline is valid? [False, False] Translation: X:7.88, Y:0.39, Z:0.92 [[ 0.92683265 -0.08396174 -0.36596675 7.8829866 ] [ 0.10696728 0.993332 0.04300635 0.38821597] [ 0.35991559 -0.07900616 0.92963369 0.91505381] [ 0. 0. 0. 1. ]] SLAMing on 49.979649246 meters Centerline goodness : 0.905890 Centerline is valid? [False, False] Translation: X:7.88, Y:0.39, Z:0.91 [[ 0.92668237 -0.08440801 -0.36624454 7.88430122] [ 0.10722039 0.99333249 0.04235975 0.38951854] [ 0.3602271 -0.07852292 0.92955397 0.91457403] [ 0. 0. 0. 1. ]] SLAMing on 50.009649246 meters Centerline goodness : 0.907520 Centerline is valid? [False, False] Translation: X:7.89, Y:0.39, Z:0.91 [[ 0.92647597 -0.08497944 -0.36663437 7.88593984] [ 0.10760094 0.99332049 0.04167058 0.3907097 ] [ 0.36064429 -0.07805699 0.92943144 0.91417203] [ 0. 0. 0. 1. ]] SLAMing on 50.039649246 meters Centerline goodness : 0.904524 Centerline is valid? [False, False] Translation: X:7.89, Y:0.39, Z:0.91 [[ 0.92624392 -0.08602107 -0.36697763 7.88873522] [ 0.10824006 0.99330513 0.04036086 0.39291109] [ 0.36104888 -0.07710568 0.92935377 0.91272895] [ 0. 0. 0. 1. ]] SLAMing on 50.069649246000004 meters Centerline goodness : 0.907601 Centerline is valid? [False, False] Translation: X:7.89, Y:0.39, Z:0.91 [[ 0.92575692 -0.08721103 -0.3679244 7.89135674] [ 0.10963103 0.99314944 0.04043793 0.39198092] [ 0.36187728 -0.07777162 0.928976 0.91470758] [ 0. 0. 0. 1. ]] SLAMing on 50.099649246000006 meters Centerline goodness : 0.908872 Centerline is valid? [False, False] Translation: X:7.89, Y:0.39, Z:0.91 [[ 0.9254694 -0.08816965 -0.36841892 7.89388009] [ 0.11039504 0.99309675 0.03964574 0.39350021] [ 0.36238008 -0.07736255 0.92881414 0.9142849 ] [ 0. 0. 0. 1. ]] SLAMing on 50.129649246 meters Centerline goodness : 0.906002 Centerline is valid? [False, False] Translation: X:7.90, Y:0.40, Z:0.91 [[ 0.92511587 -0.08976819 -0.36892044 7.89800902] [ 0.11168692 0.99299946 0.03844616 0.39507037] [ 0.36288656 -0.07677074 0.92866549 0.91311045] [ 0. 0. 0. 1. ]] SLAMing on 50.159649246 meters Centerline goodness : 0.906953 Centerline is valid? [False, False] Translation: X:7.90, Y:0.40, Z:0.91 [[ 0.92477436 -0.09053149 -0.36958955 7.90036517] [ 0.1124926 0.99291574 0.038259 0.39525411] [ 0.36350764 -0.07695703 0.92840714 0.9137363 ] [ 0. 0. 0. 1. ]] SLAMing on 50.189649246 meters Centerline goodness : 0.904495 Centerline is valid? [False, False] Translation: X:7.90, Y:0.40, Z:0.91 [[ 0.92449783 -0.09105304 -0.37015281 7.90217282] [ 0.1130586 0.99285579 0.0381461 0.39515253] [ 0.36403504 -0.07711494 0.92818736 0.91431916] [ 0. 0. 0. 1. ]] SLAMing on 50.219649246 meters Centerline goodness : 0.907517 Centerline is valid? [False, False] Translation: X:7.90, Y:0.39, Z:0.92 [[ 0.92435143 -0.09072168 -0.37059953 7.90204259] [ 0.11311806 0.99281182 0.03910228 0.39329827] [ 0.36438817 -0.07806575 0.92796929 0.91638273] [ 0. 0. 0. 1. ]] SLAMing on 50.249649246000004 meters Centerline goodness : 0.910297 Centerline is valid? [False, False] Translation: X:7.90, Y:0.39, Z:0.92 [[ 0.92426803 -0.09045971 -0.37087148 7.90203439] [ 0.1130842 0.99279317 0.03966961 0.39236009] [ 0.36461017 -0.07860506 0.92783655 0.91757269] [ 0. 0. 0. 1. ]] SLAMing on 50.279649246000005 meters Centerline goodness : 0.909166 Centerline is valid? [False, False] Translation: X:7.90, Y:0.39, Z:0.92 [[ 0.92407574 -0.09073096 -0.37128414 7.90324983] [ 0.11339127 0.99276037 0.0396139 0.3922177 ] [ 0.36500198 -0.07870663 0.92767388 0.91798958] [ 0. 0. 0. 1. ]] SLAMing on 50.309649246 meters Centerline goodness : 0.911101 Centerline is valid? [False, False] Translation: X:7.90, Y:0.39, Z:0.92 [[ 0.92386925 -0.09100796 -0.37172995 7.90442287] [ 0.11370872 0.99272617 0.03956099 0.3922372 ] [ 0.36542568 -0.07881812 0.92749759 0.91851677] [ 0. 0. 0. 1. ]] SLAMing on 50.339649246 meters Centerline goodness : 0.907599 Centerline is valid? [False, False] Translation: X:7.91, Y:0.39, Z:0.92 [[ 0.9235033 -0.09183104 -0.37243618 7.90719583] [ 0.11443189 0.99266573 0.03898843 0.39281915] [ 0.36612429 -0.07862452 0.92723848 0.9186166 ] [ 0. 0. 0. 1. ]] SLAMing on 50.369649246 meters Centerline goodness : 0.910960 Centerline is valid? [False, False] Translation: X:7.91, Y:0.39, Z:0.92 [[ 0.92326606 -0.09278579 -0.37278759 7.9102004 ] [ 0.11515385 0.99261531 0.03813714 0.39438051] [ 0.36649609 -0.07813866 0.92713266 0.91758134] [ 0. 0. 0. 1. ]] SLAMing on 50.399649246 meters Centerline goodness : 0.904721 Centerline is valid? [False, False] Translation: X:7.91, Y:0.39, Z:0.92 [[ 0.92305256 -0.09343466 -0.37315404 7.91194808] [ 0.11571874 0.99256565 0.03771754 0.39498065] [ 0.36685576 -0.07799619 0.9270024 0.91752364] [ 0. 0. 0. 1. ]] SLAMing on 50.429649246000004 meters Centerline goodness : 0.906355 Centerline is valid? [False, False] Translation: X:7.91, Y:0.39, Z:0.92 [[ 0.92281087 -0.09396875 -0.3736174 7.91375573] [ 0.11626558 0.99250839 0.03754206 0.39483334] [ 0.36729063 -0.07808306 0.92682287 0.91785042] [ 0. 0. 0. 1. ]] SLAMing on 50.459649246000005 meters Centerline goodness : 0.911276 Centerline is valid? [False, False] Translation: X:7.92, Y:0.39, Z:0.92 [[ 0.92222675 -0.0913148 -0.3757119 7.91954296] [ 0.11555135 0.99239455 0.04243739 0.39287153] [ 0.36897929 -0.08255092 0.92576435 0.92265986] [ 0. 0. 0. 1. ]] SLAMing on 50.489649246 meters Centerline goodness : 0.910221 Centerline is valid? [False, False] Translation: X:7.92, Y:0.39, Z:0.92 [[ 0.92209579 -0.09205423 -0.37585287 7.92156666] [ 0.11597076 0.99238696 0.04145965 0.39438964] [ 0.36917495 -0.08181771 0.92575143 0.92137978] [ 0. 0. 0. 1. ]] SLAMing on 50.519649246 meters Centerline goodness : 0.908143 Centerline is valid? [False, False] Translation: X:7.92, Y:0.40, Z:0.92 [[ 0.92196743 -0.09242207 -0.3760774 7.92289651] [ 0.11621068 0.99237736 0.04101519 0.39538694] [ 0.36941999 -0.08151888 0.92568004 0.92094277] [ 0. 0. 0. 1. ]] SLAMing on 50.549649246 meters Centerline goodness : 0.908584 Centerline is valid? [False, False] Translation: X:7.92, Y:0.40, Z:0.92 [[ 0.92172713 -0.09288406 -0.37655231 7.92419586] [ 0.11661781 0.99234354 0.04067669 0.39646733] [ 0.36989104 -0.08140551 0.9255019 0.92129204] [ 0. 0. 0. 1. ]] SLAMing on 50.579649246 meters Centerline goodness : 0.909781 Centerline is valid? [False, False] Translation: X:7.92, Y:0.40, Z:0.92 [[ 0.921574 -0.09299376 -0.37689989 7.92481014] [ 0.1166221 0.992358 0.04030987 0.39807527] [ 0.37027106 -0.08110339 0.92537646 0.92147029] [ 0. 0. 0. 1. ]] SLAMing on 50.609649246000004 meters Centerline goodness : 0.911087 Centerline is valid? [False, False] Translation: X:7.93, Y:0.40, Z:0.92 [[ 0.92134657 -0.09355148 -0.37731765 7.92646408] [ 0.11707204 0.99232419 0.03983521 0.39926235] [ 0.37069479 -0.08087538 0.92522675 0.92144557] [ 0. 0. 0. 1. ]] SLAMing on 50.639649246000005 meters Centerline goodness : 0.909085 Centerline is valid? [False, False] Translation: X:7.93, Y:0.40, Z:0.92 [[ 0.9211288 -0.09368037 -0.37781704 7.92747975] [ 0.11709415 0.99233788 0.03942705 0.40072228] [ 0.37122862 -0.08055756 0.92504043 0.92161612] [ 0. 0. 0. 1. ]] SLAMing on 50.669649246 meters Centerline goodness : 0.909380 Centerline is valid? [False, False] Translation: X:7.93, Y:0.40, Z:0.92 [[ 0.92096236 -0.09373788 -0.37820833 7.92805389] [ 0.11707328 0.99235212 0.03912949 0.40236813] [ 0.37164792 -0.08031488 0.92489315 0.92191264] [ 0. 0. 0. 1. ]] SLAMing on 50.699649246 meters Centerline goodness : 0.909380 Centerline is valid? [False, False] Translation: X:7.93, Y:0.40, Z:0.92 [[ 0.92096236 -0.09373788 -0.37820833 7.92805389] [ 0.11707328 0.99235212 0.03912949 0.40236813] [ 0.37164792 -0.08031488 0.92489315 0.92191264] [ 0. 0. 0. 1. ]] SLAMing on 50.729649246 meters Centerline goodness : 0.911401 Centerline is valid? [False, False] Translation: X:7.93, Y:0.40, Z:0.92 [[ 0.92074108 -0.09431842 -0.37860255 7.92990207] [ 0.11753267 0.9923176 0.03862449 0.40371957] [ 0.37205098 -0.08006133 0.92475308 0.92167891] [ 0. 0. 0. 1. ]] SLAMing on 50.759649246 meters Centerline goodness : 0.907156 Centerline is valid? [False, False] Translation: X:7.93, Y:0.41, Z:0.92 [[ 0.92046261 -0.09496882 -0.37911675 7.93205376] [ 0.1180952 0.99226873 0.0381614 0.40516487] [ 0.37256155 -0.07989801 0.92456163 0.92167023] [ 0. 0. 0. 1. ]] SLAMing on 50.789649246 meters Centerline goodness : 0.907904 Centerline is valid? [False, False] Translation: X:7.93, Y:0.41, Z:0.92 [[ 0.9202759 -0.09521039 -0.37950921 7.93308077] [ 0.11831907 0.99224902 0.03798001 0.40561772] [ 0.37295155 -0.07985527 0.92440807 0.92200274] [ 0. 0. 0. 1. ]] SLAMing on 50.819649246000004 meters Centerline goodness : 0.914557 Centerline is valid? [False, False] Translation: X:7.93, Y:0.41, Z:0.92 [[ 0.92025938 -0.09463936 -0.37969207 7.93197959] [ 0.11785867 0.99229064 0.03832263 0.40606205] [ 0.37313806 -0.08001677 0.92431883 0.92296551] [ 0. 0. 0. 1. ]] SLAMing on 50.849649246000006 meters Centerline goodness : 0.916537 Centerline is valid? [False, False] Translation: X:7.93, Y:0.41, Z:0.92 [[ 0.92015877 -0.09452027 -0.37996547 7.93215388] [ 0.11774945 0.99230421 0.03830697 0.40658134] [ 0.37342055 -0.07998922 0.92420713 0.92336279] [ 0. 0. 0. 1. ]] SLAMing on 50.879649246 meters Centerline goodness : 0.917836 Centerline is valid? [False, False] Translation: X:7.93, Y:0.41, Z:0.92 [[ 0.92007082 -0.09438999 -0.38021074 7.93226387] [ 0.11757055 0.99233126 0.0381554 0.40752661] [ 0.37369352 -0.07980726 0.92411252 0.92356802] [ 0. 0. 0. 1. ]] SLAMing on 50.909649246 meters Centerline goodness : 0.918480 Centerline is valid? [False, False] Translation: X:7.93, Y:0.41, Z:0.92 [[ 0.91992206 -0.09455494 -0.38052959 7.93269061] [ 0.11762619 0.99233904 0.03777988 0.40974338] [ 0.37404209 -0.07951479 0.92399671 0.92378166] [ 0. 0. 0. 1. ]] SLAMing on 50.939649246 meters Centerline goodness : 0.919087 Centerline is valid? [False, False] Translation: X:7.93, Y:0.41, Z:0.92 [[ 0.91967016 -0.09543365 -0.3809189 7.93405345] [ 0.11844057 0.99225803 0.03736084 0.41145448] [ 0.37440436 -0.0794759 0.92385332 0.9243358 ] [ 0. 0. 0. 1. ]] SLAMing on 50.969649246 meters Centerline goodness : 0.919967 Centerline is valid? [False, False] Translation: X:7.94, Y:0.41, Z:0.92 [[ 0.91945297 -0.0958242 -0.38134493 7.93517664] [ 0.11876377 0.99223213 0.03702121 0.4128181 ] [ 0.37483516 -0.07932923 0.92369122 0.92464318] [ 0. 0. 0. 1. ]] SLAMing on 50.999649246000004 meters Centerline goodness : 0.915366 Centerline is valid? [False, False] Translation: X:7.94, Y:0.42, Z:0.92 [[ 0.91925692 -0.09643474 -0.38166354 7.93711446] [ 0.11901477 0.99224165 0.03594418 0.41590382] [ 0.37523619 -0.07846553 0.92360217 0.9235537 ] [ 0. 0. 0. 1. ]] SLAMing on 51.029649246000005 meters Centerline goodness : 0.913511 Centerline is valid? [False, False] Translation: X:7.94, Y:0.42, Z:0.92 [[ 0.91918115 -0.09680858 -0.38175139 7.93841924] [ 0.11915252 0.9922493 0.03527034 0.41781817] [ 0.37537808 -0.07790647 0.92359184 0.92255057] [ 0. 0. 0. 1. ]] SLAMing on 51.059649246 meters Centerline goodness : 0.914131 Centerline is valid? [False, False] Translation: X:7.94, Y:0.42, Z:0.92 [[ 0.91879983 -0.09402001 -0.38336289 7.94397766] [ 0.11757358 0.99232071 0.03841943 0.41789109] [ 0.37680674 -0.08037311 0.92279837 0.9236916 ] [ 0. 0. 0. 1. ]] SLAMing on 51.089649246 meters Centerline goodness : 0.912110 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.92 [[ 0.91865809 -0.09460425 -0.3835588 7.94591498] [ 0.11799598 0.99229194 0.03786361 0.41840204] [ 0.37702025 -0.0800421 0.92273994 0.92297809] [ 0. 0. 0. 1. ]] SLAMing on 51.119649246 meters Centerline goodness : 0.910380 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.92 [[ 0.91828893 -0.09539757 -0.38424568 7.94892902] [ 0.11875858 0.9922157 0.03747531 0.41778043] [ 0.37767955 -0.08004563 0.92246998 0.9231497 ] [ 0. 0. 0. 1. ]] SLAMing on 51.149649246 meters Centerline goodness : 0.908240 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.92 [[ 0.91805174 -0.09564295 -0.38475112 7.95039341] [ 0.11912417 0.99216699 0.03760449 0.41698534] [ 0.37814075 -0.08035602 0.92225402 0.92382976] [ 0. 0. 0. 1. ]] SLAMing on 51.179649246000004 meters Centerline goodness : 0.909917 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.92 [[ 0.91760522 -0.09651757 -0.38559696 7.95345828] [ 0.12012237 0.99204913 0.03753853 0.41601612] [ 0.378908 -0.08076437 0.92190338 0.92484016] [ 0. 0. 0. 1. ]] SLAMing on 51.209649246000005 meters Centerline goodness : 0.916133 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.93 [[ 0.91732017 -0.09697042 -0.38616115 7.95506204] [ 0.12066317 0.99198372 0.03753273 0.41572474] [ 0.37942601 -0.08102496 0.92166743 0.92558841] [ 0. 0. 0. 1. ]] SLAMing on 51.239649246 meters Centerline goodness : 0.913237 Centerline is valid? [False, False] Translation: X:7.96, Y:0.41, Z:0.93 [[ 0.91703332 -0.09731721 -0.38675476 7.95692594] [ 0.12125192 0.99189743 0.03791385 0.41480211] [ 0.37993138 -0.08166302 0.92140289 0.92672883] [ 0. 0. 0. 1. ]] SLAMing on 51.269649246 meters Centerline goodness : 0.912905 Centerline is valid? [False, False] Translation: X:7.96, Y:0.41, Z:0.93 [[ 0.91694424 -0.09749535 -0.38692107 7.95763497] [ 0.12146208 0.99187158 0.0379175 0.41466255] [ 0.38007923 -0.08176447 0.92133292 0.92689525] [ 0. 0. 0. 1. ]] SLAMing on 51.299649246 meters Centerline goodness : 0.915269 Centerline is valid? [False, False] Translation: X:7.96, Y:0.41, Z:0.93 [[ 0.91654324 -0.09806373 -0.38772669 7.95994183] [ 0.12219062 0.99177875 0.03800475 0.41422534] [ 0.38081221 -0.08220956 0.92099058 0.92809715] [ 0. 0. 0. 1. ]] SLAMing on 51.329649246 meters Centerline goodness : 0.913384 Centerline is valid? [False, False] Translation: X:7.96, Y:0.41, Z:0.93 [[ 0.91628722 -0.09836547 -0.38825502 7.96124393] [ 0.12253871 0.99173854 0.03793338 0.41404384] [ 0.38131613 -0.08233414 0.92077093 0.92876851] [ 0. 0. 0. 1. ]] SLAMing on 51.359649246000004 meters Centerline goodness : 0.914600 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.93 [[ 0.91591546 -0.09910811 -0.38894273 7.96373189] [ 0.12315137 0.99168623 0.03731165 0.41539915] [ 0.38201126 -0.08207315 0.92050606 0.92885774] [ 0. 0. 0. 1. ]] SLAMing on 51.389649246000005 meters Centerline goodness : 0.912596 Centerline is valid? [False, False] Translation: X:7.97, Y:0.42, Z:0.93 [[ 0.91561276 -0.09985856 -0.38946315 7.96588315] [ 0.12383527 0.99161718 0.03688074 0.41588487] [ 0.38251549 -0.08199775 0.92030336 0.92904525] [ 0. 0. 0. 1. ]] SLAMing on 51.419649246 meters Centerline goodness : 0.908894 Centerline is valid? [False, False] Translation: X:7.97, Y:0.42, Z:0.93 [[ 0.91503716 -0.10124061 -0.39045786 7.96996642] [ 0.12500906 0.99150684 0.03587372 0.41796292] [ 0.38350976 -0.08163655 0.91992159 0.92907037] [ 0. 0. 0. 1. ]] SLAMing on 51.449649246 meters Centerline goodness : 0.907245 Centerline is valid? [False, False] Translation: X:7.97, Y:0.42, Z:0.93 [[ 0.91474539 -0.10205838 -0.39092833 7.97216841] [ 0.12565506 0.99144969 0.03518965 0.41961619] [ 0.38399438 -0.08131169 0.91974819 0.92884844] [ 0. 0. 0. 1. ]] SLAMing on 51.479649246 meters Centerline goodness : 0.907335 Centerline is valid? [False, False] Translation: X:7.97, Y:0.42, Z:0.93 [[ 0.91447183 -0.1026028 -0.39142551 7.97390058] [ 0.12615684 0.99139747 0.03486414 0.42050235] [ 0.3844811 -0.08126328 0.91954911 0.92913337] [ 0. 0. 0. 1. ]] SLAMing on 51.509649246 meters Centerline goodness : 0.910324 Centerline is valid? [False, False] Translation: X:7.97, Y:0.42, Z:0.93 [[ 0.91430874 -0.10253488 -0.3918241 7.9742204 ] [ 0.12610235 0.991406 0.03481865 0.42159363] [ 0.38488664 -0.08124494 0.91938106 0.92976473] [ 0. 0. 0. 1. ]] SLAMing on 51.539649246 meters Centerline goodness : 0.912473 Centerline is valid? [False, False] Translation: X:7.97, Y:0.42, Z:0.93 [[ 0.91423393 -0.10241143 -0.39203089 7.974224 ] [ 0.12600809 0.99141633 0.03486589 0.42253501] [ 0.38509516 -0.08127464 0.91929111 0.93019735] [ 0. 0. 0. 1. ]] SLAMing on 51.569649246000004 meters Centerline goodness : 0.911129 Centerline is valid? [False, False] Translation: X:7.98, Y:0.42, Z:0.93 [[ 0.91403024 -0.09811647 -0.39360117 7.97634328] [ 0.12330645 0.99159564 0.03916135 0.42286124] [ 0.38645083 -0.08432822 0.91844679 0.93313449] [ 0. 0. 0. 1. ]] SLAMing on 51.599649246000006 meters Centerline goodness : 0.910956 Centerline is valid? [False, False] Translation: X:7.98, Y:0.43, Z:0.93 [[ 0.913999 -0.09830025 -0.39362786 7.97652078] [ 0.12324663 0.99162745 0.03853911 0.42526823] [ 0.38654379 -0.08373801 0.91846167 0.93256237] [ 0. 0. 0. 1. ]] SLAMing on 51.629649246 meters Centerline goodness : 0.912475 Centerline is valid? [False, False] Translation: X:7.98, Y:0.43, Z:0.93 [[ 0.91379917 -0.09889888 -0.39394174 7.97786841] [ 0.12368693 0.99159464 0.0379686 0.42698563] [ 0.38687547 -0.08342112 0.91835085 0.93243051] [ 0. 0. 0. 1. ]] SLAMing on 51.659649246 meters Centerline goodness : 0.914778 Centerline is valid? [False, False] Translation: X:7.98, Y:0.43, Z:0.93 [[ 0.91348861 -0.09960862 -0.3944828 7.97939579] [ 0.12434322 0.99152767 0.03757176 0.42806045] [ 0.38739814 -0.08337264 0.91813489 0.93301437] [ 0. 0. 0. 1. ]] SLAMing on 51.689649246 meters Centerline goodness : 0.917909 Centerline is valid? [False, False] Translation: X:8.00, Y:0.43, Z:0.93 [[ 0.91552434 -0.10086193 -0.38941246 7.99535212] [ 0.1222728 0.99202708 0.03052279 0.43350125] [ 0.38322911 -0.07555891 0.9205576 0.93443797] [ 0. 0. 0. 1. ]] SLAMing on 51.719649246 meters Centerline goodness : 0.919519 Centerline is valid? [False, False] Translation: X:8.00, Y:0.43, Z:0.93 [[ 0.91544427 -0.1008809 -0.38959573 7.99561192] [ 0.12228049 0.99202828 0.03045277 0.43438967] [ 0.38341788 -0.07551777 0.92048237 0.93463002] [ 0. 0. 0. 1. ]] SLAMing on 51.749649246000004 meters Centerline goodness : 0.916039 Centerline is valid? [False, False] Translation: X:8.00, Y:0.43, Z:0.94 [[ 0.91514583 -0.09759815 -0.39113003 8.00000967] [ 0.12043642 0.99213087 0.03422585 0.43488208] [ 0.3847118 -0.07842794 0.9196988 0.93655867] [ 0. 0. 0. 1. ]] SLAMing on 51.779649246000005 meters Centerline goodness : 0.918116 Centerline is valid? [False, False] Translation: X:8.00, Y:0.44, Z:0.94 [[ 0.91492767 -0.09820863 -0.39148745 8.00189172] [ 0.12094494 0.99208427 0.0337805 0.4355931 ] [ 0.385071 -0.07825515 0.91956319 0.93636013] [ 0. 0. 0. 1. ]] SLAMing on 51.809649246 meters Centerline goodness : 0.912457 Centerline is valid? [False, False] Translation: X:8.01, Y:0.44, Z:0.94 [[ 0.91436477 -0.09935837 -0.39251113 8.00556724] [ 0.12211678 0.99195441 0.03337562 0.4355851 ] [ 0.386037 -0.07844969 0.91914149 0.93719232] [ 0. 0. 0. 1. ]] SLAMing on 51.839649246 meters Centerline goodness : 0.914808 Centerline is valid? [False, False] Translation: X:8.01, Y:0.43, Z:0.94 [[ 0.91388193 -0.10024268 -0.39340974 8.00829292] [ 0.12318608 0.99182009 0.03343798 0.43448743] [ 0.38683977 -0.07902097 0.91875496 0.93868016] [ 0. 0. 0. 1. ]] SLAMing on 51.869649246 meters Centerline goodness : 0.919496 Centerline is valid? [False, False] Translation: X:8.01, Y:0.43, Z:0.94 [[ 0.91344557 -0.10065967 -0.39431565 8.01008768] [ 0.12399868 0.99169663 0.03408993 0.43252189] [ 0.38761002 -0.08003391 0.91834255 0.94089356] [ 0. 0. 0. 1. ]] SLAMing on 51.899649246 meters Centerline goodness : 0.916196 Centerline is valid? [False, False] Translation: X:8.01, Y:0.43, Z:0.94 [[ 0.91320285 -0.1008897 -0.39481872 8.01146814] [ 0.12442563 0.99163257 0.03439636 0.43086705] [ 0.38804487 -0.08053642 0.91811495 0.94183105] [ 0. 0. 0. 1. ]] SLAMing on 51.929649246000004 meters Centerline goodness : 0.918268 Centerline is valid? [False, False] Translation: X:8.02, Y:0.43, Z:0.94 [[ 0.91255737 -0.10288988 -0.39579379 8.01701768] [ 0.12640487 0.99140546 0.03371984 0.43030666] [ 0.38892269 -0.08080155 0.91772014 0.94213373] [ 0. 0. 0. 1. ]] SLAMing on 51.959649246000005 meters Centerline goodness : 0.917347 Centerline is valid? [False, False] Translation: X:8.02, Y:0.43, Z:0.94 [[ 0.91226981 -0.10348817 -0.39630039 8.0192743 ] [ 0.12703788 0.99132979 0.03356525 0.42962798] [ 0.38939077 -0.08096573 0.91750715 0.94239103] [ 0. 0. 0. 1. ]] SLAMing on 51.989649246 meters Centerline goodness : 0.917685 Centerline is valid? [False, False] Translation: X:8.02, Y:0.43, Z:0.94 [[ 0.91159917 -0.10452498 -0.39756947 8.02341361] [ 0.1284675 0.9911311 0.03398879 0.42696924] [ 0.39049079 -0.08205892 0.91694235 0.94454433] [ 0. 0. 0. 1. ]] SLAMing on 52.019649246 meters Centerline goodness : 0.920954 Centerline is valid? [False, False] Translation: X:8.03, Y:0.43, Z:0.95 [[ 0.91121016 -0.10497876 -0.39834094 8.02538854] [ 0.1290537 0.99105354 0.03402982 0.42639334] [ 0.39120479 -0.08241569 0.91660595 0.94576967] [ 0. 0. 0. 1. ]] SLAMing on 52.049649246 meters Centerline goodness : 0.918210 Centerline is valid? [False, False] Translation: X:8.03, Y:0.43, Z:0.95 [[ 0.91097747 -0.10547397 -0.39874213 8.02689753] [ 0.12951002 0.99100374 0.03374515 0.42669238] [ 0.39159571 -0.08238217 0.91644202 0.94600148] [ 0. 0. 0. 1. ]] SLAMing on 52.079649246 meters Centerline goodness : 0.917981 Centerline is valid? [False, False] Translation: X:8.03, Y:0.42, Z:0.95 [[ 0.90996608 -0.10682589 -0.40068687 8.03086425] [ 0.13207163 0.99059211 0.03583801 0.42388611] [ 0.39308883 -0.08553074 0.91551388 0.95259371] [ 0. 0. 0. 1. ]] SLAMing on 52.109649246000004 meters Centerline goodness : 0.921748 Centerline is valid? [False, False] Translation: X:8.03, Y:0.42, Z:0.96 [[ 0.9143365 -0.09859173 -0.3927702 8.03419713] [ 0.12574329 0.99108923 0.0439404 0.41961909] [ 0.38493816 -0.08956453 0.91858631 0.9554183 ] [ 0. 0. 0. 1. ]] SLAMing on 52.139649246000005 meters Centerline goodness : 0.915078 Centerline is valid? [False, False] Translation: X:8.04, Y:0.42, Z:0.95 [[ 0.91367336 -0.10133198 -0.39361506 8.04109719] [ 0.12781469 0.99092589 0.04158477 0.42414685] [ 0.38582948 -0.08830468 0.9183343 0.9530703 ] [ 0. 0. 0. 1. ]] SLAMing on 52.169649246 meters Centerline goodness : 0.915146 Centerline is valid? [False, False] Translation: X:8.04, Y:0.42, Z:0.96 [[ 0.9132573 -0.09753242 -0.39553576 8.04484487] [ 0.12589161 0.99096212 0.04631818 0.42308088] [ 0.38744343 -0.09209505 0.9172819 0.95692384] [ 0. 0. 0. 1. ]] SLAMing on 52.199649246 meters Centerline goodness : 0.914946 Centerline is valid? [False, False] Translation: X:8.05, Y:0.42, Z:0.96 [[ 0.91718505 -0.08854587 -0.38849866 8.04896657] [ 0.11914061 0.99133454 0.05532945 0.41924819] [ 0.38023295 -0.09703331 0.91978663 0.96073595] [ 0. 0. 0. 1. ]] SLAMing on 52.229649246 meters Centerline goodness : 0.914376 Centerline is valid? [False, False] Translation: X:8.05, Y:0.42, Z:0.96 [[ 0.91669411 -0.09005439 -0.38930979 8.05274141] [ 0.12042098 0.99123896 0.05425958 0.42137501] [ 0.38101272 -0.09662051 0.91950736 0.96056043] [ 0. 0. 0. 1. ]] SLAMing on 52.259649246 meters Centerline goodness : 0.913889 Centerline is valid? [False, False] Translation: X:8.06, Y:0.42, Z:0.97 [[ 0.92000829 -0.08279742 -0.38305265 8.05779826] [ 0.11401273 0.99169735 0.05947662 0.41881947] [ 0.37494778 -0.09839186 0.92180974 0.96655768] [ 0. 0. 0. 1. ]] SLAMing on 52.289649246 meters Centerline goodness : 0.913124 Centerline is valid? [False, False] Translation: X:8.07, Y:0.42, Z:0.97 [[ 0.92167126 -0.08649029 -0.37820831 8.07302531] [ 0.11307913 0.9923956 0.0486219 0.42358045] [ 0.37112694 -0.08758088 0.92444274 0.96524776] [ 0. 0. 0. 1. ]] SLAMing on 52.319649246000004 meters Centerline goodness : 0.917183 Centerline is valid? [False, False] Translation: X:8.09, Y:0.43, Z:0.97 [[ 0.92354834 -0.08784755 -0.37328444 8.08951031] [ 0.11098201 0.99298056 0.04089734 0.42888125] [ 0.36707146 -0.07919852 0.92681505 0.96543907] [ 0. 0. 0. 1. ]] SLAMing on 52.349649246000006 meters Centerline goodness : 0.917661 Centerline is valid? [False, False] Translation: X:8.09, Y:0.43, Z:0.96 [[ 0.92342891 -0.08830164 -0.3734727 8.09035511] [ 0.11122322 0.99298083 0.04023026 0.43091212] [ 0.36729884 -0.07868862 0.9267684 0.9649825 ] [ 0. 0. 0. 1. ]] SLAMing on 52.379649246 meters Centerline goodness : 0.921494 Centerline is valid? [False, False] Translation: X:8.09, Y:0.43, Z:0.97 [[ 0.9233597 -0.08375785 -0.37468853 8.09188287] [ 0.10810523 0.99314748 0.04439985 0.43172396] [ 0.36840213 -0.08150282 0.92608702 0.96698652] [ 0. 0. 0. 1. ]] SLAMing on 52.409649246 meters Centerline goodness : 0.917906 Centerline is valid? [False, False] Translation: X:8.11, Y:0.44, Z:0.97 [[ 0.925461 -0.08458751 -0.36927887 8.10663371] [ 0.10574707 0.99368948 0.03740011 0.43619687] [ 0.36378495 -0.07366251 0.92856575 0.96810853] [ 0. 0. 0. 1. ]] SLAMing on 52.439649246 meters Centerline goodness : 0.916780 Centerline is valid? [False, False] Translation: X:8.11, Y:0.44, Z:0.97 [[ 0.92533334 -0.08488946 -0.36952943 8.1073052 ] [ 0.10593667 0.99368418 0.03700225 0.43729559] [ 0.36405445 -0.07338614 0.92848201 0.96812957] [ 0. 0. 0. 1. ]] SLAMing on 52.469649246 meters Centerline goodness : 0.921678 Centerline is valid? [False, False] Translation: X:8.11, Y:0.44, Z:0.97 [[ 0.92515033 -0.08523905 -0.36990697 8.108251 ] [ 0.1062357 0.99366251 0.03672584 0.4382994 ] [ 0.36443221 -0.07327425 0.92834264 0.96842689] [ 0. 0. 0. 1. ]] SLAMing on 52.499649246000004 meters Centerline goodness : 0.920335 Centerline is valid? [False, False] Translation: X:8.11, Y:0.44, Z:0.97 [[ 0.92493384 -0.08594364 -0.37028515 8.10986921] [ 0.10659491 0.99366385 0.03563242 0.44128905] [ 0.36487659 -0.07242815 0.92823448 0.96764565] [ 0. 0. 0. 1. ]] SLAMing on 52.529649246000005 meters Centerline goodness : 0.920655 Centerline is valid? [False, False] Translation: X:8.11, Y:0.44, Z:0.97 [[ 0.92472553 -0.08191911 -0.37171488 8.11314718] [ 0.10391435 0.99380177 0.03949504 0.44114108] [ 0.36617551 -0.07514859 0.92750644 0.96912845] [ 0. 0. 0. 1. ]] SLAMing on 52.559649246 meters Centerline goodness : 0.917590 Centerline is valid? [False, False] Translation: X:8.12, Y:0.44, Z:0.97 [[ 0.92453471 -0.08263543 -0.37203086 8.1150397 ] [ 0.10423487 0.99381543 0.0382882 0.44492998] [ 0.36656605 -0.07417736 0.92743035 0.96787415] [ 0. 0. 0. 1. ]] SLAMing on 52.589649246 meters Centerline goodness : 0.916551 Centerline is valid? [False, False] Translation: X:8.12, Y:0.45, Z:0.97 [[ 0.92403056 -0.08376756 -0.37302886 8.1184843 ] [ 0.10531672 0.99372274 0.03772934 0.44554635] [ 0.36752676 -0.07414924 0.9270523 0.96847801] [ 0. 0. 0. 1. ]] SLAMing on 52.619649246 meters Centerline goodness : 0.915602 Centerline is valid? [False, False] Translation: X:8.12, Y:0.45, Z:0.97 [[ 0.92373168 -0.08441454 -0.37362276 8.1204742 ] [ 0.10592814 0.99367066 0.03738778 0.44584873] [ 0.36810191 -0.07411345 0.92682694 0.96884966] [ 0. 0. 0. 1. ]] SLAMing on 52.649649246 meters Centerline goodness : 0.915602 Centerline is valid? [False, False] Translation: X:8.12, Y:0.45, Z:0.97 [[ 0.92373168 -0.08441454 -0.37362276 8.1204742 ] [ 0.10592814 0.99367066 0.03738778 0.44584873] [ 0.36810191 -0.07411345 0.92682694 0.96884966] [ 0. 0. 0. 1. ]] SLAMing on 52.679649246000004 meters Centerline goodness : 0.911481 Centerline is valid? [False, False] Translation: X:8.12, Y:0.45, Z:0.97 [[ 0.92356447 -0.08488381 -0.37392969 8.12172637] [ 0.10634642 0.99363664 0.03710352 0.44632339] [ 0.36840075 -0.07403357 0.92671458 0.96895171] [ 0. 0. 0. 1. ]] SLAMing on 52.709649246000005 meters Centerline goodness : 0.916410 Centerline is valid? [False, False] Translation: X:8.12, Y:0.44, Z:0.97 [[ 0.92301644 -0.08603299 -0.37501864 8.12443371] [ 0.10790232 0.99344762 0.03766838 0.44397338] [ 0.36932065 -0.07523391 0.92625165 0.97179059] [ 0. 0. 0. 1. ]] SLAMing on 52.739649246 meters Centerline goodness : 0.918069 Centerline is valid? [False, False] Translation: X:8.13, Y:0.44, Z:0.97 [[ 0.92250283 -0.08703519 -0.37604973 8.12709357] [ 0.10910907 0.99331227 0.03776179 0.44292882] [ 0.37024821 -0.07586579 0.92582971 0.97362102] [ 0. 0. 0. 1. ]] SLAMing on 52.769649246 meters Centerline goodness : 0.914648 Centerline is valid? [False, False] Translation: X:8.13, Y:0.44, Z:0.97 [[ 0.9219782 -0.08842025 -0.37701202 8.13121661] [ 0.11047929 0.99318027 0.03724616 0.4431417 ] [ 0.37114759 -0.07599216 0.92545916 0.97401761] [ 0. 0. 0. 1. ]] SLAMing on 52.799649246 meters Centerline goodness : 0.915808 Centerline is valid? [False, False] Translation: X:8.14, Y:0.44, Z:0.98 [[ 0.92558846 -0.08090368 -0.36978453 8.1358815 ] [ 0.10477785 0.99348136 0.0449042 0.43834371] [ 0.36374112 -0.08030804 0.9280318 0.97726711] [ 0. 0. 0. 1. ]] SLAMing on 52.829649246 meters Centerline goodness : 0.917245 Centerline is valid? [False, False] Translation: X:8.14, Y:0.44, Z:0.98 [[ 0.92519317 -0.08174145 -0.37058864 8.13846024] [ 0.10581336 0.99336455 0.04506004 0.43713413] [ 0.36444634 -0.08090247 0.92770343 0.97854743] [ 0. 0. 0. 1. ]] SLAMing on 52.859649246000004 meters Centerline goodness : 0.916279 Centerline is valid? [False, False] Translation: X:8.14, Y:0.44, Z:0.98 [[ 0.92496526 -0.08222429 -0.37105044 8.13993503] [ 0.10623504 0.99333563 0.04470389 0.43783333] [ 0.36490187 -0.0807681 0.92753606 0.97872148] [ 0. 0. 0. 1. ]] SLAMing on 52.889649246000005 meters Centerline goodness : 0.917039 Centerline is valid? [False, False] Translation: X:8.14, Y:0.44, Z:0.98 [[ 0.92477068 -0.08302226 -0.37135764 8.14147182] [ 0.10673948 0.99332467 0.04373541 0.43998768] [ 0.36524769 -0.08008375 0.92745928 0.97813791] [ 0. 0. 0. 1. ]] SLAMing on 52.919649246000006 meters Centerline goodness : 0.915680 Centerline is valid? [False, False] Translation: X:8.14, Y:0.44, Z:0.98 [[ 0.92460848 -0.0837338 -0.37160168 8.14293041] [ 0.10719936 0.99331134 0.04290537 0.44135481] [ 0.36552354 -0.07950613 0.9274003 0.9775521 ] [ 0. 0. 0. 1. ]] SLAMing on 52.949649246 meters Centerline goodness : 0.914553 Centerline is valid? [False, False] Translation: X:8.15, Y:0.44, Z:0.98 [[ 0.92431931 -0.08460331 -0.37212377 8.14513788] [ 0.10777246 0.99329358 0.04186844 0.44329836] [ 0.36608595 -0.0788045 0.92723834 0.97698559] [ 0. 0. 0. 1. ]] SLAMing on 52.979649246 meters Centerline goodness : 0.918989 Centerline is valid? [False, False] Translation: X:8.15, Y:0.44, Z:0.98 [[ 0.92403004 -0.08527499 -0.37268842 8.1469173 ] [ 0.10834494 0.9932526 0.04135994 0.44448276] [ 0.36664678 -0.07859673 0.92703435 0.97719755] [ 0. 0. 0. 1. ]] SLAMing on 53.009649246 meters Centerline goodness : 0.915886 Centerline is valid? [False, False] Translation: X:8.15, Y:0.44, Z:0.98 [[ 0.92390952 -0.08120439 -0.37389443 8.14931335] [ 0.10575825 0.9933461 0.04559306 0.4436749 ] [ 0.36770422 -0.08166628 0.92634995 0.97935448] [ 0. 0. 0. 1. ]] SLAMing on 53.039649246 meters Centerline goodness : 0.918319 Centerline is valid? [False, False] Translation: X:8.15, Y:0.44, Z:0.98 [[ 0.92373788 -0.0818036 -0.37418778 8.1505825 ] [ 0.10614948 0.99333657 0.044886 0.44492988] [ 0.36802257 -0.08118273 0.92626603 0.97900456] [ 0. 0. 0. 1. ]] SLAMing on 53.069649246000004 meters Centerline goodness : 0.920564 Centerline is valid? [False, False] Translation: X:8.15, Y:0.45, Z:0.98 [[ 0.92356437 -0.08218878 -0.37453152 8.15182613] [ 0.10635226 0.9933424 0.04427279 0.44679381] [ 0.36839931 -0.08072105 0.92615661 0.97869615] [ 0. 0. 0. 1. ]] SLAMing on 53.099649246000006 meters Centerline goodness : 0.919747 Centerline is valid? [False, False] Translation: X:8.15, Y:0.45, Z:0.98 [[ 0.92342801 -0.08271957 -0.37475082 8.15311404] [ 0.10665389 0.99334225 0.04354452 0.44810772] [ 0.36865384 -0.08017886 0.92610242 0.97809012] [ 0. 0. 0. 1. ]] SLAMing on 53.129649246 meters Centerline goodness : 0.921850 Centerline is valid? [False, False] Translation: X:8.15, Y:0.45, Z:0.98 [[ 0.92338616 -0.08315928 -0.37475662 8.15419418] [ 0.10670928 0.99338179 0.04249413 0.45057042] [ 0.36874262 -0.0792285 0.92614887 0.9766544 ] [ 0. 0. 0. 1. ]] SLAMing on 53.159649246 meters Centerline goodness : 0.923551 Centerline is valid? [False, False] Translation: X:8.16, Y:0.45, Z:0.98 [[ 0.92330225 -0.08350148 -0.37488725 8.15505804] [ 0.10683147 0.99339615 0.0418464 0.45180051] [ 0.36891732 -0.07868663 0.92612549 0.97603033] [ 0. 0. 0. 1. ]] SLAMing on 53.189649246 meters Centerline goodness : 0.924624 Centerline is valid? [False, False] Translation: X:8.16, Y:0.45, Z:0.98 [[ 0.92316534 -0.08338082 -0.3752511 8.15559609] [ 0.10635863 0.99348618 0.04090303 0.45476035] [ 0.36939625 -0.07767145 0.92602028 0.97516359] [ 0. 0. 0. 1. ]] SLAMing on 53.219649246 meters Centerline goodness : 0.924188 Centerline is valid? [False, False] Translation: X:8.16, Y:0.46, Z:0.97 [[ 0.92312163 -0.08349307 -0.37533367 8.15604564] [ 0.10618702 0.99353519 0.04015155 0.45677419] [ 0.36955483 -0.07692033 0.9260197 0.97431655] [ 0. 0. 0. 1. ]] SLAMing on 53.249649246000004 meters Centerline goodness : 0.927710 Centerline is valid? [False, False] Translation: X:8.16, Y:0.46, Z:0.97 [[ 0.92286444 -0.08420465 -0.37580686 8.15775841] [ 0.1066797 0.99351401 0.03936173 0.45858221] [ 0.37005494 -0.0764165 0.92586168 0.97411793] [ 0. 0. 0. 1. ]] SLAMing on 53.279649246000005 meters Centerline goodness : 0.924514 Centerline is valid? [False, False] Translation: X:8.16, Y:0.46, Z:0.97 [[ 0.92264698 -0.08501633 -0.3761579 8.16010603] [ 0.1073438 0.99346617 0.03875922 0.45907468] [ 0.37040499 -0.0761393 0.92574454 0.97358517] [ 0. 0. 0. 1. ]] SLAMing on 53.309649246 meters Centerline goodness : 0.918188 Centerline is valid? [False, False] Translation: X:8.16, Y:0.46, Z:0.97 [[ 0.92223079 -0.08659841 -0.37681705 8.1645517 ] [ 0.10879817 0.99333764 0.03799075 0.45853278] [ 0.37101662 -0.07603324 0.9255083 0.97303526] [ 0. 0. 0. 1. ]] SLAMing on 53.339649246 meters Centerline goodness : 0.916005 Centerline is valid? [False, False] Translation: X:8.17, Y:0.46, Z:0.97 [[ 0.92185384 -0.08744652 -0.37754286 8.16756234] [ 0.1097201 0.99324156 0.037851 0.45747611] [ 0.37168132 -0.07631713 0.92521819 0.97352538] [ 0. 0. 0. 1. ]] SLAMing on 53.369649246 meters Centerline goodness : 0.919093 Centerline is valid? [False, False] Translation: X:8.17, Y:0.45, Z:0.97 [[ 0.92150058 -0.0877173 -0.37834158 8.16949925] [ 0.11022281 0.99317261 0.0381982 0.45476243] [ 0.37240785 -0.07690153 0.92487758 0.97493416] [ 0. 0. 0. 1. ]] SLAMing on 53.399649246 meters Centerline goodness : 0.918366 Centerline is valid? [False, False] Translation: X:8.17, Y:0.45, Z:0.98 [[ 0.921328 -0.08792783 -0.37871284 8.17065025] [ 0.11045463 0.99314956 0.03812772 0.45448187] [ 0.37276601 -0.07695873 0.92472853 0.97521588] [ 0. 0. 0. 1. ]] SLAMing on 53.429649246000004 meters Centerline goodness : 0.916234 Centerline is valid? [False, False] Translation: X:8.17, Y:0.46, Z:0.98 [[ 0.92107399 -0.08854295 -0.3791871 8.17267947] [ 0.11097611 0.99310885 0.03767115 0.45500954] [ 0.37323855 -0.07677863 0.92455288 0.97511558] [ 0. 0. 0. 1. ]] SLAMing on 53.459649246000005 meters Centerline goodness : 0.918508 Centerline is valid? [False, False] Translation: X:8.17, Y:0.45, Z:0.98 [[ 0.92102169 -0.08850502 -0.37932297 8.17316212] [ 0.11094797 0.99311194 0.03767265 0.45491595] [ 0.37337595 -0.07678245 0.92449708 0.9751136 ] [ 0. 0. 0. 1. ]] SLAMing on 53.489649246 meters Centerline goodness : 0.920167 Centerline is valid? [False, False] Translation: X:8.18, Y:0.46, Z:0.97 [[ 0.92077717 -0.0894239 -0.3797009 8.17542508] [ 0.11169608 0.99305381 0.03698819 0.45561801] [ 0.37375579 -0.07646899 0.92436957 0.97472273] [ 0. 0. 0. 1. ]] SLAMing on 53.519649246 meters Centerline goodness : 0.921573 Centerline is valid? [False, False] Translation: X:8.18, Y:0.46, Z:0.97 [[ 0.9205578 -0.08984766 -0.38013253 8.17707516] [ 0.11210746 0.99301518 0.03678007 0.4556507 ] [ 0.37417276 -0.07647387 0.92420046 0.97486683] [ 0. 0. 0. 1. ]] SLAMing on 53.549649246 meters Centerline goodness : 0.927492 Centerline is valid? [False, False] Translation: X:8.17, Y:0.45, Z:0.98 [[ 0.92020464 -0.09408622 -0.37996212 8.17465245] [ 0.11580904 0.99266637 0.03466607 0.45267781] [ 0.37391402 -0.07590292 0.92435223 0.97819461] [ 0. 0. 0. 1. ]] SLAMing on 53.579649246 meters Centerline goodness : 0.929930 Centerline is valid? [False, False] Translation: X:8.18, Y:0.45, Z:0.98 [[ 0.9198047 -0.09446762 -0.38083485 8.17553659] [ 0.11668424 0.99253016 0.03561847 0.45091463] [ 0.37462528 -0.07719946 0.92395679 0.98118951] [ 0. 0. 0. 1. ]] SLAMing on 53.609649246000004 meters Centerline goodness : 0.926551 Centerline is valid? [False, False] Translation: X:8.18, Y:0.45, Z:0.98 [[ 0.91926449 -0.09261042 -0.38259131 8.18334056] [ 0.11570596 0.99256594 0.03774899 0.45333004] [ 0.37625115 -0.0789694 0.9231462 0.98091053] [ 0. 0. 0. 1. ]] SLAMing on 53.639649246000005 meters Centerline goodness : 0.919629 Centerline is valid? [False, False] Translation: X:8.19, Y:0.46, Z:0.98 [[ 0.91878013 -0.09474688 -0.38323112 8.1889459 ] [ 0.1174154 0.99242509 0.03613944 0.45531901] [ 0.37690409 -0.07820144 0.9229452 0.97921943] [ 0. 0. 0. 1. ]] SLAMing on 53.669649246000006 meters Centerline goodness : 0.921592 Centerline is valid? [False, False] Translation: X:8.19, Y:0.46, Z:0.98 [[ 0.91840041 -0.09585977 -0.38386403 8.1919839 ] [ 0.11841089 0.99233018 0.03549191 0.45593366] [ 0.37751761 -0.07804946 0.92270728 0.97913727] [ 0. 0. 0. 1. ]] SLAMing on 53.699649246 meters Centerline goodness : 0.912543 Centerline is valid? [False, False] Translation: X:8.19, Y:0.46, Z:0.98 [[ 0.91822451 -0.09641425 -0.38414587 8.19375636] [ 0.11899598 0.99226367 0.03539454 0.45533607] [ 0.37776145 -0.07821195 0.92259372 0.97919601] [ 0. 0. 0. 1. ]] SLAMing on 53.729649246 meters Centerline goodness : 0.914144 Centerline is valid? [False, False] Translation: X:8.20, Y:0.45, Z:0.98 [[ 0.91795237 -0.0966731 -0.38473076 8.1950305 ] [ 0.11936616 0.992216 0.03548418 0.45454749] [ 0.37830565 -0.07849662 0.92234652 0.98016903] [ 0. 0. 0. 1. ]] SLAMing on 53.759649246 meters Centerline goodness : 0.916532 Centerline is valid? [False, False] Translation: X:8.20, Y:0.45, Z:0.98 [[ 0.91783701 -0.09660707 -0.38502247 8.19539813] [ 0.11931891 0.99222192 0.03547758 0.45447232] [ 0.37860035 -0.07850309 0.92222505 0.98056712] [ 0. 0. 0. 1. ]] SLAMing on 53.789649246 meters Centerline goodness : 0.914315 Centerline is valid? [False, False] Translation: X:8.20, Y:0.45, Z:0.98 [[ 0.92202841 -0.08754786 -0.37709281 8.19842161] [ 0.1120265 0.99275561 0.04343224 0.44958907] [ 0.37055861 -0.08229015 0.92515656 0.98370508] [ 0. 0. 0. 1. ]] SLAMing on 53.819649246000004 meters Centerline goodness : 0.916263 Centerline is valid? [False, False] Translation: X:8.20, Y:0.45, Z:0.98 [[ 0.92202579 -0.08762911 -0.37708034 8.19852821] [ 0.11201255 0.9927681 0.04318196 0.4505194 ] [ 0.37056933 -0.08205261 0.92517336 0.98345904] [ 0. 0. 0. 1. ]] SLAMing on 53.849649246000006 meters Centerline goodness : 0.915871 Centerline is valid? [False, False] Translation: X:8.20, Y:0.45, Z:0.98 [[ 0.9218889 -0.08793584 -0.37734354 8.19928344] [ 0.1122777 0.99274792 0.04295672 0.45120656] [ 0.37082958 -0.08196859 0.92507652 0.98366943] [ 0. 0. 0. 1. ]] SLAMing on 53.879649246 meters Centerline goodness : 0.916672 Centerline is valid? [False, False] Translation: X:8.20, Y:0.45, Z:0.98 [[ 0.92191952 -0.0880391 -0.37724464 8.19905431] [ 0.11222017 0.99277155 0.04255924 0.45244149] [ 0.37077087 -0.08157065 0.92513523 0.98323415] [ 0. 0. 0. 1. ]] SLAMing on 53.909649246 meters Centerline goodness : 0.915640 Centerline is valid? [False, False] Translation: X:8.20, Y:0.45, Z:0.98 [[ 0.92187438 -0.08815051 -0.37732892 8.19951319] [ 0.11226928 0.99277441 0.0423625 0.45280655] [ 0.37086822 -0.08141535 0.92510989 0.98306281] [ 0. 0. 0. 1. ]] SLAMing on 53.939649246 meters Centerline goodness : 0.915561 Centerline is valid? [False, False] Translation: X:8.20, Y:0.45, Z:0.98 [[ 0.92161218 -0.08881786 -0.37781262 8.201291 ] [ 0.11275103 0.99274964 0.04165773 0.45426016] [ 0.37137339 -0.08099104 0.92494446 0.98289273] [ 0. 0. 0. 1. ]] SLAMing on 53.969649246 meters Centerline goodness : 0.919227 Centerline is valid? [False, False] Translation: X:8.20, Y:0.45, Z:0.98 [[ 0.92157713 -0.08892644 -0.37787257 8.20150274] [ 0.11277852 0.99275642 0.04142088 0.45462273] [ 0.37145201 -0.08078844 0.92493061 0.98274603] [ 0. 0. 0. 1. ]] SLAMing on 53.999649246000004 meters Centerline goodness : 0.915434 Centerline is valid? [False, False] Translation: X:8.20, Y:0.46, Z:0.98 [[ 0.92153945 -0.08875943 -0.3780037 8.20111058] [ 0.1126207 0.99277333 0.04144515 0.45522202] [ 0.37159334 -0.08076438 0.92487594 0.98315126] [ 0. 0. 0. 1. ]] SLAMing on 54.029649246000005 meters Centerline goodness : 0.920845 Centerline is valid? [False, False] Translation: X:8.20, Y:0.46, Z:0.98 [[ 0.92152663 -0.08887936 -0.37800678 8.20130757] [ 0.11263628 0.99278335 0.04116166 0.45611994] [ 0.37162042 -0.08050885 0.92488734 0.98286129] [ 0. 0. 0. 1. ]] SLAMing on 54.059649246 meters Centerline goodness : 0.925614 Centerline is valid? [False, False] Translation: X:8.20, Y:0.46, Z:0.98 [[ 0.92162437 -0.08874056 -0.37780106 8.20078739] [ 0.11228314 0.99284228 0.04070265 0.45786915] [ 0.37148489 -0.07993324 0.9249917 0.98201718] [ 0. 0. 0. 1. ]] SLAMing on 54.089649246 meters Centerline goodness : 0.925588 Centerline is valid? [False, False] Translation: X:8.20, Y:0.46, Z:0.98 [[ 0.92146922 -0.08921313 -0.37806812 8.20185059] [ 0.11259586 0.99282928 0.04015204 0.45929815] [ 0.37177501 -0.07956777 0.92490665 0.98179547] [ 0. 0. 0. 1. ]] SLAMing on 54.119649246 meters Centerline goodness : 0.922784 Centerline is valid? [False, False] Translation: X:8.20, Y:0.46, Z:0.98 [[ 0.92156815 -0.08889059 -0.37790291 8.20125244] [ 0.11198222 0.99292373 0.03952779 0.46119272] [ 0.37171512 -0.07874596 0.92500105 0.98074166] [ 0. 0. 0. 1. ]] SLAMing on 54.149649246 meters Centerline goodness : 0.924009 Centerline is valid? [False, False] Translation: X:8.20, Y:0.46, Z:0.98 [[ 0.92153901 -0.08905173 -0.37793604 8.20176622] [ 0.11194276 0.99294944 0.03899008 0.4623982 ] [ 0.37179924 -0.07823808 0.92501034 0.98006107] [ 0. 0. 0. 1. ]] SLAMing on 54.179649246000004 meters Centerline goodness : 0.914521 Centerline is valid? [False, False] Translation: X:8.20, Y:0.46, Z:0.98 [[ 0.92153146 -0.08490371 -0.3789078 8.2044453 ] [ 0.10871744 0.99319096 0.04185965 0.46444175] [ 0.37277376 -0.07976887 0.92448723 0.97958662] [ 0. 0. 0. 1. ]] SLAMing on 54.209649246000005 meters Centerline goodness : 0.917132 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.92153997 -0.08541171 -0.37877292 8.20567358] [ 0.10875195 0.99323873 0.04061814 0.46692686] [ 0.37274267 -0.07862354 0.92459788 0.97760954] [ 0. 0. 0. 1. ]] SLAMing on 54.239649246 meters Centerline goodness : 0.911062 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.92144709 -0.08558838 -0.37895896 8.20706528] [ 0.10846247 0.99332 0.03938626 0.47062161] [ 0.3730565 -0.07739518 0.92457495 0.97570275] [ 0. 0. 0. 1. ]] SLAMing on 54.269649246 meters Centerline goodness : 0.912754 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.97 [[ 0.92124437 -0.09080163 -0.37823785 8.20625727] [ 0.11220725 0.99307202 0.0348927 0.47216009] [ 0.37244911 -0.07458573 0.92505061 0.97479085] [ 0. 0. 0. 1. ]] SLAMing on 54.299649246 meters Centerline goodness : 0.916175 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.92076849 -0.09141749 -0.37924693 8.20720738] [ 0.11336007 0.9929057 0.03588542 0.47055497] [ 0.37327588 -0.07603363 0.92459937 0.97838677] [ 0. 0. 0. 1. ]] SLAMing on 54.329649246 meters Centerline goodness : 0.914383 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.92054498 -0.09248276 -0.37953113 8.21040064] [ 0.11403287 0.99287272 0.03464479 0.47317053] [ 0.37362206 -0.07517111 0.92453007 0.97659386] [ 0. 0. 0. 1. ]] SLAMing on 54.359649246000004 meters Centerline goodness : 0.914773 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.92048487 -0.08802074 -0.38073606 8.21317391] [ 0.11091947 0.99308036 0.03857798 0.47265482] [ 0.37470584 -0.07774149 0.92387867 0.9774787 ] [ 0. 0. 0. 1. ]] SLAMing on 54.389649246000005 meters Centerline goodness : 0.915518 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.92047656 -0.09170843 -0.3798848 8.21063935] [ 0.1134166 0.99292699 0.03510947 0.47231468] [ 0.37397803 -0.07540269 0.92436728 0.97697822] [ 0. 0. 0. 1. ]] SLAMing on 54.419649246000006 meters Centerline goodness : 0.917873 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.92035472 -0.09168883 -0.38018462 8.21091877] [ 0.11345667 0.99291937 0.03519544 0.4719217 ] [ 0.37426564 -0.07552677 0.92424073 0.97757242] [ 0. 0. 0. 1. ]] SLAMing on 54.449649246 meters Centerline goodness : 0.915942 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.92024599 -0.0916687 -0.38045258 8.211318 ] [ 0.11353971 0.99290276 0.03539561 0.47107176] [ 0.37450775 -0.07576914 0.92412282 0.97818125] [ 0. 0. 0. 1. ]] SLAMing on 54.479649246 meters Centerline goodness : 0.914752 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.92011207 -0.09165471 -0.38077972 8.21204333] [ 0.11365332 0.99288096 0.03564152 0.46980697] [ 0.37480222 -0.07607107 0.92397862 0.97880798] [ 0. 0. 0. 1. ]] SLAMing on 54.509649246 meters Centerline goodness : 0.916512 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.91998077 -0.09170913 -0.38108375 8.21269499] [ 0.11379638 0.9928595 0.03578269 0.4692831 ] [ 0.37508102 -0.07628534 0.92384781 0.97930218] [ 0. 0. 0. 1. ]] SLAMing on 54.539649246 meters Centerline goodness : 0.916512 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.91998077 -0.09170913 -0.38108375 8.21269499] [ 0.11379638 0.9928595 0.03578269 0.4692831 ] [ 0.37508102 -0.07628534 0.92384781 0.97930218] [ 0. 0. 0. 1. ]] SLAMing on 54.569649246000004 meters Centerline goodness : 0.916843 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.91976945 -0.09230235 -0.38145045 8.21478169] [ 0.11440179 0.9927959 0.03561634 0.46932222] [ 0.37541497 -0.07639744 0.92370289 0.97927129] [ 0. 0. 0. 1. ]] SLAMing on 54.599649246000006 meters Centerline goodness : 0.919516 Centerline is valid? [False, False] Translation: X:8.22, Y:0.47, Z:0.98 [[ 0.91978489 -0.09225974 -0.38142351 8.21504945] [ 0.11435092 0.99280198 0.03561027 0.46910926] [ 0.37539262 -0.07636992 0.92371425 0.97901591] [ 0. 0. 0. 1. ]] SLAMing on 54.629649246 meters Centerline goodness : 0.921514 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.91973406 -0.09181749 -0.38165273 8.214593 ] [ 0.11404679 0.99282342 0.03598603 0.46834521] [ 0.37560962 -0.07662384 0.923605 0.97985866] [ 0. 0. 0. 1. ]] SLAMing on 54.659649246 meters Centerline goodness : 0.923022 Centerline is valid? [False, False] Translation: X:8.21, Y:0.47, Z:0.98 [[ 0.91978083 -0.09174777 -0.38155678 8.21420551] [ 0.11382693 0.99286072 0.0356515 0.46948027] [ 0.37556179 -0.076223 0.92365762 0.97944558] [ 0. 0. 0. 1. ]] SLAMing on 54.689649246 meters Centerline goodness : 0.924631 Centerline is valid? [False, False] Translation: X:8.22, Y:0.47, Z:0.98 [[ 0.9196967 -0.09208296 -0.3816788 8.21507482] [ 0.11398605 0.99286118 0.03512639 0.47057756] [ 0.37571952 -0.07581168 0.92362732 0.97896033] [ 0. 0. 0. 1. ]] SLAMing on 54.719649246 meters Centerline goodness : 0.922928 Centerline is valid? [False, False] Translation: X:8.22, Y:0.47, Z:0.98 [[ 0.91969782 -0.09227722 -0.38162917 8.21557801] [ 0.11399091 0.99287793 0.03463355 0.47164663] [ 0.3757153 -0.07535466 0.92366644 0.97816981] [ 0. 0. 0. 1. ]] SLAMing on 54.749649246000004 meters Centerline goodness : 0.924551 Centerline is valid? [False, False] Translation: X:8.22, Y:0.47, Z:0.98 [[ 0.9195966 -0.08826216 -0.38282096 8.21858657] [ 0.11124875 0.99305502 0.03828105 0.47146296] [ 0.37678351 -0.07779148 0.92302908 0.9791229 ] [ 0. 0. 0. 1. ]] SLAMing on 54.779649246000005 meters Centerline goodness : 0.918494 Centerline is valid? [False, False] Translation: X:8.22, Y:0.47, Z:0.98 [[ 0.91936449 -0.08871237 -0.38327413 8.22010724] [ 0.11167424 0.99301686 0.03803139 0.47126361] [ 0.37722382 -0.07776655 0.92285132 0.97937791] [ 0. 0. 0. 1. ]] SLAMing on 54.809649246 meters Centerline goodness : 0.921245 Centerline is valid? [False, False] Translation: X:8.22, Y:0.47, Z:0.98 [[ 0.91916207 -0.08909469 -0.38367073 8.22143577] [ 0.11209092 0.99297294 0.03795208 0.47065684] [ 0.37759332 -0.07789012 0.92268977 0.97976322] [ 0. 0. 0. 1. ]] SLAMing on 54.839649246 meters Centerline goodness : 0.919812 Centerline is valid? [False, False] Translation: X:8.22, Y:0.47, Z:0.98 [[ 0.91896695 -0.08951417 -0.38404032 8.22306996] [ 0.11250815 0.99293225 0.03778188 0.46991724] [ 0.377944 -0.07792796 0.92254299 0.97982874] [ 0. 0. 0. 1. ]] SLAMing on 54.869649246 meters Centerline goodness : 0.920001 Centerline is valid? [False, False] Translation: X:8.22, Y:0.47, Z:0.98 [[ 0.91878688 -0.08965037 -0.38443917 8.22446629] [ 0.11288407 0.99287163 0.03825075 0.46782416] [ 0.37826955 -0.07854135 0.92235752 0.98060041] [ 0. 0. 0. 1. ]] SLAMing on 54.899649246 meters Centerline goodness : 0.923736 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.98 [[ 0.91863656 -0.08960398 -0.38480904 8.22503525] [ 0.11307008 0.99283137 0.03874303 0.46601556] [ 0.37857896 -0.07910115 0.92218273 0.98166826] [ 0. 0. 0. 1. ]] SLAMing on 54.929649246000004 meters Centerline goodness : 0.924281 Centerline is valid? [False, False] Translation: X:8.22, Y:0.46, Z:0.98 [[ 0.91845728 -0.09408357 -0.38416729 8.223896 ] [ 0.11640466 0.99257747 0.03521248 0.46498385] [ 0.37800288 -0.07706003 0.92259177 0.98153798] [ 0. 0. 0. 1. ]] SLAMing on 54.959649246000005 meters Centerline goodness : 0.926957 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.98 [[ 0.91816929 -0.0944315 -0.38476987 8.22534762] [ 0.11693208 0.99250707 0.03544849 0.46398647] [ 0.37853936 -0.07753966 0.92233159 0.98263898] [ 0. 0. 0. 1. ]] SLAMing on 54.989649246 meters Centerline goodness : 0.927952 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.98 [[ 0.91791186 -0.0946446 -0.38533132 8.22660261] [ 0.11748222 0.99241854 0.03610209 0.46109855] [ 0.37899308 -0.07840812 0.92207181 0.98423712] [ 0. 0. 0. 1. ]] SLAMing on 55.019649246 meters Centerline goodness : 0.927368 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.99 [[ 0.91767504 -0.094765 -0.38586541 8.22771031] [ 0.11776695 0.99237545 0.03635811 0.4600661 ] [ 0.37947788 -0.07880712 0.92183837 0.98517166] [ 0. 0. 0. 1. ]] SLAMing on 55.049649246 meters Centerline goodness : 0.929943 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.99 [[ 0.91753717 -0.09501319 -0.38613215 8.22909283] [ 0.11804987 0.99234274 0.03633338 0.4589821 ] [ 0.37972329 -0.07892008 0.92172764 0.98522562] [ 0. 0. 0. 1. ]] SLAMing on 55.079649246 meters Centerline goodness : 0.930851 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.98 [[ 0.91740036 -0.0954056 -0.3863604 8.23032466] [ 0.11833437 0.99232308 0.03594265 0.45930573] [ 0.37996521 -0.07869352 0.92164731 0.98493391] [ 0. 0. 0. 1. ]] SLAMing on 55.109649246000004 meters Centerline goodness : 0.927013 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.98 [[ 0.91712659 -0.09636721 -0.38677147 8.23305965] [ 0.11917769 0.99224262 0.03537329 0.45912804] [ 0.38036231 -0.07853632 0.92149691 0.98453942] [ 0. 0. 0. 1. ]] SLAMing on 55.139649246000005 meters Centerline goodness : 0.925323 Centerline is valid? [False, False] Translation: X:8.24, Y:0.46, Z:0.98 [[ 0.91675287 -0.09750227 -0.38737254 8.23666505] [ 0.12016013 0.99214984 0.03464438 0.4589066 ] [ 0.3809537 -0.07830707 0.9212721 0.98404601] [ 0. 0. 0. 1. ]] SLAMing on 55.169649246000006 meters Centerline goodness : 0.926682 Centerline is valid? [False, False] Translation: X:8.24, Y:0.46, Z:0.98 [[ 0.91650789 -0.09780559 -0.38787543 8.23810227] [ 0.12055378 0.99210048 0.0346903 0.45860905] [ 0.38141849 -0.07855378 0.92105876 0.98467033] [ 0. 0. 0. 1. ]] SLAMing on 55.199649246 meters Centerline goodness : 0.929094 Centerline is valid? [False, False] Translation: X:8.24, Y:0.46, Z:0.99 [[ 0.91632749 -0.09773536 -0.3883191 8.238526 ] [ 0.1206596 0.99207568 0.03503005 0.45807433] [ 0.38181826 -0.07895342 0.92085893 0.98581554] [ 0. 0. 0. 1. ]] SLAMing on 55.229649246 meters Centerline goodness : 0.929653 Centerline is valid? [False, False] Translation: X:8.24, Y:0.46, Z:0.99 [[ 0.91626196 -0.09761945 -0.38850284 8.23849926] [ 0.12057696 0.99208353 0.03509224 0.45800301] [ 0.38200159 -0.07899818 0.92077906 0.98618624] [ 0. 0. 0. 1. ]] SLAMing on 55.259649246 meters Centerline goodness : 0.928319 Centerline is valid? [False, False] Translation: X:8.24, Y:0.46, Z:0.99 [[ 0.91604393 -0.09793922 -0.38893629 8.23954264] [ 0.12081988 0.99206615 0.03474638 0.45877351] [ 0.38244749 -0.07882045 0.92060918 0.98642717] [ 0. 0. 0. 1. ]] SLAMing on 55.289649246 meters Centerline goodness : 0.927349 Centerline is valid? [False, False] Translation: X:8.24, Y:0.46, Z:0.99 [[ 0.91587782 -0.09836037 -0.38922108 8.24095756] [ 0.12113589 0.99204156 0.03434577 0.4596956 ] [ 0.38274523 -0.07860517 0.92050384 0.98614962] [ 0. 0. 0. 1. ]] SLAMing on 55.319649246000004 meters Centerline goodness : 0.924323 Centerline is valid? [False, False] Translation: X:8.24, Y:0.46, Z:0.99 [[ 0.91555961 -0.09902816 -0.38979999 8.24307121] [ 0.12172477 0.99198502 0.03389389 0.46050611] [ 0.3833193 -0.07848019 0.9202756 0.98630132] [ 0. 0. 0. 1. ]] SLAMing on 55.349649246000006 meters Centerline goodness : 0.923889 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91520741 -0.09958436 -0.39048476 8.24508698] [ 0.12238626 0.99190401 0.03388271 0.4598719 ] [ 0.38394921 -0.07879968 0.91998566 0.98719447] [ 0. 0. 0. 1. ]] SLAMing on 55.379649246 meters Centerline goodness : 0.920767 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91481465 -0.10010846 -0.39127029 8.2472553 ] [ 0.12299855 0.99183063 0.03381353 0.45923206] [ 0.38468884 -0.07905879 0.91965439 0.9881631 ] [ 0. 0. 0. 1. ]] SLAMing on 55.409649246 meters Centerline goodness : 0.924130 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91474209 -0.10022605 -0.39140983 8.24776384] [ 0.12309761 0.99182171 0.03371451 0.45940076] [ 0.38482969 -0.07902169 0.91959865 0.98821236] [ 0. 0. 0. 1. ]] SLAMing on 55.439649246 meters Centerline goodness : 0.924684 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91456123 -0.10050664 -0.39176035 8.24833418] [ 0.12336398 0.99179433 0.03354602 0.46029148] [ 0.3851741 -0.07900901 0.91945554 0.98875189] [ 0. 0. 0. 1. ]] SLAMing on 55.469649246 meters Centerline goodness : 0.925761 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91452547 -0.10058753 -0.39182306 8.24847591] [ 0.12340797 0.99179285 0.03342769 0.4606813 ] [ 0.3852449 -0.07892456 0.91943313 0.98875687] [ 0. 0. 0. 1. ]] SLAMing on 55.499649246000004 meters Centerline goodness : 0.927087 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91437762 -0.10081717 -0.39210899 8.24911571] [ 0.12364726 0.99176597 0.03334086 0.46097666] [ 0.38551902 -0.07896934 0.91931438 0.98917267] [ 0. 0. 0. 1. ]] SLAMing on 55.529649246000005 meters Centerline goodness : 0.927228 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91425198 -0.10121472 -0.39229951 8.25031733] [ 0.12398532 0.99173262 0.03307649 0.46157412] [ 0.38570839 -0.07887963 0.91924264 0.98901908] [ 0. 0. 0. 1. ]] SLAMing on 55.559649246 meters Centerline goodness : 0.926687 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91428213 -0.10130043 -0.39220711 8.25044969] [ 0.12400865 0.99173454 0.03293095 0.46246934] [ 0.38562942 -0.07874526 0.9192873 0.98866767] [ 0. 0. 0. 1. ]] SLAMing on 55.589649246 meters Centerline goodness : 0.928534 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91413681 -0.10137485 -0.39252647 8.25076627] [ 0.12419898 0.99170439 0.03312125 0.46234739] [ 0.38591256 -0.07902874 0.91914414 0.98952765] [ 0. 0. 0. 1. ]] SLAMing on 55.619649246 meters Centerline goodness : 0.929523 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91402822 -0.10149086 -0.39274931 8.25116288] [ 0.12437352 0.9916803 0.03318762 0.46197666] [ 0.38611351 -0.07918204 0.91904655 0.99005471] [ 0. 0. 0. 1. ]] SLAMing on 55.649649246 meters Centerline goodness : 0.931217 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91394915 -0.10154777 -0.39291857 8.25163983] [ 0.12441299 0.99167837 0.03309697 0.46229627] [ 0.38628793 -0.07913312 0.91897747 0.99012033] [ 0. 0. 0. 1. ]] SLAMing on 55.679649246000004 meters Centerline goodness : 0.932291 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91371903 -0.10175726 -0.39339927 8.25241277] [ 0.12479737 0.99162115 0.03336325 0.46159916] [ 0.38670808 -0.07957983 0.91876216 0.99139652] [ 0. 0. 0. 1. ]] SLAMing on 55.709649246000005 meters Centerline goodness : 0.932394 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.99 [[ 0.91343809 -0.10211024 -0.39395984 8.253787 ] [ 0.12524407 0.99156397 0.03338887 0.46149513] [ 0.38722703 -0.0798398 0.918521 0.99226805] [ 0. 0. 0. 1. ]] SLAMing on 55.739649246 meters Centerline goodness : 0.930669 Centerline is valid? [False, False] Translation: X:8.26, Y:0.46, Z:0.99 [[ 0.91322846 -0.10261641 -0.39431415 8.25540467] [ 0.1256785 0.99152079 0.03303682 0.46209441] [ 0.38758056 -0.07972698 0.91838168 0.99223494] [ 0. 0. 0. 1. ]] SLAMing on 55.769649246 meters Centerline goodness : 0.929172 Centerline is valid? [False, False] Translation: X:8.26, Y:0.46, Z:0.99 [[ 0.91294494 -0.10361295 -0.39470987 8.25808263] [ 0.12647423 0.99144485 0.03227049 0.46379125] [ 0.38798943 -0.0793818 0.91823893 0.99171345] [ 0. 0. 0. 1. ]] SLAMing on 55.799649246 meters Centerline goodness : 0.929069 Centerline is valid? [False, False] Translation: X:8.26, Y:0.46, Z:0.99 [[ 0.91318193 -0.10343966 -0.39420679 8.2560223 ] [ 0.1264412 0.99143334 0.03275004 0.46387439] [ 0.3874421 -0.07975072 0.91843804 0.99218503] [ 0. 0. 0. 1. ]] SLAMing on 55.829649246 meters Centerline goodness : 0.927894 Centerline is valid? [False, False] Translation: X:8.26, Y:0.46, Z:0.99 [[ 0.91309912 -0.10347036 -0.39439052 8.25628216] [ 0.12653597 0.99141779 0.03285456 0.46378411] [ 0.3876063 -0.07990406 0.91835543 0.99265693] [ 0. 0. 0. 1. ]] SLAMing on 55.859649246000004 meters Centerline goodness : 0.928672 Centerline is valid? [False, False] Translation: X:8.26, Y:0.46, Z:0.99 [[ 0.91292268 -0.10372545 -0.39473182 8.25711935] [ 0.12683941 0.99137947 0.03284076 0.464004 ] [ 0.3879226 -0.08004862 0.91820928 0.99322883] [ 0. 0. 0. 1. ]] SLAMing on 55.889649246000005 meters Centerline goodness : 0.930108 Centerline is valid? [False, False] Translation: X:8.26, Y:0.46, Z:1.00 [[ 0.91749682 -0.09458157 -0.38633393 8.25990803] [ 0.11969594 0.99194633 0.04141702 0.45861781] [ 0.37930523 -0.08424259 0.92142863 0.99590369] [ 0. 0. 0. 1. ]] SLAMing on 55.919649246000006 meters Centerline goodness : 0.932595 Centerline is valid? [False, False] Translation: X:8.26, Y:0.46, Z:1.00 [[ 0.91739371 -0.09512201 -0.3864461 8.26094921] [ 0.12009835 0.99191714 0.04094832 0.45972134] [ 0.37942743 -0.08397727 0.92140254 0.99557324] [ 0. 0. 0. 1. ]] SLAMing on 55.949649246 meters Centerline goodness : 0.933876 Centerline is valid? [False, False] Translation: X:8.26, Y:0.46, Z:1.00 [[ 0.91717017 -0.09593477 -0.38677565 8.26278176] [ 0.12074254 0.99186549 0.04030004 0.46085573] [ 0.37976324 -0.08366227 0.92129284 0.9953069 ] [ 0. 0. 0. 1. ]] SLAMing on 55.979649246 meters Centerline goodness : 0.932938 Centerline is valid? [False, False] Translation: X:8.27, Y:0.46, Z:1.00 [[ 0.91689805 -0.09697862 -0.38716032 8.26513387] [ 0.12168937 0.99177129 0.03976681 0.46167823] [ 0.38011796 -0.0835754 0.92115443 0.99528569] [ 0. 0. 0. 1. ]] SLAMing on 56.009649246 meters Centerline goodness : 0.932696 Centerline is valid? [False, False] Translation: X:8.27, Y:0.46, Z:1.00 [[ 0.91659769 -0.0975116 -0.38773724 8.26664613] [ 0.1222817 0.9917024 0.03966769 0.46185564] [ 0.38065189 -0.08377249 0.92091601 0.99617379] [ 0. 0. 0. 1. ]] SLAMing on 56.039649246 meters Centerline goodness : 0.933393 Centerline is valid? [False, False] Translation: X:8.27, Y:0.46, Z:1.00 [[ 0.91631296 -0.09764105 -0.38837712 8.26760562] [ 0.12273226 0.99162266 0.04026519 0.46013638] [ 0.38119202 -0.08456192 0.9206204 0.99807925] [ 0. 0. 0. 1. ]] SLAMing on 56.069649246000004 meters Centerline goodness : 0.933540 Centerline is valid? [False, False] Translation: X:8.27, Y:0.46, Z:1.00 [[ 0.91606499 -0.09827105 -0.38880296 8.26941223] [ 0.12334916 0.9915566 0.04000621 0.46077146] [ 0.38158869 -0.08460681 0.92045193 0.99832038] [ 0. 0. 0. 1. ]] SLAMing on 56.099649246000006 meters Centerline goodness : 0.929662 Centerline is valid? [False, False] Translation: X:8.27, Y:0.46, Z:1.00 [[ 0.9156001 -0.09971773 -0.38952899 8.27309002] [ 0.12459926 0.99143759 0.03907075 0.46284757] [ 0.38229764 -0.08430821 0.92018511 0.99817173] [ 0. 0. 0. 1. ]] SLAMing on 56.129649246 meters Centerline goodness : 0.928536 Centerline is valid? [False, False] Translation: X:8.28, Y:0.46, Z:1.00 [[ 0.91525027 -0.10065779 -0.3901089 8.27562437] [ 0.12544643 0.99135225 0.03852143 0.46379881] [ 0.38285786 -0.08419452 0.91996258 0.9983521 ] [ 0. 0. 0. 1. ]] SLAMing on 56.159649246 meters Centerline goodness : 0.925000 Centerline is valid? [False, False] Translation: X:8.28, Y:0.47, Z:1.00 [[ 0.91492824 -0.1018776 -0.39054741 8.27834409] [ 0.12633413 0.99128337 0.03737599 0.4662302 ] [ 0.38333537 -0.08353582 0.91982376 0.99765877] [ 0. 0. 0. 1. ]] SLAMing on 56.189649246 meters Centerline goodness : 0.925207 Centerline is valid? [False, False] Translation: X:8.28, Y:0.47, Z:1.00 [[ 0.91466267 -0.10291716 -0.39089675 8.28070689] [ 0.12712856 0.99121454 0.03649753 0.46838389] [ 0.38370632 -0.08307707 0.91971064 0.99709943] [ 0. 0. 0. 1. ]] SLAMing on 56.219649246 meters Centerline goodness : 0.921543 Centerline is valid? [False, False] Translation: X:8.28, Y:0.47, Z:1.00 [[ 0.91407352 -0.10448855 -0.39185679 8.28469122] [ 0.128615 0.99104989 0.03575338 0.46982951] [ 0.38461381 -0.08307988 0.91933125 0.99776607] [ 0. 0. 0. 1. ]] SLAMing on 56.249649246000004 meters Centerline goodness : 0.919706 Centerline is valid? [False, False] Translation: X:8.29, Y:0.46, Z:1.00 [[ 0.91786447 -0.09608365 -0.38508797 8.28990316] [ 0.12192523 0.99159887 0.04319637 0.46486915] [ 0.37770233 -0.08660035 0.92186839 1.0013504 ] [ 0. 0. 0. 1. ]] SLAMing on 56.279649246000005 meters Centerline goodness : 0.920559 Centerline is valid? [False, False] Translation: X:8.29, Y:0.47, Z:1.00 [[ 0.91757589 -0.09712789 -0.38551349 8.29237213] [ 0.12279935 0.99152232 0.04247129 0.46585928] [ 0.37812008 -0.08631144 0.92172422 1.00106049] [ 0. 0. 0. 1. ]] SLAMing on 56.309649246 meters Centerline goodness : 0.917352 Centerline is valid? [False, False] Translation: X:8.30, Y:0.47, Z:1.00 [[ 0.91726944 -0.09841013 -0.38591737 8.29559301] [ 0.12383426 0.99143401 0.04151727 0.46753475] [ 0.37852588 -0.08587231 0.92159867 1.0003173 ] [ 0. 0. 0. 1. ]] SLAMing on 56.339649246 meters Centerline goodness : 0.917238 Centerline is valid? [False, False] Translation: X:8.30, Y:0.47, Z:1.00 [[ 0.91680609 -0.09954167 -0.38672736 8.29864927] [ 0.12480456 0.99134606 0.04070398 0.46913522] [ 0.3793289 -0.08558299 0.92129536 1.00054016] [ 0. 0. 0. 1. ]] SLAMing on 56.369649246 meters Centerline goodness : 0.915311 Centerline is valid? [False, False] Translation: X:8.31, Y:0.47, Z:1.00 [[ 0.92081571 -0.09193605 -0.37900686 8.30512627] [ 0.11823619 0.99188876 0.04665722 0.46543915] [ 0.37164316 -0.08777503 0.92421692 1.00133252] [ 0. 0. 0. 1. ]] SLAMing on 56.399649246 meters Centerline goodness : 0.915170 Centerline is valid? [False, False] Translation: X:8.31, Y:0.46, Z:1.01 [[ 0.92436825 -0.08404194 -0.37212941 8.31078158] [ 0.1125686 0.99208907 0.05556602 0.46351677] [ 0.36451565 -0.09325355 0.92651612 1.00584714] [ 0. 0. 0. 1. ]] SLAMing on 56.429649246000004 meters Centerline goodness : 0.916964 Centerline is valid? [False, False] Translation: X:8.33, Y:0.47, Z:1.00 [[ 0.92608121 -0.08850227 -0.36679824 8.32578192] [ 0.11220486 0.99272087 0.04376454 0.46872561] [ 0.360255 -0.08168606 0.92927053 1.00340124] [ 0. 0. 0. 1. ]] SLAMing on 56.459649246000005 meters Centerline goodness : 0.916964 Centerline is valid? [False, False] Translation: X:8.33, Y:0.47, Z:1.00 [[ 0.92608121 -0.08850227 -0.36679824 8.32578192] [ 0.11220486 0.99272087 0.04376454 0.46872561] [ 0.360255 -0.08168606 0.92927053 1.00340124] [ 0. 0. 0. 1. ]] SLAMing on 56.489649246000006 meters Centerline goodness : 0.915547 Centerline is valid? [False, False] Translation: X:8.33, Y:0.47, Z:1.01 [[ 0.92575857 -0.08880993 -0.36753758 8.32684646] [ 0.11273854 0.99264514 0.04410955 0.46869987] [ 0.36091702 -0.08227044 0.92896204 1.00535046] [ 0. 0. 0. 1. ]] SLAMing on 56.519649246 meters Centerline goodness : 0.915507 Centerline is valid? [False, False] Translation: X:8.33, Y:0.46, Z:1.01 [[ 0.92978862 -0.08117817 -0.35903095 8.33148186] [ 0.10607834 0.99309124 0.05017145 0.46405367] [ 0.35247766 -0.08473425 0.93197618 1.00645471] [ 0. 0. 0. 1. ]] SLAMing on 56.549649246 meters Centerline goodness : 0.917986 Centerline is valid? [False, False] Translation: X:8.35, Y:0.47, Z:1.01 [[ 0.93142803 -0.08416727 -0.3540589 8.349708 ] [ 0.10548331 0.99356284 0.04130566 0.46959032] [ 0.34830318 -0.07582055 0.93431052 1.00598667] [ 0. 0. 0. 1. ]] SLAMing on 56.579649246 meters Centerline goodness : 0.918979 Centerline is valid? [False, False] Translation: X:8.35, Y:0.47, Z:1.01 [[ 0.93126462 -0.08469505 -0.35436276 8.35109028] [ 0.10589525 0.99353867 0.04083017 0.47037123] [ 0.34861499 -0.07554902 0.93421621 1.0058472 ] [ 0. 0. 0. 1. ]] SLAMing on 56.609649246000004 meters Centerline goodness : 0.918021 Centerline is valid? [False, False] Translation: X:8.35, Y:0.47, Z:1.01 [[ 0.93082058 -0.08571942 -0.3552819 8.35373474] [ 0.1067845 0.99347432 0.04007289 0.47261756] [ 0.34952842 -0.07523928 0.93389985 1.00646125] [ 0. 0. 0. 1. ]] SLAMing on 56.639649246000005 meters Centerline goodness : 0.915914 Centerline is valid? [False, False] Translation: X:8.36, Y:0.47, Z:1.01 [[ 0.93057941 -0.08177752 -0.35683945 8.35699718] [ 0.10431938 0.99355435 0.04435344 0.47179987] [ 0.35091227 -0.07849967 0.9331122 1.00894137] [ 0. 0. 0. 1. ]] SLAMing on 56.669649246000006 meters Centerline goodness : 0.917779 Centerline is valid? [False, False] Translation: X:8.37, Y:0.47, Z:1.02 [[ 0.93319013 -0.0749933 -0.35147147 8.36512209] [ 0.09893381 0.99380512 0.05063091 0.47191788] [ 0.34549717 -0.08202068 0.9348285 1.01516081] [ 0. 0. 0. 1. ]] SLAMing on 56.699649246 meters Centerline goodness : 0.916867 Centerline is valid? [False, False] Translation: X:8.38, Y:0.48, Z:1.01 [[ 0.93487629 -0.0770368 -0.34651356 8.38122966] [ 0.09738671 0.99437366 0.04167559 0.47702099] [ 0.3413534 -0.07270734 0.93711872 1.01423307] [ 0. 0. 0. 1. ]] SLAMing on 56.729649246 meters Centerline goodness : 0.917459 Centerline is valid? [False, False] Translation: X:8.39, Y:0.48, Z:1.02 [[ 0.93649226 -0.07141776 -0.34333913 8.39325501] [ 0.09339777 0.99447638 0.04789148 0.47750005] [ 0.33802235 -0.07691711 0.93798969 1.02333397] [ 0. 0. 0. 1. ]] SLAMing on 56.759649246 meters Centerline goodness : 0.917156 Centerline is valid? [False, False] Translation: X:8.41, Y:0.48, Z:1.02 [[ 0.93784748 -0.07592947 -0.33863965 8.41174443] [ 0.09401692 0.99487137 0.03730656 0.48212765] [ 0.33407023 -0.06682572 0.94017626 1.02247139] [ 0. 0. 0. 1. ]] SLAMing on 56.789649246 meters Centerline goodness : 0.921825 Centerline is valid? [False, False] Translation: X:8.41, Y:0.48, Z:1.02 [[ 0.93758306 -0.0765874 -0.33922319 8.41365971] [ 0.09467832 0.99481712 0.03707983 0.48232733] [ 0.33462518 -0.06688251 0.93997485 1.02297449] [ 0. 0. 0. 1. ]] SLAMing on 56.819649246000004 meters Centerline goodness : 0.922113 Centerline is valid? [False, False] Translation: X:8.42, Y:0.48, Z:1.02 [[ 0.93730685 -0.07736128 -0.3398104 8.41583222] [ 0.09546294 0.99475058 0.03685258 0.48256696] [ 0.33517563 -0.06698147 0.93977166 1.02345233] [ 0. 0. 0. 1. ]] SLAMing on 56.849649246000006 meters Centerline goodness : 0.922362 Centerline is valid? [False, False] Translation: X:8.42, Y:0.48, Z:1.02 [[ 0.93708367 -0.07828153 -0.34021492 8.41794664] [ 0.09638221 0.99467104 0.03660577 0.4833856 ] [ 0.33553638 -0.06709334 0.93963494 1.02389635] [ 0. 0. 0. 1. ]] SLAMing on 56.879649246 meters Centerline goodness : 0.923881 Centerline is valid? [False, False] Translation: X:8.42, Y:0.48, Z:1.03 [[ 0.93665069 -0.0747312 -0.34219984 8.42182588] [ 0.09458373 0.99464424 0.04167436 0.48230134] [ 0.33725273 -0.07140085 0.93870257 1.02860027] [ 0. 0. 0. 1. ]] SLAMing on 56.909649246 meters Centerline goodness : 0.923385 Centerline is valid? [False, False] Translation: X:8.43, Y:0.48, Z:1.03 [[ 0.93639904 -0.07090635 -0.34369918 8.42515182] [ 0.09219743 0.99467841 0.04598372 0.48055238] [ 0.33860961 -0.07474729 0.93795329 1.03108706] [ 0. 0. 0. 1. ]] SLAMing on 56.939649246 meters Centerline goodness : 0.923909 Centerline is valid? [False, False] Translation: X:8.43, Y:0.48, Z:1.03 [[ 0.93609569 -0.07167606 -0.34436522 8.42757023] [ 0.09284686 0.99464653 0.04536229 0.48144285] [ 0.33927028 -0.07443667 0.93773923 1.03105706] [ 0. 0. 0. 1. ]] SLAMing on 56.969649246 meters Centerline goodness : 0.921600 Centerline is valid? [False, False] Translation: X:8.43, Y:0.48, Z:1.03 [[ 0.93565071 -0.07335686 -0.34521953 8.43216654] [ 0.09423696 0.99457386 0.0440707 0.48404012] [ 0.34011344 -0.07376722 0.93748666 1.03024365] [ 0. 0. 0. 1. ]] SLAMing on 56.999649246000004 meters Centerline goodness : 0.921041 Centerline is valid? [False, False] Translation: X:8.44, Y:0.49, Z:1.03 [[ 0.93516133 -0.07489144 -0.34621461 8.43652439] [ 0.09557679 0.99449117 0.04303932 0.4856707 ] [ 0.3410841 -0.07333878 0.93716757 1.03009556] [ 0. 0. 0. 1. ]] SLAMing on 57.029649246000005 meters Centerline goodness : 0.919086 Centerline is valid? [False, False] Translation: X:8.44, Y:0.49, Z:1.03 [[ 0.93483482 -0.07583187 -0.34689102 8.4393693 ] [ 0.09637857 0.9944438 0.04234041 0.4865274 ] [ 0.34175287 -0.07301415 0.93694926 1.02993502] [ 0. 0. 0. 1. ]] SLAMing on 57.059649246 meters Centerline goodness : 0.918093 Centerline is valid? [False, False] Translation: X:8.44, Y:0.49, Z:1.03 [[ 0.9345667 -0.07691789 -0.34737404 8.44210478] [ 0.09721737 0.99440325 0.04136384 0.4877573 ] [ 0.34224825 -0.07242805 0.93681392 1.02920875] [ 0. 0. 0. 1. ]] SLAMing on 57.089649246 meters Centerline goodness : 0.917661 Centerline is valid? [False, False] Translation: X:8.45, Y:0.49, Z:1.03 [[ 0.93403397 -0.0787134 -0.34840313 8.44679592] [ 0.09876189 0.99430152 0.04013199 0.48951882] [ 0.34325883 -0.07189359 0.93648528 1.02897783] [ 0. 0. 0. 1. ]] SLAMing on 57.119649246 meters Centerline goodness : 0.913393 Centerline is valid? [False, False] Translation: X:8.45, Y:0.49, Z:1.03 [[ 0.93344768 -0.08039299 -0.34958891 8.45149913] [ 0.10027162 0.99419115 0.03910969 0.49110138] [ 0.34441405 -0.0715607 0.93608655 1.02913504] [ 0. 0. 0. 1. ]] SLAMing on 57.149649246 meters Centerline goodness : 0.913229 Centerline is valid? [False, False] Translation: X:8.45, Y:0.49, Z:1.03 [[ 0.93308199 -0.08138198 -0.35033552 8.45432056] [ 0.10121314 0.99411408 0.03864064 0.49161751] [ 0.34512882 -0.07151345 0.93582687 1.02946578] [ 0. 0. 0. 1. ]] SLAMing on 57.179649246000004 meters Centerline goodness : 0.912736 Centerline is valid? [False, False] Translation: X:8.46, Y:0.49, Z:1.03 [[ 0.93262611 -0.08315505 -0.35113213 8.45888886] [ 0.10259113 0.99403222 0.03708112 0.49438792] [ 0.34595317 -0.07060586 0.93559137 1.02834498] [ 0. 0. 0. 1. ]] SLAMing on 57.209649246000005 meters Centerline goodness : 0.911881 Centerline is valid? [False, False] Translation: X:8.46, Y:0.50, Z:1.03 [[ 0.93232302 -0.08417491 -0.35169357 8.46153937] [ 0.10340711 0.99397917 0.03622675 0.49607477] [ 0.3465267 -0.07014265 0.93541395 1.02795749] [ 0. 0. 0. 1. ]] SLAMing on 57.239649246000006 meters Centerline goodness : 0.908244 Centerline is valid? [False, False] Translation: X:8.46, Y:0.50, Z:1.03 [[ 0.93208705 -0.08498194 -0.3521247 8.46358122] [ 0.10402239 0.99394217 0.03547264 0.49716968] [ 0.34697706 -0.06969244 0.93528064 1.02757306] [ 0. 0. 0. 1. ]] SLAMing on 57.269649246 meters Centerline goodness : 0.911047 Centerline is valid? [False, False] Translation: X:8.47, Y:0.50, Z:1.03 [[ 0.93162169 -0.08632518 -0.35302832 8.46726506] [ 0.10505528 0.99387799 0.03420428 0.49999955] [ 0.34791438 -0.06895294 0.9349872 1.02718323] [ 0. 0. 0. 1. ]] SLAMing on 57.299649246 meters Centerline goodness : 0.908169 Centerline is valid? [False, False] Translation: X:8.47, Y:0.50, Z:1.03 [[ 0.93139618 -0.08741268 -0.3533556 8.46978201] [ 0.10575893 0.99384709 0.03290914 0.50308133] [ 0.34830476 -0.06802195 0.93491005 1.02604918] [ 0. 0. 0. 1. ]] SLAMing on 57.329649246 meters Centerline goodness : 0.907268 Centerline is valid? [False, False] Translation: X:8.47, Y:0.50, Z:1.03 [[ 0.93114766 -0.08798718 -0.35386761 8.47146829] [ 0.10623147 0.99381258 0.03242572 0.50416208] [ 0.34882503 -0.06778501 0.93473327 1.02618213] [ 0. 0. 0. 1. ]] SLAMing on 57.359649246000004 meters Centerline goodness : 0.906751 Centerline is valid? [False, False] Translation: X:8.47, Y:0.51, Z:1.03 [[ 0.93074441 -0.08885356 -0.35471099 8.47411146] [ 0.10696663 0.99375574 0.03174375 0.50632118] [ 0.34967554 -0.06748755 0.93443697 1.02663036] [ 0. 0. 0. 1. ]] SLAMing on 57.389649246000005 meters Centerline goodness : 0.909394 Centerline is valid? [False, False] Translation: X:8.48, Y:0.51, Z:1.03 [[ 0.93063984 -0.08694872 -0.35545663 8.47757374] [ 0.10602207 0.99376525 0.03449576 0.50572969] [ 0.35024108 -0.06978938 0.93405601 1.02774964] [ 0. 0. 0. 1. ]] SLAMing on 57.419649246000006 meters Centerline goodness : 0.908487 Centerline is valid? [False, False] Translation: X:8.48, Y:0.51, Z:1.03 [[ 0.93018412 -0.08815427 -0.35635142 8.48089285] [ 0.10730228 0.99363511 0.03428554 0.50640612] [ 0.35106087 -0.07012918 0.93372275 1.02879453] [ 0. 0. 0. 1. ]] SLAMing on 57.449649246 meters Centerline goodness : 0.912127 Centerline is valid? [False, False] Translation: X:8.48, Y:0.51, Z:1.03 [[ 0.92977034 -0.08905987 -0.35720505 8.4836882 ] [ 0.10826853 0.99353668 0.03409979 0.50648027] [ 0.35185939 -0.07037904 0.93340332 1.02965844] [ 0. 0. 0. 1. ]] SLAMing on 57.479649246 meters Centerline goodness : 0.909568 Centerline is valid? [False, False] Translation: X:8.49, Y:0.51, Z:1.03 [[ 0.92945949 -0.08969028 -0.35785572 8.48564452] [ 0.10902288 0.99345163 0.03417412 0.50585494] [ 0.35244726 -0.07077792 0.93315133 1.03067696] [ 0. 0. 0. 1. ]] SLAMing on 57.509649246 meters Centerline goodness : 0.911582 Centerline is valid? [False, False] Translation: X:8.49, Y:0.50, Z:1.03 [[ 0.92905942 -0.089843 -0.35885488 8.48743307] [ 0.10962829 0.99335177 0.03512701 0.50417794] [ 0.35331321 -0.07197573 0.93273215 1.03331487] [ 0. 0. 0. 1. ]] SLAMing on 57.539649246 meters Centerline goodness : 0.916333 Centerline is valid? [False, False] Translation: X:8.49, Y:0.50, Z:1.03 [[ 0.92871712 -0.09019183 -0.35965252 8.48935147] [ 0.11022943 0.99327004 0.03555407 0.50373467] [ 0.35402539 -0.07266396 0.93240869 1.03499998] [ 0. 0. 0. 1. ]] SLAMing on 57.569649246000004 meters Centerline goodness : 0.915903 Centerline is valid? [False, False] Translation: X:8.49, Y:0.50, Z:1.04 [[ 0.92843167 -0.09067284 -0.36026804 8.49110371] [ 0.11074203 0.99321803 0.03541394 0.50421438] [ 0.35461363 -0.07277624 0.93217637 1.0356612 ] [ 0. 0. 0. 1. ]] SLAMing on 57.599649246000006 meters Centerline goodness : 0.914075 Centerline is valid? [False, False] Translation: X:8.49, Y:0.51, Z:1.04 [[ 0.92815737 -0.09101732 -0.36088745 8.49250047] [ 0.11108321 0.99318732 0.03520614 0.50520174] [ 0.35522447 -0.07276537 0.93194462 1.03648845] [ 0. 0. 0. 1. ]] SLAMing on 57.629649246 meters Centerline goodness : 0.915282 Centerline is valid? [False, False] Translation: X:8.49, Y:0.51, Z:1.04 [[ 0.92785134 -0.09178406 -0.36147971 8.49470804] [ 0.11173349 0.99313462 0.03463029 0.50680863] [ 0.35581951 -0.07252115 0.93173664 1.03657414] [ 0. 0. 0. 1. ]] SLAMing on 57.659649246 meters Centerline goodness : 0.914048 Centerline is valid? [False, False] Translation: X:8.50, Y:0.51, Z:1.04 [[ 0.92746993 -0.0882432 -0.36333547 8.49911124] [ 0.10960254 0.99322756 0.03855246 0.50718141] [ 0.35747281 -0.07557874 0.93086038 1.03899611] [ 0. 0. 0. 1. ]] SLAMing on 57.689649246 meters Centerline goodness : 0.911774 Centerline is valid? [False, False] Translation: X:8.50, Y:0.51, Z:1.04 [[ 0.92717948 -0.08910695 -0.36386557 8.50148621] [ 0.11034053 0.99316921 0.03794587 0.50840864] [ 0.35799884 -0.07533175 0.93067822 1.03893265] [ 0. 0. 0. 1. ]] SLAMing on 57.719649246 meters Centerline goodness : 0.921258 Centerline is valid? [False, False] Translation: X:8.51, Y:0.51, Z:1.05 [[ 0.92622394 -0.09067584 -0.36590587 8.50581931] [ 0.11348623 0.992682 0.04127125 0.50561154] [ 0.35948587 -0.0797517 0.92973629 1.04770111] [ 0. 0. 0. 1. ]] SLAMing on 57.749649246000004 meters Centerline goodness : 0.920442 Centerline is valid? [False, False] Translation: X:8.51, Y:0.51, Z:1.05 [[ 0.92584143 -0.09194784 -0.36655592 8.50927087] [ 0.11450436 0.99260803 0.04022501 0.50762555] [ 0.36014775 -0.07921423 0.92952607 1.04704471] [ 0. 0. 0. 1. ]] SLAMing on 57.779649246000005 meters Centerline goodness : 0.913098 Centerline is valid? [False, False] Translation: X:8.52, Y:0.51, Z:1.05 [[ 0.92531315 -0.08964127 -0.36845627 8.51674551] [ 0.11311966 0.99266878 0.04257497 0.51042459] [ 0.36193857 -0.08107483 0.92866966 1.04703581] [ 0. 0. 0. 1. ]] SLAMing on 57.809649246 meters Centerline goodness : 0.915629 Centerline is valid? [False, False] Translation: X:8.52, Y:0.51, Z:1.05 [[ 0.92493936 -0.09034935 -0.36922104 8.51872178] [ 0.1138694 0.99259202 0.04236552 0.51093908] [ 0.36265816 -0.08122851 0.92837546 1.0480813 ] [ 0. 0. 0. 1. ]] SLAMing on 57.839649246 meters Centerline goodness : 0.914706 Centerline is valid? [False, False] Translation: X:8.52, Y:0.51, Z:1.06 [[ 0.92410507 -0.0869576 -0.37211316 8.5241884 ] [ 0.11274136 0.99246152 0.04805738 0.51024808] [ 0.36512904 -0.08636262 0.92694244 1.05513154] [ 0. 0. 0. 1. ]] SLAMing on 57.869649246 meters Centerline goodness : 0.915143 Centerline is valid? [False, False] Translation: X:8.53, Y:0.51, Z:1.05 [[ 0.92384002 -0.08772541 -0.37259075 8.52626338] [ 0.11329354 0.99243764 0.04724518 0.51232388] [ 0.36562848 -0.08585911 0.92679233 1.05476267] [ 0. 0. 0. 1. ]] SLAMing on 57.899649246 meters Centerline goodness : 0.916988 Centerline is valid? [False, False] Translation: X:8.54, Y:0.52, Z:1.06 [[ 0.9255598 -0.08810149 -0.36820807 8.5448856 ] [ 0.11065055 0.99303233 0.04053706 0.51825843] [ 0.36207115 -0.0782619 0.92885928 1.0552903 ] [ 0. 0. 0. 1. ]] SLAMing on 57.929649246000004 meters Centerline goodness : 0.917158 Centerline is valid? [False, False] Translation: X:8.55, Y:0.52, Z:1.06 [[ 0.92508336 -0.08918131 -0.36914425 8.54830078] [ 0.11145012 0.99298864 0.03940091 0.52090587] [ 0.36304222 -0.07759029 0.92853653 1.05506998] [ 0. 0. 0. 1. ]] SLAMing on 57.959649246000005 meters Centerline goodness : 0.916459 Centerline is valid? [False, False] Translation: X:8.55, Y:0.52, Z:1.06 [[ 0.92480734 -0.08547021 -0.37071044 8.55199474] [ 0.10923103 0.9930624 0.04353914 0.52003074] [ 0.3644173 -0.0807584 0.92772739 1.05739701] [ 0. 0. 0. 1. ]] SLAMing on 57.989649246000006 meters Centerline goodness : 0.919241 Centerline is valid? [False, False] Translation: X:8.57, Y:0.52, Z:1.06 [[ 0.92651323 -0.0872484 -0.36600677 8.56973064] [ 0.10787921 0.99350268 0.03625614 0.52434807] [ 0.36046541 -0.07307632 0.92990566 1.05888744] [ 0. 0. 0. 1. ]] SLAMing on 58.019649246 meters Centerline goodness : 0.915724 Centerline is valid? [False, False] Translation: X:8.57, Y:0.53, Z:1.06 [[ 0.92620445 -0.08778409 -0.3666596 8.57173065] [ 0.10833848 0.99346861 0.03581752 0.52543913] [ 0.36112059 -0.07289769 0.92966545 1.05917423] [ 0. 0. 0. 1. ]] SLAMing on 58.049649246 meters Centerline goodness : 0.919040 Centerline is valid? [False, False] Translation: X:8.58, Y:0.52, Z:1.06 [[ 0.92598811 -0.08390157 -0.36811213 8.57526516] [ 0.10584989 0.99358514 0.03980414 0.5248504 ] [ 0.36241112 -0.07582279 0.928929 1.06096689] [ 0. 0. 0. 1. ]] SLAMing on 58.079649246 meters Centerline goodness : 0.917494 Centerline is valid? [False, False] Translation: X:8.58, Y:0.53, Z:1.06 [[ 0.92566132 -0.08482254 -0.36872246 8.57827942] [ 0.10637964 0.99358019 0.03849378 0.52840353] [ 0.3630902 -0.07485677 0.92874215 1.05989699] [ 0. 0. 0. 1. ]] SLAMing on 58.109649246000004 meters Centerline goodness : 0.914999 Centerline is valid? [False, False] Translation: X:8.58, Y:0.53, Z:1.06 [[ 0.92535955 -0.08549333 -0.36932452 8.58039793] [ 0.10696526 0.99353567 0.03801711 0.52928683] [ 0.36368688 -0.07468438 0.92852254 1.06013486] [ 0. 0. 0. 1. ]] SLAMing on 58.139649246000005 meters Centerline goodness : 0.916029 Centerline is valid? [False, False] Translation: X:8.58, Y:0.53, Z:1.06 [[ 0.92465353 -0.08680909 -0.37078301 8.58488353] [ 0.10833923 0.99340283 0.03759572 0.52977502] [ 0.36507324 -0.07493336 0.92795826 1.06167645] [ 0. 0. 0. 1. ]] SLAMing on 58.169649246000006 meters Centerline goodness : 0.913759 Centerline is valid? [False, False] Translation: X:8.60, Y:0.53, Z:1.06 [[ 0.92374062 -0.08806718 -0.37275655 8.59584128] [ 0.11064828 0.99307123 0.03957899 0.53131258] [ 0.36668819 -0.07780559 0.92708471 1.06418731] [ 0. 0. 0. 1. ]] SLAMing on 58.199649246 meters Centerline goodness : 0.912559 Centerline is valid? [False, False] Translation: X:8.60, Y:0.53, Z:1.06 [[ 0.9232748 -0.08920027 -0.37364015 8.59938496] [ 0.11178106 0.99296092 0.03916135 0.53124905] [ 0.36751686 -0.07792258 0.92674669 1.06471447] [ 0. 0. 0. 1. ]] SLAMing on 58.229649246 meters Centerline goodness : 0.912334 Centerline is valid? [False, False] Translation: X:8.60, Y:0.53, Z:1.07 [[ 0.92264562 -0.09054521 -0.37486882 8.60415896] [ 0.11323469 0.99280656 0.0388979 0.5308511 ] [ 0.36865021 -0.07833713 0.92626148 1.06579584] [ 0. 0. 0. 1. ]] SLAMing on 58.259649246 meters Centerline goodness : 0.912154 Centerline is valid? [False, False] Translation: X:8.61, Y:0.53, Z:1.07 [[ 0.92224199 -0.09128232 -0.37568238 8.60673184] [ 0.11413365 0.99270052 0.03897665 0.5299157 ] [ 0.36938222 -0.0788239 0.92592849 1.06697748] [ 0. 0. 0. 1. ]] SLAMing on 58.289649246 meters Centerline goodness : 0.916435 Centerline is valid? [False, False] Translation: X:8.61, Y:0.53, Z:1.07 [[ 0.92188363 -0.09189341 -0.37641223 8.60915723] [ 0.11486667 0.99261518 0.0389969 0.52887994] [ 0.37004894 -0.07918782 0.92563118 1.06784889] [ 0. 0. 0. 1. ]] SLAMing on 58.319649246000004 meters Centerline goodness : 0.915877 Centerline is valid? [False, False] Translation: X:8.61, Y:0.53, Z:1.07 [[ 0.92117776 -0.09301722 -0.37786152 8.61359105] [ 0.11634214 0.99243045 0.03932306 0.52720556] [ 0.37134356 -0.08018474 0.92502668 1.07018137] [ 0. 0. 0. 1. ]] SLAMing on 58.349649246000006 meters Centerline goodness : 0.915877 Centerline is valid? [False, False] Translation: X:8.61, Y:0.53, Z:1.07 [[ 0.92117776 -0.09301722 -0.37786152 8.61359105] [ 0.11634214 0.99243045 0.03932306 0.52720556] [ 0.37134356 -0.08018474 0.92502668 1.07018137] [ 0. 0. 0. 1. ]] SLAMing on 58.379649246 meters Centerline goodness : 0.917006 Centerline is valid? [False, False] Translation: X:8.62, Y:0.53, Z:1.08 [[ 0.92041619 -0.09002234 -0.38043398 8.61982613] [ 0.1153888 0.99232964 0.04435431 0.52576584] [ 0.37352304 -0.08472225 0.92374384 1.07564653] [ 0. 0. 0. 1. ]] SLAMing on 58.409649246 meters Centerline goodness : 0.916909 Centerline is valid? [False, False] Translation: X:8.62, Y:0.52, Z:1.08 [[ 0.92408845 -0.08262346 -0.3731406 8.62479434] [ 0.10943102 0.99267475 0.05120244 0.52129654] [ 0.36617673 -0.08814874 0.92636084 1.07904405] [ 0. 0. 0. 1. ]] SLAMing on 58.439649246 meters Centerline goodness : 0.915259 Centerline is valid? [False, False] Translation: X:8.63, Y:0.52, Z:1.08 [[ 0.92358036 -0.08404515 -0.37407984 8.62887791] [ 0.11067006 0.99258699 0.05023145 0.52320089] [ 0.36708507 -0.08779222 0.92603514 1.07899057] [ 0. 0. 0. 1. ]] SLAMing on 58.469649246 meters Centerline goodness : 0.918445 Centerline is valid? [False, False] Translation: X:8.63, Y:0.52, Z:1.08 [[ 0.9233338 -0.08498691 -0.37447551 8.6312605 ] [ 0.11136947 0.99255341 0.04934141 0.52456289] [ 0.36749357 -0.08726373 0.92592306 1.07837062] [ 0. 0. 0. 1. ]] SLAMing on 58.499649246000004 meters Centerline goodness : 0.915393 Centerline is valid? [False, False] Translation: X:8.63, Y:0.53, Z:1.08 [[ 0.92295696 -0.08590114 -0.3751952 8.63393635] [ 0.11209821 0.99251194 0.04851854 0.52591711] [ 0.36821791 -0.08683923 0.92567517 1.07836767] [ 0. 0. 0. 1. ]] SLAMing on 58.529649246000005 meters Centerline goodness : 0.920132 Centerline is valid? [False, False] Translation: X:8.64, Y:0.53, Z:1.08 [[ 0.92265094 -0.08670691 -0.37576211 8.63630274] [ 0.11278294 0.99246353 0.0479182 0.52669174] [ 0.36877535 -0.08659133 0.92547646 1.07833498] [ 0. 0. 0. 1. ]] SLAMing on 58.559649246 meters Centerline goodness : 0.919451 Centerline is valid? [False, False] Translation: X:8.64, Y:0.53, Z:1.08 [[ 0.92234622 -0.08736502 -0.37635728 8.63842846] [ 0.11339239 0.99241318 0.04752091 0.52730888] [ 0.36935026 -0.08650679 0.92525508 1.07859421] [ 0. 0. 0. 1. ]] SLAMing on 58.589649246 meters Centerline goodness : 0.919103 Centerline is valid? [False, False] Translation: X:8.64, Y:0.53, Z:1.08 [[ 0.92192533 -0.08839868 -0.37714634 8.64183521] [ 0.11419163 0.99236806 0.04653932 0.52853653] [ 0.37015397 -0.08597273 0.92498364 1.07820818] [ 0. 0. 0. 1. ]] SLAMing on 58.619649246 meters Centerline goodness : 0.914040 Centerline is valid? [False, False] Translation: X:8.65, Y:0.53, Z:1.08 [[ 0.92143618 -0.08968712 -0.37803649 8.64586444] [ 0.11519322 0.99230711 0.0453555 0.53023155] [ 0.37106049 -0.08533944 0.92467902 1.0776808 ] [ 0. 0. 0. 1. ]] SLAMing on 58.649649246 meters Centerline goodness : 0.915116 Centerline is valid? [False, False] Translation: X:8.65, Y:0.53, Z:1.08 [[ 0.92110564 -0.09055523 -0.37863458 8.64833923] [ 0.11591074 0.99225482 0.04466622 0.5310376 ] [ 0.37165722 -0.08503012 0.92446784 1.07760503] [ 0. 0. 0. 1. ]] SLAMing on 58.679649246000004 meters Centerline goodness : 0.911307 Centerline is valid? [False, False] Translation: X:8.65, Y:0.53, Z:1.08 [[ 0.92053859 -0.09180228 -0.37971179 8.65248897] [ 0.11701595 0.99216331 0.04380915 0.53147349] [ 0.37271433 -0.08476035 0.92406694 1.07777997] [ 0. 0. 0. 1. ]] SLAMing on 58.709649246000005 meters Centerline goodness : 0.912580 Centerline is valid? [False, False] Translation: X:8.65, Y:0.53, Z:1.08 [[ 0.92022443 -0.0924279 -0.38032102 8.65482015] [ 0.11758318 0.99211446 0.04339455 0.53169602] [ 0.37331112 -0.08465208 0.92383593 1.07792 ] [ 0. 0. 0. 1. ]] SLAMing on 58.739649246000006 meters Centerline goodness : 0.909325 Centerline is valid? [False, False] Translation: X:8.66, Y:0.53, Z:1.08 [[ 0.91974779 -0.09344639 -0.38122405 8.65823402] [ 0.11845131 0.99204539 0.04260559 0.53255571] [ 0.37421022 -0.08434289 0.9235004 1.07799118] [ 0. 0. 0. 1. ]] SLAMing on 58.769649246 meters Centerline goodness : 0.909800 Centerline is valid? [False, False] Translation: X:8.66, Y:0.53, Z:1.08 [[ 0.91946914 -0.09418358 -0.38171448 8.66041045] [ 0.1190165 0.99200698 0.04191937 0.53345801] [ 0.37471531 -0.08397389 0.92332921 1.07770849] [ 0. 0. 0. 1. ]] SLAMing on 58.799649246 meters Centerline goodness : 0.911009 Centerline is valid? [False, False] Translation: X:8.66, Y:0.53, Z:1.08 [[ 0.91888737 -0.09554259 -0.3827762 8.66418014] [ 0.12041559 0.9918559 0.04149652 0.53374904] [ 0.37569414 -0.08422285 0.92290868 1.0787854 ] [ 0. 0. 0. 1. ]] SLAMing on 58.829649246 meters Centerline goodness : 0.912080 Centerline is valid? [False, False] Translation: X:8.67, Y:0.53, Z:1.08 [[ 0.91856166 -0.09622782 -0.3833858 8.66611084] [ 0.12109024 0.99178657 0.0411893 0.53429538] [ 0.37627333 -0.08425919 0.92266937 1.07931303] [ 0. 0. 0. 1. ]] SLAMing on 58.859649246000004 meters Centerline goodness : 0.914600 Centerline is valid? [False, False] Translation: X:8.67, Y:0.53, Z:1.08 [[ 0.91828184 -0.09697474 -0.38386764 8.66785097] [ 0.12183081 0.99170738 0.04091111 0.53465729] [ 0.37671702 -0.08433484 0.92248139 1.07987039] [ 0. 0. 0. 1. ]] SLAMing on 58.889649246000005 meters Centerline goodness : 0.914848 Centerline is valid? [False, False] Translation: X:8.67, Y:0.53, Z:1.08 [[ 0.9178256 -0.09784743 -0.38473635 8.6703136 ] [ 0.12279293 0.99159541 0.04074852 0.53492829] [ 0.37751566 -0.08464294 0.92212662 1.08102129] [ 0. 0. 0. 1. ]] SLAMing on 58.919649246000006 meters Centerline goodness : 0.914238 Centerline is valid? [False, False] Translation: X:8.67, Y:0.54, Z:1.08 [[ 0.91747794 -0.0983216 -0.38544402 8.67173607] [ 0.12324372 0.99155264 0.04042701 0.53599506] [ 0.37821319 -0.08459444 0.9218452 1.08192465] [ 0. 0. 0. 1. ]] SLAMing on 58.949649246 meters Centerline goodness : 0.916878 Centerline is valid? [False, False] Translation: X:8.67, Y:0.54, Z:1.08 [[ 0.91718135 -0.0987964 -0.38602804 8.67324252] [ 0.12364883 0.9915186 0.04002283 0.53676083] [ 0.37879987 -0.0844401 0.92161843 1.08231999] [ 0. 0. 0. 1. ]] SLAMing on 58.979649246 meters Centerline goodness : 0.919615 Centerline is valid? [False, False] Translation: X:8.67, Y:0.54, Z:1.08 [[ 0.91686822 -0.09907499 -0.38669991 8.67448304] [ 0.12389669 0.99149938 0.03973144 0.53768283] [ 0.37947633 -0.08433934 0.92134933 1.08310171] [ 0. 0. 0. 1. ]] SLAMing on 59.009649246 meters Centerline goodness : 0.917576 Centerline is valid? [False, False] Translation: X:8.68, Y:0.54, Z:1.08 [[ 0.91659112 -0.09955172 -0.38723401 8.67605023] [ 0.12428925 0.99146725 0.0393048 0.53870754] [ 0.38001698 -0.08415546 0.92114328 1.08333151] [ 0. 0. 0. 1. ]] SLAMing on 59.039649246 meters Centerline goodness : 0.918556 Centerline is valid? [False, False] Translation: X:8.68, Y:0.54, Z:1.09 [[ 0.92004871 -0.09053438 -0.38120059 8.68117673] [ 0.11733293 0.99195107 0.04760312 0.53575368] [ 0.37382262 -0.08852457 0.92326597 1.08865677] [ 0. 0. 0. 1. ]] SLAMing on 59.069649246000004 meters Centerline goodness : 0.917792 Centerline is valid? [False, False] Translation: X:8.68, Y:0.54, Z:1.09 [[ 0.9197285 -0.09119562 -0.38181519 8.68329406] [ 0.11789789 0.991909 0.04708114 0.53657294] [ 0.37443233 -0.08831707 0.92303875 1.08878555] [ 0. 0. 0. 1. ]] SLAMing on 59.099649246000006 meters Centerline goodness : 0.918612 Centerline is valid? [False, False] Translation: X:8.69, Y:0.54, Z:1.09 [[ 0.91938107 -0.09225591 -0.38239677 8.6860348 ] [ 0.11866198 0.99186866 0.04599889 0.53901174] [ 0.37504371 -0.08766647 0.92285254 1.0881577 ] [ 0. 0. 0. 1. ]] SLAMing on 59.129649246 meters Centerline goodness : 0.922783 Centerline is valid? [False, False] Translation: X:8.69, Y:0.54, Z:1.09 [[ 0.92311756 -0.08293241 -0.37546795 8.69011938] [ 0.11073397 0.99243364 0.05304198 0.53598902] [ 0.36822813 -0.09054104 0.92531636 1.09272968] [ 0. 0. 0. 1. ]] SLAMing on 59.159649246 meters Centerline goodness : 0.923713 Centerline is valid? [False, False] Translation: X:8.69, Y:0.54, Z:1.09 [[ 0.92294755 -0.08318997 -0.37582875 8.69080484] [ 0.11085981 0.99244485 0.0525674 0.53690715] [ 0.36861623 -0.09018125 0.92519696 1.09278077] [ 0. 0. 0. 1. ]] SLAMing on 59.189649246 meters Centerline goodness : 0.923798 Centerline is valid? [False, False] Translation: X:8.71, Y:0.54, Z:1.09 [[ 0.92480197 -0.0855572 -0.37070376 8.70563546] [ 0.10896815 0.99313056 0.04263374 0.54174446] [ 0.36450961 -0.07982267 0.92777211 1.09113754] [ 0. 0. 0. 1. ]] SLAMing on 59.219649246 meters Centerline goodness : 0.928004 Centerline is valid? [False, False] Translation: X:8.72, Y:0.55, Z:1.09 [[ 0.92685963 -0.08536997 -0.36557242 8.72138126] [ 0.10566837 0.99375527 0.0358421 0.54723219] [ 0.36022968 -0.07185004 0.93009255 1.09110207] [ 0. 0. 0. 1. ]] SLAMing on 59.249649246000004 meters Centerline goodness : 0.930801 Centerline is valid? [False, False] Translation: X:8.72, Y:0.55, Z:1.09 [[ 0.92664298 -0.08578965 -0.36602311 8.72234055] [ 0.1060095 0.99373247 0.03546499 0.54855024] [ 0.36068652 -0.07166531 0.92992974 1.09146244] [ 0. 0. 0. 1. ]] SLAMing on 59.279649246000005 meters Centerline goodness : 0.931236 Centerline is valid? [False, False] Translation: X:8.72, Y:0.55, Z:1.09 [[ 0.92630268 -0.08638902 -0.36674279 8.72394205] [ 0.10662169 0.99367524 0.03523267 0.54907221] [ 0.36137951 -0.07173886 0.92965498 1.09241512] [ 0. 0. 0. 1. ]] SLAMing on 59.309649246 meters Centerline goodness : 0.929425 Centerline is valid? [False, False] Translation: X:8.73, Y:0.55, Z:1.09 [[ 0.92600852 -0.08727579 -0.36727532 8.72641767] [ 0.10737545 0.9936159 0.03461156 0.5496974 ] [ 0.36190984 -0.07148695 0.92946806 1.09220574] [ 0. 0. 0. 1. ]] SLAMing on 59.339649246 meters Centerline goodness : 0.928994 Centerline is valid? [False, False] Translation: X:8.73, Y:0.55, Z:1.09 [[ 0.92550164 -0.08877653 -0.36819212 8.73135071] [ 0.10856317 0.99353053 0.03333368 0.55109538] [ 0.36285086 -0.07082248 0.92915199 1.09110406] [ 0. 0. 0. 1. ]] SLAMing on 59.369649246 meters Centerline goodness : 0.925848 Centerline is valid? [False, False] Translation: X:8.73, Y:0.55, Z:1.09 [[ 0.92509923 -0.0897112 -0.36897603 8.73432597] [ 0.10945223 0.9934482 0.03287678 0.55098469] [ 0.36360916 -0.07079954 0.92885726 1.09141394] [ 0. 0. 0. 1. ]] SLAMing on 59.399649246 meters Centerline goodness : 0.923768 Centerline is valid? [False, False] Translation: X:8.74, Y:0.54, Z:1.10 [[ 0.92841472 -0.08152692 -0.36249065 8.73967124] [ 0.10283098 0.99390085 0.03983583 0.54448331] [ 0.35703208 -0.07425944 0.93113567 1.096108 ] [ 0. 0. 0. 1. ]] SLAMing on 59.429649246000004 meters Centerline goodness : 0.923144 Centerline is valid? [False, False] Translation: X:8.74, Y:0.54, Z:1.10 [[ 0.92810852 -0.0822721 -0.36310588 8.74212229] [ 0.10351248 0.99384764 0.03939588 0.54455557] [ 0.35763074 -0.07414964 0.93091465 1.0961811 ] [ 0. 0. 0. 1. ]] SLAMing on 59.459649246000005 meters Centerline goodness : 0.921554 Centerline is valid? [False, False] Translation: X:8.75, Y:0.54, Z:1.10 [[ 0.92761902 -0.08341589 -0.36409442 8.74604378] [ 0.10462734 0.99375081 0.03889021 0.54387175] [ 0.35857506 -0.07416953 0.93054973 1.09649028] [ 0. 0. 0. 1. ]] SLAMing on 59.489649246000006 meters Centerline goodness : 0.921960 Centerline is valid? [False, False] Translation: X:8.75, Y:0.54, Z:1.10 [[ 0.92732339 -0.08418624 -0.36466972 8.7482562 ] [ 0.10539252 0.99368101 0.03860667 0.54338311] [ 0.35911522 -0.07423433 0.93033624 1.09686145] [ 0. 0. 0. 1. ]] SLAMing on 59.519649246 meters Centerline goodness : 0.922174 Centerline is valid? [False, False] Translation: X:8.75, Y:0.54, Z:1.10 [[ 0.92707264 -0.08455774 -0.3652209 8.74972177] [ 0.10580607 0.99364025 0.03852447 0.54316048] [ 0.35964064 -0.07435757 0.93012341 1.09746912] [ 0. 0. 0. 1. ]] SLAMing on 59.549649246 meters Centerline goodness : 0.924763 Centerline is valid? [False, False] Translation: X:8.75, Y:0.54, Z:1.10 [[ 0.93050162 -0.07673518 -0.35815979 8.75374679] [ 0.09963943 0.99396397 0.04590868 0.53826849] [ 0.35247512 -0.07840494 0.93253094 1.10230409] [ 0. 0. 0. 1. ]] SLAMing on 59.579649246 meters Centerline goodness : 0.925265 Centerline is valid? [False, False] Translation: X:8.76, Y:0.54, Z:1.10 [[ 0.93021669 -0.07747936 -0.35873926 8.75575258] [ 0.10028271 0.993924 0.04537017 0.53901416] [ 0.35304431 -0.07817944 0.93233454 1.10240183] [ 0. 0. 0. 1. ]] SLAMing on 59.609649246000004 meters Centerline goodness : 0.923844 Centerline is valid? [False, False] Translation: X:8.76, Y:0.54, Z:1.10 [[ 0.92984403 -0.07823597 -0.35954029 8.75816324] [ 0.10089852 0.99389327 0.04467283 0.54069629] [ 0.35384965 -0.07781584 0.93205961 1.10258406] [ 0. 0. 0. 1. ]] SLAMing on 59.639649246000005 meters Centerline goodness : 0.921697 Centerline is valid? [False, False] Translation: X:8.76, Y:0.54, Z:1.11 [[ 0.93364971 -0.06838792 -0.35159822 8.76057527] [ 0.09293833 0.99423846 0.05340741 0.53635072] [ 0.34592005 -0.08254076 0.93462631 1.10624954] [ 0. 0. 0. 1. ]] SLAMing on 59.669649246000006 meters Centerline goodness : 0.923659 Centerline is valid? [False, False] Translation: X:8.76, Y:0.54, Z:1.11 [[ 0.93349263 -0.06881467 -0.35193187 8.76165097] [ 0.09317401 0.99425245 0.05273205 0.537874 ] [ 0.34628039 -0.08201589 0.93453908 1.10589439] [ 0. 0. 0. 1. ]] SLAMing on 59.699649246 meters Centerline goodness : 0.924797 Centerline is valid? [False, False] Translation: X:8.76, Y:0.54, Z:1.11 [[ 0.93331549 -0.06913701 -0.35233829 8.76226327] [ 0.09336341 0.99426199 0.05221463 0.5397893 ] [ 0.3467066 -0.08162823 0.93441498 1.10604383] [ 0. 0. 0. 1. ]] SLAMing on 59.729649246 meters Centerline goodness : 0.927896 Centerline is valid? [False, False] Translation: X:8.76, Y:0.54, Z:1.11 [[ 0.93320015 -0.06942091 -0.35258787 8.76292086] [ 0.0935727 0.99425873 0.05190115 0.54041446] [ 0.34696055 -0.08142676 0.9343383 1.10609128] [ 0. 0. 0. 1. ]] SLAMing on 59.759649246 meters Centerline goodness : 0.928556 Centerline is valid? [False, False] Translation: X:8.78, Y:0.54, Z:1.10 [[ 0.93489055 -0.07315 -0.34731647 8.77852535] [ 0.09318433 0.99479146 0.04131148 0.54474944] [ 0.34248552 -0.07098616 0.93683757 1.10483001] [ 0. 0. 0. 1. ]] SLAMing on 59.789649246 meters Centerline goodness : 0.931398 Centerline is valid? [False, False] Translation: X:8.78, Y:0.54, Z:1.11 [[ 0.93469694 -0.07376298 -0.34770771 8.77990213] [ 0.0938147 0.99473827 0.04116521 0.54481217] [ 0.3428417 -0.07109709 0.93669887 1.10527239] [ 0. 0. 0. 1. ]] SLAMing on 59.819649246000004 meters Centerline goodness : 0.931412 Centerline is valid? [False, False] Translation: X:8.78, Y:0.54, Z:1.11 [[ 0.93451046 -0.07424104 -0.34810697 8.78136987] [ 0.09429695 0.99469931 0.04100456 0.54474953] [ 0.34321754 -0.07114461 0.93655761 1.10551448] [ 0. 0. 0. 1. ]] SLAMing on 59.849649246000006 meters Centerline goodness : 0.932374 Centerline is valid? [False, False] Translation: X:8.78, Y:0.54, Z:1.11 [[ 0.93420337 -0.07457671 -0.34885869 8.78312714] [ 0.09486258 0.9946289 0.04140585 0.54263138] [ 0.34389702 -0.07177512 0.9362602 1.10689369] [ 0. 0. 0. 1. ]] SLAMing on 59.879649246 meters Centerline goodness : 0.933024 Centerline is valid? [False, False] Translation: X:8.78, Y:0.54, Z:1.11 [[ 0.93405767 -0.07466866 -0.34922896 8.78387645] [ 0.09497907 0.9946191 0.04137416 0.54236875] [ 0.34426044 -0.07181529 0.93612356 1.10726185] [ 0. 0. 0. 1. ]] SLAMing on 59.909649246 meters Centerline goodness : 0.933743 Centerline is valid? [False, False] Translation: X:8.78, Y:0.54, Z:1.11 [[ 0.93410986 -0.07440968 -0.34914464 8.78308529] [ 0.09471611 0.99464195 0.04142773 0.54290232] [ 0.34419128 -0.07176767 0.93615264 1.10744169] [ 0. 0. 0. 1. ]] SLAMing on 59.939649246 meters Centerline goodness : 0.935274 Centerline is valid? [False, False] Translation: X:8.78, Y:0.54, Z:1.11 [[ 0.93393863 -0.07483834 -0.34951087 8.78414552] [ 0.09505694 0.99462583 0.04103223 0.54371408] [ 0.34456176 -0.07154502 0.93603339 1.10752965] [ 0. 0. 0. 1. ]] SLAMing on 59.969649246 meters Centerline goodness : 0.934339 Centerline is valid? [False, False] Translation: X:8.79, Y:0.55, Z:1.11 [[ 0.93379239 -0.07542562 -0.34977529 8.78544456] [ 0.09540746 0.99462514 0.04022738 0.54534574] [ 0.34486112 -0.07093519 0.93596955 1.10690266] [ 0. 0. 0. 1. ]] SLAMing on 59.999649246000004 meters Centerline goodness : 0.932924 Centerline is valid? [False, False] Translation: X:8.79, Y:0.55, Z:1.11 [[ 0.93358046 -0.0762401 -0.3501642 8.78751771] [ 0.09600299 0.99460078 0.0394045 0.54662961] [ 0.34526939 -0.07040408 0.93585913 1.10625494] [ 0. 0. 0. 1. ]] SLAMing on 60.029649246000005 meters Centerline goodness : 0.927302 Centerline is valid? [False, False] Translation: X:8.79, Y:0.55, Z:1.11 [[ 0.93318192 -0.07731413 -0.35099007 8.79075222] [ 0.09696097 0.9945347 0.03872088 0.5465797 ] [ 0.34607813 -0.07016596 0.93557825 1.10624557] [ 0. 0. 0. 1. ]] SLAMing on 60.059649246000006 meters Centerline goodness : 0.926885 Centerline is valid? [False, False] Translation: X:8.79, Y:0.55, Z:1.11 [[ 0.93276492 -0.07839233 -0.35185827 8.79375908] [ 0.09807503 0.99443642 0.03843809 0.54610627] [ 0.34688742 -0.07036221 0.93526375 1.10704604] [ 0. 0. 0. 1. ]] SLAMing on 60.089649246 meters Centerline goodness : 0.925558 Centerline is valid? [False, False] Translation: X:8.80, Y:0.55, Z:1.11 [[ 0.93243967 -0.07953405 -0.35246362 8.79706677] [ 0.09903084 0.99437362 0.03760309 0.54679043] [ 0.3474898 -0.06996738 0.93506973 1.1064331 ] [ 0. 0. 0. 1. ]] SLAMing on 60.119649246 meters Centerline goodness : 0.926057 Centerline is valid? [False, False] Translation: X:8.80, Y:0.55, Z:1.11 [[ 0.93216107 -0.08030672 -0.35302489 8.79942448] [ 0.09970795 0.99432531 0.03708766 0.54704053] [ 0.3480432 -0.06977106 0.93487857 1.10636053] [ 0. 0. 0. 1. ]] SLAMing on 60.149649246 meters Centerline goodness : 0.924893 Centerline is valid? [False, False] Translation: X:8.80, Y:0.55, Z:1.11 [[ 0.93202631 -0.08055757 -0.35332342 8.80003739] [ 0.0999229 0.99431137 0.03688255 0.54715874] [ 0.34834232 -0.0696806 0.9347739 1.10667359] [ 0. 0. 0. 1. ]] SLAMing on 60.179649246000004 meters Centerline goodness : 0.927487 Centerline is valid? [False, False] Translation: X:8.80, Y:0.55, Z:1.11 [[ 0.93167795 -0.08132332 -0.35406597 8.80168724] [ 0.10088605 0.99420545 0.03711518 0.54625437] [ 0.34899598 -0.07029971 0.93448368 1.10836616] [ 0. 0. 0. 1. ]] SLAMing on 60.209649246000005 meters Centerline goodness : 0.925492 Centerline is valid? [False, False] Translation: X:8.80, Y:0.55, Z:1.11 [[ 0.93132361 -0.08266583 -0.35468675 8.80476756] [ 0.10203179 0.99412174 0.03621426 0.54786728] [ 0.34960813 -0.06991651 0.9342836 1.10809731] [ 0. 0. 0. 1. ]] SLAMing on 60.239649246000006 meters Centerline goodness : 0.923177 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.93112747 -0.08329243 -0.35505493 8.80666085] [ 0.10252086 0.99409162 0.03565556 0.54911367] [ 0.34998729 -0.06960041 0.93416523 1.10767302] [ 0. 0. 0. 1. ]] SLAMing on 60.269649246 meters Centerline goodness : 0.923177 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.93112747 -0.08329243 -0.35505493 8.80666085] [ 0.10252086 0.99409162 0.03565556 0.54911367] [ 0.34998729 -0.06960041 0.93416523 1.10767302] [ 0. 0. 0. 1. ]] SLAMing on 60.299649246 meters Centerline goodness : 0.925478 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.93089323 -0.0836303 -0.35558933 8.80804669] [ 0.10296652 0.99404151 0.03576836 0.54894181] [ 0.35047923 -0.06991032 0.93395763 1.10845394] [ 0. 0. 0. 1. ]] SLAMing on 60.329649246 meters Centerline goodness : 0.926402 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.93079063 -0.08410421 -0.35574611 8.80918273] [ 0.10334663 0.99401527 0.03539941 0.54952404] [ 0.35063982 -0.0697146 0.93391198 1.10819121] [ 0. 0. 0. 1. ]] SLAMing on 60.359649246000004 meters Centerline goodness : 0.928658 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.93067621 -0.08435435 -0.35598616 8.80988745] [ 0.10355886 0.99400018 0.03520228 0.54977007] [ 0.35088084 -0.06962744 0.93382796 1.10833748] [ 0. 0. 0. 1. ]] SLAMing on 60.389649246000005 meters Centerline goodness : 0.927230 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.93053513 -0.08435974 -0.35635349 8.81009454] [ 0.10364215 0.99398695 0.0353306 0.54973948] [ 0.35123024 -0.0698096 0.933683 1.10920694] [ 0. 0. 0. 1. ]] SLAMing on 60.419649246000006 meters Centerline goodness : 0.928931 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.93044272 -0.08435306 -0.35659627 8.81016556] [ 0.10361155 0.99399418 0.03521674 0.55043609] [ 0.35148398 -0.06971465 0.9335946 1.10958587] [ 0. 0. 0. 1. ]] SLAMing on 60.449649246 meters Centerline goodness : 0.930947 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.93036412 -0.0845535 -0.35675386 8.81062078] [ 0.1037617 0.9939857 0.03501347 0.55139636] [ 0.35164772 -0.06959266 0.93354204 1.10965117] [ 0. 0. 0. 1. ]] SLAMing on 60.479649246 meters Centerline goodness : 0.929426 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.93013208 -0.08524899 -0.35719311 8.81250057] [ 0.10432811 0.99394603 0.03445204 0.55280612] [ 0.35209367 -0.06931023 0.93339495 1.10949059] [ 0. 0. 0. 1. ]] SLAMing on 60.509649246 meters Centerline goodness : 0.931073 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.93001767 -0.08534787 -0.35746729 8.81274509] [ 0.10439764 0.99394403 0.03429866 0.55361627] [ 0.35237517 -0.0692171 0.93329563 1.10989653] [ 0. 0. 0. 1. ]] SLAMing on 60.539649246 meters Centerline goodness : 0.931927 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.92985318 -0.08563575 -0.35782618 8.81364474] [ 0.10463996 0.99392709 0.03405035 0.55417374] [ 0.35273721 -0.06910474 0.93316719 1.11016362] [ 0. 0. 0. 1. ]] SLAMing on 60.569649246000004 meters Centerline goodness : 0.932281 Centerline is valid? [False, False] Translation: X:8.81, Y:0.55, Z:1.11 [[ 0.92975495 -0.08592188 -0.35801279 8.81432304] [ 0.10480319 0.99392406 0.03363418 0.55490117] [ 0.35294762 -0.06879243 0.9331107 1.10997781] [ 0. 0. 0. 1. ]] SLAMing on 60.599649246000006 meters Centerline goodness : 0.930910 Centerline is valid? [False, False] Translation: X:8.82, Y:0.56, Z:1.11 [[ 0.92967028 -0.08628101 -0.35814627 8.81512943] [ 0.10489715 0.9939407 0.03284009 0.55700045] [ 0.35314268 -0.06809898 0.93308777 1.10916567] [ 0. 0. 0. 1. ]] SLAMing on 60.629649246 meters Centerline goodness : 0.929833 Centerline is valid? [False, False] Translation: X:8.82, Y:0.56, Z:1.11 [[ 0.92938263 -0.086935 -0.3587342 8.81681227] [ 0.10565411 0.9938595 0.03287092 0.55628133] [ 0.35367376 -0.0684514 0.9328608 1.11015478] [ 0. 0. 0. 1. ]] SLAMing on 60.659649246 meters Centerline goodness : 0.929042 Centerline is valid? [False, False] Translation: X:8.82, Y:0.56, Z:1.11 [[ 0.92909936 -0.08761344 -0.35930248 8.81886032] [ 0.10630428 0.99380058 0.03255461 0.55691064] [ 0.35422279 -0.06844186 0.93265316 1.11044657] [ 0. 0. 0. 1. ]] SLAMing on 60.689649246 meters Centerline goodness : 0.928651 Centerline is valid? [False, False] Translation: X:8.82, Y:0.56, Z:1.11 [[ 0.92897415 -0.08805022 -0.3595194 8.82024065] [ 0.10670332 0.99376514 0.03233036 0.55675946] [ 0.35443115 -0.06839598 0.93257737 1.11024224] [ 0. 0. 0. 1. ]] SLAMing on 60.719649246 meters Centerline goodness : 0.930075 Centerline is valid? [False, False] Translation: X:8.82, Y:0.56, Z:1.11 [[ 0.92867923 -0.08861045 -0.36014312 8.82224078] [ 0.10745432 0.99367541 0.03259973 0.55594825] [ 0.35497669 -0.06897363 0.9323273 1.11128512] [ 0. 0. 0. 1. ]] SLAMing on 60.749649246000004 meters Centerline goodness : 0.936462 Centerline is valid? [False, False] Translation: X:8.82, Y:0.55, Z:1.11 [[ 0.9284249 -0.09311379 -0.35966239 8.82060057] [ 0.11110425 0.99336704 0.02962719 0.55437672] [ 0.35451806 -0.06746664 0.93261203 1.11268533] [ 0. 0. 0. 1. ]] SLAMing on 60.779649246000005 meters Centerline goodness : 0.934911 Centerline is valid? [False, False] Translation: X:8.82, Y:0.55, Z:1.11 [[ 0.92845278 -0.09269289 -0.35969913 8.81995705] [ 0.11086674 0.99337695 0.03017952 0.55367412] [ 0.3545194 -0.06789892 0.93258015 1.11346977] [ 0. 0. 0. 1. ]] SLAMing on 60.809649246000006 meters Centerline goodness : 0.937064 Centerline is valid? [False, False] Translation: X:8.82, Y:0.55, Z:1.11 [[ 0.92827706 -0.09274858 -0.36013802 8.82045615] [ 0.11117195 0.99332581 0.03073493 0.55274376] [ 0.35488377 -0.06856777 0.93239261 1.11490019] [ 0. 0. 0. 1. ]] SLAMing on 60.839649246 meters Centerline goodness : 0.938321 Centerline is valid? [False, False] Translation: X:8.82, Y:0.55, Z:1.12 [[ 0.92816679 -0.09278507 -0.36041275 8.82070473] [ 0.11154928 0.99325743 0.03156626 0.55091781] [ 0.35505377 -0.06950253 0.93225867 1.11651199] [ 0. 0. 0. 1. ]] SLAMing on 60.869649246 meters Centerline goodness : 0.936355 Centerline is valid? [False, False] Translation: X:8.82, Y:0.55, Z:1.12 [[ 0.92792813 -0.09335289 -0.36088036 8.82234812] [ 0.11211164 0.99320099 0.03134936 0.5514254 ] [ 0.35550017 -0.06954884 0.93208507 1.11686298] [ 0. 0. 0. 1. ]] SLAMing on 60.899649246 meters Centerline goodness : 0.938219 Centerline is valid? [False, False] Translation: X:8.82, Y:0.55, Z:1.12 [[ 0.92785153 -0.09365547 -0.36099888 8.82313894] [ 0.11224466 0.9932024 0.0308243 0.55280767] [ 0.35565808 -0.06912057 0.93205669 1.11631399] [ 0. 0. 0. 1. ]] SLAMing on 60.929649246000004 meters Centerline goodness : 0.939488 Centerline is valid? [False, False] Translation: X:8.82, Y:0.55, Z:1.12 [[ 0.92772592 -0.09400118 -0.36123178 8.82400721] [ 0.11251644 0.99318109 0.03051843 0.55404935] [ 0.3558998 -0.06895725 0.93197652 1.11630361] [ 0. 0. 0. 1. ]] SLAMing on 60.959649246000005 meters Centerline goodness : 0.935402 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.11 [[ 0.92761455 -0.09455071 -0.36137433 8.82554729] [ 0.11267293 0.99319831 0.02935861 0.55718931] [ 0.35614049 -0.06795057 0.93195851 1.1147834 ] [ 0. 0. 0. 1. ]] SLAMing on 60.989649246000006 meters Centerline goodness : 0.932510 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.11 [[ 0.9274735 -0.09495728 -0.36162968 8.82676717] [ 0.11290633 0.99318879 0.02877841 0.55888704] [ 0.35643382 -0.06752149 0.93187755 1.11430549] [ 0. 0. 0. 1. ]] SLAMing on 61.019649246 meters Centerline goodness : 0.931570 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.11 [[ 0.92743451 -0.09505287 -0.36170456 8.82685589] [ 0.11280269 0.99321645 0.02822479 0.56115487] [ 0.35656807 -0.06697789 0.93186543 1.11387894] [ 0. 0. 0. 1. ]] SLAMing on 61.049649246 meters Centerline goodness : 0.933236 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.11 [[ 0.92741536 -0.0948401 -0.36180948 8.82644798] [ 0.11261604 0.99323516 0.02831138 0.56178657] [ 0.35667684 -0.06700196 0.93182207 1.11426184] [ 0. 0. 0. 1. ]] SLAMing on 61.079649246 meters Centerline goodness : 0.935379 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.12 [[ 0.92743132 -0.08919659 -0.3632012 8.82603511] [ 0.10901011 0.99344588 0.03438152 0.55969394] [ 0.35775402 -0.0714791 0.93107615 1.1189792 ] [ 0. 0. 0. 1. ]] SLAMing on 61.109649246000004 meters Centerline goodness : 0.937884 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.12 [[ 0.92732269 -0.08954345 -0.36339318 8.82675928] [ 0.10921239 0.9934402 0.0339001 0.56101676] [ 0.35797386 -0.07112337 0.93101889 1.11873619] [ 0. 0. 0. 1. ]] SLAMing on 61.139649246000005 meters Centerline goodness : 0.937508 Centerline is valid? [False, False] Translation: X:8.82, Y:0.56, Z:1.12 [[ 0.92753131 -0.08896405 -0.36300285 8.82469465] [ 0.10850688 0.9935222 0.03376219 0.56277009] [ 0.35764777 -0.0707038 0.93117616 1.11842971] [ 0. 0. 0. 1. ]] SLAMing on 61.169649246000006 meters Centerline goodness : 0.938518 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.12 [[ 0.92739918 -0.08919371 -0.36328396 8.82517821] [ 0.1087198 0.99350387 0.03361656 0.56349537] [ 0.35792564 -0.07067212 0.9310718 1.11887592] [ 0. 0. 0. 1. ]] SLAMing on 61.199649246 meters Centerline goodness : 0.936034 Centerline is valid? [False, False] Translation: X:8.83, Y:0.57, Z:1.12 [[ 0.92724785 -0.08968193 -0.36354996 8.82604602] [ 0.10898493 0.99349914 0.03288991 0.56515503] [ 0.35823695 -0.07011857 0.93099392 1.11853018] [ 0. 0. 0. 1. ]] SLAMing on 61.229649246 meters Centerline goodness : 0.936087 Centerline is valid? [False, False] Translation: X:8.83, Y:0.57, Z:1.12 [[ 0.92722834 -0.08995987 -0.36353105 8.82659758] [ 0.10910889 0.99350026 0.03244207 0.56615519] [ 0.35824971 -0.06974567 0.93101702 1.11791236] [ 0. 0. 0. 1. ]] SLAMing on 61.259649246 meters Centerline goodness : 0.933851 Centerline is valid? [False, False] Translation: X:8.83, Y:0.57, Z:1.12 [[ 0.92701082 -0.0907903 -0.3638792 8.8285363 ] [ 0.1096955 0.99346337 0.03158213 0.56816195] [ 0.3586333 -0.06919288 0.93091058 1.11726511] [ 0. 0. 0. 1. ]] SLAMing on 61.289649246 meters Centerline goodness : 0.937878 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.12 [[ 0.93147815 -0.08109436 -0.35464371 8.83131868] [ 0.10129086 0.99410282 0.03872644 0.56183123] [ 0.34941182 -0.071995 0.93419918 1.11748212] [ 0. 0. 0. 1. ]] SLAMing on 61.319649246000004 meters Centerline goodness : 0.936997 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.12 [[ 0.93133426 -0.08154265 -0.35491873 8.83214575] [ 0.10168763 0.99407314 0.03844773 0.56252969] [ 0.34968004 -0.07189853 0.93410624 1.11773302] [ 0. 0. 0. 1. ]] SLAMing on 61.349649246000006 meters Centerline goodness : 0.939268 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.12 [[ 0.93116996 -0.0815654 -0.35534433 8.83175104] [ 0.10185022 0.99404579 0.03872334 0.56293147] [ 0.35007005 -0.07224991 0.93393303 1.11931256] [ 0. 0. 0. 1. ]] SLAMing on 61.379649246 meters Centerline goodness : 0.940265 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.12 [[ 0.93103404 -0.08169402 -0.35567077 8.83202798] [ 0.10201379 0.99402909 0.03872144 0.5634237 ] [ 0.35038378 -0.0723343 0.93380884 1.12002555] [ 0. 0. 0. 1. ]] SLAMing on 61.409649246 meters Centerline goodness : 0.940806 Centerline is valid? [False, False] Translation: X:8.83, Y:0.56, Z:1.12 [[ 0.9309326 -0.08217729 -0.35582493 8.83288397] [ 0.10238107 0.99400799 0.03829129 0.56427225] [ 0.35054615 -0.07207635 0.93376785 1.11981476] [ 0. 0. 0. 1. ]] SLAMing on 61.439649246 meters Centerline goodness : 0.943473 Centerline is valid? [False, False] Translation: X:8.83, Y:0.57, Z:1.12 [[ 0.93087693 -0.08261583 -0.35586903 8.83345566] [ 0.10265174 0.99400058 0.03775532 0.56566701] [ 0.35061484 -0.07167613 0.93377287 1.11939318] [ 0. 0. 0. 1. ]] SLAMing on 61.469649246 meters Centerline goodness : 0.941490 Centerline is valid? [False, False] Translation: X:8.83, Y:0.57, Z:1.12 [[ 0.9307565 -0.08331171 -0.35602175 8.83479725] [ 0.10304693 0.99399567 0.03679583 0.56745146] [ 0.35081856 -0.07093491 0.93375295 1.11844903] [ 0. 0. 0. 1. ]] SLAMing on 61.499649246000004 meters Centerline goodness : 0.940944 Centerline is valid? [False, False] Translation: X:8.84, Y:0.57, Z:1.12 [[ 0.93076303 -0.08354702 -0.35594955 8.83525456] [ 0.10301275 0.99402649 0.03605148 0.56889927] [ 0.35081129 -0.07022272 0.93380951 1.11737267] [ 0. 0. 0. 1. ]] SLAMing on 61.529649246000005 meters Centerline goodness : 0.940570 Centerline is valid? [False, False] Translation: X:8.84, Y:0.57, Z:1.12 [[ 0.93057766 -0.08421548 -0.35627653 8.83667267] [ 0.10347009 0.99400599 0.03529916 0.56991808] [ 0.35116827 -0.06971257 0.93371356 1.11696155] [ 0. 0. 0. 1. ]] SLAMing on 61.559649246000006 meters Centerline goodness : 0.938159 Centerline is valid? [False, False] Translation: X:8.84, Y:0.57, Z:1.12 [[ 0.93031994 -0.08489962 -0.35678686 8.83878461] [ 0.10407637 0.99395819 0.03486016 0.57039355] [ 0.35167161 -0.06956418 0.93353517 1.11692831] [ 0. 0. 0. 1. ]] SLAMing on 61.589649246 meters Centerline goodness : 0.936006 Centerline is valid? [False, False] Translation: X:8.84, Y:0.57, Z:1.12 [[ 0.929988 -0.08544991 -0.35752013 8.84043545] [ 0.10479789 0.99387539 0.03505878 0.56925258] [ 0.35233469 -0.0700716 0.93324715 1.11834609] [ 0. 0. 0. 1. ]] SLAMing on 61.619649246 meters Centerline goodness : 0.938112 Centerline is valid? [False, False] Translation: X:8.84, Y:0.57, Z:1.12 [[ 0.9299026 -0.08567018 -0.3576895 8.84110168] [ 0.10504495 0.99384949 0.0350536 0.56930626] [ 0.35248648 -0.07016991 0.93318244 1.11860377] [ 0. 0. 0. 1. ]] SLAMing on 61.649649246 meters Centerline goodness : 0.938287 Centerline is valid? [False, False] Translation: X:8.84, Y:0.57, Z:1.12 [[ 0.92976766 -0.08598451 -0.35796475 8.8420741 ] [ 0.1053603 0.99382009 0.03494049 0.56946242] [ 0.35274822 -0.07020181 0.93308113 1.11878189] [ 0. 0. 0. 1. ]] SLAMing on 61.679649246000004 meters Centerline goodness : 0.939914 Centerline is valid? [False, False] Translation: X:8.84, Y:0.57, Z:1.12 [[ 0.92947843 -0.08612341 -0.35868175 8.84287364] [ 0.1060131 0.99370852 0.03611927 0.5669909 ] [ 0.3533144 -0.07159705 0.93276085 1.12150644] [ 0. 0. 0. 1. ]] SLAMing on 61.709649246000005 meters Centerline goodness : 0.943316 Centerline is valid? [False, False] Translation: X:8.84, Y:0.57, Z:1.12 [[ 0.92920975 -0.09120127 -0.35812227 8.8427141 ] [ 0.10983756 0.99343432 0.03199929 0.56691922] [ 0.35285258 -0.06906933 0.93312619 1.12096153] [ 0. 0. 0. 1. ]] SLAMing on 61.739649246000006 meters Centerline goodness : 0.944872 Centerline is valid? [False, False] Translation: X:8.84, Y:0.57, Z:1.12 [[ 0.92896254 -0.0916916 -0.35863805 8.84420512] [ 0.11045249 0.9933619 0.03213068 0.56631946] [ 0.35331126 -0.06946067 0.93292356 1.12183875] [ 0. 0. 0. 1. ]] SLAMing on 61.769649246 meters Centerline goodness : 0.944045 Centerline is valid? [False, False] Translation: X:8.85, Y:0.57, Z:1.12 [[ 0.92871526 -0.09242396 -0.3590902 8.846403 ] [ 0.11118198 0.99328815 0.03189388 0.56600378] [ 0.35373228 -0.06954469 0.93275775 1.12189872] [ 0. 0. 0. 1. ]] SLAMing on 61.799649246 meters Centerline goodness : 0.941127 Centerline is valid? [False, False] Translation: X:8.85, Y:0.57, Z:1.12 [[ 0.9284684 -0.09292848 -0.359598 8.84819624] [ 0.11171139 0.99323304 0.03176007 0.56590455] [ 0.35421319 -0.06965942 0.93256666 1.12223035] [ 0. 0. 0. 1. ]] SLAMing on 61.829649246 meters Centerline goodness : 0.941988 Centerline is valid? [False, False] Translation: X:8.85, Y:0.56, Z:1.12 [[ 0.92805648 -0.09384387 -0.36042267 8.85053761] [ 0.11290256 0.99308603 0.03214259 0.56443354] [ 0.35491433 -0.07052278 0.93223514 1.12405172] [ 0. 0. 0. 1. ]] SLAMing on 61.859649246000004 meters Centerline goodness : 0.940005 Centerline is valid? [False, False] Translation: X:8.85, Y:0.57, Z:1.12 [[ 0.92791805 -0.09455638 -0.36059283 8.8527106 ] [ 0.11331873 0.99306878 0.03119726 0.56613082] [ 0.35514358 -0.06981042 0.93220145 1.12261473] [ 0. 0. 0. 1. ]] SLAMing on 61.889649246000005 meters Centerline goodness : 0.941367 Centerline is valid? [False, False] Translation: X:8.86, Y:0.56, Z:1.13 [[ 0.93129876 -0.08640553 -0.35385972 8.85802237] [ 0.10649836 0.99359911 0.03766842 0.55960639] [ 0.34833994 -0.07276603 0.93453967 1.12638995] [ 0. 0. 0. 1. ]] SLAMing on 61.919649246000006 meters Centerline goodness : 0.940840 Centerline is valid? [False, False] Translation: X:8.86, Y:0.56, Z:1.13 [[ 0.93115806 -0.08648439 -0.35421056 8.85867038] [ 0.1066262 0.99358392 0.03770735 0.55897704] [ 0.34867682 -0.07287963 0.93440518 1.12688503] [ 0. 0. 0. 1. ]] SLAMing on 61.949649246 meters Centerline goodness : 0.941955 Centerline is valid? [False, False] Translation: X:8.86, Y:0.56, Z:1.13 [[ 0.93098125 -0.08665675 -0.35463294 8.85952014] [ 0.10687379 0.99355442 0.03778356 0.55845274] [ 0.34907293 -0.07307675 0.93424187 1.12755167] [ 0. 0. 0. 1. ]] SLAMing on 61.979649246 meters Centerline goodness : 0.940406 Centerline is valid? [False, False] Translation: X:8.86, Y:0.56, Z:1.13 [[ 0.93087336 -0.0870107 -0.35482944 8.86055573] [ 0.10717016 0.99353242 0.03752195 0.55890186] [ 0.34926974 -0.07295531 0.93417781 1.12738844] [ 0. 0. 0. 1. ]] SLAMing on 62.009649246 meters Centerline goodness : 0.937304 Centerline is valid? [False, False] Translation: X:8.86, Y:0.56, Z:1.13 [[ 0.93072222 -0.08731603 -0.35515077 8.86153293] [ 0.10731592 0.99353741 0.036969 0.56015072] [ 0.34962759 -0.0725212 0.93407774 1.12713356] [ 0. 0. 0. 1. ]] SLAMing on 62.039649246 meters Centerline goodness : 0.939126 Centerline is valid? [False, False] Translation: X:8.86, Y:0.56, Z:1.13 [[ 0.93068874 -0.08751796 -0.35518878 8.86184988] [ 0.10734077 0.99355386 0.03645116 0.56158102] [ 0.34970905 -0.07205092 0.93408364 1.12662762] [ 0. 0. 0. 1. ]] SLAMing on 62.069649246000004 meters Centerline goodness : 0.936885 Centerline is valid? [False, False] Translation: X:8.86, Y:0.56, Z:1.13 [[ 0.93081858 -0.08310395 -0.355908 8.86338559] [ 0.1038901 0.99379784 0.03965718 0.56396189] [ 0.35040494 -0.07388896 0.93367918 1.12634265] [ 0. 0. 0. 1. ]] SLAMing on 62.099649246000006 meters Centerline goodness : 0.935483 Centerline is valid? [False, False] Translation: X:8.86, Y:0.57, Z:1.13 [[ 0.9307225 -0.08359602 -0.35604401 8.86443467] [ 0.10405304 0.99382004 0.03866124 0.5667077 ] [ 0.35061175 -0.07303035 0.93366909 1.12528802] [ 0. 0. 0. 1. ]] SLAMing on 62.129649246 meters Centerline goodness : 0.935483 Centerline is valid? [False, False] Translation: X:8.86, Y:0.57, Z:1.13 [[ 0.9307225 -0.08359602 -0.35604401 8.86443467] [ 0.10405304 0.99382004 0.03866124 0.5667077 ] [ 0.35061175 -0.07303035 0.93366909 1.12528802] [ 0. 0. 0. 1. ]] SLAMing on 62.159649246 meters Centerline goodness : 0.932668 Centerline is valid? [False, False] Translation: X:8.86, Y:0.57, Z:1.12 [[ 0.93086661 -0.08333144 -0.35572914 8.86355096] [ 0.10337435 0.99392873 0.03767535 0.5697824 ] [ 0.35042987 -0.07184399 0.9338294 1.12375896] [ 0. 0. 0. 1. ]] SLAMing on 62.189649246 meters Centerline goodness : 0.932407 Centerline is valid? [False, False] Translation: X:8.86, Y:0.57, Z:1.12 [[ 0.93092902 -0.08324755 -0.35558544 8.86331754] [ 0.1030911 0.9939764 0.03719048 0.57146922] [ 0.35034752 -0.07127939 0.93390356 1.12294498] [ 0. 0. 0. 1. ]] SLAMing on 62.219649246 meters Centerline goodness : 0.934212 Centerline is valid? [False, False] Translation: X:8.86, Y:0.57, Z:1.12 [[ 0.93096627 -0.08325675 -0.35548576 8.8635731 ] [ 0.10273347 0.99404881 0.03623245 0.57460659] [ 0.3503536 -0.07025147 0.93397917 1.12144556] [ 0. 0. 0. 1. ]] SLAMing on 62.249649246000004 meters Centerline goodness : 0.931333 Centerline is valid? [False, False] Translation: X:8.87, Y:0.58, Z:1.12 [[ 0.93077015 -0.08373531 -0.35588668 8.8650569 ] [ 0.10304037 0.99403979 0.0356031 0.57617971] [ 0.35078428 -0.069809 0.93385068 1.12113516] [ 0. 0. 0. 1. ]] SLAMing on 62.279649246000005 meters Centerline goodness : 0.931822 Centerline is valid? [False, False] Translation: X:8.86, Y:0.58, Z:1.12 [[ 0.93085937 -0.08340725 -0.35573033 8.86458042] [ 0.10251119 0.99411027 0.03516005 0.57766425] [ 0.35070257 -0.0691954 0.93392703 1.12026312] [ 0. 0. 0. 1. ]] SLAMing on 62.309649246000006 meters Centerline goodness : 0.930027 Centerline is valid? [False, False] Translation: X:8.87, Y:0.58, Z:1.12 [[ 0.93057535 -0.0839984 -0.35633381 8.86617402] [ 0.1031606 0.99404589 0.03508074 0.57778036] [ 0.35126543 -0.06940488 0.93369993 1.12109722] [ 0. 0. 0. 1. ]] SLAMing on 62.339649246 meters Centerline goodness : 0.932439 Centerline is valid? [False, False] Translation: X:8.87, Y:0.58, Z:1.12 [[ 0.93025125 -0.08443552 -0.35707597 8.86723083] [ 0.10398706 0.99393134 0.03587745 0.57550378] [ 0.35187966 -0.07050632 0.93338607 1.12354537] [ 0. 0. 0. 1. ]] SLAMing on 62.369649246 meters Centerline goodness : 0.929589 Centerline is valid? [False, False] Translation: X:8.87, Y:0.58, Z:1.12 [[ 0.92983727 -0.0855633 -0.35788485 8.87079278] [ 0.1049979 0.99384965 0.03518982 0.57610125] [ 0.35267278 -0.07029797 0.93310241 1.12334801] [ 0. 0. 0. 1. ]] SLAMing on 62.399649246 meters Centerline goodness : 0.924350 Centerline is valid? [False, False] Translation: X:8.87, Y:0.58, Z:1.12 [[ 0.92958392 -0.08653224 -0.35830979 8.87389579] [ 0.10573041 0.99380317 0.03429791 0.57713856] [ 0.35312153 -0.06976702 0.93297253 1.12221253] [ 0. 0. 0. 1. ]] SLAMing on 62.429649246000004 meters Centerline goodness : 0.922323 Centerline is valid? [False, False] Translation: X:8.88, Y:0.58, Z:1.12 [[ 0.92931737 -0.08757706 -0.35874711 8.8773715 ] [ 0.10656872 0.99374186 0.03346974 0.57773113] [ 0.35357084 -0.06933523 0.93283454 1.12106039] [ 0. 0. 0. 1. ]] SLAMing on 62.459649246000005 meters Centerline goodness : 0.921650 Centerline is valid? [False, False] Translation: X:8.88, Y:0.58, Z:1.12 [[ 0.92916662 -0.08798073 -0.3590387 8.87888287] [ 0.10696325 0.99370482 0.03331063 0.57739754] [ 0.3538478 -0.06935507 0.93272805 1.12098106] [ 0. 0. 0. 1. ]] SLAMing on 62.489649246000006 meters Centerline goodness : 0.921432 Centerline is valid? [False, False] Translation: X:8.88, Y:0.58, Z:1.12 [[ 0.92899676 -0.08817367 -0.35943069 8.88004465] [ 0.10726429 0.99366675 0.03347777 0.57635472] [ 0.35420247 -0.06965482 0.93257108 1.12155366] [ 0. 0. 0. 1. ]] SLAMing on 62.519649246 meters Centerline goodness : 0.923496 Centerline is valid? [False, False] Translation: X:8.88, Y:0.57, Z:1.12 [[ 0.92874125 -0.08777828 -0.36018698 8.88065302] [ 0.1073921 0.99360871 0.03476586 0.57286831] [ 0.35483324 -0.07096972 0.93223209 1.12411946] [ 0. 0. 0. 1. ]] SLAMing on 62.549649246 meters Centerline goodness : 0.925420 Centerline is valid? [False, False] Translation: X:8.88, Y:0.57, Z:1.13 [[ 0.92855395 -0.08785 -0.36065211 8.88176364] [ 0.10772675 0.99355212 0.03534305 0.57085599] [ 0.35522179 -0.07166981 0.93203054 1.12531924] [ 0. 0. 0. 1. ]] SLAMing on 62.579649246 meters Centerline goodness : 0.923621 Centerline is valid? [False, False] Translation: X:8.88, Y:0.57, Z:1.13 [[ 0.92834001 -0.08847399 -0.3610501 8.88369516] [ 0.10833594 0.99349437 0.03510364 0.57057856] [ 0.35559548 -0.07170281 0.93188549 1.12536861] [ 0. 0. 0. 1. ]] SLAMing on 62.609649246000004 meters Centerline goodness : 0.923605 Centerline is valid? [False, False] Translation: X:8.89, Y:0.57, Z:1.13 [[ 0.92814781 -0.08903969 -0.361405 8.88573118] [ 0.10891252 0.99343669 0.03495144 0.57002882] [ 0.35592092 -0.07180163 0.93175363 1.12534724] [ 0. 0. 0. 1. ]] SLAMing on 62.639649246000005 meters Centerline goodness : 0.921155 Centerline is valid? [False, False] Translation: X:8.89, Y:0.57, Z:1.12 [[ 0.92804157 -0.08931126 -0.36161076 8.88709135] [ 0.10911093 0.99342494 0.03466557 0.57050704] [ 0.35613713 -0.07162678 0.93168447 1.12488551] [ 0. 0. 0. 1. ]] SLAMing on 62.669649246000006 meters Centerline goodness : 0.924058 Centerline is valid? [False, False] Translation: X:8.89, Y:0.57, Z:1.12 [[ 0.92789394 -0.08977999 -0.36187344 8.88831151] [ 0.1094697 0.99340039 0.03423515 0.57141531] [ 0.35641159 -0.07138077 0.93159839 1.12468597] [ 0. 0. 0. 1. ]] SLAMing on 62.699649246 meters Centerline goodness : 0.923061 Centerline is valid? [False, False] Translation: X:8.89, Y:0.57, Z:1.13 [[ 0.9278107 -0.08956276 -0.36214059 8.88842026] [ 0.10933734 0.9934079 0.03443968 0.57130885] [ 0.35666881 -0.07154899 0.93148704 1.12535925] [ 0. 0. 0. 1. ]] SLAMing on 62.729649246 meters Centerline goodness : 0.923484 Centerline is valid? [False, False] Translation: X:8.89, Y:0.57, Z:1.13 [[ 0.92773675 -0.08959983 -0.36232084 8.88871264] [ 0.10919966 0.99344031 0.03393804 0.57290791] [ 0.35690328 -0.07105088 0.93143535 1.12507231] [ 0. 0. 0. 1. ]] SLAMing on 62.759649246 meters Centerline goodness : 0.921075 Centerline is valid? [False, False] Translation: X:8.89, Y:0.57, Z:1.12 [[ 0.92772703 -0.08965414 -0.36233229 8.88919716] [ 0.10907265 0.99347073 0.0334524 0.57460115] [ 0.35696738 -0.07055524 0.93144847 1.12428595] [ 0. 0. 0. 1. ]] SLAMing on 62.789649246 meters Centerline goodness : 0.921321 Centerline is valid? [False, False] Translation: X:8.89, Y:0.58, Z:1.12 [[ 0.92783487 -0.08889467 -0.36224327 8.88870422] [ 0.1079844 0.99361289 0.03275368 0.57838097] [ 0.35701796 -0.06950663 0.93150792 1.12271075] [ 0. 0. 0. 1. ]] SLAMing on 62.819649246000004 meters Centerline goodness : 0.921125 Centerline is valid? [False, False] Translation: X:8.89, Y:0.58, Z:1.12 [[ 0.92768566 -0.08916218 -0.36255954 8.8896332 ] [ 0.10809874 0.99361728 0.03223902 0.58024847] [ 0.35737092 -0.0690999 0.93140283 1.12250379] [ 0. 0. 0. 1. ]] SLAMing on 62.849649246000006 meters Centerline goodness : 0.922587 Centerline is valid? [False, False] Translation: X:8.89, Y:0.58, Z:1.12 [[ 0.92776573 -0.08890603 -0.36241754 8.88895709] [ 0.10775474 0.99365957 0.03208684 0.58183788] [ 0.35726694 -0.06882128 0.93146334 1.12228129] [ 0. 0. 0. 1. ]] SLAMing on 62.879649246 meters Centerline goodness : 0.922628 Centerline is valid? [False, False] Translation: X:8.89, Y:0.58, Z:1.12 [[ 0.92760918 -0.08908937 -0.36277307 8.88980649] [ 0.10802632 0.99362612 0.03220933 0.58169184] [ 0.35759129 -0.06906671 0.93132071 1.12291186] [ 0. 0. 0. 1. ]] SLAMing on 62.909649246 meters Centerline goodness : 0.923225 Centerline is valid? [False, False] Translation: X:8.89, Y:0.58, Z:1.13 [[ 0.92718348 -0.0893636 -0.36379244 8.89150102] [ 0.10875239 0.99351694 0.033121 0.58037412] [ 0.35847414 -0.07027254 0.93089101 1.12556889] [ 0. 0. 0. 1. ]] SLAMing on 62.939649246 meters Centerline goodness : 0.923969 Centerline is valid? [False, False] Translation: X:8.89, Y:0.58, Z:1.13 [[ 0.9269439 -0.0898265 -0.36428863 8.89338218] [ 0.109225 0.99347059 0.0329559 0.58058829] [ 0.35894972 -0.0703377 0.9307028 1.1258065 ] [ 0. 0. 0. 1. ]] SLAMing on 62.969649246 meters Centerline goodness : 0.923656 Centerline is valid? [False, False] Translation: X:8.89, Y:0.58, Z:1.13 [[ 0.92659673 -0.09435956 -0.36402579 8.89380229] [ 0.11258097 0.99321598 0.02911259 0.57991186] [ 0.35880918 -0.06795801 0.93093377 1.12527989] [ 0. 0. 0. 1. ]] SLAMing on 62.999649246000004 meters Centerline goodness : 0.921283 Centerline is valid? [False, False] Translation: X:8.90, Y:0.58, Z:1.13 [[ 0.92631249 -0.09462642 -0.36467932 8.89556019] [ 0.11307458 0.99314796 0.02951733 0.57869688] [ 0.3593874 -0.06857823 0.9306652 1.12638982] [ 0. 0. 0. 1. ]] SLAMing on 63.029649246000005 meters Centerline goodness : 0.923720 Centerline is valid? [False, False] Translation: X:8.90, Y:0.58, Z:1.13 [[ 0.92602789 -0.09502263 -0.36529858 8.89770372] [ 0.1137649 0.99305233 0.03007683 0.57654002] [ 0.35990263 -0.06941014 0.93040439 1.12763308] [ 0. 0. 0. 1. ]] SLAMing on 63.059649246000006 meters Centerline goodness : 0.922833 Centerline is valid? [False, False] Translation: X:8.90, Y:0.58, Z:1.13 [[ 0.92575072 -0.09537432 -0.36590893 8.89956992] [ 0.11429943 0.99298244 0.0303566 0.57576761] [ 0.3604459 -0.06992583 0.93015543 1.12856252] [ 0. 0. 0. 1. ]] SLAMing on 63.089649246 meters Centerline goodness : 0.924688 Centerline is valid? [False, False] Translation: X:8.90, Y:0.57, Z:1.13 [[ 0.92554258 -0.09559373 -0.3663779 8.90109573] [ 0.11460548 0.99294457 0.03044119 0.57491094] [ 0.36088296 -0.07016353 0.92996805 1.1290719 ] [ 0. 0. 0. 1. ]] SLAMing on 63.119649246 meters Centerline goodness : 0.921067 Centerline is valid? [False, False] Translation: X:8.90, Y:0.57, Z:1.13 [[ 0.92518281 -0.0960564 -0.36716472 8.90303869] [ 0.11522948 0.99286731 0.030605 0.57429278] [ 0.36160604 -0.07062341 0.9296523 1.1303984 ] [ 0. 0. 0. 1. ]] SLAMing on 63.149649246 meters Centerline goodness : 0.919038 Centerline is valid? [False, False] Translation: X:8.90, Y:0.57, Z:1.13 [[ 0.92500487 -0.09631723 -0.36754454 8.90390512] [ 0.11559801 0.9928199 0.03075291 0.57422274] [ 0.3619435 -0.07093401 0.92949732 1.13119573] [ 0. 0. 0. 1. ]] SLAMing on 63.179649246000004 meters Centerline goodness : 0.917370 Centerline is valid? [False, False] Translation: X:8.91, Y:0.58, Z:1.13 [[ 0.92482308 -0.09700581 -0.3678208 8.90636805] [ 0.11588636 0.99282317 0.0295382 0.57749762] [ 0.36231564 -0.06994302 0.92942743 1.12947198] [ 0. 0. 0. 1. ]] SLAMing on 63.209649246000005 meters Centerline goodness : 0.915766 Centerline is valid? [False, False] Translation: X:8.91, Y:0.58, Z:1.13 [[ 0.92468446 -0.09749752 -0.36803924 8.90826491] [ 0.11611889 0.99281955 0.02873578 0.57968936] [ 0.36259489 -0.06930784 0.92936611 1.12830432] [ 0. 0. 0. 1. ]] SLAMing on 63.239649246000006 meters Centerline goodness : 0.912419 Centerline is valid? [False, False] Translation: X:8.91, Y:0.58, Z:1.13 [[ 0.92453175 -0.09795979 -0.36830005 8.9098573 ] [ 0.11640101 0.99280376 0.02813354 0.58128804] [ 0.36289372 -0.06888085 0.92928122 1.1276451 ] [ 0. 0. 0. 1. ]] SLAMing on 63.269649246 meters Centerline goodness : 0.912242 Centerline is valid? [False, False] Translation: X:8.91, Y:0.58, Z:1.13 [[ 0.92422361 -0.09861083 -0.36889921 8.91192108] [ 0.11692806 0.9927576 0.02757128 0.58294493] [ 0.36350866 -0.0686167 0.92906039 1.12776645] [ 0. 0. 0. 1. ]] SLAMing on 63.299649246 meters Centerline goodness : 0.910548 Centerline is valid? [False, False] Translation: X:8.91, Y:0.59, Z:1.13 [[ 0.92385493 -0.09949666 -0.3695842 8.91454557] [ 0.11756323 0.99270841 0.02662506 0.58538565] [ 0.36424024 -0.0680472 0.92881571 1.12742707] [ 0. 0. 0. 1. ]] SLAMing on 63.329649246 meters Centerline goodness : 0.909504 Centerline is valid? [False, False] Translation: X:8.92, Y:0.58, Z:1.13 [[ 0.92737892 -0.09082726 -0.36293078 8.92026146] [ 0.11079514 0.99324289 0.03453977 0.58179328] [ 0.35734126 -0.07224242 0.93117574 1.13069049] [ 0. 0. 0. 1. ]] SLAMing on 63.359649246000004 meters Centerline goodness : 0.908135 Centerline is valid? [False, False] Translation: X:8.92, Y:0.58, Z:1.13 [[ 0.92698031 -0.09303937 -0.36338848 8.92015745] [ 0.11314477 0.99298322 0.03438865 0.58279474] [ 0.35763916 -0.07299311 0.93100281 1.13236017] [ 0. 0. 0. 1. ]] SLAMing on 63.389649246000005 meters Centerline goodness : 0.910473 Centerline is valid? [False, False] Translation: X:8.93, Y:0.58, Z:1.13 [[ 0.93073736 -0.08657919 -0.35529145 8.92550698] [ 0.1073678 0.99344718 0.03917734 0.57859696] [ 0.34957135 -0.07461068 0.93393422 1.13328932] [ 0. 0. 0. 1. ]] SLAMing on 63.419649246000006 meters Centerline goodness : 0.911078 Centerline is valid? [False, False] Translation: X:8.93, Y:0.57, Z:1.14 [[ 0.93437377 -0.07777925 -0.34770108 8.92937549] [ 0.10052313 0.9937844 0.04782952 0.57484435] [ 0.34181977 -0.07964265 0.93638469 1.13626274] [ 0. 0. 0. 1. ]] SLAMing on 63.449649246 meters Centerline goodness : 0.905881 Centerline is valid? [False, False] Translation: X:8.93, Y:0.58, Z:1.13 [[ 0.93422135 -0.07860226 -0.34792551 8.93244029] [ 0.1005332 0.99389709 0.04540543 0.57944829] [ 0.34223318 -0.07739679 0.93642201 1.13249736] [ 0. 0. 0. 1. ]] SLAMing on 63.479649246 meters Centerline goodness : 0.903159 Centerline is valid? [False, False] Translation: X:8.93, Y:0.58, Z:1.13 [[ 0.93398631 -0.07877569 -0.3485168 8.93340114] [ 0.10070433 0.99388791 0.04522669 0.58015019] [ 0.34282387 -0.07733826 0.93621076 1.13321452] [ 0. 0. 0. 1. ]] SLAMing on 63.509649246 meters Centerline goodness : 0.906691 Centerline is valid? [False, False] Translation: X:8.95, Y:0.58, Z:1.13 [[ 0.9357635 -0.0815767 -0.34306256 8.94879546] [ 0.09972445 0.99437936 0.03556295 0.58456913] [ 0.33823322 -0.06749023 0.9386391 1.13185094] [ 0. 0. 0. 1. ]] SLAMing on 63.539649246 meters Centerline goodness : 0.904522 Centerline is valid? [False, False] Translation: X:8.95, Y:0.58, Z:1.13 [[ 0.93562157 -0.08123963 -0.34352933 8.94888056] [ 0.09951646 0.99438879 0.0358804 0.58405947] [ 0.33868681 -0.06775729 0.93845628 1.13301144] [ 0. 0. 0. 1. ]] SLAMing on 63.569649246000004 meters Centerline goodness : 0.906324 Centerline is valid? [False, False] Translation: X:8.95, Y:0.58, Z:1.13 [[ 0.93544331 -0.08101386 -0.34406769 8.94907934] [ 0.09947132 0.9943779 0.03630503 0.58365642] [ 0.33919209 -0.06818617 0.9382427 1.13439008] [ 0. 0. 0. 1. ]] SLAMing on 63.599649246000006 meters Centerline goodness : 0.910353 Centerline is valid? [False, False] Translation: X:8.96, Y:0.59, Z:1.14 [[ 0.93736284 -0.08179282 -0.33861607 8.96341518] [ 0.09736313 0.99481979 0.02922325 0.58696505] [ 0.33447172 -0.06036151 0.94047071 1.13543977] [ 0. 0. 0. 1. ]] SLAMing on 63.62964924600001 meters Centerline goodness : 0.908186 Centerline is valid? [False, False] Translation: X:8.96, Y:0.59, Z:1.14 [[ 0.93724465 -0.08185953 -0.33892695 8.96415532] [ 0.09746312 0.99480934 0.02924574 0.58773416] [ 0.33477366 -0.06044329 0.94035802 1.13573404] [ 0. 0. 0. 1. ]] SLAMing on 63.659649246 meters Centerline goodness : 0.906309 Centerline is valid? [False, False] Translation: X:8.97, Y:0.59, Z:1.14 [[ 0.93711662 -0.07755746 -0.34029 8.96659081] [ 0.09467495 0.99492872 0.03396315 0.58637891] [ 0.3359302 -0.06404437 0.93970699 1.13819184] [ 0. 0. 0. 1. ]] SLAMing on 63.689649246 meters Centerline goodness : 0.908160 Centerline is valid? [False, False] Translation: X:8.97, Y:0.59, Z:1.14 [[ 0.93699983 -0.07743408 -0.34063952 8.96736716] [ 0.09452992 0.99494625 0.03385331 0.58739778] [ 0.33629661 -0.06392118 0.93958431 1.13827557] [ 0. 0. 0. 1. ]] SLAMing on 63.719649246 meters Centerline goodness : 0.910859 Centerline is valid? [False, False] Translation: X:8.97, Y:0.59, Z:1.14 [[ 0.93684286 -0.07681504 -0.34121093 8.96730185] [ 0.09401661 0.99498509 0.03414006 0.58741331] [ 0.33687732 -0.06406337 0.93936657 1.13939045] [ 0. 0. 0. 1. ]] SLAMing on 63.749649246000004 meters Centerline goodness : 0.914475 Centerline is valid? [False, False] Translation: X:8.97, Y:0.59, Z:1.14 [[ 0.93672362 -0.0766198 -0.34158201 8.96757194] [ 0.09387161 0.99499538 0.03423896 0.58757004] [ 0.33724914 -0.06413729 0.9392281 1.14001351] [ 0. 0. 0. 1. ]] SLAMing on 63.779649246000005 meters Centerline goodness : 0.916549 Centerline is valid? [False, False] Translation: X:8.97, Y:0.59, Z:1.14 [[ 0.93663498 -0.07611044 -0.34193875 8.96766685] [ 0.09340391 0.99503484 0.03437115 0.58810483] [ 0.33762496 -0.06413164 0.93909345 1.14045668] [ 0. 0. 0. 1. ]] SLAMing on 63.809649246000006 meters Centerline goodness : 0.911352 Centerline is valid? [False, False] Translation: X:8.97, Y:0.59, Z:1.14 [[ 0.93643241 -0.07656433 -0.34239195 8.96949815] [ 0.09378865 0.9950111 0.03400889 0.58902922] [ 0.33807992 -0.06395951 0.9389415 1.14031035] [ 0. 0. 0. 1. ]] SLAMing on 63.839649246 meters Centerline goodness : 0.911335 Centerline is valid? [False, False] Translation: X:8.97, Y:0.59, Z:1.14 [[ 0.9362236 -0.07712276 -0.34283736 8.97154197] [ 0.09423093 0.99498657 0.03350017 0.59016078] [ 0.33853495 -0.06366954 0.93879725 1.13991451] [ 0. 0. 0. 1. ]] SLAMing on 63.869649246 meters Centerline goodness : 0.910046 Centerline is valid? [False, False] Translation: X:8.97, Y:0.59, Z:1.14 [[ 0.93608281 -0.077251 -0.34319275 8.97288463] [ 0.09437333 0.99497489 0.03344606 0.59059699] [ 0.33888443 -0.06369652 0.93866932 1.13995014] [ 0. 0. 0. 1. ]] SLAMing on 63.899649246 meters Centerline goodness : 0.912197 Centerline is valid? [False, False] Translation: X:8.97, Y:0.59, Z:1.14 [[ 0.93576988 -0.07726983 -0.34404084 8.97412556] [ 0.09472903 0.99491532 0.03420418 0.58854119] [ 0.33964855 -0.0645979 0.93833148 1.14201196] [ 0. 0. 0. 1. ]] SLAMing on 63.929649246000004 meters Centerline goodness : 0.912965 Centerline is valid? [False, False] Translation: X:8.98, Y:0.59, Z:1.14 [[ 0.9355566 -0.07736551 -0.34459893 8.97524579] [ 0.0949728 0.99488245 0.0344831 0.58812218] [ 0.34016762 -0.06498842 0.93811646 1.14295959] [ 0. 0. 0. 1. ]] SLAMing on 63.959649246000005 meters Centerline goodness : 0.919561 Centerline is valid? [False, False] Translation: X:8.97, Y:0.58, Z:1.15 [[ 0.9353738 -0.07665399 -0.34525355 8.97482801] [ 0.09487603 0.9948319 0.0361668 0.58479955] [ 0.34069692 -0.06658576 0.93781232 1.14612336] [ 0. 0. 0. 1. ]] SLAMing on 63.989649246000006 meters Centerline goodness : 0.923302 Centerline is valid? [False, False] Translation: X:8.97, Y:0.58, Z:1.15 [[ 0.93523255 -0.07603235 -0.34577327 8.97420417] [ 0.0947555 0.99479233 0.03754492 0.58233925] [ 0.34111796 -0.06787715 0.93756665 1.14873648] [ 0. 0. 0. 1. ]] SLAMing on 64.019649246 meters Centerline goodness : 0.924992 Centerline is valid? [False, False] Translation: X:8.97, Y:0.58, Z:1.15 [[ 0.9352308 -0.07560439 -0.34587183 8.97403581] [ 0.09434799 0.99482689 0.03765521 0.58253388] [ 0.3412357 -0.06784862 0.93752587 1.14885891] [ 0. 0. 0. 1. ]] SLAMing on 64.04964924600002 meters Centerline goodness : 0.927355 Centerline is valid? [False, False] Translation: X:8.98, Y:0.58, Z:1.15 [[ 0.93507006 -0.07607091 -0.34620398 8.9756786 ] [ 0.0947226 0.99480651 0.03725097 0.58351298] [ 0.34157226 -0.06762561 0.93741942 1.14853072] [ 0. 0. 0. 1. ]] SLAMing on 64.07964924600002 meters Centerline goodness : 0.927355 Centerline is valid? [False, False] Translation: X:8.98, Y:0.58, Z:1.15 [[ 0.93507006 -0.07607091 -0.34620398 8.9756786 ] [ 0.0947226 0.99480651 0.03725097 0.58351298] [ 0.34157226 -0.06762561 0.93741942 1.14853072] [ 0. 0. 0. 1. ]] SLAMing on 64.109649246 meters Centerline goodness : 0.921254 Centerline is valid? [False, False] Translation: X:8.98, Y:0.59, Z:1.15 [[ 0.93451798 -0.07426286 -0.34808214 8.98419475] [ 0.09373625 0.99481648 0.03941682 0.58549421] [ 0.34335064 -0.06946364 0.93663501 1.14776711] [ 0. 0. 0. 1. ]] SLAMing on 64.139649246 meters Centerline goodness : 0.915860 Centerline is valid? [False, False] Translation: X:8.99, Y:0.59, Z:1.15 [[ 0.93427446 -0.07509828 -0.34855627 8.9868401 ] [ 0.09437974 0.99478593 0.03864474 0.58661361] [ 0.34383672 -0.06900145 0.93649085 1.14703544] [ 0. 0. 0. 1. ]] SLAMing on 64.169649246 meters Centerline goodness : 0.911521 Centerline is valid? [False, False] Translation: X:8.99, Y:0.59, Z:1.15 [[ 0.93402617 -0.07580888 -0.34906752 8.98961991] [ 0.09486282 0.99477277 0.0377914 0.58765613] [ 0.34437794 -0.06841169 0.93633524 1.14605464] [ 0. 0. 0. 1. ]] SLAMing on 64.199649246 meters Centerline goodness : 0.912040 Centerline is valid? [False, False] Translation: X:8.99, Y:0.59, Z:1.15 [[ 0.93371737 -0.07644473 -0.34975431 8.99202131] [ 0.09541744 0.99473777 0.03731322 0.58795209] [ 0.34506142 -0.06821266 0.9360981 1.14607277] [ 0. 0. 0. 1. ]] SLAMing on 64.22964924600001 meters Centerline goodness : 0.912404 Centerline is valid? [False, False] Translation: X:9.00, Y:0.59, Z:1.15 [[ 0.93317369 -0.07737532 -0.35099848 8.99604597] [ 0.09620958 0.9946912 0.03651213 0.58832585] [ 0.34630996 -0.06784157 0.9356639 1.14619743] [ 0. 0. 0. 1. ]] SLAMing on 64.25964924600001 meters Centerline goodness : 0.913427 Centerline is valid? [False, False] Translation: X:9.00, Y:0.59, Z:1.15 [[ 0.93288096 -0.07805758 -0.35162499 8.99849553] [ 0.09676505 0.99465895 0.03591782 0.58932154] [ 0.34694328 -0.06753206 0.93545164 1.14594597] [ 0. 0. 0. 1. ]] SLAMing on 64.28964924600001 meters Centerline goodness : 0.904790 Centerline is valid? [False, False] Translation: X:9.00, Y:0.59, Z:1.15 [[ 0.93243274 -0.07927323 -0.35254068 9.00245039] [ 0.09783698 0.99458244 0.03512399 0.58983348] [ 0.34784638 -0.06724228 0.93513709 1.14567991] [ 0. 0. 0. 1. ]] SLAMing on 64.31964924600001 meters Centerline goodness : 0.906862 Centerline is valid? [False, False] Translation: X:9.00, Y:0.59, Z:1.15 [[ 0.93214707 -0.07979039 -0.3531789 9.00449507] [ 0.09829689 0.99455037 0.0347461 0.59042903] [ 0.3484818 -0.06710486 0.93491035 1.14583407] [ 0. 0. 0. 1. ]] SLAMing on 64.34964924600001 meters Centerline goodness : 0.910231 Centerline is valid? [False, False] Translation: X:9.01, Y:0.59, Z:1.15 [[ 0.93164809 -0.08101646 -0.35421487 9.00734257] [ 0.09990185 0.99437 0.0353261 0.58912993] [ 0.34935864 -0.06829822 0.9344966 1.14833335] [ 0. 0. 0. 1. ]] SLAMing on 64.37964924600001 meters Centerline goodness : 0.910124 Centerline is valid? [False, False] Translation: X:9.01, Y:0.59, Z:1.15 [[ 0.93135412 -0.08139126 -0.35490136 9.0086078 ] [ 0.10044014 0.99430772 0.03555179 0.58905375] [ 0.34998756 -0.06875765 0.93422754 1.1496551 ] [ 0. 0. 0. 1. ]] SLAMing on 64.40964924600001 meters Centerline goodness : 0.911325 Centerline is valid? [False, False] Translation: X:9.01, Y:0.59, Z:1.15 [[ 0.93106554 -0.08144249 -0.355646 9.01006278] [ 0.10053143 0.99430059 0.03549325 0.58973333] [ 0.35072837 -0.06880015 0.93394655 1.1503817 ] [ 0. 0. 0. 1. ]] SLAMing on 64.43964924600002 meters Centerline goodness : 0.912574 Centerline is valid? [False, False] Translation: X:9.01, Y:0.59, Z:1.15 [[ 0.93099937 -0.08106416 -0.35590558 9.01029313] [ 0.10015967 0.99433698 0.03552487 0.59059474] [ 0.35101029 -0.06872102 0.93384645 1.15047509] [ 0. 0. 0. 1. ]] SLAMing on 64.46964924600002 meters Centerline goodness : 0.917607 Centerline is valid? [False, False] Translation: X:9.01, Y:0.59, Z:1.15 [[ 0.93102901 -0.07964859 -0.35614755 9.00787378] [ 0.09936914 0.99434782 0.03739225 0.58818483] [ 0.3511563 -0.07020334 0.93368128 1.15347825] [ 0. 0. 0. 1. ]] SLAMing on 64.499649246 meters Centerline goodness : 0.918170 Centerline is valid? [False, False] Translation: X:9.01, Y:0.59, Z:1.16 [[ 0.9308951 -0.07920549 -0.35659615 9.00764357] [ 0.09922187 0.99433328 0.03816223 0.58715779] [ 0.35155276 -0.07090717 0.93347889 1.1551173 ] [ 0. 0. 0. 1. ]] SLAMing on 64.529649246 meters Centerline goodness : 0.924037 Centerline is valid? [False, False] Translation: X:9.01, Y:0.59, Z:1.16 [[ 0.93074819 -0.07900091 -0.35702473 9.00807754] [ 0.09929058 0.9943005 0.03883172 0.58580302] [ 0.35192212 -0.07159175 0.93328744 1.1565145 ] [ 0. 0. 0. 1. ]] SLAMing on 64.559649246 meters Centerline goodness : 0.922124 Centerline is valid? [False, False] Translation: X:9.01, Y:0.59, Z:1.16 [[ 0.93047652 -0.07935378 -0.35765406 9.00985705] [ 0.09967985 0.99426562 0.03872744 0.58532406] [ 0.35252996 -0.07168587 0.93305078 1.15706885] [ 0. 0. 0. 1. ]] SLAMing on 64.58964924600001 meters Centerline goodness : 0.924648 Centerline is valid? [False, False] Translation: X:9.01, Y:0.59, Z:1.16 [[ 0.93029293 -0.07961481 -0.35807338 9.01130279] [ 0.09994011 0.99424495 0.03858694 0.58524801] [ 0.35294056 -0.07168305 0.93289576 1.15720684] [ 0. 0. 0. 1. ]] SLAMing on 64.61964924600001 meters Centerline goodness : 0.922214 Centerline is valid? [False, False] Translation: X:9.01, Y:0.59, Z:1.16 [[ 0.92987524 -0.08044113 -0.3589725 9.0145143 ] [ 0.10077967 0.99417221 0.03827643 0.5850866 ] [ 0.35380148 -0.07176943 0.93256295 1.15761618] [ 0. 0. 0. 1. ]] SLAMing on 64.64964924600001 meters Centerline goodness : 0.920589 Centerline is valid? [False, False] Translation: X:9.02, Y:0.59, Z:1.16 [[ 0.92959287 -0.08128588 -0.35951314 9.01729986] [ 0.10147827 0.99412618 0.03762048 0.5859326 ] [ 0.35434341 -0.0714545 0.93238136 1.15715609] [ 0. 0. 0. 1. ]] SLAMing on 64.67964924600001 meters Centerline goodness : 0.911240 Centerline is valid? [False, False] Translation: X:9.02, Y:0.59, Z:1.16 [[ 0.92919449 -0.08214886 -0.36034589 9.02062127] [ 0.10218951 0.99408089 0.03688489 0.58736296] [ 0.35518291 -0.07109681 0.93208924 1.15687236] [ 0. 0. 0. 1. ]] SLAMing on 64.70964924600001 meters Centerline goodness : 0.909675 Centerline is valid? [False, False] Translation: X:9.02, Y:0.59, Z:1.16 [[ 0.92915289 -0.08211985 -0.36045976 9.02098365] [ 0.10213089 0.9940905 0.03678815 0.5880749 ] [ 0.35530858 -0.07099589 0.93204903 1.156786 ] [ 0. 0. 0. 1. ]] SLAMing on 64.73964924600001 meters Centerline goodness : 0.917103 Centerline is valid? [False, False] Translation: X:9.02, Y:0.59, Z:1.16 [[ 0.92908291 -0.08176969 -0.36071965 9.02035849] [ 0.10192007 0.99409822 0.03716209 0.58753364] [ 0.35555203 -0.07129123 0.93193364 1.15796578] [ 0. 0. 0. 1. ]] SLAMing on 64.76964924600001 meters Centerline goodness : 0.916088 Centerline is valid? [False, False] Translation: X:9.02, Y:0.59, Z:1.16 [[ 0.9288783 -0.08170596 -0.36126062 9.0208487 ] [ 0.10207654 0.99406441 0.03763406 0.58683982] [ 0.3560414 -0.0718337 0.93170512 1.15937339] [ 0. 0. 0. 1. ]] SLAMing on 64.79964924600002 meters Centerline goodness : 0.926220 Centerline is valid? [False, False] Translation: X:9.02, Y:0.59, Z:1.16 [[ 0.92877388 -0.08182043 -0.3615031 9.02131276] [ 0.10218345 0.99405695 0.03754091 0.58736698] [ 0.35628305 -0.07180665 0.93161483 1.1596881 ] [ 0. 0. 0. 1. ]] SLAMing on 64.82964924600002 meters Centerline goodness : 0.921616 Centerline is valid? [False, False] Translation: X:9.02, Y:0.59, Z:1.16 [[ 0.92861635 -0.08203232 -0.3618596 9.02258519] [ 0.10230936 0.9940568 0.0372005 0.58842862] [ 0.35665735 -0.07156662 0.93149007 1.15949885] [ 0. 0. 0. 1. ]] SLAMing on 64.859649246 meters Centerline goodness : 0.917076 Centerline is valid? [False, False] Translation: X:9.02, Y:0.59, Z:1.16 [[ 0.92862208 -0.0819715 -0.36185867 9.02276968] [ 0.10207347 0.99409763 0.03675468 0.58986847] [ 0.35671001 -0.07106738 0.93150813 1.15886796] [ 0. 0. 0. 1. ]] SLAMing on 64.889649246 meters Centerline goodness : 0.918950 Centerline is valid? [False, False] Translation: X:9.02, Y:0.59, Z:1.16 [[ 0.92850153 -0.08198919 -0.3621639 9.02355206] [ 0.10204293 0.99410793 0.03656054 0.59050356] [ 0.35703243 -0.07090278 0.93139714 1.15885229] [ 0. 0. 0. 1. ]] SLAMing on 64.919649246 meters Centerline goodness : 0.924637 Centerline is valid? [False, False] Translation: X:9.02, Y:0.59, Z:1.16 [[ 0.9282908 -0.08236803 -0.36261784 9.02493124] [ 0.10237291 0.99408475 0.03626689 0.59088709] [ 0.35748563 -0.07078847 0.93123199 1.15914184] [ 0. 0. 0. 1. ]] SLAMing on 64.949649246 meters Centerline goodness : 0.925392 Centerline is valid? [False, False] Translation: X:9.03, Y:0.59, Z:1.16 [[ 0.92799815 -0.08274957 -0.36327943 9.02679909] [ 0.10279274 0.99404548 0.03615573 0.59039376] [ 0.35812441 -0.07089494 0.93097842 1.15977992] [ 0. 0. 0. 1. ]] SLAMing on 64.97964924600001 meters Centerline goodness : 0.926250 Centerline is valid? [False, False] Translation: X:9.03, Y:0.59, Z:1.16 [[ 0.92780772 -0.08276902 -0.36376109 9.02765177] [ 0.10291122 0.9940277 0.03630713 0.59040587] [ 0.3585835 -0.07112113 0.93078443 1.16051981] [ 0. 0. 0. 1. ]] SLAMing on 65.00964924600001 meters Centerline goodness : 0.922902 Centerline is valid? [False, False] Translation: X:9.03, Y:0.59, Z:1.16 [[ 0.92746712 -0.08352947 -0.36445516 9.03054549] [ 0.10356899 0.99397948 0.0357527 0.59115409] [ 0.35927455 -0.0709057 0.93053435 1.16043451] [ 0. 0. 0. 1. ]] SLAMing on 65.03964924600001 meters Centerline goodness : 0.920313 Centerline is valid? [False, False] Translation: X:9.03, Y:0.59, Z:1.16 [[ 0.92720323 -0.08416968 -0.36497895 9.03299446] [ 0.10413139 0.99393613 0.0353217 0.59191753] [ 0.35979275 -0.07075616 0.93034549 1.16023321] [ 0. 0. 0. 1. ]] SLAMing on 65.06964924600001 meters Centerline goodness : 0.917799 Centerline is valid? [False, False] Translation: X:9.04, Y:0.59, Z:1.16 [[ 0.92689151 -0.08518047 -0.36553579 9.03650935] [ 0.10492429 0.99388322 0.03445354 0.59284864] [ 0.36036512 -0.07028827 0.93015942 1.15934401] [ 0. 0. 0. 1. ]] SLAMing on 65.09964924600001 meters Centerline goodness : 0.921724 Centerline is valid? [False, False] Translation: X:9.04, Y:0.59, Z:1.16 [[ 0.92667745 -0.0855263 -0.36599747 9.03810783] [ 0.10529755 0.99384687 0.03436314 0.59243926] [ 0.36080649 -0.07038218 0.9299812 1.15965804] [ 0. 0. 0. 1. ]] SLAMing on 65.12964924600001 meters Centerline goodness : 0.921073 Centerline is valid? [False, False] Translation: X:9.04, Y:0.59, Z:1.16 [[ 0.92632985 -0.08597757 -0.36677086 9.0402937 ] [ 0.10583543 0.99379054 0.03433975 0.59174049] [ 0.36154096 -0.07062729 0.92967732 1.16046091] [ 0. 0. 0. 1. ]] SLAMing on 65.15964924600001 meters Centerline goodness : 0.923586 Centerline is valid? [False, False] Translation: X:9.04, Y:0.59, Z:1.16 [[ 0.92611936 -0.08632428 -0.36722072 9.04194652] [ 0.10607841 0.99377925 0.0339142 0.59275066] [ 0.36200871 -0.07036279 0.92951534 1.16038184] [ 0. 0. 0. 1. ]] SLAMing on 65.18964924600002 meters Centerline goodness : 0.926336 Centerline is valid? [False, False] Translation: X:9.04, Y:0.59, Z:1.16 [[ 0.92597261 -0.08686675 -0.36746276 9.0436081 ] [ 0.10635275 0.99377825 0.03307394 0.59460741] [ 0.36230348 -0.06970623 0.92944996 1.15951469] [ 0. 0. 0. 1. ]] SLAMing on 65.21964924600002 meters Centerline goodness : 0.919204 Centerline is valid? [False, False] Translation: X:9.05, Y:0.59, Z:1.16 [[ 0.92565765 -0.08757062 -0.36808871 9.04571796] [ 0.10706216 0.99371028 0.03282655 0.59443453] [ 0.3628989 -0.06979452 0.92921102 1.16006768] [ 0. 0. 0. 1. ]] SLAMing on 65.249649246 meters Centerline goodness : 0.916326 Centerline is valid? [False, False] Translation: X:9.05, Y:0.60, Z:1.16 [[ 0.92513866 -0.08903298 -0.36904145 9.04974334] [ 0.10833206 0.99360401 0.03186269 0.59635502] [ 0.36384424 -0.06945643 0.92886661 1.16006205] [ 0. 0. 0. 1. ]] SLAMing on 65.279649246 meters Centerline goodness : 0.918317 Centerline is valid? [False, False] Translation: X:9.05, Y:0.60, Z:1.16 [[ 0.92478957 -0.09000367 -0.36968039 9.0526391 ] [ 0.10921522 0.99352442 0.03132502 0.59724551] [ 0.36446713 -0.06934378 0.92863079 1.16004855] [ 0. 0. 0. 1. ]] SLAMing on 65.309649246 meters Centerline goodness : 0.910995 Centerline is valid? [False, False] Translation: X:9.06, Y:0.60, Z:1.16 [[ 0.92399591 -0.09215876 -0.37113114 9.05835589] [ 0.11156171 0.99327059 0.03110486 0.59647309] [ 0.36576706 -0.07014479 0.92805936 1.16188061] [ 0. 0. 0. 1. ]] SLAMing on 65.33964924600001 meters Centerline goodness : 0.911244 Centerline is valid? [False, False] Translation: X:9.06, Y:0.60, Z:1.16 [[ 0.92359754 -0.09286009 -0.37194701 9.06070304] [ 0.11238442 0.99317767 0.03111038 0.59634189] [ 0.36652056 -0.07053453 0.92773248 1.16298873] [ 0. 0. 0. 1. ]] SLAMing on 65.36964924600001 meters Centerline goodness : 0.909791 Centerline is valid? [False, False] Translation: X:9.06, Y:0.60, Z:1.16 [[ 0.92327896 -0.09319142 -0.37265442 9.06321894] [ 0.11287567 0.99311585 0.03130477 0.59552036] [ 0.36717168 -0.07096665 0.92744202 1.1636575 ] [ 0. 0. 0. 1. ]] SLAMing on 65.39964924600001 meters Centerline goodness : 0.912244 Centerline is valid? [False, False] Translation: X:9.07, Y:0.59, Z:1.17 [[ 0.92306738 -0.08891894 -0.37421922 9.06600263] [ 0.11032124 0.9932395 0.03611823 0.59313592] [ 0.36847772 -0.07462389 0.92663663 1.16676093] [ 0. 0. 0. 1. ]] SLAMing on 65.42964924600001 meters Centerline goodness : 0.914137 Centerline is valid? [False, False] Translation: X:9.06, Y:0.59, Z:1.17 [[ 0.92286703 -0.09305663 -0.37370698 9.06438333] [ 0.113481 0.99299278 0.03297587 0.59115612] [ 0.36801971 -0.07284099 0.92696045 1.16747985] [ 0. 0. 0. 1. ]] SLAMing on 65.45964924600001 meters Centerline goodness : 0.913028 Centerline is valid? [False, False] Translation: X:9.07, Y:0.59, Z:1.17 [[ 0.92249485 -0.09308582 -0.37461751 9.06595876] [ 0.11394845 0.99290889 0.03387755 0.5895422 ] [ 0.36880753 -0.07393895 0.92656032 1.16974964] [ 0. 0. 0. 1. ]] SLAMing on 65.48964924600001 meters Centerline goodness : 0.914074 Centerline is valid? [False, False] Translation: X:9.07, Y:0.58, Z:1.17 [[ 0.92592332 -0.08672997 -0.36761926 9.07205606] [ 0.10952968 0.99311372 0.04157389 0.58421008] [ 0.36148203 -0.07875946 0.92904666 1.17307877] [ 0. 0. 0. 1. ]] SLAMing on 65.51964924600001 meters Centerline goodness : 0.910254 Centerline is valid? [False, False] Translation: X:9.07, Y:0.58, Z:1.17 [[ 0.9256098 -0.08746956 -0.36823304 9.07448684] [ 0.11028556 0.99304007 0.0413342 0.58401656] [ 0.36205468 -0.07887013 0.92881425 1.17343361] [ 0. 0. 0. 1. ]] SLAMing on 65.54964924600002 meters Centerline goodness : 0.916033 Centerline is valid? [False, False] Translation: X:9.08, Y:0.58, Z:1.18 [[ 0.92507933 -0.08815889 -0.36939985 9.07742246] [ 0.11131545 0.99290551 0.04180342 0.58228294] [ 0.3630938 -0.07979139 0.92832981 1.17561344] [ 0. 0. 0. 1. ]] SLAMing on 65.57964924600002 meters Centerline goodness : 0.913886 Centerline is valid? [False, False] Translation: X:9.08, Y:0.58, Z:1.18 [[ 0.92475246 -0.0887651 -0.37007249 9.07975639] [ 0.11202909 0.99282517 0.0418052 0.58163222] [ 0.36370644 -0.08011834 0.92806179 1.1763425 ] [ 0. 0. 0. 1. ]] SLAMing on 65.609649246 meters Centerline goodness : 0.914194 Centerline is valid? [False, False] Translation: X:9.08, Y:0.58, Z:1.18 [[ 0.92420007 -0.08971072 -0.37122261 9.08310247] [ 0.11317888 0.99269182 0.0418747 0.5808047 ] [ 0.36475304 -0.08071516 0.9275992 1.17799775] [ 0. 0. 0. 1. ]] SLAMing on 65.639649246 meters Centerline goodness : 0.915877 Centerline is valid? [False, False] Translation: X:9.09, Y:0.58, Z:1.18 [[ 0.9277338 -0.08354395 -0.36377246 9.09055677] [ 0.1068242 0.99328981 0.04431636 0.57754342] [ 0.35762912 -0.07997349 0.93043305 1.17770674] [ 0. 0. 0. 1. ]] SLAMing on 65.669649246 meters Centerline goodness : 0.916206 Centerline is valid? [False, False] Translation: X:9.10, Y:0.58, Z:1.18 [[ 0.93094504 -0.07503811 -0.35736623 9.09697562] [ 0.09956992 0.99373699 0.05072102 0.5758488 ] [ 0.35132203 -0.08280141 0.93258606 1.18135045] [ 0. 0. 0. 1. ]] SLAMing on 65.699649246 meters Centerline goodness : 0.916052 Centerline is valid? [False, False] Translation: X:9.10, Y:0.58, Z:1.18 [[ 0.93078531 -0.07056038 -0.35869199 9.09931577] [ 0.0964819 0.99382147 0.05486467 0.57548246] [ 0.35260453 -0.08567451 0.93184222 1.18319117] [ 0. 0. 0. 1. ]] SLAMing on 65.72964924600001 meters Centerline goodness : 0.914117 Centerline is valid? [False, False] Translation: X:9.10, Y:0.58, Z:1.18 [[ 0.9306515 -0.07019385 -0.35911087 9.09968036] [ 0.09546571 0.99401502 0.05310775 0.58073235] [ 0.35323376 -0.08370758 0.93178267 1.1811241 ] [ 0. 0. 0. 1. ]] SLAMing on 65.75964924600001 meters Centerline goodness : 0.912098 Centerline is valid? [False, False] Translation: X:9.10, Y:0.58, Z:1.18 [[ 0.93053175 -0.07047214 -0.35936659 9.1007628 ] [ 0.09536856 0.99408273 0.05200353 0.58386505] [ 0.35357532 -0.08266321 0.93174636 1.17993234] [ 0. 0. 0. 1. ]] SLAMing on 65.78964924600001 meters Centerline goodness : 0.910235 Centerline is valid? [False, False] Translation: X:9.10, Y:0.59, Z:1.18 [[ 0.93048368 -0.06995118 -0.35959277 9.10099255] [ 0.09399209 0.99432718 0.04978894 0.58973987] [ 0.35407007 -0.08012668 0.93178007 1.17680954] [ 0. 0. 0. 1. ]] SLAMing on 65.81964924600001 meters Centerline goodness : 0.912675 Centerline is valid? [False, False] Translation: X:9.10, Y:0.59, Z:1.18 [[ 0.93033333 -0.0701647 -0.35994002 9.10205895] [ 0.09395015 0.99437059 0.04899496 0.59197107] [ 0.35447605 -0.07939806 0.93168808 1.17614617] [ 0. 0. 0. 1. ]] SLAMing on 65.84964924600001 meters Centerline goodness : 0.913105 Centerline is valid? [False, False] Translation: X:9.12, Y:0.60, Z:1.18 [[ 0.9319955 -0.07330021 -0.35498094 9.11823839] [ 0.09337717 0.99483758 0.03973537 0.59630797] [ 0.35023577 -0.0701803 0.93402871 1.17672772] [ 0. 0. 0. 1. ]] SLAMing on 65.87964924600001 meters Centerline goodness : 0.917907 Centerline is valid? [False, False] Translation: X:9.12, Y:0.60, Z:1.18 [[ 0.93178492 -0.07349003 -0.35549413 9.11906234] [ 0.09365648 0.99480754 0.03982981 0.59601827] [ 0.35072114 -0.07040715 0.93382949 1.17769816] [ 0. 0. 0. 1. ]] SLAMing on 65.90964924600001 meters Centerline goodness : 0.918311 Centerline is valid? [False, False] Translation: X:9.12, Y:0.60, Z:1.18 [[ 0.93146371 -0.07391782 -0.35624642 9.12103787] [ 0.09420596 0.99475225 0.03991482 0.59572929] [ 0.35142651 -0.07073975 0.93353912 1.17875599] [ 0. 0. 0. 1. ]] SLAMing on 65.93964924600002 meters Centerline goodness : 0.918622 Centerline is valid? [False, False] Translation: X:9.12, Y:0.59, Z:1.18 [[ 0.93109788 -0.07430548 -0.35712105 9.12323832] [ 0.0947552 0.99469324 0.04008502 0.59497825] [ 0.35224735 -0.07116215 0.93319759 1.18001038] [ 0. 0. 0. 1. ]] SLAMing on 65.96964924600002 meters Centerline goodness : 0.918622 Centerline is valid? [False, False] Translation: X:9.12, Y:0.59, Z:1.18 [[ 0.93109788 -0.07430548 -0.35712105 9.12323832] [ 0.0947552 0.99469324 0.04008502 0.59497825] [ 0.35224735 -0.07116215 0.93319759 1.18001038] [ 0. 0. 0. 1. ]] SLAMing on 65.999649246 meters Centerline goodness : 0.920942 Centerline is valid? [False, False] Translation: X:9.13, Y:0.59, Z:1.18 [[ 0.93083485 -0.07485453 -0.35769159 9.12511439] [ 0.09532256 0.99464603 0.03991093 0.59496679] [ 0.35278901 -0.07124656 0.93298652 1.18048906] [ 0. 0. 0. 1. ]] SLAMing on 66.029649246 meters Centerline goodness : 0.920077 Centerline is valid? [False, False] Translation: X:9.13, Y:0.59, Z:1.18 [[ 0.93053957 -0.07549165 -0.35832544 9.12710798] [ 0.09605459 0.99457568 0.03990908 0.59438226] [ 0.35336896 -0.07155578 0.93274334 1.18132774] [ 0. 0. 0. 1. ]] SLAMing on 66.059649246 meters Centerline goodness : 0.918885 Centerline is valid? [False, False] Translation: X:9.13, Y:0.59, Z:1.18 [[ 0.92995024 -0.08111728 -0.3586259 9.12850182] [ 0.1005172 0.99429275 0.03575222 0.59447786] [ 0.35367901 -0.06929586 0.93279647 1.18220314] [ 0. 0. 0. 1. ]] SLAMing on 66.08964924600001 meters Centerline goodness : 0.920413 Centerline is valid? [False, False] Translation: X:9.13, Y:0.60, Z:1.18 [[ 0.92975758 -0.08176643 -0.35897785 9.13095526] [ 0.10093415 0.99427909 0.03494823 0.59568342] [ 0.35406658 -0.0687265 0.93269155 1.18116919] [ 0. 0. 0. 1. ]] SLAMing on 66.11964924600001 meters Centerline goodness : 0.916576 Centerline is valid? [False, False] Translation: X:9.14, Y:0.60, Z:1.18 [[ 0.92935116 -0.08325346 -0.35968777 9.13573433] [ 0.10215747 0.99419264 0.03383543 0.59703769] [ 0.35478202 -0.06818979 0.93245905 1.17995168] [ 0. 0. 0. 1. ]] SLAMing on 66.14964924600001 meters Centerline goodness : 0.913655 Centerline is valid? [False, False] Translation: X:9.14, Y:0.60, Z:1.18 [[ 0.92893797 -0.08418482 -0.36053734 9.13931223] [ 0.10305617 0.99411448 0.03340413 0.59712771] [ 0.35560326 -0.06818596 0.93214644 1.18005893] [ 0. 0. 0. 1. ]] SLAMing on 66.17964924600001 meters Centerline goodness : 0.912991 Centerline is valid? [False, False] Translation: X:9.14, Y:0.60, Z:1.18 [[ 0.92869388 -0.08458621 -0.3610718 9.14122934] [ 0.10350208 0.9940704 0.03333717 0.59671896] [ 0.35611092 -0.06833171 0.93194195 1.18038015] [ 0. 0. 0. 1. ]] SLAMing on 66.20964924600001 meters Centerline goodness : 0.916231 Centerline is valid? [False, False] Translation: X:9.14, Y:0.60, Z:1.18 [[ 0.92829118 -0.08532203 -0.36193318 9.14411439] [ 0.10430611 0.99399086 0.03320259 0.59609547] [ 0.35692536 -0.06857352 0.93161256 1.1811867 ] [ 0. 0. 0. 1. ]] SLAMing on 66.23964924600001 meters Centerline goodness : 0.912521 Centerline is valid? [False, False] Translation: X:9.15, Y:0.60, Z:1.18 [[ 0.92798746 -0.08601749 -0.36254692 9.14648509] [ 0.10497187 0.99393181 0.03287039 0.59636632] [ 0.35751949 -0.06856054 0.93138567 1.18144207] [ 0. 0. 0. 1. ]] SLAMing on 66.26964924600001 meters Centerline goodness : 0.915965 Centerline is valid? [False, False] Translation: X:9.15, Y:0.60, Z:1.18 [[ 0.92764415 -0.08665245 -0.36327357 9.14887472] [ 0.10562377 0.99387009 0.03264755 0.59624025] [ 0.35821775 -0.06865563 0.93111033 1.18198623] [ 0. 0. 0. 1. ]] SLAMing on 66.29964924600002 meters Centerline goodness : 0.911835 Centerline is valid? [False, False] Translation: X:9.15, Y:0.60, Z:1.18 [[ 0.92739028 -0.08702583 -0.36383206 9.15080137] [ 0.1060481 0.9938266 0.0325958 0.59563482] [ 0.3587493 -0.06881272 0.93089406 1.18241637] [ 0. 0. 0. 1. ]] SLAMing on 66.32964924600002 meters Centerline goodness : 0.909476 Centerline is valid? [False, False] Translation: X:9.15, Y:0.60, Z:1.18 [[ 0.92713558 -0.08747585 -0.36437287 9.15261944] [ 0.1065336 0.99377805 0.03249285 0.59596412] [ 0.35926342 -0.06894323 0.93068611 1.1828462 ] [ 0. 0. 0. 1. ]] SLAMing on 66.359649246 meters Centerline goodness : 0.911667 Centerline is valid? [False, False] Translation: X:9.15, Y:0.60, Z:1.18 [[ 0.92693174 -0.08798841 -0.36476787 9.15461834] [ 0.10690419 0.99375589 0.03194877 0.5972734 ] [ 0.35967909 -0.06860955 0.9305502 1.18242335] [ 0. 0. 0. 1. ]] SLAMing on 66.389649246 meters Centerline goodness : 0.911974 Centerline is valid? [False, False] Translation: X:9.16, Y:0.60, Z:1.18 [[ 0.92669559 -0.08849786 -0.36524433 9.15630576] [ 0.10740318 0.99370912 0.03172923 0.59766363] [ 0.36013865 -0.06863174 0.93037081 1.18282073] [ 0. 0. 0. 1. ]] SLAMing on 66.419649246 meters Centerline goodness : 0.910658 Centerline is valid? [False, False] Translation: X:9.16, Y:0.60, Z:1.18 [[ 0.92629387 -0.08916947 -0.366099 9.15857047] [ 0.10816486 0.99362867 0.03166111 0.59770628] [ 0.36094326 -0.06892654 0.93003715 1.18392771] [ 0. 0. 0. 1. ]] SLAMing on 66.449649246 meters Centerline goodness : 0.910814 Centerline is valid? [False, False] Translation: X:9.16, Y:0.60, Z:1.19 [[ 0.92563835 -0.09086899 -0.36733699 9.16309273] [ 0.10997363 0.99343937 0.03136895 0.59622951] [ 0.36207657 -0.06943368 0.92955878 1.18542842] [ 0. 0. 0. 1. ]] SLAMing on 66.47964924600001 meters Centerline goodness : 0.909784 Centerline is valid? [False, False] Translation: X:9.17, Y:0.60, Z:1.19 [[ 0.92523432 -0.09181535 -0.36811873 9.16624801] [ 0.11093308 0.9933423 0.0310634 0.59645178] [ 0.3628158 -0.06957747 0.92925974 1.18584046] [ 0. 0. 0. 1. ]] SLAMing on 66.50964924600001 meters Centerline goodness : 0.907366 Centerline is valid? [False, False] Translation: X:9.17, Y:0.60, Z:1.19 [[ 0.92466124 -0.09389446 -0.36903309 9.17124727] [ 0.1129652 0.99313493 0.03036225 0.59622205] [ 0.36364881 -0.06976269 0.92892019 1.18621801] [ 0. 0. 0. 1. ]] SLAMing on 66.53964924600001 meters Centerline goodness : 0.904195 Centerline is valid? [False, False] Translation: X:9.18, Y:0.59, Z:1.19 [[ 0.92821931 -0.08557464 -0.36205787 9.17894109] [ 0.10607771 0.99366565 0.03709572 0.59122319] [ 0.35659002 -0.07283924 0.9314172 1.18775485] [ 0. 0. 0. 1. ]] SLAMing on 66.56964924600001 meters Centerline goodness : 0.906399 Centerline is valid? [False, False] Translation: X:9.18, Y:0.59, Z:1.19 [[ 0.9279636 -0.08557501 -0.36271266 9.17957375] [ 0.10635005 0.99361525 0.03766161 0.59053775] [ 0.35717394 -0.07352311 0.93113969 1.18953655] [ 0. 0. 0. 1. ]] SLAMing on 66.59964924600001 meters Centerline goodness : 0.906639 Centerline is valid? [False, False] Translation: X:9.18, Y:0.59, Z:1.19 [[ 0.9278048 -0.08546129 -0.36314544 9.17966314] [ 0.10642391 0.99359156 0.03807566 0.5903958 ] [ 0.35756425 -0.07397414 0.93095415 1.19090472] [ 0. 0. 0. 1. ]] SLAMing on 66.62964924600001 meters Centerline goodness : 0.912164 Centerline is valid? [False, False] Translation: X:9.19, Y:0.59, Z:1.19 [[ 0.92996112 -0.08571531 -0.3575265 9.19297966] [ 0.10386945 0.9940809 0.03184826 0.59276563] [ 0.35268038 -0.06675372 0.93335979 1.19304691] [ 0. 0. 0. 1. ]] SLAMing on 66.65964924600001 meters Centerline goodness : 0.914090 Centerline is valid? [False, False] Translation: X:9.19, Y:0.59, Z:1.19 [[ 0.92990532 -0.08547218 -0.3577298 9.19287272] [ 0.10370316 0.99409162 0.03205477 0.59341516] [ 0.35287641 -0.06690561 0.93327482 1.19361409] [ 0. 0. 0. 1. ]] SLAMing on 66.68964924600002 meters Centerline goodness : 0.916231 Centerline is valid? [False, False] Translation: X:9.19, Y:0.60, Z:1.19 [[ 0.92990714 -0.08497273 -0.35784403 9.19233753] [ 0.10315695 0.99415024 0.03199918 0.59500197] [ 0.35303167 -0.06667037 0.93323293 1.19371529] [ 0. 0. 0. 1. ]] SLAMing on 66.71964924600002 meters Centerline goodness : 0.913422 Centerline is valid? [False, False] Translation: X:9.19, Y:0.60, Z:1.19 [[ 0.92978739 -0.08512185 -0.35811964 9.1929803 ] [ 0.10326581 0.99414501 0.03180998 0.59585213] [ 0.35331513 -0.06655803 0.93313367 1.19391238] [ 0. 0. 0. 1. ]] SLAMing on 66.749649246 meters Centerline goodness : 0.916801 Centerline is valid? [False, False] Translation: X:9.20, Y:0.60, Z:1.20 [[ 0.92956138 -0.08105937 -0.3596457 9.1963385 ] [ 0.10062873 0.99427271 0.03599503 0.59542992] [ 0.35466817 -0.06965027 0.93239441 1.1959949 ] [ 0. 0. 0. 1. ]] SLAMing on 66.779649246 meters Centerline goodness : 0.912113 Centerline is valid? [False, False] Translation: X:9.20, Y:0.60, Z:1.19 [[ 0.92933108 -0.08194227 -0.36004057 9.19942447] [ 0.10119175 0.99425424 0.03491049 0.5970224 ] [ 0.35511122 -0.06887654 0.93228324 1.19451782] [ 0. 0. 0. 1. ]] SLAMing on 66.809649246 meters Centerline goodness : 0.911543 Centerline is valid? [False, False] Translation: X:9.20, Y:0.60, Z:1.19 [[ 0.9290966 -0.08265141 -0.36048335 9.20157829] [ 0.10186182 0.99419715 0.03458599 0.59710017] [ 0.35553294 -0.06885321 0.93212422 1.19447604] [ 0. 0. 0. 1. ]] SLAMing on 66.83964924600001 meters Centerline goodness : 0.912428 Centerline is valid? [False, False] Translation: X:9.21, Y:0.60, Z:1.20 [[ 0.92838572 -0.08460052 -0.36186006 9.20677186] [ 0.10409898 0.99396164 0.0346939 0.59569954] [ 0.35673989 -0.06987858 0.93158662 1.1965862 ] [ 0. 0. 0. 1. ]] SLAMing on 66.86964924600001 meters Centerline goodness : 0.909260 Centerline is valid? [False, False] Translation: X:9.21, Y:0.59, Z:1.20 [[ 0.92789617 -0.08564184 -0.36286936 9.20979876] [ 0.10543131 0.99380879 0.0350476 0.59390997] [ 0.35762122 -0.07077832 0.9311807 1.19849858] [ 0. 0. 0. 1. ]] SLAMing on 66.89964924600001 meters Centerline goodness : 0.909136 Centerline is valid? [False, False] Translation: X:9.21, Y:0.59, Z:1.20 [[ 0.92739526 -0.08702989 -0.3638184 9.2143171 ] [ 0.10677525 0.99368533 0.03447472 0.59347231] [ 0.35852068 -0.07081849 0.9308317 1.1985174 ] [ 0. 0. 0. 1. ]] SLAMing on 66.92964924600001 meters Centerline goodness : 0.906885 Centerline is valid? [False, False] Translation: X:9.22, Y:0.59, Z:1.20 [[ 0.92714921 -0.08757217 -0.36431504 9.21632078] [ 0.10735633 0.99362637 0.03436946 0.59301392] [ 0.35898322 -0.07097714 0.93064133 1.19885038] [ 0. 0. 0. 1. ]] SLAMing on 66.95964924600001 meters Centerline goodness : 0.908082 Centerline is valid? [False, False] Translation: X:9.22, Y:0.59, Z:1.20 [[ 0.92698057 -0.08776677 -0.36469716 9.21766987] [ 0.10774077 0.99357173 0.03474395 0.59236643] [ 0.35930342 -0.07149972 0.93047775 1.1996484 ] [ 0. 0. 0. 1. ]] SLAMing on 66.98964924600001 meters Centerline goodness : 0.909211 Centerline is valid? [False, False] Translation: X:9.22, Y:0.59, Z:1.20 [[ 0.92676099 -0.08785925 -0.36523255 9.21841299] [ 0.10802564 0.99352793 0.03511005 0.59172242] [ 0.359784 -0.0719931 0.93025398 1.20095511] [ 0. 0. 0. 1. ]] SLAMing on 67.01964924600001 meters Centerline goodness : 0.913459 Centerline is valid? [False, False] Translation: X:9.22, Y:0.59, Z:1.20 [[ 0.92666117 -0.08692508 -0.36570904 9.21711163] [ 0.10758747 0.99352675 0.03646269 0.58992667] [ 0.36017219 -0.07313427 0.93001472 1.20365613] [ 0. 0. 0. 1. ]] SLAMing on 67.04964924600002 meters Centerline goodness : 0.918193 Centerline is valid? [False, False] Translation: X:9.22, Y:0.59, Z:1.20 [[ 0.92654652 -0.08676801 -0.36603669 9.21713072] [ 0.10752202 0.99352669 0.03665703 0.59027177] [ 0.36048656 -0.07332145 0.92987817 1.2044622 ] [ 0. 0. 0. 1. ]] SLAMing on 67.07964924600002 meters Centerline goodness : 0.914566 Centerline is valid? [False, False] Translation: X:9.22, Y:0.59, Z:1.21 [[ 0.92654685 -0.08202542 -0.36712773 9.21836359] [ 0.10429952 0.99369165 0.04121296 0.58986337] [ 0.36143125 -0.07647698 0.92925708 1.20677168] [ 0. 0. 0. 1. ]] SLAMing on 67.109649246 meters Centerline goodness : 0.916508 Centerline is valid? [False, False] Translation: X:9.22, Y:0.59, Z:1.21 [[ 0.92643174 -0.08222098 -0.3673744 9.21917547] [ 0.10427892 0.99372047 0.04056524 0.5918939 ] [ 0.36173215 -0.07589033 0.92918809 1.20622784] [ 0. 0. 0. 1. ]] SLAMing on 67.139649246 meters Centerline goodness : 0.913806 Centerline is valid? [False, False] Translation: X:9.22, Y:0.59, Z:1.21 [[ 0.92626456 -0.07799999 -0.36871393 9.22179051] [ 0.10141525 0.99384727 0.04452578 0.59209044] [ 0.36297233 -0.07863587 0.9284759 1.20791564] [ 0. 0. 0. 1. ]] SLAMing on 67.169649246 meters Centerline goodness : 0.911275 Centerline is valid? [False, False] Translation: X:9.22, Y:0.60, Z:1.21 [[ 0.92621171 -0.07786132 -0.36887598 9.22295466] [ 0.10063831 0.9939985 0.04288254 0.59818349] [ 0.36332328 -0.07684137 0.92848888 1.20520238] [ 0. 0. 0. 1. ]] SLAMing on 67.199649246 meters Centerline goodness : 0.906373 Centerline is valid? [False, False] Translation: X:9.23, Y:0.60, Z:1.20 [[ 0.92615069 -0.07831941 -0.36893221 9.22658384] [ 0.1008974 0.99399823 0.04227564 0.60381742] [ 0.36340696 -0.07637792 0.92849437 1.2030418 ] [ 0. 0. 0. 1. ]] SLAMing on 67.22964924600001 meters Centerline goodness : 0.902198 Centerline is valid? [False, False] Translation: X:9.23, Y:0.61, Z:1.20 [[ 0.92590992 -0.07923264 -0.36934131 9.22891303] [ 0.10151983 0.99397711 0.04127019 0.60634038] [ 0.36384686 -0.07570794 0.92837695 1.20219379] [ 0. 0. 0. 1. ]] SLAMing on 67.25964924600001 meters Centerline goodness : 0.900842 Centerline is valid? [False, False] Translation: X:9.23, Y:0.61, Z:1.20 [[ 0.92560858 -0.08085028 -0.36974585 9.23158167] [ 0.10282156 0.99389237 0.04007089 0.60911031] [ 0.36424783 -0.07510781 0.92826846 1.2016761 ] [ 0. 0. 0. 1. ]] SLAMing on 67.28964924600001 meters Centerline goodness : 0.904401 Centerline is valid? [False, False] Translation: X:9.23, Y:0.61, Z:1.20 [[ 0.92545531 -0.08121765 -0.37004887 9.23237585] [ 0.10311145 0.99387573 0.03973743 0.61024458] [ 0.36455521 -0.0749315 0.92816204 1.20184379] [ 0. 0. 0. 1. ]] SLAMing on 67.31964924600001 meters Centerline goodness : 0.902296 Centerline is valid? [False, False] Translation: X:9.23, Y:0.61, Z:1.20 [[ 0.92524938 -0.08150574 -0.37050019 9.23259797] [ 0.10340876 0.99385004 0.03960703 0.61140173] [ 0.36499343 -0.07495935 0.92798755 1.2029487 ] [ 0. 0. 0. 1. ]] SLAMing on 67.34964924600001 meters Centerline goodness : 0.906739 Centerline is valid? [False, False] Translation: X:9.25, Y:0.62, Z:1.20 [[ 0.92739694 -0.08280188 -0.36479963 9.24547927] [ 0.10120291 0.99436449 0.03157904 0.61556739] [ 0.360129 -0.06620509 0.93055037 1.20377001] [ 0. 0. 0. 1. ]] SLAMing on 67.37964924600001 meters Centerline goodness : 0.910768 Centerline is valid? [False, False] Translation: X:9.25, Y:0.62, Z:1.20 [[ 0.92738882 -0.08254179 -0.36487919 9.24509549] [ 0.10094675 0.99438916 0.03162203 0.6167135 ] [ 0.36022177 -0.06615929 0.93051772 1.20402692] [ 0. 0. 0. 1. ]] SLAMing on 67.40964924600001 meters Centerline goodness : 0.909414 Centerline is valid? [False, False] Translation: X:9.25, Y:0.62, Z:1.21 [[ 0.92740223 -0.07796675 -0.3658501 9.24654246] [ 0.09760971 0.99459233 0.03547445 0.61782449] [ 0.36110588 -0.06860961 0.92999746 1.20516572] [ 0. 0. 0. 1. ]] SLAMing on 67.43964924600002 meters Centerline goodness : 0.909323 Centerline is valid? [False, False] Translation: X:9.25, Y:0.62, Z:1.21 [[ 0.92717088 -0.07850283 -0.36632152 9.24801435] [ 0.09799532 0.99457504 0.03489134 0.61974725] [ 0.36159517 -0.06824803 0.92983393 1.2051454 ] [ 0. 0. 0. 1. ]] SLAMing on 67.46964924600002 meters Centerline goodness : 0.908775 Centerline is valid? [False, False] Translation: X:9.25, Y:0.62, Z:1.20 [[ 0.9270759 -0.07868105 -0.36652363 9.24889795] [ 0.09789783 0.99461179 0.03410863 0.62212164] [ 0.36186503 -0.06750316 0.92978332 1.20434956] [ 0. 0. 0. 1. ]] SLAMing on 67.499649246 meters Centerline goodness : 0.910215 Centerline is valid? [False, False] Translation: X:9.25, Y:0.62, Z:1.20 [[ 0.92697163 -0.07905764 -0.36670627 9.25015123] [ 0.09811572 0.99460783 0.03359405 0.62365082] [ 0.36207306 -0.06712038 0.92973004 1.20378926] [ 0. 0. 0. 1. ]] SLAMing on 67.529649246 meters Centerline goodness : 0.905946 Centerline is valid? [False, False] Translation: X:9.25, Y:0.63, Z:1.20 [[ 0.92679003 -0.07959216 -0.3670495 9.25186896] [ 0.09838895 0.99460882 0.03275532 0.62606025] [ 0.3624636 -0.06647092 0.92962452 1.20301805] [ 0. 0. 0. 1. ]] SLAMing on 67.559649246 meters Centerline goodness : 0.904789 Centerline is valid? [False, False] Translation: X:9.25, Y:0.63, Z:1.20 [[ 0.92667407 -0.07985842 -0.36728436 9.25279486] [ 0.09860016 0.99459569 0.03251805 0.62649107] [ 0.3627026 -0.06634794 0.92954009 1.20300488] [ 0. 0. 0. 1. ]] SLAMing on 67.58964924600001 meters Centerline goodness : 0.908587 Centerline is valid? [False, False] Translation: X:9.25, Y:0.63, Z:1.20 [[ 0.92650268 -0.07982913 -0.36772286 9.2531472 ] [ 0.09869788 0.99457797 0.0327626 0.62679851] [ 0.36311365 -0.06664811 0.92935812 1.2040625 ] [ 0. 0. 0. 1. ]] SLAMing on 67.61964924600001 meters Centerline goodness : 0.910702 Centerline is valid? [False, False] Translation: X:9.25, Y:0.63, Z:1.20 [[ 0.92633522 -0.08008478 -0.36808897 9.25419585] [ 0.09892894 0.99456103 0.0325795 0.6277851 ] [ 0.36347783 -0.06659418 0.92921961 1.20429238] [ 0. 0. 0. 1. ]] SLAMing on 67.64964924600001 meters Centerline goodness : 0.910097 Centerline is valid? [False, False] Translation: X:9.26, Y:0.63, Z:1.20 [[ 0.92610876 -0.08030371 -0.36861074 9.25536868] [ 0.09902168 0.99456695 0.03211362 0.62920204] [ 0.36402922 -0.06624116 0.92902898 1.2044228 ] [ 0. 0. 0. 1. ]] SLAMing on 67.67964924600001 meters Centerline goodness : 0.910381 Centerline is valid? [False, False] Translation: X:9.26, Y:0.63, Z:1.20 [[ 0.92605286 -0.08030354 -0.36875118 9.25571849] [ 0.09894175 0.99458233 0.03188277 0.62998773] [ 0.36419311 -0.06601002 0.92898119 1.20424244] [ 0. 0. 0. 1. ]] SLAMing on 67.70964924600001 meters Centerline goodness : 0.909567 Centerline is valid? [False, False] Translation: X:9.26, Y:0.63, Z:1.20 [[ 0.92596541 -0.08062254 -0.36890116 9.25664282] [ 0.09912631 0.99457772 0.03145056 0.6316898 ] [ 0.36436525 -0.06568994 0.92893638 1.20389511] [ 0. 0. 0. 1. ]] SLAMing on 67.73964924600001 meters Centerline goodness : 0.907360 Centerline is valid? [False, False] Translation: X:9.26, Y:0.63, Z:1.20 [[ 0.9257676 -0.08099829 -0.36931507 9.25785947] [ 0.09950294 0.99454481 0.03130166 0.63191474] [ 0.36476501 -0.065726 0.92877693 1.2043368 ] [ 0. 0. 0. 1. ]] SLAMing on 67.76964924600001 meters Centerline goodness : 0.909359 Centerline is valid? [False, False] Translation: X:9.26, Y:0.63, Z:1.21 [[ 0.92535476 -0.08615478 -0.36918276 9.25792137] [ 0.10364098 0.9942274 0.02775655 0.63103166] [ 0.36466026 -0.06394712 0.92894223 1.20528129] [ 0. 0. 0. 1. ]] SLAMing on 67.79964924600002 meters Centerline goodness : 0.911492 Centerline is valid? [False, False] Translation: X:9.26, Y:0.63, Z:1.21 [[ 0.92491727 -0.08701705 -0.37007577 9.26019384] [ 0.10474172 0.99410435 0.02803048 0.63050844] [ 0.3654548 -0.06468825 0.9285786 1.20704352] [ 0. 0. 0. 1. ]] SLAMing on 67.82964924600002 meters Centerline goodness : 0.912547 Centerline is valid? [False, False] Translation: X:9.26, Y:0.63, Z:1.21 [[ 0.92437887 -0.08890622 -0.37097087 9.26458885] [ 0.10666995 0.99391136 0.02759933 0.63019894] [ 0.36625841 -0.06508368 0.92823429 1.20779308] [ 0. 0. 0. 1. ]] SLAMing on 67.859649246 meters Centerline goodness : 0.910148 Centerline is valid? [False, False] Translation: X:9.27, Y:0.63, Z:1.21 [[ 0.9238819 -0.08991858 -0.37196355 9.26767835] [ 0.10772856 0.99380453 0.02733326 0.63046647] [ 0.36720129 -0.0653238 0.92784482 1.20876386] [ 0. 0. 0. 1. ]] SLAMing on 67.889649246 meters Centerline goodness : 0.910148 Centerline is valid? [False, False] Translation: X:9.27, Y:0.63, Z:1.21 [[ 0.9238819 -0.08991858 -0.37196355 9.26767835] [ 0.10772856 0.99380453 0.02733326 0.63046647] [ 0.36720129 -0.0653238 0.92784482 1.20876386] [ 0. 0. 0. 1. ]] SLAMing on 67.919649246 meters Centerline goodness : 0.908267 Centerline is valid? [False, False] Translation: X:9.27, Y:0.63, Z:1.21 [[ 0.92370974 -0.09055666 -0.37223621 9.26987769] [ 0.10816775 0.9937752 0.02665685 0.63159926] [ 0.36750516 -0.06488715 0.92775515 1.20785055] [ 0. 0. 0. 1. ]] SLAMing on 67.949649246 meters Centerline goodness : 0.907046 Centerline is valid? [False, False] Translation: X:9.27, Y:0.63, Z:1.21 [[ 0.92353913 -0.08649438 -0.37362307 9.27320547] [ 0.1054758 0.99395037 0.03061885 0.63064447] [ 0.36871443 -0.0676859 0.92707513 1.20924965] [ 0. 0. 0. 1. ]] SLAMing on 67.97964924600001 meters Centerline goodness : 0.900533 Centerline is valid? [False, False] Translation: X:9.27, Y:0.63, Z:1.21 [[ 0.9235259 -0.08610497 -0.3737457 9.27307598] [ 0.10524937 0.9939601 0.03107891 0.6289898 ] [ 0.36881226 -0.06803868 0.92701038 1.20988086] [ 0. 0. 0. 1. ]] SLAMing on 68.00964924600001 meters Centerline goodness : 0.912173 Centerline is valid? [False, False] Translation: X:9.27, Y:0.63, Z:1.21 [[ 0.92343785 -0.08536369 -0.37413311 9.27197258] [ 0.1050272 0.99393986 0.03244758 0.62692826] [ 0.36909596 -0.06925748 0.92680719 1.21239772] [ 0. 0. 0. 1. ]] SLAMing on 68.03964924600001 meters Centerline goodness : 0.913665 Centerline is valid? [False, False] Translation: X:9.27, Y:0.62, Z:1.22 [[ 0.92321886 -0.08094296 -0.37565299 9.27432258] [ 0.10259844 0.99399789 0.03797037 0.62433776] [ 0.37032484 -0.07359637 0.92598223 1.21641319] [ 0. 0. 0. 1. ]] SLAMing on 68.06964924600001 meters Centerline goodness : 0.911305 Centerline is valid? [False, False] Translation: X:9.27, Y:0.62, Z:1.22 [[ 0.9231945 -0.08084847 -0.37573321 9.2745046 ] [ 0.10273338 0.99396184 0.03854488 0.62273631] [ 0.37034818 -0.07418477 0.92592594 1.21714677] [ 0. 0. 0. 1. ]] SLAMing on 68.09964924600001 meters Centerline goodness : 0.912979 Centerline is valid? [False, False] Translation: X:9.28, Y:0.62, Z:1.22 [[ 0.92301167 -0.0809265 -0.37616534 9.27517766] [ 0.10297806 0.99392453 0.03885291 0.6226321 ] [ 0.37073573 -0.07459847 0.92573759 1.21816101] [ 0. 0. 0. 1. ]] SLAMing on 68.12964924600001 meters Centerline goodness : 0.915751 Centerline is valid? [False, False] Translation: X:9.28, Y:0.62, Z:1.22 [[ 0.92290842 -0.08125193 -0.37634848 9.27592226] [ 0.10325028 0.99390544 0.03861797 0.62309646] [ 0.37091702 -0.07449893 0.92567299 1.21820469] [ 0. 0. 0. 1. ]] SLAMing on 68.15964924600001 meters Centerline goodness : 0.915773 Centerline is valid? [False, False] Translation: X:9.28, Y:0.62, Z:1.22 [[ 0.92268105 -0.08166414 -0.37681646 9.27770177] [ 0.10361148 0.99387976 0.03831044 0.62308896] [ 0.37138167 -0.07439083 0.92549536 1.21822803] [ 0. 0. 0. 1. ]] SLAMing on 68.18964924600002 meters Centerline goodness : 0.915492 Centerline is valid? [False, False] Translation: X:9.28, Y:0.62, Z:1.22 [[ 0.92237022 -0.08225242 -0.37744897 9.27969716] [ 0.10413935 0.99383992 0.03791056 0.62318129] [ 0.37200562 -0.07427486 0.92525406 1.21855285] [ 0. 0. 0. 1. ]] SLAMing on 68.21964924600002 meters Centerline goodness : 0.914922 Centerline is valid? [False, False] Translation: X:9.28, Y:0.62, Z:1.22 [[ 0.92219943 -0.08287237 -0.37773057 9.28202097] [ 0.10450212 0.99383275 0.03709129 0.6242814 ] [ 0.37232717 -0.07367921 0.92517234 1.21745089] [ 0. 0. 0. 1. ]] SLAMing on 68.249649246 meters Centerline goodness : 0.912262 Centerline is valid? [False, False] Translation: X:9.28, Y:0.63, Z:1.22 [[ 0.92195141 -0.08373209 -0.37814617 9.28487583] [ 0.10495648 0.99383112 0.03583064 0.62713599] [ 0.37281326 -0.072723 0.92505224 1.21593254] [ 0. 0. 0. 1. ]] SLAMing on 68.279649246 meters Centerline goodness : 0.913379 Centerline is valid? [False, False] Translation: X:9.29, Y:0.63, Z:1.22 [[ 0.92192112 -0.08393862 -0.37817423 9.28549634] [ 0.10506072 0.99383087 0.035531 0.62773157] [ 0.3728588 -0.07248804 0.92505232 1.21551999] [ 0. 0. 0. 1. ]] SLAMing on 68.309649246 meters Centerline goodness : 0.913294 Centerline is valid? [False, False] Translation: X:9.29, Y:0.63, Z:1.21 [[ 0.92170085 -0.08477366 -0.37852474 9.28823718] [ 0.10567706 0.993793 0.03475379 0.6286049 ] [ 0.37322903 -0.07203398 0.92493848 1.21455583] [ 0. 0. 0. 1. ]] SLAMing on 68.33964924600001 meters Centerline goodness : 0.908395 Centerline is valid? [False, False] Translation: X:9.29, Y:0.63, Z:1.21 [[ 0.92150464 -0.08539102 -0.37886354 9.29016491] [ 0.10615858 0.99375996 0.03422722 0.62947735] [ 0.37357671 -0.07176016 0.9248194 1.21413435] [ 0. 0. 0. 1. ]] SLAMing on 68.36964924600001 meters Centerline goodness : 0.908494 Centerline is valid? [False, False] Translation: X:9.29, Y:0.63, Z:1.21 [[ 0.92127909 -0.08574506 -0.37933182 9.2915797 ] [ 0.10659832 0.99371129 0.03427336 0.62848976] [ 0.37400754 -0.07201147 0.92462571 1.21481323] [ 0. 0. 0. 1. ]] SLAMing on 68.39964924600001 meters Centerline goodness : 0.909357 Centerline is valid? [False, False] Translation: X:9.29, Y:0.63, Z:1.22 [[ 0.92108643 -0.08598107 -0.37974604 9.29251941] [ 0.10691855 0.99367426 0.0343494 0.627578 ] [ 0.37439047 -0.07224067 0.92445285 1.2155338 ] [ 0. 0. 0. 1. ]] SLAMing on 68.42964924600001 meters Centerline goodness : 0.910760 Centerline is valid? [False, False] Translation: X:9.29, Y:0.63, Z:1.22 [[ 0.92078877 -0.08645027 -0.38036087 9.29440475] [ 0.10752394 0.99360491 0.03446576 0.62616231] [ 0.37494885 -0.07263359 0.92419572 1.2164464 ] [ 0. 0. 0. 1. ]] SLAMing on 68.45964924600001 meters Centerline goodness : 0.907037 Centerline is valid? [False, False] Translation: X:9.30, Y:0.63, Z:1.22 [[ 0.92063683 -0.08662447 -0.38068888 9.29521315] [ 0.10780742 0.9935684 0.03463233 0.62523489] [ 0.37524043 -0.07292488 0.92405443 1.21706928] [ 0. 0. 0. 1. ]] SLAMing on 68.48964924600001 meters Centerline goodness : 0.908313 Centerline is valid? [False, False] Translation: X:9.30, Y:0.62, Z:1.22 [[ 0.9204771 -0.08681075 -0.38103255 9.29620579] [ 0.10820609 0.99351054 0.03504642 0.62358993] [ 0.37551745 -0.07348946 0.92389715 1.21798422] [ 0. 0. 0. 1. ]] SLAMing on 68.51964924600001 meters Centerline goodness : 0.909713 Centerline is valid? [False, False] Translation: X:9.30, Y:0.62, Z:1.22 [[ 0.92031947 -0.08717486 -0.38133006 9.29744935] [ 0.10858636 0.99347237 0.03495222 0.62338036] [ 0.37579393 -0.07357445 0.92377796 1.21816777] [ 0. 0. 0. 1. ]] SLAMing on 68.54964924600002 meters Centerline goodness : 0.911011 Centerline is valid? [False, False] Translation: X:9.30, Y:0.62, Z:1.22 [[ 0.92013189 -0.08759359 -0.3816866 9.29896753] [ 0.10906027 0.99342122 0.0349305 0.62256643] [ 0.37611588 -0.07376751 0.92363153 1.21847064] [ 0. 0. 0. 1. ]] SLAMing on 68.57964924600002 meters Centerline goodness : 0.911794 Centerline is valid? [False, False] Translation: X:9.30, Y:0.62, Z:1.22 [[ 0.91994222 -0.08795152 -0.38206131 9.30025975] [ 0.1094958 0.99337187 0.03497145 0.62203834] [ 0.37645316 -0.07400582 0.92347504 1.21894993] [ 0. 0. 0. 1. ]] SLAMing on 68.609649246 meters Centerline goodness : 0.909475 Centerline is valid? [False, False] Translation: X:9.30, Y:0.62, Z:1.22 [[ 0.91959168 -0.08858244 -0.3827588 9.30260737] [ 0.11023905 0.99328954 0.03497476 0.62085509] [ 0.37709216 -0.07435746 0.92318604 1.2197699 ] [ 0. 0. 0. 1. ]] SLAMing on 68.639649246 meters Centerline goodness : 0.910008 Centerline is valid? [False, False] Translation: X:9.30, Y:0.62, Z:1.22 [[ 0.91931495 -0.08914091 -0.38329352 9.3044058 ] [ 0.11082917 0.99322901 0.0348286 0.62043517] [ 0.37759359 -0.07449856 0.92296969 1.22029792] [ 0. 0. 0. 1. ]] SLAMing on 68.669649246 meters Centerline goodness : 0.911976 Centerline is valid? [False, False] Translation: X:9.31, Y:0.62, Z:1.22 [[ 0.9190555 -0.08989407 -0.38373956 9.30662281] [ 0.11167982 0.9931339 0.03482337 0.6190262 ] [ 0.37797435 -0.07486058 0.92278453 1.22082894] [ 0. 0. 0. 1. ]] SLAMing on 68.699649246 meters Centerline goodness : 0.909234 Centerline is valid? [False, False] Translation: X:9.31, Y:0.62, Z:1.22 [[ 0.91883351 -0.09051509 -0.38412499 9.30837603] [ 0.11227463 0.99307622 0.03455466 0.61914384] [ 0.37833767 -0.07487747 0.92263426 1.22102188] [ 0. 0. 0. 1. ]] SLAMing on 68.72964924600001 meters Centerline goodness : 0.913498 Centerline is valid? [False, False] Translation: X:9.31, Y:0.62, Z:1.23 [[ 0.91812132 -0.09200705 -0.38547107 9.31108795] [ 0.11471695 0.99273546 0.03628136 0.61619709] [ 0.37933266 -0.07753076 0.92200635 1.22654396] [ 0. 0. 0. 1. ]] SLAMing on 68.75964924600001 meters Centerline goodness : 0.911617 Centerline is valid? [False, False] Translation: X:9.31, Y:0.62, Z:1.23 [[ 0.91776017 -0.09296087 -0.38610173 9.3128548 ] [ 0.11580717 0.99260876 0.03628432 0.61613414] [ 0.37987494 -0.07801365 0.92174232 1.22792771] [ 0. 0. 0. 1. ]] SLAMing on 68.78964924600001 meters Centerline goodness : 0.912483 Centerline is valid? [False, False] Translation: X:9.32, Y:0.62, Z:1.23 [[ 0.91748866 -0.09014314 -0.38741293 9.3178517 ] [ 0.11401492 0.99271202 0.03903128 0.61836018] [ 0.38107108 -0.07998161 0.92107968 1.2280735 ] [ 0. 0. 0. 1. ]] SLAMing on 68.81964924600001 meters Centerline goodness : 0.906910 Centerline is valid? [False, False] Translation: X:9.32, Y:0.61, Z:1.23 [[ 0.92207835 -0.07487004 -0.37969197 9.31988134] [ 0.1018731 0.99346342 0.05150052 0.61462769] [ 0.37335424 -0.08616792 0.92367836 1.23182587] [ 0. 0. 0. 1. ]] SLAMing on 68.84964924600001 meters Centerline goodness : 0.909535 Centerline is valid? [False, False] Translation: X:9.33, Y:0.62, Z:1.23 [[ 0.92413283 -0.07770268 -0.37408663 9.33423774] [ 0.10050756 0.99405732 0.04181231 0.61926037] [ 0.36861462 -0.07623866 0.92645071 1.23089403] [ 0. 0. 0. 1. ]] SLAMing on 68.87964924600001 meters Centerline goodness : 0.911667 Centerline is valid? [False, False] Translation: X:9.35, Y:0.62, Z:1.23 [[ 0.92613517 -0.08034434 -0.36853552 9.34634666] [ 0.09931029 0.9945173 0.03275375 0.62314213] [ 0.36388337 -0.06693377 0.92903647 1.23267631] [ 0. 0. 0. 1. ]] SLAMing on 68.90964924600001 meters Centerline goodness : 0.913754 Centerline is valid? [False, False] Translation: X:9.34, Y:0.62, Z:1.23 [[ 0.92617766 -0.07969696 -0.36856932 9.34488709] [ 0.09883833 0.99454561 0.03331691 0.62279488] [ 0.36390374 -0.06728616 0.92900304 1.2336948 ] [ 0. 0. 0. 1. ]] SLAMing on 68.93964924600002 meters Centerline goodness : 0.917905 Centerline is valid? [False, False] Translation: X:9.35, Y:0.62, Z:1.23 [[ 0.92603308 -0.07974245 -0.36892258 9.34506586] [ 0.09896472 0.99452876 0.03344455 0.62356672] [ 0.36423716 -0.06748108 0.92885822 1.23457064] [ 0. 0. 0. 1. ]] SLAMing on 68.96964924600002 meters Centerline goodness : 0.916702 Centerline is valid? [False, False] Translation: X:9.35, Y:0.63, Z:1.23 [[ 0.92603323 -0.08018891 -0.36882542 9.34597205] [ 0.0991564 0.99453344 0.03272976 0.62589213] [ 0.36418465 -0.06688025 0.92892226 1.23336444] [ 0. 0. 0. 1. ]] SLAMing on 68.999649246 meters Centerline goodness : 0.912173 Centerline is valid? [False, False] Translation: X:9.35, Y:0.63, Z:1.23 [[ 0.92577208 -0.08126242 -0.36924582 9.34901949] [ 0.09991464 0.99449279 0.03164095 0.62772918] [ 0.36464109 -0.06618537 0.92879297 1.23215878] [ 0. 0. 0. 1. ]] SLAMing on 69.029649246 meters Centerline goodness : 0.913082 Centerline is valid? [False, False] Translation: X:9.35, Y:0.63, Z:1.23 [[ 0.9256013 -0.08155424 -0.36960943 9.35007698] [ 0.10022729 0.99446365 0.03156787 0.62831971] [ 0.36498865 -0.06626421 0.92865082 1.23255962] [ 0. 0. 0. 1. ]] SLAMing on 69.059649246 meters Centerline goodness : 0.915605 Centerline is valid? [False, False] Translation: X:9.35, Y:0.63, Z:1.23 [[ 0.92551714 -0.08151626 -0.36982852 9.34995036] [ 0.10012793 0.99447973 0.03137628 0.62930476] [ 0.36522928 -0.06606945 0.92857008 1.23290773] [ 0. 0. 0. 1. ]] SLAMing on 69.08964924600001 meters Centerline goodness : 0.913926 Centerline is valid? [False, False] Translation: X:9.35, Y:0.63, Z:1.23 [[ 0.92542238 -0.08149001 -0.37007135 9.34999145] [ 0.10015626 0.99447383 0.03147275 0.62951881] [ 0.36546156 -0.06619055 0.92847007 1.23361405] [ 0. 0. 0. 1. ]] SLAMing on 69.11964924600001 meters Centerline goodness : 0.911237 Centerline is valid? [False, False] Translation: X:9.35, Y:0.63, Z:1.23 [[ 0.92548121 -0.08126138 -0.36997449 9.34968427] [ 0.09973673 0.99452928 0.03104985 0.631282 ] [ 0.36542731 -0.06563609 0.9285229 1.23285278] [ 0. 0. 0. 1. ]] SLAMing on 69.14964924600001 meters Centerline goodness : 0.911037 Centerline is valid? [False, False] Translation: X:9.35, Y:0.63, Z:1.23 [[ 0.92544014 -0.08135757 -0.37005607 9.35004279] [ 0.09974728 0.99453605 0.03079831 0.63299781] [ 0.36552843 -0.06541407 0.92849877 1.23261669] [ 0. 0. 0. 1. ]] SLAMing on 69.17964924600001 meters Centerline goodness : 0.914950 Centerline is valid? [False, False] Translation: X:9.35, Y:0.63, Z:1.23 [[ 0.92552211 -0.08075855 -0.36998227 9.34868005] [ 0.09924388 0.99457486 0.03116901 0.63413957] [ 0.3654579 -0.06556608 0.92851581 1.23317138] [ 0. 0. 0. 1. ]] SLAMing on 69.20964924600001 meters Centerline goodness : 0.910978 Centerline is valid? [False, False] Translation: X:9.35, Y:0.63, Z:1.23 [[ 0.92553016 -0.08062031 -0.36999229 9.34835364] [ 0.09907925 0.99459261 0.03112623 0.63471964] [ 0.36548219 -0.06546682 0.92851326 1.23328296] [ 0. 0. 0. 1. ]] SLAMing on 69.23964924600001 meters Centerline goodness : 0.914530 Centerline is valid? [False, False] Translation: X:9.35, Y:0.64, Z:1.23 [[ 0.92547504 -0.08056767 -0.3701416 9.34869776] [ 0.09885693 0.9946287 0.03067664 0.63617319] [ 0.36568191 -0.06498152 0.92846871 1.23281003] [ 0. 0. 0. 1. ]] SLAMing on 69.26964924600001 meters Centerline goodness : 0.915079 Centerline is valid? [False, False] Translation: X:9.35, Y:0.64, Z:1.23 [[ 0.92541319 -0.08085745 -0.37023304 9.34948106] [ 0.09902618 0.99462346 0.03029827 0.63725511] [ 0.36579262 -0.06470118 0.92844467 1.232445 ] [ 0. 0. 0. 1. ]] SLAMing on 69.29964924600002 meters Centerline goodness : 0.913049 Centerline is valid? [False, False] Translation: X:9.35, Y:0.64, Z:1.23 [[ 0.92517537 -0.08131815 -0.37072617 9.35124775] [ 0.09945989 0.99458776 0.03004861 0.63713428] [ 0.36627621 -0.06467261 0.92825599 1.23266949] [ 0. 0. 0. 1. ]] SLAMing on 69.32964924600002 meters Centerline goodness : 0.909970 Centerline is valid? [False, False] Translation: X:9.35, Y:0.64, Z:1.23 [[ 0.92501078 -0.08165948 -0.37106171 9.35267254] [ 0.09981953 0.99455421 0.02996634 0.63698675] [ 0.36659395 -0.0647584 0.92812457 1.23282247] [ 0. 0. 0. 1. ]] SLAMing on 69.35964924600002 meters Centerline goodness : 0.910171 Centerline is valid? [False, False] Translation: X:9.36, Y:0.64, Z:1.23 [[ 0.92450837 -0.08786367 -0.37089656 9.3551799 ] [ 0.10462561 0.99419048 0.02527394 0.63793215] [ 0.36652117 -0.06217125 0.92833021 1.23184085] [ 0. 0. 0. 1. ]] SLAMing on 69.389649246 meters Centerline goodness : 0.908993 Centerline is valid? [False, False] Translation: X:9.36, Y:0.64, Z:1.23 [[ 0.92402917 -0.08885172 -0.3718541 9.35832395] [ 0.10566886 0.99408581 0.0250498 0.63773823] [ 0.36742917 -0.06244014 0.92795314 1.2327602 ] [ 0. 0. 0. 1. ]] SLAMing on 69.419649246 meters Centerline goodness : 0.907771 Centerline is valid? [False, False] Translation: X:9.37, Y:0.64, Z:1.23 [[ 0.92347477 -0.08814577 -0.37339612 9.36596326] [ 0.10603148 0.99397992 0.02759071 0.63712777] [ 0.36871624 -0.06507107 0.92726161 1.23429178] [ 0. 0. 0. 1. ]] SLAMing on 69.449649246 meters Centerline goodness : 0.909187 Centerline is valid? [False, False] Translation: X:9.37, Y:0.64, Z:1.24 [[ 0.92329686 -0.08829646 -0.37380026 9.36698475] [ 0.10646858 0.99391597 0.02820451 0.63591725] [ 0.36903569 -0.06583912 0.92708029 1.23553776] [ 0. 0. 0. 1. ]] SLAMing on 69.47964924600001 meters Centerline goodness : 0.908529 Centerline is valid? [False, False] Translation: X:9.37, Y:0.63, Z:1.24 [[ 0.92321151 -0.08821629 -0.37402993 9.36730527] [ 0.10662157 0.99388361 0.02876115 0.63452118] [ 0.36920501 -0.06643228 0.92697055 1.23651842] [ 0. 0. 0. 1. ]] SLAMing on 69.50964924600001 meters Centerline goodness : 0.909646 Centerline is valid? [False, False] Translation: X:9.37, Y:0.63, Z:1.24 [[ 0.92307248 -0.08828659 -0.37435634 9.36785138] [ 0.10686349 0.99384733 0.02911492 0.63380418] [ 0.36948259 -0.06688021 0.92682774 1.23748464] [ 0. 0. 0. 1. ]] SLAMing on 69.53964924600001 meters Centerline goodness : 0.911508 Centerline is valid? [False, False] Translation: X:9.37, Y:0.63, Z:1.24 [[ 0.92301394 -0.08771544 -0.37463483 9.36700429] [ 0.10658094 0.99385454 0.02989393 0.63313489] [ 0.36971037 -0.06752144 0.9266904 1.23906477] [ 0. 0. 0. 1. ]] SLAMing on 69.56964924600001 meters Centerline goodness : 0.910332 Centerline is valid? [False, False] Translation: X:9.37, Y:0.63, Z:1.24 [[ 0.92291506 -0.08788732 -0.37483812 9.36768368] [ 0.10674706 0.99383934 0.02980644 0.63356026] [ 0.36990926 -0.06752168 0.92661101 1.23920594] [ 0. 0. 0. 1. ]] SLAMing on 69.59964924600001 meters Centerline goodness : 0.912755 Centerline is valid? [False, False] Translation: X:9.37, Y:0.63, Z:1.24 [[ 0.92287068 -0.0876625 -0.37499999 9.36726887] [ 0.10661454 0.99384626 0.03004903 0.63371856] [ 0.37005816 -0.06771181 0.92653768 1.23991295] [ 0. 0. 0. 1. ]] SLAMing on 69.62964924600001 meters Centerline goodness : 0.914409 Centerline is valid? [False, False] Translation: X:9.37, Y:0.63, Z:1.24 [[ 0.92280906 -0.08749969 -0.37518961 9.36716142] [ 0.10658798 0.99383893 0.03038398 0.63365936] [ 0.37021945 -0.06802931 0.92644998 1.2406981 ] [ 0. 0. 0. 1. ]] SLAMing on 69.65964924600001 meters Centerline goodness : 0.914474 Centerline is valid? [False, False] Translation: X:9.37, Y:0.63, Z:1.24 [[ 0.92272181 -0.08734999 -0.37543901 9.36719817] [ 0.10649531 0.99384512 0.03050612 0.63372738] [ 0.37046352 -0.06813115 0.92634493 1.24132618] [ 0. 0. 0. 1. ]] SLAMing on 69.68964924600002 meters Centerline goodness : 0.916061 Centerline is valid? [False, False] Translation: X:9.37, Y:0.63, Z:1.24 [[ 0.92270779 -0.08736957 -0.3754689 9.36752005] [ 0.10650218 0.99384566 0.03046465 0.63394709] [ 0.37049645 -0.06809823 0.92633418 1.24123371] [ 0. 0. 0. 1. ]] SLAMing on 69.71964924600002 meters Centerline goodness : 0.911831 Centerline is valid? [False, False] Translation: X:9.37, Y:0.64, Z:1.24 [[ 0.92245887 -0.08817401 -0.37589225 9.37020652] [ 0.10709915 0.99380442 0.02970757 0.63505997] [ 0.37094394 -0.06766175 0.92618706 1.24049227] [ 0. 0. 0. 1. ]] SLAMing on 69.749649246 meters Centerline goodness : 0.910571 Centerline is valid? [False, False] Translation: X:9.37, Y:0.64, Z:1.24 [[ 0.92231158 -0.0887357 -0.37612142 9.37185932] [ 0.10751243 0.99377532 0.0291837 0.63559237] [ 0.37119055 -0.0673542 0.92611068 1.24000916] [ 0. 0. 0. 1. ]] SLAMing on 69.779649246 meters Centerline goodness : 0.910571 Centerline is valid? [False, False] Translation: X:9.37, Y:0.64, Z:1.24 [[ 0.92231158 -0.0887357 -0.37612142 9.37185932] [ 0.10751243 0.99377532 0.0291837 0.63559237] [ 0.37119055 -0.0673542 0.92611068 1.24000916] [ 0. 0. 0. 1. ]] SLAMing on 69.809649246 meters Centerline goodness : 0.909435 Centerline is valid? [False, False] Translation: X:9.37, Y:0.64, Z:1.24 [[ 0.92200473 -0.08951807 -0.37668793 9.37444329] [ 0.10821316 0.99371282 0.02871817 0.63570719] [ 0.37174883 -0.06724088 0.92589496 1.23998757] [ 0. 0. 0. 1. ]] SLAMing on 69.83964924600001 meters Centerline goodness : 0.909559 Centerline is valid? [False, False] Translation: X:9.38, Y:0.64, Z:1.24 [[ 0.92184913 -0.08986849 -0.37698518 9.37547557] [ 0.10858768 0.99367387 0.02865231 0.635541 ] [ 0.37202539 -0.06734906 0.92577601 1.24035743] [ 0. 0. 0. 1. ]] SLAMing on 69.86964924600001 meters Centerline goodness : 0.909312 Centerline is valid? [False, False] Translation: X:9.38, Y:0.63, Z:1.24 [[ 0.92160856 -0.09034813 -0.37745844 9.37698944] [ 0.10913017 0.99361528 0.02862306 0.63483619] [ 0.37246244 -0.06757136 0.92558406 1.24102022] [ 0. 0. 0. 1. ]] SLAMing on 69.89964924600001 meters Centerline goodness : 0.905464 Centerline is valid? [False, False] Translation: X:9.38, Y:0.63, Z:1.25 [[ 0.92112428 -0.08678166 -0.37947202 9.38100379] [ 0.10767866 0.99359903 0.03415074 0.63255989] [ 0.37407937 -0.07231812 0.92457272 1.24630942] [ 0. 0. 0. 1. ]] SLAMing on 69.92964924600001 meters Centerline goodness : 0.910254 Centerline is valid? [False, False] Translation: X:9.38, Y:0.63, Z:1.25 [[ 0.92113932 -0.08682148 -0.37942639 9.38063802] [ 0.10763117 0.99361151 0.0339367 0.63413372] [ 0.37405599 -0.07209853 0.92459933 1.2462428 ] [ 0. 0. 0. 1. ]] SLAMing on 69.95964924600001 meters Centerline goodness : 0.907866 Centerline is valid? [False, False] Translation: X:9.38, Y:0.64, Z:1.25 [[ 0.9209325 -0.08745481 -0.37978283 9.38238187] [ 0.10814028 0.99357332 0.03343263 0.63556869] [ 0.37441824 -0.07185902 0.92447134 1.24605501] [ 0. 0. 0. 1. ]] SLAMing on 69.98964924600001 meters Centerline goodness : 0.908576 Centerline is valid? [False, False] Translation: X:9.38, Y:0.64, Z:1.25 [[ 0.92084753 -0.08768666 -0.37993536 9.38289297] [ 0.10829516 0.99356539 0.03316591 0.63659402] [ 0.37458241 -0.0716859 0.92441827 1.24603873] [ 0. 0. 0. 1. ]] SLAMing on 70.01964924600001 meters Centerline goodness : 0.913005 Centerline is valid? [False, False] Translation: X:9.38, Y:0.64, Z:1.25 [[ 0.92084927 -0.08734471 -0.38000991 9.38214427] [ 0.10818477 0.99355644 0.03378851 0.63543235] [ 0.37461004 -0.07222541 0.92436508 1.24716542] [ 0. 0. 0. 1. ]] SLAMing on 70.04964924600002 meters Centerline goodness : 0.915771 Centerline is valid? [False, False] Translation: X:9.38, Y:0.63, Z:1.25 [[ 0.92059608 -0.08740388 -0.38060927 9.38299496] [ 0.1084809 0.99350882 0.03423607 0.63406839] [ 0.3751463 -0.07280643 0.92410198 1.2486361 ] [ 0. 0. 0. 1. ]] SLAMing on 70.07964924600002 meters Centerline goodness : 0.914271 Centerline is valid? [False, False] Translation: X:9.38, Y:0.63, Z:1.25 [[ 0.92024297 -0.09260537 -0.38023299 9.38367231] [ 0.11233951 0.99321728 0.02998791 0.63376669] [ 0.37487693 -0.07031135 0.92440446 1.24790252] [ 0. 0. 0. 1. ]] SLAMing on 70.10964924600002 meters Centerline goodness : 0.913847 Centerline is valid? [False, False] Translation: X:9.39, Y:0.63, Z:1.25 [[ 0.91999305 -0.09332583 -0.38066137 9.3861618 ] [ 0.11308067 0.99313849 0.02981117 0.6337447 ] [ 0.3752673 -0.07047151 0.92423386 1.24793988] [ 0. 0. 0. 1. ]] SLAMing on 70.139649246 meters Centerline goodness : 0.915450 Centerline is valid? [False, False] Translation: X:9.39, Y:0.63, Z:1.25 [[ 0.91982636 -0.09384894 -0.38093548 9.38806638] [ 0.11360181 0.99308389 0.02964826 0.63356847] [ 0.37551843 -0.07054621 0.92412615 1.2477976 ] [ 0. 0. 0. 1. ]] SLAMing on 70.169649246 meters Centerline goodness : 0.912107 Centerline is valid? [False, False] Translation: X:9.39, Y:0.63, Z:1.25 [[ 0.9195942 -0.09453865 -0.38132526 9.39043351] [ 0.11432185 0.99300542 0.02950845 0.632597 ] [ 0.37586836 -0.07072961 0.92396986 1.24788349] [ 0. 0. 0. 1. ]] SLAMing on 70.199649246 meters Centerline goodness : 0.918301 Centerline is valid? [False, False] Translation: X:9.39, Y:0.63, Z:1.25 [[ 0.91945927 -0.09398151 -0.38178807 9.3900797 ] [ 0.11431694 0.99296429 0.03087966 0.63052889] [ 0.37619981 -0.07203744 0.9237339 1.25034294] [ 0. 0. 0. 1. ]] SLAMing on 70.22964924600001 meters Centerline goodness : 0.918118 Centerline is valid? [False, False] Translation: X:9.39, Y:0.63, Z:1.25 [[ 0.91935519 -0.09395151 -0.38204601 9.39051594] [ 0.11444201 0.99293947 0.03121273 0.6301371 ] [ 0.37641608 -0.0724177 0.92361605 1.25108577] [ 0. 0. 0. 1. ]] SLAMing on 70.25964924600001 meters Centerline goodness : 0.921427 Centerline is valid? [False, False] Translation: X:9.39, Y:0.63, Z:1.25 [[ 0.91910876 -0.09440606 -0.38252657 9.3918348 ] [ 0.11503135 0.99286692 0.03135381 0.62965528] [ 0.37683799 -0.07282011 0.92341235 1.25209787] [ 0. 0. 0. 1. ]] SLAMing on 70.28964924600001 meters Centerline goodness : 0.922626 Centerline is valid? [False, False] Translation: X:9.39, Y:0.63, Z:1.25 [[ 0.91902298 -0.0944828 -0.38271369 9.39247936] [ 0.11521298 0.99283944 0.03155657 0.62984193] [ 0.37699169 -0.0730948 0.9233279 1.25252444] [ 0. 0. 0. 1. ]] SLAMing on 70.31964924600001 meters Centerline goodness : 0.922928 Centerline is valid? [False, False] Translation: X:9.39, Y:0.63, Z:1.25 [[ 0.91900366 -0.09444055 -0.38277049 9.39255303] [ 0.11525273 0.99282854 0.03175377 0.62949103] [ 0.37702662 -0.07329718 0.9232976 1.25290531] [ 0. 0. 0. 1. ]] SLAMing on 70.34964924600001 meters Centerline goodness : 0.925218 Centerline is valid? [False, False] Translation: X:9.39, Y:0.63, Z:1.25 [[ 0.91883208 -0.09458992 -0.38314535 9.39336648] [ 0.1155299 0.99278976 0.03195829 0.62941693] [ 0.37735985 -0.07362905 0.92313504 1.25374109] [ 0. 0. 0. 1. ]] SLAMing on 70.37964924600001 meters Centerline goodness : 0.926171 Centerline is valid? [False, False] Translation: X:9.39, Y:0.63, Z:1.25 [[ 0.91872926 -0.09476175 -0.3833494 9.39381217] [ 0.11578628 0.9927557 0.03208814 0.62924067] [ 0.37753158 -0.07386691 0.92304582 1.25437498] [ 0. 0. 0. 1. ]] SLAMing on 70.40964924600001 meters Centerline goodness : 0.928549 Centerline is valid? [False, False] Translation: X:9.39, Y:0.63, Z:1.26 [[ 0.91842598 -0.09528968 -0.38394478 9.39474386] [ 0.11669015 0.9926274 0.03277586 0.627869 ] [ 0.37799091 -0.07490477 0.92277416 1.25676334] [ 0. 0. 0. 1. ]] SLAMing on 70.43964924600002 meters Centerline goodness : 0.921531 Centerline is valid? [False, False] Translation: X:9.40, Y:0.63, Z:1.26 [[ 0.91810412 -0.09617623 -0.38449312 9.39754872] [ 0.1173356 0.99257998 0.03189576 0.62956704] [ 0.37857256 -0.07439836 0.92257666 1.25613524] [ 0. 0. 0. 1. ]] SLAMing on 70.46964924600002 meters Centerline goodness : 0.922705 Centerline is valid? [False, False] Translation: X:9.40, Y:0.63, Z:1.26 [[ 0.91797499 -0.09648474 -0.38472408 9.39872105] [ 0.11757563 0.99256043 0.03161891 0.63020145] [ 0.37881115 -0.07425955 0.92248991 1.25595235] [ 0. 0. 0. 1. ]] SLAMing on 70.499649246 meters Centerline goodness : 0.921013 Centerline is valid? [False, False] Translation: X:9.40, Y:0.63, Z:1.26 [[ 0.91777332 -0.09688226 -0.38510513 9.4001019 ] [ 0.11796642 0.99251965 0.03144308 0.63140704] [ 0.37917814 -0.07428709 0.92233691 1.25616266] [ 0. 0. 0. 1. ]] SLAMing on 70.529649246 meters Centerline goodness : 0.921426 Centerline is valid? [False, False] Translation: X:9.40, Y:0.63, Z:1.26 [[ 0.91760227 -0.09715343 -0.38544426 9.40122528] [ 0.11824437 0.99249003 0.03133397 0.63212247] [ 0.37950538 -0.07432874 0.92219895 1.25642568] [ 0. 0. 0. 1. ]] SLAMing on 70.559649246 meters Centerline goodness : 0.924880 Centerline is valid? [False, False] Translation: X:9.40, Y:0.63, Z:1.26 [[ 0.9177474 -0.09646474 -0.38527167 9.39926631] [ 0.11773604 0.99253096 0.03194552 0.63232739] [ 0.37931245 -0.07467828 0.92225009 1.25732801] [ 0. 0. 0. 1. ]] SLAMing on 70.58964924600001 meters Centerline goodness : 0.929335 Centerline is valid? [False, False] Translation: X:9.40, Y:0.63, Z:1.26 [[ 0.91762553 -0.09597382 -0.38568434 9.39777003] [ 0.11754006 0.99253056 0.0326713 0.63303798] [ 0.37966791 -0.07531338 0.92205215 1.25956403] [ 0. 0. 0. 1. ]] SLAMing on 70.61964924600001 meters Centerline goodness : 0.930374 Centerline is valid? [False, False] Translation: X:9.40, Y:0.63, Z:1.26 [[ 0.91764737 -0.09576006 -0.38568551 9.39721642] [ 0.11730236 0.99255921 0.03265529 0.63455315] [ 0.37968863 -0.07520786 0.92205223 1.25973968] [ 0. 0. 0. 1. ]] SLAMing on 70.64964924600001 meters Centerline goodness : 0.931318 Centerline is valid? [False, False] Translation: X:9.40, Y:0.64, Z:1.26 [[ 0.9175579 -0.095837 -0.38587921 9.39743339] [ 0.11730006 0.99256765 0.03240624 0.63611472] [ 0.3799055 -0.07499825 0.92197997 1.25986704] [ 0. 0. 0. 1. ]] SLAMing on 70.67964924600001 meters Centerline goodness : 0.936128 Centerline is valid? [False, False] Translation: X:9.40, Y:0.64, Z:1.26 [[ 0.91758937 -0.09499331 -0.38601297 9.39543399] [ 0.11645258 0.99266319 0.03253591 0.6387177 ] [ 0.38009017 -0.07480681 0.92191941 1.26064592] [ 0. 0. 0. 1. ]] SLAMing on 70.70964924600001 meters Centerline goodness : 0.936008 Centerline is valid? [False, False] Translation: X:9.39, Y:0.64, Z:1.26 [[ 0.91771016 -0.09446474 -0.3858555 9.39424546] [ 0.11587831 0.99272949 0.0325634 0.64021354] [ 0.37997404 -0.07459605 0.92198436 1.26057184] [ 0. 0. 0. 1. ]] SLAMing on 70.73964924600001 meters Centerline goodness : 0.938039 Centerline is valid? [False, False] Translation: X:9.40, Y:0.64, Z:1.26 [[ 0.91775811 -0.08985597 -0.386841 9.39512482] [ 0.11242394 0.99300571 0.03606261 0.64310492] [ 0.38089488 -0.07658695 0.92144101 1.26160526] [ 0. 0. 0. 1. ]] SLAMing on 70.76964924600001 meters Centerline goodness : 0.939264 Centerline is valid? [False, False] Translation: X:9.39, Y:0.65, Z:1.26 [[ 0.91782127 -0.08976434 -0.38671239 9.39499043] [ 0.11203803 0.99307329 0.03539666 0.64564163] [ 0.38085639 -0.0758143 0.92152081 1.26054602] [ 0. 0. 0. 1. ]] SLAMing on 70.79964924600002 meters Centerline goodness : 0.937031 Centerline is valid? [False, False] Translation: X:9.39, Y:0.65, Z:1.26 [[ 0.91785724 -0.08882668 -0.38684351 9.39392635] [ 0.11085079 0.9932223 0.03495098 0.64934422] [ 0.38111702 -0.07496192 0.92148279 1.25991939] [ 0. 0. 0. 1. ]] SLAMing on 70.82964924600002 meters Centerline goodness : 0.936052 Centerline is valid? [False, False] Translation: X:9.40, Y:0.65, Z:1.26 [[ 0.91771598 -0.0842933 -0.38819069 9.3957359 ] [ 0.10777653 0.99340673 0.03908055 0.64928887] [ 0.38233702 -0.07770269 0.92075007 1.2620282 ] [ 0. 0. 0. 1. ]] SLAMing on 70.85964924600002 meters Centerline goodness : 0.935789 Centerline is valid? [False, False] Translation: X:9.39, Y:0.65, Z:1.26 [[ 0.91781326 -0.08348419 -0.38813555 9.39456008] [ 0.10655647 0.99357013 0.0382638 0.65361402] [ 0.38244546 -0.07647738 0.92080762 1.2606931 ] [ 0. 0. 0. 1. ]] SLAMing on 70.889649246 meters Centerline goodness : 0.934881 Centerline is valid? [False, False] Translation: X:9.40, Y:0.66, Z:1.26 [[ 0.91775507 -0.08367441 -0.38823219 9.39521165] [ 0.10646161 0.9936087 0.03751893 0.65655127] [ 0.38261151 -0.07576502 0.92079753 1.259872 ] [ 0. 0. 0. 1. ]] SLAMing on 70.919649246 meters Centerline goodness : 0.935985 Centerline is valid? [False, False] Translation: X:9.40, Y:0.66, Z:1.26 [[ 0.91768887 -0.08404643 -0.38830831 9.39606252] [ 0.10671582 0.99359548 0.03714514 0.65760321] [ 0.38269946 -0.07552632 0.92078059 1.25954884] [ 0. 0. 0. 1. ]] SLAMing on 70.949649246 meters Centerline goodness : 0.936265 Centerline is valid? [False, False] Translation: X:9.40, Y:0.66, Z:1.26 [[ 0.91751659 -0.08450308 -0.38861619 9.39738699] [ 0.10709095 0.99356824 0.03679247 0.65852338] [ 0.38300763 -0.07537498 0.92066485 1.25958312] [ 0. 0. 0. 1. ]] SLAMing on 70.97964924600001 meters Centerline goodness : 0.935593 Centerline is valid? [False, False] Translation: X:9.40, Y:0.66, Z:1.26 [[ 0.91716931 -0.08501876 -0.38932283 9.39885295] [ 0.10777765 0.99348816 0.03694933 0.6584511 ] [ 0.38364624 -0.07584909 0.92035997 1.26110013] [ 0. 0. 0. 1. ]] SLAMing on 71.00964924600001 meters Centerline goodness : 0.934495 Centerline is valid? [False, False] Translation: X:9.40, Y:0.66, Z:1.26 [[ 0.91689276 -0.08581247 -0.38979981 9.40117187] [ 0.1084302 0.99343925 0.03635043 0.66003726] [ 0.38412311 -0.07559552 0.92018191 1.26096202] [ 0. 0. 0. 1. ]] SLAMing on 71.03964924600001 meters Centerline goodness : 0.932583 Centerline is valid? [False, False] Translation: X:9.40, Y:0.66, Z:1.26 [[ 0.91658168 -0.08664788 -0.39034621 9.40381597] [ 0.10908434 0.99339362 0.03563313 0.66124822] [ 0.3846799 -0.07524134 0.91997832 1.26062655] [ 0. 0. 0. 1. ]] SLAMing on 71.06964924600001 meters Centerline goodness : 0.927312 Centerline is valid? [False, False] Translation: X:9.41, Y:0.66, Z:1.26 [[ 0.91623713 -0.08781354 -0.39089424 9.40721951] [ 0.10991217 0.99334319 0.03447642 0.66371896] [ 0.38526464 -0.07455261 0.91978969 1.25972825] [ 0. 0. 0. 1. ]] SLAMing on 71.09964924600001 meters Centerline goodness : 0.928412 Centerline is valid? [False, False] Translation: X:9.41, Y:0.66, Z:1.26 [[ 0.91599473 -0.08848129 -0.39131154 9.40894801] [ 0.11043099 0.9933055 0.03389947 0.66491101] [ 0.38569244 -0.07426466 0.91963368 1.25966551] [ 0. 0. 0. 1. ]] SLAMing on 71.12964924600001 meters Centerline goodness : 0.929754 Centerline is valid? [False, False] Translation: X:9.41, Y:0.66, Z:1.26 [[ 0.91532441 -0.08990538 -0.39255349 9.41203262] [ 0.11220716 0.99309648 0.03418957 0.6636076 ] [ 0.38676966 -0.07534186 0.91909349 1.26268623] [ 0. 0. 0. 1. ]] SLAMing on 71.15964924600001 meters Centerline goodness : 0.930109 Centerline is valid? [False, False] Translation: X:9.41, Y:0.66, Z:1.26 [[ 0.91496504 -0.09048943 -0.39325646 9.4136803 ] [ 0.11299138 0.99300038 0.03439771 0.66275669] [ 0.38739119 -0.0759073 0.91878515 1.26417275] [ 0. 0. 0. 1. ]] SLAMing on 71.18964924600002 meters Centerline goodness : 0.928520 Centerline is valid? [False, False] Translation: X:9.42, Y:0.66, Z:1.27 [[ 0.91452608 -0.0914272 -0.39405978 9.41626354] [ 0.11402039 0.99288775 0.03425286 0.66310692] [ 0.38812549 -0.07625598 0.91844631 1.26525837] [ 0. 0. 0. 1. ]] SLAMing on 71.21964924600002 meters Centerline goodness : 0.929300 Centerline is valid? [False, False] Translation: X:9.42, Y:0.66, Z:1.27 [[ 0.91395186 -0.0927191 -0.39508881 9.41994634] [ 0.11549022 0.99272 0.03419077 0.66352739] [ 0.38904243 -0.07687761 0.91800644 1.26681672] [ 0. 0. 0. 1. ]] SLAMing on 71.249649246 meters Centerline goodness : 0.930649 Centerline is valid? [False, False] Translation: X:9.42, Y:0.66, Z:1.27 [[ 0.9135845 -0.09299742 -0.39587226 9.42174428] [ 0.11619471 0.99261066 0.03496952 0.66267291] [ 0.38969495 -0.07794587 0.91763952 1.26891142] [ 0. 0. 0. 1. ]] SLAMing on 71.279649246 meters Centerline goodness : 0.932060 Centerline is valid? [False, False] Translation: X:9.42, Y:0.66, Z:1.27 [[ 0.91316217 -0.0937408 -0.39667054 9.42399613] [ 0.11720416 0.99248136 0.0352696 0.66147174] [ 0.39038192 -0.0786983 0.91728324 1.27056292] [ 0. 0. 0. 1. ]] SLAMing on 71.309649246 meters Centerline goodness : 0.933100 Centerline is valid? [False, False] Translation: X:9.43, Y:0.66, Z:1.27 [[ 0.91262935 -0.09436929 -0.39774628 9.42642023] [ 0.11825942 0.99233337 0.03590537 0.66000422] [ 0.39130854 -0.07980554 0.91679262 1.27321495] [ 0. 0. 0. 1. ]] SLAMing on 71.33964924600001 meters Centerline goodness : 0.932843 Centerline is valid? [False, False] Translation: X:9.43, Y:0.66, Z:1.27 [[ 0.91230017 -0.09498526 -0.39835435 9.42872911] [ 0.11882132 0.99228019 0.03551792 0.66072835] [ 0.39190545 -0.07973599 0.91654366 1.2734741 ] [ 0. 0. 0. 1. ]] SLAMing on 71.36964924600001 meters Centerline goodness : 0.931854 Centerline is valid? [False, False] Translation: X:9.43, Y:0.66, Z:1.27 [[ 0.9118301 -0.09629346 -0.39911582 9.43273359] [ 0.12002585 0.99215929 0.03483884 0.66165604] [ 0.39263171 -0.07967132 0.91623841 1.27355691] [ 0. 0. 0. 1. ]] SLAMing on 71.39964924600001 meters Centerline goodness : 0.931153 Centerline is valid? [False, False] Translation: X:9.44, Y:0.66, Z:1.27 [[ 0.91137377 -0.09720743 -0.39993571 9.43580321] [ 0.12094996 0.99205913 0.0344933 0.66205687] [ 0.39340686 -0.0798085 0.9158939 1.27424777] [ 0. 0. 0. 1. ]] SLAMing on 71.42964924600001 meters Centerline goodness : 0.927151 Centerline is valid? [False, False] Translation: X:9.44, Y:0.66, Z:1.27 [[ 0.9107976 -0.09860142 -0.40090585 9.44023995] [ 0.12222178 0.99193026 0.03370759 0.66349846] [ 0.39434702 -0.07970022 0.91549893 1.274528 ] [ 0. 0. 0. 1. ]] SLAMing on 71.45964924600001 meters Centerline goodness : 0.927065 Centerline is valid? [False, False] Translation: X:9.44, Y:0.67, Z:1.27 [[ 0.91043147 -0.09955665 -0.40150095 9.44308177] [ 0.12300254 0.99185839 0.03297447 0.66533461] [ 0.39494926 -0.07940663 0.91526481 1.27441137] [ 0. 0. 0. 1. ]] SLAMing on 71.48964924600001 meters Centerline goodness : 0.922662 Centerline is valid? [False, False] Translation: X:9.45, Y:0.67, Z:1.28 [[ 0.9098132 -0.09663656 -0.40361034 9.44853418] [ 0.1215593 0.99191197 0.03652357 0.66632152] [ 0.39681642 -0.08229222 0.91420169 1.27741798] [ 0. 0. 0. 1. ]] SLAMing on 71.51964924600001 meters Centerline goodness : 0.921981 Centerline is valid? [False, False] Translation: X:9.45, Y:0.67, Z:1.28 [[ 0.90945865 -0.09767423 -0.40415926 9.45096541] [ 0.12250384 0.99181602 0.03596924 0.66735378] [ 0.39733836 -0.0822236 0.91398113 1.27780015] [ 0. 0. 0. 1. ]] SLAMing on 71.54964924600002 meters Centerline goodness : 0.925825 Centerline is valid? [False, False] Translation: X:9.45, Y:0.67, Z:1.28 [[ 0.9087416 -0.09921764 -0.40539433 9.45441036] [ 0.12427861 0.99159775 0.03589876 0.66711656] [ 0.39842632 -0.08300454 0.91343676 1.28029943] [ 0. 0. 0. 1. ]] SLAMing on 71.57964924600002 meters Centerline goodness : 0.923070 Centerline is valid? [False, False] Translation: X:9.46, Y:0.67, Z:1.28 [[ 0.90793542 -0.10116962 -0.40671609 9.45952329] [ 0.12608767 0.99140632 0.03486281 0.66990452] [ 0.39969384 -0.08293506 0.91288916 1.28126761] [ 0. 0. 0. 1. ]] SLAMing on 71.60964924600002 meters Centerline goodness : 0.922965 Centerline is valid? [False, False] Translation: X:9.46, Y:0.67, Z:1.28 [[ 0.90718673 -0.10284006 -0.40796588 9.46440368] [ 0.12765497 0.99123593 0.03399335 0.67197183] [ 0.40089456 -0.08291718 0.91236412 1.28214157] [ 0. 0. 0. 1. ]] SLAMing on 71.639649246 meters Centerline goodness : 0.923679 Centerline is valid? [False, False] Translation: X:9.47, Y:0.67, Z:1.28 [[ 0.90688512 -0.10335646 -0.40850559 9.4659433 ] [ 0.12824409 0.99116213 0.03392768 0.67203459] [ 0.40138862 -0.08315694 0.91212505 1.28309131] [ 0. 0. 0. 1. ]] SLAMing on 71.669649246 meters Centerline goodness : 0.924829 Centerline is valid? [False, False] Translation: X:9.47, Y:0.67, Z:1.29 [[ 0.90638666 -0.1030199 -0.40969515 9.46655331] [ 0.1289691 0.99099004 0.03613461 0.66985686] [ 0.40228123 -0.08558995 0.91150654 1.2881089 ] [ 0. 0. 0. 1. ]] SLAMing on 71.699649246 meters Centerline goodness : 0.924829 Centerline is valid? [False, False] Translation: X:9.47, Y:0.67, Z:1.29 [[ 0.90638666 -0.1030199 -0.40969515 9.46655331] [ 0.1289691 0.99099004 0.03613461 0.66985686] [ 0.40228123 -0.08558995 0.91150654 1.2881089 ] [ 0. 0. 0. 1. ]] SLAMing on 71.72964924600001 meters Centerline goodness : 0.929201 Centerline is valid? [False, False] Translation: X:9.47, Y:0.67, Z:1.29 [[ 0.90601542 -0.10332322 -0.41043925 9.46788344] [ 0.12949727 0.99091123 0.03640584 0.66969358] [ 0.40294729 -0.08613501 0.91116093 1.28976084] [ 0. 0. 0. 1. ]] SLAMing on 71.75964924600001 meters Centerline goodness : 0.927550 Centerline is valid? [False, False] Translation: X:9.47, Y:0.67, Z:1.29 [[ 0.90573627 -0.10376593 -0.41094335 9.46951648] [ 0.12999516 0.99084923 0.03631874 0.66983036] [ 0.40341426 -0.08631585 0.91093716 1.29045641] [ 0. 0. 0. 1. ]] SLAMing on 71.78964924600001 meters Centerline goodness : 0.927595 Centerline is valid? [False, False] Translation: X:9.47, Y:0.67, Z:1.29 [[ 0.90514465 -0.10533589 -0.41184647 9.47400741] [ 0.1311989 0.99073984 0.03494874 0.67267454] [ 0.40435135 -0.08566747 0.91058282 1.29004095] [ 0. 0. 0. 1. ]] SLAMing on 71.81964924600001 meters Centerline goodness : 0.923495 Centerline is valid? [False, False] Translation: X:9.48, Y:0.67, Z:1.29 [[ 0.90460188 -0.10251642 -0.41374609 9.4803237 ] [ 0.12955384 0.99085382 0.03774262 0.67456551] [ 0.40609265 -0.08774444 0.90960963 1.29123986] [ 0. 0. 0. 1. ]] SLAMing on 71.84964924600001 meters Centerline goodness : 0.918127 Centerline is valid? [False, False] Translation: X:9.48, Y:0.68, Z:1.29 [[ 0.90422971 -0.10344541 -0.41432799 9.48312031] [ 0.13023189 0.99079871 0.03684511 0.67659804] [ 0.40670418 -0.08727516 0.90938152 1.2909479 ] [ 0. 0. 0. 1. ]] SLAMing on 71.87964924600001 meters Centerline goodness : 0.918050 Centerline is valid? [False, False] Translation: X:9.49, Y:0.68, Z:1.29 [[ 0.90354831 -0.10504873 -0.4154097 9.48754919] [ 0.13147995 0.9906846 0.03545495 0.68006857] [ 0.40781549 -0.08665331 0.90894319 1.29101843] [ 0. 0. 0. 1. ]] SLAMing on 71.90964924600001 meters Centerline goodness : 0.915423 Centerline is valid? [False, False] Translation: X:9.49, Y:0.68, Z:1.29 [[ 0.90317592 -0.10209348 -0.41695345 9.49226034] [ 0.12993661 0.99076025 0.03886635 0.67992841] [ 0.4091329 -0.08928067 0.90809649 1.29293188] [ 0. 0. 0. 1. ]] SLAMing on 71.93964924600002 meters Centerline goodness : 0.915563 Centerline is valid? [False, False] Translation: X:9.50, Y:0.68, Z:1.30 [[ 0.90198804 -0.10466154 -0.41888369 9.49791051] [ 0.13297784 0.99035555 0.03889452 0.67996952] [ 0.41077302 -0.09078463 0.90720652 1.29734495] [ 0. 0. 0. 1. ]] SLAMing on 71.96964924600002 meters Centerline goodness : 0.913956 Centerline is valid? [False, False] Translation: X:9.50, Y:0.68, Z:1.30 [[ 0.90142106 -0.106092 -0.41974344 9.50182347] [ 0.13420604 0.99022727 0.03793021 0.68185894] [ 0.4116173 -0.09052319 0.9068499 1.29744392] [ 0. 0. 0. 1. ]] SLAMing on 71.999649246 meters Centerline goodness : 0.914033 Centerline is valid? [False, False] Translation: X:9.51, Y:0.68, Z:1.30 [[ 0.90093191 -0.10296622 -0.42156809 9.50711321] [ 0.13254058 0.99031376 0.04137214 0.68223529] [ 0.41322474 -0.09314836 0.90585247 1.2994711 ] [ 0. 0. 0. 1. ]] SLAMing on 72.029649246 meters Centerline goodness : 0.910824 Centerline is valid? [False, False] Translation: X:9.52, Y:0.68, Z:1.31 [[ 0.9026203 -0.09684641 -0.41940119 9.52098459] [ 0.12843842 0.99057054 0.04768209 0.68394924] [ 0.41082862 -0.09690605 0.90654788 1.3084666 ] [ 0. 0. 0. 1. ]] SLAMing on 72.059649246 meters Centerline goodness : 0.911371 Centerline is valid? [False, False] Translation: X:9.53, Y:0.69, Z:1.31 [[ 0.90202453 -0.09317017 -0.42151046 9.5250662 ] [ 0.12637943 0.99064534 0.05147855 0.68546491] [ 0.41277111 -0.09970516 0.90536119 1.31184306] [ 0. 0. 0. 1. ]] SLAMing on 72.08964924600001 meters Centerline goodness : 0.912253 Centerline is valid? [False, False] Translation: X:9.53, Y:0.69, Z:1.31 [[ 0.90169555 -0.09388777 -0.42205477 9.52691125] [ 0.12687391 0.99062276 0.05069077 0.68752088] [ 0.41333782 -0.09925538 0.90515204 1.31187447] [ 0. 0. 0. 1. ]] SLAMing on 72.11964924600001 meters Centerline goodness : 0.912947 Centerline is valid? [False, False] Translation: X:9.54, Y:0.69, Z:1.31 [[ 0.90375335 -0.09492953 -0.41739461 9.54298916] [ 0.12428207 0.99128649 0.0436469 0.69307499] [ 0.40961426 -0.0913207 0.90767653 1.31380928] [ 0. 0. 0. 1. ]] SLAMing on 72.14964924600001 meters Centerline goodness : 0.913580 Centerline is valid? [False, False] Translation: X:9.54, Y:0.70, Z:1.31 [[ 0.90347123 -0.09540561 -0.41789653 9.54436028] [ 0.12459347 0.99127318 0.04305752 0.69533376] [ 0.4101417 -0.09096841 0.90747371 1.31400523] [ 0. 0. 0. 1. ]] SLAMing on 72.17964924600001 meters Centerline goodness : 0.911901 Centerline is valid? [False, False] Translation: X:9.55, Y:0.70, Z:1.31 [[ 0.90303719 -0.09674012 -0.4185274 9.54736086] [ 0.12566572 0.99118161 0.04203738 0.69815795] [ 0.41076996 -0.09055587 0.90723077 1.31387357] [ 0. 0. 0. 1. ]] SLAMing on 72.20964924600001 meters Centerline goodness : 0.910462 Centerline is valid? [False, False] Translation: X:9.55, Y:0.70, Z:1.32 [[ 0.90208238 -0.09883465 -0.42009414 9.55238486] [ 0.12777987 0.99094442 0.04124867 0.70055119] [ 0.41221315 -0.09088928 0.90654258 1.31602984] [ 0. 0. 0. 1. ]] SLAMing on 72.23964924600001 meters Centerline goodness : 0.911426 Centerline is valid? [False, False] Translation: X:9.56, Y:0.70, Z:1.32 [[ 0.90140558 -0.09595763 -0.42220862 9.55808602] [ 0.12634265 0.99098752 0.04451154 0.7021475 ] [ 0.41413225 -0.09346591 0.90540521 1.31873731] [ 0. 0. 0. 1. ]] SLAMing on 72.26964924600001 meters Centerline goodness : 0.909888 Centerline is valid? [False, False] Translation: X:9.56, Y:0.70, Z:1.32 [[ 0.90102383 -0.09665225 -0.42286452 9.56029525] [ 0.12679063 0.9909682 0.04365953 0.70479474] [ 0.4148255 -0.09295354 0.90514056 1.31867883] [ 0. 0. 0. 1. ]] SLAMing on 72.29964924600002 meters Centerline goodness : 0.908714 Centerline is valid? [False, False] Translation: X:9.58, Y:0.71, Z:1.32 [[ 0.90299257 -0.09759646 -0.41842484 9.57743166] [ 0.12441192 0.99153239 0.03721812 0.70967419] [ 0.41124943 -0.08566472 0.90748855 1.32140798] [ 0. 0. 0. 1. ]] SLAMing on 72.32964924600002 meters Centerline goodness : 0.907458 Centerline is valid? [False, False] Translation: X:9.58, Y:0.71, Z:1.32 [[ 0.90255392 -0.09826597 -0.41921381 9.57969308] [ 0.12507723 0.99146119 0.03688345 0.71021085] [ 0.41200984 -0.0857234 0.90713802 1.32231717] [ 0. 0. 0. 1. ]] SLAMing on 72.35964924600002 meters Centerline goodness : 0.910129 Centerline is valid? [False, False] Translation: X:9.58, Y:0.71, Z:1.32 [[ 0.90204572 -0.09487782 -0.42108397 9.58471789] [ 0.12311131 0.99157388 0.04030944 0.71200887] [ 0.41371139 -0.08820116 0.90612551 1.32448307] [ 0. 0. 0. 1. ]] SLAMing on 72.389649246 meters Centerline goodness : 0.909349 Centerline is valid? [False, False] Translation: X:9.59, Y:0.71, Z:1.32 [[ 0.90174036 -0.09567828 -0.42155663 9.58698403] [ 0.12368577 0.99153376 0.03953017 0.71472682] [ 0.41420545 -0.0877865 0.90594005 1.32425299] [ 0. 0. 0. 1. ]] SLAMing on 72.419649246 meters Centerline goodness : 0.909943 Centerline is valid? [False, False] Translation: X:9.59, Y:0.72, Z:1.32 [[ 0.90126541 -0.09674567 -0.422328 9.59024339] [ 0.1245259 0.99146441 0.03862164 0.71720336] [ 0.4149867 -0.08739912 0.90561992 1.3244487 ] [ 0. 0. 0. 1. ]] SLAMing on 72.449649246 meters Centerline goodness : 0.910983 Centerline is valid? [False, False] Translation: X:9.59, Y:0.72, Z:1.33 [[ 0.90069462 -0.09750169 -0.42337056 9.59289303] [ 0.12539564 0.99136097 0.03846232 0.71764048] [ 0.41596291 -0.08773163 0.90513978 1.32604712] [ 0. 0. 0. 1. ]] SLAMing on 72.47964924600001 meters Centerline goodness : 0.910597 Centerline is valid? [False, False] Translation: X:9.60, Y:0.72, Z:1.33 [[ 0.90003575 -0.09856853 -0.42452313 9.59646017] [ 0.12655391 0.9912255 0.03815905 0.71843869] [ 0.41703687 -0.08806957 0.90461262 1.32773241] [ 0. 0. 0. 1. ]] SLAMing on 72.50964924600001 meters Centerline goodness : 0.910988 Centerline is valid? [False, False] Translation: X:9.60, Y:0.72, Z:1.33 [[ 0.89947193 -0.09963443 -0.42546825 9.59987427] [ 0.12769171 0.99109103 0.03786021 0.71875671] [ 0.41790559 -0.08838297 0.90418105 1.32885961] [ 0. 0. 0. 1. ]] SLAMing on 72.53964924600001 meters Centerline goodness : 0.914106 Centerline is valid? [False, False] Translation: X:9.60, Y:0.72, Z:1.33 [[ 0.89871455 -0.10059287 -0.42684099 9.60369016] [ 0.12914213 0.99088272 0.03838941 0.71729473] [ 0.41908766 -0.08962428 0.9035115 1.3318841 ] [ 0. 0. 0. 1. ]] SLAMing on 72.56964924600001 meters Centerline goodness : 0.916305 Centerline is valid? [False, False] Translation: X:9.61, Y:0.72, Z:1.34 [[ 0.89760811 -0.10268518 -0.42866704 9.61013721] [ 0.13175743 0.99052951 0.03861699 0.7165078 ] [ 0.42064196 -0.09114299 0.90263686 1.33541743] [ 0. 0. 0. 1. ]] SLAMing on 72.59964924600001 meters Centerline goodness : 0.917014 Centerline is valid? [False, False] Translation: X:9.61, Y:0.72, Z:1.34 [[ 0.89699444 -0.10378196 -0.42968626 9.61374836] [ 0.13300437 0.99036932 0.03845064 0.71612711] [ 0.42155761 -0.09164016 0.90215922 1.33674904] [ 0. 0. 0. 1. ]] SLAMing on 72.62964924600001 meters Centerline goodness : 0.918461 Centerline is valid? [False, False] Translation: X:9.62, Y:0.71, Z:1.34 [[ 0.8961602 -0.10868515 -0.4302144 9.62047507] [ 0.13732734 0.98987171 0.03598889 0.71477899] [ 0.4219456 -0.09133201 0.90200908 1.3373169 ] [ 0. 0. 0. 1. ]] SLAMing on 72.65964924600001 meters Centerline goodness : 0.917969 Centerline is valid? [False, False] Translation: X:9.62, Y:0.71, Z:1.34 [[ 0.895507 -0.11209537 -0.43069924 9.62488377] [ 0.14056486 0.98946178 0.03474057 0.71313916] [ 0.42226618 -0.0916516 0.90182662 1.33862756] [ 0. 0. 0. 1. ]] SLAMing on 72.68964924600002 meters Centerline goodness : 0.919572 Centerline is valid? [False, False] Translation: X:9.63, Y:0.71, Z:1.34 [[ 0.89477287 -0.11351803 -0.43185085 9.62878429] [ 0.14242724 0.98918339 0.03508127 0.71151872] [ 0.42319734 -0.0928971 0.90126253 1.34122677] [ 0. 0. 0. 1. ]] SLAMing on 72.71964924600002 meters Centerline goodness : 0.915920 Centerline is valid? [False, False] Translation: X:9.63, Y:0.71, Z:1.34 [[ 0.89370566 -0.11492701 -0.43368419 9.63371548] [ 0.1442746 0.9889097 0.03524823 0.71226498] [ 0.42482353 -0.09407115 0.90037525 1.34320133] [ 0. 0. 0. 1. ]] SLAMing on 72.749649246 meters Centerline goodness : 0.916583 Centerline is valid? [False, False] Translation: X:9.64, Y:0.71, Z:1.34 [[ 0.89287051 -0.11675143 -0.43491534 9.63789395] [ 0.14546119 0.98880721 0.03318658 0.71260706] [ 0.42617285 -0.09289462 0.8998596 1.34393607] [ 0. 0. 0. 1. ]] SLAMing on 72.779649246 meters Centerline goodness : 0.915119 Centerline is valid? [False, False] Translation: X:9.65, Y:0.71, Z:1.35 [[ 0.89504593 -0.11127664 -0.43186838 9.64987283] [ 0.14176741 0.98913344 0.03894913 0.71160197] [ 0.42284133 -0.09608612 0.90109526 1.35167796] [ 0. 0. 0. 1. ]] SLAMing on 72.809649246 meters Centerline goodness : 0.914855 Centerline is valid? [False, False] Translation: X:9.66, Y:0.71, Z:1.36 [[ 0.89739135 -0.10468727 -0.42863662 9.66075037] [ 0.13667746 0.98961785 0.04444973 0.71105685] [ 0.41953313 -0.09847377 0.90238289 1.36011074] [ 0. 0. 0. 1. ]] SLAMing on 72.83964924600001 meters Centerline goodness : 0.917854 Centerline is valid? [False, False] Translation: X:9.66, Y:0.71, Z:1.36 [[ 0.89697776 -0.10545886 -0.42931262 9.66312914] [ 0.13733884 0.98955227 0.0438674 0.71225053] [ 0.42020107 -0.09830938 0.90208998 1.36048351] [ 0. 0. 0. 1. ]] SLAMing on 72.86964924600001 meters Centerline goodness : 0.913231 Centerline is valid? [False, False] Translation: X:9.67, Y:0.72, Z:1.36 [[ 0.8960537 -0.10749714 -0.43073442 9.66860225] [ 0.1389507 0.98940248 0.04213583 0.71648581] [ 0.42164022 -0.09760681 0.90149456 1.36073259] [ 0. 0. 0. 1. ]] SLAMing on 72.89964924600001 meters Centerline goodness : 0.910483 Centerline is valid? [False, False] Translation: X:9.67, Y:0.71, Z:1.36 [[ 0.89985695 -0.09963541 -0.4246531 9.67494208] [ 0.13298985 0.98987762 0.04955805 0.71406028] [ 0.41541687 -0.10106971 0.90399875 1.36442015] [ 0. 0. 0. 1. ]] SLAMing on 72.92964924600001 meters Centerline goodness : 0.907668 Centerline is valid? [False, False] Translation: X:9.69, Y:0.72, Z:1.37 [[ 0.90293096 -0.08884444 -0.4205025 9.68524631] [ 0.12504107 0.99038098 0.05924724 0.71537921] [ 0.41119389 -0.10607625 0.90535486 1.37152589] [ 0. 0. 0. 1. ]] SLAMing on 72.95964924600001 meters Centerline goodness : 0.909653 Centerline is valid? [False, False] Translation: X:9.70, Y:0.72, Z:1.37 [[ 0.90496205 -0.09202013 -0.41542265 9.70085939] [ 0.12336367 0.99114166 0.04918955 0.72154863] [ 0.40721627 -0.09576274 0.90829753 1.37018653] [ 0. 0. 0. 1. ]] SLAMing on 72.98964924600001 meters Centerline goodness : 0.913043 Centerline is valid? [False, False] Translation: X:9.72, Y:0.73, Z:1.37 [[ 0.90722637 -0.09318296 -0.41019172 9.71603569] [ 0.12076809 0.99180039 0.04179778 0.72839922] [ 0.40293346 -0.08745812 0.911041 1.37117074] [ 0. 0. 0. 1. ]] SLAMing on 73.01964924600001 meters Centerline goodness : 0.916446 Centerline is valid? [False, False] Translation: X:9.72, Y:0.73, Z:1.38 [[ 0.91147506 -0.08356941 -0.40277707 9.72019214] [ 0.11247223 0.99246552 0.04860226 0.72596672] [ 0.3956807 -0.08960099 0.91400681 1.37501002] [ 0. 0. 0. 1. ]] SLAMing on 73.04964924600002 meters Centerline goodness : 0.914536 Centerline is valid? [False, False] Translation: X:9.73, Y:0.73, Z:1.38 [[ 0.91371935 -0.083446 -0.39768545 9.73328786] [ 0.10865498 0.99322382 0.04123764 0.73321633] [ 0.39154955 -0.08089013 0.91659464 1.37590928] [ 0. 0. 0. 1. ]] SLAMing on 73.07964924600002 meters Centerline goodness : 0.918910 Centerline is valid? [False, False] Translation: X:9.75, Y:0.74, Z:1.38 [[ 0.91589458 -0.08413561 -0.39250263 9.74741394] [ 0.10567695 0.99383407 0.03355929 0.73853948] [ 0.38725896 -0.07221526 0.91913843 1.37631687] [ 0. 0. 0. 1. ]] SLAMing on 73.10964924600002 meters Centerline goodness : 0.920289 Centerline is valid? [False, False] Translation: X:9.75, Y:0.74, Z:1.38 [[ 0.91567424 -0.07955903 -0.39396833 9.74899871] [ 0.10241864 0.99404162 0.03730535 0.74091738] [ 0.38865294 -0.07450925 0.91836663 1.37852239] [ 0. 0. 0. 1. ]] SLAMing on 73.139649246 meters Centerline goodness : 0.920823 Centerline is valid? [False, False] Translation: X:9.75, Y:0.74, Z:1.38 [[ 0.91535612 -0.08019607 -0.39457795 9.7510012 ] [ 0.10284327 0.99402589 0.03654853 0.74352581] [ 0.38928964 -0.07403461 0.91813531 1.37844685] [ 0. 0. 0. 1. ]] SLAMing on 73.169649246 meters Centerline goodness : 0.920237 Centerline is valid? [False, False] Translation: X:9.75, Y:0.75, Z:1.38 [[ 0.9149 -0.08122972 -0.39542347 9.75422968] [ 0.10359932 0.99398498 0.03551103 0.74616402] [ 0.39016044 -0.07345465 0.9178122 1.37832082] [ 0. 0. 0. 1. ]] SLAMing on 73.199649246 meters Centerline goodness : 0.918793 Centerline is valid? [False, False] Translation: X:9.76, Y:0.75, Z:1.38 [[ 0.91445794 -0.08214578 -0.3962559 9.75709387] [ 0.10444429 0.99391512 0.03498742 0.74716845] [ 0.39097067 -0.07338119 0.91747324 1.37884682] [ 0. 0. 0. 1. ]] SLAMing on 73.22964924600001 meters Centerline goodness : 0.918439 Centerline is valid? [False, False] Translation: X:9.76, Y:0.75, Z:1.38 [[ 0.91396915 -0.08310815 -0.39718187 9.76004992] [ 0.10537155 0.9938336 0.03451989 0.7483645 ] [ 0.3918638 -0.07340178 0.91709048 1.3796635 ] [ 0. 0. 0. 1. ]] SLAMing on 73.25964924600001 meters Centerline goodness : 0.917984 Centerline is valid? [False, False] Translation: X:9.76, Y:0.75, Z:1.38 [[ 0.9133632 -0.08406559 -0.39837249 9.76309837] [ 0.10655613 0.99370411 0.03461113 0.74752746] [ 0.39295477 -0.07406156 0.91657047 1.38166543] [ 0. 0. 0. 1. ]] SLAMing on 73.28964924600001 meters Centerline goodness : 0.916276 Centerline is valid? [False, False] Translation: X:9.77, Y:0.75, Z:1.38 [[ 0.91268141 -0.08487627 -0.39976075 9.76644221] [ 0.10761601 0.99358542 0.03473905 0.74721489] [ 0.39424793 -0.07472634 0.91596099 1.38386266] [ 0. 0. 0. 1. ]] SLAMing on 73.31964924600001 meters Centerline goodness : 0.917800 Centerline is valid? [False, False] Translation: X:9.77, Y:0.75, Z:1.39 [[ 0.91227436 -0.08103135 -0.40148401 9.76998593] [ 0.10552243 0.99364291 0.03922742 0.74539508] [ 0.39575309 -0.07815174 0.91502557 1.38712746] [ 0. 0. 0. 1. ]] SLAMing on 73.34964924600001 meters Centerline goodness : 0.918199 Centerline is valid? [False, False] Translation: X:9.77, Y:0.74, Z:1.39 [[ 0.91170156 -0.08126007 -0.40273696 9.7716697 ] [ 0.10628516 0.9935251 0.04014141 0.74438458] [ 0.39686739 -0.07940195 0.91443513 1.39039829] [ 0. 0. 0. 1. ]] SLAMing on 73.37964924600001 meters Centerline goodness : 0.920480 Centerline is valid? [False, False] Translation: X:9.77, Y:0.74, Z:1.39 [[ 0.9113546 -0.08168512 -0.40343566 9.77332984] [ 0.10685243 0.99346074 0.04022822 0.74396219] [ 0.39751144 -0.07977026 0.91412327 1.39152889] [ 0. 0. 0. 1. ]] SLAMing on 73.40964924600001 meters Centerline goodness : 0.925147 Centerline is valid? [False, False] Translation: X:9.78, Y:0.74, Z:1.39 [[ 0.91071003 -0.08274826 -0.40467267 9.7769709 ] [ 0.10811451 0.99332561 0.04019298 0.7437175 ] [ 0.39864583 -0.08035514 0.91357789 1.39326711] [ 0. 0. 0. 1. ]] SLAMing on 73.43964924600002 meters Centerline goodness : 0.925042 Centerline is valid? [False, False] Translation: X:9.78, Y:0.74, Z:1.39 [[ 0.91026894 -0.08340151 -0.40553008 9.77925804] [ 0.10890726 0.99323923 0.04018751 0.74331699] [ 0.39943669 -0.08074661 0.91319785 1.3945467 ] [ 0. 0. 0. 1. ]] SLAMing on 73.46964924600002 meters Centerline goodness : 0.929683 Centerline is valid? [False, False] Translation: X:9.78, Y:0.74, Z:1.40 [[ 0.90969511 -0.08350025 -0.40679541 9.78083058] [ 0.10954 0.99313211 0.04110475 0.74202873] [ 0.40056933 -0.08195316 0.91259404 1.3978116 ] [ 0. 0. 0. 1. ]] SLAMing on 73.499649246 meters Centerline goodness : 0.928696 Centerline is valid? [False, False] Translation: X:9.78, Y:0.74, Z:1.40 [[ 0.90929955 -0.08425632 -0.40752326 9.78291241] [ 0.11020669 0.9930799 0.04058083 0.74331122] [ 0.40128396 -0.08181192 0.91229271 1.3983655 ] [ 0. 0. 0. 1. ]] SLAMing on 73.529649246 meters Centerline goodness : 0.931652 Centerline is valid? [False, False] Translation: X:9.79, Y:0.74, Z:1.40 [[ 0.90874972 -0.08066146 -0.40947244 9.78720114] [ 0.10829703 0.9931125 0.04471361 0.74322778] [ 0.40304554 -0.08497813 0.9112261 1.40159896] [ 0. 0. 0. 1. ]] SLAMing on 73.559649246 meters Centerline goodness : 0.930673 Centerline is valid? [False, False] Translation: X:9.79, Y:0.74, Z:1.40 [[ 0.90830952 -0.08167551 -0.41024739 9.78997927] [ 0.10920513 0.99304126 0.04408293 0.74458664] [ 0.40379209 -0.08484207 0.91090821 1.40201052] [ 0. 0. 0. 1. ]] SLAMing on 73.58964924600001 meters Centerline goodness : 0.930673 Centerline is valid? [False, False] Translation: X:9.79, Y:0.74, Z:1.40 [[ 0.90830952 -0.08167551 -0.41024739 9.78997927] [ 0.10920513 0.99304126 0.04408293 0.74458664] [ 0.40379209 -0.08484207 0.91090821 1.40201052] [ 0. 0. 0. 1. ]] SLAMing on 73.61964924600001 meters Centerline goodness : 0.929489 Centerline is valid? [False, False] Translation: X:9.79, Y:0.75, Z:1.40 [[ 0.90750078 -0.08324038 -0.41172001 9.79426246] [ 0.11095276 0.99285892 0.04382531 0.7450345 ] [ 0.40513185 -0.08545297 0.910256 1.40422508] [ 0. 0. 0. 1. ]] SLAMing on 73.64964924600001 meters Centerline goodness : 0.930786 Centerline is valid? [False, False] Translation: X:9.80, Y:0.75, Z:1.40 [[ 0.90706631 -0.08410083 -0.41250183 9.79701559] [ 0.11175332 0.99279093 0.04332862 0.74574311] [ 0.4058841 -0.08540038 0.90992575 1.4047165 ] [ 0. 0. 0. 1. ]] SLAMing on 73.67964924600001 meters Centerline goodness : 0.928472 Centerline is valid? [False, False] Translation: X:9.80, Y:0.75, Z:1.41 [[ 0.90623959 -0.08606332 -0.41391172 9.80254866] [ 0.11348683 0.99264816 0.04207578 0.74790438] [ 0.40724753 -0.08510427 0.90934411 1.40525109] [ 0. 0. 0. 1. ]] SLAMing on 73.70964924600001 meters Centerline goodness : 0.926249 Centerline is valid? [False, False] Translation: X:9.81, Y:0.75, Z:1.41 [[ 0.90574387 -0.08690742 -0.4148194 9.80537947] [ 0.11435586 0.99256244 0.04174367 0.74839356] [ 0.40810633 -0.0852461 0.90894572 1.40620459] [ 0. 0. 0. 1. ]] SLAMing on 73.73964924600001 meters Centerline goodness : 0.922393 Centerline is valid? [False, False] Translation: X:9.81, Y:0.75, Z:1.41 [[ 0.90494915 -0.08785131 -0.41635223 9.80916884] [ 0.11549698 0.99243514 0.0416286 0.74814655] [ 0.40954545 -0.08575919 0.9082499 1.4083727 ] [ 0. 0. 0. 1. ]] SLAMing on 73.76964924600001 meters Centerline goodness : 0.921780 Centerline is valid? [False, False] Translation: X:9.81, Y:0.75, Z:1.41 [[ 0.90445658 -0.0888869 -0.41720188 9.81226377] [ 0.11653852 0.99233025 0.04122435 0.74869516] [ 0.41033775 -0.08590572 0.90787837 1.40914811] [ 0. 0. 0. 1. ]] SLAMing on 73.79964924600002 meters Centerline goodness : 0.920869 Centerline is valid? [False, False] Translation: X:9.82, Y:0.75, Z:1.41 [[ 0.90371161 -0.09060063 -0.41844575 9.81715735] [ 0.11821072 0.99216318 0.04047787 0.74997149] [ 0.41149914 -0.0860451 0.90733935 1.41009279] [ 0. 0. 0. 1. ]] SLAMing on 73.82964924600002 meters Centerline goodness : 0.916171 Centerline is valid? [False, False] Translation: X:9.82, Y:0.75, Z:1.41 [[ 0.9028717 -0.09231816 -0.41988099 9.82213721] [ 0.11986781 0.99199801 0.03964414 0.75155504] [ 0.41286124 -0.08612379 0.90671291 1.41130016] [ 0. 0. 0. 1. ]] SLAMing on 73.85964924600002 meters Centerline goodness : 0.915091 Centerline is valid? [False, False] Translation: X:9.82, Y:0.75, Z:1.41 [[ 0.9025053 -0.09303425 -0.42051017 9.8243233 ] [ 0.12060972 0.99191776 0.03940116 0.75194492] [ 0.41344585 -0.08627737 0.90643187 1.41199039] [ 0. 0. 0. 1. ]] SLAMing on 73.889649246 meters Centerline goodness : 0.918612 Centerline is valid? [False, False] Translation: X:9.83, Y:0.75, Z:1.41 [[ 0.90208587 -0.09385297 -0.42122761 9.82673631] [ 0.1214326 0.99183055 0.03906768 0.75303263] [ 0.41411979 -0.08639317 0.90611314 1.41272613] [ 0. 0. 0. 1. ]] SLAMing on 73.919649246 meters Centerline goodness : 0.917473 Centerline is valid? [False, False] Translation: X:9.83, Y:0.75, Z:1.41 [[ 0.90156446 -0.09475262 -0.42214152 9.82955153] [ 0.12237295 0.9917274 0.03875082 0.75391542] [ 0.41497757 -0.08659507 0.90570134 1.41385583] [ 0. 0. 0. 1. ]] SLAMing on 73.949649246 meters Centerline goodness : 0.914477 Centerline is valid? [False, False] Translation: X:9.83, Y:0.75, Z:1.41 [[ 0.90119129 -0.09528235 -0.42281855 9.83144423] [ 0.12294749 0.9916631 0.03857733 0.75429775] [ 0.41561781 -0.08675003 0.90539288 1.41469742] [ 0. 0. 0. 1. ]] SLAMing on 73.97964924600001 meters Centerline goodness : 0.914795 Centerline is valid? [False, False] Translation: X:9.83, Y:0.75, Z:1.42 [[ 0.90059186 -0.09626385 -0.42387211 9.83446702] [ 0.1239934 0.99154515 0.03826034 0.75459334] [ 0.41660525 -0.0870143 0.90491357 1.41613764] [ 0. 0. 0. 1. ]] SLAMing on 74.00964924600001 meters Centerline goodness : 0.915510 Centerline is valid? [False, False] Translation: X:9.84, Y:0.76, Z:1.42 [[ 0.90018543 -0.09703895 -0.42455817 9.83690968] [ 0.12476622 0.99146099 0.03792743 0.75543105] [ 0.41725242 -0.08711224 0.90460592 1.41678025] [ 0. 0. 0. 1. ]] SLAMing on 74.03964924600001 meters Centerline goodness : 0.912943 Centerline is valid? [False, False] Translation: X:9.84, Y:0.76, Z:1.42 [[ 0.89971718 -0.09799961 -0.42532938 9.83975216] [ 0.12555905 0.99138938 0.03717557 0.75722639] [ 0.41802384 -0.08685145 0.90427479 1.41709524] [ 0. 0. 0. 1. ]] SLAMing on 74.06964924600001 meters Centerline goodness : 0.911377 Centerline is valid? [False, False] Translation: X:9.84, Y:0.76, Z:1.42 [[ 0.89942669 -0.09859262 -0.42580644 9.84157631] [ 0.12610915 0.99133198 0.03684283 0.75824733] [ 0.41848311 -0.08683551 0.90406387 1.41743403] [ 0. 0. 0. 1. ]] SLAMing on 74.09964924600001 meters Centerline goodness : 0.912804 Centerline is valid? [False, False] Translation: X:9.85, Y:0.76, Z:1.42 [[ 0.89890641 -0.0955736 -0.4275897 9.84639615] [ 0.12468331 0.99136847 0.04052945 0.75799509] [ 0.4200254 -0.08974549 0.9030639 1.42034504] [ 0. 0. 0. 1. ]] SLAMing on 74.12964924600001 meters Centerline goodness : 0.909889 Centerline is valid? [False, False] Translation: X:9.85, Y:0.76, Z:1.42 [[ 0.89849549 -0.09645716 -0.42825446 9.84910147] [ 0.12542979 0.99130052 0.03988297 0.75955174] [ 0.42068186 -0.08955054 0.90277764 1.42052978] [ 0. 0. 0. 1. ]] SLAMing on 74.15964924600001 meters Centerline goodness : 0.907789 Centerline is valid? [False, False] Translation: X:9.85, Y:0.76, Z:1.42 [[ 0.89796503 -0.09755651 -0.42911716 9.85272383] [ 0.12622637 0.99124285 0.03878819 0.76162863] [ 0.42157527 -0.08899634 0.90241562 1.42036353] [ 0. 0. 0. 1. ]] SLAMing on 74.18964924600002 meters Centerline goodness : 0.909204 Centerline is valid? [False, False] Translation: X:9.86, Y:0.76, Z:1.42 [[ 0.89743498 -0.09866646 -0.42997138 9.855868 ] [ 0.12717894 0.99115139 0.03800587 0.76266322] [ 0.42241682 -0.0887911 0.90204222 1.42088834] [ 0. 0. 0. 1. ]] SLAMing on 74.21964924600002 meters Centerline goodness : 0.906809 Centerline is valid? [False, False] Translation: X:9.86, Y:0.76, Z:1.42 [[ 0.89696049 -0.09963684 -0.43073701 9.85860248] [ 0.12815364 0.99104053 0.03762064 0.76315394] [ 0.42312944 -0.08894474 0.90169303 1.42174802] [ 0. 0. 0. 1. ]] SLAMing on 74.249649246 meters Centerline goodness : 0.903584 Centerline is valid? [False, False] Translation: X:9.87, Y:0.76, Z:1.43 [[ 0.89601392 -0.09867002 -0.43292412 9.86682846] [ 0.12889003 0.99081346 0.04093947 0.76397497] [ 0.42490754 -0.09248194 0.90050023 1.42606093] [ 0. 0. 0. 1. ]] SLAMing on 74.279649246 meters Centerline goodness : 0.900725 Centerline is valid? [False, False] Translation: X:9.87, Y:0.76, Z:1.43 [[ 0.89556817 -0.09947415 -0.43366179 9.86960839] [ 0.12972162 0.99071728 0.04063949 0.76442241] [ 0.42559365 -0.09265075 0.90015881 1.42674452] [ 0. 0. 0. 1. ]] SLAMing on 74.309649246 meters Centerline goodness : 0.901543 Centerline is valid? [False, False] Translation: X:9.87, Y:0.76, Z:1.43 [[ 0.89516423 -0.10015895 -0.43433765 9.87190819] [ 0.13046588 0.99062738 0.04044823 0.76460805] [ 0.42621551 -0.09287405 0.89984151 1.4275975 ] [ 0. 0. 0. 1. ]] SLAMing on 74.33964924600001 meters Centerline goodness : 0.902099 Centerline is valid? [False, False] Translation: X:9.88, Y:0.76, Z:1.43 [[ 0.89454195 -0.10124076 -0.43536767 9.87517092] [ 0.13174894 0.99046035 0.04037966 0.76423173] [ 0.42712635 -0.09348053 0.89934669 1.42946418] [ 0. 0. 0. 1. ]] SLAMing on 74.36964924600001 meters Centerline goodness : 0.902896 Centerline is valid? [False, False] Translation: X:9.88, Y:0.76, Z:1.43 [[ 0.89877792 -0.09297852 -0.42843114 9.88080627] [ 0.12528415 0.99097047 0.04776417 0.75868757] [ 0.42012157 -0.09660501 0.90231111 1.43316433] [ 0. 0. 0. 1. ]] SLAMing on 74.39964924600001 meters Centerline goodness : 0.907753 Centerline is valid? [False, False] Translation: X:9.90, Y:0.76, Z:1.44 [[ 0.90105493 -0.09749187 -0.42260543 9.89540545] [ 0.12549014 0.99133312 0.03886982 0.76094982] [ 0.41515327 -0.08805666 0.90547987 1.43562554] [ 0. 0. 0. 1. ]] SLAMing on 74.42964924600001 meters Centerline goodness : 0.912754 Centerline is valid? [False, False] Translation: X:9.90, Y:0.76, Z:1.44 [[ 0.9006343 -0.0975547 -0.42348664 9.89617401] [ 0.1261498 0.99120648 0.03994928 0.75958469] [ 0.41586546 -0.08940244 0.90502106 1.43883701] [ 0. 0. 0. 1. ]] SLAMing on 74.45964924600001 meters Centerline goodness : 0.911598 Centerline is valid? [False, False] Translation: X:9.90, Y:0.76, Z:1.44 [[ 0.90022285 -0.09843036 -0.42415832 9.89889689] [ 0.12712611 0.99108705 0.03981716 0.75999312] [ 0.4164586 -0.08976591 0.90471228 1.43970992] [ 0. 0. 0. 1. ]] SLAMing on 74.48964924600001 meters Centerline goodness : 0.910048 Centerline is valid? [False, False] Translation: X:9.91, Y:0.76, Z:1.44 [[ 0.89935257 -0.10179997 -0.42520786 9.9056674 ] [ 0.13040226 0.99070853 0.03862466 0.76029572] [ 0.41732507 -0.09018525 0.9042712 1.44085024] [ 0. 0. 0. 1. ]] SLAMing on 74.51964924600001 meters Centerline goodness : 0.908247 Centerline is valid? [False, False] Translation: X:9.91, Y:0.76, Z:1.44 [[ 0.90314422 -0.09497344 -0.41870103 9.91144001] [ 0.12517818 0.99110411 0.04520022 0.75578162] [ 0.4106835 -0.09323455 0.90699856 1.44399933] [ 0. 0. 0. 1. ]] SLAMing on 74.54964924600002 meters Centerline goodness : 0.906748 Centerline is valid? [False, False] Translation: X:9.92, Y:0.75, Z:1.45 [[ 0.90530854 -0.08990805 -0.41513008 9.92192629] [ 0.1216031 0.99129344 0.05049758 0.75382254] [ 0.40697559 -0.09619699 0.90835952 1.4503262 ] [ 0. 0. 0. 1. ]] SLAMing on 74.57964924600002 meters Centerline goodness : 0.907777 Centerline is valid? [False, False] Translation: X:9.93, Y:0.75, Z:1.45 [[ 0.90901234 -0.08200368 -0.40862203 9.92700998] [ 0.11533608 0.99165712 0.05756516 0.75029035] [ 0.40049239 -0.0994563 0.91088654 1.4549431 ] [ 0. 0. 0. 1. ]] SLAMing on 74.60964924600002 meters Centerline goodness : 0.907815 Centerline is valid? [False, False] Translation: X:9.94, Y:0.76, Z:1.46 [[ 0.91082651 -0.08522016 -0.40389676 9.94426977] [ 0.11457657 0.99220368 0.04903139 0.75501555] [ 0.39656939 -0.09093619 0.91348964 1.45645188] [ 0. 0. 0. 1. ]] SLAMing on 74.639649246 meters Centerline goodness : 0.908598 Centerline is valid? [False, False] Translation: X:9.95, Y:0.75, Z:1.46 [[ 0.91467448 -0.07751406 -0.396689 9.94876259] [ 0.1082894 0.99255536 0.0557428 0.75192509] [ 0.38941494 -0.09394373 0.91625901 1.45987695] [ 0. 0. 0. 1. ]] SLAMing on 74.669649246 meters Centerline goodness : 0.905989 Centerline is valid? [False, False] Translation: X:9.95, Y:0.75, Z:1.46 [[ 0.91443879 -0.07828683 -0.39708043 9.95070042] [ 0.10870305 0.99257139 0.05464137 0.75461347] [ 0.38985298 -0.09313004 0.9161558 1.45914874] [ 0. 0. 0. 1. ]] SLAMing on 74.699649246 meters Centerline goodness : 0.908256 Centerline is valid? [False, False] Translation: X:9.95, Y:0.75, Z:1.46 [[ 0.91423915 -0.07399532 -0.39836098 9.95297119] [ 0.10608293 0.99260027 0.05908559 0.75343467] [ 0.39104116 -0.09627766 0.91532367 1.46184603] [ 0. 0. 0. 1. ]] SLAMing on 74.72964924600001 meters Centerline goodness : 0.906418 Centerline is valid? [False, False] Translation: X:9.97, Y:0.76, Z:1.46 [[ 0.91611588 -0.07729416 -0.39339206 9.96835705] [ 0.10494364 0.9932588 0.04923189 0.75835571] [ 0.38693479 -0.08638612 0.91805169 1.46181341] [ 0. 0. 0. 1. ]] SLAMing on 74.75964924600001 meters Centerline goodness : 0.909189 Centerline is valid? [False, False] Translation: X:9.97, Y:0.76, Z:1.46 [[ 0.91594948 -0.07737987 -0.39376249 9.96911722] [ 0.10510912 0.99323722 0.04931419 0.75870225] [ 0.38728364 -0.08655733 0.91788845 1.46249625] [ 0. 0. 0. 1. ]] SLAMing on 74.78964924600001 meters Centerline goodness : 0.908539 Centerline is valid? [False, False] Translation: X:9.97, Y:0.76, Z:1.46 [[ 0.91574269 -0.07805554 -0.39410995 9.97111621] [ 0.10569157 0.99319717 0.04887401 0.75974312] [ 0.38761401 -0.08641012 0.91776286 1.46238009] [ 0. 0. 0. 1. ]] SLAMing on 74.81964924600001 meters Centerline goodness : 0.907303 Centerline is valid? [False, False] Translation: X:9.97, Y:0.76, Z:1.46 [[ 0.91562404 -0.07872132 -0.39425317 9.97317704] [ 0.10601221 0.99321098 0.04788915 0.76180153] [ 0.38780668 -0.08564411 0.91775327 1.46107327] [ 0. 0. 0. 1. ]] SLAMing on 74.84964924600001 meters Centerline goodness : 0.905727 Centerline is valid? [False, False] Translation: X:9.98, Y:0.76, Z:1.46 [[ 0.91531407 -0.07458863 -0.39577353 9.97657349] [ 0.10346593 0.99326786 0.05209376 0.7614824 ] [ 0.38922352 -0.08863123 0.91686943 1.46359186] [ 0. 0. 0. 1. ]] SLAMing on 74.87964924600001 meters Centerline goodness : 0.906096 Centerline is valid? [False, False] Translation: X:9.98, Y:0.76, Z:1.46 [[ 0.91512118 -0.07490034 -0.39616053 9.97793209] [ 0.10370099 0.99326104 0.05175524 0.76229867] [ 0.38961434 -0.08844455 0.91672146 1.46367024] [ 0. 0. 0. 1. ]] SLAMing on 74.90964924600001 meters Centerline goodness : 0.902473 Centerline is valid? [False, False] Translation: X:9.98, Y:0.76, Z:1.46 [[ 0.91491249 -0.07531447 -0.39656381 9.9793482 ] [ 0.10402964 0.99324658 0.05137174 0.76307451] [ 0.39001662 -0.08825504 0.91656865 1.4638176 ] [ 0. 0. 0. 1. ]] SLAMing on 74.93964924600002 meters Centerline goodness : 0.904127 Centerline is valid? [False, False] Translation: X:10.00, Y:0.77, Z:1.46 [[ 0.91688952 -0.07664495 -0.39171312 9.99676054] [ 0.10170329 0.99385914 0.04359414 0.7678071 ] [ 0.38596639 -0.07980952 0.91905407 1.46367198] [ 0. 0. 0. 1. ]] SLAMing on 74.96964924600002 meters Centerline goodness : 0.903149 Centerline is valid? [False, False] Translation: X:10.00, Y:0.77, Z:1.46 [[ 0.91674789 -0.07674152 -0.39202556 9.99839951] [ 0.10148211 0.99391846 0.04274899 0.77001222] [ 0.38636082 -0.07897362 0.91896055 1.46256666] [ 0. 0. 0. 1. ]] SLAMing on 74.999649246 meters Centerline goodness : 0.903577 Centerline is valid? [False, False] Translation: X:10.00, Y:0.77, Z:1.46 [[ 0.91653413 -0.0773232 -0.39241089 10.000704 ] [ 0.10180572 0.99392009 0.04193396 0.77217041] [ 0.3867826 -0.07838358 0.91883363 1.46179288] [ 0. 0. 0. 1. ]] SLAMing on 75.029649246 meters Centerline goodness : 0.901506 Centerline is valid? [False, False] Translation: X:10.00, Y:0.77, Z:1.46 [[ 0.91638625 -0.07292238 -0.39359696 10.00387788] [ 0.09847871 0.99411667 0.04509989 0.7741297 ] [ 0.38799251 -0.08008984 0.91817614 1.4620512 ] [ 0. 0. 0. 1. ]] SLAMing on 75.059649246 meters Centerline goodness : 0.902316 Centerline is valid? [False, False] Translation: X:10.00, Y:0.78, Z:1.46 [[ 0.91635259 -0.07274299 -0.3937085 10.00428727] [ 0.09813483 0.99416775 0.04472186 0.7756126 ] [ 0.38815909 -0.07961751 0.91814682 1.46151073] [ 0. 0. 0. 1. ]] SLAMing on 75.08964924600001 meters Centerline goodness : 0.902748 Centerline is valid? [False, False] Translation: X:10.01, Y:0.78, Z:1.46 [[ 0.91609081 -0.07296983 -0.39427532 10.00564267] [ 0.09845411 0.99413408 0.0447685 0.77605793] [ 0.38869579 -0.07983003 0.91790128 1.46243464] [ 0. 0. 0. 1. ]] SLAMing on 75.11964924600001 meters Centerline goodness : 0.903042 Centerline is valid? [False, False] Translation: X:10.01, Y:0.78, Z:1.46 [[ 0.91588658 -0.07301604 -0.39474097 10.00680686] [ 0.09857339 0.99411959 0.0448278 0.77632998] [ 0.38914658 -0.07996814 0.91769823 1.4631793 ] [ 0. 0. 0. 1. ]] SLAMing on 75.14964924600001 meters Centerline goodness : 0.899561 Centerline is valid? [False, False] Translation: X:10.01, Y:0.78, Z:1.46 [[ 0.91548052 -0.07416037 -0.3954689 10.00989696] [ 0.09985647 0.99399453 0.04476119 0.77651737] [ 0.38977442 -0.08046812 0.91738802 1.46433723] [ 0. 0. 0. 1. ]] SLAMing on 75.17964924600001 meters Centerline goodness : 0.902323 Centerline is valid? [False, False] Translation: X:10.01, Y:0.78, Z:1.47 [[ 0.91501645 -0.07532518 -0.39632185 10.0131222 ] [ 0.10111618 0.99387633 0.04455736 0.77676338] [ 0.39053862 -0.08084527 0.91702979 1.46537619] [ 0. 0. 0. 1. ]] SLAMing on 75.20964924600001 meters Centerline goodness : 0.899830 Centerline is valid? [False, False] Translation: X:10.02, Y:0.78, Z:1.47 [[ 0.91468858 -0.07615749 -0.39691919 10.01565677] [ 0.10187155 0.99382074 0.0440741 0.77773511] [ 0.39110995 -0.08074885 0.91679476 1.46574855] [ 0. 0. 0. 1. ]] SLAMing on 75.23964924600001 meters Centerline goodness : 0.899375 Centerline is valid? [False, False] Translation: X:10.02, Y:0.78, Z:1.47 [[ 0.91445408 -0.07674034 -0.39734702 10.01789134] [ 0.10232146 0.99379768 0.04354861 0.77886916] [ 0.39154061 -0.08048034 0.91663453 1.46546024] [ 0. 0. 0. 1. ]] SLAMing on 75.26964924600001 meters Centerline goodness : 0.902824 Centerline is valid? [False, False] Translation: X:10.02, Y:0.78, Z:1.47 [[ 0.91435946 -0.0765898 -0.39759374 10.01870209] [ 0.1021177 0.99382516 0.04339962 0.77950572] [ 0.3918147 -0.08028421 0.91653461 1.4654268 ] [ 0. 0. 0. 1. ]] SLAMing on 75.29964924600002 meters Centerline goodness : 0.901666 Centerline is valid? [False, False] Translation: X:10.02, Y:0.78, Z:1.47 [[ 0.91408233 -0.07660653 -0.39822724 10.01989764] [ 0.10232564 0.99379053 0.04370171 0.77907487] [ 0.39240662 -0.08069582 0.91624518 1.46660218] [ 0. 0. 0. 1. ]] SLAMing on 75.32964924600002 meters Centerline goodness : 0.900658 Centerline is valid? [False, False] Translation: X:10.02, Y:0.78, Z:1.47 [[ 0.91379705 -0.07697028 -0.3988114 10.02157548] [ 0.10277092 0.99374523 0.04368709 0.77907241] [ 0.39295432 -0.08090735 0.91599176 1.46739719] [ 0. 0. 0. 1. ]] SLAMing on 75.35964924600002 meters Centerline goodness : 0.898788 Centerline is valid? [False, False] Translation: X:10.02, Y:0.78, Z:1.47 [[ 0.91358968 -0.0776101 -0.39916232 10.0245786 ] [ 0.10320521 0.99373022 0.04299934 0.78019526] [ 0.39332248 -0.08047939 0.91587144 1.46642662] [ 0. 0. 0. 1. ]] SLAMing on 75.389649246 meters Centerline goodness : 0.899212 Centerline is valid? [False, False] Translation: X:10.03, Y:0.78, Z:1.47 [[ 0.91335281 -0.0780973 -0.39960914 10.02767313] [ 0.10337104 0.99375348 0.04205299 0.78222688] [ 0.39382875 -0.07971723 0.91572053 1.46513234] [ 0. 0. 0. 1. ]] SLAMing on 75.419649246 meters Centerline goodness : 0.898869 Centerline is valid? [False, False] Translation: X:10.03, Y:0.78, Z:1.47 [[ 0.9130562 -0.07835995 -0.40023505 10.02934617] [ 0.10359768 0.99374148 0.04177789 0.78328571] [ 0.39445645 -0.07960899 0.91545973 1.46554007] [ 0. 0. 0. 1. ]] SLAMing on 75.449649246 meters Centerline goodness : 0.899121 Centerline is valid? [False, False] Translation: X:10.03, Y:0.78, Z:1.47 [[ 0.91287047 -0.07352547 -0.40157378 10.03121818] [ 0.10019956 0.99391276 0.04579809 0.78375932] [ 0.39576198 -0.08204524 0.91468084 1.4676067 ] [ 0. 0. 0. 1. ]] SLAMing on 75.47964924600001 meters Centerline goodness : 0.896837 Centerline is valid? [False, False] Translation: X:10.03, Y:0.79, Z:1.47 [[ 0.91274779 -0.07347277 -0.4018622 10.03190847] [ 0.10002071 0.99394664 0.04545258 0.78581015] [ 0.39609006 -0.08168129 0.91457139 1.46739617] [ 0. 0. 0. 1. ]] SLAMing on 75.50964924600001 meters Centerline goodness : 0.896837 Centerline is valid? [False, False] Translation: X:10.03, Y:0.79, Z:1.47 [[ 0.91274779 -0.07347277 -0.4018622 10.03190847] [ 0.10002071 0.99394664 0.04545258 0.78581015] [ 0.39609006 -0.08168129 0.91457139 1.46739617] [ 0. 0. 0. 1. ]] SLAMing on 75.53964924600001 meters Centerline goodness : 0.896015 Centerline is valid? [False, False] Translation: X:10.05, Y:0.79, Z:1.47 [[ 0.91471223 -0.07230582 -0.39758445 10.04907493] [ 0.09599031 0.99457962 0.03996538 0.79094068] [ 0.39253967 -0.07472107 0.91669481 1.46890386] [ 0. 0. 0. 1. ]] SLAMing on 75.56964924600001 meters Centerline goodness : 0.896973 Centerline is valid? [False, False] Translation: X:10.05, Y:0.79, Z:1.47 [[ 0.91460988 -0.07240965 -0.39780096 10.04997378] [ 0.09591766 0.99460572 0.03948756 0.79294843] [ 0.39279583 -0.07427184 0.91662159 1.46847644] [ 0. 0. 0. 1. ]] SLAMing on 75.59964924600001 meters Centerline goodness : 0.893421 Centerline is valid? [False, False] Translation: X:10.05, Y:0.79, Z:1.47 [[ 0.91434046 -0.06843306 -0.39912208 10.05312972] [ 0.09338843 0.99468364 0.04339417 0.79264385] [ 0.39403061 -0.07695043 0.91587036 1.47047684] [ 0. 0. 0. 1. ]] SLAMing on 75.62964924600001 meters Centerline goodness : 0.892688 Centerline is valid? [False, False] Translation: X:10.05, Y:0.79, Z:1.47 [[ 0.91414196 -0.06857669 -0.39955188 10.05443088] [ 0.09359819 0.99466249 0.04342709 0.79299422] [ 0.39444118 -0.07709586 0.91568138 1.47097912] [ 0. 0. 0. 1. ]] SLAMing on 75.65964924600001 meters Centerline goodness : 0.893048 Centerline is valid? [False, False] Translation: X:10.06, Y:0.79, Z:1.47 [[ 0.91358261 -0.06519787 -0.40139264 10.05959428] [ 0.09181301 0.99464702 0.04740968 0.79156649] [ 0.39615298 -0.08016573 0.91467823 1.47380673] [ 0. 0. 0. 1. ]] SLAMing on 75.68964924600002 meters Centerline goodness : 0.889927 Centerline is valid? [False, False] Translation: X:10.06, Y:0.79, Z:1.47 [[ 0.91335824 -0.06577434 -0.40180898 10.06171171] [ 0.09229328 0.99462306 0.04697793 0.79248974] [ 0.39655853 -0.07999195 0.9145177 1.47362735] [ 0. 0. 0. 1. ]] SLAMing on 75.71964924600002 meters Centerline goodness : 0.895757 Centerline is valid? [False, False] Translation: X:10.06, Y:0.79, Z:1.47 [[ 0.9128563 -0.06661644 -0.40280966 10.06488543] [ 0.09326939 0.99453599 0.04689338 0.79250159] [ 0.39748483 -0.08037672 0.91408172 1.47499421] [ 0. 0. 0. 1. ]] SLAMing on 75.749649246 meters Centerline goodness : 0.890668 Centerline is valid? [False, False] Translation: X:10.07, Y:0.79, Z:1.48 [[ 0.91247321 -0.0672923 -0.4035646 10.06743285] [ 0.09396852 0.99448203 0.04664129 0.79232425] [ 0.39819914 -0.08048129 0.91376157 1.47564794] [ 0. 0. 0. 1. ]] SLAMing on 75.779649246 meters Centerline goodness : 0.896364 Centerline is valid? [False, False] Translation: X:10.07, Y:0.79, Z:1.48 [[ 0.91201918 -0.06768266 -0.4045245 10.07015928] [ 0.09461667 0.99440655 0.04693938 0.79125141] [ 0.39908483 -0.08108438 0.91332175 1.47718884] [ 0. 0. 0. 1. ]] SLAMing on 75.809649246 meters Centerline goodness : 0.895064 Centerline is valid? [False, False] Translation: X:10.07, Y:0.79, Z:1.48 [[ 0.91166708 -0.0682692 -0.40521902 10.07245262] [ 0.09531269 0.99434126 0.04691429 0.79118209] [ 0.39972319 -0.08139273 0.91301511 1.47805974] [ 0. 0. 0. 1. ]] SLAMing on 75.83964924600001 meters Centerline goodness : 0.891555 Centerline is valid? [False, False] Translation: X:10.08, Y:0.79, Z:1.48 [[ 0.91113185 -0.06931703 -0.40624364 10.07655267] [ 0.09654308 0.99422392 0.04688522 0.79007239] [ 0.4006472 -0.08193863 0.91256117 1.47927438] [ 0. 0. 0. 1. ]] SLAMing on 75.86964924600001 meters Centerline goodness : 0.892049 Centerline is valid? [False, False] Translation: X:10.08, Y:0.79, Z:1.48 [[ 0.91079478 -0.06977317 -0.40692085 10.07888427] [ 0.09710223 0.99417002 0.04687353 0.78942481] [ 0.40127799 -0.08220509 0.91225999 1.48000594] [ 0. 0. 0. 1. ]] SLAMing on 75.89964924600001 meters Centerline goodness : 0.888381 Centerline is valid? [False, False] Translation: X:10.08, Y:0.79, Z:1.48 [[ 0.91023506 -0.07034066 -0.40807393 10.08240812] [ 0.09793811 0.99407704 0.04710584 0.78829512] [ 0.40234347 -0.08284337 0.9117328 1.48171533] [ 0. 0. 0. 1. ]] SLAMing on 75.92964924600001 meters Centerline goodness : 0.888996 Centerline is valid? [False, False] Translation: X:10.08, Y:0.79, Z:1.48 [[ 0.9100133 -0.07078539 -0.40849141 10.08425103] [ 0.09842538 0.9940332 0.04701539 0.78762864] [ 0.40272602 -0.08299055 0.9115505 1.48207019] [ 0. 0. 0. 1. ]] SLAMing on 75.95964924600001 meters Centerline goodness : 0.891103 Centerline is valid? [False, False] Translation: X:10.09, Y:0.78, Z:1.49 [[ 0.90922264 -0.07168771 -0.41009153 10.0877116 ] [ 0.10021377 0.99378493 0.04846349 0.78427312] [ 0.40406854 -0.08516092 0.91075586 1.48684024] [ 0. 0. 0. 1. ]] SLAMing on 75.98964924600001 meters Centerline goodness : 0.894663 Centerline is valid? [False, False] Translation: X:10.09, Y:0.78, Z:1.49 [[ 0.90887226 -0.07247042 -0.41073014 10.09017883] [ 0.10104291 0.99371104 0.0482566 0.78373866] [ 0.4046499 -0.08536045 0.91047903 1.48747716] [ 0. 0. 0. 1. ]] SLAMing on 76.01964924600001 meters Centerline goodness : 0.892906 Centerline is valid? [False, False] Translation: X:10.10, Y:0.78, Z:1.49 [[ 0.90841317 -0.0693096 -0.41228836 10.09623484] [ 0.0993514 0.99370034 0.05185484 0.78283954] [ 0.40609705 -0.08806704 0.90957649 1.48892187] [ 0. 0. 0. 1. ]] SLAMing on 76.04964924600002 meters Centerline goodness : 0.887100 Centerline is valid? [False, False] Translation: X:10.10, Y:0.78, Z:1.49 [[ 0.90799607 -0.07014898 -0.41306448 10.09944976] [ 0.10019872 0.99363311 0.0515118 0.78314832] [ 0.40682104 -0.08816105 0.90924379 1.48932612] [ 0. 0. 0. 1. ]] SLAMing on 76.07964924600002 meters Centerline goodness : 0.890201 Centerline is valid? [False, False] Translation: X:10.10, Y:0.78, Z:1.49 [[ 0.90734303 -0.07108077 -0.4143382 10.10381101] [ 0.10122598 0.99354376 0.05122586 0.78283732] [ 0.40802196 -0.08842122 0.90868023 1.490483 ] [ 0. 0. 0. 1. ]] SLAMing on 76.10964924600002 meters Centerline goodness : 0.884186 Centerline is valid? [False, False] Translation: X:10.11, Y:0.78, Z:1.49 [[ 0.90705498 -0.07143308 -0.41490791 10.10555943] [ 0.10166347 0.99350014 0.05120553 0.78296842] [ 0.4085533 -0.08862721 0.90842139 1.49122047] [ 0. 0. 0. 1. ]] SLAMing on 76.139649246 meters Centerline goodness : 0.884624 Centerline is valid? [False, False] Translation: X:10.12, Y:0.79, Z:1.49 [[ 0.9090828 -0.07331662 -0.41011356 10.1215335 ] [ 0.10016501 0.99398254 0.04433611 0.78552031] [ 0.40439514 -0.08138422 0.91095619 1.49433874] [ 0. 0. 0. 1. ]] SLAMing on 76.169649246 meters Centerline goodness : 0.885248 Centerline is valid? [False, False] Translation: X:10.12, Y:0.79, Z:1.50 [[ 0.90877578 -0.07362224 -0.41073878 10.12324957] [ 0.10057203 0.99394027 0.04436229 0.78540727] [ 0.40498376 -0.08162421 0.91067318 1.49520617] [ 0. 0. 0. 1. ]] SLAMing on 76.199649246 meters Centerline goodness : 0.885809 Centerline is valid? [False, False] Translation: X:10.13, Y:0.79, Z:1.50 [[ 0.90846816 -0.0737579 -0.41139443 10.12545984] [ 0.10079093 0.99391748 0.04437612 0.78608037] [ 0.40561902 -0.08177912 0.91037651 1.49576006] [ 0. 0. 0. 1. ]] SLAMing on 76.22964924600001 meters Centerline goodness : 0.886542 Centerline is valid? [False, False] Translation: X:10.13, Y:0.79, Z:1.50 [[ 0.90816821 -0.07438488 -0.41194343 10.12784885] [ 0.10133519 0.99388163 0.04393718 0.78756626] [ 0.40615474 -0.08164671 0.91014951 1.49581743] [ 0. 0. 0. 1. ]] SLAMing on 76.25964924600001 meters Centerline goodness : 0.879824 Centerline is valid? [False, False] Translation: X:10.13, Y:0.79, Z:1.50 [[ 0.90749429 -0.07123644 -0.41398004 10.13355739] [ 0.09983501 0.99385369 0.04783106 0.78689409] [ 0.40802828 -0.08473611 0.90902844 1.498998 ] [ 0. 0. 0. 1. ]] SLAMing on 76.28964924600001 meters Centerline goodness : 0.879053 Centerline is valid? [False, False] Translation: X:10.14, Y:0.79, Z:1.50 [[ 0.90704269 -0.07174031 -0.41488177 10.13596491] [ 0.1004459 0.9937957 0.047757 0.78698464] [ 0.40888162 -0.08499081 0.90862115 1.50015397] [ 0. 0. 0. 1. ]] SLAMing on 76.31964924600001 meters Centerline goodness : 0.881733 Centerline is valid? [False, False] Translation: X:10.14, Y:0.79, Z:1.50 [[ 0.90654102 -0.07224633 -0.41588923 10.13873477] [ 0.10118984 0.99371106 0.0479473 0.78649517] [ 0.40980971 -0.08554996 0.90815043 1.50184087] [ 0. 0. 0. 1. ]] SLAMing on 76.34964924600001 meters Centerline goodness : 0.882278 Centerline is valid? [False, False] Translation: X:10.14, Y:0.79, Z:1.50 [[ 0.90608883 -0.07299748 -0.41674262 10.14181344] [ 0.10196522 0.99364632 0.04764541 0.78703842] [ 0.41061677 -0.08566423 0.90777503 1.5026445 ] [ 0. 0. 0. 1. ]] SLAMing on 76.37964924600001 meters Centerline goodness : 0.876186 Centerline is valid? [False, False] Translation: X:10.14, Y:0.79, Z:1.50 [[ 0.90559478 -0.07379211 -0.4176755 10.14475907] [ 0.10276233 0.99358225 0.04726756 0.78769644] [ 0.41150699 -0.08572656 0.90736594 1.50347251] [ 0. 0. 0. 1. ]] SLAMing on 76.40964924600001 meters Centerline goodness : 0.880730 Centerline is valid? [False, False] Translation: X:10.15, Y:0.79, Z:1.50 [[ 0.90517479 -0.07451276 -0.41845723 10.1476303 ] [ 0.10349033 0.99352172 0.04695053 0.78794929] [ 0.41224793 -0.08580471 0.90702216 1.50405857] [ 0. 0. 0. 1. ]] SLAMing on 76.43964924600002 meters Centerline goodness : 0.881190 Centerline is valid? [False, False] Translation: X:10.15, Y:0.79, Z:1.51 [[ 0.90387254 -0.07719058 -0.42078028 10.15457608] [ 0.10717127 0.99307946 0.04803644 0.78608029] [ 0.41416029 -0.08851437 0.90588987 1.51023956] [ 0. 0. 0. 1. ]] SLAMing on 76.46964924600002 meters Centerline goodness : 0.889181 Centerline is valid? [False, False] Translation: X:10.16, Y:0.79, Z:1.51 [[ 0.90327029 -0.07850204 -0.4218296 10.15853933] [ 0.10871987 0.99291173 0.04802374 0.7855338 ] [ 0.4150696 -0.08923968 0.9054024 1.5118284 ] [ 0. 0. 0. 1. ]] SLAMing on 76.49964924600002 meters Centerline goodness : 0.877556 Centerline is valid? [False, False] Translation: X:10.18, Y:0.79, Z:1.52 [[ 0.90195267 -0.08374549 -0.42363672 10.17526998] [ 0.11650058 0.99182995 0.05197076 0.78630239] [ 0.41582328 -0.09622909 0.90434007 1.5219251 ] [ 0. 0. 0. 1. ]] SLAMing on 76.529649246 meters Centerline goodness : 0.869670 Centerline is valid? [False, False] Translation: X:10.18, Y:0.79, Z:1.52 [[ 0.90146211 -0.08482712 -0.42446486 10.17876957] [ 0.11745672 0.99175453 0.051253 0.78778366] [ 0.4166173 -0.09605889 0.90399265 1.52208736] [ 0. 0. 0. 1. ]] SLAMing on 76.559649246 meters Centerline goodness : 0.872935 Centerline is valid? [False, False] Translation: X:10.18, Y:0.79, Z:1.52 [[ 0.90089977 -0.08543831 -0.42553484 10.18167643] [ 0.11803835 0.99170956 0.05078488 0.7892746 ] [ 0.417668 -0.09598152 0.90351591 1.52302198] [ 0. 0. 0. 1. ]] SLAMing on 76.58964924600001 meters Centerline goodness : 0.877420 Centerline is valid? [False, False] Translation: X:10.18, Y:0.79, Z:1.53 [[ 0.90013108 -0.08111314 -0.42800082 10.18491078] [ 0.11626899 0.99160368 0.05660093 0.78818465] [ 0.41981611 -0.10071148 0.90200423 1.53004987] [ 0. 0. 0. 1. ]] SLAMing on 76.61964924600001 meters Centerline goodness : 0.876382 Centerline is valid? [False, False] Translation: X:10.19, Y:0.79, Z:1.53 [[ 0.89977861 -0.0813626 -0.42869404 10.18638144] [ 0.11657137 0.99157525 0.05647684 0.78909013] [ 0.42048729 -0.1007901 0.90168275 1.53094007] [ 0. 0. 0. 1. ]] SLAMing on 76.64964924600001 meters Centerline goodness : 0.876856 Centerline is valid? [False, False] Translation: X:10.19, Y:0.79, Z:1.53 [[ 0.89935214 -0.08200234 -0.42946635 10.18873544] [ 0.11710669 0.99154433 0.05590939 0.79087758] [ 0.42125023 -0.10057561 0.90135054 1.53133123] [ 0. 0. 0. 1. ]] SLAMing on 76.67964924600001 meters Centerline goodness : 0.873523 Centerline is valid? [False, False] Translation: X:10.19, Y:0.79, Z:1.53 [[ 0.8988084 -0.0781001 -0.431328 10.19311659] [ 0.11483649 0.99158569 0.0597528 0.79261248] [ 0.42303197 -0.10323851 0.90021429 1.53397858] [ 0. 0. 0. 1. ]] SLAMing on 76.70964924600001 meters Centerline goodness : 0.867414 Centerline is valid? [False, False] Translation: X:10.19, Y:0.79, Z:1.53 [[ 0.89853354 -0.07865704 -0.4317992 10.19484212] [ 0.11518955 0.99158564 0.05907023 0.79489467] [ 0.4235196 -0.10281534 0.90003342 1.53382743] [ 0. 0. 0. 1. ]] SLAMing on 76.73964924600001 meters Centerline goodness : 0.865806 Centerline is valid? [False, False] Translation: X:10.21, Y:0.80, Z:1.54 [[ 0.90044929 -0.07850129 -0.42781844 10.21213682] [ 0.11159969 0.99234953 0.05280076 0.80079861] [ 0.4204005 -0.09528881 0.90232115 1.53584999] [ 0. 0. 0. 1. ]] SLAMing on 76.76964924600001 meters Centerline goodness : 0.869450 Centerline is valid? [False, False] Translation: X:10.21, Y:0.80, Z:1.54 [[ 0.90005278 -0.07891834 -0.42857542 10.2138747 ] [ 0.11174729 0.99237817 0.05194331 0.80342217] [ 0.42120961 -0.09464387 0.90201164 1.53594773] [ 0. 0. 0. 1. ]] SLAMing on 76.79964924600002 meters Centerline goodness : 0.867493 Centerline is valid? [False, False] Translation: X:10.22, Y:0.81, Z:1.54 [[ 0.89981247 -0.07423414 -0.42991488 10.21590642] [ 0.10814342 0.99261561 0.05494768 0.80696657] [ 0.42266123 -0.09593508 0.90119584 1.53664252] [ 0. 0. 0. 1. ]] SLAMing on 76.82964924600002 meters Centerline goodness : 0.866911 Centerline is valid? [False, False] Translation: X:10.22, Y:0.81, Z:1.54 [[ 0.89955795 -0.06972633 -0.43120034 10.21822309] [ 0.10503796 0.99274028 0.05859827 0.80804919] [ 0.42398411 -0.09800494 0.90035133 1.53810546] [ 0. 0. 0. 1. ]] SLAMing on 76.85964924600002 meters Centerline goodness : 0.870559 Centerline is valid? [False, False] Translation: X:10.22, Y:0.81, Z:1.54 [[ 0.89937363 -0.0654337 -0.4322563 10.22080454] [ 0.10157844 0.99295322 0.0610387 0.81207313] [ 0.4252163 -0.09880452 0.89968259 1.53764319] [ 0. 0. 0. 1. ]] SLAMing on 76.889649246 meters Centerline goodness : 0.870544 Centerline is valid? [False, False] Translation: X:10.22, Y:0.82, Z:1.54 [[ 0.89904075 -0.06475801 -0.43304979 10.22260784] [ 0.10063609 0.9930869 0.06042173 0.8166098 ] [ 0.42614329 -0.09790204 0.89934259 1.53684609] [ 0. 0. 0. 1. ]] SLAMing on 76.919649246 meters Centerline goodness : 0.867300 Centerline is valid? [False, False] Translation: X:10.22, Y:0.82, Z:1.54 [[ 0.89876128 -0.06519269 -0.43356439 10.2241143 ] [ 0.10083622 0.9931102 0.05970085 0.81888889] [ 0.42668515 -0.09737581 0.89914278 1.53670982] [ 0. 0. 0. 1. ]] SLAMing on 76.949649246 meters Centerline goodness : 0.872753 Centerline is valid? [False, False] Translation: X:10.24, Y:0.82, Z:1.54 [[ 0.90090458 -0.06629775 -0.42892371 10.24020735] [ 0.09815985 0.99378135 0.05256691 0.82319861] [ 0.42277131 -0.08946086 0.90180994 1.53830796] [ 0. 0. 0. 1. ]] SLAMing on 76.97964924600001 meters Centerline goodness : 0.874344 Centerline is valid? [False, False] Translation: X:10.24, Y:0.82, Z:1.54 [[ 0.90054211 -0.06655833 -0.42964391 10.24192111] [ 0.09848528 0.99375376 0.05247962 0.82320269] [ 0.4234673 -0.08957372 0.90147213 1.53916449] [ 0. 0. 0. 1. ]] SLAMing on 77.00964924600001 meters Centerline goodness : 0.876500 Centerline is valid? [False, False] Translation: X:10.24, Y:0.82, Z:1.54 [[ 0.90026314 -0.06653679 -0.43023149 10.24301255] [ 0.09856407 0.99374167 0.05256058 0.82261246] [ 0.42404175 -0.08972372 0.90118713 1.54002541] [ 0. 0. 0. 1. ]] SLAMing on 77.03964924600001 meters Centerline goodness : 0.882265 Centerline is valid? [False, False] Translation: X:10.25, Y:0.82, Z:1.54 [[ 0.89988318 -0.06682477 -0.43098111 10.24533108] [ 0.0987818 0.99374047 0.05217305 0.82299173] [ 0.42479692 -0.08952274 0.90085141 1.54037358] [ 0. 0. 0. 1. ]] SLAMing on 77.06964924600001 meters Centerline goodness : 0.879645 Centerline is valid? [False, False] Translation: X:10.25, Y:0.83, Z:1.54 [[ 0.89960377 -0.06776983 -0.43141664 10.24873785] [ 0.09924012 0.99376434 0.05083148 0.82538844] [ 0.42528163 -0.08854203 0.90071963 1.53887463] [ 0. 0. 0. 1. ]] SLAMing on 77.09964924600001 meters Centerline goodness : 0.882882 Centerline is valid? [False, False] Translation: X:10.25, Y:0.83, Z:1.54 [[ 0.89924714 -0.06852886 -0.43203979 10.25135425] [ 0.09990415 0.99372389 0.05031888 0.82613461] [ 0.42587996 -0.08841168 0.90044968 1.53900246] [ 0. 0. 0. 1. ]] SLAMing on 77.12964924600001 meters Centerline goodness : 0.883485 Centerline is valid? [False, False] Translation: X:10.26, Y:0.83, Z:1.54 [[ 0.89865032 -0.06989223 -0.43306199 10.25567022] [ 0.10119519 0.99362797 0.04962851 0.82618569] [ 0.42683385 -0.08842247 0.89999685 1.53955832] [ 0. 0. 0. 1. ]] SLAMing on 77.15964924600001 meters Centerline goodness : 0.882722 Centerline is valid? [False, False] Translation: X:10.26, Y:0.83, Z:1.54 [[ 0.89809518 -0.07070331 -0.43408074 10.25869167] [ 0.10215523 0.99353477 0.04952747 0.82561905] [ 0.42777255 -0.088824 0.8995115 1.54088264] [ 0. 0. 0. 1. ]] SLAMing on 77.18964924600002 meters Centerline goodness : 0.882191 Centerline is valid? [False, False] Translation: X:10.26, Y:0.82, Z:1.54 [[ 0.89756783 -0.07147989 -0.43504323 10.26144449] [ 0.10308143 0.99344313 0.04944653 0.82494728] [ 0.42865628 -0.08922649 0.89905085 1.54227571] [ 0. 0. 0. 1. ]] SLAMing on 77.21964924600002 meters Centerline goodness : 0.882879 Centerline is valid? [False, False] Translation: X:10.26, Y:0.82, Z:1.54 [[ 0.89691919 -0.07221836 -0.43625735 10.26472532] [ 0.10406096 0.99333808 0.04950523 0.82408624] [ 0.42977585 -0.08979955 0.8984591 1.54419169] [ 0. 0. 0. 1. ]] SLAMing on 77.24964924600002 meters Centerline goodness : 0.880134 Centerline is valid? [False, False] Translation: X:10.27, Y:0.82, Z:1.54 [[ 0.89649477 -0.07301661 -0.43699622 10.26735075] [ 0.10486737 0.99326984 0.04917172 0.82403664] [ 0.43046481 -0.08990884 0.89811828 1.54485657] [ 0. 0. 0. 1. ]] SLAMing on 77.279649246 meters Centerline goodness : 0.884577 Centerline is valid? [False, False] Translation: X:10.27, Y:0.82, Z:1.55 [[ 0.895742 -0.07407295 -0.43835997 10.27123977] [ 0.10631728 0.99310257 0.04943612 0.82273318] [ 0.43167453 -0.09088725 0.89743892 1.54733193] [ 0. 0. 0. 1. ]] SLAMing on 77.309649246 meters Centerline goodness : 0.884870 Centerline is valid? [False, False] Translation: X:10.27, Y:0.82, Z:1.55 [[ 0.89514148 -0.07509625 -0.43941129 10.27436266] [ 0.10755393 0.99297112 0.04940149 0.82204647] [ 0.43261285 -0.09148174 0.89692654 1.54915415] [ 0. 0. 0. 1. ]] SLAMing on 77.33964924600001 meters Centerline goodness : 0.886773 Centerline is valid? [False, False] Translation: X:10.28, Y:0.82, Z:1.55 [[ 0.89470486 -0.07564816 -0.44020515 10.27634769] [ 0.10825132 0.99289585 0.04939114 0.82158497] [ 0.43334151 -0.09184328 0.89653775 1.55041055] [ 0. 0. 0. 1. ]] SLAMing on 77.36964924600001 meters Centerline goodness : 0.889555 Centerline is valid? [False, False] Translation: X:10.28, Y:0.82, Z:1.55 [[ 0.89421124 -0.07645316 -0.44106822 10.27927198] [ 0.1091679 0.99280322 0.04923551 0.82106972] [ 0.43412974 -0.09217744 0.89612203 1.5514835 ] [ 0. 0. 0. 1. ]] SLAMing on 77.39964924600001 meters Centerline goodness : 0.889555 Centerline is valid? [False, False] Translation: X:10.28, Y:0.82, Z:1.55 [[ 0.89421124 -0.07645316 -0.44106822 10.27927198] [ 0.1091679 0.99280322 0.04923551 0.82106972] [ 0.43412974 -0.09217744 0.89612203 1.5514835 ] [ 0. 0. 0. 1. ]] SLAMing on 77.42964924600001 meters Centerline goodness : 0.889343 Centerline is valid? [False, False] Translation: X:10.28, Y:0.82, Z:1.55 [[ 0.89380151 -0.07740132 -0.44173284 10.28189858] [ 0.11002029 0.99273723 0.04866546 0.82171849] [ 0.43475787 -0.09209684 0.89582575 1.551863 ] [ 0. 0. 0. 1. ]] SLAMing on 77.45964924600001 meters Centerline goodness : 0.889652 Centerline is valid? [False, False] Translation: X:10.28, Y:0.82, Z:1.55 [[ 0.89340772 -0.078243 -0.4423807 10.28447869] [ 0.11079029 0.99267559 0.0481734 0.82220335] [ 0.43537129 -0.09204998 0.8955326 1.55223577] [ 0. 0. 0. 1. ]] SLAMing on 77.48964924600001 meters Centerline goodness : 0.891110 Centerline is valid? [False, False] Translation: X:10.29, Y:0.82, Z:1.55 [[ 0.89271781 -0.07968681 -0.4435143 10.28880172] [ 0.11224923 0.99253898 0.04760752 0.82189775] [ 0.43641154 -0.09228422 0.89500201 1.5534299 ] [ 0. 0. 0. 1. ]] SLAMing on 77.51964924600001 meters Centerline goodness : 0.889095 Centerline is valid? [False, False] Translation: X:10.29, Y:0.82, Z:1.56 [[ 0.89211747 -0.0805086 -0.44457258 10.29166798] [ 0.11325757 0.99242711 0.04755159 0.82154615] [ 0.43737757 -0.09277281 0.89447978 1.55519588] [ 0. 0. 0. 1. ]] SLAMing on 77.54964924600002 meters Centerline goodness : 0.893973 Centerline is valid? [False, False] Translation: X:10.29, Y:0.82, Z:1.56 [[ 0.89170306 -0.08081787 -0.4453472 10.29319668] [ 0.11374497 0.9923661 0.04766131 0.82087246] [ 0.43809558 -0.09315574 0.89408852 1.55662785] [ 0. 0. 0. 1. ]] SLAMing on 77.57964924600002 meters Centerline goodness : 0.895159 Centerline is valid? [False, False] Translation: X:10.30, Y:0.82, Z:1.56 [[ 0.89124116 -0.08146405 -0.44615335 10.29540957] [ 0.11452573 0.99227945 0.04759562 0.8198781 ] [ 0.43883147 -0.09351522 0.89369002 1.55796638] [ 0. 0. 0. 1. ]] SLAMing on 77.60964924600002 meters Centerline goodness : 0.896396 Centerline is valid? [False, False] Translation: X:10.30, Y:0.82, Z:1.56 [[ 0.89092852 -0.08200157 -0.44667899 10.29718246] [ 0.11497699 0.99224753 0.04717131 0.82102443] [ 0.439348 -0.09338407 0.89344991 1.55823812] [ 0. 0. 0. 1. ]] SLAMing on 77.639649246 meters Centerline goodness : 0.890999 Centerline is valid? [False, False] Translation: X:10.30, Y:0.82, Z:1.56 [[ 0.89057024 -0.08272512 -0.44725967 10.2992016 ] [ 0.11562139 0.99219468 0.04670563 0.82232892] [ 0.43990493 -0.09330743 0.89318384 1.55872582] [ 0. 0. 0. 1. ]] SLAMing on 77.669649246 meters Centerline goodness : 0.891942 Centerline is valid? [False, False] Translation: X:10.30, Y:0.82, Z:1.56 [[ 0.89014844 -0.08357832 -0.44794019 10.30145433] [ 0.11647298 0.99211205 0.04634363 0.8228504 ] [ 0.44053354 -0.09342564 0.89286161 1.55951071] [ 0. 0. 0. 1. ]] SLAMing on 77.699649246 meters Centerline goodness : 0.891885 Centerline is valid? [False, False] Translation: X:10.30, Y:0.82, Z:1.56 [[ 0.88963501 -0.08447871 -0.44879049 10.30457683] [ 0.11726281 0.99204841 0.04570981 0.82454638] [ 0.44136038 -0.09329148 0.89246721 1.55995956] [ 0. 0. 0. 1. ]] SLAMing on 77.72964924600001 meters Centerline goodness : 0.892602 Centerline is valid? [False, False] Translation: X:10.31, Y:0.82, Z:1.56 [[ 0.88913936 -0.08548137 -0.44958217 10.30705849] [ 0.11834715 0.99193138 0.04545431 0.82403603] [ 0.44206916 -0.09362199 0.89208171 1.56120733] [ 0. 0. 0. 1. ]] SLAMing on 77.75964924600001 meters Centerline goodness : 0.897176 Centerline is valid? [False, False] Translation: X:10.31, Y:0.82, Z:1.56 [[ 0.88831147 -0.08688061 -0.45094843 10.31081038] [ 0.12009648 0.99171862 0.04550846 0.82245642] [ 0.44326016 -0.09458301 0.89138908 1.56411879] [ 0. 0. 0. 1. ]] SLAMing on 77.78964924600001 meters Centerline goodness : 0.898673 Centerline is valid? [False, False] Translation: X:10.31, Y:0.82, Z:1.57 [[ 0.88766751 -0.08816143 -0.45196675 10.31405654] [ 0.12155108 0.99155029 0.04531406 0.8220438 ] [ 0.44415281 -0.09516086 0.8908831 1.56587243] [ 0. 0. 0. 1. ]] SLAMing on 77.81964924600001 meters Centerline goodness : 0.901832 Centerline is valid? [False, False] Translation: X:10.32, Y:0.82, Z:1.57 [[ 0.8870118 -0.08985196 -0.45292017 10.31880755] [ 0.12304559 0.99141194 0.04429607 0.82457575] [ 0.44505038 -0.09502097 0.89044998 1.56604648] [ 0. 0. 0. 1. ]] SLAMing on 77.84964924600001 meters Centerline goodness : 0.893949 Centerline is valid? [False, False] Translation: X:10.32, Y:0.83, Z:1.57 [[ 0.88676191 -0.09050523 -0.4532793 10.321088 ] [ 0.12341328 0.99140212 0.04348561 0.82659318] [ 0.44544638 -0.09450207 0.89030718 1.56533315] [ 0. 0. 0. 1. ]] SLAMing on 77.87964924600001 meters Centerline goodness : 0.893552 Centerline is valid? [False, False] Translation: X:10.32, Y:0.83, Z:1.57 [[ 0.88653143 -0.09082875 -0.45366526 10.32294196] [ 0.12360984 0.99139602 0.04306424 0.82832507] [ 0.44585046 -0.0942553 0.89013106 1.56504206] [ 0. 0. 0. 1. ]] SLAMing on 77.90964924600001 meters Centerline goodness : 0.893158 Centerline is valid? [False, False] Translation: X:10.32, Y:0.83, Z:1.57 [[ 0.88641687 -0.09084637 -0.45388552 10.32305618] [ 0.12365451 0.99139055 0.04306199 0.82875758] [ 0.44606579 -0.09429586 0.89001888 1.56563202] [ 0. 0. 0. 1. ]] SLAMing on 77.93964924600002 meters Centerline goodness : 0.896943 Centerline is valid? [False, False] Translation: X:10.32, Y:0.83, Z:1.57 [[ 0.886083 -0.09127279 -0.45445154 10.32438599] [ 0.12408854 0.99134583 0.04284252 0.82934197] [ 0.44660828 -0.09435426 0.88974059 1.5665605 ] [ 0. 0. 0. 1. ]] SLAMing on 77.96964924600002 meters Centerline goodness : 0.895880 Centerline is valid? [False, False] Translation: X:10.33, Y:0.83, Z:1.57 [[ 0.88585742 -0.09160019 -0.45482529 10.32557384] [ 0.1243326 0.99132953 0.04251079 0.82982772] [ 0.44698775 -0.09420811 0.8895655 1.56679063] [ 0. 0. 0. 1. ]] SLAMing on 77.99964924600002 meters Centerline goodness : 0.895836 Centerline is valid? [False, False] Translation: X:10.33, Y:0.83, Z:1.57 [[ 0.88566134 -0.09207745 -0.45511068 10.32713577] [ 0.12449836 0.99134271 0.0417109 0.83165926] [ 0.44733002 -0.09360227 0.8894574 1.56618257] [ 0. 0. 0. 1. ]] SLAMing on 78.029649246 meters Centerline goodness : 0.894396 Centerline is valid? [False, False] Translation: X:10.33, Y:0.83, Z:1.57 [[ 0.88534751 -0.08820377 -0.45648645 10.33074713] [ 0.12213892 0.99147825 0.0453097 0.83143174] [ 0.4485999 -0.0958696 0.88857591 1.56782991] [ 0. 0. 0. 1. ]] SLAMing on 78.059649246 meters Centerline goodness : 0.890050 Centerline is valid? [False, False] Translation: X:10.33, Y:0.83, Z:1.57 [[ 0.88504931 -0.08880051 -0.45694878 10.3325439 ] [ 0.12253338 0.99145918 0.04465709 0.83310435] [ 0.44908049 -0.09551521 0.88837129 1.56781127] [ 0. 0. 0. 1. ]] SLAMing on 78.08964924600001 meters Centerline goodness : 0.893243 Centerline is valid? [False, False] Translation: X:10.33, Y:0.83, Z:1.57 [[ 0.88486891 -0.08891859 -0.45727508 10.33337002] [ 0.12268123 0.99144302 0.0446101 0.83319403] [ 0.44939552 -0.09557316 0.88820574 1.56826215] [ 0. 0. 0. 1. ]] SLAMing on 78.11964924600001 meters Centerline goodness : 0.896724 Centerline is valid? [False, False] Translation: X:10.34, Y:0.83, Z:1.57 [[ 0.88456782 -0.08953636 -0.45773684 10.33501565] [ 0.12328864 0.99138012 0.04433246 0.8333411 ] [ 0.44982184 -0.09564882 0.88798177 1.56891564] [ 0. 0. 0. 1. ]] SLAMing on 78.14964924600001 meters Centerline goodness : 0.897060 Centerline is valid? [False, False] Translation: X:10.34, Y:0.83, Z:1.57 [[ 0.88432351 -0.08971564 -0.45817358 10.33629663] [ 0.123574 0.9913418 0.04439481 0.83289613] [ 0.45022371 -0.09587772 0.88775338 1.56956403] [ 0. 0. 0. 1. ]] SLAMing on 78.17964924600001 meters Centerline goodness : 0.901809 Centerline is valid? [False, False] Translation: X:10.34, Y:0.83, Z:1.57 [[ 0.8839032 -0.08980022 -0.45896737 10.33763899] [ 0.1240528 0.99125648 0.04496097 0.83162915] [ 0.45091688 -0.09667734 0.88731475 1.57161342] [ 0. 0. 0. 1. ]] SLAMing on 78.20964924600001 meters Centerline goodness : 0.894781 Centerline is valid? [False, False] Translation: X:10.34, Y:0.83, Z:1.57 [[ 0.88383165 -0.08975336 -0.45911432 10.33765294] [ 0.1240624 0.99125133 0.04504791 0.83133689] [ 0.45105448 -0.0967736 0.88723431 1.57207862] [ 0. 0. 0. 1. ]] SLAMing on 78.23964924600001 meters Centerline goodness : 0.896740 Centerline is valid? [False, False] Translation: X:10.34, Y:0.83, Z:1.57 [[ 0.88372243 -0.08987011 -0.45930169 10.33835189] [ 0.12408003 0.99126127 0.04478002 0.83259338] [ 0.45126358 -0.09656328 0.8871509 1.57204194] [ 0. 0. 0. 1. ]] SLAMing on 78.26964924600001 meters Centerline goodness : 0.897570 Centerline is valid? [False, False] Translation: X:10.34, Y:0.83, Z:1.57 [[ 0.88359265 -0.09026866 -0.45947318 10.33945986] [ 0.12420223 0.99127643 0.04410046 0.83471416] [ 0.45148404 -0.09603444 0.88709613 1.57145824] [ 0. 0. 0. 1. ]] SLAMing on 78.29964924600002 meters Centerline goodness : 0.897228 Centerline is valid? [False, False] Translation: X:10.34, Y:0.84, Z:1.57 [[ 0.88346245 -0.09080277 -0.45961828 10.34147021] [ 0.12428021 0.99131318 0.04304206 0.83742084] [ 0.45171732 -0.09514749 0.88707295 1.56999742] [ 0. 0. 0. 1. ]] SLAMing on 78.32964924600002 meters Centerline goodness : 0.900317 Centerline is valid? [False, False] Translation: X:10.34, Y:0.84, Z:1.57 [[ 0.88318761 -0.09139588 -0.46002874 10.34358574] [ 0.1247789 0.99126887 0.04261751 0.83744364] [ 0.4521171 -0.09504114 0.88688066 1.56998263] [ 0. 0. 0. 1. ]] SLAMing on 78.35964924600002 meters Centerline goodness : 0.901342 Centerline is valid? [False, False] Translation: X:10.35, Y:0.84, Z:1.57 [[ 0.88239178 -0.09305325 -0.46122211 10.34840383] [ 0.12670444 0.99103128 0.04246169 0.83625381] [ 0.45313434 -0.09590674 0.88626811 1.57202462] [ 0. 0. 0. 1. ]] SLAMing on 78.389649246 meters Centerline goodness : 0.903349 Centerline is valid? [False, False] Translation: X:10.35, Y:0.84, Z:1.57 [[ 0.88201454 -0.09387033 -0.46177778 10.35105938] [ 0.12750015 0.99094504 0.0420909 0.83614779] [ 0.45364531 -0.09600152 0.88599641 1.57236029] [ 0. 0. 0. 1. ]] SLAMing on 78.419649246 meters Centerline goodness : 0.900393 Centerline is valid? [False, False] Translation: X:10.35, Y:0.83, Z:1.57 [[ 0.88148648 -0.09524594 -0.46250384 10.3547511 ] [ 0.12898964 0.99076423 0.04180798 0.83459112] [ 0.45425022 -0.09651138 0.88563101 1.57350592] [ 0. 0. 0. 1. ]] SLAMing on 78.449649246 meters Centerline goodness : 0.901503 Centerline is valid? [False, False] Translation: X:10.36, Y:0.83, Z:1.58 [[ 0.88087258 -0.09615459 -0.46348441 10.35697564] [ 0.13036941 0.99056401 0.04227017 0.8322843 ] [ 0.4550465 -0.09765882 0.88509629 1.5763193 ] [ 0. 0. 0. 1. ]] SLAMing on 78.47964924600001 meters Centerline goodness : 0.902950 Centerline is valid? [False, False] Translation: X:10.36, Y:0.83, Z:1.58 [[ 0.88045678 -0.0969412 -0.46411019 10.35918626] [ 0.13138103 0.99042627 0.04236538 0.83130771] [ 0.45555997 -0.09827617 0.88476376 1.57768667] [ 0. 0. 0. 1. ]] SLAMing on 78.50964924600001 meters Centerline goodness : 0.900469 Centerline is valid? [False, False] Translation: X:10.36, Y:0.83, Z:1.58 [[ 0.8801995 -0.0978124 -0.4644153 10.36152699] [ 0.13209732 0.99035589 0.04177921 0.83217242] [ 0.4558499 -0.09812206 0.88463152 1.57739818] [ 0. 0. 0. 1. ]] SLAMing on 78.53964924600001 meters Centerline goodness : 0.902546 Centerline is valid? [False, False] Translation: X:10.36, Y:0.83, Z:1.58 [[ 0.87988542 -0.0986812 -0.4648265 10.36428216] [ 0.13270834 0.99030806 0.04096871 0.83441566] [ 0.45627859 -0.09773412 0.88445344 1.57681072] [ 0. 0. 0. 1. ]] SLAMing on 78.56964924600001 meters Centerline goodness : 0.898019 Centerline is valid? [False, False] Translation: X:10.37, Y:0.84, Z:1.58 [[ 0.87971292 -0.09893458 -0.46509905 10.3653538 ] [ 0.13291432 0.99028948 0.04074955 0.83502644] [ 0.45655116 -0.09766623 0.88432027 1.57687531] [ 0. 0. 0. 1. ]] SLAMing on 78.59964924600001 meters Centerline goodness : 0.898394 Centerline is valid? [False, False] Translation: X:10.37, Y:0.84, Z:1.58 [[ 0.87941727 -0.09920002 -0.46560135 10.3662761 ] [ 0.13321033 0.9902549 0.04062307 0.83523425] [ 0.45703421 -0.09774754 0.88406173 1.57778166] [ 0. 0. 0. 1. ]] SLAMing on 78.62964924600001 meters Centerline goodness : 0.900672 Centerline is valid? [False, False] Translation: X:10.37, Y:0.84, Z:1.58 [[ 0.87913374 -0.09950038 -0.46607247 10.36744974] [ 0.13357522 0.99020829 0.04056104 0.83505935] [ 0.45747298 -0.09791431 0.8838163 1.57853947] [ 0. 0. 0. 1. ]] SLAMing on 78.65964924600001 meters Centerline goodness : 0.900355 Centerline is valid? [False, False] Translation: X:10.37, Y:0.84, Z:1.58 [[ 0.87883802 -0.10015874 -0.46648897 10.36961321] [ 0.13413886 0.99015019 0.040117 0.83551979] [ 0.45787608 -0.09783064 0.88361681 1.57866371] [ 0. 0. 0. 1. ]] SLAMing on 78.68964924600002 meters Centerline goodness : 0.898634 Centerline is valid? [False, False] Translation: X:10.37, Y:0.83, Z:1.58 [[ 0.8785149 -0.09611216 -0.4679466 10.37277307] [ 0.13194512 0.99026575 0.04431954 0.8348663 ] [ 0.45913185 -0.10067865 0.88264475 1.58149424] [ 0. 0. 0. 1. ]] SLAMing on 78.71964924600002 meters Centerline goodness : 0.903568 Centerline is valid? [False, False] Translation: X:10.37, Y:0.84, Z:1.58 [[ 0.87840524 -0.09603929 -0.46816738 10.37278175] [ 0.13192476 0.99026559 0.0443837 0.83539721] [ 0.45934747 -0.10074974 0.88252444 1.58197184] [ 0. 0. 0. 1. ]] SLAMing on 78.74964924600002 meters Centerline goodness : 0.903250 Centerline is valid? [False, False] Translation: X:10.37, Y:0.84, Z:1.58 [[ 0.87811071 -0.09634019 -0.46865781 10.37369897] [ 0.13227101 0.99022423 0.0442758 0.83634007] [ 0.45981078 -0.1008689 0.88226952 1.58280543] [ 0. 0. 0. 1. ]] SLAMing on 78.779649246 meters Centerline goodness : 0.900179 Centerline is valid? [False, False] Translation: X:10.37, Y:0.84, Z:1.58 [[ 0.8779134 -0.09637425 -0.46902033 10.37433709] [ 0.13212773 0.99026285 0.04383788 0.83825136] [ 0.46022857 -0.10045645 0.88209873 1.58277603] [ 0. 0. 0. 1. ]] SLAMing on 78.809649246 meters Centerline goodness : 0.902618 Centerline is valid? [False, False] Translation: X:10.38, Y:0.84, Z:1.58 [[ 0.87789747 -0.09651966 -0.46902024 10.37506014] [ 0.13183768 0.99033964 0.0429677 0.84092897] [ 0.46034211 -0.09955578 0.88214159 1.58151236] [ 0. 0. 0. 1. ]] SLAMing on 78.83964924600001 meters Centerline goodness : 0.907612 Centerline is valid? [False, False] Translation: X:10.38, Y:0.84, Z:1.58 [[ 0.87765232 -0.09704782 -0.46936993 10.37647664] [ 0.13212999 0.99032938 0.04230114 0.8426247 ] [ 0.46072559 -0.09914354 0.8819878 1.58132607] [ 0. 0. 0. 1. ]] SLAMing on 78.86964924600001 meters Centerline goodness : 0.900764 Centerline is valid? [False, False] Translation: X:10.38, Y:0.84, Z:1.58 [[ 0.87747757 -0.09737471 -0.46962888 10.37763845] [ 0.13226246 0.99033357 0.04178596 0.84419929] [ 0.46102035 -0.09878052 0.88187451 1.58101307] [ 0. 0. 0. 1. ]] SLAMing on 78.89964924600001 meters Centerline goodness : 0.899748 Centerline is valid? [False, False] Translation: X:10.38, Y:0.85, Z:1.58 [[ 0.8771784 -0.09759545 -0.47014167 10.37921576] [ 0.13220133 0.99037171 0.04106928 0.84731545] [ 0.46160684 -0.09817844 0.88163491 1.58065939] [ 0. 0. 0. 1. ]] SLAMing on 78.92964924600001 meters Centerline goodness : 0.902996 Centerline is valid? [False, False] Translation: X:10.38, Y:0.85, Z:1.58 [[ 0.8769931 -0.09778947 -0.47044693 10.38000149] [ 0.13237539 0.99035505 0.04091007 0.84797937] [ 0.46190892 -0.09815345 0.88147947 1.58097214] [ 0. 0. 0. 1. ]] SLAMing on 78.95964924600001 meters Centerline goodness : 0.902051 Centerline is valid? [False, False] Translation: X:10.38, Y:0.85, Z:1.58 [[ 0.87636808 -0.09877018 -0.47140581 10.38284339] [ 0.13337505 0.99023885 0.04047377 0.84884262] [ 0.46280674 -0.09834369 0.8809872 1.58231523] [ 0. 0. 0. 1. ]] SLAMing on 78.98964924600001 meters Centerline goodness : 0.902551 Centerline is valid? [False, False] Translation: X:10.38, Y:0.85, Z:1.58 [[ 0.87620397 -0.09903306 -0.47165566 10.38382576] [ 0.1335697 0.99022299 0.04021894 0.84962952] [ 0.46306128 -0.0982389 0.88086513 1.58235966] [ 0. 0. 0. 1. ]] SLAMing on 79.01964924600001 meters Centerline goodness : 0.904256 Centerline is valid? [False, False] Translation: X:10.38, Y:0.85, Z:1.58 [[ 0.87581533 -0.09908168 -0.47236673 10.38494354] [ 0.13386342 0.99017179 0.04050191 0.84997707] [ 0.46371122 -0.09870482 0.88047105 1.58388571] [ 0. 0. 0. 1. ]] SLAMing on 79.04964924600002 meters Centerline goodness : 0.898385 Centerline is valid? [False, False] Translation: X:10.39, Y:0.85, Z:1.59 [[ 0.87548777 -0.0993421 -0.47291893 10.3855769 ] [ 0.13421995 0.99012415 0.04048668 0.85016175] [ 0.46422642 -0.09892075 0.88017528 1.58506373] [ 0. 0. 0. 1. ]] SLAMing on 79.07964924600002 meters Centerline goodness : 0.905371 Centerline is valid? [False, False] Translation: X:10.39, Y:0.85, Z:1.59 [[ 0.87501334 -0.10011026 -0.47363445 10.38781762] [ 0.13534673 0.9899578 0.04080206 0.84874813] [ 0.46479342 -0.09980722 0.87977588 1.58700514] [ 0. 0. 0. 1. ]] SLAMing on 79.10964924600002 meters Centerline goodness : 0.908113 Centerline is valid? [False, False] Translation: X:10.39, Y:0.84, Z:1.59 [[ 0.87971658 -0.09219139 -0.46647561 10.39277612] [ 0.12927536 0.99044376 0.04805245 0.84394282] [ 0.45758783 -0.10257634 0.88322787 1.59055291] [ 0. 0. 0. 1. ]] SLAMing on 79.139649246 meters Centerline goodness : 0.903818 Centerline is valid? [False, False] Translation: X:10.39, Y:0.84, Z:1.59 [[ 0.8795207 -0.09253251 -0.46677732 10.39377631] [ 0.12965748 0.99039769 0.04797246 0.84402846] [ 0.45785617 -0.10271394 0.8830728 1.5910561 ] [ 0. 0. 0. 1. ]] SLAMing on 79.169649246 meters Centerline goodness : 0.906961 Centerline is valid? [False, False] Translation: X:10.40, Y:0.84, Z:1.59 [[ 0.87900291 -0.09324063 -0.46761103 10.39600242] [ 0.13055689 0.99028024 0.04795767 0.8437516 ] [ 0.45859436 -0.10320478 0.88263242 1.5926985 ] [ 0. 0. 0. 1. ]] SLAMing on 79.199649246 meters Centerline goodness : 0.912043 Centerline is valid? [False, False] Translation: X:10.40, Y:0.84, Z:1.59 [[ 0.87835207 -0.09479571 -0.46852045 10.40022388] [ 0.13189234 0.99015271 0.04692578 0.84499357] [ 0.45945843 -0.10301162 0.88220551 1.59304742] [ 0. 0. 0. 1. ]] SLAMing on 79.22964924600001 meters Centerline goodness : 0.910971 Centerline is valid? [False, False] Translation: X:10.40, Y:0.85, Z:1.59 [[ 0.87805826 -0.09538489 -0.46895141 10.40201929] [ 0.13239635 0.99010509 0.04650939 0.84518767] [ 0.45987488 -0.10292541 0.88199856 1.5932862 ] [ 0. 0. 0. 1. ]] SLAMing on 79.25964924600001 meters Centerline goodness : 0.908081 Centerline is valid? [False, False] Translation: X:10.41, Y:0.84, Z:1.59 [[ 0.87743557 -0.0963312 -0.46992246 10.40521555] [ 0.13335154 0.98999839 0.04604941 0.84499442] [ 0.46078649 -0.10307027 0.88150572 1.59443302] [ 0. 0. 0. 1. ]] SLAMing on 79.28964924600001 meters Centerline goodness : 0.910892 Centerline is valid? [False, False] Translation: X:10.41, Y:0.85, Z:1.59 [[ 0.8771299 -0.09694334 -0.47036702 10.407281 ] [ 0.13392397 0.9899368 0.04571099 0.84519178] [ 0.46120225 -0.1030879 0.8812862 1.59467227] [ 0. 0. 0. 1. ]] SLAMing on 79.31964924600001 meters Centerline goodness : 0.910892 Centerline is valid? [False, False] Translation: X:10.41, Y:0.85, Z:1.59 [[ 0.8771299 -0.09694334 -0.47036702 10.407281 ] [ 0.13392397 0.9899368 0.04571099 0.84519178] [ 0.46120225 -0.1030879 0.8812862 1.59467227] [ 0. 0. 0. 1. ]] SLAMing on 79.34964924600001 meters Centerline goodness : 0.910821 Centerline is valid? [False, False] Translation: X:10.41, Y:0.85, Z:1.60 [[ 0.87662474 -0.09802776 -0.47108346 10.41029515] [ 0.1349645 0.98981987 0.04517966 0.84550934] [ 0.46185891 -0.10318515 0.88093086 1.59537017] [ 0. 0. 0. 1. ]] SLAMing on 79.37964924600001 meters Centerline goodness : 0.911993 Centerline is valid? [False, False] Translation: X:10.41, Y:0.85, Z:1.60 [[ 0.87639005 -0.09822967 -0.4714779 10.41123668] [ 0.13526813 0.98977639 0.04522424 0.84509871] [ 0.46221533 -0.10341001 0.88071752 1.59612221] [ 0. 0. 0. 1. ]] SLAMing on 79.40964924600001 meters Centerline goodness : 0.909496 Centerline is valid? [False, False] Translation: X:10.41, Y:0.85, Z:1.60 [[ 0.87596945 -0.0984941 -0.47220381 10.41266585] [ 0.13571741 0.98971017 0.04532724 0.84513967] [ 0.46288045 -0.10379156 0.88032324 1.59760632] [ 0. 0. 0. 1. ]] SLAMing on 79.43964924600002 meters Centerline goodness : 0.909701 Centerline is valid? [False, False] Translation: X:10.41, Y:0.85, Z:1.60 [[ 0.87567094 -0.09906786 -0.47263725 10.4141183 ] [ 0.13621149 0.98966067 0.04492425 0.84626894] [ 0.46329995 -0.10371748 0.88011127 1.59797936] [ 0. 0. 0. 1. ]] SLAMing on 79.46964924600002 meters Centerline goodness : 0.915577 Centerline is valid? [False, False] Translation: X:10.42, Y:0.85, Z:1.60 [[ 0.8755987 -0.0995247 -0.4726751 10.4153008 ] [ 0.13625269 0.98969598 0.04401223 0.84832483] [ 0.46342434 -0.10294031 0.88013702 1.59678653] [ 0. 0. 0. 1. ]] SLAMing on 79.49964924600002 meters Centerline goodness : 0.910311 Centerline is valid? [False, False] Translation: X:10.42, Y:0.85, Z:1.60 [[ 0.87537056 -0.10021054 -0.47295268 10.41727213] [ 0.13669086 0.98966686 0.04330265 0.84964607] [ 0.46372621 -0.10255417 0.88002309 1.59631187] [ 0. 0. 0. 1. ]] SLAMing on 79.529649246 meters Centerline goodness : 0.906968 Centerline is valid? [False, False] Translation: X:10.42, Y:0.85, Z:1.60 [[ 0.87492489 -0.1012784 -0.4735495 10.42054688] [ 0.13735115 0.98962664 0.04211626 0.85088758] [ 0.46437173 -0.10189114 0.87975968 1.59575195] [ 0. 0. 0. 1. ]] SLAMing on 79.559649246 meters Centerline goodness : 0.909586 Centerline is valid? [False, False] Translation: X:10.42, Y:0.85, Z:1.60 [[ 0.87462353 -0.1018226 -0.47398928 10.42250007] [ 0.13781683 0.98957854 0.04172327 0.85140181] [ 0.46480125 -0.10181585 0.87954154 1.59593156] [ 0. 0. 0. 1. ]] SLAMing on 79.58964924600001 meters Centerline goodness : 0.904659 Centerline is valid? [False, False] Translation: X:10.43, Y:0.85, Z:1.60 [[ 0.87412315 -0.10289191 -0.47468092 10.42626929] [ 0.13871639 0.98948453 0.0409649 0.85170293] [ 0.46547447 -0.10165439 0.87920413 1.59589202] [ 0. 0. 0. 1. ]] SLAMing on 79.61964924600001 meters Centerline goodness : 0.898482 Centerline is valid? [False, False] Translation: X:10.43, Y:0.85, Z:1.60 [[ 0.87383574 -0.10342538 -0.47509399 10.42840639] [ 0.13921355 0.98942724 0.04066119 0.851572 ] [ 0.46586553 -0.10167072 0.87899509 1.59604876] [ 0. 0. 0. 1. ]] SLAMing on 79.64964924600001 meters Centerline goodness : 0.904349 Centerline is valid? [False, False] Translation: X:10.43, Y:0.85, Z:1.60 [[ 0.87316022 -0.1044467 -0.47611146 10.43233407] [ 0.1404022 0.98926713 0.04046936 0.85092692] [ 0.46677452 -0.10218333 0.87845325 1.597401 ] [ 0. 0. 0. 1. ]] SLAMing on 79.67964924600001 meters Centerline goodness : 0.901889 Centerline is valid? [False, False] Translation: X:10.43, Y:0.85, Z:1.60 [[ 0.87301239 -0.10456682 -0.47635612 10.43312664] [ 0.14055652 0.98924629 0.04044296 0.85087029] [ 0.46700454 -0.10226216 0.87832182 1.59771331] [ 0. 0. 0. 1. ]] SLAMing on 79.70964924600001 meters Centerline goodness : 0.897915 Centerline is valid? [False, False] Translation: X:10.43, Y:0.85, Z:1.60 [[ 0.87270295 -0.10494288 -0.47684018 10.43479091] [ 0.14089293 0.9892102 0.04015415 0.85149063] [ 0.46748127 -0.10222605 0.87807237 1.59809936] [ 0. 0. 0. 1. ]] SLAMing on 79.73964924600001 meters Centerline goodness : 0.900912 Centerline is valid? [False, False] Translation: X:10.44, Y:0.85, Z:1.60 [[ 0.87228643 -0.10563437 -0.47744923 10.43689742] [ 0.14157448 0.98912676 0.03981096 0.85232101] [ 0.4680524 -0.10232118 0.87775698 1.5987773 ] [ 0. 0. 0. 1. ]] SLAMing on 79.76964924600001 meters Centerline goodness : 0.903874 Centerline is valid? [False, False] Translation: X:10.44, Y:0.85, Z:1.60 [[ 0.8720803 -0.10584308 -0.47777944 10.43800173] [ 0.1419299 0.98907016 0.03995157 0.85191932] [ 0.46832878 -0.10265216 0.8775709 1.59948049] [ 0. 0. 0. 1. ]] SLAMing on 79.79964924600002 meters Centerline goodness : 0.898470 Centerline is valid? [False, False] Translation: X:10.44, Y:0.85, Z:1.60 [[ 0.87184955 -0.10597597 -0.47817094 10.43880776] [ 0.14225975 0.98901313 0.04018956 0.85118107] [ 0.46865821 -0.10306373 0.87734677 1.60049063] [ 0. 0. 0. 1. ]] SLAMing on 79.82964924600002 meters Centerline goodness : 0.902374 Centerline is valid? [False, False] Translation: X:10.44, Y:0.85, Z:1.60 [[ 0.87147238 -0.11084998 -0.47775325 10.43840363] [ 0.14569012 0.98866184 0.03636139 0.85123688] [ 0.46830575 -0.10129188 0.87774124 1.60036696] [ 0. 0. 0. 1. ]] SLAMing on 79.85964924600002 meters Centerline goodness : 0.896500 Centerline is valid? [False, False] Translation: X:10.44, Y:0.85, Z:1.60 [[ 0.87104582 -0.11095788 -0.47850552 10.43973051] [ 0.14613091 0.98858158 0.03677242 0.85017131] [ 0.46896156 -0.10195491 0.87731423 1.60214856] [ 0. 0. 0. 1. ]] SLAMing on 79.889649246 meters Centerline goodness : 0.900293 Centerline is valid? [False, False] Translation: X:10.44, Y:0.85, Z:1.60 [[ 0.87045643 -0.11131732 -0.47949355 10.44249855] [ 0.14689948 0.98845162 0.03720136 0.84931749] [ 0.46981502 -0.10281952 0.87675652 1.60406565] [ 0. 0. 0. 1. ]] SLAMing on 79.919649246 meters Centerline goodness : 0.902558 Centerline is valid? [False, False] Translation: X:10.45, Y:0.84, Z:1.61 [[ 0.87552844 -0.1011724 -0.47245538 10.44708183] [ 0.14004026 0.98899473 0.04772994 0.84386158] [ 0.46242693 -0.10795169 0.88006123 1.60743472] [ 0. 0. 0. 1. ]] SLAMing on 79.949649246 meters Centerline goodness : 0.900086 Centerline is valid? [False, False] Translation: X:10.45, Y:0.85, Z:1.61 [[ 0.87521702 -0.10181504 -0.47289413 10.44912709] [ 0.14053577 0.98895103 0.04717591 0.84503876] [ 0.46286592 -0.1077477 0.87985543 1.60739515] [ 0. 0. 0. 1. ]] SLAMing on 79.97964924600001 meters Centerline goodness : 0.898447 Centerline is valid? [False, False] Translation: X:10.45, Y:0.85, Z:1.61 [[ 0.87490609 -0.10229399 -0.47336589 10.45072545] [ 0.14100736 0.9888961 0.04691946 0.84529184] [ 0.4633101 -0.1077982 0.87961542 1.6079377 ] [ 0. 0. 0. 1. ]] SLAMing on 80.00964924600001 meters Centerline goodness : 0.901727 Centerline is valid? [False, False] Translation: X:10.45, Y:0.84, Z:1.61 [[ 0.87935249 -0.09422936 -0.46675477 10.4545349 ] [ 0.13438448 0.98948849 0.05341662 0.84135535] [ 0.45681506 -0.10969664 0.88277214 1.61343709] [ 0. 0. 0. 1. ]] SLAMing on 80.03964924600001 meters Centerline goodness : 0.901721 Centerline is valid? [False, False] Translation: X:10.46, Y:0.84, Z:1.61 [[ 0.87912141 -0.09429077 -0.46717747 10.45557842] [ 0.13450695 0.98947246 0.05340543 0.84164068] [ 0.4572236 -0.10978847 0.88254919 1.61401578] [ 0. 0. 0. 1. ]] SLAMing on 80.06964924600001 meters Centerline goodness : 0.899887 Centerline is valid? [False, False] Translation: X:10.46, Y:0.84, Z:1.61 [[ 0.87891446 -0.09481808 -0.46746006 10.45700852] [ 0.13488014 0.98944859 0.05290397 0.84260811] [ 0.45751144 -0.10954914 0.88242975 1.61389669] [ 0. 0. 0. 1. ]] SLAMing on 80.09964924600001 meters Centerline goodness : 0.900355 Centerline is valid? [False, False] Translation: X:10.46, Y:0.84, Z:1.61 [[ 0.87866349 -0.09560993 -0.46777047 10.45901771] [ 0.13545419 0.98940712 0.05220831 0.84408573] [ 0.4578238 -0.10923501 0.88230668 1.61358528] [ 0. 0. 0. 1. ]] SLAMing on 80.12964924600001 meters Centerline goodness : 0.902423 Centerline is valid? [False, False] Translation: X:10.46, Y:0.85, Z:1.61 [[ 0.87828867 -0.09641979 -0.46830784 10.4614339 ] [ 0.13591504 0.98939685 0.05119541 0.84670936] [ 0.45840605 -0.10861443 0.88208095 1.61312692] [ 0. 0. 0. 1. ]] SLAMing on 80.15964924600001 meters Centerline goodness : 0.904621 Centerline is valid? [False, False] Translation: X:10.46, Y:0.85, Z:1.61 [[ 0.87809008 -0.09681847 -0.46859791 10.46228929] [ 0.13597748 0.98943041 0.0503744 0.84877397] [ 0.45876785 -0.10795202 0.88197416 1.61275578] [ 0. 0. 0. 1. ]] SLAMing on 80.18964924600002 meters Centerline goodness : 0.904792 Centerline is valid? [False, False] Translation: X:10.46, Y:0.85, Z:1.61 [[ 0.87782348 -0.09728292 -0.46900104 10.46355933] [ 0.1362358 0.98942605 0.04975836 0.84998798] [ 0.45920121 -0.10757379 0.88179483 1.61277368] [ 0. 0. 0. 1. ]] SLAMing on 80.21964924600002 meters Centerline goodness : 0.903046 Centerline is valid? [False, False] Translation: X:10.47, Y:0.85, Z:1.61 [[ 0.87748949 -0.09781319 -0.46951547 10.46539203] [ 0.1365326 0.98942075 0.04904528 0.85109532] [ 0.45975107 -0.10714088 0.88156099 1.61274024] [ 0. 0. 0. 1. ]] SLAMing on 80.24964924600002 meters Centerline goodness : 0.901654 Centerline is valid? [False, False] Translation: X:10.47, Y:0.85, Z:1.61 [[ 0.87715938 -0.09864844 -0.46995734 10.46782402] [ 0.13717139 0.98936669 0.04834841 0.85230634] [ 0.46019064 -0.10687396 0.88136402 1.61255575] [ 0. 0. 0. 1. ]] SLAMing on 80.279649246 meters Centerline goodness : 0.901937 Centerline is valid? [False, False] Translation: X:10.47, Y:0.85, Z:1.61 [[ 0.87654772 -0.09993132 -0.47082675 10.47152535] [ 0.13833535 0.98924194 0.04757861 0.85354429] [ 0.46100697 -0.1068369 0.8809418 1.61310115] [ 0. 0. 0. 1. ]] SLAMing on 80.309649246 meters Centerline goodness : 0.901330 Centerline is valid? [False, False] Translation: X:10.47, Y:0.85, Z:1.61 [[ 0.87624122 -0.10042615 -0.47129175 10.47302237] [ 0.13882378 0.98918577 0.04732313 0.85377421] [ 0.46144262 -0.10689298 0.88070688 1.61365041] [ 0. 0. 0. 1. ]] SLAMing on 80.33964924600001 meters Centerline goodness : 0.899820 Centerline is valid? [False, False] Translation: X:10.47, Y:0.85, Z:1.61 [[ 0.87602645 -0.1050086 -0.47069189 10.47215251] [ 0.14196849 0.98891033 0.04360403 0.85399311] [ 0.46089327 -0.1050217 0.88121952 1.61316524] [ 0. 0. 0. 1. ]] SLAMing on 80.36964924600001 meters Centerline goodness : 0.904814 Centerline is valid? [False, False] Translation: X:10.47, Y:0.85, Z:1.61 [[ 0.87571012 -0.10622725 -0.47100696 10.4725113 ] [ 0.14299457 0.98879525 0.04285455 0.85460804] [ 0.46117712 -0.1048796 0.88108793 1.61409214] [ 0. 0. 0. 1. ]] SLAMing on 80.39964924600001 meters Centerline goodness : 0.906390 Centerline is valid? [False, False] Translation: X:10.48, Y:0.85, Z:1.62 [[ 0.88055551 -0.09811579 -0.46367584 10.47707054] [ 0.13671234 0.98933396 0.0502798 0.84933019] [ 0.45379701 -0.10766437 0.88457711 1.61718314] [ 0. 0. 0. 1. ]] SLAMing on 80.42964924600001 meters Centerline goodness : 0.908201 Centerline is valid? [False, False] Translation: X:10.48, Y:0.85, Z:1.62 [[ 0.88027525 -0.09810236 -0.46421052 10.47787599] [ 0.13696303 0.98928016 0.0506547 0.84895087] [ 0.45426491 -0.10816976 0.88427524 1.6186166 ] [ 0. 0. 0. 1. ]] SLAMing on 80.45964924600001 meters Centerline goodness : 0.906744 Centerline is valid? [False, False] Translation: X:10.48, Y:0.85, Z:1.62 [[ 0.8801208 -0.09814457 -0.46449437 10.47821419] [ 0.13704287 0.98926976 0.0506418 0.84908789] [ 0.45454001 -0.10822654 0.88412691 1.61919773] [ 0. 0. 0. 1. ]] SLAMing on 80.48964924600001 meters Centerline goodness : 0.909410 Centerline is valid? [False, False] Translation: X:10.48, Y:0.85, Z:1.62 [[ 0.88001649 -0.09823698 -0.46467244 10.47852369] [ 0.13708367 0.98927281 0.0504715 0.8495703 ] [ 0.45472964 -0.10811475 0.88404307 1.61937614] [ 0. 0. 0. 1. ]] SLAMing on 80.51964924600001 meters Centerline goodness : 0.906723 Centerline is valid? [False, False] Translation: X:10.48, Y:0.85, Z:1.62 [[ 0.87962703 -0.09884976 -0.4652795 10.48067644] [ 0.13744621 0.9892628 0.04967554 0.85204954] [ 0.45537328 -0.10764685 0.88376882 1.61935204] [ 0. 0. 0. 1. ]] SLAMing on 80.54964924600002 meters Centerline goodness : 0.907292 Centerline is valid? [False, False] Translation: X:10.49, Y:0.85, Z:1.62 [[ 0.88430063 -0.08814366 -0.45852273 10.48552727] [ 0.12918561 0.98987209 0.05885852 0.84803548] [ 0.44869085 -0.11128316 0.8867314 1.62285785] [ 0. 0. 0. 1. ]] SLAMing on 80.57964924600002 meters Centerline goodness : 0.899338 Centerline is valid? [False, False] Translation: X:10.49, Y:0.85, Z:1.62 [[ 0.88400078 -0.08955431 -0.45882747 10.48898631] [ 0.12967571 0.98993841 0.05662299 0.85203098] [ 0.4491401 -0.10955354 0.88671934 1.62034111] [ 0. 0. 0. 1. ]] SLAMing on 80.60964924600002 meters Centerline goodness : 0.903641 Centerline is valid? [False, False] Translation: X:10.49, Y:0.85, Z:1.62 [[ 0.88365066 -0.09032409 -0.4593507 10.49110835] [ 0.13033005 0.98988394 0.05607016 0.85267263] [ 0.4496394 -0.10941363 0.88648354 1.62057201] [ 0. 0. 0. 1. ]] SLAMing on 80.639649246 meters Centerline goodness : 0.899274 Centerline is valid? [False, False] Translation: X:10.49, Y:0.85, Z:1.62 [[ 0.88302798 -0.09162791 -0.46028894 10.49451001] [ 0.13147661 0.98978146 0.0551956 0.85365619] [ 0.450528 -0.10925649 0.88605166 1.62131781] [ 0. 0. 0. 1. ]] SLAMing on 80.669649246 meters Centerline goodness : 0.902163 Centerline is valid? [False, False] Translation: X:10.50, Y:0.85, Z:1.62 [[ 0.88242904 -0.09271445 -0.46121906 10.49748519] [ 0.13259774 0.98965654 0.05475194 0.85371717] [ 0.45137216 -0.10947131 0.8855954 1.62263642] [ 0. 0. 0. 1. ]] SLAMing on 80.699649246 meters Centerline goodness : 0.893406 Centerline is valid? [False, False] Translation: X:10.49, Y:0.85, Z:1.63 [[ 0.88261849 -0.08990197 -0.4614133 10.49376905] [ 0.13214025 0.98941418 0.05998776 0.85285816] [ 0.45113584 -0.11391758 0.88515492 1.62572494] [ 0. 0. 0. 1. ]] SLAMing on 80.72964924600001 meters Centerline goodness : 0.894014 Centerline is valid? [False, False] Translation: X:10.49, Y:0.85, Z:1.63 [[ 0.88252003 -0.09023135 -0.46153732 10.49391677] [ 0.13264361 0.98933298 0.0602157 0.85468754] [ 0.45118075 -0.11436153 0.88507478 1.62601405] [ 0. 0. 0. 1. ]] SLAMing on 80.75964924600001 meters Centerline goodness : 0.897617 Centerline is valid? [False, False] Translation: X:10.50, Y:0.86, Z:1.63 [[ 0.88223589 -0.08988578 -0.46214758 10.49514386] [ 0.13231135 0.98938142 0.06015069 0.85554808] [ 0.45183353 -0.11421447 0.88476071 1.62659707] [ 0. 0. 0. 1. ]] SLAMing on 80.78964924600001 meters Centerline goodness : 0.894894 Centerline is valid? [False, False] Translation: X:10.50, Y:0.85, Z:1.63 [[ 0.88649153 -0.07893492 -0.45596276 10.49751654] [ 0.12444843 0.9897098 0.0706194 0.85104903] [ 0.44569648 -0.11934735 0.88719268 1.63323753] [ 0. 0. 0. 1. ]] SLAMing on 80.81964924600001 meters Centerline goodness : 0.895119 Centerline is valid? [False, False] Translation: X:10.50, Y:0.85, Z:1.64 [[ 0.89090385 -0.07053282 -0.4486819 10.5013449 ] [ 0.11715036 0.99012728 0.07696597 0.84616703] [ 0.43882356 -0.12113253 0.89037116 1.63691472] [ 0. 0. 0. 1. ]] SLAMing on 80.84964924600001 meters Centerline goodness : 0.900409 Centerline is valid? [False, False] Translation: X:10.52, Y:0.85, Z:1.64 [[ 0.89266084 -0.0764331 -0.4442011 10.51753926] [ 0.11715677 0.99098934 0.06491851 0.85032553] [ 0.43523663 -0.10999138 0.89357203 1.63647638] [ 0. 0. 0. 1. ]] SLAMing on 80.87964924600001 meters Centerline goodness : 0.900822 Centerline is valid? [False, False] Translation: X:10.52, Y:0.85, Z:1.64 [[ 0.89232003 -0.07227187 -0.44558022 10.52036493] [ 0.11491196 0.99094891 0.06939382 0.84864227] [ 0.43653201 -0.11312399 0.89254847 1.63958682] [ 0. 0. 0. 1. ]] SLAMing on 80.90964924600001 meters Centerline goodness : 0.897199 Centerline is valid? [False, False] Translation: X:10.52, Y:0.84, Z:1.64 [[ 0.89722046 -0.0654242 -0.43670943 10.52213073] [ 0.10990393 0.99092828 0.07734516 0.84450483] [ 0.42768747 -0.11739174 0.8962715 1.64229361] [ 0. 0. 0. 1. ]] SLAMing on 80.93964924600002 meters Centerline goodness : 0.905542 Centerline is valid? [False, False] Translation: X:10.53, Y:0.85, Z:1.64 [[ 0.89980498 -0.07529604 -0.42974586 10.53102008] [ 0.11348446 0.991483 0.06389622 0.8460755 ] [ 0.42127458 -0.10626362 0.90068628 1.64465652] [ 0. 0. 0. 1. ]] SLAMing on 80.96964924600002 meters Centerline goodness : 0.910509 Centerline is valid? [False, False] Translation: X:10.53, Y:0.85, Z:1.65 [[ 0.90484612 -0.06847182 -0.42019651 10.53237602] [ 0.10926461 0.99127231 0.07375939 0.84651558] [ 0.41147873 -0.11265351 0.90443045 1.64524428] [ 0. 0. 0. 1. ]] SLAMing on 80.99964924600002 meters Centerline goodness : 0.900817 Centerline is valid? [False, False] Translation: X:10.54, Y:0.84, Z:1.65 [[ 0.90912365 -0.05470926 -0.41291776 10.53704939] [ 0.09942796 0.99118259 0.08758511 0.84348867] [ 0.40448518 -0.12068127 0.90654717 1.6470962 ] [ 0. 0. 0. 1. ]] SLAMing on 81.029649246 meters Centerline goodness : 0.896742 Centerline is valid? [False, False] Translation: X:10.54, Y:0.85, Z:1.64 [[ 0.90882466 -0.05633609 -0.41335697 10.54200966] [ 0.09939717 0.99154643 0.08340189 0.84946093] [ 0.40516409 -0.11688421 0.90674149 1.6409175 ] [ 0. 0. 0. 1. ]] SLAMing on 81.059649246 meters Centerline goodness : 0.896848 Centerline is valid? [False, False] Translation: X:10.56, Y:0.85, Z:1.64 [[ 0.91064749 -0.06042809 -0.40874147 10.55655624] [ 0.09810797 0.99257973 0.07183531 0.85423605] [ 0.40136762 -0.10551744 0.90981872 1.6393066 ] [ 0. 0. 0. 1. ]] SLAMing on 81.08964924600001 meters Centerline goodness : 0.901571 Centerline is valid? [False, False] Translation: X:10.57, Y:0.86, Z:1.64 [[ 0.91203042 -0.06382626 -0.40512557 10.57242075] [ 0.09625063 0.99353781 0.06015344 0.85935847] [ 0.3986682 -0.09385536 0.91228002 1.6378199 ] [ 0. 0. 0. 1. ]] SLAMing on 81.11964924600001 meters Centerline goodness : 0.901326 Centerline is valid? [False, False] Translation: X:10.59, Y:0.86, Z:1.64 [[ 0.91403079 -0.06694927 -0.40008188 10.58697898] [ 0.09471081 0.99424835 0.05000076 0.86246238] [ 0.39443324 -0.08359431 0.91511443 1.63701216] [ 0. 0. 0. 1. ]] SLAMing on 81.14964924600001 meters Centerline goodness : 0.905299 Centerline is valid? [False, False] Translation: X:10.59, Y:0.86, Z:1.64 [[ 0.91393239 -0.06181487 -0.40113154 10.5878357 ] [ 0.09119556 0.99433781 0.05454997 0.86186524] [ 0.39548825 -0.0864364 0.91439477 1.63934261] [ 0. 0. 0. 1. ]] SLAMing on 81.17964924600001 meters Centerline goodness : 0.908842 Centerline is valid? [False, False] Translation: X:10.59, Y:0.86, Z:1.64 [[ 0.91372921 -0.05729227 -0.40226425 10.58975764] [ 0.08818168 0.9943746 0.05867834 0.86232519] [ 0.39663954 -0.08908845 0.91364124 1.64121941] [ 0. 0. 0. 1. ]] SLAMing on 81.20964924600001 meters Centerline goodness : 0.908842 Centerline is valid? [False, False] Translation: X:10.59, Y:0.86, Z:1.64 [[ 0.91372921 -0.05729227 -0.40226425 10.58975764] [ 0.08818168 0.9943746 0.05867834 0.86232519] [ 0.39663954 -0.08908845 0.91364124 1.64121941] [ 0. 0. 0. 1. ]] SLAMing on 81.23964924600001 meters Centerline goodness : 0.910398 Centerline is valid? [False, False] Translation: X:10.60, Y:0.87, Z:1.64 [[ 0.91601579 -0.05717921 -0.39704611 10.60342558] [ 0.08468297 0.99504638 0.05207196 0.8663726 ] [ 0.39210186 -0.08132178 0.9163203 1.64268255] [ 0. 0. 0. 1. ]] SLAMing on 81.26964924600001 meters Centerline goodness : 0.911904 Centerline is valid? [False, False] Translation: X:10.62, Y:0.87, Z:1.64 [[ 0.91807986 -0.0588768 -0.39199859 10.61783831] [ 0.08260237 0.99561428 0.04392104 0.86941935] [ 0.38769346 -0.07270304 0.91891678 1.64355496] [ 0. 0. 0. 1. ]] SLAMing on 81.29964924600002 meters Centerline goodness : 0.916862 Centerline is valid? [False, False] Translation: X:10.62, Y:0.87, Z:1.64 [[ 0.91808894 -0.05803302 -0.39210314 10.61714579] [ 0.08171198 0.99568611 0.0439583 0.87132468] [ 0.38786061 -0.07239716 0.91887039 1.64353336] [ 0. 0. 0. 1. ]] SLAMing on 81.32964924600002 meters Centerline goodness : 0.918252 Centerline is valid? [False, False] Translation: X:10.62, Y:0.87, Z:1.64 [[ 0.91794693 -0.05790802 -0.39245394 10.61834908] [ 0.08137852 0.99573707 0.04341913 0.87246439] [ 0.38826662 -0.07179378 0.91874626 1.64290152] [ 0. 0. 0. 1. ]] SLAMing on 81.35964924600002 meters Centerline goodness : 0.913865 Centerline is valid? [False, False] Translation: X:10.62, Y:0.87, Z:1.64 [[ 0.917709 -0.05815862 -0.39297299 10.62010726] [ 0.08160623 0.9957275 0.0432107 0.87290357] [ 0.38878094 -0.0717239 0.91853419 1.64308167] [ 0. 0. 0. 1. ]] SLAMing on 81.389649246 meters Centerline goodness : 0.910055 Centerline is valid? [False, False] Translation: X:10.62, Y:0.87, Z:1.64 [[ 0.91752258 -0.05839536 -0.39337298 10.62176992] [ 0.08177437 0.99572623 0.04292119 0.87393816] [ 0.3891854 -0.07154899 0.91837654 1.64290827] [ 0. 0. 0. 1. ]] SLAMing on 81.419649246 meters Centerline goodness : 0.910369 Centerline is valid? [False, False] Translation: X:10.62, Y:0.88, Z:1.64 [[ 0.91739868 -0.05777575 -0.39375324 10.6221733 ] [ 0.08109091 0.99578649 0.04281966 0.87611595] [ 0.38962023 -0.07121251 0.91821831 1.64279244] [ 0. 0. 0. 1. ]] SLAMing on 81.449649246 meters Centerline goodness : 0.909350 Centerline is valid? [False, False] Translation: X:10.62, Y:0.88, Z:1.64 [[ 0.91724798 -0.05238012 -0.39485752 10.62310241] [ 0.07723308 0.9958904 0.04730068 0.87543212] [ 0.3907572 -0.07388251 0.91752394 1.64487117] [ 0. 0. 0. 1. ]] SLAMing on 81.47964924600001 meters Centerline goodness : 0.912241 Centerline is valid? [False, False] Translation: X:10.62, Y:0.88, Z:1.64 [[ 0.91716944 -0.05224122 -0.3950583 10.62349188] [ 0.07691269 0.99593596 0.04686158 0.87712544] [ 0.39100466 -0.07336501 0.91746004 1.64449802] [ 0. 0. 0. 1. ]] SLAMing on 81.50964924600001 meters Centerline goodness : 0.907372 Centerline is valid? [False, False] Translation: X:10.63, Y:0.88, Z:1.65 [[ 0.91693661 -0.04779693 -0.39615994 10.62612549] [ 0.07358531 0.99602738 0.05014645 0.87927092] [ 0.3921893 -0.07513266 0.91681112 1.64504768] [ 0. 0. 0. 1. ]] SLAMing on 81.53964924600001 meters Centerline goodness : 0.910097 Centerline is valid? [False, False] Translation: X:10.63, Y:0.88, Z:1.65 [[ 0.91667747 -0.04850987 -0.39667268 10.62823338] [ 0.07423414 0.9959993 0.04974621 0.87986177] [ 0.39267253 -0.07504789 0.91661121 1.64521849] [ 0. 0. 0. 1. ]] SLAMing on 81.56964924600001 meters Centerline goodness : 0.910211 Centerline is valid? [False, False] Translation: X:10.63, Y:0.88, Z:1.65 [[ 0.91656372 -0.04868704 -0.39691374 10.62925871] [ 0.07441398 0.99598985 0.04966661 0.8798679 ] [ 0.39290394 -0.07505854 0.91651116 1.64528433] [ 0. 0. 0. 1. ]] SLAMing on 81.59964924600001 meters Centerline goodness : 0.910323 Centerline is valid? [False, False] Translation: X:10.63, Y:0.88, Z:1.65 [[ 0.91593987 -0.04961023 -0.39823734 10.63238879] [ 0.07593308 0.99582871 0.05059005 0.8767994 ] [ 0.3940664 -0.07657683 0.91588627 1.64856801] [ 0. 0. 0. 1. ]] SLAMing on 81.62964924600001 meters Centerline goodness : 0.911123 Centerline is valid? [False, False] Translation: X:10.63, Y:0.88, Z:1.65 [[ 0.91570983 -0.04988879 -0.39873126 10.63463979] [ 0.07630575 0.99579729 0.05064764 0.87538421] [ 0.39452876 -0.07680403 0.91566817 1.64875151] [ 0. 0. 0. 1. ]] SLAMing on 81.65964924600001 meters Centerline goodness : 0.909506 Centerline is valid? [False, False] Translation: X:10.64, Y:0.87, Z:1.65 [[ 0.91544057 -0.05011697 -0.39932048 10.63627796] [ 0.07674499 0.99574731 0.05096567 0.8739643 ] [ 0.39506805 -0.07730189 0.91539372 1.6497688 ] [ 0. 0. 0. 1. ]] SLAMing on 81.68964924600002 meters Centerline goodness : 0.917973 Centerline is valid? [False, False] Translation: X:10.64, Y:0.87, Z:1.65 [[ 0.91509944 -0.05034683 -0.40007275 10.63868444] [ 0.07715789 0.9957043 0.05118214 0.87192346] [ 0.3957773 -0.07770552 0.9150531 1.65062198] [ 0. 0. 0. 1. ]] SLAMing on 81.71964924600002 meters Centerline goodness : 0.913296 Centerline is valid? [False, False] Translation: X:10.64, Y:0.87, Z:1.65 [[ 0.91487317 -0.05085648 -0.40052553 10.64089553] [ 0.07762525 0.99568326 0.05088393 0.87181188] [ 0.39620879 -0.07764323 0.91487164 1.65053957] [ 0. 0. 0. 1. ]] SLAMing on 81.74964924600002 meters Centerline goodness : 0.911775 Centerline is valid? [False, False] Translation: X:10.64, Y:0.87, Z:1.65 [[ 0.91462359 -0.05122627 -0.40104806 10.64290067] [ 0.07797207 0.99566838 0.0506441 0.87160729] [ 0.39671657 -0.07759084 0.91465601 1.65063515] [ 0. 0. 0. 1. ]] SLAMing on 81.779649246 meters Centerline goodness : 0.909207 Centerline is valid? [False, False] Translation: X:10.65, Y:0.87, Z:1.65 [[ 0.91431235 -0.05182732 -0.40168004 10.64589408] [ 0.0784715 0.99565402 0.0501528 0.87109972] [ 0.39733506 -0.07737576 0.91440573 1.65039991] [ 0. 0. 0. 1. ]] SLAMing on 81.809649246 meters Centerline goodness : 0.906231 Centerline is valid? [False, False] Translation: X:10.65, Y:0.87, Z:1.65 [[ 0.91406936 -0.05234743 -0.40216533 10.64823833] [ 0.07892237 0.99563688 0.04978422 0.87127431] [ 0.39780456 -0.07724607 0.91421254 1.65019097] [ 0. 0. 0. 1. ]] SLAMing on 81.83964924600001 meters Centerline goodness : 0.901940 Centerline is valid? [False, False] Translation: X:10.65, Y:0.87, Z:1.65 [[ 0.91365264 -0.05355824 -0.40295208 10.65271339] [ 0.07988447 0.99560893 0.04879884 0.87183501] [ 0.39856911 -0.0767748 0.9139192 1.64936098] [ 0. 0. 0. 1. ]] SLAMing on 81.86964924600001 meters Centerline goodness : 0.903000 Centerline is valid? [False, False] Translation: X:10.66, Y:0.87, Z:1.65 [[ 0.91328607 -0.05396705 -0.40372776 10.6553245 ] [ 0.08031691 0.99558357 0.04860604 0.87139109] [ 0.3993216 -0.07681738 0.91358708 1.64979507] [ 0. 0. 0. 1. ]] SLAMing on 81.89964924600001 meters Centerline goodness : 0.903074 Centerline is valid? [False, False] Translation: X:10.66, Y:0.87, Z:1.65 [[ 0.91300572 -0.05428297 -0.40431908 10.65698693] [ 0.08067003 0.9955601 0.04850189 0.87124633] [ 0.39989111 -0.07689893 0.91333107 1.65037346] [ 0. 0. 0. 1. ]] SLAMing on 81.92964924600001 meters Centerline goodness : 0.903637 Centerline is valid? [False, False] Translation: X:10.66, Y:0.87, Z:1.65 [[ 0.9128433 -0.05388345 -0.40473903 10.65715524] [ 0.08042911 0.99556217 0.04885828 0.87066474] [ 0.40031021 -0.07715276 0.91312605 1.65133348] [ 0. 0. 0. 1. ]] SLAMing on 81.95964924600001 meters Centerline goodness : 0.904642 Centerline is valid? [False, False] Translation: X:10.66, Y:0.87, Z:1.65 [[ 0.91262379 -0.05396399 -0.40522304 10.65836176] [ 0.0805874 0.99554648 0.04891704 0.87031818] [ 0.40077861 -0.07729873 0.91290822 1.65185353] [ 0. 0. 0. 1. ]] SLAMing on 81.98964924600001 meters Centerline goodness : 0.904785 Centerline is valid? [False, False] Translation: X:10.66, Y:0.87, Z:1.65 [[ 0.91238404 -0.05400776 -0.40575673 10.65944501] [ 0.08082255 0.99551194 0.04923108 0.86982608] [ 0.40127681 -0.07771195 0.91265425 1.65283661] [ 0. 0. 0. 1. ]] SLAMing on 82.01964924600001 meters Centerline goodness : 0.910458 Centerline is valid? [False, False] Translation: X:10.66, Y:0.87, Z:1.66 [[ 0.91189909 -0.05891805 -0.4061634 10.65936467] [ 0.08524764 0.99524955 0.04702313 0.86664989] [ 0.40146343 -0.07750482 0.91258979 1.65635212] [ 0. 0. 0. 1. ]] SLAMing on 82.04964924600002 meters Centerline goodness : 0.920267 Centerline is valid? [False, False] Translation: X:10.66, Y:0.86, Z:1.66 [[ 0.9112081 -0.06429045 -0.40689867 10.65926328] [ 0.0907464 0.9948094 0.0460363 0.86310832] [ 0.40182693 -0.07887324 0.91231252 1.66302025] [ 0. 0. 0. 1. ]] SLAMing on 82.07964924600002 meters Centerline goodness : 0.918042 Centerline is valid? [False, False] Translation: X:10.66, Y:0.86, Z:1.66 [[ 0.91070119 -0.06561731 -0.4078207 10.66322708] [ 0.09198279 0.99472705 0.04535701 0.86404822] [ 0.40269407 -0.07881917 0.91193477 1.66324402] [ 0. 0. 0. 1. ]] SLAMing on 82.10964924600002 meters Centerline goodness : 0.908453 Centerline is valid? [False, False] Translation: X:10.67, Y:0.87, Z:1.66 [[ 0.91014803 -0.06292691 -0.40947621 10.67167593] [ 0.09009664 0.99480534 0.04738065 0.86688859] [ 0.4043676 -0.08001584 0.91108963 1.66167549] [ 0. 0. 0. 1. ]] SLAMing on 82.139649246 meters Centerline goodness : 0.906467 Centerline is valid? [False, False] Translation: X:10.67, Y:0.87, Z:1.66 [[ 0.91005746 -0.06321742 -0.40963273 10.6737508 ] [ 0.09016717 0.99482689 0.04679048 0.86815004] [ 0.40455567 -0.07951745 0.91104977 1.66044346] [ 0. 0. 0. 1. ]] SLAMing on 82.169649246 meters Centerline goodness : 0.907933 Centerline is valid? [False, False] Translation: X:10.67, Y:0.87, Z:1.66 [[ 0.90974883 -0.06257784 -0.41041573 10.67373149] [ 0.0900446 0.99478429 0.04791854 0.86591215] [ 0.40527648 -0.08054956 0.91063864 1.66317356] [ 0. 0. 0. 1. ]] SLAMing on 82.199649246 meters Centerline goodness : 0.911698 Centerline is valid? [False, False] Translation: X:10.67, Y:0.87, Z:1.66 [[ 0.90953534 -0.06217933 -0.41094914 10.67391956] [ 0.08983848 0.9947836 0.04831812 0.86533337] [ 0.40580108 -0.08086608 0.91037693 1.6643653 ] [ 0. 0. 0. 1. ]] SLAMing on 82.22964924600001 meters Centerline goodness : 0.908404 Centerline is valid? [False, False] Translation: X:10.67, Y:0.86, Z:1.67 [[ 0.90924867 -0.062049 -0.41160269 10.674428 ] [ 0.09001063 0.99474055 0.04888061 0.86406673] [ 0.4064049 -0.08149325 0.9100516 1.66616874] [ 0. 0. 0. 1. ]] SLAMing on 82.25964924600001 meters Centerline goodness : 0.916632 Centerline is valid? [False, False] Translation: X:10.68, Y:0.86, Z:1.67 [[ 0.90903778 -0.06193903 -0.41208478 10.67517427] [ 0.08996094 0.99474248 0.0489329 0.86397499] [ 0.40688738 -0.08155339 0.90983059 1.66691159] [ 0. 0. 0. 1. ]] SLAMing on 82.28964924600001 meters Centerline goodness : 0.913997 Centerline is valid? [False, False] Translation: X:10.68, Y:0.86, Z:1.67 [[ 0.90874456 -0.06231291 -0.41267473 10.67708063] [ 0.09033948 0.99471788 0.04873509 0.86445839] [ 0.40745811 -0.08156857 0.90957378 1.66729768] [ 0. 0. 0. 1. ]] SLAMing on 82.31964924600001 meters Centerline goodness : 0.916884 Centerline is valid? [False, False] Translation: X:10.68, Y:0.86, Z:1.67 [[ 0.90845768 -0.06245234 -0.41328482 10.67842587] [ 0.09055235 0.9946985 0.04873569 0.86414065] [ 0.40805013 -0.08169823 0.9092967 1.66817285] [ 0. 0. 0. 1. ]] SLAMing on 82.34964924600001 meters Centerline goodness : 0.916494 Centerline is valid? [False, False] Translation: X:10.68, Y:0.86, Z:1.67 [[ 0.90822206 -0.06253268 -0.41379023 10.67970263] [ 0.09067123 0.99468972 0.04869376 0.8643021 ] [ 0.40854794 -0.08174361 0.90906906 1.66865503] [ 0. 0. 0. 1. ]] SLAMing on 82.37964924600001 meters Centerline goodness : 0.920285 Centerline is valid? [False, False] Translation: X:10.68, Y:0.87, Z:1.67 [[ 0.90821939 -0.06206533 -0.41386646 10.67937446] [ 0.09004923 0.994759 0.04843207 0.86591467] [ 0.40869143 -0.0812553 0.90904834 1.66842111] [ 0. 0. 0. 1. ]] SLAMing on 82.40964924600001 meters Centerline goodness : 0.919429 Centerline is valid? [False, False] Translation: X:10.68, Y:0.87, Z:1.67 [[ 0.90792829 -0.06134947 -0.41461121 10.6798015 ] [ 0.08919472 0.9948514 0.04811447 0.86798154] [ 0.40952474 -0.08066562 0.90872578 1.66875611] [ 0. 0. 0. 1. ]] SLAMing on 82.43964924600002 meters Centerline goodness : 0.921060 Centerline is valid? [False, False] Translation: X:10.68, Y:0.87, Z:1.67 [[ 0.9077583 -0.06140259 -0.4149754 10.68064752] [ 0.08904869 0.99489003 0.0475832 0.8693672 ] [ 0.40993316 -0.08014706 0.90858751 1.66856997] [ 0. 0. 0. 1. ]] SLAMing on 82.46964924600002 meters Centerline goodness : 0.919194 Centerline is valid? [False, False] Translation: X:10.68, Y:0.87, Z:1.67 [[ 0.9076702 -0.06137027 -0.41517286 10.68119652] [ 0.08878195 0.99494024 0.04702855 0.87097599] [ 0.41018603 -0.07954627 0.90852618 1.66802447] [ 0. 0. 0. 1. ]] SLAMing on 82.49964924600002 meters Centerline goodness : 0.920074 Centerline is valid? [False, False] Translation: X:10.68, Y:0.88, Z:1.67 [[ 0.90751687 -0.06085345 -0.41558391 10.68206031] [ 0.08774223 0.9950854 0.04589487 0.87534031] [ 0.41074863 -0.07811462 0.90839621 1.666549 ] [ 0. 0. 0. 1. ]] SLAMing on 82.529649246 meters Centerline goodness : 0.921538 Centerline is valid? [False, False] Translation: X:10.68, Y:0.88, Z:1.67 [[ 0.90744308 -0.06085522 -0.41574475 10.68274744] [ 0.08749694 0.99513358 0.04531488 0.87741999] [ 0.41096392 -0.07749706 0.90835173 1.66586987] [ 0. 0. 0. 1. ]] SLAMing on 82.559649246 meters Centerline goodness : 0.916935 Centerline is valid? [False, False] Translation: X:10.69, Y:0.88, Z:1.67 [[ 0.9071289 -0.0563598 -0.41706203 10.68563005] [ 0.08416267 0.995268 0.04856179 0.87927073] [ 0.41235157 -0.07915286 0.90757976 1.66668748] [ 0. 0. 0. 1. ]] SLAMing on 82.58964924600001 meters Centerline goodness : 0.913217 Centerline is valid? [False, False] Translation: X:10.69, Y:0.88, Z:1.67 [[ 0.90683988 -0.05717899 -0.41757874 10.68833009] [ 0.08462057 0.9952812 0.04748357 0.88179373] [ 0.4128932 -0.07839574 0.9073992 1.66588436] [ 0. 0. 0. 1. ]] SLAMing on 82.61964924600001 meters Centerline goodness : 0.910920 Centerline is valid? [False, False] Translation: X:10.69, Y:0.88, Z:1.67 [[ 0.90653854 -0.05788397 -0.41813552 10.69099633] [ 0.08518929 0.99525954 0.04691733 0.88255278] [ 0.4134376 -0.07815303 0.90717223 1.66568248] [ 0. 0. 0. 1. ]] SLAMing on 82.64964924600001 meters Centerline goodness : 0.909629 Centerline is valid? [False, False] Translation: X:10.69, Y:0.88, Z:1.67 [[ 0.90607202 -0.0631984 -0.41837718 10.69290321] [ 0.08921436 0.99508831 0.04289585 0.88233748] [ 0.41361129 -0.07619198 0.90725988 1.66568415] [ 0. 0. 0. 1. ]] SLAMing on 82.67964924600001 meters Centerline goodness : 0.911359 Centerline is valid? [False, False] Translation: X:10.69, Y:0.88, Z:1.67 [[ 0.90565915 -0.06350821 -0.41922334 10.69463825] [ 0.08982749 0.9950147 0.04332174 0.8808893 ] [ 0.4143821 -0.07689251 0.90684895 1.66742814] [ 0. 0. 0. 1. ]] SLAMing on 82.70964924600001 meters Centerline goodness : 0.910255 Centerline is valid? [False, False] Translation: X:10.70, Y:0.88, Z:1.67 [[ 0.90524312 -0.0637243 -0.42008821 10.69655475] [ 0.09031276 0.99495482 0.04368655 0.87943349] [ 0.4151849 -0.07748627 0.90643112 1.66893022] [ 0. 0. 0. 1. ]] SLAMing on 82.73964924600001 meters Centerline goodness : 0.910167 Centerline is valid? [False, False] Translation: X:10.70, Y:0.88, Z:1.67 [[ 0.90468484 -0.06431473 -0.42119943 10.69993007] [ 0.09141268 0.994821 0.0444398 0.8755451 ] [ 0.4161599 -0.07870698 0.90587866 1.67118359] [ 0. 0. 0. 1. ]] SLAMing on 82.76964924600001 meters Centerline goodness : 0.912711 Centerline is valid? [False, False] Translation: X:10.70, Y:0.87, Z:1.67 [[ 0.90390364 -0.06504149 -0.42276213 10.70431693] [ 0.09290722 0.99462904 0.04562145 0.87139311] [ 0.41752421 -0.08051505 0.90509163 1.67467094] [ 0. 0. 0. 1. ]] SLAMing on 82.79964924600002 meters Centerline goodness : 0.912511 Centerline is valid? [False, False] Translation: X:10.71, Y:0.87, Z:1.68 [[ 0.90343388 -0.06574197 -0.42365695 10.70729472] [ 0.093826 0.99453684 0.04575111 0.86948054] [ 0.41833468 -0.08108314 0.90466658 1.67594278] [ 0. 0. 0. 1. ]] SLAMing on 82.82964924600002 meters Centerline goodness : 0.916423 Centerline is valid? [False, False] Translation: X:10.71, Y:0.87, Z:1.68 [[ 0.90305061 -0.06561416 -0.42449309 10.70867521] [ 0.09416698 0.99446462 0.04661228 0.86726587] [ 0.41908494 -0.08206648 0.90423056 1.67815757] [ 0. 0. 0. 1. ]] SLAMing on 82.85964924600002 meters Centerline goodness : 0.918194 Centerline is valid? [False, False] Translation: X:10.71, Y:0.87, Z:1.68 [[ 0.90289616 -0.06580136 -0.42479254 10.70967582] [ 0.09437488 0.99444776 0.04655144 0.86725518] [ 0.41937085 -0.08212086 0.90409306 1.67843223] [ 0. 0. 0. 1. ]] SLAMing on 82.889649246 meters Centerline goodness : 0.920286 Centerline is valid? [False, False] Translation: X:10.71, Y:0.87, Z:1.68 [[ 0.90248429 -0.06634973 -0.42558173 10.71209713] [ 0.09498435 0.99439715 0.04639275 0.86726983] [ 0.42011912 -0.08229233 0.90372999 1.67932812] [ 0. 0. 0. 1. ]] SLAMing on 82.919649246 meters Centerline goodness : 0.919336 Centerline is valid? [False, False] Translation: X:10.71, Y:0.87, Z:1.68 [[ 0.90224841 -0.06683106 -0.42600636 10.71377599] [ 0.0954842 0.9943566 0.04623538 0.86762349] [ 0.42051228 -0.08239267 0.90353797 1.67968959] [ 0. 0. 0. 1. ]] SLAMing on 82.949649246 meters Centerline goodness : 0.918770 Centerline is valid? [False, False] Translation: X:10.72, Y:0.87, Z:1.68 [[ 0.90179563 -0.06748777 -0.42686068 10.71699761] [ 0.09605946 0.99432447 0.04573215 0.86913234] [ 0.42135166 -0.08224506 0.9031603 1.67988557] [ 0. 0. 0. 1. ]] SLAMing on 82.97964924600001 meters Centerline goodness : 0.915164 Centerline is valid? [False, False] Translation: X:10.72, Y:0.87, Z:1.68 [[ 0.90140708 -0.06829552 -0.42755234 10.71971244] [ 0.09679226 0.99427569 0.0452451 0.86977647] [ 0.42201486 -0.082168 0.90285762 1.68018426] [ 0. 0. 0. 1. ]] SLAMing on 83.00964924600001 meters Centerline goodness : 0.916051 Centerline is valid? [False, False] Translation: X:10.72, Y:0.87, Z:1.68 [[ 0.9007402 -0.06879561 -0.42887558 10.72279567] [ 0.09767497 0.99417009 0.04566647 0.86850709] [ 0.42323362 -0.08302404 0.90220857 1.6826034 ] [ 0. 0. 0. 1. ]] SLAMing on 83.03964924600001 meters Centerline goodness : 0.919254 Centerline is valid? [False, False] Translation: X:10.72, Y:0.87, Z:1.68 [[ 0.90028565 -0.06921241 -0.42976201 10.72492816] [ 0.0983014 0.99410091 0.0458282 0.86803325] [ 0.42405492 -0.08350468 0.90177846 1.68409202] [ 0. 0. 0. 1. ]] SLAMing on 83.06964924600001 meters Centerline goodness : 0.917620 Centerline is valid? [False, False] Translation: X:10.73, Y:0.87, Z:1.69 [[ 0.89959906 -0.07026623 -0.4310269 10.72901794] [ 0.0994623 0.99399838 0.04554629 0.86753006] [ 0.42523967 -0.08384433 0.90118885 1.68557113] [ 0. 0. 0. 1. ]] SLAMing on 83.09964924600001 meters Centerline goodness : 0.914953 Centerline is valid? [False, False] Translation: X:10.73, Y:0.87, Z:1.69 [[ 0.89921441 -0.07101898 -0.43170562 10.73184236] [ 0.10015106 0.99394978 0.04509551 0.86781404] [ 0.42589107 -0.08378631 0.90088659 1.68580898] [ 0. 0. 0. 1. ]] SLAMing on 83.12964924600001 meters Centerline goodness : 0.914953 Centerline is valid? [False, False] Translation: X:10.73, Y:0.87, Z:1.69 [[ 0.89921441 -0.07101898 -0.43170562 10.73184236] [ 0.10015106 0.99394978 0.04509551 0.86781404] [ 0.42589107 -0.08378631 0.90088659 1.68580898] [ 0. 0. 0. 1. ]] SLAMing on 83.15964924600001 meters Centerline goodness : 0.915178 Centerline is valid? [False, False] Translation: X:10.73, Y:0.87, Z:1.69 [[ 0.89886217 -0.07179856 -0.4323098 10.73447238] [ 0.10077721 0.99391484 0.04446618 0.86880989] [ 0.42648652 -0.08353594 0.90062811 1.6858118 ] [ 0. 0. 0. 1. ]] SLAMing on 83.18964924600002 meters Centerline goodness : 0.910344 Centerline is valid? [False, False] Translation: X:10.74, Y:0.87, Z:1.69 [[ 0.89833858 -0.07278656 -0.43323195 10.73782653] [ 0.10163069 0.99385918 0.04376221 0.8704679 ] [ 0.42738625 -0.08334294 0.90021939 1.68626801] [ 0. 0. 0. 1. ]] SLAMing on 83.21964924600002 meters Centerline goodness : 0.913059 Centerline is valid? [False, False] Translation: X:10.74, Y:0.87, Z:1.69 [[ 0.89765482 -0.07338672 -0.43454599 10.74117047] [ 0.10247731 0.99376786 0.04386161 0.86981541] [ 0.42861898 -0.08390369 0.89958098 1.68823144] [ 0. 0. 0. 1. ]] SLAMing on 83.24964924600002 meters Centerline goodness : 0.910689 Centerline is valid? [False, False] Translation: X:10.74, Y:0.87, Z:1.69 [[ 0.89727407 -0.07382875 -0.4352569 10.74309318] [ 0.10300035 0.99371748 0.04377789 0.87032704] [ 0.42929032 -0.08411238 0.89924131 1.68920025] [ 0. 0. 0. 1. ]] SLAMing on 83.279649246 meters Centerline goodness : 0.913987 Centerline is valid? [False, False] Translation: X:10.74, Y:0.87, Z:1.69 [[ 0.89705459 -0.0738934 -0.4356981 10.74380777] [ 0.10314846 0.99369928 0.04384225 0.87100418] [ 0.42971324 -0.08427048 0.89902448 1.69003689] [ 0. 0. 0. 1. ]] SLAMing on 83.309649246 meters Centerline goodness : 0.914169 Centerline is valid? [False, False] Translation: X:10.75, Y:0.87, Z:1.69 [[ 0.89668384 -0.07435969 -0.4363814 10.74569005] [ 0.10359994 0.99366482 0.04355775 0.87149485] [ 0.4303779 -0.08426662 0.89870685 1.69078405] [ 0. 0. 0. 1. ]] SLAMing on 83.33964924600001 meters Centerline goodness : 0.911415 Centerline is valid? [False, False] Translation: X:10.75, Y:0.87, Z:1.69 [[ 0.89619473 -0.07517143 -0.43724622 10.74807775] [ 0.10441825 0.99359477 0.04320024 0.87204165] [ 0.43119813 -0.08437231 0.89830367 1.69195847] [ 0. 0. 0. 1. ]] SLAMing on 83.36964924600001 meters Centerline goodness : 0.907752 Centerline is valid? [False, False] Translation: X:10.75, Y:0.87, Z:1.69 [[ 0.89575538 -0.07578944 -0.43803912 10.7504185 ] [ 0.10511373 0.99352799 0.04304924 0.87266584] [ 0.43194144 -0.08460551 0.89792455 1.69297948] [ 0. 0. 0. 1. ]] SLAMing on 83.39964924600001 meters Centerline goodness : 0.909941 Centerline is valid? [False, False] Translation: X:10.75, Y:0.87, Z:1.69 [[ 0.8952549 -0.07620429 -0.43898926 10.75272909] [ 0.10559448 0.99348409 0.04288541 0.87365077] [ 0.43286079 -0.08474821 0.89746826 1.6942735 ] [ 0. 0. 0. 1. ]] SLAMing on 83.42964924600001 meters Centerline goodness : 0.911179 Centerline is valid? [False, False] Translation: X:10.76, Y:0.87, Z:1.70 [[ 0.89477839 -0.0768912 -0.43984018 10.75537736] [ 0.10626135 0.99342944 0.04250267 0.8746512 ] [ 0.4336821 -0.08476849 0.89706975 1.69505801] [ 0. 0. 0. 1. ]] SLAMing on 83.45964924600001 meters Centerline goodness : 0.910340 Centerline is valid? [False, False] Translation: X:10.76, Y:0.88, Z:1.69 [[ 0.89445901 -0.07753347 -0.44037671 10.75759254] [ 0.10666751 0.99341775 0.04175195 0.87744343] [ 0.43424086 -0.0843193 0.89684175 1.69492833] [ 0. 0. 0. 1. ]] SLAMing on 83.48964924600001 meters Centerline goodness : 0.913719 Centerline is valid? [False, False] Translation: X:10.76, Y:0.88, Z:1.70 [[ 0.89390969 -0.07268782 -0.44231431 10.75994391] [ 0.10381155 0.99350784 0.04653306 0.87693919] [ 0.43606035 -0.08751368 0.89565212 1.69916523] [ 0. 0. 0. 1. ]] SLAMing on 83.51964924600001 meters Centerline goodness : 0.912414 Centerline is valid? [False, False] Translation: X:10.76, Y:0.88, Z:1.70 [[ 0.89360893 -0.0730896 -0.44285549 10.76126597] [ 0.10411313 0.99349579 0.04611485 0.87808472] [ 0.43660455 -0.08731571 0.89540629 1.69964954] [ 0. 0. 0. 1. ]] SLAMing on 83.54964924600002 meters Centerline goodness : 0.912261 Centerline is valid? [False, False] Translation: X:10.76, Y:0.88, Z:1.70 [[ 0.89295524 -0.06891124 -0.44483951 10.76453625] [ 0.10194434 0.99349553 0.05073452 0.87855843] [ 0.43844988 -0.09065253 0.89417214 1.70412285] [ 0. 0. 0. 1. ]] SLAMing on 83.57964924600002 meters Centerline goodness : 0.908357 Centerline is valid? [False, False] Translation: X:10.77, Y:0.88, Z:1.70 [[ 0.89257382 -0.06954685 -0.44550556 10.76683941] [ 0.10245216 0.9934717 0.0501751 0.8807116 ] [ 0.43910765 -0.09042799 0.89387206 1.70431765] [ 0. 0. 0. 1. ]] SLAMing on 83.60964924600002 meters Centerline goodness : 0.908663 Centerline is valid? [False, False] Translation: X:10.77, Y:0.88, Z:1.70 [[ 0.89197817 -0.07040289 -0.44656285 10.77035055] [ 0.10302908 0.99346234 0.04916906 0.88349665] [ 0.44018172 -0.08986669 0.89340026 1.70451136] [ 0. 0. 0. 1. ]] SLAMing on 83.63964924600002 meters Centerline goodness : 0.909094 Centerline is valid? [False, False] Translation: X:10.77, Y:0.88, Z:1.71 [[ 0.89154377 -0.07084202 -0.44736016 10.77238117] [ 0.10352442 0.99341918 0.04900019 0.88373506] [ 0.44094489 -0.08999851 0.89301056 1.70551505] [ 0. 0. 0. 1. ]] SLAMing on 83.669649246 meters Centerline goodness : 0.908856 Centerline is valid? [False, False] Translation: X:10.78, Y:0.88, Z:1.71 [[ 0.89102486 -0.07165788 -0.44826314 10.77516161] [ 0.10435197 0.99335082 0.04862944 0.88406904] [ 0.44179787 -0.09010719 0.89257791 1.70651465] [ 0. 0. 0. 1. ]] SLAMing on 83.699649246 meters Centerline goodness : 0.909976 Centerline is valid? [False, False] Translation: X:10.78, Y:0.89, Z:1.71 [[ 0.89032081 -0.07276664 -0.44948178 10.77933453] [ 0.10534631 0.99328302 0.04786433 0.88556636] [ 0.44297969 -0.08996585 0.89200624 1.70735599] [ 0. 0. 0. 1. ]] SLAMing on 83.72964924600001 meters Centerline goodness : 0.910742 Centerline is valid? [False, False] Translation: X:10.78, Y:0.89, Z:1.71 [[ 0.88992866 -0.07351876 -0.45013551 10.78194982] [ 0.10598014 0.99324248 0.04730309 0.88678365] [ 0.44361604 -0.0898018 0.89170648 1.70753921] [ 0. 0. 0. 1. ]] SLAMing on 83.75964924600001 meters Centerline goodness : 0.907958 Centerline is valid? [False, False] Translation: X:10.79, Y:0.89, Z:1.71 [[ 0.88908395 -0.07538556 -0.4514939 10.78767372] [ 0.10757504 0.99313153 0.04601493 0.88846377] [ 0.44492397 -0.08948061 0.89108691 1.70805367] [ 0. 0. 0. 1. ]] SLAMing on 83.78964924600001 meters Centerline goodness : 0.905368 Centerline is valid? [False, False] Translation: X:10.79, Y:0.89, Z:1.71 [[ 0.88842031 -0.07219725 -0.45331767 10.79253974] [ 0.10642183 0.99304234 0.05041141 0.88707552] [ 0.44652408 -0.09302941 0.88992234 1.71216131] [ 0. 0. 0. 1. ]] SLAMing on 83.81964924600001 meters Centerline goodness : 0.903798 Centerline is valid? [False, False] Translation: X:10.80, Y:0.89, Z:1.72 [[ 0.8874967 -0.07331014 -0.4549453 10.79684603] [ 0.10797849 0.99286206 0.05065156 0.88592965] [ 0.44798466 -0.0940774 0.88907772 1.71528349] [ 0. 0. 0. 1. ]] SLAMing on 83.84964924600001 meters Centerline goodness : 0.904055 Centerline is valid? [False, False] Translation: X:10.80, Y:0.88, Z:1.72 [[ 0.88698227 -0.07380148 -0.45586818 10.79934186] [ 0.10871563 0.99277374 0.05080563 0.88493581] [ 0.44882443 -0.09462369 0.88859608 1.71685242] [ 0. 0. 0. 1. ]] SLAMing on 83.87964924600001 meters Centerline goodness : 0.901393 Centerline is valid? [False, False] Translation: X:10.81, Y:0.88, Z:1.72 [[ 0.88584365 -0.07588747 -0.45773587 10.80521748] [ 0.11153113 0.99243551 0.05130846 0.8828293 ] [ 0.45037966 -0.09650307 0.88760651 1.72139394] [ 0. 0. 0. 1. ]] SLAMing on 83.90964924600001 meters Centerline goodness : 0.901543 Centerline is valid? [False, False] Translation: X:10.81, Y:0.88, Z:1.72 [[ 0.88530682 -0.07663665 -0.45864873 10.80799228] [ 0.1124606 0.99233281 0.05126596 0.88270912] [ 0.45120333 -0.09696602 0.88713761 1.72280527] [ 0. 0. 0. 1. ]] SLAMing on 83.93964924600002 meters Centerline goodness : 0.903492 Centerline is valid? [False, False] Translation: X:10.82, Y:0.88, Z:1.73 [[ 0.88833127 -0.07276569 -0.45340127 10.81733901] [ 0.11002593 0.99233225 0.05631155 0.8786919 ] [ 0.44582716 -0.09990921 0.88952588 1.72817947] [ 0. 0. 0. 1. ]] SLAMing on 83.96964924600002 meters Centerline goodness : 0.900775 Centerline is valid? [False, False] Translation: X:10.82, Y:0.88, Z:1.73 [[ 0.88781859 -0.07326538 -0.45432404 10.81988407] [ 0.11079432 0.99223612 0.05649867 0.87770111] [ 0.44665732 -0.10049709 0.88904307 1.72978496] [ 0. 0. 0. 1. ]] SLAMing on 83.99964924600002 meters Centerline goodness : 0.903730 Centerline is valid? [False, False] Translation: X:10.82, Y:0.88, Z:1.73 [[ 0.8869266 -0.07930509 -0.45505155 10.8240718 ] [ 0.11527227 0.99198272 0.05179362 0.87798412] [ 0.44729578 -0.09839196 0.88895754 1.72983601] [ 0. 0. 0. 1. ]] SLAMing on 84.029649246 meters Centerline goodness : 0.902237 Centerline is valid? [False, False] Translation: X:10.83, Y:0.87, Z:1.73 [[ 0.89046754 -0.07430177 -0.44893965 10.83098387] [ 0.11115319 0.9922098 0.05625559 0.87386675] [ 0.44126243 -0.09999485 0.89178949 1.7341445 ] [ 0. 0. 0. 1. ]] SLAMing on 84.059649246 meters Centerline goodness : 0.902142 Centerline is valid? [False, False] Translation: X:10.83, Y:0.87, Z:1.74 [[ 0.88975713 -0.07495807 -0.4502372 10.83411235] [ 0.11226077 0.99206062 0.05668541 0.87172752] [ 0.44241357 -0.10098022 0.89110787 1.73697209] [ 0. 0. 0. 1. ]] SLAMing on 84.08964924600001 meters Centerline goodness : 0.901913 Centerline is valid? [False, False] Translation: X:10.84, Y:0.87, Z:1.74 [[ 0.88935458 -0.07539823 -0.45095846 10.83604728] [ 0.11287134 0.99198808 0.05674248 0.87154893] [ 0.44306714 -0.10136447 0.89073944 1.73823638] [ 0. 0. 0. 1. ]] SLAMing on 84.11964924600001 meters Centerline goodness : 0.903429 Centerline is valid? [False, False] Translation: X:10.84, Y:0.87, Z:1.74 [[ 0.88875366 -0.0760147 -0.45203837 10.83895286] [ 0.11346916 0.99194585 0.05628652 0.87218458] [ 0.44411899 -0.10131726 0.89022084 1.73935797] [ 0. 0. 0. 1. ]] SLAMing on 84.14964924600001 meters Centerline goodness : 0.905500 Centerline is valid? [False, False] Translation: X:10.84, Y:0.87, Z:1.74 [[ 0.88826887 -0.07662284 -0.45288779 10.84144029] [ 0.11403818 0.99190525 0.05585042 0.87324111] [ 0.44494236 -0.10125669 0.88981649 1.74010982] [ 0. 0. 0. 1. ]] SLAMing on 84.17964924600001 meters Centerline goodness : 0.906433 Centerline is valid? [False, False] Translation: X:10.84, Y:0.88, Z:1.74 [[ 0.88781424 -0.0776676 -0.45360073 10.84477865] [ 0.11456013 0.99192672 0.05438163 0.87617757] [ 0.44571499 -0.10024535 0.88954427 1.7392976 ] [ 0. 0. 0. 1. ]] SLAMing on 84.20964924600001 meters Centerline goodness : 0.905365 Centerline is valid? [False, False] Translation: X:10.85, Y:0.88, Z:1.74 [[ 0.88738274 -0.07827184 -0.45434061 10.84724133] [ 0.11503025 0.99190473 0.05378709 0.87802828] [ 0.44645258 -0.09999265 0.88920277 1.73957697] [ 0. 0. 0. 1. ]] SLAMing on 84.23964924600001 meters Centerline goodness : 0.905025 Centerline is valid? [False, False] Translation: X:10.85, Y:0.88, Z:1.74 [[ 0.88686353 -0.07849617 -0.45531466 10.84942009] [ 0.1149843 0.99195488 0.05295396 0.88140375] [ 0.44749491 -0.09931698 0.88875443 1.73991871] [ 0. 0. 0. 1. ]] SLAMing on 84.26964924600001 meters Centerline goodness : 0.902281 Centerline is valid? [False, False] Translation: X:10.85, Y:0.88, Z:1.74 [[ 0.88651342 -0.07919722 -0.45587472 10.85121748] [ 0.11544932 0.99194179 0.05218176 0.8836533 ] [ 0.44806854 -0.09889025 0.88851297 1.74005772] [ 0. 0. 0. 1. ]] SLAMing on 84.29964924600002 meters Centerline goodness : 0.909182 Centerline is valid? [False, False] Translation: X:10.87, Y:0.89, Z:1.74 [[ 0.88866554 -0.08316004 -0.45095229 10.86529807] [ 0.11512353 0.99238233 0.0438622 0.88806748] [ 0.4438695 -0.09089405 0.89146965 1.74458396] [ 0. 0. 0. 1. ]] SLAMing on 84.32964924600002 meters Centerline goodness : 0.905934 Centerline is valid? [False, False] Translation: X:10.87, Y:0.89, Z:1.75 [[ 0.88823452 -0.08372249 -0.45169677 10.86727893] [ 0.11568319 0.9923308 0.04355444 0.88969793] [ 0.44458613 -0.09094028 0.89110776 1.74543749] [ 0. 0. 0. 1. ]] SLAMing on 84.35964924600002 meters Centerline goodness : 0.902972 Centerline is valid? [False, False] Translation: X:10.88, Y:0.89, Z:1.75 [[ 0.88705294 -0.08439187 -0.45388885 10.87674327] [ 0.11853739 0.99182467 0.04725164 0.89165845] [ 0.44619051 -0.09571751 0.88980458 1.75263779] [ 0. 0. 0. 1. ]] SLAMing on 84.38964924600002 meters Centerline goodness : 0.902540 Centerline is valid? [False, False] Translation: X:10.88, Y:0.89, Z:1.75 [[ 0.88656677 -0.08565646 -0.4546013 10.88051107] [ 0.11949312 0.99176103 0.0461677 0.89416352] [ 0.44690129 -0.09525248 0.88949773 1.75224462] [ 0. 0. 0. 1. ]] SLAMing on 84.419649246 meters Centerline goodness : 0.901407 Centerline is valid? [False, False] Translation: X:10.89, Y:0.90, Z:1.75 [[ 0.88596703 -0.08240967 -0.45636726 10.8863196 ] [ 0.11756774 0.99184861 0.04913415 0.89563677] [ 0.4485981 -0.0971853 0.88843388 1.75362601] [ 0. 0. 0. 1. ]] SLAMing on 84.449649246 meters Centerline goodness : 0.902099 Centerline is valid? [False, False] Translation: X:10.89, Y:0.90, Z:1.75 [[ 0.88557816 -0.08266302 -0.45707564 10.88809933] [ 0.11793706 0.99180488 0.04913167 0.89611621] [ 0.44926848 -0.09741609 0.88806978 1.75465091] [ 0. 0. 0. 1. ]] SLAMing on 84.47964924600001 meters Centerline goodness : 0.900012 Centerline is valid? [False, False] Translation: X:10.89, Y:0.90, Z:1.76 [[ 0.8850048 -0.08290908 -0.45814036 10.89024443] [ 0.11826766 0.99177294 0.04898162 0.89687731] [ 0.45031019 -0.09753216 0.88752927 1.75616992] [ 0. 0. 0. 1. ]] SLAMing on 84.50964924600001 meters Centerline goodness : 0.901933 Centerline is valid? [False, False] Translation: X:10.89, Y:0.90, Z:1.76 [[ 0.88457007 -0.08337496 -0.45889478 10.89258079] [ 0.11866739 0.99174604 0.0485576 0.89826454] [ 0.45105859 -0.09740844 0.88716275 1.75664418] [ 0. 0. 0. 1. ]] SLAMing on 84.53964924600001 meters Centerline goodness : 0.900015 Centerline is valid? [False, False] Translation: X:10.90, Y:0.90, Z:1.76 [[ 0.88392014 -0.08426473 -0.45998331 10.89661579] [ 0.11915919 0.99174778 0.04730139 0.90088046] [ 0.45220159 -0.09662189 0.88666675 1.75646793] [ 0. 0. 0. 1. ]] SLAMing on 84.56964924600001 meters Centerline goodness : 0.898437 Centerline is valid? [False, False] Translation: X:10.90, Y:0.90, Z:1.76 [[ 0.88764969 -0.07562123 -0.45426804 10.90219062] [ 0.1126364 0.99211635 0.05493805 0.89791475] [ 0.44653227 -0.09993286 0.88916948 1.76157813] [ 0. 0. 0. 1. ]] SLAMing on 84.59964924600001 meters Centerline goodness : 0.900315 Centerline is valid? [False, False] Translation: X:10.91, Y:0.90, Z:1.76 [[ 0.88696271 -0.07603299 -0.45553939 10.90544235] [ 0.11295324 0.99211351 0.0543355 0.89959163] [ 0.4478155 -0.09964821 0.88855586 1.76251134] [ 0. 0. 0. 1. ]] SLAMing on 84.62964924600001 meters Centerline goodness : 0.899592 Centerline is valid? [False, False] Translation: X:10.91, Y:0.90, Z:1.76 [[ 0.8865873 -0.07663051 -0.45616963 10.90764371] [ 0.11349295 0.9920744 0.05392344 0.90057425] [ 0.44842203 -0.09957987 0.88825758 1.76296179] [ 0. 0. 0. 1. ]] SLAMing on 84.65964924600001 meters Centerline goodness : 0.898543 Centerline is valid? [False, False] Translation: X:10.92, Y:0.90, Z:1.77 [[ 0.88980741 -0.06858293 -0.45115314 10.91505366] [ 0.10752033 0.99231666 0.06121292 0.89933588] [ 0.44348862 -0.10297584 0.89034478 1.76913818] [ 0. 0. 0. 1. ]] SLAMing on 84.68964924600002 meters Centerline goodness : 0.897044 Centerline is valid? [False, False] Translation: X:10.92, Y:0.90, Z:1.77 [[ 0.88954856 -0.06906505 -0.45158984 10.91680808] [ 0.10783858 0.9923161 0.06065967 0.90069481] [ 0.44393041 -0.10265853 0.89016123 1.76901131] [ 0. 0. 0. 1. ]] SLAMing on 84.71964924600002 meters Centerline goodness : 0.899216 Centerline is valid? [False, False] Translation: X:10.93, Y:0.91, Z:1.77 [[ 0.89169968 -0.06952762 -0.44725562 10.93319234] [ 0.10458705 0.99304074 0.0541446 0.9054016 ] [ 0.4403785 -0.09505787 0.8927658 1.77128715] [ 0. 0. 0. 1. ]] SLAMing on 84.74964924600002 meters Centerline goodness : 0.900178 Centerline is valid? [False, False] Translation: X:10.93, Y:0.91, Z:1.77 [[ 0.89139856 -0.06962475 -0.44784037 10.9344024 ] [ 0.10462103 0.99305297 0.05385394 0.90669208] [ 0.44097964 -0.09485884 0.8924902 1.7717035 ] [ 0. 0. 0. 1. ]] SLAMing on 84.779649246 meters Centerline goodness : 0.901106 Centerline is valid? [False, False] Translation: X:10.95, Y:0.91, Z:1.77 [[ 0.89347602 -0.06829808 -0.44388734 10.95134443] [ 0.10009959 0.99379091 0.04857667 0.91196755] [ 0.43781351 -0.08783503 0.89476496 1.77417302] [ 0. 0. 0. 1. ]] SLAMing on 84.809649246 meters Centerline goodness : 0.901132 Centerline is valid? [False, False] Translation: X:10.95, Y:0.91, Z:1.78 [[ 0.89309453 -0.06402228 -0.44529014 10.95417696] [ 0.09752711 0.99383582 0.0527146 0.91131525] [ 0.43917039 -0.09050698 0.89383324 1.77663276] [ 0. 0. 0. 1. ]] SLAMing on 84.83964924600001 meters Centerline goodness : 0.905301 Centerline is valid? [False, False] Translation: X:10.96, Y:0.91, Z:1.78 [[ 0.89249894 -0.0644552 -0.44642039 10.95573941] [ 0.09825801 0.99375073 0.05296076 0.91058962] [ 0.44021699 -0.0911318 0.89325472 1.77926166] [ 0. 0. 0. 1. ]] SLAMing on 84.86964924600001 meters Centerline goodness : 0.903271 Centerline is valid? [False, False] Translation: X:10.96, Y:0.91, Z:1.78 [[ 0.89207293 -0.06490765 -0.44720564 10.95787906] [ 0.09869526 0.99372419 0.05264482 0.91135536] [ 0.44098201 -0.0911001 0.89288053 1.77994034] [ 0. 0. 0. 1. ]] SLAMing on 84.89964924600001 meters Centerline goodness : 0.900991 Centerline is valid? [False, False] Translation: X:10.96, Y:0.91, Z:1.78 [[ 0.89149717 -0.0660457 -0.44818608 10.96241565] [ 0.09958495 0.99368739 0.05165471 0.91376594] [ 0.44194528 -0.09068262 0.89244665 1.77973664] [ 0. 0. 0. 1. ]] SLAMing on 84.92964924600001 meters Centerline goodness : 0.897300 Centerline is valid? [False, False] Translation: X:10.97, Y:0.91, Z:1.78 [[ 0.89109688 -0.0669727 -0.44884408 10.96566356] [ 0.10030785 0.99365475 0.05087794 0.91498785] [ 0.44258862 -0.09035976 0.89216054 1.77947566] [ 0. 0. 0. 1. ]] SLAMing on 84.95964924600001 meters Centerline goodness : 0.900513 Centerline is valid? [False, False] Translation: X:10.97, Y:0.92, Z:1.78 [[ 0.8907062 -0.06777828 -0.44949813 10.96843442] [ 0.10103233 0.99360679 0.05037876 0.91559331] [ 0.44320981 -0.09028652 0.89185953 1.77972502] [ 0. 0. 0. 1. ]] SLAMing on 84.98964924600001 meters Centerline goodness : 0.904787 Centerline is valid? [False, False] Translation: X:10.97, Y:0.92, Z:1.78 [[ 0.89016713 -0.06764624 -0.45058459 10.97040513] [ 0.10108529 0.99359351 0.05053421 0.91527203] [ 0.44427947 -0.09053136 0.89130232 1.78133212] [ 0. 0. 0. 1. ]] SLAMing on 85.01964924600001 meters Centerline goodness : 0.904787 Centerline is valid? [False, False] Translation: X:10.97, Y:0.92, Z:1.78 [[ 0.89016713 -0.06764624 -0.45058459 10.97040513] [ 0.10108529 0.99359351 0.05053421 0.91527203] [ 0.44427947 -0.09053136 0.89130232 1.78133212] [ 0. 0. 0. 1. ]] SLAMing on 85.04964924600002 meters Centerline goodness : 0.906927 Centerline is valid? [False, False] Translation: X:10.97, Y:0.92, Z:1.78 [[ 0.88981945 -0.06745587 -0.45129929 10.97134556] [ 0.10103631 0.99359007 0.05069937 0.91511258] [ 0.44498653 -0.09071091 0.89093127 1.78251754] [ 0. 0. 0. 1. ]] SLAMing on 85.07964924600002 meters Centerline goodness : 0.911133 Centerline is valid? [False, False] Translation: X:10.99, Y:0.92, Z:1.79 [[ 0.89182231 -0.06922072 -0.44705868 10.98710493] [ 0.09874415 0.99418137 0.04304643 0.91855587] [ 0.44147771 -0.0825342 0.89346826 1.78518812] [ 0. 0. 0. 1. ]] SLAMing on 85.10964924600002 meters Centerline goodness : 0.905517 Centerline is valid? [False, False] Translation: X:10.99, Y:0.92, Z:1.79 [[ 0.89155194 -0.06915051 -0.44760848 10.98855921] [ 0.0986607 0.99419506 0.04292154 0.91905461] [ 0.44204209 -0.08242814 0.89319896 1.78556757] [ 0. 0. 0. 1. ]] SLAMing on 85.13964924600002 meters Centerline goodness : 0.911007 Centerline is valid? [False, False] Translation: X:10.99, Y:0.92, Z:1.79 [[ 0.89118248 -0.06970112 -0.44825834 10.99115206] [ 0.09915194 0.99416265 0.04253847 0.91993766] [ 0.44267672 -0.08235522 0.89289134 1.78575309] [ 0. 0. 0. 1. ]] SLAMing on 85.169649246 meters Centerline goodness : 0.906936 Centerline is valid? [False, False] Translation: X:10.99, Y:0.92, Z:1.79 [[ 0.8904183 -0.07021676 -0.44969418 10.99396852] [ 0.10042912 0.99398623 0.04365062 0.91786086] [ 0.44392482 -0.0840297 0.89211533 1.78961287] [ 0. 0. 0. 1. ]] SLAMing on 85.199649246 meters Centerline goodness : 0.907234 Centerline is valid? [False, False] Translation: X:11.00, Y:0.92, Z:1.79 [[ 0.889905 -0.07066657 -0.45063879 10.99573292] [ 0.10129364 0.99387523 0.04417722 0.9167149 ] [ 0.44475688 -0.08496038 0.89161261 1.79196863] [ 0. 0. 0. 1. ]] SLAMing on 85.22964924600001 meters Centerline goodness : 0.912691 Centerline is valid? [False, False] Translation: X:11.00, Y:0.92, Z:1.79 [[ 0.88942189 -0.07116281 -0.45151363 10.9979243 ] [ 0.10201308 0.99379525 0.04432071 0.91599146] [ 0.44555812 -0.0854801 0.89116279 1.79347264] [ 0. 0. 0. 1. ]] SLAMing on 85.25964924600001 meters Centerline goodness : 0.915417 Centerline is valid? [False, False] Translation: X:11.00, Y:0.91, Z:1.80 [[ 0.88842481 -0.07302084 -0.45317692 11.00249946] [ 0.10481346 0.9934549 0.04540383 0.91345082] [ 0.4468954 -0.08783693 0.89026354 1.79847732] [ 0. 0. 0. 1. ]] SLAMing on 85.28964924600001 meters Centerline goodness : 0.918404 Centerline is valid? [False, False] Translation: X:11.00, Y:0.91, Z:1.80 [[ 0.88802523 -0.0735855 -0.45386823 11.00451292] [ 0.1057295 0.99333883 0.04581756 0.91209646] [ 0.44747343 -0.08867441 0.88989009 1.80024817] [ 0. 0. 0. 1. ]] SLAMing on 85.31964924600001 meters Centerline goodness : 0.922356 Centerline is valid? [False, False] Translation: X:11.01, Y:0.91, Z:1.80 [[ 0.88762593 -0.0738799 -0.45460088 11.00675264] [ 0.10612292 0.9932985 0.04578227 0.91254923] [ 0.44817198 -0.0888811 0.88951786 1.800961 ] [ 0. 0. 0. 1. ]] SLAMing on 85.34964924600001 meters Centerline goodness : 0.918604 Centerline is valid? [False, False] Translation: X:11.01, Y:0.91, Z:1.80 [[ 0.88730778 -0.07385856 -0.45522501 11.00835254] [ 0.10619267 0.99328887 0.04582942 0.91283021] [ 0.44878504 -0.08900636 0.88919619 1.80160636] [ 0. 0. 0. 1. ]] SLAMing on 85.37964924600001 meters Centerline goodness : 0.919481 Centerline is valid? [False, False] Translation: X:11.01, Y:0.91, Z:1.80 [[ 0.8871414 -0.07228199 -0.45580198 11.00747029] [ 0.10485513 0.99339756 0.04654778 0.91204929] [ 0.449428 -0.08908764 0.88886324 1.80276377] [ 0. 0. 0. 1. ]] SLAMing on 85.40964924600001 meters Centerline goodness : 0.926942 Centerline is valid? [False, False] Translation: X:11.01, Y:0.91, Z:1.80 [[ 0.88671542 -0.0722202 -0.45663992 11.00836861] [ 0.10506479 0.99335826 0.04691233 0.91148866] [ 0.45021901 -0.08957466 0.88841388 1.80462653] [ 0. 0. 0. 1. ]] SLAMing on 85.43964924600002 meters Centerline goodness : 0.921670 Centerline is valid? [False, False] Translation: X:11.01, Y:0.91, Z:1.81 [[ 0.88633954 -0.07174385 -0.45744402 11.00939319] [ 0.10459733 0.99340986 0.04686408 0.91291923] [ 0.4510672 -0.08938491 0.88800266 1.80532976] [ 0. 0. 0. 1. ]] SLAMing on 85.46964924600002 meters Centerline goodness : 0.923409 Centerline is valid? [False, False] Translation: X:11.01, Y:0.91, Z:1.81 [[ 0.88599239 -0.07191106 -0.45808982 11.01098479] [ 0.10471569 0.99341052 0.04658496 0.91364253] [ 0.45172128 -0.08924311 0.88768438 1.80586971] [ 0. 0. 0. 1. ]] SLAMing on 85.49964924600002 meters Centerline goodness : 0.922009 Centerline is valid? [False, False] Translation: X:11.01, Y:0.92, Z:1.81 [[ 0.88564391 -0.07254298 -0.45866369 11.01335662] [ 0.10519045 0.99338768 0.0459988 0.91506245] [ 0.45229396 -0.0889856 0.88741858 1.80588171] [ 0. 0. 0. 1. ]] SLAMing on 85.529649246 meters Centerline goodness : 0.920686 Centerline is valid? [False, False] Translation: X:11.02, Y:0.92, Z:1.81 [[ 0.88530614 -0.07290931 -0.45925731 11.01556976] [ 0.1054212 0.99338551 0.04551475 0.91694701] [ 0.45290111 -0.08870994 0.88713648 1.80577298] [ 0. 0. 0. 1. ]] SLAMing on 85.559649246 meters Centerline goodness : 0.919605 Centerline is valid? [False, False] Translation: X:11.02, Y:0.92, Z:1.81 [[ 0.88493484 -0.07305147 -0.45994978 11.0176322 ] [ 0.10544853 0.99340134 0.04510416 0.91864628] [ 0.45361981 -0.08841527 0.88679863 1.80590501] [ 0. 0. 0. 1. ]] SLAMing on 85.58964924600001 meters Centerline goodness : 0.919236 Centerline is valid? [False, False] Translation: X:11.02, Y:0.92, Z:1.81 [[ 0.884222 -0.07346595 -0.46125286 11.01986342] [ 0.10611409 0.9933257 0.04520903 0.91879612] [ 0.454853 -0.08892025 0.88611621 1.80831013] [ 0. 0. 0. 1. ]] SLAMing on 85.61964924600001 meters Centerline goodness : 0.921595 Centerline is valid? [False, False] Translation: X:11.02, Y:0.92, Z:1.81 [[ 0.88373066 -0.07420865 -0.46207488 11.02173546] [ 0.107034 0.99322767 0.0451943 0.91930988] [ 0.45559175 -0.08939731 0.88568859 1.80992039] [ 0. 0. 0. 1. ]] SLAMing on 85.64964924600001 meters Centerline goodness : 0.927755 Centerline is valid? [False, False] Translation: X:11.02, Y:0.92, Z:1.82 [[ 0.88271253 -0.07533143 -0.46383592 11.02391179] [ 0.10969064 0.99282997 0.04750386 0.9181362 ] [ 0.45693166 -0.09281071 0.88464661 1.81758923] [ 0. 0. 0. 1. ]] SLAMing on 85.67964924600001 meters Centerline goodness : 0.928527 Centerline is valid? [False, False] Translation: X:11.03, Y:0.91, Z:1.82 [[ 0.88778704 -0.06613333 -0.45547838 11.02592922] [ 0.10253837 0.99317077 0.05565697 0.91387912] [ 0.44868703 -0.09611554 0.88850535 1.82033328] [ 0. 0. 0. 1. ]] SLAMing on 85.70964924600001 meters Centerline goodness : 0.928158 Centerline is valid? [False, False] Translation: X:11.03, Y:0.92, Z:1.82 [[ 0.88773863 -0.06105017 -0.45628172 11.02724554] [ 0.09872643 0.99335383 0.05917143 0.91598275] [ 0.44963677 -0.09757583 0.88786583 1.82066146] [ 0. 0. 0. 1. ]] SLAMing on 85.73964924600001 meters Centerline goodness : 0.926774 Centerline is valid? [False, False] Translation: X:11.03, Y:0.92, Z:1.82 [[ 0.8876081 -0.05568314 -0.45722122 11.02829086] [ 0.09495344 0.99346433 0.06334401 0.9163696 ] [ 0.45070578 -0.09963938 0.8870943 1.82198836] [ 0. 0. 0. 1. ]] SLAMing on 85.76964924600001 meters Centerline goodness : 0.925813 Centerline is valid? [False, False] Translation: X:11.04, Y:0.92, Z:1.82 [[ 0.88995933 -0.05531751 -0.45267248 11.04216797] [ 0.09095208 0.99420433 0.057319 0.92014056] [ 0.44687819 -0.09218308 0.88983266 1.82494308] [ 0. 0. 0. 1. ]] SLAMing on 85.79964924600002 meters Centerline goodness : 0.927516 Centerline is valid? [False, False] Translation: X:11.04, Y:0.92, Z:1.83 [[ 0.88985111 -0.05501424 -0.45292212 11.04199297] [ 0.09062652 0.99423585 0.05728794 0.9205636 ] [ 0.44715975 -0.09202449 0.88970762 1.82527616] [ 0. 0. 0. 1. ]] SLAMing on 85.82964924600002 meters Centerline goodness : 0.926460 Centerline is valid? [False, False] Translation: X:11.04, Y:0.92, Z:1.83 [[ 0.88940753 -0.05465034 -0.45383651 11.04346557] [ 0.089846 0.99436105 0.05633645 0.92309412] [ 0.44819854 -0.09088146 0.88930233 1.82501769] [ 0. 0. 0. 1. ]] SLAMing on 85.85964924600002 meters Centerline goodness : 0.924487 Centerline is valid? [False, False] Translation: X:11.05, Y:0.93, Z:1.82 [[ 0.88919137 -0.05478256 -0.45424396 11.04544111] [ 0.08946387 0.99445958 0.05519381 0.92536216] [ 0.4487036 -0.08971628 0.88916594 1.82366352] [ 0. 0. 0. 1. ]] SLAMing on 85.88964924600002 meters Centerline goodness : 0.921821 Centerline is valid? [False, False] Translation: X:11.05, Y:0.93, Z:1.83 [[ 0.88873406 -0.0509205 -0.4555863 11.04954243] [ 0.08711209 0.99446266 0.05878347 0.92514558] [ 0.45007028 -0.09192995 0.88824863 1.8251477 ] [ 0. 0. 0. 1. ]] SLAMing on 85.919649246 meters Centerline goodness : 0.917919 Centerline is valid? [False, False] Translation: X:11.05, Y:0.93, Z:1.82 [[ 0.88846284 -0.051968 -0.45599682 11.05301711] [ 0.08772991 0.99447782 0.05759631 0.92769209] [ 0.45048556 -0.09117674 0.88811574 1.82387704] [ 0. 0. 0. 1. ]] SLAMing on 85.949649246 meters Centerline goodness : 0.911449 Centerline is valid? [False, False] Translation: X:11.06, Y:0.93, Z:1.82 [[ 0.88797036 -0.05319098 -0.45681437 11.05797951] [ 0.08838871 0.99450991 0.05601314 0.92979251] [ 0.45132703 -0.09011524 0.8877968 1.82232613] [ 0. 0. 0. 1. ]] SLAMing on 85.97964924600001 meters Centerline goodness : 0.910938 Centerline is valid? [False, False] Translation: X:11.06, Y:0.93, Z:1.82 [[ 0.88764552 -0.05358272 -0.45739952 11.06009057] [ 0.08874112 0.99449541 0.05571254 0.9295978 ] [ 0.4518965 -0.09004314 0.88751439 1.82261183] [ 0. 0. 0. 1. ]] SLAMing on 86.00964924600001 meters Centerline goodness : 0.912842 Centerline is valid? [False, False] Translation: X:11.06, Y:0.93, Z:1.82 [[ 0.88734842 -0.05325439 -0.45801391 11.06085053] [ 0.08856774 0.99449714 0.05595707 0.92870501] [ 0.45251357 -0.09021867 0.88718209 1.82368464] [ 0. 0. 0. 1. ]] SLAMing on 86.03964924600001 meters Centerline goodness : 0.913369 Centerline is valid? [False, False] Translation: X:11.06, Y:0.93, Z:1.82 [[ 0.88715123 -0.05321282 -0.45840058 11.06146598] [ 0.08860897 0.99448865 0.0560427 0.9282735 ] [ 0.45289198 -0.09033675 0.88697696 1.82434325] [ 0. 0. 0. 1. ]] SLAMing on 86.06964924600001 meters Centerline goodness : 0.917396 Centerline is valid? [False, False] Translation: X:11.06, Y:0.93, Z:1.83 [[ 0.88693103 -0.05253675 -0.45890439 11.06149848] [ 0.08825374 0.99448195 0.05671798 0.92681599] [ 0.45339236 -0.09080496 0.88667346 1.82576151] [ 0. 0. 0. 1. ]] SLAMing on 86.09964924600001 meters Centerline goodness : 0.913534 Centerline is valid? [False, False] Translation: X:11.06, Y:0.93, Z:1.83 [[ 0.88676116 -0.05258473 -0.45922705 11.06266235] [ 0.08837372 0.99446805 0.05677485 0.92679129] [ 0.45370114 -0.09092934 0.88650275 1.82604041] [ 0. 0. 0. 1. ]] SLAMing on 86.12964924600001 meters Centerline goodness : 0.914290 Centerline is valid? [False, False] Translation: X:11.06, Y:0.93, Z:1.83 [[ 0.8866806 -0.05279742 -0.45935819 11.06342675] [ 0.08851074 0.99446884 0.05654709 0.92738234] [ 0.45383187 -0.09079734 0.88644937 1.82593254] [ 0. 0. 0. 1. ]] SLAMing on 86.15964924600001 meters Centerline goodness : 0.917665 Centerline is valid? [False, False] Translation: X:11.06, Y:0.93, Z:1.83 [[ 0.88652285 -0.05197375 -0.45975641 11.06302328] [ 0.08796407 0.99448035 0.05719395 0.92635808] [ 0.45424614 -0.09114578 0.88620138 1.82718796] [ 0. 0. 0. 1. ]] SLAMing on 86.18964924600002 meters Centerline goodness : 0.918072 Centerline is valid? [False, False] Translation: X:11.06, Y:0.93, Z:1.83 [[ 0.88627392 -0.05179639 -0.4602561 11.06388718] [ 0.08795526 0.99446625 0.05745213 0.92530034] [ 0.45473334 -0.09140027 0.88592527 1.82804608] [ 0. 0. 0. 1. ]] SLAMing on 86.21964924600002 meters Centerline goodness : 0.920995 Centerline is valid? [False, False] Translation: X:11.07, Y:0.92, Z:1.83 [[ 0.88569606 -0.05239621 -0.46129939 11.06678059] [ 0.08883816 0.99437782 0.05762413 0.92335801] [ 0.45568659 -0.09201846 0.8853713 1.82979762] [ 0. 0. 0. 1. ]] SLAMing on 86.24964924600002 meters Centerline goodness : 0.919494 Centerline is valid? [False, False] Translation: X:11.07, Y:0.92, Z:1.83 [[ 0.88498391 -0.05476209 -0.46239009 11.0721415 ] [ 0.09137139 0.99417643 0.0571358 0.92163847] [ 0.45656846 -0.09281349 0.88483383 1.83145368] [ 0. 0. 0. 1. ]] SLAMing on 86.279649246 meters Centerline goodness : 0.915763 Centerline is valid? [False, False] Translation: X:11.07, Y:0.92, Z:1.83 [[ 0.88469186 -0.05539383 -0.46287347 11.07489505] [ 0.09200182 0.99413343 0.0568717 0.92106785] [ 0.45700764 -0.09289913 0.88459808 1.83147071] [ 0. 0. 0. 1. ]] SLAMing on 86.309649246 meters Centerline goodness : 0.911661 Centerline is valid? [False, False] Translation: X:11.08, Y:0.92, Z:1.83 [[ 0.88438763 -0.05582388 -0.46340286 11.07723335] [ 0.09251117 0.9940902 0.05680104 0.92037987] [ 0.45749339 -0.09310408 0.88432541 1.83181403] [ 0. 0. 0. 1. ]] SLAMing on 86.33964924600001 meters Centerline goodness : 0.915523 Centerline is valid? [False, False] Translation: X:11.08, Y:0.92, Z:1.83 [[ 0.88408215 -0.06073788 -0.46336775 11.07843274] [ 0.09600509 0.99397503 0.05288338 0.91870833] [ 0.45736395 -0.09123892 0.88458673 1.83136139] [ 0. 0. 0. 1. ]] SLAMing on 86.36964924600001 meters Centerline goodness : 0.913321 Centerline is valid? [False, False] Translation: X:11.08, Y:0.92, Z:1.83 [[ 0.88377596 -0.06516413 -0.4633505 11.07899661] [ 0.09909588 0.99385894 0.04923834 0.91772822] [ 0.45729647 -0.08943179 0.88480614 1.83111232] [ 0. 0. 0. 1. ]] SLAMing on 86.39964924600001 meters Centerline goodness : 0.911053 Centerline is valid? [False, False] Translation: X:11.08, Y:0.92, Z:1.83 [[ 0.88361635 -0.06537962 -0.46362447 11.08018992] [ 0.09929965 0.99384528 0.04910345 0.91787605] [ 0.45756063 -0.08942636 0.88467011 1.8312073 ] [ 0. 0. 0. 1. ]] SLAMing on 86.42964924600001 meters Centerline goodness : 0.910192 Centerline is valid? [False, False] Translation: X:11.08, Y:0.92, Z:1.83 [[ 0.88337628 -0.06560437 -0.46405001 11.08205549] [ 0.0994565 0.99384333 0.0488246 0.91841931] [ 0.4579899 -0.08928328 0.88446241 1.83112501] [ 0. 0. 0. 1. ]] SLAMing on 86.45964924600001 meters Centerline goodness : 0.910370 Centerline is valid? [False, False] Translation: X:11.08, Y:0.92, Z:1.83 [[ 0.8832322 -0.06578517 -0.4642986 11.08320776] [ 0.0996194 0.99383353 0.04869185 0.91829249] [ 0.45823231 -0.08925936 0.88433925 1.83114894] [ 0. 0. 0. 1. ]] SLAMing on 86.48964924600001 meters Centerline goodness : 0.906952 Centerline is valid? [False, False] Translation: X:11.09, Y:0.92, Z:1.83 [[ 0.88274063 -0.06643504 -0.46514015 11.08618134] [ 0.10041562 0.99375632 0.04863201 0.91746086] [ 0.4590051 -0.08963679 0.8839002 1.83221456] [ 0. 0. 0. 1. ]] SLAMing on 86.51964924600001 meters Centerline goodness : 0.908939 Centerline is valid? [False, False] Translation: X:11.09, Y:0.92, Z:1.83 [[ 0.88233764 -0.06693323 -0.46583283 11.08836319] [ 0.101028 0.99369687 0.04857851 0.91711639] [ 0.45964511 -0.0899248 0.88353828 1.83307342] [ 0. 0. 0. 1. ]] SLAMing on 86.54964924600002 meters Centerline goodness : 0.909241 Centerline is valid? [False, False] Translation: X:11.09, Y:0.92, Z:1.83 [[ 0.88194628 -0.06740546 -0.46650537 11.09156769] [ 0.10156158 0.99364956 0.04843343 0.91592171] [ 0.46027818 -0.09009471 0.88319134 1.8333164 ] [ 0. 0. 0. 1. ]] SLAMing on 86.57964924600002 meters Centerline goodness : 0.908647 Centerline is valid? [False, False] Translation: X:11.09, Y:0.91, Z:1.84 [[ 0.88141238 -0.06812878 -0.46740847 11.0941583 ] [ 0.1026053 0.99353069 0.04867166 0.91472581] [ 0.46106872 -0.09085839 0.88270062 1.83511393] [ 0. 0. 0. 1. ]] SLAMing on 86.60964924600002 meters Centerline goodness : 0.907788 Centerline is valid? [False, False] Translation: X:11.10, Y:0.91, Z:1.84 [[ 0.88108559 -0.06848675 -0.46797196 11.09648503] [ 0.103002 0.9934964 0.04853332 0.9142611 ] [ 0.46160457 -0.09096406 0.88240964 1.8354627 ] [ 0. 0. 0. 1. ]] SLAMing on 86.63964924600002 meters Centerline goodness : 0.909662 Centerline is valid? [False, False] Translation: X:11.10, Y:0.91, Z:1.84 [[ 0.88091897 -0.06854154 -0.4682775 11.09740485] [ 0.10311412 0.99348339 0.04856158 0.91407223] [ 0.46189743 -0.09106484 0.88224597 1.83579417] [ 0. 0. 0. 1. ]] SLAMing on 86.669649246 meters Centerline goodness : 0.908391 Centerline is valid? [False, False] Translation: X:11.10, Y:0.91, Z:1.84 [[ 0.88061132 -0.06873456 -0.46882755 11.09918971] [ 0.10332231 0.99346862 0.04842115 0.91425136] [ 0.46243725 -0.09108056 0.88196152 1.83628745] [ 0. 0. 0. 1. ]] SLAMing on 86.699649246 meters Centerline goodness : 0.909067 Centerline is valid? [False, False] Translation: X:11.10, Y:0.91, Z:1.84 [[ 0.88042964 -0.0689475 -0.46913739 11.10025218] [ 0.10348682 0.99346186 0.04820795 0.91498942] [ 0.46274629 -0.09099325 0.88180843 1.83640734] [ 0. 0. 0. 1. ]] SLAMing on 86.72964924600001 meters Centerline goodness : 0.905774 Centerline is valid? [False, False] Translation: X:11.10, Y:0.92, Z:1.84 [[ 0.8802958 -0.06883262 -0.46940534 11.10090621] [ 0.10341355 0.99346716 0.04825588 0.9151803 ] [ 0.46301721 -0.09102232 0.8816632 1.8367067 ] [ 0. 0. 0. 1. ]] SLAMing on 86.75964924600001 meters Centerline goodness : 0.911993 Centerline is valid? [False, False] Translation: X:11.10, Y:0.91, Z:1.84 [[ 0.87984851 -0.06882954 -0.47024365 11.10185404] [ 0.10380069 0.99339961 0.04881223 0.91358913] [ 0.46378013 -0.09175898 0.88118572 1.83897223] [ 0. 0. 0. 1. ]] SLAMing on 86.78964924600001 meters Centerline goodness : 0.912573 Centerline is valid? [False, False] Translation: X:11.10, Y:0.91, Z:1.84 [[ 0.87957319 -0.06893996 -0.47074228 11.10289998] [ 0.10410989 0.99335549 0.04905099 0.91256329] [ 0.46423285 -0.09215286 0.88090619 1.84000977] [ 0. 0. 0. 1. ]] SLAMing on 86.81964924600001 meters Centerline goodness : 0.913491 Centerline is valid? [False, False] Translation: X:11.10, Y:0.91, Z:1.84 [[ 0.87928151 -0.06913862 -0.47125775 11.10440325] [ 0.10452242 0.99330024 0.04929196 0.91171528] [ 0.46469246 -0.09259851 0.88061708 1.84098162] [ 0. 0. 0. 1. ]] SLAMing on 86.84964924600001 meters Centerline goodness : 0.911460 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.84 [[ 0.87907937 -0.06911323 -0.47163845 11.10567103] [ 0.10480789 0.99324476 0.04980106 0.90994363] [ 0.46501051 -0.09321051 0.88038459 1.84196365] [ 0. 0. 0. 1. ]] SLAMing on 86.87964924600001 meters Centerline goodness : 0.913549 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.84 [[ 0.87888686 -0.06908185 -0.47200167 11.10639589] [ 0.10491985 0.99322306 0.04999769 0.90952992] [ 0.46534901 -0.09346466 0.88017876 1.84267353] [ 0. 0. 0. 1. ]] SLAMing on 86.90964924600001 meters Centerline goodness : 0.913481 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.84 [[ 0.87855527 -0.06929427 -0.4725875 11.10797445] [ 0.10514164 0.99320803 0.04983017 0.90940182] [ 0.46592476 -0.09346718 0.87987386 1.84324772] [ 0. 0. 0. 1. ]] SLAMing on 86.93964924600002 meters Centerline goodness : 0.913481 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.84 [[ 0.87855527 -0.06929427 -0.4725875 11.10797445] [ 0.10514164 0.99320803 0.04983017 0.90940182] [ 0.46592476 -0.09346718 0.87987386 1.84324772] [ 0. 0. 0. 1. ]] SLAMing on 86.96964924600002 meters Centerline goodness : 0.914818 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.84 [[ 0.87817347 -0.06973094 -0.47323246 11.10982999] [ 0.10560162 0.99316974 0.04962018 0.9098831 ] [ 0.4665401 -0.09354924 0.87953901 1.84399902] [ 0. 0. 0. 1. ]] SLAMing on 86.99964924600002 meters Centerline goodness : 0.914890 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.84 [[ 0.87791755 -0.06948381 -0.47374337 11.11064699] [ 0.10553746 0.99316204 0.04990994 0.9089094 ] [ 0.467036 -0.09381448 0.87924753 1.84486112] [ 0. 0. 0. 1. ]] SLAMing on 87.029649246 meters Centerline goodness : 0.916204 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.85 [[ 0.87763817 -0.06956668 -0.47424859 11.11205491] [ 0.105703 0.99314342 0.04993013 0.90860789] [ 0.4675234 -0.09395009 0.87897398 1.84539611] [ 0. 0. 0. 1. ]] SLAMing on 87.059649246 meters Centerline goodness : 0.916975 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.85 [[ 0.87736408 -0.06973286 -0.47473109 11.11342779] [ 0.10587998 0.99313113 0.04979958 0.90874935] [ 0.46799755 -0.09395688 0.87872089 1.84587562] [ 0. 0. 0. 1. ]] SLAMing on 87.08964924600001 meters Centerline goodness : 0.920008 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.85 [[ 0.8771579 -0.06930662 -0.4751743 11.11340643] [ 0.10573584 0.99311956 0.05033367 0.90783449] [ 0.46841643 -0.09439353 0.87845086 1.84718729] [ 0. 0. 0. 1. ]] SLAMing on 87.11964924600001 meters Centerline goodness : 0.919027 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.85 [[ 0.87700838 -0.06916939 -0.47547019 11.11393438] [ 0.10572935 0.9931095 0.05054522 0.90757778] [ 0.46869778 -0.09459974 0.87827859 1.84771852] [ 0. 0. 0. 1. ]] SLAMing on 87.14964924600001 meters Centerline goodness : 0.921204 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.85 [[ 0.87694467 -0.06898403 -0.4756146 11.11414703] [ 0.10563333 0.99311052 0.05072558 0.90749658] [ 0.46883861 -0.09472428 0.87819 1.84797745] [ 0. 0. 0. 1. ]] SLAMing on 87.17964924600001 meters Centerline goodness : 0.924140 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.85 [[ 0.87664775 -0.06891659 -0.47617143 11.11417134] [ 0.10621436 0.99299163 0.05182794 0.90572035] [ 0.46926244 -0.09601109 0.87782381 1.8507633 ] [ 0. 0. 0. 1. ]] SLAMing on 87.20964924600001 meters Centerline goodness : 0.923021 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.85 [[ 0.87650734 -0.07337918 -0.47576295 11.11306047] [ 0.10915705 0.99286648 0.04796764 0.9057576 ] [ 0.46884926 -0.09397686 0.87826461 1.85020565] [ 0. 0. 0. 1. ]] SLAMing on 87.23964924600001 meters Centerline goodness : 0.927877 Centerline is valid? [False, False] Translation: X:11.11, Y:0.91, Z:1.85 [[ 0.87631721 -0.07324379 -0.47613391 11.11407371] [ 0.10908288 0.99287153 0.04803173 0.90533402] [ 0.46922177 -0.09402909 0.87806005 1.85050382] [ 0. 0. 0. 1. ]] SLAMing on 87.26964924600001 meters Centerline goodness : 0.927746 Centerline is valid? [False, False] Translation: X:11.12, Y:0.90, Z:1.85 [[ 0.87587647 -0.07423263 -0.47679129 11.11733974] [ 0.11009888 0.99277601 0.04768677 0.9048631 ] [ 0.46980704 -0.09426191 0.87772207 1.8510371 ] [ 0. 0. 0. 1. ]] SLAMing on 87.29964924600002 meters Centerline goodness : 0.925204 Centerline is valid? [False, False] Translation: X:11.12, Y:0.90, Z:1.85 [[ 0.87555377 -0.07468124 -0.47731363 11.11947363] [ 0.11058811 0.99272906 0.04753185 0.90481125] [ 0.47029338 -0.09440191 0.87744653 1.85141843] [ 0. 0. 0. 1. ]] SLAMing on 87.32964924600002 meters Centerline goodness : 0.924503 Centerline is valid? [False, False] Translation: X:11.12, Y:0.90, Z:1.85 [[ 0.8750848 -0.07526567 -0.47808123 11.12247475] [ 0.11117538 0.99267852 0.04721641 0.90462875] [ 0.4710272 -0.09446922 0.87704558 1.85183114] [ 0. 0. 0. 1. ]] SLAMing on 87.35964924600002 meters Centerline goodness : 0.923742 Centerline is valid? [False, False] Translation: X:11.12, Y:0.91, Z:1.85 [[ 0.8748525 -0.07549528 -0.47847002 11.12368556] [ 0.11138611 0.99266349 0.04703536 0.90503349] [ 0.47140877 -0.09444392 0.87684327 1.85207898] [ 0. 0. 0. 1. ]] SLAMing on 87.38964924600002 meters Centerline goodness : 0.925118 Centerline is valid? [False, False] Translation: X:11.12, Y:0.90, Z:1.85 [[ 0.87443879 -0.07533364 -0.47925113 11.12447374] [ 0.11157638 0.99261752 0.04755174 0.90450199] [ 0.47213083 -0.09505419 0.87638872 1.8540056 ] [ 0. 0. 0. 1. ]] SLAMing on 87.419649246 meters Centerline goodness : 0.926129 Centerline is valid? [False, False] Translation: X:11.12, Y:0.90, Z:1.85 [[ 0.8742213 -0.07526299 -0.47965884 11.12494474] [ 0.11162927 0.9926042 0.04770542 0.90365375] [ 0.47252092 -0.09524906 0.87615729 1.85483687] [ 0. 0. 0. 1. ]] SLAMing on 87.449649246 meters Centerline goodness : 0.926636 Centerline is valid? [False, False] Translation: X:11.12, Y:0.90, Z:1.86 [[ 0.87402539 -0.07484746 -0.48008069 11.12499901] [ 0.11149553 0.99259363 0.04823523 0.90253429] [ 0.47291475 -0.09568567 0.87589719 1.85602691] [ 0. 0. 0. 1. ]] SLAMing on 87.47964924600001 meters Centerline goodness : 0.926488 Centerline is valid? [False, False] Translation: X:11.13, Y:0.90, Z:1.86 [[ 0.87376703 -0.0752629 -0.48048587 11.12673977] [ 0.11187585 0.99256356 0.04797273 0.90309268] [ 0.47330219 -0.09567175 0.87568941 1.85619713] [ 0. 0. 0. 1. ]] SLAMing on 87.50964924600001 meters Centerline goodness : 0.923259 Centerline is valid? [False, False] Translation: X:11.13, Y:0.90, Z:1.86 [[ 0.87332806 -0.07638828 -0.48110594 11.13030953] [ 0.11271802 0.99251369 0.04702374 0.90450053] [ 0.47391217 -0.09529646 0.87540039 1.85575976] [ 0. 0. 0. 1. ]] SLAMing on 87.53964924600001 meters Centerline goodness : 0.923378 Centerline is valid? [False, False] Translation: X:11.13, Y:0.90, Z:1.86 [[ 0.87312049 -0.07675952 -0.48142349 11.13194006] [ 0.11298116 0.99250103 0.046658 0.90491543] [ 0.47423187 -0.09512984 0.87524537 1.85559134] [ 0. 0. 0. 1. ]] SLAMing on 87.56964924600001 meters Centerline goodness : 0.921627 Centerline is valid? [False, False] Translation: X:11.13, Y:0.91, Z:1.86 [[ 0.87283195 -0.07708937 -0.48189378 11.13348055] [ 0.11334787 0.99246497 0.04653546 0.90538327] [ 0.4746753 -0.09523927 0.87499305 1.85608119] [ 0. 0. 0. 1. ]] SLAMing on 87.59964924600001 meters Centerline goodness : 0.929819 Centerline is valid? [False, False] Translation: X:11.13, Y:0.90, Z:1.86 [[ 0.87200863 -0.08249647 -0.48248864 11.13203555] [ 0.11879137 0.99189454 0.04509804 0.90299197] [ 0.47485742 -0.09664137 0.87474046 1.86255661] [ 0. 0. 0. 1. ]] SLAMing on 87.62964924600001 meters Centerline goodness : 0.923745 Centerline is valid? [False, False] Translation: X:11.13, Y:0.90, Z:1.86 [[ 0.87295845 -0.07634158 -0.48178366 11.12980252] [ 0.11579919 0.9918762 0.05265119 0.90413714] [ 0.47385028 -0.10175246 0.87470701 1.86177039] [ 0. 0. 0. 1. ]] SLAMing on 87.65964924600001 meters Centerline goodness : 0.921533 Centerline is valid? [False, False] Translation: X:11.13, Y:0.90, Z:1.86 [[ 0.8733182 -0.07060948 -0.48200584 11.13085391] [ 0.11200922 0.99203529 0.0576188 0.90492597] [ 0.47409836 -0.10430864 0.87427138 1.86113097] [ 0. 0. 0. 1. ]] SLAMing on 87.68964924600002 meters Centerline goodness : 0.917942 Centerline is valid? [False, False] Translation: X:11.13, Y:0.91, Z:1.86 [[ 0.87447394 -0.0650398 -0.48069236 11.126391 ] [ 0.10924926 0.99191724 0.06453511 0.90523238] [ 0.47260969 -0.10894955 0.87451133 1.86072658] [ 0. 0. 0. 1. ]] SLAMing on 87.71964924600002 meters Centerline goodness : 0.918367 Centerline is valid? [False, False] Translation: X:11.13, Y:0.91, Z:1.86 [[ 0.87417048 -0.0651575 -0.48122809 11.12686227] [ 0.10952286 0.99187934 0.0646539 0.90531655] [ 0.47310751 -0.10922401 0.87420787 1.86200153] [ 0. 0. 0. 1. ]] SLAMing on 87.74964924600002 meters Centerline goodness : 0.922792 Centerline is valid? [False, False] Translation: X:11.13, Y:0.90, Z:1.87 [[ 0.87917444 -0.05728242 -0.47304442 11.12620428] [ 0.10134619 0.99251287 0.06817001 0.9007567 ] [ 0.46559774 -0.10787458 0.8783973 1.86666584] [ 0. 0. 0. 1. ]] SLAMing on 87.779649246 meters Centerline goodness : 0.923893 Centerline is valid? [False, False] Translation: X:11.13, Y:0.90, Z:1.87 [[ 0.87892532 -0.05739597 -0.47349339 11.12663061] [ 0.10149945 0.99250203 0.06809982 0.90116428] [ 0.46603449 -0.10791398 0.87816082 1.86746118] [ 0. 0. 0. 1. ]] SLAMing on 87.809649246 meters Centerline goodness : 0.924972 Centerline is valid? [False, False] Translation: X:11.13, Y:0.90, Z:1.87 [[ 0.87874029 -0.05784574 -0.47378199 11.12772341] [ 0.1016236 0.99254377 0.06730168 0.90315681] [ 0.46635625 -0.10728813 0.87806669 1.86695541] [ 0. 0. 0. 1. ]] SLAMing on 87.83964924600001 meters Centerline goodness : 0.925688 Centerline is valid? [False, False] Translation: X:11.13, Y:0.90, Z:1.87 [[ 0.87853682 -0.05826561 -0.47410776 11.12877086] [ 0.10186355 0.99255467 0.06677611 0.90438294] [ 0.46668712 -0.10695957 0.87793097 1.86686852] [ 0. 0. 0. 1. ]] SLAMing on 87.86964924600001 meters Centerline goodness : 0.924955 Centerline is valid? [False, False] Translation: X:11.13, Y:0.91, Z:1.87 [[ 0.87841513 -0.05841021 -0.47431541 11.12897502] [ 0.1017653 0.99260131 0.06623045 0.90589994] [ 0.46693756 -0.10644668 0.87786014 1.8666619 ] [ 0. 0. 0. 1. ]] SLAMing on 87.89964924600001 meters Centerline goodness : 0.924503 Centerline is valid? [False, False] Translation: X:11.13, Y:0.91, Z:1.87 [[ 0.87805727 -0.05889583 -0.47491758 11.13020494] [ 0.10219806 0.99258166 0.06585739 0.90677305] [ 0.46751576 -0.10636222 0.87756259 1.86737124] [ 0. 0. 0. 1. ]] SLAMing on 87.92964924600001 meters Centerline goodness : 0.924099 Centerline is valid? [False, False] Translation: X:11.13, Y:0.91, Z:1.87 [[ 0.87785169 -0.05916903 -0.47526354 11.13088879] [ 0.10243429 0.99257223 0.06563217 0.90736093] [ 0.46785 -0.1062986 0.87739215 1.86779873] [ 0. 0. 0. 1. ]] SLAMing on 87.95964924600001 meters Centerline goodness : 0.925999 Centerline is valid? [False, False] Translation: X:11.13, Y:0.91, Z:1.87 [[ 0.87769178 -0.05928202 -0.47554473 11.13122401] [ 0.1023785 0.99260542 0.06521598 0.90874903] [ 0.46816214 -0.10592508 0.87727082 1.86781678] [ 0. 0. 0. 1. ]] SLAMing on 87.98964924600001 meters Centerline goodness : 0.922956 Centerline is valid? [False, False] Translation: X:11.13, Y:0.91, Z:1.87 [[ 0.87771292 -0.05952067 -0.47547589 11.13157974] [ 0.10206495 0.99270781 0.06414014 0.91208219] [ 0.46819097 -0.10482605 0.87738744 1.86627889] [ 0. 0. 0. 1. ]] SLAMing on 88.01964924600001 meters Centerline goodness : 0.923027 Centerline is valid? [False, False] Translation: X:11.13, Y:0.91, Z:1.87 [[ 0.87765578 -0.05951339 -0.47558227 11.13152869] [ 0.10184555 0.99275755 0.0637176 0.91415735] [ 0.46834584 -0.10435806 0.87736057 1.8659569 ] [ 0. 0. 0. 1. ]] SLAMing on 88.04964924600002 meters Centerline goodness : 0.923307 Centerline is valid? [False, False] Translation: X:11.13, Y:0.92, Z:1.86 [[ 0.87776838 -0.05799837 -0.47556163 11.12928396] [ 0.09989386 0.99298399 0.06327723 0.91817102] [ 0.46855511 -0.10304843 0.87740363 1.86473104] [ 0. 0. 0. 1. ]] SLAMing on 88.07964924600002 meters Centerline goodness : 0.921886 Centerline is valid? [False, False] Translation: X:11.13, Y:0.92, Z:1.86 [[ 0.87779374 -0.05767759 -0.47555382 11.12851423] [ 0.09925646 0.9930804 0.06276518 0.92037262] [ 0.46864304 -0.10229667 0.87744464 1.8640946 ] [ 0. 0. 0. 1. ]] SLAMing on 88.10964924600002 meters Centerline goodness : 0.928372 Centerline is valid? [False, False] Translation: X:11.14, Y:0.93, Z:1.87 [[ 0.8805107 -0.06171083 -0.46999221 11.14024606] [ 0.098427 0.99368207 0.05392659 0.92509457] [ 0.46369498 -0.09374287 0.8810217 1.86718072] [ 0. 0. 0. 1. ]] SLAMing on 88.13964924600002 meters Centerline goodness : 0.928435 Centerline is valid? [False, False] Translation: X:11.14, Y:0.93, Z:1.87 [[ 0.88048985 -0.06178248 -0.47002185 11.14031109] [ 0.09833616 0.99370907 0.05359362 0.92690718] [ 0.46375383 -0.09340878 0.88102621 1.8668826 ] [ 0. 0. 0. 1. ]] SLAMing on 88.169649246 meters Centerline goodness : 0.922836 Centerline is valid? [False, False] Translation: X:11.14, Y:0.93, Z:1.87 [[ 0.88006176 -0.06323656 -0.47062983 11.1440286 ] [ 0.09931016 0.99368697 0.05218907 0.93053796] [ 0.46435847 -0.09266793 0.88078594 1.86599669] [ 0. 0. 0. 1. ]] SLAMing on 88.199649246 meters Centerline goodness : 0.918948 Centerline is valid? [False, False] Translation: X:11.15, Y:0.93, Z:1.87 [[ 0.87975353 -0.06401633 -0.47110045 11.14616644] [ 0.10000372 0.99364149 0.05172856 0.93135462] [ 0.46479348 -0.09262018 0.88056148 1.86621953] [ 0. 0. 0. 1. ]] SLAMing on 88.22964924600001 meters Centerline goodness : 0.917251 Centerline is valid? [False, False] Translation: X:11.15, Y:0.93, Z:1.87 [[ 0.87962372 -0.06419405 -0.47131862 11.14776821] [ 0.09979953 0.99370415 0.05091277 0.93347111] [ 0.46508297 -0.09182146 0.88049228 1.86507337] [ 0. 0. 0. 1. ]] SLAMing on 88.25964924600001 meters Centerline goodness : 0.919445 Centerline is valid? [False, False] Translation: X:11.15, Y:0.93, Z:1.87 [[ 0.87946481 -0.06449911 -0.47157344 11.14877788] [ 0.09998166 0.99370444 0.05054845 0.93420862] [ 0.46534429 -0.09160428 0.88037682 1.86506101] [ 0. 0. 0. 1. ]] SLAMing on 88.28964924600001 meters Centerline goodness : 0.919314 Centerline is valid? [False, False] Translation: X:11.15, Y:0.94, Z:1.87 [[ 0.87929346 -0.06456463 -0.4718839 11.14915137] [ 0.10001066 0.99370936 0.05039427 0.93514239] [ 0.46566176 -0.09150477 0.88021929 1.86553955] [ 0. 0. 0. 1. ]] SLAMing on 88.31964924600001 meters Centerline goodness : 0.920318 Centerline is valid? [False, False] Translation: X:11.15, Y:0.94, Z:1.87 [[ 0.87923959 -0.06375947 -0.47209371 11.14763297] [ 0.09932458 0.993759 0.05077076 0.9353392 ] [ 0.46591026 -0.09153017 0.88008514 1.8665214 ] [ 0. 0. 0. 1. ]] SLAMing on 88.34964924600001 meters Centerline goodness : 0.917371 Centerline is valid? [False, False] Translation: X:11.15, Y:0.94, Z:1.87 [[ 0.87894103 -0.05933542 -0.47322509 11.15011871] [ 0.09635352 0.99386243 0.05434584 0.9366516 ] [ 0.467096 -0.09336369 0.87926364 1.86782316] [ 0. 0. 0. 1. ]] SLAMing on 88.37964924600001 meters Centerline goodness : 0.917796 Centerline is valid? [False, False] Translation: X:11.15, Y:0.94, Z:1.87 [[ 0.87891758 -0.05944753 -0.47325455 11.15062716] [ 0.09624212 0.993898 0.05389089 0.93869428] [ 0.46716307 -0.09291267 0.87927578 1.86718453] [ 0. 0. 0. 1. ]] SLAMing on 88.40964924600001 meters Centerline goodness : 0.912645 Centerline is valid? [False, False] Translation: X:11.15, Y:0.94, Z:1.87 [[ 0.87895739 -0.05883515 -0.47325716 11.14912415] [ 0.09567613 0.99393973 0.05412839 0.93973459] [ 0.46720444 -0.09285596 0.87925979 1.86765013] [ 0. 0. 0. 1. ]] SLAMing on 88.43964924600002 meters Centerline goodness : 0.918205 Centerline is valid? [False, False] Translation: X:11.15, Y:0.94, Z:1.87 [[ 0.87881442 -0.05871721 -0.47353722 11.14894383] [ 0.09565244 0.9939342 0.05427177 0.93986563] [ 0.46747815 -0.09298981 0.87910015 1.86845798] [ 0. 0. 0. 1. ]] SLAMing on 88.46964924600002 meters Centerline goodness : 0.923530 Centerline is valid? [False, False] Translation: X:11.15, Y:0.94, Z:1.87 [[ 0.87872326 -0.05810231 -0.47378218 11.14787653] [ 0.09526045 0.99394357 0.05478711 0.93949619] [ 0.4677295 -0.09327541 0.87893618 1.86965113] [ 0. 0. 0. 1. ]] SLAMing on 88.49964924600002 meters Centerline goodness : 0.925283 Centerline is valid? [False, False] Translation: X:11.15, Y:0.94, Z:1.87 [[ 0.87865076 -0.0579784 -0.4739318 11.14774195] [ 0.09524365 0.99393425 0.05498511 0.93927136] [ 0.4678691 -0.0934517 0.87884315 1.87021046] [ 0. 0. 0. 1. ]] SLAMing on 88.529649246 meters Centerline goodness : 0.924191 Centerline is valid? [False, False] Translation: X:11.15, Y:0.94, Z:1.87 [[ 0.87840765 -0.05828874 -0.47434421 11.14984122] [ 0.09551757 0.9939211 0.05474707 0.9388176 ] [ 0.46826958 -0.09339845 0.87863549 1.87019677] [ 0. 0. 0. 1. ]] SLAMing on 88.559649246 meters Centerline goodness : 0.921159 Centerline is valid? [False, False] Translation: X:11.15, Y:0.94, Z:1.87 [[ 0.87827415 -0.05878379 -0.47453029 11.15159126] [ 0.09583974 0.99391687 0.05425864 0.93909538] [ 0.46845413 -0.09313282 0.87856531 1.86974041] [ 0. 0. 0. 1. ]] SLAMing on 88.58964924600001 meters Centerline goodness : 0.912139 Centerline is valid? [False, False] Translation: X:11.15, Y:0.94, Z:1.87 [[ 0.87809274 -0.05918708 -0.47481579 11.15292017] [ 0.09617206 0.99390093 0.05396176 0.93937299] [ 0.46872602 -0.09304744 0.87842933 1.86981982] [ 0. 0. 0. 1. ]] SLAMing on 88.61964924600001 meters Centerline goodness : 0.914941 Centerline is valid? [False, False] Translation: X:11.16, Y:0.94, Z:1.87 [[ 0.87771982 -0.05963741 -0.47544852 11.15519551] [ 0.09665969 0.99386359 0.053778 0.93855506] [ 0.46932379 -0.09315872 0.87809831 1.8704658 ] [ 0. 0. 0. 1. ]] SLAMing on 88.64964924600001 meters Centerline goodness : 0.908887 Centerline is valid? [False, False] Translation: X:11.16, Y:0.94, Z:1.87 [[ 0.87735393 -0.0602299 -0.47604878 11.15744342] [ 0.09726781 0.99381789 0.0535255 0.93797284] [ 0.46988196 -0.09326503 0.87778846 1.8710522 ] [ 0. 0. 0. 1. ]] SLAMing on 88.67964924600001 meters Centerline goodness : 0.911281 Centerline is valid? [False, False] Translation: X:11.16, Y:0.94, Z:1.87 [[ 0.87699955 -0.06052604 -0.47666382 11.15949268] [ 0.09784197 0.99374495 0.05383232 0.93594546] [ 0.470424 -0.09384864 0.87743586 1.87225455] [ 0. 0. 0. 1. ]] SLAMing on 88.70964924600001 meters Centerline goodness : 0.912164 Centerline is valid? [False, False] Translation: X:11.16, Y:0.94, Z:1.87 [[ 0.87677768 -0.06111832 -0.47699629 11.16129745] [ 0.09841808 0.99370171 0.05357987 0.935575 ] [ 0.47071731 -0.09392269 0.87727062 1.87249032] [ 0. 0. 0. 1. ]] SLAMing on 88.73964924600001 meters Centerline goodness : 0.911487 Centerline is valid? [False, False] Translation: X:11.16, Y:0.94, Z:1.87 [[ 0.87662044 -0.06618089 -0.47660958 11.16232956] [ 0.10198036 0.99354867 0.04960902 0.93532877] [ 0.47025164 -0.0920931 0.87771422 1.87146436] [ 0. 0. 0. 1. ]] SLAMing on 88.76964924600001 meters Centerline goodness : 0.911629 Centerline is valid? [False, False] Translation: X:11.16, Y:0.93, Z:1.87 [[ 0.87626636 -0.06648811 -0.47721755 11.16378972] [ 0.10265186 0.99345606 0.05007643 0.9333326 ] [ 0.47076518 -0.09286756 0.87735726 1.87312285] [ 0. 0. 0. 1. ]] SLAMing on 88.79964924600002 meters Centerline goodness : 0.919894 Centerline is valid? [False, False] Translation: X:11.16, Y:0.93, Z:1.87 [[ 0.87600042 -0.07156218 -0.47697182 11.16445192] [ 0.10639236 0.99324202 0.0463784 0.93154549] [ 0.47042952 -0.09137366 0.8776941 1.87297731] [ 0. 0. 0. 1. ]] SLAMing on 88.82964924600002 meters Centerline goodness : 0.919894 Centerline is valid? [False, False] Translation: X:11.16, Y:0.93, Z:1.87 [[ 0.87600042 -0.07156218 -0.47697182 11.16445192] [ 0.10639236 0.99324202 0.0463784 0.93154549] [ 0.47042952 -0.09137366 0.8776941 1.87297731] [ 0. 0. 0. 1. ]] SLAMing on 88.85964924600002 meters Centerline goodness : 0.915454 Centerline is valid? [False, False] Translation: X:11.17, Y:0.93, Z:1.87 [[ 0.87566448 -0.07199933 -0.47752257 11.16654613] [ 0.10697435 0.99317767 0.04641773 0.93038631] [ 0.47092271 -0.09172903 0.87739249 1.87379736] [ 0. 0. 0. 1. ]] SLAMing on 88.88964924600002 meters Centerline goodness : 0.916724 Centerline is valid? [False, False] Translation: X:11.17, Y:0.93, Z:1.87 [[ 0.87529285 -0.07665384 -0.47747944 11.16721992] [ 0.11008421 0.99301818 0.04238353 0.93065899] [ 0.47089691 -0.08966094 0.87762009 1.87319999] [ 0. 0. 0. 1. ]] SLAMing on 88.919649246 meters Centerline goodness : 0.914226 Centerline is valid? [False, False] Translation: X:11.17, Y:0.93, Z:1.87 [[ 0.87512683 -0.07708756 -0.47771387 11.16912871] [ 0.11038464 0.99300215 0.04197584 0.93116655] [ 0.47113508 -0.08946645 0.8775121 1.87281061] [ 0. 0. 0. 1. ]] SLAMing on 88.949649246 meters Centerline goodness : 0.906771 Centerline is valid? [False, False] Translation: X:11.17, Y:0.93, Z:1.87 [[ 0.87474725 -0.07793327 -0.47827153 11.17261995] [ 0.11101775 0.99296207 0.0412479 0.93193208] [ 0.4716909 -0.08917812 0.87724282 1.87236441] [ 0. 0. 0. 1. ]] SLAMing on 88.97964924600001 meters Centerline goodness : 0.913223 Centerline is valid? [False, False] Translation: X:11.17, Y:0.93, Z:1.87 [[ 0.8744665 -0.07853842 -0.47868577 11.1749314 ] [ 0.11156681 0.99291481 0.04090258 0.9321147 ] [ 0.47208177 -0.08917338 0.87703302 1.8724109 ] [ 0. 0. 0. 1. ]] SLAMing on 89.00964924600001 meters Centerline goodness : 0.911105 Centerline is valid? [False, False] Translation: X:11.18, Y:0.93, Z:1.87 [[ 0.87395603 -0.07890765 -0.4795565 11.17725708] [ 0.11221755 0.99283147 0.04114468 0.93144398] [ 0.47287216 -0.0897733 0.87654588 1.87403978] [ 0. 0. 0. 1. ]] SLAMing on 89.03964924600001 meters Centerline goodness : 0.913198 Centerline is valid? [False, False] Translation: X:11.18, Y:0.93, Z:1.87 [[ 0.87372075 -0.07911508 -0.47995089 11.17846802] [ 0.11254385 0.99279111 0.04122745 0.93115764] [ 0.47322926 -0.0900368 0.8763261 1.87471136] [ 0. 0. 0. 1. ]] SLAMing on 89.06964924600001 meters Centerline goodness : 0.915435 Centerline is valid? [False, False] Translation: X:11.18, Y:0.93, Z:1.87 [[ 0.87346429 -0.07977776 -0.48030787 11.18067127] [ 0.11321291 0.99272467 0.04099471 0.93129064] [ 0.47354301 -0.09018446 0.87614142 1.87499914] [ 0. 0. 0. 1. ]] SLAMing on 89.09964924600001 meters Centerline goodness : 0.914230 Centerline is valid? [False, False] Translation: X:11.18, Y:0.93, Z:1.87 [[ 0.87327641 -0.08022463 -0.48057499 11.18227239] [ 0.11357861 0.99269609 0.04067388 0.93200541] [ 0.47380187 -0.09010258 0.87600988 1.87493286] [ 0. 0. 0. 1. ]] SLAMing on 89.12964924600001 meters Centerline goodness : 0.912943 Centerline is valid? [False, False] Translation: X:11.19, Y:0.93, Z:1.88 [[ 0.87277114 -0.08116439 -0.48133449 11.18542994] [ 0.11451292 0.99260555 0.0402617 0.93236154] [ 0.47450747 -0.09025827 0.87561185 1.87567626] [ 0. 0. 0. 1. ]] SLAMing on 89.15964924600001 meters Centerline goodness : 0.914835 Centerline is valid? [False, False] Translation: X:11.19, Y:0.93, Z:1.88 [[ 0.87236582 -0.08142782 -0.48202427 11.18715873] [ 0.11489583 0.99256114 0.04026583 0.9321365 ] [ 0.4751598 -0.09050911 0.87523212 1.87682574] [ 0. 0. 0. 1. ]] SLAMing on 89.18964924600002 meters Centerline goodness : 0.915133 Centerline is valid? [False, False] Translation: X:11.19, Y:0.93, Z:1.88 [[ 0.87219049 -0.08152609 -0.48232483 11.18825947] [ 0.11501895 0.99254868 0.04022148 0.93202211] [ 0.47545177 -0.09055728 0.87506856 1.87710728] [ 0. 0. 0. 1. ]] SLAMing on 89.21964924600002 meters Centerline goodness : 0.911728 Centerline is valid? [False, False] Translation: X:11.19, Y:0.93, Z:1.88 [[ 0.87187938 -0.08200874 -0.48280525 11.19036907] [ 0.11544211 0.99251311 0.03988533 0.93201802] [ 0.47591959 -0.09051126 0.87481898 1.87734064] [ 0. 0. 0. 1. ]] SLAMing on 89.24964924600002 meters Centerline goodness : 0.906568 Centerline is valid? [False, False] Translation: X:11.19, Y:0.93, Z:1.88 [[ 0.87130776 -0.08288774 -0.48368627 11.19376492] [ 0.1164862 0.9923956 0.03977351 0.93089764] [ 0.47671139 -0.09099775 0.87433727 1.87859619] [ 0. 0. 0. 1. ]] SLAMing on 89.279649246 meters Centerline goodness : 0.904445 Centerline is valid? [False, False] Translation: X:11.20, Y:0.93, Z:1.88 [[ 0.87099828 -0.08350373 -0.48413751 11.19618113] [ 0.11704782 0.99234368 0.03941866 0.93131537] [ 0.47713919 -0.09100082 0.87410356 1.87872002] [ 0. 0. 0. 1. ]] SLAMing on 89.309649246 meters Centerline goodness : 0.904603 Centerline is valid? [False, False] Translation: X:11.20, Y:0.93, Z:1.88 [[ 0.87045095 -0.08457319 -0.48493558 11.20056586] [ 0.11806042 0.99224544 0.03886792 0.93110372] [ 0.47788793 -0.09108431 0.87368574 1.87892489] [ 0. 0. 0. 1. ]] SLAMing on 89.33964924600001 meters Centerline goodness : 0.902006 Centerline is valid? [False, False] Translation: X:11.20, Y:0.93, Z:1.88 [[ 0.8701489 -0.08504167 -0.48539552 11.20295966] [ 0.11859673 0.99218524 0.03877193 0.93101556] [ 0.47830504 -0.09130367 0.87343456 1.87931709] [ 0. 0. 0. 1. ]] SLAMing on 89.36964924600001 meters Centerline goodness : 0.904617 Centerline is valid? [False, False] Translation: X:11.21, Y:0.93, Z:1.88 [[ 0.87482772 -0.07641139 -0.4783699 11.20515806] [ 0.11210644 0.99260929 0.04646438 0.92570032] [ 0.471284 -0.09427667 0.87692833 1.88485191] [ 0. 0. 0. 1. ]] SLAMing on 89.39964924600001 meters Centerline goodness : 0.912883 Centerline is valid? [False, False] Translation: X:11.22, Y:0.93, Z:1.89 [[ 0.8774362 -0.08067521 -0.47286068 11.21668982] [ 0.11186453 0.99299051 0.03815981 0.92615255] [ 0.46646762 -0.08637914 0.88031051 1.88955569] [ 0. 0. 0. 1. ]] SLAMing on 89.42964924600001 meters Centerline goodness : 0.914143 Centerline is valid? [False, False] Translation: X:11.22, Y:0.92, Z:1.89 [[ 0.87731484 -0.08009127 -0.47318501 11.21628813] [ 0.11168136 0.99297877 0.03899276 0.92448591] [ 0.46673969 -0.08705487 0.88009971 1.89097254] [ 0. 0. 0. 1. ]] SLAMing on 89.45964924600001 meters Centerline goodness : 0.919671 Centerline is valid? [False, False] Translation: X:11.22, Y:0.92, Z:1.89 [[ 0.87688506 -0.08077949 -0.47386418 11.21917531] [ 0.11247769 0.99289324 0.03888159 0.9247377 ] [ 0.46735571 -0.08739383 0.87973914 1.89173401] [ 0. 0. 0. 1. ]] SLAMing on 89.48964924600001 meters Centerline goodness : 0.915869 Centerline is valid? [False, False] Translation: X:11.22, Y:0.92, Z:1.89 [[ 0.87641452 -0.07720695 -0.47532797 11.22394193] [ 0.11068684 0.99293313 0.04280457 0.92378342] [ 0.46866407 -0.0901271 0.8787668 1.89403927] [ 0. 0. 0. 1. ]] SLAMing on 89.51964924600001 meters Centerline goodness : 0.915877 Centerline is valid? [False, False] Translation: X:11.23, Y:0.92, Z:1.89 [[ 0.87586575 -0.07878428 -0.47608006 11.22893375] [ 0.11192672 0.99284469 0.04161533 0.92468148] [ 0.46939493 -0.08973552 0.87841672 1.89351308] [ 0. 0. 0. 1. ]] SLAMing on 89.54964924600002 meters Centerline goodness : 0.910648 Centerline is valid? [False, False] Translation: X:11.23, Y:0.92, Z:1.89 [[ 0.8754807 -0.07908645 -0.47673775 11.23056502] [ 0.1124324 0.99278074 0.04177747 0.92370059] [ 0.46999203 -0.09017614 0.87805225 1.89479463] [ 0. 0. 0. 1. ]] SLAMing on 89.57964924600002 meters Centerline goodness : 0.914290 Centerline is valid? [False, False] Translation: X:11.24, Y:0.92, Z:1.90 [[ 0.8787126 -0.07406925 -0.47156963 11.23594094] [ 0.10793458 0.99313304 0.04513195 0.91848317] [ 0.46498849 -0.09055668 0.88067315 1.90182165] [ 0. 0. 0. 1. ]] SLAMing on 89.60964924600002 meters Centerline goodness : 0.912438 Centerline is valid? [False, False] Translation: X:11.24, Y:0.91, Z:1.91 [[ 0.88301503 -0.0659417 -0.4646893 11.2403795 ] [ 0.10185126 0.9934096 0.05257077 0.91347987] [ 0.45816021 -0.09374997 0.88391186 1.90548741] [ 0. 0. 0. 1. ]] SLAMing on 89.63964924600002 meters Centerline goodness : 0.911687 Centerline is valid? [False, False] Translation: X:11.24, Y:0.91, Z:1.91 [[ 0.8826257 -0.06671592 -0.46531803 11.24319595] [ 0.10260799 0.99335099 0.05220542 0.91341918] [ 0.45874119 -0.09382319 0.8836027 1.90583392] [ 0. 0. 0. 1. ]] SLAMing on 89.669649246 meters Centerline goodness : 0.907604 Centerline is valid? [False, False] Translation: X:11.25, Y:0.91, Z:1.91 [[ 0.88226584 -0.06741248 -0.46589972 11.24589466] [ 0.10330422 0.99329471 0.05190243 0.91346728] [ 0.45927685 -0.09392115 0.88331398 1.90620756] [ 0. 0. 0. 1. ]] SLAMing on 89.699649246 meters Centerline goodness : 0.915867 Centerline is valid? [False, False] Translation: X:11.24, Y:0.91, Z:1.91 [[ 0.88218136 -0.06675608 -0.46615413 11.24486519] [ 0.10291685 0.99330247 0.05251985 0.91471108] [ 0.45952603 -0.09430715 0.88314324 1.90751239] [ 0. 0. 0. 1. ]] SLAMing on 89.72964924600001 meters Centerline goodness : 0.922168 Centerline is valid? [False, False] Translation: X:11.25, Y:0.92, Z:1.91 [[ 0.88212179 -0.06680718 -0.46625952 11.24507049] [ 0.10290153 0.99331273 0.05235551 0.91571532] [ 0.4596438 -0.09416275 0.88309737 1.90756855] [ 0. 0. 0. 1. ]] SLAMing on 89.75964924600001 meters Centerline goodness : 0.924502 Centerline is valid? [False, False] Translation: X:11.25, Y:0.91, Z:1.92 [[ 0.88146913 -0.06091011 -0.46829705 11.24551089] [ 0.10027316 0.99317547 0.05956319 0.91285987] [ 0.46147315 -0.09946074 0.88156117 1.9156973 ] [ 0. 0. 0. 1. ]] SLAMing on 89.78964924600001 meters Centerline goodness : 0.926638 Centerline is valid? [False, False] Translation: X:11.25, Y:0.91, Z:1.92 [[ 0.88114633 -0.06093468 -0.46890096 11.24613198] [ 0.10050087 0.99313834 0.05979815 0.91284355] [ 0.46203974 -0.09981587 0.88122419 1.91712163] [ 0. 0. 0. 1. ]] SLAMing on 89.81964924600001 meters Centerline goodness : 0.931456 Centerline is valid? [False, False] Translation: X:11.25, Y:0.91, Z:1.92 [[ 0.88093535 -0.06081346 -0.46931293 11.24607479] [ 0.1004903 0.99313097 0.05993809 0.91285538] [ 0.46244416 -0.09996298 0.88099535 1.91825736] [ 0. 0. 0. 1. ]] SLAMing on 89.84964924600001 meters Centerline goodness : 0.931133 Centerline is valid? [False, False] Translation: X:11.25, Y:0.91, Z:1.92 [[ 0.88059959 -0.06130848 -0.46987831 11.24788942] [ 0.10096316 0.99310108 0.05963799 0.9134425 ] [ 0.46298034 -0.09995759 0.8807143 1.91876442] [ 0. 0. 0. 1. ]] SLAMing on 89.87964924600001 meters Centerline goodness : 0.929304 Centerline is valid? [False, False] Translation: X:11.25, Y:0.92, Z:1.92 [[ 0.88011485 -0.06219916 -0.47066881 11.25084122] [ 0.1016349 0.99308175 0.05881319 0.91511638] [ 0.46375447 -0.09959874 0.88034759 1.91898531] [ 0. 0. 0. 1. ]] SLAMing on 89.90964924600001 meters Centerline goodness : 0.929559 Centerline is valid? [False, False] Translation: X:11.25, Y:0.92, Z:1.92 [[ 0.87982258 -0.06305208 -0.47110154 11.25337414] [ 0.10216242 0.99308226 0.05788327 0.91660613] [ 0.46419292 -0.09905588 0.88017774 1.91839105] [ 0. 0. 0. 1. ]] SLAMing on 89.93964924600002 meters Centerline goodness : 0.932490 Centerline is valid? [False, False] Translation: X:11.25, Y:0.92, Z:1.92 [[ 0.87909527 -0.0687539 -0.47166133 11.25350484] [ 0.10703809 0.99274421 0.05478856 0.9152033 ] [ 0.46447212 -0.09865009 0.88007602 1.92178972] [ 0. 0. 0. 1. ]] SLAMing on 89.96964924600002 meters Centerline goodness : 0.937324 Centerline is valid? [False, False] Translation: X:11.26, Y:0.92, Z:1.92 [[ 0.8783909 -0.0702182 -0.47275663 11.25726283] [ 0.10847263 0.99262569 0.05411027 0.91609896] [ 0.46547085 -0.09881112 0.87953013 1.92300718] [ 0. 0. 0. 1. ]] SLAMing on 89.99964924600002 meters Centerline goodness : 0.933462 Centerline is valid? [False, False] Translation: X:11.26, Y:0.92, Z:1.92 [[ 0.87791619 -0.07145856 -0.47345204 11.26079742] [ 0.1094313 0.99257466 0.05310687 0.91762794] [ 0.46614156 -0.09843385 0.87921716 1.92279753] [ 0. 0. 0. 1. ]] SLAMing on 90.029649246 meters Centerline goodness : 0.929315 Centerline is valid? [False, False] Translation: X:11.27, Y:0.92, Z:1.92 [[ 0.8774219 -0.06768316 -0.47492084 11.26607271] [ 0.10689686 0.99269068 0.05602029 0.91926821] [ 0.46765786 -0.09992098 0.87824366 1.92319889] [ 0. 0. 0. 1. ]] SLAMing on 90.059649246 meters Centerline goodness : 0.923731 Centerline is valid? [False, False] Translation: X:11.27, Y:0.92, Z:1.92 [[ 0.87709536 -0.06345591 -0.47610616 11.26973195] [ 0.10410874 0.99278619 0.05947232 0.92020734] [ 0.46889775 -0.1017297 0.87737448 1.92404842] [ 0. 0. 0. 1. ]] SLAMing on 90.08964924600001 meters Centerline goodness : 0.922980 Centerline is valid? [False, False] Translation: X:11.27, Y:0.92, Z:1.92 [[ 0.87672722 -0.05928324 -0.47732052 11.27399347] [ 0.10103784 0.9929325 0.06226081 0.9222744 ] [ 0.47025604 -0.10281318 0.8765208 1.92389976] [ 0. 0. 0. 1. ]] SLAMing on 90.11964924600001 meters Centerline goodness : 0.925546 Centerline is valid? [False, False] Translation: X:11.27, Y:0.92, Z:1.93 [[ 0.87643135 -0.05825255 -0.4779903 11.27257561] [ 0.10043947 0.99293677 0.06315441 0.92086503] [ 0.47093524 -0.10335959 0.87609177 1.92634116] [ 0. 0. 0. 1. ]] SLAMing on 90.14964924600001 meters Centerline goodness : 0.923236 Centerline is valid? [False, False] Translation: X:11.27, Y:0.92, Z:1.93 [[ 0.87619046 -0.05794322 -0.47846929 11.27250806] [ 0.10022694 0.9929495 0.06329184 0.9208996 ] [ 0.4714285 -0.10341122 0.87582035 1.92740559] [ 0. 0. 0. 1. ]] SLAMing on 90.17964924600001 meters Centerline goodness : 0.922890 Centerline is valid? [False, False] Translation: X:11.27, Y:0.92, Z:1.93 [[ 0.87606284 -0.05786539 -0.47871234 11.27298701] [ 0.09963296 0.99307246 0.06229255 0.9232752 ] [ 0.47179145 -0.10226771 0.87575918 1.92634539] [ 0. 0. 0. 1. ]] SLAMing on 90.20964924600001 meters Centerline goodness : 0.925936 Centerline is valid? [False, False] Translation: X:11.27, Y:0.92, Z:1.93 [[ 0.87578276 -0.05848586 -0.47914921 11.27497297] [ 0.10008623 0.99306255 0.06172123 0.92455718] [ 0.47221532 -0.10201062 0.87556069 1.92633594] [ 0. 0. 0. 1. ]] SLAMing on 90.23964924600001 meters Centerline goodness : 0.922884 Centerline is valid? [False, False] Translation: X:11.28, Y:0.93, Z:1.93 [[ 0.87570261 -0.05875898 -0.47926226 11.27575989] [ 0.1001222 0.99309204 0.06118611 0.92592442] [ 0.47235631 -0.10156563 0.87553637 1.92583309] [ 0. 0. 0. 1. ]] SLAMing on 90.26964924600001 meters Centerline goodness : 0.924642 Centerline is valid? [False, False] Translation: X:11.28, Y:0.93, Z:1.93 [[ 0.87545678 -0.05931952 -0.47964219 11.27746019] [ 0.10035971 0.99311887 0.06035593 0.9277441 ] [ 0.47276142 -0.10097575 0.87538594 1.92538681] [ 0. 0. 0. 1. ]] SLAMing on 90.29964924600002 meters Centerline goodness : 0.925423 Centerline is valid? [False, False] Translation: X:11.28, Y:0.93, Z:1.93 [[ 0.87498802 -0.05939786 -0.4804871 11.27895252] [ 0.10084802 0.99303684 0.06088935 0.92632905] [ 0.47352469 -0.10173363 0.8748855 1.92744698] [ 0. 0. 0. 1. ]] SLAMing on 90.32964924600002 meters Centerline goodness : 0.927788 Centerline is valid? [False, False] Translation: X:11.28, Y:0.93, Z:1.93 [[ 0.8745395 -0.05978115 -0.48125552 11.2808878 ] [ 0.10154936 0.9929467 0.06119292 0.92511063] [ 0.4742029 -0.10238682 0.87444185 1.92905288] [ 0. 0. 0. 1. ]] SLAMing on 90.35964924600002 meters Centerline goodness : 0.927155 Centerline is valid? [False, False] Translation: X:11.28, Y:0.92, Z:1.93 [[ 0.87399688 -0.06003656 -0.48220852 11.28341311] [ 0.10219229 0.99285504 0.06160851 0.92299497] [ 0.4750644 -0.10312364 0.87388748 1.93087563] [ 0. 0. 0. 1. ]] SLAMing on 90.38964924600002 meters Centerline goodness : 0.929159 Centerline is valid? [False, False] Translation: X:11.28, Y:0.92, Z:1.93 [[ 0.8736707 -0.06025246 -0.48277236 11.28493792] [ 0.10258984 0.9928053 0.06174913 0.92204854] [ 0.47557843 -0.10347594 0.87356619 1.93186484] [ 0. 0. 0. 1. ]] SLAMing on 90.419649246 meters Centerline goodness : 0.930662 Centerline is valid? [False, False] Translation: X:11.28, Y:0.92, Z:1.93 [[ 0.87332756 -0.06446228 -0.48284945 11.28481086] [ 0.10524098 0.99276495 0.05781088 0.92257581] [ 0.47562938 -0.10130338 0.87379306 1.93138451] [ 0. 0. 0. 1. ]] SLAMing on 90.449649246 meters Centerline goodness : 0.928565 Centerline is valid? [False, False] Translation: X:11.29, Y:0.92, Z:1.93 [[ 0.87308421 -0.0647114 -0.48325604 11.2860842 ] [ 0.1054626 0.99275372 0.05759938 0.92279557] [ 0.4760269 -0.10125454 0.87358223 1.93172698] [ 0. 0. 0. 1. ]] SLAMing on 90.47964924600001 meters Centerline goodness : 0.928698 Centerline is valid? [False, False] Translation: X:11.29, Y:0.92, Z:1.93 [[ 0.87273899 -0.06509257 -0.48382809 11.28796569] [ 0.10567616 0.99276227 0.05705799 0.92361945] [ 0.47661222 -0.10092583 0.87330107 1.93185585] [ 0. 0. 0. 1. ]] SLAMing on 90.50964924600001 meters Centerline goodness : 0.927532 Centerline is valid? [False, False] Translation: X:11.29, Y:0.92, Z:1.93 [[ 0.8724009 -0.06584792 -0.48433533 11.29036775] [ 0.10626211 0.99273532 0.0564353 0.92493678] [ 0.47710065 -0.1007007 0.87306033 1.93185831] [ 0. 0. 0. 1. ]] SLAMing on 90.53964924600001 meters Centerline goodness : 0.921183 Centerline is valid? [False, False] Translation: X:11.29, Y:0.93, Z:1.93 [[ 0.87201236 -0.06687718 -0.48489369 11.2937797 ] [ 0.10678559 0.99275323 0.05511684 0.92735418] [ 0.47769372 -0.09984223 0.8728346 1.93085157] [ 0. 0. 0. 1. ]] SLAMing on 90.56964924600001 meters Centerline goodness : 0.922575 Centerline is valid? [False, False] Translation: X:11.30, Y:0.93, Z:1.93 [[ 0.87180982 -0.06729015 -0.48520065 11.29512443] [ 0.10707284 0.99274481 0.05470975 0.92833515] [ 0.477999 -0.0996483 0.87268962 1.93085534] [ 0. 0. 0. 1. ]] SLAMing on 90.59964924600001 meters Centerline goodness : 0.923953 Centerline is valid? [False, False] Translation: X:11.30, Y:0.93, Z:1.93 [[ 0.87154478 -0.06753166 -0.48564306 11.29631726] [ 0.10730715 0.99272937 0.05453041 0.92863841] [ 0.4784296 -0.09963867 0.87245473 1.93133886] [ 0. 0. 0. 1. ]] SLAMing on 90.62964924600001 meters Centerline goodness : 0.922125 Centerline is valid? [False, False] Translation: X:11.30, Y:0.93, Z:1.93 [[ 0.87101138 -0.06774463 -0.48656946 11.29788705] [ 0.10778941 0.99266522 0.05474667 0.92763275] [ 0.47929179 -0.10013201 0.87192486 1.93324096] [ 0. 0. 0. 1. ]] SLAMing on 90.65964924600001 meters Centerline goodness : 0.923077 Centerline is valid? [False, False] Translation: X:11.30, Y:0.93, Z:1.93 [[ 0.8706125 -0.06853208 -0.48717269 11.30082371] [ 0.10850332 0.99261366 0.0542692 0.92831857] [ 0.47985508 -0.10010729 0.87161782 1.93346028] [ 0. 0. 0. 1. ]] SLAMing on 90.68964924600002 meters Centerline goodness : 0.920939 Centerline is valid? [False, False] Translation: X:11.30, Y:0.93, Z:1.93 [[ 0.87033211 -0.06938709 -0.48755252 11.30343298] [ 0.10920813 0.99256795 0.05368845 0.92933437] [ 0.48020372 -0.09997148 0.87144139 1.9332932 ] [ 0. 0. 0. 1. ]] SLAMing on 90.71964924600002 meters Centerline goodness : 0.920043 Centerline is valid? [False, False] Translation: X:11.31, Y:0.93, Z:1.93 [[ 0.86995584 -0.07036144 -0.48808412 11.30655571] [ 0.10990803 0.99253749 0.05281623 0.93100578] [ 0.48072557 -0.09959215 0.87119707 1.93293823] [ 0. 0. 0. 1. ]] SLAMing on 90.74964924600002 meters Centerline goodness : 0.920043 Centerline is valid? [False, False] Translation: X:11.31, Y:0.93, Z:1.93 [[ 0.86995584 -0.07036144 -0.48808412 11.30655571] [ 0.10990803 0.99253749 0.05281623 0.93100578] [ 0.48072557 -0.09959215 0.87119707 1.93293823] [ 0. 0. 0. 1. ]] SLAMing on 90.77964924600002 meters Centerline goodness : 0.917640 Centerline is valid? [False, False] Translation: X:11.31, Y:0.93, Z:1.93 [[ 0.86966453 -0.07055493 -0.48857509 11.30758549] [ 0.11019001 0.99250651 0.05281096 0.93104039] [ 0.48118788 -0.09976391 0.87092215 1.93381388] [ 0. 0. 0. 1. ]] SLAMing on 90.809649246 meters Centerline goodness : 0.922401 Centerline is valid? [False, False] Translation: X:11.31, Y:0.93, Z:1.94 [[ 0.86918617 -0.06965655 -0.48955426 11.30715533] [ 0.11004115 0.99245017 0.05416273 0.92919663] [ 0.48208542 -0.10094861 0.87028905 1.93721335] [ 0. 0. 0. 1. ]] SLAMing on 90.83964924600001 meters Centerline goodness : 0.919457 Centerline is valid? [False, False] Translation: X:11.31, Y:0.93, Z:1.94 [[ 0.86897373 -0.06990946 -0.48989522 11.30830636] [ 0.11027825 0.99243338 0.05398792 0.92932943] [ 0.4824141 -0.10093887 0.87010803 1.9375099 ] [ 0. 0. 0. 1. ]] SLAMing on 90.86964924600001 meters Centerline goodness : 0.923570 Centerline is valid? [False, False] Translation: X:11.31, Y:0.93, Z:1.94 [[ 0.86879035 -0.07027596 -0.49016795 11.30988076] [ 0.11049869 0.99243175 0.05356551 0.93065715] [ 0.48269387 -0.10070011 0.86998053 1.93726385] [ 0. 0. 0. 1. ]] SLAMing on 90.89964924600001 meters Centerline goodness : 0.925630 Centerline is valid? [False, False] Translation: X:11.31, Y:0.93, Z:1.94 [[ 0.86860559 -0.07060499 -0.49044802 11.31107652] [ 0.11079483 0.99241007 0.0533551 0.93090537] [ 0.48295841 -0.10068364 0.8698356 1.93743364] [ 0. 0. 0. 1. ]] SLAMing on 90.92964924600001 meters Centerline goodness : 0.921992 Centerline is valid? [False, False] Translation: X:11.31, Y:0.93, Z:1.94 [[ 0.86820492 -0.07073319 -0.49113851 11.31251176] [ 0.11104739 0.99238042 0.05338139 0.93057361] [ 0.48362041 -0.10088564 0.8694443 1.93859564] [ 0. 0. 0. 1. ]] SLAMing on 90.95964924600001 meters Centerline goodness : 0.924503 Centerline is valid? [False, False] Translation: X:11.31, Y:0.93, Z:1.94 [[ 0.86790232 -0.0709814 -0.49163726 11.31382288] [ 0.11135853 0.99234931 0.05331163 0.93043339] [ 0.48409176 -0.10101729 0.86916665 1.93935749] [ 0. 0. 0. 1. ]] SLAMing on 90.98964924600001 meters Centerline goodness : 0.922610 Centerline is valid? [False, False] Translation: X:11.32, Y:0.93, Z:1.94 [[ 0.86745947 -0.07136072 -0.4923634 11.31604219] [ 0.11174461 0.99231978 0.05305283 0.93027503] [ 0.48479605 -0.10104014 0.86877136 1.94012479] [ 0. 0. 0. 1. ]] SLAMing on 91.01964924600001 meters Centerline goodness : 0.922409 Centerline is valid? [False, False] Translation: X:11.32, Y:0.93, Z:1.94 [[ 0.86706376 -0.07219881 -0.4929379 11.3185601 ] [ 0.11242356 0.992277 0.05241467 0.93115569] [ 0.48534666 -0.1008647 0.86848427 1.94033457] [ 0. 0. 0. 1. ]] SLAMing on 91.04964924600002 meters Centerline goodness : 0.921472 Centerline is valid? [False, False] Translation: X:11.32, Y:0.93, Z:1.94 [[ 0.86671998 -0.07275847 -0.4934599 11.32086167] [ 0.11283864 0.9922576 0.05188743 0.93224844] [ 0.48586409 -0.10065321 0.86821945 1.94042816] [ 0. 0. 0. 1. ]] SLAMing on 91.07964924600002 meters Centerline goodness : 0.921032 Centerline is valid? [False, False] Translation: X:11.32, Y:0.93, Z:1.94 [[ 0.86647588 -0.07305136 -0.49384517 11.32204447] [ 0.11313354 0.99223256 0.0517238 0.93247146] [ 0.48623076 -0.10068788 0.86801014 1.94090673] [ 0. 0. 0. 1. ]] SLAMing on 91.10964924600002 meters Centerline goodness : 0.917242 Centerline is valid? [False, False] Translation: X:11.32, Y:0.93, Z:1.94 [[ 0.86587151 -0.07339139 -0.49485375 11.32410788] [ 0.1137883 0.9921455 0.05195699 0.93248135] [ 0.48715373 -0.10129665 0.8674216 1.94310656] [ 0. 0. 0. 1. ]] SLAMing on 91.13964924600002 meters Centerline goodness : 0.916802 Centerline is valid? [False, False] Translation: X:11.33, Y:0.93, Z:1.94 [[ 0.86555834 -0.07384178 -0.49533438 11.32562317] [ 0.11427244 0.99209882 0.05178547 0.93290548] [ 0.48759673 -0.10142641 0.86715749 1.94383184] [ 0. 0. 0. 1. ]] SLAMing on 91.169649246 meters Centerline goodness : 0.920592 Centerline is valid? [False, False] Translation: X:11.33, Y:0.93, Z:1.94 [[ 0.86538605 -0.0739779 -0.49561502 11.32654398] [ 0.11439906 0.99209045 0.05166627 0.93367496] [ 0.48787276 -0.10140916 0.86700424 1.94412492] [ 0. 0. 0. 1. ]] SLAMing on 91.199649246 meters Centerline goodness : 0.921268 Centerline is valid? [False, False] Translation: X:11.33, Y:0.93, Z:1.95 [[ 0.86492985 -0.07480986 -0.49628604 11.32877116] [ 0.11536166 0.99198651 0.05152145 0.9338593 ] [ 0.48845475 -0.10181482 0.86662893 1.94537154] [ 0. 0. 0. 1. ]] SLAMing on 91.22964924600001 meters Centerline goodness : 0.921797 Centerline is valid? [False, False] Translation: X:11.33, Y:0.93, Z:1.95 [[ 0.86420075 -0.08064942 -0.49664146 11.33036903] [ 0.11985132 0.99165404 0.04751774 0.93451568] [ 0.48866423 -0.100588 0.8666541 1.94661498] [ 0. 0. 0. 1. ]] SLAMing on 91.25964924600001 meters Centerline goodness : 0.920902 Centerline is valid? [False, False] Translation: X:11.33, Y:0.94, Z:1.95 [[ 0.86381967 -0.08124649 -0.49720678 11.33233685] [ 0.12040172 0.99160514 0.04714524 0.93565207] [ 0.48920242 -0.10058953 0.86635024 1.94718225] [ 0. 0. 0. 1. ]] SLAMing on 91.28964924600001 meters Centerline goodness : 0.920084 Centerline is valid? [False, False] Translation: X:11.34, Y:0.94, Z:1.95 [[ 0.86321165 -0.08208376 -0.49812439 11.33532436] [ 0.12115727 0.99154054 0.04656465 0.93652152] [ 0.49008832 -0.10054654 0.86585439 1.94808526] [ 0. 0. 0. 1. ]] SLAMing on 91.31964924600001 meters Centerline goodness : 0.919214 Centerline is valid? [False, False] Translation: X:11.34, Y:0.94, Z:1.95 [[ 0.86290366 -0.082384 -0.49860821 11.33673887] [ 0.12150515 0.99150308 0.04645582 0.93706668] [ 0.49054436 -0.10067036 0.86558172 1.94874351] [ 0. 0. 0. 1. ]] SLAMing on 91.34964924600001 meters Centerline goodness : 0.916739 Centerline is valid? [False, False] Translation: X:11.34, Y:0.94, Z:1.95 [[ 0.86239734 -0.08342341 -0.49931089 11.34030578] [ 0.12233933 0.9914377 0.0456549 0.93894083] [ 0.49122695 -0.10045803 0.8652192 1.948837 ] [ 0. 0. 0. 1. ]] SLAMing on 91.37964924600001 meters Centerline goodness : 0.915601 Centerline is valid? [False, False] Translation: X:11.34, Y:0.94, Z:1.95 [[ 0.86214219 -0.08353618 -0.49973248 11.34139883] [ 0.12259227 0.99140103 0.04577272 0.93911772] [ 0.49161162 -0.10072593 0.86496954 1.94963039] [ 0. 0. 0. 1. ]] SLAMing on 91.40964924600001 meters Centerline goodness : 0.917995 Centerline is valid? [False, False] Translation: X:11.34, Y:0.94, Z:1.95 [[ 0.86166908 -0.08368733 -0.50052256 11.34274936] [ 0.12295102 0.99135019 0.0459113 0.93825192] [ 0.49235094 -0.10110011 0.86450524 1.95133926] [ 0. 0. 0. 1. ]] SLAMing on 91.43964924600002 meters Centerline goodness : 0.915613 Centerline is valid? [False, False] Translation: X:11.35, Y:0.94, Z:1.95 [[ 0.86112857 -0.08433219 -0.50134385 11.34515696] [ 0.12372167 0.99126098 0.04576711 0.93848321] [ 0.49310296 -0.10143846 0.86403687 1.95264046] [ 0. 0. 0. 1. ]] SLAMing on 91.46964924600002 meters Centerline goodness : 0.916556 Centerline is valid? [False, False] Translation: X:11.35, Y:0.94, Z:1.95 [[ 0.86034972 -0.08413017 -0.50271312 11.34744504] [ 0.12371388 0.99125876 0.04583614 0.94055369] [ 0.49446258 -0.1016277 0.86323726 1.95447579] [ 0. 0. 0. 1. ]] SLAMing on 91.49964924600002 meters Centerline goodness : 0.922880 Centerline is valid? [False, False] Translation: X:11.35, Y:0.94, Z:1.96 [[ 0.85926672 -0.08554959 -0.50432329 11.34930931] [ 0.12454128 0.99123623 0.04404777 0.94352112] [ 0.49613524 -0.10065785 0.86239076 1.95724278] [ 0. 0. 0. 1. ]] SLAMing on 91.52964924600002 meters Centerline goodness : 0.925785 Centerline is valid? [False, False] Translation: X:11.35, Y:0.94, Z:1.96 [[ 0.86366168 -0.07657336 -0.49822187 11.35335483] [ 0.11775182 0.99169611 0.05170433 0.93979153] [ 0.49012551 -0.10332158 0.86550657 1.96306887] [ 0. 0. 0. 1. ]] SLAMing on 91.559649246 meters Centerline goodness : 0.925245 Centerline is valid? [False, False] Translation: X:11.36, Y:0.94, Z:1.97 [[ 0.8677064 -0.06829422 -0.49236317 11.359517 ] [ 0.11138909 0.99204165 0.05870123 0.93698826] [ 0.48443582 -0.10577932 0.86840812 1.9679904 ] [ 0. 0. 0. 1. ]] SLAMing on 91.58964924600001 meters Centerline goodness : 0.922322 Centerline is valid? [False, False] Translation: X:11.36, Y:0.94, Z:1.97 [[ 0.86734295 -0.0691485 -0.49288405 11.36213428] [ 0.1117719 0.99206851 0.05750748 0.93962286] [ 0.48499819 -0.1049693 0.86819249 1.96734011] [ 0. 0. 0. 1. ]] SLAMing on 91.61964924600001 meters Centerline goodness : 0.927616 Centerline is valid? [False, False] Translation: X:11.37, Y:0.94, Z:1.97 [[ 0.86677901 -0.0700698 -0.49374525 11.36512361] [ 0.11239141 0.9920554 0.05651779 0.94135294] [ 0.48586245 -0.10448115 0.86776804 1.96762269] [ 0. 0. 0. 1. ]] SLAMing on 91.64964924600001 meters Centerline goodness : 0.926460 Centerline is valid? [False, False] Translation: X:11.37, Y:0.94, Z:1.97 [[ 0.86635633 -0.07071737 -0.49439435 11.36680215] [ 0.11300526 0.99200764 0.05613059 0.9420418 ] [ 0.48647356 -0.10449826 0.86742353 1.96851774] [ 0. 0. 0. 1. ]] SLAMing on 91.67964924600001 meters Centerline goodness : 0.927328 Centerline is valid? [False, False] Translation: X:11.37, Y:0.94, Z:1.97 [[ 0.87059849 -0.06304989 -0.48793747 11.3727542 ] [ 0.106513 0.9923882 0.06181139 0.93885278] [ 0.48032619 -0.10578458 0.8706873 1.97250967] [ 0. 0. 0. 1. ]] SLAMing on 91.70964924600001 meters Centerline goodness : 0.926101 Centerline is valid? [False, False] Translation: X:11.38, Y:0.94, Z:1.97 [[ 0.87005675 -0.06364115 -0.48882621 11.37501314] [ 0.10701521 0.9923673 0.06127721 0.9395364 ] [ 0.48119539 -0.10562649 0.87022643 1.97349192] [ 0. 0. 0. 1. ]] SLAMing on 91.73964924600001 meters Centerline goodness : 0.925800 Centerline is valid? [False, False] Translation: X:11.38, Y:0.94, Z:1.97 [[ 0.86968998 -0.06403025 -0.48942769 11.37636645] [ 0.10737244 0.99234762 0.06097013 0.94014656] [ 0.48177847 -0.10557616 0.86990987 1.97423717] [ 0. 0. 0. 1. ]] SLAMing on 91.76964924600001 meters Centerline goodness : 0.930694 Centerline is valid? [False, False] Translation: X:11.40, Y:0.94, Z:1.98 [[ 0.87175344 -0.06567603 -0.48552302 11.39557143] [ 0.10598749 0.99278895 0.05600666 0.94475824] [ 0.4783436 -0.10028336 0.87242802 1.98066888] [ 0. 0. 0. 1. ]] SLAMing on 91.79964924600002 meters Centerline goodness : 0.929305 Centerline is valid? [False, False] Translation: X:11.40, Y:0.95, Z:1.98 [[ 0.87148204 -0.06609621 -0.48595302 11.39672239] [ 0.10636534 0.99276465 0.05572041 0.94554131] [ 0.47875407 -0.1002479 0.87220691 1.98120186] [ 0. 0. 0. 1. ]] SLAMing on 91.82964924600002 meters Centerline goodness : 0.931701 Centerline is valid? [False, False] Translation: X:11.40, Y:0.95, Z:1.98 [[ 0.87115787 -0.06606013 -0.48653883 11.39708746] [ 0.10649985 0.99274012 0.05590024 0.94598179] [ 0.47931384 -0.10051424 0.87186876 1.98270354] [ 0. 0. 0. 1. ]] SLAMing on 91.85964924600002 meters Centerline goodness : 0.933439 Centerline is valid? [False, False] Translation: X:11.40, Y:0.95, Z:1.98 [[ 0.87080264 -0.06644265 -0.48712229 11.39837735] [ 0.1068571 0.99271759 0.05561777 0.94711704] [ 0.47987948 -0.10048458 0.87156098 1.98346939] [ 0. 0. 0. 1. ]] SLAMing on 91.88964924600002 meters Centerline goodness : 0.931268 Centerline is valid? [False, False] Translation: X:11.40, Y:0.95, Z:1.98 [[ 0.87046753 -0.06666885 -0.48769001 11.3998512 ] [ 0.10666487 0.99279113 0.054666 0.94983235] [ 0.4805298 -0.09960437 0.87130367 1.98317066] [ 0. 0. 0. 1. ]] SLAMing on 91.919649246 meters Centerline goodness : 0.932878 Centerline is valid? [False, False] Translation: X:11.40, Y:0.95, Z:1.98 [[ 0.87015642 -0.06706785 -0.48819023 11.40137364] [ 0.10695808 0.99278216 0.05425444 0.95078307] [ 0.48102782 -0.09942574 0.87104923 1.98351899] [ 0. 0. 0. 1. ]] SLAMing on 91.949649246 meters Centerline goodness : 0.933612 Centerline is valid? [False, False] Translation: X:11.40, Y:0.95, Z:1.98 [[ 0.86953509 -0.06804941 -0.4891605 11.4046036 ] [ 0.10781883 0.99272695 0.0535566 0.95177923] [ 0.48195832 -0.09931006 0.87054793 1.98448016] [ 0. 0. 0. 1. ]] SLAMing on 91.97964924600001 meters Centerline goodness : 0.929928 Centerline is valid? [False, False] Translation: X:11.41, Y:0.95, Z:1.98 [[ 0.86915008 -0.06895952 -0.48971699 11.40729845] [ 0.10855559 0.99268293 0.05287984 0.95271067] [ 0.48248713 -0.09912204 0.87027639 1.98460735] [ 0. 0. 0. 1. ]] SLAMing on 92.00964924600001 meters Centerline goodness : 0.928894 Centerline is valid? [False, False] Translation: X:11.41, Y:0.95, Z:1.99 [[ 0.86831679 -0.07028273 -0.49100539 11.4120827 ] [ 0.10987011 0.99257313 0.05222205 0.95302426] [ 0.48368845 -0.09929209 0.86958988 1.98592997] [ 0. 0. 0. 1. ]] SLAMing on 92.03964924600001 meters Centerline goodness : 0.928952 Centerline is valid? [False, False] Translation: X:11.41, Y:0.95, Z:1.99 [[ 0.8678462 -0.07110053 -0.49171912 11.41493277] [ 0.11070839 0.99249788 0.0518807 0.95316503] [ 0.48434144 -0.0994619 0.86920694 1.98671159] [ 0. 0. 0. 1. ]] SLAMing on 92.06964924600001 meters Centerline goodness : 0.924838 Centerline is valid? [False, False] Translation: X:11.42, Y:0.95, Z:1.99 [[ 0.86735721 -0.07189712 -0.4924655 11.41779812] [ 0.11180116 0.99236754 0.0520304 0.95208219] [ 0.48496594 -0.10018715 0.86877533 1.98835487] [ 0. 0. 0. 1. ]] SLAMing on 92.09964924600001 meters Centerline goodness : 0.929787 Centerline is valid? [False, False] Translation: X:11.42, Y:0.95, Z:1.99 [[ 0.86687685 -0.07230947 -0.49325031 11.41944996] [ 0.11257366 0.99226169 0.0523823 0.95124292] [ 0.48564565 -0.100936 0.86830883 1.99033521] [ 0. 0. 0. 1. ]] SLAMing on 92.12964924600001 meters Centerline goodness : 0.933598 Centerline is valid? [False, False] Translation: X:11.42, Y:0.95, Z:2.00 [[ 0.86588091 -0.07296153 -0.49490086 11.42223067] [ 0.11423162 0.99200649 0.05361209 0.94901921] [ 0.48703324 -0.10295501 0.867294 1.99546772] [ 0. 0. 0. 1. ]] SLAMing on 92.15964924600001 meters Centerline goodness : 0.937588 Centerline is valid? [False, False] Translation: X:11.42, Y:0.95, Z:2.00 [[ 0.86540999 -0.07385805 -0.49559111 11.42493989] [ 0.1150864 0.99193321 0.0531379 0.94987822] [ 0.48766861 -0.10302187 0.86692896 1.99619011] [ 0. 0. 0. 1. ]] SLAMing on 92.18964924600002 meters Centerline goodness : 0.930160 Centerline is valid? [False, False] Translation: X:11.43, Y:0.95, Z:2.00 [[ 0.86469316 -0.07511897 -0.49665168 11.42914364] [ 0.11609484 0.99187048 0.05210517 0.95181885] [ 0.48870005 -0.10271368 0.86638454 1.99677004] [ 0. 0. 0. 1. ]] SLAMing on 92.21964924600002 meters Centerline goodness : 0.929468 Centerline is valid? [False, False] Translation: X:11.43, Y:0.95, Z:2.00 [[ 0.86424695 -0.07596114 -0.49729982 11.43173096] [ 0.11683207 0.99181326 0.05154335 0.95288976] [ 0.48931327 -0.10264675 0.86604629 1.99730351] [ 0. 0. 0. 1. ]] SLAMing on 92.24964924600002 meters Centerline goodness : 0.925630 Centerline is valid? [False, False] Translation: X:11.44, Y:0.96, Z:2.00 [[ 0.86378874 -0.07716808 -0.49790973 11.43560658] [ 0.11753979 0.99179862 0.05019857 0.95603183] [ 0.48995246 -0.10188517 0.8657748 1.9965909 ] [ 0. 0. 0. 1. ]] SLAMing on 92.27964924600002 meters Centerline goodness : 0.922764 Centerline is valid? [False, False] Translation: X:11.44, Y:0.96, Z:2.00 [[ 0.86334997 -0.07829943 -0.49849377 11.43864704] [ 0.11838955 0.99174433 0.04926562 0.95811078] [ 0.4905209 -0.10154992 0.86549227 1.99658272] [ 0. 0. 0. 1. ]] SLAMing on 92.309649246 meters Centerline goodness : 0.925033 Centerline is valid? [False, False] Translation: X:11.44, Y:0.96, Z:2.00 [[ 0.86260844 -0.07956833 -0.49957539 11.44274638] [ 0.11942746 0.99166892 0.04826839 0.95994009] [ 0.49157275 -0.10129974 0.86492462 1.99735843] [ 0. 0. 0. 1. ]] SLAMing on 92.33964924600001 meters Centerline goodness : 0.926161 Centerline is valid? [False, False] Translation: X:11.45, Y:0.96, Z:2.00 [[ 0.86222686 -0.08035561 -0.50010781 11.44534735] [ 0.12012007 0.99160947 0.04776843 0.96070614] [ 0.49207318 -0.10126021 0.86464464 1.99764934] [ 0. 0. 0. 1. ]] SLAMing on 92.36964924600001 meters Centerline goodness : 0.923727 Centerline is valid? [False, False] Translation: X:11.45, Y:0.96, Z:2.00 [[ 0.86147023 -0.08156641 -0.50121449 11.44940433] [ 0.12122943 0.99151076 0.04700897 0.9626237 ] [ 0.49312521 -0.10125878 0.86404525 1.99874696] [ 0. 0. 0. 1. ]] SLAMing on 92.39964924600001 meters Centerline goodness : 0.922115 Centerline is valid? [False, False] Translation: X:11.45, Y:0.96, Z:2.00 [[ 0.86067949 -0.08254748 -0.50241092 11.45330797] [ 0.12214087 0.99143017 0.0463447 0.96460453] [ 0.4942797 -0.10125284 0.86338603 1.99999242] [ 0. 0. 0. 1. ]] SLAMing on 92.42964924600001 meters Centerline goodness : 0.916814 Centerline is valid? [False, False] Translation: X:11.45, Y:0.97, Z:2.00 [[ 0.86039556 -0.08288389 -0.50284166 11.45471438] [ 0.12246295 0.99140051 0.04612875 0.96561303] [ 0.49469415 -0.10126844 0.8631468 2.00046405] [ 0. 0. 0. 1. ]] SLAMing on 92.45964924600001 meters Centerline goodness : 0.915837 Centerline is valid? [False, False] Translation: X:11.46, Y:0.97, Z:2.00 [[ 0.8597957 -0.08367499 -0.50373589 11.45767024] [ 0.12317924 0.99133728 0.04557716 0.96709555] [ 0.49555849 -0.10123685 0.86265455 2.00149758] [ 0. 0. 0. 1. ]] SLAMing on 92.48964924600001 meters Centerline goodness : 0.916761 Centerline is valid? [False, False] Translation: X:11.46, Y:0.97, Z:2.00 [[ 0.85938294 -0.08435184 -0.50432701 11.45977059] [ 0.12383527 0.99127184 0.04522128 0.96793232] [ 0.49611066 -0.10131587 0.86232784 2.00226024] [ 0. 0. 0. 1. ]] SLAMing on 92.51964924600001 meters Centerline goodness : 0.915719 Centerline is valid? [False, False] Translation: X:11.46, Y:0.97, Z:2.00 [[ 0.85878359 -0.08513423 -0.50521571 11.46275443] [ 0.12456587 0.99120335 0.04471315 0.96982229] [ 0.49696488 -0.10133155 0.86183399 2.0032993 ] [ 0. 0. 0. 1. ]] SLAMing on 92.54964924600002 meters Centerline goodness : 0.921064 Centerline is valid? [False, False] Translation: X:11.46, Y:0.97, Z:2.00 [[ 0.85833069 -0.08589526 -0.50585613 11.4648306 ] [ 0.12542239 0.99110385 0.04452405 0.97049151] [ 0.49753155 -0.10166205 0.86146804 2.00448868] [ 0. 0. 0. 1. ]] SLAMing on 92.57964924600002 meters Centerline goodness : 0.920779 Centerline is valid? [False, False] Translation: X:11.47, Y:0.97, Z:2.01 [[ 0.85786769 -0.08658637 -0.50652327 11.46690757] [ 0.12626562 0.99100035 0.04444431 0.97039247] [ 0.49811647 -0.10208381 0.86108006 2.00581865] [ 0. 0. 0. 1. ]] SLAMing on 92.60964924600002 meters Centerline goodness : 0.917632 Centerline is valid? [False, False] Translation: X:11.47, Y:0.97, Z:2.01 [[ 0.85671225 -0.08755824 -0.50830865 11.47121201] [ 0.12764617 0.9908226 0.04446384 0.97084908] [ 0.49975052 -0.10297636 0.86002633 2.00930921] [ 0. 0. 0. 1. ]] SLAMing on 92.63964924600002 meters Centerline goodness : 0.917632 Centerline is valid? [False, False] Translation: X:11.47, Y:0.97, Z:2.01 [[ 0.85671225 -0.08755824 -0.50830865 11.47121201] [ 0.12764617 0.9908226 0.04446384 0.97084908] [ 0.49975052 -0.10297636 0.86002633 2.00930921] [ 0. 0. 0. 1. ]] SLAMing on 92.669649246 meters Centerline goodness : 0.915830 Centerline is valid? [False, False] Translation: X:11.48, Y:0.97, Z:2.01 [[ 0.85599624 -0.08850797 -0.50934936 11.47537999] [ 0.12861237 0.99071889 0.04398785 0.97241909] [ 0.50072876 -0.10316207 0.85943487 2.01050654] [ 0. 0. 0. 1. ]] SLAMing on 92.699649246 meters Centerline goodness : 0.915787 Centerline is valid? [False, False] Translation: X:11.48, Y:0.97, Z:2.01 [[ 0.85558648 -0.08895228 -0.50996007 11.47751942] [ 0.12915703 0.99065219 0.04389409 0.97311119] [ 0.50128858 -0.10342012 0.85907744 2.01140168] [ 0. 0. 0. 1. ]] SLAMing on 92.72964924600001 meters Centerline goodness : 0.918195 Centerline is valid? [False, False] Translation: X:11.48, Y:0.97, Z:2.01 [[ 0.85521842 -0.08924527 -0.51052595 11.47910049] [ 0.12957782 0.99059705 0.04389835 0.97343672] [ 0.50180778 -0.10369552 0.85874105 2.01241937] [ 0. 0. 0. 1. ]] SLAMing on 92.75964924600001 meters Centerline goodness : 0.915234 Centerline is valid? [False, False] Translation: X:11.48, Y:0.97, Z:2.01 [[ 0.85435925 -0.09043926 -0.51175289 11.48357259] [ 0.13084542 0.99045211 0.04340618 0.97412535] [ 0.5029411 -0.10404499 0.85803548 2.01419153] [ 0. 0. 0. 1. ]] SLAMing on 92.78964924600001 meters Centerline goodness : 0.916940 Centerline is valid? [False, False] Translation: X:11.49, Y:0.98, Z:2.02 [[ 0.85305869 -0.09218132 -0.51360828 11.48967767] [ 0.13296969 0.99018099 0.04313552 0.97532191] [ 0.50458887 -0.10509146 0.85693982 2.01763967] [ 0. 0. 0. 1. ]] SLAMing on 92.81964924600001 meters Centerline goodness : 0.910595 Centerline is valid? [False, False] Translation: X:11.49, Y:0.98, Z:2.02 [[ 0.85248294 -0.09289939 -0.51443419 11.4923956 ] [ 0.13380164 0.99007773 0.04293261 0.97638096] [ 0.50534142 -0.10543145 0.85645447 2.01894591] [ 0. 0. 0. 1. ]] SLAMing on 92.84964924600001 meters Centerline goodness : 0.910777 Centerline is valid? [False, False] Translation: X:11.50, Y:0.98, Z:2.02 [[ 0.85154673 -0.0939121 -0.51579908 11.49628419] [ 0.13507551 0.98991198 0.04276549 0.97770188] [ 0.50657949 -0.10608864 0.85564153 2.02151234] [ 0. 0. 0. 1. ]] SLAMing on 92.87964924600001 meters Centerline goodness : 0.916729 Centerline is valid? [False, False] Translation: X:11.50, Y:0.98, Z:2.02 [[ 0.85118463 -0.09410351 -0.51636155 11.49760187] [ 0.13546464 0.98985257 0.04290949 0.97781001] [ 0.50708388 -0.10647263 0.85529499 2.02273771] [ 0. 0. 0. 1. ]] SLAMing on 92.90964924600001 meters Centerline goodness : 0.917281 Centerline is valid? [False, False] Translation: X:11.50, Y:0.98, Z:2.03 [[ 0.8502712 -0.09497836 -0.51770455 11.50089186] [ 0.13663535 0.98969474 0.04283818 0.97856338] [ 0.50830077 -0.10716081 0.85448633 2.02554886] [ 0. 0. 0. 1. ]] SLAMing on 92.93964924600002 meters Centerline goodness : 0.916551 Centerline is valid? [False, False] Translation: X:11.50, Y:0.98, Z:2.03 [[ 0.84974539 -0.09547669 -0.51847563 11.50308043] [ 0.13727739 0.98960959 0.04275261 0.97941487] [ 0.50900658 -0.10750381 0.85402297 2.02687916] [ 0. 0. 0. 1. ]] SLAMing on 92.96964924600002 meters Centerline goodness : 0.917735 Centerline is valid? [False, False] Translation: X:11.51, Y:0.98, Z:2.03 [[ 0.84775315 -0.09801733 -0.52125541 11.5076516 ] [ 0.13892162 0.98950042 0.03987114 0.98457356] [ 0.51187438 -0.10621453 0.85246882 2.03141578] [ 0. 0. 0. 1. ]] SLAMing on 92.99964924600002 meters Centerline goodness : 0.919804 Centerline is valid? [False, False] Translation: X:11.51, Y:0.99, Z:2.03 [[ 0.84712438 -0.09871621 -0.52214499 11.51048583] [ 0.13981786 0.98937749 0.0397888 0.98511462] [ 0.5126707 -0.10671126 0.85192808 2.03297645] [ 0. 0. 0. 1. ]] SLAMing on 93.02964924600002 meters Centerline goodness : 0.914678 Centerline is valid? [False, False] Translation: X:11.52, Y:0.99, Z:2.04 [[ 0.84603701 -0.10021048 -0.52362127 11.51599432] [ 0.14149824 0.98915731 0.03932006 0.98597806] [ 0.51400353 -0.10735771 0.8510433 2.03534825] [ 0. 0. 0. 1. ]] SLAMing on 93.059649246 meters Centerline goodness : 0.915209 Centerline is valid? [False, False] Translation: X:11.52, Y:0.99, Z:2.04 [[ 0.84528516 -0.10093613 -0.52469505 11.51930824] [ 0.14247284 0.98901957 0.03926543 0.98650184] [ 0.51497038 -0.10794528 0.85038422 2.03724653] [ 0. 0. 0. 1. ]] SLAMing on 93.08964924600001 meters Centerline goodness : 0.915597 Centerline is valid? [False, False] Translation: X:11.52, Y:0.99, Z:2.04 [[ 0.84440095 -0.10169642 -0.52597042 11.52311013] [ 0.14348878 0.98887688 0.03915966 0.98636214] [ 0.51613759 -0.1085373 0.84960087 2.03961488] [ 0. 0. 0. 1. ]] SLAMing on 93.11964924600001 meters Centerline goodness : 0.913685 Centerline is valid? [False, False] Translation: X:11.53, Y:0.99, Z:2.04 [[ 0.84323284 -0.10302661 -0.52758306 11.52558091] [ 0.14454427 0.98877083 0.03793672 0.9890227 ] [ 0.51775025 -0.10824859 0.84865595 2.04245562] [ 0. 0. 0. 1. ]] SLAMing on 93.14964924600001 meters Centerline goodness : 0.915640 Centerline is valid? [False, False] Translation: X:11.53, Y:0.99, Z:2.04 [[ 0.8422961 -0.1045555 -0.52877729 11.5279698 ] [ 0.14559354 0.98867367 0.03642667 0.99224797] [ 0.51897957 -0.1076686 0.84797858 2.04431258] [ 0. 0. 0. 1. ]] SLAMing on 93.17964924600001 meters Centerline goodness : 0.915082 Centerline is valid? [False, False] Translation: X:11.54, Y:1.00, Z:2.06 [[ 0.84362098 -0.10020553 -0.52750593 11.54272932] [ 0.1428233 0.98891692 0.04055649 0.99509925] [ 0.51759555 -0.10955444 0.84858274 2.05747152] [ 0. 0. 0. 1. ]] SLAMing on 93.20964924600001 meters Centerline goodness : 0.919130 Centerline is valid? [False, False] Translation: X:11.55, Y:1.00, Z:2.06 [[ 0.842759 -0.10093204 -0.52874379 11.54600117] [ 0.14325356 0.98889506 0.03955985 0.9983485 ] [ 0.51887926 -0.10908385 0.84785908 2.05863714] [ 0. 0. 0. 1. ]] SLAMing on 93.23964924600001 meters Centerline goodness : 0.917024 Centerline is valid? [False, False] Translation: X:11.55, Y:1.00, Z:2.06 [[ 0.84225359 -0.10151133 -0.52943776 11.5483098 ] [ 0.14364988 0.98886272 0.03892592 1.00051774] [ 0.51958985 -0.10883916 0.84745527 2.05913242] [ 0. 0. 0. 1. ]] SLAMing on 93.26964924600001 meters Centerline goodness : 0.917057 Centerline is valid? [False, False] Translation: X:11.55, Y:1.01, Z:2.07 [[ 0.83939588 -0.10222709 -0.53382037 11.55364408] [ 0.14458908 0.98876156 0.03800766 1.00756453] [ 0.52393564 -0.10908807 0.84474329 2.06706846] [ 0. 0. 0. 1. ]] SLAMing on 93.29964924600002 meters Centerline goodness : 0.916591 Centerline is valid? [False, False] Translation: X:11.56, Y:1.01, Z:2.07 [[ 0.83786293 -0.10366494 -0.5359471 11.5573349 ] [ 0.14542503 0.98871018 0.0361074 1.01080959] [ 0.52615328 -0.10819318 0.84347908 2.07049807] [ 0. 0. 0. 1. ]] SLAMing on 93.32964924600002 meters Centerline goodness : 0.919399 Centerline is valid? [False, False] Translation: X:11.55, Y:1.02, Z:2.07 [[ 0.8329597 -0.11019741 -0.54224964 11.55064635] [ 0.1513346 0.98797451 0.03168908 1.01730532] [ 0.53223677 -0.10845686 0.83961963 2.07125704] [ 0. 0. 0. 1. ]] SLAMing on 93.35964924600002 meters Centerline goodness : 0.922674 Centerline is valid? [False, False] Translation: X:11.55, Y:1.02, Z:2.07 [[ 0.83193453 -0.11196838 -0.54345931 11.55368822] [ 0.15261409 0.9878273 0.03010254 1.02034811] [ 0.53347341 -0.10798289 0.83889559 2.07293206] [ 0. 0. 0. 1. ]] SLAMing on 93.38964924600002 meters Centerline goodness : 0.923367 Centerline is valid? [False, False] Translation: X:11.55, Y:1.03, Z:2.07 [[ 0.82580966 -0.12093628 -0.55082921 11.55093945] [ 0.15989394 0.98686515 0.02304556 1.02887659] [ 0.54080711 -0.1071055 0.83429975 2.07230631] [ 0. 0. 0. 1. ]] SLAMing on 93.419649246 meters Centerline goodness : 0.921010 Centerline is valid? [False, False] Translation: X:11.55, Y:1.03, Z:2.08 [[ 0.82448931 -0.12268506 -0.55241809 11.55362828] [ 0.16119889 0.9866886 0.02145986 1.03197405] [ 0.54243183 -0.10674261 0.8332909 2.07506609] [ 0. 0. 0. 1. ]] SLAMing on 93.449649246 meters Centerline goodness : 0.921442 Centerline is valid? [False, False] Translation: X:11.55, Y:1.04, Z:2.07 [[ 8.17958419e-01 -1.35509246e-01 -5.59089678e-01 1.15528930e+01] [ 1.68797844e-01 9.85617693e-01 8.06544688e-03 1.04006073e+00] [ 5.49955736e-01 -1.00970333e-01 8.29067959e-01 2.07249257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47964924600001 meters Centerline goodness : 0.923153 Centerline is valid? [False, False] Translation: X:11.55, Y:1.04, Z:2.08 [[ 8.14811244e-01 -1.38742156e-01 -5.62879429e-01 1.15498526e+01] [ 1.72361494e-01 9.85010877e-01 6.71467127e-03 1.04482506e+00] [ 5.53510752e-01 -1.02489929e-01 8.26511743e-01 2.07873365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50964924600001 meters Centerline goodness : 0.918613 Centerline is valid? [False, False] Translation: X:11.55, Y:1.05, Z:2.08 [[ 8.13751895e-01 -1.38108584e-01 -5.64565206e-01 1.15499936e+01] [ 1.72589997e-01 9.84962728e-01 7.81775021e-03 1.04758438e+00] [ 5.54995987e-01 -1.03800016e-01 8.25351447e-01 2.08243892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53964924600001 meters Centerline goodness : 0.917737 Centerline is valid? [False, False] Translation: X:11.55, Y:1.05, Z:2.09 [[ 8.11076188e-01 -1.33837757e-01 -5.69423281e-01 1.15524580e+01] [ 1.70331003e-01 9.85325229e-01 1.10246670e-02 1.05263790e+00] [ 5.59591607e-01 -1.05932283e-01 8.21970549e-01 2.09222531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56964924600001 meters Centerline goodness : 0.917518 Centerline is valid? [False, False] Translation: X:11.55, Y:1.06, Z:2.10 [[ 8.10096470e-01 -1.32601302e-01 -5.71104722e-01 1.15536933e+01] [ 1.69319184e-01 9.85495814e-01 1.13584174e-02 1.05506299e+00] [ 5.61315172e-01 -1.05900400e-01 8.20798625e-01 2.09539138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59964924600001 meters Centerline goodness : 0.912591 Centerline is valid? [False, False] Translation: X:11.54, Y:1.06, Z:2.10 [[ 0.80484629 -0.13319715 -0.5783433 11.53672242] [ 0.17224026 0.98497116 0.01284978 1.05924977] [ 0.56793992 -0.10995609 0.81569229 2.09679211] [ 0. 0. 0. 1. ]] SLAMing on 93.62964924600001 meters Centerline goodness : 0.914583 Centerline is valid? [False, False] Translation: X:11.54, Y:1.06, Z:2.10 [[ 0.80424427 -0.13309577 -0.57920348 11.53713279] [ 0.17225372 0.98496888 0.01284329 1.06201364] [ 0.56878801 -0.1100991 0.81508183 2.09874416] [ 0. 0. 0. 1. ]] SLAMing on 93.65964924600001 meters Centerline goodness : 0.912737 Centerline is valid? [False, False] Translation: X:11.48, Y:1.05, Z:2.06 [[ 0.80723893 -0.12750484 -0.57628797 11.47807266] [ 0.16609841 0.98600245 0.0145084 1.04649709] [ 0.56637146 -0.10743226 0.81711791 2.05718323] [ 0. 0. 0. 1. ]] SLAMing on 93.68964924600002 meters Centerline goodness : 0.911822 Centerline is valid? [False, False] Translation: X:11.46, Y:1.05, Z:2.05 [[ 8.02274169e-01 -1.31898921e-01 -5.82201711e-01 1.14578825e+01] [ 1.68734637e-01 9.85618367e-01 9.22264822e-03 1.04942605e+00] [ 5.72612242e-01 -1.05636687e-01 8.12992073e-01 2.04924599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71964924600002 meters Centerline goodness : 0.918023 Centerline is valid? [False, False] Translation: X:11.42, Y:1.05, Z:2.04 [[ 0.80049602 -0.12665487 -0.58580258 11.41970025] [ 0.16702905 0.98583635 0.01509913 1.04555366] [ 0.5755931 -0.10993284 0.81031312 2.04048685] [ 0. 0. 0. 1. ]] SLAMing on 93.74964924600002 meters Centerline goodness : 0.917607 Centerline is valid? [False, False] Translation: X:11.40, Y:1.05, Z:2.03 [[ 7.95577881e-01 -1.32536920e-01 -5.91176623e-01 1.13983892e+01] [ 1.70318432e-01 9.85354134e-01 8.29832351e-03 1.04913815e+00] [ 5.81418495e-01 -1.07290238e-01 8.06499435e-01 2.02977261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77964924600002 meters Centerline goodness : 0.922645 Centerline is valid? [False, False] Translation: X:11.36, Y:1.04, Z:2.00 [[ 7.94539395e-01 -1.31344375e-01 -5.92837081e-01 1.13590316e+01] [ 1.67019348e-01 9.85938788e-01 5.40778953e-03 1.04385960e+00] [ 5.83790790e-01 -1.03311965e-01 8.05304260e-01 2.00396058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.809649246 meters Centerline goodness : 0.918315 Centerline is valid? [False, False] Translation: X:11.34, Y:1.05, Z:1.99 [[ 7.89627814e-01 -1.34666135e-01 -5.98625882e-01 1.13403775e+01] [ 1.69130241e-01 9.85592749e-01 1.37644638e-03 1.04696949e+00] [ 5.89815968e-01 -1.02332620e-01 8.01027564e-01 1.99348605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83964924600001 meters Centerline goodness : 0.916051 Centerline is valid? [False, False] Translation: X:11.30, Y:1.04, Z:1.96 [[ 7.89097820e-01 -1.30602034e-01 -6.00223074e-01 1.13044376e+01] [ 1.62761090e-01 9.86665254e-01 -7.09849529e-04 1.03955494e+00] [ 5.92311960e-01 -9.71328211e-02 7.99832331e-01 1.96344798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86964924600001 meters Centerline goodness : 0.915453 Centerline is valid? [False, False] Translation: X:11.28, Y:1.04, Z:1.94 [[ 7.85313421e-01 -1.35519105e-01 -6.04083937e-01 1.12768040e+01] [ 1.61632310e-01 9.86786915e-01 -1.12508495e-02 1.03893094e+00] [ 5.97626829e-01 -8.88040388e-02 7.96841274e-01 1.93900195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89964924600001 meters Centerline goodness : 0.915379 Centerline is valid? [False, False] Translation: X:11.22, Y:1.03, Z:1.90 [[ 0.78462765 -0.13651503 -0.60475044 11.22456449] [ 0.15911671 0.98712378 -0.0163867 1.02633186] [ 0.59920057 -0.08336844 0.79624643 1.89729573] [ 0. 0. 0. 1. ]] SLAMing on 93.92964924600001 meters Centerline goodness : 0.914989 Centerline is valid? [False, False] Translation: X:11.18, Y:1.02, Z:1.86 [[ 0.78077737 -0.14112765 -0.60866221 11.17966736] [ 0.16019743 0.98680973 -0.02330949 1.02099504] [ 0.60392341 -0.0793066 0.793087 1.86413089] [ 0. 0. 0. 1. ]] SLAMing on 93.95964924600001 meters Centerline goodness : 0.914286 Centerline is valid? [False, False] Translation: X:11.10, Y:1.00, Z:1.80 [[ 0.7831619 -0.13758237 -0.60640624 11.10321909] [ 0.15481685 0.98764831 -0.02413618 0.9986756 ] [ 0.60223681 -0.07497937 0.7947886 1.80017873] [ 0. 0. 0. 1. ]] SLAMing on 93.98964924600001 meters Centerline goodness : 0.914129 Centerline is valid? [False, False] Translation: X:11.06, Y:0.99, Z:1.76 [[ 0.7795466 -0.1444415 -0.60946185 11.06084319] [ 0.15656913 0.98709272 -0.03367597 0.99471586] [ 0.60645956 -0.06917092 0.79209986 1.76372439] [ 0. 0. 0. 1. ]] SLAMing on 94.01964924600001 meters Centerline goodness : 0.910990 Centerline is valid? [False, False] Translation: X:11.03, Y:0.99, Z:1.73 [[ 0.77604881 -0.15123293 -0.61227187 11.02883761] [ 0.15825375 0.98645855 -0.043073 0.99246106] [ 0.61049487 -0.06346757 0.78947317 1.73477562] [ 0. 0. 0. 1. ]] SLAMing on 94.04964924600002 meters Centerline goodness : 0.910478 Centerline is valid? [False, False] Translation: X:10.96, Y:0.97, Z:1.67 [[ 0.77700177 -0.15307159 -0.61060408 10.95922304] [ 0.15558749 0.98658914 -0.04933969 0.9738662 ] [ 0.60996786 -0.05666533 0.79039753 1.67245294] [ 0. 0. 0. 1. ]] SLAMing on 94.07964924600002 meters Centerline goodness : 0.907620 Centerline is valid? [False, False] Translation: X:10.91, Y:0.96, Z:1.63 [[ 0.77483592 -0.15858367 -0.61194813 10.91343278] [ 0.15388871 0.98622049 -0.06072403 0.9648083 ] [ 0.61314563 -0.04712075 0.7885633 1.63176467] [ 0. 0. 0. 1. ]] SLAMing on 94.10964924600002 meters Centerline goodness : 0.912489 Centerline is valid? [False, False] Translation: X:10.83, Y:0.94, Z:1.56 [[ 0.77762397 -0.1599985 -0.60803078 10.83467609] [ 0.14852751 0.9864544 -0.06962259 0.94086034] [ 0.61093415 -0.0361691 0.79085477 1.55870529] [ 0. 0. 0. 1. ]] SLAMing on 94.13964924600002 meters Centerline goodness : 0.915924 Centerline is valid? [False, False] Translation: X:10.76, Y:0.92, Z:1.49 [[ 0.78066785 -0.15849678 -0.60451342 10.75847418] [ 0.14513145 0.98683886 -0.07131575 0.91804848] [ 0.60786065 -0.03205999 0.79339624 1.49352869] [ 0. 0. 0. 1. ]] SLAMing on 94.169649246 meters Centerline goodness : 0.915984 Centerline is valid? [False, False] Translation: X:10.69, Y:0.90, Z:1.44 [[ 0.77944669 -0.16151188 -0.60529065 10.69280846] [ 0.14578254 0.98643263 -0.07548584 0.90438771] [ 0.60927031 -0.02940362 0.79241726 1.44079648] [ 0. 0. 0. 1. ]] SLAMing on 94.199649246 meters Centerline goodness : 0.913737 Centerline is valid? [False, False] Translation: X:10.61, Y:0.88, Z:1.37 [[ 0.7836238 -0.15965979 -0.60036863 10.6145061 ] [ 0.14216933 0.98685262 -0.07687513 0.88115447] [ 0.60474922 -0.02511282 0.79601993 1.37180311] [ 0. 0. 0. 1. ]] SLAMing on 94.22964924600001 meters Centerline goodness : 0.916210 Centerline is valid? [False, False] Translation: X:10.58, Y:0.88, Z:1.34 [[ 0.78146092 -0.16130314 -0.60274383 10.57701115] [ 0.14144872 0.98665453 -0.08065421 0.87622479] [ 0.6077097 -0.02222923 0.79384808 1.34379144] [ 0. 0. 0. 1. ]] SLAMing on 94.25964924600001 meters Centerline goodness : 0.913426 Centerline is valid? [False, False] Translation: X:10.51, Y:0.86, Z:1.28 [[ 0.78403138 -0.16306371 -0.59891988 10.50666631] [ 0.13911729 0.98649339 -0.08647059 0.85664313] [ 0.60493072 -0.01552446 0.79612676 1.27730631] [ 0. 0. 0. 1. ]] SLAMing on 94.28964924600001 meters Centerline goodness : 0.914844 Centerline is valid? [False, False] Translation: X:10.46, Y:0.85, Z:1.23 [[ 7.83251059e-01 -1.66299470e-01 -5.99051136e-01 1.04576262e+01] [ 1.37914678e-01 9.86029932e-01 -9.34051103e-02 8.48021364e-01] [ 6.06215572e-01 -9.45829322e-03 7.95244127e-01 1.23463688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31964924600001 meters Centerline goodness : 0.913558 Centerline is valid? [False, False] Translation: X:10.38, Y:0.83, Z:1.17 [[ 7.86821724e-01 -1.63558124e-01 -5.95113699e-01 1.03793170e+01] [ 1.33938179e-01 9.86517164e-01 -9.40449330e-02 8.25863353e-01] [ 6.02471691e-01 -5.71184860e-03 7.98119813e-01 1.16880460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34964924600001 meters Centerline goodness : 0.916604 Centerline is valid? [False, False] Translation: X:10.33, Y:0.82, Z:1.13 [[ 7.86027301e-01 -1.65156470e-01 -5.95721766e-01 1.03279503e+01] [ 1.32516991e-01 9.86266302e-01 -9.85800613e-02 8.17247395e-01] [ 6.03821438e-01 -1.45663639e-03 7.97118278e-01 1.13002116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37964924600001 meters Centerline goodness : 0.917046 Centerline is valid? [False, False] Translation: X:10.27, Y:0.80, Z:1.07 [[ 7.88350822e-01 -1.66862668e-01 -5.92165375e-01 1.02691950e+01] [ 1.28958619e-01 9.85953026e-01 -1.06142848e-01 8.03286987e-01] [ 6.01558523e-01 7.31297269e-03 7.98795258e-01 1.07319978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40964924600001 meters Centerline goodness : 0.916977 Centerline is valid? [False, False] Translation: X:10.22, Y:0.80, Z:1.03 [[ 7.87120953e-01 -1.67558792e-01 -5.93603114e-01 1.02165143e+01] [ 1.27766466e-01 9.85813018e-01 -1.08850466e-01 7.95965427e-01] [ 6.03420529e-01 9.83591062e-03 7.97362477e-01 1.03158770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43964924600002 meters Centerline goodness : 0.915234 Centerline is valid? [False, False] Translation: X:10.14, Y:0.77, Z:0.96 [[ 0.79155317 -0.159986 -0.58978645 10.13638498] [ 0.12187964 0.9870626 -0.10417666 0.77365349] [ 0.59882295 0.0105784 0.80081157 0.96189365] [ 0. 0. 0. 1. ]] SLAMing on 94.46964924600002 meters Centerline goodness : 0.914475 Centerline is valid? [False, False] Translation: X:10.11, Y:0.77, Z:0.95 [[ 0.78719412 -0.16314713 -0.59473392 10.11184426] [ 0.12228998 0.98651763 -0.10875716 0.7735223 ] [ 0.60445892 0.012883 0.79653214 0.94631771] [ 0. 0. 0. 1. ]] SLAMing on 94.49964924600002 meters Centerline goodness : 0.909333 Centerline is valid? [False, False] Translation: X:10.06, Y:0.76, Z:0.91 [[ 0.78395378 -0.16491227 -0.59851517 10.06209852] [ 0.12212016 0.9862011 -0.11177678 0.76230775] [ 0.60868969 0.01453706 0.7932752 0.90587759] [ 0. 0. 0. 1. ]] SLAMing on 94.52964924600002 meters Centerline goodness : 0.908550 Centerline is valid? [False, False] Translation: X:10.04, Y:0.76, Z:0.89 [[ 0.7799979 -0.16928912 -0.60244872 10.03814238] [ 0.12273026 0.98540021 -0.11799874 0.76219788] [ 0.613629 0.01810008 0.789387 0.88634925] [ 0. 0. 0. 1. ]] SLAMing on 94.559649246 meters Centerline goodness : 0.908550 Centerline is valid? [False, False] Translation: X:10.01, Y:0.76, Z:0.86 [[ 0.77654451 -0.17522753 -0.6052057 10.01172166] [ 0.12328048 0.98423912 -0.12678832 0.76246572] [ 0.61788393 0.02384672 0.78590762 0.86291064] [ 0. 0. 0. 1. ]] SLAMing on 94.58964924600001 meters Centerline goodness : 0.905537 Centerline is valid? [False, False] Translation: X:9.92, Y:0.74, Z:0.78 [[ 0.78129942 -0.17141446 -0.60015689 9.92148628] [ 0.11805702 0.98477725 -0.12757861 0.73822844] [ 0.61288968 0.02882436 0.78964258 0.77978814] [ 0. 0. 0. 1. ]] SLAMing on 94.61964924600001 meters Centerline goodness : 0.904822 Centerline is valid? [False, False] Translation: X:9.86, Y:0.73, Z:0.74 [[ 0.78129835 -0.16815186 -0.60108056 9.86412497] [ 0.11595637 0.9853659 -0.12493264 0.72634175] [ 0.61329194 0.02791055 0.78936303 0.74126506] [ 0. 0. 0. 1. ]] SLAMing on 94.64964924600001 meters Centerline goodness : 0.910079 Centerline is valid? [False, False] Translation: X:9.79, Y:0.71, Z:0.68 [[ 0.78350445 -0.16682325 -0.59857395 9.79227562] [ 0.11530117 0.98559054 -0.12376155 0.70991187] [ 0.61059513 0.02795145 0.79144949 0.68288386] [ 0. 0. 0. 1. ]] SLAMing on 94.67964924600001 meters Centerline goodness : 0.909477 Centerline is valid? [False, False] Translation: X:9.75, Y:0.71, Z:0.66 [[ 0.78025248 -0.16895832 -0.60221188 9.75393896] [ 0.11537342 0.98518007 -0.12692206 0.70562634] [ 0.61473168 0.02955201 0.78818249 0.65852501] [ 0. 0. 0. 1. ]] SLAMing on 94.70964924600001 meters Centerline goodness : 0.909579 Centerline is valid? [False, False] Translation: X:9.67, Y:0.68, Z:0.60 [[ 0.78368537 -0.16552847 -0.59869655 9.67445543] [ 0.11340854 0.98576802 -0.12409636 0.68421019] [ 0.6107174 0.0293552 0.79130432 0.59809881] [ 0. 0. 0. 1. ]] SLAMing on 94.73964924600001 meters Centerline goodness : 0.911987 Centerline is valid? [False, False] Translation: X:9.59, Y:0.66, Z:0.53 [[ 0.78700415 -0.16671622 -0.5939951 9.59356273] [ 0.11254773 0.98543697 -0.12746367 0.66442264] [ 0.60659499 0.03346164 0.79430651 0.53006303] [ 0. 0. 0. 1. ]] SLAMing on 94.76964924600001 meters Centerline goodness : 0.911325 Centerline is valid? [False, False] Translation: X:9.54, Y:0.66, Z:0.50 [[ 0.78451779 -0.16598497 -0.59747872 9.5434594 ] [ 0.11254172 0.98562055 -0.12604167 0.6562966 ] [ 0.60980833 0.03164065 0.79191709 0.49997874] [ 0. 0. 0. 1. ]] SLAMing on 94.79964924600002 meters Centerline goodness : 0.916232 Centerline is valid? [False, False] Translation: X:9.50, Y:0.65, Z:0.47 [[ 0.78208046 -0.1661672 -0.6006152 9.49657211] [ 0.11289203 0.98562608 -0.1256846 0.64938147] [ 0.61286667 0.0304908 0.78959785 0.47024195] [ 0. 0. 0. 1. ]] SLAMing on 94.82964924600002 meters Centerline goodness : 0.913517 Centerline is valid? [False, False] Translation: X:9.43, Y:0.63, Z:0.42 [[ 0.78301867 -0.16217815 -0.60048314 9.42619617] [ 0.11222533 0.98640221 -0.12006726 0.63492412] [ 0.61179019 0.02662549 0.79057185 0.41987637] [ 0. 0. 0. 1. ]] SLAMing on 94.85964924600002 meters Centerline goodness : 0.914207 Centerline is valid? [False, False] Translation: X:9.40, Y:0.64, Z:0.41 [[ 0.77862631 -0.16255623 -0.60606645 9.40268694] [ 0.11354176 0.98641674 -0.11870247 0.63503944] [ 0.61712992 0.02361102 0.78650695 0.41353566] [ 0. 0. 0. 1. ]] SLAMing on 94.88964924600002 meters Centerline goodness : 0.913577 Centerline is valid? [False, False] Translation: X:9.33, Y:0.62, Z:0.34 [[ 0.78152701 -0.16153959 -0.60259481 9.32524665] [ 0.10779712 0.98633346 -0.1246037 0.61952043] [ 0.61448785 0.03242317 0.78825974 0.34211878] [ 0. 0. 0. 1. ]] SLAMing on 94.919649246 meters Centerline goodness : 0.916481 Centerline is valid? [False, False] Translation: X:9.28, Y:0.61, Z:0.32 [[ 0.77833231 -0.15961228 -0.60722544 9.27966412] [ 0.10595014 0.9866667 -0.12354506 0.61457785] [ 0.61884844 0.03182349 0.78486552 0.31555331] [ 0. 0. 0. 1. ]] SLAMing on 94.949649246 meters Centerline goodness : 0.913202 Centerline is valid? [False, False] Translation: X:9.19, Y:0.60, Z:0.24 [[ 0.78372885 -0.15123647 -0.60240902 9.18935345] [ 0.10022777 0.98798531 -0.11764104 0.59514172] [ 0.61296288 0.03182056 0.78947068 0.24186423] [ 0. 0. 0. 1. ]] SLAMing on 94.97964924600001 meters Centerline goodness : 0.911417 Centerline is valid? [False, False] Translation: X:9.13, Y:0.58, Z:0.20 [[ 0.78465761 -0.14569438 -0.60256583 9.12712626] [ 0.0980786 0.98892457 -0.11139468 0.58366871] [ 0.61212173 0.02830787 0.7902567 0.19757314] [ 0. 0. 0. 1. ]] SLAMing on 95.00964924600001 meters Centerline goodness : 0.913099 Centerline is valid? [False, False] Translation: X:9.10, Y:0.59, Z:0.19 [[ 0.7795055 -0.14740083 -0.60880553 9.10470568] [ 0.1000089 0.9887376 -0.11133811 0.58504962] [ 0.61836025 0.0259027 0.78546779 0.19055869] [ 0. 0. 0. 1. ]] SLAMing on 95.03964924600001 meters Centerline goodness : 0.913266 Centerline is valid? [False, False] Translation: X:9.05, Y:0.58, Z:0.15 [[ 0.78039594 -0.14275843 -0.60877106 9.0505567 ] [ 0.09656992 0.98942458 -0.10822777 0.57543625] [ 0.61778348 0.02567154 0.7859291 0.15226816] [ 0. 0. 0. 1. ]] SLAMing on 95.06964924600001 meters Centerline goodness : 0.912365 Centerline is valid? [False, False] Translation: X:9.02, Y:0.58, Z:0.14 [[ 0.77676203 -0.14531731 -0.61279982 9.0225784 ] [ 0.09746726 0.98903056 -0.11098958 0.57507353] [ 0.62220646 0.02648457 0.78240507 0.13699919] [ 0. 0. 0. 1. ]] SLAMing on 95.09964924600001 meters Centerline goodness : 0.911879 Centerline is valid? [False, False] Translation: X:8.97, Y:0.57, Z:0.10 [[ 0.77614639 -0.14864063 -0.61278279 8.97398803] [ 0.09732463 0.98841243 -0.11648514 0.5683467 ] [ 0.62299655 0.03077067 0.78161913 0.09552514] [ 0. 0. 0. 1. ]] SLAMing on 95.12964924600001 meters Centerline goodness : 0.911378 Centerline is valid? [False, False] Translation: X:8.89, Y:0.55, Z:0.03 [[ 0.7814133 -0.14256514 -0.60751003 8.89323822] [ 0.09549369 0.98940503 -0.10935561 0.5510434 ] [ 0.61666378 0.02743856 0.78674831 0.0338621 ] [ 0. 0. 0. 1. ]] SLAMing on 95.15964924600001 meters Centerline goodness : 0.910903 Centerline is valid? [False, False] Translation: X:8.82, Y:0.54, Z:-0.02 [[ 0.78418413 -0.1331192 -0.6060813 8.81570315] [ 0.0897858 0.9907813 -0.10144416 0.54008987] [ 0.61399818 0.02513341 0.78890718 -0.02192589] [ 0. 0. 0. 1. ]] SLAMing on 95.18964924600002 meters Centerline goodness : 0.906182 Centerline is valid? [False, False] Translation: X:8.78, Y:0.54, Z:-0.03 [[ 0.78178116 -0.1298515 -0.60988262 8.78338907] [ 0.08911373 0.99130355 -0.09682981 0.53874368] [ 0.6171523 0.02135081 0.78655399 -0.03462667] [ 0. 0. 0. 1. ]] SLAMing on 95.21964924600002 meters Centerline goodness : 0.911196 Centerline is valid? [False, False] Translation: X:8.75, Y:0.54, Z:-0.04 [[ 0.78133186 -0.12270509 -0.61193463 8.75122521] [ 0.08606383 0.99229857 -0.08908741 0.5356164 ] [ 0.61815333 0.0169414 0.78587496 -0.04200474] [ 0. 0. 0. 1. ]] SLAMing on 95.24964924600002 meters Centerline goodness : 0.909607 Centerline is valid? [False, False] Translation: X:8.73, Y:0.54, Z:-0.06 [[ 0.77750632 -0.1248728 -0.61635274 8.72586067] [ 0.08574369 0.99198475 -0.09281317 0.53725596] [ 0.62300236 0.01931447 0.78198146 -0.057688 ] [ 0. 0. 0. 1. ]] SLAMing on 95.27964924600002 meters Centerline goodness : 0.909471 Centerline is valid? [False, False] Translation: X:8.65, Y:0.53, Z:-0.11 [[ 0.77760923 -0.11663339 -0.61783536 8.64866574] [ 0.08055522 0.99302674 -0.08607405 0.52824882] [ 0.62356614 0.01716211 0.78158219 -0.10910915] [ 0. 0. 0. 1. ]] SLAMing on 95.309649246 meters Centerline goodness : 0.910960 Centerline is valid? [False, False] Translation: X:8.60, Y:0.53, Z:-0.13 [[ 0.77477885 -0.1134277 -0.62197419 8.60421167] [ 0.07869241 0.99342576 -0.08314297 0.52599392] [ 0.6273159 0.01547276 0.77861117 -0.13377037] [ 0. 0. 0. 1. ]] SLAMing on 95.33964924600001 meters Centerline goodness : 0.905107 Centerline is valid? [False, False] Translation: X:8.54, Y:0.52, Z:-0.18 [[ 0.77365108 -0.10714669 -0.62448666 8.53734217] [ 0.07518188 0.9941588 -0.07743364 0.52001092] [ 0.62913567 0.01295654 0.77718752 -0.17879215] [ 0. 0. 0. 1. ]] SLAMing on 95.36964924600001 meters Centerline goodness : 0.905002 Centerline is valid? [False, False] Translation: X:8.47, Y:0.51, Z:-0.22 [[ 7.72951212e-01 -9.92603121e-02 -6.26652866e-01 8.47254097e+00] [ 7.30178997e-02 9.95040570e-01 -6.75473867e-02 5.12837509e-01] [ 6.30249800e-01 6.45395831e-03 7.76365594e-01 -2.16496683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39964924600001 meters Centerline goodness : 0.904323 Centerline is valid? [False, False] Translation: X:8.41, Y:0.51, Z:-0.26 [[ 7.71906187e-01 -9.37100288e-02 -6.28791913e-01 8.40742235e+00] [ 7.01734296e-02 9.95591851e-01 -6.22298661e-02 5.06406278e-01] [ 6.31851667e-01 3.91113362e-03 7.75079463e-01 -2.59909676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42964924600001 meters Centerline goodness : 0.908190 Centerline is valid? [False, False] Translation: X:8.37, Y:0.50, Z:-0.28 [[ 7.68584369e-01 -9.18114236e-02 -6.33126156e-01 8.36527300e+00] [ 6.95579095e-02 9.95774311e-01 -5.99601433e-02 5.03720542e-01] [ 6.35955788e-01 2.04549704e-03 7.71722782e-01 -2.81157065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45964924600001 meters Centerline goodness : 0.907107 Centerline is valid? [False, False] Translation: X:8.30, Y:0.50, Z:-0.32 [[ 7.68205729e-01 -8.86447084e-02 -6.34036334e-01 8.30486209e+00] [ 6.60982862e-02 9.96056988e-01 -5.91734212e-02 4.95382453e-01] [ 6.36781732e-01 3.54864614e-03 7.71035948e-01 -3.21925574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48964924600001 meters Centerline goodness : 0.910580 Centerline is valid? [False, False] Translation: X:8.26, Y:0.49, Z:-0.35 [[ 7.65691067e-01 -8.75128740e-02 -6.37227343e-01 8.26205908e+00] [ 6.47305856e-02 9.96155568e-01 -5.90257244e-02 4.91705843e-01] [ 6.39943076e-01 3.94737091e-03 7.68412180e-01 -3.48673650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51964924600001 meters Centerline goodness : 0.907048 Centerline is valid? [False, False] Translation: X:8.19, Y:0.48, Z:-0.41 [[ 7.66653932e-01 -8.22915543e-02 -6.36765144e-01 8.18882689e+00] [ 5.97678370e-02 9.96593044e-01 -5.68340521e-02 4.79831354e-01] [ 6.39272676e-01 5.51397419e-03 7.68960364e-01 -4.06138736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54964924600002 meters Centerline goodness : 0.908307 Centerline is valid? [False, False] Translation: X:8.14, Y:0.47, Z:-0.44 [[ 7.65873276e-01 -7.65711141e-02 -6.38416001e-01 8.13933802e+00] [ 5.70179446e-02 9.97060190e-01 -5.11852611e-02 4.74475927e-01] [ 6.40458492e-01 2.80025542e-03 7.67987682e-01 -4.38411589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57964924600002 meters Centerline goodness : 0.905863 Centerline is valid? [False, False] Translation: X:8.09, Y:0.47, Z:-0.46 [[ 7.63456177e-01 -6.79082503e-02 -6.42279640e-01 8.08969810e+00] [ 5.40833457e-02 9.97686167e-01 -4.11983441e-02 4.69677877e-01] [ 6.43591219e-01 -3.28350150e-03 7.65362372e-01 -4.64574854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60964924600002 meters Centerline goodness : 0.906393 Centerline is valid? [False, False] Translation: X:8.09, Y:0.47, Z:-0.46 [[ 7.62289950e-01 -6.19055988e-02 -6.44268367e-01 8.09076014e+00] [ 5.15752311e-02 9.98059910e-01 -3.48771057e-02 4.67382398e-01] [ 6.45177516e-01 -6.64182274e-03 7.64003834e-01 -4.57889745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63964924600002 meters Centerline goodness : 0.909258 Centerline is valid? [False, False] Translation: X:8.09, Y:0.46, Z:-0.44 [[ 0.76114089 -0.05013124 -0.64664627 8.09244627] [ 0.04836935 0.99861945 -0.02048436 0.46252176] [ 0.64678045 -0.01568638 0.76251491 -0.44233039] [ 0. 0. 0. 1. ]] SLAMing on 95.669649246 meters Centerline goodness : 0.912361 Centerline is valid? [False, False] Translation: X:8.09, Y:0.46, Z:-0.44 [[ 0.76008628 -0.04405865 -0.64832683 8.0933757 ] [ 0.04602256 0.99884337 -0.01392288 0.45955133] [ 0.64819038 -0.01925507 0.76123484 -0.4357237 ] [ 0. 0. 0. 1. ]] SLAMing on 95.699649246 meters Centerline goodness : 0.908667 Centerline is valid? [False, False] Translation: X:8.10, Y:0.46, Z:-0.42 [[ 7.59106574e-01 -3.53810336e-02 -6.50004147e-01 8.09840029e+00] [ 4.56016967e-02 9.98959074e-01 -1.11946484e-03 4.55675624e-01] [ 6.49367149e-01 -2.87914989e-02 7.59929836e-01 -4.20255801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72964924600001 meters Centerline goodness : 0.910919 Centerline is valid? [False, False] Translation: X:8.10, Y:0.45, Z:-0.40 [[ 0.75854159 -0.02746492 -0.65104556 8.10368455] [ 0.04602004 0.99887455 0.01148016 0.45198255] [ 0.64999754 -0.03866933 0.75895183 -0.40459475] [ 0. 0. 0. 1. ]] SLAMing on 95.75964924600001 meters Centerline goodness : 0.911451 Centerline is valid? [False, False] Translation: X:8.10, Y:0.45, Z:-0.40 [[ 0.7575514 -0.02150801 -0.65242109 8.10459105] [ 0.04336348 0.99890747 0.01742057 0.44910965] [ 0.65133362 -0.04148822 0.75765642 -0.39926789] [ 0. 0. 0. 1. ]] SLAMing on 95.78964924600001 meters Centerline goodness : 0.910147 Centerline is valid? [False, False] Translation: X:8.11, Y:0.44, Z:-0.39 [[ 0.75586345 -0.01514944 -0.654554 8.10602713] [ 0.04192831 0.99880022 0.02530091 0.44450944] [ 0.65338538 -0.04656837 0.75559177 -0.3889195 ] [ 0. 0. 0. 1. ]] SLAMing on 95.81964924600001 meters Centerline goodness : 0.910061 Centerline is valid? [False, False] Translation: X:8.11, Y:0.44, Z:-0.39 [[ 0.75508524 -0.01041404 -0.65554392 8.10791657] [ 0.03977947 0.99875942 0.0299534 0.44164832] [ 0.65441873 -0.04869456 0.75456276 -0.38501898] [ 0. 0. 0. 1. ]] SLAMing on 95.84964924600001 meters Centerline goodness : 0.910297 Centerline is valid? [False, False] Translation: X:8.11, Y:0.44, Z:-0.38 [[ 7.53518712e-01 -5.78734363e-03 -6.57400987e-01 8.11210565e+00] [ 3.93826245e-02 9.98562811e-01 3.63499885e-02 4.38221756e-01] [ 6.56245808e-01 -5.32805727e-02 7.52663684e-01 -3.75995431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87964924600001 meters Centerline goodness : 0.909162 Centerline is valid? [False, False] Translation: X:8.11, Y:0.44, Z:-0.37 [[ 7.52853789e-01 -6.26804637e-03 -6.58157947e-01 8.11489535e+00] [ 4.02449881e-02 9.98522008e-01 3.65258973e-02 4.37749440e-01] [ 6.56956249e-01 -5.39862190e-02 7.51993335e-01 -3.74004458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90964924600001 meters Centerline goodness : 0.908966 Centerline is valid? [False, False] Translation: X:8.12, Y:0.44, Z:-0.37 [[ 7.51325804e-01 -1.90695169e-03 -6.59928708e-01 8.11938418e+00] [ 3.94323681e-02 9.98338797e-01 4.20087375e-02 4.35476593e-01] [ 6.58752324e-01 -5.75848002e-02 7.50152896e-01 -3.66672720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93964924600002 meters Centerline goodness : 0.906502 Centerline is valid? [False, False] Translation: X:8.12, Y:0.43, Z:-0.36 [[ 7.50531489e-01 3.29474540e-03 -6.60826474e-01 8.12133407e+00] [ 3.68758689e-02 9.98220639e-01 4.68585700e-02 4.33819301e-01] [ 6.59805012e-01 -5.95373827e-02 7.49074526e-01 -3.63076564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96964924600002 meters Centerline goodness : 0.911099 Centerline is valid? [False, False] Translation: X:8.12, Y:0.43, Z:-0.36 [[ 7.49685977e-01 3.18642926e-03 -6.61786055e-01 8.12329273e+00] [ 3.74741994e-02 9.98179538e-01 4.72577354e-02 4.34107867e-01] [ 6.60731882e-01 -6.02283642e-02 7.48201793e-01 -3.60273276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99964924600002 meters Centerline goodness : 0.909349 Centerline is valid? [False, False] Translation: X:8.12, Y:0.43, Z:-0.36 [[ 7.49264344e-01 3.95129296e-03 -6.62259262e-01 8.12301549e+00] [ 3.73743262e-02 9.98136310e-01 4.82396863e-02 4.33118835e-01] [ 6.61215624e-01 -6.08957706e-02 7.47720271e-01 -3.58326795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02964924600002 meters Centerline goodness : 0.913460 Centerline is valid? [False, False] Translation: X:8.12, Y:0.43, Z:-0.36 [[ 7.48818031e-01 4.45145390e-03 -6.62760696e-01 8.12311605e+00] [ 3.74031020e-02 9.98099985e-01 4.89635451e-02 4.32505888e-01] [ 6.61719400e-01 -6.14540914e-02 7.47228767e-01 -3.56533882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.059649246 meters Centerline goodness : 0.913024 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:-0.35 [[ 0.74726501 0.01039863 -0.66444478 8.12501341] [ 0.03533709 0.99784106 0.05535803 0.42983932] [ 0.66358593 -0.06484666 0.74528426 -0.34901687] [ 0. 0. 0. 1. ]] SLAMing on 96.08964924600001 meters Centerline goodness : 0.910673 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:-0.35 [[ 0.74638088 0.01020512 -0.66544078 8.12794251] [ 0.03598665 0.99780071 0.055666 0.42959431] [ 0.66454537 -0.06549502 0.74437212 -0.34629623] [ 0. 0. 0. 1. ]] SLAMing on 96.11964924600001 meters Centerline goodness : 0.911526 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:-0.34 [[ 0.7458645 0.01025604 -0.66601874 8.12929193] [ 0.03641887 0.99775794 0.05614945 0.4287174 ] [ 0.66510136 -0.06613554 0.74381871 -0.34441039] [ 0. 0. 0. 1. ]] SLAMing on 96.14964924600001 meters Centerline goodness : 0.909470 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:-0.34 [[ 0.74490686 0.00999509 -0.66709359 8.13221329] [ 0.03712954 0.99771709 0.05640936 0.42854434] [ 0.66613449 -0.06678859 0.74283519 -0.34158112] [ 0. 0. 0. 1. ]] SLAMing on 96.17964924600001 meters Centerline goodness : 0.906634 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:-0.34 [[ 0.744436 0.01023832 -0.66761533 8.13326806] [ 0.037314 0.9976819 0.05690772 0.42804258] [ 0.66665037 -0.06727555 0.74232829 -0.33999104] [ 0. 0. 0. 1. ]] SLAMing on 96.20964924600001 meters Centerline goodness : 0.909963 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:-0.34 [[ 0.74363991 0.01070596 -0.66849463 8.13454053] [ 0.03750985 0.99762885 0.05770337 0.4267875 ] [ 0.6675273 -0.06798567 0.74147505 -0.3372286 ] [ 0. 0. 0. 1. ]] SLAMing on 96.23964924600001 meters Centerline goodness : 0.909474 Centerline is valid? [False, False] Translation: X:8.14, Y:0.43, Z:-0.34 [[ 0.7432798 0.01099365 -0.66889033 8.13542425] [ 0.03760538 0.99759736 0.05818375 0.42635731] [ 0.66792288 -0.06840068 0.74108054 -0.33594583] [ 0. 0. 0. 1. ]] SLAMing on 96.26964924600001 meters Centerline goodness : 0.908970 Centerline is valid? [False, False] Translation: X:8.14, Y:0.43, Z:-0.33 [[ 0.74263195 0.01084379 -0.66961198 8.13747269] [ 0.03810589 0.99756479 0.05841597 0.42615067] [ 0.66861479 -0.06889773 0.74041027 -0.3340574 ] [ 0. 0. 0. 1. ]] SLAMing on 96.29964924600002 meters Centerline goodness : 0.909203 Centerline is valid? [False, False] Translation: X:8.14, Y:0.42, Z:-0.33 [[ 0.74123985 0.01432186 -0.67108746 8.14284613] [ 0.03709342 0.99737067 0.06225615 0.42486992] [ 0.67021457 -0.07103967 0.73875963 -0.32893981] [ 0. 0. 0. 1. ]] SLAMing on 96.32964924600002 meters Centerline goodness : 0.904679 Centerline is valid? [False, False] Translation: X:8.15, Y:0.42, Z:-0.33 [[ 0.74022397 0.01350577 -0.67222471 8.1464975 ] [ 0.03840446 0.99731665 0.06232653 0.42462139] [ 0.67126266 -0.07195202 0.73771901 -0.32574903] [ 0. 0. 0. 1. ]] SLAMing on 96.35964924600002 meters Centerline goodness : 0.905628 Centerline is valid? [False, False] Translation: X:8.15, Y:0.42, Z:-0.32 [[ 0.73976392 0.0131945 -0.67273713 8.14839447] [ 0.03886682 0.99730043 0.06229945 0.42478356] [ 0.67174304 -0.07223404 0.73725405 -0.32452968] [ 0. 0. 0. 1. ]] SLAMing on 96.38964924600002 meters Centerline goodness : 0.906005 Centerline is valid? [False, False] Translation: X:8.15, Y:0.42, Z:-0.32 [[ 0.73899776 0.01359448 -0.67357071 8.14940549] [ 0.03915485 0.99723977 0.06308514 0.42394931] [ 0.67256911 -0.07299333 0.73642566 -0.32173614] [ 0. 0. 0. 1. ]] SLAMing on 96.419649246 meters Centerline goodness : 0.905105 Centerline is valid? [False, False] Translation: X:8.15, Y:0.42, Z:-0.32 [[ 0.73859719 0.01401204 -0.67400138 8.14983838] [ 0.03922785 0.99719664 0.06371847 0.42331907] [ 0.67300473 -0.0735019 0.73597697 -0.32016281] [ 0. 0. 0. 1. ]] SLAMing on 96.449649246 meters Centerline goodness : 0.905105 Centerline is valid? [False, False] Translation: X:8.15, Y:0.42, Z:-0.32 [[ 0.73859719 0.01401204 -0.67400138 8.14983838] [ 0.03922785 0.99719664 0.06371847 0.42331907] [ 0.67300473 -0.0735019 0.73597697 -0.32016281] [ 0. 0. 0. 1. ]] SLAMing on 96.47964924600001 meters Centerline goodness : 0.905771 Centerline is valid? [False, False] Translation: X:8.15, Y:0.42, Z:-0.32 [[ 0.73821459 0.01433815 -0.67441355 8.15038037] [ 0.039411 0.99714957 0.06433895 0.42285816] [ 0.67341368 -0.07407526 0.73554529 -0.31855814] [ 0. 0. 0. 1. ]] SLAMing on 96.50964924600001 meters Centerline goodness : 0.909420 Centerline is valid? [False, False] Translation: X:8.15, Y:0.42, Z:-0.31 [[ 0.73729841 0.01299565 -0.6754422 8.15328342] [ 0.04521006 0.99662445 0.06852561 0.42015322] [ 0.67405275 -0.08106061 0.73422208 -0.30542934] [ 0. 0. 0. 1. ]] SLAMing on 96.53964924600001 meters Centerline goodness : 0.904293 Centerline is valid? [False, False] Translation: X:8.16, Y:0.42, Z:-0.30 [[ 0.7359193 0.01527008 -0.67689704 8.16033029] [ 0.04517723 0.99641018 0.07159444 0.42160665] [ 0.67556036 -0.08326806 0.73258763 -0.30045539] [ 0. 0. 0. 1. ]] SLAMing on 96.56964924600001 meters Centerline goodness : 0.912727 Centerline is valid? [False, False] Translation: X:8.16, Y:0.42, Z:-0.30 [[ 0.73583904 0.01036613 -0.67707714 8.15714375] [ 0.04910645 0.99643331 0.06862379 0.42145494] [ 0.67537357 -0.08374492 0.73270548 -0.29852667] [ 0. 0. 0. 1. ]] SLAMing on 96.59964924600001 meters Centerline goodness : 0.910935 Centerline is valid? [False, False] Translation: X:8.16, Y:0.43, Z:-0.29 [[ 0.73410026 0.01311086 -0.67891451 8.16249472] [ 0.04891056 0.99619568 0.0721243 0.42540736] [ 0.67727732 -0.08615256 0.73066625 -0.29216541] [ 0. 0. 0. 1. ]] SLAMing on 96.62964924600001 meters Centerline goodness : 0.908848 Centerline is valid? [False, False] Translation: X:8.17, Y:0.43, Z:-0.29 [[ 0.73313398 0.01659493 -0.67988174 8.16835875] [ 0.0467724 0.99610485 0.07474935 0.42858873] [ 0.67847396 -0.08660099 0.72950213 -0.29055835] [ 0. 0. 0. 1. ]] SLAMing on 96.65964924600001 meters Centerline goodness : 0.898045 Centerline is valid? [False, False] Translation: X:8.18, Y:0.43, Z:-0.29 [[ 0.73082115 0.02898002 -0.68195352 8.17969492] [ 0.03923938 0.99566222 0.08436246 0.43350202] [ 0.68144018 -0.0884133 0.72651385 -0.28533237] [ 0. 0. 0. 1. ]] SLAMing on 96.68964924600002 meters Centerline goodness : 0.896700 Centerline is valid? [False, False] Translation: X:8.18, Y:0.43, Z:-0.28 [[ 0.72999224 0.03400622 -0.6826089 8.18196207] [ 0.03612962 0.9954448 0.08822864 0.43417951] [ 0.6824998 -0.08906863 0.72543835 -0.28328915] [ 0. 0. 0. 1. ]] SLAMing on 96.71964924600002 meters Centerline goodness : 0.898954 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.28 [[ 0.72933731 0.03500683 -0.68325809 8.1809116 ] [ 0.03527252 0.99543787 0.08865273 0.43597065] [ 0.68324443 -0.08875798 0.72477519 -0.28156148] [ 0. 0. 0. 1. ]] SLAMing on 96.74964924600002 meters Centerline goodness : 0.900609 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.28 [[ 0.72894758 0.03583123 -0.68363115 8.17998508] [ 0.03469776 0.99541183 0.08917042 0.43681346] [ 0.68368962 -0.08872103 0.72435978 -0.28040703] [ 0. 0. 0. 1. ]] SLAMing on 96.77964924600002 meters Centerline goodness : 0.901198 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.28 [[ 0.72823375 0.03759322 -0.68429698 8.17809 ] [ 0.03316967 0.99539078 0.08998317 0.43941739] [ 0.68452566 -0.08822669 0.72363021 -0.27878327] [ 0. 0. 0. 1. ]] SLAMing on 96.809649246 meters Centerline goodness : 0.900223 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.28 [[ 0.72787139 0.03773898 -0.68467438 8.17883685] [ 0.03311543 0.99538474 0.09006993 0.4410364 ] [ 0.68491358 -0.08823261 0.72326233 -0.27789857] [ 0. 0. 0. 1. ]] SLAMing on 96.83964924600001 meters Centerline goodness : 0.904640 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.27 [[ 0.72685519 0.0426429 -0.68546562 8.18140769] [ 0.03037317 0.99509816 0.09411234 0.44236499] [ 0.6861188 -0.0892258 0.72199706 -0.2748733 ] [ 0. 0. 0. 1. ]] SLAMing on 96.86964924600001 meters Centerline goodness : 0.902330 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.27 [[ 0.72646412 0.04295223 -0.68586076 8.18168165] [ 0.03037 0.99506303 0.09448403 0.44308767] [ 0.68653299 -0.08946885 0.72157313 -0.27358462] [ 0. 0. 0. 1. ]] SLAMing on 96.89964924600001 meters Centerline goodness : 0.907169 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.27 [[ 0.7258923 0.04429798 -0.6863804 8.18006038] [ 0.02980833 0.99496019 0.09573753 0.44219975] [ 0.68716216 -0.08995499 0.7209135 -0.27109588] [ 0. 0. 0. 1. ]] SLAMing on 96.92964924600001 meters Centerline goodness : 0.905778 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.27 [[ 0.72553509 0.04512393 -0.68670421 8.17921184] [ 0.02954007 0.99488626 0.0965853 0.4415681 ] [ 0.68755089 -0.09036132 0.72049192 -0.2695364 ] [ 0. 0. 0. 1. ]] SLAMing on 96.95964924600001 meters Centerline goodness : 0.910383 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.27 [[ 0.72527985 0.04626782 -0.68689768 8.17807631] [ 0.02890349 0.9948131 0.09752683 0.44161806] [ 0.68784717 -0.09058799 0.7201806 -0.26816511] [ 0. 0. 0. 1. ]] SLAMing on 96.98964924600001 meters Centerline goodness : 0.915180 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.27 [[ 0.72499613 0.04684141 -0.68715828 8.17807839] [ 0.02871825 0.99476119 0.09810933 0.44134689] [ 0.68815396 -0.09086287 0.7198528 -0.26707498] [ 0. 0. 0. 1. ]] SLAMing on 97.01964924600001 meters Centerline goodness : 0.917131 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.26 [[ 0.72435713 0.04732321 -0.68779885 8.17902654] [ 0.02886293 0.99468514 0.09883524 0.44019065] [ 0.6888205 -0.0914439 0.71914138 -0.26474223] [ 0. 0. 0. 1. ]] SLAMing on 97.04964924600002 meters Centerline goodness : 0.916659 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.26 [[ 0.72398788 0.04746597 -0.68817768 8.18025624] [ 0.02898446 0.99465551 0.0990975 0.43995714] [ 0.68920349 -0.09169185 0.71874276 -0.2636896 ] [ 0. 0. 0. 1. ]] SLAMing on 97.07964924600002 meters Centerline goodness : 0.918644 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.26 [[ 0.72334174 0.04771641 -0.68883951 8.18192783] [ 0.02920708 0.99460213 0.09956679 0.438689 ] [ 0.68987222 -0.09213981 0.71804358 -0.26163347] [ 0. 0. 0. 1. ]] SLAMing on 97.10964924600002 meters Centerline goodness : 0.919158 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.26 [[ 0.72289353 0.04784765 -0.68930076 8.18305668] [ 0.02942718 0.99456237 0.09989861 0.43759904] [ 0.69033252 -0.09250023 0.71755468 -0.26020772] [ 0. 0. 0. 1. ]] SLAMing on 97.13964924600002 meters Centerline goodness : 0.920196 Centerline is valid? [False, False] Translation: X:8.18, Y:0.44, Z:-0.26 [[ 0.72228768 0.048373 -0.68989895 8.18441086] [ 0.02936211 0.99450659 0.10047147 0.43648215] [ 0.69096915 -0.09282619 0.71689952 -0.25835269] [ 0. 0. 0. 1. ]] SLAMing on 97.169649246 meters Centerline goodness : 0.922820 Centerline is valid? [False, False] Translation: X:8.19, Y:0.44, Z:-0.26 [[ 0.72188161 0.04861855 -0.69030658 8.18519023] [ 0.02933115 0.99448291 0.10071457 0.43652883] [ 0.69139469 -0.09295149 0.71647289 -0.25729225] [ 0. 0. 0. 1. ]] SLAMing on 97.199649246 meters Centerline goodness : 0.925924 Centerline is valid? [False, False] Translation: X:8.19, Y:0.44, Z:-0.26 [[ 0.72121583 0.04922603 -0.69095913 8.18608403] [ 0.02905825 0.99444389 0.1011779 0.43624924] [ 0.69210067 -0.09304916 0.71577826 -0.25548396] [ 0. 0. 0. 1. ]] SLAMing on 97.22964924600001 meters Centerline goodness : 0.926533 Centerline is valid? [False, False] Translation: X:8.19, Y:0.44, Z:-0.25 [[ 0.72076272 0.04908769 -0.69144161 8.18783552] [ 0.02939797 0.99442736 0.10124224 0.4362095 ] [ 0.6925582 -0.09329861 0.71530309 -0.25429715] [ 0. 0. 0. 1. ]] SLAMing on 97.25964924600001 meters Centerline goodness : 0.923177 Centerline is valid? [False, False] Translation: X:8.19, Y:0.44, Z:-0.25 [[ 0.71986047 0.0481103 -0.6924495 8.1918119 ] [ 0.03080838 0.99439739 0.1011171 0.43526185] [ 0.69343475 -0.09412345 0.71434517 -0.25147501] [ 0. 0. 0. 1. ]] SLAMing on 97.28964924600001 meters Centerline goodness : 0.919092 Centerline is valid? [False, False] Translation: X:8.20, Y:0.43, Z:-0.25 [[ 0.71880906 0.0473444 -0.69359357 8.19569078] [ 0.03207263 0.99435783 0.10111306 0.43451096] [ 0.69446734 -0.09492635 0.71323496 -0.2483656 ] [ 0. 0. 0. 1. ]] SLAMing on 97.31964924600001 meters Centerline goodness : 0.919600 Centerline is valid? [False, False] Translation: X:8.20, Y:0.43, Z:-0.25 [[ 0.71826855 0.04701865 -0.69417543 8.19745961] [ 0.03265422 0.99433646 0.10113705 0.43421076] [ 0.69499927 -0.09531132 0.71266525 -0.24684815] [ 0. 0. 0. 1. ]] SLAMing on 97.34964924600001 meters Centerline goodness : 0.921600 Centerline is valid? [False, False] Translation: X:8.20, Y:0.43, Z:-0.24 [[ 0.71751171 0.04667162 -0.69498108 8.19986078] [ 0.03345553 0.99429201 0.10131204 0.43358524] [ 0.69574253 -0.09594353 0.71185474 -0.24443513] [ 0. 0. 0. 1. ]] SLAMing on 97.37964924600001 meters Centerline goodness : 0.918965 Centerline is valid? [False, False] Translation: X:8.20, Y:0.43, Z:-0.24 [[ 0.71712536 0.04649819 -0.69539136 8.20122982] [ 0.03394754 0.9942571 0.10149076 0.43343798] [ 0.69611693 -0.09638843 0.71142848 -0.24307573] [ 0. 0. 0. 1. ]] SLAMing on 97.40964924600001 meters Centerline goodness : 0.920998 Centerline is valid? [False, False] Translation: X:8.20, Y:0.43, Z:-0.24 [[ 0.71665701 0.04622148 -0.69589245 8.20274096] [ 0.03448596 0.99423229 0.10155232 0.43332516] [ 0.69657264 -0.0967767 0.71092955 -0.2416461 ] [ 0. 0. 0. 1. ]] SLAMing on 97.43964924600002 meters Centerline goodness : 0.923955 Centerline is valid? [False, False] Translation: X:8.20, Y:0.43, Z:-0.24 [[ 0.71598863 0.04663909 -0.69655228 8.20317447] [ 0.03485746 0.99413297 0.10239433 0.43288355] [ 0.69724116 -0.09759322 0.71016218 -0.23888801] [ 0. 0. 0. 1. ]] SLAMing on 97.46964924600002 meters Centerline goodness : 0.929771 Centerline is valid? [False, False] Translation: X:8.20, Y:0.43, Z:-0.24 [[ 0.71539951 0.04708055 -0.69712765 8.20305831] [ 0.03504816 0.9940533 0.10310022 0.4321031 ] [ 0.69783606 -0.09819089 0.70949516 -0.2364737 ] [ 0. 0. 0. 1. ]] SLAMing on 97.49964924600002 meters Centerline goodness : 0.927618 Centerline is valid? [False, False] Translation: X:8.20, Y:0.43, Z:-0.24 [[ 0.71506513 0.04733354 -0.69745351 8.20341364] [ 0.03512592 0.99401185 0.10347273 0.43196052] [ 0.69817479 -0.09848844 0.70912058 -0.23529683] [ 0. 0. 0. 1. ]] SLAMing on 97.52964924600002 meters Centerline goodness : 0.929067 Centerline is valid? [False, False] Translation: X:8.21, Y:0.43, Z:-0.23 [[ 0.71440899 0.04702561 -0.69814639 8.20567959] [ 0.03553549 0.99401341 0.10331781 0.43300833] [ 0.69882546 -0.09862015 0.70846104 -0.23373564] [ 0. 0. 0. 1. ]] SLAMing on 97.559649246 meters Centerline goodness : 0.928108 Centerline is valid? [False, False] Translation: X:8.21, Y:0.43, Z:-0.23 [[ 0.71391763 0.04662915 -0.69867542 8.20760037] [ 0.03600808 0.99401553 0.10313359 0.43347519] [ 0.69930325 -0.09878685 0.70796619 -0.23260617] [ 0. 0. 0. 1. ]] SLAMing on 97.58964924600001 meters Centerline goodness : 0.930273 Centerline is valid? [False, False] Translation: X:8.21, Y:0.43, Z:-0.23 [[ 0.71303064 0.0459664 -0.69962447 8.21074149] [ 0.03674907 0.99402686 0.10276234 0.43369709] [ 0.70016913 -0.09898325 0.70708238 -0.23054553] [ 0. 0. 0. 1. ]] SLAMing on 97.61964924600001 meters Centerline goodness : 0.929332 Centerline is valid? [False, False] Translation: X:8.21, Y:0.43, Z:-0.23 [[ 0.71254428 0.04531326 -0.70016238 8.21321616] [ 0.03730112 0.99405459 0.1022942 0.43469057] [ 0.70063491 -0.09900599 0.70661767 -0.22962763] [ 0. 0. 0. 1. ]] SLAMing on 97.64964924600001 meters Centerline goodness : 0.925594 Centerline is valid? [False, False] Translation: X:8.22, Y:0.44, Z:-0.23 [[ 0.71200462 0.04438851 -0.70077035 8.21640218] [ 0.03809562 0.99408805 0.10167432 0.43603542] [ 0.7011406 -0.09908887 0.70610428 -0.22860162] [ 0. 0. 0. 1. ]] SLAMing on 97.67964924600001 meters Centerline goodness : 0.918044 Centerline is valid? [False, False] Translation: X:8.22, Y:0.44, Z:-0.23 [[ 0.71069885 0.04234526 -0.70222078 8.22316717] [ 0.03979739 0.99416824 0.10022812 0.43878635] [ 0.70236979 -0.09917857 0.70486899 -0.22626545] [ 0. 0. 0. 1. ]] SLAMing on 97.70964924600001 meters Centerline goodness : 0.913413 Centerline is valid? [False, False] Translation: X:8.23, Y:0.44, Z:-0.22 [[ 0.70954554 0.04069825 -0.70348332 8.22807161] [ 0.04161405 0.99416823 0.09948774 0.43960391] [ 0.70342974 -0.09986587 0.70371401 -0.22323571] [ 0. 0. 0. 1. ]] SLAMing on 97.73964924600001 meters Centerline goodness : 0.913351 Centerline is valid? [False, False] Translation: X:8.23, Y:0.44, Z:-0.22 [[ 0.70884549 0.03973442 -0.70424374 8.23103738] [ 0.04268823 0.99416546 0.09905938 0.44038831] [ 0.70407086 -0.10028072 0.70301351 -0.22141795] [ 0. 0. 0. 1. ]] SLAMing on 97.76964924600001 meters Centerline goodness : 0.911744 Centerline is valid? [False, False] Translation: X:8.24, Y:0.44, Z:-0.22 [[ 0.70774309 0.03843219 -0.70542376 8.23564136] [ 0.0444606 0.99411684 0.09876726 0.44003552] [ 0.70506948 -0.10126541 0.70187061 -0.21814386] [ 0. 0. 0. 1. ]] SLAMing on 97.79964924600002 meters Centerline goodness : 0.914319 Centerline is valid? [False, False] Translation: X:8.24, Y:0.44, Z:-0.22 [[ 0.70712797 0.03824939 -0.70605029 8.23714668] [ 0.04522526 0.9940447 0.09914542 0.43922247] [ 0.7056378 -0.10203981 0.70118698 -0.21593995] [ 0. 0. 0. 1. ]] SLAMing on 97.82964924600002 meters Centerline goodness : 0.918209 Centerline is valid? [False, False] Translation: X:8.24, Y:0.44, Z:-0.21 [[ 0.70673256 0.03311122 -0.70670555 8.23737648] [ 0.04957398 0.99413121 0.09615383 0.43785563] [ 0.70574182 -0.10298925 0.70094344 -0.21338228] [ 0. 0. 0. 1. ]] SLAMing on 97.85964924600002 meters Centerline goodness : 0.919940 Centerline is valid? [False, False] Translation: X:8.24, Y:0.44, Z:-0.21 [[ 0.70627064 0.03354446 -0.70714677 8.23721291] [ 0.04986641 0.99403846 0.09695818 0.43624623] [ 0.70618349 -0.10374159 0.70038744 -0.21127938] [ 0. 0. 0. 1. ]] SLAMing on 97.88964924600002 meters Centerline goodness : 0.922246 Centerline is valid? [False, False] Translation: X:8.24, Y:0.43, Z:-0.21 [[ 0.70567601 0.03345098 -0.70774459 8.23809532] [ 0.05061533 0.99395292 0.09744578 0.43497713] [ 0.70672446 -0.10458787 0.69971559 -0.20891076] [ 0. 0. 0. 1. ]] SLAMing on 97.91964924600002 meters Centerline goodness : 0.921082 Centerline is valid? [False, False] Translation: X:8.24, Y:0.44, Z:-0.21 [[ 0.70493136 0.02756828 -0.70873956 8.24080052] [ 0.05513485 0.9940909 0.09350636 0.43538702] [ 0.70712935 -0.10499181 0.69924588 -0.20665066] [ 0. 0. 0. 1. ]] SLAMing on 97.949649246 meters Centerline goodness : 0.917461 Centerline is valid? [False, False] Translation: X:8.24, Y:0.43, Z:-0.20 [[ 0.70336679 0.02725531 -0.71030438 8.24409435] [ 0.05716384 0.99385935 0.09474121 0.43359335] [ 0.70852484 -0.10724154 0.69748964 -0.2004365 ] [ 0. 0. 0. 1. ]] SLAMing on 97.97964924600001 meters Centerline goodness : 0.918579 Centerline is valid? [False, False] Translation: X:8.25, Y:0.43, Z:-0.20 [[ 0.70282028 0.02703087 -0.7108537 8.24596041] [ 0.05779313 0.9938049 0.09493036 0.43284021] [ 0.70901594 -0.10780144 0.69690404 -0.19866575] [ 0. 0. 0. 1. ]] SLAMing on 98.00964924600001 meters Centerline goodness : 0.922877 Centerline is valid? [False, False] Translation: X:8.25, Y:0.43, Z:-0.20 [[ 0.70222976 0.02678867 -0.71144622 8.24780777] [ 0.05844799 0.99374949 0.09510929 0.43237996] [ 0.70954717 -0.10837118 0.69627473 -0.19677085] [ 0. 0. 0. 1. ]] SLAMing on 98.03964924600001 meters Centerline goodness : 0.921768 Centerline is valid? [False, False] Translation: X:8.25, Y:0.43, Z:-0.19 [[ 0.70095373 0.02596157 -0.71273408 8.25107535] [ 0.05995549 0.99365495 0.09515873 0.43146956] [ 0.71068221 -0.10943419 0.6949496 -0.19271815] [ 0. 0. 0. 1. ]] SLAMing on 98.06964924600001 meters Centerline goodness : 0.920489 Centerline is valid? [False, False] Translation: X:8.25, Y:0.43, Z:-0.19 [[ 0.69974796 0.02531471 -0.71394115 8.25399666] [ 0.06134082 0.99355201 0.09535042 0.43058744] [ 0.71175143 -0.11051499 0.69368317 -0.18874446] [ 0. 0. 0. 1. ]] SLAMing on 98.09964924600001 meters Centerline goodness : 0.923350 Centerline is valid? [False, False] Translation: X:8.26, Y:0.43, Z:-0.19 [[ 0.69919243 0.02523129 -0.71448816 8.25517159] [ 0.0617673 0.99350838 0.09552953 0.43056065] [ 0.71226031 -0.11092553 0.69309507 -0.18703556] [ 0. 0. 0. 1. ]] SLAMing on 98.12964924600001 meters Centerline goodness : 0.923951 Centerline is valid? [False, False] Translation: X:8.26, Y:0.43, Z:-0.18 [[ 0.69832317 0.02475287 -0.71535449 8.25713208] [ 0.06267293 0.99344909 0.09555636 0.43113771] [ 0.71303356 -0.11156258 0.69219718 -0.18429806] [ 0. 0. 0. 1. ]] SLAMing on 98.15964924600001 meters Centerline goodness : 0.922252 Centerline is valid? [False, False] Translation: X:8.26, Y:0.43, Z:-0.18 [[ 0.69788679 0.02442061 -0.71579164 8.25878996] [ 0.06299633 0.99345191 0.09531406 0.43243314] [ 0.71343219 -0.11161067 0.69177855 -0.1834352 ] [ 0. 0. 0. 1. ]] SLAMing on 98.18964924600002 meters Centerline goodness : 0.921334 Centerline is valid? [False, False] Translation: X:8.26, Y:0.43, Z:-0.18 [[ 0.69746109 0.02402233 -0.71621991 8.26028484] [ 0.06327228 0.99347052 0.09493652 0.43403456] [ 0.71382396 -0.1115314 0.69138708 -0.18271144] [ 0. 0. 0. 1. ]] SLAMing on 98.21964924600002 meters Centerline goodness : 0.920309 Centerline is valid? [False, False] Translation: X:8.26, Y:0.44, Z:-0.18 [[ 0.69673367 0.02367501 -0.71693911 8.26212514] [ 0.06324592 0.99353544 0.09427234 0.43683547] [ 0.71453632 -0.11102619 0.69073224 -0.18172789] [ 0. 0. 0. 1. ]] SLAMing on 98.24964924600002 meters Centerline goodness : 0.915599 Centerline is valid? [False, False] Translation: X:8.27, Y:0.44, Z:-0.18 [[ 0.69523321 0.02769742 -0.7182504 8.26637935] [ 0.06121669 0.99334507 0.09756064 0.43827112] [ 0.71617268 -0.11179631 0.68891094 -0.17777231] [ 0. 0. 0. 1. ]] SLAMing on 98.27964924600002 meters Centerline goodness : 0.917474 Centerline is valid? [False, False] Translation: X:8.27, Y:0.44, Z:-0.18 [[ 0.69467416 0.0267132 -0.71882836 8.26938851] [ 0.06189017 0.99338488 0.09672683 0.44091666] [ 0.71665711 -0.11168204 0.68842553 -0.17699771] [ 0. 0. 0. 1. ]] SLAMing on 98.309649246 meters Centerline goodness : 0.910127 Centerline is valid? [False, False] Translation: X:8.27, Y:0.44, Z:-0.18 [[ 0.69366745 0.02563848 -0.71983897 8.27367307] [ 0.06253256 0.99344962 0.09564269 0.44407032] [ 0.71757589 -0.1113576 0.68752042 -0.17555227] [ 0. 0. 0. 1. ]] SLAMing on 98.33964924600001 meters Centerline goodness : 0.915160 Centerline is valid? [False, False] Translation: X:8.27, Y:0.44, Z:-0.17 [[ 0.69323808 0.02562509 -0.72025296 8.27451753] [ 0.0626454 0.99344274 0.09564033 0.44457216] [ 0.71798087 -0.11142205 0.68708704 -0.17449688] [ 0. 0. 0. 1. ]] SLAMing on 98.36964924600001 meters Centerline goodness : 0.915160 Centerline is valid? [False, False] Translation: X:8.27, Y:0.44, Z:-0.17 [[ 0.69323808 0.02562509 -0.72025296 8.27451753] [ 0.0626454 0.99344274 0.09564033 0.44457216] [ 0.71798087 -0.11142205 0.68708704 -0.17449688] [ 0. 0. 0. 1. ]] SLAMing on 98.39964924600001 meters Centerline goodness : 0.913062 Centerline is valid? [False, False] Translation: X:8.28, Y:0.45, Z:-0.17 [[ 0.69224125 0.02516223 -0.72122737 8.2767183 ] [ 0.06316104 0.99344453 0.09528196 0.44546173] [ 0.71889689 -0.11151158 0.68611401 -0.17224875] [ 0. 0. 0. 1. ]] SLAMing on 98.42964924600001 meters Centerline goodness : 0.911088 Centerline is valid? [False, False] Translation: X:8.28, Y:0.45, Z:-0.17 [[ 0.69174004 0.02477627 -0.72172145 8.27838535] [ 0.06356502 0.99344302 0.09502874 0.44648327] [ 0.7193436 -0.11161143 0.6856294 -0.17115884] [ 0. 0. 0. 1. ]] SLAMing on 98.45964924600001 meters Centerline goodness : 0.907129 Centerline is valid? [False, False] Translation: X:8.28, Y:0.45, Z:-0.17 [[ 0.69122059 0.0244209 -0.72223107 8.28045868] [ 0.06392621 0.99344428 0.09477288 0.44772055] [ 0.71981077 -0.11167846 0.68512801 -0.17011096] [ 0. 0. 0. 1. ]] SLAMing on 98.48964924600001 meters Centerline goodness : 0.907084 Centerline is valid? [False, False] Translation: X:8.29, Y:0.45, Z:-0.17 [[ 0.690184 0.02302718 -0.72326744 8.28520744] [ 0.0648981 0.99349621 0.09356021 0.45112543] [ 0.72071789 -0.11151244 0.68420077 -0.16843439] [ 0. 0. 0. 1. ]] SLAMing on 98.51964924600001 meters Centerline goodness : 0.903453 Centerline is valid? [False, False] Translation: X:8.29, Y:0.45, Z:-0.17 [[ 0.68921663 0.02265237 -0.72420115 8.28663433] [ 0.06564084 0.99344893 0.09354408 0.45165919] [ 0.72157585 -0.1120093 0.68321461 -0.16556283] [ 0. 0. 0. 1. ]] SLAMing on 98.54964924600002 meters Centerline goodness : 0.904513 Centerline is valid? [False, False] Translation: X:8.29, Y:0.45, Z:-0.16 [[ 0.68854229 0.0227202 -0.7248402 8.28693993] [ 0.0661312 0.99337744 0.09395707 0.45092564] [ 0.72217462 -0.11262797 0.68247986 -0.16317426] [ 0. 0. 0. 1. ]] SLAMing on 98.57964924600002 meters Centerline goodness : 0.908104 Centerline is valid? [False, False] Translation: X:8.29, Y:0.45, Z:-0.16 [[ 0.68760516 0.0225362 -0.72573498 8.28750234] [ 0.06702089 0.99328114 0.09434394 0.45070933] [ 0.72298502 -0.11351078 0.68147484 -0.15973502] [ 0. 0. 0. 1. ]] SLAMing on 98.60964924600002 meters Centerline goodness : 0.908314 Centerline is valid? [False, False] Translation: X:8.29, Y:0.45, Z:-0.16 [[ 0.68718972 0.02244379 -0.72613124 8.28868905] [ 0.06723639 0.99326778 0.09433122 0.45153863] [ 0.72335991 -0.11364588 0.68105437 -0.15873788] [ 0. 0. 0. 1. ]] SLAMing on 98.63964924600002 meters Centerline goodness : 0.910038 Centerline is valid? [False, False] Translation: X:8.29, Y:0.45, Z:-0.16 [[ 0.6864398 0.0220929 -0.72685096 8.291163 ] [ 0.06786351 0.99322999 0.09428005 0.45305344] [ 0.72401309 -0.11404423 0.68029329 -0.15671516] [ 0. 0. 0. 1. ]] SLAMing on 98.66964924600002 meters Centerline goodness : 0.911785 Centerline is valid? [False, False] Translation: X:8.29, Y:0.45, Z:-0.15 [[ 0.68583902 0.01653368 -0.72756545 8.29210484] [ 0.07221048 0.99326226 0.0906407 0.45348691] [ 0.72416192 -0.11470278 0.6800241 -0.15447595] [ 0. 0. 0. 1. ]] SLAMing on 98.699649246 meters Centerline goodness : 0.912891 Centerline is valid? [False, False] Translation: X:8.29, Y:0.45, Z:-0.15 [[ 0.68525525 0.01614398 -0.72812404 8.29353355] [ 0.0729837 0.9931996 0.09070797 0.45303115] [ 0.72463689 -0.1152993 0.67941699 -0.15253857] [ 0. 0. 0. 1. ]] SLAMing on 98.72964924600001 meters Centerline goodness : 0.914793 Centerline is valid? [False, False] Translation: X:8.30, Y:0.45, Z:-0.15 [[ 0.68403302 0.01543934 -0.72928763 8.29673892] [ 0.07444718 0.99307786 0.09085138 0.45154765] [ 0.72564209 -0.11643875 0.67814864 -0.14856182] [ 0. 0. 0. 1. ]] SLAMing on 98.75964924600001 meters Centerline goodness : 0.910870 Centerline is valid? [False, False] Translation: X:8.30, Y:0.45, Z:-0.15 [[ 0.68351978 0.01544819 -0.7297685 8.29800088] [ 0.07475101 0.99303823 0.09103494 0.45134782] [ 0.72609434 -0.11677511 0.67760651 -0.14707886] [ 0. 0. 0. 1. ]] SLAMing on 98.78964924600001 meters Centerline goodness : 0.909743 Centerline is valid? [False, False] Translation: X:8.30, Y:0.45, Z:-0.15 [[ 0.68293539 0.01548569 -0.73031462 8.30063515] [ 0.07479299 0.99303852 0.09099731 0.45210407] [ 0.72663971 -0.1167677 0.67702292 -0.14589202] [ 0. 0. 0. 1. ]] SLAMing on 98.81964924600001 meters Centerline goodness : 0.909149 Centerline is valid? [False, False] Translation: X:8.30, Y:0.45, Z:-0.14 [[ 0.68259532 0.01568961 -0.73062813 8.30169776] [ 0.07490839 0.99300133 0.09130763 0.45156819] [ 0.72694729 -0.11705634 0.67664278 -0.14480848] [ 0. 0. 0. 1. ]] SLAMing on 98.84964924600001 meters Centerline goodness : 0.912644 Centerline is valid? [False, False] Translation: X:8.30, Y:0.45, Z:-0.14 [[ 0.68214141 0.01577823 -0.73105003 8.3024748 ] [ 0.07531366 0.99293401 0.09170549 0.45023439] [ 0.72733139 -0.11761416 0.67613309 -0.14307262] [ 0. 0. 0. 1. ]] SLAMing on 98.87964924600001 meters Centerline goodness : 0.911463 Centerline is valid? [False, False] Translation: X:8.30, Y:0.45, Z:-0.14 [[ 0.68138312 0.01647172 -0.73174157 8.30306757] [ 0.07563528 0.99280988 0.0927785 0.4472673 ] [ 0.72800848 -0.11856319 0.67523805 -0.13994967] [ 0. 0. 0. 1. ]] SLAMing on 98.90964924600001 meters Centerline goodness : 0.910141 Centerline is valid? [False, False] Translation: X:8.31, Y:0.45, Z:-0.14 [[ 0.68037386 0.01573573 -0.73269625 8.30695139] [ 0.0766521 0.99275795 0.09249925 0.44729502] [ 0.72884557 -0.11909678 0.67424038 -0.13731983] [ 0. 0. 0. 1. ]] SLAMing on 98.93964924600002 meters Centerline goodness : 0.909183 Centerline is valid? [False, False] Translation: X:8.31, Y:0.45, Z:-0.14 [[ 0.67994775 0.01521779 -0.73310263 8.30909559] [ 0.07717037 0.99274726 0.09218251 0.44762551] [ 0.72918844 -0.11925309 0.67384191 -0.13632029] [ 0. 0. 0. 1. ]] SLAMing on 98.96964924600002 meters Centerline goodness : 0.910953 Centerline is valid? [False, False] Translation: X:8.31, Y:0.45, Z:-0.13 [[ 0.6789222 0.01530824 -0.73405062 8.31101007] [ 0.07769457 0.99267113 0.09256121 0.44723575] [ 0.73008781 -0.11987361 0.6727571 -0.13321752] [ 0. 0. 0. 1. ]] SLAMing on 98.99964924600002 meters Centerline goodness : 0.909241 Centerline is valid? [False, False] Translation: X:8.31, Y:0.45, Z:-0.13 [[ 0.67844248 0.01510894 -0.73449815 8.31225478] [ 0.07814488 0.99263218 0.09259987 0.44732955] [ 0.73048558 -0.12022095 0.67226315 -0.13175204] [ 0. 0. 0. 1. ]] SLAMing on 99.02964924600002 meters Centerline goodness : 0.907520 Centerline is valid? [False, False] Translation: X:8.31, Y:0.45, Z:-0.13 [[ 0.67793489 0.01513598 -0.73496611 8.31325075] [ 0.07849897 0.99258097 0.092849 0.44733372] [ 0.73091874 -0.12063966 0.67171711 -0.13012656] [ 0. 0. 0. 1. ]] SLAMing on 99.059649246 meters Centerline goodness : 0.907596 Centerline is valid? [False, False] Translation: X:8.31, Y:0.45, Z:-0.13 [[ 0.6772306 0.01496785 -0.73561857 8.31497325] [ 0.07904932 0.99252594 0.09297019 0.44811756] [ 0.73151208 -0.1211124 0.67098574 -0.12799442] [ 0. 0. 0. 1. ]] SLAMing on 99.08964924600001 meters Centerline goodness : 0.905618 Centerline is valid? [False, False] Translation: X:8.32, Y:0.45, Z:-0.13 [[ 0.67655934 0.01475738 -0.73624023 8.31684195] [ 0.07933528 0.99251919 0.09279853 0.45006702] [ 0.73210202 -0.12119353 0.67032735 -0.12644406] [ 0. 0. 0. 1. ]] SLAMing on 99.11964924600001 meters Centerline goodness : 0.909434 Centerline is valid? [False, False] Translation: X:8.32, Y:0.45, Z:-0.13 [[ 0.67622185 0.01491732 -0.736547 8.31734013] [ 0.07938256 0.99249824 0.09298203 0.45020727] [ 0.73240864 -0.12134547 0.66996482 -0.12545597] [ 0. 0. 0. 1. ]] SLAMing on 99.14964924600001 meters Centerline goodness : 0.909894 Centerline is valid? [False, False] Translation: X:8.32, Y:0.45, Z:-0.12 [[ 0.67541154 0.01532551 -0.73728175 8.31755236] [ 0.07952751 0.99243956 0.09348318 0.44967079] [ 0.73314025 -0.1217738 0.66908633 -0.12290044] [ 0. 0. 0. 1. ]] SLAMing on 99.17964924600001 meters Centerline goodness : 0.909818 Centerline is valid? [False, False] Translation: X:8.32, Y:0.45, Z:-0.12 [[ 0.67505035 0.01521474 -0.73761476 8.31856225] [ 0.079739 0.99242606 0.09344626 0.45029371] [ 0.73344987 -0.1218976 0.66872435 -0.12199803] [ 0. 0. 0. 1. ]] SLAMing on 99.20964924600001 meters Centerline goodness : 0.912183 Centerline is valid? [False, False] Translation: X:8.32, Y:0.45, Z:-0.12 [[ 0.67456917 0.01523516 -0.73805442 8.31929555] [ 0.07991412 0.99240449 0.09352568 0.45043901] [ 0.7338734 -0.12207051 0.66822797 -0.12055718] [ 0. 0. 0. 1. ]] SLAMing on 99.23964924600001 meters Centerline goodness : 0.908964 Centerline is valid? [False, False] Translation: X:8.32, Y:0.45, Z:-0.12 [[ 0.67412402 0.01533123 -0.73845904 8.31991725] [ 0.08020398 0.99235343 0.09381892 0.450042 ] [ 0.73425072 -0.12247294 0.66773966 -0.11902753] [ 0. 0. 0. 1. ]] SLAMing on 99.26964924600001 meters Centerline goodness : 0.915190 Centerline is valid? [False, False] Translation: X:8.32, Y:0.45, Z:-0.12 [[ 0.67320556 0.01517374 -0.73929969 8.32167169] [ 0.08091421 0.99227425 0.09404631 0.44938734] [ 0.73501508 -0.12313234 0.66677677 -0.11611887] [ 0. 0. 0. 1. ]] SLAMing on 99.29964924600002 meters Centerline goodness : 0.912821 Centerline is valid? [False, False] Translation: X:8.32, Y:0.45, Z:-0.11 [[ 0.67265499 0.01477589 -0.73980871 8.3239939 ] [ 0.08145222 0.99224632 0.09387638 0.44949979] [ 0.73545958 -0.12340548 0.66623591 -0.11472319] [ 0. 0. 0. 1. ]] SLAMing on 99.32964924600002 meters Centerline goodness : 0.907340 Centerline is valid? [False, False] Translation: X:8.33, Y:0.45, Z:-0.11 [[ 0.67170187 0.01387722 -0.74069159 8.32852409] [ 0.08212463 0.99226724 0.09306597 0.45175222] [ 0.73625549 -0.1233416 0.66536809 -0.11301795] [ 0. 0. 0. 1. ]] SLAMing on 99.35964924600002 meters Centerline goodness : 0.905590 Centerline is valid? [False, False] Translation: X:8.33, Y:0.45, Z:-0.11 [[ 0.67130855 0.01347682 -0.74105546 8.33050248] [ 0.08239846 0.99227984 0.09268884 0.45304125] [ 0.73658355 -0.12328464 0.66501547 -0.11234933] [ 0. 0. 0. 1. ]] SLAMing on 99.38964924600002 meters Centerline goodness : 0.902047 Centerline is valid? [False, False] Translation: X:8.33, Y:0.45, Z:-0.11 [[ 0.67044151 0.01315674 -0.74184573 8.33296264] [ 0.08251333 0.9923186 0.09217017 0.45439117] [ 0.73735997 -0.12300687 0.66420598 -0.11087464] [ 0. 0. 0. 1. ]] SLAMing on 99.41964924600002 meters Centerline goodness : 0.908409 Centerline is valid? [False, False] Translation: X:8.33, Y:0.45, Z:-0.11 [[ 0.66997264 0.01338586 -0.7422651 8.33343584] [ 0.08267999 0.992272 0.09252185 0.45415881] [ 0.73776736 -0.12335758 0.66368835 -0.10925635] [ 0. 0. 0. 1. ]] SLAMing on 99.449649246 meters Centerline goodness : 0.904550 Centerline is valid? [False, False] Translation: X:8.33, Y:0.45, Z:-0.11 [[ 0.66916031 0.01346619 -0.74299606 8.33409692] [ 0.08310271 0.99220816 0.09282727 0.45404614] [ 0.73845678 -0.12386131 0.66282725 -0.10664002] [ 0. 0. 0. 1. ]] SLAMing on 99.47964924600001 meters Centerline goodness : 0.905859 Centerline is valid? [False, False] Translation: X:8.33, Y:0.45, Z:-0.11 [[ 0.66888617 0.01358562 -0.74324069 8.33473051] [ 0.08314962 0.99219111 0.09296741 0.45452552] [ 0.73869983 -0.1239848 0.66253327 -0.10582213] [ 0. 0. 0. 1. ]] SLAMing on 99.50964924600001 meters Centerline goodness : 0.902730 Centerline is valid? [False, False] Translation: X:8.34, Y:0.45, Z:-0.10 [[ 0.6683164 0.01376532 -0.74374976 8.33531419] [ 0.08345145 0.99212986 0.0933499 0.45465746] [ 0.73918133 -0.12445426 0.66190792 -0.10377916] [ 0. 0. 0. 1. ]] SLAMing on 99.53964924600001 meters Centerline goodness : 0.905112 Centerline is valid? [False, False] Translation: X:8.34, Y:0.45, Z:-0.10 [[ 0.66780144 0.01375422 -0.74421237 8.33614839] [ 0.08390804 0.99206515 0.09362783 0.45420233] [ 0.73959494 -0.1249702 0.66134845 -0.10202282] [ 0. 0. 0. 1. ]] SLAMing on 99.56964924600001 meters Centerline goodness : 0.907359 Centerline is valid? [False, False] Translation: X:8.34, Y:0.45, Z:-0.10 [[ 0.66693123 0.01334963 -0.74499968 8.338693 ] [ 0.08469297 0.99200168 0.09359366 0.45480864] [ 0.74029038 -0.12551677 0.66046627 -0.09948003] [ 0. 0. 0. 1. ]] SLAMing on 99.59964924600001 meters Centerline goodness : 0.906207 Centerline is valid? [False, False] Translation: X:8.34, Y:0.46, Z:-0.10 [[ 0.66649412 0.0133722 -0.74539035 8.3399127 ] [ 0.08480609 0.99198897 0.09362588 0.45526373] [ 0.74067099 -0.12561474 0.66002077 -0.09843758] [ 0. 0. 0. 1. ]] SLAMing on 99.62964924600001 meters Centerline goodness : 0.907058 Centerline is valid? [False, False] Translation: X:8.34, Y:0.45, Z:-0.10 [[ 0.66547432 0.01385729 -0.7462921 8.34081339] [ 0.08499309 0.99191794 0.0942071 0.45391083] [ 0.74156598 -0.12612208 0.65891814 -0.0952589 ] [ 0. 0. 0. 1. ]] SLAMing on 99.65964924600001 meters Centerline goodness : 0.907619 Centerline is valid? [False, False] Translation: X:8.34, Y:0.45, Z:-0.09 [[ 0.66509532 0.01426327 -0.74662225 8.34102468] [ 0.0849442 0.99188307 0.09461745 0.45313289] [ 0.74191152 -0.12635085 0.6584852 -0.09400867] [ 0. 0. 0. 1. ]] SLAMing on 99.68964924600002 meters Centerline goodness : 0.911348 Centerline is valid? [False, False] Translation: X:8.34, Y:0.45, Z:-0.09 [[ 0.66439128 0.01462523 -0.74724181 8.34172944] [ 0.08515675 0.99181609 0.09512709 0.45231531] [ 0.74251771 -0.12683429 0.65770853 -0.09160114] [ 0. 0. 0. 1. ]] SLAMing on 99.71964924600002 meters Centerline goodness : 0.905652 Centerline is valid? [False, False] Translation: X:8.34, Y:0.45, Z:-0.09 [[ 0.66395359 0.01472029 -0.74762888 8.34292075] [ 0.08532854 0.99178415 0.09530603 0.45249511] [ 0.74288941 -0.12707286 0.65724258 -0.09039241] [ 0. 0. 0. 1. ]] SLAMing on 99.74964924600002 meters Centerline goodness : 0.902441 Centerline is valid? [False, False] Translation: X:8.35, Y:0.45, Z:-0.09 [[ 0.66276738 0.01897943 -0.74858478 8.34724687] [ 0.08321254 0.99162059 0.09881439 0.45301739] [ 0.74418752 -0.1277826 0.65563445 -0.08677247] [ 0. 0. 0. 1. ]] SLAMing on 99.77964924600002 meters Centerline goodness : 0.904260 Centerline is valid? [False, False] Translation: X:8.35, Y:0.45, Z:-0.09 [[ 0.66234838 0.01902052 -0.7489545 8.34838724] [ 0.08322089 0.99162322 0.09878092 0.45401219] [ 0.74455954 -0.12775604 0.65521713 -0.08593022] [ 0. 0. 0. 1. ]] SLAMing on 99.809649246 meters Centerline goodness : 0.902374 Centerline is valid? [False, False] Translation: X:8.35, Y:0.45, Z:-0.08 [[ 0.6615358 0.01978255 -0.74965261 8.34849104] [ 0.08242994 0.9916764 0.09891014 0.45446345] [ 0.7453695 -0.12722642 0.65439877 -0.08449658] [ 0. 0. 0. 1. ]] SLAMing on 99.83964924600001 meters Centerline goodness : 0.903897 Centerline is valid? [False, False] Translation: X:8.35, Y:0.46, Z:-0.08 [[ 0.66069 0.0203129 -0.75038398 8.34914385] [ 0.08173715 0.99174337 0.09881355 0.45628633] [ 0.74619553 -0.12661937 0.65357461 -0.08321448] [ 0. 0. 0. 1. ]] SLAMing on 99.86964924600001 meters Centerline goodness : 0.903169 Centerline is valid? [False, False] Translation: X:8.35, Y:0.46, Z:-0.08 [[ 0.66029007 0.02016642 -0.75073986 8.35041728] [ 0.08197882 0.99173057 0.09874186 0.45758104] [ 0.74652294 -0.12674303 0.65317663 -0.08227393] [ 0. 0. 0. 1. ]] SLAMing on 99.89964924600001 meters Centerline goodness : 0.900393 Centerline is valid? [False, False] Translation: X:8.35, Y:0.46, Z:-0.08 [[ 0.65990175 0.01971321 -0.75109325 8.35270717] [ 0.0821969 0.99176166 0.09824704 0.45990857] [ 0.74684225 -0.12657093 0.65284489 -0.08183319] [ 0. 0. 0. 1. ]] SLAMing on 99.92964924600001 meters Centerline goodness : 0.900647 Centerline is valid? [False, False] Translation: X:8.35, Y:0.46, Z:-0.08 [[ 0.65910161 0.0189646 -0.75181474 8.35453699] [ 0.08358294 0.99164157 0.09828982 0.45965571] [ 0.74739478 -0.12762187 0.65200744 -0.0787032 ] [ 0. 0. 0. 1. ]] SLAMing on 99.95964924600001 meters Centerline goodness : 0.901419 Centerline is valid? [False, False] Translation: X:8.36, Y:0.46, Z:-0.08 [[ 0.65879954 0.01887032 -0.75208182 8.35531446] [ 0.08395766 0.99159659 0.09842415 0.46011151] [ 0.74761907 -0.12798481 0.65167907 -0.07758289] [ 0. 0. 0. 1. ]] SLAMing on 99.98964924600001 meters Centerline goodness : 0.904568 Centerline is valid? [False, False] Translation: X:8.36, Y:0.46, Z:-0.08 [[ 0.65816086 0.01886605 -0.75264092 8.35687827] [ 0.08413905 0.9915804 0.09843238 0.46094526] [ 0.74816101 -0.12811083 0.65103204 -0.07595254] [ 0. 0. 0. 1. ]] SLAMing on 100.01964924600001 meters Centerline goodness : 0.902414 Centerline is valid? [False, False] Translation: X:8.36, Y:0.46, Z:-0.07 [[ 0.65784055 0.01931524 -0.75290951 8.35698021] [ 0.08402838 0.99154769 0.09885552 0.46052571] [ 0.7484551 -0.12829694 0.65065725 -0.07488421] [ 0. 0. 0. 1. ]] SLAMing on 100.04964924600002 meters Centerline goodness : 0.903800 Centerline is valid? [False, False] Translation: X:8.36, Y:0.46, Z:-0.07 [[ 0.6573249 0.02029272 -0.75333404 8.35640469] [ 0.08385928 0.99145944 0.09987894 0.45926558] [ 0.74892696 -0.12882697 0.65000925 -0.07263386] [ 0. 0. 0. 1. ]] SLAMing on 100.07964924600002 meters Centerline goodness : 0.903238 Centerline is valid? [False, False] Translation: X:8.36, Y:0.46, Z:-0.07 [[ 0.65642004 0.01986955 -0.75413389 8.35862857] [ 0.08538553 0.99127251 0.10043961 0.45772067] [ 0.74954789 -0.1303227 0.64899457 -0.06866817] [ 0. 0. 0. 1. ]] SLAMing on 100.10964924600002 meters Centerline goodness : 0.901001 Centerline is valid? [False, False] Translation: X:8.36, Y:0.46, Z:-0.07 [[ 0.65589943 0.02001365 -0.75458293 8.35965289] [ 0.08584438 0.99118544 0.10090676 0.45672033] [ 0.74995112 -0.13096139 0.6483999 -0.06670387] [ 0. 0. 0. 1. ]] SLAMing on 100.13964924600002 meters Centerline goodness : 0.900913 Centerline is valid? [False, False] Translation: X:8.36, Y:0.46, Z:-0.06 [[ 0.65523414 0.0200937 -0.75515857 8.36200298] [ 0.08616618 0.99113403 0.10113714 0.45597038] [ 0.75049557 -0.13133764 0.64769346 -0.06474352] [ 0. 0. 0. 1. ]] SLAMing on 100.16964924600002 meters Centerline goodness : 0.901126 Centerline is valid? [False, False] Translation: X:8.36, Y:0.46, Z:-0.06 [[ 0.65485654 0.02038291 -0.75547829 8.36275741] [ 0.08642826 0.99105815 0.10165581 0.45527897] [ 0.75079496 -0.13186464 0.64723925 -0.06320443] [ 0. 0. 0. 1. ]] SLAMing on 100.199649246 meters Centerline goodness : 0.901643 Centerline is valid? [False, False] Translation: X:8.36, Y:0.45, Z:-0.06 [[ 0.65383743 0.02086604 -0.75634729 8.36413891] [ 0.08687346 0.99093876 0.10243718 0.45296892] [ 0.75163131 -0.13268377 0.64610015 -0.05963155] [ 0. 0. 0. 1. ]] SLAMing on 100.22964924600001 meters Centerline goodness : 0.901413 Centerline is valid? [False, False] Translation: X:8.37, Y:0.45, Z:-0.06 [[ 0.65326474 0.02110028 -0.75683549 8.36524151] [ 0.08706392 0.99088706 0.10277503 0.45244048] [ 0.75210708 -0.13303237 0.6454745 -0.05793226] [ 0. 0. 0. 1. ]] SLAMing on 100.25964924600001 meters Centerline goodness : 0.901413 Centerline is valid? [False, False] Translation: X:8.37, Y:0.45, Z:-0.06 [[ 0.65326474 0.02110028 -0.75683549 8.36524151] [ 0.08706392 0.99088706 0.10277503 0.45244048] [ 0.75210708 -0.13303237 0.6454745 -0.05793226] [ 0. 0. 0. 1. ]] SLAMing on 100.28964924600001 meters Centerline goodness : 0.904897 Centerline is valid? [False, False] Translation: X:8.37, Y:0.45, Z:-0.06 [[ 0.6523785 0.02150373 -0.7575882 8.36619123] [ 0.08724481 0.99082149 0.10325266 0.45219248] [ 0.75285499 -0.13345545 0.64451455 -0.05521857] [ 0. 0. 0. 1. ]] SLAMing on 100.31964924600001 meters Centerline goodness : 0.899497 Centerline is valid? [False, False] Translation: X:8.37, Y:0.45, Z:-0.05 [[ 0.65190018 0.021814 -0.75799097 8.36662481] [ 0.08741657 0.99076023 0.10369428 0.45199079] [ 0.7532493 -0.13385929 0.64396986 -0.05354344] [ 0. 0. 0. 1. ]] SLAMing on 100.34964924600001 meters Centerline goodness : 0.905866 Centerline is valid? [False, False] Translation: X:8.37, Y:0.45, Z:-0.05 [[ 0.6509992 0.02173252 -0.75876725 8.36922735] [ 0.08769389 0.99074397 0.10361546 0.45385818] [ 0.75399591 -0.13399283 0.64306772 -0.05144043] [ 0. 0. 0. 1. ]] SLAMing on 100.37964924600001 meters Centerline goodness : 0.905904 Centerline is valid? [False, False] Translation: X:8.37, Y:0.46, Z:-0.05 [[ 0.65055247 0.02141778 -0.75915925 8.37111763] [ 0.08809268 0.99072684 0.10344085 0.45521536] [ 0.75433492 -0.13417008 0.64263304 -0.05038704] [ 0. 0. 0. 1. ]] SLAMing on 100.40964924600001 meters Centerline goodness : 0.907719 Centerline is valid? [False, False] Translation: X:8.37, Y:0.46, Z:-0.05 [[ 0.64978457 0.02205141 -0.75979849 8.37125716] [ 0.08794671 0.99068495 0.10396495 0.45575432] [ 0.7550135 -0.1343766 0.64179244 -0.04814907] [ 0. 0. 0. 1. ]] SLAMing on 100.43964924600002 meters Centerline goodness : 0.906293 Centerline is valid? [False, False] Translation: X:8.37, Y:0.46, Z:-0.05 [[ 0.649353 0.02295485 -0.76014062 8.37030453] [ 0.08756752 0.99063897 0.10472036 0.45541782] [ 0.75542876 -0.1345641 0.64126429 -0.04669625] [ 0. 0. 0. 1. ]] SLAMing on 100.46964924600002 meters Centerline goodness : 0.902992 Centerline is valid? [False, False] Translation: X:8.37, Y:0.46, Z:-0.05 [[ 0.64860996 0.02396278 -0.76074365 8.37024021] [ 0.0867512 0.99066326 0.10516912 0.4567827 ] [ 0.75616093 -0.13420916 0.64047525 -0.04514603] [ 0. 0. 0. 1. ]] SLAMing on 100.49964924600002 meters Centerline goodness : 0.904801 Centerline is valid? [False, False] Translation: X:8.37, Y:0.46, Z:-0.04 [[ 0.64816493 0.02394455 -0.76112343 8.37176516] [ 0.08676573 0.9906741 0.1050549 0.45796843] [ 0.75654076 -0.13413233 0.64004265 -0.04429871] [ 0. 0. 0. 1. ]] SLAMing on 100.52964924600002 meters Centerline goodness : 0.905654 Centerline is valid? [False, False] Translation: X:8.38, Y:0.46, Z:-0.04 [[ 0.64669482 0.02853966 -0.76221473 8.37587587] [ 0.08412783 0.99053399 0.1084662 0.45964317] [ 0.75809519 -0.134268 0.63817222 -0.04072011] [ 0. 0. 0. 1. ]] SLAMing on 100.559649246 meters Centerline goodness : 0.903642 Centerline is valid? [False, False] Translation: X:8.38, Y:0.46, Z:-0.04 [[ 0.64526702 0.03351163 -0.76322175 8.37891442] [ 0.08109542 0.99038816 0.11204833 0.46165226] [ 0.75964071 -0.13419488 0.63634718 -0.03738861] [ 0. 0. 0. 1. ]] SLAMing on 100.58964924600001 meters Centerline goodness : 0.904864 Centerline is valid? [False, False] Translation: X:8.38, Y:0.46, Z:-0.03 [[ 0.64430561 0.03445295 -0.76399167 8.37865909] [ 0.08074229 0.99033698 0.11275351 0.46083695] [ 0.7604939 -0.13433416 0.63529786 -0.03464283] [ 0. 0. 0. 1. ]] SLAMing on 100.61964924600001 meters Centerline goodness : 0.905485 Centerline is valid? [False, False] Translation: X:8.38, Y:0.46, Z:-0.03 [[ 0.64368567 0.03452843 -0.76451066 8.37979254] [ 0.08106761 0.99028449 0.11298081 0.46071603] [ 0.7609841 -0.13470118 0.6346328 -0.03279378] [ 0. 0. 0. 1. ]] SLAMing on 100.64964924600001 meters Centerline goodness : 0.902584 Centerline is valid? [False, False] Translation: X:8.38, Y:0.46, Z:-0.03 [[ 0.64312378 0.03407943 -0.76500352 8.38229787] [ 0.08162925 0.99026596 0.11273858 0.46128121] [ 0.76139902 -0.13495152 0.63408172 -0.03138432] [ 0. 0. 0. 1. ]] SLAMing on 100.67964924600001 meters Centerline goodness : 0.901079 Centerline is valid? [False, False] Translation: X:8.39, Y:0.46, Z:-0.03 [[ 0.64204712 0.03356241 -0.76593019 8.38662603] [ 0.08256333 0.99020437 0.11259929 0.46221501] [ 0.76220653 -0.1355318 0.63298684 -0.02842806] [ 0. 0. 0. 1. ]] SLAMing on 100.70964924600001 meters Centerline goodness : 0.899916 Centerline is valid? [False, False] Translation: X:8.39, Y:0.46, Z:-0.03 [[ 0.64096639 0.03364953 -0.76683101 8.38820568] [ 0.08298894 0.99014409 0.11281626 0.46199342] [ 0.76306941 -0.13594993 0.63185654 -0.02533426] [ 0. 0. 0. 1. ]] SLAMing on 100.73964924600001 meters Centerline goodness : 0.906234 Centerline is valid? [False, False] Translation: X:8.39, Y:0.46, Z:-0.02 [[ 0.64034981 0.03389476 -0.76733517 8.38866738] [ 0.08317493 0.990091 0.11314475 0.46158539] [ 0.76356667 -0.13627527 0.63118539 -0.02346741] [ 0. 0. 0. 1. ]] SLAMing on 100.76964924600001 meters Centerline goodness : 0.906701 Centerline is valid? [False, False] Translation: X:8.39, Y:0.46, Z:-0.02 [[ 0.63947114 0.03437937 -0.76804604 8.38930458] [ 0.08353367 0.98997843 0.11386324 0.46062802] [ 0.76426355 -0.13696996 0.6301908 -0.02029236] [ 0. 0. 0. 1. ]] SLAMing on 100.79964924600002 meters Centerline goodness : 0.909503 Centerline is valid? [False, False] Translation: X:8.39, Y:0.46, Z:-0.02 [[ 0.63904773 0.03452649 -0.76839177 8.39006345] [ 0.08380778 0.98991868 0.1141808 0.46058415] [ 0.76458764 -0.13736419 0.6297117 -0.01881066] [ 0. 0. 0. 1. ]] SLAMing on 100.82964924600002 meters Centerline goodness : 0.904002 Centerline is valid? [False, False] Translation: X:8.39, Y:0.46, Z:-0.02 [[ 0.63851804 0.03435399 -0.76883972 8.39145396] [ 0.08444626 0.98984358 0.11436134 0.46030932] [ 0.76495983 -0.13794742 0.62913191 -0.01693971] [ 0. 0. 0. 1. ]] SLAMing on 100.85964924600002 meters Centerline goodness : 0.901784 Centerline is valid? [False, False] Translation: X:8.39, Y:0.46, Z:-0.01 [[ 0.63756608 0.03412184 -0.76963965 8.39351854] [ 0.08539806 0.98973166 0.11462296 0.46032463] [ 0.76564787 -0.13880544 0.62810539 -0.01368709] [ 0. 0. 0. 1. ]] SLAMing on 100.88964924600002 meters Centerline goodness : 0.900588 Centerline is valid? [False, False] Translation: X:8.39, Y:0.46, Z:-0.01 [[ 0.63702561 0.03408589 -0.77008864 8.39470631] [ 0.08578598 0.98968122 0.11476865 0.45982805] [ 0.76605426 -0.13917337 0.6275282 -0.01205488] [ 0. 0. 0. 1. ]] SLAMing on 100.91964924600002 meters Centerline goodness : 0.899339 Centerline is valid? [False, False] Translation: X:8.40, Y:0.46, Z:-0.01 [[ 0.63597641 0.0340865 -0.77095532 8.39663891] [ 0.08653691 0.9895729 0.11513833 0.45827307] [ 0.76684116 -0.13994136 0.62639528 -0.00865088] [ 0. 0. 0. 1. ]] SLAMing on 100.949649246 meters Centerline goodness : 0.904248 Centerline is valid? [False, False] Translation: X:8.40, Y:0.46, Z:-0.01 [[ 6.35432802e-01 3.36451060e-02 -7.71422816e-01 8.39876534e+00] [ 8.72118889e-02 9.89530254e-01 1.14995491e-01 4.58188329e-01] [ 7.67215250e-01 -1.40349148e-01 6.25845729e-01 -7.02188169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97964924600001 meters Centerline goodness : 0.903423 Centerline is valid? [False, False] Translation: X:8.40, Y:0.46, Z:-0.00 [[ 6.34385819e-01 3.27300967e-02 -7.72323360e-01 8.40314742e+00] [ 8.83390562e-02 9.89488316e-01 1.14494909e-01 4.58344241e-01] [ 7.67952371e-01 -1.40860263e-01 6.24826010e-01 -4.23030339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00964924600001 meters Centerline goodness : 0.902440 Centerline is valid? [False, False] Translation: X:8.41, Y:0.46, Z:-0.00 [[ 6.33030445e-01 3.20216131e-02 -7.73464332e-01 8.40724076e+00] [ 8.94567554e-02 9.89424634e-01 1.14176981e-01 4.57809178e-01] [ 7.68940794e-01 -1.41469115e-01 6.23471366e-01 -6.15646910e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03964924600001 meters Centerline goodness : 0.898380 Centerline is valid? [False, False] Translation: X:8.41, Y:0.46, Z:0.00 [[ 6.32182416e-01 3.13242407e-02 -7.74186143e-01 8.41006676e+00] [ 9.03472175e-02 9.89386364e-01 1.13806866e-01 4.58344201e-01] [ 7.69534127e-01 -1.41892264e-01 6.22642604e-01 1.55826368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06964924600001 meters Centerline goodness : 0.890780 Centerline is valid? [False, False] Translation: X:8.41, Y:0.46, Z:0.00 [[ 6.31540319e-01 3.06735376e-02 -7.74736058e-01 8.41265121e+00] [ 9.11325413e-02 9.89354279e-01 1.13459118e-01 4.58779338e-01] [ 7.69968626e-01 -1.42257673e-01 6.22021759e-01 3.28115523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09964924600001 meters Centerline goodness : 0.896774 Centerline is valid? [False, False] Translation: X:8.42, Y:0.46, Z:0.01 [[ 6.30031232e-01 2.93747032e-02 -7.76014030e-01 8.41711299e+00] [ 9.31456262e-02 9.89211551e-01 1.13068122e-01 4.59378263e-01] [ 7.70963384e-01 -1.43518761e-01 6.20498046e-01 7.97790834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12964924600001 meters Centerline goodness : 0.894075 Centerline is valid? [False, False] Translation: X:8.42, Y:0.46, Z:0.01 [[ 0.62848677 0.02779033 -0.77732366 8.42315103] [ 0.09504996 0.98912777 0.11221301 0.46103321] [ 0.77199086 -0.14440897 0.61901225 0.01209605] [ 0. 0. 0. 1. ]] SLAMing on 101.15964924600001 meters Centerline goodness : 0.893716 Centerline is valid? [False, False] Translation: X:8.43, Y:0.46, Z:0.01 [[ 0.62784662 0.02702576 -0.77786775 8.42566792] [ 0.09592509 0.98909128 0.11178917 0.46183559] [ 0.77240339 -0.14480349 0.61840517 0.01379118] [ 0. 0. 0. 1. ]] SLAMing on 101.18964924600002 meters Centerline goodness : 0.901780 Centerline is valid? [False, False] Translation: X:8.43, Y:0.46, Z:0.02 [[ 0.62652666 0.02724829 -0.77892354 8.42678951] [ 0.09689733 0.9889121 0.11253341 0.46064611] [ 0.77335325 -0.14598079 0.6169395 0.0184118 ] [ 0. 0. 0. 1. ]] SLAMing on 101.21964924600002 meters Centerline goodness : 0.899700 Centerline is valid? [False, False] Translation: X:8.43, Y:0.46, Z:0.02 [[ 0.62588366 0.02738362 -0.77943556 8.42721392] [ 0.09732251 0.98882973 0.11288978 0.46032893] [ 0.77382038 -0.1465125 0.61622732 0.02056086] [ 0. 0. 0. 1. ]] SLAMing on 101.24964924600002 meters Centerline goodness : 0.900215 Centerline is valid? [False, False] Translation: X:8.43, Y:0.46, Z:0.02 [[ 0.62483087 0.02720283 -0.7802861 8.42918958] [ 0.09806738 0.98874357 0.11299977 0.46162519] [ 0.77457677 -0.14712636 0.61512979 0.02368064] [ 0. 0. 0. 1. ]] SLAMing on 101.27964924600002 meters Centerline goodness : 0.896103 Centerline is valid? [False, False] Translation: X:8.43, Y:0.46, Z:0.03 [[ 0.62424905 0.02690677 -0.7807619 8.43063891] [ 0.0985976 0.98870162 0.11290539 0.46263687] [ 0.77497847 -0.14746233 0.6145431 0.02529751] [ 0. 0. 0. 1. ]] SLAMing on 101.309649246 meters Centerline goodness : 0.898912 Centerline is valid? [False, False] Translation: X:8.43, Y:0.46, Z:0.03 [[ 0.62320186 0.026585 -0.78160903 8.43236147] [ 0.09975314 0.98855655 0.11316031 0.46295468] [ 0.7756731 -0.14848967 0.61341835 0.02901204] [ 0. 0. 0. 1. ]] SLAMing on 101.33964924600001 meters Centerline goodness : 0.899201 Centerline is valid? [False, False] Translation: X:8.43, Y:0.46, Z:0.03 [[ 0.62253673 0.02625011 -0.78215021 8.43385775] [ 0.10044762 0.98849033 0.11312445 0.46367585] [ 0.77611745 -0.14898926 0.61273477 0.03099743] [ 0. 0. 0. 1. ]] SLAMing on 101.36964924600001 meters Centerline goodness : 0.903617 Centerline is valid? [False, False] Translation: X:8.44, Y:0.46, Z:0.03 [[ 0.62155725 0.02569437 -0.78294724 8.43594402] [ 0.10169219 0.98835835 0.11316569 0.46437996] [ 0.77674016 -0.14995857 0.61170839 0.03442024] [ 0. 0. 0. 1. ]] SLAMing on 101.39964924600001 meters Centerline goodness : 0.909408 Centerline is valid? [False, False] Translation: X:8.43, Y:0.46, Z:0.04 [[ 0.62143631 0.02061773 -0.78319335 8.43459633] [ 0.10547391 0.98835182 0.10970839 0.46460137] [ 0.77633251 -0.15078324 0.61202308 0.03532831] [ 0. 0. 0. 1. ]] SLAMing on 101.42964924600001 meters Centerline goodness : 0.912941 Centerline is valid? [False, False] Translation: X:8.44, Y:0.47, Z:0.04 [[ 0.62004996 0.01352682 -0.78444571 8.43820061] [ 0.11092642 0.98829586 0.10472162 0.46749458] [ 0.776681 -0.15194839 0.61129233 0.03870152] [ 0. 0. 0. 1. ]] SLAMing on 101.45964924600001 meters Centerline goodness : 0.912354 Centerline is valid? [False, False] Translation: X:8.44, Y:0.47, Z:0.04 [[ 0.6186889 0.01712909 -0.78544932 8.44328888] [ 0.10932983 0.98815722 0.10766753 0.46912817] [ 0.77799167 -0.15248574 0.60948918 0.0424271 ] [ 0. 0. 0. 1. ]] SLAMing on 101.48964924600001 meters Centerline goodness : 0.897951 Centerline is valid? [False, False] Translation: X:8.45, Y:0.48, Z:0.05 [[ 0.61696882 0.01874945 -0.78676422 8.45477801] [ 0.11017976 0.98781232 0.10994198 0.47518272] [ 0.77923674 -0.15451627 0.60738359 0.04887039] [ 0. 0. 0. 1. ]] SLAMing on 101.51964924600001 meters Centerline goodness : 0.901569 Centerline is valid? [False, False] Translation: X:8.46, Y:0.48, Z:0.05 [[ 0.6162927 0.01762172 -0.78732 8.45813645] [ 0.11096212 0.9878327 0.1089677 0.47789706] [ 0.77966065 -0.15451869 0.60683874 0.04995603] [ 0. 0. 0. 1. ]] SLAMing on 101.54964924600002 meters Centerline goodness : 0.900756 Centerline is valid? [False, False] Translation: X:8.46, Y:0.48, Z:0.05 [[ 0.61485384 0.0168825 -0.78846035 8.46099459] [ 0.1118193 0.98780407 0.1083493 0.4803733 ] [ 0.78067355 -0.15478407 0.60546734 0.05316559] [ 0. 0. 0. 1. ]] SLAMing on 101.57964924600002 meters Centerline goodness : 0.904374 Centerline is valid? [False, False] Translation: X:8.46, Y:0.48, Z:0.06 [[ 0.61365737 0.01674779 -0.7893948 8.46183995] [ 0.11227001 0.98776574 0.10823255 0.48201259] [ 0.78154979 -0.15504307 0.60426945 0.05616709] [ 0. 0. 0. 1. ]] SLAMing on 101.60964924600002 meters Centerline goodness : 0.902340 Centerline is valid? [False, False] Translation: X:8.46, Y:0.48, Z:0.06 [[ 0.61308141 0.01667011 -0.78984384 8.46284632] [ 0.11249161 0.98774808 0.10816364 0.48292026] [ 0.78196984 -0.15516393 0.60369473 0.05749013] [ 0. 0. 0. 1. ]] SLAMing on 101.63964924600002 meters Centerline goodness : 0.904376 Centerline is valid? [False, False] Translation: X:8.46, Y:0.48, Z:0.06 [[ 0.61248352 0.01641876 -0.79031283 8.46423481] [ 0.11273878 0.98774963 0.10789179 0.4845828 ] [ 0.78240265 -0.15518085 0.60312934 0.05866711] [ 0. 0. 0. 1. ]] SLAMing on 101.66964924600002 meters Centerline goodness : 0.894990 Centerline is valid? [False, False] Translation: X:8.47, Y:0.49, Z:0.06 [[ 0.61090023 0.02013323 -0.79145155 8.46904438] [ 0.11090477 0.98764333 0.11072845 0.48786991] [ 0.78390117 -0.15541979 0.60111866 0.06267702] [ 0. 0. 0. 1. ]] SLAMing on 101.699649246 meters Centerline goodness : 0.894623 Centerline is valid? [False, False] Translation: X:8.47, Y:0.49, Z:0.06 [[ 0.61030591 0.01951397 -0.79192544 8.47098558] [ 0.11134003 0.98765987 0.1101425 0.49016626] [ 0.7843023 -0.15539362 0.60060197 0.06371084] [ 0. 0. 0. 1. ]] SLAMing on 101.72964924600001 meters Centerline goodness : 0.899529 Centerline is valid? [False, False] Translation: X:8.47, Y:0.49, Z:0.07 [[ 0.60916636 0.01941453 -0.79280478 8.47205116] [ 0.11150693 0.98767196 0.10986495 0.49295601] [ 0.78516403 -0.15532926 0.59949168 0.06611666] [ 0. 0. 0. 1. ]] SLAMing on 101.75964924600001 meters Centerline goodness : 0.902135 Centerline is valid? [False, False] Translation: X:8.47, Y:0.50, Z:0.07 [[ 0.60804275 0.01912327 -0.79367393 8.47358339] [ 0.11168556 0.98770759 0.10936203 0.49559642] [ 0.78600913 -0.1551387 0.59843265 0.06824276] [ 0. 0. 0. 1. ]] SLAMing on 101.78964924600001 meters Centerline goodness : 0.900036 Centerline is valid? [False, False] Translation: X:8.47, Y:0.50, Z:0.07 [[ 0.60769953 0.01892808 -0.79394144 8.47462475] [ 0.1118436 0.98771259 0.10915516 0.49714987] [ 0.78625205 -0.1551308 0.5981155 0.06891058] [ 0. 0. 0. 1. ]] SLAMing on 101.81964924600001 meters Centerline goodness : 0.895742 Centerline is valid? [False, False] Translation: X:8.48, Y:0.50, Z:0.07 [[ 0.60645802 0.01778214 -0.79491664 8.47867733] [ 0.11274136 0.9877257 0.10810791 0.50082217] [ 0.78708199 -0.15518289 0.59700939 0.07125056] [ 0. 0. 0. 1. ]] SLAMing on 101.84964924600001 meters Centerline goodness : 0.900617 Centerline is valid? [False, False] Translation: X:8.48, Y:0.50, Z:0.07 [[ 0.60602911 0.0174491 -0.79525106 8.48021279] [ 0.11299445 0.98773251 0.10778102 0.50210305] [ 0.787376 -0.15517739 0.596623 0.07206585] [ 0. 0. 0. 1. ]] SLAMing on 101.87964924600001 meters Centerline goodness : 0.899338 Centerline is valid? [False, False] Translation: X:8.48, Y:0.50, Z:0.07 [[ 0.60495392 0.01731892 -0.79607211 8.4816673 ] [ 0.11322184 0.98773399 0.10752855 0.50398786] [ 0.78816976 -0.15518257 0.59557266 0.07435165] [ 0. 0. 0. 1. ]] SLAMing on 101.90964924600001 meters Centerline goodness : 0.899188 Centerline is valid? [False, False] Translation: X:8.48, Y:0.50, Z:0.08 [[ 0.60448708 0.01728699 -0.79642735 8.48231243] [ 0.11330833 0.98773368 0.10744025 0.504744 ] [ 0.78851544 -0.1551881 0.59511349 0.07534437] [ 0. 0. 0. 1. ]] SLAMing on 101.93964924600002 meters Centerline goodness : 0.897440 Centerline is valid? [False, False] Translation: X:8.48, Y:0.51, Z:0.08 [[ 0.60355584 0.01731401 -0.79713272 8.48346896] [ 0.1128435 0.98784585 0.10689678 0.50732325] [ 0.78929506 -0.15446943 0.59426635 0.07647342] [ 0. 0. 0. 1. ]] SLAMing on 101.96964924600002 meters Centerline goodness : 0.899192 Centerline is valid? [False, False] Translation: X:8.48, Y:0.51, Z:0.08 [[ 0.60317654 0.01714304 -0.79742346 8.48485713] [ 0.11270171 0.98790636 0.10648639 0.50925937] [ 0.78960521 -0.15410108 0.59394989 0.07676719] [ 0. 0. 0. 1. ]] SLAMing on 101.99964924600002 meters Centerline goodness : 0.896982 Centerline is valid? [False, False] Translation: X:8.49, Y:0.51, Z:0.08 [[ 0.60216408 0.01631922 -0.79820555 8.48685328] [ 0.1135754 0.9878717 0.1058779 0.51162096] [ 0.79025252 -0.15441238 0.59300739 0.07917078] [ 0. 0. 0. 1. ]] SLAMing on 102.02964924600002 meters Centerline goodness : 0.902328 Centerline is valid? [False, False] Translation: X:8.49, Y:0.51, Z:0.08 [[ 0.60160902 0.01597891 -0.79863087 8.48740829] [ 0.11431098 0.98778727 0.10587405 0.51215562] [ 0.79056915 -0.15498706 0.59243517 0.08096255] [ 0. 0. 0. 1. ]] SLAMing on 102.059649246 meters Centerline goodness : 0.900930 Centerline is valid? [False, False] Translation: X:8.49, Y:0.51, Z:0.08 [[ 0.60032787 0.01477362 -0.79961752 8.49077677] [ 0.11552864 0.98774053 0.10498465 0.51470358] [ 0.79136564 -0.15540394 0.59126139 0.08389695] [ 0. 0. 0. 1. ]] SLAMing on 102.08964924600001 meters Centerline goodness : 0.899113 Centerline is valid? [False, False] Translation: X:8.49, Y:0.52, Z:0.09 [[ 0.59973102 0.01410437 -0.80007736 8.49334423] [ 0.11606866 0.98773743 0.10441664 0.51657027] [ 0.79173908 -0.1554858 0.5907397 0.08502212] [ 0. 0. 0. 1. ]] SLAMing on 102.11964924600001 meters Centerline goodness : 0.892937 Centerline is valid? [False, False] Translation: X:8.50, Y:0.52, Z:0.09 [[ 0.59814163 0.01780107 -0.80119268 8.49895751] [ 0.11451135 0.98759575 0.10743267 0.51762989] [ 0.79316691 -0.1560056 0.58868371 0.08952709] [ 0. 0. 0. 1. ]] SLAMing on 102.14964924600001 meters Centerline goodness : 0.895269 Centerline is valid? [False, False] Translation: X:8.50, Y:0.52, Z:0.09 [[ 0.59679913 0.01762184 -0.80219715 8.50185757] [ 0.1154437 0.98747152 0.10757675 0.51635724] [ 0.79404254 -0.15681032 0.58728781 0.09350386] [ 0. 0. 0. 1. ]] SLAMing on 102.17964924600001 meters Centerline goodness : 0.895269 Centerline is valid? [False, False] Translation: X:8.50, Y:0.52, Z:0.09 [[ 0.59679913 0.01762184 -0.80219715 8.50185757] [ 0.1154437 0.98747152 0.10757675 0.51635724] [ 0.79404254 -0.15681032 0.58728781 0.09350386] [ 0. 0. 0. 1. ]] SLAMing on 102.20964924600001 meters Centerline goodness : 0.898837 Centerline is valid? [False, False] Translation: X:8.50, Y:0.51, Z:0.10 [[ 0.59615937 0.01798408 -0.80266467 8.50219968] [ 0.11564709 0.98739963 0.10801718 0.51495448] [ 0.79449339 -0.15722129 0.58656774 0.09554809] [ 0. 0. 0. 1. ]] SLAMing on 102.23964924600001 meters Centerline goodness : 0.898673 Centerline is valid? [False, False] Translation: X:8.50, Y:0.51, Z:0.10 [[ 0.59509369 0.018101 -0.80345246 8.50321989] [ 0.11621978 0.98729884 0.10832346 0.51396131] [ 0.79520844 -0.15783967 0.58543161 0.0988329 ] [ 0. 0. 0. 1. ]] SLAMing on 102.26964924600001 meters Centerline goodness : 0.899791 Centerline is valid? [False, False] Translation: X:8.50, Y:0.51, Z:0.10 [[ 0.59449387 0.01831981 -0.80389142 8.50406946] [ 0.11652116 0.9872255 0.10866754 0.51300342] [ 0.79561288 -0.15827255 0.58476486 0.10074263] [ 0. 0. 0. 1. ]] SLAMing on 102.29964924600002 meters Centerline goodness : 0.899909 Centerline is valid? [False, False] Translation: X:8.51, Y:0.51, Z:0.11 [[ 0.59315778 0.01742038 -0.80489774 8.50805978] [ 0.1181763 0.98705255 0.10845106 0.51203673] [ 0.79636562 -0.15944843 0.58341923 0.10502469] [ 0. 0. 0. 1. ]] SLAMing on 102.32964924600002 meters Centerline goodness : 0.897434 Centerline is valid? [False, False] Translation: X:8.51, Y:0.51, Z:0.11 [[ 0.59246936 0.01713888 -0.80541065 8.51000182] [ 0.11885875 0.98697222 0.10843631 0.51149667] [ 0.79677642 -0.15997529 0.58271369 0.10712584] [ 0. 0. 0. 1. ]] SLAMing on 102.35964924600002 meters Centerline goodness : 0.903649 Centerline is valid? [False, False] Translation: X:8.51, Y:0.51, Z:0.11 [[ 0.59182936 0.01696475 -0.80588473 8.51161255] [ 0.11938018 0.98690817 0.10844646 0.51118649] [ 0.797174 -0.16038846 0.58205598 0.10899449] [ 0. 0. 0. 1. ]] SLAMing on 102.38964924600002 meters Centerline goodness : 0.902870 Centerline is valid? [False, False] Translation: X:8.51, Y:0.51, Z:0.11 [[ 0.5906359 0.01637049 -0.80677211 8.51451028] [ 0.12080035 0.98673388 0.10845979 0.51023931] [ 0.79784492 -0.1615186 0.58082289 0.11299536] [ 0. 0. 0. 1. ]] SLAMing on 102.41964924600002 meters Centerline goodness : 0.905835 Centerline is valid? [False, False] Translation: X:8.52, Y:0.51, Z:0.11 [[ 0.58989898 0.01094142 -0.80740292 8.51665036] [ 0.12467944 0.98668255 0.10446331 0.51014899] [ 0.79779335 -0.16228934 0.58067886 0.11473887] [ 0. 0. 0. 1. ]] SLAMing on 102.449649246 meters Centerline goodness : 0.909247 Centerline is valid? [False, False] Translation: X:8.52, Y:0.51, Z:0.12 [[ 0.58926604 0.01075095 -0.80786753 8.51783113] [ 0.12513237 0.98663163 0.10440262 0.51020684] [ 0.79819009 -0.1626113 0.58004323 0.11645567] [ 0. 0. 0. 1. ]] SLAMing on 102.47964924600001 meters Centerline goodness : 0.906812 Centerline is valid? [False, False] Translation: X:8.52, Y:0.51, Z:0.12 [[ 0.58806599 0.00982759 -0.80875325 8.52156493] [ 0.12629897 0.98654411 0.10382336 0.51061778] [ 0.79889108 -0.16319969 0.57891182 0.11961651] [ 0. 0. 0. 1. ]] SLAMing on 102.50964924600001 meters Centerline goodness : 0.904386 Centerline is valid? [False, False] Translation: X:8.52, Y:0.51, Z:0.12 [[ 0.58731002 0.00935987 -0.80930793 8.5235056 ] [ 0.12701079 0.98647832 0.10357988 0.51099465] [ 0.79933422 -0.16362434 0.57817979 0.12163707] [ 0. 0. 0. 1. ]] SLAMing on 102.53964924600001 meters Centerline goodness : 0.898336 Centerline is valid? [False, False] Translation: X:8.53, Y:0.51, Z:0.12 [[ 0.58623248 0.0088285 -0.81009477 8.52624694] [ 0.12805788 0.98635974 0.10341971 0.51112371] [ 0.79995791 -0.16436702 0.57710556 0.12479742] [ 0. 0. 0. 1. ]] SLAMing on 102.56964924600001 meters Centerline goodness : 0.904991 Centerline is valid? [False, False] Translation: X:8.53, Y:0.51, Z:0.13 [[ 5.85599557e-01 8.42646935e-03 -8.10556694e-01 8.52793264e+00] [ 1.28618885e-01 9.86312233e-01 1.03176363e-01 5.11933713e-01] [ 8.00331395e-01 -1.64672931e-01 5.76500203e-01 1.26407992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59964924600001 meters Centerline goodness : 0.898920 Centerline is valid? [False, False] Translation: X:8.53, Y:0.51, Z:0.13 [[ 5.84453362e-01 7.75098128e-03 -8.11390282e-01 8.53078736e+00] [ 1.29868117e-01 9.86170506e-01 1.02966043e-01 5.12462151e-01] [ 8.00967253e-01 -1.65552578e-01 5.75364062e-01 1.29870509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62964924600001 meters Centerline goodness : 0.903303 Centerline is valid? [False, False] Translation: X:8.53, Y:0.51, Z:0.13 [[ 5.83578882e-01 7.77239731e-03 -8.12019260e-01 8.53132692e+00] [ 1.30498449e-01 9.86060282e-01 1.03224388e-01 5.12074482e-01] [ 8.01502241e-01 -1.66206827e-01 5.74429672e-01 1.32535829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65964924600001 meters Centerline goodness : 0.901978 Centerline is valid? [False, False] Translation: X:8.53, Y:0.51, Z:0.14 [[ 5.82432128e-01 7.39017835e-03 -8.12845743e-01 8.53303782e+00] [ 1.31015807e-01 9.86031622e-01 1.02842102e-01 5.13328992e-01] [ 8.02251628e-01 -1.66394186e-01 5.73328266e-01 1.35128181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68964924600002 meters Centerline goodness : 0.898512 Centerline is valid? [False, False] Translation: X:8.53, Y:0.51, Z:0.14 [[ 5.81924831e-01 7.20778831e-03 -8.13210636e-01 8.53419755e+00] [ 1.31356192e-01 9.85997360e-01 1.02736347e-01 5.14175814e-01] [ 8.02564042e-01 -1.66605083e-01 5.72829560e-01 1.36395437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71964924600002 meters Centerline goodness : 0.896934 Centerline is valid? [False, False] Translation: X:8.54, Y:0.52, Z:0.14 [[ 5.80949914e-01 6.31416429e-03 -8.13914816e-01 8.53745752e+00] [ 1.32195556e-01 9.85960968e-01 1.02006396e-01 5.16574959e-01] [ 8.03132325e-01 -1.66856529e-01 5.71959235e-01 1.38509486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74964924600002 meters Centerline goodness : 0.898802 Centerline is valid? [False, False] Translation: X:8.54, Y:0.52, Z:0.14 [[ 5.80299909e-01 5.77533298e-03 -8.14382380e-01 8.53945708e+00] [ 1.32788119e-01 9.85922072e-01 1.01611926e-01 5.17563579e-01] [ 8.03504406e-01 -1.67105696e-01 5.71363593e-01 1.40019060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77964924600002 meters Centerline goodness : 0.902507 Centerline is valid? [False, False] Translation: X:8.54, Y:0.52, Z:0.14 [[ 5.78853551e-01 4.63551381e-03 -8.15418346e-01 8.54227085e+00] [ 1.34680900e-01 9.85706484e-01 1.01211573e-01 5.18153462e-01] [ 8.04232318e-01 -1.68407955e-01 5.69955383e-01 1.44488993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.809649246 meters Centerline goodness : 0.903033 Centerline is valid? [False, False] Translation: X:8.54, Y:0.52, Z:0.15 [[ 5.78313557e-01 4.39441673e-03 -8.15802745e-01 8.54332876e+00] [ 1.35170457e-01 9.85647828e-01 1.01130152e-01 5.18356639e-01] [ 8.04538611e-01 -1.68757368e-01 5.69419506e-01 1.46041537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83964924600001 meters Centerline goodness : 0.900556 Centerline is valid? [False, False] Translation: X:8.55, Y:0.52, Z:0.15 [[ 5.76207550e-01 6.61720199e-03 -8.17276619e-01 8.55127073e+00] [ 1.34847380e-01 9.85493098e-01 1.03051138e-01 5.22895903e-01] [ 8.06102378e-01 -1.69586455e-01 5.66956251e-01 1.51717147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86964924600001 meters Centerline goodness : 0.893760 Centerline is valid? [False, False] Translation: X:8.55, Y:0.53, Z:0.15 [[ 5.75605841e-01 5.32208787e-03 -8.17709968e-01 8.55334260e+00] [ 1.35935318e-01 9.85442430e-01 1.02101940e-01 5.25452518e-01] [ 8.06349493e-01 -1.69926138e-01 5.66502959e-01 1.52966926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89964924600001 meters Centerline goodness : 0.899056 Centerline is valid? [False, False] Translation: X:8.56, Y:0.53, Z:0.16 [[ 5.74346117e-01 3.91676762e-03 -8.18603198e-01 8.55520973e+00] [ 1.37662286e-01 9.85285390e-01 1.01300524e-01 5.28023602e-01] [ 8.06954542e-01 -1.70872351e-01 5.65355647e-01 1.56298927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92964924600001 meters Centerline goodness : 0.899139 Centerline is valid? [False, False] Translation: X:8.56, Y:0.53, Z:0.16 [[ 5.73673097e-01 2.86054895e-03 -8.19079359e-01 8.55748837e+00] [ 1.38579723e-01 9.85238720e-01 1.00500375e-01 5.30110906e-01] [ 8.07276185e-01 -1.71162152e-01 5.64808533e-01 1.57721876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95964924600001 meters Centerline goodness : 0.896845 Centerline is valid? [False, False] Translation: X:8.55, Y:0.53, Z:0.15 [[ 0.57016925 0.01022192 -0.82146366 8.54981665] [ 0.14078733 0.98391422 0.10996238 0.53234458] [ 0.8093738 -0.17834885 0.55955852 0.15293385] [ 0. 0. 0. 1. ]] SLAMing on 102.98964924600001 meters Centerline goodness : 0.895091 Centerline is valid? [False, False] Translation: X:8.55, Y:0.54, Z:0.15 [[ 0.56970548 0.00966145 -0.82179214 8.55135372] [ 0.14094802 0.98396725 0.10927995 0.53529074] [ 0.80967235 -0.17808737 0.55920977 0.15329397] [ 0. 0. 0. 1. ]] SLAMing on 103.01964924600001 meters Centerline goodness : 0.895300 Centerline is valid? [False, False] Translation: X:8.55, Y:0.54, Z:0.15 [[ 0.5685777 0.00924175 -0.82257765 8.55352011] [ 0.14094762 0.98405571 0.10848103 0.5387248 ] [ 0.81046478 -0.17762025 0.55820953 0.15478045] [ 0. 0. 0. 1. ]] SLAMing on 103.04964924600002 meters Centerline goodness : 0.895953 Centerline is valid? [False, False] Translation: X:8.55, Y:0.54, Z:0.16 [[ 0.56799577 0.00899407 -0.82298233 8.55452866] [ 0.14118707 0.98405264 0.1081971 0.54007059] [ 0.81083106 -0.17764996 0.55766789 0.15590053] [ 0. 0. 0. 1. ]] SLAMing on 103.07964924600002 meters Centerline goodness : 0.895743 Centerline is valid? [False, False] Translation: X:8.56, Y:0.54, Z:0.16 [[ 0.56722702 0.00883275 -0.82351411 8.55564132] [ 0.14114433 0.98410522 0.10777378 0.54249828] [ 0.81137648 -0.17736655 0.55696438 0.15709655] [ 0. 0. 0. 1. ]] SLAMing on 103.10964924600002 meters Centerline goodness : 0.895843 Centerline is valid? [False, False] Translation: X:8.56, Y:0.54, Z:0.16 [[ 0.56673606 0.00899575 -0.8238503 8.55565639] [ 0.14123354 0.98407843 0.10790148 0.54290484] [ 0.81170396 -0.17750696 0.55644223 0.15832956] [ 0. 0. 0. 1. ]] SLAMing on 103.13964924600002 meters Centerline goodness : 0.898625 Centerline is valid? [False, False] Translation: X:8.56, Y:0.54, Z:0.16 [[ 5.66336410e-01 4.13367054e-03 -8.24163809e-01 8.55529026e+00] [ 1.44235372e-01 9.84057894e-01 1.04049114e-01 5.43883534e-01] [ 8.11455007e-01 -1.77800375e-01 5.56711593e-01 1.58607227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16964924600002 meters Centerline goodness : 0.903149 Centerline is valid? [False, False] Translation: X:8.56, Y:0.54, Z:0.16 [[ 5.65594675e-01 4.12069692e-03 -8.24673077e-01 8.55585037e+00] [ 1.44746631e-01 9.83967931e-01 1.04189842e-01 5.44068206e-01] [ 8.11881196e-01 -1.78297869e-01 5.55930565e-01 1.60732244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.199649246 meters Centerline goodness : 0.899065 Centerline is valid? [False, False] Translation: X:8.56, Y:0.54, Z:0.16 [[ 5.64412403e-01 3.40577959e-03 -8.25485942e-01 8.55847317e+00] [ 1.46131059e-01 9.83786158e-01 1.03973595e-01 5.44370078e-01] [ 8.12455755e-01 -1.79313122e-01 5.54763419e-01 1.64382384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22964924600001 meters Centerline goodness : 0.897679 Centerline is valid? [False, False] Translation: X:8.56, Y:0.54, Z:0.17 [[ 5.63181683e-01 2.63331841e-03 -8.26328904e-01 8.56130647e+00] [ 1.47468259e-01 9.83621696e-01 1.03641069e-01 5.44973894e-01] [ 8.13067958e-01 -1.80226037e-01 5.53569391e-01 1.67909583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25964924600001 meters Centerline goodness : 0.898541 Centerline is valid? [False, False] Translation: X:8.56, Y:0.55, Z:0.17 [[ 5.62562451e-01 2.38255228e-03 -8.26751360e-01 8.56241921e+00] [ 1.48062171e-01 9.83538568e-01 1.03583198e-01 5.45095360e-01] [ 8.13388641e-01 -1.80682619e-01 5.52949102e-01 1.69721701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28964924600001 meters Centerline goodness : 0.887625 Centerline is valid? [False, False] Translation: X:8.56, Y:0.54, Z:0.17 [[ 5.61922806e-01 2.36035001e-03 -8.27186309e-01 8.56309783e+00] [ 1.48563194e-01 9.83447758e-01 1.03727935e-01 5.44793214e-01] [ 8.13739355e-01 -1.81176532e-01 5.52271062e-01 1.71696375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31964924600001 meters Centerline goodness : 0.895019 Centerline is valid? [False, False] Translation: X:8.56, Y:0.54, Z:0.17 [[ 5.61358016e-01 -2.64727672e-03 -8.27568831e-01 8.56319045e+00] [ 1.52266545e-01 9.83253168e-01 1.00140435e-01 5.44732216e-01] [ 8.13444576e-01 -1.82225682e-01 5.52360139e-01 1.73132252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34964924600001 meters Centerline goodness : 0.898013 Centerline is valid? [False, False] Translation: X:8.57, Y:0.54, Z:0.18 [[ 5.60292571e-01 -3.42679411e-03 -8.28287686e-01 8.56576046e+00] [ 1.53652034e-01 9.83065093e-01 9.98702898e-02 5.44523947e-01] [ 8.13918477e-01 -1.83224669e-01 5.51330603e-01 1.76538910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37964924600001 meters Centerline goodness : 0.896077 Centerline is valid? [False, False] Translation: X:8.57, Y:0.54, Z:0.18 [[ 5.59582103e-01 -3.78526290e-03 -8.28766277e-01 8.56717897e+00] [ 1.54277625e-01 9.82986583e-01 9.96784468e-02 5.44876869e-01] [ 8.14288821e-01 -1.83638368e-01 5.50645680e-01 1.78453191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40964924600001 meters Centerline goodness : 0.899632 Centerline is valid? [False, False] Translation: X:8.57, Y:0.54, Z:0.18 [[ 5.58331007e-01 -4.23373810e-03 -8.29607475e-01 8.56895731e+00] [ 1.55290347e-01 9.82845629e-01 9.94956140e-02 5.44662070e-01] [ 8.14954842e-01 -1.84381519e-01 5.49410648e-01 1.82008944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43964924600002 meters Centerline goodness : 0.901307 Centerline is valid? [False, False] Translation: X:8.57, Y:0.54, Z:0.18 [[ 5.57614504e-01 -4.20228604e-03 -8.30089396e-01 8.56968421e+00] [ 1.55561969e-01 9.82799826e-01 9.95237439e-02 5.44756027e-01] [ 8.15393487e-01 -1.84626224e-01 5.48677154e-01 1.83815781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46964924600002 meters Centerline goodness : 0.901886 Centerline is valid? [False, False] Translation: X:8.57, Y:0.55, Z:0.19 [[ 5.56663327e-01 -4.58430122e-03 -8.30725541e-01 8.57100573e+00] [ 1.56030020e-01 9.82765292e-01 9.91312940e-02 5.46052260e-01] [ 8.15953782e-01 -1.84800879e-01 5.47784685e-01 1.86091477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49964924600002 meters Centerline goodness : 0.896393 Centerline is valid? [False, False] Translation: X:8.57, Y:0.55, Z:0.19 [[ 5.56114092e-01 -5.05198264e-03 -8.31090605e-01 8.57275052e+00] [ 1.56428511e-01 9.82745518e-01 9.86983675e-02 5.47309222e-01] [ 8.16251945e-01 -1.84893819e-01 5.47308905e-01 1.87237588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52964924600002 meters Centerline goodness : 0.899822 Centerline is valid? [False, False] Translation: X:8.57, Y:0.55, Z:0.19 [[ 5.55517837e-01 -5.52205401e-03 -8.31486284e-01 8.57459185e+00] [ 1.56682705e-01 9.82759607e-01 9.81533761e-02 5.48900868e-01] [ 8.16609125e-01 -1.84805471e-01 5.46805701e-01 1.88215346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.559649246 meters Centerline goodness : 0.898928 Centerline is valid? [False, False] Translation: X:8.57, Y:0.55, Z:0.18 [[ 5.51296342e-01 -4.51654547e-04 -8.34309379e-01 8.56533950e+00] [ 1.60394981e-01 9.81403454e-01 1.05454779e-01 5.46906044e-01] [ 8.18746477e-01 -1.91955871e-01 5.41116577e-01 1.82763573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58964924600001 meters Centerline goodness : 0.900517 Centerline is valid? [False, False] Translation: X:8.57, Y:0.55, Z:0.19 [[ 5.49649586e-01 -1.86096877e-03 -8.35393243e-01 8.56971627e+00] [ 1.62251688e-01 9.81193086e-01 1.04568242e-01 5.47989999e-01] [ 8.19487476e-01 -1.93019855e-01 5.39614319e-01 1.87165923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61964924600001 meters Centerline goodness : 0.895085 Centerline is valid? [False, False] Translation: X:8.57, Y:0.55, Z:0.19 [[ 5.48854965e-01 -2.46151616e-03 -8.35913972e-01 8.57165668e+00] [ 1.63111850e-01 9.81088682e-01 1.04209029e-01 5.48510626e-01] [ 8.19849225e-01 -1.93543118e-01 5.38876897e-01 1.89320220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64964924600001 meters Centerline goodness : 0.894773 Centerline is valid? [False, False] Translation: X:8.57, Y:0.55, Z:0.19 [[ 5.47780213e-01 -2.79074100e-03 -8.36617625e-01 8.57362848e+00] [ 1.64184164e-01 9.80907736e-01 1.04228472e-01 5.48121165e-01] [ 8.20353825e-01 -1.94453660e-01 5.37780044e-01 1.92719401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67964924600001 meters Centerline goodness : 0.898367 Centerline is valid? [False, False] Translation: X:8.57, Y:0.55, Z:0.19 [[ 5.47119944e-01 -2.59400125e-03 -8.37050200e-01 8.57382741e+00] [ 1.64557707e-01 9.80814106e-01 1.04520100e-01 5.47474484e-01] [ 8.20719518e-01 -1.94928093e-01 5.37049822e-01 1.94808855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70964924600001 meters Centerline goodness : 0.893383 Centerline is valid? [False, False] Translation: X:8.58, Y:0.55, Z:0.20 [[ 5.46500296e-01 -8.08042098e-03 -8.37419926e-01 8.57544213e+00] [ 1.68248310e-01 9.80624835e-01 1.00336626e-01 5.48221627e-01] [ 8.20384015e-01 -1.95728483e-01 5.37271280e-01 1.95775163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73964924600001 meters Centerline goodness : 0.893347 Centerline is valid? [False, False] Translation: X:8.58, Y:0.55, Z:0.20 [[ 5.45773911e-01 -8.31632065e-03 -8.37891208e-01 8.57657274e+00] [ 1.68932292e-01 9.80510483e-01 1.00304905e-01 5.48080206e-01] [ 8.20726945e-01 -1.96290683e-01 5.36541936e-01 1.97922097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76964924600001 meters Centerline goodness : 0.892748 Centerline is valid? [False, False] Translation: X:8.58, Y:0.55, Z:0.20 [[ 0.54507091 -0.01457173 -0.8382633 8.57903314] [ 0.17368845 0.98012003 0.09590123 0.54871058] [ 0.82020121 -0.19786963 0.53676586 0.19974786] [ 0. 0. 0. 1. ]] SLAMing on 103.79964924600002 meters Centerline goodness : 0.891618 Centerline is valid? [False, False] Translation: X:8.58, Y:0.55, Z:0.20 [[ 0.54438996 -0.01496544 -0.83869876 8.58069896] [ 0.17446985 0.97999507 0.09575974 0.5482029 ] [ 0.82048757 -0.19845828 0.5361105 0.20185715] [ 0. 0. 0. 1. ]] SLAMing on 103.82964924600002 meters Centerline goodness : 0.896610 Centerline is valid? [False, False] Translation: X:8.58, Y:0.55, Z:0.20 [[ 0.54347768 -0.02087034 -0.83916413 8.58288281] [ 0.17931278 0.97950254 0.09176983 0.54764561] [ 0.82004813 -0.2003477 0.53608009 0.20455733] [ 0. 0. 0. 1. ]] SLAMing on 103.85964924600002 meters Centerline goodness : 0.894202 Centerline is valid? [False, False] Translation: X:8.58, Y:0.55, Z:0.21 [[ 0.54266363 -0.02138933 -0.83967772 8.58460387] [ 0.18034164 0.97932918 0.09160378 0.54775 ] [ 0.82036155 -0.2011389 0.53530371 0.2070346 ] [ 0. 0. 0. 1. ]] SLAMing on 103.88964924600002 meters Centerline goodness : 0.892703 Centerline is valid? [False, False] Translation: X:8.59, Y:0.55, Z:0.21 [[ 0.54111232 -0.0234247 -0.84062402 8.59081054] [ 0.18224326 0.9791234 0.09002645 0.55001585] [ 0.82096581 -0.20191248 0.53408473 0.21065349] [ 0. 0. 0. 1. ]] SLAMing on 103.91964924600002 meters Centerline goodness : 0.890439 Centerline is valid? [False, False] Translation: X:8.59, Y:0.55, Z:0.21 [[ 0.54034879 -0.0241452 -0.84109464 8.59320047] [ 0.18312357 0.97900367 0.08954089 0.55077198] [ 0.82127276 -0.20240757 0.533425 0.21262786] [ 0. 0. 0. 1. ]] SLAMing on 103.949649246 meters Centerline goodness : 0.888012 Centerline is valid? [False, False] Translation: X:8.60, Y:0.55, Z:0.22 [[ 0.5388443 -0.02563103 -0.84201536 8.5977136 ] [ 0.18486572 0.97876995 0.08851021 0.5519452 ] [ 0.82187072 -0.20335299 0.53214291 0.2164789 ] [ 0. 0. 0. 1. ]] SLAMing on 103.97964924600001 meters Centerline goodness : 0.881194 Centerline is valid? [False, False] Translation: X:8.60, Y:0.55, Z:0.22 [[ 0.53736317 -0.02691146 -0.84292147 8.60196843] [ 0.18660895 0.97850997 0.08772306 0.55253511] [ 0.8224463 -0.20443583 0.53083714 0.22056847] [ 0. 0. 0. 1. ]] SLAMing on 104.00964924600001 meters Centerline goodness : 0.895759 Centerline is valid? [False, False] Translation: X:8.60, Y:0.55, Z:0.22 [[ 0.53698824 -0.02698209 -0.84315811 8.60270248] [ 0.18682975 0.97847212 0.08767531 0.55307131] [ 0.82264103 -0.20460763 0.53046908 0.22154763] [ 0. 0. 0. 1. ]] SLAMing on 104.03964924600001 meters Centerline goodness : 0.893921 Centerline is valid? [False, False] Translation: X:8.60, Y:0.55, Z:0.22 [[ 0.53658037 -0.02697295 -0.84341803 8.60304615] [ 0.18700857 0.97843723 0.08768343 0.55346706] [ 0.82286651 -0.20477561 0.53005438 0.2225597 ] [ 0. 0. 0. 1. ]] SLAMing on 104.06964924600001 meters Centerline goodness : 0.893921 Centerline is valid? [False, False] Translation: X:8.60, Y:0.55, Z:0.22 [[ 0.53658037 -0.02697295 -0.84341803 8.60304615] [ 0.18700857 0.97843723 0.08768343 0.55346706] [ 0.82286651 -0.20477561 0.53005438 0.2225597 ] [ 0. 0. 0. 1. ]] SLAMing on 104.09964924600001 meters Centerline goodness : 0.895938 Centerline is valid? [False, False] Translation: X:8.60, Y:0.56, Z:0.22 [[ 0.53591457 -0.02740394 -0.84382735 8.60426371] [ 0.18734987 0.97841415 0.08721112 0.55531727] [ 0.82322269 -0.20482865 0.52948052 0.22379274] [ 0. 0. 0. 1. ]] SLAMing on 104.12964924600001 meters Centerline goodness : 0.886400 Centerline is valid? [False, False] Translation: X:8.60, Y:0.56, Z:0.22 [[ 0.53556391 -0.02748935 -0.84404717 8.60479133] [ 0.18744669 0.97840789 0.0870732 0.55664464] [ 0.82342883 -0.20484711 0.52915274 0.22443427] [ 0. 0. 0. 1. ]] SLAMing on 104.15964924600001 meters Centerline goodness : 0.880718 Centerline is valid? [False, False] Translation: X:8.61, Y:0.56, Z:0.23 [[ 0.53485503 -0.02793326 -0.84448199 8.60586349] [ 0.18773324 0.97840039 0.08653844 0.55920194] [ 0.82382421 -0.20482286 0.52854637 0.22562708] [ 0. 0. 0. 1. ]] SLAMing on 104.18964924600002 meters Centerline goodness : 0.882027 Centerline is valid? [False, False] Translation: X:8.61, Y:0.56, Z:0.23 [[ 0.53431942 -0.02780271 -0.84482529 8.60570826] [ 0.18786847 0.97836703 0.08662208 0.55970247] [ 0.82414088 -0.2049999 0.52798376 0.22694951] [ 0. 0. 0. 1. ]] SLAMing on 104.21964924600002 meters Centerline goodness : 0.883853 Centerline is valid? [False, False] Translation: X:8.61, Y:0.56, Z:0.23 [[ 0.53347326 -0.02786514 -0.8453578 8.60587396] [ 0.18822933 0.9783052 0.08653697 0.56110297] [ 0.82460658 -0.20528629 0.5271447 0.22899554] [ 0. 0. 0. 1. ]] SLAMing on 104.24964924600002 meters Centerline goodness : 0.884540 Centerline is valid? [False, False] Translation: X:8.61, Y:0.56, Z:0.23 [[ 0.53202716 -0.02383581 -0.84639173 8.60907511] [ 0.18644893 0.97836617 0.08964613 0.56345032] [ 0.82594425 -0.20550301 0.52496154 0.23334498] [ 0. 0. 0. 1. ]] SLAMing on 104.27964924600002 meters Centerline goodness : 0.883875 Centerline is valid? [False, False] Translation: X:8.61, Y:0.57, Z:0.23 [[ 0.53147368 -0.02419647 -0.84672915 8.61014798] [ 0.18661411 0.97837772 0.08917516 0.56531693] [ 0.82626322 -0.20540586 0.52449741 0.23414607] [ 0. 0. 0. 1. ]] SLAMing on 104.309649246 meters Centerline goodness : 0.886410 Centerline is valid? [False, False] Translation: X:8.61, Y:0.57, Z:0.23 [[ 0.53108456 -0.0242752 -0.84697102 8.61032843] [ 0.18653088 0.97841684 0.0889197 0.56686737] [ 0.82653217 -0.20521013 0.52415015 0.23458965] [ 0. 0. 0. 1. ]] SLAMing on 104.33964924600001 meters Centerline goodness : 0.881065 Centerline is valid? [False, False] Translation: X:8.61, Y:0.57, Z:0.23 [[ 0.53027353 -0.02436036 -0.84747658 8.61097668] [ 0.1858331 0.97861948 0.08814739 0.57078819] [ 0.82720979 -0.20423143 0.52346297 0.23477474] [ 0. 0. 0. 1. ]] SLAMing on 104.36964924600001 meters Centerline goodness : 0.878571 Centerline is valid? [False, False] Translation: X:8.61, Y:0.57, Z:0.23 [[ 0.52994025 -0.02429976 -0.84768677 8.61113814] [ 0.18550845 0.97870179 0.08791712 0.57293125] [ 0.82749619 -0.20384388 0.52316128 0.23485291] [ 0. 0. 0. 1. ]] SLAMing on 104.39964924600001 meters Centerline goodness : 0.882828 Centerline is valid? [False, False] Translation: X:8.61, Y:0.57, Z:0.24 [[ 0.52943464 -0.02400046 -0.84801117 8.61012897] [ 0.18505422 0.97879541 0.08783207 0.57463132] [ 0.82792143 -0.20342938 0.52264959 0.23544004] [ 0. 0. 0. 1. ]] SLAMing on 104.42964924600001 meters Centerline goodness : 0.875097 Centerline is valid? [False, False] Translation: X:8.61, Y:0.58, Z:0.24 [[ 0.52810562 -0.02552041 -0.84879512 8.61266583] [ 0.18686851 0.97853876 0.08684499 0.57739462] [ 0.82836261 -0.20447641 0.52154078 0.2388235 ] [ 0. 0. 0. 1. ]] SLAMing on 104.45964924600001 meters Centerline goodness : 0.880707 Centerline is valid? [False, False] Translation: X:8.61, Y:0.58, Z:0.24 [[ 0.52748486 -0.02585483 -0.84917092 8.61361766] [ 0.1875171 0.97842835 0.08669083 0.57814427] [ 0.82861153 -0.20496217 0.52095436 0.24051577] [ 0. 0. 0. 1. ]] SLAMing on 104.48964924600001 meters Centerline goodness : 0.878168 Centerline is valid? [False, False] Translation: X:8.62, Y:0.58, Z:0.24 [[ 0.52645845 -0.02669906 -0.84978154 8.61604002] [ 0.18892949 0.97819006 0.0863125 0.57883479] [ 0.82894339 -0.20598874 0.52002066 0.24369342] [ 0. 0. 0. 1. ]] SLAMing on 104.51964924600001 meters Centerline goodness : 0.876556 Centerline is valid? [False, False] Translation: X:8.62, Y:0.58, Z:0.25 [[ 0.52591508 -0.02693321 -0.85011054 8.61706481] [ 0.18944893 0.97809835 0.08621317 0.57891756] [ 0.82916973 -0.20639334 0.51949914 0.24528509] [ 0. 0. 0. 1. ]] SLAMing on 104.54964924600002 meters Centerline goodness : 0.877861 Centerline is valid? [False, False] Translation: X:8.62, Y:0.58, Z:0.25 [[ 0.52526771 -0.0265514 -0.85052269 8.61729183] [ 0.18959768 0.9780389 0.08656 0.57831341] [ 0.82954599 -0.2067243 0.51876634 0.24733547] [ 0. 0. 0. 1. ]] SLAMing on 104.57964924600002 meters Centerline goodness : 0.873312 Centerline is valid? [False, False] Translation: X:8.62, Y:0.58, Z:0.25 [[ 0.52490995 -0.0263557 -0.85074962 8.61804377] [ 0.18957937 0.97803261 0.08667105 0.57830453] [ 0.8297766 -0.20677908 0.51837555 0.24826162] [ 0. 0. 0. 1. ]] SLAMing on 104.60964924600002 meters Centerline goodness : 0.878787 Centerline is valid? [False, False] Translation: X:8.62, Y:0.58, Z:0.25 [[ 0.52438306 -0.02655077 -0.85106843 8.6195608 ] [ 0.18976833 0.97801872 0.0864139 0.57886651] [ 0.8300665 -0.20681982 0.51789494 0.24940144] [ 0. 0. 0. 1. ]] SLAMing on 104.63964924600002 meters Centerline goodness : 0.875689 Centerline is valid? [False, False] Translation: X:8.62, Y:0.58, Z:0.25 [[ 0.52317281 -0.02725262 -0.85179076 8.62243584] [ 0.19086784 0.97784598 0.08594599 0.57945596] [ 0.83057792 -0.20754406 0.51678408 0.2526707 ] [ 0. 0. 0. 1. ]] SLAMing on 104.66964924600002 meters Centerline goodness : 0.878798 Centerline is valid? [False, False] Translation: X:8.62, Y:0.58, Z:0.26 [[ 0.52229993 -0.02739903 -0.85232158 8.624263 ] [ 0.19156968 0.97770718 0.08596356 0.57905623] [ 0.83096561 -0.20817773 0.51590521 0.25545271] [ 0. 0. 0. 1. ]] SLAMing on 104.699649246 meters Centerline goodness : 0.873960 Centerline is valid? [False, False] Translation: X:8.63, Y:0.58, Z:0.26 [[ 0.52179961 -0.02754441 -0.85262329 8.62507481] [ 0.19201855 0.97762194 0.08593148 0.5792483 ] [ 0.8311763 -0.2085585 0.51541178 0.25691547] [ 0. 0. 0. 1. ]] SLAMing on 104.72964924600001 meters Centerline goodness : 0.875637 Centerline is valid? [False, False] Translation: X:8.63, Y:0.58, Z:0.26 [[ 0.52110227 -0.02726086 -0.85305877 8.62509797] [ 0.19261457 0.97746119 0.08642482 0.57856631] [ 0.83147583 -0.20934772 0.51460808 0.25958015] [ 0. 0. 0. 1. ]] SLAMing on 104.75964924600001 meters Centerline goodness : 0.873841 Centerline is valid? [False, False] Translation: X:8.63, Y:0.58, Z:0.26 [[ 0.52062615 -0.02701659 -0.8533572 8.62531809] [ 0.19288853 0.97737954 0.08673665 0.57764702] [ 0.83171054 -0.20976018 0.51406054 0.26125657] [ 0. 0. 0. 1. ]] SLAMing on 104.78964924600001 meters Centerline goodness : 0.874861 Centerline is valid? [False, False] Translation: X:8.63, Y:0.58, Z:0.26 [[ 0.52081348 -0.02757749 -0.85322494 8.62523668] [ 0.19382184 0.97719587 0.08672556 0.57732977] [ 0.83137622 -0.21054147 0.5142819 0.26208338] [ 0. 0. 0. 1. ]] SLAMing on 104.81964924600001 meters Centerline goodness : 0.868362 Centerline is valid? [False, False] Translation: X:8.62, Y:0.57, Z:0.26 [[ 0.51683347 -0.02341401 -0.85576571 8.61593983] [ 0.19797214 0.97579864 0.09286569 0.57383283] [ 0.83288066 -0.21741387 0.50896072 0.25530336] [ 0. 0. 0. 1. ]] SLAMing on 104.84964924600001 meters Centerline goodness : 0.878122 Centerline is valid? [False, False] Translation: X:8.62, Y:0.57, Z:0.26 [[ 0.51637001 -0.02342145 -0.85604524 8.61687114] [ 0.19833991 0.97571652 0.09294378 0.57329221] [ 0.8330806 -0.21778131 0.50847616 0.25679412] [ 0. 0. 0. 1. ]] SLAMing on 104.87964924600001 meters Centerline goodness : 0.881495 Centerline is valid? [False, False] Translation: X:8.62, Y:0.57, Z:0.26 [[ 0.51595276 -0.0233582 -0.85629851 8.61755194] [ 0.19856247 0.9756633 0.09302727 0.57310901] [ 0.83328608 -0.21802642 0.50803424 0.25805627] [ 0. 0. 0. 1. ]] SLAMing on 104.90964924600001 meters Centerline goodness : 0.878558 Centerline is valid? [False, False] Translation: X:8.62, Y:0.57, Z:0.26 [[ 0.51497395 -0.02412678 -0.85686622 8.62021037] [ 0.19911517 0.97562949 0.0921968 0.5748596 ] [ 0.83375955 -0.21809401 0.50722778 0.25993515] [ 0. 0. 0. 1. ]] SLAMing on 104.93964924600002 meters Centerline goodness : 0.873612 Centerline is valid? [False, False] Translation: X:8.62, Y:0.58, Z:0.26 [[ 0.51448192 -0.02462986 -0.85714744 8.62205055] [ 0.19948788 0.97559978 0.0917042 0.57613078] [ 0.83397419 -0.21817068 0.5068418 0.26085572] [ 0. 0. 0. 1. ]] SLAMing on 104.96964924600002 meters Centerline goodness : 0.872631 Centerline is valid? [False, False] Translation: X:8.61, Y:0.57, Z:0.25 [[ 0.50950377 -0.01808832 -0.86027828 8.61392323] [ 0.2012739 0.97454824 0.09871442 0.57422385] [ 0.83659711 -0.22344694 0.50017671 0.25345222] [ 0. 0. 0. 1. ]] SLAMing on 104.99964924600002 meters Centerline goodness : 0.863038 Centerline is valid? [False, False] Translation: X:8.60, Y:0.57, Z:0.24 [[ 0.50832969 -0.01625129 -0.86100919 8.60434453] [ 0.20446655 0.9735091 0.10233996 0.57199934] [ 0.83653712 -0.22807002 0.49818642 0.23943216] [ 0. 0. 0. 1. ]] SLAMing on 105.02964924600002 meters Centerline goodness : 0.865698 Centerline is valid? [False, False] Translation: X:8.59, Y:0.57, Z:0.23 [[ 0.50614801 -0.01324783 -0.86234487 8.59446489] [ 0.2075698 0.97236232 0.10689384 0.56959175] [ 0.83709555 -0.23310086 0.49490911 0.22748987] [ 0. 0. 0. 1. ]] SLAMing on 105.05964924600002 meters Centerline goodness : 0.864522 Centerline is valid? [False, False] Translation: X:8.59, Y:0.57, Z:0.21 [[ 0.51118001 -0.01204816 -0.85938922 8.58854364] [ 0.21114707 0.97101864 0.11198089 0.56924535] [ 0.83313379 -0.23869991 0.49890925 0.21424984] [ 0. 0. 0. 1. ]] SLAMing on 105.08964924600001 meters Centerline goodness : 0.867690 Centerline is valid? [False, False] Translation: X:8.58, Y:0.57, Z:0.20 [[ 0.51710798 -0.010495 -0.85585582 8.58397015] [ 0.21473207 0.9695365 0.11785207 0.56843679] [ 0.8285466 -0.24472194 0.50360868 0.20270463] [ 0. 0. 0. 1. ]] SLAMing on 105.11964924600001 meters Centerline goodness : 0.867648 Centerline is valid? [False, False] Translation: X:8.57, Y:0.57, Z:0.19 [[ 5.14950158e-01 -8.12859695e-03 -8.57181580e-01 8.57430735e+00] [ 2.18189962e-01 9.68263754e-01 1.21895211e-01 5.66424110e-01] [ 8.28987017e-01 -2.49798375e-01 5.00381152e-01 1.90471568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14964924600001 meters Centerline goodness : 0.865818 Centerline is valid? [False, False] Translation: X:8.57, Y:0.56, Z:0.18 [[ 5.13709681e-01 -6.92010627e-03 -8.57936172e-01 8.56521592e+00] [ 2.21860273e-01 9.67027403e-01 1.25044078e-01 5.64070791e-01] [ 8.28782470e-01 -2.54578307e-01 4.98306636e-01 1.76835512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17964924600001 meters Centerline goodness : 0.868028 Centerline is valid? [False, False] Translation: X:8.56, Y:0.56, Z:0.16 [[ 5.12600202e-01 -7.80423598e-03 -8.58591944e-01 8.55607572e+00] [ 2.25816688e-01 9.65982054e-01 1.26037670e-01 5.61851993e-01] [ 8.28400783e-01 -2.58491324e-01 4.96924923e-01 1.60569324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20964924600001 meters Centerline goodness : 0.870580 Centerline is valid? [False, False] Translation: X:8.54, Y:0.56, Z:0.13 [[ 0.51477428 -0.01702305 -0.85715673 8.54420462] [ 0.22941638 0.96607661 0.11859217 0.55838912] [ 0.82606026 -0.257694 0.50121676 0.13119206] [ 0. 0. 0. 1. ]] SLAMing on 105.23964924600001 meters Centerline goodness : 0.870019 Centerline is valid? [False, False] Translation: X:8.54, Y:0.56, Z:0.13 [[ 0.51471846 -0.0218098 -0.85708182 8.54360682] [ 0.23194016 0.9659426 0.11471118 0.55942354] [ 0.82539001 -0.25783565 0.50224705 0.12991528] [ 0. 0. 0. 1. ]] SLAMing on 105.26964924600001 meters Centerline goodness : 0.870728 Centerline is valid? [False, False] Translation: X:8.53, Y:0.56, Z:0.11 [[ 0.51717838 -0.02492246 -0.85551469 8.53325009] [ 0.23547389 0.96514393 0.11423327 0.55634154] [ 0.82284784 -0.26053035 0.50502017 0.10928663] [ 0. 0. 0. 1. ]] SLAMing on 105.29964924600002 meters Centerline goodness : 0.874804 Centerline is valid? [False, False] Translation: X:8.52, Y:0.55, Z:0.09 [[ 0.52018113 -0.02528203 -0.85368168 8.52472616] [ 0.24037979 0.96348742 0.11793871 0.55498498] [ 0.81952983 -0.26655732 0.50726526 0.09487826] [ 0. 0. 0. 1. ]] SLAMing on 105.32964924600002 meters Centerline goodness : 0.876570 Centerline is valid? [False, False] Translation: X:8.53, Y:0.56, Z:0.09 [[ 0.52000151 -0.03111697 -0.85359836 8.5253694 ] [ 0.24434633 0.9629934 0.1137479 0.5557961 ] [ 0.8184701 -0.26772271 0.50836134 0.09476043] [ 0. 0. 0. 1. ]] SLAMing on 105.35964924600002 meters Centerline goodness : 0.861652 Centerline is valid? [False, False] Translation: X:8.53, Y:0.56, Z:0.09 [[ 0.51989813 -0.03579383 -0.85347803 8.52689076] [ 0.24768761 0.96251638 0.11051272 0.55858537] [ 0.81753091 -0.26885129 0.50927615 0.09480779] [ 0. 0. 0. 1. ]] SLAMing on 105.38964924600002 meters Centerline goodness : 0.869125 Centerline is valid? [False, False] Translation: X:8.53, Y:0.56, Z:0.10 [[ 0.51953444 -0.03625992 -0.85367979 8.52810248] [ 0.24799593 0.96249066 0.11004429 0.55958422] [ 0.81766863 -0.26888091 0.50903936 0.09539647] [ 0. 0. 0. 1. ]] SLAMing on 105.41964924600002 meters Centerline goodness : 0.869109 Centerline is valid? [False, False] Translation: X:8.53, Y:0.56, Z:0.10 [[ 0.51886338 -0.0369015 -0.85406034 8.53009162] [ 0.24841229 0.96246453 0.10933145 0.56098125] [ 0.81796829 -0.26888717 0.50855439 0.09662531] [ 0. 0. 0. 1. ]] SLAMing on 105.449649246 meters Centerline goodness : 0.870113 Centerline is valid? [False, False] Translation: X:8.52, Y:0.56, Z:0.08 [[ 0.51767323 -0.03736241 -0.85476224 8.52100438] [ 0.25184418 0.96143863 0.11050012 0.55882965] [ 0.81767288 -0.27246985 0.50712054 0.08066994] [ 0. 0. 0. 1. ]] SLAMing on 105.47964924600001 meters Centerline goodness : 0.871257 Centerline is valid? [False, False] Translation: X:8.52, Y:0.56, Z:0.08 [[ 0.51705681 -0.03804056 -0.85510536 8.52309646] [ 0.25223144 0.96142342 0.1097466 0.55994944] [ 0.81794349 -0.27242968 0.50670555 0.08165468] [ 0. 0. 0. 1. ]] SLAMing on 105.50964924600001 meters Centerline goodness : 0.871962 Centerline is valid? [False, False] Translation: X:8.53, Y:0.56, Z:0.08 [[ 0.516096 -0.03906055 -0.85563964 8.5258796 ] [ 0.25270559 0.96143654 0.10853414 0.56190535] [ 0.81840381 -0.27223895 0.50606437 0.0830511 ] [ 0. 0. 0. 1. ]] SLAMing on 105.53964924600001 meters Centerline goodness : 0.872644 Centerline is valid? [False, False] Translation: X:8.52, Y:0.56, Z:0.07 [[ 0.5168536 -0.03853917 -0.85520587 8.51602506] [ 0.25556824 0.9603773 0.11117699 0.55828778] [ 0.81703564 -0.27602569 0.50622386 0.0670964 ] [ 0. 0. 0. 1. ]] SLAMing on 105.56964924600001 meters Centerline goodness : 0.874466 Centerline is valid? [False, False] Translation: X:8.51, Y:0.56, Z:0.05 [[ 0.51740371 -0.03737326 -0.85492493 8.5065382 ] [ 0.25894995 0.95904514 0.11479257 0.55556079] [ 0.81562143 -0.28077687 0.50589132 0.05315792] [ 0. 0. 0. 1. ]] SLAMing on 105.59964924600001 meters Centerline goodness : 0.873743 Centerline is valid? [False, False] Translation: X:8.50, Y:0.55, Z:0.04 [[ 0.51485562 -0.03487975 -0.85656704 8.4973557 ] [ 0.26176018 0.95785135 0.11833175 0.55196592] [ 0.81633651 -0.28513891 0.50228528 0.04039184] [ 0. 0. 0. 1. ]] SLAMing on 105.62964924600001 meters Centerline goodness : 0.873723 Centerline is valid? [False, False] Translation: X:8.49, Y:0.55, Z:0.03 [[ 0.51149955 -0.03003953 -0.85875831 8.48934365] [ 0.26336508 0.95677137 0.12339928 0.54997283] [ 0.81792851 -0.28928563 0.49729949 0.02897493] [ 0. 0. 0. 1. ]] SLAMing on 105.65964924600001 meters Centerline goodness : 0.861702 Centerline is valid? [False, False] Translation: X:8.49, Y:0.55, Z:0.03 [[ 0.51123983 -0.03140777 -0.85886401 8.49062263] [ 0.2638553 0.95680673 0.12207075 0.55161862] [ 0.81793289 -0.28902325 0.49744481 0.02859785] [ 0. 0. 0. 1. ]] SLAMing on 105.68964924600002 meters Centerline goodness : 0.879906 Centerline is valid? [False, False] Translation: X:8.48, Y:0.55, Z:0.00 [[ 5.13100751e-01 -3.55229842e-02 -8.57592990e-01 8.47832137e+00] [ 2.65361191e-01 9.56760207e-01 1.19135825e-01 5.47917352e-01] [ 8.16278787e-01 -2.88700579e-01 5.00340802e-01 4.14031239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71964924600002 meters Centerline goodness : 0.872400 Centerline is valid? [False, False] Translation: X:8.47, Y:0.54, Z:-0.01 [[ 0.51467834 -0.0353745 -0.85665329 8.46779516] [ 0.26724348 0.95599146 0.12108365 0.54419858] [ 0.81466995 -0.29125413 0.5014817 -0.01445889] [ 0. 0. 0. 1. ]] SLAMing on 105.74964924600002 meters Centerline goodness : 0.881954 Centerline is valid? [False, False] Translation: X:8.46, Y:0.54, Z:-0.03 [[ 0.51691231 -0.03392751 -0.85536576 8.45762737] [ 0.26810626 0.9553593 0.12412755 0.54273634] [ 0.81297029 -0.29349197 0.50293316 -0.03283633] [ 0. 0. 0. 1. ]] SLAMing on 105.77964924600002 meters Centerline goodness : 0.874985 Centerline is valid? [False, False] Translation: X:8.45, Y:0.54, Z:-0.05 [[ 0.5173857 -0.03314741 -0.8551101 8.4488592 ] [ 0.26993546 0.95455616 0.12632255 0.53997624] [ 0.81206335 -0.29618202 0.50282137 -0.0507853 ] [ 0. 0. 0. 1. ]] SLAMing on 105.80964924600002 meters Centerline goodness : 0.873531 Centerline is valid? [False, False] Translation: X:8.44, Y:0.54, Z:-0.07 [[ 0.51744324 -0.03297758 -0.85508185 8.44006879] [ 0.27084739 0.95419454 0.12710026 0.53796079] [ 0.81172297 -0.29736386 0.5026734 -0.0709548 ] [ 0. 0. 0. 1. ]] SLAMing on 105.83964924600001 meters Centerline goodness : 0.878552 Centerline is valid? [False, False] Translation: X:8.43, Y:0.54, Z:-0.09 [[ 0.51899448 -0.03775712 -0.85394328 8.43062509] [ 0.27596564 0.95292742 0.1255878 0.53725484] [ 0.80900413 -0.30083838 0.50498374 -0.08938534] [ 0. 0. 0. 1. ]] SLAMing on 105.86964924600001 meters Centerline goodness : 0.876053 Centerline is valid? [False, False] Translation: X:8.42, Y:0.54, Z:-0.10 [[ 0.51711055 -0.04054599 -0.85495772 8.42273953] [ 0.28124022 0.95146385 0.1249819 0.53546924] [ 0.80839385 -0.30507795 0.50341516 -0.10447585] [ 0. 0. 0. 1. ]] SLAMing on 105.89964924600001 meters Centerline goodness : 0.879671 Centerline is valid? [False, False] Translation: X:8.41, Y:0.53, Z:-0.12 [[ 0.51579774 -0.04136967 -0.85571095 8.41368741] [ 0.28465737 0.95036065 0.12563766 0.53256068] [ 0.80803643 -0.30838805 0.50197006 -0.1204407 ] [ 0. 0. 0. 1. ]] SLAMing on 105.92964924600001 meters Centerline goodness : 0.875462 Centerline is valid? [False, False] Translation: X:8.28, Y:0.43, Z:-0.36 [[ 0.5483932 -0.01750357 -0.83603739 8.28123317] [ 0.24964645 0.9576145 0.14370499 0.42800589] [ 0.79808618 -0.2875206 0.52951899 -0.36045494] [ 0. 0. 0. 1. ]] SLAMing on 105.95964924600001 meters Centerline goodness : 0.878010 Centerline is valid? [False, False] Translation: X:8.27, Y:0.43, Z:-0.38 [[ 0.54713517 -0.01655405 -0.83688056 8.27269581] [ 0.25163908 0.95680786 0.14559012 0.42688181] [ 0.79832379 -0.29024933 0.52766888 -0.37681459] [ 0. 0. 0. 1. ]] SLAMing on 105.98964924600001 meters Centerline goodness : 0.878010 Centerline is valid? [False, False] Translation: X:8.27, Y:0.43, Z:-0.38 [[ 0.54888158 -0.01844311 -0.83569663 8.27243662] [ 0.25294786 0.95654859 0.14502475 0.42770214] [ 0.79670973 -0.29098909 0.52969704 -0.37951004] [ 0. 0. 0. 1. ]] SLAMing on 106.01964924600001 meters Centerline goodness : 0.873517 Centerline is valid? [False, False] Translation: X:8.26, Y:0.43, Z:-0.41 [[ 0.55222705 -0.02059459 -0.83343935 8.25964903] [ 0.25222416 0.95697351 0.14347358 0.4258044 ] [ 0.7946246 -0.28944353 0.53366112 -0.40624631] [ 0. 0. 0. 1. ]] SLAMing on 106.04964924600002 meters Centerline goodness : 0.877390 Centerline is valid? [False, False] Translation: X:8.26, Y:0.43, Z:-0.41 [[ 0.55194341 -0.02095599 -0.83361821 8.25882058] [ 0.25213461 0.95708592 0.14287998 0.42668468] [ 0.79485005 -0.28904566 0.533541 -0.40635923] [ 0. 0. 0. 1. ]] SLAMing on 106.07964924600002 meters Centerline goodness : 0.877893 Centerline is valid? [False, False] Translation: X:8.25, Y:0.42, Z:-0.43 [[ 0.55444579 -0.0250591 -0.83184248 8.2460014 ] [ 0.25189985 0.95771203 0.13904725 0.42354805] [ 0.79318115 -0.28663515 0.53731179 -0.43382964] [ 0. 0. 0. 1. ]] SLAMing on 106.10964924600002 meters Centerline goodness : 0.874501 Centerline is valid? [False, False] Translation: X:8.23, Y:0.42, Z:-0.46 [[ 0.55639862 -0.02813497 -0.83043904 8.23140336] [ 0.24974006 0.95887845 0.13484073 0.41813021] [ 0.79249636 -0.2824191 0.54054508 -0.46423752] [ 0. 0. 0. 1. ]] SLAMing on 106.13964924600002 meters Centerline goodness : 0.879794 Centerline is valid? [False, False] Translation: X:8.23, Y:0.42, Z:-0.46 [[ 0.55616191 -0.02843148 -0.83058749 8.2324366 ] [ 0.24951887 0.95901888 0.13425023 0.41931101] [ 0.79273216 -0.28191211 0.54046396 -0.46445494] [ 0. 0. 0. 1. ]] SLAMing on 106.16964924600002 meters Centerline goodness : 0.874416 Centerline is valid? [False, False] Translation: X:8.22, Y:0.41, Z:-0.48 [[ 0.55704632 -0.02894895 -0.82997672 8.22121713] [ 0.25040318 0.95873647 0.13462035 0.41465411] [ 0.79183183 -0.28281858 0.54130953 -0.48478511] [ 0. 0. 0. 1. ]] SLAMing on 106.199649246 meters Centerline goodness : 0.881573 Centerline is valid? [False, False] Translation: X:8.21, Y:0.41, Z:-0.51 [[ 0.55778801 -0.0283806 -0.82949809 8.20934136] [ 0.25065339 0.95851109 0.13575478 0.40993189] [ 0.79123032 -0.2836389 0.54175969 -0.50559629] [ 0. 0. 0. 1. ]] SLAMing on 106.22964924600001 meters Centerline goodness : 0.879482 Centerline is valid? [False, False] Translation: X:8.20, Y:0.41, Z:-0.53 [[ 0.55788553 -0.03134414 -0.8293258 8.20017087] [ 0.25347441 0.95797328 0.1343053 0.40542267] [ 0.79026227 -0.28513985 0.54238437 -0.52577966] [ 0. 0. 0. 1. ]] SLAMing on 106.25964924600001 meters Centerline goodness : 0.882236 Centerline is valid? [False, False] Translation: X:8.19, Y:0.40, Z:-0.55 [[ 0.55747101 -0.03482879 -0.8294655 8.18918031] [ 0.25637535 0.95750774 0.13210072 0.39964267] [ 0.78961874 -0.28629683 0.54271206 -0.54642725] [ 0. 0. 0. 1. ]] SLAMing on 106.28964924600001 meters Centerline goodness : 0.881137 Centerline is valid? [False, False] Translation: X:8.18, Y:0.39, Z:-0.57 [[ 0.55803499 -0.03930111 -0.82888622 8.17700594] [ 0.2602653 0.95676517 0.12985523 0.3927836 ] [ 0.78794602 -0.28819408 0.54413716 -0.56668859] [ 0. 0. 0. 1. ]] SLAMing on 106.31964924600001 meters Centerline goodness : 0.886478 Centerline is valid? [False, False] Translation: X:8.18, Y:0.39, Z:-0.57 [[ 0.55787118 -0.04485972 -0.82871427 8.17763316] [ 0.26349195 0.9564497 0.1256024 0.39336452] [ 0.78698903 -0.28842951 0.5453959 -0.5675817 ] [ 0. 0. 0. 1. ]] SLAMing on 106.34964924600001 meters Centerline goodness : 0.885126 Centerline is valid? [False, False] Translation: X:8.18, Y:0.39, Z:-0.57 [[ 0.5579016 -0.04966783 -0.82841953 8.17706544] [ 0.26608252 0.95621609 0.1218642 0.39337893] [ 0.78609535 -0.28841619 0.54669023 -0.56878182] [ 0. 0. 0. 1. ]] SLAMing on 106.37964924600001 meters Centerline goodness : 0.885547 Centerline is valid? [False, False] Translation: X:8.17, Y:0.39, Z:-0.59 [[ 0.55897589 -0.05356788 -0.82745178 8.16675487] [ 0.26914744 0.95559945 0.11995562 0.3889948 ] [ 0.78428669 -0.28975883 0.54857471 -0.58991299] [ 0. 0. 0. 1. ]] SLAMing on 106.40964924600001 meters Centerline goodness : 0.885548 Centerline is valid? [False, False] Translation: X:8.17, Y:0.39, Z:-0.59 [[ 0.55845043 -0.05431027 -0.82775812 8.1695434 ] [ 0.26939752 0.95564233 0.11904923 0.39029435] [ 0.7845751 -0.28947908 0.54830993 -0.58940752] [ 0. 0. 0. 1. ]] SLAMing on 106.43964924600002 meters Centerline goodness : 0.881686 Centerline is valid? [False, False] Translation: X:8.16, Y:0.39, Z:-0.61 [[ 0.55975997 -0.05508077 -0.82682216 8.15832977] [ 0.27121306 0.95501076 0.11999132 0.38552193] [ 0.78301485 -0.29141131 0.54951542 -0.60893572] [ 0. 0. 0. 1. ]] SLAMing on 106.46964924600002 meters Centerline goodness : 0.881865 Centerline is valid? [False, False] Translation: X:8.16, Y:0.39, Z:-0.61 [[ 0.55972754 -0.05575373 -0.82679901 8.15969108] [ 0.27029245 0.9554512 0.1185538 0.38716804] [ 0.78335629 -0.28983536 0.54986216 -0.61092703] [ 0. 0. 0. 1. ]] SLAMing on 106.49964924600002 meters Centerline goodness : 0.888735 Centerline is valid? [False, False] Translation: X:8.16, Y:0.39, Z:-0.61 [[ 0.55945968 -0.0585138 -0.82678957 8.16240104] [ 0.27098484 0.95560055 0.11573594 0.38947475] [ 0.78330842 -0.28879703 0.55047634 -0.61265338] [ 0. 0. 0. 1. ]] SLAMing on 106.52964924600002 meters Centerline goodness : 0.885162 Centerline is valid? [False, False] Translation: X:8.15, Y:0.38, Z:-0.63 [[ 0.55933161 -0.06427959 -0.82644799 8.15098598] [ 0.27576926 0.9546309 0.11238842 0.38382883] [ 0.78172851 -0.29077135 0.55168158 -0.63314067] [ 0. 0. 0. 1. ]] SLAMing on 106.55964924600002 meters Centerline goodness : 0.886677 Centerline is valid? [False, False] Translation: X:8.14, Y:0.38, Z:-0.65 [[ 0.55537256 -0.06323217 -0.82919419 8.14291881] [ 0.27831647 0.95373839 0.1136795 0.37926477] [ 0.78364613 -0.29391288 0.54727869 -0.64641415] [ 0. 0. 0. 1. ]] SLAMing on 106.58964924600001 meters Centerline goodness : 0.884506 Centerline is valid? [False, False] Translation: X:8.06, Y:0.32, Z:-0.81 [[ 0.55824299 -0.07964254 -0.82584613 8.0586354 ] [ 0.2698024 0.95870787 0.08992155 0.31727804] [ 0.7845836 -0.27301334 0.55667969 -0.81145606] [ 0. 0. 0. 1. ]] SLAMing on 106.61964924600001 meters Centerline goodness : 0.884957 Centerline is valid? [False, False] Translation: X:7.98, Y:0.26, Z:-0.97 [[ 0.56025666 -0.09913635 -0.82236516 7.98186569] [ 0.26210446 0.96301523 0.0624734 0.2609956 ] [ 0.78575679 -0.25054671 0.56551977 -0.96720158] [ 0. 0. 0. 1. ]] SLAMing on 106.64964924600001 meters Centerline goodness : 0.885593 Centerline is valid? [False, False] Translation: X:7.89, Y:0.20, Z:-1.13 [[ 0.56351679 -0.11829594 -0.81759091 7.89316861] [ 0.25605313 0.9659651 0.03671822 0.20229904] [ 0.78542066 -0.23003805 0.5746276 -1.13279995] [ 0. 0. 0. 1. ]] SLAMing on 106.67964924600001 meters Centerline goodness : 0.885595 Centerline is valid? [False, False] Translation: X:7.81, Y:0.15, Z:-1.29 [[ 0.56657737 -0.1371599 -0.81251292 7.81235372] [ 0.25285518 0.96741665 0.01301057 0.14900901] [ 0.784254 -0.21281959 0.58279798 -1.28602474] [ 0. 0. 0. 1. ]] SLAMing on 106.70964924600001 meters Centerline goodness : 0.885840 Centerline is valid? [False, False] Translation: X:7.72, Y:0.09, Z:-1.45 [[ 0.56864984 -0.16156966 -0.80655602 7.72318647] [ 0.25089457 0.96786524 -0.01699386 0.09379363] [ 0.78338322 -0.19269697 0.59091336 -1.45445319] [ 0. 0. 0. 1. ]] SLAMing on 106.73964924600001 meters Centerline goodness : 0.888675 Centerline is valid? [False, False] Translation: X:7.63, Y:0.04, Z:-1.62 [[ 0.57126519 -0.17895068 -0.80101981 7.62989703] [ 0.24737624 0.96809947 -0.03985498 0.03870262] [ 0.78259893 -0.1753855 0.59730967 -1.62195824] [ 0. 0. 0. 1. ]] SLAMing on 106.76964924600001 meters Centerline goodness : 0.890959 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.02, Z:-1.80 [[ 0.57673295 -0.1943577 -0.79347602 7.52877613] [ 0.24335922 0.96806388 -0.06023798 -0.02184896] [ 0.77984319 -0.15835848 0.60561308 -1.80168795] [ 0. 0. 0. 1. ]] SLAMing on 106.79964924600002 meters Centerline goodness : 0.888876 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.08, Z:-1.97 [[ 0.58155666 -0.20847363 -0.78634 7.43428541] [ 0.23791272 0.96793132 -0.08066286 -0.07774764] [ 0.77793919 -0.14017026 0.61250544 -1.97128021] [ 0. 0. 0. 1. ]] SLAMing on 106.82964924600002 meters Centerline goodness : 0.889442 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.13, Z:-2.14 [[ 0.58787889 -0.21784422 -0.77906502 7.33711659] [ 0.23105988 0.96815586 -0.09636158 -0.13068823] [ 0.77524818 -0.12336173 0.61949346 -2.13569705] [ 0. 0. 0. 1. ]] SLAMing on 106.85964924600002 meters Centerline goodness : 0.891094 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.18, Z:-2.30 [[ 0.59447247 -0.21965473 -0.77353363 7.23709935] [ 0.22135161 0.96950417 -0.10519095 -0.18105655] [ 0.77304977 -0.1086898 0.62496447 -2.29588037] [ 0. 0. 0. 1. ]] SLAMing on 106.88964924600002 meters Centerline goodness : 0.890473 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.23, Z:-2.46 [[ 0.60132168 -0.21802461 -0.76868557 7.1290681 ] [ 0.2119621 0.97110971 -0.10962663 -0.2330878 ] [ 0.77037932 -0.09701134 0.63016228 -2.4592807 ] [ 0. 0. 0. 1. ]] SLAMing on 106.91964924600002 meters Centerline goodness : 0.891224 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.28, Z:-2.62 [[ 0.6046331 -0.22363353 -0.76446508 7.02302789] [ 0.2056355 0.97106583 -0.1214298 -0.27703424] [ 0.76950169 -0.08378068 0.63312553 -2.61830326] [ 0. 0. 0. 1. ]] SLAMing on 106.949649246 meters Centerline goodness : 0.889006 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.32, Z:-2.77 [[ 0.60656474 -0.23000355 -0.76103717 6.917079 ] [ 0.20109733 0.97049651 -0.13302779 -0.31828318] [ 0.76918078 -0.07235258 0.63492207 -2.77056048] [ 0. 0. 0. 1. ]] SLAMing on 106.97964924600001 meters Centerline goodness : 0.887472 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.36, Z:-2.92 [[ 0.61268187 -0.2355111 -0.75442392 6.8148787 ] [ 0.19390821 0.97018627 -0.14538986 -0.36057743] [ 0.76617265 -0.05721126 0.64008308 -2.92356651] [ 0. 0. 0. 1. ]] SLAMing on 107.00964924600001 meters Centerline goodness : 0.888282 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.40, Z:-3.07 [[ 0.61808275 -0.24431086 -0.74718533 6.71929889] [ 0.18767378 0.9688559 -0.16154505 -0.39724536] [ 0.76338212 -0.04037888 0.64468386 -3.07057192] [ 0. 0. 0. 1. ]] SLAMing on 107.03964924600001 meters Centerline goodness : 0.888297 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.43, Z:-3.22 [[ 0.62147756 -0.25097354 -0.74214414 6.61332918] [ 0.18344261 0.96758146 -0.17359414 -0.43351628] [ 0.76165245 -0.028256 0.64736941 -3.22060043] [ 0. 0. 0. 1. ]] SLAMing on 107.06964924600001 meters Centerline goodness : 0.894570 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.47, Z:-3.37 [[ 0.62277426 -0.26140271 -0.7374421 6.51250822] [ 0.18045365 0.96511441 -0.18971203 -0.46592422] [ 0.76130723 -0.01492635 0.64821949 -3.36526845] [ 0. 0. 0. 1. ]] SLAMing on 107.09964924600001 meters Centerline goodness : 0.892209 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.50, Z:-3.51 [[ 6.25383526e-01 -2.67398127e-01 -7.33071407e-01 6.40750193e+00] [ 1.76534218e-01 9.63578696e-01 -2.00877494e-01 -5.02328321e-01] [ 7.60086255e-01 -3.78671183e-03 6.49811161e-01 -3.51009885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12964924600001 meters Centerline goodness : 0.890876 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.54, Z:-3.66 [[ 0.63015078 -0.26807801 -0.72872778 6.29912499] [ 0.16928648 0.96336634 -0.20800815 -0.54189748] [ 0.75779422 0.00771274 0.65244803 -3.65665027] [ 0. 0. 0. 1. ]] SLAMing on 107.15964924600001 meters Centerline goodness : 0.897056 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.57, Z:-3.79 [[ 0.63396109 -0.2709918 -0.72433195 6.1917707 ] [ 0.16511413 0.96243051 -0.21555703 -0.57478222] [ 0.75553336 0.01705733 0.65488807 -3.79404626] [ 0. 0. 0. 1. ]] SLAMing on 107.18964924600002 meters Centerline goodness : 0.897847 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.61, Z:-3.94 [[ 0.63807046 -0.27826483 -0.71793786 6.08594058] [ 0.16136498 0.96003368 -0.22868467 -0.60661251] [ 0.75287942 0.0300669 0.65747134 -3.93874323] [ 0. 0. 0. 1. ]] SLAMing on 107.21964924600002 meters Centerline goodness : 0.902671 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.64, Z:-4.08 [[ 0.64322053 -0.28245236 -0.71167972 5.98386802] [ 0.15505848 0.95826557 -0.24017486 -0.63710505] [ 0.74981613 0.04413342 0.66017272 -4.07762876] [ 0. 0. 0. 1. ]] SLAMing on 107.24964924600002 meters Centerline goodness : 0.901499 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.67, Z:-4.22 [[ 0.64503462 -0.28308102 -0.70978551 5.87212553] [ 0.15082748 0.95774349 -0.24490506 -0.66698525] [ 0.74912043 0.05091708 0.6604741 -4.21716379] [ 0. 0. 0. 1. ]] SLAMing on 107.27964924600002 meters Centerline goodness : 0.900676 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.69, Z:-4.34 [[ 0.64645731 -0.28532875 -0.70758777 5.77816226] [ 0.14710702 0.95664857 -0.25136235 -0.6903467 ] [ 0.74863373 0.0584039 0.66040633 -4.33726858] [ 0. 0. 0. 1. ]] SLAMing on 107.30964924600002 meters Centerline goodness : 0.900120 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.71, Z:-4.47 [[ 0.64888312 -0.29057095 -0.7032206 5.681371 ] [ 0.14258759 0.95427377 -0.26273627 -0.71283533] [ 0.7474085 0.0702146 0.66064396 -4.47230449] [ 0. 0. 0. 1. ]] SLAMing on 107.33964924600001 meters Centerline goodness : 0.902237 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.74, Z:-4.61 [[ 0.65182955 -0.29729859 -0.69766165 5.57842462] [ 0.13788688 0.95108166 -0.27646136 -0.73788909] [ 0.74572478 0.0840073 0.66093671 -4.61241459] [ 0. 0. 0. 1. ]] SLAMing on 107.36964924600001 meters Centerline goodness : 0.899379 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.76, Z:-4.75 [[ 0.65598026 -0.30098747 -0.69216793 5.47407845] [ 0.1328097 0.94876901 -0.28670361 -0.76440473] [ 0.74300167 0.0961453 0.6623478 -4.7483943 ] [ 0. 0. 0. 1. ]] SLAMing on 107.39964924600001 meters Centerline goodness : 0.905202 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.79, Z:-4.88 [[ 0.65940044 -0.30495039 -0.68716542 5.37233393] [ 0.12717253 0.94610994 -0.29783072 -0.79005466] [ 0.74095763 0.10900114 0.66264662 -4.87872674] [ 0. 0. 0. 1. ]] SLAMing on 107.42964924600001 meters Centerline goodness : 0.904821 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.81, Z:-5.00 [[ 0.66102508 -0.30766668 -0.68438809 5.27344293] [ 0.1233743 0.94422568 -0.30531401 -0.81231011] [ 0.74015176 0.11738432 0.66211502 -5.00302272] [ 0. 0. 0. 1. ]] SLAMing on 107.45964924600001 meters Centerline goodness : 0.898002 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.83, Z:-5.13 [[ 0.66264141 -0.30974489 -0.68188303 5.17464992] [ 0.11988715 0.94259693 -0.31166986 -0.83262816] [ 0.73927899 0.12477634 0.66173819 -5.12895819] [ 0. 0. 0. 1. ]] SLAMing on 107.48964924600001 meters Centerline goodness : 0.903195 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.85, Z:-5.26 [[ 0.66624285 -0.31386451 -0.67646842 5.07473175] [ 0.11554665 0.93960898 -0.32215515 -0.85299244] [ 0.73672887 0.1364699 0.66227376 -5.25951974] [ 0. 0. 0. 1. ]] SLAMing on 107.51964924600001 meters Centerline goodness : 0.900567 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.87, Z:-5.39 [[ 0.66892436 -0.3206879 -0.67059636 4.97801106] [ 0.1107173 0.93507204 -0.33672237 -0.87077523] [ 0.7350387 0.15099518 0.66099816 -5.38833239] [ 0. 0. 0. 1. ]] SLAMing on 107.54964924600002 meters Centerline goodness : 0.903298 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.89, Z:-5.52 [[ 0.67357491 -0.32174227 -0.66541623 4.87214693] [ 0.10602466 0.9330325 -0.34381555 -0.89236257] [ 0.73147496 0.161035 0.6625799 -5.52032585] [ 0. 0. 0. 1. ]] SLAMing on 107.57964924600002 meters Centerline goodness : 0.903146 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.91, Z:-5.64 [[ 0.67663052 -0.32188932 -0.66223742 4.76671331] [ 0.10170349 0.93162033 -0.34891254 -0.91304441] [ 0.72926507 0.16873301 0.66310002 -5.64446539] [ 0. 0. 0. 1. ]] SLAMing on 107.60964924600002 meters Centerline goodness : 0.903669 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.93, Z:-5.78 [[ 0.6820647 -0.32079907 -0.65717251 4.6514099 ] [ 0.09657158 0.93028769 -0.35389088 -0.93492438] [ 0.72488736 0.17791229 0.66549646 -5.78017296] [ 0. 0. 0. 1. ]] SLAMing on 107.63964924600002 meters Centerline goodness : 0.907560 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.96, Z:-5.90 [[ 0.69023999 -0.31612221 -0.65087288 4.54980684] [ 0.08897971 0.92977252 -0.35721937 -0.95550421] [ 0.71808869 0.18865261 0.66989464 -5.89741331] [ 0. 0. 0. 1. ]] SLAMing on 107.66964924600002 meters Centerline goodness : 0.911260 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.97, Z:-6.01 [[ 0.69769427 -0.31562178 -0.64312176 4.4550978 ] [ 0.08192696 0.92698136 -0.36605126 -0.97044787] [ 0.71169564 0.20270286 0.67260752 -6.01361803] [ 0. 0. 0. 1. ]] SLAMing on 107.699649246 meters Centerline goodness : 0.911790 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.98, Z:-6.12 [[ 0.70210793 -0.31742235 -0.63740686 4.36138187] [ 0.0787934 0.92428119 -0.37349149 -0.98134748] [ 0.70769772 0.21200788 0.67395593 -6.12406037] [ 0. 0. 0. 1. ]] SLAMing on 107.72964924600001 meters Centerline goodness : 0.908456 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.99, Z:-6.22 [[ 0.70698053 -0.31480868 -0.63330405 4.27503231] [ 0.07567308 0.92399871 -0.37483326 -0.99435104] [ 0.70317289 0.21707575 0.67707164 -6.2224179 ] [ 0. 0. 0. 1. ]] SLAMing on 107.75964924600001 meters Centerline goodness : 0.910676 Centerline is valid? [False, False] Translation: X:4.18, Y:-1.00, Z:-6.33 [[ 0.70918351 -0.3209323 -0.62774294 4.17800564] [ 0.0744125 0.91948496 -0.38601837 -1.00453536] [ 0.70108596 0.22704594 0.67596495 -6.33292606] [ 0. 0. 0. 1. ]] SLAMing on 107.78964924600001 meters Centerline goodness : 0.907578 Centerline is valid? [False, False] Translation: X:4.08, Y:-1.02, Z:-6.44 [[ 0.7115877 -0.32154696 -0.62470033 4.08284011] [ 0.07001676 0.91715756 -0.39232597 -1.01689588] [ 0.69909985 0.23543484 0.67515172 -6.4353731 ] [ 0. 0. 0. 1. ]] SLAMing on 107.81964924600001 meters Centerline goodness : 0.909823 Centerline is valid? [False, False] Translation: X:3.98, Y:-1.03, Z:-6.54 [[ 0.71519681 -0.3179703 -0.62240535 3.98362695] [ 0.0661538 0.91731947 -0.39261771 -1.03130378] [ 0.69578531 0.23962445 0.6770989 -6.53908543] [ 0. 0. 0. 1. ]] SLAMing on 107.84964924600001 meters Centerline goodness : 0.906057 Centerline is valid? [False, False] Translation: X:3.90, Y:-1.04, Z:-6.64 [[ 0.71972556 -0.31987482 -0.61617792 3.89597962] [ 0.06173522 0.91350514 -0.40211581 -1.04092502] [ 0.69150842 0.25137314 0.67722054 -6.64276534] [ 0. 0. 0. 1. ]] SLAMing on 107.87964924600001 meters Centerline goodness : 0.906057 Centerline is valid? [False, False] Translation: X:3.81, Y:-1.05, Z:-6.74 [[ 0.72271148 -0.32039406 -0.61240164 3.80569927] [ 0.05802669 0.9110613 -0.4081669 -1.05165189] [ 0.68870968 0.25945127 0.67702586 -6.74007993] [ 0. 0. 0. 1. ]] SLAMing on 107.90964924600001 meters Centerline goodness : 0.909361 Centerline is valid? [False, False] Translation: X:3.73, Y:-1.06, Z:-6.83 [[ 0.72437765 -0.32220118 -0.60947799 3.72566003] [ 0.05437349 0.9080132 -0.41539807 -1.06009978] [ 0.68725581 0.26776563 0.67526367 -6.82749946] [ 0. 0. 0. 1. ]] SLAMing on 107.93964924600002 meters Centerline goodness : 0.908722 Centerline is valid? [False, False] Translation: X:3.63, Y:-1.07, Z:-6.93 [[ 0.72834159 -0.32378479 -0.60388902 3.63238281] [ 0.05131752 0.90461444 -0.42313027 -1.06877956] [ 0.68328987 0.27719328 0.67548415 -6.93211576] [ 0. 0. 0. 1. ]] SLAMing on 107.96964924600002 meters Centerline goodness : 0.906049 Centerline is valid? [False, False] Translation: X:3.54, Y:-1.08, Z:-7.03 [[ 0.73331561 -0.3214793 -0.59908202 3.53838679] [ 0.0474412 0.90319479 -0.4266011 -1.08147314] [ 0.67823119 0.28441208 0.67757821 -7.03446979] [ 0. 0. 0. 1. ]] SLAMing on 107.99964924600002 meters Centerline goodness : 0.906737 Centerline is valid? [False, False] Translation: X:3.44, Y:-1.09, Z:-7.14 [[ 0.73682366 -0.32442538 -0.59316023 3.44488634] [ 0.04558591 0.89918908 -0.43517918 -1.0901767 ] [ 0.67454638 0.29361057 0.67733302 -7.13840233] [ 0. 0. 0. 1. ]] SLAMing on 108.02964924600002 meters Centerline goodness : 0.907378 Centerline is valid? [False, False] Translation: X:3.35, Y:-1.10, Z:-7.23 [[ 0.73946515 -0.32058502 -0.59195992 3.34689172] [ 0.04277527 0.89992781 -0.43393572 -1.10328152] [ 0.67183448 0.29555909 0.67917836 -7.23054782] [ 0. 0. 0. 1. ]] SLAMing on 108.05964924600002 meters Centerline goodness : 0.908663 Centerline is valid? [False, False] Translation: X:3.26, Y:-1.11, Z:-7.32 [[ 0.741817 -0.32114406 -0.58870538 3.25849647] [ 0.04183989 0.89832963 -0.43732517 -1.11448447] [ 0.66929587 0.29978388 0.67983282 -7.31905451] [ 0. 0. 0. 1. ]] SLAMing on 108.08964924600001 meters Centerline goodness : 0.909062 Centerline is valid? [False, False] Translation: X:3.16, Y:-1.13, Z:-7.41 [[ 0.74584318 -0.31844652 -0.58507244 3.16490784] [ 0.03977408 0.89804976 -0.43809207 -1.12657665] [ 0.66493306 0.30347726 0.6824702 -7.40932637] [ 0. 0. 0. 1. ]] SLAMing on 108.11964924600001 meters Centerline goodness : 0.909324 Centerline is valid? [False, False] Translation: X:3.08, Y:-1.13, Z:-7.49 [[ 0.74763866 -0.31883378 -0.58256455 3.08084995] [ 0.03858782 0.89659052 -0.44117618 -1.13462448] [ 0.66298372 0.30736047 0.68262883 -7.49289174] [ 0. 0. 0. 1. ]] SLAMing on 108.14964924600001 meters Centerline goodness : 0.910537 Centerline is valid? [False, False] Translation: X:2.99, Y:-1.14, Z:-7.58 [[ 0.75023983 -0.31805762 -0.57963743 2.9897735 ] [ 0.0367279 0.89538477 -0.44377605 -1.14236612] [ 0.66014488 0.3116496 0.6834349 -7.58193482] [ 0. 0. 0. 1. ]] SLAMing on 108.17964924600001 meters Centerline goodness : 0.911147 Centerline is valid? [False, False] Translation: X:2.90, Y:-1.15, Z:-7.67 [[ 0.75322197 -0.31709732 -0.57628635 2.90127665] [ 0.03480166 0.89411096 -0.44649125 -1.15057148] [ 0.65684512 0.3162513 0.68449953 -7.6693554 ] [ 0. 0. 0. 1. ]] SLAMing on 108.20964924600001 meters Centerline goodness : 0.913159 Centerline is valid? [False, False] Translation: X:2.81, Y:-1.16, Z:-7.75 [[ 0.75834122 -0.31144404 -0.57264405 2.81132128] [ 0.03050899 0.894475 -0.44607586 -1.16264127] [ 0.65114345 0.32080692 0.6878191 -7.75450653] [ 0. 0. 0. 1. ]] SLAMing on 108.23964924600001 meters Centerline goodness : 0.914260 Centerline is valid? [False, False] Translation: X:2.72, Y:-1.18, Z:-7.82 [[ 0.76081012 -0.3057465 -0.57243955 2.72037798] [ 0.02928647 0.89734438 -0.44035823 -1.17916529] [ 0.6483134 0.31826426 0.69166292 -7.823415 ] [ 0. 0. 0. 1. ]] SLAMing on 108.26964924600001 meters Centerline goodness : 0.917131 Centerline is valid? [False, False] Translation: X:2.63, Y:-1.19, Z:-7.90 [[ 0.76439483 -0.3042365 -0.56845465 2.63401036] [ 0.02638225 0.89568962 -0.44389648 -1.18619199] [ 0.64420844 0.32431506 0.69268696 -7.90424393] [ 0. 0. 0. 1. ]] SLAMing on 108.29964924600002 meters Centerline goodness : 0.915624 Centerline is valid? [False, False] Translation: X:2.55, Y:-1.19, Z:-7.98 [[ 0.76798646 -0.29941894 -0.56616702 2.5479392 ] [ 0.02351179 0.89657668 -0.44226401 -1.19441725] [ 0.64003437 0.32634117 0.69559862 -7.98182549] [ 0. 0. 0. 1. ]] SLAMing on 108.32964924600002 meters Centerline goodness : 0.913658 Centerline is valid? [False, False] Translation: X:2.46, Y:-1.20, Z:-8.06 [[ 0.77184151 -0.29479352 -0.56334488 2.45727006] [ 0.02070695 0.89720485 -0.44112887 -1.20189855] [ 0.63547769 0.32881642 0.69860423 -8.0626031 ] [ 0. 0. 0. 1. ]] SLAMing on 108.35964924600002 meters Centerline goodness : 0.912597 Centerline is valid? [False, False] Translation: X:2.37, Y:-1.21, Z:-8.14 [[ 0.77500126 -0.28973578 -0.5616282 2.36876592] [ 0.01864219 0.89880361 -0.43795494 -1.21106284] [ 0.63168467 0.32894565 0.70197524 -8.13743639] [ 0. 0. 0. 1. ]] SLAMing on 108.38964924600002 meters Centerline goodness : 0.913142 Centerline is valid? [False, False] Translation: X:2.29, Y:-1.22, Z:-8.20 [[ 0.7773452 -0.28875267 -0.55888848 2.29219061] [ 0.017003 0.89774956 -0.44017794 -1.21830991] [ 0.62884445 0.33266743 0.70277097 -8.2045314 ] [ 0. 0. 0. 1. ]] SLAMing on 108.41964924600002 meters Centerline goodness : 0.915594 Centerline is valid? [False, False] Translation: X:2.21, Y:-1.23, Z:-8.27 [[ 0.78055921 -0.28480024 -0.55643162 2.21328946] [ 0.0148113 0.89835093 -0.43902873 -1.22661946] [ 0.62490635 0.33444644 0.70543436 -8.27013782] [ 0. 0. 0. 1. ]] SLAMing on 108.449649246 meters Centerline goodness : 0.916028 Centerline is valid? [False, False] Translation: X:2.14, Y:-1.23, Z:-8.33 [[ 0.78271796 -0.28151136 -0.55507112 2.13699385] [ 0.01326155 0.89919865 -0.43733959 -1.23392225] [ 0.62223526 0.33495245 0.70755221 -8.33112468] [ 0. 0. 0. 1. ]] SLAMing on 108.47964924600001 meters Centerline goodness : 0.917180 Centerline is valid? [False, False] Translation: X:2.06, Y:-1.24, Z:-8.40 [[ 0.7862957 -0.27809775 -0.55172522 2.06062417] [ 0.01279901 0.90011535 -0.43546359 -1.23888654] [ 0.61771778 0.33534161 0.71131621 -8.3981674 ] [ 0. 0. 0. 1. ]] SLAMing on 108.50964924600001 meters Centerline goodness : 0.915536 Centerline is valid? [False, False] Translation: X:1.99, Y:-1.24, Z:-8.45 [[ 0.78706772 -0.2737945 -0.5527757 1.98650721] [ 0.01108619 0.90223599 -0.43110012 -1.24418837] [ 0.61676698 0.33317682 0.71315616 -8.45365969] [ 0. 0. 0. 1. ]] SLAMing on 108.53964924600001 meters Centerline goodness : 0.912221 Centerline is valid? [False, False] Translation: X:1.92, Y:-1.25, Z:-8.51 [[ 7.87006096e-01 -2.70709207e-01 -5.54380672e-01 1.91737245e+00] [ 8.40257080e-03 9.03209711e-01 -4.29117252e-01 -1.24910779e+00] [ 6.16887997e-01 3.33059670e-01 7.13106202e-01 -8.50513655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56964924600001 meters Centerline goodness : 0.915687 Centerline is valid? [False, False] Translation: X:1.84, Y:-1.26, Z:-8.55 [[ 0.7896438 -0.2669625 -0.55244339 1.84045384] [ 0.00983926 0.90577588 -0.42364283 -1.26022589] [ 0.61348664 0.3290913 0.71786702 -8.55443172] [ 0. 0. 0. 1. ]] SLAMing on 108.59964924600001 meters Centerline goodness : 0.917388 Centerline is valid? [False, False] Translation: X:1.77, Y:-1.26, Z:-8.61 [[ 0.79356652 -0.26576093 -0.54737857 1.76986905] [ 0.01057145 0.90546415 -0.42429107 -1.26376745] [ 0.60839167 0.3309166 0.72135552 -8.61073826] [ 0. 0. 0. 1. ]] SLAMing on 108.62964924600001 meters Centerline goodness : 0.920107 Centerline is valid? [False, False] Translation: X:1.72, Y:-1.28, Z:-8.63 [[ 0.7989705 -0.25137643 -0.5463113 1.72422434] [ 0.01038536 0.91407631 -0.40540922 -1.2755941 ] [ 0.60128054 0.31823636 0.73293064 -8.62917327] [ 0. 0. 0. 1. ]] SLAMing on 108.65964924600001 meters Centerline goodness : 0.917546 Centerline is valid? [False, False] Translation: X:1.66, Y:-1.28, Z:-8.67 [[ 0.80221046 -0.24388749 -0.5449562 1.6620215 ] [ 0.01003885 0.91814223 -0.39612381 -1.28281537] [ 0.59695694 0.31230393 0.73899165 -8.66660419] [ 0. 0. 0. 1. ]] SLAMing on 108.68964924600002 meters Centerline goodness : 0.923662 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.29, Z:-8.68 [[ 0.80653608 -0.23714345 -0.5415372 1.63119576] [ 0.01164921 0.92221727 -0.38649658 -1.28822063] [ 0.59107009 0.30541495 0.74656403 -8.67703331] [ 0. 0. 0. 1. ]] SLAMing on 108.71964924600002 meters Centerline goodness : 0.924594 Centerline is valid? [False, False] Translation: X:1.60, Y:-1.29, Z:-8.68 [[ 0.81140301 -0.22368454 -0.53999109 1.60012698] [ 0.00998161 0.92904002 -0.36984457 -1.2939273 ] [ 0.58440185 0.29470302 0.7560586 -8.68223077] [ 0. 0. 0. 1. ]] SLAMing on 108.74964924600002 meters Centerline goodness : 0.921054 Centerline is valid? [False, False] Translation: X:1.57, Y:-1.30, Z:-8.69 [[ 8.14862741e-01 -2.08240703e-01 -5.40957043e-01 1.57439151e+00] [ 5.41874027e-03 9.35937167e-01 -3.52125342e-01 -1.30097985e+00] [ 5.79628631e-01 2.84002516e-01 7.63788728e-01 -8.68527570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77964924600002 meters Centerline goodness : 0.917863 Centerline is valid? [False, False] Translation: X:1.55, Y:-1.31, Z:-8.68 [[ 8.19548925e-01 -1.92711841e-01 -5.39631083e-01 1.55489591e+00] [ 2.33520590e-03 9.42864852e-01 -3.33167253e-01 -1.31023195e+00] [ 5.73004455e-01 2.71786714e-01 7.73173898e-01 -8.68229302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80964924600002 meters Centerline goodness : 0.916441 Centerline is valid? [False, False] Translation: X:1.54, Y:-1.32, Z:-8.68 [[ 8.23286528e-01 -1.79260012e-01 -5.38576960e-01 1.53920365e+00] [-1.69534474e-03 9.48042821e-01 -3.18138233e-01 -1.31758235e+00] [ 5.67623484e-01 2.62831995e-01 7.80206975e-01 -8.68235390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83964924600001 meters Centerline goodness : 0.917314 Centerline is valid? [False, False] Translation: X:1.52, Y:-1.33, Z:-8.68 [[ 8.26889194e-01 -1.66281228e-01 -5.37219522e-01 1.52194371e+00] [-3.72863255e-03 9.53644321e-01 -3.00912956e-01 -1.32706308e+00] [ 5.62352522e-01 2.50824766e-01 7.87938182e-01 -8.67923467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86964924600001 meters Centerline goodness : 0.912563 Centerline is valid? [False, False] Translation: X:1.51, Y:-1.33, Z:-8.68 [[ 8.30834481e-01 -1.54114305e-01 -5.34754940e-01 1.50745852e+00] [-7.17996698e-03 9.57843126e-01 -2.87202007e-01 -1.33399549e+00] [ 5.56473281e-01 2.42456854e-01 7.94702561e-01 -8.68054910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89964924600001 meters Centerline goodness : 0.910635 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.34, Z:-8.68 [[ 0.83350686 -0.142725 -0.53375639 1.49406673] [-0.00958784 0.96217715 -0.27225577 -1.34133449] [ 0.55242591 0.23204463 0.80061283 -8.67629814] [ 0. 0. 0. 1. ]] SLAMing on 108.92964924600001 meters Centerline goodness : 0.912039 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.35, Z:-8.67 [[ 0.83588642 -0.13348785 -0.53242361 1.48139443] [-0.01198609 0.96530836 -0.26083732 -1.34697456] [ 0.54877157 0.22441205 0.80528815 -8.6732114 ] [ 0. 0. 0. 1. ]] SLAMing on 108.95964924600001 meters Centerline goodness : 0.914543 Centerline is valid? [False, False] Translation: X:1.47, Y:-1.35, Z:-8.67 [[ 0.8389529 -0.12328143 -0.53005634 1.46537485] [-0.01380536 0.96886825 -0.24719167 -1.35471277] [ 0.54402891 0.21469979 0.81113288 -8.66892752] [ 0. 0. 0. 1. ]] SLAMing on 108.98964924600001 meters Centerline goodness : 0.914706 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.37, Z:-8.66 [[ 0.84269383 -0.11062911 -0.52690446 1.44499044] [-0.01605071 0.97306408 -0.22997536 -1.36627025] [ 0.53815378 0.20225601 0.81821942 -8.65812135] [ 0. 0. 0. 1. ]] SLAMing on 109.01964924600001 meters Centerline goodness : 0.920708 Centerline is valid? [False, False] Translation: X:1.43, Y:-1.37, Z:-8.65 [[ 0.84410549 -0.10309471 -0.52617241 1.43187426] [-0.01708441 0.97567084 -0.21857388 -1.37317014] [ 0.53590489 0.19348876 0.82180779 -8.65062654] [ 0. 0. 0. 1. ]] SLAMing on 109.04964924600002 meters Centerline goodness : 0.922224 Centerline is valid? [False, False] Translation: X:1.42, Y:-1.38, Z:-8.65 [[ 0.84640945 -0.09937075 -0.52317921 1.42025214] [-0.01666797 0.97701114 -0.21253569 -1.37795296] [ 0.53227175 0.18861255 0.82529515 -8.65078927] [ 0. 0. 0. 1. ]] SLAMing on 109.07964924600002 meters Centerline goodness : 0.924115 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.39, Z:-8.64 [[ 0.85000805 -0.08589377 -0.5197197 1.40162384] [-0.01854519 0.98112546 -0.19248093 -1.38692346] [ 0.52644315 0.17324864 0.83237163 -8.64419573] [ 0. 0. 0. 1. ]] SLAMing on 109.10964924600002 meters Centerline goodness : 0.923636 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.39, Z:-8.64 [[ 0.85102569 -0.07988126 -0.51901277 1.39366442] [-0.01972903 0.98280069 -0.18361257 -1.39220512] [ 0.52475331 0.16649863 0.83481266 -8.64088214] [ 0. 0. 0. 1. ]] SLAMing on 109.13964924600002 meters Centerline goodness : 0.924640 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.40, Z:-8.63 [[ 0.85217774 -0.0719849 -0.51827721 1.38272949] [-0.02198024 0.98469276 -0.17290761 -1.39812447] [ 0.52279055 0.15873987 0.83755101 -8.63489902] [ 0. 0. 0. 1. ]] SLAMing on 109.16964924600002 meters Centerline goodness : 0.922017 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.41, Z:-8.62 [[ 0.85120407 -0.05736061 -0.5216909 1.37905835] [-0.0214904 0.98936664 -0.14384647 -1.40970689] [ 0.5243947 0.13365404 0.84092021 -8.61956097] [ 0. 0. 0. 1. ]] SLAMing on 109.199649246 meters Centerline goodness : 0.924665 Centerline is valid? [False, False] Translation: X:1.37, Y:-1.42, Z:-8.61 [[ 0.85017113 -0.04245993 -0.52479158 1.37298786] [-0.02240873 0.99292166 -0.116638 -1.41945664] [ 0.52602937 0.11092217 0.84320186 -8.60747908] [ 0. 0. 0. 1. ]] SLAMing on 109.22964924600001 meters Centerline goodness : 0.925530 Centerline is valid? [False, False] Translation: X:1.37, Y:-1.43, Z:-8.60 [[ 0.84960367 -0.02961312 -0.52658966 1.36645822] [-0.02143165 0.9956595 -0.09056956 -1.42852361] [ 0.52698605 0.08823392 0.8452813 -8.59510915] [ 0. 0. 0. 1. ]] SLAMing on 109.25964924600001 meters Centerline goodness : 0.924173 Centerline is valid? [False, False] Translation: X:1.36, Y:-1.43, Z:-8.59 [[ 0.85323121 -0.02112484 -0.52110483 1.35674123] [-0.01975422 0.99715326 -0.07276774 -1.43397293] [ 0.52115859 0.07238172 0.85038498 -8.59225941] [ 0. 0. 0. 1. ]] SLAMing on 109.28964924600001 meters Centerline goodness : 0.925069 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.44, Z:-8.59 [[ 0.85698924 -0.01341587 -0.51515964 1.35017005] [-0.0185749 0.99820732 -0.0568956 -1.43809624] [ 0.51499943 0.05832796 0.85520374 -8.59114691] [ 0. 0. 0. 1. ]] SLAMing on 109.31964924600001 meters Centerline goodness : 0.925015 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.44, Z:-8.59 [[ 8.56611706e-01 -2.43104867e-03 -5.15955884e-01 1.34960890e+00] [-2.50627393e-02 9.98612408e-01 -4.63154156e-02 -1.44191558e+00] [ 5.15352543e-01 5.26055950e-02 8.55362150e-01 -8.58579931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34964924600001 meters Centerline goodness : 0.924807 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.44, Z:-8.58 [[ 8.56245388e-01 4.72830150e-03 -5.16547653e-01 1.34768969e+00] [-2.95098482e-02 9.98772845e-01 -3.97740114e-02 -1.44468375e+00] [ 5.15725706e-01 4.92995567e-02 8.55334174e-01 -8.58219526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37964924600001 meters Centerline goodness : 0.927891 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.45, Z:-8.58 [[ 0.85581293 0.01233102 -0.51713844 1.34448928] [-0.03431704 0.9988669 -0.0329736 -1.44766125] [ 0.51614587 0.0459659 0.85526638 -8.5780615 ] [ 0. 0. 0. 1. ]] SLAMing on 109.40964924600001 meters Centerline goodness : 0.928372 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.45, Z:-8.58 [[ 0.85841063 0.01487209 -0.51274752 1.33645642] [-0.02882692 0.9993986 -0.01927302 -1.45157907] [ 0.51215252 0.0313251 0.85832309 -8.57627592] [ 0. 0. 0. 1. ]] SLAMing on 109.43964924600002 meters Centerline goodness : 0.925894 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.45, Z:-8.57 [[ 0.85748402 0.01935253 -0.51414652 1.33924804] [-0.03039662 0.99945239 -0.01307543 -1.45463655] [ 0.51361192 0.02684029 0.8576027 -8.57030028] [ 0. 0. 0. 1. ]] SLAMing on 109.46964924600002 meters Centerline goodness : 0.917751 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.46, Z:-8.56 [[ 8.54586751e-01 2.98259743e-02 -5.18451441e-01 1.33517799e+00] [-3.03282737e-02 9.99511783e-01 7.50942436e-03 -1.45883174e+00] [ 5.18422300e-01 9.30628265e-03 8.55074097e-01 -8.56348002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49964924600002 meters Centerline goodness : 0.919028 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.46, Z:-8.56 [[ 8.54237163e-01 3.46769098e-02 -5.18725729e-01 1.33609128e+00] [-3.29651674e-02 9.99378060e-01 1.25215917e-02 -1.46256090e+00] [ 5.18837323e-01 6.40347154e-03 8.54849009e-01 -8.56113542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52964924600002 meters Centerline goodness : 0.920083 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.47, Z:-8.56 [[ 8.53560133e-01 4.03941962e-02 -5.19426038e-01 1.33649231e+00] [-3.57622271e-02 9.99180908e-01 1.89360901e-02 -1.46723443e+00] [ 5.19765489e-01 2.41274033e-03 8.54305575e-01 -8.55649314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55964924600002 meters Centerline goodness : 0.919587 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.47, Z:-8.56 [[ 8.53428921e-01 4.09643336e-02 -5.19596959e-01 1.33636646e+00] [-3.59627575e-02 9.99158859e-01 1.97041559e-02 -1.46847391e+00] [ 5.19967072e-01 1.87004289e-03 8.54184258e-01 -8.55563547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58964924600001 meters Centerline goodness : 0.921354 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.47, Z:-8.55 [[ 8.53222283e-01 4.17262251e-02 -5.19875618e-01 1.33610272e+00] [-3.62291227e-02 9.99128426e-01 2.07325799e-02 -1.47082990e+00] [ 5.20287600e-01 1.14513842e-03 8.53990341e-01 -8.55437998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61964924600001 meters Centerline goodness : 0.920804 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.47, Z:-8.55 [[ 8.52618784e-01 4.72771887e-02 -5.20390312e-01 1.33672127e+00] [-3.93446901e-02 9.98879932e-01 2.62845272e-02 -1.47457815e+00] [ 5.21050098e-01 -1.93608610e-03 8.53523900e-01 -8.55129133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64964924600001 meters Centerline goodness : 0.917327 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.48, Z:-8.55 [[ 8.52350789e-01 4.66652589e-02 -5.20884330e-01 1.33976110e+00] [-3.88202372e-02 9.98908753e-01 2.59671390e-02 -1.47508485e+00] [ 5.21527680e-01 -1.91225818e-03 8.53232221e-01 -8.55135263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67964924600001 meters Centerline goodness : 0.914374 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.48, Z:-8.55 [[ 8.52146277e-01 4.66622019e-02 -5.21219111e-01 1.34104968e+00] [-3.86208764e-02 9.98908148e-01 2.62857163e-02 -1.47609892e+00] [ 5.21876567e-01 -2.26933644e-03 8.53017995e-01 -8.55077081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70964924600001 meters Centerline goodness : 0.911653 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.48, Z:-8.55 [[ 8.51846081e-01 4.71005645e-02 -5.21670193e-01 1.34205822e+00] [-3.86651226e-02 9.98886023e-01 2.70503519e-02 -1.47864874e+00] [ 5.22363151e-01 -2.87229427e-03 8.52718293e-01 -8.54974501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73964924600001 meters Centerline goodness : 0.913064 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.48, Z:-8.55 [[ 8.51656477e-01 4.75458944e-02 -5.21939301e-01 1.34173513e+00] [-3.86237085e-02 9.98862349e-01 2.79681415e-02 -1.48066059e+00] [ 5.22675286e-01 -3.66001740e-03 8.52523988e-01 -8.54834100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76964924600001 meters Centerline goodness : 0.917271 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.48, Z:-8.55 [[ 8.51298135e-01 4.67471219e-02 -5.22595630e-01 1.34339244e+00] [-3.70254045e-02 9.98892313e-01 2.90390546e-02 -1.48459570e+00] [ 5.23374249e-01 -5.37157842e-03 8.52085994e-01 -8.54545033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79964924600002 meters Centerline goodness : 0.917271 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.48, Z:-8.55 [[ 8.51298135e-01 4.67471219e-02 -5.22595630e-01 1.34339244e+00] [-3.70254045e-02 9.98892313e-01 2.90390546e-02 -1.48459570e+00] [ 5.23374249e-01 -5.37157842e-03 8.52085994e-01 -8.54545033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82964924600002 meters Centerline goodness : 0.912466 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.49, Z:-8.54 [[ 8.50569879e-01 5.09267496e-02 -5.23390243e-01 1.34771714e+00] [-3.94254674e-02 9.98674076e-01 3.31017052e-02 -1.48631744e+00] [ 5.24382030e-01 -7.52040844e-03 8.51449899e-01 -8.54389607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85964924600002 meters Centerline goodness : 0.905445 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.49, Z:-8.54 [[ 0.84972072 0.04899736 -0.52495138 1.35292987] [-0.03605374 0.99874164 0.03486056 -1.49051745] [ 0.52599888 -0.01069528 0.85041801 -8.53794768] [ 0. 0. 0. 1. ]] SLAMing on 109.88964924600002 meters Centerline goodness : 0.909160 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.49, Z:-8.54 [[ 0.84930134 0.04930134 -0.5256012 1.35339521] [-0.03572073 0.99871465 0.0359594 -1.49233991] [ 0.52669846 -0.01176551 0.84997077 -8.53553872] [ 0. 0. 0. 1. ]] SLAMing on 109.91964924600002 meters Centerline goodness : 0.905398 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.53 [[ 0.84870168 0.05523301 -0.52597982 1.35305268] [-0.03890396 0.99835723 0.04206325 -1.49585583] [ 0.52743904 -0.01523645 0.84945624 -8.53164615] [ 0. 0. 0. 1. ]] SLAMing on 109.949649246 meters Centerline goodness : 0.908343 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.53 [[ 0.84859825 0.05588287 -0.52607805 1.35229756] [-0.03922927 0.9983146 0.04276704 -1.49616377] [ 0.52758135 -0.01565438 0.84936027 -8.53072312] [ 0. 0. 0. 1. ]] SLAMing on 109.97964924600001 meters Centerline goodness : 0.906392 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.53 [[ 0.84806287 0.06264866 -0.52617916 1.3498902 ] [-0.0438146 0.99787661 0.0481929 -1.49672093] [ 0.5280811 -0.01781628 0.84900703 -8.5280714 ] [ 0. 0. 0. 1. ]] SLAMing on 110.00964924600001 meters Centerline goodness : 0.903054 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.49, Z:-8.53 [[ 0.84760903 0.06778549 -0.52627375 1.35071937] [-0.04743346 0.99751542 0.05208704 -1.49452125] [ 0.52849693 -0.01918646 0.84871837 -8.52713111] [ 0. 0. 0. 1. ]] SLAMing on 110.03964924600001 meters Centerline goodness : 0.902178 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.49, Z:-8.53 [[ 0.84751183 0.06760709 -0.5264532 1.35170222] [-0.04738409 0.99753159 0.05182157 -1.49289564] [ 0.52865721 -0.01897389 0.84862332 -8.52720604] [ 0. 0. 0. 1. ]] SLAMing on 110.06964924600001 meters Centerline goodness : 0.897316 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.49, Z:-8.53 [[ 0.84685078 0.07245089 -0.52687249 1.35388378] [-0.05030392 0.99714783 0.05626471 -1.49380956] [ 0.52944619 -0.02114406 0.84807999 -8.52522099] [ 0. 0. 0. 1. ]] SLAMing on 110.09964924600001 meters Centerline goodness : 0.899192 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.49, Z:-8.52 [[ 0.84674861 0.0728049 -0.52698789 1.35385733] [-0.05042996 0.99711539 0.05672501 -1.49381419] [ 0.52959759 -0.02145585 0.84797762 -8.52457197] [ 0. 0. 0. 1. ]] SLAMing on 110.12964924600001 meters Centerline goodness : 0.896321 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.52 [[ 0.84667577 0.0742378 -0.52690501 1.35159687] [-0.05136708 0.99699825 0.05793016 -1.49529107] [ 0.52962399 -0.0219825 0.84794764 -8.52342402] [ 0. 0. 0. 1. ]] SLAMing on 110.15964924600001 meters Centerline goodness : 0.896963 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.52 [[ 0.84656894 0.07520505 -0.5269395 1.35040326] [-0.05193675 0.99691547 0.05883983 -1.4961199 ] [ 0.52973919 -0.02244445 0.84786357 -8.52247675] [ 0. 0. 0. 1. ]] SLAMing on 110.18964924600002 meters Centerline goodness : 0.896055 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.52 [[ 0.846459 0.07660329 -0.52691469 1.34844066] [-0.05287173 0.99679837 0.05997988 -1.49728969] [ 0.52982236 -0.02291161 0.8477991 -8.52138902] [ 0. 0. 0. 1. ]] SLAMing on 110.21964924600002 meters Centerline goodness : 0.900135 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.52 [[ 0.84634298 0.07719545 -0.52701463 1.34799146] [-0.05322805 0.99674674 0.06052038 -1.49770746] [ 0.52997201 -0.02316903 0.84769857 -8.52077603] [ 0. 0. 0. 1. ]] SLAMing on 110.24964924600002 meters Centerline goodness : 0.897090 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.52 [[ 0.84643732 0.07800071 -0.52674449 1.3471239 ] [-0.05389249 0.9966825 0.06098845 -1.49755884] [ 0.52975416 -0.02323533 0.84783291 -8.52089448] [ 0. 0. 0. 1. ]] SLAMing on 110.27964924600002 meters Centerline goodness : 0.894458 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.52 [[ 0.84642454 0.07865969 -0.52666702 1.3466887 ] [-0.05428675 0.99662329 0.06160334 -1.49833777] [ 0.52973432 -0.02355154 0.84783659 -8.52056971] [ 0. 0. 0. 1. ]] SLAMing on 110.30964924600002 meters Centerline goodness : 0.893023 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.52 [[ 0.84620645 0.07931067 -0.52691978 1.34659373] [-0.05433734 0.99654992 0.06273524 -1.50050786] [ 0.53007744 -0.02445555 0.8475965 -8.5189819 ] [ 0. 0. 0. 1. ]] SLAMing on 110.33964924600001 meters Centerline goodness : 0.893028 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.52 [[ 0.84608774 0.07990915 -0.52701998 1.34630432] [-0.05449477 0.9964862 0.06360482 -1.50208747] [ 0.53025075 -0.02509543 0.84746939 -8.51799504] [ 0. 0. 0. 1. ]] SLAMing on 110.36964924600001 meters Centerline goodness : 0.900895 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.51, Z:-8.51 [[ 0.84655944 0.07706507 -0.52668596 1.3393889 ] [-0.05122202 0.99666634 0.06350213 -1.50508143] [ 0.52982396 -0.02678041 0.84768472 -8.51284373] [ 0. 0. 0. 1. ]] SLAMing on 110.39964924600001 meters Centerline goodness : 0.906896 Centerline is valid? [False, False] Translation: X:1.34, Y:-1.51, Z:-8.51 [[ 0.84645306 0.07714361 -0.52684541 1.33946807] [-0.05100615 0.99664648 0.06398574 -1.50525843] [ 0.53001471 -0.02728857 0.84754925 -8.51181882] [ 0. 0. 0. 1. ]] SLAMing on 110.42964924600001 meters Centerline goodness : 0.895334 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84542095 0.08234267 -0.52771498 1.35035935] [-0.05377108 0.99614626 0.06929146 -1.50352518] [ 0.53138695 -0.03020465 0.84659057 -8.51046213] [ 0. 0. 0. 1. ]] SLAMing on 110.45964924600001 meters Centerline goodness : 0.893898 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84471777 0.08714063 -0.52807045 1.35283081] [-0.05675351 0.99567765 0.07351911 -1.50428501] [ 0.53219445 -0.03213305 0.84601214 -8.50876581] [ 0. 0. 0. 1. ]] SLAMing on 110.48964924600001 meters Centerline goodness : 0.895992 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84462967 0.08733996 -0.52817843 1.35327922] [-0.05695628 0.99566286 0.07356263 -1.50350304] [ 0.5323126 -0.0320501 0.84594095 -8.5086988 ] [ 0. 0. 0. 1. ]] SLAMing on 110.51964924600001 meters Centerline goodness : 0.896436 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84454666 0.08787591 -0.52822227 1.35306599] [-0.05732252 0.9956108 0.07398148 -1.50367754] [ 0.53240499 -0.03220178 0.84587704 -8.50828234] [ 0. 0. 0. 1. ]] SLAMing on 110.54964924600002 meters Centerline goodness : 0.893319 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84436728 0.08912547 -0.52829968 1.35186418] [-0.05820428 0.99548981 0.07491525 -1.50447562] [ 0.5325938 -0.03250668 0.84574651 -8.50732689] [ 0. 0. 0. 1. ]] SLAMing on 110.57964924600002 meters Centerline goodness : 0.892564 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84427782 0.0897543 -0.52833618 1.35136021] [-0.05864654 0.9954282 0.07538758 -1.50432614] [ 0.53268709 -0.03266298 0.84568173 -8.50683656] [ 0. 0. 0. 1. ]] SLAMing on 110.60964924600002 meters Centerline goodness : 0.894643 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84419314 0.09048509 -0.52834684 1.35097473] [-0.05928282 0.99536341 0.07574455 -1.50279342] [ 0.53275087 -0.03262114 0.84564317 -8.50652708] [ 0. 0. 0. 1. ]] SLAMing on 110.63964924600002 meters Centerline goodness : 0.893108 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84417257 0.09102136 -0.5282876 1.35057049] [-0.05971548 0.99531305 0.07606572 -1.50215012] [ 0.53273515 -0.03266565 0.84565136 -8.50636931] [ 0. 0. 0. 1. ]] SLAMing on 110.66964924600002 meters Centerline goodness : 0.897118 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84411813 0.09194896 -0.52821395 1.34973651] [-0.06064052 0.99523622 0.0763387 -1.50110497] [ 0.53271691 -0.03240771 0.84567277 -8.50646484] [ 0. 0. 0. 1. ]] SLAMing on 110.699649246 meters Centerline goodness : 0.894936 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84398737 0.09270676 -0.52829043 1.349865 ] [-0.06145202 0.99517687 0.07646342 -1.50001656] [ 0.53283109 -0.03206964 0.84561372 -8.50671745] [ 0. 0. 0. 1. ]] SLAMing on 110.72964924600001 meters Centerline goodness : 0.896849 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84391973 0.09295933 -0.52835409 1.35040603] [-0.06175614 0.99515915 0.07644892 -1.49951601] [ 0.53290305 -0.03188764 0.84557526 -8.50690795] [ 0. 0. 0. 1. ]] SLAMing on 110.75964924600001 meters Centerline goodness : 0.895901 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84388485 0.09356537 -0.52830283 1.35011832] [-0.06229498 0.99510382 0.07673151 -1.49953569] [ 0.53289557 -0.03184195 0.84558169 -8.506988 ] [ 0. 0. 0. 1. ]] SLAMing on 110.78964924600001 meters Centerline goodness : 0.897305 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.8436547 0.09426696 -0.52854563 1.34991478] [-0.0625039 0.99501595 0.07769511 -1.50156565] [ 0.53323542 -0.03251168 0.84534193 -8.50564955] [ 0. 0. 0. 1. ]] SLAMing on 110.81964924600001 meters Centerline goodness : 0.900191 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.51 [[ 0.84350264 0.09429886 -0.52878259 1.35121419] [-0.06224808 0.99499691 0.078143 -1.50308865] [ 0.53350584 -0.03299813 0.84515244 -8.50502258] [ 0. 0. 0. 1. ]] SLAMing on 110.84964924600001 meters Centerline goodness : 0.896836 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.50, Z:-8.50 [[ 0.84332805 0.0940961 -0.52909708 1.35286157] [-0.06181043 0.99500129 0.07843413 -1.50437429] [ 0.53383262 -0.03344199 0.84492861 -8.50442626] [ 0. 0. 0. 1. ]] SLAMing on 110.87964924600001 meters Centerline goodness : 0.898119 Centerline is valid? [False, False] Translation: X:1.36, Y:-1.51, Z:-8.50 [[ 0.8429691 0.09318616 -0.52982964 1.35709007] [-0.06061187 0.99506377 0.07857665 -1.50674852] [ 0.53453653 -0.03412372 0.8444562 -8.50349979] [ 0. 0. 0. 1. ]] SLAMing on 110.90964924600001 meters Centerline goodness : 0.894904 Centerline is valid? [False, False] Translation: X:1.36, Y:-1.51, Z:-8.50 [[ 0.84270457 0.09336782 -0.53021831 1.35783772] [-0.06032587 0.9950208 0.0793372 -1.5090778 ] [ 0.53498579 -0.03487194 0.84414108 -8.50210249] [ 0. 0. 0. 1. ]] SLAMing on 110.93964924600002 meters Centerline goodness : 0.895793 Centerline is valid? [False, False] Translation: X:1.36, Y:-1.51, Z:-8.50 [[ 0.8427455 0.08739433 -0.53117064 1.35937622] [-0.05530456 0.99556853 0.07605724 -1.51286747] [ 0.53546375 -0.03472074 0.84384421 -8.50003199] [ 0. 0. 0. 1. ]] SLAMing on 110.96964924600002 meters Centerline goodness : 0.895497 Centerline is valid? [False, False] Translation: X:1.36, Y:-1.51, Z:-8.50 [[ 0.84237384 0.08663332 -0.53188436 1.36201236] [-0.05422505 0.99561042 0.07628589 -1.51481817] [ 0.53615852 -0.03541978 0.84337387 -8.49857593] [ 0. 0. 0. 1. ]] SLAMing on 110.99964924600002 meters Centerline goodness : 0.893261 Centerline is valid? [False, False] Translation: X:1.37, Y:-1.52, Z:-8.50 [[ 0.84161762 0.08457309 -0.53341088 1.37436149] [-0.05112557 0.99570361 0.0772042 -1.51583509] [ 0.53764854 -0.03770548 0.84232556 -8.49568952] [ 0. 0. 0. 1. ]] SLAMing on 111.02964924600002 meters Centerline goodness : 0.891344 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.50 [[ 0.84124935 0.08329258 -0.53419273 1.37860601] [-0.04992418 0.99580756 0.07664781 -1.51581263] [ 0.53833735 -0.03781078 0.84188078 -8.4953235 ] [ 0. 0. 0. 1. ]] SLAMing on 111.05964924600002 meters Centerline goodness : 0.889104 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.49 [[ 0.84072179 0.08181246 -0.53525097 1.3840021 ] [-0.04841224 0.99591784 0.07618344 -1.51661387] [ 0.53929874 -0.03813638 0.84125055 -8.49447346] [ 0. 0. 0. 1. ]] SLAMing on 111.08964924600001 meters Centerline goodness : 0.888994 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.49 [[ 0.84040605 0.08200473 -0.53571718 1.38490606] [-0.0480801 0.99586983 0.07701681 -1.51852236] [ 0.53982032 -0.03896805 0.84087782 -8.49282079] [ 0. 0. 0. 1. ]] SLAMing on 111.11964924600001 meters Centerline goodness : 0.886563 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.49 [[ 0.84015004 0.08345639 -0.53589452 1.38257736] [-0.04736869 0.99560525 0.08078607 -1.52414287] [ 0.54028151 -0.0424878 0.84041102 -8.4867969 ] [ 0. 0. 0. 1. ]] SLAMing on 111.14964924600001 meters Centerline goodness : 0.888306 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.48 [[ 0.83997172 0.08429333 -0.53604304 1.38145915] [-0.04740129 0.99548271 0.08226356 -1.52669883] [ 0.54055584 -0.04368993 0.84017294 -8.48463108] [ 0. 0. 0. 1. ]] SLAMing on 111.17964924600001 meters Centerline goodness : 0.891029 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.48 [[ 0.83976067 0.0851534 -0.53623774 1.38037456] [-0.04699559 0.99531815 0.08445821 -1.53086149] [ 0.54091906 -0.04572388 0.83983087 -8.48110495] [ 0. 0. 0. 1. ]] SLAMing on 111.20964924600001 meters Centerline goodness : 0.893270 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.48 [[ 0.83956344 0.08585438 -0.53643476 1.37987457] [-0.04678721 0.99519154 0.08605094 -1.53319618] [ 0.54124319 -0.04714694 0.83954332 -8.47854702] [ 0. 0. 0. 1. ]] SLAMing on 111.23964924600001 meters Centerline goodness : 0.896135 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.48 [[ 0.83937923 0.08616152 -0.53667373 1.38000734] [-0.0468048 0.99514626 0.08656346 -1.53352511] [ 0.54152729 -0.04754067 0.83933788 -8.47753767] [ 0. 0. 0. 1. ]] SLAMing on 111.26964924600001 meters Centerline goodness : 0.895952 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.48 [[ 0.83930623 0.08693951 -0.53666243 1.37919045] [-0.04729978 0.99506491 0.087227 -1.5335068 ] [ 0.54159743 -0.04782615 0.8392764 -8.4768507 ] [ 0. 0. 0. 1. ]] SLAMing on 111.29964924600002 meters Centerline goodness : 0.896460 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.48 [[ 0.83922421 0.08787118 -0.53663897 1.3781118 ] [-0.04817048 0.99499109 0.08759186 -1.53183898] [ 0.54164779 -0.04765905 0.83925341 -8.47659498] [ 0. 0. 0. 1. ]] SLAMing on 111.32964924600002 meters Centerline goodness : 0.901386 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.48 [[ 0.83896458 0.08855229 -0.53693289 1.3780147 ] [-0.04901454 0.99495751 0.08750498 -1.5291607 ] [ 0.54197418 -0.04709606 0.83907446 -8.47651493] [ 0. 0. 0. 1. ]] SLAMing on 111.35964924600002 meters Centerline goodness : 0.900301 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.48 [[ 0.83882161 0.08885552 -0.53710614 1.37842624] [-0.0494724 0.99494977 0.08733518 -1.52721521] [ 0.54215384 -0.04668671 0.83898126 -8.47674003] [ 0. 0. 0. 1. ]] SLAMing on 111.38964924600002 meters Centerline goodness : 0.895476 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.48 [[ 0.8386931 0.08881958 -0.53731273 1.37963011] [-0.04971292 0.99497797 0.08687613 -1.5249024 ] [ 0.54233063 -0.04615103 0.83889664 -8.47727789] [ 0. 0. 0. 1. ]] SLAMing on 111.41964924600002 meters Centerline goodness : 0.895259 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.48 [[ 0.83792118 0.09416117 -0.53760746 1.38066366] [-0.0533197 0.99441642 0.0910659 -1.52386332] [ 0.54318055 -0.04764097 0.83826322 -8.47553782] [ 0. 0. 0. 1. ]] SLAMing on 111.449649246 meters Centerline goodness : 0.900290 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.48 [[ 0.8378005 0.09552184 -0.53755549 1.37866218] [-0.05465016 0.99430341 0.0915101 -1.52220824] [ 0.54323447 -0.04728972 0.83824817 -8.47525198] [ 0. 0. 0. 1. ]] SLAMing on 111.47964924600001 meters Centerline goodness : 0.898112 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.48 [[ 0.83770279 0.09592535 -0.53763591 1.37862407] [-0.0550363 0.99426969 0.09164493 -1.52131093] [ 0.54334616 -0.04718172 0.83818187 -8.4751552 ] [ 0. 0. 0. 1. ]] SLAMing on 111.50964924600001 meters Centerline goodness : 0.898732 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.47 [[ 0.83746267 0.09629672 -0.5379435 1.37944861] [-0.05540113 0.99424154 0.09173049 -1.52061937] [ 0.54367912 -0.04701819 0.83797512 -8.4749571 ] [ 0. 0. 0. 1. ]] SLAMing on 111.53964924600001 meters Centerline goodness : 0.897694 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.47 [[ 0.83723748 0.09601607 -0.53834404 1.38123451] [-0.05515063 0.994271 0.09156194 -1.52036752] [ 0.54405129 -0.04696908 0.8377363 -8.47477358] [ 0. 0. 0. 1. ]] SLAMing on 111.56964924600001 meters Centerline goodness : 0.899178 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.47 [[ 0.83686065 0.09581925 -0.53896468 1.38302171] [-0.05474228 0.99427469 0.09176667 -1.52132719] [ 0.54467196 -0.04729177 0.83731472 -8.47363875] [ 0. 0. 0. 1. ]] SLAMing on 111.59964924600001 meters Centerline goodness : 0.900051 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.47 [[ 0.83657253 0.09615561 -0.53935192 1.38342512] [-0.0546382 0.99421242 0.09250043 -1.52303642] [ 0.54512482 -0.0479141 0.83698457 -8.47226236] [ 0. 0. 0. 1. ]] SLAMing on 111.62964924600001 meters Centerline goodness : 0.900610 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.47 [[ 0.83631177 0.09707852 -0.53959094 1.38207934] [-0.05462991 0.99405603 0.09417105 -1.52626207] [ 0.54552561 -0.04927856 0.83664415 -8.46953337] [ 0. 0. 0. 1. ]] SLAMing on 111.65964924600001 meters Centerline goodness : 0.903066 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.47 [[ 0.83610794 0.0977654 -0.53978277 1.38146761] [-0.05490988 0.99396431 0.0949729 -1.52750565] [ 0.54580988 -0.04976819 0.83642974 -8.46839279] [ 0. 0. 0. 1. ]] SLAMing on 111.68964924600002 meters Centerline goodness : 0.903066 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.47 [[ 0.83610794 0.0977654 -0.53978277 1.38146761] [-0.05490988 0.99396431 0.0949729 -1.52750565] [ 0.54580988 -0.04976819 0.83642974 -8.46839279] [ 0. 0. 0. 1. ]] SLAMing on 111.71964924600002 meters Centerline goodness : 0.906880 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.47 [[ 0.83584627 0.09811234 -0.54012497 1.38193771] [-0.05513714 0.99392813 0.09521953 -1.52735447] [ 0.54618762 -0.04980794 0.83618076 -8.46779082] [ 0. 0. 0. 1. ]] SLAMing on 111.74964924600002 meters Centerline goodness : 0.907927 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.47 [[ 0.83571608 0.09827242 -0.54029729 1.38259447] [-0.05526583 0.99391373 0.09529525 -1.5267055 ] [ 0.54637379 -0.0497798 0.83606079 -8.46765228] [ 0. 0. 0. 1. ]] SLAMing on 111.77964924600002 meters Centerline goodness : 0.906916 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.47 [[ 0.83549392 0.09867824 -0.54056684 1.38330629] [-0.05569801 0.99388499 0.09534338 -1.52525913] [ 0.54666959 -0.04955031 0.83588105 -8.4675594 ] [ 0. 0. 0. 1. ]] SLAMing on 111.80964924600002 meters Centerline goodness : 0.909124 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-8.47 [[ 0.83531299 0.09880416 -0.5408234 1.38407918] [-0.05578489 0.99387354 0.09541192 -1.52497704] [ 0.54693716 -0.04952904 0.83570726 -8.46728131] [ 0. 0. 0. 1. ]] SLAMing on 111.83964924600001 meters Centerline goodness : 0.908109 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.47 [[ 0.83510218 0.0995007 -0.54102122 1.38389568] [-0.0562769 0.99379834 0.09590504 -1.52553168] [ 0.54720861 -0.04964351 0.83552275 -8.46668179] [ 0. 0. 0. 1. ]] SLAMing on 111.86964924600001 meters Centerline goodness : 0.913850 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.53, Z:-8.47 [[ 0.83486782 0.09966262 -0.54135302 1.38450546] [-0.05623998 0.99377002 0.09621961 -1.52605491] [ 0.5475699 -0.04988497 0.83527163 -8.4659581 ] [ 0. 0. 0. 1. ]] SLAMing on 111.89964924600001 meters Centerline goodness : 0.907621 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.47 [[ 0.83458699 0.10036089 -0.54165694 1.38507201] [-0.05673387 0.99369521 0.09670104 -1.52718231] [ 0.54794691 -0.04997513 0.83501896 -8.46549483] [ 0. 0. 0. 1. ]] SLAMing on 111.92964924600001 meters Centerline goodness : 0.910617 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.47 [[ 0.83436492 0.10062682 -0.54194965 1.38551412] [-0.05689947 0.99366643 0.09689934 -1.52699854] [ 0.54826784 -0.05001276 0.83480602 -8.46500754] [ 0. 0. 0. 1. ]] SLAMing on 111.95964924600001 meters Centerline goodness : 0.912493 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.46 [[ 0.83411652 0.10133298 -0.54220038 1.3857729 ] [-0.05751035 0.99359969 0.09722251 -1.52688716] [ 0.54858198 -0.04991277 0.83460561 -8.46470995] [ 0. 0. 0. 1. ]] SLAMing on 111.98964924600001 meters Centerline goodness : 0.912623 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.46 [[ 0.83392701 0.10151031 -0.54245866 1.38644516] [-0.05757235 0.99357661 0.0974215 -1.52701561] [ 0.54886352 -0.0500118 0.83441456 -8.46430908] [ 0. 0. 0. 1. ]] SLAMing on 112.01964924600001 meters Centerline goodness : 0.908673 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.46 [[ 0.83360909 0.10114071 -0.54301606 1.38897306] [-0.05712843 0.99360765 0.09736619 -1.52739629] [ 0.5493926 -0.05014369 0.83405838 -8.463801 ] [ 0. 0. 0. 1. ]] SLAMing on 112.04964924600002 meters Centerline goodness : 0.912878 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.46 [[ 0.83335108 0.10174695 -0.54329876 1.38867225] [-0.05718972 0.99350834 0.09833876 -1.5294144 ] [ 0.54977752 -0.05087961 0.83376013 -8.46224028] [ 0. 0. 0. 1. ]] SLAMing on 112.07964924600002 meters Centerline goodness : 0.914985 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.46 [[ 0.83317999 0.10227693 -0.54346162 1.38813837] [-0.05742045 0.99343644 0.09892889 -1.53013448] [ 0.55001272 -0.05121976 0.83358415 -8.46132617] [ 0. 0. 0. 1. ]] SLAMing on 112.10964924600002 meters Centerline goodness : 0.917397 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.46 [[ 0.832959 0.10264515 -0.54373089 1.38807422] [-0.05738336 0.9933695 0.09962019 -1.53139077] [ 0.55035121 -0.05177843 0.83332619 -8.46000221] [ 0. 0. 0. 1. ]] SLAMing on 112.13964924600002 meters Centerline goodness : 0.915556 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.46 [[ 0.83265052 0.10247663 -0.54423492 1.38887708] [-0.05688114 0.9933583 0.10001911 -1.53309305] [ 0.5508699 -0.05232426 0.83294929 -8.45855579] [ 0. 0. 0. 1. ]] SLAMing on 112.16964924600002 meters Centerline goodness : 0.907605 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.46 [[ 0.83228568 0.10206014 -0.54487087 1.39187785] [-0.05655779 0.99341036 0.09968482 -1.53289191] [ 0.55145422 -0.05214956 0.83257352 -8.45843181] [ 0. 0. 0. 1. ]] SLAMing on 112.19964924600002 meters Centerline goodness : 0.913028 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.46 [[ 0.83204539 0.10209003 -0.54523214 1.39297139] [-0.0563754 0.99339177 0.09997303 -1.53366688] [ 0.55183537 -0.05244442 0.83230241 -8.45772756] [ 0. 0. 0. 1. ]] SLAMing on 112.22964924600001 meters Centerline goodness : 0.911153 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.53, Z:-8.46 [[ 0.83187116 0.10218754 -0.54547968 1.39381068] [-0.0563208 0.99337172 0.10020276 -1.53426756] [ 0.55210356 -0.05263393 0.83211257 -8.45727762] [ 0. 0. 0. 1. ]] SLAMing on 112.25964924600001 meters Centerline goodness : 0.912936 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.54, Z:-8.46 [[ 0.8314801 0.10236761 -0.54604186 1.39498007] [-0.05624626 0.99333835 0.10057475 -1.53508136] [ 0.55269991 -0.05291309 0.83169887 -8.4561429 ] [ 0. 0. 0. 1. ]] SLAMing on 112.28964924600001 meters Centerline goodness : 0.911662 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.53, Z:-8.46 [[ 0.83130332 0.10203808 -0.54637261 1.39701134] [-0.05605031 0.99338331 0.10023949 -1.53433797] [ 0.55298568 -0.05270506 0.83152211 -8.45630301] [ 0. 0. 0. 1. ]] SLAMing on 112.31964924600001 meters Centerline goodness : 0.913554 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.53, Z:-8.46 [[ 0.83119675 0.10217976 -0.54650825 1.39751555] [-0.05610011 0.99336392 0.10040371 -1.53430904] [ 0.5531408 -0.05279606 0.83141315 -8.4560675 ] [ 0. 0. 0. 1. ]] SLAMing on 112.34964924600001 meters Centerline goodness : 0.911401 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.54, Z:-8.45 [[ 0.83113396 0.10345872 -0.54636309 1.39524707] [-0.05690142 0.99320557 0.10151322 -1.53521797] [ 0.55315329 -0.05328225 0.83137383 -8.45495727] [ 0. 0. 0. 1. ]] SLAMing on 112.37964924600001 meters Centerline goodness : 0.917860 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.54, Z:-8.45 [[ 0.83106368 0.104314 -0.54630738 1.3937743 ] [-0.05745051 0.99310039 0.10223043 -1.53595791] [ 0.55320213 -0.05357436 0.83132255 -8.45425127] [ 0. 0. 0. 1. ]] SLAMing on 112.40964924600001 meters Centerline goodness : 0.921778 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.54, Z:-8.45 [[ 0.83107427 0.10588194 -0.54598954 1.3905192 ] [-0.05856474 0.99291332 0.10340847 -1.53674952] [ 0.55306937 -0.05396438 0.83138566 -8.45330296] [ 0. 0. 0. 1. ]] SLAMing on 112.43964924600002 meters Centerline goodness : 0.922844 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.54, Z:-8.45 [[ 0.83094747 0.10636932 -0.54608778 1.38995559] [-0.05885002 0.99285106 0.10384341 -1.53711315] [ 0.55322959 -0.05415114 0.83126691 -8.45267445] [ 0. 0. 0. 1. ]] SLAMing on 112.46964924600002 meters Centerline goodness : 0.921487 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.54, Z:-8.45 [[ 0.83083522 0.10665688 -0.54620247 1.39006304] [-0.05902308 0.99281536 0.10408618 -1.53713046] [ 0.55337971 -0.05423991 0.83116119 -8.45235032] [ 0. 0. 0. 1. ]] SLAMing on 112.49964924600002 meters Centerline goodness : 0.926420 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.54, Z:-8.45 [[ 0.83066354 0.10703772 -0.54638906 1.3905898 ] [-0.05927714 0.99277082 0.10436624 -1.53784876] [ 0.55361024 -0.05430485 0.83100342 -8.45205873] [ 0. 0. 0. 1. ]] SLAMing on 112.52964924600002 meters Centerline goodness : 0.925863 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.54, Z:-8.45 [[ 0.83047436 0.10700079 -0.54668379 1.39198096] [-0.05928298 0.99278198 0.10425673 -1.53764061] [ 0.55389336 -0.05417349 0.83082331 -8.45202941] [ 0. 0. 0. 1. ]] SLAMing on 112.55964924600002 meters Centerline goodness : 0.924136 Centerline is valid? [False, False] Translation: X:1.39, Y:-1.54, Z:-8.45 [[ 0.83028282 0.10687556 -0.54699913 1.39331297] [-0.05921837 0.99280309 0.10409229 -1.53712749] [ 0.55418735 -0.05403365 0.83063635 -8.45195173] [ 0. 0. 0. 1. ]] SLAMing on 112.58964924600001 meters Centerline goodness : 0.920165 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.54, Z:-8.45 [[ 0.82993037 0.10612889 -0.54767896 1.39717958] [-0.05881122 0.99291153 0.10328565 -1.53582159] [ 0.55475835 -0.05351023 0.830289 -8.45244656] [ 0. 0. 0. 1. ]] SLAMing on 112.61964924600001 meters Centerline goodness : 0.920879 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.54, Z:-8.45 [[ 0.82969332 0.10588905 -0.54808439 1.39903993] [-0.05856473 0.99293726 0.10317831 -1.53616256] [ 0.55513887 -0.05350794 0.83003478 -8.45224212] [ 0. 0. 0. 1. ]] SLAMing on 112.64964924600001 meters Centerline goodness : 0.913703 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.54, Z:-8.45 [[ 0.82932386 0.10532843 -0.54875118 1.40151928] [-0.0578711 0.99298244 0.10313489 -1.53762176] [ 0.55576332 -0.05377539 0.8295995 -8.45135136] [ 0. 0. 0. 1. ]] SLAMing on 112.67964924600001 meters Centerline goodness : 0.916345 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.54, Z:-8.45 [[ 0.82972777 0.10063462 -0.5490214 1.40080151] [-0.05458058 0.99352697 0.09962487 -1.53870977] [ 0.55549328 -0.05269562 0.82984962 -8.4514968 ] [ 0. 0. 0. 1. ]] SLAMing on 112.70964924600001 meters Centerline goodness : 0.916707 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.54, Z:-8.45 [[ 0.82944733 0.10061958 -0.54944774 1.4014144 ] [-0.05403296 0.99348224 0.10036673 -1.54066458] [ 0.55596543 -0.05356063 0.82947797 -8.44975148] [ 0. 0. 0. 1. ]] SLAMing on 112.73964924600001 meters Centerline goodness : 0.920104 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.54, Z:-8.45 [[ 0.82924902 0.10071916 -0.54972876 1.40179956] [-0.05368168 0.99343346 0.10103584 -1.54230109] [ 0.55629519 -0.05427351 0.8292105 -8.44842348] [ 0. 0. 0. 1. ]] SLAMing on 112.76964924600001 meters Centerline goodness : 0.918905 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.54, Z:-8.45 [[ 0.82917621 0.10138195 -0.54971675 1.40055227] [-0.05374082 0.99331812 0.10213245 -1.54449223] [ 0.556398 -0.05514356 0.82908411 -8.44689035] [ 0. 0. 0. 1. ]] SLAMing on 112.79964924600002 meters Centerline goodness : 0.922783 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.55, Z:-8.45 [[ 0.82901117 0.10181112 -0.54988633 1.40004533] [-0.05389951 0.99325702 0.10264178 -1.54515708] [ 0.55662854 -0.05545258 0.82890873 -8.44595052] [ 0. 0. 0. 1. ]] SLAMing on 112.82964924600002 meters Centerline goodness : 0.921624 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.55, Z:-8.45 [[ 0.82882019 0.10178133 -0.55017965 1.40133096] [-0.05377404 0.99325363 0.10274038 -1.54538493] [ 0.55692498 -0.05556792 0.82870186 -8.44552681] [ 0. 0. 0. 1. ]] SLAMing on 112.85964924600002 meters Centerline goodness : 0.922127 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.55, Z:-8.45 [[ 0.82867725 0.10161792 -0.55042512 1.40240144] [-0.05355113 0.99326454 0.10275127 -1.54544543] [ 0.55715912 -0.05567175 0.82853749 -8.44520703] [ 0. 0. 0. 1. ]] SLAMing on 112.88964924600002 meters Centerline goodness : 0.922114 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.55, Z:-8.44 [[ 0.82840333 0.10176633 -0.55080989 1.40326271] [-0.05343395 0.99323019 0.10314362 -1.54622395] [ 0.55757756 -0.05601257 0.82823297 -8.44418635] [ 0. 0. 0. 1. ]] SLAMing on 112.91964924600002 meters Centerline goodness : 0.921244 Centerline is valid? [False, False] Translation: X:1.40, Y:-1.55, Z:-8.44 [[ 0.82813276 0.10174165 -0.55122117 1.4047445 ] [-0.05325689 0.9932221 0.10331293 -1.54716665] [ 0.55799627 -0.05620049 0.8279382 -8.44349844] [ 0. 0. 0. 1. ]] SLAMing on 112.94964924600002 meters Centerline goodness : 0.919920 Centerline is valid? [False, False] Translation: X:1.41, Y:-1.55, Z:-8.44 [[ 0.82800414 0.10162428 -0.55143598 1.40587687] [-0.05313782 0.99323452 0.1032548 -1.5470337 ] [ 0.55819845 -0.05619329 0.82780239 -8.44338945] [ 0. 0. 0. 1. ]] SLAMing on 112.97964924600001 meters Centerline goodness : 0.920496 Centerline is valid? [False, False] Translation: X:1.41, Y:-1.55, Z:-8.44 [[ 0.82787724 0.10114148 -0.55171521 1.40788602] [-0.05280356 0.99329352 0.10285797 -1.54659185] [ 0.55841835 -0.05602124 0.82766574 -8.44362984] [ 0. 0. 0. 1. ]] SLAMing on 113.00964924600001 meters Centerline goodness : 0.922440 Centerline is valid? [False, False] Translation: X:1.41, Y:-1.55, Z:-8.44 [[ 0.82786485 0.09500557 -0.55282342 1.40927228] [-0.04739882 0.99387571 0.09982194 -1.54793539] [ 0.55892141 -0.0564359 0.82729792 -8.44030598] [ 0. 0. 0. 1. ]] SLAMing on 113.03964924600001 meters Centerline goodness : 0.920080 Centerline is valid? [False, False] Translation: X:1.41, Y:-1.55, Z:-8.44 [[ 0.82806869 0.088413 -0.55361122 1.41176178] [-0.04265599 0.99456004 0.09503049 -1.54703184] [ 0.55900153 -0.05507694 0.82733538 -8.44047155] [ 0. 0. 0. 1. ]] SLAMing on 113.06964924600001 meters Centerline goodness : 0.917773 Centerline is valid? [False, False] Translation: X:1.43, Y:-1.55, Z:-8.42 [[ 0.82811645 0.08919224 -0.55341475 1.42774177] [-0.03715536 0.99382289 0.10457315 -1.54888948] [ 0.55932336 -0.06603642 0.82631506 -8.42478584] [ 0. 0. 0. 1. ]] SLAMing on 113.09964924600001 meters Centerline goodness : 0.918438 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.55, Z:-8.42 [[ 0.82723586 0.08933711 -0.55470688 1.43675355] [-0.03480512 0.99352994 0.10810584 -1.54814635] [ 0.56077575 -0.07012239 0.82499297 -8.41844364] [ 0. 0. 0. 1. ]] SLAMing on 113.12964924600001 meters Centerline goodness : 0.910224 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.55, Z:-8.42 [[ 0.82690764 0.08883624 -0.55527639 1.43837139] [-0.03402599 0.99353786 0.10828088 -1.54805138] [ 0.56130739 -0.07064446 0.82458679 -8.41694756] [ 0. 0. 0. 1. ]] SLAMing on 113.15964924600001 meters Centerline goodness : 0.907140 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.55, Z:-8.42 [[ 0.82660343 0.08833651 -0.55580881 1.43975307] [-0.03356971 0.99358519 0.1079886 -1.54660625] [ 0.56178274 -0.07060541 0.82426636 -8.41615623] [ 0. 0. 0. 1. ]] SLAMing on 113.18964924600002 meters Centerline goodness : 0.909590 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.55, Z:-8.41 [[ 0.8255487 0.09346696 -0.55653686 1.44140224] [-0.03598584 0.99290078 0.11337138 -1.54791032] [ 0.56318236 -0.07356615 0.82305143 -8.41163097] [ 0. 0. 0. 1. ]] SLAMing on 113.21964924600002 meters Centerline goodness : 0.908889 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.55, Z:-8.41 [[ 0.82540732 0.09407516 -0.55664408 1.44043672] [-0.03674789 0.99287987 0.11331002 -1.54572476] [ 0.56334035 -0.07307143 0.82298737 -8.4115928 ] [ 0. 0. 0. 1. ]] SLAMing on 113.24964924600002 meters Centerline goodness : 0.910187 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.54, Z:-8.41 [[ 0.82535226 0.09459214 -0.5566381 1.43973647] [-0.03723315 0.99283888 0.11351054 -1.54479894] [ 0.56338915 -0.07296079 0.82296378 -8.4113949 ] [ 0. 0. 0. 1. ]] SLAMing on 113.27964924600002 meters Centerline goodness : 0.912449 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.54, Z:-8.41 [[ 0.82528281 0.09472367 -0.55671869 1.43975208] [-0.03747245 0.99284484 0.11337958 -1.54329558] [ 0.56347502 -0.0727086 0.82292732 -8.41145795] [ 0. 0. 0. 1. ]] SLAMing on 113.30964924600002 meters Centerline goodness : 0.914958 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.54, Z:-8.41 [[ 0.824535 0.10015797 -0.55687558 1.43990559] [-0.04081517 0.99217249 0.11801639 -1.54300958] [ 0.56433692 -0.07457968 0.82216891 -8.4089811 ] [ 0. 0. 0. 1. ]] SLAMing on 113.33964924600001 meters Centerline goodness : 0.911526 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.54, Z:-8.41 [[ 0.82455479 0.10080925 -0.55672874 1.43888212] [-0.04172852 0.99215419 0.11785068 -1.5408392 ] [ 0.56424119 -0.07394288 0.82229212 -8.4095321 ] [ 0. 0. 0. 1. ]] SLAMing on 113.36964924600001 meters Centerline goodness : 0.910412 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.54, Z:-8.41 [[ 0.82451112 0.1011817 -0.55672586 1.43863959] [-0.04225873 0.99214589 0.11773157 -1.53938645] [ 0.56426556 -0.07354446 0.82231113 -8.40986299] [ 0. 0. 0. 1. ]] SLAMing on 113.39964924600001 meters Centerline goodness : 0.906246 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.54, Z:-8.41 [[ 0.82439947 0.10204507 -0.55673362 1.43710952] [-0.04342718 0.99211795 0.11754167 -1.53615698] [ 0.56433996 -0.07272392 0.82233305 -8.41008147] [ 0. 0. 0. 1. ]] SLAMing on 113.42964924600001 meters Centerline goodness : 0.907111 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.53, Z:-8.41 [[ 0.82426867 0.10244077 -0.5568546 1.4370321 ] [-0.04393932 0.99210382 0.11747065 -1.53455733] [ 0.56449136 -0.07235957 0.82226127 -8.41014549] [ 0. 0. 0. 1. ]] SLAMing on 113.45964924600001 meters Centerline goodness : 0.907225 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.53, Z:-8.41 [[ 0.82355895 0.10752795 -0.55694559 1.43857035] [-0.04768658 0.9915168 0.12091498 -1.53226109] [ 0.56522265 -0.07302178 0.82170017 -8.40971769] [ 0. 0. 0. 1. ]] SLAMing on 113.48964924600001 meters Centerline goodness : 0.904861 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.53, Z:-8.41 [[ 0.82347896 0.10748139 -0.55707285 1.43948726] [-0.04808161 0.99157986 0.12023955 -1.529827 ] [ 0.56530573 -0.07222978 0.82171302 -8.41061701] [ 0. 0. 0. 1. ]] SLAMing on 113.51964924600001 meters Centerline goodness : 0.905367 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.53, Z:-8.41 [[ 0.82319271 0.10857465 -0.55728386 1.43996634] [-0.04949194 0.99153087 0.12007115 -1.52597275] [ 0.56560083 -0.07126064 0.82159456 -8.41149536] [ 0. 0. 0. 1. ]] SLAMing on 113.54964924600002 meters Centerline goodness : 0.898544 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.52, Z:-8.41 [[ 0.82307505 0.10839203 -0.55749316 1.44109621] [-0.04965943 0.99159429 0.11947677 -1.52423735] [ 0.56575737 -0.07065355 0.82153921 -8.4120521 ] [ 0. 0. 0. 1. ]] SLAMing on 113.57964924600002 meters Centerline goodness : 0.899029 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.52, Z:-8.41 [[ 0.82297793 0.10890819 -0.55753595 1.4415923 ] [-0.05073879 0.99162024 0.11880608 -1.5215707 ] [ 0.56580288 -0.06948608 0.82160744 -8.41350704] [ 0. 0. 0. 1. ]] SLAMing on 113.60964924600002 meters Centerline goodness : 0.899029 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.52, Z:-8.41 [[ 0.82297793 0.10890819 -0.55753595 1.4415923 ] [-0.05073879 0.99162024 0.11880608 -1.5215707 ] [ 0.56580288 -0.06948608 0.82160744 -8.41350704] [ 0. 0. 0. 1. ]] SLAMing on 113.63964924600002 meters Centerline goodness : 0.894214 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.52, Z:-8.41 [[ 0.82289424 0.10913267 -0.55761558 1.44195014] [-0.05112793 0.99162228 0.11862205 -1.52060426] [ 0.56588957 -0.06910367 0.82157999 -8.41381847] [ 0. 0. 0. 1. ]] SLAMing on 113.66964924600002 meters Centerline goodness : 0.896064 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.52, Z:-8.41 [[ 0.82256776 0.1098174 -0.55796274 1.44227409] [-0.05202288 0.99159389 0.11847013 -1.52003077] [ 0.56628252 -0.06842289 0.82136619 -8.41396645] [ 0. 0. 0. 1. ]] SLAMing on 113.69964924600002 meters Centerline goodness : 0.896952 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.52, Z:-8.41 [[ 0.8224335 0.10999113 -0.55812641 1.44309902] [-0.05227705 0.99159111 0.11838148 -1.51971501] [ 0.5664541 -0.06818369 0.82126776 -8.41413447] [ 0. 0. 0. 1. ]] SLAMing on 113.72964924600001 meters Centerline goodness : 0.896807 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.52, Z:-8.41 [[ 0.82220095 0.11028024 -0.55841191 1.44437225] [-0.05285094 0.99160452 0.11801377 -1.51884607] [ 0.56673836 -0.06751844 0.8211266 -8.41471522] [ 0. 0. 0. 1. ]] SLAMing on 113.75964924600001 meters Centerline goodness : 0.891671 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.52, Z:-8.41 [[ 0.82206216 0.11024907 -0.55862236 1.44548014] [-0.05289354 0.99161966 0.1178674 -1.51876324] [ 0.56693569 -0.06734681 0.82100447 -8.414766 ] [ 0. 0. 0. 1. ]] SLAMing on 113.78964924600001 meters Centerline goodness : 0.892163 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.52, Z:-8.41 [[ 0.82179332 0.11096368 -0.55887637 1.44580773] [-0.05351152 0.99154877 0.11818445 -1.5195988 ] [ 0.56726736 -0.06721686 0.82078599 -8.41444169] [ 0. 0. 0. 1. ]] SLAMing on 113.81964924600001 meters Centerline goodness : 0.889295 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.52, Z:-8.41 [[ 0.82169084 0.11155215 -0.5589099 1.44530893] [-0.05394962 0.99147863 0.11857307 -1.52031881] [ 0.5673743 -0.06727743 0.82070711 -8.41410367] [ 0. 0. 0. 1. ]] SLAMing on 113.84964924600001 meters Centerline goodness : 0.890684 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.52, Z:-8.41 [[ 0.82158308 0.11283184 -0.55881144 1.44357246] [-0.05511809 0.99134753 0.11913049 -1.52057938] [ 0.56741805 -0.06707498 0.82069343 -8.41392342] [ 0. 0. 0. 1. ]] SLAMing on 113.87964924600001 meters Centerline goodness : 0.893589 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.52, Z:-8.41 [[ 0.82149447 0.11326982 -0.5588531 1.44350621] [-0.05555219 0.9913076 0.11926107 -1.52008704] [ 0.567504 -0.0669268 0.8206461 -8.41391931] [ 0. 0. 0. 1. ]] SLAMing on 113.90964924600001 meters Centerline goodness : 0.889329 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.52, Z:-8.42 [[ 0.82156951 0.11465967 -0.55845922 1.44552936] [-0.05687036 0.9911635 0.11983601 -1.51846272] [ 0.56726475 -0.06669384 0.82083045 -8.41536208] [ 0. 0. 0. 1. ]] SLAMing on 113.93964924600002 meters Centerline goodness : 0.887814 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.52, Z:-8.42 [[ 0.8213853 0.11436661 -0.55879018 1.44731654] [-0.05670715 0.99121176 0.11951375 -1.5176981 ] [ 0.56754778 -0.06647944 0.82065218 -8.41543976] [ 0. 0. 0. 1. ]] SLAMing on 113.96964924600002 meters Centerline goodness : 0.885841 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.52, Z:-8.41 [[ 0.82112393 0.11466985 -0.55911209 1.44830393] [-0.05684284 0.99116931 0.11980106 -1.5186769 ] [ 0.56791231 -0.06659 0.82039099 -8.41488358] [ 0. 0. 0. 1. ]] SLAMing on 113.99964924600002 meters Centerline goodness : 0.888760 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.52, Z:-8.42 [[ 0.82166797 0.11033972 -0.55918413 1.44704738] [-0.05414662 0.99175668 0.11613278 -1.51869452] [ 0.56738866 -0.06514465 0.82086923 -8.4158843 ] [ 0. 0. 0. 1. ]] SLAMing on 114.02964924600002 meters Centerline goodness : 0.891970 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.52, Z:-8.42 [[ 0.82218518 0.10664293 -0.55914115 1.44475068] [-0.05181359 0.99223663 0.11305671 -1.52071396] [ 0.56685703 -0.06398244 0.8213278 -8.41635868] [ 0. 0. 0. 1. ]] SLAMing on 114.05964924600002 meters Centerline goodness : 0.889973 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.52, Z:-8.42 [[ 0.8220413 0.1068539 -0.55931238 1.44595876] [-0.05186706 0.99220326 0.11332473 -1.52250308] [ 0.56706076 -0.06414772 0.82117426 -8.41613179] [ 0. 0. 0. 1. ]] SLAMing on 114.08964924600001 meters Centerline goodness : 0.887246 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.52, Z:-8.42 [[ 0.82196695 0.10680733 -0.55943054 1.4472367 ] [-0.05188047 0.99221591 0.1132078 -1.52299828] [ 0.5671673 -0.06402955 0.8211099 -8.41642273] [ 0. 0. 0. 1. ]] SLAMing on 114.11964924600001 meters Centerline goodness : 0.885971 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.52, Z:-8.42 [[ 0.82155385 0.10625045 -0.56014294 1.45055317] [-0.05117382 0.99225805 0.11316007 -1.52483048] [ 0.56782965 -0.06430244 0.82063066 -8.41563042] [ 0. 0. 0. 1. ]] SLAMing on 114.14964924600001 meters Centerline goodness : 0.884604 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.53, Z:-8.41 [[ 0.82130152 0.10593121 -0.56057327 1.45237885] [-0.05062709 0.99226628 0.11333374 -1.52601392] [ 0.56824353 -0.06470098 0.82031279 -8.41478235] [ 0. 0. 0. 1. ]] SLAMing on 114.17964924600001 meters Centerline goodness : 0.880266 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.53, Z:-8.41 [[ 0.82157399 0.10075105 -0.56112869 1.45341481] [-0.04689564 0.992868 0.1096081 -1.52812355] [ 0.56816985 -0.06373668 0.82043931 -8.41480916] [ 0. 0. 0. 1. ]] SLAMing on 114.20964924600001 meters Centerline goodness : 0.885531 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.53, Z:-8.41 [[ 0.82122183 0.10082746 -0.56163025 1.45438382] [-0.04657917 0.99282517 0.11012977 -1.52983618] [ 0.56870475 -0.0642807 0.82002616 -8.4134266 ] [ 0. 0. 0. 1. ]] SLAMing on 114.23964924600001 meters Centerline goodness : 0.881847 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.53, Z:-8.41 [[ 0.82144169 0.09705752 -0.56197277 1.45442489] [-0.04434048 0.99329799 0.10673812 -1.52994503] [ 0.56856616 -0.062761 0.82023995 -8.41432483] [ 0. 0. 0. 1. ]] SLAMing on 114.26964924600001 meters Centerline goodness : 0.879174 Centerline is valid? [False, False] Translation: X:1.46, Y:-1.53, Z:-8.41 [[ 0.82116007 0.09635687 -0.56250466 1.45644977] [-0.04342922 0.99333601 0.10675895 -1.53099518] [ 0.56904309 -0.06323705 0.81987257 -8.4131985 ] [ 0. 0. 0. 1. ]] SLAMing on 114.29964924600002 meters Centerline goodness : 0.884886 Centerline is valid? [False, False] Translation: X:1.45, Y:-1.53, Z:-8.41 [[ 0.82151211 0.09128997 -0.56283568 1.4546262 ] [-0.03958456 0.99384962 0.10342148 -1.53062021] [ 0.56881536 -0.06268239 0.82007317 -8.4118574 ] [ 0. 0. 0. 1. ]] SLAMing on 114.32964924600002 meters Centerline goodness : 0.887795 Centerline is valid? [False, False] Translation: X:1.46, Y:-1.53, Z:-8.41 [[ 0.82181286 0.08520132 -0.56335101 1.45587366] [-0.03537482 0.99447829 0.09880054 -1.52869336] [ 0.56865829 -0.06126711 0.82028903 -8.4122869 ] [ 0. 0. 0. 1. ]] SLAMing on 114.35964924600002 meters Centerline goodness : 0.878848 Centerline is valid? [False, False] Translation: X:1.46, Y:-1.53, Z:-8.41 [[ 0.82093474 0.08221912 -0.56507183 1.46474296] [-0.03256373 0.9947101 0.09742388 -1.52777342] [ 0.57009276 -0.06157781 0.81926944 -8.41080376] [ 0. 0. 0. 1. ]] SLAMing on 114.38964924600002 meters Centerline goodness : 0.880124 Centerline is valid? [False, False] Translation: X:1.47, Y:-1.53, Z:-8.41 [[ 0.82056817 0.08124843 -0.56574427 1.46895806] [-0.03171744 0.99479234 0.09686178 -1.52722968] [ 0.57066793 -0.06153773 0.81887192 -8.41075302] [ 0. 0. 0. 1. ]] SLAMing on 114.41964924600002 meters Centerline goodness : 0.874764 Centerline is valid? [False, False] Translation: X:1.47, Y:-1.53, Z:-8.41 [[ 0.82008813 0.08060894 -0.56653125 1.47395351] [-0.03106222 0.99483979 0.09658641 -1.52813723] [ 0.57139356 -0.06161165 0.81836019 -8.41058893] [ 0. 0. 0. 1. ]] SLAMing on 114.44964924600002 meters Centerline goodness : 0.876743 Centerline is valid? [False, False] Translation: X:1.47, Y:-1.53, Z:-8.41 [[ 0.82037035 0.07564619 -0.56680698 1.47416357] [-0.0276285 0.99529724 0.09284438 -1.52907386] [ 0.57116474 -0.06050675 0.81860233 -8.41095565] [ 0. 0. 0. 1. ]] SLAMing on 114.47964924600001 meters Centerline goodness : 0.879515 Centerline is valid? [False, False] Translation: X:1.47, Y:-1.53, Z:-8.41 [[ 0.82050887 0.07154246 -0.5671392 1.47311036] [-0.02458651 0.99563596 0.09002516 -1.53205749] [ 0.5711048 -0.05992247 0.81868712 -8.41018916] [ 0. 0. 0. 1. ]] SLAMing on 114.50964924600001 meters Centerline goodness : 0.880782 Centerline is valid? [False, False] Translation: X:1.47, Y:-1.53, Z:-8.41 [[ 0.82030862 0.07183805 -0.56739145 1.47370148] [-0.02450058 0.9955832 0.09063005 -1.53405039] [ 0.57139608 -0.06044319 0.81844556 -8.40931208] [ 0. 0. 0. 1. ]] SLAMing on 114.53964924600001 meters Centerline goodness : 0.878498 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.41 [[ 0.81969371 0.07118573 -0.56836152 1.47703627] [-0.02292193 0.99552934 0.09162921 -1.53731096] [ 0.57234326 -0.06207994 0.81766085 -8.40618321] [ 0. 0. 0. 1. ]] SLAMing on 114.56964924600001 meters Centerline goodness : 0.874490 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.41 [[ 0.819468 0.07096637 -0.56871432 1.47808112] [-0.02239756 0.99551162 0.09195084 -1.53850237] [ 0.57268713 -0.06261296 0.81737939 -8.40508297] [ 0. 0. 0. 1. ]] SLAMing on 114.59964924600001 meters Centerline goodness : 0.878354 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.41 [[ 0.81944217 0.07200186 -0.56862137 1.47749867] [-0.0232279 0.99543489 0.09257345 -1.53904686] [ 0.57269101 -0.06265071 0.81737378 -8.40503891] [ 0. 0. 0. 1. ]] SLAMing on 114.62964924600001 meters Centerline goodness : 0.877293 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.40 [[ 0.81919961 0.07237482 -0.56892344 1.47719936] [-0.02314269 0.99536894 0.09330107 -1.54026041] [ 0.57304137 -0.06326578 0.8170808 -8.40353492] [ 0. 0. 0. 1. ]] SLAMing on 114.65964924600001 meters Centerline goodness : 0.877484 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.40 [[ 0.81909032 0.07337554 -0.56895262 1.4761993 ] [-0.02356757 0.99525299 0.09442485 -1.54256426] [ 0.57318027 -0.06393365 0.81693137 -8.40226597] [ 0. 0. 0. 1. ]] SLAMing on 114.68964924600002 meters Centerline goodness : 0.877093 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.40 [[ 0.81888391 0.07369953 -0.5692078 1.47724781] [-0.02362962 0.99520988 0.09486269 -1.54340594] [ 0.57347256 -0.06423137 0.81670285 -8.40165602] [ 0. 0. 0. 1. ]] SLAMing on 114.71964924600002 meters Centerline goodness : 0.876820 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.40 [[ 0.81865446 0.07372701 -0.5695342 1.47827975] [-0.02346581 0.99519121 0.09509892 -1.54371701] [ 0.57380679 -0.06448857 0.81644779 -8.40096037] [ 0. 0. 0. 1. ]] SLAMing on 114.74964924600002 meters Centerline goodness : 0.875516 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.40 [[ 0.81838078 0.07390212 -0.56990471 1.47898579] [-0.02339504 0.99515912 0.09545159 -1.54424822] [ 0.57419994 -0.06478281 0.81614804 -8.4000804 ] [ 0. 0. 0. 1. ]] SLAMing on 114.77964924600002 meters Centerline goodness : 0.876170 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.55, Z:-8.40 [[ 0.81802709 0.07412881 -0.57038285 1.48017755] [-0.02328027 0.9951148 0.09594044 -1.54544815] [ 0.57470836 -0.06520321 0.8157566 -8.39890668] [ 0. 0. 0. 1. ]] SLAMing on 114.80964924600002 meters Centerline goodness : 0.877447 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.55, Z:-8.40 [[ 0.81784918 0.07422713 -0.57062515 1.48106714] [-0.02327433 0.99510098 0.09608513 -1.54559315] [ 0.57496176 -0.06530223 0.8155701 -8.39853803] [ 0. 0. 0. 1. ]] SLAMing on 114.83964924600001 meters Centerline goodness : 0.881071 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.55, Z:-8.40 [[ 0.81742431 0.07432556 -0.57122081 1.48261254] [-0.02314641 0.99507798 0.09635379 -1.54649324] [ 0.5755708 -0.06554022 0.8151213 -8.39744879] [ 0. 0. 0. 1. ]] SLAMing on 114.86964924600001 meters Centerline goodness : 0.878698 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.55, Z:-8.40 [[ 0.81721221 0.07468509 -0.57147734 1.48274036] [-0.02324799 0.99503289 0.09679401 -1.54731808] [ 0.57586781 -0.06581554 0.8148893 -8.3966288 ] [ 0. 0. 0. 1. ]] SLAMing on 114.89964924600001 meters Centerline goodness : 0.875666 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.55, Z:-8.40 [[ 0.8169125 0.0746819 -0.5719061 1.48460767] [-0.02321346 0.99503528 0.09677771 -1.5475013 ] [ 0.57629429 -0.065783 0.81459038 -8.3962932 ] [ 0. 0. 0. 1. ]] SLAMing on 114.92964924600001 meters Centerline goodness : 0.876654 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.55, Z:-8.40 [[ 0.81667834 0.07515188 -0.5721789 1.48464357] [-0.02345867 0.99498815 0.0972022 -1.54750768] [ 0.57661615 -0.06596037 0.81434823 -8.39550381] [ 0. 0. 0. 1. ]] SLAMing on 114.95964924600001 meters Centerline goodness : 0.879926 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.55, Z:-8.40 [[ 0.81641541 0.07616068 -0.57242067 1.48400374] [-0.02445557 0.99493535 0.09749656 -1.54642149] [ 0.57694697 -0.06559882 0.8141431 -8.39517242] [ 0. 0. 0. 1. ]] SLAMing on 114.98964924600001 meters Centerline goodness : 0.877749 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.40 [[ 0.81628785 0.07646082 -0.57256256 1.48433045] [-0.02487766 0.99493458 0.09739754 -1.54492716] [ 0.57710939 -0.06526041 0.81405518 -8.39535464] [ 0. 0. 0. 1. ]] SLAMing on 115.01964924600001 meters Centerline goodness : 0.879431 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.54, Z:-8.39 [[ 0.81556791 0.08199113 -0.57282322 1.48585036] [-0.02900278 0.99445865 0.10104871 -1.54302351] [ 0.5779341 -0.06579862 0.81342653 -8.39490193] [ 0. 0. 0. 1. ]] SLAMing on 115.04964924600002 meters Centerline goodness : 0.877022 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.54, Z:-8.40 [[ 0.8153995 0.08278992 -0.57294807 1.48559077] [-0.02988374 0.99442099 0.10116249 -1.54156976] [ 0.57812682 -0.06536601 0.81332445 -8.39508117] [ 0. 0. 0. 1. ]] SLAMing on 115.07964924600002 meters Centerline goodness : 0.878547 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.40 [[ 0.81496218 0.08525008 -0.57320944 1.48407275] [-0.03230708 0.99426594 0.10193865 -1.53959175] [ 0.5786129 -0.06455742 0.81304332 -8.39520432] [ 0. 0. 0. 1. ]] SLAMing on 115.10964924600002 meters Centerline goodness : 0.874556 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.39 [[ 0.81462745 0.08710927 -0.57340569 1.48345667] [-0.03396593 0.99412524 0.10276834 -1.5376915 ] [ 0.57898915 -0.06424165 0.81280045 -8.39495704] [ 0. 0. 0. 1. ]] SLAMing on 115.13964924600002 meters Centerline goodness : 0.873385 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.40 [[ 0.81449678 0.08732191 -0.57355896 1.4843001 ] [-0.03425733 0.994122 0.10270287 -1.53673933] [ 0.5791558 -0.06400256 0.81270058 -8.39514576] [ 0. 0. 0. 1. ]] SLAMing on 115.16964924600002 meters Centerline goodness : 0.874926 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.40 [[ 0.81439829 0.08752271 -0.5736682 1.48494217] [-0.03447868 0.99411243 0.10272147 -1.53606247] [ 0.57928115 -0.06387687 0.81262113 -8.3951914 ] [ 0. 0. 0. 1. ]] SLAMing on 115.19964924600002 meters Centerline goodness : 0.877157 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.39 [[ 0.81424931 0.08872913 -0.57369435 1.48398215] [-0.03538174 0.99399818 0.10351687 -1.53704206] [ 0.5794361 -0.06399024 0.81250173 -8.39465554] [ 0. 0. 0. 1. ]] SLAMing on 115.22964924600001 meters Centerline goodness : 0.875636 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.39 [[ 0.81396677 0.08916202 -0.57402807 1.48371366] [-0.03537018 0.99392422 0.10422859 -1.53855347] [ 0.57983363 -0.06453513 0.81217497 -8.39321959] [ 0. 0. 0. 1. ]] SLAMing on 115.25964924600001 meters Centerline goodness : 0.879892 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.39 [[ 0.81444769 0.08584121 -0.57385212 1.48023236] [-0.03324932 0.99427549 0.10154179 -1.54064755] [ 0.57928356 -0.06362028 0.81263953 -8.39323903] [ 0. 0. 0. 1. ]] SLAMing on 115.28964924600001 meters Centerline goodness : 0.883164 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.39 [[ 0.81465433 0.08173082 -0.57415886 1.47963019] [-0.03049202 0.99468677 0.09832837 -1.54163143] [ 0.57914468 -0.06259637 0.81281802 -8.39327844] [ 0. 0. 0. 1. ]] SLAMing on 115.31964924600001 meters Centerline goodness : 0.879039 Centerline is valid? [False, False] Translation: X:1.48, Y:-1.54, Z:-8.39 [[ 0.81449519 0.08198626 -0.57434819 1.48050912] [-0.03047165 0.99464368 0.09876954 -1.54306638] [ 0.57936954 -0.06294598 0.81263075 -8.39275899] [ 0. 0. 0. 1. ]] SLAMing on 115.34964924600001 meters Centerline goodness : 0.880975 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.55, Z:-8.39 [[ 0.8139457 0.08064113 -0.57531678 1.48523214] [-0.02882482 0.9947051 0.09864531 -1.5456597 ] [ 0.58022541 -0.06370852 0.81196041 -8.39113884] [ 0. 0. 0. 1. ]] SLAMing on 115.37964924600001 meters Centerline goodness : 0.880672 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.55, Z:-8.39 [[ 0.81343652 0.07946639 -0.57619972 1.48905144] [-0.02731057 0.99474881 0.0986354 -1.54770586] [ 0.58101219 -0.06449729 0.81133528 -8.38945602] [ 0. 0. 0. 1. ]] SLAMing on 115.40964924600001 meters Centerline goodness : 0.880060 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.55, Z:-8.39 [[ 0.81299981 0.07903068 -0.5768756 1.49136382] [-0.02653046 0.99474484 0.09888806 -1.54965516] [ 0.58165922 -0.0650912 0.81082408 -8.38807297] [ 0. 0. 0. 1. ]] SLAMing on 115.43964924600002 meters Centerline goodness : 0.878756 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.55, Z:-8.39 [[ 0.81249989 0.07890113 -0.57759722 1.49424034] [-0.02631787 0.99475282 0.09886449 -1.55075422] [ 0.58236698 -0.06512626 0.81031307 -8.38736472] [ 0. 0. 0. 1. ]] SLAMing on 115.46964924600002 meters Centerline goodness : 0.880940 Centerline is valid? [False, False] Translation: X:1.50, Y:-1.55, Z:-8.39 [[ 0.81212448 0.07881801 -0.57813627 1.49631018] [-0.02601569 0.99474041 0.09906917 -1.5516341 ] [ 0.58290394 -0.06541588 0.80990355 -8.38642314] [ 0. 0. 0. 1. ]] SLAMing on 115.49964924600002 meters Centerline goodness : 0.880940 Centerline is valid? [False, False] Translation: X:1.50, Y:-1.55, Z:-8.39 [[ 0.81212448 0.07881801 -0.57813627 1.49631018] [-0.02601569 0.99474041 0.09906917 -1.5516341 ] [ 0.58290394 -0.06541588 0.80990355 -8.38642314] [ 0. 0. 0. 1. ]] SLAMing on 115.52964924600002 meters Centerline goodness : 0.880356 Centerline is valid? [False, False] Translation: X:1.50, Y:-1.55, Z:-8.38 [[ 0.81186192 0.07897753 -0.57848316 1.49636057] [-0.02572727 0.99468557 0.09969317 -1.55265548] [ 0.58328237 -0.06605429 0.80957921 -8.3848335 ] [ 0. 0. 0. 1. ]] SLAMing on 115.55964924600002 meters Centerline goodness : 0.885950 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.55, Z:-8.38 [[ 0.8120933 0.07449404 -0.57875306 1.49384702] [-0.02232104 0.9950576 0.09675818 -1.55383967] [ 0.58310054 -0.0656583 0.80974239 -8.38339792] [ 0. 0. 0. 1. ]] SLAMing on 115.58964924600001 meters Centerline goodness : 0.884355 Centerline is valid? [False, False] Translation: X:1.50, Y:-1.55, Z:-8.38 [[ 0.81174885 0.07375095 -0.57933116 1.49705218] [-0.02172171 0.9951205 0.09624635 -1.55284503] [ 0.58360258 -0.0655438 0.80938992 -8.38328932] [ 0. 0. 0. 1. ]] SLAMing on 115.61964924600001 meters Centerline goodness : 0.881181 Centerline is valid? [False, False] Translation: X:1.50, Y:-1.56, Z:-8.38 [[ 0.81084667 0.07721393 -0.58014281 1.50281987] [-0.02316368 0.99471613 0.10001631 -1.55504929] [ 0.58480006 -0.06765964 0.80835083 -8.38083469] [ 0. 0. 0. 1. ]] SLAMing on 115.64964924600001 meters Centerline goodness : 0.880385 Centerline is valid? [False, False] Translation: X:1.50, Y:-1.56, Z:-8.38 [[ 0.81067768 0.07744237 -0.58034849 1.50352714] [-0.02323395 0.99468822 0.10027728 -1.55534324] [ 0.58503152 -0.06780876 0.80817083 -8.38043168] [ 0. 0. 0. 1. ]] SLAMing on 115.67964924600001 meters Centerline goodness : 0.883931 Centerline is valid? [False, False] Translation: X:1.50, Y:-1.55, Z:-8.38 [[ 0.81052094 0.07783449 -0.58051494 1.50352098] [-0.02353419 0.99465833 0.10050347 -1.55468225] [ 0.58523666 -0.06779822 0.80802318 -8.38002939] [ 0. 0. 0. 1. ]] SLAMing on 115.70964924600001 meters Centerline goodness : 0.884227 Centerline is valid? [False, False] Translation: X:1.50, Y:-1.55, Z:-8.38 [[ 0.8102999 0.07884693 -0.58068686 1.5029509 ] [-0.0245308 0.99460236 0.1008186 -1.5545273 ] [ 0.58550176 -0.06744858 0.80786037 -8.37984294] [ 0. 0. 0. 1. ]] SLAMing on 115.73964924600001 meters Centerline goodness : 0.887711 Centerline is valid? [False, False] Translation: X:1.50, Y:-1.56, Z:-8.38 [[ 0.8098488 0.0800747 -0.58114797 1.50201671] [-0.02536269 0.99449332 0.10168462 -1.55628277] [ 0.58609014 -0.06760969 0.80742014 -8.37835621] [ 0. 0. 0. 1. ]] SLAMing on 115.76964924600001 meters Centerline goodness : 0.886621 Centerline is valid? [False, False] Translation: X:1.50, Y:-1.56, Z:-8.38 [[ 0.80955504 0.08022486 -0.58153642 1.50282324] [-0.02530121 0.99446587 0.10196809 -1.55706063] [ 0.5864985 -0.0678352 0.80710464 -8.37750652] [ 0. 0. 0. 1. ]] SLAMing on 115.79964924600002 meters Centerline goodness : 0.877076 Centerline is valid? [False, False] Translation: X:1.51, Y:-1.56, Z:-8.38 [[ 0.80908662 0.07937255 -0.58230476 1.50715784] [-0.02429011 0.99450739 0.10180885 -1.55834139] [ 0.58718722 -0.06822793 0.80657059 -8.37659715] [ 0. 0. 0. 1. ]] SLAMing on 115.82964924600002 meters Centerline goodness : 0.876822 Centerline is valid? [False, False] Translation: X:1.51, Y:-1.56, Z:-8.38 [[ 0.80875381 0.07899467 -0.58281826 1.50949949] [-0.02363768 0.99450423 0.10199315 -1.55973866] [ 0.58767214 -0.06871088 0.80617633 -8.37564702] [ 0. 0. 0. 1. ]] SLAMing on 115.85964924600002 meters Centerline goodness : 0.875322 Centerline is valid? [False, False] Translation: X:1.51, Y:-1.56, Z:-8.37 [[ 0.80807902 0.07759806 -0.58394079 1.51449008] [-0.02179026 0.99454492 0.10200779 -1.56217618] [ 0.58867095 -0.06970613 0.80536176 -8.37340182] [ 0. 0. 0. 1. ]] SLAMing on 115.88964924600002 meters Centerline goodness : 0.881681 Centerline is valid? [False, False] Translation: X:1.52, Y:-1.56, Z:-8.37 [[ 0.80778645 0.0772735 -0.58438845 1.51630415] [-0.02126192 0.99454499 0.10211852 -1.56294208] [ 0.58909166 -0.07006474 0.80502295 -8.37253158] [ 0. 0. 0. 1. ]] SLAMing on 115.91964924600002 meters Centerline goodness : 0.871939 Centerline is valid? [False, False] Translation: X:1.52, Y:-1.57, Z:-8.37 [[ 0.80739249 0.07779753 -0.58486316 1.51683481] [-0.02115165 0.99444811 0.10308039 -1.56507256] [ 0.58963546 -0.07085552 0.80455548 -8.37059394] [ 0. 0. 0. 1. ]] SLAMing on 115.94964924600002 meters Centerline goodness : 0.875923 Centerline is valid? [False, False] Translation: X:1.52, Y:-1.57, Z:-8.37 [[ 0.80715256 0.07828931 -0.58512864 1.51669603] [-0.02129001 0.99438297 0.10367852 -1.56638945] [ 0.58995887 -0.07122699 0.80428555 -8.36953771] [ 0. 0. 0. 1. ]] SLAMing on 115.97964924600001 meters Centerline goodness : 0.875767 Centerline is valid? [False, False] Translation: X:1.52, Y:-1.57, Z:-8.37 [[ 0.80693343 0.07900081 -0.58533521 1.51624302] [-0.02125414 0.99425658 0.104891 -1.56845172] [ 0.59025985 -0.07219926 0.80397797 -8.36752563] [ 0. 0. 0. 1. ]] SLAMing on 116.00964924600001 meters Centerline goodness : 0.874381 Centerline is valid? [False, False] Translation: X:1.52, Y:-1.57, Z:-8.37 [[ 0.80641636 0.07839283 -0.58612901 1.51940343] [-0.02018088 0.99424508 0.10521146 -1.56984245] [ 0.59100371 -0.07301564 0.80335754 -8.36554725] [ 0. 0. 0. 1. ]] SLAMing on 116.03964924600001 meters Centerline goodness : 0.875968 Centerline is valid? [False, False] Translation: X:1.52, Y:-1.57, Z:-8.36 [[ 0.80606131 0.07809541 -0.58665687 1.52151175] [-0.01962676 0.99423776 0.10538534 -1.57088206] [ 0.59150652 -0.07343287 0.80294935 -8.36452563] [ 0. 0. 0. 1. ]] SLAMing on 116.06964924600001 meters Centerline goodness : 0.868706 Centerline is valid? [False, False] Translation: X:1.52, Y:-1.57, Z:-8.36 [[ 0.80544208 0.07808761 -0.58750777 1.52402538] [-0.01891862 0.99416466 0.10620131 -1.57275772] [ 0.59237247 -0.07442417 0.80221936 -8.36194123] [ 0. 0. 0. 1. ]] SLAMing on 116.09964924600001 meters Centerline goodness : 0.869639 Centerline is valid? [False, False] Translation: X:1.53, Y:-1.57, Z:-8.36 [[ 0.80515437 0.07814515 -0.58789436 1.52500526] [-0.01870634 0.99413408 0.10652468 -1.57379555] [ 0.59277021 -0.07477146 0.8018932 -8.36095676] [ 0. 0. 0. 1. ]] SLAMing on 116.12964924600001 meters Centerline goodness : 0.877401 Centerline is valid? [False, False] Translation: X:1.53, Y:-1.58, Z:-8.36 [[ 0.80446075 0.07860759 -0.58878158 1.52626768] [-0.01833207 0.99401842 0.10766294 -1.57572049] [ 0.59372286 -0.07581702 0.80108985 -8.35782295] [ 0. 0. 0. 1. ]] SLAMing on 116.15964924600001 meters Centerline goodness : 0.876399 Centerline is valid? [False, False] Translation: X:1.53, Y:-1.58, Z:-8.36 [[ 0.80412451 0.07910692 -0.58917389 1.52641201] [-0.01833273 0.99393481 0.10843203 -1.57640021] [ 0.59417816 -0.07639169 0.80069759 -8.35620727] [ 0. 0. 0. 1. ]] SLAMing on 116.18964924600002 meters Centerline goodness : 0.874985 Centerline is valid? [False, False] Translation: X:1.53, Y:-1.58, Z:-8.36 [[ 0.80376845 0.07888449 -0.58968934 1.52839962] [-0.01810317 0.99395462 0.10828895 -1.57577887] [ 0.59466676 -0.076364 0.80033742 -8.35555882] [ 0. 0. 0. 1. ]] SLAMing on 116.21964924600002 meters Centerline goodness : 0.871697 Centerline is valid? [False, False] Translation: X:1.53, Y:-1.57, Z:-8.36 [[ 0.80346895 0.07845831 -0.59015417 1.53062392] [-0.01777174 0.99399725 0.10795196 -1.57446796] [ 0.59508136 -0.07624798 0.80004027 -8.35525363] [ 0. 0. 0. 1. ]] SLAMing on 116.24964924600002 meters Centerline goodness : 0.871348 Centerline is valid? [False, False] Translation: X:1.53, Y:-1.57, Z:-8.36 [[ 0.80315116 0.07830551 -0.59060685 1.53301366] [-0.01769756 0.9940231 0.10772593 -1.57294433] [ 0.59551239 -0.0760679 0.79973663 -8.35501849] [ 0. 0. 0. 1. ]] SLAMing on 116.27964924600002 meters Centerline goodness : 0.873729 Centerline is valid? [False, False] Translation: X:1.53, Y:-1.57, Z:-8.35 [[ 0.8029218 0.078297 -0.59091976 1.53379936] [-0.01765549 0.99402462 0.1077188 -1.57270329] [ 0.59582284 -0.07605679 0.79950641 -8.35450472] [ 0. 0. 0. 1. ]] SLAMing on 116.30964924600002 meters Centerline goodness : 0.873163 Centerline is valid? [False, False] Translation: X:1.53, Y:-1.57, Z:-8.35 [[ 0.80270971 0.07918731 -0.59108924 1.53247076] [-0.01825452 0.99394333 0.10836708 -1.5723295 ] [ 0.59609051 -0.07619725 0.79929349 -8.35333579] [ 0. 0. 0. 1. ]] SLAMing on 116.33964924600001 meters Centerline goodness : 0.871696 Centerline is valid? [False, False] Translation: X:1.53, Y:-1.57, Z:-8.35 [[ 0.80253742 0.07952911 -0.59127727 1.53249185] [-0.01853356 0.99392032 0.10853068 -1.57165027] [ 0.59631384 -0.07614146 0.79913221 -8.35294712] [ 0. 0. 0. 1. ]] SLAMing on 116.36964924600001 meters Centerline goodness : 0.870196 Centerline is valid? [False, False] Translation: X:1.53, Y:-1.57, Z:-8.35 [[ 0.80216962 0.07916973 -0.59182435 1.53460501] [-0.01835029 0.99397135 0.10809356 -1.56936347] [ 0.59681419 -0.07584922 0.79878641 -8.35252529] [ 0. 0. 0. 1. ]] SLAMing on 116.39964924600001 meters Centerline goodness : 0.867231 Centerline is valid? [False, False] Translation: X:1.54, Y:-1.57, Z:-8.35 [[ 0.80231968 0.07313937 -0.59239662 1.53587539] [-0.01413274 0.99451391 0.10364534 -1.56833944] [ 0.59672723 -0.07478451 0.79895174 -8.35253138] [ 0. 0. 0. 1. ]] SLAMing on 116.42964924600001 meters Centerline goodness : 0.867158 Centerline is valid? [False, False] Translation: X:1.54, Y:-1.57, Z:-8.35 [[ 0.80178238 0.07196025 -0.59326784 1.53948754] [-0.01307786 0.99459897 0.10296528 -1.56666488] [ 0.59747299 -0.07479708 0.79839302 -8.35143047] [ 0. 0. 0. 1. ]] SLAMing on 116.45964924600001 meters Centerline goodness : 0.867235 Centerline is valid? [False, False] Translation: X:1.54, Y:-1.57, Z:-8.35 [[ 0.80144247 0.07129598 -0.59380708 1.54206968] [-0.01249029 0.99464783 0.10256553 -1.56588697] [ 0.59794143 -0.07478355 0.79804352 -8.35093363] [ 0. 0. 0. 1. ]] SLAMing on 116.48964924600001 meters Centerline goodness : 0.867912 Centerline is valid? [False, False] Translation: X:1.55, Y:-1.56, Z:-8.35 [[ 0.80085678 0.070648 -0.59467409 1.54556262] [-0.01211832 0.99472548 0.10185466 -1.56419192] [ 0.5987333 -0.07436455 0.79748878 -8.35044297] [ 0. 0. 0. 1. ]] SLAMing on 116.51964924600001 meters Centerline goodness : 0.869057 Centerline is valid? [False, False] Translation: X:1.55, Y:-1.56, Z:-8.35 [[ 0.80059266 0.07083067 -0.59500791 1.54615225] [-0.01207754 0.99469471 0.1021595 -1.56479568] [ 0.59908724 -0.07460191 0.79720075 -8.34955708] [ 0. 0. 0. 1. ]] SLAMing on 116.54964924600002 meters Centerline goodness : 0.866001 Centerline is valid? [False, False] Translation: X:1.55, Y:-1.57, Z:-8.35 [[ 0.80023794 0.07104206 -0.59545971 1.54732141] [-0.01179701 0.99463088 0.10281168 -1.5659895 ] [ 0.59956657 -0.07524916 0.79677945 -8.34785666] [ 0. 0. 0. 1. ]] SLAMing on 116.57964924600002 meters Centerline goodness : 0.869249 Centerline is valid? [False, False] Translation: X:1.55, Y:-1.57, Z:-8.35 [[ 0.79995355 0.07108217 -0.59583693 1.54821429] [-0.01154066 0.99459788 0.10315941 -1.56648232] [ 0.59995094 -0.07564638 0.79645244 -8.34671565] [ 0. 0. 0. 1. ]] SLAMing on 116.60964924600002 meters Centerline goodness : 0.870237 Centerline is valid? [False, False] Translation: X:1.55, Y:-1.57, Z:-8.35 [[ 0.79961199 0.07123214 -0.59627732 1.54943579] [-0.01139559 0.99456104 0.10353012 -1.56728046] [ 0.60040886 -0.07598899 0.79607467 -8.34542068] [ 0. 0. 0. 1. ]] SLAMing on 116.63964924600002 meters Centerline goodness : 0.871192 Centerline is valid? [False, False] Translation: X:1.55, Y:-1.57, Z:-8.34 [[ 0.79934488 0.07095388 -0.59666851 1.55122842] [-0.01112277 0.99458064 0.10337134 -1.56684661] [ 0.60076955 -0.07599275 0.79580215 -8.34498574] [ 0. 0. 0. 1. ]] SLAMing on 116.66964924600002 meters Centerline goodness : 0.866182 Centerline is valid? [False, False] Translation: X:1.55, Y:-1.56, Z:-8.35 [[ 0.798958 0.0705619 -0.59723289 1.55427199] [-0.01106448 0.99464937 0.1027142 -1.56495178] [ 0.60128503 -0.07545626 0.79546381 -8.34507309] [ 0. 0. 0. 1. ]] SLAMing on 116.69964924600002 meters Centerline goodness : 0.865348 Centerline is valid? [False, False] Translation: X:1.56, Y:-1.56, Z:-8.34 [[ 0.79871453 0.07054038 -0.597561 1.55524901] [-0.01111749 0.99466495 0.10255746 -1.56402974] [ 0.60160743 -0.07527076 0.79523759 -8.34477323] [ 0. 0. 0. 1. ]] SLAMing on 116.72964924600001 meters Centerline goodness : 0.868950 Centerline is valid? [False, False] Translation: X:1.55, Y:-1.56, Z:-8.34 [[ 0.79825903 0.07160049 -0.59804338 1.55449256] [-0.0121988 0.99462739 0.10279857 -1.56221289] [ 0.60219076 -0.07476448 0.79484374 -8.34385146] [ 0. 0. 0. 1. ]] SLAMing on 116.75964924600001 meters Centerline goodness : 0.870763 Centerline is valid? [False, False] Translation: X:1.55, Y:-1.56, Z:-8.34 [[ 0.79804014 0.07194953 -0.59829358 1.55450063] [-0.01243331 0.99460113 0.10302434 -1.56200103] [ 0.60247602 -0.07477879 0.79462619 -8.34318089] [ 0. 0. 0. 1. ]] SLAMing on 116.78964924600001 meters Centerline goodness : 0.871071 Centerline is valid? [False, False] Translation: X:1.56, Y:-1.56, Z:-8.34 [[ 0.79768606 0.07214143 -0.59874249 1.55565006] [-0.01253749 0.99458856 0.10313293 -1.56123938] [ 0.60294259 -0.07476097 0.7942739 -8.34227248] [ 0. 0. 0. 1. ]] SLAMing on 116.81964924600001 meters Centerline goodness : 0.865099 Centerline is valid? [False, False] Translation: X:1.56, Y:-1.56, Z:-8.34 [[ 0.79743183 0.07143883 -0.59916523 1.55851689] [-0.01197463 0.99464494 0.10265503 -1.55993529] [ 0.60329022 -0.0746856 0.79401699 -8.34213178] [ 0. 0. 0. 1. ]] SLAMing on 116.84964924600001 meters Centerline goodness : 0.864128 Centerline is valid? [False, False] Translation: X:1.57, Y:-1.56, Z:-8.34 [[ 0.79642853 0.07455639 -0.60011911 1.56518728] [-0.01350652 0.99431641 0.10560515 -1.55867726] [ 0.60458182 -0.07600143 0.79290895 -8.34022122] [ 0. 0. 0. 1. ]] SLAMing on 116.87964924600001 meters Centerline goodness : 0.864876 Centerline is valid? [False, False] Translation: X:1.57, Y:-1.56, Z:-8.34 [[ 0.79577501 0.073982 -0.6010564 1.56913413] [-0.01351292 0.99443196 0.10451069 -1.55580331] [ 0.6054416 -0.07504497 0.79234381 -8.3403219 ] [ 0. 0. 0. 1. ]] SLAMing on 116.90964924600001 meters Centerline goodness : 0.854442 Centerline is valid? [False, False] Translation: X:1.57, Y:-1.56, Z:-8.34 [[ 0.79550563 0.07415124 -0.60139204 1.56990799] [-0.0137666 0.99443972 0.10440366 -1.55510178] [ 0.6057898 -0.07477458 0.7921032 -8.34005813] [ 0. 0. 0. 1. ]] SLAMing on 116.93964924600002 meters Centerline goodness : 0.860727 Centerline is valid? [False, False] Translation: X:1.57, Y:-1.55, Z:-8.34 [[ 0.79518971 0.0745307 -0.60176283 1.57008943] [-0.01407929 0.99441914 0.10455789 -1.55482993] [ 0.60619724 -0.07467096 0.79180121 -8.33934215] [ 0. 0. 0. 1. ]] SLAMing on 116.96964924600002 meters Centerline goodness : 0.862196 Centerline is valid? [False, False] Translation: X:1.57, Y:-1.56, Z:-8.34 [[ 0.79497009 0.07582629 -0.60189113 1.56835375] [-0.01504608 0.99431698 0.10539146 -1.55544811] [ 0.60646201 -0.07472695 0.79159315 -8.33827956] [ 0. 0. 0. 1. ]] SLAMing on 116.99964924600002 meters Centerline goodness : 0.862336 Centerline is valid? [False, False] Translation: X:1.57, Y:-1.56, Z:-8.34 [[ 0.79482681 0.07599258 -0.60205936 1.56879342] [-0.01505848 0.99429246 0.10562076 -1.55526662] [ 0.60664947 -0.07488411 0.79143464 -8.33771752] [ 0. 0. 0. 1. ]] SLAMing on 117.02964924600002 meters Centerline goodness : 0.868148 Centerline is valid? [False, False] Translation: X:1.57, Y:-1.55, Z:-8.34 [[ 0.79462498 0.07569516 -0.60236316 1.57069399] [-0.01460714 0.99429321 0.1056771 -1.55451187] [ 0.60692485 -0.07517486 0.79119591 -8.33691189] [ 0. 0. 0. 1. ]] SLAMing on 117.05964924600002 meters Centerline goodness : 0.866314 Centerline is valid? [False, False] Translation: X:1.57, Y:-1.55, Z:-8.34 [[ 0.79437085 0.07560474 -0.60270962 1.57209396] [-0.01445621 0.99429589 0.10567259 -1.5543165 ] [ 0.60726104 -0.07523033 0.79093263 -8.33636352] [ 0. 0. 0. 1. ]] SLAMing on 117.08964924600001 meters Centerline goodness : 0.858345 Centerline is valid? [False, False] Translation: X:1.57, Y:-1.55, Z:-8.34 [[ 0.79454325 0.07028408 -0.60312616 1.57220459] [-0.01099754 0.99478118 0.10143692 -1.55229068] [ 0.60710796 -0.07396311 0.79116963 -8.33650701] [ 0. 0. 0. 1. ]] SLAMing on 117.11964924600001 meters Centerline goodness : 0.865825 Centerline is valid? [False, False] Translation: X:1.57, Y:-1.55, Z:-8.34 [[ 7.94688761e-01 6.43562578e-02 -6.03595929e-01 1.57229184e+00] [-6.58082975e-03 9.95218919e-01 9.74473999e-02 -1.55199767e+00] [ 6.06981438e-01 -7.34681914e-02 7.91312807e-01 -8.33562967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14964924600001 meters Centerline goodness : 0.863792 Centerline is valid? [False, False] Translation: X:1.58, Y:-1.55, Z:-8.33 [[ 7.93804400e-01 6.22640122e-02 -6.04977493e-01 1.57764112e+00] [-4.40108819e-03 9.95307550e-01 9.66618409e-02 -1.55125663e+00] [ 6.08157221e-01 -7.40680354e-02 7.90353542e-01 -8.33302464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17964924600001 meters Centerline goodness : 0.862166 Centerline is valid? [False, False] Translation: X:1.58, Y:-1.55, Z:-8.33 [[ 7.92827011e-01 6.59013092e-02 -6.05873211e-01 1.58332573e+00] [-6.32626579e-03 9.94972789e-01 9.99456221e-02 -1.55127234e+00] [ 6.09413906e-01 -7.54066739e-02 7.89258211e-01 -8.33113810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20964924600001 meters Centerline goodness : 0.857028 Centerline is valid? [False, False] Translation: X:1.59, Y:-1.55, Z:-8.33 [[ 0.79172216 0.06986259 -0.60687333 1.59034128] [-0.00868093 0.99462533 0.10317509 -1.5504984 ] [ 0.61081966 -0.07641778 0.78807339 -8.32965451] [ 0. 0. 0. 1. ]] SLAMing on 117.23964924600001 meters Centerline goodness : 0.855528 Centerline is valid? [False, False] Translation: X:1.59, Y:-1.55, Z:-8.33 [[ 0.79151642 0.07024311 -0.60709774 1.59177941] [-0.00901768 0.99460706 0.10332217 -1.55038562] [ 0.61108137 -0.07630659 0.78788125 -8.32962776] [ 0. 0. 0. 1. ]] SLAMing on 117.26964924600001 meters Centerline goodness : 0.859680 Centerline is valid? [False, False] Translation: X:1.59, Y:-1.55, Z:-8.33 [[ 0.79104368 0.0708809 -0.60763953 1.5928773 ] [-0.00915799 0.99452584 0.10408888 -1.55243092] [ 0.61169112 -0.07677409 0.7873625 -8.3279811 ] [ 0. 0. 0. 1. ]] SLAMing on 117.29964924600002 meters Centerline goodness : 0.861832 Centerline is valid? [False, False] Translation: X:1.59, Y:-1.55, Z:-8.33 [[ 7.91202260e-01 6.29923816e-02 -6.08301688e-01 1.58970139e+00] [-4.12878242e-03 9.95208512e-01 9.76881267e-02 -1.55446424e+00] [ 6.11540626e-01 -7.47795213e-02 7.87671306e-01 -8.32756628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32964924600002 meters Centerline goodness : 0.869644 Centerline is valid? [False, False] Translation: X:1.59, Y:-1.56, Z:-8.33 [[ 7.90818960e-01 6.37309730e-02 -6.08723037e-01 1.58937147e+00] [-4.18820892e-03 9.95104203e-01 9.87425157e-02 -1.55714760e+00] [ 6.12035809e-01 -7.55379944e-02 7.87214189e-01 -8.32551489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35964924600002 meters Centerline goodness : 0.872543 Centerline is valid? [False, False] Translation: X:1.59, Y:-1.56, Z:-8.32 [[ 7.90424005e-01 6.36362043e-02 -6.09245703e-01 1.59073204e+00] [-3.66943499e-03 9.95063291e-01 9.91745055e-02 -1.55898539e+00] [ 6.12549123e-01 -7.61543223e-02 7.86755420e-01 -8.32387866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38964924600002 meters Centerline goodness : 0.864637 Centerline is valid? [False, False] Translation: X:1.59, Y:-1.56, Z:-8.32 [[ 7.89785406e-01 6.27031929e-02 -6.10169912e-01 1.59484202e+00] [-2.37404369e-03 9.95066318e-01 9.91836028e-02 -1.56043024e+00] [ 6.13378656e-01 -7.68851920e-02 7.86037716e-01 -8.32184891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41964924600002 meters Centerline goodness : 0.864637 Centerline is valid? [False, False] Translation: X:1.59, Y:-1.56, Z:-8.32 [[ 7.89785406e-01 6.27031929e-02 -6.10169912e-01 1.59484202e+00] [-2.37404369e-03 9.95066318e-01 9.91836028e-02 -1.56043024e+00] [ 6.13378656e-01 -7.68851920e-02 7.86037716e-01 -8.32184891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44964924600002 meters Centerline goodness : 0.861837 Centerline is valid? [False, False] Translation: X:1.60, Y:-1.56, Z:-8.32 [[ 7.89362892e-01 6.26556802e-02 -6.10721287e-01 1.59677738e+00] [-1.88033252e-03 9.95020602e-01 9.96517219e-02 -1.56147475e+00] [ 6.13924009e-01 -7.75130123e-02 7.85550153e-01 -8.32024331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47964924600001 meters Centerline goodness : 0.868611 Centerline is valid? [False, False] Translation: X:1.60, Y:-1.56, Z:-8.32 [[ 7.88730397e-01 6.16918786e-02 -6.11635899e-01 1.60152382e+00] [-1.07080721e-03 9.95088106e-01 9.89874474e-02 -1.56088193e+00] [ 6.14738330e-01 -7.74194646e-02 7.84922297e-01 -8.31941829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50964924600001 meters Centerline goodness : 0.863856 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.56, Z:-8.32 [[ 7.87891631e-01 6.08043565e-02 -6.12804707e-01 1.60576644e+00] [-5.44623620e-04 9.95181857e-01 9.80447561e-02 -1.55847326e+00] [ 6.15813675e-01 -7.69148948e-02 7.84128572e-01 -8.31844577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53964924600001 meters Centerline goodness : 0.866267 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.56, Z:-8.32 [[ 7.87551839e-01 6.10075623e-02 -6.13221149e-01 1.60678461e+00] [-8.26837192e-04 9.95191313e-01 9.79467505e-02 -1.55741799e+00] [ 6.16247854e-01 -7.66311094e-02 7.83815193e-01 -8.31806038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56964924600001 meters Centerline goodness : 0.868560 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.56, Z:-8.32 [[ 7.87160724e-01 6.14122622e-02 -6.13682759e-01 1.60703070e+00] [-1.48148956e-03 9.95215535e-01 9.76926043e-02 -1.55566165e+00] [ 6.16746139e-01 -7.59906165e-02 7.83485562e-01 -8.31762008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59964924600001 meters Centerline goodness : 0.869075 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.55, Z:-8.32 [[ 7.87019770e-01 6.15097378e-02 -6.13853757e-01 1.60766375e+00] [-1.67141996e-03 9.95226151e-01 9.75813188e-02 -1.55438727e+00] [ 6.16925513e-01 -7.57724196e-02 7.83365465e-01 -8.31757385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62964924600001 meters Centerline goodness : 0.869069 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.55, Z:-8.32 [[ 7.86876186e-01 6.14518472e-02 -6.14043596e-01 1.60881106e+00] [-1.81146187e-03 9.95255290e-01 9.72811707e-02 -1.55262828e+00] [ 6.17108245e-01 -7.54359200e-02 7.83254005e-01 -8.31777482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65964924600001 meters Centerline goodness : 0.862297 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.55, Z:-8.32 [[ 7.86187235e-01 6.70328187e-02 -6.14342113e-01 1.61006123e+00] [-5.58108493e-03 9.94829393e-01 1.01406756e-01 -1.55163032e+00] [ 6.17963172e-01 -7.62960014e-02 7.82496286e-01 -8.31632451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68964924600002 meters Centerline goodness : 0.866158 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.55, Z:-8.32 [[ 7.86048029e-01 6.75277907e-02 -6.14466023e-01 1.60991955e+00] [-6.15586504e-03 9.94821311e-01 1.01452769e-01 -1.55063966e+00] [ 6.18134776e-01 -7.59641795e-02 7.82393023e-01 -8.31631923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71964924600002 meters Centerline goodness : 0.865993 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.55, Z:-8.32 [[ 7.85785546e-01 6.88508216e-02 -6.14654896e-01 1.60936364e+00] [-7.75332380e-03 9.94803152e-01 1.01521301e-01 -1.54910749e+00] [ 6.18450452e-01 -7.50083523e-02 7.82235760e-01 -8.31678174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74964924600002 meters Centerline goodness : 0.871144 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.55, Z:-8.32 [[ 0.78544196 0.06908881 -0.6150672 1.61136082] [-0.00851906 0.994863 0.10087137 -1.54779551] [ 0.61887669 -0.07398881 0.78199572 -8.31751589] [ 0. 0. 0. 1. ]] SLAMing on 117.77964924600002 meters Centerline goodness : 0.872874 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.55, Z:-8.32 [[ 0.78524407 0.06908118 -0.61532068 1.6127939 ] [-0.00874128 0.9948946 0.10054018 -1.54702575] [ 0.61912465 -0.07356989 0.78183894 -8.31777404] [ 0. 0. 0. 1. ]] SLAMing on 117.80964924600002 meters Centerline goodness : 0.866919 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.55, Z:-8.32 [[ 0.78490412 0.0700578 -0.61564391 1.61323439] [-0.00983165 0.99487053 0.10067758 -1.54683049] [ 0.61953923 -0.07296945 0.78156676 -8.31781815] [ 0. 0. 0. 1. ]] SLAMing on 117.83964924600001 meters Centerline goodness : 0.870677 Centerline is valid? [False, False] Translation: X:1.61, Y:-1.55, Z:-8.32 [[ 0.78457976 0.07011511 -0.61605071 1.61398797] [-0.00971231 0.99485334 0.10085886 -1.54734645] [ 0.61995183 -0.07314855 0.78122277 -8.31684571] [ 0. 0. 0. 1. ]] SLAMing on 117.86964924600001 meters Centerline goodness : 0.873549 Centerline is valid? [False, False] Translation: X:1.62, Y:-1.55, Z:-8.32 [[ 0.78405767 0.06969681 -0.61676245 1.61608604] [-0.00888471 0.99483397 0.10112585 -1.54895 ] [ 0.62062439 -0.07380875 0.78062644 -8.31500989] [ 0. 0. 0. 1. ]] SLAMing on 117.89964924600001 meters Centerline goodness : 0.870790 Centerline is valid? [False, False] Translation: X:1.62, Y:-1.55, Z:-8.31 [[ 7.83397066e-01 6.87751715e-02 -6.17704632e-01 1.62063491e+00] [-7.74687112e-03 9.94862053e-01 1.00942957e-01 -1.55028780e+00] [ 6.21473268e-01 -7.42931383e-02 7.79904806e-01 -8.31342083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92964924600001 meters Centerline goodness : 0.867475 Centerline is valid? [False, False] Translation: X:1.62, Y:-1.55, Z:-8.31 [[ 7.82844181e-01 6.81120467e-02 -6.18478567e-01 1.62408316e+00] [-7.19511295e-03 9.94914969e-01 1.00461109e-01 -1.54985984e+00] [ 6.22176196e-01 -7.41953712e-02 7.79353468e-01 -8.31264786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95964924600001 meters Centerline goodness : 0.866760 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.55, Z:-8.31 [[ 7.82646687e-01 6.79762593e-02 -6.18743398e-01 1.62570698e+00] [-7.08700882e-03 9.94927943e-01 1.00340232e-01 -1.54974802e+00] [ 6.22425850e-01 -7.41459099e-02 7.79158807e-01 -8.31249631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98964924600001 meters Centerline goodness : 0.866421 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.55, Z:-8.31 [[ 7.82218494e-01 6.79609600e-02 -6.19286312e-01 1.62763091e+00] [-6.93566808e-03 9.94920664e-01 1.00422946e-01 -1.54966201e+00] [ 6.22965589e-01 -7.42575210e-02 7.78716698e-01 -8.31149501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01964924600001 meters Centerline goodness : 0.864825 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.55, Z:-8.31 [[ 7.81560131e-01 6.63532355e-02 -6.20291068e-01 1.63187844e+00] [-5.05751920e-03 9.94968503e-01 1.00060483e-01 -1.55037703e+00] [ 6.23809412e-01 -7.50661503e-02 7.77963296e-01 -8.30933346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04964924600002 meters Centerline goodness : 0.866449 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.55, Z:-8.31 [[ 7.81461816e-01 6.20705617e-02 -6.20858016e-01 1.62980015e+00] [-1.48525011e-03 9.95221839e-01 9.76282995e-02 -1.55289004e+00] [ 6.23951300e-01 -7.53706588e-02 7.77820056e-01 -8.30676717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07964924600002 meters Centerline goodness : 0.864721 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.55, Z:-8.31 [[ 7.81202252e-01 6.24648887e-02 -6.21145054e-01 1.62944384e+00] [-1.32971230e-03 9.95145702e-01 9.84035707e-02 -1.55462879e+00] [ 6.24276599e-01 -7.60471469e-02 7.77493125e-01 -8.30515317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10964924600002 meters Centerline goodness : 0.865642 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.55, Z:-8.30 [[ 7.80860673e-01 6.27963383e-02 -6.21541012e-01 1.63069081e+00] [-1.29965293e-03 9.95096027e-01 9.89050405e-02 -1.55488222e+00] [ 6.24703866e-01 -7.64232688e-02 7.77112967e-01 -8.30397860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13964924600002 meters Centerline goodness : 0.862603 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.55, Z:-8.30 [[ 7.80666711e-01 6.34309777e-02 -6.21720193e-01 1.63067488e+00] [-1.83511279e-03 9.95064118e-01 9.92171062e-02 -1.55446919e+00] [ 6.24944893e-01 -7.63145653e-02 7.76929835e-01 -8.30363725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16964924600002 meters Centerline goodness : 0.865462 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.55, Z:-8.30 [[ 7.80257964e-01 6.41123791e-02 -6.22163252e-01 1.63222267e+00] [-2.66090821e-03 9.95063779e-01 9.92017950e-02 -1.55336793e+00] [ 6.25452180e-01 -7.57474713e-02 7.76577035e-01 -8.30364031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19964924600002 meters Centerline goodness : 0.868684 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.55, Z:-8.30 [[ 7.79993290e-01 6.44552727e-02 -6.22459626e-01 1.63281334e+00] [-2.85162449e-03 9.95037264e-01 9.94621139e-02 -1.55385885e+00] [ 6.25781381e-01 -7.58047603e-02 7.76306191e-01 -8.30301209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22964924600001 meters Centerline goodness : 0.871579 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.56, Z:-8.30 [[ 7.80091122e-01 6.03214422e-02 -6.22751287e-01 1.63164241e+00] [-1.89057282e-04 9.95364233e-01 9.61769577e-02 -1.55525919e+00] [ 6.25665890e-01 -7.49090551e-02 7.76486206e-01 -8.30290235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25964924600001 meters Centerline goodness : 0.874361 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.56, Z:-8.30 [[ 7.79781680e-01 6.07400910e-02 -6.23098044e-01 1.63201920e+00] [-1.64850309e-04 9.95302230e-01 9.68165465e-02 -1.55673586e+00] [ 6.26051519e-01 -7.53930514e-02 7.76128458e-01 -8.30158586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28964924600001 meters Centerline goodness : 0.866328 Centerline is valid? [False, False] Translation: X:1.63, Y:-1.56, Z:-8.30 [[ 7.79361779e-01 6.06813539e-02 -6.23628889e-01 1.63453117e+00] [ 1.65683350e-04 9.95279362e-01 9.70513514e-02 -1.55780912e+00] [ 6.26574169e-01 -7.57414388e-02 7.75672640e-01 -8.30053038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31964924600001 meters Centerline goodness : 0.867808 Centerline is valid? [False, False] Translation: X:1.64, Y:-1.56, Z:-8.30 [[ 7.78808214e-01 6.03597416e-02 -6.24351237e-01 1.63730834e+00] [ 6.75438251e-04 9.95278110e-01 9.70619786e-02 -1.55867529e+00] [ 6.27261755e-01 -7.60143769e-02 7.75089998e-01 -8.29918258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34964924600001 meters Centerline goodness : 0.863451 Centerline is valid? [False, False] Translation: X:1.64, Y:-1.56, Z:-8.30 [[ 7.78379571e-01 6.03670943e-02 -6.24884835e-01 1.63876144e+00] [ 1.02984266e-03 9.95242012e-01 9.74283156e-02 -1.55967032e+00] [ 6.27793105e-01 -7.64797436e-02 7.74613882e-01 -8.29775968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37964924600001 meters Centerline goodness : 0.869313 Centerline is valid? [False, False] Translation: X:1.64, Y:-1.56, Z:-8.30 [[ 7.77936413e-01 6.04417122e-02 -6.25429241e-01 1.63999647e+00] [ 1.37761777e-03 9.95196319e-01 9.78896802e-02 -1.56106141e+00] [ 6.28341499e-01 -7.70135492e-02 7.74116189e-01 -8.29615358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40964924600001 meters Centerline goodness : 0.869126 Centerline is valid? [False, False] Translation: X:1.64, Y:-1.56, Z:-8.29 [[ 7.77284729e-01 6.00181768e-02 -6.26279704e-01 1.64278259e+00] [ 2.48590970e-03 9.95138668e-01 9.84522854e-02 -1.56389753e+00] [ 6.29144077e-01 -7.80823328e-02 7.73356890e-01 -8.29350528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43964924600002 meters Centerline goodness : 0.864707 Centerline is valid? [False, False] Translation: X:1.65, Y:-1.57, Z:-8.29 [[ 7.76789715e-01 5.96817739e-02 -6.26925693e-01 1.64532942e+00] [ 3.20792016e-03 9.95111379e-01 9.87069000e-02 -1.56551990e+00] [ 6.29751894e-01 -7.86856323e-02 7.72800830e-01 -8.29193923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46964924600002 meters Centerline goodness : 0.870877 Centerline is valid? [False, False] Translation: X:1.65, Y:-1.57, Z:-8.29 [[ 7.76212737e-01 5.55236817e-02 -6.28021423e-01 1.65031240e+00] [ 6.78653872e-03 9.95321015e-01 9.63847456e-02 -1.56891427e+00] [ 6.30434556e-01 -7.90771589e-02 7.72204036e-01 -8.28985846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49964924600002 meters Centerline goodness : 0.875484 Centerline is valid? [False, False] Translation: X:1.65, Y:-1.57, Z:-8.29 [[ 0.77572273 0.04963451 -0.62911895 1.65293932] [ 0.01187699 0.9955774 0.09319104 -1.57279076] [ 0.63096211 -0.07976245 0.77170251 -8.28689653] [ 0. 0. 0. 1. ]] SLAMing on 118.52964924600002 meters Centerline goodness : 0.876361 Centerline is valid? [False, False] Translation: X:1.66, Y:-1.58, Z:-8.28 [[ 0.77521683 0.04845029 -0.62983445 1.6557457 ] [ 0.01386805 0.99550868 0.0936491 -1.57590052] [ 0.63154298 -0.08133293 0.77106317 -8.28379145] [ 0. 0. 0. 1. ]] SLAMing on 118.55964924600002 meters Centerline goodness : 0.876509 Centerline is valid? [False, False] Translation: X:1.66, Y:-1.58, Z:-8.28 [[ 0.77437419 0.04783829 -0.63091688 1.65870534] [ 0.01580155 0.99536459 0.09486647 -1.57828665] [ 0.63253057 -0.08343161 0.77002873 -8.27921178] [ 0. 0. 0. 1. ]] SLAMing on 118.58964924600001 meters Centerline goodness : 0.880491 Centerline is valid? [False, False] Translation: X:1.66, Y:-1.58, Z:-8.27 [[ 0.77350756 0.04792182 -0.63197274 1.65907879] [ 0.01748155 0.99514473 0.09685744 -1.57961584] [ 0.63354593 -0.08596783 0.76891423 -8.2732521 ] [ 0. 0. 0. 1. ]] SLAMing on 118.61964924600001 meters Centerline goodness : 0.880297 Centerline is valid? [False, False] Translation: X:1.66, Y:-1.58, Z:-8.27 [[ 0.77306629 0.047851 -0.63251781 1.65938355] [ 0.01815939 0.99507245 0.09747334 -1.58041825] [ 0.63406525 -0.0868395 0.76838803 -8.27088353] [ 0. 0. 0. 1. ]] SLAMing on 118.64964924600001 meters Centerline goodness : 0.881350 Centerline is valid? [False, False] Translation: X:1.66, Y:-1.58, Z:-8.26 [[ 0.77168083 0.0472676 -0.63425111 1.66183326] [ 0.02068764 0.99484138 0.09931086 -1.58059325] [ 0.63567344 -0.08975745 0.76672216 -8.26328033] [ 0. 0. 0. 1. ]] SLAMing on 118.67964924600001 meters Centerline goodness : 0.877069 Centerline is valid? [False, False] Translation: X:1.66, Y:-1.58, Z:-8.26 [[ 0.77121717 0.04669642 -0.63485709 1.66378109] [ 0.02156414 0.99481698 0.09936887 -1.58053027] [ 0.63620678 -0.09032513 0.76621296 -8.2615931 ] [ 0. 0. 0. 1. ]] SLAMing on 118.70964924600001 meters Centerline goodness : 0.876469 Centerline is valid? [False, False] Translation: X:1.68, Y:-1.58, Z:-8.23 [[ 0.77287632 0.05718205 -0.63197501 1.67584273] [ 0.02666506 0.99212516 0.12237912 -1.58424692] [ 0.6339962 -0.11143557 0.76526527 -8.22883783] [ 0. 0. 0. 1. ]] SLAMing on 118.73964924600001 meters Centerline goodness : 0.875205 Centerline is valid? [False, False] Translation: X:1.68, Y:-1.58, Z:-8.23 [[ 0.77239759 0.05595459 -0.63266977 1.67913559] [ 0.02789825 0.99216147 0.12180845 -1.58370857] [ 0.63452631 -0.11173493 0.7647821 -8.22763088] [ 0. 0. 0. 1. ]] SLAMing on 118.76964924600001 meters Centerline goodness : 0.872864 Centerline is valid? [False, False] Translation: X:1.68, Y:-1.58, Z:-8.23 [[ 0.77167172 0.05450117 -0.63368161 1.68250069] [ 0.0295299 0.99217719 0.12129468 -1.58283194] [ 0.63533514 -0.11231223 0.76402567 -8.22521926] [ 0. 0. 0. 1. ]] SLAMing on 118.79964924600002 meters Centerline goodness : 0.870765 Centerline is valid? [False, False] Translation: X:1.68, Y:-1.58, Z:-8.22 [[ 0.77110525 0.05427911 -0.63438984 1.68401278] [ 0.03007932 0.99214164 0.12145038 -1.5825186 ] [ 0.6359968 -0.11273304 0.76341295 -8.2233267 ] [ 0. 0. 0. 1. ]] SLAMing on 118.82964924600002 meters Centerline goodness : 0.873253 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.58, Z:-8.22 [[ 0.7704582 0.05376731 -0.63521905 1.68617519] [ 0.03053538 0.99218051 0.12101827 -1.58073486] [ 0.63675879 -0.11263617 0.76279181 -8.22199269] [ 0. 0. 0. 1. ]] SLAMing on 118.85964924600002 meters Centerline goodness : 0.869802 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.58, Z:-8.22 [[ 0.77017559 0.05378184 -0.63556045 1.68701838] [ 0.03049421 0.99219453 0.12091366 -1.57916479] [ 0.63710256 -0.11250566 0.76252397 -8.22153493] [ 0. 0. 0. 1. ]] SLAMing on 118.88964924600002 meters Centerline goodness : 0.873956 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.58, Z:-8.22 [[ 0.76982476 0.05445039 -0.63592845 1.68773793] [ 0.02967462 0.99222345 0.12088027 -1.57666734] [ 0.6375651 -0.11192756 0.76222239 -8.22151477] [ 0. 0. 0. 1. ]] SLAMing on 118.91964924600002 meters Centerline goodness : 0.872767 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.58, Z:-8.22 [[ 0.76936064 0.0542815 -0.63650431 1.68969075] [ 0.02972043 0.9922629 0.12054474 -1.575306 ] [ 0.63812296 -0.11165956 0.76179475 -8.22103484] [ 0. 0. 0. 1. ]] SLAMing on 118.94964924600002 meters Centerline goodness : 0.868089 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.57, Z:-8.22 [[ 0.7686274 0.05415592 -0.63740023 1.69252427] [ 0.02951135 0.99234717 0.11990065 -1.57362193] [ 0.63901565 -0.11096947 0.76114702 -8.22055096] [ 0. 0. 0. 1. ]] SLAMing on 118.97964924600001 meters Centerline goodness : 0.872771 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.57, Z:-8.22 [[ 0.76826783 0.05425951 -0.63782477 1.69378457] [ 0.02960455 0.99232324 0.1200756 -1.57382708] [ 0.63944359 -0.11113274 0.7607637 -8.21963923] [ 0. 0. 0. 1. ]] SLAMing on 119.00964924600001 meters Centerline goodness : 0.867227 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.57, Z:-8.22 [[ 0.7676417 0.05381602 -0.63861573 1.6955588 ] [ 0.03039009 0.99229046 0.12015023 -1.57424229] [ 0.64015831 -0.11163992 0.76008806 -8.21747844] [ 0. 0. 0. 1. ]] SLAMing on 119.03964924600001 meters Centerline goodness : 0.869607 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.57, Z:-8.22 [[ 0.76711479 0.05422807 -0.63921375 1.69630774] [ 0.03074474 0.99216802 0.12106764 -1.57482723] [ 0.64077271 -0.11252524 0.75943954 -8.21501476] [ 0. 0. 0. 1. ]] SLAMing on 119.06964924600001 meters Centerline goodness : 0.877043 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.57, Z:-8.21 [[ 0.76654265 0.05437944 -0.63988689 1.69708068] [ 0.03114016 0.99208881 0.12161446 -1.574942 ] [ 0.64143795 -0.11314885 0.75878501 -8.21277734] [ 0. 0. 0. 1. ]] SLAMing on 119.09964924600001 meters Centerline goodness : 0.868544 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.58, Z:-8.21 [[ 0.76529018 0.06046679 -0.64083907 1.6973394 ] [ 0.02927446 0.99127833 0.12849229 -1.57655949] [ 0.6430194 -0.11709411 0.75684544 -8.20504266] [ 0. 0. 0. 1. ]] SLAMing on 119.12964924600001 meters Centerline goodness : 0.871939 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.58, Z:-8.20 [[ 0.76501027 0.06120465 -0.64110317 1.69613404] [ 0.0287389 0.99123788 0.12892453 -1.57518742] [ 0.64337653 -0.11705319 0.7565482 -8.20405479] [ 0. 0. 0. 1. ]] SLAMing on 119.15964924600001 meters Centerline goodness : 0.873051 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.57, Z:-8.20 [[ 0.76478017 0.06178726 -0.64132179 1.69547787] [ 0.02844086 0.99118321 0.12941008 -1.57492168] [ 0.64366328 -0.11721001 0.75627997 -8.20312124] [ 0. 0. 0. 1. ]] SLAMing on 119.18964924600002 meters Centerline goodness : 0.872932 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.57, Z:-8.20 [[ 0.76460368 0.06224424 -0.64148801 1.69510724] [ 0.02796068 0.99118478 0.12950262 -1.57330424] [ 0.64389394 -0.11695462 0.75612314 -8.20280109] [ 0. 0. 0. 1. ]] SLAMing on 119.21964924600002 meters Centerline goodness : 0.873390 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.57, Z:-8.20 [[ 0.76449505 0.06261556 -0.64158133 1.6945851 ] [ 0.02770417 0.99116033 0.12974468 -1.57287145] [ 0.644034 -0.11696364 0.75600246 -8.20238798] [ 0. 0. 0. 1. ]] SLAMing on 119.24964924600002 meters Centerline goodness : 0.872503 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.57, Z:-8.20 [[ 0.76426216 0.06341485 -0.64178027 1.69313632] [ 0.02734662 0.99107184 0.1304943 -1.5729665 ] [ 0.64432563 -0.11728238 0.75570452 -8.20103337] [ 0. 0. 0. 1. ]] SLAMing on 119.27964924600002 meters Centerline goodness : 0.875516 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.57, Z:-8.20 [[ 0.76414126 0.06379166 -0.64188688 1.69268694] [ 0.0273507 0.99099882 0.13104686 -1.57291296] [ 0.64446883 -0.11769437 0.75551834 -8.19998016] [ 0. 0. 0. 1. ]] SLAMing on 119.30964924600002 meters Centerline goodness : 0.875516 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.57, Z:-8.20 [[ 0.76414126 0.06379166 -0.64188688 1.69268694] [ 0.0273507 0.99099882 0.13104686 -1.57291296] [ 0.64446883 -0.11769437 0.75551834 -8.19998016] [ 0. 0. 0. 1. ]] SLAMing on 119.33964924600002 meters Centerline goodness : 0.877904 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.57, Z:-8.20 [[ 0.7635469 0.06484066 -0.64248877 1.69175827] [ 0.0280973 0.99066786 0.13337067 -1.57456356] [ 0.64514082 -0.11988696 0.75459952 -8.19514393] [ 0. 0. 0. 1. ]] SLAMing on 119.36964924600001 meters Centerline goodness : 0.876498 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.58, Z:-8.19 [[ 0.7631269 0.06489635 -0.64298196 1.69266006] [ 0.02868734 0.99056257 0.13402549 -1.57518982] [ 0.64561163 -0.1207239 0.75406324 -8.19301098] [ 0. 0. 0. 1. ]] SLAMing on 119.39964924600001 meters Centerline goodness : 0.876535 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.58, Z:-8.19 [[ 0.76177961 0.06976287 -0.64406908 1.69550531] [ 0.02780436 0.98974812 0.14009128 -1.57645199] [ 0.64723933 -0.12462661 0.75203022 -8.18526702] [ 0. 0. 0. 1. ]] SLAMing on 119.42964924600001 meters Centerline goodness : 0.872211 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.58, Z:-8.18 [[ 0.76126465 0.06922232 -0.64473592 1.69753694] [ 0.02831725 0.98978829 0.13970427 -1.57533909] [ 0.64782271 -0.12460907 0.75153065 -8.18411128] [ 0. 0. 0. 1. ]] SLAMing on 119.45964924600001 meters Centerline goodness : 0.875469 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.57, Z:-8.18 [[ 0.76083642 0.06903396 -0.64526139 1.6987821 ] [ 0.02863816 0.98978518 0.13966084 -1.57485303] [ 0.6483115 -0.12473815 0.75108761 -8.18297772] [ 0. 0. 0. 1. ]] SLAMing on 119.48964924600001 meters Centerline goodness : 0.874630 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.57, Z:-8.18 [[ 0.76057512 0.06897018 -0.64557618 1.69945633] [ 0.02879103 0.98978045 0.13966295 -1.57429377] [ 0.64861126 -0.12481097 0.75081666 -8.18222692] [ 0. 0. 0. 1. ]] SLAMing on 119.51964924600001 meters Centerline goodness : 0.872870 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.57, Z:-8.18 [[ 0.76016182 0.06906243 -0.64605294 1.6991467 ] [ 0.02890423 0.98975591 0.13981338 -1.57216542] [ 0.64909056 -0.12495446 0.75037845 -8.18064806] [ 0. 0. 0. 1. ]] SLAMing on 119.54964924600002 meters Centerline goodness : 0.869707 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.57, Z:-8.18 [[ 0.75968926 0.06878563 -0.64663805 1.70037656] [ 0.02941646 0.9897368 0.13984182 -1.57160412] [ 0.64962058 -0.12525814 0.74986899 -8.1790933 ] [ 0. 0. 0. 1. ]] SLAMing on 119.57964924600002 meters Centerline goodness : 0.875235 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.57, Z:-8.16 [[ 0.75948682 0.07279529 -0.64643686 1.70395944] [ 0.03324715 0.98807685 0.15032886 -1.57182833] [ 0.64967253 -0.13566497 0.74801111 -8.16116913] [ 0. 0. 0. 1. ]] SLAMing on 119.60964924600002 meters Centerline goodness : 0.874616 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.57, Z:-8.16 [[ 0.75968228 0.06714723 -0.64681843 1.7043192 ] [ 0.03702443 0.98857521 0.14611039 -1.56946307] [ 0.64923958 -0.13494556 0.74851698 -8.16139137] [ 0. 0. 0. 1. ]] SLAMing on 119.63964924600002 meters Centerline goodness : 0.880841 Centerline is valid? [False, False] Translation: X:1.71, Y:-1.57, Z:-8.15 [[ 0.75851417 0.06563799 -0.64834243 1.70818021] [ 0.0424537 0.98782345 0.14967472 -1.56783075] [ 0.6502722 -0.14105493 0.74649151 -8.14901424] [ 0. 0. 0. 1. ]] SLAMing on 119.66964924600002 meters Centerline goodness : 0.879803 Centerline is valid? [False, False] Translation: X:1.71, Y:-1.56, Z:-8.15 [[ 0.75763276 0.06241416 -0.64968998 1.71351153] [ 0.04586751 0.98786466 0.14838995 -1.56353866] [ 0.65106741 -0.14222475 0.74557585 -8.14556741] [ 0. 0. 0. 1. ]] SLAMing on 119.69964924600002 meters Centerline goodness : 0.877702 Centerline is valid? [False, False] Translation: X:1.72, Y:-1.56, Z:-8.14 [[ 0.7571835 0.06123123 -0.65032599 1.71535644] [ 0.04683825 0.98794433 0.147554 -1.56026038] [ 0.65152078 -0.14218558 0.74518718 -8.14463357] [ 0. 0. 0. 1. ]] SLAMing on 119.72964924600001 meters Centerline goodness : 0.880363 Centerline is valid? [False, False] Translation: X:1.72, Y:-1.55, Z:-8.15 [[ 0.75673613 0.05967876 -0.65099068 1.71625639] [ 0.04730787 0.98821392 0.14558573 -1.55111229] [ 0.65200643 -0.14096697 0.74499391 -8.14501451] [ 0. 0. 0. 1. ]] SLAMing on 119.75964924600001 meters Centerline goodness : 0.881798 Centerline is valid? [False, False] Translation: X:1.72, Y:-1.54, Z:-8.15 [[ 0.75655821 0.05917643 -0.65124329 1.71636295] [ 0.04702029 0.98839626 0.14443658 -1.54478261] [ 0.65223367 -0.13989633 0.74499681 -8.14586886] [ 0. 0. 0. 1. ]] SLAMing on 119.78964924600001 meters Centerline goodness : 0.877363 Centerline is valid? [False, False] Translation: X:1.72, Y:-1.54, Z:-8.14 [[ 0.75579446 0.06368008 -0.65170514 1.71691974] [ 0.04400447 0.9880707 0.14758017 -1.54007385] [ 0.65332866 -0.14021822 0.74397615 -8.14438014] [ 0. 0. 0. 1. ]] SLAMing on 119.81964924600001 meters Centerline goodness : 0.871414 Centerline is valid? [False, False] Translation: X:1.72, Y:-1.53, Z:-8.14 [[ 0.75511682 0.06638962 -0.65222006 1.71757084] [ 0.0417102 0.98797865 0.14885712 -1.52732233] [ 0.65426206 -0.13960874 0.74327017 -8.14422792] [ 0. 0. 0. 1. ]] SLAMing on 119.84964924600001 meters Centerline goodness : 0.864037 Centerline is valid? [False, False] Translation: X:1.71, Y:-1.51, Z:-8.16 [[ 0.75778792 0.06296956 -0.64945539 1.70889856] [ 0.0443359 0.98806315 0.14753148 -1.51166568] [ 0.65099293 -0.14059176 0.74595051 -8.15922551] [ 0. 0. 0. 1. ]] SLAMing on 119.87964924600001 meters Centerline goodness : 0.864046 Centerline is valid? [False, False] Translation: X:1.71, Y:-1.51, Z:-8.16 [[ 0.75730291 0.06084694 -0.650223 1.71199159] [ 0.04539336 0.98833753 0.14535604 -1.5052378 ] [ 0.65148426 -0.13959436 0.74570884 -8.15962481] [ 0. 0. 0. 1. ]] SLAMing on 119.90964924600001 meters Centerline goodness : 0.864321 Centerline is valid? [False, False] Translation: X:1.72, Y:-1.49, Z:-8.16 [[ 0.75635472 0.06346716 -0.65107562 1.71502817] [ 0.04317136 0.98826978 0.14648918 -1.49354746] [ 0.65273561 -0.1389056 0.74474254 -8.15949674] [ 0. 0. 0. 1. ]] SLAMing on 119.93964924600002 meters Centerline goodness : 0.866441 Centerline is valid? [False, False] Translation: X:1.72, Y:-1.49, Z:-8.16 [[ 0.75560219 0.06695468 -0.65159988 1.71769851] [ 0.04067929 0.98804559 0.14869806 -1.48776021] [ 0.65376642 -0.1388632 0.74384574 -8.1589798 ] [ 0. 0. 0. 1. ]] SLAMing on 119.96964924600002 meters Centerline goodness : 0.876522 Centerline is valid? [False, False] Translation: X:1.50, Y:-1.48, Z:-8.21 [[ 0.83616936 0.19046713 -0.5143375 1.49579233] [-0.05103076 0.96071478 0.27280575 -1.48267888] [ 0.54609217 -0.20186478 0.81303994 -8.2141748 ] [ 0. 0. 0. 1. ]] SLAMing on 119.99964924600002 meters Centerline goodness : 0.858577 Centerline is valid? [False, False] Translation: X:1.68, Y:-1.49, Z:-8.24 [[ 0.82440707 0.07219614 -0.56137394 1.67622724] [-0.01974286 0.99489591 0.0989563 -1.4897282 ] [ 0.56565289 -0.07049714 0.82162458 -8.23613304] [ 0. 0. 0. 1. ]] SLAMing on 120.02964924600002 meters Centerline goodness : 0.859309 Centerline is valid? [False, False] Translation: X:1.68, Y:-1.49, Z:-8.24 [[ 0.82370722 0.07647652 -0.56183428 1.67804634] [-0.0228595 0.99453594 0.1018612 -1.48602407] [ 0.56655437 -0.07106056 0.82095465 -8.23533669] [ 0. 0. 0. 1. ]] SLAMing on 120.05964924600002 meters Centerline goodness : 0.853157 Centerline is valid? [False, False] Translation: X:1.68, Y:-1.48, Z:-8.23 [[ 0.82243342 0.08493241 -0.56248534 1.68040629] [-0.02889094 0.99375177 0.10780877 -1.47828039] [ 0.56812726 -0.0724148 0.81974845 -8.23359476] [ 0. 0. 0. 1. ]] SLAMing on 120.08964924600002 meters Centerline goodness : 0.850962 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.47, Z:-8.23 [[ 0.82096355 0.09282858 -0.56338415 1.68540517] [-0.03447648 0.99295453 0.11336959 -1.47028976] [ 0.56993879 -0.0736488 0.81837988 -8.23221731] [ 0. 0. 0. 1. ]] SLAMing on 120.11964924600001 meters Centerline goodness : 0.847065 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.47, Z:-8.23 [[ 0.82026485 0.09683094 -0.56372807 1.68795095] [-0.03739368 0.99253614 0.11607633 -1.46685986] [ 0.57076027 -0.07413346 0.81776338 -8.23190091] [ 0. 0. 0. 1. ]] SLAMing on 120.14964924600001 meters Centerline goodness : 0.850495 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.46, Z:-8.23 [[ 0.81934651 0.09974667 -0.56455459 1.69233825] [-0.03976339 0.99226392 0.11760604 -1.46072537] [ 0.57191797 -0.07391149 0.81697425 -8.23173604] [ 0. 0. 0. 1. ]] SLAMing on 120.17964924600001 meters Centerline goodness : 0.856047 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.46, Z:-8.23 [[ 0.81917144 0.09907419 -0.56492694 1.69370885] [-0.03948893 0.99237282 0.11677675 -1.4571813 ] [ 0.5721877 -0.07335182 0.81683581 -8.23178051] [ 0. 0. 0. 1. ]] SLAMing on 120.20964924600001 meters Centerline goodness : 0.847388 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.45, Z:-8.23 [[ 0.81828545 0.10188605 -0.56571031 1.69869321] [-0.04147733 0.9920661 0.11867806 -1.44960844] [ 0.57331366 -0.07364838 0.81601922 -8.2311635 ] [ 0. 0. 0. 1. ]] SLAMing on 120.23964924600001 meters Centerline goodness : 0.853750 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.44, Z:-8.24 [[ 0.81604579 0.10471448 -0.56842251 1.68894151] [-0.04005033 0.99133227 0.12512513 -1.44013453] [ 0.57659799 -0.07934232 0.81316637 -8.23763401] [ 0. 0. 0. 1. ]] SLAMing on 120.26964924600001 meters Centerline goodness : 0.855266 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.44, Z:-8.24 [[ 0.81581521 0.10393637 -0.56889611 1.69002987] [-0.03963653 0.9914531 0.12429677 -1.43689651] [ 0.57695277 -0.07885412 0.8129622 -8.23717964] [ 0. 0. 0. 1. ]] SLAMing on 120.29964924600002 meters Centerline goodness : 0.855042 Centerline is valid? [False, False] Translation: X:1.69, Y:-1.43, Z:-8.24 [[ 0.81549089 0.10250667 -0.56962004 1.69193147] [-0.03857774 0.99162921 0.1232204 -1.43419203] [ 0.57748278 -0.07851046 0.81261906 -8.23632381] [ 0. 0. 0. 1. ]] SLAMing on 120.32964924600002 meters Centerline goodness : 0.852282 Centerline is valid? [False, False] Translation: X:1.68, Y:-1.42, Z:-8.25 [[ 0.81741173 0.09543016 -0.56809432 1.67647771] [-0.0324269 0.99224155 0.1200217 -1.42269308] [ 0.57514047 -0.0796856 0.81416438 -8.24719708] [ 0. 0. 0. 1. ]] SLAMing on 120.35964924600002 meters Centerline goodness : 0.857866 Centerline is valid? [False, False] Translation: X:1.66, Y:-1.41, Z:-8.26 [[ 0.81867744 0.09192219 -0.56684879 1.66195861] [-0.02821696 0.99235216 0.12017067 -1.41460688] [ 0.57355998 -0.08238626 0.8150101 -8.25816155] [ 0. 0. 0. 1. ]] SLAMing on 120.38964924600002 meters Centerline goodness : 0.854734 Centerline is valid? [False, False] Translation: X:1.56, Y:-1.41, Z:-8.30 [[ 0.83142439 0.12232592 -0.5420054 1.55814771] [-0.0372535 0.98554245 0.16528233 -1.40723718] [ 0.55438764 -0.11722816 0.8239611 -8.29844192] [ 0. 0. 0. 1. ]] SLAMing on 120.41964924600002 meters Centerline goodness : 0.858334 Centerline is valid? [False, False] Translation: X:1.51, Y:-1.41, Z:-8.32 [[ 0.83961601 0.13887278 -0.5251279 1.50784784] [-0.04828968 0.98202092 0.18249114 -1.40650413] [ 0.54102963 -0.12786422 0.83122661 -8.3218768 ] [ 0. 0. 0. 1. ]] SLAMing on 120.44964924600002 meters Centerline goodness : 0.860652 Centerline is valid? [False, False] Translation: X:1.44, Y:-1.40, Z:-8.34 [[ 0.85005218 0.15559641 -0.50319088 1.44485802] [-0.05723851 0.97700011 0.20541308 -1.39671653] [ 0.52357908 -0.14580994 0.83940718 -8.34297816] [ 0. 0. 0. 1. ]] SLAMing on 120.47964924600001 meters Centerline goodness : 0.866642 Centerline is valid? [False, False] Translation: X:1.41, Y:-1.39, Z:-8.36 [[ 0.85871185 0.17035273 -0.48331554 1.41249994] [-0.06933975 0.97308155 0.21978237 -1.39343816] [ 0.50774596 -0.15521675 0.84740887 -8.35623471] [ 0. 0. 0. 1. ]] SLAMing on 120.50964924600001 meters Centerline goodness : 0.880323 Centerline is valid? [False, False] Translation: X:1.37, Y:-1.38, Z:-8.38 [[ 0.8655829 0.18058959 -0.4670692 1.37048976] [-0.07727409 0.96970715 0.23172559 -1.37748934] [ 0.49476758 -0.16448536 0.85331683 -8.37938394] [ 0. 0. 0. 1. ]] SLAMing on 120.53964924600001 meters Centerline goodness : 0.876622 Centerline is valid? [False, False] Translation: X:1.32, Y:-1.37, Z:-8.41 [[ 0.87134135 0.19350156 -0.45091175 1.32269528] [-0.08957696 0.96624504 0.24155018 -1.36805275] [ 0.48243158 -0.17008135 0.85926254 -8.40818498] [ 0. 0. 0. 1. ]] SLAMing on 120.56964924600001 meters Centerline goodness : 0.874724 Centerline is valid? [False, False] Translation: X:1.29, Y:-1.36, Z:-8.43 [[ 0.87835431 0.20910898 -0.42984548 1.2877295 ] [-0.10567934 0.96193681 0.25201083 -1.36076846] [ 0.46618191 -0.17592901 0.86701984 -8.42912349] [ 0. 0. 0. 1. ]] SLAMing on 120.59964924600001 meters Centerline goodness : 0.876021 Centerline is valid? [False, False] Translation: X:1.23, Y:-1.34, Z:-8.46 [[ 0.88568993 0.22604167 -0.40553485 1.23377507] [-0.12711813 0.9581632 0.25644544 -1.33969071] [ 0.44653593 -0.17558031 0.87736949 -8.46300922] [ 0. 0. 0. 1. ]] SLAMing on 120.62964924600001 meters Centerline goodness : 0.881504 Centerline is valid? [False, False] Translation: X:1.20, Y:-1.32, Z:-8.49 [[ 0.8914301 0.24209185 -0.38307168 1.20096929] [-0.15143268 0.95588391 0.2517024 -1.31974988] [ 0.42710715 -0.16636552 0.88876431 -8.49468816] [ 0. 0. 0. 1. ]] SLAMing on 120.65964924600001 meters Centerline goodness : 0.887929 Centerline is valid? [False, False] Translation: X:1.19, Y:-1.31, Z:-8.51 [[ 0.89635993 0.25522085 -0.36249302 1.19126317] [-0.17167054 0.95369578 0.24696878 -1.31274088] [ 0.40873965 -0.15914354 0.89866859 -8.51480756] [ 0. 0. 0. 1. ]] SLAMing on 120.68964924600002 meters Centerline goodness : 0.889514 Centerline is valid? [False, False] Translation: X:1.20, Y:-1.29, Z:-8.53 [[ 0.8983543 0.26673984 -0.34901205 1.19687864] [-0.18944773 0.95210126 0.24002655 -1.29245865] [ 0.39631946 -0.14950935 0.90585752 -8.53237969] [ 0. 0. 0. 1. ]] SLAMing on 120.71964924600002 meters Centerline goodness : 0.892019 Centerline is valid? [False, False] Translation: X:1.21, Y:-1.28, Z:-8.54 [[ 0.89914328 0.27314009 -0.34195884 1.2070359 ] [-0.2001122 0.95146585 0.23381155 -1.28459682] [ 0.38922547 -0.14179995 0.91016279 -8.53750859] [ 0. 0. 0. 1. ]] SLAMing on 120.74964924600002 meters Centerline goodness : 0.888992 Centerline is valid? [False, False] Translation: X:1.23, Y:-1.27, Z:-8.54 [[ 0.89796563 0.27960065 -0.33982526 1.22530609] [-0.21168609 0.95144784 0.22346367 -1.26593247] [ 0.38580659 -0.12872641 0.91355503 -8.53932289] [ 0. 0. 0. 1. ]] SLAMing on 120.77964924600002 meters Centerline goodness : 0.890790 Centerline is valid? [False, False] Translation: X:1.24, Y:-1.26, Z:-8.54 [[ 0.89814899 0.28401951 -0.33565058 1.23972297] [-0.21952487 0.95108327 0.21736939 -1.25939906] [ 0.3809688 -0.12154645 0.91656382 -8.53997386] [ 0. 0. 0. 1. ]] SLAMing on 120.80964924600002 meters Centerline goodness : 0.889476 Centerline is valid? [False, False] Translation: X:1.26, Y:-1.24, Z:-8.54 [[ 0.89686725 0.28859855 -0.33517162 1.26255464] [-0.22851318 0.95116381 0.20753103 -1.24034982] [ 0.37869627 -0.10953665 0.91901625 -8.54184186] [ 0. 0. 0. 1. ]] SLAMing on 120.83964924600002 meters Centerline goodness : 0.892402 Centerline is valid? [False, False] Translation: X:1.28, Y:-1.23, Z:-8.54 [[ 0.89672851 0.29296949 -0.33173312 1.27806265] [-0.23579698 0.95055823 0.20208619 -1.23463626] [ 0.37453674 -0.10299477 0.92147399 -8.54217224] [ 0. 0. 0. 1. ]] Total time of SLAM: 7905.29 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%| | 0/4028 [00:00